Upload Part2/Fixed/s2 (part 34)

Part2/Fixed/s2/ball_PLA_15/press_depth_02/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,1792665173091062666,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.273725485e-09,3.426284083e-11,2.690263901e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292521e-01,1.747599657e-06,8.295727109e-01
+1,6.166666667e-01,DOWN_FORCE_DETACH,1792665174273295029,-3.607934349e-07,-4.887659746e-06,-2.997544167e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.257932632e-08,8.928728815e-10,5.907788814e-08,7.015375107e-01,-3.336698425e-06,8.407379436e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293404e-01,1.748458267e-06,8.295727673e-01
+2,1.050000000e+00,DOWN_FORCE_DETACH,1792665175068977094,2.800094892e-07,-1.279765503e-05,-2.072775495e-05,-1.010278349e-06,-1.304822662e-05,-1.622671531e-05,-9.854998227e-07,-1.301201785e-05,-1.602747371e-05,7.015381515e-01,-1.124669371e-05,8.407202134e-01,7.015368612e-01,-1.149726530e-05,8.407247145e-01,7.017282623e-01,-1.126445245e-05,8.295566807e-01
+3,1.466666667e+00,DOWN_FORCE_DETACH,1792665175868949727,3.330065414e-05,-2.172660151e-05,-3.195267334e-05,3.710002716e-05,-2.045723447e-05,-2.892692375e-05,3.780456667e-05,-2.044126887e-05,-2.870094193e-05,7.015711721e-01,-2.017564018e-05,8.407089885e-01,7.015749715e-01,-1.890627315e-05,8.407120143e-01,7.017670524e-01,-1.869370347e-05,8.295440072e-01
+4,1.950000000e+00,DOWN_FORCE_DETACH,1792665176800888339,3.058140297e-05,-2.851426620e-05,-5.212028567e-05,2.752431834e-05,-2.747867701e-05,-4.913139442e-05,2.818043025e-05,-2.745727818e-05,-4.879783918e-05,7.015684529e-01,-2.696330488e-05,8.406888209e-01,7.015653958e-01,-2.592771568e-05,8.406918098e-01,7.017574282e-01,-2.570971278e-05,8.295239103e-01
+5,2.566666667e+00,DOWN_FORCE_DETACH,1792665178031018001,2.794826455e-05,-3.456248603e-05,-7.032736330e-05,2.805087964e-05,-3.687545210e-05,-6.719996657e-05,2.866913538e-05,-3.685917355e-05,-6.698635235e-05,7.015658197e-01,-3.301152471e-05,8.406706138e-01,7.015659224e-01,-3.532449078e-05,8.406737412e-01,7.017579169e-01,-3.511160815e-05,8.295057218e-01
+6,3.000000000e+00,DOWN_FORCE_DETACH,1792665178894980205,2.707041711e-05,-3.624249504e-05,-8.204183671e-05,2.805087964e-05,-3.687545210e-05,-6.719996657e-05,2.866964576e-05,-3.685935764e-05,-6.714395840e-05,7.015649419e-01,-3.469153372e-05,8.406588994e-01,7.015659224e-01,-3.532449078e-05,8.406737412e-01,7.017579174e-01,-3.511179224e-05,8.295055642e-01
+7,3.533333333e+00,DOWN_FORCE_DETACH,1792665179960952171,2.513102272e-05,-4.016197069e-05,-1.033048094e-04,2.548271119e-05,-3.428121866e-05,-8.826506742e-05,2.596658357e-05,-3.426641086e-05,-8.820600305e-05,7.015630025e-01,-3.861100937e-05,8.406376364e-01,7.015633542e-01,-3.273025734e-05,8.406526761e-01,7.017552144e-01,-3.251884547e-05,8.294845022e-01
+8,4.050000000e+00,DOWN_FORCE_DETACH,1792665180925033250,2.379730632e-05,-4.479786088e-05,-1.184241126e-04,2.231847020e-05,-4.135766035e-05,-1.082007265e-04,2.265466509e-05,-4.133950610e-05,-1.081638420e-04,7.015616688e-01,-4.324689956e-05,8.406225171e-01,7.015601900e-01,-3.980669903e-05,8.406327405e-01,7.017519025e-01,-3.959194071e-05,8.294645443e-01
+9,4.516666667e+00,DOWN_FORCE_DETACH,1792665181825006058,2.833612315e-05,-4.653693393e-05,-1.279859631e-04,2.587416245e-05,-4.334340418e-05,-1.297728474e-04,2.624041585e-05,-4.331971178e-05,-1.296222887e-04,7.015662076e-01,-4.498597261e-05,8.406129552e-01,7.015637456e-01,-4.179244286e-05,8.406111683e-01,7.017554882e-01,-4.157214638e-05,8.294430859e-01
+10,5.016666667e+00,DOWN_FORCE_DETACH,1792665182753010133,3.074201037e-05,-4.640626847e-05,-1.539208254e-04,2.937630496e-05,-4.530429476e-05,-1.496759335e-04,2.972034076e-05,-4.526922494e-05,-1.495352843e-04,7.015686135e-01,-4.485530714e-05,8.405870204e-01,7.015672478e-01,-4.375333344e-05,8.405912653e-01,7.017589681e-01,-4.352165955e-05,8.294231729e-01
+11,5.516666667e+00,DOWN_FORCE_DETACH,1792665183721018731,2.861621059e-05,-5.538359779e-05,-1.884110074e-04,3.089961253e-05,-5.192083685e-05,-1.691115879e-04,3.124840504e-05,-5.191627953e-05,-1.690887068e-04,7.015664877e-01,-5.383263647e-05,8.405525302e-01,7.015687711e-01,-5.036987553e-05,8.405718296e-01,7.017604962e-01,-5.016871414e-05,8.294036195e-01
+12,6.100000000e+00,DOWN_FORCE_DETACH,1792665184817028365,2.847383994e-05,-5.951207070e-05,-2.310367768e-04,2.848225600e-05,-5.954589120e-05,-2.307913801e-04,2.856401767e-05,-5.950316929e-05,-2.303568054e-04,7.015663453e-01,-5.796110937e-05,8.405099044e-01,7.015663537e-01,-5.799492988e-05,8.405101498e-01,7.017578118e-01,-5.775560389e-05,8.293423514e-01
+13,6.616666667e+00,DOWN_FORCE_DETACH,1792665185849103703,2.722467020e-05,-6.728618845e-05,-2.783834597e-04,2.625741805e-05,-6.399688590e-05,-2.710595394e-04,2.614573222e-05,-6.398049576e-05,-2.707484586e-04,7.015650962e-01,-6.573522713e-05,8.404625577e-01,7.015641289e-01,-6.244592458e-05,8.404698816e-01,7.017553935e-01,-6.223293037e-05,8.293019597e-01
+14,7.083333333e+00,DOWN_FORCE_DETACH,1792665186781282496,4.989577911e-05,-7.490048937e-05,-3.120220369e-04,4.976959742e-05,-6.915088429e-05,-3.045245425e-04,5.007648562e-05,-6.912124194e-05,-3.042232680e-04,7.015877673e-01,-7.334952805e-05,8.404289192e-01,7.015876411e-01,-6.759992297e-05,8.404364166e-01,7.017793243e-01,-6.737367654e-05,8.292684849e-01
+15,7.583333333e+00,DOWN_FORCE_DETACH,1792665187777119310,5.066243824e-05,-8.249299147e-05,-3.894865978e-04,5.060963736e-05,-8.256289145e-05,-3.850346537e-04,5.083030448e-05,-8.255303731e-05,-3.843953517e-04,7.015885339e-01,-8.094203014e-05,8.403514546e-01,7.015884811e-01,-8.101193013e-05,8.403559065e-01,7.017800781e-01,-8.080547191e-05,8.291883128e-01
+16,8.066666667e+00,DOWN_FORCE_DETACH,1792665188709309571,5.165267921e-05,-8.636605357e-05,-4.663511246e-04,4.816153223e-05,-8.762194194e-05,-4.523208091e-04,4.813171734e-05,-8.760876459e-05,-4.516747071e-04,7.015895242e-01,-8.481509225e-05,8.402745901e-01,7.015860330e-01,-8.607098062e-05,8.402886204e-01,7.017773795e-01,-8.586119920e-05,8.291210335e-01
+17,8.533333333e+00,DOWN_FORCE_DETACH,1792665189607209837,6.208721176e-05,-8.678223787e-05,-5.363060033e-04,5.832707355e-05,-8.402157927e-05,-5.211564802e-04,5.821033967e-05,-8.400118228e-05,-5.204983199e-04,7.015999587e-01,-8.523127655e-05,8.402046352e-01,7.015961986e-01,-8.247061794e-05,8.402197847e-01,7.017874581e-01,-8.225361689e-05,8.290522099e-01
+18,8.900000000e+00,DOWN_FORCE_DETACH,1792665190305147813,6.633937623e-05,-6.649133696e-05,-6.077688354e-04,6.650704455e-05,-6.528295506e-05,-5.885711583e-04,6.648190628e-05,-6.531287024e-05,-5.878042700e-04,7.016042109e-01,-6.494037564e-05,8.401331724e-01,7.016043785e-01,-6.373199374e-05,8.401523700e-01,7.017957297e-01,-6.356530485e-05,8.289849039e-01
+19,9.300000000e+00,DOWN_FORCE_DETACH,1792665191037252835,6.543015235e-05,-7.613046322e-05,-6.944201970e-04,6.467589252e-05,-7.994269606e-05,-6.795907139e-04,6.433268881e-05,-7.995099628e-05,-6.786783644e-04,7.016033016e-01,-7.457950189e-05,8.400465210e-01,7.016025474e-01,-7.839173474e-05,8.400613505e-01,7.017935805e-01,-7.820343088e-05,8.288940298e-01
+20,9.666666667e+00,DOWN_FORCE_DETACH,1792665191735088551,6.664641690e-05,-8.654118775e-05,-7.755207731e-04,6.182581248e-05,-8.365823967e-05,-7.742522207e-04,6.107650442e-05,-8.365222676e-05,-7.731378305e-04,7.016045179e-01,-8.499022643e-05,8.399654204e-01,7.015996973e-01,-8.210727835e-05,8.399666890e-01,7.017903243e-01,-8.190466137e-05,8.287995703e-01
+21,1.005000000e+01,DOWN_FORCE_DETACH,1792665192469018959,6.321889958e-05,-9.020356292e-05,-8.687568965e-04,6.287176237e-05,-8.999723780e-05,-8.690151784e-04,6.180243571e-05,-9.001270316e-05,-8.676496358e-04,7.016010904e-01,-8.865260160e-05,8.398721843e-01,7.016007432e-01,-8.844627648e-05,8.398719260e-01,7.017910502e-01,-8.826513776e-05,8.287050585e-01
+22,1.036666667e+01,DOWN_FORCE_DETACH,1792665193067038734,6.522368270e-05,-7.971140791e-05,-9.461424443e-04,6.666827055e-05,-6.684540124e-05,-9.354959855e-04,6.544150382e-05,-6.685426559e-05,-9.342991184e-04,7.016030952e-01,-7.816044659e-05,8.397947987e-01,7.016045398e-01,-6.529443992e-05,8.398054452e-01,7.017946893e-01,-6.510670020e-05,8.286384091e-01
+23,1.070000000e+01,DOWN_FORCE_DETACH,1792665193731045429,6.555191518e-05,-8.096852701e-05,-1.039736605e-03,6.579249830e-05,-8.267842899e-05,-1.023646981e-03,6.415844607e-05,-8.265969298e-05,-1.022400766e-03,7.016034234e-01,-7.941756569e-05,8.397012046e-01,7.016036640e-01,-8.112746767e-05,8.397172942e-01,7.017934062e-01,-8.091212758e-05,8.285503074e-01
+24,1.100000000e+01,DOWN_FORCE_DETACH,1792665194331100592,6.203385010e-05,-8.634081254e-05,-1.143477823e-03,6.184119750e-05,-8.622728270e-05,-1.143243427e-03,5.973432946e-05,-8.617277719e-05,-1.141591969e-03,7.015999053e-01,-8.478985122e-05,8.395974634e-01,7.015997127e-01,-8.467632138e-05,8.395976978e-01,7.017889821e-01,-8.442521180e-05,8.284311162e-01
+25,1.126666667e+01,DOWN_FORCE_DETACH,1792665194863053905,6.007819956e-05,-9.081664218e-05,-1.234545323e-03,6.003462304e-05,-9.085045998e-05,-1.234202243e-03,5.747511617e-05,-9.081284268e-05,-1.232475089e-03,7.015979497e-01,-8.926568086e-05,8.395063959e-01,7.015979061e-01,-8.929949866e-05,8.395067389e-01,7.017867229e-01,-8.906527728e-05,8.283402331e-01
+26,1.153333333e+01,DOWN_FORCE_DETACH,1792665195395177318,5.905556697e-05,-8.988317392e-05,-1.329902203e-03,6.259270814e-05,-8.276418227e-05,-1.317744641e-03,5.976126309e-05,-8.274235196e-05,-1.316179510e-03,7.015969270e-01,-8.833221260e-05,8.394110390e-01,7.016004642e-01,-8.121322095e-05,8.394231965e-01,7.017890091e-01,-8.099478656e-05,8.282565287e-01
+27,1.183333333e+01,DOWN_FORCE_DETACH,1792665195995066111,5.817982274e-05,-8.905851974e-05,-1.435399506e-03,5.877479288e-05,-9.221253548e-05,-1.427081264e-03,5.539841951e-05,-9.221264918e-05,-1.425339217e-03,7.015960513e-01,-8.750755842e-05,8.393055417e-01,7.015966463e-01,-9.066157416e-05,8.393138599e-01,7.017846462e-01,-9.046508379e-05,8.281473690e-01
+28,1.210000000e+01,DOWN_FORCE_DETACH,1792665196527121550,5.788037821e-05,-9.602392594e-05,-1.541227506e-03,5.966850607e-05,-9.396306466e-05,-1.523275616e-03,5.595537293e-05,-9.390533660e-05,-1.521663530e-03,7.015957519e-01,-9.447296462e-05,8.391997137e-01,7.015975400e-01,-9.241210334e-05,8.392176656e-01,7.017852032e-01,-9.215777120e-05,8.280510446e-01
+29,1.238333333e+01,DOWN_FORCE_DETACH,1792665197057049304,5.275387251e-05,-9.402862806e-05,-1.651412130e-03,5.108083505e-05,-9.904350256e-05,-1.633229877e-03,4.670418758e-05,-9.900223025e-05,-1.631647434e-03,7.015906254e-01,-9.247766674e-05,8.390895291e-01,7.015889523e-01,-9.749254124e-05,8.391077113e-01,7.017759520e-01,-9.725466486e-05,8.279410607e-01
+30,1.265000000e+01,DOWN_FORCE_DETACH,1792665197557121249,5.254664450e-05,-8.806496729e-05,-1.761881069e-03,5.222163092e-05,-8.813133652e-05,-1.762044480e-03,4.735125381e-05,-8.807200849e-05,-1.760163582e-03,7.015904181e-01,-8.651400596e-05,8.389790601e-01,7.015900931e-01,-8.658037520e-05,8.389788967e-01,7.017765991e-01,-8.632444309e-05,8.278125446e-01
+31,1.288333333e+01,DOWN_FORCE_DETACH,1792665198021082968,4.879316030e-05,-9.306910722e-05,-1.865034983e-03,4.929724186e-05,-8.708705584e-05,-1.858970615e-03,4.410037740e-05,-8.701161568e-05,-1.857163684e-03,7.015866646e-01,-9.151814590e-05,8.388759062e-01,7.015871687e-01,-8.553609452e-05,8.388819706e-01,7.017733482e-01,-8.526405028e-05,8.277155445e-01
+32,1.313333333e+01,DOWN_FORCE_DETACH,1792665198489094234,4.613242368e-05,-9.817003158e-05,-1.980879183e-03,4.483202236e-05,-1.008326519e-04,-1.971589248e-03,3.911358929e-05,-1.007713669e-04,-1.969749888e-03,7.015840039e-01,-9.661907026e-05,8.387600620e-01,7.015827035e-01,-9.928169059e-05,8.387693519e-01,7.017683614e-01,-9.902380151e-05,8.276029583e-01
+33,1.338333333e+01,DOWN_FORCE_DETACH,1792665198953018270,4.236583866e-05,-1.043736183e-04,-2.092902135e-03,4.285131100e-05,-1.058123829e-04,-2.085030588e-03,3.661664978e-05,-1.057464023e-04,-2.083136371e-03,7.015802373e-01,-1.028226570e-04,8.386480391e-01,7.015807228e-01,-1.042614215e-04,8.386559106e-01,7.017658644e-01,-1.039988369e-04,8.274895718e-01
+34,1.361666667e+01,DOWN_FORCE_DETACH,1792665199385215588,4.437885674e-05,-1.071140007e-04,-2.205522442e-03,4.672092432e-05,-1.042913718e-04,-2.195105196e-03,4.016896006e-05,-1.042373441e-04,-2.193260710e-03,7.015822503e-01,-1.055630393e-04,8.385354187e-01,7.015845924e-01,-1.027404105e-04,8.385458360e-01,7.017694168e-01,-1.024897787e-04,8.273794475e-01
+35,1.385000000e+01,DOWN_FORCE_DETACH,1792665199853508165,4.566255058e-05,-1.092768218e-04,-2.332744059e-03,4.656718041e-05,-1.063279834e-04,-2.321836453e-03,3.957663603e-05,-1.062140035e-04,-2.319886412e-03,7.015835340e-01,-1.077258605e-04,8.384081971e-01,7.015844387e-01,-1.047770221e-04,8.384191047e-01,7.017688244e-01,-1.044664381e-04,8.272528218e-01
+36,1.405000000e+01,DOWN_FORCE_DETACH,1792665200217092974,4.215560615e-05,-1.108920213e-04,-2.440703521e-03,4.188411228e-05,-1.109919807e-04,-2.440478910e-03,3.438282126e-05,-1.108896005e-04,-2.438343992e-03,7.015800271e-01,-1.093410600e-04,8.383002377e-01,7.015797556e-01,-1.094410194e-04,8.383004623e-01,7.017636306e-01,-1.091420351e-04,8.271343642e-01
+37,1.426666667e+01,DOWN_FORCE_DETACH,1792665200617063800,4.491077835e-05,-1.209322942e-04,-2.558827985e-03,4.453750718e-05,-1.210923715e-04,-2.558728193e-03,3.663260494e-05,-1.210259666e-04,-2.556579853e-03,7.015827823e-01,-1.193813329e-04,8.381821132e-01,7.015824090e-01,-1.195414102e-04,8.381822130e-01,7.017658804e-01,-1.192784012e-04,8.270161283e-01
+38,1.446666667e+01,DOWN_FORCE_DETACH,1792665201017108140,4.478131476e-05,-1.209855287e-04,-2.683937512e-03,4.392542384e-05,-1.235940752e-04,-2.674846046e-03,3.552905663e-05,-1.234527167e-04,-2.672744552e-03,7.015826528e-01,-1.194345673e-04,8.380570037e-01,7.015817969e-01,-1.220431139e-04,8.380660951e-01,7.017647769e-01,-1.217051513e-04,8.268999636e-01
+39,1.465000000e+01,DOWN_FORCE_DETACH,1792665201349153359,3.828545070e-05,-1.252447849e-04,-2.803678230e-03,3.819654783e-05,-1.256536857e-04,-2.803809689e-03,2.932937489e-05,-1.255010229e-04,-2.801539632e-03,7.015761569e-01,-1.236938235e-04,8.379372630e-01,7.015760680e-01,-1.241027244e-04,8.379371315e-01,7.017585772e-01,-1.237534575e-04,8.267711685e-01
+40,1.483333333e+01,DOWN_FORCE_DETACH,1792665201715153749,3.579311639e-05,-1.291270810e-04,-2.932388148e-03,3.641289572e-05,-1.290320333e-04,-2.920229669e-03,2.692817922e-05,-1.288608494e-04,-2.917987433e-03,7.015736646e-01,-1.275761196e-04,8.378085530e-01,7.015742844e-01,-1.274810720e-04,8.378207115e-01,7.017561760e-01,-1.271132840e-04,8.266547207e-01
+41,1.500000000e+01,DOWN_FORCE_DETACH,1792665202047256762,3.426843458e-05,-1.370234898e-04,-3.051479580e-03,3.408299132e-05,-1.370790719e-04,-3.051442188e-03,2.401087080e-05,-1.368986949e-04,-3.049053844e-03,7.015721399e-01,-1.354725285e-04,8.376894616e-01,7.015719545e-01,-1.355281106e-04,8.376894990e-01,7.017532587e-01,-1.351511295e-04,8.265236543e-01
+42,1.516666667e+01,DOWN_FORCE_DETACH,1792665202381163532,3.093649599e-05,-1.330510886e-04,-3.171412927e-03,3.161289943e-05,-1.355066061e-04,-3.156892130e-03,2.107951903e-05,-1.353119345e-04,-3.154723769e-03,7.015688080e-01,-1.315001273e-04,8.375695283e-01,7.015694844e-01,-1.339556448e-04,8.375840491e-01,7.017503273e-01,-1.335643691e-04,8.264179844e-01
+43,1.533333333e+01,DOWN_FORCE_DETACH,1792665202713218634,3.207793506e-05,-1.381411586e-04,-3.290393018e-03,3.275163383e-05,-1.371186482e-04,-3.278845119e-03,2.180619764e-05,-1.369267382e-04,-3.276630906e-03,7.015699494e-01,-1.365901973e-04,8.374505482e-01,7.015706231e-01,-1.355676869e-04,8.374620961e-01,7.017510540e-01,-1.351791728e-04,8.262960773e-01
+44,1.548333333e+01,DOWN_FORCE_DETACH,1792665203013054479,3.088613846e-05,-1.385099636e-04,-3.406765089e-03,3.058386414e-05,-1.384746728e-04,-3.406119541e-03,1.915131400e-05,-1.382325737e-04,-3.403727389e-03,7.015687576e-01,-1.369590023e-04,8.373341761e-01,7.015684553e-01,-1.369237115e-04,8.373348216e-01,7.017483991e-01,-1.364850083e-04,8.261689808e-01
+45,1.565000000e+01,DOWN_FORCE_DETACH,1792665203345176006,2.907509268e-05,-1.433532524e-04,-3.538112891e-03,2.893219330e-05,-1.435938249e-04,-3.537924954e-03,1.702372416e-05,-1.434016516e-04,-3.535599442e-03,7.015669466e-01,-1.418022911e-04,8.372028283e-01,7.015668037e-01,-1.420428636e-04,8.372030162e-01,7.017462715e-01,-1.416540862e-04,8.260371087e-01
+46,1.580000000e+01,DOWN_FORCE_DETACH,1792665203645172203,2.800346408e-05,-1.460012296e-04,-3.662578966e-03,2.713426909e-05,-1.475872622e-04,-3.651004227e-03,1.471478506e-05,-1.473682094e-04,-3.648879712e-03,7.015658749e-01,-1.444502683e-04,8.370783622e-01,7.015650058e-01,-1.460363009e-04,8.370899370e-01,7.017439626e-01,-1.456206440e-04,8.259238285e-01
+47,1.593333333e+01,DOWN_FORCE_DETACH,1792665203911097671,2.832007669e-05,-1.475772955e-04,-3.774056785e-03,2.307972332e-05,-1.468586303e-04,-3.765106944e-03,1.021867888e-05,-1.466299528e-04,-3.763002311e-03,7.015661916e-01,-1.460263342e-04,8.369668844e-01,7.015609512e-01,-1.453076690e-04,8.369758342e-01,7.017394665e-01,-1.448823874e-04,8.258097059e-01
+48,1.608333333e+01,DOWN_FORCE_DETACH,1792665204209116288,2.676651232e-05,-1.497931005e-04,-3.906255403e-03,2.659463454e-05,-1.497060179e-04,-3.906071200e-03,1.329382727e-05,-1.494671140e-04,-3.903819175e-03,7.015646380e-01,-1.482421392e-04,8.368346858e-01,7.015644661e-01,-1.481550566e-04,8.368348700e-01,7.017425416e-01,-1.477195486e-04,8.256688890e-01
+49,1.620000000e+01,DOWN_FORCE_DETACH,1792665204443303847,2.496654318e-05,-1.531418741e-04,-4.015726263e-03,2.470393061e-05,-1.531938438e-04,-4.015512693e-03,1.093287679e-05,-1.529306239e-04,-4.013317948e-03,7.015628380e-01,-1.515909128e-04,8.367252149e-01,7.015625754e-01,-1.516428825e-04,8.367254285e-01,7.017401807e-01,-1.511830585e-04,8.255593902e-01
+50,1.633333333e+01,DOWN_FORCE_DETACH,1792665204709400247,1.932815018e-05,-1.578861622e-04,-4.141138321e-03,1.910442604e-05,-1.578101333e-04,-4.140951832e-03,4.745670925e-06,-1.575634483e-04,-4.138867322e-03,7.015571996e-01,-1.563352009e-04,8.365998029e-01,7.015569759e-01,-1.562591720e-04,8.365999894e-01,7.017339935e-01,-1.558158829e-04,8.254338409e-01
+51,1.646666667e+01,DOWN_FORCE_DETACH,1792665204975096296,2.867722505e-05,-1.563693082e-04,-4.263095361e-03,2.854102934e-05,-1.561032936e-04,-4.263104064e-03,1.388879301e-05,-1.558517866e-04,-4.261136860e-03,7.015665487e-01,-1.548183469e-04,8.364778458e-01,7.015664125e-01,-1.545523323e-04,8.364778371e-01,7.017431366e-01,-1.541042212e-04,8.253115713e-01
+52,1.661666667e+01,DOWN_FORCE_DETACH,1792665205241134541,2.884027567e-05,-1.566450166e-04,-4.386979220e-03,2.859271563e-05,-1.566194222e-04,-4.386847779e-03,1.341961819e-05,-1.563637276e-04,-4.384888557e-03,7.015667118e-01,-1.550940552e-04,8.363539620e-01,7.015664642e-01,-1.550684608e-04,8.363540934e-01,7.017426674e-01,-1.546161622e-04,8.251878196e-01
+53,1.671666667e+01,DOWN_FORCE_DETACH,1792665205441095937,2.623001894e-05,-1.662955455e-04,-4.493697047e-03,2.740676435e-05,-1.655179631e-04,-4.475590974e-03,1.190279794e-05,-1.652500773e-04,-4.473793785e-03,7.015641015e-01,-1.647445842e-04,8.362472441e-01,7.015652782e-01,-1.639670018e-04,8.362653502e-01,7.017411506e-01,-1.635025119e-04,8.250989144e-01
+54,1.683333333e+01,DOWN_FORCE_DETACH,1792665205673137733,1.807917872e-05,-1.673318208e-04,-4.618923045e-03,2.056177871e-05,-1.644187317e-04,-4.600140771e-03,4.478701856e-06,-1.641524033e-04,-4.598421870e-03,7.015559507e-01,-1.657808595e-04,8.361220181e-01,7.015584333e-01,-1.628677704e-04,8.361408004e-01,7.017337265e-01,-1.624048379e-04,8.249742863e-01
+55,1.696666667e+01,DOWN_FORCE_DETACH,1792665205907201808,1.408930183e-05,-1.739925142e-04,-4.745369851e-03,1.401949013e-05,-1.738123857e-04,-4.745561023e-03,-2.777510480e-06,-1.735175231e-04,-4.744070873e-03,7.015519608e-01,-1.724415528e-04,8.359955713e-01,7.015518910e-01,-1.722614244e-04,8.359953802e-01,7.017264703e-01,-1.717699577e-04,8.248286373e-01
+56,1.708333333e+01,DOWN_FORCE_DETACH,1792665206141142415,4.676663673e-06,-1.770539317e-04,-4.873167921e-03,4.537925500e-06,-1.770960125e-04,-4.872744920e-03,-1.290871338e-05,-1.767384320e-04,-4.871171133e-03,7.015425481e-01,-1.755029704e-04,8.358677733e-01,7.015424094e-01,-1.755450512e-04,8.358681963e-01,7.017163391e-01,-1.749908666e-04,8.247015370e-01
+57,1.720000000e+01,DOWN_FORCE_DETACH,1792665206355213337,3.641727215e-05,-1.784844121e-04,-4.968183859e-03,3.389728183e-05,-1.790006423e-04,-4.957776317e-03,1.671396018e-05,-1.786715451e-04,-4.956384455e-03,7.015742888e-01,-1.769334507e-04,8.357727573e-01,7.015717688e-01,-1.774496810e-04,8.357831649e-01,7.017459618e-01,-1.769239797e-04,8.246163237e-01
+58,1.733333333e+01,DOWN_SETTLE,1792665206605112852,2.697749606e-05,-1.855109452e-04,-5.082418369e-03,3.127525278e-05,-1.816788619e-04,-5.067755006e-03,1.371138747e-05,-1.813163757e-04,-5.066463443e-03,7.015648490e-01,-1.839599838e-04,8.356585228e-01,7.015691467e-01,-1.801279006e-04,8.356731862e-01,7.017429592e-01,-1.795688103e-04,8.245062447e-01
+59,1.771666667e+01,DOWN_PEAK_HOLD,1792665207337302192,1.163564212e-05,-1.537692673e-04,-5.139836098e-03,1.067463337e-05,-1.545007871e-04,-5.141911321e-03,-7.524309197e-06,-1.543146337e-04,-5.141733337e-03,7.015495071e-01,-1.522183060e-04,8.356011051e-01,7.015485461e-01,-1.529498257e-04,8.355990299e-01,7.017217235e-01,-1.525670683e-04,8.244309748e-01

Part2/Fixed/s2/ball_PLA_15/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,-3.8357e-03,3.0263e-04,2.4570e+00,-3.6834e-02,3.6508e-02,-2.4211e-05,2.1557e-04,7.6862e-06,1.5116e-04,-1.1288e-06,1.5162e-05,-3.3286e-07,2.6339e-04,1.5208e-05
+1,6.1667e-01,DOWN_FORCE_DETACH,1.2651e-04,7.4691e-04,4.9258e-04,2.4602e+00,-3.6860e-02,3.6833e-02,-3.1032e-05,4.7982e-03,1.9763e-04,3.3140e-03,-2.7299e-05,3.4019e-04,-7.1540e-06,5.8348e-03,3.4136e-04
+2,1.0500e+00,DOWN_FORCE_DETACH,2.4906e-04,2.3187e-03,4.7187e-03,2.4697e+00,-3.7159e-02,3.6938e-02,-2.7642e-05,6.3700e-03,4.4238e-03,1.2798e-02,-3.2546e-04,4.4527e-04,-3.7638e-06,1.4964e-02,5.5155e-04
+3,1.4667e+00,DOWN_FORCE_DETACH,3.7347e-04,-1.5865e-02,7.2503e-03,2.4710e+00,-3.7333e-02,3.5663e-02,-2.3102e-05,-1.1814e-02,6.9554e-03,1.4079e-02,-5.0011e-04,-8.2972e-04,7.7645e-07,1.9651e-02,9.6879e-04
+4,1.9500e+00,DOWN_FORCE_DETACH,4.9842e-04,-1.0186e-03,9.6277e-03,2.4738e+00,-3.7490e-02,3.6686e-02,-1.2343e-05,3.0327e-03,9.3327e-03,1.6899e-02,-6.5726e-04,1.9389e-04,1.1535e-05,1.9542e-02,6.8536e-04
+5,2.5667e+00,DOWN_FORCE_DETACH,6.2462e-04,5.8699e-05,1.2605e-02,2.4703e+00,-3.7685e-02,3.6774e-02,-4.3861e-06,4.1100e-03,1.2310e-02,1.3442e-02,-8.5144e-04,2.8141e-04,1.9492e-05,1.8684e-02,8.9695e-04
+6,3.0000e+00,DOWN_FORCE_DETACH,7.5089e-04,7.6426e-05,1.2635e-02,2.4613e+00,-3.7681e-02,3.6781e-02,-2.2288e-06,4.1277e-03,1.2340e-02,4.4322e-03,-8.4836e-04,2.8882e-04,2.1649e-05,1.3746e-02,8.9644e-04
+7,3.5333e+00,DOWN_FORCE_DETACH,8.7490e-04,7.5670e-04,1.1762e-02,2.4628e+00,-3.7611e-02,3.6828e-02,-4.4057e-06,4.8080e-03,1.1467e-02,5.9171e-03,-7.7841e-04,3.3541e-04,1.9472e-05,1.3770e-02,8.4782e-04
+8,4.0500e+00,DOWN_FORCE_DETACH,1.0015e-03,1.0845e-03,1.4045e-02,2.4610e+00,-3.7762e-02,3.6852e-02,-3.6876e-06,5.1357e-03,1.3750e-02,4.1208e-03,-9.2864e-04,3.5958e-04,2.0191e-05,1.5246e-02,9.9603e-04
+9,4.5167e+00,DOWN_FORCE_DETACH,1.1246e-03,-1.2392e-03,1.4715e-02,2.4679e+00,-3.7804e-02,3.6687e-02,-4.8624e-06,2.8120e-03,1.4420e-02,1.1029e-02,-9.7081e-04,1.9431e-04,1.9016e-05,1.8371e-02,9.9025e-04
+10,5.0167e+00,DOWN_FORCE_DETACH,1.2502e-03,-1.7368e-03,1.5355e-02,2.4665e+00,-3.7842e-02,3.6651e-02,-4.5810e-06,2.3145e-03,1.5060e-02,9.6588e-03,-1.0090e-03,1.5879e-04,1.9297e-05,1.8040e-02,1.0216e-03
+11,5.5167e+00,DOWN_FORCE_DETACH,1.3765e-03,-7.1924e-04,1.7510e-02,2.4625e+00,-3.7986e-02,3.6720e-02,-1.4289e-06,3.3320e-03,1.7215e-02,5.6367e-03,-1.1532e-03,2.2715e-04,2.2449e-05,1.8419e-02,1.1756e-03
+12,6.1000e+00,DOWN_FORCE_DETACH,1.4998e-03,2.4370e-03,1.7788e-02,2.4640e+00,-3.8001e-02,3.6940e-02,-3.5099e-08,6.4882e-03,1.7493e-02,7.1254e-03,-1.1681e-03,4.4739e-04,2.3843e-05,1.9972e-02,1.2511e-03
+13,6.6167e+00,DOWN_FORCE_DETACH,1.6269e-03,4.4479e-03,2.1619e-02,2.4762e+00,-3.8263e-02,3.7072e-02,3.3334e-06,8.4992e-03,2.1324e-02,1.9336e-02,-1.4302e-03,5.7995e-04,2.7212e-05,3.0014e-02,1.5436e-03
+14,7.0833e+00,DOWN_FORCE_DETACH,1.7506e-03,-4.1179e-03,2.3008e-02,2.4722e+00,-3.8368e-02,3.6483e-02,5.8350e-06,-6.6634e-05,2.2713e-02,1.5273e-02,-1.5348e-03,-9.3952e-06,2.9713e-05,2.7371e-02,1.5351e-03
+15,7.5833e+00,DOWN_FORCE_DETACH,1.8750e-03,2.8611e-03,2.7475e-02,2.4877e+00,-3.8679e-02,3.6951e-02,1.4795e-05,6.9124e-03,2.7180e-02,3.0828e-02,-1.8457e-03,4.5866e-04,3.8673e-05,4.1676e-02,1.9022e-03
+16,8.0667e+00,DOWN_FORCE_DETACH,2.0012e-03,6.7202e-03,2.9140e-02,2.4928e+00,-3.8789e-02,3.7221e-02,1.9432e-05,1.0771e-02,2.8845e-02,3.5906e-02,-1.9563e-03,7.2845e-04,4.3310e-05,4.7300e-02,2.0880e-03
+17,8.5333e+00,DOWN_FORCE_DETACH,2.1258e-03,4.0784e-03,2.7925e-02,2.4937e+00,-3.8702e-02,3.7038e-02,2.2616e-05,8.1296e-03,2.7630e-02,3.6823e-02,-1.8686e-03,5.4582e-04,4.6495e-05,4.6749e-02,1.9473e-03
+18,8.9000e+00,DOWN_FORCE_DETACH,2.2526e-03,4.2422e-03,2.1383e-02,2.4985e+00,-3.8236e-02,3.7038e-02,1.9701e-05,8.2935e-03,2.1088e-02,4.1655e-02,-1.4029e-03,5.4542e-04,4.3579e-05,4.7419e-02,1.5058e-03
+19,9.3000e+00,DOWN_FORCE_DETACH,2.3746e-03,8.7032e-03,2.5295e-02,2.5075e+00,-3.8468e-02,3.7344e-02,2.1690e-05,1.2754e-02,2.5000e-02,5.0632e-02,-1.6345e-03,8.5121e-04,4.5568e-05,5.7890e-02,1.8435e-03
+20,9.6667e+00,DOWN_FORCE_DETACH,2.5008e-03,1.1417e-02,2.5514e-02,2.5121e+00,-3.8459e-02,3.7531e-02,1.7737e-05,1.5468e-02,2.5219e-02,5.5255e-02,-1.6261e-03,1.0390e-03,4.1615e-05,6.2677e-02,1.9302e-03
+21,1.0050e+01,DOWN_FORCE_DETACH,2.6261e-03,1.1365e-02,2.8087e-02,2.5099e+00,-3.8629e-02,3.7534e-02,1.0947e-05,1.5416e-02,2.7793e-02,5.3070e-02,-1.7962e-03,1.0413e-03,3.4825e-05,6.1859e-02,2.0765e-03
+22,1.0367e+01,DOWN_FORCE_DETACH,2.7569e-03,1.1396e-02,2.8790e-02,2.5165e+00,-3.8680e-02,3.7535e-02,7.4034e-06,1.5447e-02,2.8495e-02,5.9657e-02,-1.8469e-03,1.0424e-03,3.1282e-05,6.7893e-02,2.1210e-03
+23,1.0700e+01,DOWN_FORCE_DETACH,2.8815e-03,1.1213e-02,2.6932e-02,2.5234e+00,-3.8545e-02,3.7517e-02,1.7868e-06,1.5264e-02,2.6637e-02,6.6489e-02,-1.7115e-03,1.0246e-03,2.5665e-05,7.3234e-02,1.9949e-03
+24,1.1000e+01,DOWN_FORCE_DETACH,3.0050e-03,1.0536e-02,2.9917e-02,2.5286e+00,-3.8726e-02,3.7467e-02,2.9655e-06,1.4588e-02,2.9622e-02,7.1739e-02,-1.8929e-03,9.7435e-04,2.6844e-05,7.8973e-02,2.1291e-03
+25,1.1267e+01,DOWN_FORCE_DETACH,3.1287e-03,1.0521e-02,3.1759e-02,2.5289e+00,-3.8826e-02,3.7461e-02,4.4296e-06,1.4572e-02,3.1464e-02,7.2058e-02,-1.9933e-03,9.6891e-04,2.8308e-05,7.9967e-02,2.2165e-03
+26,1.1533e+01,DOWN_FORCE_DETACH,3.2518e-03,9.8117e-03,3.2250e-02,2.5360e+00,-3.8839e-02,3.7410e-02,5.5082e-06,1.3863e-02,3.1955e-02,7.9131e-02,-2.0059e-03,9.1770e-04,2.9386e-05,8.6458e-02,2.2061e-03
+27,1.1833e+01,DOWN_FORCE_DETACH,3.3809e-03,8.8313e-03,3.1282e-02,2.5391e+00,-3.8761e-02,3.7341e-02,5.6164e-06,1.2883e-02,3.0987e-02,8.2234e-02,-1.9282e-03,8.4839e-04,2.9495e-05,8.8818e-02,2.1068e-03
+28,1.2100e+01,DOWN_FORCE_DETACH,3.5033e-03,6.5286e-03,3.1674e-02,2.5461e+00,-3.8789e-02,3.7179e-02,8.3503e-06,1.0580e-02,3.1379e-02,8.9193e-02,-1.9563e-03,6.8647e-04,3.2228e-05,9.5142e-02,2.0735e-03
+29,1.2383e+01,DOWN_FORCE_DETACH,3.6266e-03,6.6792e-03,3.2799e-02,2.5432e+00,-3.8873e-02,3.7181e-02,9.2103e-06,1.0730e-02,3.2504e-02,8.6324e-02,-2.0401e-03,6.8890e-04,3.3088e-05,9.2863e-02,2.1535e-03
+30,1.2650e+01,DOWN_FORCE_DETACH,3.7567e-03,6.1575e-03,3.0038e-02,2.5409e+00,-3.8690e-02,3.7145e-02,4.5190e-06,1.0209e-02,2.9743e-02,8.3982e-02,-1.8568e-03,6.5220e-04,2.8397e-05,8.9676e-02,1.9682e-03
+31,1.2883e+01,DOWN_FORCE_DETACH,3.8763e-03,8.5195e-03,3.0578e-02,2.5469e+00,-3.8724e-02,3.7302e-02,2.0329e-06,1.2571e-02,3.0283e-02,9.0042e-02,-1.8911e-03,8.0930e-04,2.5911e-05,9.5826e-02,2.0572e-03
+32,1.3133e+01,DOWN_FORCE_DETACH,4.0043e-03,1.0129e-02,3.2764e-02,2.5487e+00,-3.8868e-02,3.7411e-02,6.3814e-06,1.4180e-02,3.2469e-02,9.1804e-02,-2.0352e-03,9.1907e-04,3.0260e-05,9.8404e-02,2.2333e-03
+33,1.3383e+01,DOWN_FORCE_DETACH,4.1261e-03,1.0676e-02,3.6072e-02,2.5489e+00,-3.9066e-02,3.7450e-02,1.5440e-05,1.4727e-02,3.5777e-02,9.1987e-02,-2.2334e-03,9.5765e-04,3.9318e-05,9.9792e-02,2.4303e-03
+34,1.3617e+01,DOWN_FORCE_DETACH,4.2478e-03,1.1980e-02,3.6865e-02,2.5531e+00,-3.9090e-02,3.7536e-02,2.2617e-05,1.6031e-02,3.6570e-02,9.6178e-02,-2.2574e-03,1.0439e-03,4.6495e-05,1.0414e-01,2.4875e-03
+35,1.3850e+01,DOWN_FORCE_DETACH,4.3831e-03,1.3653e-02,3.6694e-02,2.5578e+00,-3.9056e-02,3.7652e-02,2.4385e-05,1.7705e-02,3.6400e-02,1.0089e-01,-2.2234e-03,1.1591e-03,4.8263e-05,1.0870e-01,2.5078e-03
+36,1.4050e+01,DOWN_FORCE_DETACH,4.5004e-03,1.4194e-02,3.7389e-02,2.5578e+00,-3.9096e-02,3.7690e-02,2.2658e-05,1.8245e-02,3.7094e-02,1.0090e-01,-2.2628e-03,1.1980e-03,4.6536e-05,1.0904e-01,2.5608e-03
+37,1.4267e+01,DOWN_FORCE_DETACH,4.6241e-03,1.3781e-02,4.0212e-02,2.5581e+00,-3.9263e-02,3.7665e-02,1.9628e-05,1.7832e-02,3.9917e-02,1.0122e-01,-2.4302e-03,1.1724e-03,4.3506e-05,1.1026e-01,2.6985e-03
+38,1.4467e+01,DOWN_FORCE_DETACH,4.7520e-03,1.3204e-02,4.2838e-02,2.5646e+00,-3.9400e-02,3.7620e-02,1.8247e-05,1.7255e-02,4.2543e-02,1.0775e-01,-2.5670e-03,1.1274e-03,4.2125e-05,1.1712e-01,2.8040e-03
+39,1.4650e+01,DOWN_FORCE_DETACH,4.8746e-03,1.3091e-02,4.3671e-02,2.5622e+00,-3.9429e-02,3.7610e-02,1.7529e-05,1.7142e-02,4.3376e-02,1.0536e-01,-2.5960e-03,1.1180e-03,4.1407e-05,1.1522e-01,2.8268e-03
+40,1.4833e+01,DOWN_FORCE_DETACH,5.0080e-03,1.2093e-02,4.6839e-02,2.5698e+00,-3.9615e-02,3.7541e-02,1.7589e-05,1.6145e-02,4.6544e-02,1.1290e-01,-2.7818e-03,1.0481e-03,4.1467e-05,1.2318e-01,2.9730e-03
+41,1.5000e+01,DOWN_FORCE_DETACH,5.1297e-03,9.4660e-03,4.7410e-02,2.5694e+00,-3.9638e-02,3.7361e-02,1.7643e-05,1.3517e-02,4.7115e-02,1.1257e-01,-2.8053e-03,8.6876e-04,4.1521e-05,1.2277e-01,2.9371e-03
+42,1.5167e+01,DOWN_FORCE_DETACH,5.2543e-03,9.6988e-03,4.8924e-02,2.5706e+00,-3.9716e-02,3.7369e-02,1.6511e-05,1.3750e-02,4.8629e-02,1.1371e-01,-2.8831e-03,8.7663e-04,4.0389e-05,1.2443e-01,3.0137e-03
+43,1.5333e+01,DOWN_FORCE_DETACH,5.3776e-03,1.0771e-02,5.1400e-02,2.5688e+00,-3.9864e-02,3.7437e-02,1.4565e-05,1.4822e-02,5.1105e-02,1.1188e-01,-3.0314e-03,9.4474e-04,3.8444e-05,1.2388e-01,3.1754e-03
+44,1.5483e+01,DOWN_FORCE_DETACH,5.4975e-03,1.1562e-02,5.1171e-02,2.5705e+00,-3.9838e-02,3.7487e-02,1.3180e-05,1.5613e-02,5.0877e-02,1.1364e-01,-3.0052e-03,9.9428e-04,3.7059e-05,1.2548e-01,3.1656e-03
+45,1.5650e+01,DOWN_FORCE_DETACH,5.6326e-03,1.2182e-02,5.4114e-02,2.5726e+00,-4.0008e-02,3.7525e-02,1.3145e-05,1.6233e-02,5.3819e-02,1.1572e-01,-3.1749e-03,1.0322e-03,3.7023e-05,1.2865e-01,3.3387e-03
+46,1.5800e+01,DOWN_FORCE_DETACH,5.7593e-03,1.2786e-02,5.4187e-02,2.5744e+00,-3.9983e-02,3.7565e-02,1.1026e-05,1.6838e-02,5.3892e-02,1.1753e-01,-3.1497e-03,1.0726e-03,3.4904e-05,1.3039e-01,3.3275e-03
+47,1.5933e+01,DOWN_FORCE_DETACH,5.8769e-03,1.4252e-02,5.4794e-02,2.5740e+00,-4.0007e-02,3.7667e-02,8.5710e-06,1.8303e-02,5.4499e-02,1.1714e-01,-3.1742e-03,1.1750e-03,3.2449e-05,1.3048e-01,3.3848e-03
+48,1.6083e+01,DOWN_FORCE_DETACH,6.0102e-03,1.2448e-02,5.4495e-02,2.5686e+00,-3.9975e-02,3.7554e-02,5.2550e-06,1.6499e-02,5.4200e-02,1.1176e-01,-3.1420e-03,1.0614e-03,2.9133e-05,1.2530e-01,3.3165e-03
+49,1.6200e+01,DOWN_FORCE_DETACH,6.1237e-03,1.2525e-02,5.6581e-02,2.5703e+00,-4.0095e-02,3.7559e-02,3.3472e-06,1.6577e-02,5.6286e-02,1.1346e-01,-3.2621e-03,1.0669e-03,2.7225e-05,1.2774e-01,3.4323e-03
+50,1.6333e+01,DOWN_FORCE_DETACH,6.2521e-03,1.3925e-02,5.6150e-02,2.5675e+00,-4.0055e-02,3.7654e-02,1.5806e-06,1.7976e-02,5.5855e-02,1.1064e-01,-3.2220e-03,1.1618e-03,2.5459e-05,1.2523e-01,3.4252e-03
+51,1.6467e+01,DOWN_FORCE_DETACH,6.3798e-03,1.1614e-02,5.8085e-02,2.5627e+00,-4.0179e-02,3.7504e-02,-2.7125e-07,1.5665e-02,5.7790e-02,1.0579e-01,-3.3463e-03,1.0113e-03,2.3607e-05,1.2156e-01,3.4959e-03
+52,1.6617e+01,DOWN_FORCE_DETACH,6.5133e-03,8.2089e-03,5.7409e-02,2.5568e+00,-4.0138e-02,3.7274e-02,-1.4156e-06,1.2260e-02,5.7114e-02,9.9967e-02,-3.3051e-03,7.8117e-04,2.2463e-05,1.1578e-01,3.3962e-03
+53,1.6717e+01,DOWN_FORCE_DETACH,6.6233e-03,5.6138e-03,6.0205e-02,2.5614e+00,-4.0316e-02,3.7093e-02,-4.8906e-07,9.6651e-03,5.9910e-02,1.0453e-01,-3.4833e-03,6.0080e-04,2.3389e-05,1.2087e-01,3.5349e-03
+54,1.6833e+01,DOWN_FORCE_DETACH,6.7498e-03,8.7821e-03,6.1639e-02,2.5580e+00,-4.0395e-02,3.7301e-02,-8.9221e-07,1.2833e-02,6.1344e-02,1.0112e-01,-3.5618e-03,8.0907e-04,2.2986e-05,1.1897e-01,3.6526e-03
+55,1.6967e+01,DOWN_FORCE_DETACH,6.8794e-03,1.0621e-02,6.3184e-02,2.5512e+00,-4.0502e-02,3.7429e-02,-1.4231e-06,1.4672e-02,6.2889e-02,9.4274e-02,-3.6687e-03,9.3680e-04,2.2455e-05,1.1427e-01,3.7865e-03
+56,1.7083e+01,DOWN_FORCE_DETACH,7.0090e-03,1.4611e-02,6.8066e-02,2.5432e+00,-4.0790e-02,3.7704e-02,-3.9471e-06,1.8662e-02,6.7771e-02,8.6358e-02,-3.9571e-03,1.2116e-03,1.9931e-05,1.1135e-01,4.1385e-03
+57,1.7200e+01,DOWN_FORCE_DETACH,7.1274e-03,4.4325e-03,6.9031e-02,2.5416e+00,-4.0834e-02,3.7029e-02,-9.7267e-06,8.4837e-03,6.8736e-02,8.4748e-02,-4.0009e-03,5.3624e-04,1.4151e-05,1.0945e-01,4.0367e-03
+58,1.7333e+01,DOWN_SETTLE,7.2506e-03,5.2968e-03,6.9679e-02,2.5386e+00,-4.0898e-02,3.7077e-02,-8.4885e-06,9.3481e-03,6.9384e-02,8.1698e-02,-4.0647e-03,5.8460e-04,1.5390e-05,1.0759e-01,4.1066e-03
+59,1.7717e+01,DOWN_PEAK_HOLD,7.3801e-03,1.1349e-02,5.3334e-02,2.4787e+00,-4.0080e-02,3.7534e-02,-1.9367e-05,1.5400e-02,5.3039e-02,2.1854e-02,-3.2468e-03,1.0414e-03,4.5112e-06,5.9396e-02,3.4097e-03

Part2/Fixed/s2/ball_PLA_15/press_depth_02/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61f36a8c2c1d648c524e11aa97e40d1b660ae25ead945ddb0b5bef855fe18a1e
+size 25108480

Part2/Fixed/s2/ball_PLA_15/press_depth_02/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+9175,1792665152151219297,33692499000000,1792665152151041842,XJC_ZERO_HOLD_BEFORE_UP,2,0.0485,0.048497460782527924,0.6760003643216295,-0.004535928580564092,0.09071592392101017,0.9999999817347782,9.37579745710538e-06,-0.00015799465402155025,-5.406561948797666e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.00952635550862957,0.00487929108234858,0.013811873722214435,0.0002985256521181069,-0.0007615338842713974,-1.8130676995937253e-05,0.2597782346193185,0.3401196906079607,-0.008570311504992859,0.02504026892514126,-0.01972925896294092,1.6565161052405117e-05,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8142692133128331,0.5815866485279391,2.1320072494193356,-0.2944568001460347,-1.4624607134141303,0.31140553002708365,1.1679701502049307,0.013811873722214435,-0.964037099214405,0.0,0.0,0,0,0.0,0.0
+9203,1792665152385251270,33692733000000,1792665152383051054,XJC_ZERO_HOLD_BEFORE_UP,2,0.0485,0.048497460782527924,0.6760022808326603,-0.0045316634585229505,0.0907194102660257,0.9999999821806695,1.011180419216078e-05,-0.00015491697182124528,-5.4589452589974614e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0023404005178966902,0.001277512715341489,0.01554563544558605,0.0002992239502698918,-0.00076178492275197,-1.9149329705480483e-05,0.2525922796285856,0.3365179122409536,-0.006836549781621245,0.025040967223293045,-0.019729510001421494,1.5546508342861887e-05,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.7587226735825413,0.5283119770169975,2.178376924977826,-0.27663599916201237,-1.4763333478282203,0.2750937617056975,1.1679701502049307,0.01554563544558605,-1.0104067747728953,0.0,0.0,0,0,0.0,0.0
+9244,1792665152719212394,33693067000000,1792665152719051561,WAIT_W2,2,0.0443,0.048497460782527924,0.6760011315721387,-0.004529942085154881,0.0907187634720461,0.9999999818446175,1.3934824152586612e-05,-0.00015662129505186927,-5.5038348421114846e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.009250991718152302,0.00015223435663752616,0.01379825311011785,0.00029781733608004804,-0.000761119230765505,-1.8138531613308355e-05,0.2595028708288412,0.33539263388224966,-0.008583932117089443,0.0250395606091032,-0.01972884430943503,1.6557306435034016e-05,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.7316701302296996,0.6054959606612588,2.1161487765743217,-0.3085031203867956,-1.4293859491452194,0.3264714649297531,1.1679701502049307,0.01379825311011785,-0.948178626369391,0.0,0.0,0,0,0.0,0.0
+9280,1792665153019256551,33693367000000,1792665153019051484,WAIT_W2,2,0.0443,0.048497460782527924,0.6760035272961756,-0.004535470501960689,0.09072114025462623,0.9999999824925393,9.670376596959964e-06,-0.00015317663107811992,-5.386268845959071e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0002583958484280169,-0.008524269768595216,0.023798035616996248,0.0002967980318625621,-0.0007617409524866732,-2.733831491165474e-05,0.25051027495911693,0.3267161297570169,0.0014158503897889537,0.025038541304885715,-0.019729466031156197,7.35752313668763e-06,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.775463704213324,0.6222884309109027,2.0606202403216822,-0.3182894323225547,-1.4068234764855598,0.3312697084705394,1.1679701502049307,0.023798035616996248,-0.8926500901167516,0.0,0.0,0,0,0.0,0.0
+9304,1792665153219278371,33693567000000,1792665153219041975,WAIT_W2,2,0.0443,0.04814876988530159,0.6760010609891238,-0.0045328902986538425,0.09071845026271129,0.9999999818473632,1.0757709564150123e-05,-0.00015671800635725595,-5.542450766860582e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.028068296281541172,0.0010072149097936078,0.013910994514444655,0.0003253022993351985,-0.0017748157009973842,-3.16786375183672e-05,0.2783201753922301,0.33624761443540574,-0.008471190712762639,0.02506704557235835,-0.020742540779666908,3.017200529975167e-06,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.7259878344249256,0.4878920453081399,2.0878594310474763,-0.2663618140604731,-1.4064152390527866,0.24914797970428348,1.1679701502049307,0.013910994514444655,-0.9198892808425456,0.0,0.0,0,0,0.0,0.0
+9327,1792665153411248351,33693759000000,1792665153407052025,WAIT_W2,2,0.0443,0.04740476608276367,0.676002306835835,-0.004539815800464989,0.0907203130949071,0.9999999822863401,5.7204121422176795e-06,-0.00015488769852344502,-5.335973652171836e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.047572588496537116,-0.0013182579082907653,0.005883512051784171,-0.0003384629301152915,-0.0037327215191396527,-6.466386511265132e-05,0.29782446760722603,0.33392214161732137,-0.016498673175423122,0.02440328034290786,-0.022700446597809176,-2.996802706430894e-05,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.7427614923825508,0.47182841576291107,2.1006708172000637,-0.2612012892742749,-1.4158703537244286,0.23583891702078238,1.1679701502049307,0.005883512051784171,-0.932700666995133,0.0,0.0,0,0,0.0,0.0
+9351,1792665153611260893,33693959000000,1792665153611050957,WAIT_W2,2,0.0443,0.0466141402721405,0.6760033525460625,-0.0045411391687412575,0.09072258283485003,0.9999999824190348,5.632844268312398e-06,-0.0001539946946625351,-5.34668107598358e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.06946511959962448,-0.0026201100676752076,0.004470181505691739,-0.0006195783532860939,-0.004799955640483255,0.0009260736337078229,0.3197169987103134,0.3326202894579369,-0.017912003721515555,0.02412216491973706,-0.02376768071915278,0.0009607694717561653,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.7867210193129159,0.6050564990169229,2.0642070952076716,-0.2972023187196918,-1.4015834722240201,0.32494738624901487,1.1679701502049307,0.004470181505691739,-0.896236945002741,0.0,0.0,0,0,0.0,0.0
+9380,1792665153852285786,33694199999999,1792665153847042421,WAIT_W2,2,0.0443,0.04582088813185692,0.6760047148871804,-0.004537555649611785,0.09072419064982486,0.9999999828044872,6.607365842320062e-06,-0.00015062642344967954,-5.5694820617733155e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0595143991808989,-0.06953518188805868,-0.00419919005064949,-0.005125105423622347,-0.00409827580549884,0.0009053962230822828,0.3097662782915878,0.26570521763755345,-0.026581375277856784,0.019616637849400806,-0.023066000884168363,0.0009400920611306252,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8563390120468404,0.5794736228126723,2.2051118332712916,-0.29174357859899197,-1.5096929796887535,0.30831650247833164,1.1679701502049307,0.00419919005064949,-1.037141683066361,0.0,0.0,0,0,0.0,0.0
+9404,1792665154052271708,33694400000000,1792665154051041744,WAIT_W2,2,0.0443,0.04503748193383217,0.6760062171868968,-0.004531183822527281,0.09072505625368288,0.9999999828880114,9.727217603077339e-06,-0.00014907179251018782,-5.78776578797291e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.04681941969654474,-0.1184736063173149,-0.009604719806355334,-0.009806286251581229,-0.0036067789854417887,0.0008705355326723978,0.29707129880723365,0.21676679320829723,-0.03198690503356263,0.014935457021441924,-0.022574504064111312,0.0009052313707207402,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8913307398151391,0.5467403086377974,2.140982066175473,-0.2899801696685895,-1.4731954114307921,0.28510612247406886,1.1679701502049307,0.009604719806355334,-0.9730119159705422,0.0,0.0,0,0,0.0,0.0
+9452,1792665154452294847,33694800000000,1792665154451041200,WAIT_W2,2,0.0443,0.044330254197120667,0.6760077413248263,-0.00453732993417782,0.0907271361521228,0.9999999833752449,7.356303280004041e-06,-0.0001468247489616853,-5.550452620090343e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.1040662245848149,-0.08108396598943701,-0.0016977252531563854,-0.007719704752577473,-0.006702070729672736,0.0018721832212092826,0.3543181036955038,0.2541564335361751,-0.02407991048036368,0.01702203852044568,-0.02566979580834226,0.001906879059257625,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.914228003232159,0.702900804084331,2.163539081386886,-0.32683080166012207,-1.4900341362532155,0.38847375380133947,1.1679701502049307,0.0016977252531563854,-0.9955689311819556,0.0,0.0,0,0,0.0,0.0
+9479,1792665154677240607,33695025000000,1792665154671042169,WAIT_W2,2,0.0443,0.0443059578537941,0.676006455994425,-0.0045425469664293885,0.09072689822503925,0.9999999831143339,6.104413293898752e-06,-0.00014840295556909266,-5.615598968636268e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.13317367663021495,-0.048343089107513226,-0.006994111994638719,-0.00460216579750326,-0.008777027103715355,0.0008718880747546762,0.38342555574090387,0.2868973104180989,-0.029376297221846013,0.020139577475519893,-0.02774475218238488,0.0009065839128030186,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.848254645674947,0.488140166504893,2.1540426529206376,-0.25308852424715156,-1.4668719296063968,0.24986972989748973,1.1679701502049307,0.006994111994638719,-0.9860725027157069,0.0,0.0,0,0,0.0,0.0
+9519,1792665155011267283,33695358999999,1792665155011051226,UP_FORCE_RAMP,2,0.0443,0.04430070519447327,0.6760084866932673,-0.004559219551409943,0.09073080804670357,0.9999999838592205,-6.950121179161825e-06,-0.0001448834378539259,-5.181610159902634e-05,0.6761,-0.00453,0.09100018180045369,1.0,0.0,0.0,0.0,0.169450952378295,-0.009042339018203782,-0.004132325135353138,-0.0024932926144541415,-0.010841667904254386,0.0008519314699702164,0.4197028314889839,0.32619806050740835,-0.02651451036256043,0.02224845065856901,-0.02980939298292391,0.0008866273080185588,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8531614396191365,0.5925755627195313,2.145597630261714,-0.27867900506454696,-1.463970253148709,0.318365509483037,1.1679701502049307,0.004132325135353138,-0.9776274800567832,0.004132325135353138,0.014785729386208845,0,0,2.3382326617020566e-06,3.0186560239654522e-05
+9541,1792665155194208227,33695542000000,1792665155191042368,UP_FORCE_RAMP,2,0.0443,0.04430070519447327,0.6760076920656589,-0.0045634790673218465,0.09072947153290876,0.9999999836453272,-1.1831661365568308e-05,-0.000145596368010658,-5.3046389682861534e-05,0.6761,-0.00453,0.09100083821412219,1.0,0.0,0.0,0.0,0.17392084201706254,0.005951784675450544,-0.005572836993678148,-0.0014449732842220682,-0.011874745713851456,0.000850126174509638,0.42417272112775145,0.3411921842010627,-0.02795502222088544,0.023296769988801085,-0.03084247079252098,0.0008848220125579803,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.7859188990590313,0.6127168132812509,2.155238970820367,-0.27085161262860136,-1.4521787509259616,0.33729171700172716,1.1679701502049307,0.005572836993678148,-0.9872688206154363,0.005572836993678148,0.022105729386208584,0,0,4.9848584751858786e-06,3.314735071797312e-05
+9571,1792665155444299144,33695792000000,1792665155439042084,UP_FORCE_RAMP,2,0.0443,0.04430070519447327,0.676005181011607,-0.0045717862807866765,0.0907249723504894,0.9999999830660871,-1.5954886240307828e-05,-0.00014979111795359934,-5.117375047664164e-05,0.6761,-0.00453,0.09100272536956125,1.0,0.0,0.0,0.0,0.19719751957273668,0.019782052298704444,-0.004680406845926681,0.0006234956128201193,-0.012927167217448247,0.0008583332552899445,0.4474493986834256,0.3550224518243166,-0.027062592073133974,0.025365238885843272,-0.03189489229611777,0.0008930290933382869,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8492108643147341,0.6084386423245243,2.143431266813385,-0.2676646354720844,-1.4619413865313253,0.3305265430889521,1.1679701502049307,0.004680406845926681,-0.9754611166084541,0.004680406845926681,0.032105729386208176,0,0,1.0101244505981075e-05,3.647895721373408e-05
+9615,1792665155811249320,33696159000000,1792665155811041568,UP_FORCE_RAMP,2,0.0443,0.04430070519447327,0.676008341907207,-0.0045758208856256834,0.09073066735779273,0.9999999835957016,-1.8256385114795962e-05,-0.00014594792234871236,-5.116023156269132e-05,0.6761,-0.00453,0.09100764783801513,1.0,0.0,0.0,0.0,0.21527042474060548,0.055091825916331716,-0.0037411040487758153,0.002582813448245208,-0.014621360222698495,0.0008519682910509747,0.4655223038512944,0.39033222544194385,-0.02612328927598311,0.02732455672126836,-0.03358908530136802,0.0008866641290993171,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8251099500113316,0.6824489810648321,2.0880566499796887,-0.28740330128020014,-1.417742336142424,0.37947027038093106,1.1679701502049307,0.0037411040487758153,-0.920086499774758,0.0037411040487758153,0.04678572938620758,0,0,1.7065276494287972e-05,4.502056741846375e-05
+9643,1792665156044264442,33696392000000,1792665156043051350,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6760052740827612,-0.004586276032235107,0.09072997849814217,0.9999999830393023,-2.6388637396662583e-05,-0.0001492274412015772,-4.89803044909574e-05,0.6761,-0.00453,0.09101209591464338,1.0,0.0,0.0,0.0,0.22407383264490988,0.058322187629095246,-0.01325932314936993,0.003752158393235845,-0.015372511781472479,0.0008660756431938584,0.4743257117555988,0.3935625871547074,-0.03564150837657722,0.028493901666258998,-0.034340236860142,0.0009007714812422008,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9098940871094034,0.6775686225744069,2.208274290239533,-0.2846912472674548,-1.5140321272365918,0.37547042254149454,1.1679701502049307,0.01325932314936993,-1.0403041400346025,0.01325932314936993,0.0561057293862072,0,0,2.0627217032262317e-05,8.040263496528447e-06
+9679,1792665156344295952,33696692000000,1792665156343042044,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6760075402851302,-0.0045848350472362,0.0907357899454052,0.9999999839392271,-2.485448619545129e-05,-0.00014341953929862577,-4.875961751237542e-05,0.6761,-0.00453,0.09101864224656203,1.0,0.0,0.0,0.0,0.24197087456317717,0.08033557964592242,-0.022826261036952185,0.00479637102315935,-0.016042845989062932,0.0008773920037864044,0.4922227536738661,0.41557597917153455,-0.04520844626415948,0.029538114296182503,-0.035010571067732456,0.0009120878418347468,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9280659021160287,0.7109909786757581,2.305567886236309,-0.2892370225636232,-1.5815010541855907,0.3970993212678991,1.1679701502049307,0.022826261036952185,-1.1375977360313785,0.022826261036952185,0.06810572938620671,0,0,2.2564324015134347e-05,7.617187827567117e-07
+9707,1792665156577312626,33696925000000,1792665156571042132,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6760063258961195,-0.004588706559193318,0.09073513657063575,0.999999983472074,-2.7025083815424896e-05,-0.00014616993615653728,-4.901745390225029e-05,0.6761,-0.00453,0.0910237981085166,1.0,0.0,0.0,0.0,0.24252161918711185,0.09076836447640135,-0.041309236829134885,0.0052311775062398105,-0.017061821783858195,0.0008784552856798176,0.49277349829780076,0.4260087640020135,-0.06369142205634218,0.029972920779262963,-0.03602954686252772,0.00091315112372816,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9241697447875474,0.733148077761518,2.2398984190443927,-0.29049363608168416,-1.537841537492336,0.4121528977902039,1.1679701502049307,0.041309236829134885,-1.071928268839462,0.041309236829134885,0.07742572938620633,0,0,2.15066592060797e-05,-3.4832453813575505e-05
+9743,1792665156877195245,33697225000000,1792665156875051065,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6760074414681553,-0.004590687451126277,0.09074101470756649,0.9999999838330782,-2.86485705319214e-05,-0.00014338853433478534,-4.894584192700365e-05,0.6761,-0.00453,0.09103017701703174,1.0,0.0,0.0,0.0,0.2597082877042881,0.10208615475418875,-0.052401650953614876,0.005852122031052995,-0.017071035641220592,0.0008992697090382802,0.509960166814977,0.4373265542798009,-0.07478383618082217,0.030593865304076148,-0.036038760719890116,0.0009339655470866226,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9086367856503866,0.7329271307997957,2.2616322611170854,-0.3001364778694307,-1.5514036599511711,0.40763184426849286,1.1679701502049307,0.052401650953614876,-1.0936621109121547,0.052401650953614876,0.08942572938620584,0,0,2.0008579081723656e-05,-1.5116564297254292e-05
+9778,1792665157169254917,33697517000000,1792665157163042032,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6760089368252274,-0.004591953587557146,0.09074625378349985,0.999999984080844,-3.0187727697683965e-05,-0.00014130341787909926,-4.9022662915212605e-05,0.6761,-0.00453,0.09103581181376473,1.0,0.0,0.0,0.0,0.2530222480583584,0.10637887080261782,-0.07029392305901762,0.006903572728777372,-0.01809882650301684,0.0009097004913795561,0.5032741271690473,0.44161927032822995,-0.09267610828622491,0.031645316001800525,-0.03706655158168636,0.0009443963294278985,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8971600856049341,0.7877786190625045,2.140493513871336,-0.3132845912869606,-1.4682994597683494,0.4457871728254014,1.1679701502049307,0.07029392305901762,-0.9725233636664052,0.07029392305901762,0.10110572938620536,0,0,1.803220097350981e-05,-2.6528260706221586e-05
+9819,1792665157511207844,33697858999999,1792665157511041470,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6760114757712464,-0.004590165506348844,0.09075387709320756,0.9999999846759008,-2.537391120996827e-05,-0.0001371603342899207,-5.1325139583910335e-05,0.6761,-0.00453,0.09104145597281722,1.0,0.0,0.0,0.0,0.2682037138731965,0.12655154314203665,-0.08161206855931721,0.007927753003643661,-0.018117412115093188,0.0009312353732196687,0.5184555929838854,0.4617919426676488,-0.10399425378652451,0.032669496276666814,-0.03708513719376271,0.0009659312112680111,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9221984278266663,0.7272454689710929,2.190816018130249,-0.29234562078852755,-1.5101192681495865,0.4069074176857309,1.1679701502049307,0.08161206855931721,-1.0228458679253185,0.08161206855931721,0.11478572938620481,0,0,1.5811220446708114e-05,7.834444108441225e-06
+9850,1792665157769264165,33698117000000,1792665157763051430,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6760103196840092,-0.004596232951271893,0.09075395318055376,0.9999999843143338,-3.1337098702780366e-05,-0.0001389074526143072,-5.0367672657902144e-05,0.6761,-0.00453,0.09104551926149064,1.0,0.0,0.0,0.0,0.2602027088271701,0.12583150538824378,-0.09184643323485131,0.007931113953464488,-0.0181644688245574,0.0009380467396308584,0.510454587937859,0.4610719049138559,-0.1142286184620586,0.03267285722648764,-0.037132193903226925,0.0009727425776792008,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9130464693436411,0.7600837812556844,2.2874526273683746,-0.3034031414980698,-1.568647175535418,0.4276344038931418,1.1679701502049307,0.09184643323485131,-1.119482477163444,0.09184643323485131,0.12510572938620443,0,0,1.553419646208458e-05,1.106516781406038e-05
+9891,1792665158111270503,33698459000000,1792665158111041771,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6760108312277261,-0.00459811946888932,0.09075911373105355,0.9999999843575696,-3.361503573429661e-05,-0.0001378893842523956,-5.083573476854787e-05,0.6761,-0.00453,0.09105090213298676,1.0,0.0,0.0,0.0,0.27498217911369227,0.12860199933294525,-0.10172284892679084,0.008969082704625143,-0.019143660959643646,0.0009491165981473138,0.5252340582243812,0.4638423988585574,-0.12410503415399814,0.033710825977648295,-0.03811138603831317,0.0009838124361956561,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8433300050994311,0.7593277562906452,2.3441331703995103,-0.3034784414672298,-1.5860588943096594,0.42449560412141535,1.1679701502049307,0.10172284892679084,-1.1761630201945796,0.10172284892679084,0.13878572938620862,0,0,1.5795508226114432e-05,2.7635676803984407e-05
+9930,1792665158436279994,33698784000000,1792665158435051454,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6760085806953876,-0.0046005019349409535,0.09075722433499937,0.999999983901676,-3.357992354004093e-05,-0.0001415603009342152,-4.972506607312928e-05,0.6761,-0.00453,0.09105615866761509,1.0,0.0,0.0,0.0,0.2687309692626447,0.13804993368848617,-0.1112781142197241,0.008982284235786255,-0.019143874690140703,0.0009510829256021224,0.5189828483733336,0.4732903332140983,-0.1336602994469314,0.03372402750880941,-0.03811159976881023,0.0009857787636504648,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8897176642932124,0.7664549196382626,2.333210854496693,-0.2961722873480931,-1.5908238227758762,0.4304301213141057,1.1679701502049307,0.1112781142197241,-1.1652407042917625,0.1112781142197241,0.1517857293862126,0,0,1.7214083942806395e-05,3.070427919634195e-05
+9958,1792665158669308379,33699017000000,1792665158663050929,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6760096779428956,-0.004597174186697323,0.09076168593293586,0.9999999842877385,-3.138967234019023e-05,-0.00013908510022819464,-5.037271779009645e-05,0.6761,-0.00453,0.0910603756720434,1.0,0.0,0.0,0.0,0.27798875914351373,0.13797052295274675,-0.12125340588781004,0.008983955990428765,-0.019141880500563205,0.0009602605577290262,0.5282406382542026,0.4732109224783589,-0.14363559111501734,0.03372569926345192,-0.03810960557923273,0.0009949563957773685,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9163468981602474,0.942549924643148,2.264307375535991,-0.35679952857208025,-1.5548494524382674,0.5442696962400743,1.1679701502049307,0.12125340588781004,-1.0963372253310602,0.12125340588781004,0.16110572938621545,0,0,1.890300220881132e-05,1.0334944852438199e-05
+9986,1792665158902218751,33699250000000,1792665158895041945,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6760088247283806,-0.004598653737690979,0.09076242840124048,0.9999999839854704,-3.3333470292617655e-05,-0.0001403350194260204,-5.16418966769361e-05,0.6761,-0.00453,0.09106491015735259,1.0,0.0,0.0,0.0,0.27613008443840936,0.14772622409458203,-0.12125871840012058,0.008985425988008038,-0.019142665299741516,0.0009600534234928047,0.5263819635490983,0.48296662362019416,-0.14364090362732787,0.03372716926103119,-0.03811039037841104,0.000994749261541147,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8739417529946341,0.7564215560265489,2.299239614699108,-0.3045032214516966,-1.5664101110381576,0.4192603618250312,1.1679701502049307,0.12125871840012058,-1.1312694644941774,0.12125871840012058,0.1704257293862183,0,0,2.040241118062659e-05,4.223327588305329e-05
+10022,1792665159202285787,33699550000000,1792665159195042215,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6760078740054796,-0.004597817767644049,0.09076511043947795,0.9999999835532744,-3.569019495488851e-05,-0.00014184958124716858,-5.4233032236184405e-05,0.6761,-0.00453,0.09107126128855568,1.0,0.0,0.0,0.0,0.27747092944446927,0.1496233996581221,-0.1311204055255658,0.010007287872656461,-0.019167998735701085,0.000979539084218716,0.5277228085551582,0.48486379918373423,-0.1535025907527731,0.034749031145679614,-0.03813572381437061,0.0010142349222670584,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.885641357407921,0.8158779511370358,2.3315931003474453,-0.31600366776888306,-1.5886974720215628,0.4625079730088038,1.1679701502049307,0.1311204055255658,-1.1636229501425146,0.1311204055255658,0.18242572938622198,0,0,2.256238682820763e-05,3.121490002141875e-05
+10046,1792665159402224417,33699750000000,1792665159399041586,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.676009162209695,-0.004600357214545401,0.09076890039879024,0.9999999836229999,-3.796982014083877e-05,-0.00014157011849559313,-5.2087030619305734e-05,0.6761,-0.00453,0.09107576746711707,1.0,0.0,0.0,0.0,0.27787940587225224,0.14136882820899027,-0.1408829795565958,0.01003534121843604,-0.020168319900533537,0.0009719213337034991,0.5281312849829412,0.4766092277346024,-0.16326516478380307,0.03477708449145919,-0.03913604497920306,0.0010066171717518415,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8859702981948744,0.8032979271786633,2.402720796091269,-0.311258180248817,-1.6328397515107222,0.4529953713936598,1.1679701502049307,0.1408829795565958,-1.2347506458863382,0.1408829795565958,0.19042572938622443,0,0,2.287872543379657e-05,1.9117671525431805e-05
+10072,1792665159619280912,33699966999999,1792665159619042372,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6760094156214485,-0.004597810775701271,0.09077234890700106,0.9999999838592406,-3.104121454160125e-05,-0.0001410895842621729,-5.34280387149613e-05,0.6761,-0.00453,0.09108095645892748,1.0,0.0,0.0,0.0,0.2782311849927821,0.1497146682806933,-0.14906724527834692,0.010012116752987504,-0.019229312691551436,0.000989531814921008,0.528483064103471,0.48495506780630543,-0.17144943050555422,0.034753860026010656,-0.03819703777022096,0.0010242276529693504,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8979722642241672,0.7842233563904013,2.3112263972385496,-0.30947000727858415,-1.578719304451183,0.4379806052484809,1.1679701502049307,0.14906724527834692,-1.143256247033619,0.14906724527834692,0.1991057293862271,0,0,2.4738550247074758e-05,2.835270776417458e-06
+10098,1792665159836298343,33700184000000,1792665159831042175,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.676007406015115,-0.0045985203737305335,0.09077362637049022,0.9999999831898343,-3.408789000762058e-05,-0.0001453403533295617,-5.270097803903767e-05,0.6761,-0.00453,0.0910863706100749,1.0,0.0,0.0,0.0,0.2811605142835679,0.14354414243215968,-0.16090916117994936,0.010039781056187778,-0.02016590083610262,0.0009884880647049277,0.5314123933942568,0.4787845419577718,-0.18329134640715666,0.03478152432921093,-0.039133625914772145,0.0010231839027532701,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8994500465179077,0.9048942167528639,2.3092016079298956,-0.34508815439161916,-1.5760629777540733,0.5215857520444592,1.1679701502049307,0.16090916117994936,-1.141231457724965,0.16090916117994936,0.20778572938622974,0,0,2.484909306611073e-05,-1.425059558556096e-05
+10130,1792665160102219880,33700449999999,1792665160095052472,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6760031026767414,-0.0045951052364885435,0.09077469050419747,0.9999999816337205,-3.347188433735622e-05,-0.000154560607373152,-5.626788313030831e-05,0.6761,-0.00453,0.09109298029372159,1.0,0.0,0.0,0.0,0.2870256841725446,0.14931621465208023,-0.1610191259808924,0.0100401705069675,-0.02016630884557805,0.0009892937322041463,0.5372775632832335,0.48455661417769236,-0.18340131120809972,0.03478191377999065,-0.03913403392424757,0.0010239895702524886,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9267961371856647,0.7816136754458333,2.3495514654800553,-0.3069267121972973,-1.6078587841648624,0.43708334938724674,1.1679701502049307,0.1610191259808924,-1.1815813152751247,0.1610191259808924,0.218425729386233,0,0,2.5332279848472192e-05,3.405072579998088e-05
+10138,1792665160169215580,33700517000000,1792665160163051407,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6759686285135119,-0.004593801476936557,0.09076585467710516,0.9999999653695705,-3.319945981961681e-05,-0.00023544166768085087,-6.456577516828056e-05,0.6761,-0.00453,0.09109469942663077,1.0,0.0,0.0,0.0,0.2907551422539907,0.14926476096240504,-0.16221531743337625,0.010040328768047047,-0.020166035152551793,0.0009902871456322349,0.5410070213646796,0.4845051604880172,-0.18459750266058356,0.0347820720410702,-0.039133760231221316,0.0010249829836805771,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8382205070942897,0.8733699886094184,2.293311259038284,-0.3257599145576125,-1.535656782448233,0.4953495355149451,1.1679701502049307,0.16221531743337625,-1.1253411088333531,0.16221531743337625,0.22110572938623382,0,0,2.5921130782593042e-05,3.559671912965399e-05
+10154,1792665160302281813,33700650000000,1792665160295052437,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759755888890353,-0.004595760499336364,0.0907745123510831,0.9999999678709347,-3.148978479198205e-05,-0.0002248835147312742,-6.431789963207283e-05,0.6761,-0.00453,0.09109852191734244,1.0,0.0,0.0,0.0,0.3357993925044993,0.10939095879751515,-0.1354828331264578,0.006903776155066408,-0.02414743818342879,0.0008736247502986892,0.5860512716151882,0.4446313583231273,-0.15786501835366512,0.03164551942808956,-0.04311516326209831,0.0009083205883470316,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8698506593684954,0.6445702079144615,2.2118475955111174,-0.22878676577673193,-1.504024732555274,0.343967583598883,1.1679701502049307,0.1354828331264578,-1.0438774453061868,0.1354828331264578,0.22642572938623545,0,0,3.2055580505312105e-05,9.999999025923074e-05
+10186,1792665160569297767,33700917000000,1792665160567041976,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759756497764839,-0.004589302178015332,0.09077845115873269,0.9999999679608579,-2.9067950998677947e-05,-0.00022376942267340075,-6.784870779878384e-05,0.6761,-0.00453,0.09110796576609385,1.0,0.0,0.0,0.0,0.33010608603748404,0.1105388026276482,-0.17055524278155604,0.007060384142746016,-0.023145706402112127,0.0009207650201181825,0.580357965148173,0.44577920215326033,-0.19293742800876332,0.03180212741576917,-0.04211343148078165,0.0009554608581665249,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9712925595703077,0.7382914761021621,2.3192895348816895,-0.27050923858215997,-1.6018672887010839,0.4045138679957356,1.1679701502049307,0.17055524278155604,-1.1513193846767589,0.17055524278155604,0.23710572938623872,0,0,3.665388203571893e-05,-3.412766397351093e-05
+10222,1792665160869316651,33701216999999,1792665160863041849,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759789755499847,-0.0045945731818695145,0.09079072251483052,0.9999999692200316,-3.517765032431372e-05,-0.00021719804246607543,-6.77520737567063e-05,0.6761,-0.00453,0.09111799852991109,1.0,0.0,0.0,0.0,0.3169351721953768,0.11223535425488118,-0.20798885087287222,0.00808818975317194,-0.023156830200066075,0.0009606856971942332,0.5671870513060657,0.4474757537804933,-0.23037103610007953,0.03282993302619509,-0.0421245552787356,0.0009953815352425756,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9329044537292966,0.7910662015724563,2.49627491135879,-0.29226364014318246,-1.7035286805068173,0.4368135501359944,1.1679701502049307,0.20798885087287222,-1.3283047611538592,0.20798885087287222,0.2491057293862424,0,0,2.8433685856367688e-05,-7.954794545133939e-05
+10254,1792665161136318168,33701483999999,1792665161131042433,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759823415843651,-0.004596525969446662,0.09080033079314408,0.9999999706702161,-3.688363150217295e-05,-0.00021022267634583758,-6.744223835852024e-05,0.6761,-0.00453,0.09112428846109347,1.0,0.0,0.0,0.0,0.31673738666547335,0.12089584673424736,-0.23808162696221025,0.008094245332623536,-0.023150533090344084,0.0009849753352809015,0.5669892657761623,0.4561362462598595,-0.26046381218941755,0.03283598860564669,-0.04211825816901361,0.0010196711733292437,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9888557912813761,0.7876369325359642,2.4370395563138367,-0.30332953058711715,-1.6794386753464652,0.43732243090315265,1.1679701502049307,0.23808162696221025,-1.269069406108906,0.23808162696221025,0.2597857293862389,0,0,1.8961763568846898e-05,-8.191628643265225e-05
+10281,1792665161361316433,33701709000000,1792665161359041116,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6759808614969672,-0.004595643179708513,0.09080190739056408,0.999999970264715,-3.77456411455148e-05,-0.0002117364130304478,-6.823775902203039e-05,0.6761,-0.00453,0.0911277915505546,1.0,0.0,0.0,0.0,0.3162265939805762,0.1309739842914706,-0.25139150318138187,0.009111850088494338,-0.0231664369817829,0.0010071246649502605,0.5664784730912651,0.46621438381708274,-0.2737736884085892,0.03385359336151749,-0.042134162060452424,0.0010418205029986028,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9993591156704211,0.6678448815139405,2.4984673018875316,-0.27071481921648954,-1.724701138689387,0.36182450571281444,1.1679701502049307,0.25139150318138187,-1.330497151682601,0.25139150318138187,0.2687857293862354,0,0,1.2632530889572031e-05,-3.975169481964912e-05
+10317,1792665161661315390,33702009000000,1792665161659051183,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759808881144609,-0.0045942709253378,0.09080483778602451,0.9999999704532805,-3.6941209025146615e-05,-0.0002104630225821896,-6.983527708075366e-05,0.6761,-0.00453,0.09113082595839056,1.0,0.0,0.0,0.0,0.31528920647493885,0.13898152793591173,-0.2700993031027044,0.009095311667445056,-0.02215049042504787,0.001038336366240521,0.5655410855856278,0.47422192746152386,-0.2924814883299117,0.03383705494046821,-0.041118215503717394,0.0010730322042888634,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9851890254089678,0.884320033382114,2.4869299720571383,-0.3385651336788555,-1.7144246806474872,0.5043342393932461,1.1679701502049307,0.2700993031027044,-1.3189598218522076,0.2700993031027044,0.28078572938623075,0,0,8.944085333810094e-06,-3.6372446384312364e-05
+10345,1792665161894259704,33702242000000,1792665161887051729,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.675984806367146,-0.004589458995857916,0.09081242511933446,0.9999999716126903,-3.3056306473827304e-05,-0.00020485345680578527,-7.183192052313551e-05,0.6761,-0.00453,0.09113276819815985,1.0,0.0,0.0,0.0,0.3068082425099862,0.13452449961787427,-0.27152794816915915,0.009094413467206335,-0.022149532773196662,0.0010381196170336214,0.5570601216206751,0.4697648991434864,-0.29391013339636646,0.03383615674022949,-0.041117257851866186,0.0010728154550819636,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9415472302833203,0.782150458268228,2.455393557546399,-0.30640538243958737,-1.681789801304809,0.4341396946916443,1.1679701502049307,0.27152794816915915,-1.2874234073414685,0.27152794816915915,0.29010572938622714,0,0,8.215423794523732e-06,1.0843099131416788e-05
+10365,1792665162061320269,33702409000000,1792665162055041660,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759845695671295,-0.0045944030795088305,0.09081404283359933,0.9999999718566,-3.73835787149927e-05,-0.00020363567225896662,-6.974700501551919e-05,0.6761,-0.00453,0.0911342484189662,1.0,0.0,0.0,0.0,0.2996102140328114,0.13218540368970694,-0.2802669194223193,0.009096033787451305,-0.022147354231139924,0.0010441114476395083,0.5498620931435003,0.46742580321531907,-0.3026491046495266,0.03383777706047446,-0.04111507930980945,0.0010788072856878505,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9987530953598633,0.8162945105103492,2.4315909256701222,-0.3241328866427216,-1.6812062944718285,0.4571750908634145,1.1679701502049307,0.2802669194223193,-1.2636207754651916,0.2802669194223193,0.29678572938622455,0,0,9.386012517929086e-06,-1.1379874100772297e-05
+10393,1792665162294265576,33702642000000,1792665162287042041,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6759849679076292,-0.004595900617687961,0.09081615184862517,0.9999999719640966,-3.8401695515251295e-05,-0.00020255830049962546,-7.0782165960894e-05,0.6761,-0.00453,0.09113639780921362,1.0,0.0,0.0,0.0,0.30754055374928313,0.13381534496217928,-0.28133035257826866,0.009712016188742515,-0.02215890291527699,0.0010528616567484941,0.557792432859972,0.4690557444877914,-0.30371253780547597,0.03445375946176567,-0.041126627993946514,0.0010875574947968366,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9447036724715873,0.808883644326075,2.4596751513663833,-0.3218509391881192,-1.685251976314852,0.4492745108179353,1.1679701502049307,0.28133035257826866,-1.2917050011614526,0.28133035257826866,0.30610572938622094,0,0,1.0020217328665933e-05,2.3913849245557625e-05
+10417,1792665162494222910,33702841999999,1792665162491051129,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759864490606997,-0.004595284619304403,0.09081997782928414,0.9999999724517454,-3.804042517479514e-05,-0.00019980803737859628,-7.189608446236132e-05,0.6761,-0.00453,0.09113851331634215,1.0,0.0,0.0,0.0,0.3062744105088405,0.1445794397863137,-0.29077009829961187,0.01011766244176052,-0.02216433601908809,0.0010650287540429145,0.5565262896195294,0.47981983931192584,-0.3131522835268192,0.03485940571478367,-0.04113206109775761,0.0010997245920912567,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9694342106478211,0.7829575016193807,2.44033439637132,-0.31119178066113606,-1.6809865782219433,0.4317920038220695,1.1679701502049307,0.29077009829961187,-1.2723642461663895,0.29077009829961187,0.31410572938621784,0,0,1.1028234285327502e-05,6.460416747227093e-06
+10441,1792665162694219469,33703042000000,1792665162691042227,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759855319240458,-0.004594407594577021,0.09082061580941375,0.9999999721463804,-3.9531108771480265e-05,-0.00020094956116200637,-7.215724829888638e-05,0.6761,-0.00453,0.09114085679561715,1.0,0.0,0.0,0.0,0.306125887577428,0.144503296892266,-0.290814732150286,0.010115285231865136,-0.022164796849751946,0.0010651626265741586,0.5563777666881169,0.4797436964178781,-0.31319691737749333,0.03485702850488829,-0.04113252192842147,0.0010998584646225008,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9477050431882309,0.8472831515739531,2.5363302099201954,-0.334424492597042,-1.7365576024841558,0.47596010906965963,1.1679701502049307,0.290814732150286,-1.3683600597152648,0.290814732150286,0.32210572938621473,0,0,1.2986699010888203e-05,2.6856561687637897e-05
+10473,1792665162961281619,33703309000000,1792665162959041818,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6759872741315847,-0.004593534904457947,0.09082440909911729,0.9999999727682055,-3.848298689892356e-05,-0.00019793881307473023,-7.24274730051845e-05,0.6761,-0.00453,0.09114477562122024,1.0,0.0,0.0,0.0,0.30543307037246215,0.1440430690246684,-0.30117836667826253,0.010070874779046102,-0.0221323047454569,0.0010735174331880574,0.5556849494831511,0.47928346855028053,-0.32356055190546984,0.034812618052069255,-0.04110002982412642,0.0011082132712364,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-1.003936484891489,0.8081018767365793,2.5091302677544665,-0.32172759596737066,-1.7349122979889757,0.4512732533238465,1.1679701502049307,0.30117836667826253,-1.3411601175495358,0.30117836667826253,0.3327857293862106,0,0,1.6060296585033915e-05,-2.5920730410089286e-06
+10501,1792665163194229379,33703542000000,1792665163187052052,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6759861990063636,-0.0045968948733898524,0.09082624159496787,0.9999999724089292,-4.033416762898618e-05,-0.00019909920206341168,-7.319609327844987e-05,0.6761,-0.00453,0.09114863398505314,1.0,0.0,0.0,0.0,0.2977710237256498,0.14384694254512298,-0.3112767500207108,0.010122805216191164,-0.022158747572348304,0.0010805830871471593,0.5480229028363387,0.4790873420707351,-0.3336589352479181,0.03486454848921432,-0.04112647265101783,0.0011152789251955017,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-1.0200759850221324,0.7504173697729499,2.5842865464640283,-0.3080446363546076,-1.7870349039729072,0.40985373786216256,1.1679701502049307,0.3112767500207108,-1.4163163962590977,0.3112767500207108,0.342105729386207,0,0,1.6452824386623166e-05,-1.0488229332071547e-05
+10533,1792665163461221838,33703809000000,1792665163455042546,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.675988310374964,-0.004592197557130867,0.09083463009522376,0.9999999732875284,-3.768982363125042e-05,-0.00019467915892275428,-7.448026064420617e-05,0.6761,-0.00453,0.09115291500711499,1.0,0.0,0.0,0.0,0.29679150632611906,0.1535168176591062,-0.3213500188546068,0.010098753911771095,-0.021145569143443236,0.0011043052583637942,0.547043385436808,0.4887572171847183,-0.3437322040818141,0.03484049718479425,-0.04011329422211276,0.0011390010964121365,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9762419407486493,0.8521003636844423,2.6217031658189938,-0.33467972866010154,-1.8007884149890143,0.47860933560212165,1.1679701502049307,0.3213500188546068,-1.453733015614063,0.3213500188546068,0.35278572938620284,0,0,1.5718816860617292e-05,-9.713078982511944e-09
+10565,1792665163727223825,33704074999999,1792665163727042633,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6759883060903595,-0.004592056288401961,0.09083937605008698,0.9999999734309837,-3.9398398616152935e-05,-0.00019374332956650662,-7.410927511720054e-05,0.6761,-0.00453,0.09115688330511032,1.0,0.0,0.0,0.0,0.28769477534413734,0.15455785530358618,-0.3411007710655141,0.0107509786061615,-0.021153653603623177,0.0011271381293441276,0.5379466544548263,0.4897982548291983,-0.3634829562927214,0.035492721879184654,-0.0401213786822927,0.0011618339673924699,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9514461816322922,0.8078916338831692,2.5570289279402734,-0.323471473896135,-1.7529639599605893,0.4501279828055417,1.1679701502049307,0.3411007710655141,-1.3890587777353427,0.3411007710655141,0.3634257293861987,0,0,1.4079468634408228e-05,-2.946454014208011e-05
+10593,1792665163961295428,33704309000000,1792665163959051770,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759903920795406,-0.0045903786980900346,0.09084556540939072,0.9999999740506738,-4.049733487258539e-05,-0.00018916676029452338,-7.69247609000501e-05,0.6761,-0.00453,0.09115964961173238,1.0,0.0,0.0,0.0,0.28717423550827215,0.1519738277755992,-0.36104999530599297,0.011125758373303204,-0.021155277747987856,0.0011467096175255967,0.5374261146189611,0.48721422730121133,-0.3834321805332003,0.03586750164632636,-0.04012300282665738,0.001181405455573939,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9422611213415535,0.7808070481318541,2.53226401734911,-0.32105354488639193,-1.7334265194063778,0.4295116942650234,1.1679701502049307,0.36104999530599297,-1.3642938671441796,0.36104999530599297,0.3727857293861951,0,0,9.43673668680258e-06,-3.6049188350520395e-05
+10641,1792665164361330393,33704709000000,1792665164359041550,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6759922832603196,-0.004593276514196849,0.09085241607038445,0.9999999747930295,-3.876224161158874e-05,-0.0001860407477462509,-7.578346490943354e-05,0.6761,-0.00453,0.09116267841397754,1.0,0.0,0.0,0.0,0.28407867208320703,0.15449461137572135,-0.37115879456694717,0.011145830518902788,-0.02115337067106394,0.0011545193580307527,0.5343305511938959,0.4897350109013335,-0.3935409797941545,0.03588757379192594,-0.040121095749733465,0.001189215196079095,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9587167595130817,0.8689020728604603,2.645024914384771,-0.3404208823250551,-1.8141693246732986,0.4887676725721655,1.1679701502049307,0.37115879456694717,-1.4770547641798402,0.37115879456694717,0.3887857293861889,0,0,7.91557645758292e-06,9.069605576140785e-06
+10681,1792665164694224413,33705042000000,1792665164691051901,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.6759926711286057,-0.0045906831020003595,0.09085724448177822,0.9999999748382972,-3.986439657388276e-05,-0.0001847660360664956,-7.770850166111371e-05,0.6761,-0.00453,0.09116591768191455,1.0,0.0,0.0,0.0,0.2774535242297196,0.15724924393657508,-0.3707989843049445,0.012148066930479113,-0.021172022880028233,0.0011649203249101793,0.5277054033404085,0.4924896434621872,-0.3931811695321518,0.036889810203502266,-0.040139747958697757,0.0011996161629585216,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-1.0132214383979419,0.7065493851048402,2.708198677192554,-0.29508618964398436,-1.8726424339991619,0.386311731061558,1.1679701502049307,0.3707989843049445,-1.5402285269876232,0.3707989843049445,0.4021057293861837,0,0,1.2221362476452283e-05,3.466676832492244e-05
+10713,1792665164961330105,33705309000000,1792665164955041366,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759937775711685,-0.004592537069901249,0.09086180911073889,0.9999999752752924,-3.967412500840342e-05,-0.00018260030997936308,-7.730051426655139e-05,0.6761,-0.00453,0.0911696971300242,1.0,0.0,0.0,0.0,0.28176585622512984,0.16282175436783364,-0.37078725593611567,0.012148196181102976,-0.021172246097224328,0.0011654917500324032,0.5320177353358188,0.49806215389344577,-0.393169441163323,0.03688993945412613,-0.04013997117589385,0.0012001875880807455,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-1.0045483420863677,0.7838946686617513,2.580012724163151,-0.3205103842699094,-1.786590725423466,0.4392379664858199,1.1679701502049307,0.37078725593611567,-1.4120425739582205,0.37078725593611567,0.4127857293861796,0,0,1.6697257972519793e-05,4.345433083345617e-05
+10753,1792665165294289418,33705642000000,1792665165291041093,UP_FORCE_RAMP,2,0.0443,0.044301360845565796,0.675995394997492,-0.004591887843389197,0.09086661006920622,0.9999999756110118,-3.906856630498612e-05,-0.0001803146934669887,-7.861996282837684e-05,0.6761,-0.00453,0.09117638706225722,1.0,0.0,0.0,0.0,0.2769950359439317,0.16679868954371113,-0.37082502067014883,0.012127768442154092,-0.02038323298215494,0.0011771403580090327,0.5272469150546206,0.5020390890693233,-0.39320720589735614,0.036869511715177244,-0.03935095806082446,0.001211836196057375,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9812071445921056,0.7950890830169781,2.624282766006515,-0.32529701600335414,-1.806066717017172,0.43946241651526363,1.1679701502049307,0.37082502067014883,-1.4563126158015844,0.37082502067014883,0.4261057293861744,0,0,2.3466534005755236e-05,4.2159801537955116e-05
+10789,1792665165594321985,33705942000000,1792665165591050887,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.675993300029191,-0.004589118816846554,0.09086668290643292,0.9999999745916698,-4.12877539162391e-05,-0.00018439121939002717,-8.096124938643658e-05,0.6761,-0.00453,0.09118398170424369,1.0,0.0,0.0,0.0,0.2772012621929365,0.1769078549691434,-0.38083951854686493,0.012123904948918279,-0.020159588051564047,0.0011887384733802273,0.5274531413036254,0.5121482544947555,-0.40322170377407224,0.03686564822194143,-0.03912731313023357,0.0012234343114285698,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9235057616094893,0.8439219298984922,2.5888292346766106,-0.35127093847218216,-1.7667514129753723,0.4681634740821246,1.1679701502049307,0.38083951854686493,-1.42085908447168,0.38083951854686493,0.43810572938616976,0,0,2.7228607220510586e-05,1.4186850496382139e-05
+10824,1792665165886334473,33706233999999,1792665165883050651,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759942729098144,-0.004587847135632276,0.09087347489747659,0.999999974824694,-4.1715311198766934e-05,-0.00018300349664396263,-8.101252269406035e-05,0.6761,-0.00453,0.09119257840889293,1.0,0.0,0.0,0.0,0.2758173804530365,0.17475105709422023,-0.38085898998956613,0.012124458886593744,-0.020158302007783468,0.00118812001381055,0.5260692595637254,0.5099914566198324,-0.40324117521677344,0.0368662021596169,-0.03912602708645299,0.0012228158518588922,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-1.002133951137307,0.8736292486601115,2.6683511191148743,-0.35573072160473324,-1.838338718793332,0.49171633371019624,1.1679701502049307,0.38085898998956613,-1.5003809689099437,0.38085898998956613,0.44978572938616523,0,0,3.1374396607372495e-05,3.120174839320258e-05
+10869,1792665166261301886,33706608999999,1792665166259041336,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759930950336155,-0.004590050108502778,0.09088001105966904,0.999999974411656,-4.310622912904672e-05,-0.00018537741749203717,-7.997885852665347e-05,0.6761,-0.00453,0.09120501774545264,1.0,0.0,0.0,0.0,0.2711759479718111,0.16779714088807862,-0.39050243741251855,0.013134519731135368,-0.020808925878554586,0.0011931495297568947,0.5214278270825,0.5030375404136908,-0.41288462263972586,0.03787626300415852,-0.03977665095722411,0.001227845367805237,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.988928560710716,0.874362109074508,2.645112483602345,-0.36049272236543556,-1.8195876474415744,0.49117501136182873,1.1679701502049307,0.39050243741251855,-1.4771423333974143,0.39050243741251855,0.4647857293861594,0,0,3.4727638860618075e-05,2.438391036568041e-05
+10904,1792665166552335645,33706900000000,1792665166547051975,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759883352062618,-0.004590334554109858,0.0908820001969457,0.9999999726583854,-4.346782365452557e-05,-0.00019432176049544416,-8.047170222652874e-05,0.6761,-0.00453,0.09121561067961433,1.0,0.0,0.0,0.0,0.27745146945603116,0.1664603490312231,-0.39084979733860503,0.012149896105116336,-0.02104365419128996,0.0011822361213632612,0.5277033485667201,0.5017007485568352,-0.41323198256581234,0.03689163937813949,-0.040011379269959485,0.0012169319594116034,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9642961447602105,0.8495573513442263,2.69543125343394,-0.355717992323038,-1.843743042984154,0.4732376515319888,1.1679701502049307,0.39084979733860503,-1.5274611032290095,0.39084979733860503,0.4718,0,0,3.803052319122527e-05,2.4692708479517322e-05
+10924,1792665166719243630,33707067000000,1792665166715051692,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759874221420813,-0.004593474692528156,0.09088639332938388,0.9999999634289772,-0.0001418273336507738,-0.00019678138452432908,-7.58089869970441e-05,0.6761,-0.00453,0.09122179098640823,1.0,0.0,0.0,0.0,0.27749680335276705,0.157534238737858,-0.4107646709583691,0.012155735108246472,-0.0211634298629421,0.001197213265762167,0.527748682463456,0.4927746382634701,-0.4331468561855764,0.036897478381269624,-0.040131154941611624,0.0012319091038105092,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9367992644009068,0.7638082618713119,2.5254926673843645,-0.3320614980257131,-1.7260536210295674,0.4350768107705644,1.1679701502049307,0.4107646709583691,-1.3575225171794338,0.4107646709583691,0.4718,0,0,3.547165633222363e-05,-5.004032132735534e-05
+10928,1792665166752331029,33707100000000,1792665166751051272,UP_FORCE_RAMP,2,0.0443,0.044302016496658325,0.6759871293158709,-0.004611502016911234,0.09089265269631046,0.9999999729035197,-5.732069447989079e-05,-0.00020578940982589786,9.386224601756391e-07,0.6761,-0.00453,0.09122295770562412,1.0,0.0,0.0,0.0,0.28467973846102257,0.15592215373311713,-0.4073659387597091,0.012155084455881284,-0.021163678754517048,0.001197309447406602,0.5349316175717115,0.49116255325872926,-0.4297481239869164,0.03689682772890444,-0.04013140383318657,0.0012320052854549442,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.9963085205879587,0.655527434169304,2.6713455911815944,-0.2813487849938081,-1.8410123576299084,0.40309807091918926,1.1679701502049307,0.4073659387597091,-1.5033754409766638,0.4073659387597091,0.4718,0,0,3.525044907048052e-05,-3.0640590407424994e-05
+10953,1792665166954323577,33707302000000,1792665166951042770,UP_FORCE_HOLD,2,0.0443,0.044301360845565796,0.6759848214505879,-0.004611950499637485,0.09089768905101432,0.9999999718246305,-7.441788375648988e-07,-0.0002139548507385398,4.4904015540296754e-05,0.6761,-0.00453,0.09122925051785169,1.0,0.0,0.0,0.0,0.2464939106747583,0.11933186281378388,-0.4317395999010867,0.010029756617444364,-0.019080156291049154,0.0012189470976294641,0.4967457897854472,0.454572262339396,-0.454121785128294,0.03477149989046752,-0.03804788136971868,0.0012536429356778064,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-0.8996537160883816,0.6761661360764577,2.5185547240678687,-0.11234863431542415,-1.7569322294359455,0.38522912883290833,1.1679701502049307,0.4317395999010867,-1.350584573862938,0.4317395999010867,0.4718,0,0,2.6163107739980755e-05,-9.999999025923074e-05
+10990,1792665167255320975,33707603000000,1792665167255051286,UP_SETTLE,2,0.0443,0.044302016496658325,0.675988528550958,-0.004609872063213697,0.09090699910746475,0.9999999730784567,1.503933107320253e-07,-0.00020843494881831902,4.290454367544713e-05,0.6761,-0.00453,0.09123486811372415,1.0,0.0,0.0,0.0,0.24136348578185063,0.12391055942442036,-0.42851008166619553,0.009457737099199896,-0.01808715175243548,0.0012169751014388993,0.49161536489253954,0.4591509589500325,-0.45089226689340284,0.03419948037222305,-0.037054876831105005,0.0012516709394872416,0.2502518791106889,0.33524039952561213,-0.022382185227207294,0.024741743273023153,-0.018967725078669524,3.469583804834237e-05,1,-1.0000021379740798,0.6822078756281134,2.5565272783643143,-0.12125817009334267,-1.8029516345030203,0.38984100135618405,1.1679701502049307,0.42851008166619553,-1.3885571281593836,0.42851008166619553,0.4718,0,0,1.1113110671952304e-05,-9.999999025923074e-05

Part2/Fixed/s2/ball_PLA_15/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,1792665152150935531,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.273725485e-09,3.426283562e-11,2.690264012e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292521e-01,1.747599657e-06,8.295727109e-01
+1,1.166666667e-01,XJC_ZERO_HOLD_BEFORE_UP,1792665152384843209,1.770394179e-06,4.646709628e-06,3.501436178e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.041870145e-08,2.574446888e-10,1.920509096e-08,7.015396419e-01,6.197670949e-06,8.407444426e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292782e-01,1.747822839e-06,8.295727274e-01
+2,2.833333333e-01,WAIT_W2,1792665152716965700,7.505572446e-07,3.385412254e-07,2.795163760e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.842950490e-08,5.235254522e-10,3.704678031e-08,7.015386220e-01,1.889502546e-06,8.407437364e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293062e-01,1.748088919e-06,8.295727452e-01
+3,4.333333333e-01,WAIT_W2,1792665153016910524,1.601944410e-06,1.121239594e-06,3.046434388e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.666554425e-08,7.127223221e-10,4.876750614e-08,7.015394734e-01,2.672200915e-06,8.407439876e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293245e-01,1.748278116e-06,8.295727569e-01
+4,5.333333333e-01,WAIT_W2,1792665153216868879,2.023009109e-06,2.885905574e-06,2.735645715e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.607369473e-08,8.170445293e-10,5.485328758e-08,7.015398945e-01,4.436866895e-06,8.407436768e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293339e-01,1.748382438e-06,8.295727630e-01
+5,6.333333333e-01,WAIT_W2,1792665153414645248,1.584871804e-06,-2.781214523e-06,4.675691076e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.375349519e-08,9.070213226e-10,5.984164309e-08,7.015394564e-01,-1.230253202e-06,8.407456169e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293416e-01,1.748472415e-06,8.295727680e-01
+6,7.333333333e-01,WAIT_W2,1792665153614596809,3.146480070e-06,6.471440294e-07,5.886928980e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.000236279e-07,9.854970173e-10,6.392765206e-08,7.015410180e-01,2.198105350e-06,8.407468281e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293478e-01,1.748550891e-06,8.295727721e-01
+7,8.500000000e-01,WAIT_W2,1792665153848330134,5.370150735e-06,8.927430833e-07,7.918129865e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.051975563e-07,1.049026198e-09,6.727346447e-08,7.015432416e-01,2.443704404e-06,8.407488593e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293530e-01,1.748614420e-06,8.295727755e-01
+8,9.500000000e-01,WAIT_W2,1792665154048804949,4.642119742e-06,9.135466142e-07,7.938709094e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.096735676e-07,1.135634302e-09,7.034127580e-08,7.015425136e-01,2.464507935e-06,8.407488799e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293575e-01,1.748701028e-06,8.295727785e-01
+9,1.150000000e+00,WAIT_W2,1792665154448330439,5.643195913e-06,-5.577534669e-07,1.055897214e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.159033826e-07,1.209531621e-09,7.437163430e-08,7.015435147e-01,9.932078541e-07,8.407515002e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293637e-01,1.748774925e-06,8.295727826e-01
+10,1.266666667e+00,WAIT_W2,1792665154678911538,4.722934929e-06,-8.286589989e-06,9.262773978e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.184405850e-07,1.250854925e-09,7.606389818e-08,7.015425944e-01,-6.735628668e-06,8.407502040e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293662e-01,1.748816249e-06,8.295727842e-01
+11,1.433333333e+00,UP_FORCE_RAMP,1792665155012975690,6.436050201e-06,-2.124502479e-05,1.273953608e-05,5.918791126e-06,-1.845713646e-05,1.064363568e-05,6.164341987e-06,-1.844432698e-05,1.060730248e-05,7.015443075e-01,-1.969406347e-05,8.407536807e-01,7.015437903e-01,-1.690617514e-05,8.407515848e-01,7.017354121e-01,-1.669676159e-05,8.295833155e-01
+12,1.533333333e+00,UP_FORCE_RAMP,1792665155194831239,7.948289341e-06,-2.704969819e-05,1.433225186e-05,5.918791126e-06,-1.845713646e-05,1.064363568e-05,6.179237582e-06,-1.844477772e-05,1.063739394e-05,7.015458198e-01,-2.549873687e-05,8.407552734e-01,7.015437903e-01,-1.690617514e-05,8.407515848e-01,7.017354270e-01,-1.669721233e-05,8.295833456e-01
+13,1.666666667e+00,UP_FORCE_RAMP,1792665155444872953,4.625942270e-06,-3.606087493e-05,8.707931155e-06,5.918791126e-06,-1.845713646e-05,1.064363568e-05,6.195232108e-06,-1.844462365e-05,1.066805122e-05,7.015424974e-01,-3.450991361e-05,8.407496491e-01,7.015437903e-01,-1.690617514e-05,8.407515848e-01,7.017354430e-01,-1.669705825e-05,8.295833762e-01
+14,1.850000000e+00,UP_FORCE_RAMP,1792665155808903800,2.883578846e-06,-4.294246953e-05,1.051387542e-05,5.824567673e-06,-4.031907542e-05,1.171694641e-05,6.111217435e-06,-4.029500650e-05,1.172766567e-05,7.015407551e-01,-4.139150821e-05,8.407514551e-01,7.015436960e-01,-3.876811410e-05,8.407526581e-01,7.017353590e-01,-3.854744111e-05,8.295844358e-01
+15,1.983333333e+00,UP_FORCE_RAMP,1792665156045042030,4.909761132e-06,-5.034745167e-05,1.405457713e-05,5.824567673e-06,-4.031907542e-05,1.171694641e-05,6.119222403e-06,-4.029743187e-05,1.174601324e-05,7.015427812e-01,-4.879649035e-05,8.407549958e-01,7.015436960e-01,-3.876811410e-05,8.407526581e-01,7.017353670e-01,-3.854986648e-05,8.295844542e-01
+16,2.133333333e+00,UP_FORCE_RAMP,1792665156342928153,6.525019533e-06,-5.258361956e-05,1.666903882e-05,5.824567673e-06,-4.031907542e-05,1.171694641e-05,6.126366997e-06,-4.029769382e-05,1.176144123e-05,7.015443965e-01,-5.103265824e-05,8.407576102e-01,7.015436960e-01,-3.876811410e-05,8.407526581e-01,7.017353742e-01,-3.855012843e-05,8.295844696e-01
+17,2.266666667e+00,UP_FORCE_RAMP,1792665156574885411,5.435911441e-06,-4.898218565e-05,1.782541450e-05,5.824567673e-06,-4.031907542e-05,1.171694641e-05,6.131333462e-06,-4.029775010e-05,1.177160750e-05,7.015433074e-01,-4.743122433e-05,8.407587666e-01,7.015436960e-01,-3.876811410e-05,8.407526581e-01,7.017353791e-01,-3.855018471e-05,8.295844798e-01
+18,2.416666667e+00,UP_FORCE_RAMP,1792665156876971953,8.286186140e-06,-5.341143764e-05,2.730712463e-05,8.898795539e-06,-5.346206421e-05,2.664222613e-05,9.358826352e-06,-5.344227605e-05,2.654556857e-05,7.015461577e-01,-5.186047632e-05,8.407682483e-01,7.015467703e-01,-5.191110289e-05,8.407675834e-01,7.017386066e-01,-5.169471066e-05,8.295992537e-01
+19,2.583333333e+00,UP_FORCE_RAMP,1792665157172831784,8.166473842e-06,-5.811762372e-05,2.823513615e-05,8.898795539e-06,-5.346206421e-05,2.664222613e-05,9.375746951e-06,-5.344383503e-05,2.662793980e-05,7.015460380e-01,-5.656666240e-05,8.407691763e-01,7.015467703e-01,-5.191110289e-05,8.407675834e-01,7.017386235e-01,-5.169626963e-05,8.295993361e-01
+20,2.750000000e+00,UP_FORCE_RAMP,1792665157508909182,8.387029726e-06,-5.726029325e-05,3.436854996e-05,8.898795539e-06,-5.346206421e-05,2.664222613e-05,9.389257277e-06,-5.344363858e-05,2.668094836e-05,7.015462585e-01,-5.570933193e-05,8.407753097e-01,7.015467703e-01,-5.191110289e-05,8.407675834e-01,7.017386371e-01,-5.169607318e-05,8.295993891e-01
+21,2.900000000e+00,UP_FORCE_RAMP,1792665157772625144,6.978667555e-06,-5.601641833e-05,3.406394279e-05,8.898795539e-06,-5.346206421e-05,2.664222613e-05,9.398896809e-06,-5.344347439e-05,2.671430207e-05,7.015448501e-01,-5.446545701e-05,8.407750051e-01,7.015467703e-01,-5.191110289e-05,8.407675834e-01,7.017386467e-01,-5.169590900e-05,8.295994225e-01
+22,3.066666667e+00,UP_FORCE_RAMP,1792665158106951209,8.837270021e-06,-6.072541018e-05,3.953899038e-05,8.898795539e-06,-5.346206421e-05,2.664222613e-05,9.407338937e-06,-5.344331655e-05,2.674044165e-05,7.015467088e-01,-5.917444886e-05,8.407804802e-01,7.015467703e-01,-5.191110289e-05,8.407675834e-01,7.017386551e-01,-5.169575116e-05,8.295994486e-01
+23,3.250000000e+00,UP_FORCE_RAMP,1792665158436920574,8.216373758e-06,-6.457335438e-05,4.130041399e-05,1.025080905e-05,-6.399972394e-05,4.537619027e-05,1.083430135e-05,-6.399592770e-05,4.520965516e-05,7.015460879e-01,-6.302239306e-05,8.407822416e-01,7.015481223e-01,-6.244876262e-05,8.407863174e-01,7.017400821e-01,-6.224836231e-05,8.296179178e-01
+24,3.366666667e+00,UP_FORCE_RAMP,1792665158670937661,8.360086304e-06,-6.078881453e-05,4.495259581e-05,1.025080905e-05,-6.399972394e-05,4.537619027e-05,1.084219858e-05,-6.399742188e-05,4.529735592e-05,7.015462316e-01,-5.923785321e-05,8.407858938e-01,7.015481223e-01,-6.244876262e-05,8.407863174e-01,7.017400900e-01,-6.224985649e-05,8.296180055e-01
+25,3.483333333e+00,UP_FORCE_RAMP,1792665158905574009,7.892185575e-06,-6.146721766e-05,4.526972093e-05,1.025080905e-05,-6.399972394e-05,4.537619027e-05,1.085011103e-05,-6.399715236e-05,4.535638000e-05,7.015457637e-01,-5.991625634e-05,8.407862109e-01,7.015481223e-01,-6.244876262e-05,8.407863174e-01,7.017400979e-01,-6.224958697e-05,8.296180646e-01
+26,3.650000000e+00,UP_FORCE_RAMP,1792665159205533241,8.189852396e-06,-6.485398155e-05,4.914558492e-05,1.025080905e-05,-6.399972394e-05,4.537619027e-05,1.086015820e-05,-6.399675897e-05,4.541677992e-05,7.015460613e-01,-6.330302023e-05,8.407900868e-01,7.015481223e-01,-6.244876262e-05,8.407863174e-01,7.017401080e-01,-6.224919357e-05,8.296181250e-01
+27,3.750000000e+00,UP_FORCE_RAMP,1792665159406663493,8.929056779e-06,-5.904606143e-05,5.569733629e-05,1.025080905e-05,-6.399972394e-05,4.537619027e-05,1.086539930e-05,-6.399655526e-05,4.544333940e-05,7.015468005e-01,-5.749510011e-05,8.407966385e-01,7.015481223e-01,-6.244876262e-05,8.407863174e-01,7.017401132e-01,-6.224898987e-05,8.296181515e-01
+28,3.866666667e+00,UP_FORCE_RAMP,1792665159620823155,8.362274111e-06,-6.687430528e-05,5.488952403e-05,1.025080905e-05,-6.399972394e-05,4.537619027e-05,1.087077055e-05,-6.399634507e-05,4.546756699e-05,7.015462338e-01,-6.532334395e-05,8.407958307e-01,7.015481223e-01,-6.244876262e-05,8.407863174e-01,7.017401186e-01,-6.224877967e-05,8.296181757e-01
+29,3.983333333e+00,UP_FORCE_RAMP,1792665159837309623,7.041693486e-06,-6.259179317e-05,5.770244948e-05,1.025080905e-05,-6.399972394e-05,4.537619027e-05,1.087538803e-05,-6.399616880e-05,4.548617748e-05,7.015449132e-01,-6.104083185e-05,8.407986436e-01,7.015481223e-01,-6.244876262e-05,8.407863174e-01,7.017401232e-01,-6.224860340e-05,8.296181944e-01
+30,4.116666667e+00,UP_FORCE_RAMP,1792665160101158545,4.288137417e-06,-5.667162879e-05,5.713589354e-05,1.025080905e-05,-6.399972394e-05,4.537619027e-05,1.087983521e-05,-6.399600573e-05,4.550226172e-05,7.015421596e-01,-5.512066747e-05,8.407980771e-01,7.015481223e-01,-6.244876262e-05,8.407863174e-01,7.017401276e-01,-6.224844033e-05,8.296182104e-01
+31,4.150000000e+00,UP_FORCE_RAMP,1792665160169134667,-3.400751178e-05,-5.846962978e-05,4.766897525e-05,-3.330505621e-05,-5.825532232e-05,4.767273858e-05,-3.336020926e-05,-5.822532823e-05,4.767478969e-05,7.015038640e-01,-5.691866846e-05,8.407886102e-01,7.015045664e-01,-5.670436100e-05,8.407886139e-01,7.016958876e-01,-5.647776283e-05,8.296203830e-01
+32,4.216666667e+00,UP_FORCE_RAMP,1792665160301092356,-2.467220717e-05,-5.767633033e-05,5.808794268e-05,-3.330505621e-05,-5.825532232e-05,4.767273858e-05,-3.346738157e-05,-5.822368379e-05,4.769137780e-05,7.015131993e-01,-5.612536901e-05,8.407990291e-01,7.015045664e-01,-5.670436100e-05,8.407886139e-01,7.016957804e-01,-5.647611840e-05,8.296203996e-01
+33,4.350000000e+00,UP_FORCE_RAMP,1792665160568950742,-2.755641451e-05,-5.802081192e-05,5.971051356e-05,-3.330505621e-05,-5.825532232e-05,4.767273858e-05,-3.359768195e-05,-5.822460056e-05,4.770620578e-05,7.015103151e-01,-5.646985060e-05,8.408006517e-01,7.015045664e-01,-5.670436100e-05,8.407886139e-01,7.016956501e-01,-5.647703517e-05,8.296204144e-01
+34,4.500000000e+00,UP_FORCE_RAMP,1792665160867049118,-2.560864859e-05,-5.758966568e-05,6.870716285e-05,-2.284968667e-05,-5.882043775e-05,6.859686764e-05,-2.288800301e-05,-5.880301925e-05,6.849843621e-05,7.015122628e-01,-5.603870436e-05,8.408096484e-01,7.015150218e-01,-5.726947643e-05,8.408095381e-01,7.017063598e-01,-5.705545385e-05,8.296412066e-01
+35,4.633333333e+00,UP_FORCE_RAMP,1792665161132981170,-2.107319781e-05,-6.058801885e-05,8.072477521e-05,-2.284968667e-05,-5.882043775e-05,6.859686764e-05,-2.292382707e-05,-5.880240316e-05,6.857103092e-05,7.015167983e-01,-5.903705753e-05,8.408216660e-01,7.015150218e-01,-5.726947643e-05,8.408095381e-01,7.017063240e-01,-5.705483777e-05,8.296412792e-01
+36,4.750000000e+00,UP_FORCE_RAMP,1792665161364927494,-2.064675322e-05,-5.861052281e-05,8.547588945e-05,-2.284968667e-05,-5.882043775e-05,6.859686764e-05,-2.294628479e-05,-5.880201064e-05,6.861676839e-05,7.015172247e-01,-5.705956149e-05,8.408264171e-01,7.015150218e-01,-5.726947643e-05,8.408095381e-01,7.017063015e-01,-5.705444524e-05,8.296413249e-01
+37,4.900000000e+00,UP_FORCE_RAMP,1792665161664923279,-1.819891321e-05,-5.894984362e-05,9.321418409e-05,-1.663565031e-05,-5.824180685e-05,8.961976225e-05,-1.660302730e-05,-5.822237086e-05,8.941229907e-05,7.015196726e-01,-5.739888230e-05,8.408341554e-01,7.015212358e-01,-5.669084553e-05,8.408305609e-01,7.017126448e-01,-5.647480547e-05,8.296621205e-01
+38,5.016666667e+00,UP_FORCE_RAMP,1792665161897225106,-1.881392127e-05,-5.751772106e-05,9.141263516e-05,-1.663565031e-05,-5.824180685e-05,8.961976225e-05,-1.659760904e-05,-5.822133383e-05,8.949463514e-05,7.015190576e-01,-5.596675974e-05,8.408323538e-01,7.015212358e-01,-5.669084553e-05,8.408305609e-01,7.017126502e-01,-5.647376843e-05,8.296622028e-01
+39,5.100000000e+00,UP_FORCE_RAMP,1792665162064930248,-1.466621864e-05,-5.742326415e-05,9.974432568e-05,-1.663565031e-05,-5.824180685e-05,8.961976225e-05,-1.659381742e-05,-5.822077961e-05,8.954012416e-05,7.015232053e-01,-5.587230283e-05,8.408406855e-01,7.015212358e-01,-5.669084553e-05,8.408305609e-01,7.017126540e-01,-5.647321422e-05,8.296622483e-01
+40,5.216666667e+00,UP_FORCE_RAMP,1792665162296917154,-1.649297007e-05,-5.969180158e-05,9.760374548e-05,-1.663565031e-05,-5.824180685e-05,8.961976225e-05,-1.658882322e-05,-5.822014396e-05,8.958983062e-05,7.015213785e-01,-5.814084026e-05,8.408385449e-01,7.015212358e-01,-5.669084553e-05,8.408305609e-01,7.017126590e-01,-5.647257857e-05,8.296622980e-01
+41,5.316666667e+00,UP_FORCE_RAMP,1792665162496956644,-1.507490662e-05,-5.901132821e-05,1.022807362e-04,-1.663565031e-05,-5.824180685e-05,8.961976225e-05,-1.658493418e-05,-5.821969965e-05,8.962240571e-05,7.015227966e-01,-5.746036689e-05,8.408432219e-01,7.015212358e-01,-5.669084553e-05,8.408305609e-01,7.017126629e-01,-5.647213426e-05,8.296623306e-01
+42,5.416666667e+00,UP_FORCE_RAMP,1792665162696912165,-1.501348332e-05,-5.844777167e-05,1.047037008e-04,-1.663565031e-05,-5.824180685e-05,8.961976225e-05,-1.658144427e-05,-5.821933139e-05,8.964790559e-05,7.015228580e-01,-5.689681035e-05,8.408456449e-01,7.015212358e-01,-5.669084553e-05,8.408305609e-01,7.017126664e-01,-5.647176600e-05,8.296623561e-01
+43,5.550000000e+00,UP_FORCE_RAMP,1792665162960907222,-1.472857010e-05,-6.054108485e-05,1.062803881e-04,-1.663565031e-05,-5.824180685e-05,8.961976225e-05,-1.657740987e-05,-5.821893748e-05,8.967356260e-05,7.015231429e-01,-5.899012353e-05,8.408472216e-01,7.015212358e-01,-5.669084553e-05,8.408305609e-01,7.017126704e-01,-5.647137208e-05,8.296623817e-01
+44,5.666666667e+00,UP_FORCE_RAMP,1792665163194931706,-1.463507727e-05,-6.088553132e-05,1.097664650e-04,-1.342418530e-05,-5.385607502e-05,1.096147506e-04,-1.326871998e-05,-5.384607884e-05,1.094302599e-04,7.015232364e-01,-5.933457000e-05,8.408507077e-01,7.015244473e-01,-5.230511370e-05,8.408505559e-01,7.017159791e-01,-5.209851344e-05,8.296821384e-01
+45,5.800000000e+00,UP_FORCE_RAMP,1792665163460938136,-1.205394667e-05,-5.626897657e-05,1.187061742e-04,-1.342418530e-05,-5.385607502e-05,1.096147506e-04,-1.325479150e-05,-5.384465242e-05,1.095160341e-04,7.015258175e-01,-5.471801525e-05,8.408596474e-01,7.015244473e-01,-5.230511370e-05,8.408505559e-01,7.017159930e-01,-5.209708703e-05,8.296822242e-01
+46,5.950000000e+00,UP_FORCE_RAMP,1792665163728940628,-1.031231904e-05,-5.762007730e-05,1.273667577e-04,-1.342418530e-05,-5.385607502e-05,1.096147506e-04,-1.324212164e-05,-5.384383283e-05,1.095822453e-04,7.015275592e-01,-5.606911598e-05,8.408683079e-01,7.015244473e-01,-5.230511370e-05,8.408505559e-01,7.017160057e-01,-5.209626744e-05,8.296822904e-01
+47,6.066666667e+00,UP_FORCE_RAMP,1792665163960982366,-9.972242089e-06,-5.445011753e-05,1.296414884e-04,-8.683848200e-06,-5.482058902e-05,1.312269139e-04,-8.335697329e-06,-5.480312515e-05,1.309527518e-04,7.015278992e-01,-5.289915620e-05,8.408705827e-01,7.015291876e-01,-5.326962770e-05,8.408721681e-01,7.017209121e-01,-5.305555975e-05,8.297036609e-01
+48,6.283333333e+00,UP_FORCE_RAMP,1792665164360917132,-6.918656385e-06,-5.563715485e-05,1.390936857e-04,-8.683848200e-06,-5.482058902e-05,1.312269139e-04,-8.298128187e-06,-5.480073313e-05,1.311434333e-04,7.015309528e-01,-5.408619353e-05,8.408800349e-01,7.015291876e-01,-5.326962770e-05,8.408721681e-01,7.017209497e-01,-5.305316773e-05,8.297038516e-01
+49,6.450000000e+00,UP_FORCE_RAMP,1792665164692870075,-5.748768643e-06,-5.337427681e-05,1.434147156e-04,-8.683848200e-06,-5.482058902e-05,1.312269139e-04,-8.277692183e-06,-5.479990506e-05,1.312263785e-04,7.015321227e-01,-5.182331549e-05,8.408843559e-01,7.015291876e-01,-5.326962770e-05,8.408721681e-01,7.017209701e-01,-5.305233966e-05,8.297039346e-01
+50,6.600000000e+00,UP_FORCE_RAMP,1792665164958883302,-5.395156559e-06,-5.217525035e-05,1.483066256e-04,-8.683848200e-06,-5.482058902e-05,1.312269139e-04,-8.264065338e-06,-5.479938304e-05,1.312759415e-04,7.015324763e-01,-5.062428903e-05,8.408892478e-01,7.015291876e-01,-5.326962770e-05,8.408721681e-01,7.017209837e-01,-5.305181764e-05,8.297039841e-01
+51,6.766666667e+00,UP_FORCE_RAMP,1792665165290937180,-7.766784645e-06,-5.220355470e-05,1.474420716e-04,-8.683848200e-06,-5.482058902e-05,1.312269139e-04,-8.252879046e-06,-5.479896957e-05,1.313128002e-04,7.015301047e-01,-5.065259338e-05,8.408883833e-01,7.015291876e-01,-5.326962770e-05,8.408721681e-01,7.017209949e-01,-5.305140417e-05,8.297040210e-01
+52,6.933333333e+00,UP_FORCE_RAMP,1792665165591165643,-6.115428391e-06,-5.059429237e-05,1.530421556e-04,-5.794992941e-06,-5.362340780e-05,1.519367954e-04,-5.154411446e-06,-5.359603370e-05,1.517824605e-04,7.015317561e-01,-4.904333105e-05,8.408939833e-01,7.015320765e-01,-5.207244648e-05,8.408928780e-01,7.017240934e-01,-5.184846831e-05,8.297244906e-01
+53,7.083333333e+00,UP_FORCE_RAMP,1792665165888932100,-5.555569761e-06,-5.206833014e-05,1.565532747e-04,-5.794992941e-06,-5.362340780e-05,1.519367954e-04,-5.138472477e-06,-5.359514872e-05,1.518777262e-04,7.015323159e-01,-5.051736881e-05,8.408974945e-01,7.015320765e-01,-5.207244648e-05,8.408928780e-01,7.017241093e-01,-5.184758332e-05,8.297245859e-01
+54,7.283333333e+00,UP_FORCE_RAMP,1792665166256885864,-7.049183992e-06,-5.541521217e-05,1.623731833e-04,-5.794992941e-06,-5.362340780e-05,1.519367954e-04,-5.123254898e-06,-5.359462456e-05,1.519561879e-04,7.015308223e-01,-5.386425085e-05,8.409033144e-01,7.015320765e-01,-5.207244648e-05,8.408928780e-01,7.017241245e-01,-5.184705917e-05,8.297246644e-01
+55,7.433333333e+00,UP_FORCE_RAMP,1792665166555482408,-7.436721951e-06,-4.847930842e-05,1.711295592e-04,-5.794992941e-06,-5.362340780e-05,1.519367954e-04,-5.115236364e-06,-5.359434960e-05,1.519929227e-04,7.015304348e-01,-4.692834709e-05,8.409120707e-01,7.015320765e-01,-5.207244648e-05,8.408928780e-01,7.017241326e-01,-5.184678421e-05,8.297247011e-01
+56,7.533333333e+00,UP_FORCE_RAMP,1792665166721455493,-1.102905693e-05,-5.127597498e-05,1.722221295e-04,-8.594122210e-06,-5.644748569e-05,1.714851139e-04,-7.882196405e-06,-5.643319762e-05,1.712969792e-04,7.015268424e-01,-4.972501366e-05,8.409131633e-01,7.015292774e-01,-5.489652437e-05,8.409124263e-01,7.017213656e-01,-5.468563222e-05,8.297440052e-01
+57,7.550000000e+00,UP_FORCE_RAMP,1792665166753486722,-1.000068655e-05,-8.839009725e-05,1.817767786e-04,-1.003649368e-05,-8.861420424e-05,1.813793265e-04,-9.323537854e-06,-8.855978769e-05,1.809862846e-04,7.015278708e-01,-8.683913593e-05,8.409227180e-01,7.015278350e-01,-8.706324292e-05,8.409223205e-01,7.017199243e-01,-8.681222229e-05,8.297536945e-01
+58,7.650000000e+00,UP_FORCE_HOLD,1792665166952941446,-1.632150944e-05,-8.132290808e-05,1.810134215e-04,-1.003649368e-05,-8.861420424e-05,1.813793265e-04,-9.336953572e-06,-8.857798330e-05,1.811029810e-04,7.015215500e-01,-7.977194676e-05,8.409219546e-01,7.015278350e-01,-8.706324292e-05,8.409223205e-01,7.017199108e-01,-8.683041790e-05,8.297538112e-01
+59,7.800000000e+00,UP_SETTLE,1792665167253295834,-1.541822292e-05,-7.565892823e-05,1.835390320e-04,-1.003649368e-05,-8.861420424e-05,1.813793265e-04,-9.344568509e-06,-8.857946819e-05,1.812110707e-04,7.015224533e-01,-7.410796691e-05,8.409244802e-01,7.015278350e-01,-8.706324292e-05,8.409223205e-01,7.017199032e-01,-8.683190280e-05,8.297539192e-01

Part2/Fixed/s2/ball_PLA_15/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
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-3.8357e-03,3.0263e-04,2.4570e+00,-3.6834e-02,3.6508e-02,-2.4211e-05,2.1557e-04,7.6862e-06,1.5116e-04,-1.1288e-06,1.5162e-05,-3.3286e-07,2.6339e-04,1.5208e-05
+1,1.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.3826e-05,-2.5009e-03,3.5290e-04,2.4580e+00,-3.6841e-02,3.6602e-02,-2.6274e-05,1.5504e-03,5.7959e-05,1.0786e-03,-8.3372e-06,1.0940e-04,-2.3958e-06,1.8895e-03,1.0974e-04
+2,2.8333e-01,WAIT_W2,6.5864e-05,-1.0467e-03,4.1248e-04,2.4590e+00,-3.6850e-02,3.6705e-02,-2.8497e-05,3.0046e-03,1.1754e-04,2.0792e-03,-1.6581e-05,2.1255e-04,-4.6191e-06,3.6558e-03,2.1324e-04
+3,4.3333e-01,WAIT_W2,9.9946e-05,-9.0855e-05,4.5415e-04,2.4596e+00,-3.6855e-02,3.6773e-02,-2.9901e-05,3.9604e-03,1.5921e-04,2.7361e-03,-2.2206e-05,2.8053e-04,-6.0227e-06,4.8163e-03,2.8147e-04
+4,5.3333e-01,WAIT_W2,1.2979e-04,4.0411e-04,4.7660e-04,2.4600e+00,-3.6858e-02,3.6808e-02,-3.0586e-05,4.4554e-03,1.8166e-04,3.0770e-03,-2.5194e-05,3.1577e-04,-6.7078e-06,5.4177e-03,3.1684e-04
+5,6.3333e-01,WAIT_W2,1.6472e-04,8.0883e-04,4.9551e-04,2.4602e+00,-3.6861e-02,3.6837e-02,-3.1110e-05,4.8601e-03,2.0057e-04,3.3569e-03,-2.7679e-05,3.4460e-04,-7.2314e-06,5.9101e-03,3.4579e-04
+6,7.3333e-01,WAIT_W2,1.9698e-04,1.1396e-03,5.1146e-04,2.4605e+00,-3.6863e-02,3.6861e-02,-3.1501e-05,5.1908e-03,2.1652e-04,3.5858e-03,-2.9739e-05,3.6817e-04,-7.6229e-06,6.3127e-03,3.6944e-04
+7,8.5000e-01,WAIT_W2,2.3254e-04,1.4391e-03,5.2538e-04,2.4607e+00,-3.6865e-02,3.6882e-02,-3.1803e-05,5.4903e-03,2.3044e-04,3.7937e-03,-3.1553e-05,3.8947e-04,-7.9253e-06,6.6775e-03,3.9082e-04
+8,9.5000e-01,WAIT_W2,2.6320e-04,1.6456e-03,5.3327e-04,2.4608e+00,-3.6866e-02,3.6896e-02,-3.1952e-05,5.6969e-03,2.3833e-04,3.9401e-03,-3.2645e-05,4.0408e-04,-8.0738e-06,6.9308e-03,4.0548e-04
+9,1.1500e+00,WAIT_W2,2.9569e-04,1.9562e-03,5.4864e-04,2.4610e+00,-3.6868e-02,3.6919e-02,-3.2129e-05,6.0075e-03,2.5370e-04,4.1595e-03,-3.4574e-05,4.2619e-04,-8.2507e-06,7.3113e-03,4.2767e-04
+10,1.2667e+00,WAIT_W2,3.2912e-04,2.0907e-03,5.5609e-04,2.4611e+00,-3.6869e-02,3.6928e-02,-3.2176e-05,6.1419e-03,2.6115e-04,4.2539e-03,-3.5465e-05,4.3579e-04,-8.2974e-06,7.4758e-03,4.3731e-04
+11,1.4333e+00,UP_FORCE_RAMP,3.6414e-04,-1.2088e-03,6.6586e-03,2.4536e+00,-3.7291e-02,3.6706e-02,-2.7625e-05,2.8425e-03,6.3636e-03,-3.2792e-03,-4.5748e-04,2.1358e-04,-3.7464e-06,7.7025e-03,5.0489e-04
+12,1.5333e+00,UP_FORCE_RAMP,3.9778e-04,-4.4448e-04,6.5479e-03,2.4555e+00,-3.7289e-02,3.6755e-02,-2.5533e-05,3.6068e-03,6.2529e-03,-1.3452e-03,-4.5577e-04,2.6290e-04,-1.6551e-06,7.3428e-03,5.2616e-04
+13,1.6667e+00,UP_FORCE_RAMP,4.3104e-04,2.7690e-04,6.6700e-03,2.4573e+00,-3.7300e-02,3.6803e-02,-2.3777e-05,4.3282e-03,6.3751e-03,4.1914e-04,-4.6702e-04,3.1097e-04,1.0084e-07,7.7169e-03,5.6108e-04
+14,1.8500e+00,UP_FORCE_RAMP,4.6336e-04,1.3349e-03,1.4670e-02,2.4583e+00,-3.7879e-02,3.6879e-02,-8.4396e-06,5.3862e-03,1.4375e-02,1.4560e-03,-1.0456e-03,3.8631e-04,1.5439e-05,1.5419e-02,1.1148e-03
+15,1.9833e+00,UP_FORCE_RAMP,4.9740e-04,1.6037e-03,1.4351e-02,2.4593e+00,-3.7850e-02,3.6896e-02,-6.9250e-06,5.6550e-03,1.4056e-02,2.3973e-03,-1.0168e-03,4.0390e-04,1.6953e-05,1.5339e-02,1.0942e-03
+16,2.1333e+00,UP_FORCE_RAMP,5.2766e-04,1.9316e-03,1.4196e-02,2.4601e+00,-3.7834e-02,3.6918e-02,-6.7286e-06,5.9829e-03,1.3901e-02,3.2568e-03,-1.0011e-03,4.2602e-04,1.7150e-05,1.5480e-02,1.0881e-03
+17,2.2667e+00,UP_FORCE_RAMP,5.6046e-04,2.1691e-03,1.4130e-02,2.4607e+00,-3.7827e-02,3.6935e-02,-7.3300e-06,6.2204e-03,1.3835e-02,3.8235e-03,-9.9358e-04,4.4227e-04,1.6548e-05,1.5644e-02,1.0877e-03
+18,2.4167e+00,UP_FORCE_RAMP,5.9234e-04,2.4720e-04,1.8339e-02,2.4497e+00,-3.8111e-02,3.6810e-02,-7.0352e-06,4.2985e-03,1.8044e-02,-7.2050e-03,-1.2778e-03,3.1761e-04,1.6843e-05,1.9899e-02,1.3168e-03
+19,2.5833e+00,UP_FORCE_RAMP,6.2583e-04,1.2003e-03,1.8216e-02,2.4539e+00,-3.8111e-02,3.6872e-02,-5.8311e-06,5.2516e-03,1.7921e-02,-3.0122e-03,-1.2777e-03,3.8003e-04,1.8047e-05,1.8916e-02,1.3332e-03
+20,2.7500e+00,UP_FORCE_RAMP,6.5898e-04,1.8384e-03,1.8336e-02,2.4569e+00,-3.8121e-02,3.6915e-02,-6.0068e-06,5.8897e-03,1.8041e-02,2.0981e-05,-1.2879e-03,4.2237e-04,1.7871e-05,1.8978e-02,1.3555e-03
+21,2.9000e+00,UP_FORCE_RAMP,6.9429e-04,2.3000e-03,1.8389e-02,2.4588e+00,-3.8124e-02,3.6946e-02,-6.8293e-06,6.3513e-03,1.8094e-02,1.9245e-03,-1.2913e-03,4.5338e-04,1.7049e-05,1.9273e-02,1.3687e-03
+22,3.0667e+00,UP_FORCE_RAMP,7.2397e-04,2.7088e-03,1.8409e-02,2.4603e+00,-3.8124e-02,3.6973e-02,-8.1345e-06,6.7600e-03,1.8115e-02,3.4118e-03,-1.2913e-03,4.8107e-04,1.5744e-05,1.9634e-02,1.3781e-03
+23,3.2500e+00,UP_FORCE_RAMP,7.5964e-04,2.8549e-03,1.9163e-02,2.4587e+00,-3.8173e-02,3.6984e-02,-9.5435e-06,6.9062e-03,1.8868e-02,1.8167e-03,-1.3402e-03,4.9208e-04,1.4335e-05,2.0174e-02,1.4278e-03
+24,3.3667e+00,UP_FORCE_RAMP,7.9376e-04,2.5322e-03,2.1627e-02,2.4505e+00,-3.8348e-02,3.6968e-02,-8.3381e-06,6.5834e-03,2.1332e-02,-6.3300e-03,-1.5153e-03,4.7592e-04,1.5540e-05,2.3205e-02,1.5884e-03
+25,3.4833e+00,UP_FORCE_RAMP,8.2612e-04,2.9616e-03,2.1750e-02,2.4539e+00,-3.8360e-02,3.6997e-02,-8.2674e-06,7.0128e-03,2.1455e-02,-3.0127e-03,-1.5271e-03,5.0458e-04,1.5611e-05,2.2772e-02,1.6084e-03
+26,3.6500e+00,UP_FORCE_RAMP,8.5582e-04,3.4527e-03,2.1874e-02,2.4573e+00,-3.8370e-02,3.7029e-02,-8.8724e-06,7.5039e-03,2.1579e-02,4.4966e-04,-1.5369e-03,5.3691e-04,1.5006e-05,2.2851e-02,1.6281e-03
+27,3.7500e+00,UP_FORCE_RAMP,8.8659e-04,3.7017e-03,2.1918e-02,2.4588e+00,-3.8372e-02,3.7046e-02,-9.4905e-06,7.7530e-03,2.1623e-02,1.9698e-03,-1.5394e-03,5.5332e-04,1.4388e-05,2.3055e-02,1.6359e-03
+28,3.8667e+00,UP_FORCE_RAMP,9.2677e-04,3.9564e-03,2.1946e-02,2.4602e+00,-3.8373e-02,3.7063e-02,-1.0359e-05,8.0076e-03,2.1651e-02,3.3572e-03,-1.5401e-03,5.7019e-04,1.3519e-05,2.3327e-02,1.6423e-03
+29,3.9833e+00,UP_FORCE_RAMP,9.5594e-04,4.1763e-03,2.1957e-02,2.4613e+00,-3.8372e-02,3.7077e-02,-1.1324e-05,8.2276e-03,2.1662e-02,4.4236e-03,-1.5391e-03,5.8485e-04,1.2554e-05,2.3590e-02,1.6465e-03
+30,4.1167e+00,UP_FORCE_RAMP,9.9259e-04,4.3901e-03,2.1956e-02,2.4622e+00,-3.8370e-02,3.7092e-02,-1.2486e-05,8.4414e-03,2.1661e-02,5.3444e-03,-1.5369e-03,5.9920e-04,1.1392e-05,2.3854e-02,1.6496e-03
+31,4.1500e+00,UP_FORCE_RAMP,1.0375e-03,4.4378e-03,2.1954e-02,2.4624e+00,-3.8369e-02,3.7095e-02,-1.2780e-05,8.4891e-03,2.1659e-02,5.5351e-03,-1.5362e-03,6.0243e-04,1.1098e-05,2.3912e-02,1.6501e-03
+32,4.2167e+00,UP_FORCE_RAMP,1.0558e-03,3.0963e-02,2.0031e-02,2.4607e+00,-3.8235e-02,3.8920e-02,-1.5320e-05,3.5014e-02,1.9736e-02,3.8221e-03,-1.4021e-03,2.4274e-03,8.5583e-06,4.0375e-02,2.8032e-03
+33,4.3500e+00,UP_FORCE_RAMP,1.0868e-03,2.4796e-02,2.0072e-02,2.4617e+00,-3.8236e-02,3.8527e-02,-1.9494e-05,2.8847e-02,1.9777e-02,4.8652e-03,-1.4026e-03,2.0349e-03,4.3839e-06,3.5312e-02,2.4714e-03
+34,4.5000e+00,UP_FORCE_RAMP,1.1206e-03,1.4326e-02,2.0101e-02,2.4490e+00,-3.8240e-02,3.7819e-02,-2.5949e-05,1.8378e-02,1.9806e-02,-7.9207e-03,-1.4065e-03,1.3270e-03,-2.0709e-06,2.8156e-02,1.9337e-03
+35,4.6333e+00,UP_FORCE_RAMP,1.1539e-03,1.2554e-02,2.0177e-02,2.4532e+00,-3.8247e-02,3.7689e-02,-2.9014e-05,1.6605e-02,1.9882e-02,-3.6736e-03,-1.4135e-03,1.1964e-03,-5.1355e-06,2.6163e-02,1.8518e-03
+36,4.7500e+00,UP_FORCE_RAMP,1.1851e-03,1.1299e-02,2.0240e-02,2.4559e+00,-3.8252e-02,3.7596e-02,-3.1220e-05,1.5350e-02,1.9946e-02,-1.0071e-03,-1.4187e-03,1.1036e-03,-7.3423e-06,2.5189e-02,1.7974e-03
+37,4.9000e+00,UP_FORCE_RAMP,1.2196e-03,7.1546e-03,2.0050e-02,2.4465e+00,-3.8242e-02,3.7311e-02,-3.3487e-05,1.1206e-02,1.9755e-02,-1.0341e-02,-1.4084e-03,8.1903e-04,-9.6093e-06,2.4955e-02,1.6293e-03
+38,5.0167e+00,UP_FORCE_RAMP,1.2509e-03,7.0957e-03,2.0138e-02,2.4503e+00,-3.8249e-02,3.7301e-02,-3.4410e-05,1.1147e-02,1.9843e-02,-6.5694e-03,-1.4156e-03,8.0851e-04,-1.0532e-05,2.3688e-02,1.6302e-03
+39,5.1000e+00,UP_FORCE_RAMP,1.2881e-03,7.1782e-03,2.0202e-02,2.4529e+00,-3.8253e-02,3.7303e-02,-3.4897e-05,1.1229e-02,1.9908e-02,-3.9890e-03,-1.4202e-03,8.1056e-04,-1.1019e-05,2.3202e-02,1.6352e-03
+40,5.2167e+00,UP_FORCE_RAMP,1.3198e-03,7.3306e-03,2.0278e-02,2.4558e+00,-3.8258e-02,3.7310e-02,-3.5388e-05,1.1382e-02,1.9983e-02,-1.1230e-03,-1.4245e-03,8.1747e-04,-1.1510e-05,2.3025e-02,1.6424e-03
+41,5.3167e+00,UP_FORCE_RAMP,1.3531e-03,7.4707e-03,2.0324e-02,2.4576e+00,-3.8259e-02,3.7317e-02,-3.5696e-05,1.1522e-02,2.0029e-02,7.5960e-04,-1.4262e-03,8.2501e-04,-1.1818e-05,2.3119e-02,1.6476e-03
+42,5.4167e+00,UP_FORCE_RAMP,1.3867e-03,7.6082e-03,2.0353e-02,2.4591e+00,-3.8259e-02,3.7325e-02,-3.5944e-05,1.1659e-02,2.0058e-02,2.2326e-03,-1.4262e-03,8.3296e-04,-1.2066e-05,2.3308e-02,1.6517e-03
+43,5.5500e+00,UP_FORCE_RAMP,1.4213e-03,7.7780e-03,2.0369e-02,2.4606e+00,-3.8257e-02,3.7336e-02,-3.6224e-05,1.1829e-02,2.0075e-02,3.7136e-03,-1.4244e-03,8.4329e-04,-1.2346e-05,2.3595e-02,1.6554e-03
+44,5.6667e+00,UP_FORCE_RAMP,1.4549e-03,6.0076e-03,1.8877e-02,2.4480e+00,-3.8154e-02,3.7221e-02,-3.7490e-05,1.0059e-02,1.8582e-02,-8.9087e-03,-1.3214e-03,7.2818e-04,-1.3612e-05,2.2931e-02,1.5088e-03
+45,5.8000e+00,UP_FORCE_RAMP,1.4830e-03,6.7111e-03,1.8932e-02,2.4525e+00,-3.8156e-02,3.7267e-02,-3.8092e-05,1.0762e-02,1.8637e-02,-4.4103e-03,-1.3228e-03,7.7413e-04,-1.4214e-05,2.1969e-02,1.5328e-03
+46,5.9500e+00,UP_FORCE_RAMP,1.5196e-03,7.3272e-03,1.8963e-02,2.4563e+00,-3.8156e-02,3.7307e-02,-3.8502e-05,1.1378e-02,1.8668e-02,-5.8460e-04,-1.3226e-03,8.1446e-04,-1.4624e-05,2.1870e-02,1.5533e-03
+47,6.0667e+00,UP_FORCE_RAMP,1.5493e-03,7.0981e-03,1.8984e-02,2.4552e+00,-3.8155e-02,3.7292e-02,-3.8765e-05,1.1149e-02,1.8689e-02,-1.6961e-03,-1.3223e-03,7.9948e-04,-1.4887e-05,2.1828e-02,1.5453e-03
+48,6.2833e+00,UP_FORCE_RAMP,1.5834e-03,6.3443e-03,1.9276e-02,2.4509e+00,-3.8174e-02,3.7242e-02,-3.8760e-05,1.0396e-02,1.8981e-02,-5.9538e-03,-1.3411e-03,7.4964e-04,-1.4882e-05,2.2446e-02,1.5365e-03
+49,6.4500e+00,UP_FORCE_RAMP,1.6164e-03,7.3202e-03,1.9363e-02,2.4556e+00,-3.8177e-02,3.7306e-02,-3.8821e-05,1.1371e-02,1.9068e-02,-1.2460e-03,-1.3441e-03,8.1404e-04,-1.4943e-05,2.2236e-02,1.5715e-03
+50,6.6000e+00,UP_FORCE_RAMP,1.6468e-03,7.9867e-03,1.9399e-02,2.4585e+00,-3.8176e-02,3.7351e-02,-3.9095e-05,1.2038e-02,1.9104e-02,1.6327e-03,-1.3425e-03,8.5858e-04,-1.5217e-05,2.2640e-02,1.5936e-03
+51,6.7667e+00,UP_FORCE_RAMP,1.6818e-03,8.5438e-03,1.9398e-02,2.4607e+00,-3.8170e-02,3.7389e-02,-3.9615e-05,1.2595e-02,1.9103e-02,3.7746e-03,-1.3372e-03,8.9615e-04,-1.5737e-05,2.3191e-02,1.6098e-03
+52,6.9333e+00,UP_FORCE_RAMP,1.7149e-03,7.1835e-03,1.8856e-02,2.4479e+00,-3.8130e-02,3.7303e-02,-4.0823e-05,1.1235e-02,1.8561e-02,-8.9507e-03,-1.2967e-03,8.1024e-04,-1.6945e-05,2.3470e-02,1.5291e-03
+53,7.0833e+00,UP_FORCE_RAMP,1.7477e-03,8.0173e-03,1.8904e-02,2.4530e+00,-3.8131e-02,3.7358e-02,-4.1480e-05,1.2069e-02,1.8609e-02,-3.8872e-03,-1.2979e-03,8.6545e-04,-1.7602e-05,2.2518e-02,1.5601e-03
+54,7.2833e+00,UP_FORCE_RAMP,1.7815e-03,8.7866e-03,1.8933e-02,2.4576e+00,-3.8130e-02,3.7409e-02,-4.2307e-05,1.2838e-02,1.8638e-02,6.9714e-04,-1.2964e-03,9.1610e-04,-1.8429e-05,2.2642e-02,1.5876e-03
+55,7.4333e+00,UP_FORCE_RAMP,1.8165e-03,9.1867e-03,1.8938e-02,2.4597e+00,-3.8127e-02,3.7435e-02,-4.2942e-05,1.3238e-02,1.8643e-02,2.8467e-03,-1.2935e-03,9.4254e-04,-1.9064e-05,2.3042e-02,1.6006e-03
+56,7.5333e+00,UP_FORCE_RAMP,1.8437e-03,1.0848e-02,1.9675e-02,2.4465e+00,-3.8176e-02,3.7554e-02,-4.3037e-05,1.4899e-02,1.9380e-02,-1.0388e-02,-1.3431e-03,1.0620e-03,-1.9159e-05,2.6561e-02,1.7123e-03
+57,7.5500e+00,UP_FORCE_RAMP,1.8821e-03,1.0861e-02,1.9682e-02,2.4470e+00,-3.8177e-02,3.7556e-02,-4.3048e-05,1.4913e-02,1.9387e-02,-9.8944e-03,-1.3438e-03,1.0637e-03,-1.9170e-05,2.6384e-02,1.7140e-03
+58,7.6500e+00,UP_FORCE_HOLD,1.9137e-03,1.1498e-02,2.8323e-02,2.4450e+00,-3.8771e-02,3.7605e-02,-3.8750e-05,1.5549e-02,2.8028e-02,-1.1862e-02,-1.9376e-03,1.1125e-03,-1.4872e-05,3.4177e-02,2.2343e-03
+59,7.8000e+00,UP_SETTLE,1.9457e-03,1.1514e-02,2.9852e-02,2.4503e+00,-3.8893e-02,3.7608e-02,-3.5011e-05,1.5565e-02,2.9557e-02,-6.6056e-03,-2.0599e-03,1.1151e-03,-1.1133e-05,3.4051e-02,2.3424e-03

Part2/Fixed/s2/ball_PLA_15/press_depth_03/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dd14c125c307830286fca648bf22e32c076c17b717aa4de664d99eb20f535f5
+size 61460480

Part2/Fixed/s2/ball_PLA_15/press_depth_03/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+18826,1792665232453578739,33772801000000,1792665232447052091,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0441,0.04410173371434212,0.6760332894367365,-0.004583359907346649,0.09092828298233505,0.999999984988683,-5.0241547050636855e-05,-0.00010552994377412896,-8.83443046878604e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.04723666177335045,0.052329890221979036,0.0023500778588814502,0.003787689478352004,-0.0029307225730369688,-6.741449650172853e-05,0.5164945116497286,0.4549499522273733,-0.0036865165849838087,0.032638409871297444,-0.037105965679418304,0.0008845270446245888,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.020865217858584768,0.6390607114002063,1.402197345468481,-0.1643723617796313,-0.7996755245024014,0.3934235371016704,1.1679701502049307,0.0023500778588814502,-0.2342271952635504,0.0,0.0,0,0,0.0,0.0
+18962,1792665233579552083,33773927000000,1792665233579041970,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760280920888351,-0.004588483317043392,0.0909103539716238,0.9999999839855782,-5.152168772878944e-05,-0.00011675802681744163,-8.476311978058831e-05,0.6761,-0.00453,0.09098915940195905,1.0,0.0,0.0,0.0,0.07679612852410939,0.08945293518406211,0.02980709712697492,0.0058927690788305835,-0.005004231756199934,-9.424075442943244e-05,0.5460539784004875,0.49207299718945635,0.02377050268310966,0.03474348947177602,-0.03917947486258127,0.0008577007866968849,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.07749378102329654,0.6087983935214463,1.3647120626659348,-0.152303145366059,-0.7621468936385236,0.3752858406001301,1.1679701502049307,0.02980709712697492,-0.19674191246100414,-0.19674191246100414,0.046130000000000324,0,0,-3.294999382649622e-05,-9.999999025923074e-05
+19050,1792665234312492106,33774660000000,1792665234311041797,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760196656738461,-0.004602439612761334,0.09086296087560684,0.9999999825686969,-5.2699149835205514e-05,-0.00013635316686606694,-7.025726886300779e-05,0.6761,-0.00453,0.09096520428647868,1.0,0.0,0.0,0.0,0.10163558171771786,0.06486670460024618,0.2543725055807742,0.004872917155937701,-0.007064386423261272,0.0007116349770373684,0.570893431594096,0.4674867666056404,0.24833591113690892,0.03372363754888314,-0.04123962952964261,0.0016635765181636857,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.10382487135479385,0.5744261315635608,1.0312579496447962,-0.1291842627257826,-0.5363611344473795,0.3554404997675819,1.1679701502049307,0.2543725055807742,0.13671220056013444,0.13671220056013444,0.09744000000000078,0,0,-2.7052035227155595e-05,9.99972563350326e-05
+19142,1792665235079563605,33775427000000,1792665235075051583,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.676059926192889,-0.004613330828493392,0.0908547048397261,0.9999999925261517,-5.398957653644722e-05,-3.317345193699832e-05,-4.873611370784822e-05,0.6761,-0.00453,0.09094727550387151,1.0,0.0,0.0,0.0,0.08379586635567698,0.08867650816910333,0.29622458134919033,0.00704351626112534,-0.00608057107709449,0.0007057540358699614,0.5530537162320551,0.49129657017449757,0.29018798690532505,0.03589423665407078,-0.040255814183475826,0.0016576955769962787,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,-0.08769344877834567,0.6883892695120574,1.1621351552636365,-0.1531418937397112,-0.699559299863227,0.4277102581464749,1.1679701502049307,0.29622458134919033,0.005834994941294136,0.005834994941294136,0.15112999999999607,0,0,-1.9159464163835633e-05,-9.999216318690713e-05
+19254,1792665236012584688,33776360000000,1792665236007051718,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760525589917377,-0.004614927087834769,0.09083785837499597,0.9999999919348036,-5.284398189385111e-05,-5.1663972217448417e-05,-4.5952201140197654e-05,0.6761,-0.00453,0.09092150558529989,1.0,0.0,0.0,0.0,0.046037682239961575,0.12861938992809951,0.3307173715729011,0.008819235161158439,-0.002117791042602922,-0.0002088490319471075,0.5152955321163397,0.5312394519334938,0.3246807771290358,0.03766995555410388,-0.03629303414898426,0.0007430925091792099,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.12867360774812855,0.5695154878581795,0.9341761249725656,-0.09902622308145986,-0.5025366637128346,0.3522542781113166,1.1679701502049307,0.3307173715729011,0.23379402523236503,0.23379402523236503,0.2164399999999837,0,0,-2.595815475484186e-05,9.999010927431157e-05
+19405,1792665237270524131,33777618000000,1792665237267051883,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760523799620591,-0.004617772012141752,0.09082308516240625,0.9999999920717354,-4.938452861186174e-05,-5.568887700701265e-05,-4.194413940328967e-05,0.6761,-0.00453,0.09089592584106083,1.0,0.0,0.0,0.0,0.05417261634241671,0.12087679588816014,0.39588277693337687,0.008822456715515018,-0.0031213422552373304,4.8927698574668856e-05,0.5234304662187949,0.5234968578935544,0.3898461824895116,0.03767317710846046,-0.037296585361618666,0.0010008692397009862,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.1086066630710757,0.594808848435981,0.9108145778302686,-0.10522321269450963,-0.49358413575819066,0.3640814110522742,1.1679701502049307,0.39588277693337687,0.257155572374662,0.257155572374662,0.3044999999999886,0,0,-2.151486378917789e-05,-9.99997404590502e-05
+19533,1792665238337575475,33778684999999,1792665238335051829,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760495996449843,-0.004622911672773698,0.09081019554888302,0.9999999920564104,-4.929983402532403e-05,-6.053673620209021e-05,-3.514076393899814e-05,0.6761,-0.00453,0.0908712162079437,1.0,0.0,0.0,0.0,0.05466904689965463,0.11773434567429786,0.4358200381824674,0.007788907509930141,-0.0022323913337951445,0.0006705790144497798,0.5239268967760328,0.5203544076796921,0.4297834437386021,0.03663962790287558,-0.03640763444017648,0.0016225205555760972,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.13395134700651298,0.6083335325081056,0.8939319306940601,-0.09456168322918235,-0.479993068849196,0.3716166279883301,1.1679701502049307,0.4358200381824674,0.2740382195108706,0.2740382195108706,0.3791900000000041,0,0,-2.7273793858111024e-05,-9.999999025923074e-05
+19649,1792665239304605939,33779652000000,1792665239303051744,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760495742849423,-0.004641297405927238,0.09079695217597031,0.9999999918595659,-5.796813287149639e-05,-6.086438249061612e-05,-2.5670122673925275e-05,0.6761,-0.00453,0.09084505836636887,1.0,0.0,0.0,0.0,0.03758362952831101,0.08843838510462965,0.4954538185472532,0.006732344806373938,-0.0020879277049286674,0.0006107057151613891,0.5068414794046892,0.4910584471100239,0.4894172241033879,0.03558306519931938,-0.03626317081131,0.0015626472562877065,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.21506298032888865,0.5265503489004862,0.7778656060006965,-0.06168962530232447,-0.38306185689414834,0.3136697710989364,1.1679701502049307,0.4954538185472532,0.3901045442042341,0.3901045442042341,0.4468800000000181,0,0,-2.5363549964489647e-05,-8.605239717874297e-05
+19763,1792665240254512147,33780602000000,1792665240251051581,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760485281796499,-0.004643747337579497,0.09077936243132205,0.9999999920022762,-5.5570116870488586e-05,-6.353875821518073e-05,-1.769463837338046e-05,0.6761,-0.00453,0.0908249688375992,1.0,0.0,0.0,0.0,0.03788875044839729,0.0880299772291599,0.5453751597370434,0.005839973572487365,-0.0020808808986332583,0.000560416451870801,0.5071466003247754,0.49065003923455414,0.5393385652931781,0.034690693965432805,-0.036256124005014594,0.0015123579929971183,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.22533700226520464,0.5861349793998214,0.642326862322554,-0.07331800146527143,-0.29484173333542535,0.3478739553388999,1.1679701502049307,0.5453751597370434,0.5256432878823767,0.5256432878823767,0.5133800000000318,0,0,-1.792646985435275e-05,9.980468815141136e-05
+19889,1792665241304575559,33781652000000,1792665241303042744,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760462115753388,-0.004647615455332446,0.09076345362774686,0.9999999918622449,-5.758093175548974e-05,-6.508195852706699e-05,-1.292863645736361e-05,0.6761,-0.00453,0.09080383664296897,1.0,0.0,0.0,0.0,0.03840093595595068,0.09485026896294652,0.5858160895335665,0.006690698658837525,-0.0014461206618015324,0.0005492106418361696,0.5076587858323288,0.49747033096834076,0.5797794950897012,0.035541419051782965,-0.03562136376818287,0.001501152182962487,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.22095224999925142,0.6140360879746265,0.5397884109743667,-0.07057966091072994,-0.2332505271724758,0.3672581038882152,1.1679701502049307,0.5858160895335665,0.628181739230564,0.628181739230564,0.586880000000047,0,0,-2.454592619852291e-05,9.997909031079217e-05
+20020,1792665242395616647,33782743000000,1792665242395052031,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760505036872017,-0.004651379255456119,0.09074696710169716,0.999999992442014,-5.8126619654171804e-05,-5.579464467542191e-05,-8.190857100489116e-06,0.6761,-0.00453,0.0907702857144921,1.0,0.0,0.0,0.0,0.02772125895662958,0.09318698840377027,0.6254033564265925,0.006680787632399789,-0.001102896517881681,0.00048098545387983255,0.4969791088330077,0.4958070504091645,0.6193667619827272,0.03553150802534523,-0.035278139624263016,0.00143292699500615,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.23650451050022364,0.4858344440908172,0.5471870530547511,-0.015997245789910627,-0.2414257522806048,0.27576495725423306,1.1679701502049307,0.6254033564265925,0.6207830971501795,0.6207830971501795,0.6632500000000628,0,0,-3.63492071791987e-05,6.689267862909476e-05
+20160,1792665243562572619,33783910000000,1792665243555051323,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760539643968622,-0.004657109895332437,0.0907174539052833,0.9999999930396091,-5.571641208162325e-05,-4.734951781916225e-05,4.165440680268983e-06,0.6761,-0.00453,0.09072676974715754,1.0,0.0,0.0,0.0,0.02147038164043924,0.09573730766200556,0.6960690320659693,0.006642816082757606,-0.00023958246126853933,0.0004757357046382372,0.4907282315168174,0.4983573696673998,0.690032437622104,0.035493536475703046,-0.034414825567649875,0.0014276772457645546,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.27612243984617596,0.5070417937906888,0.5001317789921117,0.008009817187232838,-0.21135167063684102,0.2868788182973606,1.1679701502049307,0.6960690320659693,0.667838371212819,0.667838371212819,0.7449400000000798,0,0,-3.144444317012963e-05,-9.864719738151279e-05
+20292,1792665244662528070,33785010000000,1792665244655051559,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760520950150453,-0.00465693792557906,0.0906873727092448,0.9999999931868856,-5.0360331015654895e-05,-4.919264929927786e-05,1.0630783563860179e-05,0.6761,-0.00453,0.09069558455699762,1.0,0.0,0.0,0.0,0.02672125378830087,0.08728208726421527,0.7262257662378552,0.006659491125424025,-0.0010744524455581564,0.0004394630988277821,0.495979103664679,0.4899021492696095,0.7201891717939899,0.035510211518369465,-0.03524969555193949,0.0013914046399540994,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.2985744809249057,0.6260010275762689,0.30404480426766384,-0.014994982253830256,-0.08429036918238601,0.3609745053524387,1.1679701502049307,0.7262257662378552,0.8639253459372669,0.8639253459372669,0.8219400000000957,0,0,-2.7218997143670147e-05,9.98376062640915e-05
+20444,1792665245929600595,33786277000000,1792665245923051586,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760516837574629,-0.004661178172106136,0.09064640139915561,0.9999999931787249,-4.813013318642961e-05,-4.7266929917436204e-05,2.31244955934577e-05,0.6761,-0.00453,0.09064907511506076,1.0,0.0,0.0,0.0,0.01998215505442813,0.09575037191876762,0.7562755534080791,0.006628810997552106,-0.00011838639310848137,0.0004292747294727863,0.48924000493080627,0.49837043392416186,0.7502389589642138,0.035479531390497546,-0.03429362949948982,0.0013812162705991037,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.2654822277417834,0.5966883981508575,0.38282097417266797,0.020475944398318246,-0.15097123320000586,0.3360628775705625,1.1679701502049307,0.7562755534080791,0.7851491760322626,0.7851491760322626,0.9106300000001141,0,0,-4.617112104729338e-05,-9.967187772209058e-05
+20583,1792665247087532487,33787434999999,1792665247083051323,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760528237730107,-0.0046697135005425135,0.09059832250041597,0.9999999928609833,-4.703284593470877e-05,-4.531960592502027e-05,3.814370979894477e-05,0.6761,-0.00453,0.09059619665164828,1.0,0.0,0.0,0.0,0.021775705456318684,0.08639586037597996,0.7923437609700681,0.005600711653369544,-0.00010610771401824842,0.0003888460489961613,0.4910335553326968,0.4890159223813742,0.7863071665262028,0.034451432046314984,-0.034281350820399584,0.0013407875901224786,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.3489632368533257,0.5461854177131422,0.3078461146660203,0.055311685523136825,-0.08984558273877198,0.29368967783398525,1.1679701502049307,0.7923437609700681,0.8601240355389104,0.8601240355389104,0.9916900000001309,0,0,-4.588077696518334e-05,-9.996414393332315e-05
+20691,1792665247987634374,33788335000000,1792665247983042090,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760714586316933,-0.004669412615881365,0.09056919583683763,0.9999999934443057,-3.78491354395752e-05,-2.7186745840272586e-05,4.881164749068785e-05,0.6761,-0.00453,0.09054680318186098,1.0,0.0,0.0,0.0,-0.008307552427488318,0.11426365181003606,0.7769543666233928,0.008611751799611458,0.0018661313177912447,0.00046349922514982893,0.4609502974488898,0.5168837138154303,0.7709177721795275,0.0374624721925569,-0.03230911178859009,0.0014154407662761463,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.3872270727963077,0.5350952861108051,0.28716707218777726,0.08521369167767702,-0.08408980737847417,0.2877888858678668,1.1679701502049307,0.7769543666233928,0.8808030780171534,0.8808030780171534,1.0546900000001438,0,0,-6.538471290370852e-05,-9.999912983638665e-05
+20823,1792665249087575619,33789434999999,1792665249083042899,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760745523350542,-0.004670286466925361,0.09050435585819482,0.9999999930065694,-3.3285327889937936e-05,-1.8972780877967347e-05,6.294319781402839e-05,0.6761,-0.00453,0.09047110251831719,1.0,0.0,0.0,0.0,-0.0017465023757794462,0.10543205859369764,0.8238827150804602,0.00758111659105629,0.001874630242796077,0.00041496952707349233,0.4675113475005987,0.5080521205990919,0.8178461206365949,0.03643183698400173,-0.03230061286358526,0.0013669110681998097,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.4404158901566617,0.5539563581531995,0.16169487766214208,0.09283575970627343,0.006714070599540941,0.29640844969359503,1.1679701502049307,0.8238827150804602,1.0062752725427886,1.0062752725427886,1.1316900000001597,0,0,-7.122648170851254e-05,-9.870712166926694e-05
+20946,1792665250112643265,33790460000000,1792665250111052711,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760745171958427,-0.00468303996983666,0.09043230471434777,0.9999999915873442,-3.78721164029499e-05,-2.1951893180925983e-05,7.969939174536908e-05,0.6761,-0.00453,0.09039687848047162,1.0,0.0,0.0,0.0,-0.000761491705670414,0.0880210786033318,0.8564404858109597,0.006563685077819414,0.0015282031853668526,0.00035480670880923314,0.4684963581707077,0.49064114060872605,0.8504038913670944,0.035414405470764854,-0.03264703992101448,0.0013067482499355505,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.5237205502264524,0.48697197215908355,0.0914605587956403,0.11501166366370874,0.07248636377739685,0.25234684396895957,1.1679701502049307,0.8564404858109597,1.0765095914092904,1.0765095914092904,1.2034400000001746,0,0,-7.650591981741973e-05,-6.071470689950616e-05
+21050,1792665250979651671,33791326999999,1792665250975051323,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.676084559428369,-0.004683890753607124,0.09037382124594062,0.9999999909799285,-3.2824406550290065e-05,-1.2905453862076246e-05,9.076902062265556e-05,0.6761,-0.00453,0.09032411932028982,1.0,0.0,0.0,0.0,-0.0069849642423508995,0.10411962575554923,0.8667791602469456,0.007348430010372036,0.001870213507596169,0.0003723914139042526,0.46227288563402724,0.5067396877609435,0.8607425658030803,0.036199150403317476,-0.032305029598785166,0.00132433295503057,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.5552007162498865,0.5422133795414161,0.019315584003661835,0.10261351031486639,0.11971701335663702,0.2876078603505743,1.1679701502049307,0.8667791602469456,1.1486545662012688,1.1486545662012688,1.2641300000001872,0,0,-9.204465025306063e-05,8.750000310276391e-05
+21154,1792665251845649538,33792193000000,1792665251843044117,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.676083173860831,-0.00468289128174722,0.09029218728548923,0.9999999899196939,-2.8350940551300815e-05,-1.2801843666761267e-05,0.0001031300817309468,0.6761,-0.00453,0.09024084169656724,1.0,0.0,0.0,0.0,-0.01552230146857253,0.0831615918367607,0.8860716028991209,0.005729785916293011,0.002776276255188566,0.0003550592344572442,0.4537355484078056,0.48578165384215494,0.8800350084552556,0.03458050630923845,-0.03139896685119277,0.0013070007755835616,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.5290659618603377,0.5107310397336271,0.04091454845552293,0.11033883060745743,0.09328019213639166,0.26558963497806193,1.1679701502049307,0.8860716028991209,1.1270556017494078,1.1270556017494078,1.3247500000001997,0,0,-0.00010232907977500284,-9.999704816821548e-05
+21214,1792665252345655040,33792693000000,1792665252343052696,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760854263343621,-0.004699301555657025,0.09024295617182607,0.9999999886250744,-3.609822265439183e-05,-1.2512785974712392e-05,0.00011284087822856088,0.6761,-0.00453,0.09018904728508287,1.0,0.0,0.0,0.0,-0.0010278357132810223,0.09977100691575314,0.9089118540398786,0.005894656721223312,0.0018914002708112082,-4.6911236609394036e-05,0.4682300141630971,0.5023910689211474,0.9028752595960133,0.03474537711416875,-0.03228384283557013,0.0009050303045169233,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.46582007656679375,0.6255826653771908,-0.04812271489902521,0.07746391901636702,0.13108842575263246,0.3431475048699657,1.1679701502049307,0.9089118540398786,1.216092865103956,1.216092865103956,1.359750000000207,0,0,-0.00010572309053684449,5.2152485954230386e-05
+21246,1792665252612594085,33792960000000,1792665252611051682,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760838383270242,-0.004673819964855771,0.09021382552061438,0.9999999890326084,-1.6228028759428928e-05,-1.611750892920332e-05,0.00011337779423782134,0.6761,-0.00453,0.09016071884011027,1.0,0.0,0.0,0.0,-0.006822593093285645,0.0740548839976482,0.9053379621805046,0.004302889345363024,0.0029378686121571997,8.984097372989911e-05,0.4624352567830925,0.47667494600304244,0.8993013677366393,0.033153609738308464,-0.031237374494224136,0.0010417825148562165,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.5401627509125466,0.5262023976158471,0.025133681134977895,0.10768859204072051,0.10329253329768816,0.27981491058503977,1.1679701502049307,0.9053379621805046,1.1428364690699528,1.1428364690699528,1.3784400000002108,0,0,-0.00010700514425507202,-9.999961555895993e-05
+21313,1792665253170576912,33793517999999,1792665253167052727,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760808383669875,-0.0046817006458898715,0.09015225190591908,0.9999999878593048,-2.1254839415068504e-05,-2.264224396088389e-05,0.00012148998002419868,0.6761,-0.00453,0.0901000230045793,1.0,0.0,0.0,0.0,6.203322344117135e-05,0.07528379297779031,0.9096622325000764,0.00418922242259161,0.0019054329874154882,-6.862158660381169e-05,0.4693198830998193,0.47790385498318455,0.9036256380562111,0.03303994281553705,-0.03226981011896585,0.0008833199545225057,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.5762991558223183,0.5082016808426426,-0.020389626569713645,0.11545065706522004,0.14132213595396895,0.26819096675494486,1.1679701502049307,0.9096622325000764,1.1883597767746443,1.1883597767746443,1.417500000000219,0,0,-0.00011239950000882371,-9.966559108421364e-05
+21361,1792665253570566978,33793917999999,1792665253567042352,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760831728320665,-0.004694322046551427,0.09011268019556348,0.9999999862667217,-2.3508019211058023e-05,-1.7875891578649224e-05,0.00013430281557027152,0.6761,-0.00453,0.09005412911731318,1.0,0.0,0.0,0.0,-0.00879931584798388,0.055896541458698545,0.9049850881676307,0.003523375806227174,0.0019224780042829681,-0.0007136760635844418,0.46045853402839426,0.4585166034640928,0.8989484937237654,0.032374096199172614,-0.03225276510209837,0.00023826547754187563,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.5654330953561841,0.5001704713557025,-0.10038222811382361,0.11253949723479083,0.18644534204527818,0.2603616588286884,1.1679701502049307,0.9049850881676307,1.2683523783187542,1.2683523783187542,1.4455000000002247,0,0,-0.00011693329352754015,-7.141456211605228e-05
+21429,1792665254137592294,33794485000000,1792665254131051370,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760846521170802,-0.004701718473583533,0.09004905616690101,0.9999999850980098,-1.9920699243196035e-05,-1.5286483842564398e-05,0.00014358389097739402,0.6761,-0.00453,0.08998473870490975,1.0,0.0,0.0,0.0,0.009120746505688393,0.061662467677682964,0.915576840539055,0.004531998552180411,0.0009039488102192753,-0.0005079060368967095,0.47837859638206653,0.4642825296830772,0.9095402460951897,0.03338271894512585,-0.03327129429616206,0.0004440355042296079,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.569205733706365,0.5426208714900743,-0.05489645437643549,0.10122510212007146,0.15240627385656247,0.2874855538345369,1.1679701502049307,0.915576840539055,1.222866604581366,1.222866604581366,1.485190000000233,0,0,-0.00012414692579096188,-9.386865870564804e-05
+21531,1792665254987663625,33795335000000,1792665254987051770,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760864613121033,-0.004708778804365027,0.08994113046322454,0.9999999767542366,0.00010712394504096594,-1.3994067607219526e-05,0.00016205868418901748,0.6761,-0.00453,0.08987018219362572,1.0,0.0,0.0,0.0,0.001079005639026076,0.06715415238931777,0.9151738979557429,0.0038784563480570126,0.000918456547602059,-0.0007341221230745731,0.4703368555154042,0.469774214394712,0.9091373035118776,0.03272917674100245,-0.033256786558779276,0.00021781941805174427,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.5547879137405506,0.6307255648674155,-0.15514026535077352,0.06179881143619847,0.20582650004660796,0.32149529969301766,1.1679701502049307,0.9151738979557429,1.3231104155557043,1.3231104155557043,1.5446900000002453,0,0,-0.0001454448276387713,-9.758466133744814e-05
+21597,1792665255537655787,33795885000000,1792665255535041911,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760902735176253,-0.004685133237239207,0.08985537408257403,0.999999992864731,-6.195785624226806e-06,-6.070901893885851e-08,7.533266913783613e-05,0.6761,-0.00453,0.08978671842438794,1.0,0.0,0.0,0.0,0.03494342639270481,0.08025728470391613,0.9485902704676386,0.004687435765641294,-0.00013765264533361493,0.0002634037064700404,0.504201276269083,0.4828773467093104,0.9425536760237733,0.033538156158586734,-0.03431289575171495,0.0012153452475963577,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6168825204770108,0.6303886003185422,-0.11758383829770483,-0.037033026892765636,0.21768654541485588,0.3539676074336908,1.1679701502049307,0.9485902704676386,1.2855539885026355,1.2855539885026355,1.5831900000002532,0,0,-0.00016261407840697929,-9.999999025923074e-05
+21681,1792665256237594663,33796585000000,1792665256231052005,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760824811266763,-0.004703811260268167,0.08973471454082985,0.9999999895739727,-5.681835687673913e-06,-1.8018377656437656e-05,0.00010926103475290942,0.6761,-0.00453,0.08966685955617876,1.0,0.0,0.0,0.0,0.03759591662711198,0.06841710216206032,0.9457604955581731,0.0035336794087337496,-0.00010656057457057722,0.0002409965278246768,0.5068537665034901,0.47103716416745456,0.9397239011143078,0.03238439980167919,-0.03428180368095191,0.0011929380689509942,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.5389527890717454,0.5633746697265035,-0.16589202859630905,0.10906614062241264,0.1985516048902401,0.32191193135459173,1.1679701502049307,0.9457604955581731,1.3338621788012397,1.3338621788012397,1.6321900000002634,0,0,-0.00017391099199212524,-8.750014188064199e-05
+21745,1792665256770636830,33797118000000,1792665256767051568,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760842295745336,-0.004704644694644627,0.08964872885497815,0.9999999877325985,-1.145585576798491e-06,-1.5098240460457147e-05,0.000125492621201605,0.6761,-0.00453,0.08957520362269861,1.0,0.0,0.0,0.0,0.03777790545162235,0.05541352154991713,0.9493042646527253,0.003553068570669723,-0.0011063859464134976,0.0002206931352619029,0.5070357553280005,0.4580335835553114,0.94326767020886,0.03240378896361516,-0.03528162905279483,0.0011726346763882203,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6164653114301183,0.5873152455149913,-0.24882748796960458,0.143984008826643,0.25853180547555327,0.32839636314839904,1.1679701502049307,0.9493042646527253,1.4167976381745353,1.4167976381745353,1.669500000000271,0,0,-0.00016918340309904427,-7.786111291889681e-05
+21825,1792665257437618866,33797785000000,1792665257435040977,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760809902811946,-0.004705464007235523,0.08952976116801444,0.9999999890847083,-5.4478924327531896e-05,-1.8601979750147172e-05,9.979709811097768e-05,0.6761,-0.00453,0.08946079865269213,1.0,0.0,0.0,0.0,0.04708945492777067,0.056814016441515014,0.9457994750967464,0.00355592813614505,-0.0011174790099028817,0.00022911952881921114,0.5163473048041488,0.45943407844690926,0.9397628806528812,0.03240664852909049,-0.03529272211628422,0.0011810610699455285,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.614973977839793,0.5541248363242376,-0.29117423283332516,0.16435987083196507,0.27799886096732596,0.30775106727327883,1.1679701502049307,0.9457994750967464,1.4591443830382558,1.4591443830382558,1.7161900000002808,0,0,-0.0001730822888676979,-6.918831318908694e-05
+21896,1792665258029624079,33798377000000,1792665258027053113,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760791612900567,-0.004705990713361584,0.08942205633445963,0.9999999875678945,-4.3069003243861895e-05,-2.3520948364059702e-05,0.00011789360146094712,0.6761,-0.00453,0.08935426272068119,1.0,0.0,0.0,0.0,0.03838327736205799,0.053985164066633395,0.9554019056901408,0.002536679286332704,-0.0010966105218665756,0.0002088776225357106,0.5076411272384361,0.45660522607202764,0.9493653112462755,0.031387399679278144,-0.03527185362824791,0.001160819163662028,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6095244670475722,0.4825161375632068,-0.3065607216259882,0.19325354777223414,0.2833180759186173,0.26140267006346485,1.1679701502049307,0.9554019056901408,1.474530871830919,1.474530871830919,1.7576300000002893,0,0,-0.00018488810511338295,-9.411837561946185e-05
+21964,1792665258595675360,33798943000000,1792665258591051417,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.676074568774117,-0.004714960501363229,0.0893048290214762,0.9999999855186724,-2.9008781978692205e-05,-3.37237309928657e-05,0.0001357450552873993,0.6761,-0.00453,0.08924666302277515,1.0,0.0,0.0,0.0,0.04652838444013524,0.04395264034319468,0.9554889238721614,0.0025327553178372854,-0.0010997966754411337,0.0002097068628251098,0.5157862343165134,0.4465727023485889,0.9494523294282962,0.031383475710782725,-0.03527503978182247,0.0011616484039514271,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6055453848762785,0.5439525553187782,-0.2597814345253757,0.18675582801943413,0.24503004767564732,0.31127690812887754,1.1679701502049307,0.9554889238721614,1.4277515847303064,1.4277515847303064,1.7972500000002976,0,0,-0.0001926052408910125,-9.952270538094438e-05
+22032,1792665259162585934,33799510000000,1792665259155052095,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760772170980418,-0.004704681018959456,0.08919467127684855,0.999999988172236,-3.821673074871028e-05,-2.8454876089870394e-05,0.00011326161658809227,0.6761,-0.00453,0.08913404544339533,1.0,0.0,0.0,0.0,0.048656228316165284,0.052423276888376946,0.9660480068318528,0.0025613098405375713,-0.002116329688594834,0.0001857464238475136,0.5179140781925434,0.4550433388937712,0.9600114123879875,0.03141203023348301,-0.03629157279497617,0.001137687964973831,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6490229731881333,0.5508565665926298,-0.3376873394417967,0.20717380426785162,0.3039873480976627,0.3138956229707632,1.1679701502049307,0.9660480068318528,1.5056574896467274,1.5056574896467274,1.8369400000003058,0,0,-0.00020455201014543534,-9.885231108531229e-05
+22092,1792665259662585319,33800010000000,1792665259659051876,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760731231004369,-0.004708949484594325,0.08908382301644877,0.9999999883290941,-3.831235001745565e-05,-3.6327775982420545e-05,0.00010953142286630898,0.6761,-0.00453,0.08903007786787022,1.0,0.0,0.0,0.0,0.06661900834744366,0.05726607166063197,0.9657867771308282,0.0028115452745777446,-0.003132286246876774,0.00017504895324309266,0.5358768582238218,0.4598861336660262,0.9597501826869629,0.031662265667523184,-0.03730752935325811,0.00112699049436941,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.596426469413741,0.6086951919500684,-0.29287417678042454,0.20381669799153332,0.2546242996098222,0.35752139478640754,1.1679701502049307,0.9657867771308282,1.4608443269853553,1.4608443269853553,1.871940000000313,0,0,-0.0002115982279352321,-9.999055336352142e-05
+22152,1792665260162617706,33800510000000,1792665260159051812,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760737707802849,-0.004699068755810041,0.08897680698186532,0.9999999873966084,-1.4342049878130208e-05,-3.5581861246693364e-05,0.0001231985554467117,0.6761,-0.00453,0.08892111145911132,1.0,0.0,0.0,0.0,0.05504021465092762,0.042024916803761136,0.9551876360234461,0.0016787396557206916,-0.0021112527122341893,0.00018481788576964306,0.5242980645273058,0.4446449788091554,0.9491510415795809,0.03052946004866613,-0.036286495818615525,0.0011367594268959604,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6347409170805927,0.4832386006427464,-0.3594973591279734,0.23852737121516907,0.3019249624129952,0.27588701788533593,1.1679701502049307,0.9551876360234461,1.527467509332904,1.527467509332904,1.9069400000003203,0,0,-0.0002258388407908304,-9.993419566723389e-05
+22208,1792665260629645535,33800977000000,1792665260623051231,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760674918119536,-0.0047138350401802745,0.08885933288560247,0.9999999845462559,-1.4459168058854966e-05,-5.069308628221105e-05,0.00013989816237084662,0.6761,-0.00453,0.08881209094091119,1.0,0.0,0.0,0.0,0.05865917388710923,0.041458712396186315,0.9752712794602686,0.001564002703366825,-0.003101598655529933,0.0001528793195214259,0.5279170237634874,0.44407877440158056,0.9692346850164033,0.030414723096312265,-0.03727684176191127,0.0011048208606477432,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6404439926823285,0.5911701331893918,-0.3804478981358308,0.21703102639112465,0.31636460053401433,0.3472341277347527,1.1679701502049307,0.9752712794602686,1.5484180483407615,1.5484180483407615,1.939630000000327,0,0,-0.00024003416980031134,-9.999999025923074e-05
+22271,1792665261154614480,33801502000000,1792665261147051326,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760635042474541,-0.00472033559218091,0.08872319202579303,0.999999983886995,-2.4712356002649042e-05,-5.5860183772117936e-05,0.0001412013231207679,0.6761,-0.00453,0.08868161821684173,1.0,0.0,0.0,0.0,0.057140138441585886,0.04390174855217743,0.9654845028788833,0.002421722963042005,-0.0021090466880838016,0.0001857249567725483,0.526397988317964,0.4465218105575717,0.959447908435018,0.031272443355987445,-0.03628428979446514,0.0011376664978988657,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6673020326498855,0.4434662304652846,-0.4142514743130826,0.2687249270109328,0.34112062868116516,0.25018335612016185,1.1679701502049307,0.9654845028788833,1.5822216245180134,1.5822216245180134,1.9763800000003346,0,0,-0.00025798813700214494,-9.993683244691737e-05
+22328,1792665261629681182,33801977000000,1792665261627051636,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760672370167593,-0.004715304821708976,0.08860452845623146,0.9999999866173402,-4.1178767958235975e-05,-4.7070509635370046e-05,0.00011956947803592038,0.6761,-0.00453,0.08855583001810849,1.0,0.0,0.0,0.0,0.06521877465142117,0.045017374213802086,0.9856313593146128,0.0025552182015143483,-0.0021160972117993324,0.00016670173999760226,0.5344766245277993,0.4476374362191963,0.9795947648707475,0.03140593859445979,-0.03629134031818067,0.0011186432811239196,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6698952273947795,0.47976433434764054,-0.4944802650850838,0.27774722032393173,0.38433167245999433,0.2793508338396515,1.1679701502049307,0.9856313593146128,1.6624504152900146,1.6624504152900146,2.0096300000003415,0,0,-0.0002728670631293743,9.787734098066209e-05
+22383,1792665262087657033,33802434999999,1792665262083051004,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760658451467586,-0.00472600770995775,0.08847648619362672,0.9999999851975587,-2.5214372065573463e-05,-5.1313970414283945e-05,0.00013333738720574582,0.6761,-0.00453,0.0884277955198501,1.0,0.0,0.0,0.0,0.04315534303162022,0.043992308596094654,0.9768188338252733,0.002174258872918826,-0.0011258105920900763,0.00017553643402777705,0.5124131929079984,0.4466123706014889,0.9707822393814081,0.031024979265864266,-0.03530105369847141,0.0011274779751540944,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6879984628915797,0.5175416934135049,-0.4628206498206538,0.2818200324652102,0.365346730578475,0.3083203472562849,1.1679701502049307,0.9768188338252733,1.6307908000255844,1.6307908000255844,2.041690000000348,0,0,-0.00028640044082908815,-1.2414132861075637e-05
+22439,1792665262554607775,33802902000000,1792665262547051524,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760679333251964,-0.0047333808276460556,0.08834118551717215,0.9999999835658424,-1.500428704790064e-05,-4.882967463889367e-05,0.00014731501510259107,0.6761,-0.00453,0.08829047735801968,1.0,0.0,0.0,0.0,0.0382469198884034,0.04567373734686819,1.0050842864757126,0.0025125923775874102,-0.0011064625576011206,0.0001682593580636326,0.5075047697647815,0.44829379935226243,0.9990476920318474,0.03136331277053285,-0.035281705663982456,0.00112020089918995,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.739892616225997,0.4158209844154757,-0.45743561423960916,0.3248288700597035,0.37053023009435243,0.24082550337364145,1.1679701502049307,1.0050842864757126,1.6254057644445399,1.6254057644445399,2.074380000000355,0,0,-0.0003012569946795037,-9.843776768570506e-05
+22491,1792665262987642188,33803335000000,1792665262987051763,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760642245564313,-0.0047400702992238235,0.08820389445926091,0.9999999834730723,-3.600416690652289e-05,-5.362451556212596e-05,0.00014256518152267833,0.6761,-0.00453,0.08815707597960191,1.0,0.0,0.0,0.0,0.03874107147389233,0.048792569254319906,0.9891567185333096,0.002527008181239309,-0.001103408406202093,0.00018159892519216078,0.5079989213502705,0.45141263125971415,0.9831201240894443,0.03137772857418475,-0.03527865151258343,0.0011335404663184781,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.7119821698353453,0.5642059492455763,-0.44651713103428975,0.29152455742565475,0.3545959780364238,0.3333443756061733,1.1679701502049307,0.9891567185333096,1.6144872812392204,1.6144872812392204,2.104690000000361,0,0,-0.0003150099277496584,-9.999999025923074e-05
+22535,1792665263354582003,33803701999999,1792665263351041866,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.676064412306609,-0.0047385400771911695,0.08808562211025657,0.9999999832404077,-3.906505293699488e-05,-5.573446868030346e-05,0.00014258204464269198,0.6761,-0.00453,0.08803976727105595,1.0,0.0,0.0,0.0,0.05693187334227107,0.04536314277130521,0.9892225894675262,0.002541833446145971,-0.0021101104555924094,0.0001768675361092653,0.5261897232186492,0.44798320477669945,0.9831859950236609,0.03139255383909141,-0.036285353561973745,0.0011288090772355827,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6968600716758241,0.5408205854523832,-0.44202901557736746,0.32327551723607023,0.34137820183375656,0.3240309872950082,1.1679701502049307,0.9892225894675262,1.609999165782298,1.609999165782298,2.1303800000003665,0,0,-0.0003241954530344967,-9.999987923692828e-05
+22583,1792665263754590036,33804102000000,1792665263751041875,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760565780131128,-0.004742207124096634,0.08793913242926747,0.99999998170207,-3.509682186376051e-05,-6.889336101901605e-05,0.00014852825304009244,0.6761,-0.00453,0.08790749194068316,1.0,0.0,0.0,0.0,0.042190591659636956,0.04298020949915077,1.0049104927618626,0.0015037509593853436,-0.0010877525736414928,0.0001576405449539753,0.5114484415360151,0.445600271504545,0.9988738983179974,0.030354471352330784,-0.03526299568002283,0.0011095820860802926,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.6971031644340325,0.4409549451590615,-0.4186213989704436,0.3589160394143145,0.3229511778978256,0.25939634330068867,1.1679701502049307,1.0049104927618626,1.5865915491753744,1.5865915491753744,2.1583800000003723,0,0,-0.00033789572613104744,-9.999965719232335e-05
+22623,1792665264087590560,33804434999999,1792665264087051823,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760538115908052,-0.004751115850924751,0.08781585031023131,0.999999980568088,-3.1334110389365904e-05,-7.29065464284141e-05,0.0001549499818313578,0.6761,-0.00453,0.08779402319045364,1.0,0.0,0.0,0.0,0.046388189187688444,0.03134500479856489,1.01995519582335,0.0008528176828141061,-0.0010758104615842742,0.00013688001163066044,0.5156460390640666,0.43396506680395913,1.0139186013794848,0.029703538075759546,-0.03525105356796561,0.0010888215527569778,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.7220755616609497,0.4557594482161822,-0.572769883553535,0.37139959560652214,0.42859212638644895,0.2722660192797066,1.1679701502049307,1.01995519582335,1.7407400337584655,1.7407400337584655,2.181690000000377,0,0,-0.0003459450374817833,9.930213182152698e-05
+22671,1792665264487599686,33804835000000,1792665264487041782,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.67605163539001,-0.004756881260559624,0.08768454987824112,0.9999999798942569,-1.8489861535417096e-05,-7.727301348092748e-05,0.00015918968788195277,0.6761,-0.00453,0.08765358982919055,1.0,0.0,0.0,0.0,0.044621027120818224,0.03479364819943531,0.9768928850890828,0.00048804928261507105,-0.001062275727450053,0.0001687864621887482,0.5138788769971964,0.43741371020482955,0.9708562906452175,0.02933876967556051,-0.03523751883383139,0.0011207280033150655,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.723754013715148,0.4673101168381976,-0.41295354029007564,0.38290507778504695,0.323589299359867,0.280748477228649,1.1679701502049307,0.9768928850890828,1.5809236904950064,1.5809236904950064,2.209690000000383,0,0,-0.00035901168983085006,-9.999999025923074e-05
+22711,1792665264820617581,33805167999999,1792665264819051253,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760545874788739,-0.00476133733458664,0.08756515936115505,0.9999999797212634,-4.0388768390472466e-05,-7.106069249377344e-05,0.00015912090540266794,0.6761,-0.00453,0.08753180172705577,1.0,0.0,0.0,0.0,0.03289905892595685,0.03248482423602728,0.9809622326733418,0.0015053998009108283,-0.0010813935502128405,0.0001806944212654222,0.502156908802335,0.4351048862414215,0.9749256382294765,0.030356120193856268,-0.035256636656594176,0.0011326359623917395,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.7231872716238684,0.41908798717369605,-0.5178807685624944,0.4173429819758248,0.38277234795614407,0.24979433113664495,1.1679701502049307,0.9809622326733418,1.685850918767425,1.685850918767425,2.233000000000388,0,0,-0.0003716577457555089,-3.3559872962501916e-05
+22754,1792665265179651915,33805527000000,1792665265175051466,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760512715575029,-0.004759622282620859,0.08742941772791159,0.999999978888353,-4.592137967919665e-05,-7.415909885727407e-05,0.00016142432575277381,0.6761,-0.00453,0.08739550271638373,1.0,0.0,0.0,0.0,0.030077579689545553,0.030099658936607265,0.975834654874692,0.0014669757365252355,-0.0010799806347102578,0.00017961482935066999,0.4993354295659237,0.4327197209420015,0.9697980604308267,0.030317696129470675,-0.03525522374109159,0.0011315563704769873,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.7563180816965838,0.3793965497895305,-0.44464331355279574,0.428887239584806,0.3440501004825941,0.2223472993259692,1.1679701502049307,0.975834654874692,1.6126134637577265,1.6126134637577265,2.258130000000393,0,0,-0.00038767014321902513,-9.999999025923074e-05
+22794,1792665265512685399,33805860000000,1792665265511043058,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.676051179801859,-0.004762039234407965,0.0873011153631309,0.9999999785562952,-4.5074832338076875e-05,-7.638180799519134e-05,0.0001626786792048727,0.6761,-0.00453,0.08726400719938684,1.0,0.0,0.0,0.0,0.03887137271426061,0.04056468054369988,0.9728222109692288,0.0015092149376945002,-0.0010783791227892414,0.00018259151573733713,0.5081292225906388,0.4431847425490941,0.9667856165253635,0.03035993533063994,-0.03525362222917058,0.0011345330568636545,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.7639444323870421,0.34251201783995766,-0.41916745241609216,0.45174523522845117,0.32891590524673947,0.1991831158710501,1.1679701502049307,0.9728222109692288,1.5871376026210229,1.5871376026210229,2.281440000000398,0,0,-0.00040256239569188965,-9.999999025923074e-05
+22832,1792665265829689438,33806177000000,1792665265827051687,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760482179394605,-0.00476230204796688,0.08717168578052088,0.9999999780926685,-4.967827451949635e-05,-8.153072280237611e-05,0.0001616859214509419,0.6761,-0.00453,0.08713400578161429,1.0,0.0,0.0,0.0,0.029422589214698536,0.03350562165940579,0.9542983219176415,0.0014845125777834776,-6.266324027612291e-05,0.00021292790263693147,0.4986804390910767,0.43612568366480003,0.9482617274737762,0.030335232970728918,-0.03423790634665746,0.0011648694437632488,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.7772050520540392,0.5018428415915972,-0.3596667870798127,0.41878090365715465,0.2916066441938772,0.3058536421617264,1.1679701502049307,0.9542983219176415,1.5276369372847434,1.5276369372847434,2.3036300000004024,0,0,-0.00041749482885686105,-9.999999025923074e-05
+22870,1792665266145681636,33806493000000,1792665266139051604,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760511304652146,-0.004766137862734867,0.08704151687530655,0.9999999798205722,-3.1120799577790732e-06,-7.530688116702201e-05,0.0001616196406227259,0.6761,-0.00453,0.08699958897828454,1.0,0.0,0.0,0.0,0.03252726922985699,0.04491357434261034,0.9848329933687037,0.0017064311614289306,-7.425407887827473e-05,0.00019095430937755343,0.5017851191062351,0.4475336363480046,0.9787963989248384,0.03055715155437437,-0.03424949718525961,0.0011428958505038708,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.8459372245841655,0.3729180807856637,-0.5406106703581296,0.46475629055878853,0.4243535053676135,0.21818442636324917,1.1679701502049307,0.9848329933687037,1.7085808205630602,1.7085808205630602,2.325750000000407,0,0,-0.0004331851448560479,4.84047110583248e-06
+22906,1792665266446615472,33806792999999,1792665266443050980,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.676047719055587,-0.00477159646105248,0.08690698339561727,0.9999999785772471,-2.4956341068366275e-05,-7.885944760034715e-05,0.00016567057182458476,0.6761,-0.00453,0.086867661334131,1.0,0.0,0.0,0.0,0.027133422017008135,0.05467000147783391,0.9746856735486564,0.002517528987267783,-0.0006813848215611248,0.000194747149827169,0.4963912718933863,0.45729006348322815,0.9686490791047911,0.03136824938021322,-0.03485662792794246,0.0011466886909534864,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.8613873596072413,0.4662414754257297,-0.519514187947323,0.4498005075638952,0.41354588858573965,0.27825329593435233,1.1679701502049307,0.9746856735486564,1.6874843381522537,1.6874843381522537,2.3467500000004113,0,0,-0.0004466873455108696,-8.355291045004094e-05
+22938,1792665266712640204,33807059999999,1792665266707051509,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760402896295742,-0.004758574816024734,0.08678057226611155,0.9999999772445453,-2.6254003632941407e-05,-9.355780095833881e-05,0.00016586572519417217,0.6761,-0.00453,0.08674692704079355,1.0,0.0,0.0,0.0,0.025624923153728107,0.0399376708372996,0.9741976563255862,0.0014844312722663185,-6.813386250486414e-05,0.0001978681771799063,0.49488277303010625,0.44255773284269384,0.9681610618817209,0.03033515166521176,-0.0342433769688862,0.0011498097183062236,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.88866422276573,0.4263107669155856,-0.4864874118271215,0.469320704934643,0.40028088851420135,0.25573639787672336,1.1679701502049307,0.9741976563255862,1.6544575620320523,1.6544575620320523,2.365440000000415,0,0,-0.00045832665635933543,-9.999999025923074e-05
+22970,1792665266979659955,33807326999999,1792665266979051716,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760514828989073,-0.0047721500913035855,0.08666358099233074,0.9999999775762334,-4.729644863272664e-05,-7.072091581725257e-05,0.00017044645859092713,0.6761,-0.00453,0.08662317061388224,1.0,0.0,0.0,0.0,0.028366240141364962,0.06675453711919366,0.9635454894009854,0.00344366211107169,-0.00010187086029983528,0.00022624984716073824,0.4976240900177431,0.4693745991245879,0.9575088949571201,0.03229438250401713,-0.03427711396668117,0.0011781913882870556,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.8669833372019705,0.39056127999513257,-0.39291026439588517,0.49143088511902533,0.33493220568715976,0.23531038117989558,1.1679701502049307,0.9635454894009854,1.560880414600816,1.560880414600816,2.384130000000419,0,0,-0.00047011232985202787,-9.999999025923074e-05
+23006,1792665267279678632,33807627000000,1792665267279051368,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760478661788906,-0.00477258373301982,0.08652832761984927,0.9999999765182608,-6.993191942964492e-05,-8.054891533239606e-05,0.0001644011595526863,0.6761,-0.00453,0.0864799769441661,1.0,0.0,0.0,0.0,0.03185009049070736,0.06558990597713438,0.9457317165019204,0.003520221522402344,-0.00010051364171063948,0.00024262244486697188,0.5011079403670855,0.4682099679825286,0.9396951220580552,0.032370941915347784,-0.034275756748091975,0.0011945639859932892,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.9553665111601982,0.39463179773529883,-0.43360031371799257,0.4994803817435399,0.3869830869100484,0.23474119159620782,1.1679701502049307,0.9457317165019204,1.6015704639229233,1.6015704639229233,2.4051300000004234,0,0,-0.00048437145709209615,-9.999999025923074e-05
+23042,1792665267579701477,33807927000000,1792665267575051425,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.6760473565420354,-0.0047804495884422775,0.08637991218277592,0.9999999739409507,-7.590412608563184e-05,-7.782446584638486e-05,0.0001781653120868268,0.6761,-0.00453,0.0863325003787168,1.0,0.0,0.0,0.0,0.028794292303969682,0.054174734646498024,0.9716468681152935,0.0025052014930203557,-8.718179865328801e-05,0.00020907090704375846,0.4980521421803478,0.45679479665189227,0.9656102736714283,0.031355921885965796,-0.03426242490503462,0.0011610124481700758,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.9087244748964367,0.42513591636182213,-0.3647076503384842,0.49732004256578427,0.33124092095178986,0.2602317512103213,1.1679701502049307,0.9716468681152935,1.5326778005434147,1.5326778005434147,2.4261300000004278,0,0,-0.0004980248364219994,-9.999999025923074e-05
+23070,1792665267812685132,33808160000000,1792665267807051252,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760430299347531,-0.004783672365135322,0.0862585213883171,0.9999999730531659,-8.066371257729284e-05,-8.037872552121703e-05,0.00017991430709859423,0.6761,-0.00453,0.08621510953387225,1.0,0.0,0.0,0.0,0.037895733900402184,0.04445277191009561,0.9654315729142603,0.002499287050980712,-0.0010681247190142337,0.0002008306791725493,0.5071535837767803,0.44707283391548985,0.959394978470395,0.03135000744392615,-0.03524336782539557,0.0011527722202988666,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.9399304442209131,0.42750186035124293,-0.43296402523905586,0.5070831481973479,0.3850481620152888,0.261721640665427,1.1679701502049307,0.9654315729142603,1.6009341754439865,1.6009341754439865,2.442440000000431,0,0,-0.0005096720095646143,-9.999999025923074e-05
+23102,1792665268079709381,33808427000000,1792665268075051364,DOWN_FORCE_DETACH,3,0.0441,0.04410238936543465,0.676033738348093,-0.004784481267232315,0.0861147781655181,0.9999999711097108,-8.50389580336772e-05,-8.849614406740947e-05,0.00018482491741784408,0.6761,-0.00453,0.0860773538606137,1.0,0.0,0.0,0.0,0.02974294688231094,0.035339310322105244,0.9713762112664918,0.0015070330282188765,-0.0007586455329809394,0.00018846004139513525,0.4990007967586891,0.4379593723274995,0.9653396168226265,0.030357753421164316,-0.034933888639362275,0.0011404015825214526,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.8894112728610821,0.3572823054395632,-0.43089545458054984,0.5317342664822076,0.3707962069277594,0.21944677458730624,1.1679701502049307,0.9713762112664918,1.5988656047854806,1.5988656047854806,2.461130000000435,0,0,-0.0005224512532695222,-9.999999025923074e-05
+23134,1792665268345666935,33808693000000,1792665268339051351,DOWN_FORCE_DETACH,3,0.0441,0.04410173371434212,0.6760242643893475,-0.004793868418230795,0.0859695035144493,0.9999999668066808,5.973429001431427e-05,-0.00010677739075819074,0.00020702633951846105,0.6761,-0.00453,0.08593666060153791,1.0,0.0,0.0,0.0,0.04868467251174674,0.03845485441749963,0.9646953771218179,0.0004910858656549527,-0.0010602924475983863,0.00017956083046251955,0.5179425223881249,0.44107491642289387,0.9586587826779526,0.029341806258600393,-0.03523553555397972,0.001131502371588837,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.988220957865509,0.5194504209719428,-0.4373167616318485,0.46147804918027724,0.41335931416629684,0.29177366903588803,1.1679701502049307,0.9646953771218179,1.6052869118367792,1.6052869118367792,2.479750000000439,0,0,-0.000535013391529697,-9.999999025923074e-05
+23166,1792665268606618464,33808953999999,1792665268603041699,DOWN_SETTLE,3,0.0441,0.04410238936543465,0.6760562437814415,-0.004795040338671672,0.08586779860660644,0.999999968696072,4.241080546434696e-05,-6.363138101839926e-05,0.00021955202237143855,0.6761,-0.00453,0.08581553788848315,1.0,0.0,0.0,0.0,-0.017815649884673657,0.07032899263638281,0.9170550727154515,0.004472199061908686,0.0029290278627805144,0.0003192249833659246,0.4514421999917045,0.47294905464177706,0.9110184782715862,0.033322919454854126,-0.03124621524360082,0.001271166524492242,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,1.0670643160793796,0.371312905433676,-0.4212713275674548,0.4917952136161982,0.4124336756937438,0.16721290184569787,1.1679701502049307,0.9170550727154515,1.5892414777723856,0.0,0.0,0,0,-0.00020751617015627442,0.0020961229308714587
+23259,1792665269376604235,33809724000000,1792665269375051482,DOWN_PEAK_HOLD,3,0.0441,0.04410173371434212,0.6760373930617031,-0.004768924540283786,0.08579520182095701,0.9999999813310166,-6.422323910233451e-05,-8.988595803695787e-05,0.00012875061569610154,0.6761,-0.00453,0.08579587254409558,1.0,0.0,0.0,0.0,0.01983377062468361,0.055050102302952764,0.6144510920317974,0.003600354630615619,-2.2683407863009764e-05,-0.0005179744692520481,0.48909162050106175,0.457670164308347,0.6084144975879321,0.03245107502356106,-0.034197926514244345,0.00043396707187426934,0.46925784987637814,0.40262006200539424,-0.006036594443865259,0.02885072039294544,-0.034175243106381335,0.0009519415411263174,1,0.8954325288540386,0.5021512642204972,0.11972292925724379,0.3168470886810045,0.06327881256647919,0.30234004276911464,1.1679701502049307,0.6144510920317974,1.048247220947687,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/s2/ball_PLA_15/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,1792665232451452533,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.711093376e-09,4.817219020e-11,3.777446911e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292444e-01,1.737616174e-06,8.295727553e-01
+1,6.000000000e-01,DOWN_FORCE_DETACH,1792665233583505474,-2.926570274e-06,-6.171080641e-06,-1.642857881e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.349695855e-07,1.451186555e-09,9.044308824e-08,7.015349449e-01,-4.620119319e-06,8.407245126e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293737e-01,1.739019188e-06,8.295728419e-01
+2,9.833333333e-01,DOWN_FORCE_DETACH,1792665234313498797,-1.220679761e-05,-1.951162939e-05,-6.381801011e-05,-1.481699844e-05,-1.347598611e-05,-5.696843237e-05,-1.520130003e-05,-1.347565112e-05,-5.650058276e-05,7.015256647e-01,-1.796066806e-05,8.406771232e-01,7.015230545e-01,-1.192502479e-05,8.406839728e-01,7.017140374e-01,-1.173808312e-05,8.295162509e-01
+3,1.383333333e+00,DOWN_FORCE_DETACH,1792665235081474334,2.803524319e-05,-3.031246073e-05,-7.209472708e-05,2.759464731e-05,-3.007503013e-05,-7.191350075e-05,2.765451199e-05,-3.005188212e-05,-7.157467252e-05,7.015659067e-01,-2.876149941e-05,8.406688465e-01,7.015654661e-01,-2.852406881e-05,8.406690277e-01,7.017568932e-01,-2.831431411e-05,8.295011768e-01
+4,1.850000000e+00,DOWN_FORCE_DETACH,1792665236009510712,2.163324752e-05,-2.916464745e-05,-8.818755385e-05,2.759464731e-05,-3.007503013e-05,-7.191350075e-05,2.799158805e-05,-3.004842050e-05,-7.181784640e-05,7.015595047e-01,-2.761368613e-05,8.406527536e-01,7.015654661e-01,-2.852406881e-05,8.406690277e-01,7.017572303e-01,-2.831085250e-05,8.295009337e-01
+5,2.483333333e+00,DOWN_FORCE_DETACH,1792665237273525029,1.784396010e-05,-3.237094928e-05,-1.044960055e-04,2.168513055e-05,-3.718651253e-05,-8.953590975e-05,2.205841418e-05,-3.714069902e-05,-8.944195221e-05,7.015557154e-01,-3.081998796e-05,8.406364452e-01,7.015595566e-01,-3.563555120e-05,8.406514053e-01,7.017512971e-01,-3.540313102e-05,8.294833096e-01
+6,3.016666667e+00,DOWN_FORCE_DETACH,1792665238337544657,1.587057951e-05,-4.486140663e-05,-1.191383722e-04,1.702469727e-05,-4.177647273e-05,-1.093585769e-04,1.723069801e-05,-4.176758270e-05,-1.092859237e-04,7.015537421e-01,-4.331044531e-05,8.406218028e-01,7.015548962e-01,-4.022551141e-05,8.406315826e-01,7.017464694e-01,-4.003001470e-05,8.294634656e-01
+7,3.533333333e+00,DOWN_FORCE_DETACH,1792665239303546768,1.592731273e-05,-5.844435397e-05,-1.338284620e-04,1.517161429e-05,-4.742593833e-05,-1.292880640e-04,1.519123261e-05,-4.741216298e-05,-1.291158696e-04,7.015537988e-01,-5.689339264e-05,8.406071127e-01,7.015530431e-01,-4.587497701e-05,8.406116531e-01,7.017444299e-01,-4.567459498e-05,8.294436356e-01
+8,4.033333333e+00,DOWN_FORCE_DETACH,1792665240252182627,1.399898625e-05,-6.098062054e-05,-1.506350073e-04,1.598195955e-05,-6.414130023e-05,-1.423449434e-04,1.604417812e-05,-6.411269913e-05,-1.422684148e-04,7.015518705e-01,-5.942965922e-05,8.405903062e-01,7.015538534e-01,-6.259033891e-05,8.405985962e-01,7.017452829e-01,-6.237513113e-05,8.294304831e-01
+9,4.583333333e+00,DOWN_FORCE_DETACH,1792665241301586313,1.594995499e-05,-6.681497299e-05,-1.609201453e-04,1.275202212e-05,-6.954389919e-05,-1.625190491e-04,1.264690492e-05,-6.954584037e-05,-1.623796356e-04,7.015538214e-01,-6.526401167e-05,8.405800210e-01,7.015506235e-01,-6.799293787e-05,8.405784221e-01,7.017418856e-01,-6.780827237e-05,8.294103719e-01
+10,5.166666667e+00,DOWN_FORCE_DETACH,1792665242397600980,1.873533699e-05,-6.846882397e-05,-1.773897647e-04,1.532723663e-05,-7.003095759e-05,-1.827844195e-04,1.519294800e-05,-7.001434933e-05,-1.826201940e-04,7.015566068e-01,-6.691786265e-05,8.405635514e-01,7.015531987e-01,-6.847999627e-05,8.405581568e-01,7.017444316e-01,-6.827678133e-05,8.293901313e-01
+11,5.766666667e+00,DOWN_FORCE_DETACH,1792665243561681436,2.030487531e-05,-7.156702771e-05,-2.111432493e-04,2.135706156e-05,-7.174770262e-05,-2.018999978e-04,2.128313725e-05,-7.174191928e-05,-2.018477922e-04,7.015581764e-01,-7.001606639e-05,8.405297979e-01,7.015592285e-01,-7.019674130e-05,8.405390412e-01,7.017505218e-01,-7.000435128e-05,8.293709037e-01
+12,6.316666667e+00,DOWN_FORCE_DETACH,1792665244662384369,1.911226118e-05,-7.581242043e-05,-2.398867813e-04,1.964570196e-05,-7.140743992e-05,-2.251083529e-04,1.950537686e-05,-7.139937110e-05,-2.251134054e-04,7.015569837e-01,-7.426145911e-05,8.405010544e-01,7.015575172e-01,-6.985647860e-05,8.405158328e-01,7.017487441e-01,-6.966180310e-05,8.293476381e-01
+13,6.950000000e+00,DOWN_FORCE_DETACH,1792665245925611150,1.859235253e-05,-7.994867236e-05,-2.836221419e-04,2.011945573e-05,-7.911431610e-05,-2.679279735e-04,1.987230733e-05,-7.909385518e-05,-2.678364867e-04,7.015564638e-01,-7.839771104e-05,8.404573190e-01,7.015579909e-01,-7.756335478e-05,8.404730132e-01,7.017491110e-01,-7.735628718e-05,8.293049150e-01
+14,7.550000000e+00,DOWN_FORCE_DETACH,1792665247089762569,1.972282321e-05,-8.495810236e-05,-3.315379901e-04,1.961937229e-05,-8.498967923e-05,-3.310297860e-04,1.916971167e-05,-8.497694402e-05,-3.305258839e-04,7.015575943e-01,-8.340714104e-05,8.404094032e-01,7.015574909e-01,-8.343871790e-05,8.404099114e-01,7.017484084e-01,-8.323937602e-05,8.292422256e-01
+15,8.033333333e+00,DOWN_FORCE_DETACH,1792665247985994125,3.886076037e-05,-8.628095488e-05,-3.576277034e-04,3.688161823e-05,-8.421113302e-05,-3.443658336e-04,3.679306461e-05,-8.418073249e-05,-3.441873984e-04,7.015767322e-01,-8.472999356e-05,8.403833135e-01,7.015747531e-01,-8.266017170e-05,8.403965754e-01,7.017660317e-01,-8.244316449e-05,8.292285641e-01
+16,8.600000000e+00,DOWN_FORCE_DETACH,1792665249084274649,4.030230174e-05,-8.921088734e-05,-4.245162503e-04,4.244177352e-05,-9.000475041e-05,-4.092882500e-04,4.236260077e-05,-8.995622076e-05,-4.088512043e-04,7.015781738e-01,-8.765992602e-05,8.403164249e-01,7.015803133e-01,-8.845378909e-05,8.403316529e-01,7.017716013e-01,-8.821865276e-05,8.291639003e-01
+17,9.150000000e+00,DOWN_FORCE_DETACH,1792665250114337064,4.407016729e-05,-1.004843802e-04,-4.937019456e-04,4.106673575e-05,-9.851817276e-05,-4.958923111e-04,4.069110111e-05,-9.852315288e-05,-4.950561986e-04,7.015819416e-01,-9.893341892e-05,8.402472392e-01,7.015789382e-01,-9.696721144e-05,8.402450489e-01,7.017699298e-01,-9.678558488e-05,8.290776953e-01
+18,9.600000000e+00,DOWN_FORCE_DETACH,1792665250980333790,5.268695691e-05,-1.009627702e-04,-5.529576398e-04,5.240752032e-05,-1.008651861e-04,-5.529133185e-04,5.209777220e-05,-1.008552504e-04,-5.519739394e-04,7.015905584e-01,-9.941180891e-05,8.401879835e-01,7.015902790e-01,-9.931422476e-05,8.401880279e-01,7.017813365e-01,-9.911768243e-05,8.290207776e-01
+19,1.005000000e+01,DOWN_FORCE_DETACH,1792665251846739146,5.130138938e-05,-9.996329837e-05,-6.345916002e-04,5.322870583e-05,-1.006745255e-04,-6.174999819e-04,5.272429870e-05,-1.006902946e-04,-6.166555313e-04,7.015891729e-01,-9.841233705e-05,8.401063496e-01,7.015911002e-01,-9.912356414e-05,8.401234412e-01,7.017819630e-01,-9.895272663e-05,8.289560960e-01
+20,1.030000000e+01,DOWN_FORCE_DETACH,1792665252345660380,5.391059939e-05,-1.170325218e-04,-6.830338888e-04,5.386326927e-05,-1.172992002e-04,-6.828625688e-04,5.314366888e-05,-1.173039194e-04,-6.816246733e-04,7.015917821e-01,-1.154815604e-04,8.400579073e-01,7.015917348e-01,-1.157482388e-04,8.400580786e-01,7.017823824e-01,-1.155663514e-04,8.288911268e-01
+21,1.043333333e+01,DOWN_FORCE_DETACH,1792665252610368987,5.435711997e-05,-9.313185747e-05,-7.089458758e-04,5.438758168e-05,-9.319216350e-05,-7.088626513e-04,5.364784185e-05,-9.320365916e-05,-7.076530774e-04,7.015922286e-01,-9.158089615e-05,8.400319953e-01,7.015922591e-01,-9.164120218e-05,8.400320785e-01,7.017828865e-01,-9.146609116e-05,8.288650984e-01
+22,1.071666667e+01,DOWN_FORCE_DETACH,1792665253174363975,5.138462695e-05,-9.447050014e-05,-7.707955841e-04,5.121788091e-05,-9.445666624e-05,-7.711418299e-04,5.018476568e-05,-9.448750645e-05,-7.697948332e-04,7.015892561e-01,-9.291953882e-05,8.399701456e-01,7.015890894e-01,-9.290570492e-05,8.399697994e-01,7.017794234e-01,-9.274993845e-05,8.288029567e-01
+23,1.091666667e+01,DOWN_FORCE_DETACH,1792665253574339634,5.117900350e-05,-1.073648368e-04,-8.144374659e-04,5.040093297e-05,-1.160169682e-04,-8.022773970e-04,4.925976620e-05,-1.160024985e-04,-8.010872159e-04,7.015890505e-01,-1.058138755e-04,8.399265037e-01,7.015882724e-01,-1.144660068e-04,8.399386638e-01,7.017784984e-01,-1.142649305e-04,8.287716643e-01
+24,1.120000000e+01,DOWN_FORCE_DETACH,1792665254140247269,5.052175052e-05,-1.147252799e-04,-8.813701170e-04,5.165556292e-05,-1.207044686e-04,-8.660867051e-04,5.025483917e-05,-1.207039650e-04,-8.647956493e-04,7.015883932e-01,-1.131743186e-04,8.398595711e-01,7.015895270e-01,-1.191535073e-04,8.398748545e-01,7.017794935e-01,-1.189663970e-04,8.287079559e-01
+25,1.163333333e+01,DOWN_FORCE_DETACH,1792665254988252722,5.344493897e-05,-1.258915774e-04,-9.866400072e-04,5.390013968e-05,-1.244076618e-04,-9.770052663e-04,5.220514793e-05,-1.243504334e-04,-9.755117139e-04,7.015913164e-01,-1.243406161e-04,8.397543012e-01,7.015917716e-01,-1.228567005e-04,8.397639359e-01,7.017814438e-01,-1.226128654e-04,8.285972398e-01
+26,1.191666667e+01,DOWN_FORCE_DETACH,1792665255538411625,5.840104617e-05,-1.022052539e-04,-1.071404803e-03,5.629558694e-05,-1.083688687e-04,-1.063889468e-03,5.426597688e-05,-1.083052491e-04,-1.062191096e-03,7.015962725e-01,-1.006542925e-04,8.396695364e-01,7.015941671e-01,-1.068179073e-04,8.396770517e-01,7.017835047e-01,-1.065676811e-04,8.285105604e-01
+27,1.228333333e+01,DOWN_FORCE_DETACH,1792665256234378879,5.089576303e-05,-1.179516126e-04,-1.189621220e-03,5.184290125e-05,-1.212158948e-04,-1.176688145e-03,4.930549544e-05,-1.211305407e-04,-1.174952519e-03,7.015887672e-01,-1.164006513e-04,8.395513200e-01,7.015897144e-01,-1.196649335e-04,8.395642530e-01,7.017785442e-01,-1.193929727e-04,8.283977990e-01
+28,1.256666667e+01,DOWN_FORCE_DETACH,1792665256768572255,4.961269459e-05,-1.259321370e-04,-1.282725529e-03,4.919160246e-05,-1.215425753e-04,-1.270036208e-03,4.627802511e-05,-1.214915025e-04,-1.268215177e-03,7.015874842e-01,-1.243811757e-04,8.394582157e-01,7.015870631e-01,-1.199916140e-04,8.394709050e-01,7.017755167e-01,-1.197539345e-04,8.283045363e-01
+29,1.291666667e+01,DOWN_FORCE_DETACH,1792665257434213213,4.918663527e-05,-1.218617608e-04,-1.396452446e-03,4.814386843e-05,-1.190844333e-04,-1.386039995e-03,4.475127343e-05,-1.190301910e-04,-1.384082552e-03,7.015870581e-01,-1.203107995e-04,8.393444887e-01,7.015860153e-01,-1.175334720e-04,8.393549012e-01,7.017739900e-01,-1.172926230e-04,8.281886690e-01
+30,1.323333333e+01,DOWN_FORCE_DETACH,1792665258032298299,5.195575023e-05,-1.193423726e-04,-1.502642163e-03,4.719467959e-05,-1.286131932e-04,-1.502041914e-03,4.324310176e-05,-1.285444093e-04,-1.499969785e-03,7.015898272e-01,-1.177914113e-04,8.392382990e-01,7.015850662e-01,-1.270622319e-04,8.392388993e-01,7.017724818e-01,-1.268068413e-04,8.280727817e-01
+31,1.353333333e+01,DOWN_FORCE_DETACH,1792665258599047569,4.370244932e-05,-1.281272516e-04,-1.618762566e-03,4.363765610e-05,-1.280904696e-04,-1.618713039e-03,3.912212561e-05,-1.279986523e-04,-1.616425871e-03,7.015815739e-01,-1.265762903e-04,8.391221786e-01,7.015815091e-01,-1.265395083e-04,8.391222281e-01,7.017683608e-01,-1.262610843e-04,8.279563256e-01
+32,1.383333333e+01,DOWN_FORCE_DETACH,1792665259164399204,4.504724519e-05,-1.191879481e-04,-1.734235402e-03,4.480506744e-05,-1.192124863e-04,-1.734407159e-03,3.984755908e-05,-1.191255369e-04,-1.732112050e-03,7.015829187e-01,-1.176369868e-04,8.390067058e-01,7.015826765e-01,-1.176615250e-04,8.390065340e-01,7.017690862e-01,-1.173879689e-04,8.278406395e-01
+33,1.410000000e+01,DOWN_FORCE_DETACH,1792665259662296033,4.125062898e-05,-1.260215012e-04,-1.842955869e-03,4.110414660e-05,-1.259307913e-04,-1.842668049e-03,3.572797417e-05,-1.258149294e-04,-1.840302248e-03,7.015791221e-01,-1.244705399e-04,8.388979853e-01,7.015789756e-01,-1.243798300e-04,8.388982731e-01,7.017649667e-01,-1.240773614e-04,8.277324493e-01
+34,1.435000000e+01,DOWN_FORCE_DETACH,1792665260162157948,4.303416649e-05,-1.181962287e-04,-1.948709864e-03,4.253838369e-05,-1.243769694e-04,-1.936353421e-03,3.689012357e-05,-1.242583256e-04,-1.934212642e-03,7.015809056e-01,-1.166452674e-04,8.387922313e-01,7.015804099e-01,-1.228260081e-04,8.388045878e-01,7.017661288e-01,-1.225207576e-04,8.276385389e-01
+35,1.458333333e+01,DOWN_FORCE_DETACH,1792665260626266453,3.807472008e-05,-1.301752964e-04,-2.063065144e-03,3.471317883e-05,-1.341362358e-04,-2.052088392e-03,2.847405535e-05,-1.340361242e-04,-2.049775655e-03,7.015759462e-01,-1.286243350e-04,8.386778760e-01,7.015725847e-01,-1.325852745e-04,8.386888528e-01,7.017577127e-01,-1.322985562e-04,8.275229758e-01
+36,1.485000000e+01,DOWN_FORCE_DETACH,1792665261158309960,3.443895636e-05,-1.390715654e-04,-2.200924626e-03,3.433396408e-05,-1.391659991e-04,-2.201126365e-03,2.756089773e-05,-1.390510045e-04,-2.198471621e-03,7.015723104e-01,-1.375206041e-04,8.385400166e-01,7.015722054e-01,-1.376150378e-04,8.385398148e-01,7.017567996e-01,-1.373134365e-04,8.273742799e-01
+37,1.508333333e+01,DOWN_FORCE_DETACH,1792665261626328941,3.586987105e-05,-1.369852204e-04,-2.321239968e-03,3.626341043e-05,-1.362555590e-04,-2.303814302e-03,2.915648931e-05,-1.361297395e-04,-2.301388390e-03,7.015737414e-01,-1.354342591e-04,8.384197012e-01,7.015741349e-01,-1.347045977e-04,8.384371269e-01,7.017583952e-01,-1.343921715e-04,8.272713631e-01
+38,1.531666667e+01,DOWN_FORCE_DETACH,1792665262090256583,3.386822799e-05,-1.454477268e-04,-2.451824896e-03,3.387235575e-05,-1.452132526e-04,-2.451309710e-03,2.620452155e-05,-1.450708366e-04,-2.448462311e-03,7.015717397e-01,-1.438967655e-04,8.382891163e-01,7.015717438e-01,-1.436622913e-04,8.382896315e-01,7.017554432e-01,-1.433332686e-04,8.271242892e-01
+39,1.555000000e+01,DOWN_FORCE_DETACH,1792665262558401350,3.587701068e-05,-1.502546583e-04,-2.586968120e-03,3.188571125e-05,-1.499031632e-04,-2.581865612e-03,2.373467512e-05,-1.497696257e-04,-2.579072086e-03,7.015737485e-01,-1.487036969e-04,8.381539731e-01,7.015697572e-01,-1.483522018e-04,8.381590756e-01,7.017529734e-01,-1.480320577e-04,8.269936794e-01
+40,1.576666667e+01,DOWN_FORCE_DETACH,1792665262988348562,3.501409824e-05,-1.521259968e-04,-2.719379942e-03,3.405591527e-05,-1.459840520e-04,-2.700534956e-03,2.549200865e-05,-1.457931937e-04,-2.698015647e-03,7.015728856e-01,-1.505750355e-04,8.380215612e-01,7.015719274e-01,-1.444330907e-04,8.380404062e-01,7.017547307e-01,-1.440556257e-04,8.268747359e-01
+41,1.596666667e+01,DOWN_FORCE_DETACH,1792665263354337881,3.253983515e-05,-1.556120938e-04,-2.841156775e-03,2.984773690e-05,-1.515697947e-04,-2.822154872e-03,2.068250913e-05,-1.513439661e-04,-2.819609568e-03,7.015704113e-01,-1.540611325e-04,8.378997844e-01,7.015677192e-01,-1.500188334e-04,8.379187863e-01,7.017499212e-01,-1.496063981e-04,8.267531419e-01
+42,1.616666667e+01,DOWN_FORCE_DETACH,1792665263754484652,2.470554166e-05,-1.592791407e-04,-2.987646456e-03,2.577131326e-05,-1.611046696e-04,-2.970372463e-03,1.593802978e-05,-1.608831367e-04,-2.967551459e-03,7.015625770e-01,-1.577281794e-04,8.377532947e-01,7.015636428e-01,-1.595537083e-04,8.377705687e-01,7.017451767e-01,-1.591455687e-04,8.266052000e-01
+43,1.635000000e+01,DOWN_FORCE_DETACH,1792665264086639544,2.454494617e-05,-1.681682477e-04,-3.106259982e-03,2.472154338e-05,-1.609739612e-04,-3.090844885e-03,1.432596017e-05,-1.607739369e-04,-3.088019433e-03,7.015624164e-01,-1.666172863e-04,8.376346812e-01,7.015625930e-01,-1.594229999e-04,8.376500963e-01,7.017435646e-01,-1.590363689e-04,8.264847321e-01
+44,1.655000000e+01,DOWN_FORCE_DETACH,1792665264486512332,2.252489438e-05,-1.696568380e-04,-3.237831887e-03,2.328983950e-05,-1.701367292e-04,-3.225571630e-03,1.237227230e-05,-1.698786293e-04,-3.222742710e-03,7.015603964e-01,-1.681058767e-04,8.375031093e-01,7.015611613e-01,-1.685857679e-04,8.375153696e-01,7.017416110e-01,-1.681410613e-04,8.263500088e-01
+45,1.673333333e+01,DOWN_FORCE_DETACH,1792665264818428681,2.502885838e-05,-1.736941281e-04,-3.358532559e-03,2.517854085e-05,-1.733495879e-04,-3.345015697e-03,1.385851198e-05,-1.730730142e-04,-3.342244106e-03,7.015629003e-01,-1.721431668e-04,8.373824086e-01,7.015630500e-01,-1.717986266e-04,8.373959255e-01,7.017430972e-01,-1.713354462e-04,8.262305074e-01
+46,1.691666667e+01,DOWN_FORCE_DETACH,1792665265182434541,2.227120199e-05,-1.745613002e-04,-3.494923906e-03,2.206391248e-05,-1.744362996e-04,-3.494956781e-03,1.018207040e-05,-1.741888175e-04,-3.491908751e-03,7.015601427e-01,-1.730103389e-04,8.372460173e-01,7.015599354e-01,-1.728853383e-04,8.372459844e-01,7.017394208e-01,-1.724512494e-04,8.260808428e-01
+47,1.710000000e+01,DOWN_FORCE_DETACH,1792665265516317790,1.938423054e-05,-1.773239231e-04,-3.625637738e-03,1.922446049e-05,-1.772821000e-04,-3.625454383e-03,6.820883735e-06,-1.770118303e-04,-3.622493999e-03,7.015572557e-01,-1.757729618e-04,8.371153034e-01,7.015570959e-01,-1.757311387e-04,8.371154868e-01,7.017360596e-01,-1.752742623e-04,8.259502575e-01
+48,1.726666667e+01,DOWN_FORCE_DETACH,1792665265833177406,1.576205363e-05,-1.751568096e-04,-3.756773071e-03,2.008758179e-05,-1.814667827e-04,-3.741741955e-03,7.212431844e-06,-1.812075773e-04,-3.739027037e-03,7.015536335e-01,-1.736058483e-04,8.369841681e-01,7.015579591e-01,-1.799158214e-04,8.369991992e-01,7.017364511e-01,-1.794700093e-04,8.258337245e-01
+49,1.743333333e+01,DOWN_FORCE_DETACH,1792665266148420328,1.764596007e-05,-1.824161017e-04,-3.889557292e-03,1.752362858e-05,-1.822180039e-04,-3.889174781e-03,4.090400172e-06,-1.819203567e-04,-3.886175814e-03,7.015555174e-01,-1.808651404e-04,8.368513839e-01,7.015553951e-01,-1.806670426e-04,8.368517664e-01,7.017333291e-01,-1.801827887e-04,8.256865757e-01
+50,1.758333333e+01,DOWN_FORCE_DETACH,1792665266445967097,1.609766933e-05,-1.893481974e-04,-4.019453954e-03,1.639148951e-05,-1.816149586e-04,-4.004814400e-03,2.516868127e-06,-1.813095948e-04,-4.002086797e-03,7.015539692e-01,-1.877972361e-04,8.367214872e-01,7.015542630e-01,-1.800639973e-04,8.367361268e-01,7.017317555e-01,-1.795720268e-04,8.255706647e-01
+51,1.773333333e+01,DOWN_FORCE_DETACH,1792665266714448203,1.123804741e-05,-1.757313419e-04,-4.144201537e-03,1.167748057e-05,-1.814974615e-04,-4.129295209e-03,-2.694758825e-06,-1.812299655e-04,-4.126621335e-03,7.015491095e-01,-1.741803806e-04,8.365967397e-01,7.015495490e-01,-1.799465002e-04,8.366116460e-01,7.017265439e-01,-1.794923975e-04,8.254461302e-01
+52,1.786666667e+01,DOWN_FORCE_DETACH,1792665266980348460,2.009474567e-05,-1.899928519e-04,-4.262929879e-03,1.785107221e-05,-1.867419589e-04,-4.247347598e-03,3.089966121e-06,-1.864222472e-04,-4.244812286e-03,7.015579662e-01,-1.884418906e-04,8.364780113e-01,7.015557226e-01,-1.851909976e-04,8.364935936e-01,7.017323286e-01,-1.846846792e-04,8.253279392e-01
+53,1.803333333e+01,DOWN_FORCE_DETACH,1792665267280390401,1.557303136e-05,-1.898123025e-04,-4.399165808e-03,1.551726854e-05,-1.900299543e-04,-4.399310473e-03,9.693476077e-08,-1.897118534e-04,-4.396440829e-03,7.015534445e-01,-1.882613412e-04,8.363417754e-01,7.015533887e-01,-1.884789929e-04,8.363416307e-01,7.017293356e-01,-1.879742854e-04,8.251763107e-01
+54,1.818333333e+01,DOWN_FORCE_DETACH,1792665267578307604,1.660956732e-05,-1.970163630e-04,-4.543697121e-03,1.753770618e-05,-1.939852053e-04,-4.529424978e-03,1.703306439e-06,-1.936453762e-04,-4.526891148e-03,7.015544810e-01,-1.954654017e-04,8.361972441e-01,7.015554092e-01,-1.924342439e-04,8.362115162e-01,7.017309420e-01,-1.919078082e-04,8.250458604e-01
+55,1.831666667e+01,DOWN_FORCE_DETACH,1792665267810310086,8.380625295e-06,-2.003176474e-04,-4.669938886e-03,7.834204472e-06,-1.971152726e-04,-4.654285510e-03,-8.643173228e-06,-1.967665505e-04,-4.651875559e-03,7.015462521e-01,-1.987666861e-04,8.360710023e-01,7.015457057e-01,-1.955643113e-04,8.360866557e-01,7.017205955e-01,-1.950289825e-04,8.249208759e-01
+56,1.845000000e+01,DOWN_FORCE_DETACH,1792665268078649389,1.942320220e-06,-1.997477539e-04,-4.810882275e-03,1.653607474e-06,-1.995344258e-04,-4.810795558e-03,-1.558168216e-05,-1.991387758e-04,-4.808574411e-03,7.015398138e-01,-1.981967926e-04,8.359300589e-01,7.015395251e-01,-1.979834645e-04,8.359301456e-01,7.017136570e-01,-1.974012078e-04,8.247641771e-01
+57,1.858333333e+01,DOWN_FORCE_DETACH,1792665268346549071,-7.608082108e-06,-2.109404349e-04,-4.957275371e-03,-1.106023415e-05,-2.115802724e-04,-4.945566567e-03,-2.902556755e-05,-2.111410347e-04,-4.943387399e-03,7.015302634e-01,-2.093894735e-04,8.357836658e-01,7.015268112e-01,-2.100293111e-04,8.357953746e-01,7.017002131e-01,-2.094034667e-04,8.246293641e-01
+58,1.871666667e+01,DOWN_SETTLE,1792665268610264080,2.157970669e-05,-2.121981071e-04,-5.064003182e-03,2.161456243e-05,-2.121925023e-04,-5.063621487e-03,3.858697557e-06,-2.117061779e-04,-5.061406296e-03,7.015594512e-01,-2.106471458e-04,8.356769380e-01,7.015594860e-01,-2.106415410e-04,8.356773197e-01,7.017330974e-01,-2.099686099e-04,8.245113452e-01
+59,1.910000000e+01,DOWN_PEAK_HOLD,1792665269376517571,5.520590248e-06,-1.859965569e-04,-5.131577065e-03,8.658721166e-06,-1.882528907e-04,-5.122597255e-03,-9.521872592e-06,-1.879247411e-04,-5.122142957e-03,7.015433921e-01,-1.844455956e-04,8.356093641e-01,7.015465302e-01,-1.867019294e-04,8.356183439e-01,7.017197168e-01,-1.861871731e-04,8.244506085e-01

Part2/Fixed/s2/ball_PLA_15/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,-6.9029e-03,-1.1099e-04,2.4570e+00,-3.6813e-02,3.6290e-02,-2.6891e-05,2.7819e-04,1.0265e-05,2.0885e-04,-1.4752e-06,1.9457e-05,-3.1515e-07,3.4802e-04,1.9516e-05
+1,6.0000e-01,DOWN_FORCE_DETACH,1.4486e-04,-4.0044e-04,1.5241e-04,2.4618e+00,-3.6848e-02,3.6749e-02,-3.1905e-05,6.7807e-03,2.7366e-04,4.9949e-03,-3.7000e-05,4.7841e-04,-5.3290e-06,8.4262e-03,4.7986e-04
+2,9.8333e-01,DOWN_FORCE_DETACH,2.8312e-04,7.0143e-03,4.6736e-03,2.4877e+00,-3.7165e-02,3.7252e-02,-2.6134e-05,1.4195e-02,4.7948e-03,3.0917e-02,-3.5426e-04,9.8151e-04,4.4207e-07,3.4356e-02,1.0435e-03
+3,1.3833e+00,DOWN_FORCE_DETACH,4.3565e-04,4.2543e-03,9.0210e-03,2.4804e+00,-3.7457e-02,3.7067e-02,-2.0901e-05,1.1435e-02,9.1423e-03,2.3578e-02,-6.4571e-04,7.9641e-04,5.6752e-06,2.7754e-02,1.0253e-03
+4,1.8500e+00,DOWN_FORCE_DETACH,5.6243e-04,-1.1884e-02,1.0272e-02,2.4668e+00,-3.7532e-02,3.5929e-02,-1.3810e-05,-4.7033e-03,1.0393e-02,1.0027e-02,-7.2142e-04,-3.4094e-04,1.2766e-05,1.5188e-02,7.9803e-04
+5,2.4833e+00,DOWN_FORCE_DETACH,7.0273e-04,-2.4123e-03,1.2598e-02,2.4641e+00,-3.7680e-02,3.6598e-02,-7.8720e-07,4.7688e-03,1.2719e-02,7.3161e-03,-8.6914e-04,3.2823e-04,2.5789e-05,1.5429e-02,9.2941e-04
+6,3.0167e+00,DOWN_FORCE_DETACH,8.4324e-04,8.8308e-04,1.4110e-02,2.4657e+00,-3.7775e-02,3.6832e-02,5.2750e-06,8.0642e-03,1.4231e-02,8.8506e-03,-9.6393e-04,5.6224e-04,3.1851e-05,1.8598e-02,1.1164e-03
+7,3.5333e+00,DOWN_FORCE_DETACH,9.8913e-04,1.5334e-03,1.5919e-02,2.4694e+00,-3.7891e-02,3.6877e-02,6.8650e-06,8.7145e-03,1.6041e-02,1.2608e-02,-1.0804e-03,6.0636e-04,3.3441e-05,2.2186e-02,1.2394e-03
+8,4.0333e+00,DOWN_FORCE_DETACH,1.1267e-03,4.4806e-04,2.1331e-02,2.4638e+00,-3.8261e-02,3.6804e-02,1.1608e-05,7.6292e-03,2.1453e-02,7.0047e-03,-1.4500e-03,5.3425e-04,3.8184e-05,2.3822e-02,1.5458e-03
+9,4.5833e+00,DOWN_FORCE_DETACH,1.2713e-03,2.8936e-03,2.3408e-02,2.4691e+00,-3.8404e-02,3.6970e-02,1.2561e-05,1.0075e-02,2.3530e-02,1.2327e-02,-1.5926e-03,7.0010e-04,3.9137e-05,2.8409e-02,1.7401e-03
+10,5.1667e+00,DOWN_FORCE_DETACH,1.4082e-03,5.6035e-04,2.3632e-02,2.4701e+00,-3.8420e-02,3.6816e-02,9.4632e-06,7.7415e-03,2.3753e-02,1.3290e-02,-1.6087e-03,5.4537e-04,3.6039e-05,2.8298e-02,1.6990e-03
+11,5.7667e+00,DOWN_FORCE_DETACH,1.5514e-03,-1.3861e-03,2.4124e-02,2.4652e+00,-3.8452e-02,3.6678e-02,6.5872e-06,5.7950e-03,2.4245e-02,8.3799e-03,-1.6405e-03,4.0831e-04,3.3163e-05,2.6299e-02,1.6909e-03
+12,6.3167e+00,DOWN_FORCE_DETACH,1.6909e-03,2.0529e-03,2.4088e-02,2.4622e+00,-3.8447e-02,3.6913e-02,6.0985e-06,9.2341e-03,2.4209e-02,5.4030e-03,-1.6358e-03,6.4312e-04,3.2674e-05,2.6468e-02,1.7580e-03
+13,6.9500e+00,DOWN_FORCE_DETACH,1.8312e-03,3.9906e-03,2.6617e-02,2.4683e+00,-3.8623e-02,3.7049e-02,7.1990e-06,1.1172e-02,2.6738e-02,1.1487e-02,-1.8119e-03,7.7878e-04,3.3775e-05,3.1172e-02,1.9725e-03
+14,7.5500e+00,DOWN_FORCE_DETACH,1.9725e-03,6.7746e-03,2.7928e-02,2.4687e+00,-3.8722e-02,3.7242e-02,6.5429e-06,1.3956e-02,2.8049e-02,1.1935e-02,-1.9111e-03,9.7198e-04,3.3119e-05,3.3525e-02,2.1443e-03
+15,8.0333e+00,DOWN_FORCE_DETACH,2.1130e-03,2.6167e-04,2.8101e-02,2.4703e+00,-3.8747e-02,3.6786e-02,6.4534e-06,7.4428e-03,2.8223e-02,1.3460e-02,-1.9357e-03,5.1562e-04,3.3029e-05,3.2141e-02,2.0035e-03
+16,8.6000e+00,DOWN_FORCE_DETACH,2.2555e-03,4.1813e-03,2.9980e-02,2.4850e+00,-3.8885e-02,3.7047e-02,1.2673e-05,1.1362e-02,3.0102e-02,2.8156e-02,-2.0744e-03,7.7694e-04,3.9249e-05,4.2755e-02,2.2154e-03
+17,9.1500e+00,DOWN_FORCE_DETACH,2.3969e-03,8.1140e-03,3.2032e-02,2.4940e+00,-3.9025e-02,3.7318e-02,1.9869e-05,1.5295e-02,3.2154e-02,3.7236e-02,-2.2141e-03,1.0478e-03,4.6445e-05,5.1520e-02,2.4499e-03
+18,9.6000e+00,DOWN_FORCE_DETACH,2.5382e-03,5.3104e-03,3.3496e-02,2.4928e+00,-3.9114e-02,3.7125e-02,2.4658e-05,1.2492e-02,3.3617e-02,3.5995e-02,-2.3034e-03,8.5473e-04,5.1234e-05,5.0811e-02,2.4574e-03
+19,1.0050e+01,DOWN_FORCE_DETACH,2.6841e-03,7.1012e-03,3.2983e-02,2.5060e+00,-3.9053e-02,3.7238e-02,2.9033e-05,1.4282e-02,3.3104e-02,4.9207e-02,-2.2415e-03,9.6828e-04,5.5609e-05,6.1002e-02,2.4423e-03
+20,1.0300e+01,DOWN_FORCE_DETACH,2.8173e-03,1.0153e-02,3.4223e-02,2.5117e+00,-3.9109e-02,3.7442e-02,2.9444e-05,1.7334e-02,3.4344e-02,5.4885e-02,-2.2975e-03,1.1720e-03,5.6020e-05,6.7025e-02,2.5797e-03
+21,1.0433e+01,DOWN_FORCE_DETACH,2.9528e-03,9.8954e-03,3.5586e-02,2.5191e+00,-3.9183e-02,3.7423e-02,2.9317e-05,1.7077e-02,3.5707e-02,6.2332e-02,-2.3724e-03,1.1532e-03,5.5893e-05,7.3837e-02,2.6384e-03
+22,1.0717e+01,DOWN_FORCE_DETACH,3.0999e-03,1.1686e-02,3.5701e-02,2.5177e+00,-3.9165e-02,3.7548e-02,2.5724e-05,1.8867e-02,3.5822e-02,6.0879e-02,-2.3540e-03,1.2779e-03,5.2300e-05,7.3113e-02,2.6790e-03
+23,1.0917e+01,DOWN_FORCE_DETACH,3.2433e-03,1.2673e-02,3.6864e-02,2.5219e+00,-3.9229e-02,3.7616e-02,2.2047e-05,1.9854e-02,3.6985e-02,6.5097e-02,-2.4175e-03,1.3458e-03,4.8623e-05,7.7458e-02,2.7673e-03
+24,1.1200e+01,DOWN_FORCE_DETACH,3.3869e-03,1.2351e-02,3.8390e-02,2.5269e+00,-3.9316e-02,3.7592e-02,1.6546e-05,1.9533e-02,3.8511e-02,7.0121e-02,-2.5047e-03,1.3222e-03,4.3122e-05,8.2350e-02,2.8326e-03
+25,1.1633e+01,DOWN_FORCE_DETACH,3.5255e-03,1.1545e-02,4.0613e-02,2.5332e+00,-3.9451e-02,3.7534e-02,1.3579e-05,1.8726e-02,4.0734e-02,7.6414e-02,-2.6395e-03,1.2638e-03,4.0155e-05,8.8595e-02,2.9267e-03
+26,1.1917e+01,DOWN_FORCE_DETACH,3.6618e-03,1.0432e-02,3.7115e-02,2.5428e+00,-3.9196e-02,3.7452e-02,1.0516e-05,1.7613e-02,3.7237e-02,8.5986e-02,-2.3854e-03,1.1818e-03,3.7092e-05,9.5344e-02,2.6624e-03
+27,1.2283e+01,DOWN_FORCE_DETACH,3.8075e-03,1.1823e-02,4.0805e-02,2.5476e+00,-3.9419e-02,3.7539e-02,1.0247e-05,1.9004e-02,4.0927e-02,9.0741e-02,-2.6084e-03,1.2686e-03,3.6823e-05,1.0134e-01,2.9008e-03
+28,1.2567e+01,DOWN_FORCE_DETACH,3.9488e-03,1.2324e-02,4.3164e-02,2.5508e+00,-3.9563e-02,3.7571e-02,1.0583e-05,1.9505e-02,4.3286e-02,9.3953e-02,-2.7521e-03,1.3010e-03,3.7159e-05,1.0527e-01,3.0444e-03
+29,1.2917e+01,DOWN_FORCE_DETACH,4.0913e-03,1.2382e-02,4.0700e-02,2.5566e+00,-3.9379e-02,3.7572e-02,6.9910e-06,1.9563e-02,4.0821e-02,9.9779e-02,-2.5678e-03,1.3023e-03,3.3567e-05,1.0957e-01,2.8794e-03
+30,1.3233e+01,DOWN_FORCE_DETACH,4.2291e-03,1.0014e-02,4.3114e-02,2.5608e+00,-3.9532e-02,3.7408e-02,5.7545e-06,1.7195e-02,4.3235e-02,1.0394e-01,-2.7210e-03,1.1381e-03,3.2330e-05,1.1388e-01,2.9496e-03
+31,1.3533e+01,DOWN_FORCE_DETACH,4.3709e-03,7.0104e-03,4.3156e-02,2.5621e+00,-3.9539e-02,3.7196e-02,5.2637e-06,1.4192e-02,4.3278e-02,1.0533e-01,-2.7275e-03,9.2553e-04,3.1840e-05,1.1475e-01,2.8804e-03
+32,1.3833e+01,DOWN_FORCE_DETACH,4.5120e-03,5.8954e-03,4.3135e-02,2.5615e+00,-3.9535e-02,3.7114e-02,2.3571e-06,1.3076e-02,4.3256e-02,1.0464e-01,-2.7242e-03,8.4348e-04,2.8933e-05,1.1398e-01,2.8519e-03
+33,1.4100e+01,DOWN_FORCE_DETACH,4.6521e-03,7.9305e-03,4.2817e-02,2.5648e+00,-3.9505e-02,3.7245e-02,-1.9621e-06,1.5112e-02,4.2938e-02,1.0800e-01,-2.6943e-03,9.7511e-04,2.4614e-05,1.1720e-01,2.8654e-03
+34,1.4350e+01,DOWN_FORCE_DETACH,4.7862e-03,9.4658e-03,4.5292e-02,2.5697e+00,-3.9661e-02,3.7349e-02,-4.7806e-07,1.6647e-02,4.5413e-02,1.1290e-01,-2.8504e-03,1.0792e-03,2.6098e-05,1.2283e-01,3.0479e-03
+35,1.4583e+01,DOWN_FORCE_DETACH,4.9341e-03,1.2190e-02,4.7238e-02,2.5761e+00,-3.9776e-02,3.7530e-02,4.9539e-06,1.9371e-02,4.7359e-02,1.1927e-01,-2.9653e-03,1.2594e-03,3.1530e-05,1.2978e-01,3.2219e-03
+36,1.4850e+01,DOWN_FORCE_DETACH,5.0809e-03,1.3013e-02,4.9371e-02,2.5791e+00,-3.9891e-02,3.7585e-02,1.2427e-05,2.0194e-02,4.9492e-02,1.2226e-01,-3.0800e-03,1.3152e-03,3.9003e-05,1.3343e-01,3.3492e-03
+37,1.5083e+01,DOWN_FORCE_DETACH,5.2134e-03,1.4791e-02,4.9027e-02,2.5856e+00,-3.9836e-02,3.7706e-02,1.5607e-05,2.1972e-02,4.9148e-02,1.2883e-01,-3.0250e-03,1.4356e-03,4.2183e-05,1.3963e-01,3.3487e-03
+38,1.5317e+01,DOWN_FORCE_DETACH,5.3550e-03,1.5929e-02,5.0152e-02,2.5885e+00,-3.9888e-02,3.7787e-02,1.4183e-05,2.3110e-02,5.0273e-02,1.3170e-01,-3.0767e-03,1.5164e-03,4.0759e-05,1.4285e-01,3.4304e-03
+39,1.5550e+01,DOWN_FORCE_DETACH,5.4999e-03,1.6711e-02,5.3902e-02,2.5927e+00,-4.0108e-02,3.7840e-02,1.1968e-05,2.3892e-02,5.4024e-02,1.3593e-01,-3.2975e-03,1.5699e-03,3.8544e-05,1.4821e-01,3.6523e-03
+40,1.5767e+01,DOWN_FORCE_DETACH,5.6419e-03,1.6923e-02,5.5812e-02,2.5966e+00,-4.0190e-02,3.7851e-02,1.1312e-05,2.4104e-02,5.5933e-02,1.3977e-01,-3.3793e-03,1.5809e-03,3.7888e-05,1.5246e-01,3.7310e-03
+41,1.5967e+01,DOWN_FORCE_DETACH,5.7747e-03,1.7761e-02,5.7311e-02,2.5988e+00,-4.0251e-02,3.7905e-02,1.0513e-05,2.4943e-02,5.7432e-02,1.4196e-01,-3.4396e-03,1.6353e-03,3.7089e-05,1.5516e-01,3.8088e-03
+42,1.6167e+01,DOWN_FORCE_DETACH,5.9288e-03,1.5988e-02,5.9639e-02,2.6005e+00,-4.0386e-02,3.7786e-02,9.5720e-06,2.3169e-02,5.9760e-02,1.4364e-01,-3.5746e-03,1.5156e-03,3.6148e-05,1.5729e-01,3.8828e-03
+43,1.6350e+01,DOWN_FORCE_DETACH,6.0582e-03,1.2872e-02,6.0418e-02,2.6009e+00,-4.0425e-02,3.7572e-02,9.1945e-06,2.0053e-02,6.0539e-02,1.4411e-01,-3.6139e-03,1.3017e-03,3.5770e-05,1.5759e-01,3.8414e-03
+44,1.6550e+01,DOWN_FORCE_DETACH,6.2002e-03,1.4283e-02,6.3345e-02,2.6048e+00,-4.0595e-02,3.7657e-02,8.2421e-06,2.1464e-02,6.3466e-02,1.4799e-01,-3.7841e-03,1.3869e-03,3.4818e-05,1.6245e-01,4.0305e-03
+45,1.6733e+01,DOWN_FORCE_DETACH,6.3374e-03,1.4200e-02,6.4659e-02,2.6006e+00,-4.0668e-02,3.7648e-02,7.9877e-06,2.1381e-02,6.4780e-02,1.4378e-01,-3.8569e-03,1.3774e-03,3.4564e-05,1.5914e-01,4.0956e-03
+46,1.6917e+01,DOWN_FORCE_DETACH,6.4871e-03,1.5545e-02,6.5147e-02,2.6023e+00,-4.0692e-02,3.7734e-02,9.2214e-06,2.2726e-02,6.5269e-02,1.4552e-01,-3.8811e-03,1.4636e-03,3.5797e-05,1.6109e-01,4.1481e-03
+47,1.7100e+01,DOWN_FORCE_DETACH,6.6321e-03,1.6173e-02,6.5641e-02,2.6026e+00,-4.0702e-02,3.7776e-02,9.0112e-06,2.3354e-02,6.5762e-02,1.4576e-01,-3.8911e-03,1.5061e-03,3.5587e-05,1.6161e-01,4.1726e-03
+48,1.7267e+01,DOWN_FORCE_DETACH,6.7702e-03,1.7135e-02,6.6349e-02,2.6046e+00,-4.0723e-02,3.7844e-02,6.1648e-06,2.4316e-02,6.6470e-02,1.4784e-01,-3.9116e-03,1.5740e-03,3.2741e-05,1.6391e-01,4.2165e-03
+49,1.7433e+01,DOWN_FORCE_DETACH,6.9115e-03,1.6520e-02,6.5727e-02,2.6024e+00,-4.0669e-02,3.7810e-02,3.2390e-06,2.3701e-02,6.5848e-02,1.4554e-01,-3.8578e-03,1.5395e-03,2.9815e-05,1.6149e-01,4.1537e-03
+50,1.7583e+01,DOWN_FORCE_DETACH,7.0491e-03,1.7098e-02,6.8653e-02,2.6062e+00,-4.0828e-02,3.7850e-02,7.6077e-07,2.4279e-02,6.8775e-02,1.4943e-01,-4.0169e-03,1.5795e-03,2.7337e-05,1.6628e-01,4.3164e-03
+51,1.7733e+01,DOWN_FORCE_DETACH,7.1964e-03,1.8686e-02,6.8470e-02,2.6025e+00,-4.0801e-02,3.7958e-02,-8.3155e-07,2.5867e-02,6.8591e-02,1.4569e-01,-3.9900e-03,1.6875e-03,2.5744e-05,1.6309e-01,4.3322e-03
+52,1.7867e+01,DOWN_FORCE_DETACH,7.3240e-03,1.8049e-02,6.9300e-02,2.5993e+00,-4.0844e-02,3.7918e-02,-2.8268e-06,2.5230e-02,6.9421e-02,1.4244e-01,-4.0327e-03,1.6483e-03,2.3749e-05,1.6045e-01,4.3566e-03
+53,1.8033e+01,DOWN_FORCE_DETACH,7.4649e-03,1.3098e-02,6.9822e-02,2.5915e+00,-4.0876e-02,3.7587e-02,-4.3659e-06,2.0279e-02,6.9943e-02,1.3464e-01,-4.0648e-03,1.3170e-03,2.2210e-05,1.5308e-01,4.2729e-03
+54,1.8183e+01,DOWN_FORCE_DETACH,7.6135e-03,1.1065e-02,7.4128e-02,2.5990e+00,-4.1134e-02,3.7439e-02,-5.7353e-06,1.8246e-02,7.4249e-02,1.4218e-01,-4.3230e-03,1.1692e-03,2.0841e-05,1.6144e-01,4.4784e-03
+55,1.8317e+01,DOWN_FORCE_DETACH,7.7433e-03,1.5579e-02,7.4652e-02,2.5953e+00,-4.1152e-02,3.7738e-02,-8.1741e-06,2.2761e-02,7.4773e-02,1.3849e-01,-4.3414e-03,1.4682e-03,1.8402e-05,1.5903e-01,4.5830e-03
+56,1.8450e+01,DOWN_FORCE_DETACH,7.8880e-03,1.7246e-02,7.8268e-02,2.5897e+00,-4.1371e-02,3.7854e-02,-9.0086e-06,2.4427e-02,7.8389e-02,1.3288e-01,-4.5598e-03,1.5840e-03,1.7567e-05,1.5620e-01,4.8271e-03
+57,1.8583e+01,DOWN_FORCE_DETACH,8.0385e-03,2.0498e-02,8.1992e-02,2.5788e+00,-4.1578e-02,3.8083e-02,-1.3953e-05,2.7679e-02,8.2113e-02,1.2197e-01,-4.7668e-03,1.8129e-03,1.2623e-05,1.4961e-01,5.0999e-03
+58,1.8717e+01,DOWN_SETTLE,8.1802e-03,5.3411e-03,8.2969e-02,2.5750e+00,-4.1643e-02,3.7068e-02,-1.7596e-05,1.2522e-02,8.3090e-02,1.1815e-01,-4.8323e-03,7.9758e-04,8.9797e-06,1.4498e-01,4.8976e-03
+59,1.9100e+01,DOWN_PEAK_HOLD,8.3169e-03,1.4471e-02,6.8246e-02,2.5056e+00,-4.0892e-02,3.7721e-02,-2.9140e-05,2.1652e-02,6.8367e-02,4.8801e-02,-4.0808e-03,1.4511e-03,-2.5643e-06,8.6743e-02,4.3311e-03

Part2/Fixed/s2/ball_PLA_15/press_depth_03/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05ac6aca8927280ae5c6144f17ddb7b0a9bae28805b11fb81e399f5669beaef1
+size 23930880

Part2/Fixed/s2/ball_PLA_15/press_depth_03/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+16393,1792665212228413102,33752576000000,1792665212227052372,XJC_ZERO_HOLD_BEFORE_UP,3,0.0485,0.048497460782527924,0.6760002493580377,-0.004553784179439816,0.09071594966577638,0.9999999819797623,-3.8130694775297337e-06,-0.0001588887463441383,-4.715046513618664e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.004067831399329369,-0.0032976511257815644,0.009875901557615255,-0.00014435953676625313,0.00025483650142910444,-7.477197357874353e-06,0.25083591263675303,0.32450912850733177,-0.009053114319951362,0.024283746668145256,-0.018828987365774152,1.8822528793793885e-05,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.7938773990738113,0.6134949401998956,2.1738723974376306,-0.3099737101302133,-1.4808483036338924,0.31997273057414705,1.1679701502049307,0.009875901557615255,-1.0059022472327,0.0,0.0,0,0,0.0,0.0
+16413,1792665212394478692,33752742000000,1792665212387042176,XJC_ZERO_HOLD_BEFORE_UP,3,0.0485,0.048497460782527924,0.6760022624834486,-0.0045438511557279165,0.09071830245591177,0.9999999823154635,5.191984101151793e-06,-0.0001553671971282255,-5.143942722789163e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.003934832402388899,-0.0013793372318647856,0.016642474735935914,0.0005265153420381426,-0.0006415903118143947,-1.6850362761770434e-05,0.25070291363981256,0.32642744240124855,-0.0022865411416307033,0.024954621546949652,-0.01972541417901765,9.449363389897804e-06,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.7723124481903353,0.5053141660979502,2.1182329787990457,-0.28508862235917315,-1.440906340395324,0.2487948212344333,1.1679701502049307,0.016642474735935914,-0.950262828594115,0.0,0.0,0,0,0.0,0.0
+16441,1792665212628492404,33752976000000,1792665212627051593,XJC_ZERO_HOLD_BEFORE_UP,3,0.0485,0.048497460782527924,0.6760025556742906,-0.004533641627843981,0.0907200237989518,0.9999999820375978,7.4104301002953415e-06,-0.00015500226186641593,-5.733282759161832e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.004014955244156682,0.00871692196630336,0.02036743330378617,0.0006099487930206135,-0.0006471252540847031,-1.8936875263113045e-05,0.25078303648158035,0.3365237015994167,0.001438417426219553,0.025038054997932123,-0.01973094912128796,7.3628508885551945e-06,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8143260844310724,0.5514835286613478,2.0969997887527474,-0.2901729823928243,-1.4386900124928155,0.28074837715732237,1.1679701502049307,0.02036743330378617,-0.9290296385478167,0.0,0.0,0,0,0.0,0.0
+16490,1792665213029409499,33753377000000,1792665213023051951,WAIT_W2,3,0.0441,0.048496805131435394,0.6760026050723291,-0.004527732324572775,0.09071842625594224,0.9999999819269767,1.3927527469576027e-05,-0.00015479118880221246,-5.860565241565083e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.012980209996473258,0.00924508093368348,0.022110575255362724,0.0006097457345448261,-0.0006474011927672212,-1.7840044163845265e-05,0.2597482912338969,0.3370518605667968,0.0031815593777961082,0.025037851939456335,-0.019731225059970478,8.459681987822973e-06,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.7564663926087951,0.5875165955058067,2.0964256868235758,-0.2967056197633281,-1.4191032061593516,0.3043162243937412,1.1679701502049307,0.022110575255362724,-0.9284555366186451,0.0,0.0,0,0,0.0,0.0
+16529,1792665213354426331,33753701999999,1792665213351042279,WAIT_W2,3,0.0441,0.04814351722598076,0.6760016179151153,-0.004532773131473566,0.09071902010569152,0.9999999817829937,9.452206553526609e-06,-0.0001562908990469637,-5.7971436892451705e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.041211689334922474,0.014971500738021504,0.02057854184577818,0.0006708243235247525,-0.002675813899651089,0.00031872149788573655,0.28797977057234614,0.34277828037113484,0.0016495259682115621,0.025098930528436262,-0.021759637766854346,0.0003450212240374048,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.7650283708325956,0.6365650865969906,2.137599112360749,-0.30781520617189034,-1.4471631562759164,0.33762445445159234,1.1679701502049307,0.02057854184577818,-0.9696289621558183,0.0,0.0,0,0,0.0,0.0
+16549,1792665213520484827,33753868000000,1792665213519051951,WAIT_W2,3,0.0441,0.04739885777235031,0.6759998096795734,-0.004532297200093107,0.09071650662879562,0.9999999812995026,1.3952998728831227e-05,-0.00015895799007249563,-5.815092489408474e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0679042481436592,-7.368825486248065e-05,0.010811277324962967,-0.0002712191667653442,-0.004682346898558929,0.0001426542077470865,0.31467232938108286,0.32773309137825085,-0.00811773855260365,0.024156887038146165,-0.023766170765762186,0.00016895393389875472,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.7990290911182975,0.6063300619673736,2.1650774543006595,-0.29766563610573415,-1.468948706651216,0.3149441443794916,1.1679701502049307,0.010811277324962967,-0.9971073040957288,0.0,0.0,0,0,0.0,0.0
+16577,1792665213754477259,33754102000000,1792665213751051829,WAIT_W2,3,0.0441,0.046608228236436844,0.6760031200597513,-0.004530017230894024,0.0907199951285976,0.9999999821175873,1.157176576137226e-05,-0.00015335560753631925,-5.963087772337496e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.07107169231085952,-0.020534292948690358,0.0059821591491533085,-0.002331124408774629,-0.00464606979293835,0.0009307592400137121,0.3178397735482832,0.307272486684423,-0.012946856728413308,0.02209698179613688,-0.023729893660141606,0.0009570589661653803,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.879522913233325,0.4881301876867729,2.26033151655849,-0.2644266862699241,-1.5496598718194496,0.2385602186653535,1.1679701502049307,0.0059821591491533085,-1.0923613663535594,0.0,0.0,0,0,0.0,0.0
+16597,1792665213920484007,33754267999999,1792665213919042866,WAIT_W2,3,0.0441,0.04581432044506073,0.6760049713798891,-0.004529463894634774,0.09072240261213917,0.9999999824800313,1.2331143197727604e-05,-0.00015058462353962468,-6.045672524595864e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.07265271007632379,-0.06546655565022569,-0.0013289411560279164,-0.005331017337564546,-0.004584710961315908,0.0009025346891009608,0.31942079131374745,0.26234022398288764,-0.020257957033594533,0.019097088867346963,-0.023668534828519164,0.0009288344152526291,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8439736148312993,0.5724963789688494,2.0620644427170234,-0.3002700339803196,-1.4089247716608644,0.29217457167600314,1.1679701502049307,0.0013289411560279164,-0.8940942925120927,0.0,0.0,0,0,0.0,0.0
+16613,1792665214054453763,33754402000000,1792665214051051427,WAIT_W2,3,0.0441,0.045033544301986694,0.6760055228633378,-0.004525116251873012,0.0907230891871634,0.999999982459691,1.4917149948917181e-05,-0.0001502642630562138,-6.1005015848514907e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.06453783575491212,-0.09474164297445223,-0.004016536403546187,-0.007465106233182091,-0.004324748295603569,0.0016836833002194425,0.3113059169923358,0.2330651366586611,-0.022945552281112804,0.01696299997172942,-0.023408572162806826,0.0017099830263711108,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8538298191161626,0.5526376632189779,2.1193673103957438,-0.2964978834572133,-1.4451849432337458,0.27601486802351793,1.1679701502049307,0.004016536403546187,-0.9513971601908131,0.0,0.0,0,0,0.0,0.0
+16637,1792665214254479147,33754602000000,1792665214251051353,WAIT_W2,3,0.0441,0.045033544301986694,0.6760045313459032,-0.0045275471938849695,0.09072106232994494,0.9999999823266289,1.1360168904963912e-05,-0.00015136055462681132,-6.124161554553019e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.07870169480339417,-0.11793689520162842,-0.012492221769122305,-0.009488233509509824,-0.005151767267184849,0.0018812175252523506,0.32546977604081784,0.2098698844314849,-0.03142123764668892,0.014939872695401686,-0.024235591134388106,0.001907517251404019,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.901622243895133,0.5381402528869403,2.1600680171022,-0.2865480760177142,-1.48207168149158,0.2684330769438441,1.1679701502049307,0.012492221769122305,-0.9920978668972693,0.0,0.0,0,0,0.0,0.0
+16673,1792665214554419102,33754902000000,1792665214547042159,WAIT_W2,3,0.0441,0.04414770007133484,0.6760029143903138,-0.004528574726310621,0.09071869058509326,0.9999999818864578,1.171515338334084e-05,-0.0001551060284939736,-5.894763670284763e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.12957410100202893,-0.0692642914995496,-0.010910733870259728,-0.006341214816820269,-0.008254307440660809,0.001870361486795889,0.3763421822394526,0.25854248813356373,-0.029839749747826345,0.01808689138809124,-0.027338131307864066,0.0018966612129475574,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8667150325566361,0.6495629609845416,2.084609552548999,-0.3085399252463915,-1.4228480570666673,0.34845034115404605,1.1679701502049307,0.010910733870259728,-0.9166394023440683,0.0,0.0,0,0,0.0,0.0
+16693,1792665214720518886,33755068000000,1792665214715051580,WAIT_W2,3,0.0441,0.04410764202475548,0.6760041935603687,-0.0045364777009796525,0.09072374303054669,0.9999999826864473,5.64920377353331e-06,-0.00015020446834649456,-5.896332765803597e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.16373704595020205,-0.037122678931361786,4.4589587059187114e-05,-0.004240545492273512,-0.010468455089898469,0.0018601815331396041,0.4105051271876257,0.29068410070175155,-0.01888442629050743,0.020187560712637997,-0.029552278957101726,0.0018864812592912724,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9012093259160804,0.6519264428138822,2.154526080500319,-0.30431468887252267,-1.478706701338159,0.3502383953459784,1.1679701502049307,4.4589587059187114e-05,-0.9865559302953884,0.0,0.0,0,0,0.0,0.0
+16721,1792665214951528864,33755299000000,1792665214951042566,UP_FORCE_RAMP,3,0.0441,0.044103704392910004,0.6760060889225104,-0.004542838977370418,0.09072412660247538,0.9999999830360627,7.408933584328814e-06,-0.0001485374992006321,-5.7030324003701426e-05,0.6761,-0.00453,0.09100000822646453,1.0,0.0,0.0,0.0,0.18322611115306991,0.0003875485671625545,-0.008178091553294933,-0.0011910739407745181,-0.011762971460689792,0.0018670414303103625,0.4299941923904936,0.3281943282002759,-0.02710710743086155,0.02323703226413699,-0.03084679532789305,0.0018933411564620308,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9036131884307188,0.653795348769511,2.202592028115747,-0.2982133564153054,-1.5096376681881327,0.3503299648159622,1.1679701502049307,0.008178091553294933,-1.0346218779108165,0.008178091553294933,0.005294426003926726,0,0,2.0601586311896902e-07,-2.0809683143330204e-06
+16757,1792665215251528321,33755599000000,1792665215251051681,UP_FORCE_RAMP,3,0.0441,0.04410041868686676,0.6760034947267691,-0.0045606681352523505,0.09072207988607883,0.9999999825801648,-1.0512438148015704e-05,-0.0001516893157226045,-5.623499749090918e-05,0.6761,-0.00453,0.09100045126240536,1.0,0.0,0.0,0.0,0.20176705196505174,0.020969960979763502,-0.008453767674047444,-5.6241321738443456e-05,-0.013804475496203308,0.000837155168682477,0.4485351332024754,0.34877674061287683,-0.02738278355161406,0.024371864883173066,-0.032888299363406565,0.0008634548948341452,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8065431008158103,0.6675649239227808,2.1155246370975336,-0.28745309888261367,-1.4255056919172835,0.3654364690914085,1.1679701502049307,0.008453767674047444,-0.9475544868926029,0.008453767674047444,0.017294426003926684,0,0,3.2357320341848727e-06,1.1965627583381283e-05
+16781,1792665215451497418,33755799000000,1792665215451041938,UP_FORCE_RAMP,3,0.0441,0.04410041868686676,0.676003869554394,-0.004566452165213615,0.09072346324350176,0.9999999825886454,-1.4907024682690118e-05,-0.0001518264277566485,-5.4699998005482305e-05,0.6761,-0.00453,0.09100137040142585,1.0,0.0,0.0,0.0,0.2191262490776365,0.04141022079068002,-0.007747237402737819,0.0016135367838071742,-0.013837758200433512,0.0008618923106371753,0.46589433031506017,0.36921700042379335,-0.026676253280304436,0.026041642988718684,-0.03292158206763677,0.0008881920367888436,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8670693176003774,0.692151253042037,2.0611442986294244,-0.2885326910379464,-1.411003725983749,0.3791097475635171,1.1679701502049307,0.007747237402737819,-0.8931741484244937,0.007747237402737819,0.025294426003926358,0,0,6.004623009559742e-06,2.7969406980146743e-05
+16817,1792665215751523545,33756099000000,1792665215747052340,UP_FORCE_RAMP,3,0.0441,0.04410107806324959,0.6760047737971597,-0.0045780768840172036,0.09072619645575446,0.9999999830545891,-2.1278225789909713e-05,-0.00014894780169801006,-5.191796775214681e-05,0.6761,-0.00453,0.09100395857586378,1.0,0.0,0.0,0.0,0.23746460829814853,0.053619707625059576,-0.007090464717661997,0.0030626938111677875,-0.015891030404671807,0.0008462687966749354,0.4842326895355722,0.3814264872581729,-0.026019480595228614,0.027490800016079297,-0.034974854271875064,0.0008725685228266036,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8374691912524499,0.6349171971610577,2.172643048456705,-0.27195627036499614,-1.4739975009025141,0.34211365468882965,1.1679701502049307,0.007090464717661997,-1.0046728982517745,0.007090464717661997,0.03729442600392587,0,0,1.0809195207427326e-05,4.336146904752134e-05
+16853,1792665216051521329,33756398999999,1792665216051051201,UP_FORCE_RAMP,3,0.0441,0.04410107806324959,0.676007413427504,-0.004580116121319522,0.09072724550422823,0.9999999833328567,-2.3369255331700274e-05,-0.0001464740175834263,-5.269146903357733e-05,0.6761,-0.00453,0.09100818080310376,1.0,0.0,0.0,0.0,0.2466958152132147,0.0788793362648213,-0.0065651484924534285,0.004113324294164021,-0.016925513573521265,0.0008427853383990559,0.4934638964506384,0.40668611589793463,-0.025494164370020046,0.02854143049907553,-0.03600933744072452,0.0008690850645507242,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8904140932991573,0.6983593911680297,2.170869139214535,-0.28606917270956134,-1.4862618419960345,0.38286823445457957,1.1679701502049307,0.0065651484924534285,-1.0028989890096045,0.0065651484924534285,0.04929442600392538,0,0,1.6856470077989933e-05,4.553705735097015e-05
+16885,1792665216317484948,33756665000000,1792665216315051812,UP_FORCE_RAMP,3,0.0441,0.04410107806324959,0.676004169934847,-0.004586920572827484,0.09072605674816624,0.9999999827461631,-2.6032036248816575e-05,-0.00015022612246560606,-5.200945250729425e-05,0.6761,-0.00453,0.09101317952449833,1.0,0.0,0.0,0.0,0.25540600531911384,0.08681449240722844,-0.016101934270640342,0.0051633403881203785,-0.01795529691789011,0.000847374501688358,0.5021740865565375,0.41462127204034177,-0.03503095014820696,0.029591446593031888,-0.03703912078509337,0.0008736742278400262,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8764141290547656,0.8016748318540857,2.1029387198508878,-0.31811019000694846,-1.4363519470730854,0.4478786855390803,1.1679701502049307,0.016101934270640342,-0.9349685696459571,0.016101934270640342,0.05993442600392495,0,0,2.0004974502426376e-05,1.9305771355716434e-05
+16913,1792665216551420000,33756898999999,1792665216547051529,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760061280633023,-0.004588952034031407,0.09072895529187154,0.9999999830750195,-2.922219579449564e-05,-0.0001477301769904782,-5.113397465629038e-05,0.6761,-0.00453,0.09101796074864868,1.0,0.0,0.0,0.0,0.2667724373303023,0.10025870762862765,-0.033524085652334314,0.006188184468187682,-0.017972027746876004,0.0008751597944413348,0.513540518567726,0.428065487261741,-0.05245310152990093,0.030616290673099192,-0.03705585161407926,0.000901459520593003,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9367973788177189,0.7466463136067677,2.2478021832353767,-0.2969916006078598,-1.5488522110052967,0.4121228522559932,1.1679701502049307,0.033524085652334314,-1.079832033030446,0.033524085652334314,0.06929442600392458,0,0,2.065136037257924e-05,-2.794131511903141e-05
+16937,1792665216751493544,33757099000000,1792665216751051680,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6760068805771058,-0.004588284890119503,0.09073467805304378,0.9999999832565905,-2.9639014091686458e-05,-0.00014618106216124404,-5.179101453932429e-05,0.6761,-0.00453,0.09102210947722446,1.0,0.0,0.0,0.0,0.27285976742261264,0.12038485424394546,-0.03526374945589395,0.007211473614030954,-0.018042025362915184,0.0008988560484401931,0.5196278486600363,0.4481916338770588,-0.05419276533346057,0.03163957981894246,-0.03712584923011844,0.0009251557745918613,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.931720948463948,0.7767897445409124,2.22884507850925,-0.3079731720485298,-1.534400680063598,0.4317037506976169,1.1679701502049307,0.03526374945589395,-1.0608749283043193,0.03526374945589395,0.07729442600392425,0,0,2.103672439051056e-05,-2.1602137874153623e-07
+16957,1792665216917528996,33757265000000,1792665216915042339,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760066820961935,-0.004592172552075801,0.09073566338191548,0.9999999833800497,-3.061079717688452e-05,-0.00014591338357625364,-4.954824326951686e-05,0.6761,-0.00453,0.09102562533905795,1.0,0.0,0.0,0.0,0.27312012020153587,0.1173978584820044,-0.04499681889558508,0.0072388591833304275,-0.019002895775919054,0.0008801919524845967,0.5198882014389595,0.44520463811511773,-0.0639258347731517,0.03166696538824194,-0.03808671964312231,0.000906491678636265,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9063626087840511,0.6813181282721309,2.237588050465907,-0.28442169806432666,-1.5295100569009459,0.36847345917863694,1.1679701502049307,0.04499681889558508,-1.0696179002609765,0.04499681889558508,0.08393442600392398,0,0,2.1322338674538494e-05,-1.8722576973424673e-05
+16989,1792665217184458428,33757532000000,1792665217183051882,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760063239940475,-0.00459887075292736,0.09073800271614937,0.9999999831654826,-3.5944445384691645e-05,-0.00014568294628384082,-5.095463824362445e-05,0.6761,-0.00453,0.09103112973361374,1.0,0.0,0.0,0.0,0.2789179200847959,0.12903147632525813,-0.054888188060150896,0.00825882384747919,-0.019020943941020853,0.0009003719546527807,0.5256860013222195,0.45683825595837146,-0.07381720393771751,0.0326869300523907,-0.03810476780822411,0.000926671680804449,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9406034958203214,0.7260262383410415,2.1541068733209787,-0.29498818388984815,-1.4860078410627877,0.39825546993712013,1.1679701502049307,0.054888188060150896,-0.986136723116048,0.054888188060150896,0.09461442600392354,0,0,2.0376395218097316e-05,-5.18460854758578e-06
+17021,1792665217451510753,33757799000000,1792665217451051836,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760058699892233,-0.004604568553148359,0.0907399978041784,0.9999999830382349,-3.923545354789937e-05,-0.00014611745940310646,-4.976606820825643e-05,0.6761,-0.00453,0.09103632249137658,1.0,0.0,0.0,0.0,0.28211260385964376,0.12548926607552707,-0.07487731704594283,0.00828743068893674,-0.019805318748479402,0.0009047360242314715,0.5288806850970674,0.4532960457086404,-0.09380633292350946,0.03271553689384825,-0.03888914261568266,0.0009310357503831397,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9437051831810409,0.8327269385768366,2.2371385702031232,-0.32912541372557663,-1.5416368488174907,0.46563798220765173,1.1679701502049307,0.07487731704594283,-1.0691684199981926,0.07487731704594283,0.10529442600392311,0,0,1.8202583338754294e-05,-3.0242715755193497e-05
+17053,1792665217717436149,33758065000000,1792665217715052036,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760061646473515,-0.0045989542359407415,0.0907474822292542,0.9999999835243384,-3.352374918680733e-05,-0.00014401462283290524,-5.0300438625080616e-05,0.6761,-0.00453,0.09104080093484462,1.0,0.0,0.0,0.0,0.27894318332227797,0.14001123481662242,-0.08455719746100923,0.009307659289438046,-0.019706462095105747,0.000925424482859608,0.5257112645597016,0.46781801444973575,-0.10348621333857586,0.033735765494349555,-0.038790285962309004,0.0009517242090112762,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.8810960728085918,0.7364703726824082,2.292764205263091,-0.2991434589342189,-1.559992015702072,0.4026077966397758,1.1679701502049307,0.08455719746100923,-1.1247940550581603,0.08455719746100923,0.11593442600392267,0,0,1.5722351891538128e-05,-3.4078404122631133e-07
+17089,1792665218017442718,33758364999999,1792665218011042049,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760074770579627,-0.004606061618307679,0.09075107492755917,0.9999999835392234,-3.980905575284126e-05,-0.0001426551018285809,-4.928669510331811e-05,0.6761,-0.00453,0.09104521794474256,1.0,0.0,0.0,0.0,0.2909139577901727,0.14613313711613907,-0.10452443284269747,0.009321386765498964,-0.02004365104141217,0.0009377906161715297,0.5376820390275964,0.4739399167492524,-0.12345344872026409,0.03374949297041047,-0.03912747490861543,0.0009640903423231979,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9308283503823472,0.7200500875923093,2.3159658547996975,-0.2847531587000653,-1.5891146824791402,0.39429855157448074,1.1679701502049307,0.10452443284269747,-1.1479957045947669,0.10452443284269747,0.1279344260039232,0,0,1.3659107890837289e-05,-1.9738498083074906e-05
+17124,1792665218309529698,33758657000000,1792665218303051633,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.676009223712764,-0.004608375804392862,0.09075625408710146,0.9999999839038133,-4.05430211418551e-05,-0.00014011527800294923,-4.857169885549941e-05,0.6761,-0.00453,0.09104909059615622,1.0,0.0,0.0,0.0,0.29023519286441135,0.14854043254445193,-0.11422185148993516,0.010343009707418582,-0.020060339933836224,0.0009570512420993834,0.537003274101835,0.47634721217756526,-0.13315086736750179,0.03477111591233009,-0.03914416380103948,0.0009833509682510516,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9259048805775172,0.7275308306348047,2.2464725985933662,-0.28409948625856807,-1.5443431656906983,0.40171426286070866,1.1679701502049307,0.11422185148993516,-1.0785024483884356,0.11422185148993516,0.1396144260039268,0,0,1.2894776822418786e-05,-2.0049451052825445e-06
+17157,1792665218584527550,33758932000000,1792665218579051106,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760089823117978,-0.0046091702573167895,0.09075727361586633,0.9999999838203115,-4.391099020401691e-05,-0.00013939520867469471,-4.942713854481255e-05,0.6761,-0.00453,0.09105264300526279,1.0,0.0,0.0,0.0,0.2867723649969788,0.15817484162010387,-0.12422680436221106,0.010346383829905687,-0.0200589900439181,0.0009651701098935841,0.5335404462344024,0.4859816212532172,-0.1431558202397777,0.034774490034817196,-0.03914281391112136,0.0009914698360452524,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9003079314796046,0.7499435766809988,2.263980872707376,-0.2975723512734305,-1.546889014767844,0.41006234707935774,1.1679701502049307,0.12422680436221106,-1.0960107225024451,0.12422680436221106,0.15061442600393016,0,0,1.3304170669157055e-05,-1.1147459423990733e-06
+17201,1792665218951532547,33759299000000,1792665218947042015,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760099296667393,-0.004611761810488409,0.09076008322488434,0.9999999838185665,-4.504576312285211e-05,-0.00013970348658992528,-4.7534685769240516e-05,0.6761,-0.00453,0.09105788558835165,1.0,0.0,0.0,0.0,0.2963243501836802,0.15812735181640436,-0.13281795765564897,0.010349108129419415,-0.02005773326629669,0.0009738050373204939,0.5430924314211039,0.4859341314495177,-0.1517469735332156,0.034777214334330925,-0.03914155713349995,0.0010001047634721622,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9294633755096098,0.7631734729184938,2.3400537222217244,-0.3026972838594732,-1.604327134210689,0.4204123190528816,1.1679701502049307,0.13281795765564897,-1.1720835720167937,0.13281795765564897,0.16529442600393465,0,0,1.5138799690507964e-05,1.1105398824594758e-05
+17224,1792665219142443764,33759489999999,1792665219139041919,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760099014347294,-0.004609395876199109,0.09076406821157543,0.9999999840641819,-4.155296218055951e-05,-0.00013824609486744261,-4.9758105320652495e-05,0.6761,-0.00453,0.0910609001039861,1.0,0.0,0.0,0.0,0.29922935835357367,0.15783349605723507,-0.13424753805236775,0.010348052326675669,-0.020056980958729275,0.0009743552144776984,0.5459974395909973,0.4856402756903484,-0.15317655392993437,0.03477615853158718,-0.03914080482593253,0.0010006549406293666,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9480556122907062,0.775070646311686,2.3508856890471503,-0.3038517217640234,-1.6162015377396313,0.4294810086819087,1.1679701502049307,0.13424753805236775,-1.1829155388422197,0.13424753805236775,0.172934426003937,0,0,1.6762540139728456e-05,2.606973571773904e-05
+17269,1792665219517536596,33759864999999,1792665219511051548,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6760089482439953,-0.004603765637292273,0.09076557309074755,0.9999999835922819,-4.2265829944375665e-05,-0.00014001835582885783,-5.3542132788926336e-05,0.6761,-0.00453,0.09106724488546952,1.0,0.0,0.0,0.0,0.2904694091700637,0.1497646284452488,-0.15406751708112737,0.01035451656048577,-0.020055669127731008,0.0009894297592883123,0.5372374904074874,0.4775714080783621,-0.172996532958694,0.03478262276539728,-0.039139492994934265,0.0010157294854399807,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9133600163553357,0.7826552476014008,2.313330068805037,-0.29683111648511257,-1.5836596034269907,0.438668078374933,1.1679701502049307,0.15406751708112737,-1.1453599186001062,0.15406751708112737,0.18793442600394158,0,0,1.757656389756443e-05,-6.496054910680034e-06
+17300,1792665219776504851,33760124000000,1792665219771051641,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6760078481405136,-0.004612031005915634,0.09076709968900792,0.9999999831935497,-4.6220137327802655e-05,-0.00014280810604343867,-5.0252451317357705e-05,0.6761,-0.00453,0.09107210575631343,1.0,0.0,0.0,0.0,0.2989858779652713,0.15983805167608317,-0.153885565298389,0.011380940045657324,-0.021073537688597797,0.000986027409730904,0.545753959202695,0.4876448313091965,-0.17281458117595563,0.035809046250568834,-0.040157361555801054,0.0010123271358825723,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9317735462343738,0.8520418915130953,2.274047613677581,-0.3276627183189754,-1.5627451462675712,0.4794199227802416,1.1679701502049307,0.153885565298389,-1.1060774634726505,0.153885565298389,0.19829442600394476,0,0,1.979778390409691e-05,2.4309560087686517e-05
+17332,1792665220042451376,33760390000000,1792665220039042176,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6760099556155543,-0.004611767830817413,0.0907738961794265,0.9999999836979208,-4.39663534926412e-05,-0.00013956766543109394,-5.133078066778126e-05,0.6761,-0.00453,0.09107751077783642,1.0,0.0,0.0,0.0,0.2903740879897073,0.159163582516754,-0.17381201553180997,0.011402717327278517,-0.02108057378557304,0.0009998527162483088,0.537142169227131,0.48697036214986733,-0.1927410314093766,0.035830823532190026,-0.040164397652776296,0.0010261524423999771,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9592623466205744,0.7895703163752248,2.4332736103185937,-0.3119668544242854,-1.6727537428436157,0.433538673555276,1.1679701502049307,0.17381201553180997,-1.265303460113663,0.17381201553180997,0.20893442600394802,0,0,2.0159038376060452e-05,-2.6240738787792207e-05
+17356,1792665220242469834,33760589999999,1792665220239051959,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760091234760529,-0.0046080184200311645,0.0907751172458583,0.9999999835800075,-4.369649026869702e-05,-0.00013982907300603872,-5.3115875505634145e-05,0.6761,-0.00453,0.09108152574216288,1.0,0.0,0.0,0.0,0.29803023931023,0.1692477446334078,-0.17263763702874182,0.011404369981494862,-0.021081341397617307,0.0010017765222428926,0.5447983205476536,0.49705452426652114,-0.19156665290630845,0.03583247618640637,-0.040165165264820564,0.001028076248394561,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9349453738761241,0.8220621450117847,2.3230573315279184,-0.3213926615593749,-1.5957598883992155,0.45794413699811576,1.1679701502049307,0.17263763702874182,-1.1550871813229877,0.17263763702874182,0.21693442600395046,0,0,2.091594066064013e-05,1.244902855519385e-05
+17376,1792665220409445360,33760756999999,1792665220407051950,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760078416187628,-0.0046117136757752334,0.09077873688993243,0.9999999830159729,-4.6070525047076154e-05,-0.00014323180059933418,-5.266000697141678e-05,0.6761,-0.00453,0.09108490142464726,1.0,0.0,0.0,0.0,0.29949417435843506,0.16856008649463794,-0.18394672944976084,0.011406227283421423,-0.02107694278984774,0.0010103599475034034,0.5462622555958587,0.49636686612775127,-0.20287574532732747,0.03583433348833293,-0.040160766657051,0.0010366596736550717,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9824020955900629,0.8259399728266158,2.4935818980048787,-0.32175428925191696,-1.7174419264546756,0.4629329101826687,1.1679701502049307,0.18394672944976084,-1.325611747799948,0.18394672944976084,0.2236144260039525,0,0,1.9732085829915597e-05,1.0279035068711147e-06
+17400,1792665220609510898,33760957000000,1792665220607051482,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6760060809761456,-0.004611933971795683,0.09077917636442899,0.9999999825141683,-4.4590430783411084e-05,-0.00014722674784664982,-5.244526520688126e-05,0.6761,-0.00453,0.09108890071892853,1.0,0.0,0.0,0.0,0.3010747928344072,0.15880195367320665,-0.18478740877848684,0.01140490778043015,-0.02107811531038076,0.0010107545559521235,0.5478428740718309,0.48660873330632,-0.20371642465605347,0.03583301398534166,-0.04016193917758402,0.0010370542821037919,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9376509042307727,0.8180792926761233,2.330305340613565,-0.31715320640841843,-1.600087670315167,0.46099820198143615,1.1679701502049307,0.18478740877848684,-1.1623351904086343,0.18478740877848684,0.23161442600395496,0,0,2.0002834451113272e-05,3.4451254157785705e-05
+17424,1792665220809544885,33761157000000,1792665220803051932,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6760023725552344,-0.004615874370046934,0.0907795530074073,0.9999999810556459,-5.112048893916576e-05,-0.00015421093658096974,-5.419644563503133e-05,0.6761,-0.00453,0.09109299312801881,1.0,0.0,0.0,0.0,0.3083144750276794,0.16845208672146572,-0.1939667311320633,0.011407967974891839,-0.021077040145835602,0.001019512777740949,0.555082556265103,0.49625886635457905,-0.21289574700962993,0.03583607417980335,-0.04016086401303886,0.0010458125038926174,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9642675914163392,0.8875308701951645,2.3401474562343587,-0.34631504951061715,-1.6100800225720768,0.499367512042733,1.1679701502049307,0.1939667311320633,-1.172177306029428,0.1939667311320633,0.2396144260039574,0,0,2.097879777769916e-05,1.863686523482718e-05
+17432,1792665220876538163,33761224000000,1792665220871051931,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759699660409452,-0.004610323479261139,0.09077331569149652,0.9999999652430536,-4.698552662537245e-05,-0.00023377073252926062,-6.403406241166457e-05,0.6761,-0.00453,0.09109439565133046,1.0,0.0,0.0,0.0,0.30018655127241933,0.16556221215317846,-0.19568572878278226,0.010389438749407565,-0.0210576756184026,0.0010083965214646282,0.546954632509843,0.4933689917862918,-0.21461474466034888,0.034817544954319074,-0.04014149948560586,0.0010346962476162965,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9539072445374418,0.786731717687751,2.4147240412372835,-0.30144777410909057,-1.6427522553613467,0.435285966960022,1.1679701502049307,0.19568572878278226,-1.2467538910323528,0.19568572878278226,0.24229442600395823,0,0,2.0874919774357972e-05,2.4539685214444596e-05
+17452,1792665221042445632,33761390000000,1792665221039051822,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759760114976944,-0.004609582849865589,0.09077969979856407,0.9999999678273029,-4.588239253158156e-05,-0.0002227946618626508,-6.36050491306698e-05,0.6761,-0.00453,0.09109845795350269,1.0,0.0,0.0,0.0,0.3388661476324799,0.131845252664272,-0.18355033841201351,0.008424828315980952,-0.024060962390077188,0.0009330806588646322,0.5856342288699036,0.4596520322973853,-0.20247935428958014,0.03285293452089246,-0.043144786257280444,0.0009593803850163004,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9592303137371881,0.8216787322669159,2.3502275269638475,-0.284187041955698,-1.6144762632732088,0.45053451893262747,1.1679701502049307,0.18355033841201351,-1.1822573767589168,0.18355033841201351,0.24893442600396026,0,0,2.8022479686434844e-05,4.716731423776296e-05
+17472,1792665221209505107,33761557000000,1792665221207051423,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759755474471679,-0.004614226179417651,0.09078212290420185,0.9999999678916346,-5.1647772224826926e-05,-0.000221658249210288,-6.212666429597333e-05,0.6761,-0.00453,0.09110331299643623,1.0,0.0,0.0,0.0,0.33884307971510463,0.1299460548487787,-0.19493995229260155,0.00842660826084856,-0.024058257454493307,0.000942282295520909,0.5856111609525283,0.457752834481892,-0.21386896817016818,0.03285471446576007,-0.043142081321696564,0.0009685820216725772,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9825780949607169,0.7573730186840243,2.388792223157584,-0.269728080352829,-1.644698059434634,0.40867735766912944,1.1679701502049307,0.19493995229260155,-1.2208220729526533,0.19493995229260155,0.2556144260039584,0,0,2.941644550330232e-05,9.30092275127375e-06
+17500,1792665221442472329,33761790000000,1792665221435042706,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759788174277446,-0.004614067045643465,0.0907887126082607,0.9999999692158047,-5.122814982590315e-05,-0.00021560833018668878,-6.244981045803814e-05,0.6761,-0.00453,0.09111001286553312,1.0,0.0,0.0,0.0,0.33516986725068054,0.12145737044521704,-0.21501880998145073,0.00843046851493695,-0.024053729495373866,0.0009580529643118395,0.5819379484881042,0.44926415007833037,-0.23394782585901736,0.03285857471984846,-0.04313755336257712,0.0009843526904635077,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.994156826751897,0.8093363150939183,2.3795181585313667,-0.2941154592023191,-1.6435505764373926,0.4392327165056148,1.1679701502049307,0.21501880998145073,-1.211548008326436,0.21501880998145073,0.2649344260039548,0,0,2.727395778664312e-05,-2.339545227667772e-05
+17531,1792665221701543837,33762049000000,1792665221699051651,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759807422303853,-0.004610690006479236,0.09079561076750178,0.9999999701631238,-4.641758306201635e-05,-0.0002119555007085166,-6.353652286511887e-05,0.6761,-0.00453,0.09111640965002585,1.0,0.0,0.0,0.0,0.3265271711851755,0.12838826861344527,-0.23961369098333934,0.008407844728934265,-0.02303445120258076,0.0009945219034571545,0.5732952524225992,0.4561950482465586,-0.25854270686090597,0.032835950933845774,-0.042118275069784016,0.0010208216296088229,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9705996275502,0.8340627177352175,2.3717722810003563,-0.3056416695251424,-1.6338137287092223,0.4573257962800343,1.1679701502049307,0.23961369098333934,-1.2038021307954256,0.23961369098333934,0.27529442600395077,0,0,2.1570060985624118e-05,-3.76736714678627e-05
+17567,1792665222001541708,33762349000000,1792665221999042107,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759823626316026,-0.004614263645055167,0.090801160993144,0.9999999706328383,-5.1047553172355125e-05,-0.0002086533709387961,-6.352247735588184e-05,0.6761,-0.00453,0.09112183717754142,1.0,0.0,0.0,0.0,0.3196862260258061,0.12478240081087172,-0.25504085097882695,0.009423416324635767,-0.02304861670354975,0.0010153945392528526,0.5664543072632298,0.45258918044398505,-0.2739698668563936,0.033851522529547276,-0.04213244057075301,0.001041694265404521,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9721980645240723,0.7225014187565956,2.4188157483227335,-0.2728422889791783,-1.665433220695714,0.39020622547353273,1.1679701502049307,0.25504085097882695,-1.2508455981178028,0.25504085097882695,0.2872944260039461,0,0,1.5878379017691394e-05,2.5091767158402905e-06
+17596,1792665222242473644,33762589999999,1792665222239051931,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759818636457848,-0.004617561382078971,0.0908041398863565,0.999999970488586,-5.596428042419284e-05,-0.00020785088214443067,-6.42783134701917e-05,0.6761,-0.00453,0.09112540993746711,1.0,0.0,0.0,0.0,0.3197450237181215,0.13772094087982323,-0.2740979888893889,0.009429756740506438,-0.023046861913069334,0.0010310772178667897,0.5665131049555452,0.46552772051293656,-0.29302700476695553,0.03385786294541795,-0.04213068578027259,0.001057376944018458,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.002945534198139,0.8647288022633637,2.400898106841975,-0.31853302513611137,-1.662530799556963,0.4829625889035744,1.1679701502049307,0.2740979888893889,-1.2329279566370444,0.2740979888893889,0.2969344260039424,0,0,1.4377524282993074e-05,-2.9891977027437784e-05
+17619,1792665222434451995,33762782000000,1792665222427051808,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759829271279476,-0.004619035069727252,0.09080749598761115,0.9999999709804778,-5.644824331776405e-05,-0.00020565747012336346,-6.32495764907042e-05,0.6761,-0.00453,0.09112801676390371,1.0,0.0,0.0,0.0,0.31216677925203207,0.13956456841464043,-0.28491369315213416,0.009437442593839794,-0.02304442326238752,0.001038981909330371,0.5589348604894557,0.46737134804775377,-0.3038427090297008,0.033865548798751303,-0.042128247129590776,0.0010652816354820393,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9984301674767605,0.7638602796725849,2.477800416686906,-0.2930291829492834,-1.7112681336208726,0.4172560201621861,1.1679701502049307,0.28491369315213416,-1.3098302664819754,0.28491369315213416,0.3046144260039394,0,0,1.2750867463418376e-05,-2.9297990277936947e-05
+17643,1792665222634518273,33762982000000,1792665222631042168,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759810278793716,-0.004616058769906368,0.09080759535512632,0.9999999704618634,-5.556569741584978e-05,-0.00020832684401316738,-6.349422167270114e-05,0.6761,-0.00453,0.09113045929953811,1.0,0.0,0.0,0.0,0.31166972684627803,0.1303209107376362,-0.2849848931887025,0.009432518587373574,-0.02291045510545719,0.0010410176464260435,0.5584378080837017,0.4581276903707495,-0.30391390906626914,0.033860624792285084,-0.04199427897266045,0.0010673173725777119,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.0193611060305092,0.8297885001951113,2.482071021382681,-0.3139365079710297,-1.7194759714603438,0.45919334008856316,1.1679701502049307,0.2849848931887025,-1.3141008711777502,0.2849848931887025,0.3126144260039363,0,0,1.2387881423926558e-05,1.4412979633235687e-05
+17679,1792665222934449808,33763282000000,1792665222931041872,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6759847670600341,-0.004617985377331252,0.09081391789096972,0.9999999714842426,-5.65581590482644e-05,-0.0002027586875223011,-6.453268703492595e-05,0.6761,-0.00453,0.09113432214751198,1.0,0.0,0.0,0.0,0.31127644135048727,0.13917970981863448,-0.2950529930932137,0.009411744119092305,-0.022028953965837806,0.0010634617268046344,0.5580445225879109,0.4669864894517478,-0.3139820089707803,0.033839850324003815,-0.04111277783304106,0.0010897614529563027,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9740507263891014,0.7418336890170577,2.4718359245307746,-0.29824127348842305,-1.6990500339415655,0.4030072180759328,1.1679701502049307,0.2950529930932137,-1.303865774325844,0.2950529930932137,0.32461442600393164,0,0,1.3189986133856077e-05,1.6067983045483795e-05
+17699,1792665223101563064,33763449000000,1792665223095042268,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759846551279726,-0.004622202923604666,0.09081730312585828,0.9999999718562298,-5.637643464696601e-05,-0.00020155851982613096,-6.265991280974363e-05,0.6761,-0.00453,0.09113667523756909,1.0,0.0,0.0,0.0,0.30666975955354636,0.13920172134884112,-0.29506023975746926,0.009411676572658276,-0.02202886404373659,0.0010622001505364341,0.55343784079097,0.46700850098195446,-0.3139892556350359,0.033839782777569785,-0.041112687910939846,0.0010884998766881025,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9961068764862405,0.8257650268478185,2.486282348597943,-0.3292797257710913,-1.7155556865721007,0.454051862527004,1.1679701502049307,0.29506023975746926,-1.3183121983930124,0.29506023975746926,0.33129442600392905,0,0,1.5187994027918294e-05,2.9586859548602092e-05
+17735,1792665223401545525,33763749000000,1792665223395042252,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.675984842185,-0.004617339669269318,0.09082033590610912,0.9999999714618576,-5.939514932239964e-05,-0.00020138944440718426,-6.658570660852691e-05,0.6761,-0.00453,0.09114145100890278,1.0,0.0,0.0,0.0,0.31018709971299496,0.13850088726305682,-0.3137799708072244,0.009415059905178748,-0.02202483702405857,0.0010777484885391732,0.5569551809504186,0.46630766689617015,-0.33270898668479104,0.03384316611009026,-0.041108660891261826,0.0011040482146908415,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.0605386311893366,0.89804430030974,2.488253810864517,-0.34931985921306435,-1.7360744425773038,0.5049359635009082,1.1679701502049307,0.3137799708072244,-1.3202836606595865,0.3137799708072244,0.3432944260039244,0,0,1.66212485303584e-05,-1.8828494262711204e-05
+17761,1792665223617436372,33763964999999,1792665223611051803,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6759864090832344,-0.004618996112547309,0.09082267756152758,0.9999999718796523,-6.127103843357131e-05,-0.00019904146485681166,-6.566516711778748e-05,0.6761,-0.00453,0.0911450067240205,1.0,0.0,0.0,0.0,0.3005805830210927,0.14096014669181295,-0.31872617978079343,0.010435339235031975,-0.02204165918898936,0.001092070383422549,0.5473486642585164,0.4687669263249263,-0.33765519565836005,0.034863445439943484,-0.04112548305619262,0.0011183701095742174,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.0118408579285512,0.8025944409209129,2.5615491291355306,-0.31737609362300667,-1.769081123094955,0.4430232897284118,1.1679701502049307,0.31872617978079343,-1.3935789789306,0.31872617978079343,0.35193442600392105,0,0,1.6782198684829446e-05,-1.7987431642993378e-06
+17791,1792665223867475559,33764214999999,1792665223863042256,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6759842840745477,-0.004619499222072407,0.09082397653725477,0.9999999716703708,-5.785954716915689e-05,-0.0002012125334808587,-6.532925211722853e-05,0.6761,-0.00453,0.0911491948998005,1.0,0.0,0.0,0.0,0.30138717624794087,0.1386691115246116,-0.32510118837040664,0.009467373592321852,-0.022023141015839683,0.0010861739949231445,0.5481552574853645,0.4664758911577249,-0.34403020424797326,0.03389547979723336,-0.04110696488304294,0.0011124737210748128,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.0166481613381577,0.8418882684696014,2.6574015749179933,-0.32762090402653055,-1.8310748535297272,0.4679878937494586,1.1679701502049307,0.32510118837040664,-1.4894314247130627,0.32510118837040664,0.3619344260039172,0,0,1.7276294398439615e-05,1.1518428467834923e-05
+17843,1792665224301455245,33764648999999,1792665224299042157,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759840441129544,-0.004620366431435207,0.09083017224688521,0.9999999714399582,-6.079624599862224e-05,-0.00020081820893843192,-6.737069408492868e-05,0.6761,-0.00453,0.09115711343063855,1.0,0.0,0.0,0.0,0.3005960218365632,0.14274177944685684,-0.34356027643418574,0.01043758201824787,-0.021912001312398278,0.0011141971642344784,0.5473641030739869,0.4705485590799702,-0.36248929231175236,0.03486568822315938,-0.040995825179601535,0.0011404968903861467,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.058773243930968,0.8671058120453051,2.534158782935673,-0.3372767631943353,-1.764142423806527,0.48456021773636826,1.1679701502049307,0.34356027643418574,-1.3661886327307422,0.34356027643418574,0.37929442600391045,0,0,1.9035698214860525e-05,-1.1804277070688608e-05
+17859,1792665224434455347,33764782000000,1792665224427042095,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759852462746921,-0.0046211338608981006,0.0908319313563738,0.9999999714865585,-6.333474971703958e-05,-0.00020001065179614338,-6.673975721867403e-05,0.6761,-0.00453,0.09115961005159941,1.0,0.0,0.0,0.0,0.3006213425520241,0.14646380208922322,-0.34594775042630077,0.010441234967037041,-0.022036489165376805,0.0011132079816767422,0.5473894237894478,0.47427058172233655,-0.3648767663038674,0.03486934117194855,-0.04112031303258006,0.0011395077078284106,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.0065159054817938,0.7322026290536362,2.623732387818739,-0.2989374540534857,-1.806622257989518,0.3952511712326169,1.1679701502049307,0.34594775042630077,-1.4557622376138082,0.34594775042630077,0.3846144260039084,0,0,1.8586736498485935e-05,7.54142717492802e-06
+17887,1792665224667551602,33765015000000,1792665224663042365,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6759889590007406,-0.004620639624786789,0.0908410517354317,0.9999999726420695,-6.333082163192953e-05,-0.00019364508149434414,-6.818734539071427e-05,0.6761,-0.00453,0.09116395619739874,1.0,0.0,0.0,0.0,0.29858648256927567,0.14128626210265982,-0.35701636860272534,0.010437810814984495,-0.02181669190300418,0.001126189011949908,0.5453545638066993,0.46909304173577315,-0.37594538448029197,0.034865917019896005,-0.04090051577020744,0.0011524887381015763,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.0289032521152885,0.812208141888737,2.6225366991729584,-0.320958620081378,-1.8112500255973185,0.44440815535946154,1.1679701502049307,0.35701636860272534,-1.4545665489680277,0.35701636860272534,0.39393442600390477,0,0,1.832308462602094e-05,1.373172470391642e-06
+17923,1792665224967561714,33765315000000,1792665224967042443,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.675986893187265,-0.0046204624249339375,0.09084327571815758,0.9999999722689553,-6.220214406162573e-05,-0.00019559901317104934,-6.911492111708842e-05,0.6761,-0.00453,0.09116953628692513,1.0,0.0,0.0,0.0,0.30029408094188625,0.15172620000381504,-0.3648795588576783,0.010644786092337231,-0.021072339881660514,0.0011468461396377428,0.5470621621793099,0.47953297963692837,-0.38380857473524493,0.03507289229724874,-0.04015616374886377,0.001173145865789411,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.0118636068950615,0.7474355738587558,2.5653908130415997,-0.3093147895286842,-1.7710569256984274,0.4020080372315849,1.1679701502049307,0.3648795588576783,-1.397420662836669,0.3648795588576783,0.4059344260039001,0,0,1.9018686395207396e-05,1.5239870483873826e-05
+17955,1792665225234525037,33765582000000,1792665225231042349,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6759876810637998,-0.0046193216328069735,0.09084609952787817,0.9999999722606306,-5.953131184667648e-05,-0.00019661289342847197,-6.870949981034355e-05,0.6761,-0.00453,0.09117476796484893,1.0,0.0,0.0,0.0,0.2999137890796739,0.1444556674066625,-0.3745794173979211,0.011432933103079461,-0.02191341714172691,0.0011506809802379787,0.5466818703170976,0.4722624470397758,-0.39350843327548773,0.03586103930799097,-0.040997241008930166,0.001176980706389647,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.974179970573175,0.7307954536323326,2.65389938898084,-0.2976056737949529,-1.8186662494635562,0.39475120006322184,1.1679701502049307,0.3745794173979211,-1.4859292387759093,0.3745794173979211,0.416614426003896,0,0,2.004260815004975e-05,9.847435888259429e-06
+17989,1792665225517554786,33765864999999,1792665225511042125,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6759861192453013,-0.004620561762825165,0.09085019674196261,0.999999971875858,-6.260521975523666e-05,-0.00019642358430763902,-7.203825025304866e-05,0.6761,-0.00453,0.09118066766899867,1.0,0.0,0.0,0.0,0.282687473124722,0.1618876875296606,-0.3759457925446516,0.011442000955564628,-0.021036863370012666,0.0011633880440576891,0.5294555543621456,0.4896944671627739,-0.3948748084222182,0.03587010716047614,-0.04012068723721592,0.0011896877702093575,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.0159375811804694,0.7534431215752082,2.5893702342571623,-0.3123826177255471,-1.7887354956487806,0.40606022625303806,1.1679701502049307,0.3759457925446516,-1.4214000840522316,0.3759457925446516,0.4279344260038916,0,0,2.193165945132917e-05,4.103694220495781e-05
+18015,1792665225734530542,33766082000000,1792665225727042007,UP_FORCE_RAMP,3,0.0441,0.04410238936543465,0.6759875324948217,-0.004617099494754203,0.09085471790966076,0.999999971791593,-6.374435591464509e-05,-0.00019582983712099656,-7.380385949196069e-05,0.6761,-0.00453,0.09118560159165705,1.0,0.0,0.0,0.0,0.29435506250750054,0.1615022649503004,-0.3854153211320457,0.011443607019289218,-0.021034916669738588,0.0011724512902322917,0.5411231437449242,0.48930904458341373,-0.4043443370096123,0.03587171322420073,-0.040118740536941845,0.00119875101638396,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.94216804713857,0.7784011061419314,2.569667904118688,-0.31763358282815995,-1.7536042212471143,0.42335348618330215,1.1679701502049307,0.3854153211320457,-1.4016977539137572,0.3854153211320457,0.4366144260038882,0,0,2.3197575289010713e-05,2.426239542333899e-05
+18062,1792665226126466654,33766474000000,1792665226123042326,UP_FORCE_RAMP,3,0.0441,0.04410173371434212,0.6759870261752966,-0.004620857865469043,0.09086131159219478,0.9999999717218624,-6.598466173764122e-05,-0.00019612085843784255,-7.198452792270819e-05,0.6761,-0.00453,0.09119516664738864,1.0,0.0,0.0,0.0,0.2835549363993085,0.15877428181103487,-0.4047200120829665,0.011447067553734695,-0.021030307885169994,0.0011867375119123118,0.5303230176367322,0.4865810614441482,-0.4236490279605331,0.035875173758646205,-0.04011413175237325,0.0012130372380639801,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.971308953360959,0.775688970311095,2.5917060549393365,-0.3154668340109702,-1.7803763272553506,0.4237264550327565,1.1679701502049307,0.4047200120829665,-1.4237359047344058,0.4047200120829665,0.45229442600388214,0,0,2.5043729375347605e-05,-1.2692145604947248e-05
+18087,1792665226335524343,33766682999999,1792665226335041933,UP_FORCE_HOLD,3,0.0441,0.04410238936543465,0.6759907921812923,-0.004620625162755501,0.09087037602030286,0.9999999723629909,-6.965439662473111e-05,-0.0001904166739315275,-7.487748191068073e-05,0.6761,-0.00453,0.09120020825677709,1.0,0.0,0.0,0.0,0.2891601925682671,0.1604355843408442,-0.4147513652263368,0.011449092437485778,-0.02102843358684713,0.0011955012318820386,0.5359282738056907,0.48824236397395754,-0.43368038110390345,0.03587719864239729,-0.040112257454050386,0.001221800958033707,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-1.0103365781414202,0.8497028554017366,2.7281992604561993,-0.3437361111429617,-1.8769977696526512,0.4668843940024797,1.1679701502049307,0.4147513652263368,-1.5602291102512686,0.4147513652263368,0.4718,0,0,2.0768430895852556e-05,-9.999999025923074e-05
+18111,1792665226535567807,33766883000000,1792665226535041814,UP_FORCE_HOLD,3,0.0441,0.04410173371434212,0.6759904542269977,-0.004621555832783277,0.09087543110445301,0.9999999725607992,-6.836623628252038e-05,-0.00019010277834215295,-7.421763012372377e-05,0.6761,-0.00453,0.09120336694315205,1.0,0.0,0.0,0.0,0.28175023603606797,0.16283943484854974,-0.42442441954812765,0.012459918225033464,-0.02104484974383328,0.001213869787233527,0.5285183172734916,0.49064621448166307,-0.4433534354256943,0.036888024429944974,-0.04012867361103654,0.0012401695133851954,0.24676808123742366,0.32780677963311333,-0.018929015877566617,0.02442810620491151,-0.019083823867203257,2.629972615166824e-05,1,-0.9899426528670865,0.8294842627321755,2.588294003192593,-0.33240147092636274,-1.7847372044277396,0.45388523578443607,1.1679701502049307,0.42442441954812765,-1.4203238529876625,0.42442441954812765,0.4718,0,0,1.076843284400641e-05,-9.999999025923074e-05

Part2/Fixed/s2/ball_PLA_15/press_depth_03/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,1792665212227270018,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.711099371e-09,4.807443506e-11,3.777388180e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292444e-01,1.737616122e-06,8.295727553e-01
+1,8.333333333e-02,XJC_ZERO_HOLD_BEFORE_UP,1792665212393152747,-1.437260107e-06,7.725826699e-06,-8.239011139e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.203568855e-08,2.781804405e-10,2.124004694e-08,7.015364342e-01,9.276788020e-06,8.407401173e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292707e-01,1.737846228e-06,8.295727727e-01
+2,2.000000000e-01,XJC_ZERO_HOLD_BEFORE_UP,1792665212627310045,-1.149507668e-06,2.209145799e-05,-1.419645494e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-1.088371201e-06,2.199542128e-05,-1.483727500e-06,7.015367220e-01,2.364241931e-05,8.407395215e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017281503e-01,2.373298933e-05,8.295712678e-01
+3,4.000000000e-01,WAIT_W2,1792665213025238551,2.930058308e-06,2.479291945e-05,4.359934526e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-1.051107411e-06,2.201376313e-05,-1.467661742e-06,7.015408015e-01,2.634388077e-05,8.407453011e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017281876e-01,2.375133118e-05,8.295712838e-01
+4,5.666666667e-01,WAIT_W2,1792665213357613395,-7.383090306e-08,1.894224028e-05,-2.415959111e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-1.028255418e-06,2.201452872e-05,-1.454975172e-06,7.015377977e-01,2.049320160e-05,8.407385252e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017282104e-01,2.375209677e-05,8.295712965e-01
+5,6.666666667e-01,WAIT_W2,1792665213523269772,1.752358857e-06,2.139820111e-05,2.545759730e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-1.017197958e-06,2.201479774e-05,-1.448794624e-06,7.015396238e-01,2.294916243e-05,8.407434869e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017282215e-01,2.375236579e-05,8.295713027e-01
+6,7.833333333e-01,WAIT_W2,1792665213757207997,2.754761475e-06,2.305783395e-05,1.648260599e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-1.006333615e-06,2.201505004e-05,-1.442684203e-06,7.015406262e-01,2.460879527e-05,8.407425894e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017282323e-01,2.375261809e-05,8.295713088e-01
+7,8.666666667e-01,WAIT_W2,1792665213923217059,2.918080358e-06,2.513826964e-05,3.484263727e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-9.997145300e-07,2.201520420e-05,-1.438939948e-06,7.015407896e-01,2.668923096e-05,8.407444255e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017282390e-01,2.375277225e-05,8.295713126e-01
+8,9.500000000e-01,WAIT_W2,1792665214057182097,2.536182277e-06,2.593925044e-05,3.643497248e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-9.939091250e-07,2.201533793e-05,-1.435643618e-06,7.015404077e-01,2.749021176e-05,8.407445847e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017282448e-01,2.375290597e-05,8.295713159e-01
+9,1.050000000e+00,WAIT_W2,1792665214257185258,4.274496260e-06,2.751557183e-05,5.372023837e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-9.882356844e-07,2.201548360e-05,-1.432290520e-06,7.015421460e-01,2.906653315e-05,8.407463132e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017282504e-01,2.375305165e-05,8.295713192e-01
+10,1.200000000e+00,WAIT_W2,1792665214555273005,1.125263759e-06,2.488141057e-05,5.055917407e-08,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-9.811623123e-07,2.201566610e-05,-1.428361533e-06,7.015389967e-01,2.643237189e-05,8.407409917e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017282575e-01,2.375323415e-05,8.295713231e-01
+11,1.300000000e+00,WAIT_W2,1792665214721265286,2.000230049e-06,1.586429015e-05,4.054697830e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-9.766759090e-07,2.201575859e-05,-1.425672514e-06,7.015398717e-01,1.741525147e-05,8.407449959e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017282620e-01,2.375332663e-05,8.295713258e-01
+12,1.416666667e+00,UP_FORCE_RAMP,1792665214953529673,4.739912445e-06,1.363058179e-05,6.715461769e-06,-1.097593068e-06,2.200163568e-05,-1.496634625e-06,-9.729053008e-07,2.201585517e-05,-1.423557308e-06,7.015426114e-01,1.518154312e-05,8.407476566e-01,7.015367739e-01,2.355259700e-05,8.407394446e-01,7.017282658e-01,2.375342322e-05,8.295713279e-01
+13,1.566666667e+00,UP_FORCE_RAMP,1792665215253226679,3.828477583e-06,-6.318652724e-06,7.307205836e-06,3.460639077e-06,3.890169085e-06,6.517400373e-06,3.713737337e-06,3.909675214e-06,6.513148499e-06,7.015417000e-01,-4.767691403e-06,8.407482484e-01,7.015413321e-01,5.441130406e-06,8.407474586e-01,7.017329524e-01,5.647243262e-06,8.295792647e-01
+14,1.683333333e+00,UP_FORCE_RAMP,1792665215453211416,3.132779444e-06,-1.543584593e-05,6.609598080e-06,3.460639077e-06,3.890169085e-06,6.517400373e-06,3.726675857e-06,3.909096798e-06,6.536858541e-06,7.015410043e-01,-1.388488460e-05,8.407475508e-01,7.015413321e-01,5.441130406e-06,8.407474586e-01,7.017329654e-01,5.646664846e-06,8.295792884e-01
+15,1.833333333e+00,UP_FORCE_RAMP,1792665215753375027,1.282631595e-06,-2.139514313e-05,4.312839984e-06,3.448808176e-06,-1.841886232e-05,6.874807588e-06,3.675583105e-06,-1.840337865e-05,6.943222202e-06,7.015391541e-01,-1.984418181e-05,8.407452540e-01,7.015413203e-01,-1.686790100e-05,8.407478160e-01,7.017329143e-01,-1.666581061e-05,8.295796947e-01
+16,2.000000000e+00,UP_FORCE_RAMP,1792665216051229482,5.635142265e-06,-2.629442423e-05,8.570650547e-06,3.448808176e-06,-1.841886232e-05,6.874807588e-06,3.686860099e-06,-1.840504692e-05,6.963959667e-06,7.015435066e-01,-2.474346291e-05,8.407495118e-01,7.015413203e-01,-1.686790100e-05,8.407478160e-01,7.017329255e-01,-1.666747887e-05,8.295797155e-01
+17,2.133333333e+00,UP_FORCE_RAMP,1792665216319287036,5.290345957e-06,-3.150576483e-05,1.185265355e-05,3.448808176e-06,-1.841886232e-05,6.874807588e-06,3.694219645e-06,-1.840525681e-05,6.976892288e-06,7.015431618e-01,-2.995480351e-05,8.407527938e-01,7.015413203e-01,-1.686790100e-05,8.407478160e-01,7.017329329e-01,-1.666768876e-05,8.295797284e-01
+18,2.250000000e+00,UP_FORCE_RAMP,1792665216549382872,2.754737558e-06,-3.398423772e-05,9.636960754e-06,3.775832649e-06,-4.009849232e-05,1.349652850e-05,4.056764095e-06,-4.008531780e-05,1.348525330e-05,7.015406262e-01,-3.243327640e-05,8.407505781e-01,7.015416473e-01,-3.854753100e-05,8.407544377e-01,7.017332954e-01,-3.834774975e-05,8.295862368e-01
+19,2.366666667e+00,UP_FORCE_RAMP,1792665216751338686,5.102291867e-06,-3.446319303e-05,1.600319936e-05,3.775832649e-06,-4.009849232e-05,1.349652850e-05,4.061717264e-06,-4.008803591e-05,1.351327166e-05,7.015429738e-01,-3.291223171e-05,8.407569444e-01,7.015416473e-01,-3.854753100e-05,8.407544377e-01,7.017333004e-01,-3.835046786e-05,8.295862648e-01
+20,2.450000000e+00,UP_FORCE_RAMP,1792665216917545717,4.234346916e-06,-3.847549962e-05,1.606420884e-05,3.775832649e-06,-4.009849232e-05,1.349652850e-05,4.065195994e-06,-4.008838876e-05,1.352915120e-05,7.015421058e-01,-3.692453830e-05,8.407570054e-01,7.015416473e-01,-3.854753100e-05,8.407544377e-01,7.017333039e-01,-3.835082071e-05,8.295862807e-01
+21,2.583333333e+00,UP_FORCE_RAMP,1792665217181374183,5.588614146e-06,-4.386973771e-05,2.179051298e-05,3.775832649e-06,-4.009849232e-05,1.349652850e-05,4.070247196e-06,-4.008861532e-05,1.355002531e-05,7.015434601e-01,-4.231877639e-05,8.407627317e-01,7.015416473e-01,-3.854753100e-05,8.407544377e-01,7.017333089e-01,-3.835104727e-05,8.295863015e-01
+22,2.733333333e+00,UP_FORCE_RAMP,1792665217449386600,4.551531168e-06,-4.580465839e-05,2.354347801e-05,3.775832649e-06,-4.009849232e-05,1.349652850e-05,4.075151245e-06,-4.008873721e-05,1.356825349e-05,7.015424230e-01,-4.425369707e-05,8.407644847e-01,7.015416473e-01,-3.854753100e-05,8.407544377e-01,7.017333138e-01,-3.835116916e-05,8.295863198e-01
+23,2.866666667e+00,UP_FORCE_RAMP,1792665217715368443,3.547523862e-06,-4.722266218e-05,2.486899584e-05,3.775832649e-06,-4.009849232e-05,1.349652850e-05,4.078877069e-06,-4.008880366e-05,1.358083390e-05,7.015414190e-01,-4.567170086e-05,8.407658102e-01,7.015416473e-01,-3.854753100e-05,8.407544377e-01,7.017333176e-01,-3.835123561e-05,8.295863323e-01
+24,3.033333333e+00,UP_FORCE_RAMP,1792665218015666173,6.847938765e-06,-5.037301246e-05,3.441594676e-05,7.571075420e-06,-5.032198454e-05,3.260036042e-05,8.060977794e-06,-5.030992088e-05,3.245072481e-05,7.015447194e-01,-4.882205114e-05,8.407753571e-01,7.015454426e-01,-4.877102322e-05,8.407735415e-01,7.017372997e-01,-4.857235283e-05,8.296052022e-01
+25,3.183333333e+00,UP_FORCE_RAMP,1792665218313373358,8.421270518e-06,-5.401191708e-05,3.829882069e-05,7.571075420e-06,-5.032198454e-05,3.260036042e-05,8.076745687e-06,-5.031049545e-05,3.253447342e-05,7.015462928e-01,-5.246095576e-05,8.407792400e-01,7.015454426e-01,-4.877102322e-05,8.407735415e-01,7.017373154e-01,-4.857292740e-05,8.296052860e-01
+26,3.316666667e+00,UP_FORCE_RAMP,1792665218587912464,6.129938620e-06,-5.076999837e-05,3.843426396e-05,7.571075420e-06,-5.032198454e-05,3.260036042e-05,8.089159434e-06,-5.031023682e-05,3.258817447e-05,7.015440014e-01,-4.921903705e-05,8.407793755e-01,7.015454426e-01,-4.877102322e-05,8.407735415e-01,7.017373278e-01,-4.857266877e-05,8.296053397e-01
+27,3.500000000e+00,UP_FORCE_RAMP,1792665218947337974,7.088587355e-06,-5.578949525e-05,4.066958871e-05,7.571075420e-06,-5.032198454e-05,3.260036042e-05,8.103635565e-06,-5.030996294e-05,3.264284532e-05,7.015449601e-01,-5.423853392e-05,8.407816108e-01,7.015454426e-01,-4.877102322e-05,8.407735415e-01,7.017373423e-01,-4.857239490e-05,8.296053943e-01
+28,3.600000000e+00,UP_FORCE_RAMP,1792665219145439978,7.816755827e-06,-5.799004954e-05,4.449427773e-05,7.571075420e-06,-5.032198454e-05,3.260036042e-05,8.110381375e-06,-5.030983926e-05,3.266563752e-05,7.015456882e-01,-5.643908822e-05,8.407854355e-01,7.015454426e-01,-4.877102322e-05,8.407735415e-01,7.017373491e-01,-4.857227121e-05,8.296054171e-01
+29,3.783333333e+00,UP_FORCE_RAMP,1792665219513701102,7.508553456e-06,-5.753832260e-05,4.746478748e-05,7.571075420e-06,-5.032198454e-05,3.260036042e-05,8.120930913e-06,-5.030963629e-05,3.269793781e-05,7.015453800e-01,-5.598736128e-05,8.407884060e-01,7.015454426e-01,-4.877102322e-05,8.407735415e-01,7.017373596e-01,-4.857206824e-05,8.296054494e-01
+30,3.916666667e+00,UP_FORCE_RAMP,1792665219778349725,6.926406736e-06,-5.830386354e-05,4.888077248e-05,1.083638883e-05,-5.638938358e-05,5.295295979e-05,1.151766728e-05,-5.637411085e-05,5.282774145e-05,7.015447979e-01,-5.675290222e-05,8.407898220e-01,7.015487079e-01,-5.483842225e-05,8.407938941e-01,7.017407563e-01,-5.463654280e-05,8.296255792e-01
+31,4.050000000e+00,UP_FORCE_RAMP,1792665220045466340,8.483747461e-06,-5.374122049e-05,5.377991834e-05,1.083638883e-05,-5.638938358e-05,5.295295979e-05,1.153328630e-05,-5.637359629e-05,5.290756744e-05,7.015463552e-01,-5.219025917e-05,8.407947211e-01,7.015487079e-01,-5.483842225e-05,8.407938941e-01,7.017407720e-01,-5.463602824e-05,8.296256591e-01
+32,4.150000000e+00,UP_FORCE_RAMP,1792665220245273640,5.539693726e-06,-5.742379539e-05,5.392200159e-05,1.083638883e-05,-5.638938358e-05,5.295295979e-05,1.154389788e-05,-5.637321935e-05,5.295388275e-05,7.015434112e-01,-5.587283407e-05,8.407948632e-01,7.015487079e-01,-5.483842225e-05,8.407938941e-01,7.017407826e-01,-5.463565131e-05,8.296257054e-01
+33,4.233333333e+00,UP_FORCE_RAMP,1792665220409446757,6.063333524e-06,-5.789197869e-05,6.006203625e-05,1.083638883e-05,-5.638938358e-05,5.295295979e-05,1.155197620e-05,-5.637295588e-05,5.298605582e-05,7.015439348e-01,-5.634101737e-05,8.408010032e-01,7.015487079e-01,-5.483842225e-05,8.407938941e-01,7.017407907e-01,-5.463538783e-05,8.296257376e-01
+34,4.333333333e+00,UP_FORCE_RAMP,1792665220609318209,4.302690907e-06,-5.811227471e-05,6.050151075e-05,1.083638883e-05,-5.638938358e-05,5.295295979e-05,1.156077183e-05,-5.637269369e-05,5.301836029e-05,7.015421742e-01,-5.656131339e-05,8.408014427e-01,7.015487079e-01,-5.483842225e-05,8.407938941e-01,7.017407995e-01,-5.463512565e-05,8.296257699e-01
+35,4.433333333e+00,UP_FORCE_RAMP,1792665220809316534,5.942699958e-07,-6.205267296e-05,6.087815373e-05,1.083638883e-05,-5.638938358e-05,5.295295979e-05,1.156863670e-05,-5.637247509e-05,5.304497228e-05,7.015384658e-01,-6.050171164e-05,8.408018193e-01,7.015487079e-01,-5.483842225e-05,8.407938941e-01,7.017408073e-01,-5.463490704e-05,8.296257965e-01
+36,4.466666667e+00,UP_FORCE_RAMP,1792665220875300140,-2.949512525e-05,-5.122883650e-05,5.537576630e-05,-2.917682343e-05,-5.111938738e-05,5.496815791e-05,-2.903886570e-05,-5.109657102e-05,5.499480976e-05,7.015083764e-01,-4.967787518e-05,8.407963170e-01,7.015086947e-01,-4.956842606e-05,8.407959093e-01,7.017001998e-01,-4.935900297e-05,8.296277463e-01
+37,4.550000000e+00,UP_FORCE_RAMP,1792665221041286413,-2.591299698e-05,-5.420994260e-05,5.997868274e-05,-2.917682343e-05,-5.111938738e-05,5.496815791e-05,-2.914542165e-05,-5.109498902e-05,5.502229912e-05,7.015119585e-01,-5.265898128e-05,8.408009199e-01,7.015086947e-01,-4.956842606e-05,8.407959093e-01,7.017000933e-01,-4.935742097e-05,8.296277738e-01
+38,4.633333333e+00,UP_FORCE_RAMP,1792665221207269544,-2.502732716e-05,-6.231372128e-05,6.551249668e-05,-2.917682343e-05,-5.111938738e-05,5.496815791e-05,-2.920974510e-05,-5.109553575e-05,5.504076835e-05,7.015128442e-01,-6.076275996e-05,8.408064537e-01,7.015086947e-01,-4.956842606e-05,8.407959093e-01,7.017000289e-01,-4.935796770e-05,8.296277923e-01
+39,4.750000000e+00,UP_FORCE_RAMP,1792665221441282862,-2.112315284e-05,-5.626803031e-05,7.276065111e-05,-2.111952234e-05,-5.650663188e-05,7.289861811e-05,-2.105023995e-05,-5.647809546e-05,7.268394040e-05,7.015167483e-01,-5.471706899e-05,8.408137018e-01,7.015167520e-01,-5.495567056e-05,8.408138398e-01,7.017081884e-01,-5.474052741e-05,8.296454354e-01
+40,4.883333333e+00,UP_FORCE_RAMP,1792665221705296846,-2.164354592e-05,-6.245124113e-05,7.468201407e-05,-2.111952234e-05,-5.650663188e-05,7.289861811e-05,-2.108502351e-05,-5.648059597e-05,7.280154028e-05,7.015162279e-01,-6.090027981e-05,8.408156232e-01,7.015167520e-01,-5.495567056e-05,8.408138398e-01,7.017081537e-01,-5.474302793e-05,8.296455530e-01
+41,5.050000000e+00,UP_FORCE_RAMP,1792665222005517588,-2.064421987e-05,-6.256796286e-05,8.289777178e-05,-2.111952234e-05,-5.650663188e-05,7.289861811e-05,-2.112167688e-05,-5.648036436e-05,7.287756235e-05,7.015172273e-01,-6.101700154e-05,8.408238390e-01,7.015167520e-01,-5.495567056e-05,8.408138398e-01,7.017081170e-01,-5.474279631e-05,8.296456291e-01
+42,5.166666667e+00,UP_FORCE_RAMP,1792665222239367101,-1.906888582e-05,-6.471408034e-05,8.730653157e-05,-2.111952234e-05,-5.650663188e-05,7.289861811e-05,-2.114035967e-05,-5.648022109e-05,7.291603592e-05,7.015188026e-01,-6.316311901e-05,8.408282477e-01,7.015167520e-01,-5.495567056e-05,8.408138398e-01,7.017080983e-01,-5.474265304e-05,8.296456675e-01
+43,5.283333333e+00,UP_FORCE_RAMP,1792665222437347454,-1.911801651e-05,-6.281114677e-05,8.915439884e-05,-2.111952234e-05,-5.650663188e-05,7.289861811e-05,-2.115484980e-05,-5.648009423e-05,7.294586464e-05,7.015187535e-01,-6.126018545e-05,8.408300956e-01,7.015167520e-01,-5.495567056e-05,8.408138398e-01,7.017080838e-01,-5.474252618e-05,8.296456974e-01
+44,5.383333333e+00,UP_FORCE_RAMP,1792665222637371763,-1.677427995e-05,-6.451371991e-05,9.349474063e-05,-1.843776609e-05,-6.561466227e-05,9.134092421e-05,-1.833428429e-05,-6.558751575e-05,9.115327547e-05,7.015210972e-01,-6.296275859e-05,8.408344359e-01,7.015194337e-01,-6.406370095e-05,8.408322821e-01,7.017109044e-01,-6.384994770e-05,8.296639048e-01
+45,5.533333333e+00,UP_FORCE_RAMP,1792665222938053991,-1.854560061e-05,-6.732968771e-05,9.487913582e-05,-1.843776609e-05,-6.561466227e-05,9.134092421e-05,-1.833611163e-05,-6.558747024e-05,9.124477759e-05,7.015193259e-01,-6.577872639e-05,8.408358203e-01,7.015194337e-01,-6.406370095e-05,8.408322821e-01,7.017109026e-01,-6.384990219e-05,8.296639963e-01
+46,5.633333333e+00,UP_FORCE_RAMP,1792665223103298457,-1.858911375e-05,-6.465632935e-05,9.538665163e-05,-1.843776609e-05,-6.561466227e-05,9.134092421e-05,-1.833600396e-05,-6.558714542e-05,9.129003287e-05,7.015192824e-01,-6.310536803e-05,8.408363278e-01,7.015194337e-01,-6.406370095e-05,8.408322821e-01,7.017109027e-01,-6.384957737e-05,8.296640415e-01
+47,5.783333333e+00,UP_FORCE_RAMP,1792665223405415164,-1.851525570e-05,-6.510452568e-05,1.013503515e-04,-1.843776609e-05,-6.561466227e-05,9.134092421e-05,-1.833479788e-05,-6.558672949e-05,9.134213804e-05,7.015193562e-01,-6.355356436e-05,8.408422915e-01,7.015194337e-01,-6.406370095e-05,8.408322821e-01,7.017109039e-01,-6.384916145e-05,8.296640936e-01
+48,5.900000000e+00,UP_FORCE_RAMP,1792665223619317029,-1.423024000e-05,-6.504844734e-05,1.056677889e-04,-1.843776609e-05,-6.561466227e-05,9.134092421e-05,-1.833337304e-05,-6.558645845e-05,9.137272314e-05,7.015236412e-01,-6.349748602e-05,8.408466090e-01,7.015194337e-01,-6.406370095e-05,8.408322821e-01,7.017109053e-01,-6.384889040e-05,8.296641242e-01
+49,6.033333333e+00,UP_FORCE_RAMP,1792665223869355399,-1.411380960e-05,-6.507665790e-05,1.101656207e-04,-1.843776609e-05,-6.561466227e-05,9.134092421e-05,-1.833151296e-05,-6.558619588e-05,9.139970447e-05,7.015237577e-01,-6.352569658e-05,8.408511068e-01,7.015194337e-01,-6.406370095e-05,8.408322821e-01,7.017109072e-01,-6.384862783e-05,8.296641512e-01
+50,6.266666667e+00,UP_FORCE_RAMP,1792665224301316683,-1.773417228e-05,-6.654473435e-05,1.114973932e-04,-1.457065333e-05,-6.660609774e-05,1.121734392e-04,-1.435890101e-05,-6.661869688e-05,1.120512549e-04,7.015201373e-01,-6.499377303e-05,8.408524386e-01,7.015233008e-01,-6.505513642e-05,8.408531146e-01,7.017148798e-01,-6.488112884e-05,8.296848028e-01
+51,6.333333333e+00,UP_FORCE_RAMP,1792665224435655573,-1.635562616e-05,-6.729491153e-05,1.136136349e-04,-1.457065333e-05,-6.660609774e-05,1.121734392e-04,-1.435254883e-05,-6.661824618e-05,1.120884893e-04,7.015215159e-01,-6.574395021e-05,8.408545548e-01,7.015233008e-01,-6.505513642e-05,8.408531146e-01,7.017148861e-01,-6.488067813e-05,8.296848400e-01
+52,6.450000000e+00,UP_FORCE_RAMP,1792665224669336212,-1.404701553e-05,-6.313017791e-05,1.210058366e-04,-1.457065333e-05,-6.660609774e-05,1.121734392e-04,-1.434248663e-05,-6.661765568e-05,1.121415670e-04,7.015238245e-01,-6.157921659e-05,8.408619470e-01,7.015233008e-01,-6.505513642e-05,8.408531146e-01,7.017148962e-01,-6.488008763e-05,8.296848931e-01
+53,6.616666667e+00,UP_FORCE_RAMP,1792665224965323206,-1.442187469e-05,-6.673726167e-05,1.241550687e-04,-1.457065333e-05,-6.660609774e-05,1.121734392e-04,-1.433034033e-05,-6.661702509e-05,1.121975624e-04,7.015234496e-01,-6.518630034e-05,8.408650963e-01,7.015233008e-01,-6.505513642e-05,8.408531146e-01,7.017149083e-01,-6.487945705e-05,8.296849491e-01
+54,6.750000000e+00,UP_FORCE_RAMP,1792665225233337313,-1.462452783e-05,-6.716906924e-05,1.288934347e-04,-1.457065333e-05,-6.660609774e-05,1.121734392e-04,-1.432234088e-05,-6.661662888e-05,1.122300566e-04,7.015232470e-01,-6.561810792e-05,8.408698346e-01,7.015233008e-01,-6.505513642e-05,8.408531146e-01,7.017149163e-01,-6.487906083e-05,8.296849816e-01
+55,6.900000000e+00,UP_FORCE_RAMP,1792665225515348413,-1.312609746e-05,-6.256520355e-05,1.337760680e-04,-1.137559977e-05,-6.521300516e-05,1.327652375e-04,-1.095467526e-05,-6.519945813e-05,1.325830971e-04,7.015247454e-01,-6.101424223e-05,8.408747173e-01,7.015264959e-01,-6.366204383e-05,8.408737064e-01,7.017182840e-01,-6.346189008e-05,8.297053346e-01
+56,7.016666667e+00,UP_FORCE_RAMP,1792665225733347166,-1.298023992e-05,-6.285842015e-05,1.389941634e-04,-1.137559977e-05,-6.521300516e-05,1.327652375e-04,-1.094178637e-05,-6.519842101e-05,1.326551063e-04,7.015248912e-01,-6.130745883e-05,8.408799354e-01,7.015264959e-01,-6.366204383e-05,8.408737064e-01,7.017182969e-01,-6.346085296e-05,8.297054066e-01
+57,7.216666667e+00,UP_FORCE_RAMP,1792665226129427777,-1.273247919e-05,-6.273213420e-05,1.462127897e-04,-1.137559977e-05,-6.521300516e-05,1.327652375e-04,-1.092400366e-05,-6.519735972e-05,1.327406279e-04,7.015251390e-01,-6.118117288e-05,8.408871540e-01,7.015264959e-01,-6.366204383e-05,8.408737064e-01,7.017183147e-01,-6.345979167e-05,8.297054921e-01
+58,7.333333333e+00,UP_FORCE_HOLD,1792665226331425291,-1.402105782e-05,-6.712637426e-05,1.493875160e-04,-1.137559977e-05,-6.521300516e-05,1.327652375e-04,-1.091580086e-05,-6.519689820e-05,1.327755102e-04,7.015238504e-01,-6.557541294e-05,8.408903287e-01,7.015264959e-01,-6.366204383e-05,8.408737064e-01,7.017183229e-01,-6.345933015e-05,8.297055270e-01
+59,7.433333333e+00,UP_FORCE_HOLD,1792665226531778950,-1.161506232e-05,-6.368031983e-05,1.553243560e-04,-1.015545268e-05,-6.315473953e-05,1.534659064e-04,-9.614567397e-06,-6.311431360e-05,1.532750078e-04,7.015262564e-01,-6.212935851e-05,8.408962655e-01,7.015277160e-01,-6.160377821e-05,8.408944071e-01,7.017196241e-01,-6.137674555e-05,8.297260265e-01

Part2/Fixed/s2/ball_PLA_15/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,-6.9029e-03,-1.1097e-04,2.4570e+00,-3.6813e-02,3.6290e-02,-2.6892e-05,2.7818e-04,1.0264e-05,2.0909e-04,-1.4752e-06,1.9457e-05,-3.1508e-07,3.4815e-04,1.9516e-05
+1,8.3333e-02,XJC_ZERO_HOLD_BEFORE_UP,3.0740e-05,-5.6073e-03,-6.2044e-05,2.4580e+00,-3.6819e-02,3.6380e-02,-2.8286e-05,1.5737e-03,5.9191e-05,1.1737e-03,-8.4415e-06,1.1033e-04,-1.7099e-06,1.9641e-03,1.1066e-04
+2,2.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,6.1857e-05,-4.0423e-03,-7.1836e-07,2.4591e+00,-3.6828e-02,3.6491e-02,-2.9778e-05,3.1388e-03,1.2052e-04,2.3270e-03,-1.6939e-05,2.2059e-04,-3.2016e-06,3.9091e-03,2.2126e-04
+3,4.0000e-01,WAIT_W2,9.0806e-05,-1.2460e-03,-7.2290e-03,2.4616e+00,-3.6324e-02,3.6690e-02,-4.4689e-05,5.9351e-03,-7.1077e-03,4.7698e-03,4.8749e-04,4.2013e-04,-1.8112e-05,1.0416e-02,6.4380e-04
+4,5.6667e-01,WAIT_W2,1.2402e-04,-1.4121e-04,-7.2616e-03,2.4623e+00,-3.6324e-02,3.6768e-02,-4.6513e-05,7.0399e-03,-7.1404e-03,5.4626e-03,4.8711e-04,4.9738e-04,-1.9937e-05,1.1419e-02,6.9646e-04
+5,6.6667e-01,WAIT_W2,1.5470e-04,4.0700e-04,-7.2473e-03,2.4626e+00,-3.6327e-02,3.6806e-02,-4.6827e-05,7.5881e-03,-7.1261e-03,5.8012e-03,4.8430e-04,5.3600e-04,-2.0251e-05,1.1917e-02,7.2267e-04
+6,7.8333e-01,WAIT_W2,1.8587e-04,9.5325e-04,-7.2223e-03,2.4629e+00,-3.6331e-02,3.6845e-02,-4.6693e-05,8.1343e-03,-7.1010e-03,6.1374e-03,4.8053e-04,5.7461e-04,-2.0117e-05,1.2420e-02,7.4932e-04
+7,8.6667e-01,WAIT_W2,2.1640e-04,1.2893e-03,-7.2024e-03,2.4632e+00,-3.6333e-02,3.6869e-02,-4.6352e-05,8.4704e-03,-7.0811e-03,6.3443e-03,4.7781e-04,5.9842e-04,-1.9776e-05,1.2733e-02,7.6602e-04
+8,9.5000e-01,WAIT_W2,2.4518e-04,1.5847e-03,-7.1834e-03,2.4633e+00,-3.6336e-02,3.6890e-02,-4.5860e-05,8.7658e-03,-7.0622e-03,6.5269e-03,4.7526e-04,6.1937e-04,-1.9284e-05,1.3012e-02,7.8094e-04
+9,1.0500e+00,WAIT_W2,2.7354e-04,1.8941e-03,-7.1616e-03,2.4635e+00,-3.6339e-02,3.6912e-02,-4.5117e-05,9.0752e-03,-7.0403e-03,6.7182e-03,4.7243e-04,6.4135e-04,-1.8541e-05,1.3306e-02,7.9678e-04
+10,1.2000e+00,WAIT_W2,3.0992e-04,2.3621e-03,-7.0676e-03,2.4638e+00,-3.6348e-02,3.6946e-02,-4.1985e-05,9.5432e-03,-6.9463e-03,6.9780e-03,4.6287e-04,6.7612e-04,-1.5408e-05,1.3712e-02,8.1952e-04
+11,1.3000e+00,WAIT_W2,3.3814e-04,2.5177e-03,-7.0800e-03,2.4639e+00,-3.6348e-02,3.6957e-02,-4.1481e-05,9.6987e-03,-6.9587e-03,7.0806e-03,4.6350e-04,6.8652e-04,-1.4904e-05,1.3879e-02,8.2847e-04
+12,1.4167e+00,UP_FORCE_RAMP,3.6460e-04,2.7333e-03,-7.0408e-03,2.4640e+00,-3.6352e-02,3.6973e-02,-3.7791e-05,9.9143e-03,-6.9196e-03,7.2231e-03,4.5948e-04,7.0241e-04,-1.1214e-05,1.4084e-02,8.3942e-04
+13,1.5667e+00,UP_FORCE_RAMP,3.9847e-04,4.5232e-04,-1.1764e-03,2.4590e+00,-3.6766e-02,3.6815e-02,-2.8685e-05,7.6334e-03,-1.0551e-03,2.1505e-03,4.4718e-05,5.4508e-04,-2.1083e-06,8.0004e-03,5.4692e-04
+14,1.6833e+00,UP_FORCE_RAMP,4.2811e-04,8.6545e-04,-9.6447e-04,2.4600e+00,-3.6781e-02,3.6843e-02,-2.6854e-05,8.0465e-03,-8.4324e-04,3.1598e-03,2.9769e-05,5.7278e-04,-2.7735e-07,8.6857e-03,5.7356e-04
+15,1.8333e+00,UP_FORCE_RAMP,4.5960e-04,1.6686e-03,7.3035e-03,2.4611e+00,-3.7378e-02,3.6899e-02,-7.6162e-06,8.8497e-03,7.4248e-03,4.2758e-03,-5.6669e-04,6.2923e-04,1.8960e-05,1.2318e-02,8.4701e-04
+16,2.0000e+00,UP_FORCE_RAMP,4.9045e-04,2.1305e-03,6.8492e-03,2.4622e+00,-3.7339e-02,3.6930e-02,-6.0580e-06,9.3115e-03,6.9704e-03,5.3635e-03,-5.2764e-04,6.6025e-04,2.0518e-05,1.2809e-02,8.4543e-04
+17,2.1333e+00,UP_FORCE_RAMP,5.1954e-04,2.4723e-03,6.7216e-03,2.4629e+00,-3.7326e-02,3.6954e-02,-5.9683e-06,9.6533e-03,6.8429e-03,6.0713e-03,-5.1516e-04,6.8360e-04,2.0608e-05,1.3299e-02,8.5622e-04
+18,2.2500e+00,UP_FORCE_RAMP,5.5229e-04,2.6953e-03,1.2930e-02,2.4592e+00,-3.7765e-02,3.6973e-02,1.9653e-06,9.8764e-03,1.3051e-02,2.4061e-03,-9.5375e-04,7.0303e-04,2.8542e-05,1.6543e-02,1.1852e-03
+19,2.3667e+00,UP_FORCE_RAMP,5.8483e-04,2.8371e-03,1.3818e-02,2.4599e+00,-3.7824e-02,3.6983e-02,3.4400e-06,1.0018e-02,1.3939e-02,3.1085e-03,-1.0130e-03,7.1260e-04,3.0016e-05,1.7445e-02,1.2389e-03
+20,2.4500e+00,UP_FORCE_RAMP,6.1229e-04,2.9952e-03,1.3868e-02,2.4607e+00,-3.7827e-02,3.6993e-02,3.8046e-06,1.0176e-02,1.3989e-02,3.9332e-03,-1.0161e-03,7.2306e-04,3.0381e-05,1.7740e-02,1.2474e-03
+21,2.5833e+00,UP_FORCE_RAMP,6.4374e-04,3.2299e-03,1.3877e-02,2.4619e+00,-3.7826e-02,3.7009e-02,3.5217e-06,1.0411e-02,1.3998e-02,5.0883e-03,-1.0154e-03,7.3864e-04,3.0098e-05,1.8172e-02,1.2560e-03
+22,2.7333e+00,UP_FORCE_RAMP,6.7472e-04,3.4604e-03,1.3863e-02,2.4629e+00,-3.7824e-02,3.7024e-02,2.3346e-06,1.0641e-02,1.3985e-02,6.1126e-03,-1.0125e-03,7.5404e-04,2.8911e-05,1.8606e-02,1.2628e-03
+23,2.8667e+00,UP_FORCE_RAMP,7.0474e-04,3.6378e-03,1.3843e-02,2.4636e+00,-3.7820e-02,3.7036e-02,7.8764e-07,1.0819e-02,1.3965e-02,6.8226e-03,-1.0094e-03,7.6598e-04,2.7364e-05,1.8937e-02,1.2674e-03
+24,3.0333e+00,UP_FORCE_RAMP,7.3560e-04,1.3516e-03,1.7013e-02,2.4497e+00,-3.8035e-02,3.6888e-02,-4.5630e-06,8.5327e-03,1.7135e-02,-7.1025e-03,-1.2245e-03,6.1781e-04,2.2013e-05,2.0417e-02,1.3717e-03
+25,3.1833e+00,UP_FORCE_RAMP,7.6689e-04,2.1739e-03,1.7068e-02,2.4541e+00,-3.8045e-02,3.6941e-02,-3.6282e-06,9.3550e-03,1.7189e-02,-2.7051e-03,-1.2338e-03,6.7128e-04,2.2948e-05,1.9756e-02,1.4048e-03
+26,3.3167e+00,UP_FORCE_RAMP,7.9603e-04,2.7440e-03,1.7162e-02,2.4571e+00,-3.8053e-02,3.6979e-02,-3.6380e-06,9.9251e-03,1.7283e-02,3.3641e-04,-1.2419e-03,7.0869e-04,2.2938e-05,1.9933e-02,1.4301e-03
+27,3.5000e+00,UP_FORCE_RAMP,8.2648e-04,3.4149e-03,1.7228e-02,2.4602e+00,-3.8058e-02,3.7023e-02,-4.4661e-06,1.0596e-02,1.7349e-02,3.4184e-03,-1.2465e-03,7.5331e-04,2.2110e-05,2.0615e-02,1.4566e-03
+28,3.6000e+00,UP_FORCE_RAMP,8.5696e-04,3.7318e-03,1.7245e-02,2.4615e+00,-3.8058e-02,3.7045e-02,-5.1710e-06,1.0913e-02,1.7366e-02,4.7014e-03,-1.2470e-03,7.7459e-04,2.1405e-05,2.1042e-02,1.4682e-03
+29,3.7833e+00,UP_FORCE_RAMP,8.8868e-04,4.2298e-03,1.7257e-02,2.4633e+00,-3.8057e-02,3.7078e-02,-6.7302e-06,1.1411e-02,1.7379e-02,6.5207e-03,-1.2462e-03,8.0829e-04,1.9846e-05,2.1789e-02,1.4855e-03
+30,3.9167e+00,UP_FORCE_RAMP,9.1774e-04,2.5844e-03,1.9123e-02,2.4498e+00,-3.8187e-02,3.6974e-02,-6.9504e-06,9.7654e-03,1.9244e-02,-6.9938e-03,-1.3759e-03,7.0383e-04,1.9626e-05,2.2685e-02,1.5456e-03
+31,4.0500e+00,UP_FORCE_RAMP,9.4978e-04,3.3635e-03,1.9205e-02,2.4542e+00,-3.8195e-02,3.7026e-02,-7.2498e-06,1.0545e-02,1.9326e-02,-2.6612e-03,-1.3836e-03,7.5538e-04,1.9327e-05,2.2176e-02,1.5765e-03
+32,4.1500e+00,UP_FORCE_RAMP,9.7671e-04,3.8627e-03,1.9260e-02,2.4568e+00,-3.8199e-02,3.7059e-02,-7.7437e-06,1.1044e-02,1.9381e-02,-4.0054e-05,-1.3878e-03,7.8848e-04,1.8833e-05,2.2307e-02,1.5963e-03
+33,4.2333e+00,UP_FORCE_RAMP,1.0103e-03,4.2411e-03,1.9297e-02,2.4586e+00,-3.8201e-02,3.7084e-02,-8.2930e-06,1.1422e-02,1.9418e-02,1.7800e-03,-1.3901e-03,8.1368e-04,1.8283e-05,2.2598e-02,1.6109e-03
+34,4.3333e+00,UP_FORCE_RAMP,1.0411e-03,4.6544e-03,1.9329e-02,2.4604e+00,-3.8203e-02,3.7112e-02,-9.0763e-06,1.1836e-02,1.9450e-02,3.6054e-03,-1.3916e-03,8.4136e-04,1.7500e-05,2.3052e-02,1.6262e-03
+35,4.4333e+00,UP_FORCE_RAMP,1.0725e-03,5.0265e-03,1.9349e-02,2.4619e+00,-3.8203e-02,3.7137e-02,-9.9632e-06,1.2208e-02,1.9470e-02,5.1093e-03,-1.3918e-03,8.6642e-04,1.6613e-05,2.3542e-02,1.6395e-03
+36,4.4667e+00,UP_FORCE_RAMP,1.1060e-03,5.1416e-03,1.9353e-02,2.4624e+00,-3.8203e-02,3.7144e-02,-1.0275e-05,1.2323e-02,1.9474e-02,5.5480e-03,-1.3916e-03,8.7420e-04,1.6301e-05,2.3704e-02,1.6435e-03
+37,4.5500e+00,UP_FORCE_RAMP,1.1297e-03,3.0910e-02,1.7523e-02,2.4615e+00,-3.8074e-02,3.8925e-02,-1.3125e-05,3.8091e-02,1.7644e-02,4.7343e-03,-1.2633e-03,2.6553e-03,1.3452e-05,4.2245e-02,2.9405e-03
+38,4.6333e+00,UP_FORCE_RAMP,1.1642e-03,2.7236e-02,1.7565e-02,2.4626e+00,-3.8076e-02,3.8692e-02,-1.5197e-05,3.4417e-02,1.7686e-02,5.7538e-03,-1.2648e-03,2.4217e-03,1.1379e-05,3.9121e-02,2.7321e-03
+39,4.7500e+00,UP_FORCE_RAMP,1.1955e-03,2.4023e-02,1.7544e-02,2.4637e+00,-3.8073e-02,3.8480e-02,-1.8222e-05,3.1204e-02,1.7666e-02,6.9180e-03,-1.2619e-03,2.2102e-03,8.3547e-06,3.6519e-02,2.5451e-03
+40,4.8833e+00,UP_FORCE_RAMP,1.2229e-03,1.6409e-02,1.9181e-02,2.4526e+00,-3.8187e-02,3.7963e-02,-2.2047e-05,2.3590e-02,1.9302e-02,-4.2095e-03,-1.3761e-03,1.6925e-03,4.5299e-06,3.0770e-02,2.1813e-03
+41,5.0500e+00,UP_FORCE_RAMP,1.2535e-03,1.4562e-02,1.9270e-02,2.4571e+00,-3.8195e-02,3.7827e-02,-2.5343e-05,2.1743e-02,1.9392e-02,2.5034e-04,-1.3838e-03,1.5566e-03,1.2337e-06,2.9135e-02,2.0828e-03
+42,5.1667e+00,UP_FORCE_RAMP,1.2849e-03,1.3538e-02,1.9320e-02,2.4593e+00,-3.8198e-02,3.7751e-02,-2.7648e-05,2.0720e-02,1.9442e-02,2.4712e-03,-1.3872e-03,1.4811e-03,-1.0712e-06,2.8520e-02,2.0293e-03
+43,5.2833e+00,UP_FORCE_RAMP,1.3169e-03,1.2734e-02,1.9355e-02,2.4610e+00,-3.8200e-02,3.7692e-02,-2.9848e-05,1.9915e-02,1.9476e-02,4.1797e-03,-1.3889e-03,1.4215e-03,-3.2716e-06,2.8167e-02,1.9874e-03
+44,5.3833e+00,UP_FORCE_RAMP,1.3464e-03,1.0342e-02,2.2249e-02,2.4485e+00,-3.8401e-02,3.7531e-02,-3.0429e-05,1.7523e-02,2.2370e-02,-8.2688e-03,-1.5897e-03,1.2606e-03,-3.8528e-06,2.9595e-02,2.0289e-03
+45,5.5333e+00,UP_FORCE_RAMP,1.3800e-03,1.0310e-02,2.2359e-02,2.4535e+00,-3.8412e-02,3.7524e-02,-3.1192e-05,1.7491e-02,2.2480e-02,-3.3498e-03,-1.6011e-03,1.2541e-03,-4.6156e-06,2.8680e-02,2.0338e-03
+46,5.6333e+00,UP_FORCE_RAMP,1.4094e-03,1.0280e-02,2.2446e-02,2.4560e+00,-3.8418e-02,3.7520e-02,-3.1974e-05,1.7461e-02,2.2567e-02,-7.6246e-04,-1.6074e-03,1.2496e-03,-5.3980e-06,2.8544e-02,2.0360e-03
+47,5.7833e+00,UP_FORCE_RAMP,1.4404e-03,1.0284e-02,2.2528e-02,2.4590e+00,-3.8423e-02,3.7517e-02,-3.3389e-05,1.7465e-02,2.2649e-02,2.2132e-03,-1.6117e-03,1.2468e-03,-6.8124e-06,2.8686e-02,2.0377e-03
+48,5.9000e+00,UP_FORCE_RAMP,1.4714e-03,1.0317e-02,2.2561e-02,2.4608e+00,-3.8423e-02,3.7517e-02,-3.4602e-05,1.7498e-02,2.2682e-02,3.9573e-03,-1.6121e-03,1.2473e-03,-8.0251e-06,2.8919e-02,2.0383e-03
+49,6.0333e+00,UP_FORCE_RAMP,1.5009e-03,1.0376e-02,2.2576e-02,2.4623e+00,-3.8421e-02,3.7520e-02,-3.6037e-05,1.7557e-02,2.2697e-02,5.4946e-03,-1.6103e-03,1.2497e-03,-9.4607e-06,2.9216e-02,2.0384e-03
+50,6.2667e+00,UP_FORCE_RAMP,1.5328e-03,8.4987e-03,2.2823e-02,2.4511e+00,-3.8438e-02,3.7396e-02,-3.8665e-05,1.5680e-02,2.2944e-02,-5.7020e-03,-1.6265e-03,1.1263e-03,-1.2088e-05,2.8369e-02,1.9785e-03
+51,6.3333e+00,UP_FORCE_RAMP,1.5581e-03,8.8019e-03,2.2864e-02,2.4532e+00,-3.8440e-02,3.7416e-02,-3.9171e-05,1.5983e-02,2.2985e-02,-3.6027e-03,-1.6288e-03,1.1459e-03,-1.2595e-05,2.8227e-02,1.9915e-03
+52,6.4500e+00,UP_FORCE_RAMP,1.5902e-03,9.2709e-03,2.2915e-02,2.4562e+00,-3.8442e-02,3.7446e-02,-4.0072e-05,1.6452e-02,2.3036e-02,-5.6624e-04,-1.6308e-03,1.1763e-03,-1.3495e-05,2.8313e-02,2.0108e-03
+53,6.6167e+00,UP_FORCE_RAMP,1.6239e-03,9.8382e-03,2.2959e-02,2.4594e+00,-3.8442e-02,3.7484e-02,-4.1387e-05,1.7019e-02,2.3080e-02,2.6360e-03,-1.6306e-03,1.2135e-03,-1.4810e-05,2.8797e-02,2.0326e-03
+54,6.7500e+00,UP_FORCE_RAMP,1.6544e-03,1.0216e-02,2.2972e-02,2.4613e+00,-3.8439e-02,3.7509e-02,-4.2448e-05,1.7397e-02,2.3093e-02,4.4923e-03,-1.6283e-03,1.2385e-03,-1.5872e-05,2.9260e-02,2.0458e-03
+55,6.9000e+00,UP_FORCE_RAMP,1.6841e-03,8.6871e-03,2.2393e-02,2.4486e+00,-3.8398e-02,3.7411e-02,-4.4445e-05,1.5868e-02,2.2514e-02,-8.2240e-03,-1.5866e-03,1.1411e-03,-1.7869e-05,2.8746e-02,1.9544e-03
+56,7.0167e+00,UP_FORCE_RAMP,1.7132e-03,9.3433e-03,2.2449e-02,2.4526e+00,-3.8400e-02,3.7454e-02,-4.5324e-05,1.6524e-02,2.2570e-02,-4.2515e-03,-1.5885e-03,1.1843e-03,-1.8748e-05,2.8294e-02,1.9815e-03
+57,7.2167e+00,UP_FORCE_RAMP,1.7464e-03,1.0206e-02,2.2496e-02,2.4575e+00,-3.8399e-02,3.7511e-02,-4.6633e-05,1.7387e-02,2.2617e-02,6.6996e-04,-1.5880e-03,1.2411e-03,-2.0056e-05,2.8535e-02,2.0156e-03
+58,7.3333e+00,UP_FORCE_HOLD,1.7775e-03,1.0602e-02,2.2512e-02,2.4595e+00,-3.8397e-02,3.7538e-02,-4.7319e-05,1.7783e-02,2.2633e-02,2.6712e-03,-1.5865e-03,1.2674e-03,-2.0743e-05,2.8907e-02,2.0307e-03
+59,7.4333e+00,UP_FORCE_HOLD,1.8064e-03,1.0036e-02,2.1680e-02,2.4455e+00,-3.8340e-02,3.7507e-02,-4.8593e-05,1.7217e-02,2.1802e-02,-1.1287e-02,-1.5291e-03,1.2367e-03,-2.2017e-05,2.9985e-02,1.9668e-03