Upload Part2/Fixed/digit (part 2)

Part2/Fixed/digit/ball_0010_12.5/press_depth_02/down/franka_data.csv

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+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+13242,1792725700191643876,9103058000000,1792725700190082279,XJC_ZERO_HOLD_BEFORE_DOWN,2,0.0595,0.059501878917217255,0.6759134915532422,-0.0041872896627881545,0.1067787569181256,0.9999999430342971,-4.1246295285558386e-05,-0.00028983302895248573,0.00014024915489326147,0.6761,-0.004,0.107,1.0,0.0,0.0,0.0,0.00015881909829074115,-0.011270660732488946,0.004022383768176582,-0.00012492239394355786,0.00015915911644708708,-0.00015234816518506166,0.7511589669913743,0.7392333129685972,0.04762646766829001,0.05879119205378861,-0.06069594544110294,0.0012167561654109482,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.6279769827143167,0.5286022161432449,1.0170374261953707,0.46955357655883206,-0.5935878382062494,0.3099093656148796,1.8084233562092904,0.004022383768176582,0.7913859300139197,0.0,0.0,0,0,0.0,0.0
+13328,1792725700908622538,9103775000000,1792725700906082108,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759113671305912,-0.004185923317716361,0.1067747663473724,0.999999942212837,-3.610551774490431e-05,-0.0002933578253269232,0.0001401954536142744,0.6761,-0.004,0.10699526598044411,1.0,0.0,0.0,0.0,-0.008666331126965798,-0.014209926153448404,0.00077461701984749,-0.00116618597296482,0.0009670949580088545,-0.0001546121081382253,0.7423338167661178,0.7362940475476377,0.04437870091996092,0.05774992847476735,-0.05988800959954117,0.0012144922224577846,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.6849580214158939,0.4956207299087266,1.0230286360228311,0.48196355590302287,-0.580800232051536,0.2867420948197178,1.8084233562092904,0.00077461701984749,0.7853947201864593,0.7853947201864593,0.882650573944268,0,0,-1.5101510524055622e-05,-9.901848371652306e-05
+13398,1792725701492695929,9104359000000,1792725701486073094,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759166294740249,-0.004182297529822182,0.10677623345538469,0.9999999447110651,-3.72940218460033e-05,-0.00028470144129768177,0.00013991060114123543,0.6761,-0.004,0.1069808504609002,1.0,0.0,0.0,0.0,-0.017871647533859947,-0.007789969140444164,0.0025494495005067286,-0.0011689459767433852,0.0009661497790020707,0.0002483109507646678,0.7331285003592236,0.742714004560642,0.04615353340062016,0.057747168470988784,-0.059888954778547956,0.0016174152813606777,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.7542186998663684,0.4665697082539249,0.9062144493187013,0.5022719595793924,-0.49054369855911645,0.27099506975980153,1.8084233562092904,0.0025494495005067286,0.9022089068905891,0.9022089068905891,0.9293705739442499,0,0,-3.025753961685839e-05,3.8642460091448074e-05
+13477,1792725702150777351,9105017000000,1792725702150072090,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759114496299568,-0.004189625144162789,0.1067474533306788,0.9999999414955807,-3.527354868679646e-05,-0.00029187502821585053,0.00014837939381901892,0.6761,-0.004,0.10695557414194254,1.0,0.0,0.0,0.0,-0.01752805280473191,-0.023403624470498374,0.004591351774492984,-0.0011641985593099438,0.0009710171258131006,-8.301815773871339e-05,0.7334720950883516,0.7271003492305878,0.048195435674606414,0.057751915888422226,-0.059884087431736926,0.0012860861728572965,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.7537536724643373,0.4704293799103781,0.8851575135316869,0.5244457368721744,-0.4849617062428979,0.2701041162220257,1.8084233562092904,0.004591351774492984,0.9232658426776035,0.9232658426776035,0.9820105739442295,0,0,-4.392545750256135e-05,-3.101340919938882e-05
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+13622,1792725703358792765,9106225000000,1792725703354073502,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759167338426147,-0.0041888126697000976,0.10669985551400181,0.9999999417133829,-2.177601809727664e-05,-0.00028566354009883834,0.00016105353837479996,0.6761,-0.004,0.10689491088468246,1.0,0.0,0.0,0.0,-0.027335887785577273,-0.01701832156551808,0.024523659098162856,-0.0015562197473028283,0.0019863981032228473,-0.00057570471581261,0.7236642601075063,0.733485652135568,0.06812774299827629,0.05735989470042934,-0.05886870645432718,0.0007933996147833998,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.8642627458357298,0.45346102064133753,0.7788625142683337,0.5910305463984669,-0.3986428737283867,0.24410896732410065,1.8084233562092904,0.024523659098162856,1.0295608419409565,1.0295608419409565,1.0786505739443013,0,0,-5.686113176553575e-05,9.936619169004785e-05
+13681,1792725703850860405,9106717000000,1792725703846072650,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759328581846902,-0.004193288007399814,0.10668607583028868,0.9999999458532595,-2.0035987888482186e-05,-0.0002679815703011347,0.0001658938809506957,0.6761,-0.004,0.10686534316164932,1.0,0.0,0.0,0.0,-0.03613396817486869,-0.02549938902835558,0.034036139161286005,-0.0019915732502612735,0.0019742738855409725,-0.00012796512465428306,0.7148661797182149,0.7250045846727305,0.07764022306139944,0.056924541197470896,-0.058880830672009055,0.0012411392059417268,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.8803451832525214,0.4505490280510105,0.8443342956584066,0.6076732761633834,-0.4417634013574747,0.24110921312623368,1.8084233562092904,0.034036139161286005,0.9640890605508838,0.9640890605508838,1.1180105739443407,0,0,-6.511063437994314e-05,-9.999999025923074e-05
+13752,1792725704442851203,9107309000000,1792725704438072345,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759345228522873,-0.004195459009872732,0.10665139590171749,0.9999999462384409,-2.1498199596091262e-05,-0.0002649167119299297,0.00016829421545300305,0.6761,-0.004,0.10682493833029753,1.0,0.0,0.0,0.0,-0.03628056905745147,-0.026902171503589978,0.04838538772390001,-0.0021567969090184394,0.0023880928283051273,0.0003500572384494676,0.7147195788356321,0.7236018021974961,0.09198947162401344,0.05675931753871373,-0.0584670117292449,0.0017191615690454775,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.8911846379795991,0.3937912767022577,0.7596394143635442,0.6402657749539102,-0.3902071623206089,0.2086949296244624,1.8084233562092904,0.04838538772390001,1.048783941845746,1.048783941845746,1.165370573944388,0,0,-7.275243192192272e-05,-9.995136249075216e-05
+13821,1792725705017909838,9107884000000,1792725705018072986,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759299970030005,-0.004196024418657974,0.10660010416028187,0.9999999436576399,-2.1277034844384776e-05,-0.00027195706949037225,0.0001723781357806518,0.6761,-0.004,0.10677944530406488,1.0,0.0,0.0,0.0,-0.03639700112869926,-0.025950766611268272,0.06403223602376236,-0.0022429534945305474,0.002921581256490162,-0.0005705893126228509,0.7146031467643843,0.7245532070898179,0.10763631992387579,0.05667316095320162,-0.057933523301059865,0.000798515017973159,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.8918241504027782,0.42936338574756683,0.7465308897952242,0.6292704826517561,-0.3853343403154408,0.22656665652456134,1.8084233562092904,0.06403223602376236,1.0618924664140663,1.0618924664140663,1.211370573944434,0,0,-8.510883314358087e-05,-7.354190453690563e-05
+13892,1792725705608875079,9108475000000,1792725705602072959,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759340822080967,-0.004194234268507171,0.10655606399468504,0.9999999456652338,-1.5586681879141194e-05,-0.0002646779241570914,0.00017267033854727952,0.6761,-0.004,0.10672613067132576,1.0,0.0,0.0,0.0,-0.03633194827054975,-0.02992163290550498,0.08391870564209915,-0.0022395757383538786,0.0023524397127939606,-5.399784882177162e-06,0.7146681996225338,0.7205823407955811,0.12752278954221258,0.05667653870937829,-0.05850266484475607,0.0013637045457138327,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.9063659094537282,0.523165872574337,0.6443837590241439,0.6079988537904253,-0.3185445239051951,0.2884197007099125,1.8084233562092904,0.08391870564209915,1.1640395971851465,1.1640395971851465,1.2586505739444813,0,0,-9.375190360563922e-05,8.351460775569137e-05
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+14212,1792725708276010157,9111142000000,1792725708274072673,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759442498701296,-0.004203903446863546,0.10627617347799667,0.9999999496880536,-2.6589825161441457e-05,-0.00024699275281418325,0.00017422490035262216,0.6761,-0.004,0.10642245754483927,1.0,0.0,0.0,0.0,-0.037982419371782594,-0.02595335983527791,0.1769385906193276,-0.0022813492808527527,0.0029734501907629773,0.0003358522674348353,0.713017728521301,0.7245506138658082,0.220542674519441,0.05663476516687942,-0.05788165436678705,0.0017049565980308452,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.9764330997822398,0.3787615351222938,0.4762234792618758,0.6642836406475844,-0.20427148871090886,0.19861421218579112,1.8084233562092904,0.1769385906193276,1.3321998769474146,1.3321998769474146,1.4720105739446947,0,0,-0.00013067732915619944,9.999695102370083e-05
+14273,1792725708784098863,9111650000000,1792725708782082537,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759448463566692,-0.004209438213466455,0.1062106993614569,0.9999999496684833,-2.337444886689054e-05,-0.00024460714443696747,0.00017812039595577127,0.6761,-0.004,0.1063532902547862,1.0,0.0,0.0,0.0,-0.042686936463527614,-0.03131270306802658,0.2043985211439287,-0.0022866437107396387,0.0029687369360892335,0.00031249720955772806,0.708313211429556,0.7191912706330595,0.24800260504404212,0.05662947073699253,-0.057886367621460794,0.001681601540153738,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.9363885002335554,0.4574833427849758,0.5348258267698008,0.6514340361725428,-0.25783673342348995,0.2538984331073878,1.8084233562092904,0.2043985211439287,1.2735975294394897,1.2735975294394897,1.5126505739447353,0,0,-0.00014008951231966738,-9.999836655805722e-05
+14336,1792725709309119633,9112175000000,1792725709306072364,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759459947384663,-0.004212821244213837,0.10613519372355372,0.9999999498786805,-2.6499004251936668e-05,-0.00024257735234117927,0.0001792750176493156,0.6761,-0.004,0.10627834586595053,1.0,0.0,0.0,0.0,-0.03809337778113009,-0.03339733855593996,0.22545404970475447,-0.0022905237962222297,0.0029642710481449716,0.000295967183979599,0.7129067701119535,0.7171066351451462,0.2690581336048679,0.05662559065150994,-0.057890833509405056,0.0016650715145756089,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.9650590370444488,0.4250926725460023,0.5500111786444362,0.6604139666048314,-0.2577731857638355,0.23243192774632498,1.8084233562092904,0.22545404970475447,1.2584121775648542,1.2584121775648542,1.5546505739447773,0,0,-0.00014417614461611906,-9.912441287086011e-05
+14397,1792725709818079787,9112684000000,1792725709814072974,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759502003321087,-0.004215414441414238,0.10607224975731668,0.999999951676793,-2.7596214985069367e-05,-0.000232673453344493,0.00018218339446260566,0.6761,-0.004,0.10620329889494513,1.0,0.0,0.0,0.0,-0.04615576167272073,-0.03630355326029122,0.2550441314948063,-0.0022969103933007107,0.0029582450472085686,0.000271158211848073,0.7048443862203628,0.7142004204407949,0.29864821539491976,0.05661920405443146,-0.05789685951034146,0.001640262542444083,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0356414443269897,0.43718495339474345,0.4007456851084096,0.6456634013065226,-0.14435548515922747,0.23555907079596952,1.8084233562092904,0.2550441314948063,1.4076776711008807,1.4076776711008807,1.595370573944818,0,0,-0.00014971067560952997,-4.481279450706417e-06
+14468,1792725710409184759,9113275000000,1792725710406072906,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.675952452458909,-0.004215345123315833,0.10598625493355837,0.9999999533119424,-2.9323035444040044e-05,-0.00022812797483571173,0.0001786526353390299,0.6761,-0.004,0.10611406898309624,1.0,0.0,0.0,0.0,-0.04622995407109509,-0.03770347197491675,0.28512786588009886,-0.0023019955800702846,0.0029523373787916987,0.00024683696511752545,0.7047701938219885,0.7128005017261694,0.3287319497802123,0.056614118867661885,-0.05790276717875833,0.0016159412957135353,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.98588488375456,0.4222752273233986,0.421316752771513,0.6531827342392091,-0.17490020667598374,0.22914374288623252,1.8084233562092904,0.28512786588009886,1.3871066034377775,1.3871066034377775,1.6426505739448654,0,0,-0.00015347219594760565,-9.997652292004772e-05
+14534,1792725710959153134,9113825000000,1792725710958072597,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759543710332148,-0.004218951891849759,0.10590465675968695,0.9999999544139974,-3.795653294009063e-05,-0.0002231323077132082,0.00017716134610976816,0.6761,-0.004,0.10602853045386318,1.0,0.0,0.0,0.0,-0.046320175062771085,-0.03810690280296092,0.30518497066707684,-0.0023164569121015693,0.0033074400488965205,0.00023620789366866966,0.7046799728303125,0.7123970708981252,0.3487890545671903,0.0565996575356306,-0.05754766450865351,0.0016053122242646795,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0431679269038723,0.4152701204652177,0.2759882558234396,0.6567543691630707,-0.06849252061217738,0.22535102581983124,1.8084233562092904,0.30518497066707684,1.5324351003858507,1.5324351003858507,1.6866505739449094,0,0,-0.00015746098678129516,9.993712388046134e-05
+14595,1792725711468229473,9114334000000,1792725711462073015,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759580652386629,-0.004224551257475925,0.1058296581040845,0.9999999551957919,-4.279780751678692e-05,-0.00021704772713017784,0.0001791923838327291,0.6761,-0.004,0.10594619467449919,1.0,0.0,0.0,0.0,-0.04433734398984557,-0.02922274105634992,0.33426961613501277,-0.0023107504840413767,0.0029406908491186115,0.00020732301209513428,0.706662803903238,0.7212812326447362,0.3778737000351262,0.05660536396369079,-0.057914413708431416,0.0015764273426911442,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.9968845992151126,0.4815070276705687,0.3019270417395695,0.638256630866033,-0.10135642339975867,0.26802283737900845,1.8084233562092904,0.33426961613501277,1.5064963144697208,1.5064963144697208,1.72737057394495,0,0,-0.0001653801742177149,-2.3941872122296106e-05
+14672,1792725712109220817,9114975000000,1792725712102082501,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759605282687435,-0.004225092056564343,0.10572743565486019,0.9999999557189352,-4.187288077683098e-05,-0.00021316199612363932,0.0001811452936747371,0.6761,-0.004,0.10583615889271591,1.0,0.0,0.0,0.0,-0.04625991240627425,-0.03777796691316737,0.36538747658078274,-0.0023183839923698324,0.002952733115321446,0.00018228193187962323,0.7047402354868093,0.7127260067879188,0.4089915604808962,0.05659773045536234,-0.05790237144222858,0.0015513862624756331,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0412144557587664,0.46294995593147686,0.33366563894500656,0.6429003691972602,-0.1085462362653029,0.25998921374524064,1.8084233562092904,0.36538747658078274,1.4747577172642838,1.4747577172642838,1.7786505739450014,0,0,-0.0001753613626906666,-9.989067492466858e-05
+14725,1792725712551239333,9115417000000,1792725712546073490,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759610845996066,-0.004221592369131481,0.10564924400710717,0.9999999560333221,-4.4071418214179866e-05,-0.00021180958708301315,0.00018047334182212822,0.6761,-0.004,0.1057584012142983,1.0,0.0,0.0,0.0,-0.04601542963405714,-0.03752129265371573,0.3948974393348748,-0.0033397624977294163,0.003955952194886772,0.00016253727567670665,0.7049847182590264,0.7129826810473704,0.43850152323498826,0.05557635195000275,-0.056899152362663255,0.0015316416062727165,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0615719720060086,0.46892103118394707,0.0876480584602962,0.6360209184635051,0.05477000535416905,0.2632159264951059,1.8084233562092904,0.3948974393348748,1.7207752977489943,1.7207752977489943,1.8140105739450367,0,0,-0.00017578107903007544,9.843750400773672e-05
+14786,1792725713059258435,9115925000000,1792725713058082525,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.675961772837841,-0.004229435197429968,0.10556395143459912,0.999999956164805,-5.099287330875949e-05,-0.00020874315636634625,0.0001814918013057139,0.6761,-0.004,0.10566875844435505,1.0,0.0,0.0,0.0,-0.04121061818524985,-0.03412980323826098,0.415550965823025,-0.00233194415813881,0.002953450890324623,0.00014277774233033952,0.7097895297078337,0.7163741704628251,0.4591550497231384,0.05658417028959336,-0.057901653667225404,0.0015118820729263494,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0881723923723305,0.46714949013304174,0.2149520082679986,0.6423243140753031,-0.01964293742192266,0.26530881116557503,1.8084233562092904,0.415550965823025,1.5934713479412919,1.5934713479412919,1.8546505739450774,0,0,-0.00017630577249102964,-9.366977612857425e-05
+14849,1792725713584230265,9116450000000,1792725713582072887,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759618864161934,-0.004228932589135526,0.10547296765767919,0.9999999565553922,-4.8542689636812484e-05,-0.0002077916606892904,0.0001811030400894842,0.6761,-0.004,0.10557454665254781,1.0,0.0,0.0,0.0,-0.03749545294310619,-0.03342271920328477,0.435653988040974,-0.002382053017083087,0.002969388235343269,0.00012637588742338128,0.7135046949499774,0.7170812544978014,0.47925807194108744,0.05653406143064908,-0.05788571632220676,0.0014954802180193912,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0565109533699382,0.4325350325490446,0.2920952760913543,0.6580498754619988,-0.0823754130823507,0.24278670530842406,1.8084233562092904,0.435653988040974,1.5163280801179362,1.5163280801179362,1.8966505739451194,0,0,-0.00018346294559520716,-9.998362834740532e-05
+14896,1792725713976351539,9116842000000,1792725713970082234,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759662830732516,-0.0042340880096521875,0.10540807798756312,0.9999999574036041,-4.859312522239364e-05,-0.0002007024735089407,0.00018437158048258023,0.6761,-0.004,0.10550159556942112,1.0,0.0,0.0,0.0,-0.037578195314593055,-0.03248251885028375,0.45567794386310484,-0.0023570474689618218,0.0037041081171068635,0.0001223502846433124,0.7134219525784905,0.7180214548508024,0.4992820277632183,0.05655906697877035,-0.057150996440443164,0.0014914546152393223,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1222371514474445,0.3884128199520876,0.08633909094155601,0.6735665921019252,0.07163664019598301,0.21803039185041734,1.8084233562092904,0.45567794386310484,1.7220842652677344,1.7220842652677344,1.9280105739451507,0,0,-0.00018932069895530456,9.999996250365512e-05
+14951,1792725714434287370,9117300000000,1792725714434072929,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.675963438932769,-0.004233280220332266,0.10531662782570356,0.9999999571194301,-5.05919528543063e-05,-0.00020571909367251328,0.00017978907456087678,0.6761,-0.004,0.10541406168788633,1.0,0.0,0.0,0.0,-0.03741842653689176,-0.03901824442016466,0.4856295803252962,-0.002720891953003818,0.003527861621355724,9.272769770055892e-05,0.7135817213561918,0.7114857292809215,0.5292336642254096,0.05619522249472835,-0.0573272429361943,0.0014618320282965688,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0851762947530594,0.4563547015009905,0.13519833089509534,0.6493640029942847,0.028167012089858418,0.26311245444006,1.8084233562092904,0.4856295803252962,1.6732250253141951,1.6732250253141951,1.9646505739451874,0,0,-0.0001933074932722586,-9.993945534881305e-05
+15004,1792725714876389144,9117742000000,1792725714874072609,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759695456694836,-0.004243108773034053,0.10524264652987897,0.9999999589060301,-6.349923856896013e-05,-0.00019387433147856798,0.00017891727922237602,0.6761,-0.004,0.1053272776759966,1.0,0.0,0.0,0.0,-0.03528586896786934,-0.03293970471893115,0.4956894602222915,-0.0027564283404325277,0.0033177760514340043,8.138492217626666e-05,0.7157142789252142,0.717564268982155,0.5392935441224049,0.05615968610729964,-0.05753732850611602,0.0014504892527722765,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0900061938682373,0.3772765851956193,0.0810486904916148,0.6661254122430912,0.06401534670526147,0.20948539860833915,1.8084233562092904,0.4956894602222915,1.7273746657176756,1.7273746657176756,2.0000105739452225,0,0,-0.00020144102635541306,-9.999999025923074e-05
+15061,1792725715351380705,9118217000000,1792725715350072900,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759703216729268,-0.00424409527782688,0.10514776751004852,0.9999999590565963,-5.8334230704996916e-05,-0.0001917423877389766,0.00018210338895520954,0.6761,-0.004,0.10522933661002411,1.0,0.0,0.0,0.0,-0.029865961736857405,-0.031551545411123705,0.5159010591787648,-0.0023648993342634123,0.0035504116608100905,6.509324481115508e-05,0.7211341861562262,0.7189524282899624,0.5595051430788782,0.05655121511346876,-0.05730469289673994,0.001434197575407165,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1259130256037124,0.47973376388453415,-0.016676579916652313,0.6442064708373983,0.136158397877609,0.2800710056834699,1.8084233562092904,0.5159010591787648,1.8250999361259428,1.8250999361259428,2.0380105739452605,0,0,-0.0002103845059594781,6.635608315453396e-05
+15124,1792725715876438476,9118742000000,1792725715870082343,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759763583785068,-0.004240583167083019,0.10504632103364847,0.9999999611379397,-5.814651676505734e-05,-0.0001810623879673164,0.00018166556632901175,0.6761,-0.004,0.10511663108356921,1.0,0.0,0.0,0.0,-0.03707337573483427,-0.0284097587629899,0.5359413056201007,-0.0023770113864023737,0.003910242926161794,6.105161564497305e-05,0.7139267721582493,0.7220942149380962,0.5795453895202141,0.056539103061329796,-0.05694486163138823,0.001430155946240983,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1032224512531232,0.43833698779731156,0.06108621280206255,0.6525826354180561,0.07679445047299072,0.24851959555235256,1.8084233562092904,0.5359413056201007,1.7473371434072278,1.7473371434072278,2.0800105739453025,0,0,-0.0002188815407214425,-9.975847511801134e-05
+15175,1792725716301455706,9119167000000,1792725716294082648,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.675978651601119,-0.0042434149969691765,0.10495879898992197,0.9999999620611769,-6.375760548974328e-05,-0.00017749829301657815,0.00017818482765010992,0.6761,-0.004,0.105021381769346,1.0,0.0,0.0,0.0,-0.02809955098437933,-0.029000139750201548,0.5560855536460728,-0.0023532552379373003,0.0028925059060447497,3.028159221923248e-05,0.7229005969087042,0.7215038339508846,0.5996896375461862,0.05656285920979487,-0.05796259865150528,0.0013993859228152424,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.097854533234279,0.5013144206644377,-0.01706256611319405,0.6314369415934626,0.1271830455485642,0.29167804550883875,1.8084233562092904,0.5560855536460728,1.8254859223224844,1.8254859223224844,2.1140105739453365,0,0,-0.00023060577850373676,-2.161038328736813e-06
+15224,1792725716709469303,9119575000000,1792725716702082238,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759775863628714,-0.004253564844778431,0.10485923190074578,0.9999999605981411,-6.9736168645073e-05,-0.00017843276225010252,0.00018315347888719162,0.6761,-0.004,0.10492528537889989,1.0,0.0,0.0,0.0,-0.028371599493145272,-0.0208078478944983,0.5661452883157216,-0.0023540347534290462,0.0028896255100808108,2.200882998379698e-05,0.7226285483999383,0.7296961258065878,0.609749372215835,0.05656207969430312,-0.057965479047469216,0.0013911131605798069,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1368616724183571,0.49174781915499605,0.008034259958614119,0.6315138193156767,0.1195983643268539,0.28489553806609746,1.8084233562092904,0.5661452883157216,1.8003890962506763,1.8003890962506763,2.146650573945369,0,0,-0.00024161198887015368,-9.999997638144293e-05
+15272,1792725717109492569,9119975000000,1792725717106073153,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759792201171387,-0.004246905940484858,0.10476633870186745,0.9999999615272367,-6.982173936470117e-05,-0.00017637381534540638,0.00018001553145734997,0.6761,-0.004,0.10482749662015571,1.0,0.0,0.0,0.0,-0.020412174559844676,-0.021629971646496937,0.5825546726060019,-0.0023809794426672137,0.0029496075263405613,8.48431775640258e-06,0.7305879733332389,0.7288740020545892,0.6261587565061153,0.056535135005064956,-0.057905497031209466,0.0013775886483524125,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1270628385923813,0.5077172713118331,-0.023250292538742924,0.6237314493530453,0.1379384232157584,0.29549959723431757,1.8084233562092904,0.5825546726060019,1.8316736487480334,1.8316736487480334,2.178650573945401,0,0,-0.00024957291624580345,-9.999997638144293e-05
+15319,1792725717501509180,9120367000000,1792725717498082481,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759799365842489,-0.004260488606746041,0.10466904119900244,0.9999999604176187,-7.641481951727315e-05,-0.00017454379793443674,0.00018521032205295253,0.6761,-0.004,0.10472755523556608,1.0,0.0,0.0,0.0,-0.019183302753255305,-0.013953858181976364,0.594063564663589,-0.0023583602479883906,0.002884017115177967,5.767035355854367e-07,0.7318168451398283,0.7365501155191098,0.6376676485637024,0.05655775419974378,-0.05797108744237206,0.0013696810341315953,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1571417667339088,0.4428565002086649,-0.049411861289970174,0.6487257768858927,0.16519705200531373,0.2557965727162139,1.8084233562092904,0.594063564663589,1.8578352174992605,1.8578352174992605,2.2100105739454325,0,0,-0.0002599960347946225,-9.079210580432146e-05
+15368,1792725717909533419,9120775000000,1792725717906073094,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759829641965462,-0.004254807334650167,0.10457164273577164,0.9999999620758717,-7.652308663772366e-05,-0.00016844554586595522,0.00018182803660558397,0.6761,-0.004,0.10461940605284396,1.0,0.0,0.0,0.0,-0.010821456572049581,-0.006978475986113342,0.5977766524070343,-0.001944983058228912,0.0028739503265972563,-5.856365836544048e-06,0.740178691321034,0.7435254977149728,0.6413807363071476,0.05697113138950326,-0.05798115423095277,0.0013632479647594658,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1180629860455895,0.5335139834855426,-0.01682001625309822,0.6214562452973273,0.1278926007087645,0.315142018645272,1.8084233562092904,0.5977766524070343,1.8252433724623887,1.8252433724623887,2.242650573945465,0,0,-0.0002721084739157594,-9.999999025923074e-05
+15407,1792725718234507092,9121100000000,1792725718234072675,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.675980939301802,-0.004257813656040124,0.10447166137133697,0.9999999601709434,-7.565144825979472e-05,-0.0001740633947148809,0.00018729593967508346,0.6761,-0.004,0.10452948178843824,1.0,0.0,0.0,0.0,-0.01092641098240743,-0.006731495436523627,0.6163818045706884,-0.0023603960605151353,0.002873239388973499,-1.644684234814722e-05,0.7400737369106761,0.7437724782645625,0.6599858884708018,0.056555718387217034,-0.05798186516857653,0.0013526574882478627,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1666239256871698,0.48486139357444025,-0.09160994934999624,0.6391871135611844,0.190106177673955,0.2851363775058562,1.8084233562092904,0.6163818045706884,1.9000333055592866,1.9000333055592866,2.268650573945491,0,0,-0.0002811607708416971,-9.999825553575476e-05
+15448,1792725718576567109,9121442000000,1792725718574072862,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759820761941174,-0.004255591570515988,0.10437628151978924,0.999999960473581,-7.188786018915523e-05,-0.00017431664213512997,0.00018692657556746117,0.6761,-0.004,0.10443175778781368,1.0,0.0,0.0,0.0,-0.009878188101581697,-0.002852330829436367,0.622805461985231,-0.0023381208023633138,0.0022148352009576933,-3.149038937903868e-05,0.7411219597915019,0.7476516428716498,0.6664095458853444,0.056577993645368856,-0.058640269356592334,0.0013376139412169712,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1399513546364253,0.5450505941654362,-0.08775263095336872,0.6222869232721987,0.1772159322214321,0.32657931878918156,1.8084233562092904,0.622805461985231,1.8961759871626591,1.8961759871626591,2.2960105739455186,0,0,-0.0002913643795635342,-9.999999025923074e-05
+15492,1792725718943586664,9121809000000,1792725718938082489,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759830008242423,-0.004263719306223163,0.10426466810954496,0.9999999596628812,-7.674787011810501e-05,-0.0001731896605803343,0.00019034759276483074,0.6761,-0.004,0.10432216422592418,1.0,0.0,0.0,0.0,0.0029245774706732064,0.005876484409142346,0.6266869720912297,-0.0019137062219616863,0.0018529151191608376,-3.415855281793559e-05,0.7539247253637568,0.7563804581102285,0.6702910559913431,0.05700240822577048,-0.05900218943838919,0.0013349457777780743,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1277115598219518,0.4532235290091922,0.004737131833216016,0.648651928755717,0.11506367859790824,0.26496370391045326,1.8084233562092904,0.6266869720912297,1.8036862243760743,1.8036862243760743,2.325370573945548,0,0,-0.0003053889953239227,-9.999999025923074e-05
+15537,1792725719318596628,9122184000000,1792725719314082447,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.675983762429798,-0.004272666961557727,0.10415110511947402,0.9999999591920657,-8.027288171261387e-05,-0.0001738814226323022,0.0001907360656929921,0.6761,-0.004,0.10420556849880444,1.0,0.0,0.0,0.0,0.0175812533609494,0.006937557512492698,0.637033769874731,-0.0012902674304948666,0.0008560158954581815,-4.908161663843527e-05,0.768581401254033,0.7574415312135788,0.6806378537748444,0.0576258470172373,-0.059999088662091846,0.0013200227139575746,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1290585986034645,0.5482498130709283,0.01039570730214802,0.6248227075934814,0.10788562698558274,0.32908048507906434,1.8084233562092904,0.637033769874731,1.7980276489071423,1.7980276489071423,2.355370573945578,0,0,-0.0003181706103680667,-9.999999025923074e-05
+15578,1792725719659616701,9122525000000,1792725719654082309,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759829775322517,-0.00428000020276286,0.104039731460071,0.999999958672498,-8.27761265490976e-05,-0.00017257415891029068,0.00019355655302065263,0.6761,-0.004,0.10409432863769476,1.0,0.0,0.0,0.0,0.020388679012440125,0.01960917279391483,0.6474615875566845,-0.0003201877774091158,0.000807336241282694,-4.664403395524138e-05,0.7713888269055237,0.770113146495001,0.6910656714567979,0.058595926670323054,-0.06004776831626733,0.0013224602966407685,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1254457186891296,0.6374292140489334,-0.10942825417934718,0.6052226194256506,0.18057511355408806,0.3923467083278405,1.8084233562092904,0.6474615875566845,1.9178516103886376,1.9178516103886376,2.382650573945605,0,0,-0.0003337132104361525,-9.999999025923074e-05
+15621,1792725720018529192,9122884000000,1792725720018081790,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759826414909097,-0.004283242911426926,0.1039197678985234,0.9999999578101977,-8.474275272565937e-05,-0.00017181551862607687,0.00019778918203384115,0.6761,-0.004,0.10397220094871543,1.0,0.0,0.0,0.0,0.03185588372211301,0.01994726292998905,0.6574717009543994,-0.0004092127706626508,0.0008207712246930676,-5.269310162523853e-05,0.7828560316151966,0.7704512366310752,0.7010757848545128,0.05850690167706952,-0.06003433333285696,0.0013164112289707713,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1107214461574344,0.6087437748699139,-0.10640638635125518,0.6116435647196903,0.1767996043982699,0.3715392379277081,1.8084233562092904,0.6574717009543994,1.9148297425605456,1.9148297425605456,2.411370573945634,0,0,-0.00034613175698835894,-9.989837709690192e-05
+15657,1792725720318561734,9123184000000,1792725720314082180,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759825535420704,-0.004282242228223961,0.10381533332144596,0.9999999577075722,-8.14185379903219e-05,-0.00017171170338026864,0.0001997844607113656,0.6761,-0.004,0.1038666003851492,1.0,0.0,0.0,0.0,0.035635115601100775,0.020169050712896763,0.6576461209310698,-0.00033722943533575495,0.0001604261143536151,-6.301330885368894e-05,0.7866352634941843,0.7706730244139829,0.7012502048311832,0.058578885012396414,-0.06069467844319641,0.001306091021742321,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.159384961937518,0.5831620677702826,-0.12075907397556843,0.6237160864464995,0.1947288610072143,0.3580561490956611,1.8084233562092904,0.6576461209310698,1.9291824301848588,1.9291824301848588,2.435370573945658,0,0,-0.00035798181636656343,-9.999999025923074e-05
+15696,1792725720643627583,9123509000000,1792725720642082199,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759803767346363,-0.004285212437513968,0.10369581060871294,0.9999999572428414,-8.17120372225975e-05,-0.00017434025977986127,0.00019971428748668057,0.6761,-0.004,0.10374809383135318,1.0,0.0,0.0,0.0,0.04457377971731158,0.029388539315286732,0.6676810299221625,-0.00024522880700446337,-0.0002149533823086469,-7.521405341655752e-05,0.7955739276103951,0.7798925130163729,0.7112851138222759,0.058670885640727706,-0.061070057939858674,0.0012938902771794524,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1712954186991553,0.5476937549042372,-0.12079349490082157,0.6338106000788728,0.20097719845835613,0.33207041660973313,1.8084233562092904,0.6676810299221625,1.929216851110112,1.929216851110112,2.461370573945684,0,0,-0.0003717377111925587,-9.991228264028535e-05
+15735,1792725720969571678,9123834000000,1792725720966082018,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759823614977004,-0.004289753465358757,0.10357394496971413,0.9999999571252649,-7.97544226409558e-05,-0.00016965392419977175,0.00020505879862184835,0.6761,-0.004,0.10362487959707466,1.0,0.0,0.0,0.0,0.044982659553102544,0.030615907795198183,0.677706895724678,-0.000246974923311806,-0.0002170467170758486,-8.326784339011029e-05,0.7959828074461861,0.7811198814962843,0.7213109796247914,0.05866913952442036,-0.061072151274625876,0.0012858364872058996,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1124889928419,0.5587583486741232,-0.10164735865142221,0.6313655046090152,0.17027125828463643,0.33941594697907074,1.8084233562092904,0.677706895724678,1.9100707148607126,1.9100707148607126,2.48737057394571,0,0,-0.0003865830037156056,-9.999999025923074e-05
+15775,1792725721301602476,9124167000000,1792725721298081996,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759832717460639,-0.0042914936612629415,0.10344333702854087,0.999999957080878,-9.212340482979871e-05,-0.00016663765217653435,0.00020254944522905255,0.6761,-0.004,0.1034937873991559,1.0,0.0,0.0,0.0,0.05396975532722681,0.040705412635287375,0.6878185204384288,-0.00024764439408049566,-0.0002204115412208288,-9.032091685394223e-05,0.8049699032203104,0.7912093863363735,0.7314226043385422,0.058668470053651674,-0.061075516098770856,0.0012787834137420676,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0809868763425772,0.5955352599013989,-0.10417345607946965,0.6294088637568496,0.163160593593177,0.36889041381549986,1.8084233562092904,0.6878185204384288,1.91259681228876,1.91259681228876,2.5140105739457366,0,0,-0.00040077717398531574,-9.999999025923074e-05
+15812,1792725721609656117,9124475000000,1792725721606082424,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759857455948012,-0.004293828965995745,0.10331979913480477,0.9999999575214275,-9.2507670475293e-05,-0.0001618935977154534,0.00020404117597306736,0.6761,-0.004,0.10336811308542505,1.0,0.0,0.0,0.0,0.059924856423461126,0.04424544946856912,0.6972302741515095,-0.00024141449600270648,-0.0002234188179340013,-9.991541124815977e-05,0.8109250043165447,0.7947494231696552,0.7408343580516229,0.05867469995172946,-0.06107852337548403,0.00126918891934785,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0977070060671554,0.671079428100364,-0.1604357854703101,0.6055889259119065,0.20419871820169813,0.41533470756958357,1.8084233562092904,0.6972302741515095,1.9688591416796004,1.9688591416796004,2.538650573945761,0,0,-0.0004152999805398779,-9.999999025923074e-05
+15845,1792725721884722614,9124750000000,1792725721882072777,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759850332895151,-0.0043011996537217585,0.10319940576209229,0.9999999557981166,-9.554518204513389e-05,-0.0001631267963890904,0.0002100176076875117,0.6761,-0.004,0.10325211163070179,1.0,0.0,0.0,0.0,0.0629589196880983,0.04566563685315417,0.7069923846758536,0.000796078973742731,-0.0012571666640064025,-0.0001086558105705634,0.8139590675811819,0.7961696105542403,0.750596468575967,0.0597121934214749,-0.06211227122155643,0.0012604485200254465,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.103956857167213,0.6455585618224771,-0.14285326393500308,0.6157821371691686,0.19759315057362015,0.398340512049259,1.8084233562092904,0.7069923846758536,1.9512766201442935,1.9512766201442935,2.560650573945783,0,0,-0.0004280336132159431,-9.999999025923074e-05
+15879,1792725722168661014,9125034000000,1792725722166082254,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759840278092755,-0.004299289595939731,0.1030696482039077,0.9999999552418182,-9.502998225923643e-05,-0.00016567972884273764,0.00021089987215019572,0.6761,-0.004,0.10312870636010911,1.0,0.0,0.0,0.0,0.07234961025300035,0.04756582200419246,0.718343476542594,0.0007954515776595616,-0.0012603821255577283,-0.00011693941204265492,0.8233497581460839,0.7980697957052786,0.7619475604427074,0.05971156602539173,-0.062115486683107755,0.001252164918553355,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1077724911495122,0.669461824214887,-0.16957206972886102,0.6197380185588042,0.21442849247538284,0.41825403217129836,1.8084233562092904,0.718343476542594,1.9779954259381514,1.9779954259381514,2.583370573945806,0,0,-0.00044118243240218034,-9.999999025923074e-05
+15913,1792725722451711179,9125317000000,1792725722450082135,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759797164125179,-0.004301678791272142,0.10293474145570121,0.99999995459241,-9.488350320530341e-05,-0.0001732363326096009,0.00020795272592691422,0.6761,-0.004,0.10300190208096864,1.0,0.0,0.0,0.0,0.0724105422159359,0.05540237464168041,0.7184011886070945,0.0007959020720361143,-0.0012776709353739743,-0.00011725671578448143,0.8234106901090195,0.8059063483427665,0.7620052725072078,0.059712016519768284,-0.062132775492924,0.0012518476148115285,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.051290391207656,0.5971932625092471,-0.061898560925282016,0.6490793487806508,0.13033524326202403,0.37394083580388016,1.8084233562092904,0.7184011886070945,1.8703219171345724,1.8703219171345724,2.6060105739458286,0,0,-0.00045490944023815336,-9.999999025923074e-05
+15946,1792725722726736688,9125592000000,1792725722722082377,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759822965340199,-0.0043048007279240545,0.10281034127324869,0.9999999549525627,-9.131157657817477e-05,-0.0001683774081210754,0.0002117757807768574,0.6761,-0.004,0.10287504570725402,1.0,0.0,0.0,0.0,0.09027194353538215,0.07626358141538192,0.7276069029273302,0.0017933130164427338,-0.0022785504245701887,-0.00012721080988877345,0.8412720914284657,0.826767555116468,0.7712109868274436,0.0607094274641749,-0.06313365498212022,0.0012418935207072364,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0890906744003068,0.6389163219752966,-0.11162409246642283,0.6346602601726213,0.1753597983431457,0.39905722300804,1.8084233562092904,0.7276069029273302,1.9200474486757133,1.9200474486757133,2.6280105739458506,0,0,-0.00046805960079584894,-9.999999025923074e-05
+15979,1792725723001744062,9125867000000,1792725722994073252,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759809519614236,-0.004308211809963535,0.10267981054022167,0.9999999533607387,-9.690710102491715e-05,-0.0001690989221008218,0.0002161849979406098,0.6761,-0.004,0.10274444838391175,1.0,0.0,0.0,0.0,0.0938900928896097,0.08053104668735633,0.7289451728578384,0.0018424231243908268,-0.0022962050891891933,-0.00012708092594886523,0.8448902407826933,0.8310350203884425,0.7725492567579518,0.060758537572122996,-0.06315130964673922,0.0012420234046471447,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.1168198709814963,0.6226240347031213,-0.155846034625715,0.655147177992746,0.21259278423157743,0.39050288631938873,1.8084233562092904,0.7289451728578384,1.9642693908350055,1.9642693908350055,2.6500105739458726,0,0,-0.0004817755167960388,-9.999999025923074e-05
+16013,1792725723284787544,9126150000000,1792725723282072701,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759845987384508,-0.004309149488964146,0.10254575398794699,0.9999999538502286,-0.00010589747753801485,-0.0001629021295716538,0.00021445518324866004,0.6761,-0.004,0.10260611076304992,1.0,0.0,0.0,0.0,0.09986418877883907,0.08784331337870299,0.7389387807258997,0.0018429893636687164,-0.0023038859131413875,-0.0001345101819595297,0.8508643366719226,0.8383472870797891,0.7825428646260131,0.060759103811400886,-0.06315899047069141,0.0012345941486364802,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0550239294748023,0.6026885420545904,-0.09082543153108205,0.6620641717191889,0.15534477190002235,0.376833806570307,1.8084233562092904,0.7389387807258997,1.8992487877403725,1.8992487877403725,2.6726505739458952,0,0,-0.0004959255140394011,-9.999999025923074e-05
+16042,1792725723526700111,9126392000000,1792725723526072351,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.675984008410563,-0.004312545108516934,0.10241961094230373,0.9999999524709745,-0.00010710975058637038,-0.00016562507240227664,0.00021816679321579066,0.6761,-0.004,0.10248463873893879,1.0,0.0,0.0,0.0,0.10074691297882143,0.08613157351492295,0.738289570485242,0.0018683877485863448,-0.0032321710147069638,-0.000148233126487019,0.851747060871905,0.8366355472160091,0.7818936543853554,0.060784502196318514,-0.06408727557225699,0.0012208712041089909,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0400164186730947,0.6160443648514244,-0.12042101471786935,0.6552633774311157,0.17212187508097293,0.38310263902092523,1.8084233562092904,0.738289570485242,1.9288443709271597,1.9288443709271597,2.6920105739459146,0,0,-0.000508025511682135,-9.999999025923074e-05
+16073,1792725723784773174,9126650000000,1792725723782079833,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759860331338373,-0.004318756050371337,0.10228498107333094,0.9999999515741053,-0.00010648229166439206,-0.00016466557014300424,0.00022325192711699282,0.6761,-0.004,0.10235191050725025,1.0,0.0,0.0,0.0,0.11762850002137093,0.1020981220478484,0.749568074155871,0.002870930480153154,-0.0033293858103904256,-0.00014497706818134936,0.8686286479144545,0.8526020957489345,0.7931721580559844,0.06178704492788532,-0.06418449036794045,0.0012241272624146605,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.05238706059769,0.683268935345038,-0.05689525778333129,0.6476642349400485,0.13511047536045548,0.4316753140286041,1.8084233562092904,0.749568074155871,1.8653186139926217,1.8653186139926217,2.7126505739459352,0,0,-0.0005209255091690165,-9.999999025923074e-05
+16101,1792725724018839830,9126884000000,1792725724018073051,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759841975358057,-0.004312601068253477,0.10215678202912101,0.9999999519189652,-0.0001063447543248806,-0.00016933193917872074,0.00021822561577683784,0.6761,-0.004,0.10222865088837252,1.0,0.0,0.0,0.0,0.11586650489162842,0.09242554826235072,0.7576853195772874,0.0028871866318863695,-0.0033379312253629945,-0.0001530236830114876,0.866866652784712,0.8429295219634368,0.8012894034774007,0.06180330107961854,-0.06419303578291302,0.0012160806475845223,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0905235001771636,0.7083123186828267,-0.04649072363991369,0.6461928026509592,0.14091119528898938,0.45056097201164796,1.8084233562092904,0.7576853195772874,1.854914079849204,1.854914079849204,2.731370573945954,0,0,-0.0005326255068896765,-9.999999025923074e-05
+16128,1792725724243834802,9127109000000,1792725724238072972,DOWN_FORCE_DETACH,2,0.0595,0.059501878917217255,0.6759798381528774,-0.004323103770182411,0.10202812763774112,0.9999999493203193,-0.0001150598222922473,-0.00017491385628642662,0.00022128850656902795,0.6761,-0.004,0.10210755014957,1.0,0.0,0.0,0.0,0.1251271558447703,0.11148033915098454,0.7596448337834528,0.0028406562120173798,-0.003338261960026276,-0.00015232029302772606,0.8761273037378539,0.8619843128520707,0.8032489176835662,0.06175677065974955,-0.0641933665175763,0.0012167840375682838,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0903087851515083,0.6675934091174954,-0.13285414649235708,0.6580592324857417,0.19806441166254937,0.4237013930042057,1.8084233562092904,0.7596448337834528,1.9412775027016476,1.9412775027016476,2.749370573945972,0,0,-0.0005438755046980034,-9.999999025923074e-05
+16154,1792725724459784347,9127325000000,1792725724454073636,DOWN_FORCE_DETACH,2,0.0595,0.05950253829360008,0.6759772392734464,-0.004325699017146033,0.10190624952036607,0.99999994821956,-0.00010410016197376096,-0.0001811401157586897,0.00022661676132974668,0.6761,-0.004,0.10198891204078352,1.0,0.0,0.0,0.0,0.11828835610905664,0.10208600505265708,0.7596013066971122,0.002692439108131002,-0.003334243315084695,-0.00015524676345996338,0.8692885040021402,0.8525899787537432,0.8032053905972256,0.06160855355586317,-0.06418934787263472,0.0012138575671360465,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0554211017241075,0.6672500720794751,-0.06517023054051166,0.659474108467185,0.14589904445889618,0.4242237877172349,1.8084233562092904,0.7596013066971122,1.8735935867498021,1.8735935867498021,2.7666505739459892,0,0,-0.0005546755025939973,-9.999999025923074e-05
+16184,1792725724706860514,9127572000000,1792725724702072726,DOWN_SETTLE,2,0.0595,0.059501878917217255,0.6759817275439719,-0.004334005641537126,0.10176754085563793,0.999999949763832,-0.0001329471196459255,-0.00017074557730026242,0.00021233513382894648,0.6761,-0.004,0.10185052561694102,1.0,0.0,0.0,0.0,0.12724141517375764,0.11285337964316611,0.7697368919584553,0.0028879390914896552,-0.0033415836568938123,-0.00016010806467122102,0.8782415630668412,0.8633573533442522,0.8133409758585687,0.061804053539221825,-0.06419668821444384,0.0012089962659247889,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0710313691579871,0.7051405281664447,-0.02524575122897512,0.6568662767748303,0.12373841325899593,0.4498512286396534,1.8084233562092904,0.7697368919584553,1.8336691074382656,0.0,0.0,0,0,-0.0005507755001880273,0.0012000000097407693
+16229,1792725725080777706,9127946000000,1792725725078072443,DOWN_SETTLE,2,0.0595,0.059501878917217255,0.6759807615676927,-0.004328447051264037,0.1016858023365961,0.9999999494812652,-0.00011805924272502652,-0.00017814638765448705,0.00021634743169408755,0.6761,-0.004,0.10178453522779937,1.0,0.0,0.0,0.0,0.12724176095011785,0.11217451221507424,0.7496415774392594,0.0029074089021864508,-0.003948010766752524,-0.00015295255981218753,0.8782419088432014,0.8626784859161604,0.7932456613393728,0.06182352334991862,-0.06480311532430255,0.0012161517707838224,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,1.0273729678584298,0.70185060691078,-0.030821029603682902,0.6453833103394309,0.12688610234601722,0.44929397229569573,1.8084233562092904,0.7496415774392594,1.8392443858129732,0.0,0.0,0,0,-1.6524633849728668e-05,0.00016691549343160272
+16295,1792725725623897908,9128489000000,1792725725618072626,DOWN_PEAK_HOLD,2,0.0595,0.05950253829360008,0.6759800502927445,-0.004331562148551376,0.10167494213194957,0.9999999490267462,-0.00011808594386343376,-0.00017989129468399834,0.0002169889429371462,0.6761,-0.004,0.10178387583083691,1.0,0.0,0.0,0.0,0.13448893415117524,0.11274058659113806,0.7296679566988313,0.0030967320305192655,-0.004338834851308523,-0.0001295199543370866,0.8854890820442588,0.8632445602922242,0.7732720405989447,0.062012846478251435,-0.06519393940885855,0.0012395843762589233,0.7510001478930836,0.7505039737010861,0.04360408390011343,0.05891611444773217,-0.06085510455755003,0.0013691043305960099,1,0.9715905099072192,0.6384923223716539,0.04956576952057592,0.6615929835917588,0.06546736833932158,0.40124681831121695,1.8084233562092904,0.7296679566988313,1.7588575866887144,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_0010_12.5/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,1792725700191442737,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.782956336e-10,-3.473709861e-11,-3.332600862e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449556e-01,-1.188545717e-04,8.303259152e-01
+1,6.500000000e-01,DOWN_FORCE_DETACH,1792725700905054788,-2.837759199e-06,-3.606371316e-07,-5.395612265e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.752031087e-08,-1.142726668e-09,-8.191300971e-10,7.019527951e-01,-2.263137215e-05,8.601376916e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449725e-01,-1.188556797e-04,8.303259144e-01
+2,1.233333333e+00,DOWN_FORCE_DETACH,1792725701494989635,3.600755121e-07,3.959143918e-06,-5.380070574e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.655835651e-08,-1.833461181e-09,-1.163157237e-09,7.019559929e-01,-1.831159110e-05,8.601377072e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449816e-01,-1.188563704e-04,8.303259141e-01
+3,1.883333333e+00,DOWN_FORCE_DETACH,1792725702150083299,-3.239325922e-06,1.806236408e-07,-3.551946495e-05,-2.475613261e-06,7.238127453e-07,-2.000783745e-05,-2.853707045e-06,7.546647420e-07,-2.006374030e-05,7.019523935e-01,-2.209011138e-05,8.601075678e-01,7.019531572e-01,-2.154692228e-05,8.601230794e-01,7.027421013e-01,-1.180998722e-04,8.303058515e-01
+4,2.433333333e+00,DOWN_FORCE_DETACH,1792725702739862835,-3.094453700e-06,-2.990168081e-06,-5.662782086e-05,-3.253981410e-06,8.005091454e-07,-4.221238689e-05,-3.952602880e-06,8.488440826e-07,-4.221624400e-05,7.019525384e-01,-2.526090310e-05,8.600864594e-01,7.019523788e-01,-2.147022588e-05,8.601008749e-01,7.027410024e-01,-1.180056929e-04,8.302836990e-01
+5,3.066666667e+00,DOWN_FORCE_DETACH,1792725703362582523,2.283001986e-06,-2.611638237e-06,-7.844210738e-05,-5.382173760e-06,-1.348910804e-06,-6.245725343e-05,-6.537100960e-06,-1.370509862e-06,-6.247825176e-05,7.019579158e-01,-2.488237326e-05,8.600646451e-01,7.019502506e-01,-2.361964583e-05,8.600806300e-01,7.027384179e-01,-1.202250468e-04,8.302634370e-01
+6,3.566666667e+00,DOWN_FORCE_DETACH,1792725703854046416,1.764173696e-05,-5.782067155e-06,-9.133094748e-05,2.092962065e-05,1.031117009e-08,-8.505996052e-05,2.157087875e-05,9.455522573e-09,-8.502572536e-05,7.019732746e-01,-2.805280218e-05,8.600517563e-01,7.019765624e-01,-2.226042385e-05,8.600580273e-01,7.027665259e-01,-1.188450815e-04,8.302408895e-01
+7,4.083333333e+00,DOWN_FORCE_DETACH,1792725704443360698,1.872180812e-05,-9.518190037e-06,-1.294406461e-04,1.797593774e-05,-3.341105784e-06,-1.245241427e-04,1.792287169e-05,-3.370798912e-06,-1.244976944e-04,7.019743546e-01,-3.178892506e-05,8.600136466e-01,7.019736088e-01,-2.561184081e-05,8.600185631e-01,7.027628779e-01,-1.222253359e-04,8.302014176e-01
+8,4.600000000e+00,DOWN_FORCE_DETACH,1792725705020173064,1.476158424e-05,-6.334339104e-06,-1.796930539e-04,1.781062785e-05,-1.181653364e-05,-1.634331625e-04,1.724322169e-05,-1.194907552e-05,-1.633724706e-04,7.019703944e-01,-2.860507413e-05,8.599633942e-01,7.019734434e-01,-3.408726866e-05,8.599796541e-01,7.027621982e-01,-1.308036125e-04,8.301625428e-01
+9,5.150000000e+00,DOWN_FORCE_DETACH,1792725705606695184,1.668945946e-05,-1.466111332e-05,-2.263680026e-04,1.654250974e-05,-1.463436574e-05,-2.262179667e-04,1.509828491e-05,-1.479994837e-05,-2.261178414e-04,7.019723223e-01,-3.693184835e-05,8.599167192e-01,7.019721753e-01,-3.690510076e-05,8.599168693e-01,7.027600533e-01,-1.336544854e-04,8.300997974e-01
+10,5.700000000e+00,DOWN_FORCE_DETACH,1792725706196842359,1.694020072e-05,-1.452011541e-05,-2.842118173e-04,1.792286089e-05,-1.512348428e-05,-2.666062661e-04,1.605185437e-05,-1.528128238e-05,-2.665365223e-04,7.019725730e-01,-3.679085043e-05,8.598588754e-01,7.019735557e-01,-3.739421930e-05,8.598764810e-01,7.027610069e-01,-1.341358194e-04,8.300593787e-01
+11,6.233333333e+00,DOWN_FORCE_DETACH,1792725706769317397,1.911863785e-05,-1.674004859e-05,-3.382946929e-04,1.796607301e-05,-1.635182704e-05,-3.368415484e-04,1.517776883e-05,-1.656294497e-05,-3.367438986e-04,7.019747515e-01,-3.901078361e-05,8.598047925e-01,7.019735989e-01,-3.862256206e-05,8.598062457e-01,7.027601328e-01,-1.354174820e-04,8.299891714e-01
+12,6.633333333e+00,DOWN_FORCE_DETACH,1792725707178817577,1.933951835e-05,-1.320076347e-05,-3.835685879e-04,1.921692483e-05,-1.359351543e-05,-3.836752919e-04,1.599543572e-05,-1.377412260e-05,-3.836126438e-04,7.019749723e-01,-3.547149849e-05,8.597595187e-01,7.019748497e-01,-3.586425045e-05,8.597594119e-01,7.027609505e-01,-1.326286596e-04,8.299423026e-01
+13,7.200000000e+00,DOWN_FORCE_DETACH,1792725707735983084,2.703478033e-05,-1.331070016e-05,-4.384386379e-04,2.346599717e-05,-1.236743808e-05,-4.285775769e-04,1.999693761e-05,-1.252650990e-05,-4.285366591e-04,7.019826676e-01,-3.558143518e-05,8.597046486e-01,7.019790988e-01,-3.463817310e-05,8.597145097e-01,7.027649520e-01,-1.313810469e-04,8.298973786e-01
+14,7.733333333e+00,DOWN_FORCE_DETACH,1792725708276172110,2.890890859e-05,-1.756658512e-05,-5.023414473e-04,2.765143310e-05,-1.353361360e-05,-4.890540040e-04,2.376016150e-05,-1.371882065e-05,-4.890006757e-04,7.019845417e-01,-3.983732014e-05,8.596407458e-01,7.019832843e-01,-3.580434862e-05,8.596540332e-01,7.027687152e-01,-1.325733576e-04,8.298369146e-01
+15,8.233333333e+00,DOWN_FORCE_DETACH,1792725708784098572,3.102774805e-05,-2.559939213e-05,-5.682894185e-04,3.114708573e-05,-2.540368101e-05,-5.680948014e-04,2.656103328e-05,-2.578450652e-05,-5.680183423e-04,7.019866606e-01,-4.787012715e-05,8.595747978e-01,7.019867799e-01,-4.767441603e-05,8.595749924e-01,7.027715161e-01,-1.446390435e-04,8.297578969e-01
+16,8.750000000e+00,DOWN_FORCE_DETACH,1792725709308480036,2.985420321e-05,-2.352140326e-05,-6.451525738e-04,3.058208714e-05,-2.526167237e-05,-6.355883575e-04,2.511515629e-05,-2.558546508e-05,-6.355504672e-04,7.019854870e-01,-4.579213829e-05,8.594979347e-01,7.019862149e-01,-4.753240739e-05,8.595074989e-01,7.027700702e-01,-1.444400021e-04,8.296903648e-01
+17,9.266666667e+00,DOWN_FORCE_DETACH,1792725709817030579,3.350082866e-05,-3.154146143e-05,-7.086554566e-04,3.291855208e-05,-3.020761518e-05,-6.991201207e-04,2.684802101e-05,-3.063886015e-05,-6.991291687e-04,7.019891336e-01,-5.381219645e-05,8.594344318e-01,7.019885514e-01,-5.247835020e-05,8.594439671e-01,7.027718030e-01,-1.494933971e-04,8.296267861e-01
+18,9.850000000e+00,DOWN_FORCE_DETACH,1792725710405944756,3.769873208e-05,-3.233214332e-05,-7.955209965e-04,3.487351622e-05,-3.437882050e-05,-7.864080156e-04,2.789496948e-05,-3.483226934e-05,-7.864051875e-04,7.019933315e-01,-5.460287834e-05,8.593475662e-01,7.019905063e-01,-5.664955552e-05,8.593566792e-01,7.027728500e-01,-1.536868063e-04,8.295395101e-01
+19,1.041666667e+01,DOWN_FORCE_DETACH,1792725710963274040,3.945692660e-05,-2.992321695e-05,-8.765168223e-04,3.928208613e-05,-2.996578985e-05,-8.762415208e-04,3.151497800e-05,-3.038560421e-05,-8.762257774e-04,7.019950897e-01,-5.219395197e-05,8.592665704e-01,7.019949149e-01,-5.223652487e-05,8.592668457e-01,7.027764700e-01,-1.492401412e-04,8.294496895e-01
+20,1.091666667e+01,DOWN_FORCE_DETACH,1792725711471277285,4.524986504e-05,-3.562942514e-05,-9.482205719e-04,4.514442350e-05,-3.214369050e-05,-9.370642199e-04,3.708523341e-05,-3.257496913e-05,-9.370411768e-04,7.020008827e-01,-5.790016016e-05,8.591948667e-01,7.020007772e-01,-5.441442552e-05,8.592060230e-01,7.027820403e-01,-1.514295061e-04,8.293888741e-01
+21,1.141666667e+01,DOWN_FORCE_DETACH,1792725712109828612,4.360446564e-05,-3.895194421e-05,-1.052805160e-03,4.341762628e-05,-3.894189131e-05,-1.052958222e-03,3.379886160e-05,-3.944230880e-05,-1.052982051e-03,7.019992373e-01,-6.122267923e-05,8.590902821e-01,7.019990504e-01,-6.121262633e-05,8.590901290e-01,7.027787539e-01,-1.582968458e-04,8.292729332e-01
+22,1.186666667e+01,DOWN_FORCE_DETACH,1792725712552032416,4.526336332e-05,-3.555930260e-05,-1.131612482e-03,4.361297166e-05,-4.046606739e-05,-1.118834493e-03,3.322551634e-05,-4.101903102e-05,-1.118885907e-03,7.020008962e-01,-5.783003762e-05,8.590114748e-01,7.019992458e-01,-6.273680241e-05,8.590242527e-01,7.027781805e-01,-1.598735680e-04,8.292070293e-01
+23,1.238333333e+01,DOWN_FORCE_DETACH,1792725713060215064,4.595160156e-05,-4.340213089e-05,-1.216905054e-03,4.781206054e-05,-3.649465537e-05,-1.207893642e-03,3.669671592e-05,-3.694069546e-05,-1.207972141e-03,7.020015844e-01,-6.567286592e-05,8.589261822e-01,7.020034449e-01,-5.876539039e-05,8.589351936e-01,7.027816517e-01,-1.557952325e-04,8.291179431e-01
+24,1.291666667e+01,DOWN_FORCE_DETACH,1792725713583831494,4.526494254e-05,-4.548000507e-05,-1.306897040e-03,4.794799278e-05,-4.637409618e-05,-1.295369775e-03,3.573314182e-05,-4.695818918e-05,-1.295456508e-03,7.020008978e-01,-6.775074009e-05,8.588361902e-01,7.020035808e-01,-6.864483120e-05,8.588477175e-01,7.027806882e-01,-1.658127262e-04,8.290304587e-01
+25,1.331666667e+01,DOWN_FORCE_DETACH,1792725713977093233,5.046183697e-05,-4.805494312e-05,-1.372778501e-03,4.711998208e-05,-4.173556190e-05,-1.362982484e-03,3.400567496e-05,-4.224511500e-05,-1.363110382e-03,7.020060947e-01,-7.032567814e-05,8.587703087e-01,7.020027528e-01,-6.400629692e-05,8.587801048e-01,7.027789607e-01,-1.610996520e-04,8.289628049e-01
+26,1.378333333e+01,DOWN_FORCE_DETACH,1792725714436054396,4.909878617e-05,-4.439361247e-05,-1.462226470e-03,4.576418803e-05,-4.686105605e-05,-1.448681212e-03,3.152014084e-05,-4.746056058e-05,-1.448808510e-03,7.020047316e-01,-6.666434749e-05,8.586808608e-01,7.020013970e-01,-6.913179107e-05,8.586944060e-01,7.027764752e-01,-1.663150976e-04,8.288771067e-01
+27,1.423333333e+01,DOWN_FORCE_DETACH,1792725714877943799,5.290737619e-05,-5.408173372e-05,-1.539867919e-03,4.992796552e-05,-5.542095317e-05,-1.538513964e-03,3.488086171e-05,-5.612090689e-05,-1.538664989e-03,7.020085402e-01,-7.635246874e-05,8.586032193e-01,7.020055608e-01,-7.769168819e-05,8.586045733e-01,7.027798359e-01,-1.749754439e-04,8.287872503e-01
+28,1.470000000e+01,DOWN_FORCE_DETACH,1792725715353018300,5.365842822e-05,-6.078642343e-05,-1.633917632e-03,5.621898794e-05,-5.559523674e-05,-1.628095002e-03,4.058727919e-05,-5.633073807e-05,-1.628251146e-03,7.020092912e-01,-8.305715846e-05,8.585091696e-01,7.020118518e-01,-7.786597176e-05,8.585149922e-01,7.027855423e-01,-1.751852751e-04,8.286976641e-01
+29,1.521666667e+01,DOWN_FORCE_DETACH,1792725715877115174,6.053714222e-05,-5.455010055e-05,-1.734535455e-03,5.654629153e-05,-5.913820428e-05,-1.716762471e-03,3.978742196e-05,-5.990322674e-05,-1.716965022e-03,7.020161700e-01,-7.682083557e-05,8.584085518e-01,7.020121791e-01,-8.140893930e-05,8.584263248e-01,7.027847424e-01,-1.787577637e-04,8.286089502e-01
+30,1.565000000e+01,DOWN_FORCE_DETACH,1792725716303711455,6.082904056e-05,-5.663325956e-05,-1.824113480e-03,5.941000696e-05,-5.902899252e-05,-1.823253913e-03,4.160428926e-05,-5.978745913e-05,-1.823458539e-03,7.020164619e-01,-7.890399459e-05,8.583189738e-01,7.020150428e-01,-8.129972754e-05,8.583198333e-01,7.027865593e-01,-1.786419961e-04,8.285024567e-01
+31,1.606666667e+01,DOWN_FORCE_DETACH,1792725716712505751,6.208316192e-05,-6.858857453e-05,-1.920910891e-03,6.216035234e-05,-5.864853470e-05,-1.916260570e-03,4.342397619e-05,-5.939212295e-05,-1.916492301e-03,7.020177160e-01,-9.085930956e-05,8.582221763e-01,7.020177932e-01,-8.091926973e-05,8.582268267e-01,7.027883790e-01,-1.782466599e-04,8.284094230e-01
+32,1.646666667e+01,DOWN_FORCE_DETACH,1792725717106552617,6.281368704e-05,-5.879924873e-05,-2.015051934e-03,6.459169732e-05,-6.004956053e-05,-2.006105477e-03,4.492072270e-05,-6.080966239e-05,-2.006334383e-03,7.020184465e-01,-8.106998376e-05,8.581280353e-01,7.020202245e-01,-8.232029556e-05,8.581369818e-01,7.027898757e-01,-1.796641994e-04,8.283195809e-01
+33,1.686666667e+01,DOWN_FORCE_DETACH,1792725717499114863,6.355315498e-05,-6.994888963e-05,-2.112500290e-03,6.329402662e-05,-6.964791545e-05,-2.112506036e-03,4.226512415e-05,-7.051989574e-05,-2.112691536e-03,7.020191860e-01,-9.221962465e-05,8.580305869e-01,7.020189268e-01,-9.191865048e-05,8.580305812e-01,7.027872201e-01,-1.893744327e-04,8.282132237e-01
+34,1.728333333e+01,DOWN_FORCE_DETACH,1792725717908444996,6.768369402e-05,-6.732465709e-05,-2.208670549e-03,6.693403016e-05,-6.462818216e-05,-2.205983250e-03,4.504171706e-05,-6.547224730e-05,-2.206247725e-03,7.020233165e-01,-8.959539211e-05,8.579344167e-01,7.020225668e-01,-8.689891718e-05,8.579371040e-01,7.027899967e-01,-1.843267843e-04,8.281196675e-01
+35,1.761666667e+01,DOWN_FORCE_DETACH,1792725718236247886,6.511806552e-05,-7.178058950e-05,-2.309195118e-03,6.241828757e-05,-7.548582289e-05,-2.304588986e-03,3.896115245e-05,-7.645590363e-05,-2.304823541e-03,7.020207509e-01,-9.405132453e-05,8.578338921e-01,7.020180511e-01,-9.775655792e-05,8.578384983e-01,7.027839162e-01,-1.953104406e-04,8.280210917e-01
+36,1.796666667e+01,DOWN_FORCE_DETACH,1792725718579729040,6.625495783e-05,-6.955850398e-05,-2.404574969e-03,6.315862435e-05,-7.955656125e-05,-2.393850106e-03,3.870313452e-05,-8.056621066e-05,-2.394124221e-03,7.020218878e-01,-9.182923900e-05,8.577385123e-01,7.020187914e-01,-1.018272963e-04,8.577492371e-01,7.027836582e-01,-1.994207476e-04,8.279317910e-01
+37,1.831666667e+01,DOWN_FORCE_DETACH,1792725718940456975,6.339252369e-05,-7.800788464e-05,-2.519674746e-03,6.679931626e-05,-8.104205625e-05,-2.509463027e-03,4.123371725e-05,-8.209022353e-05,-2.509732865e-03,7.020190253e-01,-1.002786197e-04,8.576234125e-01,7.020224321e-01,-1.033127913e-04,8.576336242e-01,7.027861887e-01,-2.009447605e-04,8.278161824e-01
+38,1.870000000e+01,DOWN_FORCE_DETACH,1792725719318675781,6.434417691e-05,-8.582052282e-05,-2.632834250e-03,6.428342129e-05,-8.554703743e-05,-2.624163654e-03,3.708006716e-05,-8.665205933e-05,-2.624449017e-03,7.020199770e-01,-1.080912578e-04,8.575102530e-01,7.020199162e-01,-1.078177725e-04,8.575189236e-01,7.027820351e-01,-2.055065963e-04,8.277014662e-01
+39,1.905000000e+01,DOWN_FORCE_DETACH,1792725719662191447,6.628799462e-05,-9.297864767e-05,-2.741255471e-03,6.462176131e-05,-9.036470441e-05,-2.739978407e-03,3.607273965e-05,-9.149877695e-05,-2.740307041e-03,7.020219208e-01,-1.152493827e-04,8.574018318e-01,7.020202546e-01,-1.126354394e-04,8.574031088e-01,7.027810278e-01,-2.103533139e-04,8.275856082e-01
+40,1.940000000e+01,DOWN_FORCE_DETACH,1792725720022403028,6.744417669e-05,-9.326359914e-05,-2.864466681e-03,6.720830869e-05,-9.311588065e-05,-2.864370400e-03,3.728934428e-05,-9.430500675e-05,-2.864697266e-03,7.020230770e-01,-1.155343342e-04,8.572786206e-01,7.020228411e-01,-1.153866157e-04,8.572787168e-01,7.027822444e-01,-2.131595437e-04,8.274612180e-01
+41,1.970000000e+01,DOWN_FORCE_DETACH,1792725720316614431,6.648929805e-05,-9.619214764e-05,-2.965734551e-03,6.716816407e-05,-9.191282743e-05,-2.959183336e-03,3.614041800e-05,-9.309720424e-05,-2.959512611e-03,7.020221221e-01,-1.184628827e-04,8.571773527e-01,7.020228010e-01,-1.141835625e-04,8.571839039e-01,7.027810954e-01,-2.119517412e-04,8.273664026e-01
+42,2.003333333e+01,DOWN_FORCE_DETACH,1792725720643972409,6.476237127e-05,-9.881687059e-05,-3.085303478e-03,6.639265669e-05,-9.467990654e-05,-3.071425304e-03,3.390579105e-05,-9.587605143e-05,-3.071856517e-03,7.020203952e-01,-1.210876056e-04,8.570577838e-01,7.020220255e-01,-1.169506416e-04,8.570716619e-01,7.027788608e-01,-2.147305884e-04,8.272540587e-01
+43,2.036666667e+01,DOWN_FORCE_DETACH,1792725720971816657,6.652697881e-05,-1.023728692e-04,-3.208829115e-03,6.626301964e-05,-1.024426452e-04,-3.208543444e-03,3.212803340e-05,-1.037286926e-04,-3.208929010e-03,7.020221598e-01,-1.246436042e-04,8.569342581e-01,7.020218958e-01,-1.247133802e-04,8.569345438e-01,7.027770831e-01,-2.225832296e-04,8.271169862e-01
+44,2.068333333e+01,DOWN_FORCE_DETACH,1792725721300436422,6.734346821e-05,-1.048767482e-04,-3.336802261e-03,6.706804225e-05,-1.047274237e-04,-3.336703083e-03,3.139275973e-05,-1.060305145e-04,-3.337121469e-03,7.020229763e-01,-1.271474832e-04,8.568062850e-01,7.020227009e-01,-1.269981587e-04,8.568063842e-01,7.027763478e-01,-2.248850515e-04,8.269887938e-01
+45,2.100000000e+01,DOWN_FORCE_DETACH,1792725721610610792,6.992435852e-05,-1.077958995e-04,-3.461057354e-03,6.744953772e-05,-1.054356713e-04,-3.455500224e-03,3.045743751e-05,-1.067880119e-04,-3.456009058e-03,7.020255572e-01,-1.300666345e-04,8.566820299e-01,7.020230824e-01,-1.277064063e-04,8.566875870e-01,7.027754125e-01,-2.256425489e-04,8.268699062e-01
+46,2.128333333e+01,DOWN_FORCE_DETACH,1792725721888869518,6.944022624e-05,-1.183660063e-04,-3.582663824e-03,6.854428030e-05,-1.066827122e-04,-3.569457192e-03,3.022016708e-05,-1.080441982e-04,-3.569965383e-03,7.020250730e-01,-1.406367413e-04,8.565604234e-01,7.020241771e-01,-1.289534472e-04,8.565736300e-01,7.027751752e-01,-2.268987352e-04,8.267559499e-01
+47,2.156666667e+01,DOWN_FORCE_DETACH,1792725722167834197,6.820657299e-05,-1.132565294e-04,-3.711208285e-03,6.797073523e-05,-1.134346494e-04,-3.710991624e-03,2.792212139e-05,-1.148657354e-04,-3.711503544e-03,7.020238394e-01,-1.355272644e-04,8.564318790e-01,7.020236036e-01,-1.357053844e-04,8.564320956e-01,7.027728771e-01,-2.337202724e-04,8.266144117e-01
+48,2.183333333e+01,DOWN_FORCE_DETACH,1792725722454725093,6.494055466e-05,-1.181975488e-04,-3.842095103e-03,6.509733978e-05,-1.165602180e-04,-3.832255068e-03,2.336324999e-05,-1.180427084e-04,-3.832841113e-03,7.020205734e-01,-1.404682838e-04,8.563009921e-01,7.020207302e-01,-1.388309530e-04,8.563108322e-01,7.027683183e-01,-2.368972454e-04,8.264930741e-01
+49,2.208333333e+01,DOWN_FORCE_DETACH,1792725722724551045,6.461793927e-05,-1.189016659e-04,-3.970538326e-03,6.439063713e-05,-1.187590906e-04,-3.970329200e-03,2.089406756e-05,-1.202683180e-04,-3.970863301e-03,7.020202508e-01,-1.411724010e-04,8.561725489e-01,7.020200235e-01,-1.410298256e-04,8.561727580e-01,7.027658491e-01,-2.391228549e-04,8.263550520e-01
+50,2.235000000e+01,DOWN_FORCE_DETACH,1792725723002482749,6.513072514e-05,-1.221787434e-04,-4.101045949e-03,6.232440245e-05,-1.217119025e-04,-4.090989211e-03,1.727440652e-05,-1.232742361e-04,-4.091550713e-03,7.020207635e-01,-1.444494785e-04,8.560420413e-01,7.020179572e-01,-1.439826376e-04,8.560520980e-01,7.027622294e-01,-2.421287731e-04,8.262343645e-01
+51,2.261666667e+01,DOWN_FORCE_DETACH,1792725723281723093,6.559538769e-05,-1.186762444e-04,-4.235297817e-03,6.523656201e-05,-1.189785029e-04,-4.235540859e-03,1.863297077e-05,-1.204932538e-04,-4.236128074e-03,7.020212282e-01,-1.409469794e-04,8.559077894e-01,7.020208694e-01,-1.412492379e-04,8.559075464e-01,7.027635880e-01,-2.393477908e-04,8.260897872e-01
+52,2.286666667e+01,DOWN_FORCE_DETACH,1792725723526638091,6.648864127e-05,-1.253680349e-04,-4.363235673e-03,6.363093696e-05,-1.251648144e-04,-4.358046851e-03,1.546013132e-05,-1.267317867e-04,-4.358699865e-03,7.020221215e-01,-1.476387700e-04,8.557798516e-01,7.020192638e-01,-1.474355494e-04,8.557850404e-01,7.027604152e-01,-2.455863237e-04,8.259672154e-01
+53,2.305000000e+01,DOWN_FORCE_DETACH,1792725723788892825,6.967548201e-05,-1.299462959e-04,-4.499607699e-03,6.941299639e-05,-1.260562686e-04,-4.480799043e-03,2.021691232e-05,-1.276193807e-04,-4.481429640e-03,7.020253083e-01,-1.522170309e-04,8.556434795e-01,7.020250458e-01,-1.483270036e-04,8.556622882e-01,7.027651719e-01,-2.464739177e-04,8.258444856e-01
+54,2.328333333e+01,DOWN_FORCE_DETACH,1792725724018575790,6.914599599e-05,-1.300361152e-04,-4.620499299e-03,6.833765027e-05,-1.316383771e-04,-4.608132703e-03,1.756522347e-05,-1.332565559e-04,-4.608857591e-03,7.020247788e-01,-1.523068502e-04,8.555225879e-01,7.020239705e-01,-1.539091121e-04,8.555349545e-01,7.027625202e-01,-2.521110929e-04,8.257170577e-01
+55,2.351666667e+01,DOWN_FORCE_DETACH,1792725724247444998,6.568252128e-05,-1.345780090e-04,-4.751656549e-03,6.362104009e-05,-1.352752696e-04,-4.732269684e-03,1.100566951e-05,-1.369741226e-04,-4.733018653e-03,7.020213153e-01,-1.568487440e-04,8.553914307e-01,7.020192539e-01,-1.575460046e-04,8.554108176e-01,7.027559607e-01,-2.558286596e-04,8.255928966e-01
+56,2.373333333e+01,DOWN_FORCE_DETACH,1792725724461396392,6.186777499e-05,-1.376898542e-04,-4.876301116e-03,6.181260580e-05,-1.377169616e-04,-4.876374146e-03,7.401105590e-06,-1.394352248e-04,-4.877120116e-03,7.020175006e-01,-1.599605893e-04,8.552667861e-01,7.020174454e-01,-1.599876966e-04,8.552667131e-01,7.027523561e-01,-2.582897618e-04,8.254487951e-01
+57,2.395000000e+01,DOWN_SETTLE,1792725724707911615,6.353917577e-05,-1.463714838e-04,-5.017410928e-03,6.349127789e-05,-1.465047923e-04,-5.017053496e-03,7.459140288e-06,-1.483737609e-04,-5.017824864e-03,7.020191720e-01,-1.686422189e-04,8.551256763e-01,7.020191241e-01,-1.687755273e-04,8.551260337e-01,7.027524142e-01,-2.672282979e-04,8.253080904e-01
+58,2.431666667e+01,DOWN_SETTLE,1792725725083624286,6.709456463e-05,-1.425133817e-04,-5.093301651e-03,6.300856341e-05,-1.455113207e-04,-5.089847496e-03,6.038902923e-06,-1.473424911e-04,-5.090802397e-03,7.020227274e-01,-1.647841167e-04,8.550497856e-01,7.020186414e-01,-1.677820558e-04,8.550532397e-01,7.027509939e-01,-2.661970281e-04,8.252351129e-01
+59,2.485000000e+01,DOWN_PEAK_HOLD,1792725725624082164,6.333183270e-05,-1.466280625e-04,-5.106725550e-03,6.300856341e-05,-1.455113207e-04,-5.089847496e-03,6.031352976e-06,-1.473541539e-04,-5.091011747e-03,7.020189646e-01,-1.688987975e-04,8.550363617e-01,7.020186414e-01,-1.677820558e-04,8.550532397e-01,7.027509864e-01,-2.662086909e-04,8.252349035e-01

Part2/Fixed/digit/ball_0010_12.5/press_depth_02/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.1213e-02,2.1922e-02,2.4541e+00,-3.8299e-02,3.7578e-02,2.9577e-05,1.0090e-04,-3.2336e-06,-6.1989e-06,3.6880e-07,7.1414e-06,-1.7299e-07,1.0114e-04,7.1530e-06
+1,6.5000e-01,DOWN_FORCE_DETACH,1.4277e-04,1.4163e-02,2.1810e-02,2.4539e+00,-3.8287e-02,3.7786e-02,2.3096e-05,3.0514e-03,-1.1543e-04,-1.5450e-04,1.2301e-05,2.1586e-04,-6.6540e-06,3.0575e-03,2.1631e-04
+2,1.2333e+00,DOWN_FORCE_DETACH,2.8493e-04,1.5734e-02,2.1735e-02,2.4539e+00,-3.8280e-02,3.7897e-02,1.8247e-05,4.6228e-03,-1.8991e-04,-2.1791e-04,1.9394e-05,3.2698e-04,-1.1502e-05,4.6318e-03,3.2775e-04
+3,1.8833e+00,DOWN_FORCE_DETACH,4.2525e-04,1.7424e-02,2.1370e-02,2.4582e+00,-3.8251e-02,3.8012e-02,1.3398e-05,6.3126e-03,-5.5473e-04,4.0789e-03,4.8064e-05,4.4173e-04,-1.6351e-05,7.5361e-03,4.4464e-04
+4,2.4333e+00,DOWN_FORCE_DETACH,5.6709e-04,1.7861e-02,2.1481e-02,2.4607e+00,-3.8253e-02,3.8040e-02,9.0226e-06,6.7499e-03,-4.4440e-04,6.5923e-03,4.6100e-05,4.6923e-04,-2.0727e-05,9.4454e-03,4.7194e-04
+5,3.0667e+00,DOWN_FORCE_DETACH,7.0932e-04,1.8294e-02,2.3076e-02,2.4609e+00,-3.8357e-02,3.8069e-02,2.9116e-06,7.1823e-03,1.1504e-03,6.7756e-03,-5.7437e-05,4.9812e-04,-2.6838e-05,9.9407e-03,5.0214e-04
+6,3.5667e+00,DOWN_FORCE_DETACH,8.5281e-04,1.0940e-02,2.2036e-02,2.4631e+00,-3.8280e-02,3.7547e-02,-1.1428e-06,-1.7145e-04,1.1045e-04,9.0117e-03,1.9670e-05,-2.3782e-05,-3.0892e-05,9.0141e-03,4.3667e-05
+7,4.0833e+00,DOWN_FORCE_DETACH,9.9423e-04,1.4824e-02,2.4368e-02,2.4691e+00,-3.8437e-02,3.7813e-02,-4.5473e-06,3.7127e-03,2.4428e-03,1.5001e-02,-1.3800e-04,2.4295e-04,-3.4297e-05,1.5646e-02,2.8150e-04
+8,4.6000e+00,DOWN_FORCE_DETACH,1.1352e-03,1.6334e-02,2.9741e-02,2.4729e+00,-3.8808e-02,3.7914e-02,-9.7833e-06,5.2224e-03,7.8161e-03,1.8850e-02,-5.0889e-04,3.4386e-04,-3.9533e-05,2.1064e-02,6.1544e-04
+9,5.1500e+00,DOWN_FORCE_DETACH,1.2790e-03,1.7670e-02,2.9146e-02,2.4748e+00,-3.8766e-02,3.8005e-02,-1.8558e-05,6.5583e-03,7.2206e-03,2.0688e-02,-4.6647e-04,4.3436e-04,-4.8307e-05,2.2873e-02,6.3922e-04
+10,5.7000e+00,DOWN_FORCE_DETACH,1.4183e-03,1.7602e-02,3.2301e-02,2.4796e+00,-3.8989e-02,3.7994e-02,-2.5033e-05,6.4906e-03,1.0376e-02,2.5487e-02,-6.9007e-04,4.2386e-04,-5.4782e-05,2.8273e-02,8.1169e-04
+11,6.2333e+00,DOWN_FORCE_DETACH,1.5632e-03,1.7845e-02,3.3245e-02,2.4862e+00,-3.9065e-02,3.8005e-02,-3.1101e-05,6.7333e-03,1.1320e-02,3.2082e-02,-7.6533e-04,4.3502e-04,-6.0851e-05,3.4680e-02,8.8243e-04
+12,6.6333e+00,DOWN_FORCE_DETACH,1.7028e-03,1.8163e-02,3.2324e-02,2.4816e+00,-3.9012e-02,3.8034e-02,-3.4826e-05,7.0512e-03,1.0399e-02,2.7484e-02,-7.1291e-04,4.6359e-04,-6.4576e-05,3.0220e-02,8.5283e-04
+13,7.2000e+00,DOWN_FORCE_DETACH,1.8447e-03,1.5406e-02,2.9676e-02,2.4833e+00,-3.8841e-02,3.7840e-02,-3.6212e-05,4.2945e-03,7.7504e-03,2.9201e-02,-5.4168e-04,2.6952e-04,-6.5962e-05,3.0516e-02,6.0861e-04
+14,7.7333e+00,DOWN_FORCE_DETACH,1.9836e-03,1.4188e-02,2.9742e-02,2.4838e+00,-3.8849e-02,3.7756e-02,-3.2299e-05,3.0769e-03,7.8164e-03,2.9685e-02,-5.4963e-04,1.8510e-04,-6.2049e-05,3.0851e-02,5.8327e-04
+15,8.2333e+00,DOWN_FORCE_DETACH,2.1303e-03,1.3999e-02,3.2002e-02,2.4838e+00,-3.9003e-02,3.7743e-02,-2.5692e-05,2.8873e-03,1.0077e-02,2.9675e-02,-7.0395e-04,1.7243e-04,-5.5441e-05,3.1472e-02,7.2688e-04
+16,8.7500e+00,DOWN_FORCE_DETACH,2.2715e-03,1.3493e-02,3.6566e-02,2.4900e+00,-3.9314e-02,3.7701e-02,-1.4839e-05,2.3816e-03,1.4641e-02,3.5922e-02,-1.0150e-03,1.3038e-04,-4.4589e-05,3.8864e-02,1.0243e-03
+17,9.2667e+00,DOWN_FORCE_DETACH,2.4137e-03,1.3493e-02,3.9393e-02,2.4896e+00,-3.9513e-02,3.7702e-02,-1.9561e-06,2.3810e-03,1.7468e-02,3.5494e-02,-1.2139e-03,1.3129e-04,-3.1706e-05,3.9631e-02,1.2214e-03
+18,9.8500e+00,DOWN_FORCE_DETACH,2.5548e-03,1.4117e-02,4.1977e-02,2.4929e+00,-3.9687e-02,3.7743e-02,1.2797e-05,3.0052e-03,2.0052e-02,3.8830e-02,-1.3873e-03,1.7226e-04,-1.6952e-05,4.3805e-02,1.3981e-03
+19,1.0417e+01,DOWN_FORCE_DETACH,2.6950e-03,1.4313e-02,4.2603e-02,2.4895e+00,-3.9712e-02,3.7761e-02,2.4263e-05,3.2018e-03,2.0678e-02,3.5390e-02,-1.4122e-03,1.9028e-04,-5.4867e-06,4.1113e-02,1.4249e-03
+20,1.0917e+01,DOWN_FORCE_DETACH,2.8365e-03,1.4911e-02,4.2167e-02,2.4917e+00,-3.9654e-02,3.7802e-02,3.0623e-05,3.7997e-03,2.0242e-02,3.7629e-02,-1.3550e-03,2.3137e-04,8.7335e-07,4.2896e-02,1.3746e-03
+21,1.1417e+01,DOWN_FORCE_DETACH,2.9828e-03,1.7703e-02,4.5485e-02,2.4961e+00,-3.9855e-02,3.7993e-02,2.9979e-05,6.5913e-03,2.3560e-02,4.2033e-02,-1.5555e-03,4.2276e-04,2.2916e-07,4.8634e-02,1.6119e-03
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+23,1.2383e+01,DOWN_FORCE_DETACH,3.2628e-03,1.8298e-02,4.7558e-02,2.5025e+00,-3.9976e-02,3.8022e-02,-2.8507e-06,7.1866e-03,2.5633e-02,4.8447e-02,-1.6769e-03,4.5146e-04,-3.2600e-05,5.5280e-02,1.7369e-03
+24,1.2917e+01,DOWN_FORCE_DETACH,3.4102e-03,1.9069e-02,5.4023e-02,2.5016e+00,-4.0437e-02,3.8077e-02,-2.0589e-05,7.9576e-03,3.2098e-02,4.7561e-02,-2.1379e-03,5.0698e-04,-5.0338e-05,5.7928e-02,2.1977e-03
+25,1.3317e+01,DOWN_FORCE_DETACH,3.5473e-03,1.9527e-02,5.0916e-02,2.5009e+00,-4.0228e-02,3.8112e-02,-2.8905e-05,8.4154e-03,2.8991e-02,4.6849e-02,-1.9282e-03,5.4178e-04,-5.8655e-05,5.5733e-02,2.0038e-03
+26,1.3783e+01,DOWN_FORCE_DETACH,3.6895e-03,1.9870e-02,5.3792e-02,2.5009e+00,-4.0426e-02,3.8138e-02,-2.5195e-05,8.7587e-03,3.1867e-02,4.6855e-02,-2.1265e-03,5.6707e-04,-5.4945e-05,5.7338e-02,2.2015e-03
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+30,1.5650e+01,DOWN_FORCE_DETACH,4.2553e-03,1.8520e-02,6.0506e-02,2.5098e+00,-4.0877e-02,3.8034e-02,2.3359e-05,7.4085e-03,3.8581e-02,5.5693e-02,-2.5778e-03,4.6311e-04,-6.3910e-06,6.8155e-02,2.6191e-03
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+32,1.6467e+01,DOWN_FORCE_DETACH,4.5420e-03,1.7854e-02,6.1812e-02,2.5128e+00,-4.0922e-02,3.7975e-02,8.3105e-06,6.7425e-03,3.9887e-02,5.8748e-02,-2.6228e-03,4.0488e-04,-2.1439e-05,7.1329e-02,2.6540e-03
+33,1.6867e+01,DOWN_FORCE_DETACH,4.6835e-03,1.8594e-02,6.7840e-02,2.5123e+00,-4.1331e-02,3.8025e-02,-1.8377e-06,7.4821e-03,4.5915e-02,5.8243e-02,-3.0317e-03,4.5473e-04,-3.1587e-05,7.4542e-02,3.0657e-03
+34,1.7283e+01,DOWN_FORCE_DETACH,4.8243e-03,1.6420e-02,6.5169e-02,2.5187e+00,-4.1141e-02,3.7868e-02,-1.1825e-05,5.3084e-03,4.3244e-02,6.4610e-02,-2.8416e-03,2.9761e-04,-4.1574e-05,7.7927e-02,2.8574e-03
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+37,1.8317e+01,DOWN_FORCE_DETACH,5.2505e-03,1.6560e-02,7.4583e-02,2.5279e+00,-4.1768e-02,3.7872e-02,-3.6350e-06,5.4488e-03,5.2658e-02,7.3808e-02,-3.4684e-03,3.0160e-04,-3.3385e-05,9.0830e-02,3.4817e-03
+38,1.8700e+01,DOWN_FORCE_DETACH,5.3916e-03,1.8289e-02,7.7990e-02,2.5287e+00,-4.1973e-02,3.7993e-02,5.8357e-06,7.1770e-03,5.6065e-02,7.4612e-02,-3.6741e-03,4.2208e-04,-2.3914e-05,9.3604e-02,3.6983e-03
+39,1.9050e+01,DOWN_FORCE_DETACH,5.5336e-03,1.9328e-02,8.2236e-02,2.5315e+00,-4.2227e-02,3.8063e-02,1.3680e-05,8.2167e-03,6.0311e-02,7.7386e-02,-3.9272e-03,4.9254e-04,-1.6070e-05,9.8456e-02,3.9580e-03
+40,1.9400e+01,DOWN_FORCE_DETACH,5.6760e-03,1.8941e-02,8.3119e-02,2.5280e+00,-4.2258e-02,3.8037e-02,1.3095e-05,7.8299e-03,6.1194e-02,7.3955e-02,-3.9583e-03,4.6637e-04,-1.6655e-05,9.6308e-02,3.9857e-03
+41,1.9700e+01,DOWN_FORCE_DETACH,5.8145e-03,1.8382e-02,8.4185e-02,2.5364e+00,-4.2306e-02,3.7989e-02,9.1288e-06,7.2701e-03,6.2260e-02,8.2277e-02,-4.0065e-03,4.1814e-04,-2.0621e-05,1.0343e-01,4.0283e-03
+42,2.0033e+01,DOWN_FORCE_DETACH,5.9556e-03,1.8183e-02,8.7654e-02,2.5385e+00,-4.2521e-02,3.7971e-02,5.1036e-06,7.0711e-03,6.5729e-02,8.4414e-02,-4.2221e-03,4.0022e-04,-2.4646e-05,1.0722e-01,4.2411e-03
+43,2.0367e+01,DOWN_FORCE_DETACH,6.1003e-03,1.8228e-02,9.3697e-02,2.5367e+00,-4.2919e-02,3.7977e-02,5.0564e-06,7.1160e-03,7.1771e-02,8.2606e-02,-4.6201e-03,4.0644e-04,-2.4693e-05,1.0966e-01,4.6380e-03
+44,2.0683e+01,DOWN_FORCE_DETACH,6.2492e-03,1.9065e-02,9.6030e-02,2.5413e+00,-4.3067e-02,3.8032e-02,8.4604e-06,7.9533e-03,7.4105e-02,8.7253e-02,-4.7676e-03,4.6187e-04,-2.1289e-05,1.1475e-01,4.7899e-03
+45,2.1000e+01,DOWN_FORCE_DETACH,6.3892e-03,2.0279e-02,9.4911e-02,2.5486e+00,-4.2970e-02,3.8111e-02,1.0551e-05,9.1678e-03,7.2986e-02,9.4488e-02,-4.6711e-03,5.4085e-04,-1.9198e-05,1.1975e-01,4.7024e-03
+46,2.1283e+01,DOWN_FORCE_DETACH,6.5267e-03,2.0404e-02,9.5199e-02,2.5479e+00,-4.2960e-02,3.8119e-02,9.8497e-06,9.2926e-03,7.3273e-02,9.3842e-02,-4.6609e-03,5.4899e-04,-1.9900e-05,1.1942e-01,4.6932e-03
+47,2.1567e+01,DOWN_FORCE_DETACH,6.6680e-03,2.0407e-02,1.0211e-01,2.5478e+00,-4.3400e-02,3.8114e-02,7.1810e-06,9.2955e-03,8.0182e-02,9.3753e-02,-5.1010e-03,5.4403e-04,-2.2569e-05,1.2371e-01,5.1300e-03
+48,2.1833e+01,DOWN_FORCE_DETACH,6.8084e-03,2.0386e-02,1.0149e-01,2.5566e+00,-4.3322e-02,3.8101e-02,-1.1628e-06,9.2741e-03,7.9563e-02,1.0253e-01,-5.0224e-03,5.3054e-04,-3.0912e-05,1.3011e-01,5.0504e-03
+49,2.2083e+01,DOWN_FORCE_DETACH,6.9539e-03,1.9279e-02,1.0092e-01,2.5563e+00,-4.3257e-02,3.8021e-02,-7.2040e-06,8.1679e-03,7.8991e-02,1.0225e-01,-4.9581e-03,4.5062e-04,-3.6954e-05,1.2946e-01,4.9787e-03
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+51,2.2617e+01,DOWN_FORCE_DETACH,7.2446e-03,1.7743e-02,1.0373e-01,2.5591e+00,-4.3413e-02,3.7912e-02,-7.4815e-06,6.6310e-03,8.1802e-02,1.0505e-01,-5.1140e-03,3.4128e-04,-3.7231e-05,1.3331e-01,5.1255e-03
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+53,2.3050e+01,DOWN_FORCE_DETACH,7.5247e-03,1.7296e-02,1.0847e-01,2.5713e+00,-4.3637e-02,3.7866e-02,3.1909e-06,6.1840e-03,8.6547e-02,1.1724e-01,-5.3378e-03,2.9580e-04,-2.6559e-05,1.4586e-01,5.3460e-03
+54,2.3283e+01,DOWN_FORCE_DETACH,7.6607e-03,1.8897e-02,1.1349e-01,2.5700e+00,-4.3932e-02,3.7977e-02,-2.1304e-07,7.7850e-03,9.1564e-02,1.1588e-01,-5.6331e-03,4.0610e-04,-2.9963e-05,1.4790e-01,5.6478e-03
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+57,2.3950e+01,DOWN_SETTLE,8.0969e-03,1.9540e-02,1.1830e-01,2.5733e+00,-4.4195e-02,3.8018e-02,-1.0446e-05,8.4287e-03,9.6378e-02,1.1922e-01,-5.8953e-03,4.4779e-04,-4.0196e-05,1.5353e-01,5.9124e-03
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+59,2.4850e+01,DOWN_PEAK_HOLD,8.3738e-03,1.8486e-02,1.1808e-01,2.5098e+00,-4.4389e-02,3.8013e-02,6.1241e-06,7.3746e-03,9.6155e-02,5.5695e-02,-6.0892e-03,4.4242e-04,-2.3625e-05,1.1136e-01,6.1053e-03

Part2/Fixed/digit/ball_0010_12.5/press_depth_02/up/camera_frames_60hz.tar

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Part2/Fixed/digit/ball_0010_12.5/press_depth_02/up/franka_data.csv

@@ -0,0 +1,61 @@
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Part2/Fixed/digit/ball_0010_12.5/press_depth_02/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792725669191824592,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.778193479e-10,-3.477415057e-11,-3.311240171e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449556e-01,-1.188545740e-04,8.303259152e-01
+1,2.833333333e-01,WAIT_W2,1792725669504134074,2.838438484e-07,-1.447186243e-08,2.739992195e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.148898084e-09,-5.735721221e-10,-4.726934399e-10,7.019559167e-01,-2.228520689e-05,8.601433612e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449642e-01,-1.188551128e-04,8.303259148e-01
+2,6.500000000e-01,WAIT_W2,1792725669863326882,-5.969901574e-07,-6.489546596e-06,-8.906075992e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.751536749e-08,-1.142346155e-09,-8.143985486e-10,7.019550358e-01,-2.876028162e-05,8.601421966e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449725e-01,-1.188556815e-04,8.303259144e-01
+3,1.033333333e+00,WAIT_W2,1792725670256924055,-2.640845759e-07,-9.612917664e-07,7.396667934e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.393622056e-08,-1.622615263e-09,-1.052069654e-09,7.019553687e-01,-2.323202679e-05,8.601438269e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449790e-01,-1.188561618e-04,8.303259142e-01
+4,1.350000000e+00,WAIT_W2,1792725670584592981,2.870611856e-07,-3.543697548e-05,2.918469189e-06,-1.404328998e-07,-2.174650933e-05,2.983272936e-06,-5.124323488e-08,-2.200622271e-05,2.976360749e-06,7.019559199e-01,-5.770771050e-05,8.601460057e-01,7.019554924e-01,-4.401724435e-05,8.601460705e-01,7.027449038e-01,-1.408607619e-04,8.303288916e-01
+5,1.533333333e+00,WAIT_W2,1792725670896145182,6.820833690e-07,-8.518784558e-05,7.185478044e-06,-7.224839865e-07,-6.684402018e-05,4.292746215e-06,-6.866394366e-07,-6.770907569e-05,4.317686125e-06,7.019563149e-01,-1.074585806e-04,8.601502727e-01,7.019549103e-01,-8.911475520e-05,8.601473800e-01,7.027442684e-01,-1.865636149e-04,8.303302329e-01
+6,1.816666667e+00,WAIT_W2,1792725671190940966,1.415520948e-06,-1.517605756e-04,9.710186106e-06,1.328621389e-06,-1.518199497e-04,9.441908037e-06,1.602329575e-06,-1.538233807e-04,9.427588510e-06,7.019570483e-01,-1.740313106e-04,8.601527974e-01,7.019569614e-01,-1.740906847e-04,8.601525291e-01,7.027465574e-01,-2.726779199e-04,8.303353428e-01
+7,2.116666667e+00,WAIT_W2,1792725671485352147,1.787991460e-06,-2.151034633e-04,1.428019477e-05,2.588860374e-06,-2.001114931e-04,1.714973691e-05,3.039997580e-06,-2.027696854e-04,1.713119446e-05,7.019574208e-01,-2.373741983e-04,8.601573674e-01,7.019582217e-01,-2.223822281e-04,8.601602370e-01,7.027479950e-01,-3.216242246e-04,8.303430464e-01
+8,2.500000000e+00,WAIT_W2,1792725671862205973,3.809084960e-06,-2.685849330e-04,1.979773770e-05,1.263477314e-06,-2.641577145e-04,1.654562281e-05,1.618615334e-06,-2.677178694e-04,1.654335750e-05,7.019594419e-01,-2.908556680e-04,8.601628850e-01,7.019568963e-01,-2.864284495e-04,8.601596329e-01,7.027465736e-01,-3.865724086e-04,8.303424586e-01
+9,2.850000000e+00,WAIT_W2,1792725672222129142,2.555151006e-06,-2.776344888e-04,1.815885000e-05,1.263477314e-06,-2.641577145e-04,1.654562281e-05,1.621403971e-06,-2.677228923e-04,1.654744458e-05,7.019581880e-01,-2.999052239e-04,8.601612461e-01,7.019568963e-01,-2.864284495e-04,8.601596329e-01,7.027465764e-01,-3.865774315e-04,8.303424627e-01
+10,3.250000000e+00,WAIT_W2,1792725672615471822,1.307442867e-06,-2.753868472e-04,1.424642379e-05,1.263477314e-06,-2.641577145e-04,1.654562281e-05,1.624742137e-06,-2.677242342e-04,1.654827854e-05,7.019569403e-01,-2.976575822e-04,8.601573337e-01,7.019568963e-01,-2.864284495e-04,8.601596329e-01,7.027465798e-01,-3.865787734e-04,8.303424635e-01
+11,3.666666667e+00,UP_FORCE_RAMP,1792725673024710383,5.678182072e-07,-2.743776103e-04,1.720016308e-05,1.263477314e-06,-2.641577145e-04,1.654562281e-05,1.627829705e-06,-2.677252083e-04,1.654771421e-05,7.019562006e-01,-2.966483453e-04,8.601602874e-01,7.019568963e-01,-2.864284495e-04,8.601596329e-01,7.027465829e-01,-3.865797475e-04,8.303424630e-01
+12,4.066666667e+00,UP_FORCE_RAMP,1792725673451080541,1.224265283e-06,-2.763045043e-04,1.860720382e-05,1.263477314e-06,-2.641577145e-04,1.654562281e-05,1.630447342e-06,-2.677259725e-04,1.654673882e-05,7.019568571e-01,-2.985752394e-04,8.601616944e-01,7.019568963e-01,-2.864284495e-04,8.601596329e-01,7.027465855e-01,-3.865805117e-04,8.303424620e-01
+13,4.383333333e+00,UP_FORCE_RAMP,1792725673795169278,2.311077046e-06,-2.745129331e-04,1.809938742e-05,1.263477314e-06,-2.641577145e-04,1.654562281e-05,1.632279537e-06,-2.677264616e-04,1.654588069e-05,7.019579439e-01,-2.967836681e-04,8.601611866e-01,7.019568963e-01,-2.864284495e-04,8.601596329e-01,7.027465873e-01,-3.865810008e-04,8.303424611e-01
+14,4.783333333e+00,UP_FORCE_RAMP,1792725674237136060,6.240365067e-07,-2.773279491e-04,2.119213332e-05,1.263477314e-06,-2.641577145e-04,1.654562281e-05,1.634344839e-06,-2.677270732e-04,1.654476483e-05,7.019562569e-01,-2.995986841e-04,8.601642794e-01,7.019568963e-01,-2.864284495e-04,8.601596329e-01,7.027465894e-01,-3.865816124e-04,8.303424600e-01
+15,5.133333333e+00,UP_FORCE_RAMP,1792725674581344132,1.489858244e-06,-2.773862980e-04,3.115201639e-05,2.296373118e-06,-2.765209017e-04,3.266498859e-05,2.902156004e-06,-2.802301087e-04,3.266067608e-05,7.019571227e-01,-2.996570330e-04,8.601742393e-01,7.019579292e-01,-2.987916367e-04,8.601757522e-01,7.027478572e-01,-3.990846478e-04,8.303585759e-01
+16,5.500000000e+00,UP_FORCE_RAMP,1792725674941476331,3.050688097e-06,-2.648905174e-04,4.967130241e-05,3.138860605e-06,-2.647803517e-04,4.961786569e-05,4.049891726e-06,-2.683547435e-04,4.958727356e-05,7.019586835e-01,-2.871612525e-04,8.601927585e-01,7.019587717e-01,-2.870510867e-04,8.601927051e-01,7.027490049e-01,-3.872092827e-04,8.303755025e-01
+17,5.866666667e+00,UP_FORCE_RAMP,1792725675302485494,4.201372439e-07,-2.704846589e-04,7.053881222e-05,2.878931791e-06,-2.668996950e-04,6.984542813e-05,4.044720269e-06,-2.704947093e-04,6.979841692e-05,7.019560530e-01,-2.927553940e-04,8.602136261e-01,7.019585117e-01,-2.891704301e-04,8.602129327e-01,7.027489997e-01,-3.893492485e-04,8.303957137e-01
+18,6.200000000e+00,UP_FORCE_RAMP,1792725675629402017,2.077865819e-06,-2.634037904e-04,1.003025006e-04,2.701759292e-06,-2.734584267e-04,8.882047685e-05,4.072223061e-06,-2.771261805e-04,8.879657450e-05,7.019577107e-01,-2.856745255e-04,8.602433897e-01,7.019583346e-01,-2.957291618e-04,8.602319077e-01,7.027490273e-01,-3.959807197e-04,8.304147118e-01
+19,6.533333333e+00,UP_FORCE_RAMP,1792725675957258469,-1.204391699e-06,-2.662635547e-04,1.261542172e-04,4.677872343e-06,-2.692572646e-04,1.119883099e-04,6.542104001e-06,-2.729150266e-04,1.119491150e-04,7.019544284e-01,-2.885342897e-04,8.602692415e-01,7.019603107e-01,-2.915279996e-04,8.602550755e-01,7.027514971e-01,-3.917695658e-04,8.304378644e-01
+20,6.883333333e+00,UP_FORCE_RAMP,1792725676321136166,2.661422679e-06,-2.674037680e-04,1.809685886e-04,2.851037753e-06,-2.673222388e-04,1.811354442e-04,5.339490270e-06,-2.709173955e-04,1.810914155e-04,7.019582942e-01,-2.896745030e-04,8.603240558e-01,7.019584839e-01,-2.895929739e-04,8.603242227e-01,7.027502945e-01,-3.897719347e-04,8.305070067e-01
+21,7.250000000e+00,UP_FORCE_RAMP,1792725676694628861,2.051836043e-06,-2.601629045e-04,2.288138310e-04,3.716967627e-06,-2.634564785e-04,2.218403747e-04,6.793021640e-06,-2.670207201e-04,2.217814251e-04,7.019576847e-01,-2.824336395e-04,8.603719011e-01,7.019593498e-01,-2.857272135e-04,8.603649276e-01,7.027517481e-01,-3.858752593e-04,8.305476967e-01
+22,7.566666667e+00,UP_FORCE_RAMP,1792725677005795532,-2.134897193e-06,-2.591943317e-04,2.742594979e-04,3.475661201e-07,-2.610815418e-04,2.635268661e-04,3.759173252e-06,-2.645723402e-04,2.634462135e-04,7.019534979e-01,-2.814650668e-04,8.604173467e-01,7.019559804e-01,-2.833522768e-04,8.604066141e-01,7.027487142e-01,-3.834268794e-04,8.305893615e-01
+23,7.916666667e+00,UP_FORCE_RAMP,1792725677349466626,-1.279803435e-05,-2.583627992e-04,3.110820489e-04,-9.726728749e-06,-2.585780278e-04,3.061187394e-04,-6.639691277e-06,-2.620407592e-04,3.060305547e-04,7.019428348e-01,-2.806335343e-04,8.604541693e-01,7.019459061e-01,-2.808487629e-04,8.604492060e-01,7.027383153e-01,-3.808952984e-04,8.306319458e-01
+24,8.216666667e+00,UP_FORCE_RAMP,1792725677660932282,-7.398037343e-06,-2.589554979e-04,3.598032871e-04,-6.517889561e-06,-2.541573916e-04,3.460635930e-04,-2.643110288e-06,-2.575620229e-04,3.460006607e-04,7.019482348e-01,-2.812262329e-04,8.605028905e-01,7.019491149e-01,-2.764281266e-04,8.604891508e-01,7.027423119e-01,-3.764165621e-04,8.306719159e-01
+25,8.600000000e+00,UP_FORCE_RAMP,1792725678038882233,-9.280132334e-06,-2.516621677e-04,4.028847549e-04,-6.373427473e-06,-2.569521959e-04,3.873598943e-04,-2.012593829e-06,-2.603846861e-04,3.872819031e-04,7.019463527e-01,-2.739329027e-04,8.605459720e-01,7.019492594e-01,-2.792229309e-04,8.605304471e-01,7.027429424e-01,-3.792392253e-04,8.307131971e-01
+26,8.950000000e+00,UP_FORCE_RAMP,1792725678397793619,-9.121656610e-06,-2.576808730e-04,4.488517301e-04,-6.408206183e-06,-2.577703168e-04,4.360519281e-04,-1.420397191e-06,-2.612449478e-04,4.359753355e-04,7.019465112e-01,-2.799516080e-04,8.605919390e-01,7.019492246e-01,-2.800410518e-04,8.605791392e-01,7.027435346e-01,-3.800994870e-04,8.307618906e-01
+27,9.300000000e+00,UP_FORCE_RAMP,1792725678742263151,-1.124143772e-05,-2.540182440e-04,4.817575283e-04,-9.288356616e-06,-2.575369624e-04,4.783397013e-04,-3.996596896e-06,-2.609954358e-04,4.782747785e-04,7.019443914e-01,-2.762889790e-04,8.606248448e-01,7.019463445e-01,-2.798076974e-04,8.606214269e-01,7.027409584e-01,-3.798499750e-04,8.308041900e-01
+28,9.666666667e+00,UP_FORCE_RAMP,1792725679103500491,-1.221696323e-05,-2.550433532e-04,5.197582123e-04,-9.764316627e-06,-2.516697335e-04,5.236883453e-04,-3.947368571e-06,-2.550418219e-04,5.235978085e-04,7.019434159e-01,-2.773140882e-04,8.606628455e-01,7.019458685e-01,-2.739404685e-04,8.606667756e-01,7.027410077e-01,-3.738963611e-04,8.308495131e-01
+29,1.010000000e+01,UP_FORCE_RAMP,1792725679528581728,-1.172599211e-05,-2.558783110e-04,5.651477272e-04,-9.935725642e-06,-2.552326029e-04,5.467810594e-04,-3.847700053e-06,-2.586558885e-04,5.467481582e-04,7.019439068e-01,-2.781490460e-04,8.607082350e-01,7.019456971e-01,-2.775033379e-04,8.606898683e-01,7.027411073e-01,-3.775104277e-04,8.308726634e-01
+30,1.046666667e+01,UP_FORCE_RAMP,1792725679889397893,-1.292936433e-05,-2.487772564e-04,5.963130827e-04,-1.033961998e-05,-2.499779019e-04,5.880722109e-04,-3.732376659e-06,-2.532789498e-04,5.880458843e-04,7.019427035e-01,-2.710479915e-04,8.607394003e-01,7.019452932e-01,-2.722486369e-04,8.607311595e-01,7.027412227e-01,-3.721334890e-04,8.309139611e-01
+31,1.076666667e+01,UP_FORCE_RAMP,1792725680184112377,-1.596761402e-05,-2.514279765e-04,6.194449768e-04,-1.465573449e-05,-2.477512558e-04,6.104780651e-04,-8.104784889e-06,-2.510815052e-04,6.104925121e-04,7.019396652e-01,-2.736987115e-04,8.607625322e-01,7.019409771e-01,-2.700219908e-04,8.607535653e-01,7.027368502e-01,-3.699360444e-04,8.309364078e-01
+32,1.108333333e+01,UP_FORCE_RAMP,1792725680511046780,-1.646773198e-05,-2.546752216e-04,6.492188916e-04,-1.600932803e-05,-2.541072068e-04,6.488379138e-04,-9.123946942e-06,-2.574802767e-04,6.487959398e-04,7.019391651e-01,-2.769459567e-04,8.607923061e-01,7.019396235e-01,-2.763779418e-04,8.607919252e-01,7.027358311e-01,-3.763348159e-04,8.309747112e-01
+33,1.156666667e+01,UP_FORCE_RAMP,1792725680985769841,-1.567184981e-05,-2.507521030e-04,6.877504262e-04,-1.754274715e-05,-2.548610961e-04,6.692358960e-04,-1.052712836e-05,-2.582645042e-04,6.693131828e-04,7.019399610e-01,-2.730228380e-04,8.608308377e-01,7.019380901e-01,-2.771318312e-04,8.608123231e-01,7.027344279e-01,-3.771190434e-04,8.309952284e-01
+34,1.203333333e+01,UP_FORCE_RAMP,1792725681464143682,-1.544210903e-05,-2.530005617e-04,7.217245436e-04,-1.416766395e-05,-2.472841491e-04,7.122252649e-04,-6.339562392e-06,-2.505858367e-04,7.122466786e-04,7.019401907e-01,-2.752712967e-04,8.608648118e-01,7.019414652e-01,-2.695548841e-04,8.608553125e-01,7.027386155e-01,-3.694403758e-04,8.310381619e-01
+35,1.246666667e+01,UP_FORCE_RAMP,1792725681886985859,-1.441414918e-05,-2.562573027e-04,7.525851941e-04,-1.413257697e-05,-2.560898983e-04,7.531034727e-04,-5.761874266e-06,-2.595377111e-04,7.531240577e-04,7.019412187e-01,-2.785280378e-04,8.608956724e-01,7.019415002e-01,-2.783606333e-04,8.608961907e-01,7.027391932e-01,-3.783922503e-04,8.310790393e-01
+36,1.293333333e+01,UP_FORCE_RAMP,1792725682345612126,-1.732620493e-05,-2.515472120e-04,7.798991938e-04,-1.678791904e-05,-2.536339313e-04,7.724176052e-04,-8.404978303e-06,-2.570267634e-04,7.724972921e-04,7.019383066e-01,-2.738179471e-04,8.609229864e-01,7.019388449e-01,-2.759046664e-04,8.609155048e-01,7.027365501e-01,-3.758813026e-04,8.310984125e-01
+37,1.340000000e+01,UP_FORCE_RAMP,1792725682821197724,-1.675866183e-05,-2.483134897e-04,8.104514408e-04,-1.832142512e-05,-2.516827755e-04,7.935903920e-04,-9.769143889e-06,-2.550758084e-04,7.936861174e-04,7.019388742e-01,-2.705842248e-04,8.609535387e-01,7.019373114e-01,-2.739535105e-04,8.609366776e-01,7.027351859e-01,-3.739303476e-04,8.311196014e-01
+38,1.375000000e+01,UP_FORCE_RAMP,1792725683164497516,-1.814143105e-05,-2.499273494e-04,8.283134526e-04,-1.740544278e-05,-2.486766887e-04,8.153784829e-04,-8.504569682e-06,-2.519991010e-04,8.154418794e-04,7.019374914e-01,-2.721980845e-04,8.609714007e-01,7.019382274e-01,-2.709474238e-04,8.609584657e-01,7.027364505e-01,-3.708536402e-04,8.311413571e-01
+39,1.425000000e+01,UP_FORCE_RAMP,1792725683689754100,-1.937647925e-05,-2.436040740e-04,8.565056523e-04,-1.766144379e-05,-2.472565419e-04,8.546425069e-04,-8.256810583e-06,-2.505915477e-04,8.547483261e-04,7.019362563e-01,-2.658748091e-04,8.609995929e-01,7.019379714e-01,-2.695272769e-04,8.609977297e-01,7.027366982e-01,-3.694460869e-04,8.311806636e-01
+40,1.463333333e+01,UP_FORCE_RAMP,1792725684065402032,-2.232596325e-05,-2.571278746e-04,8.724295046e-04,-1.974993714e-05,-2.475839133e-04,8.745584077e-04,-1.024915340e-05,-2.509397186e-04,8.746690532e-04,7.019333069e-01,-2.793986096e-04,8.610155167e-01,7.019358829e-01,-2.698546484e-04,8.610176456e-01,7.027347059e-01,-3.697942578e-04,8.312005843e-01
+41,1.503333333e+01,UP_FORCE_RAMP,1792725684475330036,-2.149803743e-05,-2.477959390e-04,8.936004852e-04,-2.097326518e-05,-2.514656626e-04,8.942415746e-04,-1.140117104e-05,-2.548652914e-04,8.943586938e-04,7.019341348e-01,-2.700666740e-04,8.610366877e-01,7.019346596e-01,-2.737363976e-04,8.610373288e-01,7.027335539e-01,-3.737198306e-04,8.312202739e-01
+42,1.546666667e+01,UP_FORCE_RAMP,1792725684901395998,-2.404277011e-05,-2.506548330e-04,9.095081370e-04,-1.943189277e-05,-2.500310623e-04,9.145420238e-04,-9.454896291e-06,-2.534207911e-04,9.146931860e-04,7.019315900e-01,-2.729255680e-04,8.610525954e-01,7.019362009e-01,-2.723017973e-04,8.610576293e-01,7.027355001e-01,-3.722753303e-04,8.312406084e-01
+43,1.595000000e+01,UP_FORCE_RAMP,1792725685376005437,-2.461965007e-05,-2.508954300e-04,9.321513576e-04,-2.157169274e-05,-2.513691341e-04,9.355326576e-04,-1.148369696e-05,-2.547705657e-04,9.356577408e-04,7.019310132e-01,-2.731661650e-04,8.610752386e-01,7.019340611e-01,-2.736398691e-04,8.610786199e-01,7.027334713e-01,-3.736251048e-04,8.312615730e-01
+44,1.641666667e+01,UP_FORCE_RAMP,1792725685834984705,-2.559939952e-05,-2.496527362e-04,9.504685687e-04,-2.157169274e-05,-2.513691341e-04,9.355326576e-04,-1.148703042e-05,-2.547704129e-04,9.356954131e-04,7.019300334e-01,-2.719234712e-04,8.610935558e-01,7.019340611e-01,-2.736398691e-04,8.610786199e-01,7.027334680e-01,-3.736249521e-04,8.312616107e-01
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+46,1.711666667e+01,UP_FORCE_RAMP,1792725686522965793,-2.595072206e-05,-2.458957854e-04,9.778136143e-04,-2.724505285e-05,-2.545870732e-04,9.772024877e-04,-1.712545271e-05,-2.580355850e-04,9.773759997e-04,7.019296821e-01,-2.681665204e-04,8.611209009e-01,7.019283878e-01,-2.768578082e-04,8.611202897e-01,7.027278296e-01,-3.768901242e-04,8.313032912e-01
+47,1.751666667e+01,UP_FORCE_RAMP,1792725686915909953,-2.908096461e-05,-2.544702859e-04,9.916390109e-04,-2.724505285e-05,-2.545870732e-04,9.772024877e-04,-1.713163618e-05,-2.580345313e-04,9.774022140e-04,7.019265519e-01,-2.767410210e-04,8.611347263e-01,7.019283878e-01,-2.768578082e-04,8.611202897e-01,7.027278234e-01,-3.768890705e-04,8.313033175e-01
+48,1.788333333e+01,UP_FORCE_RAMP,1792725687276005291,-3.023463484e-05,-2.456967775e-04,1.003914456e-03,-2.686313535e-05,-2.559446935e-04,9.990472555e-04,-1.643170684e-05,-2.593985374e-04,9.992589375e-04,7.019253982e-01,-2.679675125e-04,8.611470017e-01,7.019287697e-01,-2.782154285e-04,8.611421345e-01,7.027285233e-01,-3.782530766e-04,8.313251742e-01
+49,1.828333333e+01,UP_FORCE_RAMP,1792725687669839253,-3.479775149e-05,-2.480790214e-04,1.013769026e-03,-2.686313535e-05,-2.559446935e-04,9.990472555e-04,-1.643456558e-05,-2.593975275e-04,9.992758374e-04,7.019208351e-01,-2.703497564e-04,8.611568563e-01,7.019287697e-01,-2.782154285e-04,8.611421345e-01,7.027285205e-01,-3.782520667e-04,8.313251911e-01
+50,1.861666667e+01,UP_FORCE_RAMP,1792725687997120565,-3.623779014e-05,-2.480099414e-04,1.023590001e-03,-3.165358033e-05,-2.475045118e-04,1.018822368e-03,-2.132614968e-05,-2.508296156e-04,1.019042245e-03,7.019193950e-01,-2.702806764e-04,8.611666772e-01,7.019239792e-01,-2.697752468e-04,8.611619096e-01,7.027236289e-01,-3.696841548e-04,8.313449575e-01
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Part2/Fixed/digit/ball_0010_12.5/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+1,2.8333e-01,WAIT_W2,9.6734e-05,1.2707e-02,2.1869e-02,2.4540e+00,-3.8293e-02,3.7683e-02,2.6632e-05,1.5945e-03,-5.6205e-05,-8.9645e-05,6.2175e-06,1.1282e-04,-3.1058e-06,1.5981e-03,1.1304e-04
+2,6.5000e-01,WAIT_W2,1.9930e-04,1.4163e-02,2.1809e-02,2.4539e+00,-3.8287e-02,3.7786e-02,2.3083e-05,3.0505e-03,-1.1530e-04,-1.5354e-04,1.2312e-05,2.1579e-04,-6.6554e-06,3.0566e-03,2.1625e-04
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+6,1.8167e+00,WAIT_W2,5.9823e-04,1.8449e-02,9.9860e-02,2.4534e+00,-4.3748e-02,3.8089e-02,3.4070e-05,7.3361e-03,7.7936e-02,-7.0286e-04,-5.4485e-03,5.1799e-04,4.3322e-06,7.8283e-02,5.4731e-03
+7,2.1167e+00,WAIT_W2,6.9565e-04,2.0105e-02,1.4071e-01,2.4532e+00,-4.6620e-02,3.8205e-02,4.0311e-05,8.9926e-03,1.1879e-01,-8.9097e-04,-8.3208e-03,6.3468e-04,1.0572e-05,1.1913e-01,8.3449e-03
+8,2.5000e+00,WAIT_W2,7.9696e-04,2.2671e-02,1.7826e-01,2.4561e+00,-4.9263e-02,3.8383e-02,4.1418e-05,1.1558e-02,1.5634e-01,1.9658e-03,-1.0964e-02,8.1247e-04,1.1680e-05,1.5678e-01,1.0994e-02
+9,2.8500e+00,WAIT_W2,8.9291e-04,2.3149e-02,1.7728e-01,2.4568e+00,-4.9211e-02,3.8416e-02,3.1950e-05,1.2036e-02,1.5536e-01,2.7516e-03,-1.0911e-02,8.4588e-04,2.2118e-06,1.5585e-01,1.0944e-02
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+11,3.6667e+00,UP_FORCE_RAMP,1.0950e-03,2.4252e-02,1.7690e-01,2.4569e+00,-4.9198e-02,3.8495e-02,1.5830e-05,1.3139e-02,1.5498e-01,2.8219e-03,-1.0899e-02,9.2397e-04,-1.3908e-05,1.5556e-01,1.0938e-02
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+13,4.3833e+00,UP_FORCE_RAMP,1.2917e-03,2.5018e-02,1.7670e-01,2.4566e+00,-4.9190e-02,3.8549e-02,4.8268e-06,1.3905e-02,1.5478e-01,2.4970e-03,-1.0891e-02,9.7832e-04,-2.4911e-05,1.5542e-01,1.0935e-02
+14,4.7833e+00,UP_FORCE_RAMP,1.3919e-03,2.5369e-02,1.7661e-01,2.4564e+00,-4.9186e-02,3.8574e-02,-2.5285e-07,1.4256e-02,1.5468e-01,2.2986e-03,-1.0887e-02,1.0032e-03,-2.9991e-05,1.5536e-01,1.0933e-02
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+17,5.8667e+00,UP_FORCE_RAMP,1.6897e-03,2.6012e-02,1.7699e-01,2.4462e+00,-4.9275e-02,3.8632e-02,-7.7048e-06,1.4899e-02,1.5507e-01,-7.9074e-03,-1.0976e-02,1.0613e-03,-3.7443e-05,1.5598e-01,1.1027e-02
+18,6.2000e+00,UP_FORCE_RAMP,1.7912e-03,2.6479e-02,1.8041e-01,2.4461e+00,-4.9544e-02,3.8666e-02,-7.9738e-06,1.5366e-02,1.5849e-01,-8.0273e-03,-1.1245e-02,1.0956e-03,-3.7712e-05,1.5943e-01,1.1298e-02
+19,6.5333e+00,UP_FORCE_RAMP,1.8915e-03,2.6175e-02,1.7752e-01,2.4452e+00,-4.9375e-02,3.8647e-02,-7.3840e-06,1.5062e-02,1.5559e-01,-8.8377e-03,-1.1076e-02,1.0767e-03,-3.7122e-05,1.5657e-01,1.1128e-02
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Part2/Fixed/digit/ball_0010_12.5/press_depth_03/down/camera_frames_60hz.tar

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Part2/Fixed/digit/ball_0010_12.5/press_depth_03/down/franka_data.csv

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+20968,1792725764499576590,9167363000000,1792725764494073035,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759079638024805,-0.0041991854994816126,0.10671900638202957,0.9999999416841793,-5.3838432681049215e-05,-0.0002953355764825298,0.0001339881451033739,0.6761,-0.004,0.10693234584518896,1.0,0.0,0.0,0.0,-0.01672486413771268,-0.026822454260853723,0.018068407487324196,-0.0013492777248724774,0.0014885408706668823,3.275487465866848e-05,0.7780939606053868,0.7667282200962771,0.059912996115257834,0.06088557916619635,-0.0629916661157289,0.0018095431632460057,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.6703459817581512,0.5589066477492406,0.9493750813367945,0.40615707529571715,-0.5343965943481954,0.3404151721074094,1.8084233562092904,0.018068407487324196,0.8590482748724959,0.8590482748724959,0.9385490940514654,0,0,-4.896131008544214e-05,-5.0003150257832376e-05
+21054,1792725765215713079,9168079000000,1792725765214072347,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759080751431384,-0.004204450346498375,0.10669051428779312,0.9999999418510523,-5.018614444927436e-05,-0.0002917728011288165,0.00014174180664414327,0.6761,-0.004,0.10689507596301137,1.0,0.0,0.0,0.0,-0.025148900635962756,-0.03261507071886749,0.027716443119018525,-0.002369264861841483,0.001504098433744036,9.240675064052387e-06,0.7696699241071367,0.7609356036382633,0.06956103174695216,0.059865592029227345,-0.06297610855265175,0.0017860289636513896,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.7611203794745616,0.6528423064514369,0.8749486423789874,0.4313221732701016,-0.4695550655843413,0.39461577716346535,1.8084233562092904,0.027716443119018525,0.933474713830303,0.933474713830303,0.9958290940514432,0,0,-5.425924731366622e-05,4.419942562377872e-05
+21133,1792725765874738222,9168738000000,1792725765874082090,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759108635326937,-0.0042028934908462275,0.10665744928349608,0.9999999417176388,-4.204274305811203e-05,-0.000289843283882615,0.00014910017387030497,0.6761,-0.004,0.10685839624308704,1.0,0.0,0.0,0.0,-0.04292788050083973,-0.03212868946218683,0.0475761482310562,-0.002399292398200435,0.0024660495352145026,9.196596244065132e-06,0.7518909442422598,0.761421984894944,0.08942073685898984,0.05983556449286839,-0.06201415745118128,0.0017859848848314024,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.7667268094379931,0.5267127063852705,0.9212518047483125,0.5119680666979051,-0.5069077517282783,0.3065638973090358,1.8084233562092904,0.0475761482310562,0.8871715514609779,0.8871715514609779,1.04854909405149,0,0,-5.876206554264319e-05,-9.999999025923074e-05
+21180,1792725766265752185,9169129000000,1792725766262073211,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759227896160295,-0.0041919831448059405,0.10664245477444977,0.9999999452345555,-3.044334006253206e-05,-0.00027796286935196344,0.00015094236219389789,0.6761,-0.004,0.10683500798278361,1.0,0.0,0.0,0.0,-0.039539717071568004,-0.03663230826951125,0.047202607600826105,-0.003382465217396234,0.0034596601918725073,-0.0004713186582988387,0.7552791076715315,0.7569183660876195,0.08904719622875974,0.058852391673672594,-0.061020546794523275,0.0013054696302884986,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.87822991822243,0.5065502196285275,0.7976926018260654,0.528031411002444,-0.39998879475378735,0.290581777828688,1.8084233562092904,0.047202607600826105,1.010730754383225,1.010730754383225,1.0798290940515214,0,0,-6.183388293235092e-05,6.621425452236094e-05
+21239,1792725766757731581,9169621000000,1792725766754072455,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759299240064846,-0.004206562690122724,0.10662260995647752,0.9999999463710394,-3.583020130463041e-05,-0.0002689862302840822,0.00015831420450277217,0.6761,-0.004,0.10680263272793981,1.0,0.0,0.0,0.0,-0.03671930228204401,-0.03176355429274258,0.057730779695500375,-0.002398575506617033,0.0025123423106311674,2.6456483801747584e-06,0.7580995224610555,0.7617871200643882,0.09957536832343401,0.059836281384451795,-0.061967864675764615,0.001779433936967512,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.8125607256161139,0.5451078496209553,0.7588975494613391,0.532959064424743,-0.4003612971529045,0.3127388578719377,1.8084233562092904,0.057730779695500375,1.0495258067479512,1.0495258067479512,1.1191890940515608,0,0,-7.038196142975105e-05,8.917338675663018e-05
+21310,1792725767349708888,9170213000000,1792725767342072730,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759296727591005,-0.0042058962786896675,0.10657930414928347,0.9999999454892669,-3.415071255008511e-05,-0.00026956743845174243,0.00016319146065496673,0.6761,-0.004,0.10675893106513867,1.0,0.0,0.0,0.0,-0.043972990904460274,-0.031246448217508438,0.07168252059791652,-0.0024173561615408734,0.0031041981805799146,-3.396172416265421e-07,0.7508458338386392,0.7623042261396223,0.11352710922585016,0.059817500729527955,-0.06137600880581587,0.0017764486713457107,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.8507647938361462,0.5514222575526754,0.8128714073517183,0.5369922654027799,-0.42802305197470925,0.31085438646052826,1.8084233562092904,0.07168252059791652,0.9955519488575721,0.9955519488575721,1.1665490940516081,0,0,-7.698361157856682e-05,-9.978224776852613e-05
+21380,1792725767932746753,9170796000000,1792725767930072708,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.675933520237914,-0.00420732464484404,0.10653933180477008,0.9999999471747373,-3.104202311407873e-05,-0.0002624297983110571,0.00016510717998863582,0.6761,-0.004,0.10671144663768069,1.0,0.0,0.0,0.0,-0.0352391574778117,-0.030815026202418605,0.08906073937491876,-0.0024119944993929512,0.0026409574423011603,-2.0967266323748202e-05,0.7595796672652878,0.7627356481547122,0.1309053280028524,0.05982286239167588,-0.06183924954409462,0.001755821022263589,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.8846274699275659,0.56472816061087,0.7042595524602525,0.5455896915528502,-0.35249391150377996,0.3214483087494455,1.8084233562092904,0.08906073937491876,1.1041638037490378,1.1041638037490378,1.2131890940516548,0,0,-8.594249860602234e-05,-1.2906400364356036e-05
+21443,1792725768457818414,9171321000000,1792725768450073025,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759330927909664,-0.004210617917129049,0.10649309015987003,0.9999999467535052,-3.520895212271185e-05,-0.0002620349839907625,0.0001674331146721564,0.6761,-0.004,0.10666388796780711,1.0,0.0,0.0,0.0,-0.044280419985295305,-0.02980330636543449,0.1156355860507727,-0.0024398731464953943,0.003463231582812143,-3.0252157216748444e-05,0.7505384047578042,0.7637473679916963,0.15748017467870634,0.059794983744573434,-0.06101697540358364,0.0017465361313705888,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.9451385569117716,0.539375436678618,0.6201411190781779,0.5625163825209316,-0.2832504094326381,0.3041845833859163,1.8084233562092904,0.1156355860507727,1.1882822371311126,1.1882822371311126,1.2551890940516968,0,0,-9.376542240283203e-05,8.763213352048211e-05
+21518,1792725769082783725,9171946000000,1792725769082073108,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759360508570386,-0.004210861719906788,0.10643625803906592,0.9999999473899919,-3.3084627679746805e-05,-0.00025790320015745596,0.00017045299874322902,0.6761,-0.004,0.1066023240734021,1.0,0.0,0.0,0.0,-0.04462316624795348,-0.029585430473224372,0.1318570411902022,-0.0025111682432439747,0.0031105193814995394,-4.936744626851848e-05,0.750195658495146,0.7639652438839064,0.17370162981813583,0.05972368864782485,-0.06136968760489624,0.0017274208423188188,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.8800937367477408,0.5019453058254143,0.7369389649952294,0.5766028351547458,-0.38152733125794536,0.28159866697214264,1.8084233562092904,0.1318570411902022,1.071484391214061,1.071484391214061,1.3051890940517468,0,0,-0.00010336965587251357,-9.886402393822209e-05
+21571,1792725769524882638,9172388000000,1792725769522072601,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759415471996381,-0.004218318492515877,0.1063982895390561,0.9999999491260222,-4.078002027585042e-05,-0.00024955584173166884,0.0001710254054804341,0.6761,-0.004,0.10655592259306448,1.0,0.0,0.0,0.0,-0.044415759532726584,-0.028293038436042584,0.14798858791813138,-0.0023262703388352984,0.00328707076381389,-5.6286639219412654e-05,0.7504030652103729,0.7652576359210882,0.18983317654606502,0.05990858655223353,-0.06119313622258189,0.0017205016493679246,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.9250241684693411,0.5020039950639267,0.6505950569560172,0.5893692703905414,-0.3169299053604043,0.28009022571437125,1.8084233562092904,0.14798858791813138,1.1578282992532731,1.1578282992532731,1.3405490940517821,0,0,-0.00010913027071876436,-9.999241298708767e-05
+21628,1792725769999889075,9172863000000,1792725769998073086,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759469285061253,-0.004213588604998341,0.10635386010170589,0.9999999512875813,-3.8708035199120666e-05,-0.00024284198375823526,0.0001685145637201607,0.6761,-0.004,0.10650233261468547,1.0,0.0,0.0,0.0,-0.06188745702585585,-0.04017424437350048,0.1658725580503109,-0.003406561130310265,0.004447737451910828,-7.111343486261839e-05,0.7329313677172437,0.7533764299836303,0.20771714667824454,0.05882829576075856,-0.060032469534484954,0.0017056748537247189,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.9486440912299098,0.4781235482261819,0.6248811112693945,0.5944600530469818,-0.29534398487157304,0.26717833196899077,1.8084233562092904,0.1658725580503109,1.183542244939896,1.183542244939896,1.3785490940518201,0,0,-0.00011631853048396502,-9.999603508970551e-05
+21695,1792725770557943292,9173421000000,1792725770558072365,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.675945836766817,-0.004219790995634307,0.10629033753755818,0.9999999507496978,-4.1439627132036135e-05,-0.00024327420036636678,0.00017042267205382697,0.6761,-0.004,0.10643428728531787,1.0,0.0,0.0,0.0,-0.05348210406616516,-0.044425965526630695,0.18802064806353377,-0.0024565659694023925,0.003499102231084239,-8.910162404400621e-05,0.7413367206769343,0.7491247088305001,0.2298652366914674,0.059778290921666435,-0.060981104755311544,0.001687686664543331,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.9487075703358706,0.5037149357114822,0.5207153921983123,0.5944892562345249,-0.22973106393874262,0.2870627150943302,1.8084233562092904,0.18802064806353377,1.287707964010978,1.287707964010978,1.4231890940518648,0,0,-0.00012698274909764417,8.320610453272365e-05
+21756,1792725771065865935,9173929000000,1792725771066072788,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.675946508696604,-0.004222644596445537,0.10622660761401996,0.9999999507690528,-4.324852331699051e-05,-0.00024205895954508268,0.00017158607696240706,0.6761,-0.004,0.10636876282341418,1.0,0.0,0.0,0.0,-0.044573626032822666,-0.03471139313501914,0.2178768454978234,-0.0024610136783332764,0.0034915696670338656,-0.00011212002512930841,0.7502451987102768,0.7588392812221116,0.25972143412575704,0.05977384321273555,-0.06098863731936192,0.0016646682634580288,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.9549555136984982,0.5805809911568769,0.5498988791258791,0.5673855976234743,-0.24987159804484205,0.33469816166053995,1.8084233562092904,0.2178768454978234,1.2585244770834114,1.2585244770834114,1.4638290940519054,0,0,-0.00013234489700949948,-7.484244754352715e-05
+21823,1792725771625006252,9174488000000,1792725771618072841,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759481882899742,-0.004225267326465692,0.1061532877306911,0.9999999517880815,-4.160512841134647e-05,-0.00023699695814279224,0.00017311312555115554,0.6761,-0.004,0.10629312786994483,1.0,0.0,0.0,0.0,-0.04462888780183505,-0.041630923781796,0.2382195702869501,-0.002465933451221397,0.0034878015610411775,-0.00012857062578468421,0.7501899369412645,0.7519197505753348,0.28006415891488373,0.05976892343984743,-0.060992405425354605,0.001648217662802653,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.9528382491827408,0.5854085278542037,0.439424820838339,0.5643912441009302,-0.18046456435397418,0.33998251155821774,1.8084233562092904,0.2382195702869501,1.3689985353709515,1.3689985353709515,1.5085490940519501,0,0,-0.00013772311026752503,9.918372653595071e-05
+21888,1792725772166012877,9175029000000,1792725772166072636,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759515679162875,-0.00422421022610495,0.10608726535677937,0.9999999538688596,-3.8909495749820044e-05,-0.00022933198763497447,0.00017204079036613806,0.6761,-0.004,0.1062172101470874,1.0,0.0,0.0,0.0,-0.04449518496948979,-0.034111333869145666,0.26829611602595993,-0.002482088047520134,0.003480982510448545,-0.00014664278908578174,0.7503236397736097,0.7594393404879851,0.31014070465389354,0.059752768843548694,-0.06099922447594724,0.0016301454995015555,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.9735886810113046,0.5471088600331572,0.4347497295258897,0.5778704897319813,-0.17859889303402612,0.31551323443246193,1.8084233562092904,0.26829611602595993,1.3736736266834007,1.3736736266834007,1.5518290940519934,0,0,-0.0001419415723392418,-5.886884400327526e-06
+21946,1792725772649992894,9175513000000,1792725772646073157,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759502493582603,-0.004227975151113518,0.10601713100537244,0.9999999532517386,-4.709506426619895e-05,-0.00023020042347438702,0.00017242159102648973,0.6761,-0.004,0.10614826585026159,1.0,0.0,0.0,0.0,-0.04462196601144486,-0.040600805282909214,0.28821742061832933,-0.002485949162015645,0.003884619553292293,-0.00016729874893863287,0.7501968587316546,0.7529498690742216,0.33006200924626294,0.05974890772905318,-0.06059558743310349,0.0016094895396487044,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0292614442461947,0.49679922089512324,0.3851083087023086,0.5920639033880308,-0.1293061093602253,0.2812647019546649,1.8084233562092904,0.28821742061832933,1.4233150475069818,1.4233150475069818,1.5905490940520322,0,0,-0.00014352571685719161,5.782533760013138e-05
+22009,1792725773175066820,9176038000000,1792725773174073408,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759570175790476,-0.004230416525348085,0.10595101253743633,0.9999999552473574,-5.176230873201493e-05,-0.00022015280610858477,0.00017263126319140633,0.6761,-0.004,0.10607146949737968,1.0,0.0,0.0,0.0,-0.05419421629660215,-0.03984503923608784,0.3183744430146038,-0.002550500085109063,0.004485375601624979,-0.00017982232568897606,0.7406246084464974,0.7537056351210429,0.3602190316425375,0.059684356805959765,-0.059994831384770804,0.0015969659628983612,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.01203594441293,0.5803620044433903,0.40854707950326874,0.566165721798844,-0.15306629309544373,0.33423907788617874,1.8084233562092904,0.3183744430146038,1.3998762767060215,1.3998762767060215,1.6325490940520742,0,0,-0.00014915649097366058,-9.986219770408695e-05
+22074,1792725773716075681,9176579000000,1792725773714072982,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759595488500844,-0.004232187318674712,0.10587284606912786,0.9999999566497445,-5.691064759331468e-05,-0.0002140949274993656,0.00017049314929897392,0.6761,-0.004,0.10598991356036755,1.0,0.0,0.0,0.0,-0.0542467796917141,-0.038571398176221794,0.34821903663946296,-0.002868590795173112,0.004483753142158188,-0.00020526928126616325,0.7405720450513854,0.754979276180909,0.39006362526739663,0.059366266095895716,-0.059996453844237595,0.001571519007321174,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.017618410072882,0.5153649297820025,0.33535539790898855,0.5888831456095545,-0.10439177479616321,0.29887906163665695,1.8084233562092904,0.34821903663946296,1.473067958300302,1.473067958300302,1.6758290940521174,0,0,-0.0001524358092969606,-9.871817479284678e-05
+22145,1792725774308083847,9177171000000,1792725774306072742,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.675963071219905,-0.004236490968471656,0.10579139183695438,0.9999999572109669,-6.058542635733351e-05,-0.00020790726520025863,0.000173565273454058,0.6761,-0.004,0.10589808661433965,1.0,0.0,0.0,0.0,-0.05440601804222045,-0.03512645572214124,0.36885267710231784,-0.0025189354725733692,0.004471823526237623,-0.0002226683267903709,0.7404128067008791,0.7584242186349895,0.41069726573025145,0.05971592141849546,-0.06000838346015816,0.0015541199617969664,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.02788975596812,0.5579002015705437,0.22868547139612455,0.5795157127679118,-0.03551482664936722,0.3272745468214481,1.8084233562092904,0.36885267710231784,1.5797378848131658,1.5797378848131658,1.7231890940521648,0,0,-0.00015433220754560028,9.999999025923074e-05
+22216,1792725774900036248,9177763000000,1792725774898072655,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759649662741057,-0.004240061126264212,0.10570252579749223,0.9999999571972995,-6.450375998547561e-05,-0.00020436715723542886,0.0001764131333178369,0.6761,-0.004,0.10580605754677687,1.0,0.0,0.0,0.0,-0.05408357663812391,-0.04134028256875488,0.4082189762975027,-0.003545102975078887,0.0044831974068003586,-0.0002628498565300612,0.7407352481049756,0.7522103917883759,0.4500635649254363,0.05868975391598994,-0.059997009579595424,0.001513938432057276,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.001067097141103,0.5905218933883665,0.24995085659918923,0.5651371398185314,-0.05803683572198923,0.34490146069211614,1.8084233562092904,0.4082189762975027,1.5584724996101011,1.5584724996101011,1.7705490940522122,0,0,-0.0001561310867495821,-9.874693704248755e-05
+22284,1792725775466132206,9178329000000,1792725775466072916,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759642028413866,-0.004240702051245772,0.10561913900110599,0.9999999576312715,-6.494545506932259e-05,-0.0002027665211495572,0.00017563640157927709,0.6761,-0.004,0.10571785014037773,1.0,0.0,0.0,0.0,-0.044802201710451905,-0.040786607557873555,0.4331901832980758,-0.0035508853482393507,0.004476652681613055,-0.0002814667648311322,0.7500166230326476,0.7527640667992572,0.47503477192600946,0.05868397154282948,-0.06000355430478273,0.001495321523756205,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0823953244492817,0.5784501893027433,0.2236812406716376,0.5706933633588323,-0.018614105103827397,0.3394362053127424,1.8084233562092904,0.4331901832980758,1.5847421155376529,1.5847421155376529,1.8158290940522575,0,0,-0.0001570573478313061,-9.999999025923074e-05
+22355,1792725776058163789,9178921000000,1792725776058072316,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.67596546115174,-0.0042425616611369826,0.10552160147390433,0.9999999572495694,-6.254753865381583e-05,-0.00020230400261544388,0.0001791776205519404,0.6761,-0.004,0.1056241149459537,1.0,0.0,0.0,0.0,-0.05405216931042067,-0.039661337145261655,0.46854122297066536,-0.003556339288859782,0.004470037286038717,-0.0003115763634181962,0.7407666554326788,0.7538893372118691,0.510385811598599,0.058678517602209046,-0.060010169700357066,0.001465211925169141,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0710518404472311,0.6214727021438773,0.16926292897218437,0.5542118369630128,0.010972474004376356,0.3686722713085264,1.8084233562092904,0.46854122297066536,1.639160427237106,1.639160427237106,1.8631890940523048,0,0,-0.0001620133535898668,-5.5735203978396444e-05
+22422,1792725776616108944,9179479000000,1792725776610073186,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.675966607031006,-0.004241466008446415,0.10543702660255486,0.9999999582594123,-6.167887192765296e-05,-0.0002002388014408809,0.00017613681376037524,0.6761,-0.004,0.10553230713797264,1.0,0.0,0.0,0.0,-0.045665889479813315,-0.04864284073842551,0.49525302822899586,-0.003563510167349647,0.004464278497656578,-0.00033209199441017927,0.7491529352632862,0.7449078336187053,0.5370976168569295,0.05867134672371918,-0.060015928488739205,0.001444696294177158,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1219735224313927,0.4429561780757726,0.03453599528423116,0.6116352747417153,0.11237743355763757,0.25291726005021387,1.8084233562092904,0.49525302822899586,1.7738873609250592,1.7738873609250592,1.9078290940523495,0,0,-0.0001660604205991082,9.996628111264556e-05
+22481,1792725777108231436,9179971000000,1792725777102072642,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759700160518232,-0.004244247982690371,0.10535992306526815,0.9999999590228694,-6.215955366302913e-05,-0.00019490984978060358,0.00017760479831407762,0.6761,-0.004,0.1054492795266543,1.0,0.0,0.0,0.0,-0.04834270380716732,-0.047890478805974745,0.5189246471278889,-0.003567175256365969,0.004459793589296622,-0.00035163034711149766,0.7464761209359322,0.745660195551156,0.5607692357558225,0.05866768163470286,-0.06002041339709916,0.0014251579414758396,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0754458145111951,0.6011894831335299,0.06244321286083865,0.5679425267999668,0.07932994150689789,0.3550804008015787,1.8084233562092904,0.5189246471278889,1.7459801433484516,1.7459801433484516,1.9471890940523888,0,0,-0.0001718096980698761,9.26604446213119e-05
+22544,1792725777633238880,9180496000000,1792725777626072432,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759726031240646,-0.00425116918849259,0.10527378121691434,0.9999999598034245,-7.189128368993491e-05,-0.00019058058693849822,0.00017420303406175773,0.6761,-0.004,0.10535728027608164,1.0,0.0,0.0,0.0,-0.05426173252399347,-0.046720365399897545,0.5486804345572383,-0.0035725866757767843,0.004453341357111069,-0.0003763853619006745,0.740557092219106,0.7468303089572332,0.5905250231851719,0.058662270215292044,-0.06002686562928471,0.0014004029266866628,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1093379494053548,0.5035696668265371,-0.02707945314545622,0.5945024997893421,0.14457696724550895,0.29647453278388086,1.8084233562092904,0.5486804345572383,1.8355028093547465,1.8355028093547465,1.9891890940524308,0,0,-0.00017577366476642797,9.999976821462581e-05
+22609,1792725778175280716,9181038000000,1792725778174082960,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759774572429766,-0.0042481032018882306,0.10518655212954843,0.9999999615840844,-6.763651773966093e-05,-0.00018086453383714694,0.00017603413332389732,0.6761,-0.004,0.10525997633569018,1.0,0.0,0.0,0.0,-0.0542928103436946,-0.03822374694816022,0.5688789260148612,-0.003575179605376483,0.004448297012872131,-0.00039266051664379434,0.7405260143994049,0.7553269274089706,0.6107235146427948,0.058659677285692345,-0.06003190997352365,0.001384127771943543,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1298088852902937,0.4500187080863566,0.08801591896540809,0.6188054319446595,0.07731969565922463,0.26032162085802796,1.8084233562092904,0.5688789260148612,1.7204074372438822,1.7204074372438822,2.032549094052474,0,0,-0.0001829253408428252,-9.991580759838854e-05
+22668,1792725778666268697,9181529000000,1792725778662073680,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759830686521,-0.004251014905745425,0.10510574612272636,0.9999999630163156,-6.719774917984811e-05,-0.00017143869533080907,0.00017749216343355596,0.6761,-0.004,0.10516823274510274,1.0,0.0,0.0,0.0,-0.05437835095025756,-0.04497411306351051,0.5981350212365822,-0.0035821684143986857,0.004443245129394632,-0.00041632061475683764,0.740440473792842,0.7485765612936203,0.6399796098645159,0.05865268847667014,-0.06003696185700115,0.0013604676738304996,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.136817016211582,0.5423920416307014,-0.04992644080541016,0.5929185711978286,0.1633463751707,0.32324680607266254,1.8084233562092904,0.5981350212365822,1.8583497970147005,1.8583497970147005,2.0718290940525135,0,0,-0.0001892517550630427,9.999932412541596e-05
+22733,1792725779208320697,9182071000000,1792725779206072836,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759859132088796,-0.004249149476529894,0.10501053458643334,0.999999964771218,-7.198787089509192e-05,-0.00016570660212873595,0.00017105407225067616,0.6761,-0.004,0.105063686432591,1.0,0.0,0.0,0.0,-0.05009023214119113,-0.043861826141697646,0.6285989460850362,-0.003587269966390569,0.004435984367816184,-0.00044027814012629,0.7447285926019084,0.7496888482154331,0.6704435347129698,0.05864758692467826,-0.0600442226185796,0.0013365101484610472,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1112659841354429,0.5679575058100862,-0.13003943842619345,0.5860530748890378,0.20705178867520785,0.34120324992335127,1.8084233562092904,0.6285989460850362,1.9384627946354838,1.9384627946354838,2.115189094052557,0,0,-0.00019936031842440893,9.996729419115553e-05
+22798,1792725779750332869,9182613000000,1792725779750072792,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759882500402431,-0.004252021946616463,0.1049043854218198,0.9999999650672882,-7.393016213013659e-05,-0.00016074630848282093,0.00017321444061309604,0.6761,-0.004,0.10495418992214314,1.0,0.0,0.0,0.0,-0.04550387240098275,-0.03369181334860094,0.6492001513360963,-0.0035182109376821966,0.004429044903180308,-0.0004563040836167752,0.7493149523421168,0.7598588610085298,0.6910447399640299,0.05871664595338663,-0.060051162083215474,0.001320484204970562,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.120779233974573,0.5508785221400057,-0.12031567873532993,0.5899728390815748,0.205271989645286,0.33041561164190647,1.8084233562092904,0.6492001513360963,1.9287390349446203,1.9287390349446203,2.1585490940526,0,0,-0.00020655781044345988,8.301148243650686e-05
+22853,1792725780208382542,9183071000000,1792725780206072591,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759877661222019,-0.004257966205551118,0.1048122411285785,0.9999999643888055,-8.531309202868344e-05,-0.00016058043606448764,0.0001720489819073872,0.6761,-0.004,0.1048583827695786,1.0,0.0,0.0,0.0,-0.04580910129012228,-0.03955901695018571,0.6759485968273691,-0.0026586317554536665,0.004407208745805052,-0.00046674348309333523,0.7490097234529772,0.7539916574069451,0.7177931854553027,0.05957622513561516,-0.06007299824059073,0.001310044805494002,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1212369679584886,0.5658778093104893,-0.08591076977677796,0.5848655740623111,0.18595565997096603,0.3382332645330808,1.8084233562092904,0.6759485968273691,1.8943341259860684,1.8943341259860684,2.195189094052637,0,0,-0.00021334934765668135,-9.937242281677356e-05
+22912,1792725780700298320,9183563000000,1792725780698073103,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759910181218631,-0.004250456980074081,0.10470954980393464,0.9999999658026804,-7.883207460664331e-05,-0.00015614667769121902,0.0001710006480209184,0.6761,-0.004,0.10475074256299768,1.0,0.0,0.0,0.0,-0.03868872631132125,-0.023579067322931135,0.6997404324268829,-0.002583972568752306,0.004401105065168699,-0.00048386018128612936,0.7561300984317783,0.7699716070341996,0.7415850210548165,0.05965088432231652,-0.060079101921227084,0.001292928107301208,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1788664440522656,0.5642640056450934,-0.1703889964355313,0.5843863059899798,0.25125684025059075,0.3399547925835869,1.8084233562092904,0.6997404324268829,1.9788123526448218,1.9788123526448218,2.234549094052676,0,0,-0.00022192342959551225,7.50000437018727e-05
+22967,1792725781158374107,9184021000000,1792725781158083110,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759926103995288,-0.004253228327095616,0.10460924740018851,0.9999999656402105,-8.266957030461994e-05,-0.00015367410962929028,0.0001723730038974527,0.6761,-0.004,0.104646728451352,1.0,0.0,0.0,0.0,-0.03670384559499018,-0.027670989875820617,0.7197948215977744,-0.0025827868745183988,0.004396382896573722,-0.0005009341560377821,0.7581149791481093,0.7658796844813102,0.761639410225708,0.05965207001655043,-0.06008382408982206,0.0012758541325495552,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1321019175875313,0.48851249673420816,-0.033995346861961415,0.6107241001546565,0.15093881682617707,0.28910332629228275,1.8084233562092904,0.7197948215977744,1.8424187030712518,1.8424187030712518,2.271189094052713,0,0,-0.00022982620897646212,-9.997982583354598e-05
+23024,1792725781633398030,9184496000000,1792725781630082520,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759959001142508,-0.004261956622123087,0.10450875660745176,0.9999999656630424,-8.516631295492038e-05,-0.00014693543087307656,0.0001768430285833195,0.6761,-0.004,0.1045359997703414,1.0,0.0,0.0,0.0,-0.03678737074938354,-0.02103729387568609,0.7298899636483556,-0.002583711042099472,0.0043929807461537615,-0.0005091062418819219,0.758031453993716,0.7725133804814447,0.7717345522762892,0.059651145848969356,-0.06008722624024202,0.0012676820467054154,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1234530412625083,0.5949919946611724,-0.18417060406193855,0.5843197815654761,0.23997739936763396,0.3627486810452918,1.8084233562092904,0.7298899636483556,1.992593960271229,1.992593960271229,2.309189094052751,0,0,-0.00023782858756957038,-9.999997638144293e-05
+23075,1792725782058413200,9184921000000,1792725782054082072,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.675993607476206,-0.004262117053497993,0.10439596869949855,0.9999999642422909,-8.136875584870022e-05,-0.0001547258614685968,0.00017999254093110202,0.6761,-0.004,0.10443353358455061,1.0,0.0,0.0,0.0,-0.03656657486609349,-0.03037495910790844,0.7598618852863754,-0.002569007290168228,0.003598321614891195,-0.0005468818034473199,0.758252249877006,0.7631757152492223,0.801706473914309,0.0596658496009006,-0.06088188537150459,0.0012299064851400174,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1948373149058138,0.6263011445327734,-0.2933002847366058,0.5690943865640863,0.3322245845937293,0.38388433836633573,1.8084233562092904,0.7598618852863754,2.101723640945896,2.101723640945896,2.343189094052785,0,0,-0.0002442510137520574,9.995116820172285e-05
+23130,1792725782516440116,9185379000000,1792725782514073236,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.675995203568772,-0.004267706727580994,0.1042860712838901,0.9999999642873393,-8.535135173456209e-05,-0.00015152515348933892,0.00018061965319959587,0.6761,-0.004,0.10431991504292827,1.0,0.0,0.0,0.0,-0.02734619361856594,-0.025736605742304408,0.7761202075885775,-0.002566055382270664,0.0033701846591850104,-0.0005610025051751492,0.7674726311245336,0.7678140686148264,0.8179647962165111,0.059668801508798164,-0.06111002232721077,0.001215785783412188,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1218046967404234,0.5476231065681438,-0.2151019380602986,0.6052264000415573,0.25860277315953384,0.33442679772004286,1.8084233562092904,0.7761202075885775,2.023525294269589,2.023525294269589,2.3798290940528215,0,0,-0.00025372695652422914,-9.999999025923074e-05
+23185,1792725782975488853,9185838000000,1792725782970082201,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759927387991864,-0.004269676184525995,0.1041639365885505,0.9999999634777258,-8.270519530810343e-05,-0.00015611825109613446,0.00018241259241372876,0.6761,-0.004,0.10420025175721577,1.0,0.0,0.0,0.0,-0.018116641846014803,-0.015190743443831423,0.7898846251868532,-0.0025673668783244286,0.0033661099569781625,-0.0005711626759369159,0.7767021828970847,0.7783599309132994,0.8317292138147868,0.0596674900127444,-0.06111409702941762,0.0012056256126504214,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1064890018975415,0.6227934859070365,-0.19442329908493725,0.5917031671119557,0.23787928251045393,0.38833565416991517,1.8084233562092904,0.7898846251868532,2.0028466552942277,2.0028466552942277,2.4165490940528582,0,0,-0.0002672513734300593,-9.549860488367585e-05
+23236,1792725783400440222,9186263000000,1792725783394082507,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759968014395327,-0.004272258398739451,0.10405209448677558,0.999999964547192,-8.170331431698993e-05,-0.00014815334589710248,0.0001836399569918851,0.6761,-0.004,0.10408383423390674,1.0,0.0,0.0,0.0,-0.008857023302215494,-0.006015181630608768,0.7902678228686629,-0.0025644693114989722,0.0033011825844025747,-0.0005713358992050842,0.785961801440884,0.787535492726522,0.8321124114965965,0.059670387579569856,-0.06117902440199321,0.001205452389382253,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1562245949712286,0.6084555735578311,-0.26650671155280653,0.5870112815922361,0.29635306259039174,0.37740832615971154,1.8084233562092904,0.7902678228686629,2.074930067762097,2.074930067762097,2.4505490940528922,0,0,-0.00028074485552562054,-9.999999025923074e-05
+23285,1792725783808470250,9186671000000,1792725783806072762,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759939450030151,-0.004279492217250843,0.10393451932475434,0.999999962660472,-8.494210918118176e-05,-0.0001511091445597589,0.00018992836454531992,0.6761,-0.004,0.10396690272938205,1.0,0.0,0.0,0.0,-0.005467854811116668,-0.002680194864608798,0.8006797640871209,-0.00160319316461819,0.002332176946789652,-0.0005824092070530684,0.7893509699319828,0.790870479492522,0.8425243527150545,0.06063166372645064,-0.06214803003960613,0.0011943790815342689,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0854246578475577,0.6125236670014134,-0.2696656023372734,0.5848543308316456,0.27758910420060245,0.3757247974974009,1.8084233562092904,0.8006797640871209,2.0780889585465636,2.0780889585465636,2.483189094052925,0,0,-0.00029466299318189746,-9.900424510623224e-05
+23332,1792725784200533347,9187063000000,1792725784198082736,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759964208653036,-0.004277590924101997,0.10381872873422926,0.9999999636973621,-8.146595372181568e-05,-0.00014709648585475567,0.00018914032146335433,0.6761,-0.004,0.10384831604452971,1.0,0.0,0.0,0.0,0.006421648815549852,-0.00645241928856477,0.8124864136423446,-0.00253894383680231,0.0023456972011693528,-0.0006009580234028001,0.8012404735586494,0.787098255068566,0.8543310022702783,0.05969591305426652,-0.06213450978522643,0.0011758302651845372,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1313647070451798,0.6095007126252918,-0.23531057098639502,0.5957525823637378,0.26769995868629565,0.37566146817119656,1.8084233562092904,0.8124864136423446,2.0437339271956856,2.0437339271956856,2.5145490940529562,0,0,-0.00030999827958374935,-9.999999025923074e-05
+23383,1792725784625498566,9187488000000,1792725784622082112,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759961181215788,-0.004285825570921677,0.10368353433466704,0.9999999623710215,-8.610831246401023e-05,-0.00014763453750053242,0.00019362391892603493,0.6761,-0.004,0.10371276524755689,1.0,0.0,0.0,0.0,0.009258727422578494,0.008718238323812355,0.821580710932605,-0.0015234339633550045,0.0023229886263181135,-0.0005706959432687213,0.804077552165678,0.8022689126809431,0.8634252995605386,0.06071142292771382,-0.06215721836007767,0.001206092345318616,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.112970651051005,0.6292168267935909,-0.34279905228825125,0.5982742185633705,0.32904926431411263,0.39209519579761387,1.8084233562092904,0.821580710932605,2.1512224084975418,2.1512224084975418,2.5485490940529902,0,0,-0.0003277347291371927,4.1492832807082894e-05
+23430,1792725785016543195,9187879000000,1792725785010082482,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759958364873325,-0.0042878097512396365,0.10355229939657967,0.9999999619574922,-8.723123571270313e-05,-0.00014609665008588204,0.00019640356126849118,0.6761,-0.004,0.10358217569363426,1.0,0.0,0.0,0.0,0.01868677677503905,0.004886066666868083,0.8313940800449436,-0.0015078943027930433,0.0013342746939161987,0.0004074409093353208,0.8135056015181386,0.7984367410239989,0.8732386686728772,0.060726962588275785,-0.06314593229247958,0.002184229197922658,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1240164883731445,0.6138339187864336,-0.23106256564077393,0.6057922827972244,0.25807442157741417,0.3805848634368053,1.8084233562092904,0.8313940800449436,2.0394859218500643,2.0394859218500643,2.5798290940530215,0,0,-0.00034183890498393064,-9.999999025923074e-05
+23474,1792725785383491470,9188246000000,1792725785382072929,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6760002592331394,-0.0042959694203231515,0.10343438769662183,0.9999999620051168,-0.00010056767972924364,-0.0001385943504495371,0.00019521879274616755,0.6761,-0.004,0.10345395335161231,1.0,0.0,0.0,0.0,0.02750492291929285,0.019219004014927377,0.8413013915209145,-0.0007051611794933466,0.0012922175903439664,-0.0006178824098154519,0.8223237476623924,0.8127696783720582,0.8831459801488482,0.06152969571157548,-0.06318798939605182,0.0011589058787718853,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.097394467503216,0.5918329799123447,-0.21979782434317757,0.6150634316788112,0.24522392689638783,0.36636471633852424,1.8084233562092904,0.8413013915209145,2.028221180552468,2.028221180552468,2.609189094053051,0,0,-0.0003578098964021877,-9.999999025923074e-05
+23514,1792725785716606868,9188579000000,1792725785714082245,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6760005529939292,-0.0042962958021842195,0.1033087840335191,0.9999999614406189,-9.965594097204955e-05,-0.0001355080637162973,0.00020066859068380768,0.6761,-0.004,0.10333224549549436,1.0,0.0,0.0,0.0,0.03127302106636909,0.023356755522896178,0.8518372700983119,-0.0004900057141120698,0.001279913634839272,0.0003205514904515501,0.8260918458094686,0.816907429880027,0.8936818587262455,0.06174485117695676,-0.06320029335155651,0.0020973397790388874,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0954902902019854,0.6638512847673668,-0.21242187205327398,0.6043540896984905,0.2408723932866712,0.4174105834242132,1.8084233562092904,0.8518372700983119,2.0208452282625644,2.0208452282625644,2.6358290940530775,0,0,-0.00037217228690131075,-9.999999025923074e-05
+23552,1792725786033601070,9188896000000,1792725786026082708,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6760011753145885,-0.004304660868716231,0.10318498885461974,0.9999999596300658,-0.00010567273355972504,-0.00013604606332440466,0.00020617340546673842,0.6761,-0.004,0.10321176825993691,1.0,0.0,0.0,0.0,0.036867142378175566,0.02299099881877098,0.8618324441533823,-0.00045629711543408724,0.00031739009769435333,0.00015412507441628712,0.8316859671212751,0.8165416731759018,0.903677032781316,0.06177855977563474,-0.06416281688870143,0.0019309133630036244,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.1377659165418963,0.6669806913520615,-0.3521893287052004,0.599286030410477,0.3433008337780845,0.41785211810213835,1.8084233562092904,0.8618324441533823,2.160612684914491,2.160612684914491,2.661189094053103,0,0,-0.0003877378467423683,-9.999722857945698e-05
+23590,1792725786350606296,9189213000000,1792725786346073751,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.675996372384681,-0.004300253185729951,0.103050485517105,0.9999999593174886,-0.00010090560523254515,-0.00014466162431843693,0.00020420322948655134,0.6761,-0.004,0.10308673374270007,1.0,0.0,0.0,0.0,0.04598587510264007,0.03274977648793154,0.8720166503162474,-0.000464094355424792,0.00026077445825102574,0.00037307532923753876,0.8408046998457396,0.8263004508450623,0.913861238944181,0.061770762535644036,-0.06421943252814476,0.002149863617824876,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0925650172655585,0.6944450907218025,-0.2953890836972788,0.5974701190534827,0.29570058850323033,0.43744912555768256,1.8084233562092904,0.8720166503162474,2.1038124399065694,2.1038124399065694,2.6865490940531283,0,0,-0.00040181776618106033,-9.999999025923074e-05
+23627,1792725786658613242,9189521000000,1792725786658082493,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759989295423361,-0.004303011488109291,0.10292566369395738,0.9999999601513769,-0.00010165690119623717,-0.0001407467801103291,0.00020247549804601264,0.6761,-0.004,0.10296061060460429,1.0,0.0,0.0,0.0,0.05557652341588337,0.03303963005836008,0.8721321947159696,-0.0004373437579564751,-0.0007250941332226091,0.0003590498852037473,0.8503953481589829,0.8265903044154909,0.9139767833439032,0.06179751313311235,-0.06520530111961839,0.0021358381737910845,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.079718801691649,0.7724324203230147,-0.3950354155892569,0.5832418805895795,0.35294180187459573,0.4925771533534796,1.8084233562092904,0.8721321947159696,2.203458771798547,2.203458771798547,2.711189094053153,0,0,-0.0004168436411780289,8.034957007930216e-05
+23664,1792725786966557256,9189829000000,1792725786962072533,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759945206044079,-0.004308054999815256,0.10278710688160358,0.9999999582658503,-9.675978663942306e-05,-0.0001482896865466433,0.00020870762931162468,0.6761,-0.004,0.10282992811712545,1.0,0.0,0.0,0.0,0.06436275264999347,0.0456557080786103,0.881979018673371,0.0003661905927946976,-0.0007685135690618378,-0.0005837926118515749,0.859181577393093,0.8392063824357411,0.9238236073013046,0.06260104748386353,-0.06524872055545762,0.0011929956767357623,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0565677301359777,0.7122861124031468,-0.1980122964868671,0.6041832438946705,0.22273874691357676,0.4527372231282746,1.8084233562092904,0.881979018673371,2.0064356526961573,2.0064356526961573,2.7358290940531775,0,0,-0.00043201726534633354,-9.999999025923074e-05
+23702,1792725787283672596,9190146000000,1792725787282082595,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759945425010628,-0.004307931095968869,0.10264898304059172,0.9999999575246226,-0.00010405752099058998,-0.0001449592938136875,0.00021107451978346213,0.6761,-0.004,0.10269047434450163,1.0,0.0,0.0,0.0,0.07349565098536259,0.05595198431772863,0.8832962802483638,0.0005923810328823317,-0.0007708134213939982,-0.0002994593123680524,0.8683144757284621,0.8495026586748594,0.9251408688762974,0.06282723792395116,-0.06525102040778978,0.0014773289762192849,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0108498208676355,0.7068757057331391,-0.22386508722242832,0.6081152048226515,0.22675019895858478,0.4486407846477221,1.8084233562092904,0.8832962802483638,2.0322884434317188,2.0322884434317188,2.761189094053203,0,0,-0.0004478672622585097,-9.999999025923074e-05
+23736,1792725787566647820,9190429000000,1792725787566082194,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759911003104927,-0.004316056354514564,0.10251092614815485,0.9999999548509078,-0.00011700085849469776,-0.00015172444920586218,0.00021220635554376893,0.6761,-0.004,0.10256173275967391,1.0,0.0,0.0,0.0,0.08270322476961889,0.05651172209322486,0.8927250427663023,0.0006093284780458105,-0.0017418543507772832,0.00032743151530839187,0.8775220495127184,0.8500623964503556,0.9345696313942359,0.06284418536911464,-0.06622206133717307,0.002104219803895729,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0687129760280656,0.6154633298863053,-0.2578584643984192,0.6432843689867995,0.2691267090146202,0.3885593148782712,1.8084233562092904,0.8927250427663023,2.06628182060771,2.06628182060771,2.7838290940532255,0,0,-0.000462017259501872,-9.999999025923074e-05
+23774,1792725787883699977,9190746000000,1792725787882082984,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759958334491597,-0.004320258922845728,0.10236782230426153,0.9999999552366836,-0.00011085873028374053,-0.000145343852930096,0.00021807109256890005,0.6761,-0.004,0.10241276898890278,1.0,0.0,0.0,0.0,0.08318221879744836,0.0692169719572876,0.8930975502072783,0.0016320549905946904,-0.0018105622818581496,0.00021672990021104257,0.8780010435405479,0.8627676463144184,0.9349421388352119,0.06386691188166352,-0.06629076926825393,0.00199351818879838,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0510009960585702,0.7507544779944328,-0.2207731164003067,0.6139336547358227,0.2396686663076802,0.4811786792626414,1.8084233562092904,0.8930975502072783,2.029196472609597,2.029196472609597,2.809189094053251,0,0,-0.0004778672564140481,-9.999999025923074e-05
+23806,1792725788150709890,9191013000000,1792725788146082422,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6760002627295373,-0.004324166141825403,0.1022388605273431,0.9999999551483335,-0.00011803483516982737,-0.00014021404563490576,0.00021806878360686145,0.6761,-0.004,0.10228340288178873,1.0,0.0,0.0,0.0,0.0916506060042731,0.07280479845320309,0.9031483968049129,0.0016294934380002637,-0.001813547120915887,0.00021732190200847998,0.8864694307473726,0.8663554728103339,0.9449929854328465,0.06386435032906909,-0.06629375410731167,0.0019941101905958172,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.031726806880648,0.7149332764139766,-0.2637146416713669,0.6332770014937384,0.26421500955258,0.4610467840784416,1.8084233562092904,0.9031483968049129,2.0721379978806573,2.0721379978806573,2.8305490940532723,0,0,-0.0004912172538132628,-9.999999025923074e-05
+23837,1792725788408623407,9191271000000,1792725788402082571,DOWN_FORCE_DETACH,3,0.059,0.05900215730071068,0.6759948470554595,-0.004329715353065386,0.10210188321826355,0.9999999532952699,-0.00012788897717366053,-0.0001491984932210434,0.0002150268388066194,0.6761,-0.004,0.10215501118063036,1.0,0.0,0.0,0.0,0.10115144808553889,0.07984086182803751,0.9034830057276798,0.0016556374774582758,-0.0027470978498115167,0.00033211885089600574,0.8959702728286384,0.8733915361851683,0.9453275943556134,0.0638904943685271,-0.0672273048362073,0.002108907139483343,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0414801185933311,0.7631109971034338,-0.28645727475579746,0.625043794791121,0.28509813647869403,0.4974301729683904,1.8084233562092904,0.9034830057276798,2.094880630965088,2.094880630965088,2.851189094053293,0,0,-0.0005041172513001443,-9.999999025923074e-05
+23869,1792725788675747463,9191538000000,1792725788670082776,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759905307443054,-0.004333038112604373,0.1019589657347622,0.9999999520010089,-0.00011180921885866655,-0.00015564581050308418,0.00022519752348299784,0.6761,-0.004,0.10201863632488173,1.0,0.0,0.0,0.0,0.10376848357483726,0.07990030400355952,0.9133506100347223,0.001656156762841303,-0.0028302629187364065,0.00032048035592069845,0.8985873083179368,0.8734509783606903,0.9551951986626559,0.06389101365391013,-0.06731046990513219,0.0020972686445080357,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0670952895746741,0.6944854761882444,-0.27069530482043,0.6440168815968548,0.28485272160627967,0.45229647851694943,1.8084233562092904,0.9133506100347223,2.0791186610297205,2.0791186610297205,2.8725490940533143,0,0,-0.0005174672486993589,-9.999999025923074e-05
+23899,1792725788925693459,9191788000000,1792725788918081908,DOWN_FORCE_DETACH,3,0.059,0.05900150164961815,0.6759943135771675,-0.00433539752421679,0.10182820434166492,0.9999999527845667,-0.00010152015554547273,-0.00014819770142499697,0.00023152716498899098,0.6761,-0.004,0.1018877132630125,1.0,0.0,0.0,0.0,0.10715792027290416,0.08068175969813485,0.9133583855920596,0.001655881850673259,-0.0028303084964746428,0.00032349029191444363,0.9019767450160037,0.8742324340552656,0.9552029742199932,0.06389073874174209,-0.06731051548287043,0.002100278580501781,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.0372078293150853,0.7827034691287815,-0.2666063033107862,0.6250809360925403,0.2733796034842567,0.5102022982172223,1.8084233562092904,0.9133583855920596,2.0750296595200766,2.0750296595200766,2.8925490940533343,0,0,-0.0005299672462641666,-9.999999025923074e-05
+23939,1792725789258731711,9192121000000,1792725789258073176,DOWN_SETTLE,3,0.059,0.05900150164961815,0.6760024877456264,-0.004339801341233855,0.10170254518913217,0.9999999541663687,-0.00013373695677097532,-0.0001427660406399333,0.00021176026320263562,0.6761,-0.004,0.10176227212830703,1.0,0.0,0.0,0.0,0.11545299508363993,0.10251870826927267,0.9049877185797336,0.0026812861479516767,-0.002848315652003844,0.00011519593609675546,0.9102718198267394,0.8960693826264035,0.9468323072076672,0.0649161430390205,-0.06732852263839963,0.0018919842246840927,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,1.007566283163414,0.8049828648642041,-0.12013839311985954,0.6089259092642596,0.17724946070416495,0.523228363172065,1.8084233562092904,0.9049877185797336,1.92856174932915,0.0,0.0,0,0,-8.881789946890841e-05,0.0008971504996859435
+24025,1792725789969787364,9192832000000,1792725789962072795,DOWN_PEAK_HOLD,3,0.059,0.05900150164961815,0.6759958673637642,-0.004336517674278691,0.10166524298552596,0.9999999528814204,-0.00012523975991932777,-0.00015586245772714784,0.0002137800695829374,0.6761,-0.004,0.10175441295527686,1.0,0.0,0.0,0.0,0.11893766271208717,0.1075057816059446,0.8635148367718884,0.0026915585572600056,-0.0028388334759552186,3.1394056492683054e-05,0.9137564874551867,0.9010564559630754,0.9053594253998221,0.06492641544832883,-0.067319040462351,0.0018081823450800203,0.7948188247430995,0.7935506743571308,0.04184458862793364,0.06223485689106883,-0.06448020698639578,0.0017767882885873373,1,0.8998512795982923,0.6863471257030912,-0.10082302143463097,0.6320325412012909,0.1500221519928442,0.4401991727443195,1.8084233562092904,0.8635148367718884,1.9092463776439215,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_0010_12.5/press_depth_03/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792725761726574890,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.525477936e-10,-2.855123082e-11,-5.374800605e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449612e-01,-1.188516924e-04,8.303259143e-01
+1,6.000000000e-01,DOWN_FORCE_DETACH,1792725762349264844,2.145054301e-06,3.404522644e-06,1.267467875e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.846469733e-08,-7.813471328e-10,-1.290808904e-09,7.019577779e-01,-1.886621238e-05,8.601443547e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449790e-01,-1.188524452e-04,8.303259130e-01
+2,1.250000000e+00,DOWN_FORCE_DETACH,1792725763021362509,1.863870555e-06,8.477779308e-07,-2.099961150e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.064044107e-08,-1.541698831e-09,-1.914125747e-09,7.019574967e-01,-2.142295709e-05,8.601409873e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449912e-01,-1.188532055e-04,8.303259124e-01
+3,1.983333333e+00,DOWN_FORCE_DETACH,1792725763824260871,1.387390314e-06,1.298781046e-06,-2.067920073e-05,-2.215893552e-07,2.266167058e-06,-2.046922681e-05,-4.584902529e-07,2.284956706e-06,-2.046060921e-05,7.019570202e-01,-2.097195398e-05,8.601224080e-01,7.019554112e-01,-2.000456796e-05,8.601226180e-01,7.027445020e-01,-1.165667071e-04,8.303054537e-01
+4,2.666666667e+00,DOWN_FORCE_DETACH,1792725764495646467,-5.351188559e-07,-1.238188521e-06,-4.809107907e-05,-1.495165039e-06,-1.544124744e-06,-4.052843318e-05,-2.078142109e-06,-1.568478607e-06,-4.053147770e-05,7.019550977e-01,-2.350892354e-05,8.600949962e-01,7.019541377e-01,-2.381485977e-05,8.601025588e-01,7.027428824e-01,-1.204201424e-04,8.302853828e-01
+5,3.366666667e+00,DOWN_FORCE_DETACH,1792725765216107249,-1.889570078e-06,-3.639110814e-06,-8.227871756e-05,-2.671694037e-06,-5.626269881e-06,-6.422722602e-05,-3.648972473e-06,-5.710142439e-06,-6.421147206e-05,7.019537432e-01,-2.590984584e-05,8.600608085e-01,7.019529611e-01,-2.789700490e-05,8.600788600e-01,7.027413116e-01,-1.245618063e-04,8.302617028e-01
+6,4.016666667e+00,DOWN_FORCE_DETACH,1792725765871890006,1.241593418e-06,-7.860441283e-06,-1.107114808e-04,1.083851135e-06,-7.690584542e-06,-1.049560579e-04,-6.423245313e-08,-7.788353034e-06,-1.049346230e-04,7.019568744e-01,-3.013117631e-05,8.600323758e-01,7.019567167e-01,-2.996131956e-05,8.600381312e-01,7.027448963e-01,-1.266400169e-04,8.302209797e-01
+7,4.416666667e+00,DOWN_FORCE_DETACH,1792725766264223876,1.293747099e-05,3.592664768e-06,-1.248736970e-04,-4.485045013e-07,-1.875271358e-06,-1.250771205e-04,-1.913667232e-06,-1.880262586e-06,-1.251009185e-04,7.019685703e-01,-1.867807025e-05,8.600182135e-01,7.019551843e-01,-2.414600638e-05,8.600180101e-01,7.027430469e-01,-1.207319264e-04,8.302008134e-01
+8,4.916666667e+00,DOWN_FORCE_DETACH,1792725766755950074,2.227390659e-05,-8.435530983e-06,-1.457756753e-04,2.049553831e-05,-1.158537618e-05,-1.402607613e-04,2.039638285e-05,-1.172655273e-05,-1.402031007e-04,7.019779067e-01,-3.070626601e-05,8.599973116e-01,7.019761284e-01,-3.385611120e-05,8.600028265e-01,7.027653569e-01,-1.305782166e-04,8.301857112e-01
+9,5.483333333e+00,DOWN_FORCE_DETACH,1792725767345741033,2.019046613e-05,-3.836123470e-06,-1.901491916e-04,1.983733611e-05,-1.202143303e-05,-1.809616498e-04,1.920927145e-05,-1.220014839e-05,-1.808928369e-04,7.019758233e-01,-2.610685849e-05,8.599529380e-01,7.019754702e-01,-3.429216805e-05,8.599621256e-01,7.027641698e-01,-1.310518122e-04,8.301450215e-01
+10,6.066666667e+00,DOWN_FORCE_DETACH,1792725767935623784,2.330807983e-05,-1.427658462e-05,-2.306034326e-04,2.313891485e-05,-9.036406658e-06,-2.234844260e-04,2.220067936e-05,-9.129118143e-06,-2.233876886e-04,7.019789409e-01,-3.654731964e-05,8.599124838e-01,7.019787717e-01,-3.130714168e-05,8.599196028e-01,7.027671612e-01,-1.279807820e-04,8.301025266e-01
+11,6.600000000e+00,DOWN_FORCE_DETACH,1792725768459799566,2.391483963e-05,-1.566953046e-05,-2.768613670e-04,2.383062859e-05,-1.195361796e-05,-2.658468091e-04,2.242217697e-05,-1.210467244e-05,-2.658129468e-04,7.019795477e-01,-3.794026548e-05,8.598662259e-01,7.019794634e-01,-3.422435298e-05,8.598772404e-01,7.027673827e-01,-1.309563363e-04,8.300601014e-01
+12,7.133333333e+00,DOWN_FORCE_DETACH,1792725769082628977,2.787614826e-05,-1.012379814e-05,-3.329406989e-04,2.812318058e-05,-2.139568135e-05,-3.270387371e-04,2.630184212e-05,-2.164758460e-05,-3.269589450e-04,7.019835090e-01,-3.239453317e-05,8.598101465e-01,7.019837560e-01,-4.366641637e-05,8.598160485e-01,7.027712624e-01,-1.404992484e-04,8.299989554e-01
+13,7.583333333e+00,DOWN_FORCE_DETACH,1792725769524707590,3.338005770e-05,-1.934587671e-05,-3.674096940e-04,3.143041056e-05,-1.948550806e-05,-3.649074291e-04,2.942407956e-05,-1.971132915e-05,-3.647975327e-04,7.019890129e-01,-4.161661173e-05,8.597756775e-01,7.019870632e-01,-4.175624308e-05,8.597781798e-01,7.027743846e-01,-1.385629930e-04,8.299611168e-01
+14,8.050000000e+00,DOWN_FORCE_DETACH,1792725769999493723,3.811374342e-05,-1.631175239e-05,-4.154330182e-04,3.564860003e-05,-2.499834546e-05,-4.061102103e-04,3.344936294e-05,-2.532315265e-05,-4.059989865e-04,7.019937466e-01,-3.858248741e-05,8.597276542e-01,7.019912814e-01,-4.726908048e-05,8.597369770e-01,7.027784099e-01,-1.441748165e-04,8.299199153e-01
+15,8.616666667e+00,DOWN_FORCE_DETACH,1792725770556344749,3.832420343e-05,-2.119150438e-05,-4.782582945e-04,3.597557224e-05,-1.993772172e-05,-4.724638460e-04,3.301935806e-05,-2.019826963e-05,-4.723730786e-04,7.019939570e-01,-4.346223941e-05,8.596648289e-01,7.019916084e-01,-4.220845675e-05,8.596706234e-01,7.027779799e-01,-1.390499335e-04,8.298535412e-01
+16,9.133333333e+00,DOWN_FORCE_DETACH,1792725771064493668,3.963133550e-05,-2.321432421e-05,-5.379616689e-04,3.895880329e-05,-1.769762361e-05,-5.361718341e-04,3.538778521e-05,-1.791197844e-05,-5.361124545e-04,7.019952642e-01,-4.548505923e-05,8.596051256e-01,7.019945916e-01,-3.996835864e-05,8.596069154e-01,7.027803483e-01,-1.367636423e-04,8.297898019e-01
+17,9.666666667e+00,DOWN_FORCE_DETACH,1792725771620574473,3.779811348e-05,-2.950209460e-05,-6.176695542e-04,3.913778920e-05,-2.424687911e-05,-6.052111870e-04,3.476438347e-05,-2.452835274e-05,-6.051220215e-04,7.019934309e-01,-5.177282962e-05,8.595254177e-01,7.019947706e-01,-4.651761413e-05,8.595378761e-01,7.027797249e-01,-1.433800166e-04,8.297207923e-01
+18,1.021666667e+01,DOWN_FORCE_DETACH,1792725772163478718,4.287036600e-05,-2.732224736e-05,-6.817286788e-04,3.978094651e-05,-3.119985732e-05,-6.733519970e-04,3.455815370e-05,-3.162851185e-05,-6.733324924e-04,7.019985032e-01,-4.959298238e-05,8.594613586e-01,7.019954138e-01,-5.347059234e-05,8.594697352e-01,7.027795187e-01,-1.504801757e-04,8.296525818e-01
+19,1.071666667e+01,DOWN_FORCE_DETACH,1792725772653238815,4.454100453e-05,-2.834001615e-05,-7.496951894e-04,4.195930719e-05,-2.874140983e-05,-7.406463371e-04,3.609433912e-05,-2.914138322e-05,-7.405949494e-04,7.020001738e-01,-5.061075117e-05,8.593933920e-01,7.019975921e-01,-5.101214485e-05,8.594024409e-01,7.027810549e-01,-1.479930470e-04,8.295853194e-01
+20,1.123333333e+01,DOWN_FORCE_DETACH,1792725773177064884,4.807055257e-05,-3.310979894e-05,-8.186178775e-04,4.604033548e-05,-2.946713632e-05,-8.110291617e-04,3.967340758e-05,-2.987844951e-05,-8.109575984e-04,7.020037034e-01,-5.538053397e-05,8.593244694e-01,7.020016732e-01,-5.173787135e-05,8.593320581e-01,7.027846339e-01,-1.487301133e-04,8.295149567e-01
+21,1.176666667e+01,DOWN_FORCE_DETACH,1792725773717751985,5.201572797e-05,-3.629769765e-05,-8.935378886e-04,5.039162421e-05,-3.640961165e-05,-8.947169052e-04,4.328897838e-05,-3.686059672e-05,-8.946976956e-04,7.020076485e-01,-5.856843267e-05,8.592495494e-01,7.020060244e-01,-5.868034668e-05,8.592483703e-01,7.027882495e-01,-1.557122606e-04,8.294312166e-01
+22,1.236666667e+01,DOWN_FORCE_DETACH,1792725774307778709,5.507938497e-05,-3.659071427e-05,-9.766591988e-04,5.295190407e-05,-3.611415750e-05,-9.598599550e-04,4.527620218e-05,-3.655054935e-05,-9.598624133e-04,7.020107122e-01,-5.886144929e-05,8.591664280e-01,7.020085847e-01,-5.838489252e-05,8.591832273e-01,7.027902367e-01,-1.554022132e-04,8.293660519e-01
+23,1.295000000e+01,DOWN_FORCE_DETACH,1792725774896868669,5.428712617e-05,-4.299044312e-05,-1.067596558e-03,5.247989448e-05,-4.025023911e-05,-1.055099586e-03,4.360193536e-05,-4.075365951e-05,-1.055108197e-03,7.020099199e-01,-6.526117815e-05,8.590754907e-01,7.020081127e-01,-6.252097414e-05,8.590879877e-01,7.027885625e-01,-1.596053233e-04,8.292708061e-01
+24,1.350000000e+01,DOWN_FORCE_DETACH,1792725775470391411,5.624758054e-05,-3.817326030e-05,-1.150384017e-03,5.590784845e-05,-4.450174959e-05,-1.136526086e-03,4.633215614e-05,-4.507540474e-05,-1.136563648e-03,7.020118804e-01,-6.044399532e-05,8.589927032e-01,7.020115407e-01,-6.677248461e-05,8.590065612e-01,7.027912927e-01,-1.639270686e-04,8.291893507e-01
+25,1.410000000e+01,DOWN_FORCE_DETACH,1792725776060083942,5.676943103e-05,-4.364460516e-05,-1.246720984e-03,5.711750026e-05,-4.117161472e-05,-1.243566990e-03,4.626818121e-05,-4.168899062e-05,-1.243562165e-03,7.020124022e-01,-6.591534018e-05,8.588963663e-01,7.020127503e-01,-6.344234974e-05,8.588995202e-01,7.027912287e-01,-1.605406544e-04,8.290823522e-01
+26,1.466666667e+01,DOWN_FORCE_DETACH,1792725776617372300,5.977588291e-05,-4.868911627e-05,-1.329929896e-03,5.789884566e-05,-4.558424608e-05,-1.328533936e-03,4.612343313e-05,-4.613971815e-05,-1.328624596e-03,7.020154087e-01,-7.095985130e-05,8.588131573e-01,7.020135317e-01,-6.785498111e-05,8.588145533e-01,7.027910840e-01,-1.649913820e-04,8.289972897e-01
+27,1.516666667e+01,DOWN_FORCE_DETACH,1792725777108316460,5.921966716e-05,-4.778632003e-05,-1.411593302e-03,5.984670144e-05,-4.874480172e-05,-1.396664999e-03,4.735461770e-05,-4.938226576e-05,-1.396759669e-03,7.020148525e-01,-7.005705505e-05,8.587314939e-01,7.020154795e-01,-7.101553674e-05,8.587464222e-01,7.027923151e-01,-1.682339296e-04,8.289291546e-01
+28,1.570000000e+01,DOWN_FORCE_DETACH,1792725777632305219,6.242570962e-05,-4.826083274e-05,-1.495268345e-03,6.374989462e-05,-4.611486017e-05,-1.487574736e-03,5.041561244e-05,-4.670324966e-05,-1.487611509e-03,7.020180585e-01,-7.053156776e-05,8.586478189e-01,7.020193827e-01,-6.838559519e-05,8.586555125e-01,7.027953761e-01,-1.655549135e-04,8.288383028e-01
+29,1.625000000e+01,DOWN_FORCE_DETACH,1792725778172978706,6.779326866e-05,-5.526899991e-05,-1.581571997e-03,6.578913156e-05,-4.795013928e-05,-1.573128031e-03,5.161407107e-05,-4.853409683e-05,-1.573294015e-03,7.020234261e-01,-7.753973494e-05,8.585615152e-01,7.020214219e-01,-7.022087430e-05,8.585699592e-01,7.027965746e-01,-1.673857607e-04,8.287526203e-01
+30,1.675000000e+01,DOWN_FORCE_DETACH,1792725778664512810,7.301373696e-05,-5.359019788e-05,-1.663394565e-03,7.032891629e-05,-5.269178097e-05,-1.655738956e-03,5.545839619e-05,-5.334921335e-05,-1.655884155e-03,7.020286466e-01,-7.586093290e-05,8.584796927e-01,7.020259617e-01,-7.496251599e-05,8.584873483e-01,7.028004189e-01,-1.722008772e-04,8.286700302e-01
+31,1.728333333e+01,DOWN_FORCE_DETACH,1792725779205704682,7.675167699e-05,-5.307299636e-05,-1.756945539e-03,7.666507583e-05,-5.315203589e-05,-1.756894473e-03,6.109780578e-05,-5.380937595e-05,-1.756967577e-03,7.020323845e-01,-7.534373138e-05,8.583861417e-01,7.020322979e-01,-7.542277091e-05,8.583861928e-01,7.028060583e-01,-1.726610398e-04,8.285689467e-01
+32,1.781666667e+01,DOWN_FORCE_DETACH,1792725779746046503,8.102989772e-05,-5.936942791e-05,-1.862974061e-03,7.850746353e-05,-5.625894463e-05,-1.858202135e-03,6.179353637e-05,-5.696578050e-05,-1.858360726e-03,7.020366627e-01,-8.164016293e-05,8.582801132e-01,7.020341403e-01,-7.852967966e-05,8.582848851e-01,7.028067541e-01,-1.758174443e-04,8.284675536e-01
+33,1.828333333e+01,DOWN_FORCE_DETACH,1792725780204430591,7.947334166e-05,-5.547483482e-05,-1.957367392e-03,7.919910018e-05,-5.545339622e-05,-1.957369063e-03,6.136150617e-05,-5.613954094e-05,-1.957534716e-03,7.020351062e-01,-7.774556984e-05,8.581857198e-01,7.020348319e-01,-7.772413124e-05,8.581857182e-01,7.028063220e-01,-1.749912048e-04,8.283683796e-01
+34,1.876666667e+01,DOWN_FORCE_DETACH,1792725780699203749,8.212455652e-05,-5.308455489e-05,-2.059929794e-03,8.207884150e-05,-5.305197149e-05,-2.060221038e-03,6.312368521e-05,-5.373236075e-05,-2.060333343e-03,7.020377574e-01,-7.535528991e-05,8.580831574e-01,7.020377117e-01,-7.532270651e-05,8.580828662e-01,7.028080842e-01,-1.725840246e-04,8.282655810e-01
+35,1.916666667e+01,DOWN_FORCE_DETACH,1792725781154644405,8.285947637e-05,-6.145551120e-05,-2.159460243e-03,8.405436545e-05,-6.051889378e-05,-2.154304884e-03,6.418460613e-05,-6.128678564e-05,-2.154465059e-03,7.020384923e-01,-8.372624623e-05,8.579836270e-01,7.020396872e-01,-8.278962880e-05,8.579887824e-01,7.028091451e-01,-1.801384495e-04,8.281714493e-01
+36,1.965000000e+01,DOWN_FORCE_DETACH,1792725781630175775,8.790239523e-05,-6.146447085e-05,-2.259750780e-03,8.799677767e-05,-6.153565752e-05,-2.259296429e-03,6.714309241e-05,-6.231726152e-05,-2.259459136e-03,7.020435352e-01,-8.373520587e-05,8.578833365e-01,7.020436296e-01,-8.380639254e-05,8.578837908e-01,7.028121036e-01,-1.811689253e-04,8.280664552e-01
+37,2.008333333e+01,DOWN_FORCE_DETACH,1792725782056028982,8.777275407e-05,-6.641275422e-05,-2.365648147e-03,8.577425143e-05,-6.997932254e-05,-2.365761798e-03,6.343148755e-05,-7.087124761e-05,-2.365978425e-03,7.020434056e-01,-8.868348924e-05,8.577774391e-01,7.020414071e-01,-9.225005756e-05,8.577773254e-01,7.028083920e-01,-1.897229114e-04,8.279599359e-01
+38,2.053333333e+01,DOWN_FORCE_DETACH,1792725782514349625,8.711427970e-05,-6.716135587e-05,-2.482705607e-03,8.608818884e-05,-7.121313441e-05,-2.476507058e-03,6.247397490e-05,-7.213624197e-05,-2.476766389e-03,7.020427471e-01,-8.943209090e-05,8.576603816e-01,7.020417210e-01,-9.348386944e-05,8.576665802e-01,7.028074345e-01,-1.909879058e-04,8.278491479e-01
+39,2.100000000e+01,DOWN_FORCE_DETACH,1792725782972954135,8.407503983e-05,-7.049578457e-05,-2.605823389e-03,8.446812237e-05,-7.212052839e-05,-2.590844356e-03,5.932869039e-05,-7.302338614e-05,-2.591125384e-03,7.020397079e-01,-9.276651960e-05,8.575372639e-01,7.020401009e-01,-9.439126342e-05,8.575522429e-01,7.028042892e-01,-1.918750500e-04,8.277347889e-01
+40,2.143333333e+01,DOWN_FORCE_DETACH,1792725783398535680,8.695883469e-05,-7.286372300e-05,-2.719388898e-03,8.667871454e-05,-7.531058099e-05,-2.704678178e-03,6.029625882e-05,-7.623808588e-05,-2.704985507e-03,7.020425917e-01,-9.513445803e-05,8.574236983e-01,7.020423115e-01,-9.758131601e-05,8.574384091e-01,7.028052568e-01,-1.950897497e-04,8.276209288e-01
+41,2.185000000e+01,DOWN_FORCE_DETACH,1792725783808444391,8.647962685e-05,-8.113676577e-05,-2.834172282e-03,8.750184600e-05,-7.417505392e-05,-2.827410169e-03,5.973233780e-05,-7.510082622e-05,-2.827750672e-03,7.020421124e-01,-1.034075008e-04,8.573089150e-01,7.020431347e-01,-9.644578894e-05,8.573156771e-01,7.028046929e-01,-1.939524900e-04,8.274981636e-01
+42,2.223333333e+01,DOWN_FORCE_DETACH,1792725784201811883,8.619344352e-05,-8.014238514e-05,-2.953998213e-03,8.894564844e-05,-8.285947156e-05,-2.943933088e-03,5.982574852e-05,-8.387248279e-05,-2.944241593e-03,7.020418263e-01,-1.024131202e-04,8.571890890e-01,7.020445785e-01,-1.051302066e-04,8.571991542e-01,7.028047863e-01,-2.027241466e-04,8.273816727e-01
+43,2.251666667e+01,DOWN_FORCE_DETACH,1792725784627336700,8.723934608e-05,-8.759036292e-05,-3.085994428e-03,8.434028416e-05,-8.265398133e-05,-3.069387876e-03,5.336630632e-05,-8.364466291e-05,-3.069722612e-03,7.020428722e-01,-1.098610979e-04,8.570570928e-01,7.020399731e-01,-1.049247163e-04,8.570736994e-01,7.027983268e-01,-2.024963267e-04,8.272561917e-01
+44,2.291666667e+01,DOWN_FORCE_DETACH,1792725785020377318,8.875104272e-05,-9.171096296e-05,-3.213884595e-03,8.862722548e-05,-9.172451556e-05,-3.214112831e-03,5.622709272e-05,-9.282957097e-05,-3.214395841e-03,7.020443839e-01,-1.139816980e-04,8.569292026e-01,7.020442600e-01,-1.139952506e-04,8.569289744e-01,7.028011876e-01,-2.116812348e-04,8.271115185e-01
+45,2.328333333e+01,DOWN_FORCE_DETACH,1792725785380900514,8.698346478e-05,-9.290864481e-05,-3.341702673e-03,8.955913899e-05,-9.550397870e-05,-3.332367587e-03,5.583659906e-05,-9.666986449e-05,-3.332695164e-03,7.020426163e-01,-1.151793798e-04,8.568013846e-01,7.020451920e-01,-1.177747137e-04,8.568107197e-01,7.028007971e-01,-2.155215283e-04,8.269932192e-01
+46,2.360000000e+01,DOWN_FORCE_DETACH,1792725785717904400,9.009648746e-05,-9.768619227e-05,-3.464781642e-03,8.969229115e-05,-1.020146722e-04,-3.458265615e-03,5.443539867e-05,-1.032895389e-04,-3.458675403e-03,7.020457293e-01,-1.199569273e-04,8.566783056e-01,7.020453251e-01,-1.242854072e-04,8.566848216e-01,7.027993959e-01,-2.221412027e-04,8.268672389e-01
+47,2.391666667e+01,DOWN_FORCE_DETACH,1792725786035557412,9.218967072e-05,-9.918958980e-05,-3.585485512e-03,9.024879973e-05,-1.000450317e-04,-3.582668824e-03,5.361801447e-05,-1.012798391e-04,-3.583031648e-03,7.020478225e-01,-1.214603248e-04,8.565576017e-01,7.020458816e-01,-1.223157667e-04,8.565604184e-01,7.027985785e-01,-2.201315029e-04,8.267428827e-01
+48,2.423333333e+01,DOWN_FORCE_DETACH,1792725786349031209,8.893015932e-05,-1.025488788e-04,-3.715643169e-03,9.051773291e-05,-9.941775931e-05,-3.706119316e-03,5.237138934e-05,-1.006269039e-04,-3.706594778e-03,7.020445630e-01,-1.248196138e-04,8.564274441e-01,7.020461505e-01,-1.216884943e-04,8.564369679e-01,7.027973319e-01,-2.194785678e-04,8.266193195e-01
+49,2.453333333e+01,DOWN_FORCE_DETACH,1792725786658357959,8.912071831e-05,-1.076896333e-04,-3.845865457e-03,8.716359384e-05,-1.053290958e-04,-3.840929902e-03,4.712204929e-05,-1.066594955e-04,-3.841423823e-03,7.020447535e-01,-1.299603683e-04,8.562972218e-01,7.020427964e-01,-1.275998308e-04,8.563021573e-01,7.027920826e-01,-2.255111594e-04,8.264844905e-01
+50,2.485000000e+01,DOWN_FORCE_DETACH,1792725786970217914,8.619852847e-05,-1.140211409e-04,-3.983429489e-03,8.510826978e-05,-1.107857808e-04,-3.970302967e-03,4.335028303e-05,-1.121827737e-04,-3.970809567e-03,7.020418313e-01,-1.362918759e-04,8.561596578e-01,7.020407411e-01,-1.330565158e-04,8.561727843e-01,7.027883108e-01,-2.310344375e-04,8.263551048e-01
+51,2.516666667e+01,DOWN_FORCE_DETACH,1792725787280783206,8.566372307e-05,-1.141983408e-04,-4.121105525e-03,8.716546450e-05,-1.113612517e-04,-4.111042360e-03,4.384692244e-05,-1.127737272e-04,-4.111584116e-03,7.020412965e-01,-1.364690758e-04,8.560219817e-01,7.020427983e-01,-1.336319868e-04,8.560320449e-01,7.027888075e-01,-2.316253911e-04,8.262143302e-01
+52,2.545000000e+01,DOWN_FORCE_DETACH,1792725787568771926,8.370369145e-05,-1.105847388e-04,-4.257765918e-03,8.561762833e-05,-1.164595524e-04,-4.249180335e-03,4.054260089e-05,-1.179482832e-04,-4.249770165e-03,7.020393365e-01,-1.328554739e-04,8.558853213e-01,7.020412504e-01,-1.387302874e-04,8.558939069e-01,7.027855031e-01,-2.367999471e-04,8.260761442e-01
+53,2.575000000e+01,DOWN_FORCE_DETACH,1792725787887049495,8.991164436e-05,-1.196878326e-04,-4.399650983e-03,8.769519913e-05,-1.211358650e-04,-4.384190589e-03,4.111419785e-05,-1.226630190e-04,-4.384819856e-03,7.020455445e-01,-1.419585676e-04,8.557434363e-01,7.020433280e-01,-1.434066000e-04,8.557588967e-01,7.027860747e-01,-2.415146829e-04,8.259410945e-01
+54,2.601666667e+01,DOWN_FORCE_DETACH,1792725788148706337,9.179092344e-05,-1.227503448e-04,-4.529626611e-03,9.146595128e-05,-1.224406462e-04,-4.529452048e-03,4.344910148e-05,-1.239804496e-04,-4.530078565e-03,7.020474237e-01,-1.450210798e-04,8.556134606e-01,7.020470988e-01,-1.447113812e-04,8.556136352e-01,7.027884096e-01,-2.428321134e-04,8.257958358e-01
+55,2.628333333e+01,DOWN_FORCE_DETACH,1792725788410796938,8.672813655e-05,-1.300555827e-04,-4.665001723e-03,8.455261440e-05,-1.258893522e-04,-4.650799824e-03,3.459656258e-05,-1.274848215e-04,-4.651447418e-03,7.020423610e-01,-1.523263177e-04,8.554780855e-01,7.020401854e-01,-1.481600872e-04,8.554922874e-01,7.027795571e-01,-2.463364853e-04,8.256744669e-01
+56,2.653333333e+01,DOWN_FORCE_DETACH,1792725788671642889,8.060410732e-05,-1.368634858e-04,-4.811246251e-03,8.046747800e-05,-1.369368366e-04,-4.811088746e-03,2.830099749e-05,-1.387066706e-04,-4.811716259e-03,7.020362369e-01,-1.591342208e-04,8.553318410e-01,7.020361003e-01,-1.592075716e-04,8.553319985e-01,7.027732615e-01,-2.575583344e-04,8.255141981e-01
+57,2.678333333e+01,DOWN_FORCE_DETACH,1792725788921295921,8.371073798e-05,-1.441152163e-04,-4.937463882e-03,8.353082052e-05,-1.441005250e-04,-4.937379964e-03,3.006151418e-05,-1.459353505e-04,-4.938076923e-03,7.020393436e-01,-1.663859514e-04,8.552056234e-01,7.020391636e-01,-1.663712600e-04,8.552057073e-01,7.027750220e-01,-2.647870143e-04,8.253878374e-01
+58,2.713333333e+01,DOWN_SETTLE,1792725789262586984,9.383189853e-05,-1.469384556e-04,-5.067009926e-03,9.493713510e-05,-1.384219310e-04,-5.050607006e-03,4.103865377e-05,-1.402169198e-04,-5.051411151e-03,7.020494647e-01,-1.692091906e-04,8.550760773e-01,7.020505700e-01,-1.606926660e-04,8.550924802e-01,7.027859992e-01,-2.590685836e-04,8.252745032e-01
+59,2.781666667e+01,DOWN_PEAK_HOLD,1792725789967663479,8.950710245e-05,-1.407674128e-04,-5.100706699e-03,9.063108217e-05,-1.386182450e-04,-5.094490213e-03,3.584045888e-05,-1.404130520e-04,-5.095531470e-03,7.020451399e-01,-1.630381478e-04,8.550423805e-01,7.020462639e-01,-1.608889800e-04,8.550485970e-01,7.027808010e-01,-2.592647159e-04,8.252303828e-01

Part2/Fixed/digit/ball_0010_12.5/press_depth_03/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.2726e-02,2.2559e-02,2.4545e+00,-3.8344e-02,3.7684e-02,3.2303e-05,1.1013e-04,-2.3004e-06,-7.1526e-06,3.2783e-07,7.8268e-06,-1.7358e-07,1.1039e-04,7.8356e-06
+1,6.0000e-01,DOWN_FORCE_DETACH,1.4937e-04,1.5825e-02,2.2506e-02,2.4543e+00,-3.8336e-02,3.7903e-02,2.6446e-05,3.2094e-03,-5.5157e-05,-2.3556e-04,8.1100e-06,2.2703e-04,-6.0304e-06,3.2185e-03,2.2725e-04
+2,1.2500e+00,DOWN_FORCE_DETACH,2.9704e-04,1.7940e-02,2.2435e-02,2.4542e+00,-3.8329e-02,3.8053e-02,2.0852e-05,5.3249e-03,-1.2557e-04,-3.5143e-04,1.5557e-05,3.7668e-04,-1.1625e-05,5.3380e-03,3.7718e-04
+3,1.9833e+00,DOWN_FORCE_DETACH,4.4919e-04,1.9552e-02,2.1035e-02,2.4602e+00,-3.8229e-02,3.8161e-02,1.5412e-05,6.9368e-03,-1.5264e-03,5.6553e-03,1.1506e-04,4.8460e-04,-1.7064e-05,9.0792e-03,4.9837e-04
+4,2.6667e+00,DOWN_FORCE_DETACH,5.9668e-04,2.0690e-02,2.3592e-02,2.4620e+00,-3.8403e-02,3.8238e-02,1.1162e-05,8.0745e-03,1.0312e-03,7.4720e-03,-5.8562e-05,5.6215e-04,-2.1315e-05,1.1050e-02,5.6560e-04
+5,3.3667e+00,DOWN_FORCE_DETACH,7.4467e-04,2.1304e-02,2.6411e-02,2.4636e+00,-3.8593e-02,3.8279e-02,5.1005e-06,8.6887e-03,3.8497e-03,9.0499e-03,-2.4845e-04,6.0242e-04,-2.7376e-05,1.3123e-02,6.5221e-04
+6,4.0167e+00,DOWN_FORCE_DETACH,8.9691e-04,2.0569e-02,2.7989e-02,2.4690e+00,-3.8694e-02,3.8220e-02,-1.6389e-06,7.9540e-03,5.4280e-03,1.4463e-02,-3.4998e-04,5.4340e-04,-3.4115e-05,1.7376e-02,6.4725e-04
+7,4.4167e+00,DOWN_FORCE_DETACH,1.0402e-03,2.1147e-02,2.4468e-02,2.4697e+00,-3.8444e-02,3.8258e-02,-7.7626e-06,8.5314e-03,1.9066e-03,1.5227e-02,-9.9819e-05,5.8215e-04,-4.0239e-05,1.7558e-02,5.9202e-04
+8,4.9167e+00,DOWN_FORCE_DETACH,1.1910e-03,1.6708e-02,3.0434e-02,2.4698e+00,-3.8858e-02,3.7944e-02,-1.1001e-05,4.0921e-03,7.8734e-03,1.5237e-02,-5.1408e-04,2.6745e-04,-4.3477e-05,1.7633e-02,5.8112e-04
+9,5.4833e+00,DOWN_FORCE_DETACH,1.3412e-03,1.9065e-02,3.0860e-02,2.4745e+00,-3.8887e-02,3.8104e-02,-1.8432e-05,6.4498e-03,8.2984e-03,2.0029e-02,-5.4288e-04,4.2774e-04,-5.0908e-05,2.2619e-02,6.9301e-04
+10,6.0667e+00,DOWN_FORCE_DETACH,1.4894e-03,1.9308e-02,2.9049e-02,2.4784e+00,-3.8764e-02,3.8116e-02,-2.7968e-05,6.6923e-03,6.4884e-03,2.3928e-02,-4.1927e-04,4.3967e-04,-6.0445e-05,2.5680e-02,6.1053e-04
+11,6.6000e+00,DOWN_FORCE_DETACH,1.6361e-03,2.0141e-02,3.1054e-02,2.4810e+00,-3.8908e-02,3.8172e-02,-3.5173e-05,7.5259e-03,8.4924e-03,2.6491e-02,-5.6355e-04,4.9566e-04,-6.7650e-05,2.8819e-02,7.5356e-04
+12,7.1333e+00,DOWN_FORCE_DETACH,1.7842e-03,1.9548e-02,3.7355e-02,2.4875e+00,-3.9355e-02,3.8124e-02,-4.0124e-05,6.9324e-03,1.4794e-02,3.3010e-02,-1.0109e-03,4.4770e-04,-7.2600e-05,3.6832e-02,1.1080e-03
+13,7.5833e+00,DOWN_FORCE_DETACH,1.9376e-03,1.8718e-02,3.5777e-02,2.4866e+00,-3.9257e-02,3.8068e-02,-4.4810e-05,6.1026e-03,1.3216e-02,3.2070e-02,-9.1303e-04,3.9142e-04,-7.7287e-05,3.5219e-02,9.9639e-04
+14,8.0500e+00,DOWN_FORCE_DETACH,2.0820e-03,1.8127e-02,3.8873e-02,2.4861e+00,-3.9484e-02,3.8028e-02,-4.6187e-05,5.5113e-03,1.6312e-02,3.1571e-02,-1.1395e-03,3.5216e-04,-7.8664e-05,3.5961e-02,1.1953e-03
+15,8.6167e+00,DOWN_FORCE_DETACH,2.2343e-03,1.8052e-02,3.5067e-02,2.4895e+00,-3.9224e-02,3.8022e-02,-4.6109e-05,5.4366e-03,1.2505e-02,3.4942e-02,-8.7971e-04,3.4579e-04,-7.8586e-05,3.7509e-02,9.4849e-04
+16,9.1333e+00,DOWN_FORCE_DETACH,2.3813e-03,1.6774e-02,3.3100e-02,2.4923e+00,-3.9086e-02,3.7930e-02,-4.1054e-05,4.1591e-03,1.0539e-02,3.7817e-02,-7.4211e-04,2.5348e-04,-7.3530e-05,3.9478e-02,7.8764e-04
+17,9.6667e+00,DOWN_FORCE_DETACH,2.5293e-03,1.6394e-02,3.7429e-02,2.4936e+00,-3.9380e-02,3.7901e-02,-2.9902e-05,3.7782e-03,1.4868e-02,3.9110e-02,-1.0359e-03,2.2500e-04,-6.2379e-05,4.2011e-02,1.0619e-03
+18,1.0217e+01,DOWN_FORCE_DETACH,2.6791e-03,1.6356e-02,4.2047e-02,2.4936e+00,-3.9698e-02,3.7899e-02,-1.4137e-05,3.7407e-03,1.9485e-02,3.9074e-02,-1.3534e-03,2.2282e-04,-4.6614e-05,4.3823e-02,1.3724e-03
+19,1.0717e+01,DOWN_FORCE_DETACH,2.8306e-03,1.6450e-02,4.0338e-02,2.4961e+00,-3.9581e-02,3.7904e-02,9.3743e-07,3.8341e-03,1.7777e-02,4.1626e-02,-1.2363e-03,2.2773e-04,-3.1539e-05,4.5425e-02,1.2575e-03
+20,1.1233e+01,DOWN_FORCE_DETACH,2.9772e-03,1.6430e-02,4.0750e-02,2.4976e+00,-3.9603e-02,3.7902e-02,1.7106e-05,3.8148e-03,1.8189e-02,4.3092e-02,-1.2584e-03,2.2573e-04,-1.5371e-05,4.6929e-02,1.2786e-03
+21,1.1767e+01,DOWN_FORCE_DETACH,3.1254e-03,1.7447e-02,4.6055e-02,2.5017e+00,-3.9952e-02,3.7971e-02,3.2455e-05,4.8314e-03,2.3494e-02,4.7174e-02,-1.6079e-03,2.9479e-04,-2.1275e-08,5.2922e-02,1.6347e-03
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Part2/Fixed/digit/ball_0010_12.5/press_depth_03/up/camera_frames_60hz.tar

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Part2/Fixed/digit/ball_0010_12.5/press_depth_03/up/franka_data.csv

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Part2/Fixed/digit/ball_0010_12.5/press_depth_03/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+6,1.783333333e+00,WAIT_W2,1792725734436899611,-4.527305495e-07,-1.976906738e-04,1.273712330e-05,1.475344785e-06,-1.866345048e-04,1.260573633e-05,1.772659982e-06,-1.890924740e-04,1.261954647e-05,7.019551801e-01,-2.199614088e-04,8.601558244e-01,7.019571082e-01,-2.089052398e-04,8.601556930e-01,7.027467332e-01,-3.079441381e-04,8.303385339e-01
+7,2.066666667e+00,WAIT_W2,1792725734753386565,5.589388611e-07,-2.464994967e-04,1.618356414e-05,3.909248976e-06,-2.287326597e-04,1.978597942e-05,4.468167608e-06,-2.317675780e-04,1.976328024e-05,7.019561918e-01,-2.687702317e-04,8.601592708e-01,7.019595421e-01,-2.510033947e-04,8.601628732e-01,7.027494287e-01,-3.506192421e-04,8.303456776e-01
+8,2.416666667e+00,WAIT_W2,1792725735176814453,-1.173167815e-07,-2.810186611e-04,1.690373440e-05,2.239589708e-06,-2.706399702e-04,1.738875265e-05,2.695912828e-06,-2.741959681e-04,1.735583644e-05,7.019555155e-01,-3.032893962e-04,8.601599910e-01,7.019578724e-01,-2.929107053e-04,8.601604760e-01,7.027476565e-01,-3.930476322e-04,8.303432702e-01
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+10,3.200000000e+00,UP_FORCE_RAMP,1792725735978412463,2.355588437e-06,-2.810049785e-04,1.980685610e-05,2.239589708e-06,-2.706399702e-04,1.738875265e-05,2.704430852e-06,-2.741996595e-04,1.736031045e-05,7.019579884e-01,-3.032757135e-04,8.601628941e-01,7.019578724e-01,-2.929107053e-04,8.601604760e-01,7.027476650e-01,-3.930513236e-04,8.303432746e-01
+11,3.500000000e+00,UP_FORCE_RAMP,1792725736288154027,2.790385502e-06,-2.875881036e-04,2.232233787e-05,2.239589708e-06,-2.706399702e-04,1.738875265e-05,2.707026491e-06,-2.742004097e-04,1.736018629e-05,7.019584232e-01,-3.098588387e-04,8.601654096e-01,7.019578724e-01,-2.929107053e-04,8.601604760e-01,7.027476676e-01,-3.930520737e-04,8.303432745e-01
+12,3.766666667e+00,UP_FORCE_RAMP,1792725736661581621,4.850589086e-07,-2.806655118e-04,1.880315205e-05,2.239589708e-06,-2.706399702e-04,1.738875265e-05,2.709106358e-06,-2.742009999e-04,1.735978100e-05,7.019561179e-01,-3.029362469e-04,8.601618904e-01,7.019578724e-01,-2.929107053e-04,8.601604760e-01,7.027476697e-01,-3.930526640e-04,8.303432741e-01
+13,4.183333333e+00,UP_FORCE_RAMP,1792725737090115308,2.722169715e-06,-2.822479726e-04,2.406232911e-05,2.239589708e-06,-2.706399702e-04,1.738875265e-05,2.712000068e-06,-2.742018129e-04,1.735887280e-05,7.019583550e-01,-3.045187076e-04,8.601671496e-01,7.019578724e-01,-2.929107053e-04,8.601604760e-01,7.027476726e-01,-3.930534770e-04,8.303432732e-01
+14,4.583333333e+00,UP_FORCE_RAMP,1792725737523109627,2.300072413e-06,-2.870388746e-04,3.292893225e-05,3.942095495e-06,-2.898952197e-04,3.530317782e-05,4.759465276e-06,-2.937328553e-04,3.535386561e-05,7.019579329e-01,-3.093096096e-04,8.601760162e-01,7.019595749e-01,-3.121659547e-04,8.601783904e-01,7.027497200e-01,-4.125845194e-04,8.303612682e-01
+15,4.950000000e+00,UP_FORCE_RAMP,1792725737893602868,2.330395340e-06,-2.749539710e-04,5.039455719e-05,2.382352955e-06,-2.748431393e-04,5.026954339e-05,3.264203375e-06,-2.784935100e-04,5.024335614e-05,7.019579632e-01,-2.972247060e-04,8.601934818e-01,7.019580152e-01,-2.971138743e-04,8.601933568e-01,7.027482248e-01,-3.973451741e-04,8.303761577e-01
+16,5.266666667e+00,UP_FORCE_RAMP,1792725738204266868,2.370865938e-06,-2.803356317e-04,6.781910717e-05,2.382352955e-06,-2.748431393e-04,5.026954339e-05,3.266715020e-06,-2.784917765e-04,5.026023240e-05,7.019580037e-01,-3.026063668e-04,8.602109063e-01,7.019580152e-01,-2.971138743e-04,8.601933568e-01,7.027482273e-01,-3.973434406e-04,8.303761746e-01
+17,5.566666667e+00,UP_FORCE_RAMP,1792725738499652083,2.595956501e-06,-2.715043474e-04,9.390123514e-05,3.767677872e-06,-2.786932335e-04,8.984320191e-05,5.257083372e-06,-2.823528648e-04,8.977225720e-05,7.019582288e-01,-2.937750824e-04,8.602369885e-01,7.019594005e-01,-3.009639685e-04,8.602329304e-01,7.027502176e-01,-4.012045289e-04,8.304156866e-01
+18,5.866666667e+00,UP_FORCE_RAMP,1792725738793683243,2.399049969e-06,-2.782753898e-04,1.189406715e-04,2.805653850e-06,-2.746689420e-04,1.109603176e-04,4.507702915e-06,-2.783015519e-04,1.109057448e-04,7.019580319e-01,-3.005461248e-04,8.602620279e-01,7.019584385e-01,-2.969396770e-04,8.602540476e-01,7.027494683e-01,-3.971532160e-04,8.304368201e-01
+19,6.200000000e+00,UP_FORCE_RAMP,1792725739121497919,-2.253340836e-07,-2.787587279e-04,1.494555261e-04,1.259707739e-06,-2.710027363e-04,1.317749672e-04,3.071483871e-06,-2.745947629e-04,1.317453141e-04,7.019554075e-01,-3.010294629e-04,8.602925428e-01,7.019568925e-01,-2.932734714e-04,8.602748622e-01,7.027480320e-01,-3.934464270e-04,8.304576596e-01
+20,6.500000000e+00,UP_FORCE_RAMP,1792725739449633361,2.168612881e-06,-2.706785302e-04,1.982948832e-04,4.398912506e-07,-2.730197823e-04,1.943059665e-04,2.971490650e-06,-2.766297080e-04,1.942251220e-04,7.019578014e-01,-2.929492652e-04,8.603413821e-01,7.019560727e-01,-2.952905173e-04,8.603373932e-01,7.027479320e-01,-3.954813721e-04,8.305201394e-01
+21,6.816666667e+00,UP_FORCE_RAMP,1792725739776620875,-9.664214833e-07,-2.696479688e-04,2.456685421e-04,1.673516585e-07,-2.737627777e-04,2.392380217e-04,3.251236034e-06,-2.773743362e-04,2.391192010e-04,7.019546664e-01,-2.919187039e-04,8.603887558e-01,7.019558002e-01,-2.960335128e-04,8.603823253e-01,7.027482118e-01,-3.962260003e-04,8.305650335e-01
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+23,7.450000000e+00,UP_FORCE_RAMP,1792725740448883601,-9.790011769e-06,-2.638228275e-04,3.308785258e-04,-1.036849432e-05,-2.672439970e-04,3.197203203e-04,-7.121791050e-06,-2.707987992e-04,3.196011495e-04,7.019458428e-01,-2.860935626e-04,8.604739658e-01,7.019452643e-01,-2.895147320e-04,8.604628076e-01,7.027378388e-01,-3.896504633e-04,8.306455155e-01
+24,7.750000000e+00,UP_FORCE_RAMP,1792725740743020686,-8.487421699e-06,-2.668155405e-04,3.723844688e-04,-6.328077898e-06,-2.656342016e-04,3.652806931e-04,-2.215023515e-06,-2.691785494e-04,3.651456996e-04,7.019471454e-01,-2.890862755e-04,8.605154717e-01,7.019493047e-01,-2.879049367e-04,8.605083679e-01,7.027427455e-01,-3.880302135e-04,8.306910600e-01
+25,8.033333333e+00,UP_FORCE_RAMP,1792725741021547455,-9.617073139e-06,-2.617453751e-04,4.046093445e-04,-7.124259295e-06,-2.610733875e-04,4.053755678e-04,-2.608154978e-06,-2.645091414e-04,4.052998083e-04,7.019460157e-01,-2.840161101e-04,8.605476966e-01,7.019485086e-01,-2.833441225e-04,8.605484628e-01,7.027423524e-01,-3.833608055e-04,8.307312141e-01
+26,8.366666667e+00,UP_FORCE_RAMP,1792725741367670687,-9.018566490e-06,-2.656437252e-04,4.487207979e-04,-6.285349392e-06,-2.698713767e-04,4.457806576e-04,-1.120627971e-06,-2.734099529e-04,4.457141719e-04,7.019466143e-01,-2.879144603e-04,8.605918080e-01,7.019493475e-01,-2.921421118e-04,8.605888679e-01,7.027438399e-01,-3.922616170e-04,8.307716285e-01
+27,8.666666667e+00,UP_FORCE_RAMP,1792725741677060957,-1.020286897e-05,-2.702235862e-04,4.796253393e-04,-8.807416416e-06,-2.648700742e-04,4.650370825e-04,-3.628787240e-06,-2.683755674e-04,4.649343871e-04,7.019454299e-01,-2.924943212e-04,8.606227126e-01,7.019468254e-01,-2.871408092e-04,8.606081243e-01,7.027413318e-01,-3.872272315e-04,8.307908487e-01
+28,8.916666667e+00,UP_FORCE_RAMP,1792725741922424780,-1.075383434e-05,-2.622492042e-04,5.041904803e-04,-1.045471141e-05,-2.715041653e-04,5.005295998e-04,-4.994006693e-06,-2.750823543e-04,5.004628499e-04,7.019448790e-01,-2.845199392e-04,8.606472777e-01,7.019451781e-01,-2.937749003e-04,8.606436168e-01,7.027399665e-01,-3.939340184e-04,8.308263772e-01
+29,9.266666667e+00,UP_FORCE_RAMP,1792725742381651802,-9.145987130e-06,-2.682042295e-04,5.526010932e-04,-8.974296513e-06,-2.631364204e-04,5.421935347e-04,-2.864139006e-06,-2.666081307e-04,5.420724280e-04,7.019464868e-01,-2.904749645e-04,8.606956883e-01,7.019466585e-01,-2.854071554e-04,8.606852808e-01,7.027420964e-01,-3.854597948e-04,8.308679867e-01
+30,9.733333333e+00,UP_FORCE_RAMP,1792725742856316138,-1.491676314e-05,-2.636459535e-04,5.902077722e-04,-1.117426657e-05,-2.613934947e-04,5.844271154e-04,-4.661092929e-06,-2.648304405e-04,5.843380762e-04,7.019407161e-01,-2.859166885e-04,8.607332950e-01,7.019444586e-01,-2.836642297e-04,8.607275144e-01,7.027402995e-01,-3.836821046e-04,8.309102524e-01
+31,1.005000000e+01,UP_FORCE_RAMP,1792725743167332606,-1.940020732e-05,-2.660315716e-04,6.143076759e-04,-1.507513922e-05,-2.646235439e-04,6.038512621e-04,-8.695467895e-06,-2.681213064e-04,6.037212686e-04,7.019362326e-01,-2.883023066e-04,8.607573949e-01,7.019405577e-01,-2.868942790e-04,8.607469385e-01,7.027362651e-01,-3.869729705e-04,8.309296356e-01
+32,1.048333333e+01,UP_FORCE_RAMP,1792725743593538162,-2.904445086e-05,-2.603902669e-04,6.399207519e-04,-2.132074159e-05,-2.620470606e-04,6.227223510e-04,-1.514111278e-05,-2.655267757e-04,6.226842035e-04,7.019265884e-01,-2.826610019e-04,8.607830080e-01,7.019343121e-01,-2.843177957e-04,8.607658096e-01,7.027298194e-01,-3.843784398e-04,8.309485985e-01
+33,1.081666667e+01,UP_FORCE_RAMP,1792725743921811521,-3.082606510e-05,-2.638845035e-04,6.640432234e-04,-2.589180604e-05,-2.564343064e-04,6.606407866e-04,-1.959863551e-05,-2.598483591e-04,6.606131936e-04,7.019248068e-01,-2.861552385e-04,8.608071305e-01,7.019297410e-01,-2.787050414e-04,8.608037280e-01,7.027253619e-01,-3.787000231e-04,8.309865275e-01
+34,1.110000000e+01,UP_FORCE_RAMP,1792725744216033908,-3.126302501e-05,-2.616294749e-04,6.822556293e-04,-2.782622523e-05,-2.653175864e-04,6.796025452e-04,-2.149187348e-05,-2.688270426e-04,6.796087570e-04,7.019243698e-01,-2.839002099e-04,8.608253429e-01,7.019278066e-01,-2.875883214e-04,8.608226898e-01,7.027234687e-01,-3.876787067e-04,8.310055231e-01
+35,1.148333333e+01,UP_FORCE_RAMP,1792725744608713242,-3.139203679e-05,-2.616299627e-04,7.111285962e-04,-3.131163429e-05,-2.607153353e-04,7.018953681e-04,-2.495312637e-05,-2.641701573e-04,7.018791389e-04,7.019242408e-01,-2.839006977e-04,8.608542158e-01,7.019243212e-01,-2.829860703e-04,8.608449826e-01,7.027200074e-01,-3.830218214e-04,8.310277935e-01
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+43,1.415000000e+01,UP_FORCE_RAMP,1792725747273485858,-3.440236544e-05,-2.620848089e-04,8.631986656e-04,-3.321153115e-05,-2.652335043e-04,8.450996940e-04,-2.514951222e-05,-2.687626095e-04,8.451707124e-04,7.019212305e-01,-2.843555440e-04,8.610062859e-01,7.019224213e-01,-2.875042393e-04,8.609881869e-01,7.027198110e-01,-3.876142736e-04,8.311710850e-01
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+45,1.488333333e+01,UP_FORCE_RAMP,1792725748000078263,-3.674052584e-05,-2.659440007e-04,8.944052346e-04,-3.635208462e-05,-2.541007314e-04,8.821334800e-04,-2.810421057e-05,-2.575082328e-04,8.822110798e-04,7.019188923e-01,-2.882147357e-04,8.610374925e-01,7.019192807e-01,-2.763714664e-04,8.610252207e-01,7.027168563e-01,-3.763598969e-04,8.312081254e-01
+46,1.526666667e+01,UP_FORCE_RAMP,1792725748376592535,-3.632405291e-05,-2.638271318e-04,9.096176907e-04,-3.859261166e-05,-2.714729183e-04,8.922030262e-04,-3.038748087e-05,-2.750839577e-04,8.923600460e-04,7.019193088e-01,-2.860978669e-04,8.610527049e-01,7.019170402e-01,-2.937436533e-04,8.610352903e-01,7.027145731e-01,-3.939356218e-04,8.312182744e-01
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+48,1.595000000e+01,UP_FORCE_RAMP,1792725749081059301,-3.730401714e-05,-2.619529326e-04,9.353729815e-04,-3.595534120e-05,-2.614580797e-04,9.321440233e-04,-2.700640119e-05,-2.649338675e-04,9.322753635e-04,7.019183288e-01,-2.842236676e-04,8.610784602e-01,7.019196775e-01,-2.837288147e-04,8.610752313e-01,7.027179541e-01,-3.837855316e-04,8.312581897e-01
+49,1.628333333e+01,UP_FORCE_RAMP,1792725749408631626,-3.674524272e-05,-2.615129225e-04,9.478738528e-04,-3.595534120e-05,-2.614580797e-04,9.321440233e-04,-2.700689396e-05,-2.649335590e-04,9.323017180e-04,7.019188876e-01,-2.837836575e-04,8.610909611e-01,7.019196775e-01,-2.837288147e-04,8.610752313e-01,7.027179537e-01,-3.837852231e-04,8.312582160e-01
+50,1.668333333e+01,UP_FORCE_RAMP,1792725749801966485,-3.701250078e-05,-2.616581405e-04,9.619793920e-04,-3.432374101e-05,-2.661645377e-04,9.525050470e-04,-2.503826045e-05,-2.697190890e-04,9.527109477e-04,7.019186203e-01,-2.839288755e-04,8.611050666e-01,7.019213091e-01,-2.884352727e-04,8.610955923e-01,7.027199223e-01,-3.885707531e-04,8.312786253e-01
+51,1.703333333e+01,UP_FORCE_RAMP,1792725750163190513,-3.636323312e-05,-2.608170015e-04,9.723890122e-04,-3.553328315e-05,-2.567189795e-04,9.703388795e-04,-2.610872374e-05,-2.601634782e-04,9.705061558e-04,7.019192696e-01,-2.830877365e-04,8.611154763e-01,7.019200995e-01,-2.789897145e-04,8.611134261e-01,7.027188518e-01,-3.790151423e-04,8.312964205e-01
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+53,1.775000000e+01,UP_FORCE_RAMP,1792725750883009478,-3.700552900e-05,-2.629751878e-04,9.954050037e-04,-3.750187790e-05,-2.647648391e-04,9.924039470e-04,-2.798050773e-05,-2.682915626e-04,9.925099360e-04,7.019186273e-01,-2.852459228e-04,8.611384922e-01,7.019181309e-01,-2.870355742e-04,8.611354912e-01,7.027169800e-01,-3.871432267e-04,8.313184243e-01
+54,1.815000000e+01,UP_FORCE_HOLD,1792725751293136347,-4.021466906e-05,-2.601307767e-04,1.005674294e-03,-3.750187790e-05,-2.647648391e-04,9.924039470e-04,-2.798378541e-05,-2.682909361e-04,9.925325632e-04,7.019154181e-01,-2.824015117e-04,8.611487615e-01,7.019181309e-01,-2.870355742e-04,8.611354912e-01,7.027169768e-01,-3.871426001e-04,8.313184469e-01
+55,1.850000000e+01,UP_FORCE_HOLD,1792725751638115039,-4.062417131e-05,-2.620305301e-04,1.013106900e-03,-4.008163732e-05,-2.542996701e-04,1.011062653e-03,-3.050830762e-05,-2.577000548e-04,1.011238151e-03,7.019150086e-01,-2.843012651e-04,8.611561941e-01,7.019155512e-01,-2.765704051e-04,8.611541499e-01,7.027144522e-01,-3.765517189e-04,8.313371525e-01
+56,1.883333333e+01,UP_FORCE_HOLD,1792725751996696579,-4.157211189e-05,-2.563562077e-04,1.019737740e-03,-4.008163732e-05,-2.542996701e-04,1.011062653e-03,-3.051178233e-05,-2.576990519e-04,1.011253677e-03,7.019140607e-01,-2.786269427e-04,8.611628250e-01,7.019155512e-01,-2.765704051e-04,8.611541499e-01,7.027144488e-01,-3.765507160e-04,8.313371680e-01
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+59,1.996666667e+01,UP_FORCE_HOLD,1792725753196296714,-4.540730563e-05,-2.592071975e-04,1.035801108e-03,-4.110901588e-05,-2.558456922e-04,1.031224666e-03,-3.137528029e-05,-2.592382402e-04,1.031450933e-03,7.019102255e-01,-2.814779325e-04,8.611788883e-01,7.019145238e-01,-2.781164272e-04,8.611743119e-01,7.027135853e-01,-3.780899042e-04,8.313573653e-01

Part2/Fixed/digit/ball_0010_12.5/press_depth_03/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.2729e-02,2.2559e-02,2.4545e+00,-3.8344e-02,3.7684e-02,3.2336e-05,1.1010e-04,-2.2966e-06,-7.1526e-06,3.2783e-07,7.8194e-06,-1.7390e-07,1.1035e-04,7.8282e-06
+1,3.3333e-01,WAIT_W2,8.8124e-05,1.4630e-02,2.2526e-02,2.4544e+00,-3.8339e-02,3.7819e-02,2.8982e-05,2.0117e-03,-3.4684e-05,-1.4067e-04,5.2899e-06,1.4237e-04,-3.5279e-06,2.0169e-03,1.4251e-04
+2,6.5000e-01,WAIT_W2,1.7067e-04,1.6027e-02,2.2500e-02,2.4543e+00,-3.8336e-02,3.7917e-02,2.6010e-05,3.4082e-03,-6.1329e-05,-2.4748e-04,8.7954e-06,2.4108e-04,-6.4996e-06,3.4178e-03,2.4133e-04
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+5,1.5833e+00,WAIT_W2,4.2571e-04,1.9432e-02,8.0370e-02,2.4529e+00,-4.2379e-02,3.8158e-02,3.3712e-05,6.8135e-03,5.7809e-02,-1.6112e-03,-4.0344e-03,4.8197e-04,1.2024e-06,5.8231e-02,4.0631e-03
+6,1.7833e+00,WAIT_W2,5.1491e-04,2.2258e-02,1.4243e-01,2.4534e+00,-4.6720e-02,3.8356e-02,4.7664e-05,9.6396e-03,1.1987e-01,-1.1208e-03,-8.3752e-03,6.7944e-04,1.5154e-05,1.2026e-01,8.4027e-03
+7,2.0667e+00,WAIT_W2,6.0109e-04,2.3255e-02,1.6821e-01,2.4537e+00,-4.8543e-02,3.8426e-02,4.9456e-05,1.0636e-02,1.4565e-01,-7.9203e-04,-1.0199e-02,7.4998e-04,1.6945e-05,1.4604e-01,1.0226e-02
+8,2.4167e+00,WAIT_W2,6.9212e-04,2.5538e-02,1.9382e-01,2.4567e+00,-5.0352e-02,3.8585e-02,4.7222e-05,1.2920e-02,1.7126e-01,2.2235e-03,-1.2008e-02,9.0821e-04,1.4712e-05,1.7176e-01,1.2042e-02
+9,2.8500e+00,WAIT_W2,7.7367e-04,2.6411e-02,1.9336e-01,2.4575e+00,-5.0336e-02,3.8646e-02,3.7288e-05,1.3792e-02,1.7080e-01,2.9345e-03,-1.1991e-02,9.6968e-04,4.7782e-06,1.7138e-01,1.2031e-02
+10,3.2000e+00,UP_FORCE_RAMP,8.6380e-04,2.7006e-02,1.9319e-01,2.4576e+00,-5.0331e-02,3.8688e-02,3.0081e-05,1.4387e-02,1.7062e-01,3.0704e-03,-1.1986e-02,1.0117e-03,-2.4293e-06,1.7126e-01,1.2029e-02
+11,3.5000e+00,UP_FORCE_RAMP,9.4657e-04,2.7453e-02,1.9306e-01,2.4576e+00,-5.0327e-02,3.8720e-02,2.4326e-05,1.4835e-02,1.7050e-01,3.0527e-03,-1.1983e-02,1.0434e-03,-8.1844e-06,1.7117e-01,1.2028e-02
+12,3.7667e+00,UP_FORCE_RAMP,1.0309e-03,2.7811e-02,1.9297e-01,2.4575e+00,-5.0324e-02,3.8745e-02,1.9531e-05,1.5193e-02,1.7041e-01,2.9829e-03,-1.1979e-02,1.0688e-03,-1.2979e-05,1.7111e-01,1.2027e-02
+13,4.1833e+00,UP_FORCE_RAMP,1.1177e-03,2.8309e-02,1.9284e-01,2.4573e+00,-5.0319e-02,3.8781e-02,1.2630e-05,1.5690e-02,1.7028e-01,2.8229e-03,-1.1975e-02,1.1042e-03,-1.9880e-05,1.7103e-01,1.2025e-02
+14,4.5833e+00,UP_FORCE_RAMP,1.2053e-03,2.8492e-02,2.0529e-01,2.4515e+00,-5.1201e-02,3.8799e-02,1.1919e-05,1.5874e-02,1.8273e-01,-3.0088e-03,-1.2857e-02,1.1231e-03,-2.0591e-05,1.8344e-01,1.2906e-02
+15,4.9500e+00,UP_FORCE_RAMP,1.2938e-03,2.9262e-02,2.0421e-01,2.4544e+00,-5.1141e-02,3.8852e-02,6.8606e-06,1.6643e-02,1.8165e-01,-8.4400e-05,-1.2797e-02,1.1752e-03,-2.5649e-05,1.8241e-01,1.2851e-02
+16,5.2667e+00,UP_FORCE_RAMP,1.3777e-03,2.9541e-02,1.9447e-01,2.4521e+00,-5.0480e-02,3.8875e-02,-2.7707e-07,1.6922e-02,1.7191e-01,-2.4104e-03,-1.2135e-02,1.1982e-03,-3.2787e-05,1.7275e-01,1.2195e-02
+17,5.5667e+00,UP_FORCE_RAMP,1.4635e-03,2.9347e-02,1.9589e-01,2.4438e+00,-5.0620e-02,3.8871e-02,-1.0836e-06,1.6728e-02,1.7333e-01,-1.0682e-02,-1.2275e-02,1.1945e-03,-3.3594e-05,1.7446e-01,1.2334e-02
+18,5.8667e+00,UP_FORCE_RAMP,1.5472e-03,2.9849e-02,1.9303e-01,2.4422e+00,-5.0449e-02,3.8909e-02,-3.4724e-06,1.7230e-02,1.7047e-01,-1.2276e-02,-1.2104e-02,1.2328e-03,-3.5983e-05,1.7178e-01,1.2167e-02
+19,6.2000e+00,UP_FORCE_RAMP,1.6351e-03,3.0252e-02,1.9048e-01,2.4420e+00,-5.0300e-02,3.8939e-02,-6.0801e-06,1.7634e-02,1.6792e-01,-1.2527e-02,-1.1956e-02,1.2629e-03,-3.8590e-05,1.6931e-01,1.2022e-02
+20,6.5000e+00,UP_FORCE_RAMP,1.7230e-03,3.0308e-02,1.9095e-01,2.4302e+00,-5.0393e-02,3.8957e-02,-5.9861e-06,1.7690e-02,1.6839e-01,-2.4353e-02,-1.2048e-02,1.2806e-03,-3.8496e-05,1.7106e-01,1.2116e-02
+21,6.8167e+00,UP_FORCE_RAMP,1.8065e-03,3.0154e-02,1.9080e-01,2.4263e+00,-5.0433e-02,3.8953e-02,-5.6131e-06,1.7536e-02,1.6824e-01,-2.8254e-02,-1.2089e-02,1.2762e-03,-3.8123e-05,1.7149e-01,1.2156e-02
+22,7.1000e+00,UP_FORCE_RAMP,1.8943e-03,3.1291e-02,1.8421e-01,2.4240e+00,-5.0011e-02,3.9037e-02,-1.0148e-05,1.8672e-02,1.6165e-01,-3.0534e-02,-1.1667e-02,1.3603e-03,-4.2658e-05,1.6557e-01,1.1746e-02
+23,7.4500e+00,UP_FORCE_RAMP,1.9779e-03,3.0963e-02,1.8625e-01,2.4220e+00,-5.0185e-02,3.9017e-02,-1.4355e-05,1.8344e-02,1.6369e-01,-3.2570e-02,-1.1841e-02,1.3410e-03,-4.6865e-05,1.6790e-01,1.1917e-02
+24,7.7500e+00,UP_FORCE_RAMP,2.0651e-03,2.8523e-02,1.8482e-01,2.4179e+00,-5.0114e-02,3.8850e-02,-1.2061e-05,1.5904e-02,1.6226e-01,-3.6616e-02,-1.1769e-02,1.1739e-03,-4.4571e-05,1.6709e-01,1.1828e-02
+25,8.0333e+00,UP_FORCE_RAMP,2.1524e-03,2.7741e-02,1.8156e-01,2.4140e+00,-4.9909e-02,3.8799e-02,-1.2043e-05,1.5122e-02,1.5900e-01,-4.0568e-02,-1.1565e-02,1.1224e-03,-4.4553e-05,1.6479e-01,1.1619e-02
+26,8.3667e+00,UP_FORCE_RAMP,2.2395e-03,2.7128e-02,1.8703e-01,2.4134e+00,-5.0311e-02,3.8756e-02,-6.6538e-06,1.4509e-02,1.6447e-01,-4.1153e-02,-1.1966e-02,1.0801e-03,-3.9164e-05,1.7016e-01,1.2015e-02
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Part2/Fixed/digit/ball_0010_12.5/press_depth_04/down/camera_frames_60hz.tar

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Part2/Fixed/digit/ball_0010_12.5/press_depth_04/down/franka_data.csv

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+28543,1792725827545345460,9230406000000,1792725827542072001,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759088529884574,-0.004202329964678363,0.10674604792709337,0.9999999451775958,-9.099157744985665e-05,-0.0002885609309392643,9.767697579233035e-05,0.6761,-0.004,0.10696585085413975,1.0,0.0,0.0,0.0,-0.020805995777827713,-0.025659209180214915,0.00013214572420265636,-0.0019057616296420526,0.0014293125662262762,-2.4026943779688423e-06,0.8239839530935495,0.817558120821752,0.05148854223545527,0.06406714236517,-0.06710410447886207,0.001793698674773449,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.6506963351423292,0.6904600986119106,1.1039092601551295,0.1876384759256289,-0.5968653620777968,0.4584127104485717,1.8084233562092904,0.00013214572420265636,0.7045140960541609,0.7045140960541609,0.7952396690761135,0,0,-3.6249004446735296e-05,-9.99999208702917e-05
+28623,1792725828212379172,9231073000000,1792725828210072766,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759097797055286,-0.004207011980871279,0.10672817565278854,0.9999999451359084,-8.916790626001427e-05,-0.0002874229089078732,0.00010299611871949422,0.6761,-0.004,0.10693978210784143,1.0,0.0,0.0,0.0,-0.020819860668636614,-0.022977468197725504,0.010166856474627159,-0.0019096962748343937,0.001426933096142377,-1.0517597429060685e-05,0.8239700882027406,0.8202398618042415,0.061523252985879774,0.06406320771997766,-0.06710648394894597,0.0017855837717223571,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.7268525262409941,0.7262837775088583,0.9675613968823645,0.1995833266120578,-0.4919948586685495,0.4818356580122768,1.8084233562092904,0.010166856474627159,0.8408619593269259,0.8408619593269259,0.8485996690760929,0,0,-4.163725303843601e-05,9.853201174270793e-05
+28692,1792725828787384174,9231648000000,1792725828786082242,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759108919245441,-0.0042071484358594015,0.10670712925763874,0.9999999452866325,-8.39320782219011e-05,-0.0002856793062834772,0.0001105094421592871,0.6761,-0.004,0.10691283531758115,1.0,0.0,0.0,0.0,-0.02155561382561133,-0.021258375534074947,0.023626912064379536,-0.0019398844053578057,0.002426900586159908,-4.010106805670899e-06,0.8232343350457659,0.821958954467892,0.07498330857563215,0.06403301958945425,-0.06610651645892844,0.001792091262345747,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.6805440046467641,0.742190334657554,1.0524816591748454,0.23526432529245928,-0.5705507441318527,0.4847233122047047,1.8084233562092904,0.023626912064379536,0.755941697034445,0.755941697034445,0.894599669076075,0,0,-5.128306669185812e-05,-9.99834063028004e-05
+28769,1792725829428429823,9232289000000,1792725829422082305,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759087884073776,-0.004214623141370798,0.10667380920458033,0.9999999437004585,-8.077743579660664e-05,-0.0002877106072964896,0.00012140657512237657,0.6761,-0.004,0.10687831077544549,1.0,0.0,0.0,0.0,-0.029844629083910723,-0.03356118463817093,0.03957929968541483,-0.0029336034747000916,0.002453464255067289,-3.088394955162851e-05,0.8149453197874665,0.809656145363796,0.09093569619666744,0.06303930052011196,-0.06607995279002106,0.0017652174195997893,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.7061115811606052,0.6303936367118587,0.9577953318722159,0.30892290891163127,-0.5098673197162358,0.4008263989684787,1.8084233562092904,0.03957929968541483,0.8506280243370745,0.8506280243370745,0.9458796690760551,0,0,-5.876540223467697e-05,-9.998833291747217e-05
+28856,1792725830153471111,9233014000000,1792725830150072783,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759100648684203,-0.00421786958583557,0.1066335806601005,0.9999999432580304,-7.200437162296265e-05,-0.0002866204883933149,0.00013263056369930388,0.6761,-0.004,0.10683549046371534,1.0,0.0,0.0,0.0,-0.038680170024563254,-0.03266955509493452,0.059733744432998,-0.002967401847290524,0.002449293823357998,-4.854473290523756e-05,0.806109778846814,0.8105477749070324,0.11109014094425061,0.06300550214752153,-0.06608412322173035,0.0017475566362461802,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.7377961052405655,0.6812878992940454,0.9354603585277476,0.3524883334753993,-0.5002993384767965,0.4248523999127006,1.8084233562092904,0.059733744432998,0.8729629976815428,0.8729629976815428,1.003879669076038,0,0,-5.889575836334616e-05,-9.999456404419788e-05
+28946,1792725830903506975,9233764000000,1792725830902073189,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.675907860512782,-0.004216325646765426,0.10658876436197091,0.9999999412831436,-6.185266128784957e-05,-0.0002908952302474077,0.00014293630381705688,0.6761,-0.004,0.10679163494149255,1.0,0.0,0.0,0.0,-0.0391732074957013,-0.052262627650611515,0.07019756203586341,-0.002972146385635574,0.00244873626521018,-5.6834283749290955e-05,0.805616741375676,0.7909547023513555,0.12155395854711604,0.06300075760917648,-0.06608468077987817,0.0017392670854021268,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.7736690903061311,0.6868076868697108,0.8244254986223277,0.410790392366241,-0.43361419211120833,0.41459100160375967,1.8084233562092904,0.07019756203586341,0.9839978575869627,0.9839978575869627,1.063879669076098,0,0,-6.0005300973912885e-05,-3.9062783419581377e-07
+29025,1792725831562487578,9234423000000,1792725831558082341,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759166624104198,-0.004222793645642826,0.10655737278759903,0.999999943004083,-5.5952682962629364e-05,-0.000280852956967897,0.0001530542680003323,0.6761,-0.004,0.10675152128188695,1.0,0.0,0.0,0.0,-0.03941694854761313,-0.042028514552264196,0.08985128895257205,-0.003002155193723252,0.003456830553329973,-5.726155464036019e-05,0.8053730003237641,0.8011888154497028,0.14120768546382467,0.0629707488010888,-0.06507658649175838,0.0017388398145110576,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.8597696947479629,0.6109850408731266,0.8145640105895117,0.4726337054848846,-0.4089570595263722,0.36437643972460504,1.8084233562092904,0.08985128895257205,0.9938593456197787,0.9938593456197787,1.1165996690761508,0,0,-6.164546643569325e-05,-9.999999025923074e-05
+29103,1792725832212537247,9235073000000,1792725832206082384,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759379885653252,-0.004217068074213429,0.10654070286163074,0.9999999499411072,-4.608649810920302e-05,-0.00025506189843480084,0.00015614131548410926,0.6761,-0.004,0.10670880401660393,1.0,0.0,0.0,0.0,-0.048696471206941094,-0.04149821948571408,0.0898336139756862,-0.002983727848468204,0.003456741476612915,-5.829813278204776e-05,0.7960934776644362,0.8017191105162529,0.14119001048693883,0.06298917614634385,-0.06507667556847543,0.00173780323636937,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.9265819368674831,0.5798647549997409,0.6724596039577555,0.5041133402698593,-0.3083236451295699,0.3378561739180935,1.8084233562092904,0.0898336139756862,1.135963752251535,1.135963752251535,1.1685996690762028,0,0,-7.039748048801175e-05,9.992962987504512e-05
+29184,1792725832887574432,9235748000000,1792725832886081934,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.675939309915597,-0.0042273721621331585,0.10649501574787165,0.9999999489136895,-5.4442351186551355e-05,-0.00025325816435299684,0.00016282449235441212,0.6761,-0.004,0.10665935594471404,1.0,0.0,0.0,0.0,-0.048758273581118616,-0.040715000813160374,0.11586199909505071,-0.003006718516113255,0.003451334507890355,-7.940516100484081e-05,0.7960316752902586,0.8025023291888066,0.16721839560630333,0.0629661854786988,-0.065082082537198,0.001716696208146577,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.8172067077278155,0.65067726903715,0.8495299845099578,0.5040247549884597,-0.4582275801274675,0.3857206358673606,1.8084233562092904,0.11586199909505071,0.9588933716993326,0.9588933716993326,1.2225996690762568,0,0,-7.88062910581352e-05,-9.993214175463833e-05
+29253,1792725833462600479,9236323000000,1792725833462082487,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759418623418552,-0.004227916007475088,0.10645209736082398,0.9999999499455249,-4.9690462285934136e-05,-0.00024846903494364403,0.00016536568174943032,0.6761,-0.004,0.10661044173277723,1.0,0.0,0.0,0.0,-0.05801574310093549,-0.04360624700235982,0.12990480749533767,-0.0030108853241988115,0.0034658021354458945,-9.161236518390355e-05,0.7867742057704418,0.7996110829996071,0.1812612040065903,0.06296201867061324,-0.06506761490964245,0.0017044890039675143,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.8609096676327721,0.5930301332542364,0.6894135225955561,0.5157030516489745,-0.34787221079514735,0.3410546454778034,1.8084233562092904,0.12990480749533767,1.1190098336137342,1.1190098336137342,1.2685996690763028,0,0,-9.140790914049924e-05,-9.999735347954725e-05
+29339,1792725834178627467,9237039000000,1792725834178082523,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759447787722842,-0.0042263119118601325,0.10639095604703906,0.9999999511007567,-4.929059778924867e-05,-0.00024271520192042066,0.00016703627271033786,0.6761,-0.004,0.10654247338340024,1.0,0.0,0.0,0.0,-0.05807515953498121,-0.042307193939743915,0.15660454416501843,-0.003042229434969762,0.004456152025805349,-9.766216188847191e-05,0.786714789336396,0.800910136062223,0.20796094067627105,0.06293067455984229,-0.064077265019283,0.001698439207262946,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.89862189207568,0.6436286276048077,0.5785253498714492,0.5104773128483274,-0.27017054772850113,0.3791622537969739,1.8084233562092904,0.15660454416501843,1.2298980063378413,1.2298980063378413,1.3258796690763601,0,0,-0.00010003086490098655,7.872582727242445e-05
+29424,1792725834887651582,9237748000000,1792725834882082605,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759466730176621,-0.004232165474013934,0.10631990908242356,0.9999999508605172,-5.149274671390302e-05,-0.00024165545391533342,0.00016933093707513,0.6761,-0.004,0.1064687189131919,1.0,0.0,0.0,0.0,-0.05403001411444175,-0.04049002440566418,0.18006133456702908,-0.0030461674267424355,0.004450761021325467,-0.00011617901777769132,0.7907599347569355,0.8027273055963028,0.2314177310782817,0.06292673656806962,-0.06408265602376288,0.0016799223513737265,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.9206404740377203,0.6510739764089258,0.514346911974065,0.5139622417179099,-0.22647178516939712,0.38313011523431817,1.8084233562092904,0.18006133456702908,1.2940764442352255,1.2940764442352255,1.3825996690764168,0,0,-0.00010788655587371109,9.955891252933497e-05
+29496,1792725835487633120,9238348000000,1792725835486073021,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759498291824414,-0.004233932524751942,0.10626188924039007,0.9999999523646362,-5.071778893983981e-05,-0.00023632576829663517,0.0001682005554808716,0.6761,-0.004,0.10640136429078657,1.0,0.0,0.0,0.0,-0.05845798570255112,-0.03939490762912201,0.2101440039584877,-0.0030521588421284773,0.004444481477305404,-0.00014104169895351698,0.7863319631688261,0.803822422372845,0.2615004004697403,0.06292074515268357,-0.06408893556778295,0.0016550596701979008,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.9379835837914389,0.5267746550886303,0.5836393999454998,0.559777690626034,-0.26887899887117006,0.3037808068593487,1.8084233562092904,0.2101440039584877,1.2247839562637906,1.2247839562637906,1.4305996690764649,0,0,-0.00011695364018490662,-9.999700653485206e-05
+29571,1792725836112600980,9238973000000,1792725836110072236,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.675952009502003,-0.004237095177212975,0.10619295076031578,0.999999953360989,-5.7452425752697533e-05,-0.0002298100858018172,0.0001691373040470596,0.6761,-0.004,0.10632633111297973,1.0,0.0,0.0,0.0,-0.05851538747164653,-0.04616101389598681,0.24011873914628606,-0.0030578574732188224,0.0044393577012590835,-0.00016207478994527142,0.7862745613997307,0.7970563161059802,0.2914751356575387,0.06291504652159323,-0.06409405934382927,0.0016340265792061464,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.9165764988821522,0.6374316361488929,0.5391370265922278,0.5281079517039889,-0.24769357542928797,0.3754228058539498,1.8084233562092904,0.24011873914628606,1.2692863296170627,1.2692863296170627,1.4805996690765149,0,0,-0.00012464078292670345,-9.990234614421496e-05
+29646,1792725836737687429,9239598000000,1792725836734072124,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.675954116190909,-0.004237609771760195,0.10611641611315814,0.9999999544575812,-5.7142247615790776e-05,-0.00022551281417769036,0.000168542084574035,0.6761,-0.004,0.10624673919850101,1.0,0.0,0.0,0.0,-0.05860224044576279,-0.051118385650309794,0.2703228177646028,-0.0030651661771385896,0.0044322843147828195,-0.00018968197200719926,0.7861877084256145,0.7920989443516572,0.32167921427585544,0.06290773781767346,-0.06410113273030553,0.0016064193971442185,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.9486047689059386,0.6706844559422329,0.3920320106355855,0.5193660956162649,-0.1501068787731574,0.39890652835653045,1.8084233562092904,0.2703228177646028,1.416391345573705,1.416391345573705,1.5305996690765649,0,0,-0.0001297128509644433,9.99848357149446e-05
+29728,1792725837420794616,9240281000000,1792725837414072490,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759563648140172,-0.0042409195578675925,0.10603242177496805,0.9999999552931963,-5.849639349674124e-05,-0.00021955927856637082,0.00017096305146027248,0.6761,-0.004,0.10615676321636262,1.0,0.0,0.0,0.0,-0.058690073335289084,-0.05292231173574102,0.3005152780746109,-0.003071172075513856,0.004426066217230323,-0.00021409829671242397,0.7860998755360882,0.790295018266226,0.35187167458586355,0.0629017319192982,-0.06410735082785803,0.0015820030724389938,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.9881005239960801,0.5480863202890881,0.4784261455054751,0.5641811073950131,-0.19794174502194947,0.32248029725174404,1.8084233562092904,0.3005152780746109,1.3299972107038154,1.3299972107038154,1.5852396690766195,0,0,-0.00013285871480336742,-9.996625335706994e-05
+29789,1792725837928737774,9240789000000,1792725837922073279,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.675959680870498,-0.004243942480806256,0.10597330607484687,0.9999999565744487,-6.719204901776102e-05,-0.00021270641550218459,0.0001689235761863148,0.6761,-0.004,0.10608870519645217,1.0,0.0,0.0,0.0,-0.06382329424446853,-0.04630018386617396,0.32611783140178113,-0.0040416978906475595,0.005386276233763851,-0.00023165755946173467,0.7809666546269087,0.796917146135793,0.37747422791303376,0.06193120610416449,-0.0631471408113245,0.0015644438096896831,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.9542389749587082,0.6501669185080898,0.3067592523814734,0.5268284798281881,-0.09965840284474797,0.3880578959933379,1.8084233562092904,0.32611783140178113,1.501664103827817,1.501664103827817,1.6258796690766602,0,0,-0.00013378061819860487,9.959564703366226e-05
+29862,1792725838537773990,9241398000000,1792725838534072540,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759629380478234,-0.004243164253179542,0.10589400905547175,0.9999999574109414,-6.6596441482887e-05,-0.00020714947938128096,0.0001710993481259109,0.6761,-0.004,0.10600631016831454,1.0,0.0,0.0,0.0,-0.06393554939199597,-0.04310087144479824,0.3605576551712872,-0.00311979945314253,0.005425907993143103,-0.00024753271642371545,0.7808543994793813,0.8001164585571687,0.4119140516825398,0.06285310454166952,-0.06310750905194525,0.0015485686527277024,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.966142788466926,0.6440654469588203,0.3508485458946046,0.533170770419674,-0.12467803266447572,0.3839034766735785,1.8084233562092904,0.3605576551712872,1.4575748103146857,1.4575748103146857,1.6745996690767089,0,0,-0.00013663776087943636,-9.997557923047679e-05
+29945,1792725839228827128,9242089000000,1792725839222073002,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759629282222789,-0.00424719300501672,0.10580405704771298,0.9999999571442697,-7.039986288351987e-05,-0.00020636734459083793,0.0001720776030549795,0.6761,-0.004,0.10590945081886659,1.0,0.0,0.0,0.0,-0.06480721044199733,-0.05343706745276999,0.39028878531434885,-0.004134357554937247,0.005438171350404725,-0.00028314793051784103,0.7799827384293799,0.789780262549197,0.4416451818256015,0.061838546439874804,-0.06309524569468362,0.0015129534386335768,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.9692515215755044,0.5661097384002445,0.3118261372529937,0.5597234728292865,-0.1005169880301882,0.334962862942938,1.8084233562092904,0.39028878531434885,1.4965972189562966,1.4965972189562966,1.7298796690767642,0,0,-0.00014392003374749519,-9.922179330790754e-05
+30019,1792725839845788943,9242706000000,1792725839842072755,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759681134188831,-0.004249607897154065,0.10572228988358659,0.9999999582561544,-7.540486481534406e-05,-0.00019796610452979085,0.00017336113089101395,0.6761,-0.004,0.10581958678666734,1.0,0.0,0.0,0.0,-0.06781338246364077,-0.051997133336072365,0.43029386805680414,-0.004142608393593837,0.0054300152962040715,-0.00031583823218009235,0.7769765664077365,0.7912201966658946,0.48165026456805676,0.061830295601218214,-0.06310340174888428,0.0014802631369713254,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0232604045733793,0.5688340481778241,0.19530393306330365,0.5567107278265196,-0.013327263109752081,0.3361803460863473,1.8084233562092904,0.43029386805680414,1.6131194231459867,1.6131194231459867,1.7792396690768135,0,0,-0.00014618763285037672,8.474290299898541e-05
+30084,1792725840387842036,9243248000000,1792725840382073186,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759711537298095,-0.00425204260333641,0.10564963049570002,0.999999959576924,-7.577428843556165e-05,-0.0001908166597638635,0.0001735980250528297,0.6761,-0.004,0.10573883894381626,1.0,0.0,0.0,0.0,-0.06794033345518957,-0.057303622520184505,0.4504613702234134,-0.0041472129073564165,0.005426115905286397,-0.0003321505152313409,0.7768496154161877,0.7859137074817825,0.501817766734666,0.061825691087455635,-0.06310730113980195,0.001463950853920077,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0466072046089847,0.5446510802211559,0.13139453480200514,0.5623583799917228,0.03338058263158254,0.31999246777677237,1.8084233562092904,0.4504613702234134,1.6770288214072853,1.6770288214072853,1.8225996690768569,0,0,-0.0001510823559078015,9.932847186278621e-05
+30161,1792725841028800037,9243889000000,1792725841026072792,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759707480899828,-0.004259318769724636,0.10555350183815844,0.9999999591926638,-7.746718006972872e-05,-0.00019072806590346393,0.00017515472058305144,0.6761,-0.004,0.10564210552986883,1.0,0.0,0.0,0.0,-0.058907327630621675,-0.059121552891961304,0.490594086315528,-0.004155311243665284,0.00541746030315908,-0.0003634734849640273,0.7858826212407556,0.7840957771100057,0.5419504828267806,0.06181759275114677,-0.06311595674192927,0.0014326278841873905,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0237307223072547,0.5776181986548239,0.18832480539026084,0.5631780683670164,-0.012836265027625728,0.34572720095007115,1.8084233562092904,0.490594086315528,1.6200985508190295,1.6200985508190295,1.8738796690769082,0,0,-0.0001524291883090153,-9.921876795016544e-05
+30231,1792725841612922961,9244473000000,1792725841606072921,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759716740490087,-0.004255804135424039,0.10546677111927638,0.9999999596696845,-7.28331274418813e-05,-0.00018963586268038818,0.00017560486625878218,0.6761,-0.004,0.10555086268424069,1.0,0.0,0.0,0.0,-0.06810530198510079,-0.05883601213896905,0.5185002263090588,-0.004160345598454802,0.005411582655399413,-0.00038714027167184237,0.7766846468862765,0.7843813178629979,0.5698566228203114,0.06181255839635725,-0.06312183438968894,0.0014089610974795754,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0218861603173015,0.5672772049305576,0.16803893768991365,0.5652845818174622,0.0008206560762446393,0.34029777752429996,1.8084233562092904,0.5185002263090588,1.6403844185193768,1.6403844185193768,1.920599669076955,0,0,-0.00015907859640259948,-9.687500387845489e-05
+30303,1792725842212955879,9245073000000,1792725842210072454,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.675974541385028,-0.004255477659772739,0.10537276521156223,0.9999999602925085,-7.456673963570243e-05,-0.00018615475936618474,0.00017505442819938457,0.6761,-0.004,0.10545421062391937,1.0,0.0,0.0,0.0,-0.07186901449211314,-0.05835876245465599,0.550782738057588,-0.004167075793548115,0.00540380163101363,-0.00041687133468286896,0.7729209343792641,0.784858567547311,0.6021391345688406,0.061805828201263936,-0.06312961541407472,0.0013792300344685488,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.063535399704923,0.6711417861680583,0.00813054453745272,0.5308213655223308,0.11439386945929707,0.4072068781808468,1.8084233562092904,0.550782738057588,1.8002928116718377,1.8002928116718377,1.968599669077003,0,0,-0.00016034276468093888,9.996415781111096e-05
+30375,1792725842812993364,9245673000000,1792725842806072988,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759760250417405,-0.004259423946117896,0.10527983669651625,0.9999999607713947,-8.054092878200756e-05,-0.00018288673929038046,0.00017310595834510388,0.6761,-0.004,0.10535589978669108,1.0,0.0,0.0,0.0,-0.06823049152124383,-0.056582815596551095,0.580883244753632,-0.0041724425918145056,0.0053982790996899704,-0.0004375526821733492,0.7765594573501334,0.7866345144054159,0.6322396412648845,0.061800461402997546,-0.06313513794539838,0.0013585486869780686,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0972176740615889,0.6220107695962585,-0.05520479796476627,0.550158900676717,0.16173561246042947,0.37633141137469106,1.8084233562092904,0.580883244753632,1.8636281541740567,1.8636281541740567,2.016599669077051,0,0,-0.0001655835019278865,9.913978945975117e-05
+30444,1792725843387997893,9246248000000,1792725843382073695,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759819382769049,-0.004259789176924336,0.1051939549934978,0.9999999623993195,-7.674221175065591e-05,-0.00017293974848839975,0.00017563228712819175,0.6761,-0.004,0.10525948655379219,1.0,0.0,0.0,0.0,-0.06818553434867658,-0.06549719210778726,0.6109628260286611,-0.0041788734898276225,0.005392206325183252,-0.00046185600162416724,0.7766044145227007,0.7777201378941797,0.6623192225399137,0.06179403050498443,-0.0631412107199051,0.0013342453675272506,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.120678664247041,0.5846413903988041,-0.09809488738153022,0.5588969391808671,0.19810749593697113,0.3532180421631465,1.8084233562092904,0.6109628260286611,1.9065182435908206,1.9065182435908206,2.062599669077097,0,0,-0.0001724869958710532,8.750000310276391e-05
+30510,1792725843938010467,9246798000000,1792725843938073123,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759842734636189,-0.004264137172391963,0.1051039626041539,0.9999999624978516,-8.021961831519215e-05,-0.0001685929653319555,0.0001777312147547752,0.6761,-0.004,0.10516393373687562,1.0,0.0,0.0,0.0,-0.06865571682365523,-0.05362567305667498,0.6507699837092512,-0.004212494496625606,0.006395843796243077,-0.00047843692711899664,0.776134232047722,0.789591656945292,0.7021263802205038,0.061760409498186446,-0.06213757324884527,0.0013176644420324212,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1139819090509506,0.6463110205811732,-0.17582048509349907,0.5474313450314382,0.24410550814069704,0.3925775966074063,1.8084233562092904,0.6507699837092512,1.9842438413027894,1.9842438413027894,2.106599669077141,0,0,-0.00017573449640343052,9.922007246221937e-05
+30583,1792725844545999955,9247406000000,1792725844546073011,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6759927450816842,-0.004264427909976434,0.10501099823799707,0.9999999654348412,-9.053951535545554e-05,-0.00015431157283556763,0.00016900803384636517,0.6761,-0.004,0.10505539578672331,1.0,0.0,0.0,0.0,-0.06845910248940235,-0.05922505323360694,0.6746645046328775,-0.004195066346028682,0.005584179415888971,-0.0005088495012204762,0.7763308463819749,0.78399227676836,0.7260209011441301,0.06177783764878337,-0.06294923762919938,0.0012872518679309416,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1729472778108692,0.5720164541813878,-0.16554691630257154,0.5659993114645463,0.254687753536524,0.3455510677451845,1.8084233562092904,0.6746645046328775,1.973970272511862,1.973970272511862,2.1552396690771896,0,0,-0.00018080697534031553,9.998153280144634e-05
+30652,1792725845120960802,9247981000000,1792725845118072408,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759962206476537,-0.004266616586987573,0.1049130409315604,0.9999999662024635,-8.791286231478838e-05,-0.00014636132802025597,0.0001728803825132243,0.6761,-0.004,0.10494747956629646,1.0,0.0,0.0,0.0,-0.06875907394509329,-0.0521887711003316,0.7012683244028445,-0.0042217956427767,0.006384919019987882,-0.000519152330597036,0.776030874926284,0.7910285589016354,0.752624720914097,0.06175110835203535,-0.06214849802510047,0.0012769490385543818,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.123752698143715,0.5328450518056689,-0.06391311149430942,0.5837257932879422,0.1717805656885423,0.3216581482251028,1.8084233562092904,0.7012683244028445,1.8723364677035998,1.8723364677035998,2.2012396690772356,0,0,-0.00019256221440585997,-9.999999025923074e-05
+30717,1792725845663072459,9248523000000,1792725845658072641,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6759955991489889,-0.0042666832082416855,0.10480990857481114,0.9999999661769596,-9.273928450689619e-05,-0.00014811172691352097,0.00016897125627403283,0.6761,-0.004,0.10484353742472895,1.0,0.0,0.0,0.0,-0.06163946517161478,-0.051540057927586536,0.7414669042439346,-0.004221376654931115,0.00633285439718434,5.6969758626505395e-05,0.7831504836997625,0.7916772720743804,0.7928233007551871,0.061751527339880936,-0.06220056264790401,0.0018530711277779232,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1161438074405077,0.588259876589478,-0.17026168535871503,0.5642812769078448,0.23829495849639082,0.35630805768452734,1.8084233562092904,0.7414669042439346,1.9786850415680055,1.9786850415680055,2.244599669077279,0,0,-0.00019371776352058857,-9.999999025923074e-05
+30788,1792725846254110040,9249114000000,1792725846250072644,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760019336820894,-0.004265364785795441,0.1047036063345922,0.9999999677226223,-8.953542285682332e-05,-0.0001378115726705887,0.00017026155528653502,0.6761,-0.004,0.10472617109137189,1.0,0.0,0.0,0.0,-0.0685191955534229,-0.05964723451269116,0.7725546833579554,-0.004208610205099668,0.00535952534651854,-0.0005924884482841153,0.7762707533179544,0.7835700954892758,0.823911079869208,0.061764293789712384,-0.06317389169856981,0.0012036129208673025,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0907709022180887,0.569835419463427,-0.26252741973763005,0.5765935422586913,0.2873582534033227,0.34707861340281626,1.8084233562092904,0.7725546833579554,2.0709507759469203,2.0709507759469203,2.291879669077326,0,0,-0.00020408561388488155,9.999448077747104e-05
+30845,1792725846729058913,9249589000000,1792725846726073472,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760020761397215,-0.00427012731813245,0.10460690450897389,0.9999999670081541,-9.660841146111927e-05,-0.00013778932960924038,0.00017060911673240418,0.6761,-0.004,0.10462825951796938,1.0,0.0,0.0,0.0,-0.06361628206765735,-0.05737963625669695,0.8017035936981736,-0.004216768682707352,0.005397967902083023,-0.0002443791242945786,0.7811736668037199,0.78583769374527,0.8530599902094261,0.0617561353121047,-0.06313544914300533,0.0015517222448568392,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1283247469761106,0.6508108508969964,-0.2472039465738061,0.5489034994736383,0.28828182013843584,0.4006285527822825,1.8084233562092904,0.8017035936981736,2.0556273027830967,2.0556273027830967,2.329879669077364,0,0,-0.000208289387400333,-9.999947678108185e-05
+30908,1792725847254143726,9250114000000,1792725847254072845,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760043997998892,-0.004271125565877925,0.10449708138814151,0.9999999669720573,-9.272789150151804e-05,-0.00013516401070376197,0.00017501707610796953,0.6761,-0.004,0.10451596867675811,1.0,0.0,0.0,0.0,-0.05776691500768161,-0.05014900668277056,0.8320100990914033,-0.004227875659213516,0.005338492343901713,0.0003881111464873665,0.7870230338636957,0.7930683233191964,0.8833664956026559,0.061745028335598535,-0.06319492470118664,0.0021842125156387843,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.128443978715471,0.6367815706923705,-0.222699415115447,0.5588619730973554,0.2716509646579202,0.3929269525466372,1.8084233562092904,0.8320100990914033,2.0311227713247373,2.0311227713247373,2.371879669077406,0,0,-0.00021771752537899503,-9.375000361989123e-05
+30961,1792725847696143681,9250556000000,1792725847694072049,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760028513077938,-0.00426917843155091,0.10439193641138468,0.9999999660018432,-9.063472252098309e-05,-0.00014039142173512167,0.00017752400616312232,0.6761,-0.004,0.10441773912446417,1.0,0.0,0.0,0.0,-0.05054887302752675,-0.05708225021624047,0.8621018405087938,-0.004234611110749721,0.005331606727311741,0.0003646000698555268,0.7942410758438505,0.7861350797857265,0.9134582370200464,0.06173829288406233,-0.06320181031777661,0.0021607014390069446,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1727193799035271,0.6293744361963962,-0.3044602170073743,0.5621382297717573,0.33647729439289353,0.3892628952460537,1.8084233562092904,0.8621018405087938,2.112883573216665,2.112883573216665,2.4072396690774416,0,0,-0.00022454437266092165,-9.775173312321356e-05
+31020,1792725848188163342,9251048000000,1792725848182072576,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6760048702958629,-0.004272922558941099,0.10428881416679793,0.9999999669061769,-9.07985996492625e-05,-0.0001348428152761227,0.0001766452349808856,0.6761,-0.004,0.10430539253629818,1.0,0.0,0.0,0.0,-0.05905965486382059,-0.0458233262484824,0.8819958322413245,-0.0042305706752437736,0.005330236735594587,-0.00037595243416714856,0.7857302940075567,0.7973940037534846,0.9333522287525771,0.06174233331956828,-0.06320318030949376,0.0014201489349842692,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1335829146614895,0.6351193116628837,-0.354676213127357,0.5620396052174312,0.3548949862364948,0.39213793960204013,1.8084233562092904,0.8819958322413245,2.1630995693366475,2.1630995693366475,2.446599669077481,0,0,-0.00023231523051528568,3.5794377210801545e-05
+31089,1792725848763170408,9251623000000,1792725848762073192,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760045021751995,-0.00427336499511242,0.10415276426478576,0.9999999666419697,-8.954955348225725e-05,-0.00013576442019662253,0.00017806690739268952,0.6761,-0.004,0.10416959191491547,1.0,0.0,0.0,0.0,-0.050223495661929185,-0.045186125772790464,0.9124823250949793,-0.0042425262358343485,0.005319759915529618,0.00032396351192331713,0.7945664532094481,0.7980312042291765,0.9638387216062319,0.0617303777589777,-0.06321365712955873,0.002120064881074735,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1487095706570032,0.6768620311991176,-0.3535948253592004,0.5538216480202793,0.35667927216273104,0.41989852145685813,1.8084233562092904,0.9124823250949793,2.1620181815684907,2.1620181815684907,2.492599669077527,0,0,-0.00024070362294600767,-8.035138806950499e-05
+31153,1792725849296126350,9252156000000,1792725849294072272,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760107034927619,-0.004277311676332111,0.10403305219095879,0.9999999675931249,-8.835955995799058e-05,-0.00012414891318331527,0.00018175876593925513,0.6761,-0.004,0.10403819895561026,1.0,0.0,0.0,0.0,-0.04185340260678638,-0.0416862790979553,0.935133022732746,-0.003226651814543402,0.005296139641755848,0.0003184068870329894,0.8029365462645909,0.8015310509040117,0.9864894192439986,0.06274625218026865,-0.0632372774033325,0.002114508256184407,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1624876719751418,0.7014009755742976,-0.38904317362096075,0.549682955248289,0.3808963557979002,0.43794546839374826,1.8084233562092904,0.935133022732746,2.197466529830251,2.197466529830251,2.5352396690775696,0,0,-0.0002537846771303017,-9.681470489042993e-05
+31208,1792725849754212965,9252614000000,1792725849754081407,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760086962298723,-0.004282645630367486,0.10391266203822332,0.9999999666124517,-8.67333950587758e-05,-0.00012652335849018306,0.00018624477890372338,0.6761,-0.004,0.10392050751532145,1.0,0.0,0.0,0.0,-0.0418535202060476,-0.03129897872116716,0.9430059265984745,-0.0032269388993909076,0.005291916524599524,0.00031186712832460004,0.8029364286653297,0.8119183512807998,0.994362323109727,0.06274596509542114,-0.06324150052048882,0.002107968497476018,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1481641561201492,0.6470874653969604,-0.396560372818403,0.5684749138542577,0.3802147964571519,0.4053265284248143,1.8084233562092904,0.9430059265984745,2.2049837290276932,2.2049837290276932,2.5718796690776062,0,0,-0.00026124518886646984,-6.51132023562539e-05
+31259,1792725850179263703,9253039000000,1792725850174072478,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6760105998789552,-0.004283059641113169,0.10380086143331131,0.9999999670855293,-8.894596126027939e-05,-0.0001241304118987397,0.00018426085154146806,0.6761,-0.004,0.10380707013566641,1.0,0.0,0.0,0.0,-0.03240095332080195,-0.04073825975224277,0.9531149007344019,-0.0032023809697977607,0.004277034071075686,0.00028915183466831805,0.8123889955505753,0.8024790702497242,1.0044712972456544,0.06277052302501429,-0.06425638297401266,0.002085253203819736,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1045409879761776,0.6316660773400873,-0.41569121934735764,0.5759040192845049,0.3784718966760859,0.39466267173791447,1.8084233562092904,0.9531149007344019,2.224114575556648,2.224114575556648,2.6058796690776402,0,0,-0.00027286026504510916,-9.999999025923074e-05
+31311,1792725850613280041,9253473000000,1792725850610081782,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6760129901369029,-0.004287900848821242,0.10368622279160325,0.9999999667761688,-8.906858997614645e-05,-0.00011732006344333892,0.00019024540711520962,0.6761,-0.004,0.10368572158031159,1.0,0.0,0.0,0.0,-0.032136124073494976,-0.030195011734257093,0.9731875357089425,-0.0032050293776314936,0.004273202985858801,0.0002729764023676768,0.8126538247978823,0.8130223182677099,1.024543932220195,0.06276787461718056,-0.06426021405922955,0.0020690777715190946,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1607534327412428,0.6070535880029199,-0.5196902327203166,0.5844416077025602,0.46083607271081234,0.37750495856885796,1.8084233562092904,0.9731875357089425,2.328113588929607,2.328113588929607,2.640599669077675,0,0,-0.0002846117813689889,9.985523105460743e-05
+31360,1792725851021293278,9253881000000,1792725851014082627,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760171752304241,-0.004286986843071137,0.10357345984340716,0.9999999676840844,-8.898829682401885e-05,-0.00010985865198402312,0.00018996540238779529,0.6761,-0.004,0.10356772264066737,1.0,0.0,0.0,0.0,-0.02325083816186091,-0.029581757239524498,0.9888324361783184,-0.0032070394483935533,0.004269243306968637,0.00026142320137265097,0.8215391107095164,0.8136355727624425,1.040188832689571,0.0627658645464185,-0.06426417373811971,0.0020575245705240688,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1245448851747808,0.6780811817025387,-0.5247801409930817,0.5720595139764859,0.4526347871762081,0.425777986452175,1.8084233562092904,0.9888324361783184,2.333203497202372,2.333203497202372,2.6732396690777076,0,0,-0.00029228414902685165,9.779075746252914e-05
+31409,1792725851429308257,9254289000000,1792725851426081974,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6760162827529573,-0.004287068961533041,0.10345000634512226,0.9999999668409839,-9.885467834490772e-05,-0.00011188386888257442,0.00018833652834244444,0.6761,-0.004,0.10344533596399838,1.0,0.0,0.0,0.0,-0.01398523374808247,-0.019413386106107766,0.9940649443677484,-0.0032078064804913625,0.004267432956663694,0.0002582933820439136,0.8308047151232948,0.8238039438958592,1.045421340879001,0.06276509751432069,-0.06426598408842465,0.0020543947511953314,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0860498985960234,0.6544568289319986,-0.3953902408812309,0.586057783389499,0.35697090507208196,0.4121861935880804,1.8084233562092904,0.9940649443677484,2.2038135970905213,2.2038135970905213,2.7058796690777402,0,0,-0.00030748188067505753,-9.996179858718363e-05
+31456,1792725851821328125,9254681000000,1792725851814073099,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760161708373921,-0.004295287513465503,0.10332396385782486,0.999999965500723,-0.0001021837178138428,-0.00011014850892200418,0.0001945949924437136,0.6761,-0.004,0.10332204532117926,1.0,0.0,0.0,0.0,-0.012645186658297947,-0.013085642271110753,1.0098371627558036,-0.0030491703501355077,0.0032487607242366046,0.00022923817387664538,0.8321447622130793,0.8301316877308562,1.0611935592670563,0.06292373364467654,-0.06528465632085174,0.002025339543028063,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1488013747688326,0.6948789375405198,-0.48819363597033244,0.5810491411723278,0.4347448320296103,0.4375779105976633,1.8084233562092904,1.0098371627558036,2.2966169921796227,2.2966169921796227,2.7372396690777716,0,0,-0.00032276030471486825,-9.999999025923074e-05
+31503,1792725852213307214,9255073000000,1792725852210081893,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6760169180409799,-0.0042979828119852626,0.10319519002687529,0.9999999646331459,-0.00010067571491312416,-0.00010918951256365404,0.00020029633554751797,0.6761,-0.004,0.10319256337849719,1.0,0.0,0.0,0.0,-0.003055899464055045,-0.005913674149115811,1.0138767355597313,-0.002162612726717833,0.003229969780443473,0.0002394649686768371,0.8417340494073222,0.8373036558528512,1.065233132070984,0.06381029126809422,-0.06530344726464488,0.002035566337828255,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1063424553023085,0.7218115997466032,-0.4327473512126693,0.5787636445464884,0.3867399788072096,0.4580428860746947,1.8084233562092904,1.0138767355597313,2.2411707074219596,2.2411707074219596,2.768599669077803,0,0,-0.0003378066851897606,-9.999999025923074e-05
+31547,1792725852579279547,9255439000000,1792725852574082612,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760128729292334,-0.0043005308450521805,0.10305676631636077,0.9999999630106592,-0.00010610456464351063,-0.00011723323453563124,0.00020104659815584422,0.6761,-0.004,0.10306579939765836,1.0,0.0,0.0,0.0,0.01357218100151536,-0.005276931833442355,1.0240032569655542,-0.002138492598926345,0.0022232801425659393,0.00021774803103051564,0.8583621298728926,0.8379403981685246,1.0753596534768068,0.0638344113958857,-0.06631013690252241,0.0020138494001819334,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.070825169970843,0.6597679011627303,-0.3700200965396347,0.6112648019411748,0.3353507605423253,0.4195161408257183,1.8084233562092904,1.0240032569655542,2.178443452748925,2.178443452748925,2.7978796690778323,0,0,-0.00035440666111138795,-9.999999025923074e-05
+31590,1792725852938322747,9255798000000,1792725852934082603,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760119194897667,-0.004303604808515228,0.10292536812477211,0.9999999635273251,-0.00010349234941333773,-0.00011720311368185719,0.000199852387168429,0.6761,-0.004,0.10293548857857049,1.0,0.0,0.0,0.0,0.017357488616638328,0.004867168792704546,1.0340738564204917,-0.002137572284312911,0.0022110419623882493,0.0002099295715283331,0.8621474374880156,0.8480844987946715,1.0854302529317443,0.06383533171049914,-0.0663223750827001,0.002006030940679751,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.1146854698404212,0.6356960762764394,-0.4774142818115796,0.6161123304889957,0.4168219050750919,0.404897003654771,1.8084233562092904,1.0340738564204917,2.28583763802087,2.28583763802087,2.826599669077861,0,0,-0.0003712160414434936,-9.999994862586731e-05
+31629,1792725853263290061,9256123000000,1792725853262072583,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760118977374033,-0.004306537450163913,0.10280136649235633,0.9999999624402107,-0.00010468372817827816,-0.00011688482003826882,0.00020479672236514555,0.6761,-0.004,0.10281222998215168,1.0,0.0,0.0,0.0,0.02254995650610525,0.007633897450128657,1.0345250708325089,-0.001090486133028895,0.001179073391634436,0.00020599705371687326,0.8673399053774825,0.8508512274520956,1.0858814673437616,0.06488241786178316,-0.06735434365345391,0.002002098422868291,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0728502097639068,0.7661898696709205,-0.5090446295040993,0.5863788934278238,0.42826013647318967,0.49183160334998494,1.8084233562092904,1.0345250708325089,2.3174679857133897,2.3174679857133897,2.852599669077887,0,0,-0.00038734991380659354,-9.999999025923074e-05
+31671,1792725853613395202,9256473000000,1792725853610082483,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760116713855647,-0.004311777232753354,0.10266248130635855,0.9999999612472741,-0.00011283937594294489,-0.00011616783673880844,0.00020668967932673424,0.6761,-0.004,0.1026736037629177,1.0,0.0,0.0,0.0,0.04101239527427991,0.018020486034227123,1.0446211523113387,-0.0010909365747169691,0.0011753385331635946,0.00020009404161735024,0.8858023441456572,0.8612378160361941,1.0959775488225914,0.06488196742009508,-0.06735807851192475,0.001996195410768768,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.069758023714142,0.7099484039154854,-0.4524913710849539,0.6116120585664585,0.3939424928798687,0.4556120230802581,1.8084233562092904,1.0446211523113387,2.2609147272942445,2.2609147272942445,2.880599669077915,0,0,-0.0004048499103973243,-9.999999025923074e-05
+31710,1792725853938366069,9256798000000,1792725853934082682,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760183009417199,-0.004307427798876506,0.10252738432620263,0.9999999618592131,-0.0001109691323362578,-0.0001101828669446052,0.00020801448060313313,0.6761,-0.004,0.10253940143432055,1.0,0.0,0.0,0.0,0.04099736261714315,0.037416374242401296,1.051170470746305,-0.000953532286066594,0.0011694307065691356,0.0001947119116568548,0.8857873114885204,0.8806337042443683,1.1025268672575577,0.06501937170874546,-0.06736398633851921,0.0019908132808082726,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0811023361700258,0.7970472974288121,-0.4881174907941486,0.5875208360626756,0.42178078224435117,0.5141297282856861,1.8084233562092904,1.051170470746305,2.296540847003439,2.296540847003439,2.906599669077941,0,0,-0.00042105690852975295,-9.999999025923074e-05
+31747,1792725854246377287,9257106000000,1792725854246073017,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6760169540834827,-0.004315899610855159,0.10239928285013943,0.9999999605805002,-0.00011541917859659038,-0.00011115608529131591,0.00021119801222884902,0.6761,-0.004,0.10240736607803791,1.0,0.0,0.0,0.0,0.049959885790860525,0.03756476549683163,1.055156699574769,-4.25894896768364e-05,0.00013988682764003169,0.0001884960569190088,0.8947498346622378,0.8807820954987986,1.1065130960860217,0.06593031450513522,-0.06839353021744832,0.0019845974260704266,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0670973870953133,0.7102340237710573,-0.41483194498849274,0.6188358198286057,0.3722746121173998,0.4575257679866347,1.8084233562092904,1.055156699574769,2.223255301197783,2.223255301197783,2.9312396690779656,0,0,-0.0004363352002726125,-9.999999025923074e-05
+31782,1792725854538410738,9257398000000,1792725854534082555,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760132661689499,-0.0043222169191777906,0.10226051091488754,0.999999958467841,-0.0001229456258408547,-0.0001167838182130905,0.00021389972831339037,0.6761,-0.004,0.102277831899975,1.0,0.0,0.0,0.0,0.05918276913514364,0.03345098970899296,1.0563219554833376,-4.420143641806207e-05,0.00013937160637368662,0.0001886627160986097,0.9039727180065209,0.8766683197109599,1.1076783519945903,0.06592870255839399,-0.06839404543871466,0.0019847640852500275,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0426378930664428,0.6688481832021598,-0.4244402775452473,0.6419878745047095,0.3743611638937673,0.43221482265837063,1.8084233562092904,1.0563219554833376,2.232863633754538,2.232863633754538,2.954599669077989,0,0,-0.0004509351974283079,-9.999999025923074e-05
+31818,1792725854838401761,9257698000000,1792725854834072586,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760117085381839,-0.0043221080509918295,0.10211738004389483,0.9999999581923319,-0.0001297655190553777,-0.0001176349499298526,0.00021066828781252846,0.6761,-0.004,0.1021403088411863,1.0,0.0,0.0,0.0,0.068518676291495,0.05159284369820716,1.0639193706639585,-4.306323888068897e-05,0.00013596939547207143,0.00018368398852262012,0.9133086251628723,0.8948101737001741,1.1152757671752112,0.06592984075593136,-0.06839744764961628,0.001979785357674038,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.997934954381199,0.7440161669998641,-0.34477472563906725,0.6331001894149132,0.31215456316265044,0.4863354590164716,1.8084233562092904,1.0639193706639585,2.1531980818483576,2.1531980818483576,2.978599669078013,0,0,-0.0004659351945060771,-9.999999025923074e-05
+31851,1792725855113452177,9257973000000,1792725855106082162,DOWN_FORCE_DETACH,4,0.0585,0.058501776307821274,0.6760076599956207,-0.004332899305782107,0.10198183571202038,0.9999999558230253,-0.00011385696039527725,-0.00012799282300472506,0.00022461353830482958,0.6761,-0.004,0.10201029291306679,1.0,0.0,0.0,0.0,0.06841835680626307,0.05169437768534835,1.06558765528584,-4.3687570038766776e-05,0.0001352152304927301,0.00018296509446443648,0.9132083056776403,0.8949117076873153,1.1169440517970928,0.06592921642477328,-0.06839820181459562,0.0019790664636158543,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0810148014774217,0.7732048776058634,-0.3922471970403289,0.6253584607399924,0.3688024782272795,0.5127657845961262,1.8084233562092904,1.06558765528584,2.200670553249619,2.200670553249619,3.000599669078035,0,0,-0.00047968519182736556,-9.999999025923074e-05
+31884,1792725855388465213,9258248000000,1792725855386082123,DOWN_FORCE_DETACH,4,0.0585,0.0585024319589138,0.6760102284977915,-0.004343043561770767,0.10184494013895906,0.9999999554100297,-9.471725306674072e-05,-0.00012484991483363895,0.00023677825872884143,0.6761,-0.004,0.10187649573568393,1.0,0.0,0.0,0.0,0.07736288348912312,0.051991796410388647,1.0753148081462476,-4.535942908971691e-05,0.0001333002698743757,0.00017555198434335804,0.9221528323605004,0.8952091264123556,1.1266712046575003,0.06592754456572233,-0.06840011677521397,0.001971653353494776,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.035858345133045,0.7587077005800833,-0.4157260819496184,0.6357568185470717,0.36937380412137866,0.5026671893135876,1.8084233562092904,1.0753148081462476,2.224149438158909,2.224149438158909,3.022599669078057,0,0,-0.0004934351891486541,-9.999999025923074e-05
+31923,1792725855707448313,9258567000000,1792725855702082253,DOWN_SETTLE,4,0.0585,0.0585024319589138,0.6760227988570664,-0.004341654696132445,0.10171841954935032,0.9999999580350095,-0.00014188553609148695,-0.00010830798880556781,0.00020859222849931039,0.6761,-0.004,0.1017418210482807,1.0,0.0,0.0,0.0,0.08662873795175252,0.07400193913078967,1.0657884576174526,0.0010057622353628753,-0.0008979806221383752,0.00018019776807772728,0.9314186868231298,0.9172192691327566,1.1171448541287052,0.06697866623017493,-0.06943139766722672,0.001976299137229145,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,1.0663458252270261,0.7744522454869192,-0.37995623244079746,0.6225831005365255,0.3641876080409587,0.5142909175682089,1.8084233562092904,1.0657884576174526,2.188379588650088,0.0,0.0,0,0,-0.00015752646099950583,0.001591176373732382
+32016,1792725856475436489,9259335000000,1792725856470082623,DOWN_PEAK_HOLD,4,0.0585,0.058501776307821274,0.6760156575582225,-0.004340516951066181,0.10166761031921082,0.999999956351075,-0.00013714911499056743,-0.0001246711205918693,0.00021068446630792022,0.6761,-0.004,0.10172712550652765,1.0,0.0,0.0,0.0,0.08690446486664316,0.07230090542959922,1.0058947457251373,0.001017725749019649,-0.0008855804358630648,0.0002294624051215905,0.9316944137380204,0.9155182354315662,1.05725114223639,0.0669906297438317,-0.06941899748095141,0.0020255637742730083,0.8447899488713773,0.843217330001967,0.051356396511252615,0.06597290399481205,-0.06853341704508835,0.0017961013691514178,1,0.9869180010543329,0.8075104696571034,-0.30544037286591175,0.6035198766911027,0.3089044509562405,0.5298940345020275,1.8084233562092904,1.0058947457251373,2.1138637290752023,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_0010_12.5/press_depth_04/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,1792725824939965036,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.798566154e-10,-2.933628167e-11,-5.035405426e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449674e-01,-1.188428217e-04,8.303259125e-01
+1,7.166666667e-01,DOWN_FORCE_DETACH,1792725825660922517,1.120483315e-06,-4.249240561e-06,1.185008898e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.336784000e-08,-1.040361144e-09,-1.672046612e-09,7.019567533e-01,-2.651997558e-05,8.601442722e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449901e-01,-1.188438327e-04,8.303259109e-01
+2,1.333333333e+00,DOWN_FORCE_DETACH,1792725826267522228,8.197151452e-07,-3.130926197e-06,6.604809668e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.576210705e-08,-1.687821116e-09,-2.702166046e-09,7.019564525e-01,-2.540166122e-05,8.601437477e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450025e-01,-1.188444802e-04,8.303259099e-01
+3,1.883333333e+00,DOWN_FORCE_DETACH,1792725826824522684,1.926850166e-06,7.162164521e-07,-1.703860864e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.320965163e-08,-2.143274546e-09,-3.560931994e-09,7.019575597e-01,-2.155451857e-05,8.601413834e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450099e-01,-1.188449356e-04,8.303259090e-01
+4,2.550000000e+00,DOWN_FORCE_DETACH,1792725827544245702,-3.644943873e-07,-1.265982683e-06,-1.945535324e-05,-1.999172070e-06,-5.414110769e-06,-1.887051588e-05,-2.319832740e-06,-5.485425970e-06,-1.889265709e-05,7.019552683e-01,-2.353671771e-05,8.601236319e-01,7.019536336e-01,-2.768484579e-05,8.601242167e-01,7.027426469e-01,-1.243282183e-04,8.303070199e-01
+5,3.200000000e+00,DOWN_FORCE_DETACH,1792725828216090088,-1.714002979e-06,-6.390949159e-06,-4.235114179e-05,-2.725959307e-06,-6.644439615e-06,-3.874752039e-05,-3.373050926e-06,-6.720675901e-06,-3.877581482e-05,7.019539188e-01,-2.866168418e-05,8.601007361e-01,7.019529069e-01,-2.891517464e-05,8.601043397e-01,7.027415937e-01,-1.255634682e-04,8.302871368e-01
+6,3.783333333e+00,DOWN_FORCE_DETACH,1792725828789613788,2.134037701e-07,-4.598359391e-06,-6.125280691e-05,-5.176934790e-06,-6.202065333e-06,-6.191844322e-05,-6.332126123e-06,-6.283598577e-06,-6.188750134e-05,7.019558462e-01,-2.686909441e-05,8.600818344e-01,7.019504559e-01,-2.847280036e-05,8.600811688e-01,7.027386346e-01,-1.251263909e-04,8.302640251e-01
+7,4.416666667e+00,DOWN_FORCE_DETACH,1792725829428841836,-2.462074621e-06,-1.354421921e-05,-9.646630098e-05,-4.756956113e-06,-1.112826866e-05,-8.357680376e-05,-6.137272966e-06,-1.126044235e-05,-8.359391276e-05,7.019531707e-01,-3.581495423e-05,8.600466209e-01,7.019508759e-01,-3.339900368e-05,8.600595104e-01,7.027388294e-01,-1.301032347e-04,8.302423187e-01
+8,5.133333333e+00,DOWN_FORCE_DETACH,1792725830156541013,-1.194125038e-06,-1.745709242e-05,-1.346872535e-04,-3.532958317e-06,-1.321120541e-05,-1.239660569e-04,-5.328052391e-06,-1.337644711e-05,-1.239797521e-04,7.019544387e-01,-3.972782744e-05,8.600084000e-01,7.019520999e-01,-3.548194043e-05,8.600191212e-01,7.027396387e-01,-1.322192394e-04,8.302019328e-01
+9,5.800000000e+00,DOWN_FORCE_DETACH,1792725830904374415,-1.054700961e-06,-2.055525749e-05,-1.778769684e-04,-2.974974927e-06,-1.795961066e-05,-1.662707188e-04,-5.253083526e-06,-1.815385354e-05,-1.662195057e-04,7.019545781e-01,-4.282599251e-05,8.599652103e-01,7.019526578e-01,-4.023034569e-05,8.599768165e-01,7.027397136e-01,-1.369966459e-04,8.301596931e-01
+10,6.450000000e+00,DOWN_FORCE_DETACH,1792725831558274947,4.320790602e-06,-2.010140220e-05,-2.134981923e-04,-1.212415485e-06,-2.402557275e-05,-2.090423956e-04,-3.872447670e-06,-2.432916998e-05,-2.090500326e-04,7.019599536e-01,-4.237213722e-05,8.599295890e-01,7.019544204e-01,-4.629630777e-05,8.599340448e-01,7.027410943e-01,-1.431719623e-04,8.301168625e-01
+11,7.083333333e+00,DOWN_FORCE_DETACH,1792725832213293453,2.673808333e-05,-1.598915205e-05,-2.295726439e-04,2.498588226e-05,-2.001474061e-05,-2.189353488e-04,2.428077972e-05,-2.023456854e-05,-2.189248125e-04,7.019823709e-01,-3.825988708e-05,8.599135146e-01,7.019806187e-01,-4.228547563e-05,8.599241519e-01,7.027692475e-01,-1.390773609e-04,8.301069878e-01
+12,7.716666667e+00,DOWN_FORCE_DETACH,1792725832884712582,2.738162455e-05,-2.583962721e-05,-2.758883714e-04,2.484744650e-05,-2.332652031e-05,-2.610059109e-04,2.357495721e-05,-2.363566505e-05,-2.609014512e-04,7.019830144e-01,-4.811036223e-05,8.598671989e-01,7.019804803e-01,-4.559725533e-05,8.598820813e-01,7.027685417e-01,-1.424784574e-04,8.300650111e-01
+13,8.283333333e+00,DOWN_FORCE_DETACH,1792725833458424349,3.165775763e-05,-2.249029590e-05,-3.171220991e-04,2.803379599e-05,-2.135284169e-05,-3.044241850e-04,2.649563775e-05,-2.164135772e-05,-3.043536733e-04,7.019872906e-01,-4.476103093e-05,8.598259651e-01,7.019836666e-01,-4.362357671e-05,8.598386631e-01,7.027714623e-01,-1.404841501e-04,8.300215589e-01
+14,8.983333333e+00,DOWN_FORCE_DETACH,1792725834179019692,3.411858526e-05,-2.702793546e-05,-3.792411316e-04,3.386577593e-05,-2.930969844e-05,-3.651285315e-04,3.204177815e-05,-2.969826590e-05,-3.650632646e-04,7.019897514e-01,-4.929867048e-05,8.597638461e-01,7.019894986e-01,-5.158043347e-05,8.597779587e-01,7.027770085e-01,-1.485410582e-04,8.299608493e-01
+15,9.633333333e+00,DOWN_FORCE_DETACH,1792725834883244086,3.819872059e-05,-3.058745523e-05,-4.453635872e-04,3.452104021e-05,-2.872733269e-05,-4.332098256e-04,3.193334352e-05,-2.913077831e-05,-4.331301492e-04,7.019938315e-01,-5.285819025e-05,8.596977237e-01,7.019901539e-01,-5.099806771e-05,8.597098774e-01,7.027769001e-01,-1.479735706e-04,8.298927824e-01
+16,1.023333333e+01,DOWN_FORCE_DETACH,1792725835489139720,3.689006477e-05,-3.253417331e-05,-5.118129381e-04,3.902145585e-05,-3.059955666e-05,-4.957735650e-04,3.599816107e-05,-3.100865150e-05,-4.957041454e-04,7.019925229e-01,-5.480490833e-05,8.596312743e-01,7.019946543e-01,-5.287029168e-05,8.596473137e-01,7.027809649e-01,-1.498514438e-04,8.298302084e-01
+17,1.081666667e+01,DOWN_FORCE_DETACH,1792725836113688102,4.290090683e-05,-3.194168160e-05,-5.750855729e-04,4.077233090e-05,-3.491797750e-05,-5.589539107e-04,3.708278323e-05,-3.538604498e-05,-5.588647312e-04,7.019985337e-01,-5.421241663e-05,8.595680017e-01,7.019964051e-01,-5.718871253e-05,8.595841333e-01,7.027820495e-01,-1.542288373e-04,8.297670478e-01
+18,1.143333333e+01,DOWN_FORCE_DETACH,1792725836735558080,4.289258257e-05,-3.742926140e-05,-6.553430858e-04,3.997372871e-05,-3.540538096e-05,-6.478705694e-04,3.507232755e-05,-3.587166399e-05,-6.477767576e-04,7.019985254e-01,-5.969999642e-05,8.594877442e-01,7.019956065e-01,-5.767611599e-05,8.594952167e-01,7.027800390e-01,-1.547144563e-04,8.296781358e-01
+19,1.208333333e+01,DOWN_FORCE_DETACH,1792725837422074740,4.561740702e-05,-3.809260619e-05,-7.364115466e-04,4.378779171e-05,-4.057106880e-05,-7.281014123e-04,3.823242777e-05,-4.110137346e-05,-7.280370477e-04,7.020012502e-01,-6.036334121e-05,8.594066757e-01,7.019994206e-01,-6.284180382e-05,8.594149858e-01,7.027831991e-01,-1.599441658e-04,8.295978755e-01
+20,1.260000000e+01,DOWN_FORCE_DETACH,1792725837929695057,4.843038850e-05,-4.286355865e-05,-7.969694307e-04,4.971195261e-05,-3.999414663e-05,-7.954289045e-04,4.378946275e-05,-4.053584998e-05,-7.953713993e-04,7.020040632e-01,-6.513429367e-05,8.593461178e-01,7.020053448e-01,-6.226488165e-05,8.593476583e-01,7.027887562e-01,-1.593786423e-04,8.295305412e-01
+21,1.321666667e+01,DOWN_FORCE_DETACH,1792725838536131488,4.940726989e-05,-4.580729849e-05,-8.799158175e-04,4.968334555e-05,-4.339235224e-05,-8.625599350e-04,4.296286434e-05,-4.398032818e-05,-8.624977837e-04,7.020050401e-01,-6.807803351e-05,8.592631714e-01,7.020053162e-01,-6.566308727e-05,8.592805273e-01,7.027879296e-01,-1.628231205e-04,8.294634148e-01
+22,1.380000000e+01,DOWN_FORCE_DETACH,1792725839224996985,5.370875973e-05,-4.339610211e-05,-9.647080895e-04,5.258368323e-05,-4.693592825e-05,-9.559841096e-04,4.489990859e-05,-4.753668227e-05,-9.559325915e-04,7.020093416e-01,-6.566683713e-05,8.591783791e-01,7.020082165e-01,-6.920666327e-05,8.591871031e-01,7.027898666e-01,-1.663794746e-04,8.293699800e-01
+23,1.441666667e+01,DOWN_FORCE_DETACH,1792725839846369741,5.686293688e-05,-4.852897499e-05,-1.047985622e-03,5.604679952e-05,-4.925076487e-05,-1.042303646e-03,4.760445845e-05,-4.987453190e-05,-1.042258853e-03,7.020124958e-01,-7.079971002e-05,8.590951016e-01,7.020116796e-01,-7.152149989e-05,8.591007836e-01,7.027925712e-01,-1.687173242e-04,8.292836537e-01
+24,1.496666667e+01,DOWN_FORCE_DETACH,1792725840386972181,5.990324781e-05,-5.096368118e-05,-1.120645010e-03,5.472937530e-05,-5.189753929e-05,-1.105744592e-03,4.539626530e-05,-5.257641030e-05,-1.105723769e-03,7.020155361e-01,-7.323441620e-05,8.590224422e-01,7.020103622e-01,-7.416827431e-05,8.590373426e-01,7.027903630e-01,-1.714192026e-04,8.292201888e-01
+25,1.543333333e+01,DOWN_FORCE_DETACH,1792725841026112283,5.958110716e-05,-5.705522142e-05,-1.216415017e-03,5.934405592e-05,-5.707935766e-05,-1.216579613e-03,4.904975393e-05,-5.780874192e-05,-1.216529558e-03,7.020152139e-01,-7.932595644e-05,8.589266722e-01,7.020149769e-01,-7.935009268e-05,8.589265076e-01,7.027940165e-01,-1.766515343e-04,8.291093830e-01
+26,1.603333333e+01,DOWN_FORCE_DETACH,1792725841615677123,6.114917037e-05,-5.112652281e-05,-1.303171626e-03,6.183511533e-05,-5.163817816e-05,-1.301056492e-03,5.068202783e-05,-5.232001492e-05,-1.301029169e-03,7.020167820e-01,-7.339725784e-05,8.588399156e-01,7.020174679e-01,-7.390891318e-05,8.588420307e-01,7.027956487e-01,-1.711628073e-04,8.290248834e-01
+27,1.661666667e+01,DOWN_FORCE_DETACH,1792725842208538707,6.226829728e-05,-5.836657626e-05,-1.397679040e-03,6.249540643e-05,-5.643688523e-05,-1.388289953e-03,5.032775762e-05,-5.720369345e-05,-1.388334314e-03,7.020179011e-01,-8.063731129e-05,8.587454082e-01,7.020181282e-01,-7.870762025e-05,8.587547973e-01,7.027952945e-01,-1.760464858e-04,8.289375783e-01
+28,1.711666667e+01,DOWN_FORCE_DETACH,1792725842811665107,6.466578569e-05,-5.923082849e-05,-1.491300640e-03,6.543486178e-05,-5.874159125e-05,-1.479744057e-03,5.235548171e-05,-5.950864146e-05,-1.479786843e-03,7.020202986e-01,-8.150156351e-05,8.586517866e-01,7.020210677e-01,-8.101232627e-05,8.586633432e-01,7.027973222e-01,-1.783514338e-04,8.288461257e-01
+29,1.768333333e+01,DOWN_FORCE_DETACH,1792725843384587548,7.058150332e-05,-6.437420483e-05,-1.574630237e-03,6.569027869e-05,-6.079705126e-05,-1.567339314e-03,5.158123991e-05,-6.160517929e-05,-1.567397050e-03,7.020262143e-01,-8.664493985e-05,8.585684570e-01,7.020213231e-01,-8.306778628e-05,8.585757479e-01,7.027965479e-01,-1.804479716e-04,8.287585155e-01
+30,1.818333333e+01,DOWN_FORCE_DETACH,1792725843941666694,7.208786240e-05,-6.337673637e-05,-1.668083641e-03,7.418368772e-05,-6.300272828e-05,-1.655711304e-03,5.963658967e-05,-6.383703043e-05,-1.655800538e-03,7.020277207e-01,-8.564747139e-05,8.584750036e-01,7.020298165e-01,-8.527346331e-05,8.584873759e-01,7.028046033e-01,-1.826798228e-04,8.286701120e-01
+31,1.876666667e+01,DOWN_FORCE_DETACH,1792725844547753541,8.149459969e-05,-6.334898782e-05,-1.759277268e-03,8.133198002e-05,-6.346623394e-05,-1.759007016e-03,6.610436509e-05,-6.431758430e-05,-1.759065924e-03,7.020371274e-01,-8.561972284e-05,8.583838100e-01,7.020369648e-01,-8.573696896e-05,8.583840802e-01,7.028110711e-01,-1.831603766e-04,8.285668466e-01
+32,1.935000000e+01,DOWN_FORCE_DETACH,1792725845120903883,8.423153554e-05,-6.647795602e-05,-1.858775746e-03,8.389882378e-05,-6.700470207e-05,-1.844855238e-03,6.783226072e-05,-6.790341271e-05,-1.845012287e-03,7.020398644e-01,-8.874869104e-05,8.582843115e-01,7.020395316e-01,-8.927543709e-05,8.582982320e-01,7.028127990e-01,-1.867462050e-04,8.284809003e-01
+33,1.990000000e+01,DOWN_FORCE_DETACH,1792725845662067545,8.519211777e-05,-6.698998794e-05,-1.959137565e-03,8.363313095e-05,-6.459281887e-05,-1.953754909e-03,6.620257222e-05,-6.545792091e-05,-1.953889279e-03,7.020408249e-01,-8.926072296e-05,8.581839497e-01,7.020392659e-01,-8.686355389e-05,8.581893323e-01,7.028111693e-01,-1.843007132e-04,8.283720233e-01
+34,2.050000000e+01,DOWN_FORCE_DETACH,1792725846251217352,8.935055655e-05,-7.026449139e-05,-2.068242703e-03,8.919084348e-05,-6.799171051e-05,-2.060585013e-03,7.090031705e-05,-6.891612678e-05,-2.060708886e-03,7.020449834e-01,-9.253522642e-05,8.580748445e-01,7.020448237e-01,-9.026244553e-05,8.580825022e-01,7.028158670e-01,-1.877589191e-04,8.282652037e-01
+35,2.096666667e+01,DOWN_FORCE_DETACH,1792725846726601133,9.166685099e-05,-6.760325987e-05,-2.161733613e-03,8.889162266e-05,-7.047964413e-05,-2.150568884e-03,6.946555085e-05,-7.141778989e-05,-2.150713058e-03,7.020472997e-01,-8.987399489e-05,8.579813536e-01,7.020445244e-01,-9.275037915e-05,8.579925184e-01,7.028144323e-01,-1.902605822e-04,8.281751995e-01
+36,2.146666667e+01,DOWN_FORCE_DETACH,1792725847250748832,9.246213200e-05,-6.600853792e-05,-2.271453467e-03,9.217023671e-05,-7.049501537e-05,-2.261889564e-03,7.170255658e-05,-7.142266818e-05,-2.262072709e-03,7.020480949e-01,-8.827927294e-05,8.578716338e-01,7.020478031e-01,-9.276575039e-05,8.578811977e-01,7.028166693e-01,-1.902654605e-04,8.280638399e-01
+37,2.191666667e+01,DOWN_FORCE_DETACH,1792725847693363700,9.125152991e-05,-6.868140296e-05,-2.377498183e-03,9.308997727e-05,-6.830590623e-05,-2.369289376e-03,7.134583712e-05,-6.920461007e-05,-2.369479611e-03,7.020468843e-01,-9.095213798e-05,8.577655891e-01,7.020487228e-01,-9.057664125e-05,8.577737979e-01,7.028163125e-01,-1.880474024e-04,8.279564330e-01
+38,2.240000000e+01,DOWN_FORCE_DETACH,1792725848184168013,9.309716380e-05,-7.384142981e-05,-2.481899149e-03,9.286108448e-05,-7.379472751e-05,-2.481887131e-03,6.970871478e-05,-7.476570659e-05,-2.482056262e-03,7.020487300e-01,-9.611216483e-05,8.576611881e-01,7.020484939e-01,-9.606546254e-05,8.576612001e-01,7.028146754e-01,-1.936084989e-04,8.278438563e-01
+39,2.285000000e+01,DOWN_FORCE_DETACH,1792725848759490857,9.433934317e-05,-7.175308096e-05,-2.613425226e-03,9.435235354e-05,-7.192294276e-05,-2.594890050e-03,6.995945573e-05,-7.287443333e-05,-2.595138675e-03,7.020499722e-01,-9.402381598e-05,8.575296620e-01,7.020499852e-01,-9.419367778e-05,8.575481972e-01,7.028149262e-01,-1.917172257e-04,8.277307739e-01
+40,2.333333333e+01,DOWN_FORCE_DETACH,1792725849299085214,9.945301076e-05,-7.623275417e-05,-2.737223315e-03,9.633971352e-05,-7.254754883e-05,-2.737245146e-03,7.039848233e-05,-7.351692953e-05,-2.737455086e-03,7.020550858e-01,-9.850348919e-05,8.574058639e-01,7.020519725e-01,-9.481828386e-05,8.574058421e-01,7.028153652e-01,-1.923597219e-04,8.275884575e-01
+41,2.380000000e+01,DOWN_FORCE_DETACH,1792725849757695657,9.771270016e-05,-8.140601132e-05,-2.857203704e-03,1.014290179e-04,-7.727688157e-05,-2.849446182e-03,7.445782614e-05,-7.828486872e-05,-2.849733041e-03,7.020533455e-01,-1.036767463e-04,8.572858835e-01,7.020570618e-01,-9.954761660e-05,8.572936411e-01,7.028194245e-01,-1.971276611e-04,8.274761795e-01
+42,2.423333333e+01,DOWN_FORCE_DETACH,1792725850182756565,9.987438195e-05,-8.127226492e-05,-2.969972696e-03,1.005279708e-04,-8.227896829e-05,-2.960794865e-03,7.218924800e-05,-8.333403319e-05,-2.961030396e-03,7.020555072e-01,-1.035429999e-04,8.571731145e-01,7.020561608e-01,-1.045497033e-04,8.571822924e-01,7.028171560e-01,-2.021768255e-04,8.273648822e-01
+43,2.465000000e+01,DOWN_FORCE_DETACH,1792725850609107892,1.010481811e-04,-8.803347377e-05,-3.084270893e-03,1.008935515e-04,-8.791170540e-05,-3.083888078e-03,7.106503438e-05,-8.903597627e-05,-3.084136674e-03,7.020566810e-01,-1.103042088e-04,8.570588163e-01,7.020565264e-01,-1.101824404e-04,8.570591992e-01,7.028160317e-01,-2.078787686e-04,8.272417759e-01
+44,2.506666667e+01,DOWN_FORCE_DETACH,1792725851017994490,1.065149737e-04,-8.754201074e-05,-3.194721848e-03,1.023924697e-04,-8.819592671e-05,-3.196769041e-03,7.136704629e-05,-8.933554426e-05,-3.197077321e-03,7.020621478e-01,-1.098127458e-04,8.569483654e-01,7.020580253e-01,-1.104666617e-04,8.569463182e-01,7.028163338e-01,-2.081783366e-04,8.271288352e-01
+45,2.548333333e+01,DOWN_FORCE_DETACH,1792725851427335681,1.040093620e-04,-8.868563975e-05,-3.320173249e-03,1.041181219e-04,-8.771093387e-05,-3.305830899e-03,7.188127677e-05,-8.885715599e-05,-3.306155965e-03,7.020596422e-01,-1.109563748e-04,8.568229140e-01,7.020597509e-01,-1.099816689e-04,8.568372563e-01,7.028168480e-01,-2.076999483e-04,8.270197566e-01
+46,2.588333333e+01,DOWN_FORCE_DETACH,1792725851820935159,1.065818307e-04,-9.391749286e-05,-3.442049819e-03,1.056975837e-04,-9.674836321e-05,-3.433986187e-03,7.202711653e-05,-9.799682162e-05,-3.434313718e-03,7.020622146e-01,-1.161882279e-04,8.567010374e-01,7.020613304e-01,-1.190190982e-04,8.567091011e-01,7.028169938e-01,-2.168396140e-04,8.268915989e-01
+47,2.628333333e+01,DOWN_FORCE_DETACH,1792725852214025266,1.056675590e-04,-9.690388982e-05,-3.575085479e-03,1.054490267e-04,-9.685022140e-05,-3.575281093e-03,7.005880643e-05,-9.810841030e-05,-3.575673453e-03,7.020613004e-01,-1.191746248e-04,8.565680018e-01,7.020610818e-01,-1.191209564e-04,8.565678061e-01,7.028150255e-01,-2.169512026e-04,8.267502391e-01
+48,2.665000000e+01,DOWN_FORCE_DETACH,1792725852576386721,1.013935236e-04,-1.005588129e-04,-3.711602315e-03,1.013102165e-04,-1.009140325e-04,-3.711649822e-03,6.396445566e-05,-1.022349477e-04,-3.712085835e-03,7.020570263e-01,-1.228295480e-04,8.564314849e-01,7.020569430e-01,-1.231847676e-04,8.564314374e-01,7.028089312e-01,-2.210777400e-04,8.266138267e-01
+49,2.696666667e+01,DOWN_FORCE_DETACH,1792725852934901574,1.008796378e-04,-9.882049528e-05,-3.844602002e-03,9.968424941e-05,-1.012872583e-04,-3.830698129e-03,6.080359352e-05,-1.026311184e-04,-3.831088033e-03,7.020565125e-01,-1.210912303e-04,8.562984852e-01,7.020553171e-01,-1.235579933e-04,8.563123891e-01,7.028057703e-01,-2.214739107e-04,8.264948245e-01
+50,2.730000000e+01,DOWN_FORCE_DETACH,1792725853263329937,1.005534524e-04,-1.024300808e-04,-3.969567314e-03,1.005285470e-04,-1.023544609e-04,-3.969656408e-03,6.000709216e-05,-1.036903753e-04,-3.970080101e-03,7.020561863e-01,-1.247008158e-04,8.561735199e-01,7.020561614e-01,-1.246251959e-04,8.561734308e-01,7.028049738e-01,-2.225331676e-04,8.263558325e-01
+51,2.765000000e+01,DOWN_FORCE_DETACH,1792725853614287699,1.012189701e-04,-1.051114881e-04,-4.104768382e-03,1.010586129e-04,-1.051678960e-04,-4.104858169e-03,5.895000151e-05,-1.065355651e-04,-4.105347566e-03,7.020568518e-01,-1.273822231e-04,8.560383189e-01,7.020566914e-01,-1.274386311e-04,8.560382291e-01,7.028039167e-01,-2.253783574e-04,8.262205650e-01
+52,2.796666667e+01,DOWN_FORCE_DETACH,1792725853934101242,1.096910750e-04,-1.133913241e-04,-4.235718720e-03,1.083799423e-04,-1.069219528e-04,-4.223483659e-03,6.543962242e-05,-1.083089473e-04,-4.223971499e-03,7.020653239e-01,-1.356620591e-04,8.559073685e-01,7.020640128e-01,-1.291926878e-04,8.559196036e-01,7.028104063e-01,-2.271517397e-04,8.261019411e-01
+53,2.828333333e+01,DOWN_FORCE_DETACH,1792725854245668263,1.063364260e-04,-1.183161432e-04,-4.370309146e-03,1.089690344e-04,-1.151778568e-04,-4.359757744e-03,6.448327568e-05,-1.166802619e-04,-4.360224033e-03,7.020619692e-01,-1.405868782e-04,8.557727781e-01,7.020646019e-01,-1.374485919e-04,8.557833295e-01,7.028094500e-01,-2.355230542e-04,8.259656885e-01
+54,2.856666667e+01,DOWN_FORCE_DETACH,1792725854540841546,1.051224438e-04,-1.221950358e-04,-4.507621707e-03,1.048511964e-04,-1.222666590e-04,-4.507460558e-03,5.824594005e-05,-1.238462028e-04,-4.507977949e-03,7.020607553e-01,-1.444657708e-04,8.556354655e-01,7.020604840e-01,-1.445373941e-04,8.556356267e-01,7.028032126e-01,-2.426889952e-04,8.258179346e-01
+55,2.886666667e+01,DOWN_FORCE_DETACH,1792725854835260006,9.781991444e-05,-1.256634696e-04,-4.654247287e-03,1.007946408e-04,-1.225321084e-04,-4.642750389e-03,5.225443536e-05,-1.240683326e-04,-4.643320657e-03,7.020534527e-01,-1.479342046e-04,8.554888400e-01,7.020564275e-01,-1.448028434e-04,8.555003368e-01,7.027972211e-01,-2.429111249e-04,8.256825919e-01
+56,2.915000000e+01,DOWN_FORCE_DETACH,1792725855113509247,9.640951362e-05,-1.318203836e-04,-4.788439794e-03,9.597337403e-05,-1.304574492e-04,-4.781029943e-03,4.540454553e-05,-1.321482191e-04,-4.781566377e-03,7.020520423e-01,-1.540911186e-04,8.553546474e-01,7.020516062e-01,-1.527281842e-04,8.553620573e-01,7.027903713e-01,-2.509910114e-04,8.255443462e-01
+57,2.943333333e+01,DOWN_FORCE_DETACH,1792725855391462420,1.003847255e-04,-1.405384274e-04,-4.924553805e-03,1.002124399e-04,-1.404248362e-04,-4.924435626e-03,4.828135480e-05,-1.422502519e-04,-4.925027899e-03,7.020560175e-01,-1.628091624e-04,8.552185334e-01,7.020558453e-01,-1.626955712e-04,8.552186516e-01,7.027932481e-01,-2.610930442e-04,8.254008847e-01
+58,2.975000000e+01,DOWN_SETTLE,1792725855703422477,1.117734290e-04,-1.383149102e-04,-5.052106020e-03,1.116354706e-04,-1.386257718e-04,-5.051922450e-03,5.905007408e-05,-1.404154912e-04,-5.052582915e-03,7.020674062e-01,-1.605856453e-04,8.550909812e-01,7.020672683e-01,-1.608965068e-04,8.550911648e-01,7.028040168e-01,-2.592582835e-04,8.252733297e-01
+59,3.048333333e+01,DOWN_PEAK_HOLD,1792725856472874239,1.048513798e-04,-1.415508275e-04,-5.099512704e-03,1.057162031e-04,-1.403770145e-04,-5.093071403e-03,5.223355948e-05,-1.422341726e-04,-5.094026854e-03,7.020604842e-01,-1.638215626e-04,8.550435745e-01,7.020613490e-01,-1.626477495e-04,8.550500158e-01,7.027972003e-01,-2.610769649e-04,8.252318857e-01

Part2/Fixed/digit/ball_0010_12.5/press_depth_04/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+00,1.4373e-02,2.3579e-02,2.4548e+00,-3.8414e-02,3.7800e-02,3.5957e-05,1.1824e-04,-1.7378e-06,-9.5367e-06,3.0920e-07,8.3819e-06,-1.5830e-07,1.1864e-04,8.3891e-06
+1,7.1667e-01,DOWN_FORCE_DETACH,1.4991e-04,1.8313e-02,2.3510e-02,2.4545e+00,-3.8404e-02,3.8079e-02,2.9159e-05,4.0581e-03,-7.0885e-05,-3.0899e-04,1.0893e-05,2.8733e-04,-6.9557e-06,4.0705e-03,2.8762e-04
+2,1.3333e+00,DOWN_FORCE_DETACH,2.9920e-04,2.0463e-02,2.3453e-02,2.4544e+00,-3.8397e-02,3.8231e-02,2.4024e-05,6.2086e-03,-1.2745e-04,-4.9424e-04,1.7151e-05,4.3942e-04,-1.2091e-05,6.2296e-03,4.3992e-04
+3,1.8833e+00,DOWN_FORCE_DETACH,4.4987e-04,2.1754e-02,2.3407e-02,2.4542e+00,-3.8393e-02,3.8322e-02,2.0120e-05,7.4993e-03,-1.7312e-04,-6.4850e-04,2.1078e-05,5.3055e-04,-1.5995e-05,7.5293e-03,5.3121e-04
+4,2.5500e+00,DOWN_FORCE_DETACH,5.9966e-04,2.3683e-02,2.7170e-02,2.4599e+00,-3.8655e-02,3.8452e-02,1.7042e-05,9.4287e-03,3.5894e-03,5.0125e-03,-2.4014e-04,6.6086e-04,-1.9073e-05,1.1265e-02,7.0339e-04
+5,3.2000e+00,DOWN_FORCE_DETACH,7.4999e-04,2.4368e-02,2.8054e-02,2.4628e+00,-3.8714e-02,3.8497e-02,1.2544e-05,1.0114e-02,4.4736e-03,7.9560e-03,-2.9965e-04,7.0569e-04,-2.3571e-05,1.3623e-02,7.6704e-04
+6,3.7833e+00,DOWN_FORCE_DETACH,8.9964e-04,2.5293e-02,2.7964e-02,2.4658e+00,-3.8704e-02,3.8558e-02,7.2764e-06,1.1038e-02,4.3835e-03,1.0951e-02,-2.8926e-04,7.6693e-04,-2.8838e-05,1.6155e-02,8.2017e-04
+7,4.4167e+00,DOWN_FORCE_DETACH,1.0492e-03,2.5049e-02,3.1504e-02,2.4668e+00,-3.8944e-02,3.8538e-02,1.2562e-06,1.0795e-02,7.9236e-03,1.1940e-02,-5.2954e-04,7.4712e-04,-3.4859e-05,1.7941e-02,9.1642e-04
+8,5.1333e+00,DOWN_FORCE_DETACH,1.2017e-03,2.4935e-02,3.3173e-02,2.4710e+00,-3.9052e-02,3.8524e-02,-7.7220e-06,1.0681e-02,9.5930e-03,1.6103e-02,-6.3793e-04,7.3269e-04,-4.3837e-05,2.1573e-02,9.7248e-04
+9,5.8000e+00,DOWN_FORCE_DETACH,1.3489e-03,2.5003e-02,3.6633e-02,2.4750e+00,-3.9288e-02,3.8522e-02,-1.6778e-05,1.0748e-02,1.3053e-02,2.0189e-02,-8.7351e-04,7.3107e-04,-5.2893e-05,2.6334e-02,1.1403e-03
+10,6.4500e+00,DOWN_FORCE_DETACH,1.4997e-03,2.4699e-02,4.1002e-02,2.4788e+00,-3.9591e-02,3.8495e-02,-2.5676e-05,1.0445e-02,1.7421e-02,2.3983e-02,-1.1766e-03,7.0400e-04,-6.1791e-05,3.1429e-02,1.3725e-03
+11,7.0833e+00,DOWN_FORCE_DETACH,1.6509e-03,1.8769e-02,3.7643e-02,2.4750e+00,-3.9363e-02,3.8080e-02,-3.3259e-05,4.5145e-03,1.4062e-02,2.0126e-02,-9.4904e-04,2.8884e-04,-6.9374e-05,2.4964e-02,9.9444e-04
+12,7.7167e+00,DOWN_FORCE_DETACH,1.7982e-03,2.1404e-02,3.9946e-02,2.4787e+00,-3.9531e-02,3.8263e-02,-4.0703e-05,7.1491e-03,1.6365e-02,2.3827e-02,-1.1165e-03,4.7152e-04,-7.6817e-05,2.9777e-02,1.2144e-03
+13,8.2833e+00,DOWN_FORCE_DETACH,1.9502e-03,2.1804e-02,3.8509e-02,2.4820e+00,-3.9440e-02,3.8289e-02,-4.8155e-05,7.5498e-03,1.4928e-02,2.7106e-02,-1.0257e-03,4.9780e-04,-8.4270e-05,3.1852e-02,1.1432e-03
+14,8.9833e+00,DOWN_FORCE_DETACH,2.0990e-03,2.1140e-02,4.3628e-02,2.4851e+00,-3.9811e-02,3.8241e-02,-5.3110e-05,6.8860e-03,2.0048e-02,3.0214e-02,-1.3969e-03,4.5011e-04,-8.9225e-05,3.6908e-02,1.4703e-03
+15,9.6333e+00,DOWN_FORCE_DETACH,2.2523e-03,2.1465e-02,4.2813e-02,2.4893e+00,-3.9765e-02,3.8262e-02,-5.5272e-05,7.2106e-03,1.9232e-02,3.4406e-02,-1.3511e-03,4.7117e-04,-9.1387e-05,4.0070e-02,1.4338e-03
+16,1.0233e+01,DOWN_FORCE_DETACH,2.4003e-03,1.9760e-02,4.3544e-02,2.4909e+00,-3.9820e-02,3.8142e-02,-5.1027e-05,5.5052e-03,1.9963e-02,3.6024e-02,-1.4058e-03,3.5030e-04,-8.7142e-05,4.1552e-02,1.4514e-03
+17,1.0817e+01,DOWN_FORCE_DETACH,2.5492e-03,1.9007e-02,4.6264e-02,2.4916e+00,-4.0004e-02,3.8088e-02,-4.1448e-05,4.7521e-03,2.2684e-02,3.6732e-02,-1.5894e-03,2.9648e-04,-7.7563e-05,4.3433e-02,1.6187e-03
+18,1.1433e+01,DOWN_FORCE_DETACH,2.7017e-03,1.9558e-02,4.6757e-02,2.4980e+00,-4.0026e-02,3.8120e-02,-2.6825e-05,5.3038e-03,2.3176e-02,4.3102e-02,-1.6114e-03,3.2895e-04,-6.2940e-05,4.9224e-02,1.6458e-03
+19,1.2083e+01,DOWN_FORCE_DETACH,2.8508e-03,1.9174e-02,5.0409e-02,2.5002e+00,-4.0279e-02,3.8091e-02,-5.1603e-06,4.9195e-03,2.6829e-02,4.5379e-02,-1.8642e-03,3.0025e-04,-4.1275e-05,5.2945e-02,1.8887e-03
+20,1.2600e+01,DOWN_FORCE_DETACH,3.0008e-03,1.8277e-02,5.0042e-02,2.5035e+00,-4.0251e-02,3.8027e-02,1.2871e-05,4.0221e-03,2.6461e-02,4.8681e-02,-1.8369e-03,2.3535e-04,-2.3244e-05,5.5554e-02,1.8520e-03
+21,1.3217e+01,DOWN_FORCE_DETACH,3.1547e-03,2.0132e-02,5.2593e-02,2.4998e+00,-4.0414e-02,3.8161e-02,3.1424e-05,5.8777e-03,2.9012e-02,4.4990e-02,-1.9995e-03,3.6990e-04,-4.6909e-06,5.3855e-02,2.0334e-03
+22,1.3800e+01,DOWN_FORCE_DETACH,3.3006e-03,2.1678e-02,5.6329e-02,2.5046e+00,-4.0646e-02,3.8267e-02,4.4023e-05,7.4240e-03,3.2749e-02,4.9769e-02,-2.2317e-03,4.7549e-04,7.9085e-06,6.0038e-02,2.2818e-03
+23,1.4417e+01,DOWN_FORCE_DETACH,3.4510e-03,2.2741e-02,5.9068e-02,2.5053e+00,-4.0810e-02,3.8341e-02,4.5009e-05,8.4861e-03,3.5488e-02,5.0403e-02,-2.3952e-03,5.4942e-04,8.8941e-06,6.2224e-02,2.4574e-03
+24,1.4967e+01,DOWN_FORCE_DETACH,3.6009e-03,2.4467e-02,6.1493e-02,2.5021e+00,-4.0962e-02,3.8462e-02,3.2047e-05,1.0213e-02,3.7912e-02,4.7284e-02,-2.5472e-03,6.7030e-04,-4.0677e-06,6.1461e-02,2.6340e-03
+25,1.5433e+01,DOWN_FORCE_DETACH,3.7510e-03,2.5123e-02,6.1465e-02,2.5118e+00,-4.0951e-02,3.8494e-02,1.3880e-05,1.0869e-02,3.7884e-02,5.6981e-02,-2.5365e-03,7.0302e-04,-2.2235e-05,6.9283e-02,2.6322e-03
+26,1.6033e+01,DOWN_FORCE_DETACH,3.8998e-03,2.4636e-02,6.2130e-02,2.5173e+00,-4.0994e-02,3.8454e-02,-1.4408e-05,1.0381e-02,3.8550e-02,6.2420e-02,-2.5794e-03,6.6253e-04,-5.0523e-05,7.4095e-02,2.6636e-03
+27,1.6617e+01,DOWN_FORCE_DETACH,4.0513e-03,2.5387e-02,6.5996e-02,2.5151e+00,-4.1263e-02,3.8511e-02,-3.3035e-05,1.1132e-02,4.2415e-02,6.0202e-02,-2.8487e-03,7.1944e-04,-6.9150e-05,7.4480e-02,2.9389e-03
+28,1.7117e+01,DOWN_FORCE_DETACH,4.2001e-03,2.5337e-02,6.7880e-02,2.5167e+00,-4.1387e-02,3.8506e-02,-3.4549e-05,1.1083e-02,4.4300e-02,6.1849e-02,-2.9729e-03,7.1519e-04,-7.0663e-05,7.6880e-02,3.0585e-03
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Part2/Fixed/digit/ball_0010_12.5/press_depth_04/up/camera_frames_60hz.tar

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Part2/Fixed/digit/ball_0010_12.5/press_depth_04/up/franka_data.csv

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Part2/Fixed/digit/ball_0010_12.5/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+50,1.585000000e+01,UP_FORCE_RAMP,1792725813080492972,-3.696768394e-05,-2.907322572e-04,8.949729724e-04,-3.881769539e-05,-2.978685097e-04,8.902339978e-04,-3.066127855e-05,-3.017514348e-04,8.902537141e-04,7.019186651e-01,-3.130029923e-04,8.610380602e-01,7.019168151e-01,-3.201392447e-04,8.610333212e-01,7.027143055e-01,-4.205942257e-04,8.312161663e-01
+51,1.615000000e+01,UP_FORCE_RAMP,1792725813425169242,-3.803473819e-05,-2.925197451e-04,9.067152256e-04,-3.881769539e-05,-2.978685097e-04,8.902339978e-04,-3.066349240e-05,-3.017535238e-04,8.902827975e-04,7.019175981e-01,-3.147904801e-04,8.610498025e-01,7.019168151e-01,-3.201392447e-04,8.610333212e-01,7.027143032e-01,-4.205963147e-04,8.312161954e-01
+52,1.648333333e+01,UP_FORCE_RAMP,1792725813905760713,-3.626287211e-05,-2.903342015e-04,9.234412049e-04,-3.679800312e-05,-2.943717826e-04,9.112528048e-04,-2.820205587e-05,-2.982323469e-04,9.113496736e-04,7.019193699e-01,-3.126049365e-04,8.610665284e-01,7.019188348e-01,-3.166425176e-04,8.610543400e-01,7.027167647e-01,-4.170751378e-04,8.312372622e-01
+53,1.686666667e+01,UP_FORCE_HOLD,1792725814309195083,-3.748363079e-05,-2.865312967e-04,9.342718599e-04,-3.720939325e-05,-2.889079760e-04,9.305242388e-04,-2.837076326e-05,-2.926533138e-04,9.306480950e-04,7.019181492e-01,-3.088020317e-04,8.610773591e-01,7.019184234e-01,-3.111787110e-04,8.610736115e-01,7.027165960e-01,-4.114961047e-04,8.312565607e-01
+54,1.715000000e+01,UP_FORCE_HOLD,1792725814587825138,-3.681963792e-05,-2.893960483e-04,9.452953118e-04,-3.720939325e-05,-2.889079760e-04,9.305242388e-04,-2.837189022e-05,-2.926533079e-04,9.306715345e-04,7.019188132e-01,-3.116667834e-04,8.610883826e-01,7.019184234e-01,-3.111787110e-04,8.610736115e-01,7.027165949e-01,-4.114960988e-04,8.312565841e-01
+55,1.740000000e+01,UP_FORCE_HOLD,1792725814931590654,-3.893183232e-05,-2.827227226e-04,9.506823980e-04,-3.815863335e-05,-2.938746181e-04,9.500311658e-04,-2.922110382e-05,-2.976959862e-04,9.501557062e-04,7.019167010e-01,-3.049934576e-04,8.610937696e-01,7.019174742e-01,-3.161453531e-04,8.610931184e-01,7.027157456e-01,-4.165387770e-04,8.312760683e-01
+56,1.773333333e+01,UP_FORCE_HOLD,1792725815357730919,-4.122807629e-05,-2.859662784e-04,9.562206517e-04,-3.815863335e-05,-2.938746181e-04,9.500311658e-04,-2.922276001e-05,-2.976964672e-04,9.501838822e-04,7.019144047e-01,-3.082370134e-04,8.610993079e-01,7.019174742e-01,-3.161453531e-04,8.610931184e-01,7.027157440e-01,-4.165392581e-04,8.312760964e-01
+57,1.795000000e+01,UP_FORCE_HOLD,1792725815570758612,-4.409167036e-05,-2.937487093e-04,9.584872393e-04,-3.815863335e-05,-2.938746181e-04,9.500311658e-04,-2.922405888e-05,-2.976963408e-04,9.501958555e-04,7.019115411e-01,-3.160194443e-04,8.611015745e-01,7.019174742e-01,-3.161453531e-04,8.610931184e-01,7.027157427e-01,-4.165391317e-04,8.312761084e-01
+58,1.806666667e+01,UP_FORCE_HOLD,1792725815685047016,-4.301030672e-05,-2.904230164e-04,9.638025522e-04,-3.887047728e-05,-2.970100507e-04,9.655413307e-04,-2.979936125e-05,-3.008787590e-04,9.657134236e-04,7.019126225e-01,-3.126937514e-04,8.611068898e-01,7.019167623e-01,-3.192807857e-04,8.611086286e-01,7.027151674e-01,-4.197215499e-04,8.312916260e-01
+59,1.818333333e+01,UP_FORCE_HOLD,1792725815799555804,-4.097393623e-05,-2.805858462e-04,9.628742464e-04,-4.298230543e-05,-2.996820000e-04,9.625277138e-04,-3.420910875e-05,-3.036109470e-04,9.626933246e-04,7.019146589e-01,-3.028565812e-04,8.611059615e-01,7.019126505e-01,-3.219527351e-04,8.611056150e-01,7.027107576e-01,-4.224537379e-04,8.312886059e-01

Part2/Fixed/digit/ball_0010_12.5/press_depth_04/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+00,1.4378e-02,2.3579e-02,2.4548e+00,-3.8414e-02,3.7800e-02,3.5947e-05,1.1841e-04,-1.7323e-06,-9.5367e-06,3.1292e-07,8.3894e-06,-1.5652e-07,1.1880e-04,8.3966e-06
+1,2.1667e-01,WAIT_W2,7.7858e-05,1.5786e-02,2.3558e-02,2.4547e+00,-3.8410e-02,3.7900e-02,3.3865e-05,1.5263e-03,-2.2717e-05,-1.1826e-04,3.9712e-06,1.0813e-04,-2.2392e-06,1.5310e-03,1.0822e-04
+2,4.8333e-01,WAIT_W2,1.5329e-04,1.7243e-02,2.3532e-02,2.4546e+00,-3.8406e-02,3.8003e-02,3.1310e-05,2.9832e-03,-4.8710e-05,-2.2697e-04,7.9088e-06,2.1126e-04,-4.7933e-06,2.9922e-03,2.1146e-04
+3,8.0000e-01,WAIT_W2,2.3129e-04,1.8662e-02,2.3502e-02,2.4545e+00,-3.8403e-02,3.8103e-02,2.8427e-05,4.4025e-03,-7.9142e-05,-3.3545e-04,1.1873e-05,3.1168e-04,-7.6763e-06,4.4160e-03,3.1200e-04
+4,1.1333e+00,WAIT_W2,3.0637e-04,2.0491e-02,3.9444e-02,2.4537e+00,-3.9514e-02,3.8233e-02,2.9827e-05,6.2311e-03,1.5863e-02,-1.1640e-03,-1.0994e-03,4.4117e-04,-6.2769e-06,1.7083e-02,1.1846e-03
+5,1.4167e+00,WAIT_W2,3.8433e-04,2.2753e-02,6.7186e-02,2.4546e+00,-4.1450e-02,3.8391e-02,3.4043e-05,8.4935e-03,4.3605e-02,-2.2650e-04,-3.0357e-03,5.9918e-04,-2.0612e-06,4.4425e-02,3.0943e-03
+6,1.7000e+00,WAIT_W2,4.5871e-04,2.3983e-02,1.0994e-01,2.4543e+00,-4.4437e-02,3.8477e-02,4.1773e-05,9.7233e-03,8.6355e-02,-5.2547e-04,-6.0228e-03,6.8548e-04,5.6696e-06,8.6902e-02,6.0617e-03
+7,1.8333e+00,WAIT_W2,5.4391e-04,2.4485e-02,1.3948e-01,2.4528e+00,-4.6504e-02,3.8513e-02,4.8564e-05,1.0225e-02,1.1590e-01,-2.0785e-03,-8.0900e-03,7.2179e-04,1.2460e-05,1.1637e-01,8.1222e-03
+8,2.0667e+00,WAIT_W2,6.1450e-04,2.6934e-02,1.8807e-01,2.4546e+00,-4.9913e-02,3.8684e-02,5.7539e-05,1.2674e-02,1.6449e-01,-2.4366e-04,-1.1498e-02,8.9284e-04,2.1436e-05,1.6498e-01,1.1533e-02
+9,2.3500e+00,WAIT_W2,6.8885e-04,2.8544e-02,2.0334e-01,2.4565e+00,-5.1000e-02,3.8796e-02,5.4046e-05,1.4284e-02,1.7976e-01,1.6479e-03,-1.2585e-02,1.0049e-03,1.7942e-05,1.8033e-01,1.2625e-02
+10,2.6667e+00,WAIT_W2,7.6555e-04,3.0221e-02,2.3086e-01,2.4580e+00,-5.2943e-02,3.8914e-02,5.5193e-05,1.5962e-02,2.0728e-01,3.1495e-03,-1.4528e-02,1.1223e-03,1.9089e-05,2.0792e-01,1.4572e-02
+11,3.0167e+00,WAIT_W2,8.4162e-04,3.0911e-02,2.3026e-01,2.4589e+00,-5.2918e-02,3.8962e-02,4.6853e-05,1.6651e-02,2.0668e-01,4.0143e-03,-1.4503e-02,1.1706e-03,1.0749e-05,2.0739e-01,1.4550e-02
+12,3.4333e+00,WAIT_W2,9.1963e-04,3.1665e-02,2.3001e-01,2.4592e+00,-5.2912e-02,3.9016e-02,3.8049e-05,1.7406e-02,2.0643e-01,4.3235e-03,-1.4497e-02,1.2240e-03,1.9454e-06,2.0721e-01,1.4549e-02
+13,3.7500e+00,UP_FORCE_RAMP,9.9858e-04,3.2172e-02,2.2988e-01,2.4592e+00,-5.2908e-02,3.9052e-02,3.1830e-05,1.7912e-02,2.0630e-01,4.3464e-03,-1.4494e-02,1.2600e-03,-4.2735e-06,2.0712e-01,1.4549e-02
+14,4.0833e+00,UP_FORCE_RAMP,1.0733e-03,3.2650e-02,2.2976e-01,2.4591e+00,-5.2905e-02,3.9086e-02,2.5666e-05,1.8390e-02,2.0618e-01,4.2710e-03,-1.4491e-02,1.2939e-03,-1.0438e-05,2.0704e-01,1.4548e-02
+15,4.4667e+00,UP_FORCE_RAMP,1.1474e-03,3.3139e-02,2.2964e-01,2.4590e+00,-5.2901e-02,3.9120e-02,1.9061e-05,1.8879e-02,2.0606e-01,4.1196e-03,-1.4487e-02,1.3288e-03,-1.7042e-05,2.0696e-01,1.4548e-02
+16,4.7667e+00,UP_FORCE_RAMP,1.2239e-03,3.3485e-02,2.2956e-01,2.4588e+00,-5.2899e-02,3.9145e-02,1.4251e-05,1.9225e-02,2.0598e-01,3.9783e-03,-1.4484e-02,1.3535e-03,-2.1853e-05,2.0691e-01,1.4547e-02
+17,5.1500e+00,UP_FORCE_RAMP,1.3040e-03,3.3888e-02,2.2946e-01,2.4586e+00,-5.2895e-02,3.9174e-02,8.5421e-06,1.9628e-02,2.0588e-01,3.7875e-03,-1.4481e-02,1.3823e-03,-2.7562e-05,2.0685e-01,1.4547e-02
+18,5.5000e+00,UP_FORCE_RAMP,1.3814e-03,3.3334e-02,2.2706e-01,2.4534e+00,-5.2748e-02,3.9141e-02,5.4413e-06,1.9074e-02,2.0348e-01,-1.5035e-03,-1.4334e-02,1.3494e-03,-3.0662e-05,2.0437e-01,1.4397e-02
+19,5.8833e+00,UP_FORCE_RAMP,1.4579e-03,3.3881e-02,2.2719e-01,2.4495e+00,-5.2784e-02,3.9185e-02,2.5067e-06,1.9621e-02,2.0361e-01,-5.3873e-03,-1.4370e-02,1.3930e-03,-3.3597e-05,2.0463e-01,1.4437e-02
+20,6.1667e+00,UP_FORCE_RAMP,1.5329e-03,3.3628e-02,2.2350e-01,2.4469e+00,-5.2555e-02,3.9171e-02,1.1940e-06,1.9368e-02,1.9992e-01,-7.9331e-03,-1.4140e-02,1.3791e-03,-3.4910e-05,2.0101e-01,1.4207e-02
+21,6.4500e+00,UP_FORCE_RAMP,1.6084e-03,3.4724e-02,2.2206e-01,2.4441e+00,-5.2483e-02,3.9252e-02,-2.1798e-06,2.0464e-02,1.9848e-01,-1.0789e-02,-1.4069e-02,1.4604e-03,-3.8283e-05,1.9982e-01,1.4144e-02
+22,6.7500e+00,UP_FORCE_RAMP,1.6853e-03,3.5217e-02,2.2136e-01,2.4357e+00,-5.2480e-02,3.9297e-02,-3.8962e-06,2.0957e-02,1.9778e-01,-1.9151e-02,-1.4065e-02,1.5052e-03,-4.0000e-05,1.9980e-01,1.4146e-02
+23,7.0333e+00,UP_FORCE_RAMP,1.7614e-03,3.3384e-02,2.1773e-01,2.4294e+00,-5.2279e-02,3.9176e-02,-3.0007e-06,1.9124e-02,1.9415e-01,-2.5465e-02,-1.3865e-02,1.3844e-03,-3.9104e-05,1.9675e-01,1.3934e-02
+24,7.3500e+00,UP_FORCE_RAMP,1.8380e-03,3.3938e-02,2.1710e-01,2.4250e+00,-5.2285e-02,3.9221e-02,-3.0017e-06,1.9678e-02,1.9352e-01,-2.9872e-02,-1.3870e-02,1.4297e-03,-3.9105e-05,1.9680e-01,1.3944e-02
+25,7.6667e+00,UP_FORCE_RAMP,1.9146e-03,3.5855e-02,2.1570e-01,2.4222e+00,-5.2230e-02,3.9361e-02,-7.7072e-06,2.1595e-02,1.9212e-01,-3.2615e-02,-1.3816e-02,1.5698e-03,-4.3811e-05,1.9606e-01,1.3905e-02
+26,7.9500e+00,UP_FORCE_RAMP,1.9932e-03,3.5266e-02,2.1468e-01,2.4239e+00,-5.2181e-02,3.9319e-02,-1.0761e-05,2.1006e-02,1.9110e-01,-3.0940e-02,-1.3767e-02,1.5278e-03,-4.6864e-05,1.9473e-01,1.3851e-02
+27,8.2667e+00,UP_FORCE_RAMP,2.0677e-03,3.4443e-02,2.1350e-01,2.4197e+00,-5.2130e-02,3.9267e-02,-1.3531e-05,2.0183e-02,1.8992e-01,-3.5194e-02,-1.3715e-02,1.4751e-03,-4.9634e-05,1.9421e-01,1.3794e-02
+28,8.6000e+00,UP_FORCE_RAMP,2.1472e-03,3.3371e-02,2.1106e-01,2.4166e+00,-5.1985e-02,3.9195e-02,-1.3998e-05,1.9112e-02,1.8747e-01,-3.8209e-02,-1.3571e-02,1.4031e-03,-5.0102e-05,1.9228e-01,1.3643e-02
+29,8.8833e+00,UP_FORCE_RAMP,2.2219e-03,3.2371e-02,2.1264e-01,2.4120e+00,-5.2124e-02,3.9129e-02,-1.1585e-05,1.8111e-02,1.8906e-01,-4.2810e-02,-1.3709e-02,1.3373e-03,-4.7688e-05,1.9469e-01,1.3774e-02
+30,9.2167e+00,UP_FORCE_RAMP,2.3006e-03,3.2229e-02,2.0834e-01,2.4162e+00,-5.1831e-02,3.9114e-02,-1.1789e-05,1.7969e-02,1.8476e-01,-3.8689e-02,-1.3417e-02,1.3224e-03,-4.7892e-05,1.8962e-01,1.3482e-02
+31,9.5500e+00,UP_FORCE_RAMP,2.3772e-03,3.2449e-02,2.1067e-01,2.4116e+00,-5.2014e-02,3.9133e-02,-9.1004e-06,1.8189e-02,1.8709e-01,-4.3208e-02,-1.3600e-02,1.3414e-03,-4.5204e-05,1.9288e-01,1.3666e-02
+32,9.7833e+00,UP_FORCE_RAMP,2.4547e-03,3.1823e-02,2.1070e-01,2.4112e+00,-5.2022e-02,3.9089e-02,-7.3821e-06,1.7563e-02,1.8712e-01,-4.3697e-02,-1.3607e-02,1.2971e-03,-4.3486e-05,1.9295e-01,1.3669e-02
+33,1.0133e+01,UP_FORCE_RAMP,2.5301e-03,3.2313e-02,2.1146e-01,2.4154e+00,-5.2072e-02,3.9118e-02,-5.8035e-06,1.8053e-02,1.8788e-01,-3.9407e-02,-1.3658e-02,1.3264e-03,-4.1907e-05,1.9281e-01,1.3722e-02
+34,1.0450e+01,UP_FORCE_RAMP,2.6052e-03,3.5725e-02,2.1308e-01,2.4192e+00,-5.2174e-02,3.9354e-02,-1.2534e-05,2.1465e-02,1.8950e-01,-3.5637e-02,-1.3759e-02,1.5621e-03,-4.8638e-05,1.9401e-01,1.3848e-02
+35,1.0800e+01,UP_FORCE_RAMP,2.6819e-03,3.5152e-02,2.1163e-01,2.4212e+00,-5.2059e-02,3.9311e-02,-1.5477e-05,2.0892e-02,1.8805e-01,-3.3634e-02,-1.3644e-02,1.5191e-03,-5.1580e-05,1.9217e-01,1.3729e-02
+36,1.1117e+01,UP_FORCE_RAMP,2.7568e-03,3.5015e-02,2.0666e-01,2.4152e+00,-5.1717e-02,3.9307e-02,-1.6180e-05,2.0755e-02,1.8308e-01,-3.9660e-02,-1.3302e-02,1.5154e-03,-5.2284e-05,1.8847e-01,1.3388e-02
+37,1.1400e+01,UP_FORCE_RAMP,2.8368e-03,3.3803e-02,2.1065e-01,2.4170e+00,-5.1987e-02,3.9220e-02,-1.2157e-05,1.9543e-02,1.8707e-01,-3.7812e-02,-1.3573e-02,1.4281e-03,-4.8261e-05,1.9185e-01,1.3648e-02
+38,1.1683e+01,UP_FORCE_RAMP,2.9121e-03,3.2423e-02,2.0819e-01,2.4165e+00,-5.1812e-02,3.9123e-02,-8.7675e-06,1.8163e-02,1.8461e-01,-3.8359e-02,-1.3398e-02,1.3319e-03,-4.4871e-05,1.8943e-01,1.3464e-02
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+41,1.2667e+01,UP_FORCE_RAMP,3.1422e-03,3.3205e-02,2.1143e-01,2.4198e+00,-5.2010e-02,3.9178e-02,-7.2536e-06,1.8945e-02,1.8785e-01,-3.5103e-02,-1.3596e-02,1.3867e-03,-4.3357e-05,1.9204e-01,1.3666e-02
+42,1.3033e+01,UP_FORCE_RAMP,3.2173e-03,3.3116e-02,2.0660e-01,2.4210e+00,-5.1659e-02,3.9172e-02,-1.0871e-05,1.8856e-02,1.8302e-01,-3.3897e-02,-1.3245e-02,1.3803e-03,-4.6975e-05,1.8709e-01,1.3317e-02
+43,1.3350e+01,UP_FORCE_RAMP,3.2934e-03,3.2988e-02,2.0558e-01,2.4211e+00,-5.1579e-02,3.9164e-02,-1.3138e-05,1.8728e-02,1.8200e-01,-3.3767e-02,-1.3165e-02,1.3720e-03,-4.9242e-05,1.8605e-01,1.3236e-02
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+45,1.4050e+01,UP_FORCE_RAMP,3.4501e-03,3.3705e-02,2.0484e-01,2.4226e+00,-5.1503e-02,3.9213e-02,-2.3044e-05,1.9445e-02,1.8126e-01,-3.2280e-02,-1.3089e-02,1.4216e-03,-5.9148e-05,1.8514e-01,1.3166e-02
+46,1.4367e+01,UP_FORCE_RAMP,3.5216e-03,3.3623e-02,2.0427e-01,2.4223e+00,-5.1452e-02,3.9207e-02,-2.8864e-05,1.9364e-02,1.8068e-01,-3.2546e-02,-1.3038e-02,1.4156e-03,-6.4967e-05,1.8461e-01,1.3115e-02
+47,1.4767e+01,UP_FORCE_RAMP,3.6017e-03,3.4393e-02,2.0232e-01,2.4253e+00,-5.1300e-02,3.9258e-02,-3.7264e-05,2.0133e-02,1.7874e-01,-2.9521e-02,-1.2886e-02,1.4666e-03,-7.3368e-05,1.8227e-01,1.2970e-02
+48,1.5150e+01,UP_FORCE_RAMP,3.6778e-03,3.4548e-02,2.0229e-01,2.4324e+00,-5.1269e-02,3.9261e-02,-4.4833e-05,2.0288e-02,1.7870e-01,-2.2439e-02,-1.2854e-02,1.4694e-03,-8.0937e-05,1.8125e-01,1.2938e-02
+49,1.5567e+01,UP_FORCE_RAMP,3.7544e-03,3.4866e-02,2.0283e-01,2.4342e+00,-5.1290e-02,3.9281e-02,-5.3782e-05,2.0606e-02,1.7925e-01,-2.0671e-02,-1.2876e-02,1.4897e-03,-8.9885e-05,1.8161e-01,1.2962e-02
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+51,1.6150e+01,UP_FORCE_RAMP,3.9094e-03,3.5518e-02,2.1502e-01,2.4377e+00,-5.2128e-02,3.9323e-02,-6.3111e-05,2.1258e-02,1.9144e-01,-1.7202e-02,-1.3713e-02,1.5314e-03,-9.9214e-05,1.9338e-01,1.3799e-02
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+53,1.6867e+01,UP_FORCE_HOLD,4.0597e-03,3.4285e-02,2.0842e-01,2.4377e+00,-5.1660e-02,3.9236e-02,-7.2384e-05,2.0026e-02,1.8483e-01,-1.7169e-02,-1.3246e-02,1.4441e-03,-1.0849e-04,1.8671e-01,1.3325e-02
+54,1.7150e+01,UP_FORCE_HOLD,4.1376e-03,3.4090e-02,2.0849e-01,2.4419e+00,-5.1653e-02,3.9217e-02,-7.4096e-05,1.9830e-02,1.8491e-01,-1.2973e-02,-1.3239e-02,1.4257e-03,-1.1020e-04,1.8642e-01,1.3316e-02
+55,1.7400e+01,UP_FORCE_HOLD,4.2163e-03,3.4171e-02,2.1163e-01,2.4385e+00,-5.1875e-02,3.9226e-02,-7.5136e-05,1.9911e-02,1.8805e-01,-1.6387e-02,-1.3460e-02,1.4345e-03,-1.1124e-04,1.8981e-01,1.3537e-02
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+59,1.8183e+01,UP_FORCE_HOLD,4.5209e-03,3.4951e-02,2.1574e-01,2.4449e+00,-5.2148e-02,3.9275e-02,-7.6537e-05,2.0691e-02,1.9216e-01,-9.9661e-03,-1.3734e-02,1.4833e-03,-1.1264e-04,1.9352e-01,1.3814e-02

Part2/Fixed/digit/ball_0010_12.5/press_depth_05/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
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+oid sha256:89d165f372987c93618e68b9f247ae2cd1a3a0d739df11f7bb096713fb7ddd9a
+size 624640

Part2/Fixed/digit/ball_0010_12.5/press_depth_05/down/franka_data.csv

@@ -0,0 +1,61 @@
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+36289,1792725892016864478,9294875000000,1792725892014072357,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759130348186716,-0.004206905670394545,0.10677140034660436,0.9999999485627595,-0.00010221367298466113,-0.0002794161629108165,7.613353854710619e-05,0.6761,-0.004,0.10699958904833125,1.0,0.0,0.0,0.0,-0.011470788458146197,-0.006660799120904781,-0.0025448174467615076,-0.0011084177915078597,0.0011319391996353206,6.122051907196105e-06,0.8801293239188636,0.8824949675383224,0.053570172855230115,0.06843848101901595,-0.07124200529696241,0.001784517860504975,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.4910158876520554,0.840105194271791,1.2036391794186299,0.03359897823631447,-0.6778664884022811,0.5599806421334835,1.8084233562092904,0.0025448174467615076,0.6047841767906605,0.6047841767906605,0.5898149530505247,0,0,-2.282824937832606e-06,2.305883775588491e-05
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+36814,1792725896391922875,9299250000000,1792725896386072767,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6759090027032254,-0.004220565974098922,0.1066445315988601,0.9999999442123275,-9.834341623663204e-05,-0.0002850444116963839,0.0001099839182671229,0.6761,-0.004,0.10684683900625522,1.0,0.0,0.0,0.0,-0.03166603660659628,-0.03759385167346185,0.0570220743028478,-0.0023657712998073482,0.0021577426971417096,-4.291117326204064e-05,0.8599340757704135,0.8515619149857653,0.11313706460483942,0.06718112751071646,-0.07021620179945602,0.0017354846353357383,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.7307234559920224,0.7948296419053984,0.8938833095718105,0.2071769500066533,-0.45256109920791243,0.5240984587677435,1.8084233562092904,0.0570220743028478,0.9145400466374799,0.9145400466374799,0.939814953050389,0,0,-5.831090255506576e-05,9.38856451179248e-05
+36912,1792725897209052528,9300067000000,1792725897202072729,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759068981527074,-0.0042251812398154615,0.1065996936820216,0.999999942847698,-9.074252512111905e-05,-0.0002872866059693441,0.00012239144338000124,0.6761,-0.004,0.10680072442428927,1.0,0.0,0.0,0.0,-0.03968357392353228,-0.04578175893100955,0.07661665109612603,-0.003400339003511263,0.003185908001736279,-5.530751327562176e-05,0.8519165384534775,0.8433740077282176,0.13273164139811766,0.06614655980701255,-0.06918803649486145,0.0017230882953221571,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.7129325604445007,0.6712702398992408,0.9071918635851061,0.2998091293479856,-0.4795565147079991,0.4289592718809243,1.8084233562092904,0.07661665109612603,0.9012314926241843,0.9012314926241843,1.0051749530503709,0,0,-5.457312250298075e-05,-9.979766599078061e-05
+36991,1792725897866975299,9300725000000,1792725897862072442,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759057252045547,-0.00423035737659921,0.1065583489250002,0.9999999409816919,-8.292147746696289e-05,-0.0002909544558520741,0.00013397391656658745,0.6761,-0.004,0.10676257078522505,1.0,0.0,0.0,0.0,-0.04071104680634652,-0.048438830978368874,0.09667977629805807,-0.003404218370640477,0.003181849451553073,-7.165874767023264e-05,0.8508890655706632,0.8407169356808583,0.1527947666000497,0.06614268043988333,-0.06919209504504466,0.0017067370609275463,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.7318873786164389,0.7580034174595073,0.82080202933836,0.3283046549085666,-0.4291077947614967,0.4780269764878784,1.8084233562092904,0.09667977629805807,0.9876213268709304,0.9876213268709304,1.0578149530504235,0,0,-5.849619043241572e-05,2.3649388775972085e-05
+37056,1792725898409096212,9301267000000,1792725898406072307,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6759064562189017,-0.0042319034614576815,0.10653137061522286,0.9999999414609108,-7.606037620960527e-05,-0.000288029950081894,0.00014062221281574167,0.6761,-0.004,0.10673047705721028,1.0,0.0,0.0,0.0,-0.040783678279601054,-0.043619510223499414,0.10671163990253443,-0.0034056188719413516,0.0031795812563599063,-8.021585998617149e-05,0.8508164340974087,0.8455362564357277,0.16282663020452606,0.06614127993858246,-0.06919436324023782,0.0016981799486116074,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.7180170891961029,0.6525625173007282,0.7903560701236344,0.3960566548385812,-0.4244597790306046,0.40308518449433905,1.8084233562092904,0.10671163990253443,1.0180672860856559,1.0180672860856559,1.1011749530504669,0,0,-5.9453127736223916e-05,-1.610389185747181e-05
+37142,1792725899126094113,9301984000000,1792725899126072818,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759047475169673,-0.004235234706823737,0.10648867688270468,0.9999999393516604,-7.03515391448976e-05,-0.0002915143460225477,0.00015102843073833784,0.6761,-0.004,0.10668722352077616,1.0,0.0,0.0,0.0,-0.04944758092218027,-0.06078814886108974,0.11632812306865165,-0.004429044107082114,0.003197390312974155,-0.00010011388689560945,0.8421525314548295,0.8283676177981374,0.17244311337064328,0.0651178547034417,-0.06917655418362358,0.0016782819217021694,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.7708496226718875,0.7515109464526735,0.7584150339522346,0.43180784233349084,-0.40084739904206335,0.4579702896442867,1.8084233562092904,0.11632812306865165,1.0500083222570558,1.0500083222570558,1.1585349530505242,0,0,-6.070519515818796e-05,-9.876443693291321e-05
+37225,1792725899817102786,9302675000000,1792725899810072782,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759086234116158,-0.004238308891564576,0.10645204582995073,0.9999999402147626,-6.774638579980368e-05,-0.0002853221977506632,0.00015816133061062872,0.6761,-0.004,0.10664330047767649,1.0,0.0,0.0,0.0,-0.049998687261288643,-0.050077351717184415,0.13634553292496943,-0.0044602156874739285,0.004198806293793433,-0.00010270177238450983,0.8416014251157211,0.8390784149420427,0.19246052322696106,0.06508668312304988,-0.0681751382028043,0.001675694036213269,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.7944805038101193,0.7046699033333046,0.7296591008494633,0.46290048307260306,-0.379106056529095,0.42511030561932767,1.8084233562092904,0.13634553292496943,1.0787642553598271,1.0787642553598271,1.2138149530505795,0,0,-6.708668695151599e-05,-8.750164068172523e-05
+37292,1792725900376081816,9303234000000,1792725900374073232,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759482884197313,-0.004236530320624801,0.10644974790495083,0.9999999519204155,-6.528348715443538e-05,-0.0002398029668328327,0.0001607315608984671,0.6761,-0.004,0.10660209662784487,1.0,0.0,0.0,0.0,-0.060087862669551684,-0.042129510432521444,0.13710043230679655,-0.002419344428084169,0.004169866315912554,-8.011340479902279e-05,0.8315122497074581,0.8470262562267057,0.19321542260878818,0.06712755438243964,-0.06820407818068518,0.0016982824037987561,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.8452496703181683,0.6811769333199978,0.6291001978139293,0.48221725213717037,-0.31011315213050444,0.4073319787423043,1.8084233562092904,0.13710043230679655,1.179323158395361,1.179323158395361,1.2585349530506242,0,0,-8.155224912456826e-05,9.625834437721465e-05
+37377,1792725901084200243,9303942000000,1792725901082072971,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759494123490126,-0.0042386004793108665,0.10639592239113418,0.9999999524526674,-6.188868034670112e-05,-0.00023638942390994641,0.00016379059521066708,0.6761,-0.004,0.10654328641272008,1.0,0.0,0.0,0.0,-0.0675963667030347,-0.04587667543042284,0.1567877054659146,-0.0034457334997577554,0.004307105161639055,-0.00010583074962480289,0.824003745673975,0.8432790912288043,0.21290269576790624,0.06610116531076606,-0.06806683933495868,0.001672565058972976,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.8792117772127367,0.7301844718895915,0.7055656362030029,0.47475823118489663,-0.35557811930201333,0.4412966908583691,1.8084233562092904,0.1567877054659146,1.1028577200062875,1.1028577200062875,1.3151749530506809,0,0,-8.633604818150532e-05,-9.997599556411103e-05
+37471,1792725901867221957,9304725000000,1792725901866072714,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759536663272714,-0.0042418354389817895,0.10633093824029922,0.9999999534314856,-5.7957606584632954e-05,-0.0002295114258855986,0.00016895357964487198,0.6761,-0.004,0.1064700481884149,1.0,0.0,0.0,0.0,-0.0634490685528536,-0.04320491569582663,0.18683293144186108,-0.0034754409892272242,0.005188868170995287,-0.00011583061313331033,0.8281510438241562,0.8459508509634005,0.2429479217438527,0.06607145782129659,-0.06718507632560244,0.0016625651954644686,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.9150718925647822,0.7128076022259939,0.535350072520896,0.4893668308166611,-0.23859814672585586,0.4300745948076234,1.8084233562092904,0.18683293144186108,1.2730732836883945,1.2730732836883945,1.3778149530507435,0,0,-9.72263113393782e-05,9.999999025923074e-05
+37547,1792725902501245885,9305359000000,1792725902494081684,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6759528559844185,-0.00424358552525732,0.10627212171137744,0.9999999537865735,-6.017098647115428e-05,-0.000229051201285693,0.0001666874770916419,0.6761,-0.004,0.10640506997595633,1.0,0.0,0.0,0.0,-0.06199639210969554,-0.044329118424724645,0.21692625743339328,-0.0034814229636977306,0.005182525076847799,-0.000139958320297577,0.8296037202673142,0.8448266482345025,0.2730412477353849,0.06606547584682608,-0.06719141941974993,0.0016384374883002019,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.9046121311249128,0.7061468934546853,0.5335450126005483,0.5015893510813784,-0.24484803242833147,0.4262982628077684,1.8084233562092904,0.21692625743339328,1.274878343608742,1.274878343608742,1.4285349530507943,0,0,-0.00010622937254431276,-6.099624558076329e-05
+37628,1792725903176168525,9306034000000,1792725903170072657,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6759539736236245,-0.004245461459719814,0.10619981135563072,0.999999954172429,-6.336610362005363e-05,-0.00022620880291183935,0.00016706980209781793,0.6761,-0.004,0.10633169672245853,1.0,0.0,0.0,0.0,-0.06340544633174106,-0.04289692563870651,0.25675529638435696,-0.0034876167391666574,0.005175190360650311,-0.0001673235032109454,0.8281946660452687,0.8462588410205206,0.3128702866863486,0.06605928207135715,-0.06719875413594742,0.0016110723053868335,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.905315278884461,0.6139107984627776,0.46908116617852236,0.5267566901848275,-0.206324036637147,0.3646644023154684,1.8084233562092904,0.25675529638435696,1.339342190030768,1.339342190030768,1.4825349530508483,0,0,-0.00011442134368662372,-1.342088176166091e-06
+37703,1792725903801195456,9306659000000,1792725903794082333,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6759552994110157,-0.0042467141384904565,0.10613314494296798,0.9999999542795548,-6.118415489680285e-05,-0.00022408314734040957,0.0001700793789549608,0.6761,-0.004,0.10625818651914345,1.0,0.0,0.0,0.0,-0.06934132871984688,-0.05217540485781769,0.27709039672638625,-0.0034939036346931934,0.005170378758932212,-0.00018946432780188923,0.8222587836571629,0.8369803618014094,0.3332053870283779,0.06605299517583062,-0.06720356573766552,0.0015889314807958897,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.9512150304760351,0.6785492307496216,0.44611388989773637,0.5155175675122201,-0.18106344333442123,0.4095236803074679,1.8084233562092904,0.27709039672638625,1.362309466311554,1.362309466311554,1.5325349530508983,0,0,-0.00012146371588669792,-9.999950453665746e-05
+37783,1792725904467212585,9307325000000,1792725904466082559,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759588678470491,-0.004248044141765157,0.10605621366460653,0.9999999558674687,-6.392478039560463e-05,-0.00021569685092821567,0.00017057671598974625,0.6761,-0.004,0.10617651252194803,1.0,0.0,0.0,0.0,-0.07743122936949087,-0.05150118783985569,0.31710414566925144,-0.003500917573888304,0.005162154949741746,-0.00022206201167584332,0.8141688830075189,0.8376545788193714,0.37321913597124307,0.0660459812366355,-0.06721178954685599,0.0015563337969219356,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.9619298637372835,0.6434100070013976,0.4030887363758604,0.5225683458393456,-0.15338556613152082,0.38612579968435223,1.8084233562092904,0.31710414566925144,1.40533461983343,1.40533461983343,1.5858149530509515,0,0,-0.00012645788026041516,-9.999999025923074e-05
+37862,1792725905126353644,9307984000000,1792725905126072861,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759624218474704,-0.004250695680680773,0.10597780177565395,0.9999999571685282,-7.02667960793507e-05,-0.00020953935514611376,0.00016811199296644968,0.6761,-0.004,0.1060918758411447,1.0,0.0,0.0,0.0,-0.07316275018917506,-0.059181689767682455,0.34729681922999067,-0.0035081484628329274,0.00515590488534666,-0.00024665474737880187,0.8184373621878347,0.8299740768915447,0.4034118095319823,0.06603875034769088,-0.06721803961125107,0.001531741061218977,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.9623769772779776,0.696808538621308,0.33543115363355824,0.5068297513542144,-0.11155549501366127,0.4217066695828585,1.8084233562092904,0.34729681922999067,1.4729922025757323,1.4729922025757323,1.6385349530510043,0,0,-0.0001290824929403841,-5.822393982174392e-06
+37940,1792725905776383169,9308634000000,1792725905774072264,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6759646486762798,-0.004252729285077727,0.10590005956762412,0.9999999578852693,-7.601565362496749e-05,-0.00020237993471067557,0.00017010675075951418,0.6761,-0.004,0.10600708047752867,1.0,0.0,0.0,0.0,-0.07856459755865242,-0.05636766916216196,0.377354667515413,-0.003550879767240861,0.006162128960390395,-0.00025599273542726924,0.8130355148183573,0.8327880974970652,0.43346965781740465,0.06599601904328295,-0.06621181553620734,0.0015224030731705097,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,0.9978636814173216,0.6933589211396617,0.3241394696530943,0.5151368936885659,-0.09701929777688804,0.42205972075313625,1.8084233562092904,0.377354667515413,1.484283886556196,1.484283886556196,1.6905349530510563,0,0,-0.00013236448128814272,-9.9999393514355e-05
+38029,1792725906517366924,9309375000000,1792725906514072550,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759660151218222,-0.004255200035710179,0.10580803052584536,0.9999999581396545,-7.927977165614326e-05,-0.00020041904248317704,0.00016944166797728193,0.6761,-0.004,0.10590810062312271,1.0,0.0,0.0,0.0,-0.069352219466016,-0.049833928637167735,0.41711568205283944,-0.0045681212040796365,0.006171888325148242,-0.00029838709102080136,0.8222478929109938,0.8393218380220594,0.4732306723548311,0.06497877760644417,-0.06620205617144949,0.0014800087175769775,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0343403756445708,0.6582578300969085,0.30186964089568796,0.531311936041596,-0.07123776732454633,0.40051398221433826,1.8084233562092904,0.41711568205283944,1.5065537153136024,1.5065537153136024,1.7498149530511156,0,0,-0.00013409189622145957,-9.998884639562106e-05
+38094,1792725907059315824,9309917000000,1792725907058072652,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759674095557558,-0.004257029319983295,0.10573515193141289,0.999999958152677,-7.887911137851374e-05,-0.00019731685000690815,0.00017315211586191033,0.6761,-0.004,0.1058330101957332,1.0,0.0,0.0,0.0,-0.07824644958177407,-0.058793034425950075,0.4466973251712165,-0.004574041520218147,0.006166402166684834,-0.0003233689456472986,0.8133536627952357,0.8303627322332771,0.5028123154732081,0.06497285729030566,-0.0662075423299129,0.0014550268629504803,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.020513657318487,0.6916420824917486,0.20904606294643044,0.5239572985422324,-0.024376819551327148,0.4250632178266883,1.8084233562092904,0.4466973251712165,1.59937729326286,1.59937729326286,1.793174953051159,0,0,-0.00013894242703180038,-2.4378731004698298e-05
+38164,1792725907642401845,9310500000000,1792725907638073554,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759734743308878,-0.004258130983332109,0.10566418885181494,0.9999999600622042,-8.31209650684797e-05,-0.00018665950709106295,0.00017195228389412854,0.6761,-0.004,0.10575015409865554,1.0,0.0,0.0,0.0,-0.07871654183143828,-0.05751369489068725,0.47729123404651697,-0.004579677499045254,0.006159706945584639,-0.0003481406120495888,0.8128835705455715,0.8316420717685399,0.5334062243485086,0.06496722131147856,-0.06621423755101309,0.0014302551965481901,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0521046233952562,0.6616310016440734,0.17479791386027824,0.5376789451811989,0.008407749143360363,0.4045008107534629,1.8084233562092904,0.47729123404651697,1.6336254423490122,1.6336254423490122,1.8398149530512056,0,0,-0.00014476256888637374,-7.880792826509548e-05
+38239,1792725908267465632,9311125000000,1792725908266082501,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759738854246594,-0.004267540952680713,0.10557516186225653,0.9999999591172162,-8.751657645305332e-05,-0.00018529457136719655,0.00017667824135614356,0.6761,-0.004,0.10565853348903938,1.0,0.0,0.0,0.0,-0.07882457938793341,-0.06528185888094107,0.5102170048246314,-0.0045865373687682814,0.006154021272792409,-0.0003754735777259971,0.8127755329890763,0.8238739077782861,0.566331995126623,0.06496036144175553,-0.06621992322380532,0.0014029222308717818,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.014478436989182,0.5836182979347896,0.12820035630155843,0.5565699315002365,0.026687368247062058,0.35238671043705294,1.8084233562092904,0.5102170048246314,1.680222999907732,1.680222999907732,1.8898149530512556,0,0,-0.0001483205563604636,-9.99647684337745e-05
+38318,1792725908926451130,9311784000000,1792725908926082388,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759771615140708,-0.004269298914549112,0.10548436636467995,0.999999960941615,-8.162814567221898e-05,-0.0001783339330719163,0.00017633345407585546,0.6761,-0.004,0.10555964791751524,1.0,0.0,0.0,0.0,-0.07890159126740814,-0.06490673262792923,0.5442385845095773,-0.004593928808874659,0.006145352000955118,-0.0004042950693814605,0.8126985211096016,0.8242490340312979,0.6003535748115689,0.06495297000164915,-0.06622859249564261,0.0013741007392163184,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0369331784820657,0.6869134979445682,0.13369469850988067,0.5367323753731891,0.02935678524761407,0.42596112042869755,1.8084233562092904,0.5442385845095773,1.6747286576994098,1.6747286576994098,1.9425349530513083,0,0,-0.00015273164246795557,-9.999999025923074e-05
+38386,1792725909492473902,9312350000000,1792725909486072850,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759775053044782,-0.0042699957480137,0.10539671239171793,0.9999999602273172,-8.613626853777569e-05,-0.0001800906296477109,0.0001764543479949901,0.6761,-0.004,0.10547243755334167,1.0,0.0,0.0,0.0,-0.0785247415830499,-0.0655088582649106,0.5868364592240757,-0.005542912354556839,0.006140682242553139,9.630256600509646e-05,0.8130753707939599,0.8236469083943165,0.6429514495260673,0.06400398645596697,-0.06623326225404459,0.0018746983746028754,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0769419548306434,0.6574150640406277,0.0010211861815014993,0.5372842842885379,0.12577441046158272,0.40476523180056756,1.8084233562092904,0.5868364592240757,1.807402170027789,1.807402170027789,1.9878149530513536,0,0,-0.00015519867051641689,9.999999025923074e-05
+38465,1792725910151523755,9313009000000,1792725910150081931,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6759810615682662,-0.0042691652612523515,0.10530048551283336,0.9999999617994502,-8.91906601159336e-05,-0.0001732936183541917,0.00017279557438991915,0.6761,-0.004,0.10536948100856731,1.0,0.0,0.0,0.0,-0.07922983615183643,-0.057497882371979614,0.6181364956735009,-0.0046369388822432855,0.00691295731247446,0.0005750635264034527,0.8123702762251733,0.8316578842872475,0.6742514859754926,0.06490995992828053,-0.06546098718412327,0.0023534593350012316,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0908723620869427,0.6389498436213699,-0.10407739033459087,0.5424983473191538,0.19525022854565247,0.3919829012502749,1.8084233562092904,0.6181364956735009,1.9125007465438812,1.9125007465438812,2.0405349530514063,0,0,-0.00015589769003923758,9.999972658126239e-05
+38546,1792725910826539579,9313684000000,1792725910826082447,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759839670033826,-0.004273503675438532,0.10519749712462582,0.9999999619452131,-8.728845274506629e-05,-0.00016847128351478143,0.00017762485555699749,0.6761,-0.004,0.10526130478959872,1.0,0.0,0.0,0.0,-0.08787590244267918,-0.0612157390386916,0.6577999692815825,-0.004641819267746164,0.007134252111806058,-0.0004769097646818588,0.8037242099343306,0.8279400276205355,0.7139149595835741,0.06490507954277765,-0.06523969238479167,0.00130148604391592,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1074707273783446,0.6885491624731687,-0.04801273826373039,0.5346942042156467,0.1639682879300764,0.4261401075951267,1.8084233562092904,0.6577999692815825,1.8564360944730207,1.8564360944730207,2.0945349530514603,0,0,-0.00016389030804283967,-9.997760538749673e-05
+38622,1792725911459571916,9314317000000,1792725911454082495,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6759906668290439,-0.004276152723989109,0.10510672848150632,0.9999999639674413,-9.150982526578829e-05,-0.00015555852202762128,0.0001758848448480829,0.6761,-0.004,0.10515506516356751,1.0,0.0,0.0,0.0,-0.08576640486209919,-0.060571264109445355,0.6876767317187519,-0.004653144707393059,0.007124684691043923,0.00011801244665977906,0.8058337075149106,0.8285845025497818,0.7437917220207435,0.06489375410313075,-0.06524925980555381,0.001896408255257558,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.100756739727281,0.7163174638738837,-0.13153052571274376,0.5281758796748317,0.2113926722412788,0.4451048429213975,1.8084233562092904,0.6876767317187519,1.939953881922034,1.939953881922034,2.145174953051511,0,0,-0.00016957497474681815,2.473468238418093e-05
+38693,1792725912051590463,9314909000000,1792725912050073104,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.675994145573775,-0.004275377623564322,0.1050142127755815,0.9999999654338997,-9.908632510359875e-05,-0.0001493516999603421,0.0001686743424222219,0.6761,-0.004,0.10505285074323126,1.0,0.0,0.0,0.0,-0.08831101012010045,-0.05927305680606443,0.7279855183323861,-0.0046641066065921805,0.0071137994784075675,0.000491557069487445,0.8032891022569093,0.8298827098531627,0.7841005086343777,0.06488279220393163,-0.06526014501819016,0.002269952878085224,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1098050202197218,0.5979463618363378,-0.18579915114845652,0.5636940229898677,0.2519841547929404,0.37010050827798713,1.8084233562092904,0.7279855183323861,1.9942225073577469,1.9942225073577469,2.1925349530515583,0,0,-0.00017522824403007486,9.930544861281305e-05
+38770,1792725912692623182,9315550000000,1792725912690082788,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6760009030393529,-0.004282251413867478,0.10490967221848224,0.9999999661454834,-0.00010260466003658021,-0.00013677479341047194,0.00017296484066426198,0.6761,-0.004,0.10493838769097732,1.0,0.0,0.0,0.0,-0.0796323509623702,-0.06788441673778178,0.764875500124082,-0.004671746402738944,0.007107342970095118,0.00046555437023360676,0.8119677614146396,0.8212713499214453,0.8209904904260736,0.06487515240778487,-0.06526660152650261,0.0022439501788313857,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0603603156390382,0.7191173096223535,-0.1525441443709641,0.5328579933799769,0.2115532684795446,0.4494121786887881,1.8084233562092904,0.764875500124082,1.9609675005802545,1.9609675005802545,2.2438149530516096,0,0,-0.00018131921302874521,-9.4672363030962e-05
+38843,1792725913301606511,9316159000000,1792725913294082473,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6760019137169911,-0.0042779067494316736,0.10480239421558982,0.9999999665821098,-0.00010542911567975677,-0.00013814053958003704,0.00016757248187328991,0.6761,-0.004,0.10482586141848452,1.0,0.0,0.0,0.0,-0.07969704049623261,-0.05670620514293112,0.7987081488193664,-0.00467727584592828,0.007098245341578796,0.00043502155254765635,0.8119030718807771,0.832449561516296,0.854823139121358,0.06486962296459553,-0.06527569915501893,0.0022134173611454352,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.2174824602577536,0.5821261409627619,-0.2054080306712057,0.5646447282736357,0.2939402202448453,0.35757179800644484,1.8084233562092904,0.7987081488193664,2.0138313868804962,2.0138313868804962,2.2925349530516583,0,0,-0.00018761347854032018,-9.986622226255121e-05
+38920,1792725913942625864,9316800000000,1792725913942082316,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6760065725645985,-0.004278998831630492,0.1046903394953404,0.9999999678396103,-0.0001042103297082965,-0.00012838802616068525,0.00016858340574643933,0.6761,-0.004,0.10470361158425369,1.0,0.0,0.0,0.0,-0.07957400350450561,-0.06175309333397461,0.8288292167478329,-0.004684927022017338,0.007090806095449376,0.0004107183834650657,0.8120261088725041,0.8274026733252525,0.8849442070498246,0.06486197178850647,-0.06528313840114836,0.0021891141920628446,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1269918429189663,0.6201445160588444,-0.3015538672328836,0.5644898368059748,0.324486799201332,0.3893540705205795,1.8084233562092904,0.8288292167478329,2.109977223442174,2.109977223442174,2.3438149530517096,0,0,-0.00019342509243136014,6.419099741142965e-05
+38978,1792725914426671309,9317284000000,1792725914422083201,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760100610567261,-0.0042843174044422064,0.10460118754550136,0.9999999675016191,-0.00010970889575999912,-0.00012321510108464774,0.00017094333019314342,0.6761,-0.004,0.104608380567654,1.0,0.0,0.0,0.0,-0.08276773188305686,-0.06135260385873886,0.8589141837025239,-0.004690202466691051,0.007085638121707399,0.000381353241288102,0.8088323804939529,0.8278031628004883,0.9150291740045156,0.06485669634383276,-0.06528830637489033,0.002159749049885881,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1154263339790444,0.7071697048588494,-0.24240494129587387,0.5400107196620165,0.2822758454885925,0.444100269078619,1.8084233562092904,0.8589141837025239,2.050828297505164,2.050828297505164,2.3825349530517483,0,0,-0.00020063129888977927,-9.999407832162461e-05
+39045,1792725914984706756,9317842000000,1792725914978074311,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760114041997928,-0.004283668352082648,0.10449012553154838,0.9999999671205793,-0.00010806283527876549,-0.00012236489708503229,0.00017478832999452622,0.6761,-0.004,0.10449577843292646,1.0,0.0,0.0,0.0,-0.07990899005480634,-0.059604065073493806,0.8990563233001085,-0.004696552469625304,0.007076683270440212,0.0003539384544764832,0.8116911223222034,0.8295517015857333,0.9551713136021002,0.06485034634089851,-0.06529726122615752,0.002132334263074262,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1281327755861017,0.6247656534072397,-0.28217442430130996,0.5694149042175553,0.31096725556216276,0.3905992869472599,1.8084233562092904,0.8990563233001085,2.0905977805106004,2.0905977805106004,2.427174953051793,0,0,-0.00020368893599162353,-9.999999025923074e-05
+39104,1792725915476727968,9318334000000,1792725915470081977,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6760085230322227,-0.004278812338359827,0.10437674606910023,0.9999999665434746,-0.0001003609580718777,-0.00013060775067447883,0.00017670655851421505,0.6761,-0.004,0.10439362368571821,1.0,0.0,0.0,0.0,-0.07061450620564025,-0.06545045735912991,0.9391898805406076,-0.004688078799092971,0.006425997483621729,0.00031267568338060395,0.8209856061713695,0.8237053093000972,0.9953048708425992,0.06485882001143084,-0.065947947012976,0.002091071491978383,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1423292174947404,0.630973486751635,-0.37603780496266576,0.5713058469451445,0.373304490453471,0.39566183124180787,1.8084233562092904,0.9391898805406076,2.184461161171956,2.184461161171956,2.4665349530518323,0,0,-0.00020925818806502428,-6.846951758199821e-05
+39170,1792725916026636805,9318884000000,1792725916022082413,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760121529452745,-0.004281513029186773,0.10427198778354836,0.9999999676151144,-9.610483681668544e-05,-0.0001226702870207277,0.0001786854653910651,0.6761,-0.004,0.10427704722013048,1.0,0.0,0.0,0.0,-0.0708230854123032,-0.05058851044759294,0.9671029042472096,-0.004708534652478891,0.007061269394898942,0.00030007808601966975,0.8207770269647066,0.8385672562116342,1.0232178945492012,0.06483836415804492,-0.06531267510169879,0.0020784738946174487,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1630622877907955,0.6998674116502848,-0.4445834394661219,0.5480409150491575,0.4209351667824541,0.44091375137809824,1.8084233562092904,0.9671029042472096,2.2530067956754123,2.2530067956754123,2.5105349530518764,0,0,-0.00021410455271945393,8.16366345281078e-05
+39234,1792725916559758839,9319417000000,1792725916558072837,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.676016665111009,-0.0042806597478273626,0.1041642965206802,0.9999999686594864,-9.357359627034256e-05,-0.00011548756879338534,0.0001789706523085697,0.6761,-0.004,0.10416166377196817,1.0,0.0,0.0,0.0,-0.067124626767329,-0.05112252510391402,0.9894314310834568,-0.004711447994604934,0.007006718293238387,0.00028173230580836326,0.8244754856096808,0.8380332415553131,1.0455464213854484,0.06483545081591888,-0.06536722620335934,0.002060128114406142,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1529607598029938,0.649972596038323,-0.5267426283482946,0.5618990335297979,0.47104525168317274,0.40616612526771656,1.8084233562092904,0.9894314310834568,2.3351659845575847,2.3351659845575847,2.553174953051919,0,0,-0.00021814469031569838,9.700816125247087e-05
+39291,1792725917034744579,9319892000000,1792725917034072625,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.676018331401902,-0.004283628835213105,0.10406532385647375,0.9999999687693771,-9.442081005210553e-05,-0.00011294031882235163,0.00017953635899359166,0.6761,-0.004,0.10405650512054511,1.0,0.0,0.0,0.0,-0.06917352470681837,-0.059016783783286786,1.010239897563161,-0.0047178395351736985,0.007052803249522413,0.0002657559011210193,0.8224265876701914,0.8301389828759403,1.0663548878651525,0.06482905927535011,-0.06532114124707532,0.002044151709718798,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.152925610662653,0.7263944188633817,-0.49778985810132886,0.5474646850338588,0.4516983006929033,0.46165357419658853,1.8084233562092904,1.010239897563161,2.306213214310619,2.306213214310619,2.591174953051957,0,0,-0.00022517834431582567,-2.8192390679239194e-05
+39352,1792725917542759317,9320400000000,1792725917538081818,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760237103885632,-0.004284119791098855,0.10395367779349433,0.999999969146728,-8.871492351406235e-05,-0.00010296017117392451,0.00018622103288807774,0.6761,-0.004,0.10394100486234141,1.0,0.0,0.0,0.0,-0.06177281021629033,-0.04899069140534751,1.048266245676506,-0.004723900553200752,0.007043464319899884,0.0002356096689018583,0.8298273021607194,0.8401650752538796,1.1043812359784975,0.06482299825732306,-0.06533048017669785,0.002014005477499637,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1305007624798011,0.6185223208139328,-0.4396779999689828,0.5792836126018628,0.4054725263391954,0.38711517393539285,1.8084233562092904,1.048266245676506,2.2481013561782732,2.2481013561782732,2.6318149530519976,0,0,-0.0002311811260161375,-9.999997638144293e-05
+39411,1792725918034804215,9320892000000,1792725918034071784,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.676024346381548,-0.004285944467453675,0.10384139877191449,0.9999999694912568,-9.0736874516061e-05,-0.00010066240608823583,0.00018464628217066773,0.6761,-0.004,0.10382458162286108,1.0,0.0,0.0,0.0,-0.06880034611797325,-0.06309075573899592,1.0717349044437956,-0.0047032250782684665,0.0060368868939018605,0.00019795252913302206,0.8227997662590365,0.8260650109202312,1.1278498947457871,0.06484367373225534,-0.06633705760269587,0.001976348337730801,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1164847790248216,0.6717167579067022,-0.6089214761102977,0.5665928122657483,0.5099484782023215,0.4253522604369066,1.8084233562092904,1.0717349044437956,2.4173448323195883,2.4173448323195883,2.671174953052037,0,0,-0.00024217668269791025,8.750000310276391e-05
+39464,1792725918476742658,9321334000000,1792725918474073097,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760250824103466,-0.004287648669543295,0.10373614733892768,0.9999999692212127,-9.259313506714349e-05,-9.758619462821229e-05,0.000186825812091607,0.6761,-0.004,0.10371571050369077,1.0,0.0,0.0,0.0,-0.0596049100850059,-0.0558165030509401,1.0998051821729464,-0.004707048106148595,0.006019565728899737,0.0001785209122051744,0.8319952022920039,0.833339263608287,1.155920172474938,0.06483985070437522,-0.066354378767698,0.0019569167208029533,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.130217810252937,0.7378249708545297,-0.5286518848648057,0.5504632280997037,0.46231582281668254,0.4675485122506371,1.8084233562092904,1.0998051821729464,2.3370752410740963,2.3370752410740963,2.7065349530520724,0,0,-0.00025323780094707447,-9.999999025923074e-05
+39521,1792725918951807026,9321809000000,1792725918946072156,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6760292193239547,-0.004289331006306066,0.1036191271468938,0.9999999691424936,-9.416228294571033e-05,-9.066243768638119e-05,0.000189925414662719,0.6761,-0.004,0.103593642682617,1.0,0.0,0.0,0.0,-0.06129314523913709,-0.05508450392452624,1.1198945836247343,-0.004710428089766336,0.0060151677088828015,0.00016209253240385643,0.8303069671378727,0.8340712627347009,1.1760095739267258,0.06483647072075747,-0.06635877678771493,0.0019404883410016353,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.136474363760696,0.7054848518208665,-0.5423098302996063,0.5658170534549731,0.4694545961829978,0.44746755688025425,1.8084233562092904,1.1198945836247343,2.3507331865088967,2.3507331865088967,2.7445349530521104,0,0,-0.00025953501518324727,-9.385576624077458e-05
+39582,1792725919459762884,9322317000000,1792725919458072784,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760320146877403,-0.00429458359494855,0.10349118843024788,0.999999969228648,-0.00010223087283909437,-8.48938094709953e-05,0.00018795599813804955,0.6761,-0.004,0.10345892719116961,1.0,0.0,0.0,0.0,-0.05181393991962058,-0.043476289692432224,1.140381034013226,-0.0036934851189691503,0.005991018859726263,0.00015821009839992102,0.8397861724573892,0.8456794769667949,1.1964960243152176,0.06585341369155466,-0.06638292563687147,0.0019366059069977,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1410314033963098,0.7940932157453354,-0.6251579508760027,0.5463084852797181,0.5223641932944558,0.5046789773184283,1.8084233562092904,1.140381034013226,2.433581307085293,2.433581307085293,2.785174953052151,0,0,-0.00026839822873522676,-9.995116820172285e-05
+39639,1792725919934877044,9322792000000,1792725919934072124,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760359910249153,-0.004297521014076719,0.10336308850839916,0.9999999689192489,-0.00010376499552641074,-7.721621871599968e-05,0.00019202824534211366,0.6761,-0.004,0.10332844985716949,1.0,0.0,0.0,0.0,-0.05262524587075734,-0.04609907064880103,1.1702366325632132,-0.004312284338713543,0.0059960635714029625,0.0001270182262935451,0.8389748665062524,0.8430566960104261,1.2263516228652047,0.06523461447181027,-0.06637788092519477,0.001905414034891324,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1022019604478739,0.7205393749355398,-0.697487357232932,0.5664650139388048,0.5567278554469435,0.45541343040191773,1.8084233562092904,1.1702366325632132,2.5059107134422223,2.5059107134422223,2.823174953052189,0,0,-0.0002783620774756982,9.999999025923074e-05
+39690,1792725920359894246,9323217000000,1792725920358073204,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760339350107676,-0.004296998303082881,0.10323666948942824,0.9999999678376558,-0.0001058300222996693,-8.081978819105406e-05,0.0001950274854889306,0.6761,-0.004,0.10320782060170951,1.0,0.0,0.0,0.0,-0.04387543557392293,-0.03138895594155566,1.1806004488217812,-0.0036994985996924717,0.005981186556625648,0.0001267166434582021,0.8477246768030868,0.8577668107176715,1.2367154391237727,0.06584740021083134,-0.06639275793997208,0.001905112452055981,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0567004939637834,0.6385510796473677,-0.5846222374667449,0.6028141842910226,0.46915110952834516,0.4039599963645998,1.8084233562092904,1.1806004488217812,2.3930455936760353,2.3930455936760353,2.857174953052223,0,0,-0.00028860983180697817,-9.999999025923074e-05
+39743,1792725920801875430,9323659000000,1792725920798072772,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6760314593763002,-0.004300081575738094,0.10309997119013536,0.9999999674662814,-0.00010602584255899801,-8.439543594938154e-05,0.00019531060279335714,0.6761,-0.004,0.1030768121976943,1.0,0.0,0.0,0.0,-0.033738526668281366,-0.045743782935128485,1.2006637058803369,-0.003678011146709695,0.00496517825975043,9.593869242675835e-05,0.8578615857087284,0.8434119837240986,1.2567786961823284,0.06586888766381412,-0.0674087662368473,0.0018743345010245372,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1139694571627554,0.7334924539845604,-0.7340104469606904,0.5760590644092572,0.5836402227951619,0.46823152100121196,1.8084233562092904,1.2006637058803369,2.5424338031699807,2.5424338031699807,2.8925349530522584,0,0,-0.0003033801443993748,9.962244504191915e-05
+39788,1792725921176880153,9324034000000,1792725921174072446,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6760307153001351,-0.004305795602050532,0.10298037161848887,0.9999999666735656,-0.00010948460623076441,-8.572294133494911e-05,0.00019687668833801418,0.6761,-0.004,0.10296044883689544,1.0,0.0,0.0,0.0,-0.029562986238352296,-0.02940132412699037,1.210752096419874,-0.0036775938743126013,0.0049610350316589835,8.827271073118476e-05,0.8620371261386575,0.8597544425322368,1.2668670867218654,0.06586930493621121,-0.06741290946493875,0.0018666685193289637,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0775242126199422,0.696721024105633,-0.6768830731354113,0.5970977368250707,0.5359860461291289,0.4479405470724352,1.8084233562092904,1.210752096419874,2.4853064293447016,2.4853064293447016,2.9225349530522884,0,0,-0.00031615544584670383,-7.967792678276737e-05
+39837,1792725921584946361,9324442000000,1792725921578072755,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760284456767137,-0.00430716700153452,0.1028467953633095,0.9999999661663881,-0.00010655236419525767,-8.73920027955667e-05,0.0002002980746567634,0.6761,-0.004,0.10282859201794947,1.0,0.0,0.0,0.0,-0.015843841781654766,-0.033967547334019854,1.2208582768418523,-0.0036594073292091217,0.004165404120934635,6.961448828874252e-05,0.875756270595355,0.8551882193252073,1.2769732671438438,0.06588749148131469,-0.0682085403756631,0.0018480102968865214,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0616190635891476,0.6650682246469944,-0.6002322458381648,0.6087713341847233,0.4853644567210208,0.4261084645379451,1.8084233562092904,1.2208582768418523,2.408655602047455,2.408655602047455,2.955174953052321,0,0,-0.0003316771439263163,-9.995198699120351e-05
+39886,1792725921992960349,9324850000000,1792725921990072279,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.676030602007616,-0.0043142576253678575,0.10271166294899023,0.9999999650303784,-0.000114036472407405,-8.347176112648028e-05,0.00020349509639333834,0.6761,-0.004,0.10268970295655207,1.0,0.0,0.0,0.0,-0.01576006821055198,-0.02599153652441122,1.222036621072513,-0.0028476990729140172,0.00393367733339578,6.785804643038066e-05,0.8758400441664578,0.8631642301348159,1.2781516113745046,0.0666991997376098,-0.06844026716320195,0.0018462538550281596,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0938358118478624,0.76436668852433,-0.7260981558537694,0.5896886996370208,0.575644326649973,0.49345789618115055,1.8084233562092904,1.222036621072513,2.5345215120630598,2.5345215120630598,2.9878149530523537,0,0,-0.0003496137500572357,-9.927173946622787e-05
+39931,1792725922367971458,9325225000000,1792725922366082426,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.676039735853281,-0.0043112165697408575,0.10258262594994956,0.9999999655697789,-0.00011698017555297767,-7.36033767772393e-05,0.0002029814943229856,0.6761,-0.004,0.10255521998159572,1.0,0.0,0.0,0.0,0.0009405132083162293,-0.005373095881598067,1.2326090534864067,-0.002631686796848179,0.0039218406607781225,7.024054402631407e-05,0.892540625585326,0.8837826707776291,1.2887240437883982,0.06691521201367563,-0.06845210383581961,0.001848636352624093,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1118136944277328,0.7597923068656419,-0.6743239200462973,0.5941212138247587,0.5514719451627461,0.48918888027576407,1.8084233562092904,1.2326090534864067,2.4827472762555876,2.4827472762555876,3.0178149530523837,0,0,-0.00036758526314048377,-9.999999025923074e-05
+39977,1792725922751972193,9325609000000,1792725922750072982,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760375997151165,-0.004317815012257826,0.10243721029519857,0.9999999641551451,-0.00011727058392402967,-7.725588234245845e-05,0.00020835477349670238,0.6761,-0.004,0.10241044266168947,1.0,0.0,0.0,0.0,0.002424786952124003,-0.005036267250216664,1.241500396928086,-0.00260582614757246,0.0029295006307562405,4.7931329849283276e-05,0.8940248993291338,0.8841194994090105,1.2976153872300775,0.06694107266295135,-0.06944444386584149,0.0018263271384470622,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1120556512185802,0.8490401687515289,-0.643320000663783,0.5826839415660426,0.5333385892294973,0.5566980947383504,1.8084233562092904,1.241500396928086,2.4517433568730733,2.4517433568730733,3.0485349530524144,0,0,-0.00038574589577708283,-9.999999025923074e-05
+40016,1792725923076996125,9325934000000,1792725923074072776,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6760326516516932,-0.004323105790562237,0.10229986769211062,0.9999999619543974,-0.00012835560718385034,-8.444469485338187e-05,0.00020959007496436404,0.6761,-0.004,0.10228244274607794,1.0,0.0,0.0,0.0,0.012857214866355271,0.005304504350662875,1.2564339883172284,-0.0022044846504826743,0.0028949143127583454,4.170730434050591e-05,0.904457327243365,0.89446027100989,1.31254897861922,0.06734241416004114,-0.06947903018383939,0.0018201031129382848,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0975546311406075,0.7903592355709302,-0.6492976132164774,0.6057662372791879,0.5341200930513575,0.5145064636913581,1.8084233562092904,1.2564339883172284,2.457720969425768,2.457720969425768,3.0745349530524404,0,0,-0.0004019958926113328,-9.999999025923074e-05
+40059,1792725923435013194,9326292000000,1792725923430072832,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760290912616925,-0.00432932290846702,0.10214422252141037,0.9999999597945681,-0.00014385373926496288,-8.659378108415717e-05,0.00020895297383825143,0.6761,-0.004,0.10213536514550092,1.0,0.0,0.0,0.0,0.02086021192735732,0.005950724338434132,1.2616146936052457,-0.002589894308834162,0.0029006993437082768,3.391112413415453e-05,0.9124603243043671,0.8951064909976613,1.3177296839072372,0.06695700450168965,-0.06947324515288945,0.0018123069327319334,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0640183510888628,0.8717036166227272,-0.7539348877212831,0.5939401697811914,0.5949269357360796,0.5744123078032672,1.8084233562092904,1.2616146936052457,2.5623582439305737,2.5623582439305737,3.103174953052469,0,0,-0.00041891747134678434,-8.59238655082635e-06
+40101,1792725923785016732,9326642000000,1792725923778072952,DOWN_FORCE_DETACH,5,0.058,0.05800139531493187,0.6760227401254253,-0.004333994512722935,0.10198656333119674,0.999999961460159,-9.169884266300687e-05,-0.00010096859842924486,0.00022342607060276483,0.6761,-0.004,0.10198569023538175,1.0,0.0,0.0,0.0,0.021858428470501123,-0.003490623164818296,1.2616756397763271,-0.0025809299056693963,0.0018877578912900872,1.7899616439803756e-05,0.9134585408475109,0.8856651434944088,1.3177906300783186,0.06696596890485441,-0.07048618660530764,0.0017962954250375827,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1561234138813505,0.7418543169540412,-0.6292685398903425,0.6384644005768944,0.5433015060822415,0.5014646170553438,1.8084233562092904,1.2616756397763271,2.4376918960996328,2.4376918960996328,3.131174953052497,0,0,-0.0004364174680624152,-9.999999025923074e-05
+40142,1792725924127038864,9326984000000,1792725924126073276,DOWN_FORCE_DETACH,5,0.058,0.0580020546913147,0.6760397194358658,-0.0043425271524327545,0.10184405705748531,0.9999999603348351,-9.728005955259807e-05,-8.061602182662092e-05,0.00023411714959645932,0.6761,-0.004,0.10183351991187573,1.0,0.0,0.0,0.0,0.029567568846831316,0.02858954867404584,1.2620547350822964,-0.0015857092446749377,0.002880198510618992,4.576874313312585e-05,0.9211676812238411,0.917745315333273,1.318169725384288,0.06796118956584887,-0.06949374598597874,0.0018241645517309048,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.142367838686878,0.7768112974759497,-0.6755567374027812,0.631378269006865,0.567249031225781,0.5137312277802208,1.8084233562092904,1.2620547350822964,2.4839800936120717,2.4839800936120717,3.1585349530525244,0,0,-0.0004535174647310721,-9.999999025923074e-05
+40185,1792725924485046579,9327342000000,1792725924482072995,DOWN_SETTLE,5,0.058,0.0580020546913147,0.6760430412311286,-0.004343020799656415,0.10171245642310327,0.9999999612112155,-0.00014327415310702658,-7.639634141495543e-05,0.0002065346164674383,0.6761,-0.004,0.10170664688089406,1.0,0.0,0.0,0.0,0.047743934527184395,0.04085747468167933,1.2525246661457787,-0.0005343012926374568,0.0018499511371620203,5.191523157939914e-05,0.9393440469041942,0.9300132413409065,1.3086396564477702,0.06901259751788635,-0.07052399335943571,0.001830311040177178,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.1306500464778921,0.8432825058459731,-0.5645757539486903,0.6048688378437327,0.5070451059724398,0.5630486334245172,1.8084233562092904,1.2525246661457787,2.3729991101579806,0.0,0.0,0,0,-9.318480646006498e-05,0.0009412606713137876
+40270,1792725925193062516,9328050000000,1792725925186073138,DOWN_PEAK_HOLD,5,0.058,0.05800139531493187,0.6760363340485764,-0.004345432576957442,0.10167742126549965,0.999999960037801,-0.00013943184297794862,-8.928871209692162e-05,0.00020965101405883674,0.6761,-0.004,0.10169835099705712,1.0,0.0,0.0,0.0,0.05728221600416017,0.034924621317321214,1.1928411137151949,-0.0004980834121051242,0.0008489948887976939,8.513055428860145e-05,0.9488823283811699,0.9240803879765483,1.2489561040171864,0.06904881539841869,-0.07152494960780004,0.0018635263628863803,0.8916001123770098,0.8891557666592271,0.05611499030199162,0.06954689881052381,-0.07237394449659773,0.001778395808597779,1,1.0367925945904122,0.7024417931815962,-0.43522802524925913,0.6368430260228667,0.40989795495990444,0.4683869317306817,1.8084233562092904,1.1928411137151949,2.2436513814585495,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_0010_12.5/press_depth_05/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,1792725891388783505,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.248402989e-10,-3.062634868e-11,-6.356204452e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450051e-01,-1.188356103e-04,8.303259101e-01
+1,6.166666667e-01,DOWN_FORCE_DETACH,1792725892019059818,-2.199010957e-06,-1.785809454e-06,-5.167890430e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.259806198e-08,-9.671310020e-10,-1.914765679e-09,7.019534338e-01,-2.405654448e-05,8.601379193e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450269e-01,-1.188365468e-04,8.303259083e-01
+2,1.266666667e+00,DOWN_FORCE_DETACH,1792725892657514712,1.366247739e-07,2.530198415e-06,-1.164302172e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.816387295e-08,-1.780018711e-09,-3.342644828e-09,7.019557694e-01,-1.974053661e-05,8.601419229e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450425e-01,-1.188373597e-04,8.303259068e-01
+3,2.116666667e+00,DOWN_FORCE_DETACH,1792725893509443936,-2.483170779e-06,7.713029632e-07,-1.009784145e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.110006984e-08,-2.632571399e-09,-4.818627275e-09,7.019531496e-01,-2.149943206e-05,8.601329894e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450554e-01,-1.188382122e-04,8.303259054e-01
+4,2.866666667e+00,DOWN_FORCE_DETACH,1792725894262978768,-7.177679223e-07,-1.939213147e-06,-2.775259826e-05,-5.241711925e-06,4.024193945e-06,-1.901418383e-05,-5.865667214e-06,4.098416467e-06,-1.904039844e-05,7.019549150e-01,-2.420994817e-05,8.601153346e-01,7.019503911e-01,-1.824654108e-05,8.601240731e-01,7.027391387e-01,-1.147371632e-04,8.303068698e-01
+5,3.600000000e+00,DOWN_FORCE_DETACH,1792725895001521679,-4.545304927e-06,-4.166610908e-06,-5.918892998e-05,-4.648784036e-06,-4.183923369e-06,-5.899018748e-05,-5.703682862e-06,-4.210911083e-06,-5.897684982e-05,7.019510875e-01,-2.643734593e-05,8.600838983e-01,7.019509840e-01,-2.645465839e-05,8.600840971e-01,7.027393007e-01,-1.230464907e-04,8.302669333e-01
+6,4.316666667e+00,DOWN_FORCE_DETACH,1792725895704538951,-2.236919337e-06,-2.350829035e-06,-8.859829541e-05,-5.603785917e-06,-1.639505707e-06,-7.910696516e-05,-6.970497651e-06,-1.663942626e-06,-7.912060840e-05,7.019533959e-01,-2.462156406e-05,8.600544889e-01,7.019500290e-01,-2.391024073e-05,8.600639803e-01,7.027380338e-01,-1.204995223e-04,8.302467896e-01
+7,5.000000000e+00,DOWN_FORCE_DETACH,1792725896392684108,-3.823496572e-06,-9.340271459e-06,-1.258871582e-04,-6.672971627e-06,-8.731907590e-06,-1.198717902e-04,-8.645832656e-06,-8.828289845e-06,-1.198697004e-04,7.019518093e-01,-3.161100648e-05,8.600172001e-01,7.019489598e-01,-3.100264261e-05,8.600232154e-01,7.027363585e-01,-1.276638695e-04,8.302060405e-01
+8,5.816666667e+00,DOWN_FORCE_DETACH,1792725897211995434,-6.535048032e-06,-1.304165799e-05,-1.730100264e-04,-7.888433971e-06,-9.914773449e-06,-1.617714721e-04,-1.054741465e-05,-1.004052814e-05,-1.617370171e-04,7.019490978e-01,-3.531239302e-05,8.599700772e-01,7.019477444e-01,-3.218550847e-05,8.599813158e-01,7.027344569e-01,-1.288761078e-04,8.301641732e-01
+9,6.450000000e+00,DOWN_FORCE_DETACH,1792725897866606962,-8.039618648e-06,-2.100657802e-05,-2.132068707e-04,-9.175215106e-06,-1.456501967e-05,-2.050422587e-04,-1.242186016e-05,-1.470311804e-05,-2.050250683e-04,7.019475932e-01,-4.327731305e-05,8.599298804e-01,7.019464576e-01,-3.683575469e-05,8.599380450e-01,7.027325825e-01,-1.335386977e-04,8.301208851e-01
+10,7.000000000e+00,DOWN_FORCE_DETACH,1792725898407355136,-8.382831155e-06,-1.631728850e-05,-2.440699860e-04,-9.475089554e-06,-1.450256900e-05,-2.255118429e-04,-1.296832537e-05,-1.466133895e-05,-2.254650004e-04,7.019472500e-01,-3.858802352e-05,8.598990173e-01,7.019461577e-01,-3.677330403e-05,8.599175754e-01,7.027320360e-01,-1.334969186e-04,8.301004452e-01
+11,7.716666667e+00,DOWN_FORCE_DETACH,1792725899127959909,-8.545680721e-06,-2.455183196e-05,-2.825651058e-04,-8.088845316e-06,-2.309687257e-05,-2.644096053e-04,-1.204004639e-05,-2.337944117e-05,-2.643721082e-04,7.019470871e-01,-4.682256698e-05,8.598605221e-01,7.019475440e-01,-4.536760760e-05,8.598786776e-01,7.027329643e-01,-1.422150208e-04,8.300615381e-01
+12,8.400000000e+00,DOWN_FORCE_DETACH,1792725899816934984,-3.154037800e-06,-2.319879461e-05,-3.184655229e-04,-7.390731050e-06,-3.135427881e-05,-3.025945203e-04,-1.175279770e-05,-3.176375972e-05,-3.025427431e-04,7.019524788e-01,-4.546952963e-05,8.598246217e-01,7.019482421e-01,-5.362501383e-05,8.598404927e-01,7.027332515e-01,-1.505993394e-04,8.300233674e-01
+13,8.833333333e+00,DOWN_FORCE_DETACH,1792725900373335979,3.603575575e-05,-2.277837215e-05,-3.221790561e-04,3.625836084e-05,-2.677745622e-05,-3.193423473e-04,3.512637448e-05,-2.710795183e-05,-3.192844724e-04,7.019916686e-01,-4.504910717e-05,8.598209082e-01,7.019918912e-01,-4.904819124e-05,8.598237449e-01,7.027801307e-01,-1.459435315e-04,8.300066257e-01
+14,9.500000000e+00,DOWN_FORCE_DETACH,1792725901085972539,3.595367370e-05,-2.527951676e-05,-3.756557627e-04,3.207368782e-05,-2.362767781e-05,-3.645453349e-04,3.010152343e-05,-2.388847777e-05,-3.645162939e-04,7.019915865e-01,-4.755025179e-05,8.597674315e-01,7.019877065e-01,-4.589841283e-05,8.597785419e-01,7.027751059e-01,-1.427240574e-04,8.299613939e-01
+15,1.020000000e+01,DOWN_FORCE_DETACH,1792725901863675281,3.846424816e-05,-2.837079190e-05,-4.418035916e-04,3.695402542e-05,-2.765526409e-05,-4.261516486e-04,3.454353704e-05,-2.800907601e-05,-4.260331458e-04,7.019940971e-01,-5.064152692e-05,8.597012836e-01,7.019925868e-01,-4.992599911e-05,8.597169356e-01,7.027795479e-01,-1.468446557e-04,8.298998770e-01
+16,1.083333333e+01,DOWN_FORCE_DETACH,1792725902502073526,3.942278368e-05,-3.144594343e-05,-5.005819970e-04,3.812733855e-05,-3.194878689e-05,-4.895746886e-04,3.504012997e-05,-3.235470118e-05,-4.894778554e-04,7.019950556e-01,-5.371667846e-05,8.596425052e-01,7.019937602e-01,-5.421952192e-05,8.596535126e-01,7.027800445e-01,-1.511902808e-04,8.298364323e-01
+17,1.151666667e+01,DOWN_FORCE_DETACH,1792725903173771719,3.839960236e-05,-3.235490807e-05,-5.735195046e-04,4.037963108e-05,-3.091796888e-05,-5.556751135e-04,3.665348066e-05,-3.129753644e-05,-5.555527689e-04,7.019940324e-01,-5.462564309e-05,8.595695677e-01,7.019960124e-01,-5.318870391e-05,8.595874121e-01,7.027816578e-01,-1.501331161e-04,8.297703574e-01
+18,1.213333333e+01,DOWN_FORCE_DETACH,1792725903797346309,3.841535486e-05,-3.351275576e-05,-6.446753050e-04,3.930759071e-05,-3.447245604e-05,-6.364801287e-04,3.448833387e-05,-3.491727338e-05,-6.363539901e-04,7.019940482e-01,-5.578349078e-05,8.594984119e-01,7.019949404e-01,-5.674319106e-05,8.595066071e-01,7.027794927e-01,-1.537528530e-04,8.296895562e-01
+19,1.280000000e+01,DOWN_FORCE_DETACH,1792725904470312522,4.518877304e-05,-3.894981924e-05,-7.171173483e-04,4.458232691e-05,-3.965574760e-05,-7.006483316e-04,3.939388425e-05,-4.015068864e-05,-7.006067300e-04,7.020008216e-01,-6.122055426e-05,8.594259699e-01,7.020002151e-01,-6.192648262e-05,8.594424389e-01,7.027843982e-01,-1.589862683e-04,8.296253034e-01
+20,1.345000000e+01,DOWN_FORCE_DETACH,1792725905123306629,5.032266115e-05,-3.957093459e-05,-7.924906618e-04,4.859606934e-05,-4.080367831e-05,-7.882774882e-04,4.265799233e-05,-4.130657577e-05,-7.881784639e-04,7.020059555e-01,-6.184166961e-05,8.593505966e-01,7.020042289e-01,-6.307441333e-05,8.593548098e-01,7.027876623e-01,-1.601421554e-04,8.295377317e-01
+21,1.410000000e+01,DOWN_FORCE_DETACH,1792725905779365900,5.121547554e-05,-4.058970326e-05,-8.726441408e-04,5.159002301e-05,-4.288339000e-05,-8.568787802e-04,4.499849791e-05,-4.342388175e-05,-8.568322649e-04,7.020068483e-01,-6.286043828e-05,8.592704431e-01,7.020072228e-01,-6.515412502e-05,8.592862085e-01,7.027900028e-01,-1.622594614e-04,8.294690779e-01
+22,1.481666667e+01,DOWN_FORCE_DETACH,1792725906515885047,5.356081892e-05,-4.554413811e-05,-9.641923118e-04,5.454598983e-05,-4.448097764e-05,-9.489306648e-04,4.709796825e-05,-4.501924714e-05,-9.488869484e-04,7.020091936e-01,-6.781487313e-05,8.591788949e-01,7.020101788e-01,-6.675171266e-05,8.591941566e-01,7.027921023e-01,-1.638548268e-04,8.293770232e-01
+23,1.536666667e+01,DOWN_FORCE_DETACH,1792725907056328664,5.387436400e-05,-4.541889970e-05,-1.035070943e-03,5.369790125e-05,-4.551872012e-05,-1.034982403e-03,4.513546408e-05,-4.607510565e-05,-1.034934624e-03,7.020095072e-01,-6.768963472e-05,8.591080163e-01,7.020093307e-01,-6.778945514e-05,8.591081048e-01,7.027901398e-01,-1.649106853e-04,8.292909755e-01
+24,1.596666667e+01,DOWN_FORCE_DETACH,1792725907645748706,6.006340362e-05,-5.087044900e-05,-1.108084294e-03,5.584687126e-05,-5.019279495e-05,-1.101023847e-03,4.666267636e-05,-5.080164896e-05,-1.101004545e-03,7.020156962e-01,-7.314118402e-05,8.590350029e-01,7.020114797e-01,-7.246352998e-05,8.590420634e-01,7.027916670e-01,-1.696372286e-04,8.292249056e-01
+25,1.656666667e+01,DOWN_FORCE_DETACH,1792725908269391282,6.045222392e-05,-5.540137086e-05,-1.197541846e-03,6.008101247e-05,-5.192653919e-05,-1.186741090e-03,5.012788517e-05,-5.252841096e-05,-1.186674993e-03,7.020160850e-01,-7.767210588e-05,8.589455454e-01,7.020157138e-01,-7.419727421e-05,8.589563461e-01,7.027951322e-01,-1.713639906e-04,8.291392352e-01
+26,1.723333333e+01,DOWN_FORCE_DETACH,1792725908923287351,6.316193932e-05,-5.371376138e-05,-1.287595644e-03,6.245686071e-05,-5.769813366e-05,-1.272113269e-03,5.172187442e-05,-5.839391327e-05,-1.272113305e-03,7.020187948e-01,-7.598449640e-05,8.588554916e-01,7.020180897e-01,-7.996886868e-05,8.588709740e-01,7.027967262e-01,-1.772294929e-04,8.290537969e-01
+27,1.780000000e+01,DOWN_FORCE_DETACH,1792725909496750459,6.139401448e-05,-5.266188395e-05,-1.379473415e-03,6.217826043e-05,-5.255081089e-05,-1.363114138e-03,5.022659429e-05,-5.318115832e-05,-1.363125738e-03,7.020170268e-01,-7.493261897e-05,8.587636138e-01,7.020178111e-01,-7.482154591e-05,8.587799731e-01,7.027952309e-01,-1.720167380e-04,8.289627844e-01
+28,1.846666667e+01,DOWN_FORCE_DETACH,1792725910152268887,6.762836753e-05,-5.702567943e-05,-1.472218196e-03,6.611024899e-05,-6.238911315e-05,-1.462855238e-03,5.332328257e-05,-6.316642784e-05,-1.462873086e-03,7.020232612e-01,-7.929641445e-05,8.586708690e-01,7.020217431e-01,-8.465984817e-05,8.586802320e-01,7.027983276e-01,-1.820020075e-04,8.288630371e-01
+29,1.906666667e+01,DOWN_FORCE_DETACH,1792725910823612124,7.204046449e-05,-6.085407601e-05,-1.570225513e-03,6.945629953e-05,-6.502905923e-05,-1.553170842e-03,5.574136083e-05,-6.582656771e-05,-1.553165364e-03,7.020276733e-01,-8.312481104e-05,8.585728617e-01,7.020250891e-01,-8.729979425e-05,8.585899164e-01,7.028007457e-01,-1.846621474e-04,8.287727448e-01
+30,1.971666667e+01,DOWN_FORCE_DETACH,1792725911463224343,7.668498890e-05,-6.445859220e-05,-1.667072274e-03,7.772016931e-05,-6.254404540e-05,-1.658849768e-03,6.336924127e-05,-6.331086466e-05,-1.658868945e-03,7.020323178e-01,-8.672932723e-05,8.584760150e-01,7.020333530e-01,-8.481478042e-05,8.584842375e-01,7.028083736e-01,-1.821464443e-04,8.286670412e-01
+31,2.030000000e+01,DOWN_FORCE_DETACH,1792725912052327098,8.071237304e-05,-6.323804174e-05,-1.758490933e-03,8.198296443e-05,-6.341501387e-05,-1.746176707e-03,6.693672494e-05,-6.419746529e-05,-1.746240569e-03,7.020363452e-01,-8.550877676e-05,8.583845963e-01,7.020376158e-01,-8.568574889e-05,8.583969105e-01,7.028119411e-01,-1.830330449e-04,8.285796696e-01
+32,2.095000000e+01,DOWN_FORCE_DETACH,1792725912691215147,8.754717045e-05,-6.618555810e-05,-1.864107229e-03,8.711514887e-05,-6.569062630e-05,-1.851637928e-03,7.119160875e-05,-6.649462732e-05,-1.851709629e-03,7.020431800e-01,-8.845629312e-05,8.582789800e-01,7.020427480e-01,-8.796136132e-05,8.582914493e-01,7.028161959e-01,-1.853302070e-04,8.284742005e-01
+33,2.155000000e+01,DOWN_FORCE_DETACH,1792725913297099493,8.986880632e-05,-6.403717843e-05,-1.968327456e-03,8.705903790e-05,-6.506228174e-05,-1.961669277e-03,6.976859170e-05,-6.588616348e-05,-1.961748136e-03,7.020455016e-01,-8.630791345e-05,8.581747598e-01,7.020426919e-01,-8.733301676e-05,8.581814180e-01,7.028147729e-01,-1.847217431e-04,8.283641620e-01
+34,2.215000000e+01,DOWN_FORCE_DETACH,1792725913942025310,9.517447628e-05,-6.403074985e-05,-2.076335846e-03,9.432432933e-05,-6.820367386e-05,-2.068964453e-03,7.627610293e-05,-6.903578589e-05,-2.069031891e-03,7.020508073e-01,-8.630148488e-05,8.580667514e-01,7.020499571e-01,-9.047440888e-05,8.580741228e-01,7.028212804e-01,-1.878713655e-04,8.282568783e-01
+35,2.263333333e+01,DOWN_FORCE_DETACH,1792725914428424948,9.704712476e-05,-6.709690156e-05,-2.173498933e-03,9.690850554e-05,-6.703934600e-05,-2.173309512e-03,7.780240240e-05,-6.788947247e-05,-2.173396812e-03,7.020526799e-01,-8.936763659e-05,8.579695883e-01,7.020525413e-01,-8.931008102e-05,8.579697777e-01,7.028228067e-01,-1.867250521e-04,8.281525134e-01
+36,2.318333333e+01,DOWN_FORCE_DETACH,1792725914984545987,9.912201908e-05,-7.386027423e-05,-2.283409356e-03,9.685373474e-05,-6.763529758e-05,-2.264604458e-03,7.655071122e-05,-6.849553906e-05,-2.264745664e-03,7.020547548e-01,-9.613100926e-05,8.578596779e-01,7.020524866e-01,-8.990603260e-05,8.578784828e-01,7.028215550e-01,-1.873311187e-04,8.280611645e-01
+37,2.368333333e+01,DOWN_FORCE_DETACH,1792725915475579011,9.399062209e-05,-6.681919027e-05,-2.397208439e-03,9.224633042e-05,-6.329434271e-05,-2.395014635e-03,7.009470702e-05,-6.407827422e-05,-2.395139005e-03,7.020496234e-01,-8.908992529e-05,8.577458788e-01,7.020478791e-01,-8.556507773e-05,8.577480726e-01,7.028150990e-01,-1.829138539e-04,8.279307712e-01
+38,2.421666667e+01,DOWN_FORCE_DETACH,1792725916023429304,1.009712481e-04,-6.756746875e-05,-2.497154970e-03,9.945355081e-05,-6.593488726e-05,-2.483871601e-03,7.670986619e-05,-6.677809865e-05,-2.484049503e-03,7.020566041e-01,-8.983820377e-05,8.576459323e-01,7.020550864e-01,-8.820562228e-05,8.576592156e-01,7.028217142e-01,-1.856136783e-04,8.278418607e-01
+39,2.475000000e+01,DOWN_FORCE_DETACH,1792725916556935315,1.027729450e-04,-6.849132153e-05,-2.608159624e-03,1.022560936e-04,-6.740714353e-05,-2.597461361e-03,7.838050459e-05,-6.828203247e-05,-2.597661119e-03,7.020584058e-01,-9.076205655e-05,8.575349276e-01,7.020578889e-01,-8.967787855e-05,8.575456259e-01,7.028233848e-01,-1.871176121e-04,8.277282491e-01
+40,2.523333333e+01,DOWN_FORCE_DETACH,1792725917031878464,1.050950254e-04,-7.199879344e-05,-2.707236795e-03,1.028835014e-04,-7.312946935e-05,-2.699252976e-03,7.780854984e-05,-7.404621591e-05,-2.699482575e-03,7.020607278e-01,-9.426952846e-05,8.574358504e-01,7.020585163e-01,-9.540020437e-05,8.574438343e-01,7.028228129e-01,-1.928817956e-04,8.276264276e-01
+41,2.575000000e+01,DOWN_FORCE_DETACH,1792725917539939240,1.086294543e-04,-7.501122065e-05,-2.822641796e-03,1.086200427e-04,-7.463515783e-05,-2.809658627e-03,8.273474360e-05,-7.556954539e-05,-2.809896315e-03,7.020642623e-01,-9.728195567e-05,8.573204454e-01,7.020642529e-01,-9.690589285e-05,8.573334286e-01,7.028277391e-01,-1.944051250e-04,8.275160139e-01
+42,2.625000000e+01,DOWN_FORCE_DETACH,1792725918031889616,1.101983059e-04,-7.584736203e-05,-2.930432111e-03,1.058168707e-04,-7.244013745e-05,-2.931999133e-03,7.816965285e-05,-7.334350604e-05,-2.932244711e-03,7.020658311e-01,-9.811809705e-05,8.572126551e-01,7.020614497e-01,-9.471087247e-05,8.572110881e-01,7.028231740e-01,-1.921790857e-04,8.273936655e-01
+43,2.670000000e+01,DOWN_FORCE_DETACH,1792725918473586466,1.115060419e-04,-8.045844880e-05,-3.035676384e-03,1.097384423e-04,-7.456014819e-05,-3.031499070e-03,8.115273145e-05,-7.547524166e-05,-3.031736777e-03,7.020671389e-01,-1.027291838e-04,8.571074109e-01,7.020653713e-01,-9.683088321e-05,8.571115882e-01,7.028261571e-01,-1.943108213e-04,8.272941734e-01
+44,2.718333333e+01,DOWN_FORCE_DETACH,1792725918949723112,1.161195331e-04,-7.778453850e-05,-3.153028429e-03,1.164243126e-04,-7.743230329e-05,-3.137542676e-03,8.712749243e-05,-7.839438340e-05,-3.137826524e-03,7.020717524e-01,-1.000552735e-04,8.569900588e-01,7.020720571e-01,-9.970303831e-05,8.570055446e-01,7.028321318e-01,-1.972299630e-04,8.271880836e-01
+45,2.761666667e+01,DOWN_FORCE_DETACH,1792725919457103395,1.190626284e-04,-8.204386955e-05,-3.280914035e-03,1.177618595e-04,-7.532574693e-05,-3.270653579e-03,8.699615249e-05,-7.624855891e-05,-3.270922322e-03,7.020746954e-01,-1.043146046e-04,8.568621732e-01,7.020733947e-01,-9.759648195e-05,8.568724337e-01,7.028320005e-01,-1.950841386e-04,8.270549878e-01
+46,2.810000000e+01,DOWN_FORCE_DETACH,1792725919931499556,1.212480799e-04,-8.179877266e-05,-3.408225040e-03,1.221014323e-04,-8.588760878e-05,-3.403146151e-03,9.013205674e-05,-8.693358167e-05,-3.403459109e-03,7.020768809e-01,-1.040695077e-04,8.567348622e-01,7.020777342e-01,-1.081583438e-04,8.567399411e-01,7.028351364e-01,-2.057691613e-04,8.269224511e-01
+47,2.851666667e+01,DOWN_FORCE_DETACH,1792725920357033561,1.209178773e-04,-8.516304765e-05,-3.533178741e-03,1.187676127e-04,-8.606318738e-05,-3.518685770e-03,8.508330641e-05,-8.712941097e-05,-3.519015854e-03,7.020765507e-01,-1.074337827e-04,8.566099085e-01,7.020744004e-01,-1.083339224e-04,8.566244015e-01,7.028300876e-01,-2.059649906e-04,8.268068943e-01
+48,2.896666667e+01,DOWN_FORCE_DETACH,1792725920799503343,1.177579523e-04,-9.059837888e-05,-3.671659116e-03,1.175760656e-04,-9.040756627e-05,-3.671444016e-03,8.197614729e-05,-9.152752334e-05,-3.671794760e-03,7.020733908e-01,-1.128691139e-04,8.564714281e-01,7.020732089e-01,-1.126783013e-04,8.564716432e-01,7.028269805e-01,-2.103631030e-04,8.266541154e-01
+49,2.935000000e+01,DOWN_FORCE_DETACH,1792725921175966969,1.173052211e-04,-9.333598716e-05,-3.792234020e-03,1.172547325e-04,-9.334336266e-05,-3.791973844e-03,8.019759582e-05,-9.448830655e-05,-3.792305742e-03,7.020729380e-01,-1.156067222e-04,8.563508532e-01,7.020728875e-01,-1.156140977e-04,8.563511134e-01,7.028252019e-01,-2.133238862e-04,8.265336044e-01
+50,2.976666667e+01,DOWN_FORCE_DETACH,1792725921585718264,1.150124760e-04,-9.502741971e-05,-3.925908345e-03,1.158692951e-04,-9.688486384e-05,-3.911497399e-03,7.725364018e-05,-9.808098137e-05,-3.911855910e-03,7.020706453e-01,-1.172981547e-04,8.562171789e-01,7.020715021e-01,-1.191555989e-04,8.562315898e-01,7.028222580e-01,-2.169165610e-04,8.264140543e-01
+51,3.018333333e+01,DOWN_FORCE_DETACH,1792725921995581695,1.199946622e-04,-9.542443305e-05,-4.058594058e-03,1.183718155e-04,-1.014832188e-04,-4.043164706e-03,7.835436359e-05,-1.027188475e-04,-4.043540932e-03,7.020756275e-01,-1.176951681e-04,8.560844932e-01,7.020740046e-01,-1.237539538e-04,8.560999225e-01,7.028233587e-01,-2.215544272e-04,8.262823692e-01
+52,3.056666667e+01,DOWN_FORCE_DETACH,1792725922372269143,1.250871542e-04,-1.010414454e-04,-4.193067024e-03,1.246310324e-04,-9.506157116e-05,-4.177132641e-03,8.350233752e-05,-9.623634484e-05,-4.177559193e-03,7.020807200e-01,-1.233121804e-04,8.559500202e-01,7.020802638e-01,-1.173323062e-04,8.559659546e-01,7.028285067e-01,-2.150719245e-04,8.261483510e-01
+53,3.093333333e+01,DOWN_FORCE_DETACH,1792725922747667185,1.219622106e-04,-1.045598933e-04,-4.335301949e-03,1.218365158e-04,-1.044153934e-04,-4.335087928e-03,7.864662841e-05,-1.056713369e-04,-4.335582758e-03,7.020775950e-01,-1.268306283e-04,8.558077853e-01,7.020774693e-01,-1.266861285e-04,8.558079993e-01,7.028236510e-01,-2.245069165e-04,8.259903274e-01
+54,3.126666667e+01,DOWN_FORCE_DETACH,1792725923077045249,1.175332607e-04,-1.096909075e-04,-4.473755794e-03,1.181719455e-04,-1.130273034e-04,-4.462979071e-03,7.313948928e-05,-1.144106961e-04,-4.463426332e-03,7.020731661e-01,-1.319616425e-04,8.556693314e-01,7.020738048e-01,-1.352980384e-04,8.556801082e-01,7.028181438e-01,-2.332462758e-04,8.258624838e-01
+55,3.163333333e+01,DOWN_FORCE_DETACH,1792725923436736785,1.154134146e-04,-1.144263794e-04,-4.629993959e-03,1.150037188e-04,-1.160271969e-04,-4.616283299e-03,6.786351553e-05,-1.174306707e-04,-4.616759218e-03,7.020710462e-01,-1.366971145e-04,8.555130933e-01,7.020706365e-01,-1.382979319e-04,8.555268039e-01,7.028128678e-01,-2.362662504e-04,8.257091510e-01
+56,3.193333333e+01,DOWN_FORCE_DETACH,1792725923781145497,1.097208097e-04,-1.200837708e-04,-4.783136002e-03,1.096924445e-04,-1.199456057e-04,-4.782848746e-03,6.017047302e-05,-1.214362045e-04,-4.783363285e-03,7.020653536e-01,-1.423545058e-04,8.553599512e-01,7.020653253e-01,-1.422163407e-04,8.553602385e-01,7.028051748e-01,-2.402717842e-04,8.255425469e-01
+57,3.228333333e+01,DOWN_FORCE_DETACH,1792725924124769466,1.244521529e-04,-1.284816582e-04,-4.929726884e-03,1.224386732e-04,-1.311812142e-04,-4.923512211e-03,7.220865754e-05,-1.328006712e-04,-4.924061650e-03,7.020800850e-01,-1.507523932e-04,8.552133604e-01,7.020780715e-01,-1.534519492e-04,8.552195750e-01,7.028172130e-01,-2.516362508e-04,8.254018485e-01
+58,3.265000000e+01,DOWN_SETTLE,1792725924485220383,1.284868700e-04,-1.268451337e-04,-5.062172432e-03,1.319486372e-04,-1.288170948e-04,-5.048266383e-03,8.102037871e-05,-1.303894485e-04,-5.048876840e-03,7.020841197e-01,-1.491158687e-04,8.550809148e-01,7.020875815e-01,-1.510878298e-04,8.550948209e-01,7.028260247e-01,-2.492250281e-04,8.252770333e-01
+59,3.336666667e+01,DOWN_PEAK_HOLD,1792725925189428516,1.223191665e-04,-1.313322188e-04,-5.096801273e-03,1.245188357e-04,-1.350754666e-04,-5.088770571e-03,7.246223883e-05,-1.367564493e-04,-5.089667405e-03,7.020779520e-01,-1.536029539e-04,8.550462860e-01,7.020801517e-01,-1.573462016e-04,8.550543167e-01,7.028174666e-01,-2.555920289e-04,8.252362428e-01

Part2/Fixed/digit/ball_0010_12.5/press_depth_05/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+00,1.6335e-02,2.4937e-02,2.4551e+00,-3.8507e-02,3.7937e-02,3.9456e-05,1.2590e-04,-1.4305e-06,-1.2159e-05,3.2037e-07,8.9183e-06,-1.5227e-07,1.2650e-04,8.9254e-06
+1,6.1667e-01,DOWN_FORCE_DETACH,1.5939e-04,2.0129e-02,2.4882e-02,2.4548e+00,-3.8497e-02,3.8206e-02,3.3582e-05,3.9207e-03,-5.6745e-05,-3.5429e-04,1.0237e-05,2.7769e-04,-6.0268e-06,3.9371e-03,2.7794e-04
+2,1.2667e+00,DOWN_FORCE_DETACH,3.2309e-04,2.2827e-02,2.4813e-02,2.4545e+00,-3.8488e-02,3.8397e-02,2.7801e-05,6.6186e-03,-1.2532e-04,-6.1274e-04,1.8325e-05,4.6861e-04,-1.1807e-05,6.6481e-03,4.6912e-04
+3,2.1167e+00,DOWN_FORCE_DETACH,4.8430e-04,2.5069e-02,2.4725e-02,2.4542e+00,-3.8481e-02,3.8555e-02,2.1335e-05,8.8603e-03,-2.1350e-04,-8.7738e-04,2.6103e-05,6.2718e-04,-1.8274e-05,8.9062e-03,6.2799e-04
+4,2.8667e+00,DOWN_FORCE_DETACH,6.4477e-04,2.7558e-02,2.1951e-02,2.4583e+00,-3.8286e-02,3.8726e-02,1.5532e-05,1.1349e-02,-2.9876e-03,3.1762e-03,2.2099e-04,7.9821e-04,-2.4077e-05,1.2158e-02,8.2859e-04
+5,3.6000e+00,DOWN_FORCE_DETACH,8.0952e-04,2.7369e-02,2.6210e-02,2.4607e+00,-3.8579e-02,3.8710e-02,1.0641e-05,1.1160e-02,1.2712e-03,5.6252e-03,-7.2673e-05,7.8133e-04,-2.8967e-05,1.2562e-02,7.8524e-04
+6,4.3167e+00,DOWN_FORCE_DETACH,9.6984e-04,2.8437e-02,2.6379e-02,2.4676e+00,-3.8586e-02,3.8777e-02,3.3211e-06,1.2229e-02,1.4401e-03,1.2466e-02,-7.9244e-05,8.4834e-04,-3.6288e-05,1.7522e-02,8.5281e-04
+7,5.0000e+00,DOWN_FORCE_DETACH,1.1308e-03,2.9014e-02,3.1738e-02,2.4731e+00,-3.8953e-02,3.8810e-02,-4.2300e-06,1.2806e-02,6.7995e-03,1.7987e-02,-4.4642e-04,8.8139e-04,-4.3839e-05,2.3103e-02,9.8897e-04
+8,5.8167e+00,DOWN_FORCE_DETACH,1.2942e-03,2.9155e-02,3.2841e-02,2.4760e+00,-3.9025e-02,3.8814e-02,-1.6954e-05,1.2946e-02,7.9029e-03,2.0853e-02,-5.1789e-04,8.8568e-04,-5.6563e-05,2.5785e-02,1.0275e-03
+9,6.4500e+00,DOWN_FORCE_DETACH,1.4517e-03,2.9258e-02,3.6344e-02,2.4809e+00,-3.9267e-02,3.8814e-02,-2.6545e-05,1.3049e-02,1.1405e-02,2.5776e-02,-7.6002e-04,8.8606e-04,-6.6154e-05,3.1061e-02,1.1692e-03
+10,7.0000e+00,DOWN_FORCE_DETACH,1.6142e-03,2.9096e-02,3.6324e-02,2.4795e+00,-3.9268e-02,3.8803e-02,-3.5004e-05,1.2887e-02,1.1386e-02,2.4387e-02,-7.6141e-04,8.7519e-04,-7.4612e-05,2.9840e-02,1.1624e-03
+11,7.7167e+00,DOWN_FORCE_DETACH,1.7785e-03,2.8823e-02,4.2527e-02,2.4813e+00,-3.9707e-02,3.8782e-02,-4.2704e-05,1.2615e-02,1.7589e-02,2.6233e-02,-1.2001e-03,8.5418e-04,-8.2313e-05,3.4010e-02,1.4753e-03
+12,8.4000e+00,DOWN_FORCE_DETACH,1.9432e-03,2.8479e-02,4.8349e-02,2.4820e+00,-4.0124e-02,3.8759e-02,-4.7968e-05,1.2270e-02,2.3410e-02,2.6915e-02,-1.6171e-03,8.3083e-04,-8.7577e-05,3.7723e-02,1.8201e-03
+13,8.8333e+00,DOWN_FORCE_DETACH,2.1045e-03,1.5488e-02,4.4259e-02,2.4827e+00,-3.9849e-02,3.7844e-02,-4.8608e-05,-7.2034e-04,1.9320e-02,2.7562e-02,-1.3425e-03,-8.3864e-05,-8.8216e-05,3.3666e-02,1.3480e-03
+14,9.5000e+00,DOWN_FORCE_DETACH,2.2639e-03,2.1002e-02,4.1340e-02,2.4835e+00,-3.9663e-02,3.8234e-02,-5.3255e-05,4.7932e-03,1.6401e-02,2.8388e-02,-1.1564e-03,3.0607e-04,-9.2863e-05,3.3134e-02,1.1998e-03
+15,1.0200e+01,DOWN_FORCE_DETACH,2.4267e-03,2.1379e-02,4.3621e-02,2.4872e+00,-3.9836e-02,3.8259e-02,-5.3490e-05,5.1706e-03,1.8683e-02,3.2068e-02,-1.3287e-03,3.3111e-04,-9.3099e-05,3.7472e-02,1.3725e-03
+16,1.0833e+01,DOWN_FORCE_DETACH,2.5861e-03,2.1502e-02,4.6179e-02,2.4908e+00,-4.0018e-02,3.8265e-02,-4.9751e-05,5.2937e-03,2.1241e-02,3.5679e-02,-1.5113e-03,3.3701e-04,-8.9359e-05,4.1859e-02,1.5510e-03
+17,1.1517e+01,DOWN_FORCE_DETACH,2.7473e-03,2.0790e-02,4.4926e-02,2.4923e+00,-3.9926e-02,3.8213e-02,-4.1764e-05,4.5815e-03,1.9988e-02,3.7179e-02,-1.4192e-03,2.8517e-04,-8.1373e-05,4.2459e-02,1.4498e-03
+18,1.2133e+01,DOWN_FORCE_DETACH,2.9132e-03,2.1422e-02,4.7556e-02,2.4989e+00,-4.0096e-02,3.8251e-02,-2.8912e-05,5.2134e-03,2.2617e-02,4.3756e-02,-1.5895e-03,3.2293e-04,-6.8521e-05,4.9531e-02,1.6234e-03
+19,1.2800e+01,DOWN_FORCE_DETACH,3.0754e-03,2.0525e-02,5.1322e-02,2.4981e+00,-4.0353e-02,3.8190e-02,-9.4092e-06,4.3165e-03,2.6384e-02,4.3000e-02,-1.8463e-03,2.6133e-04,-4.9018e-05,5.0633e-02,1.8654e-03
+20,1.3450e+01,DOWN_FORCE_DETACH,3.2361e-03,2.0846e-02,5.2535e-02,2.5051e+00,-4.0435e-02,3.8206e-02,1.2500e-05,4.6368e-03,2.7597e-02,4.9981e-02,-1.9280e-03,2.7746e-04,-2.7109e-05,5.7282e-02,1.9480e-03
+21,1.4100e+01,DOWN_FORCE_DETACH,3.3992e-03,2.2013e-02,5.4281e-02,2.5034e+00,-4.0545e-02,3.8290e-02,3.2934e-05,5.8043e-03,2.9342e-02,4.8290e-02,-2.0380e-03,3.6202e-04,-6.6742e-06,5.6803e-02,2.0699e-03
+22,1.4817e+01,DOWN_FORCE_DETACH,3.5586e-03,2.3934e-02,5.6664e-02,2.5043e+00,-4.0681e-02,3.8427e-02,4.8816e-05,7.7257e-03,3.1726e-02,4.9191e-02,-2.1745e-03,4.9826e-04,9.2068e-06,5.9042e-02,2.2309e-03
+23,1.5367e+01,DOWN_FORCE_DETACH,3.7187e-03,2.6142e-02,5.6992e-02,2.5026e+00,-4.0682e-02,3.8584e-02,5.0111e-05,9.9336e-03,3.2053e-02,4.7479e-02,-2.1750e-03,6.5615e-04,1.0503e-05,5.8140e-02,2.2718e-03
+24,1.5967e+01,DOWN_FORCE_DETACH,3.8835e-03,2.7083e-02,6.3004e-02,2.5080e+00,-4.1078e-02,3.8641e-02,4.1434e-05,1.0874e-02,3.8066e-02,5.2840e-02,-2.5713e-03,7.1324e-04,1.8253e-06,6.6025e-02,2.6684e-03
+25,1.6567e+01,DOWN_FORCE_DETACH,4.0444e-03,2.7232e-02,6.4608e-02,2.5132e+00,-4.1179e-02,3.8642e-02,2.0529e-05,1.1023e-02,3.9670e-02,5.8083e-02,-2.6724e-03,7.1345e-04,-1.9080e-05,7.1195e-02,2.7661e-03
+26,1.7233e+01,DOWN_FORCE_DETACH,4.2055e-03,2.8127e-02,6.9176e-02,2.5134e+00,-4.1496e-02,3.8702e-02,-8.4932e-06,1.1919e-02,4.4238e-02,5.8284e-02,-2.9895e-03,7.7401e-04,-4.8102e-05,7.4135e-02,3.0884e-03
+27,1.7800e+01,DOWN_FORCE_DETACH,4.3678e-03,2.9100e-02,6.5806e-02,2.5169e+00,-4.1259e-02,3.8769e-02,-3.1475e-05,1.2891e-02,4.0867e-02,6.1790e-02,-2.7526e-03,8.4114e-04,-7.1083e-05,7.5195e-02,2.8792e-03
+28,1.8467e+01,DOWN_FORCE_DETACH,4.5300e-03,2.8924e-02,7.3539e-02,2.5171e+00,-4.1792e-02,3.8759e-02,-3.8770e-05,1.2716e-02,4.8601e-02,6.2029e-02,-3.2847e-03,8.3073e-04,-7.8379e-05,7.9821e-02,3.3890e-03
+29,1.9067e+01,DOWN_FORCE_DETACH,4.6899e-03,2.9300e-02,7.5143e-02,2.5176e+00,-4.1903e-02,3.8785e-02,-2.9115e-05,1.3091e-02,5.0205e-02,6.2512e-02,-3.3957e-03,8.5697e-04,-6.8723e-05,8.1238e-02,3.5029e-03
+30,1.9717e+01,DOWN_FORCE_DETACH,4.8553e-03,2.8012e-02,7.2430e-02,2.5212e+00,-4.1724e-02,3.8690e-02,-7.9912e-06,1.1803e-02,4.7491e-02,6.6094e-02,-3.2167e-03,7.6174e-04,-4.7600e-05,8.2239e-02,3.3060e-03
+31,2.0300e+01,DOWN_FORCE_DETACH,5.0123e-03,2.7851e-02,7.3028e-02,2.5204e+00,-4.1769e-02,3.8678e-02,1.2976e-05,1.1642e-02,4.8090e-02,6.5324e-02,-3.2622e-03,7.5014e-04,-2.6632e-05,8.1947e-02,3.3474e-03
+32,2.0950e+01,DOWN_FORCE_DETACH,5.1783e-03,2.7424e-02,7.5182e-02,2.5206e+00,-4.1908e-02,3.8648e-02,2.3701e-05,1.1216e-02,5.0244e-02,6.5526e-02,-3.4015e-03,7.1933e-04,-1.5908e-05,8.3329e-02,3.4767e-03
+33,2.1550e+01,DOWN_FORCE_DETACH,5.3365e-03,2.8184e-02,7.5048e-02,2.5240e+00,-4.1883e-02,3.8694e-02,1.5514e-05,1.1975e-02,5.0109e-02,6.8842e-02,-3.3763e-03,7.6586e-04,-2.4094e-05,8.5986e-02,3.4622e-03
+34,2.2150e+01,DOWN_FORCE_DETACH,5.4980e-03,2.6529e-02,7.6979e-02,2.5281e+00,-4.2001e-02,3.8568e-02,-1.2557e-06,1.0321e-02,5.2041e-02,7.3025e-02,-3.4945e-03,6.3944e-04,-4.0864e-05,9.0263e-02,3.5528e-03
+35,2.2633e+01,DOWN_FORCE_DETACH,5.6629e-03,2.6582e-02,7.1725e-02,2.5288e+00,-4.1630e-02,3.8571e-02,-1.7672e-05,1.0373e-02,4.6786e-02,7.3647e-02,-3.1231e-03,6.4233e-04,-5.7281e-05,8.7866e-02,3.1890e-03
+36,2.3183e+01,DOWN_FORCE_DETACH,5.8264e-03,2.5943e-02,7.6054e-02,2.5319e+00,-4.1934e-02,3.8526e-02,-2.8414e-05,9.7341e-03,5.1115e-02,7.6764e-02,-3.4272e-03,5.9761e-04,-6.8023e-05,9.2737e-02,3.4796e-03
+37,2.3683e+01,DOWN_FORCE_DETACH,5.9848e-03,2.8040e-02,7.2810e-02,2.5427e+00,-4.1700e-02,3.8663e-02,-3.2205e-05,1.1832e-02,4.7872e-02,8.7543e-02,-3.1932e-03,7.3522e-04,-7.1814e-05,1.0048e-01,3.2775e-03
+38,2.4217e+01,DOWN_FORCE_DETACH,6.1434e-03,2.5214e-02,7.4790e-02,2.5359e+00,-4.1833e-02,3.8472e-02,-2.2402e-05,9.0054e-03,4.9852e-02,8.0754e-02,-3.3257e-03,5.4327e-04,-6.2011e-05,9.5329e-02,3.3704e-03
+39,2.4750e+01,DOWN_FORCE_DETACH,6.3090e-03,2.5354e-02,7.6069e-02,2.5377e+00,-4.1915e-02,3.8483e-02,-1.7853e-06,9.1450e-03,5.1131e-02,8.2558e-02,-3.4086e-03,5.5435e-04,-4.1394e-05,9.7539e-02,3.4537e-03
+40,2.5233e+01,DOWN_FORCE_DETACH,6.4722e-03,2.6613e-02,8.1166e-02,2.5377e+00,-4.2249e-02,3.8574e-02,1.8639e-05,1.0404e-02,5.6227e-02,8.2582e-02,-3.7425e-03,6.4548e-04,-2.0970e-05,1.0045e-01,3.7978e-03
+41,2.5750e+01,DOWN_FORCE_DETACH,6.6353e-03,2.5337e-02,8.3132e-02,2.5378e+00,-4.2361e-02,3.8484e-02,2.9950e-05,9.1280e-03,5.8193e-02,8.2699e-02,-3.8546e-03,5.5603e-04,-9.6590e-06,1.0153e-01,3.8945e-03
+42,2.6250e+01,DOWN_FORCE_DETACH,6.7930e-03,2.7223e-02,8.1905e-02,2.5457e+00,-4.2260e-02,3.8606e-02,2.4704e-05,1.1015e-02,5.6966e-02,9.0561e-02,-3.7527e-03,6.7800e-04,-1.4905e-05,1.0755e-01,3.8135e-03
+43,2.6700e+01,DOWN_FORCE_DETACH,6.9570e-03,2.5869e-02,8.4526e-02,2.5482e+00,-4.2426e-02,3.8503e-02,1.2517e-05,9.6600e-03,5.9587e-02,9.3060e-02,-3.9191e-03,5.7469e-04,-2.7092e-05,1.1092e-01,3.9611e-03
+44,2.7183e+01,DOWN_FORCE_DETACH,7.1201e-03,2.4616e-02,8.8233e-02,2.5474e+00,-4.2673e-02,3.8416e-02,-1.9991e-06,8.4074e-03,6.3295e-02,9.2297e-02,-4.1658e-03,4.8778e-04,-4.1608e-05,1.1223e-01,4.1944e-03
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Part2/Fixed/digit/ball_0010_12.5/press_depth_05/up/camera_frames_60hz.tar

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Part2/Fixed/digit/ball_0010_12.5/press_depth_05/up/franka_data.csv

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Part2/Fixed/digit/ball_0010_12.5/press_depth_05/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+57,1.776666667e+01,UP_FORCE_RAMP,1792725881224218581,-3.731026072e-05,-3.023288716e-04,9.353740369e-04,-3.615981009e-05,-2.998228811e-04,9.288614011e-04,-2.733152585e-05,-3.036821516e-04,9.289944396e-04,7.019183226e-01,-3.245996066e-04,8.610784613e-01,7.019194730e-01,-3.220936161e-04,8.610719486e-01,7.027176728e-01,-4.225177305e-04,8.312549046e-01
+58,1.816666667e+01,UP_FORCE_HOLD,1792725881617028860,-3.586322034e-05,-3.046281941e-04,9.513201894e-04,-3.383638190e-05,-3.000873960e-04,9.503025399e-04,-2.453679625e-05,-3.039743514e-04,9.504448856e-04,7.019197696e-01,-3.268989291e-04,8.610944074e-01,7.019217964e-01,-3.223581311e-04,8.610933898e-01,7.027204675e-01,-4.228099303e-04,8.312763551e-01
+59,1.848333333e+01,UP_SETTLE,1792725881928353599,-3.403132166e-05,-2.994459220e-04,9.625890067e-04,-3.383638190e-05,-3.000873960e-04,9.503025399e-04,-2.453750131e-05,-3.039743702e-04,9.504712187e-04,7.019216015e-01,-3.217166570e-04,8.611056762e-01,7.019217964e-01,-3.223581311e-04,8.610933898e-01,7.027204668e-01,-4.228099491e-04,8.312763814e-01

Part2/Fixed/digit/ball_0010_12.5/press_depth_05/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+00,1.6335e-02,2.4937e-02,2.4551e+00,-3.8507e-02,3.7937e-02,3.9469e-05,1.2596e-04,-1.4305e-06,-1.1921e-05,3.1292e-07,8.9258e-06,-1.5242e-07,1.2653e-04,8.9326e-06
+1,3.0000e-01,WAIT_W2,7.5028e-05,1.8370e-02,2.4912e-02,2.4549e+00,-3.8501e-02,3.8081e-02,3.6617e-05,2.1613e-03,-2.6688e-05,-1.9693e-04,5.4836e-06,1.5311e-04,-3.0043e-06,2.1704e-03,1.5324e-04
+2,6.3333e-01,WAIT_W2,1.4815e-04,2.0213e-02,2.4880e-02,2.4548e+00,-3.8496e-02,3.8212e-02,3.3436e-05,4.0041e-03,-5.8459e-05,-3.6192e-04,1.0472e-05,2.8359e-04,-6.1855e-06,4.0208e-03,2.8385e-04
+3,9.6667e-01,WAIT_W2,2.2703e-04,2.1713e-02,2.4845e-02,2.4546e+00,-3.8492e-02,3.8318e-02,3.0398e-05,5.5042e-03,-9.3753e-05,-5.0116e-04,1.4901e-05,3.8975e-04,-9.2232e-06,5.5277e-03,3.9015e-04
+4,1.3000e+00,WAIT_W2,3.0137e-04,2.2231e-02,3.9459e-02,2.4527e+00,-3.9511e-02,3.8356e-02,3.1176e-05,6.0222e-03,1.4521e-02,-2.4252e-03,-1.0039e-03,4.2797e-04,-8.4459e-06,1.5906e-02,1.0914e-03
+5,1.5833e+00,WAIT_W2,3.7456e-04,2.4905e-02,7.1862e-02,2.4531e+00,-4.1773e-02,3.8544e-02,3.6282e-05,8.6959e-03,4.6923e-02,-2.0466e-03,-3.2666e-03,6.1551e-04,-3.3391e-06,4.7766e-02,3.3241e-03
+6,1.8167e+00,WAIT_W2,4.4789e-04,2.5512e-02,1.1780e-01,2.4513e+00,-4.4982e-02,3.8587e-02,4.5824e-05,9.3033e-03,9.2858e-02,-3.7987e-03,-6.4753e-03,6.5896e-04,6.2023e-06,9.3400e-02,6.5087e-03
+7,1.9500e+00,WAIT_W2,5.1796e-04,2.8037e-02,1.5511e-01,2.4534e+00,-4.7588e-02,3.8763e-02,5.3515e-05,1.1828e-02,1.3017e-01,-1.6794e-03,-9.0816e-03,8.3450e-04,1.3894e-05,1.3072e-01,9.1199e-03
+8,2.2000e+00,WAIT_W2,5.9940e-04,2.9235e-02,1.9055e-01,2.4531e+00,-5.0082e-02,3.8848e-02,5.9589e-05,1.3026e-02,1.6562e-01,-2.0409e-03,-1.1575e-02,9.2011e-04,1.9967e-05,1.6614e-01,1.1612e-02
+9,2.4500e+00,WAIT_W2,6.7008e-04,3.1949e-02,2.2041e-01,2.4558e+00,-5.2183e-02,3.9038e-02,6.2767e-05,1.5741e-02,1.9547e-01,6.5565e-04,-1.3677e-02,1.1097e-03,2.3146e-05,1.9611e-01,1.3722e-02
+10,2.7667e+00,WAIT_W2,7.4652e-04,3.3819e-02,2.5005e-01,2.4577e+00,-5.4276e-02,3.9169e-02,6.5268e-05,1.7611e-02,2.2511e-01,2.5907e-03,-1.5769e-02,1.2404e-03,2.5647e-05,2.2581e-01,1.5818e-02
+11,3.1000e+00,WAIT_W2,8.2120e-04,3.4433e-02,2.4927e-01,2.4590e+00,-5.4243e-02,3.9211e-02,5.7374e-05,1.8224e-02,2.2433e-01,3.9077e-03,-1.5736e-02,1.2831e-03,1.7753e-05,2.2511e-01,1.5788e-02
+12,3.4667e+00,WAIT_W2,8.9717e-04,3.5145e-02,2.4900e-01,2.4597e+00,-5.4238e-02,3.9262e-02,4.9943e-05,1.8937e-02,2.2407e-01,4.6055e-03,-1.5732e-02,1.3333e-03,1.0321e-05,2.2491e-01,1.5788e-02
+13,3.8667e+00,WAIT_W2,9.7150e-04,3.5847e-02,2.4880e-01,2.4600e+00,-5.4235e-02,3.9311e-02,4.2427e-05,1.9639e-02,2.2386e-01,4.9026e-03,-1.5728e-02,1.3831e-03,2.8057e-06,2.2478e-01,1.5789e-02
+14,4.2667e+00,UP_FORCE_RAMP,1.0457e-03,3.6458e-02,2.4864e-01,2.4601e+00,-5.4232e-02,3.9355e-02,3.5349e-05,2.0250e-02,2.2370e-01,4.9460e-03,-1.5725e-02,1.4265e-03,-4.2728e-06,2.2467e-01,1.5790e-02
+15,4.5500e+00,UP_FORCE_RAMP,1.1196e-03,3.6845e-02,2.4854e-01,2.4600e+00,-5.4230e-02,3.9382e-02,3.0591e-05,2.0636e-02,2.2361e-01,4.8923e-03,-1.5723e-02,1.4541e-03,-9.0309e-06,2.2461e-01,1.5790e-02
+16,4.9167e+00,UP_FORCE_RAMP,1.1950e-03,3.7298e-02,2.4843e-01,2.4599e+00,-5.4227e-02,3.9415e-02,2.4753e-05,2.1090e-02,2.2349e-01,4.7655e-03,-1.5720e-02,1.4865e-03,-1.4868e-05,2.2454e-01,1.5790e-02
+17,5.2500e+00,UP_FORCE_RAMP,1.2705e-03,3.7671e-02,2.4834e-01,2.4597e+00,-5.4224e-02,3.9441e-02,1.9772e-05,2.1462e-02,2.2340e-01,4.6201e-03,-1.5717e-02,1.5131e-03,-1.9850e-05,2.2448e-01,1.5790e-02
+18,5.5667e+00,UP_FORCE_RAMP,1.3441e-03,3.6303e-02,2.4713e-01,2.4524e+00,-5.4156e-02,3.9352e-02,1.7056e-05,2.0094e-02,2.2219e-01,-2.7313e-03,-1.5649e-02,1.4240e-03,-2.2566e-05,2.2311e-01,1.5714e-02
+19,5.9000e+00,UP_FORCE_RAMP,1.4196e-03,3.7325e-02,2.4701e-01,2.4550e+00,-5.4157e-02,3.9423e-02,1.4602e-05,2.1116e-02,2.2207e-01,-7.7486e-05,-1.5651e-02,1.4947e-03,-2.5020e-05,2.2308e-01,1.5722e-02
+20,6.2500e+00,UP_FORCE_RAMP,1.4965e-03,3.7937e-02,2.4373e-01,2.4511e+00,-5.3953e-02,3.9471e-02,1.0211e-05,2.1728e-02,2.1879e-01,-4.0183e-03,-1.5446e-02,1.5430e-03,-2.9410e-05,2.1991e-01,1.5523e-02
+21,6.6167e+00,UP_FORCE_RAMP,1.5692e-03,3.7998e-02,2.4172e-01,2.4424e+00,-5.3855e-02,3.9486e-02,7.1749e-06,2.1789e-02,2.1678e-01,-1.2699e-02,-1.5348e-02,1.5575e-03,-3.2447e-05,2.1825e-01,1.5427e-02
+22,6.9333e+00,UP_FORCE_RAMP,1.6452e-03,3.8161e-02,2.4303e-01,2.4409e+00,-5.3980e-02,3.9500e-02,7.2392e-06,2.1952e-02,2.1809e-01,-1.4229e-02,-1.5473e-02,1.5720e-03,-3.2382e-05,2.1965e-01,1.5552e-02
+23,7.2000e+00,UP_FORCE_RAMP,1.7182e-03,3.8923e-02,2.4089e-01,2.4323e+00,-5.3875e-02,3.9564e-02,5.2284e-06,2.2715e-02,2.1595e-01,-2.2841e-02,-1.5368e-02,1.6357e-03,-3.4393e-05,2.1834e-01,1.5455e-02
+24,7.5167e+00,UP_FORCE_RAMP,1.7952e-03,3.7830e-02,2.3745e-01,2.4260e+00,-5.3688e-02,3.9495e-02,5.4245e-06,2.1621e-02,2.1251e-01,-2.9111e-02,-1.5181e-02,1.5671e-03,-3.4197e-05,2.1559e-01,1.5262e-02
+25,7.7833e+00,UP_FORCE_RAMP,1.8705e-03,3.7592e-02,2.3422e-01,2.4279e+00,-5.3492e-02,3.9478e-02,5.3667e-06,2.1383e-02,2.0928e-01,-2.7166e-02,-1.4986e-02,1.5498e-03,-3.4255e-05,2.1212e-01,1.5066e-02
+26,8.0667e+00,UP_FORCE_RAMP,1.9438e-03,3.8123e-02,2.3416e-01,2.4230e+00,-5.3530e-02,3.9522e-02,2.6817e-06,2.1915e-02,2.0922e-01,-3.2144e-02,-1.5023e-02,1.5941e-03,-3.6940e-05,2.1281e-01,1.5107e-02
+27,8.3500e+00,UP_FORCE_RAMP,2.0150e-03,3.9773e-02,2.3486e-01,2.4184e+00,-5.3612e-02,3.9645e-02,-2.6231e-06,2.3564e-02,2.0992e-01,-3.6747e-02,-1.5105e-02,1.7163e-03,-4.2245e-05,2.1441e-01,1.5202e-02
+28,8.5833e+00,UP_FORCE_RAMP,2.0938e-03,3.8020e-02,2.3099e-01,2.4122e+00,-5.3372e-02,3.9528e-02,-4.4336e-06,2.1811e-02,2.0606e-01,-4.2880e-02,-1.4865e-02,1.5994e-03,-4.4055e-05,2.1160e-01,1.4951e-02
+29,8.8500e+00,UP_FORCE_RAMP,2.1683e-03,3.6656e-02,2.3063e-01,2.4149e+00,-5.3363e-02,3.9429e-02,-4.1216e-06,2.0447e-02,2.0569e-01,-4.0245e-02,-1.4856e-02,1.5012e-03,-4.3743e-05,2.1059e-01,1.4931e-02
+30,9.1333e+00,UP_FORCE_RAMP,2.2410e-03,3.6318e-02,2.2661e-01,2.4108e+00,-5.3110e-02,3.9410e-02,-6.8238e-06,2.0109e-02,2.0167e-01,-4.4320e-02,-1.4604e-02,1.4818e-03,-4.6445e-05,2.0746e-01,1.4679e-02
+31,9.4167e+00,UP_FORCE_RAMP,2.3166e-03,3.4822e-02,2.2855e-01,2.4067e+00,-5.3273e-02,3.9308e-02,-5.0962e-06,1.8613e-02,2.0361e-01,-4.8396e-02,-1.4766e-02,1.3801e-03,-4.4718e-05,2.1011e-01,1.4830e-02
+32,9.8000e+00,UP_FORCE_RAMP,2.3916e-03,3.4460e-02,2.2683e-01,2.4124e+00,-5.3163e-02,3.9276e-02,-4.4927e-06,1.8251e-02,2.0189e-01,-4.2758e-02,-1.4656e-02,1.3474e-03,-4.4114e-05,2.0718e-01,1.4718e-02
+33,1.0083e+01,UP_FORCE_RAMP,2.4659e-03,3.4127e-02,2.2483e-01,2.4077e+00,-5.3041e-02,3.9256e-02,-4.2818e-06,1.7918e-02,1.9989e-01,-4.7397e-02,-1.4535e-02,1.3278e-03,-4.3903e-05,2.0621e-01,1.4595e-02
+34,1.0400e+01,UP_FORCE_RAMP,2.5420e-03,3.4503e-02,2.2378e-01,2.4113e+00,-5.2967e-02,3.9277e-02,-3.6936e-06,1.8294e-02,1.9884e-01,-4.3802e-02,-1.4460e-02,1.3490e-03,-4.3315e-05,2.0442e-01,1.4523e-02
+35,1.0717e+01,UP_FORCE_RAMP,2.6175e-03,3.4597e-02,2.2624e-01,2.4132e+00,-5.3137e-02,3.9281e-02,-1.4408e-06,1.8388e-02,2.0130e-01,-4.1955e-02,-1.4631e-02,1.3523e-03,-4.1062e-05,2.0645e-01,1.4693e-02
+36,1.0933e+01,UP_FORCE_RAMP,2.6919e-03,4.1828e-02,2.2748e-01,2.4168e+00,-5.3213e-02,3.9786e-02,-1.5577e-05,2.5620e-02,2.0254e-01,-3.8318e-02,-1.4706e-02,1.8579e-03,-5.5198e-05,2.0772e-01,1.4823e-02
+37,1.1267e+01,UP_FORCE_RAMP,2.7659e-03,4.0080e-02,2.2791e-01,2.4168e+00,-5.3231e-02,3.9662e-02,-1.8465e-05,2.3871e-02,2.0297e-01,-3.8358e-02,-1.4725e-02,1.7340e-03,-5.8086e-05,2.0794e-01,1.4827e-02
+38,1.1533e+01,UP_FORCE_RAMP,2.8380e-03,3.8880e-02,2.2592e-01,2.4166e+00,-5.3086e-02,3.9577e-02,-1.8178e-05,2.2671e-02,2.0098e-01,-3.8521e-02,-1.4579e-02,1.6492e-03,-5.7800e-05,2.0589e-01,1.4672e-02
+39,1.1883e+01,UP_FORCE_RAMP,2.9164e-03,3.7818e-02,2.2617e-01,2.4108e+00,-5.3102e-02,3.9508e-02,-1.6734e-05,2.1609e-02,2.0123e-01,-4.4266e-02,-1.4596e-02,1.5796e-03,-5.6356e-05,2.0717e-01,1.4681e-02
+40,1.2217e+01,UP_FORCE_RAMP,2.9906e-03,3.7437e-02,2.2433e-01,2.4127e+00,-5.2964e-02,3.9481e-02,-1.5521e-05,2.1228e-02,1.9939e-01,-4.2425e-02,-1.4457e-02,1.5523e-03,-5.5143e-05,2.0496e-01,1.4540e-02
+41,1.2533e+01,UP_FORCE_RAMP,3.0617e-03,3.6426e-02,2.2497e-01,2.4134e+00,-5.2998e-02,3.9410e-02,-1.2622e-05,2.0217e-02,2.0003e-01,-4.1678e-02,-1.4492e-02,1.4814e-03,-5.2243e-05,2.0533e-01,1.4567e-02
+42,1.2933e+01,UP_FORCE_RAMP,3.1409e-03,3.7281e-02,2.2501e-01,2.4155e+00,-5.2987e-02,3.9470e-02,-1.2136e-05,2.1072e-02,2.0007e-01,-3.9644e-02,-1.4480e-02,1.5416e-03,-5.1757e-05,2.0504e-01,1.4562e-02
+43,1.3233e+01,UP_FORCE_RAMP,3.2104e-03,3.6691e-02,2.2500e-01,2.4151e+00,-5.2979e-02,3.9430e-02,-1.1961e-05,2.0482e-02,2.0006e-01,-3.9975e-02,-1.4472e-02,1.5014e-03,-5.1583e-05,2.0504e-01,1.4550e-02
+44,1.3567e+01,UP_FORCE_RAMP,3.2885e-03,3.7117e-02,2.2526e-01,2.4218e+00,-5.2975e-02,3.9454e-02,-1.2319e-05,2.0908e-02,2.0032e-01,-3.3307e-02,-1.4468e-02,1.5259e-03,-5.1940e-05,2.0415e-01,1.4548e-02
+45,1.3883e+01,UP_FORCE_RAMP,3.3635e-03,3.7611e-02,2.2421e-01,2.4211e+00,-5.2895e-02,3.9491e-02,-1.5654e-05,2.1403e-02,1.9927e-01,-3.4035e-02,-1.4389e-02,1.5628e-03,-5.5276e-05,2.0329e-01,1.4473e-02
+46,1.4233e+01,UP_FORCE_RAMP,3.4369e-03,3.7615e-02,2.2251e-01,2.4218e+00,-5.2766e-02,3.9491e-02,-1.9218e-05,2.1406e-02,1.9757e-01,-3.3304e-02,-1.4259e-02,1.5632e-03,-5.8840e-05,2.0150e-01,1.4344e-02
+47,1.4583e+01,UP_FORCE_RAMP,3.5134e-03,3.7849e-02,2.2317e-01,2.4223e+00,-5.2801e-02,3.9508e-02,-2.3450e-05,2.1641e-02,1.9824e-01,-3.2801e-02,-1.4294e-02,1.5797e-03,-6.3071e-05,2.0209e-01,1.4382e-02
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+49,1.5183e+01,UP_FORCE_RAMP,3.6621e-03,3.8140e-02,2.2100e-01,2.4269e+00,-5.2620e-02,3.9524e-02,-3.2569e-05,2.1931e-02,1.9606e-01,-2.8262e-02,-1.4113e-02,1.5953e-03,-7.2190e-05,1.9930e-01,1.4203e-02
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Part2/Fixed/digit/ball_0010_12.5/press_depth_06/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d160183915a10c56b7e80591657b5a12405ec11eedbbd7060db398975f7c95ff
+size 624640

Part2/Fixed/digit/ball_0010_12.5/press_depth_06/down/franka_data.csv

@@ -0,0 +1,61 @@
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+45410,1792725967940507589,9370796000000,1792725967938073045,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.6759031958057161,-0.004251870450873285,0.10640650267002842,0.99999993761132,-7.333832112541233e-05,-0.00029027455725532753,0.00016304107652595674,0.6761,-0.004,0.10659914740919584,1.0,0.0,0.0,0.0,-0.05079828713289225,-0.0688254418207026,0.16608890818853508,-0.004900338488569009,0.0038362984526778,-0.00017806944492346948,0.887312475092978,0.8689464723651636,0.23413917569470039,0.06825277888032744,-0.0722897266214174,0.001621365763074803,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.8062846954260997,0.8350695064390783,0.5627983677344507,0.43905075038060914,-0.2705664674792992,0.5130743583344638,1.8084233562092904,0.16608890818853508,1.2456249884748396,1.2456249884748396,1.2917635163498904,0,0,-6.760161489341587e-05,9.120583041444803e-05
+45493,1792725968631556589,9371487000000,1792725968626082944,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.6759048636992406,-0.004254659857968422,0.10636316373063968,0.9999999383891242,-7.439865631924083e-05,-0.0002852654733149543,0.00016659250286693263,0.6761,-0.004,0.10654910857735332,1.0,0.0,0.0,0.0,-0.05891394377113934,-0.07588106591551391,0.18611694044232716,-0.004905066607920838,0.003836796913390811,-0.00019518780474204762,0.8791968184547309,0.8618908482703523,0.25416720794849246,0.0682480507609756,-0.07228922816070439,0.001604247403256225,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.7744879584936937,0.6687750183513462,0.5231169314997268,0.5003588918868704,-0.26148996096917954,0.40339555474874,1.8084233562092904,0.18611694044232716,1.2853064247095636,1.2853064247095636,1.3470435163499457,0,0,-7.82750175828698e-05,7.501712725866411e-05
+45544,1792725969056552250,9371912000000,1792725969054073131,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759503685780371,-0.004251456138347003,0.10636406248260008,0.9999999511065328,-6.830564399988206e-05,-0.00023622547363581095,0.0001695926323338028,0.6761,-0.004,0.10651347483030013,1.0,0.0,0.0,0.0,-0.06585058627519058,-0.042093962167589205,0.1761928803585374,-0.0027554264671101197,0.004888520648950664,-0.00014272546893532808,0.8722601759506796,0.895677952018277,0.2442431478647027,0.07039769090178633,-0.07123750442514454,0.0016567097390629444,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.734956019443959,0.7384727730111872,0.6734181161572704,0.49213190875806534,-0.37652348638949074,0.4517844808146138,1.8084233562092904,0.1761928803585374,1.13500524005202,1.13500524005202,1.3810435163499797,0,0,-9.04107198232681e-05,-9.999999025923074e-05
+45613,1792725969631595714,9372487000000,1792725969626082823,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759533574854888,-0.004251590705530591,0.10631881165030445,0.9999999528029261,-6.737371366090059e-05,-0.00022970192105228863,0.0001689225275011648,0.6761,-0.004,0.10645540822914872,1.0,0.0,0.0,0.0,-0.06914676887467797,-0.04563921932271198,0.19653459079237337,-0.003798964845425787,0.005609041363577802,-0.000163674284778549,0.8689639933511922,0.8921326948631543,0.26458485829853867,0.06935415252347066,-0.0705169837105174,0.0016357609232197235,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.9060691717519381,0.6499742631505947,0.5814859005939439,0.5238978095026402,-0.2706141641455878,0.39261915090682836,1.8084233562092904,0.19653459079237337,1.2269374556153465,1.2269374556153465,1.4270435163500257,0,0,-0.00010891816635691243,-9.999999025923074e-05
+45691,1792725970281524183,9373137000000,1792725970278082547,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759530324767379,-0.004253564557607128,0.1062493668303386,0.9999999535236234,-6.926563839680589e-05,-0.00022694589767767405,0.00016761099774927898,0.6761,-0.004,0.10638034849672359,1.0,0.0,0.0,0.0,-0.07060583430324319,-0.052381333419162734,0.23037823018114892,-0.003945811786477987,0.005828145984522068,-0.00019435453223594812,0.867504927922627,0.8853905807667035,0.2984284976873142,0.06920730558241846,-0.07029787908957313,0.0016050806757623244,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.8994400975824319,0.6635730207341951,0.5578971928725577,0.517755425088983,-0.2565645668279889,0.40363600594237165,1.8084233562092904,0.23037823018114892,1.2505261633367328,1.2505261633367328,1.4790435163500777,0,0,-0.00011934783826081231,-9.955512389326344e-05
+45782,1792725971040607068,9373896000000,1792725971038082432,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.6759530134875136,-0.004261688198341194,0.10615778729169624,0.9999999528078533,-7.46549039633549e-05,-0.0002252551675738637,0.00017179613046273948,0.6761,-0.004,0.10628716174305307,1.0,0.0,0.0,0.0,-0.0633411861892933,-0.060366033858415546,0.2865682764996744,-0.0039445983792400635,0.005340658745116092,-0.0002417260052631038,0.8747695760365769,0.8774058803274507,0.3546185440058397,0.06920851898965638,-0.07078536632897911,0.0015577092027351687,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.9384629325715715,0.6816747867305546,0.37648843056706655,0.5148595546819926,-0.13369125638342857,0.415212809759222,1.8084233562092904,0.2865682764996744,1.4319349256422238,1.4319349256422238,1.5397635163501384,0,0,-0.00012485037067103277,9.719112600692909e-05
+45876,1792725971823662976,9374679000000,1792725971822082481,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759580409104197,-0.004266526009442172,0.10607058540458224,0.999999954817877,-7.58428824930687e-05,-0.00021374040572100906,0.0001742699191319014,0.6761,-0.004,0.10618734663980342,1.0,0.0,0.0,0.0,-0.06481595469247314,-0.05643830271390082,0.31684712481731836,-0.003963558280864324,0.005810211797684317,-0.00025861455693090905,0.873294807533397,0.8813336114719654,0.3848973923234837,0.06918955908803212,-0.07031581327641089,0.0015408206510673635,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.9436137238823407,0.6519667951864013,0.34960260653171843,0.5264904649396049,-0.1189385431384528,0.3973512272549224,1.8084233562092904,0.31684712481731836,1.458820749677572,1.458820749677572,1.602403516350201,0,0,-0.00012675646616081148,3.553931734868172e-05
+45968,1792725972590698402,9375446000000,1792725972586082754,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759644006170841,-0.004263458197932912,0.10598297259956486,0.9999999568453793,-7.932959828771066e-05,-0.00020489999113191035,0.00017168259185704123,0.6761,-0.004,0.1060904616233615,1.0,0.0,0.0,0.0,-0.0709401505404127,-0.049818421819209924,0.3577222740457733,-0.0039712135012984345,0.005808258292082438,-0.0002919134634391679,0.8671706116854575,0.8879534923666563,0.4257725415519386,0.06918190386759801,-0.07031776678201276,0.0015075217445591046,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0053369671444703,0.6678581717365828,0.31044077201295633,0.5222406385646395,-0.08146234170076778,0.40651563999420787,1.8084233562092904,0.3577222740457733,1.4979825841963341,1.4979825841963341,1.6637635163502624,0,0,-0.0001273075527188502,-5.370902024537838e-05
+46020,1792725973023708718,9375879000000,1792725973018081830,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.675970132938723,-0.004282675251215483,0.10593221991468947,0.9999999564823014,-9.291277553068307e-05,-0.00019619301741643586,0.00017706997386923688,0.6761,-0.004,0.10603404279103673,1.0,0.0,0.0,0.0,-0.08504353360260708,-0.0664498108347088,0.37696745130576537,-0.004205973103625998,0.005871589663416235,0.000682470524621775,0.8530672286232631,0.8713221033511575,0.4450177188119307,0.06894714426527045,-0.07025443541067897,0.0024819057326200475,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0109095302716875,0.7335789721475522,0.31104029235786346,0.5196485425684447,-0.0821088113137599,0.455985716073351,1.8084233562092904,0.37696745130576537,1.497383063851427,1.497383063851427,1.698403516350297,0,0,-0.0001326049248837321,-9.999986535914047e-05
+46041,1792725973198740301,9376054000000,1792725973198082256,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.6759715282779727,-0.004277586324329661,0.10591718925205809,0.999999957920396,-9.199395543854536e-05,-0.00019067097604327495,0.0001754530188371959,0.6761,-0.004,0.10601056341894799,1.0,0.0,0.0,0.0,-0.027970624478067974,-0.007985918895481059,0.3894275778858337,2.5635089024242386e-05,0.002788432471514432,-0.0003136444527795884,0.9101401377478022,0.9297859952903852,0.457477845391999,0.07317875245792069,-0.07333759260258077,0.001485790755218684,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.997244320607587,0.7976563038635085,0.1745653076298167,0.494974029096352,-0.0016215098375529815,0.4950250587153281,1.8084233562092904,0.3894275778858337,1.6338580485794738,1.6338580485794738,1.712403516350311,0,0,-0.00013502370427712217,9.856029467426026e-05
+46065,1792725973398694719,9376254000000,1792725973394082628,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759718134770313,-0.004273368255484687,0.10589160711155786,0.99999995844778,-8.705235461570299e-05,-0.0001896593564208041,0.00017606396233825968,0.6761,-0.004,0.1059836884601721,1.0,0.0,0.0,0.0,-0.04692760072197255,-0.02119227770660359,0.3987768710844416,-0.0011237297498500054,0.003927945392111651,0.0003345569000649802,0.8911831615038976,0.9165796364792627,0.46682713859060687,0.07202938761904644,-0.07219807968198355,0.0021339921080632527,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.9721282546714584,0.7673407808428715,0.2664410196162873,0.5040643522036774,-0.06682465025051915,0.47606842824426504,1.8084233562092904,0.3987768710844416,1.5419823365930032,1.5419823365930032,1.728403516350327,0,0,-0.00013343280893671062,-9.835740141651001e-05
+46102,1792725973706693355,9376562000000,1792725973706082010,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759720514261366,-0.004282844087540171,0.10585037302879251,0.9999999575116734,-9.82561330988372e-05,-0.00018868059248550607,0.00017653578168376932,0.6761,-0.004,0.10594266697098181,1.0,0.0,0.0,0.0,-0.07177102082843756,-0.05466405728125456,0.4172749162606415,-0.0029632067910667498,0.005420170187123707,3.779568228991139e-05,0.8663397413974326,0.8831078569046117,0.4853251837668068,0.0701899105778297,-0.0707058548869715,0.001837230890288184,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,0.9667120199453303,0.7541966034502186,0.2128981688407836,0.511029281093121,-0.036442557812313404,0.4706721762549428,1.8084233562092904,0.4172749162606415,1.5955251873685068,1.5955251873685068,1.7530435163503517,0,0,-0.00013521171417643784,8.853553587340741e-05
+46155,1792725974148718893,9377004000000,1792725974142082248,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759718335912499,-0.004266153458868616,0.10579362978036372,0.9999999585920775,-8.356396141403225e-05,-0.00019011859822519778,0.00017643891473455767,0.6761,-0.004,0.1058831468700827,1.0,0.0,0.0,0.0,-0.08562059124733257,-0.06744911235440332,0.4456319922609512,-0.0046220520184829805,0.006806379978024399,-0.0003501207161653575,0.8524901709785376,0.8703228018314629,0.5136822597671165,0.06853106535041346,-0.0693196450960708,0.001449314491832915,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0506580705719157,0.7245920834249656,0.19529298744074072,0.5230285529199499,0.0011977588571626917,0.4524294566081965,1.8084233562092904,0.4456319922609512,1.6131303687685496,1.6131303687685496,1.788403516350387,0,0,-0.00013790309843447223,-2.3388077080785114e-05
+46230,1792725974773792382,9377629000000,1792725974766072760,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759771744698283,-0.0042762824259456505,0.10571746017385063,0.9999999593498885,-9.388915751493632e-05,-0.00018024646639919163,0.00017731081006256092,0.6761,-0.004,0.10579805147720894,1.0,0.0,0.0,0.0,-0.07804671164661259,-0.07575763524264145,0.47702601765735897,-0.004818185176061862,0.0067559819769515,-8.689959950471636e-06,0.8600640505792576,0.8620142789432248,0.5450762851635242,0.06833493219283458,-0.0693700430971437,0.0017907452480478009,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0506958776095845,0.7236999309880551,0.1729763518060227,0.5279972562085812,0.010980583217109745,0.45484796401271466,1.8084233562092904,0.47702601765735897,1.6354470044032676,1.6354470044032676,1.838403516350437,0,0,-0.0001359112110868851,-9.999375913250503e-05
+46293,1792725975298789319,9378154000000,1792725975294072598,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759777443426926,-0.004273179616934685,0.10564734834808491,0.9999999600693581,-8.927750226189317e-05,-0.00017856726620552973,0.00017733416375400313,0.6761,-0.004,0.1057266066678255,1.0,0.0,0.0,0.0,-0.08178006389742176,-0.06396149102991489,0.498135554723805,-0.004151256796000771,0.006415095020278483,-0.0003858742732834805,0.8563306983284484,0.8738104231559514,0.5661858222299703,0.06900186057289567,-0.06971093005381672,0.001413560934714792,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0194708682617497,0.7188162149954247,0.003540179769885923,0.51920698947159,0.11107582405907444,0.44669007095843444,1.8084233562092904,0.498135554723805,1.8048831764394044,1.8048831764394044,1.880403516350479,0,0,-0.00013730438683659673,9.999999025923074e-05
+46366,1792725975906750914,9378762000000,1792725975906081768,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759801897876774,-0.004277470821878326,0.10556947831389443,0.999999960315424,-9.32095516590585e-05,-0.00017487912635736526,0.0001775986639065252,0.6761,-0.004,0.10564197897452064,1.0,0.0,0.0,0.0,-0.08594385691477413,-0.07527213571169566,0.5437590372230422,-0.005061618701837245,0.006790764420946144,-0.0004328245326117835,0.8521669053110961,0.8624997784741706,0.6118093047292075,0.0680914986670592,-0.06933526065314906,0.001366610675386489,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.071421410791511,0.659650509736648,0.066293820273472,0.5392097791864379,0.08558908559405407,0.4080064501971004,1.8084233562092904,0.5437590372230422,1.7421295359358184,1.7421295359358184,1.9290435163505277,0,0,-0.00014134913110394465,-7.615459238075601e-05
+46439,1792725976515832497,9379371000000,1792725976510081692,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759832659148487,-0.004280714036572439,0.10549166039920507,0.9999999612551297,-9.646027274732824e-05,-0.00016684584167922417,0.00017829886263215933,0.6761,-0.004,0.10555614504136888,1.0,0.0,0.0,0.0,-0.08863945887416935,-0.07490965408678107,0.567577534937156,-0.00506881057719652,0.006785425563160266,0.000567352289385504,0.8494713033517008,0.8628622600990852,0.6356278024433213,0.06808430679169993,-0.06934059951093494,0.0023667874973837765,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0668995545979207,0.7344008916648699,0.03141243025431056,0.5197957382782038,0.10420059432826483,0.45899717594458933,1.8084233562092904,0.567577534937156,1.7770109259549798,1.7770109259549798,1.9777635163505765,0,0,-0.0001410117516046069,-9.769690198358489e-05
+46523,1792725977215761011,9380071000000,1792725977214072600,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.675981462018877,-0.004286141155427079,0.105386300495352,0.9999999601675116,-9.758933302207939e-05,-0.00017212473987328325,0.00017876586829916095,0.6761,-0.004,0.10545401587928144,1.0,0.0,0.0,0.0,-0.08047862809222428,-0.07312247739849276,0.6172139398252198,-0.005095209651519411,0.0074169893209063,0.0005407008313997701,0.8576321341336459,0.8646494367873735,0.685264207331385,0.06805790771737703,-0.0687090357531889,0.0023401360393980426,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0772110518765092,0.6918357484178352,-0.017659059515919222,0.5365496679127236,0.14036608575116802,0.43032317495854294,1.8084233562092904,0.6172139398252198,1.8260824157252096,1.8260824157252096,2.0337635163506325,0,0,-0.00015105558241332163,-9.998827740632094e-05
+46601,1792725977865868143,9380721000000,1792725977858073157,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759866960016916,-0.004284315515427154,0.10529483675254774,0.9999999618530633,-0.00010063113133191425,-0.00016407083904849027,0.00017518810288213752,0.6761,-0.004,0.10535401596475925,1.0,0.0,0.0,0.0,-0.08060448752870808,-0.07201477182373783,0.6478647461044876,-0.005084648246479792,0.006797715781831831,0.0005036506999941005,0.8575062746971621,0.8657571423621284,0.7159150136106529,0.06806846912241665,-0.06932830929226337,0.002303085907992373,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.056209342133169,0.7014338285683015,-0.059041107593151974,0.530171565826794,0.1581257743951457,0.4367840056639096,1.8084233562092904,0.6478647461044876,1.8674644638024425,1.8674644638024425,2.0857635163506845,0,0,-0.00015718735491973413,-9.999999025923074e-05
+46676,1792725978490801883,9381346000000,1792725978486072859,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759903024723576,-0.004290484590962183,0.10520597241749714,0.9999999620510538,-9.628050973703441e-05,-0.00015678194148660164,0.0001830033925932606,0.6761,-0.004,0.10525485910801441,1.0,0.0,0.0,0.0,-0.09766989177191221,-0.06916362427325362,0.6787303742863097,-0.005116101284452598,0.007736186807546758,0.0004901098293795744,0.840440870453958,0.8686082899126126,0.7467806417924749,0.06803701608444385,-0.06838983826654844,0.002289545037377847,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1392360308435394,0.5571768370770466,-0.14123512647590508,0.5872758567222734,0.23332486153351528,0.34814581886255397,1.8084233562092904,0.6787303742863097,1.9496584826851955,1.9496584826851955,2.1357635163507345,0,0,-0.0001604982380234724,8.301715845172026e-05
+46743,1792725979048867236,9381904000000,1792725979046073203,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759940654505374,-0.004289811790940887,0.10512345494157481,0.999999963163896,-9.971842660560664e-05,-0.00014945053735574448,0.00018120663136363363,0.6761,-0.004,0.1051646554817803,1.0,0.0,0.0,0.0,-0.08979114110648423,-0.07412178556692606,0.7227633462469064,-0.005104099774965509,0.006977330336938009,0.0004480073392045397,0.848319621119386,0.8636501286189402,0.7908136137530717,0.06804901759393094,-0.06914869473715719,0.0022474425472028122,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1463594279751816,0.6027688115605504,-0.20757566144980769,0.5690126432446897,0.2768796159941616,0.3747303531931665,1.8084233562092904,0.7227633462469064,2.015999017659098,2.015999017659098,2.180403516350779,0,0,-0.0001634033280531203,9.924075036605302e-05
+46820,1792725979690947505,9382546000000,1792725979686072661,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6759991951688238,-0.004293506742995467,0.10503185239048353,0.9999999647644024,-0.00011720875410681418,-0.00013842278092272717,0.00017033877939651152,0.6761,-0.004,0.10505870423128638,1.0,0.0,0.0,0.0,-0.08644247140379868,-0.06786164876382672,0.7481771461788015,-0.004709148497654858,0.007104429317329547,0.0004348291802836264,0.8516682908220715,0.8699102654220395,0.8162274136849668,0.06844396887124159,-0.06902159575676566,0.002234264388281899,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.088563361159398,0.6989337906864482,-0.1428331608277675,0.543392192688732,0.2180291838331751,0.4388759160868336,1.8084233562092904,0.7481771461788015,1.951256517037058,1.951256517037058,2.2317635163508305,0,0,-0.00016836918001058988,-9.999999025923074e-05
+46888,1792725980256920123,9383112000000,1792725980250073136,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760026327295161,-0.004283871215293098,0.1049385334655904,0.9999999663099322,-0.00010625898361427118,-0.00013232006330362117,0.00017327269913902142,0.6761,-0.004,0.10496206428365966,1.0,0.0,0.0,0.0,-0.10191281529023077,-0.07846897560443356,0.7879315497870691,-0.005738812823241526,0.008743294340268326,0.00040041812510348187,0.8361979469356394,0.8593029385814327,0.8559818172932344,0.06741430454565492,-0.06738273073382688,0.0021998533331017544,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1337847308143696,0.6715217478108415,-0.2335791524486833,0.5541982728340822,0.28739005127711004,0.4210647540962925,1.8084233562092904,0.7879315497870691,2.0420025086579736,2.0420025086579736,2.2770435163508758,0,0,-0.00017197059326154308,-8.729483388781318e-05
+46959,1792725980848939319,9383704000000,1792725980846072647,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.676003759697362,-0.004291402442045975,0.10483963298575322,0.9999999654361694,-0.00011595067002627649,-0.00013134512053734293,0.0001728421991498109,0.6761,-0.004,0.10485886214966697,1.0,0.0,0.0,0.0,-0.08692773786753483,-0.0663906893065056,0.8183744876741759,-0.005142859738296007,0.007743840883581224,0.00038146157495738036,0.8511830243583354,0.8713812248793606,0.8864247551803411,0.06801025763060044,-0.06838218419051398,0.002180896782955653,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1396503842787513,0.7342631500997497,-0.19274422244075867,0.5282587838141919,0.26316005468123743,0.4603356137285556,1.8084233562092904,0.8183744876741759,2.001167578650049,2.001167578650049,2.324403516350923,0,0,-0.00017951208470676073,-9.999999025923074e-05
+47048,1792725981590963717,9384446000000,1792725981586073283,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760111472396604,-0.004294713362000781,0.1047193696895069,0.999999967357977,-0.00011733832636473733,-0.00011829296375776358,0.00017019224769612405,0.6761,-0.004,0.10472441124564431,1.0,0.0,0.0,0.0,-0.0903792266672534,-0.08006684558045574,0.8685048453369897,-0.0051538443965701425,0.007733951881547699,0.00033974991617718607,0.8477315355586168,0.8577050686054105,0.936555112843155,0.0679992729723263,-0.0683920731925475,0.0021391851241754586,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1462263265198962,0.6755019876714292,-0.31323376228305827,0.5525498784853045,0.3400269320611039,0.423255287697219,1.8084233562092904,0.8685048453369897,2.1216571184923487,2.1216571184923487,2.3837635163509825,0,0,-0.000183983427530536,-8.588546126920277e-05
+47132,1792725982291017841,9385146000000,1792725982290072435,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760138825495718,-0.00429483663149275,0.10459378471582179,0.9999999671296358,-0.00011926374433675693,-0.00011517357528662727,0.00017232178768758147,0.6761,-0.004,0.10459247703152426,1.0,0.0,0.0,0.0,-0.09046520491671806,-0.08014504277819878,0.9185445769128766,-0.005167496604993133,0.007848243156650503,0.000301236849150214,0.8476455573091521,0.8576268714076675,0.9865948444190419,0.06798562076390331,-0.0682777819174447,0.0021006720571484865,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1291638535238826,0.7215598284340934,-0.33681818297827,0.5404202929206485,0.34943640284156785,0.45689805668917655,1.8084233562092904,0.9185445769128766,2.1452415391875603,2.1452415391875603,2.4397635163510385,0,0,-0.0001901426273612491,-9.87095364043455e-05
+47207,1792725982916000425,9385771000000,1792725982914072263,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760189023764691,-0.004296212721352012,0.10447823791961161,0.9999999677013446,-0.00011193181708410457,-0.0001075437905297081,0.00017873381211015057,0.6761,-0.004,0.10447036654687289,1.0,0.0,0.0,0.0,-0.08330453655544368,-0.07191873463890053,0.947984069548543,-0.005168611291702346,0.007720294311034159,0.0002766162483861874,0.8548062256704265,0.8658531795469657,1.0160343370547082,0.0679845060771941,-0.06840573076306104,0.00207605145638446,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1422977832816792,0.6890455646897566,-0.39296030330109954,0.5524432203901306,0.38991991539211496,0.4344295618716422,1.8084233562092904,0.947984069548543,2.20138365951039,2.20138365951039,2.4897635163510885,0,0,-0.00019677641350665376,-9.99999208702917e-05
+47274,1792725983474020648,9386329000000,1792725983470072713,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.676016499558509,-0.0043034039808165616,0.10435921299296665,0.9999999662050685,-0.00011419814422651835,-0.00011427530779738774,0.00018147359052053094,0.6761,-0.004,0.1043591370622144,1.0,0.0,0.0,0.0,-0.08171299284369438,-0.06972762579775471,0.9889370929118276,-0.005181759515983486,0.007707296852686091,0.00024349254554312553,0.8563977693821758,0.8680442883881115,1.056987360417993,0.06797135785291296,-0.06841872822140911,0.002042927753541398,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1881756153130776,0.7274333056479257,-0.49161368671234656,0.5493102134735472,0.46533613455097184,0.46351328622164994,1.8084233562092904,0.9889370929118276,2.300037042921637,2.300037042921637,2.534403516351133,0,0,-0.0001988569429442214,9.012598586733418e-05
+47350,1792725984107010318,9386962000000,1792725984102072866,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760218120668199,-0.004294059789021556,0.10424329964160789,0.9999999681156229,-0.00010357743455727748,-0.0001073076288120861,0.00018157203912879226,0.6761,-0.004,0.10423157314402194,1.0,0.0,0.0,0.0,-0.08143967729828361,-0.08117892104750823,1.0223799174979729,-0.0051831949911671504,0.007701399937971434,0.0002165110314102407,0.8566710849275866,0.856592993138358,1.0904301850041382,0.0679699223777293,-0.06842462513612377,0.002015946239408513,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0895511335970316,0.6715644150678004,-0.5060738968946532,0.5605875046321619,0.4410097091369694,0.42465169253875873,1.8084233562092904,1.0223799174979729,2.3144972531039434,2.3144972531039434,2.585043516351184,0,0,-0.0002027366074700262,-7.721964320606673e-05
+47427,1792725984749074833,9387604000000,1792725984746072742,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760254239697516,-0.004294835756571721,0.1041185243957125,0.9999999684762959,-0.00010680201168367303,-9.929339290380994e-05,0.00018227568136158895,0.6761,-0.004,0.10409962541739534,1.0,0.0,0.0,0.0,-0.08252226428669274,-0.06892422267625553,1.0692120925952997,-0.005189737503681735,0.0076903184481253856,0.00018048932022918717,0.8555884979391775,0.8688476915096107,1.137262360101465,0.06796337986521471,-0.06843570662596982,0.0019799245282274597,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1664089147817143,0.7055261065032236,-0.5640344961162067,0.5607520608995571,0.49861574095060535,0.4497970866852244,1.8084233562092904,1.0692120925952997,2.372457852325497,2.372457852325497,2.636403516351235,0,0,-0.00020844868247953818,-2.7352007485376595e-05
+47498,1792725985341078365,9388196000000,1792725985338073149,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760309365105303,-0.004299443587541483,0.1040003952391724,0.9999999687836112,-0.00010320759727258495,-8.847465014302438e-05,0.0001881384314099791,0.6761,-0.004,0.10397472212409237,1.0,0.0,0.0,0.0,-0.08207821054907627,-0.06459351432942706,1.1034561510104728,-0.0043132970989981645,0.007674232246081797,0.00016004726468608942,0.8560325516767939,0.8731783998564392,1.1715064185166382,0.06883982026989828,-0.0684517928280134,0.001959482472684362,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.177395059245971,0.6935585558977503,-0.675567547508309,0.5684616130803318,0.5725154418953768,0.4453905051838236,1.8084233562092904,1.1034561510104728,2.4839909037175993,2.4839909037175993,2.6837635163512825,0,0,-0.00021357223751042464,9.99770225204088e-05
+47569,1792725985932136875,9388787000000,1792725985926073092,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760330219095816,-0.0042983812504558475,0.10388027455479075,0.9999999696792471,-9.727323174568005e-05,-8.533377055998953e-05,0.0001879905189399795,0.6761,-0.004,0.10384779682531896,1.0,0.0,0.0,0.0,-0.07582237626852317,-0.06565792196416664,1.1395131512704486,-0.0052041063774491275,0.007674348343410506,0.00012263107150350928,0.862288385957347,0.8721139922216996,1.207563418776614,0.06794901099144732,-0.0684516767306847,0.0019220662795017818,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1308637242360233,0.7524170007346838,-0.6476651741385918,0.5511691053375587,0.5387921134041656,0.48110931485781694,1.8084233562092904,1.1395131512704486,2.4560885303478823,2.4560885303478823,2.73104351635133,0,0,-0.00021574587091873106,-4.2607251353807404e-05
+47641,1792725986532155798,9389387000000,1792725986526074562,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760352923702079,-0.004296052860352198,0.10375235456612103,0.9999999701530734,-9.324389494958552e-05,-8.040805802334037e-05,0.0001896756095628114,0.6761,-0.004,0.10371685930528099,1.0,0.0,0.0,0.0,-0.08133524436207151,-0.07269607573832859,1.1795620315752164,-0.005212611258068295,0.007666453721228608,8.955582092264871e-05,0.8567755178637987,0.8650758384475377,1.2476122990813818,0.06794050611082815,-0.0684595713528666,0.0018889910289209212,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1557067952746365,0.6742572628741371,-0.617473768367675,0.5820029787783413,0.5259067848999021,0.4303137929155867,1.8084233562092904,1.1795620315752164,2.4258971245769656,2.4258971245769656,2.779043516351378,0,0,-0.0002208685955893116,-9.998422509228106e-05
+47712,1792725987124176653,9389979000000,1792725987122072876,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760391824768328,-0.004304707185405591,0.10362510982871177,0.9999999687986177,-0.00010426800410114612,-7.249935615936381e-05,0.0001942103363736057,0.6761,-0.004,0.10358326088305024,1.0,0.0,0.0,0.0,-0.08141477268147956,-0.0712189837471866,1.219704637602741,-0.005220083096255365,0.007657613351784637,5.708706905467229e-05,0.8566959895443906,0.8665529304386796,1.2877549051089063,0.06793303427264108,-0.06846841172231057,0.0018565222770529448,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0877762780908573,0.712992123561457,-0.6798086809680172,0.571591732646204,0.5433560445198553,0.45740172222437686,1.8084233562092904,1.219704637602741,2.4882320371773075,2.4882320371773075,2.826403516351425,0,0,-0.00023148381715218237,-9.951877796699477e-05
+47777,1792725987666155174,9390521000000,1792725987666072593,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760426681262235,-0.004301829514959323,0.10350697929259452,0.999999969703335,-0.00010831039995298708,-6.578096030686136e-05,0.0001896784539262606,0.6761,-0.004,0.1034555824270681,1.0,0.0,0.0,0.0,-0.08985170252470964,-0.08232019450884709,1.249357073489888,-0.006115669055491976,0.008535028724682883,3.6184596665736436e-05,0.8482590597011606,0.8554517196770192,1.3174073409960534,0.06703744831340447,-0.06759099634941232,0.001835619804664009,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1873260605165117,0.7184418589470796,-0.7943469125855805,0.5813474406547919,0.646951923570816,0.4634020918675867,1.8084233562092904,1.249357073489888,2.602770268794871,2.602770268794871,2.8697635163514685,0,0,-0.00024028978339443873,8.17319920339898e-05
+47830,1792725988107193158,9390962000000,1792725988102072545,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.6760481093786692,-0.004296085770532432,0.10340394237903748,0.999999970383022,-0.00010124456724261271,-5.644704988295291e-05,0.0001929769099981622,0.6761,-0.004,0.10334873390040268,1.0,0.0,0.0,0.0,-0.09060099388981158,-0.08154420910764137,1.2693891534801056,-0.006225082845095625,0.008660542013604638,1.99861536245129e-05,0.8475097683360586,0.8562277050782249,1.337439420986271,0.06692803452380082,-0.06746548306049056,0.0018194213616227854,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0972903948338977,0.6048987836102956,-0.7194775879826247,0.6199306853498411,0.5708518384195309,0.3881978663311883,1.8084233562092904,1.2693891534801056,2.527900944191915,2.527900944191915,2.905043516351504,0,0,-0.0002464225721768561,-9.999999025923074e-05
+47893,1792725988632230756,9391487000000,1792725988630072555,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.6760488546682099,-0.004312123369170557,0.10327273279234457,0.9999999679241951,-0.00011510171204494603,-5.5109556356676546e-05,0.00019826498916914728,0.6761,-0.004,0.10321676953301112,1.0,0.0,0.0,0.0,-0.06394776240620648,-0.06678981142964835,1.3142206822752749,-0.004866396601501746,0.007277925406501545,-2.1604466322186966e-05,0.8741629998196637,0.8709821027562179,1.3822709497814403,0.0682867207673947,-0.06884809966759366,0.0017778307416760856,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.041027003600861,0.7108455645482642,-0.7313843315181335,0.5967410165265421,0.5602556630066808,0.45805021518842665,1.8084233562092904,1.3142206822752749,2.539807687727424,2.539807687727424,2.947043516351546,0,0,-0.0002538129285453979,-9.189222579942253e-05
+47954,1792725989141173562,9391996000000,1792725989138081940,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.6760459187019007,-0.004302838730792177,0.10313335660730492,0.9999999686223422,-0.00010853742362094901,-6.027077077176913e-05,0.00019693968874361057,0.6761,-0.004,0.10308447111252934,1.0,0.0,0.0,0.0,-0.07280429637761643,-0.06762213884020918,1.340066888381478,-0.005242882907345758,0.007629683287378744,-2.3291862854408303e-05,0.8653064658482538,0.8701497753456571,1.4081171558876433,0.06791023446155069,-0.06849634178671646,0.0017761433451438642,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1187452863595089,0.765826591350857,-0.8497826779934485,0.581890927981563,0.6619171769050101,0.49706153702249933,1.8084233562092904,1.340066888381478,2.658206034202739,2.658206034202739,2.9877635163515865,0,0,-0.00026574356838736027,2.1187703720023645e-05
+48015,1792725989649157282,9392504000000,1792725989646082212,DOWN_FORCE_DETACH,6,0.0575,0.05750167369842529,0.6760462802327535,-0.0043179488418681085,0.10299744714819795,0.9999999674212157,-0.00011602653797229637,-5.8260069253691345e-05,0.0001993590702229826,0.6761,-0.004,0.10294793882868386,1.0,0.0,0.0,0.0,-0.06212281973216094,-0.06454968042538944,1.3702144392798,-0.0052458795025046995,0.007543112488493306,-6.35813707466485e-05,0.8759879424937093,0.8732222337604768,1.4382647067859653,0.06790723786639175,-0.0685829125856019,0.001735853837251624,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1311851431163753,0.723785772119301,-0.9044685672113102,0.5952523443839378,0.6992455335965447,0.46856964307459587,1.8084233562092904,1.3702144392798,2.7128919234206004,2.7128919234206004,3.028403516351627,0,0,-0.0002730661732050236,9.462272218397345e-05
+48048,1792725989924266947,9392779000000,1792725989922082055,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760471275373996,-0.004330005311923812,0.10292527057159387,0.9999999656944725,-0.00011951214520337773,-5.6587842808721974e-05,0.0002063215487788955,0.6761,-0.004,0.10287212737798843,1.0,0.0,0.0,0.0,-0.018519914240509472,-0.03976910788895027,1.3813458033320853,-0.003170206322299654,0.004791658360627005,-8.919990558934102e-05,0.9195908479853607,0.898002806296916,1.4493960708382507,0.06998291104659679,-0.0713343667134682,0.0017102353024089315,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.182105259363117,0.7517684920094746,-0.9083021426663339,0.6039117524719395,0.7162441716420042,0.4910386748808729,1.8084233562092904,1.3813458033320853,2.716725498875624,2.716725498875624,3.050403516351649,0,0,-0.00027886101032906376,8.630067080262477e-05
+48082,1792725990207245414,9393062000000,1792725990202082019,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760501870548082,-0.0043157390905758115,0.10284710378972614,0.9999999668007925,-0.0001115364684793712,-5.39170939555777e-05,0.0002061403442717259,0.6761,-0.004,0.10279228705410562,1.0,0.0,0.0,0.0,-0.03297775951627513,-0.031763433825002685,1.3923639198215592,-0.0034189252231367206,0.0056588372351873,-8.384656255102491e-05,0.9051330027095951,0.9060084803608636,1.4604141873277245,0.06973419214575972,-0.0704671878389079,0.0017155886454472476,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1250677617656497,0.7186279317047432,-0.8239814409640167,0.6179306860079332,0.6495179329443641,0.47117931257529216,1.8084233562092904,1.3923639198215592,2.632404797173307,2.632404797173307,3.073043516351672,0,0,-0.00028715058189163054,-9.999999025923074e-05
+48131,1792725990616244495,9393471000000,1792725990610082606,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.676060536252277,-0.0043145498130263815,0.10273769811393997,0.999999967002006,-0.00011265849473363644,-4.022742986639985e-05,0.00020767442977256948,0.6761,-0.004,0.10267335626232249,1.0,0.0,0.0,0.0,-0.041982298696347065,-0.04203896462804635,1.40088640349723,-0.00420380365011086,0.006583507934772942,-8.836161008109926e-05,0.8961284635295231,0.8957329495578199,1.4689366710033953,0.06894931371878558,-0.06954251713932226,0.0017110735979171733,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.100229694348808,0.7020863938882637,-0.8562256857120079,0.6270250418953056,0.6597263064825524,0.45907973125527807,1.8084233562092904,1.40088640349723,2.6646490419212983,2.6646490419212983,3.1057635163517046,0,0,-0.0002968832085684366,-9.980055257064464e-05
+48186,1792725991075287385,9393929000000,1792725991070072993,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760583849123158,-0.0043200186382787685,0.102592439993459,0.9999999657656501,-0.00011982242189808214,-4.330649226740872e-05,0.00020899449275315065,0.6761,-0.004,0.10253363839167894,1.0,0.0,0.0,0.0,-0.04444369618642363,-0.04085041581415272,1.4296445590297906,-0.004209160438938264,0.006577148571524638,-0.00011293727177438058,0.8936670660394466,0.8969214983717135,1.497694826535956,0.06894395692995818,-0.06954887650257056,0.001686497936223892,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1195453359077685,0.8132002432201403,-0.8638931728688364,0.6001743629316255,0.6742697011717993,0.5335822547625491,1.8084233562092904,1.4296445590297906,2.6723165290781266,2.6723165290781266,3.142403516351741,0,0,-0.0003136221669822455,-9.999999025923074e-05
+48241,1792725991532277302,9394387000000,1792725991530072731,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760557532767435,-0.004325931258196634,0.102447284216774,0.9999999648447231,-0.00012750596052354534,-4.502089348931975e-05,0.00020849164504822864,0.6761,-0.004,0.1023859751727046,1.0,0.0,0.0,0.0,-0.03623305719387904,-0.043895026702566176,1.441065032632873,-0.004190543659237711,0.0057861646190487115,-0.00013263084125473418,0.9018777050319912,0.8938768874833001,1.5091153001390385,0.06896257370965873,-0.07033986045504649,0.0016668043667435383,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1403479227454605,0.7066464541811842,-0.816310461068122,0.6275601667346864,0.6514552701698092,0.4623920327522514,1.8084233562092904,1.441065032632873,2.6247338172774124,2.6247338172774124,3.179043516351778,0,0,-0.0003323569937971601,-9.999999025923074e-05
+48294,1792725991974386932,9394829000000,1792725991974073208,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760506084465548,-0.004326740903958373,0.10228899062272245,0.9999999633149799,-0.00013997233246853622,-5.1510486603259524e-05,0.00020631848982129552,0.6761,-0.004,0.1022349673083428,1.0,0.0,0.0,0.0,-0.02696431178597991,-0.04791333789134189,1.4511191569222885,-0.00418687595018101,0.005559732517999683,-0.00014310813378264715,0.9111464504398903,0.8898585762945244,1.519169424428454,0.06896624141871543,-0.07056629255609552,0.0016563270742156254,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0437336239274193,0.7831654094149776,-0.8286100345183938,0.6207350555879919,0.6349183321629859,0.5168802316911987,1.8084233562092904,1.4511191569222885,2.637033390727684,2.637033390727684,3.214403516351813,0,0,-0.000351575797290253,-9.999999025923074e-05
+48345,1792725992399322752,9395254000000,1792725992398072532,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760437537311721,-0.004338090644510348,0.10212158270528385,0.9999999600409524,-0.00014687557269483503,-6.187629947864639e-05,0.00021438247979814183,0.6761,-0.004,0.1020818953699847,1.0,0.0,0.0,0.0,-0.019623457958848678,-0.039699469817751076,1.461257488300434,-0.004409966781620214,0.005556163753585766,-4.552129675263004e-05,0.9184873042670215,0.8980724443681152,1.5293077558065993,0.06874315058727623,-0.07056986132050944,0.0017539139112456425,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.0738841209780081,0.8397678519850768,-0.8892568800739159,0.599000581736334,0.6904092640378857,0.5577332093872267,1.8084233562092904,1.461257488300434,2.6976802362832064,2.6976802362832064,3.248403516351847,0,0,-0.0003700528005787503,-9.999999025923074e-05
+48392,1792725992791350714,9395646000000,1792725992790073973,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760519695519653,-0.0043412587014042886,0.10197579582897048,0.99999996360123,-8.177341493702181e-05,-5.905144220787633e-05,0.00023252191084530133,0.6761,-0.004,0.10193316171701208,1.0,0.0,0.0,0.0,-0.0036828286082561945,-0.018197373250158022,1.4622867200277285,-0.003797668271424165,0.004898418643320093,0.0003832467082712041,0.934427933617614,0.9195745409357082,1.530336987533894,0.06935544909747228,-0.07122760643077511,0.0021826819162694766,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.064544049607912,0.8127320318894652,-0.9321763372184618,0.6204739059513819,0.7118663406899772,0.5463710416998548,1.8084233562092904,1.4622867200277285,2.740599693427752,2.740599693427752,3.2797635163518786,0,0,-0.00038891423416040203,-9.999999025923074e-05
+48439,1792725993182344756,9396037000000,1792725993182072872,DOWN_FORCE_DETACH,6,0.0575,0.05750232934951782,0.6760709740284623,-0.0043394490967945155,0.10183067711228136,0.9999999657603865,-0.0001521783139924323,-2.5900856422942366e-05,0.0001899815688793342,0.6761,-0.004,0.10177736932405976,1.0,0.0,0.0,0.0,-0.00026383631203918956,0.007773236056648036,1.4681946795847964,-0.0014798275884801149,0.004498435353958663,0.0007934920396674696,0.937846925913831,0.9455451502425143,1.5362449470909618,0.07167328978041633,-0.07162758972013654,0.002592927247665742,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1411960730044621,0.7759542613457886,-0.8546774248456884,0.620164488176111,0.6879134669413665,0.5231145794862841,1.8084233562092904,1.4681946795847964,2.663100781054979,2.663100781054979,3.31104351635191,0,0,-0.0004082203550012916,-9.999999025923074e-05
+48483,1792725993548388955,9396403000000,1792725993542073111,DOWN_SETTLE,6,0.0575,0.05750232934951782,0.6760682452963163,-0.004340040030360373,0.10171628725999797,0.9999999639105669,-0.00013788047122980661,-3.544551550452771e-05,0.00020821700299589727,0.6761,-0.004,0.10166942740553166,1.0,0.0,0.0,0.0,-0.011285049532905767,-0.022063929450936937,1.4616673177877795,-0.0029926809152439893,0.004792884460781896,-0.0001453804846921476,0.9268257126929644,0.9157079847349293,1.5297175852939449,0.07016043645365246,-0.0713331406133133,0.001654054723306125,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1581846572409342,0.6936992057746675,-0.7780195081920779,0.6715493699967875,0.649485066638391,0.47454366389450187,1.8084233562092904,1.4616673177877795,2.586442864401368,0.0,0.0,0,0,-6.299120118394522e-05,0.00063627475943379
+48564,1792725994217387630,9397072000000,1792725994214082800,DOWN_PEAK_HOLD,6,0.0575,0.05750167369842529,0.6760613419197035,-0.004349198210421936,0.10168584900811278,0.9999999620624108,-0.0001400649450034782,-4.883722962655234e-05,0.0002128726787007767,0.6761,-0.004,0.10166413614998981,1.0,0.0,0.0,0.0,0.01877731133106375,0.0064666999473179665,1.3923584078953086,-0.002082859722679964,0.0034998779560343612,0.0007014342957607569,0.956888073556934,0.9442386141331842,1.460408675401474,0.07107025764621648,-0.07262614711806084,0.0025008695037590295,0.9381107622258702,0.9377719141858663,0.0680502675061653,0.07315311736889644,-0.0761260250740952,0.0017994352079982725,1,1.1125814134471363,0.7250920599096163,-0.7171769194770685,0.6491728125041082,0.6124489467574229,0.49167877636700674,1.8084233562092904,1.3923584078953086,2.525600275686359,0.0,0.0,0,0,0.0,0.0