Upload Part2/Fixed/digit (part 7)

Part2/Fixed/digit/cylinder_PLA_17.5/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+00,2.3230e-01,8.2713e-01,2.4486e+00,-9.7431e-02,5.3637e-02,1.8857e-03,6.4135e-05,-1.9073e-05,-1.2875e-05,1.5944e-06,4.7013e-06,-4.7497e-08,6.8138e-05,4.9646e-06
+1,1.1167e+00,DOWN_FORCE_DETACH,2.4393e-04,3.2978e-01,8.1595e-01,2.4398e+00,-9.6615e-02,6.0695e-02,1.1892e-03,9.7547e-02,-1.1191e-02,-8.8439e-03,8.1690e-04,7.0627e-03,-6.9660e-04,9.8584e-02,7.1438e-03
+2,2.1333e+00,DOWN_FORCE_DETACH,4.9046e-04,3.6604e-01,8.1260e-01,2.4350e+00,-9.6381e-02,6.3317e-02,8.9503e-04,1.3381e-01,-1.4542e-02,-1.3624e-02,1.0509e-03,9.6851e-03,-9.9073e-04,1.3529e-01,9.7922e-03
+3,3.1667e+00,DOWN_FORCE_DETACH,7.3494e-04,3.8119e-01,8.1097e-01,2.4330e+00,-9.6262e-02,6.4399e-02,7.4982e-04,1.4896e-01,-1.6179e-02,-1.5626e-02,1.1704e-03,1.0767e-02,-1.1359e-03,1.5065e-01,1.0890e-02
+4,4.4000e+00,DOWN_FORCE_DETACH,9.7687e-04,3.8860e-01,8.1035e-01,2.4319e+00,-9.6221e-02,6.4940e-02,6.7422e-04,1.5637e-01,-1.6798e-02,-1.6748e-02,1.2115e-03,1.1308e-02,-1.2115e-03,1.5816e-01,1.1437e-02
+5,5.5333e+00,DOWN_FORCE_DETACH,1.2254e-03,3.9109e-01,8.1017e-01,2.4315e+00,-9.6210e-02,6.5120e-02,6.4554e-04,1.5885e-01,-1.6973e-02,-1.7069e-02,1.2219e-03,1.1488e-02,-1.2402e-03,1.6067e-01,1.1619e-02
+6,6.4833e+00,DOWN_FORCE_DETACH,1.4699e-03,3.0982e-01,7.2587e-01,2.4958e+00,-9.0041e-02,5.9143e-02,6.6743e-04,7.7584e-02,-1.0128e-01,4.7174e-02,7.3915e-03,5.5113e-03,-1.2183e-03,1.3602e-01,9.3002e-03
+7,7.5500e+00,DOWN_FORCE_DETACH,1.7140e-03,3.6154e-01,7.2419e-01,2.4582e+00,-8.9931e-02,6.2921e-02,6.9157e-04,1.2931e-01,-1.0296e-01,9.6350e-03,7.5012e-03,9.2890e-03,-1.1942e-03,1.6557e-01,1.1999e-02
+8,8.7500e+00,DOWN_FORCE_DETACH,1.9601e-03,3.1765e-01,8.3955e-01,2.4891e+00,-9.8183e-02,5.9679e-02,8.4686e-04,8.5414e-02,1.2403e-02,4.0455e-02,-7.5056e-04,6.0469e-03,-1.0389e-03,9.5321e-02,6.1812e-03
+9,1.0000e+01,DOWN_FORCE_DETACH,2.2062e-03,2.6980e-01,8.3158e-01,2.5590e+00,-9.7499e-02,5.6196e-02,9.3277e-04,3.7566e-02,4.4393e-03,1.1041e-01,-6.6228e-05,2.5640e-03,-9.5299e-04,1.1671e-01,2.7362e-03
+10,1.1067e+01,DOWN_FORCE_DETACH,2.4513e-03,3.4847e-01,8.2785e-01,2.4866e+00,-9.7285e-02,6.1928e-02,8.4906e-04,1.1624e-01,7.0757e-04,3.7987e-02,1.4788e-04,8.2964e-03,-1.0367e-03,1.2229e-01,8.3622e-03
+11,1.2100e+01,DOWN_FORCE_DETACH,2.7005e-03,3.2053e-01,8.2142e-01,2.5877e+00,-9.6725e-02,5.9717e-02,7.5253e-04,8.8299e-02,-5.7205e-03,1.3912e-01,7.0738e-04,6.0853e-03,-1.1332e-03,1.6488e-01,6.2302e-03
+12,1.3167e+01,DOWN_FORCE_DETACH,2.9436e-03,3.4771e-01,8.3173e-01,2.5345e+00,-9.7440e-02,6.1985e-02,7.2636e-04,1.1548e-01,4.5806e-03,8.5909e-02,-7.9200e-06,8.3531e-03,-1.1594e-03,1.4400e-01,8.4332e-03
+13,1.4283e+01,DOWN_FORCE_DETACH,3.1841e-03,3.5292e-01,8.5959e-01,2.5163e+00,-9.9470e-02,6.2174e-02,7.6847e-04,1.2069e-01,3.2444e-02,6.7667e-02,-2.0372e-03,8.5421e-03,-1.1173e-03,1.4212e-01,8.8524e-03
+14,1.5350e+01,DOWN_FORCE_DETACH,3.4315e-03,3.1762e-01,6.3234e-01,2.5171e+00,-8.3127e-02,5.9622e-02,6.4475e-04,8.5386e-02,-1.9481e-01,6.8470e-02,1.4305e-02,5.9896e-03,-1.2410e-03,2.2345e-01,1.5558e-02
+15,1.6483e+01,DOWN_FORCE_DETACH,3.6754e-03,3.2175e-01,7.8268e-01,2.5434e+00,-9.3945e-02,5.9867e-02,7.6996e-04,8.9517e-02,-4.4460e-02,9.4813e-02,3.4874e-03,6.2349e-03,-1.1158e-03,1.3777e-01,7.2305e-03
+16,1.7633e+01,DOWN_FORCE_DETACH,3.9196e-03,3.2952e-01,7.6254e-01,2.5652e+00,-9.2427e-02,6.0406e-02,7.4947e-04,9.7285e-02,-6.4605e-02,1.1654e-01,5.0051e-03,6.7737e-03,-1.1363e-03,1.6499e-01,8.4985e-03
+17,1.8683e+01,DOWN_FORCE_DETACH,4.1669e-03,2.9052e-01,6.9939e-01,2.5953e+00,-8.7840e-02,5.7633e-02,7.0569e-04,5.8292e-02,-1.2775e-01,1.4666e-01,9.5919e-03,4.0014e-03,-1.1801e-03,2.0305e-01,1.0460e-02
+18,1.9833e+01,DOWN_FORCE_DETACH,4.4106e-03,3.0870e-01,8.1938e-01,2.5840e+00,-9.6400e-02,5.8891e-02,7.8062e-04,7.6471e-02,-7.7696e-03,1.3538e-01,1.0321e-03,5.2590e-03,-1.1051e-03,1.5568e-01,5.4721e-03
+19,2.1067e+01,DOWN_FORCE_DETACH,4.6541e-03,3.2236e-01,8.4558e-01,2.6027e+00,-9.8195e-02,5.9845e-02,7.5033e-04,9.0127e-02,1.8439e-02,1.5406e-01,-7.6239e-04,6.2133e-03,-1.1354e-03,1.7944e-01,6.3620e-03
+20,2.2183e+01,DOWN_FORCE_DETACH,4.9019e-03,3.2377e-01,8.3241e-01,2.5887e+00,-9.7180e-02,5.9972e-02,7.2460e-04,9.1535e-02,5.2669e-03,1.4014e-01,2.5274e-04,6.3400e-03,-1.1612e-03,1.6747e-01,6.4504e-03
+21,2.3233e+01,DOWN_FORCE_DETACH,5.1466e-03,3.3317e-01,9.4375e-01,2.5792e+00,-1.0510e-01,6.0670e-02,7.6874e-04,1.0094e-01,1.1661e-01,1.3063e-01,-7.6725e-03,7.0379e-03,-1.1170e-03,2.0211e-01,1.0471e-02
+22,2.4317e+01,DOWN_FORCE_DETACH,5.3894e-03,3.1158e-01,9.3411e-01,2.7101e+00,-1.0423e-01,5.8991e-02,7.2387e-04,7.9346e-02,1.0697e-01,2.6153e-01,-6.8016e-03,5.3586e-03,-1.1619e-03,2.9349e-01,8.7365e-03
+23,2.5383e+01,DOWN_FORCE_DETACH,5.6368e-03,3.0040e-01,9.2431e-01,2.6795e+00,-1.0356e-01,5.8215e-02,7.5769e-04,6.8167e-02,9.7165e-02,2.3093e-01,-6.1236e-03,4.5830e-03,-1.1281e-03,2.5964e-01,7.7314e-03
+24,2.6533e+01,DOWN_FORCE_DETACH,5.8801e-03,2.7013e-01,1.0458e+00,2.8144e+00,-1.1178e-01,5.6176e-02,8.1064e-04,3.7904e-02,2.1862e-01,3.6582e-01,-1.4350e-02,2.5439e-03,-1.0751e-03,4.2784e-01,1.4613e-02
+25,2.7517e+01,DOWN_FORCE_DETACH,6.1248e-03,3.2586e-01,1.0947e+00,2.6866e+00,-1.1547e-01,5.9867e-02,8.6258e-04,9.3633e-02,2.6758e-01,2.3798e-01,-1.8035e-02,6.2346e-03,-1.0232e-03,3.7013e-01,1.9109e-02
+26,2.8483e+01,DOWN_FORCE_DETACH,6.3686e-03,3.0356e-01,1.0479e+00,2.7119e+00,-1.1208e-01,5.8243e-02,8.5012e-04,7.1325e-02,2.2080e-01,2.6324e-01,-1.4652e-02,4.6108e-03,-1.0356e-03,3.5091e-01,1.5395e-02
+27,2.9333e+01,DOWN_FORCE_DETACH,6.6175e-03,2.7129e-01,1.1875e+00,2.7460e+00,-1.2174e-01,5.5874e-02,8.7877e-04,3.9059e-02,3.6036e-01,2.9740e-01,-2.4312e-02,2.2420e-03,-1.0070e-03,4.6886e-01,2.4435e-02
+28,3.0450e+01,DOWN_FORCE_DETACH,6.8604e-03,2.7200e-01,1.1643e+00,2.8774e+00,-1.1995e-01,5.6036e-02,8.7809e-04,3.9773e-02,3.3718e-01,4.2879e-01,-2.2514e-02,2.4043e-03,-1.0077e-03,5.4693e-01,2.2664e-02
+29,3.1467e+01,DOWN_FORCE_DETACH,7.0970e-03,3.0870e-01,1.2082e+00,2.8338e+00,-1.2292e-01,5.8303e-02,9.2099e-04,7.6469e-02,3.8106e-01,3.8523e-01,-2.5484e-02,4.6712e-03,-9.6477e-04,5.4723e-01,2.5927e-02
+30,3.2083e+01,DOWN_FORCE_DETACH,7.3502e-03,2.8310e-01,8.5681e-01,2.8922e+00,-9.7350e-02,5.6265e-02,6.9152e-04,5.0869e-02,2.9668e-02,4.4357e-01,8.2456e-05,2.6330e-03,-1.1942e-03,4.4746e-01,2.8924e-03
+31,3.3083e+01,DOWN_FORCE_DETACH,7.5964e-03,2.5596e-01,1.0682e+00,3.0375e+00,-1.1225e-01,5.4282e-02,1.0769e-03,2.3725e-02,2.4105e-01,5.8890e-01,-1.4819e-02,6.4994e-04,-8.0890e-04,6.3677e-01,1.4855e-02
+32,3.4250e+01,DOWN_FORCE_DETACH,7.8407e-03,2.9841e-01,1.1651e+00,3.0108e+00,-1.1874e-01,5.7143e-02,1.0819e-03,6.6175e-02,3.3792e-01,5.6223e-01,-2.1307e-02,3.5114e-03,-8.0385e-04,6.5929e-01,2.1609e-02
+33,3.5367e+01,DOWN_FORCE_DETACH,8.0852e-03,2.7572e-01,1.2068e+00,3.1065e+00,-1.2154e-01,5.5403e-02,1.0532e-03,4.3486e-02,3.7963e-01,6.5792e-01,-2.4103e-02,1.7714e-03,-8.3257e-04,7.6083e-01,2.4183e-02
+34,3.6317e+01,DOWN_FORCE_DETACH,8.3306e-03,2.9055e-01,1.2441e+00,3.1649e+00,-1.2363e-01,5.6180e-02,1.0078e-03,5.8319e-02,4.1691e-01,7.1632e-01,-2.6198e-02,2.5478e-03,-8.7798e-04,8.3086e-01,2.6336e-02
+35,3.7283e+01,DOWN_FORCE_DETACH,8.5758e-03,3.1490e-01,1.2951e+00,3.2916e+00,-1.2685e-01,5.7900e-02,6.0435e-04,8.2672e-02,4.6799e-01,8.4303e-01,-2.9415e-02,4.2681e-03,-1.2814e-03,9.6776e-01,2.9750e-02
+36,3.8283e+01,DOWN_FORCE_DETACH,8.8204e-03,3.2081e-01,1.3746e+00,3.5413e+00,-1.3163e-01,5.7949e-02,4.7821e-04,8.8576e-02,5.4747e-01,1.0927e+00,-3.4194e-02,4.3166e-03,-1.4076e-03,1.2254e+00,3.4494e-02
+37,3.9283e+01,DOWN_FORCE_DETACH,9.0654e-03,3.4458e-01,1.4147e+00,3.4676e+00,-1.3357e-01,5.9596e-02,3.0448e-04,1.1235e-01,5.8757e-01,1.0190e+00,-3.6141e-02,5.9639e-03,-1.5813e-03,1.1816e+00,3.6664e-02
+38,4.0300e+01,DOWN_FORCE_DETACH,9.3130e-03,3.5518e-01,1.5312e+00,3.6030e+00,-1.4052e-01,6.0376e-02,6.0376e-05,1.2295e-01,7.0405e-01,1.1544e+00,-4.3087e-02,6.7441e-03,-1.8254e-03,1.3577e+00,4.3649e-02
+39,4.1283e+01,DOWN_FORCE_DETACH,9.5534e-03,3.7036e-01,1.5232e+00,3.5751e+00,-1.3985e-01,6.1389e-02,3.4245e-05,1.3813e-01,6.9602e-01,1.1265e+00,-4.2419e-02,7.7571e-03,-1.8515e-03,1.3314e+00,4.3162e-02
+40,4.2117e+01,DOWN_FORCE_DETACH,9.8026e-03,3.5686e-01,1.5181e+00,3.7356e+00,-1.3830e-01,6.0118e-02,-6.5599e-05,1.2463e-01,6.9091e-01,1.2870e+00,-4.0863e-02,6.4855e-03,-1.9514e-03,1.4660e+00,4.1420e-02
+41,4.3017e+01,DOWN_FORCE_DETACH,1.0047e-02,3.8217e-01,1.6895e+00,3.8280e+00,-1.4961e-01,6.1720e-02,6.3159e-05,1.4994e-01,8.6238e-01,1.3794e+00,-5.2177e-02,8.0884e-03,-1.8226e-03,1.6337e+00,5.2832e-02
+42,4.3800e+01,DOWN_FORCE_DETACH,1.0291e-02,3.7337e-01,1.6883e+00,3.8682e+00,-1.4895e-01,6.1057e-02,1.7577e-04,1.4114e-01,8.6113e-01,1.4196e+00,-5.1515e-02,7.4253e-03,-1.7100e-03,1.6664e+00,5.2076e-02
+43,4.4617e+01,DOWN_FORCE_DETACH,1.0535e-02,3.6954e-01,1.7328e+00,3.9589e+00,-1.5134e-01,6.0609e-02,5.0808e-04,1.3730e-01,9.0564e-01,1.5103e+00,-5.3912e-02,6.9771e-03,-1.3777e-03,1.7664e+00,5.4379e-02
+44,4.5500e+01,DOWN_FORCE_DETACH,1.0781e-02,3.4603e-01,1.7551e+00,4.0248e+00,-1.5191e-01,5.8918e-02,5.8028e-04,1.1380e-01,9.2793e-01,1.5762e+00,-5.4473e-02,5.2855e-03,-1.3055e-03,1.8326e+00,5.4745e-02
+45,4.6317e+01,DOWN_FORCE_DETACH,1.1026e-02,3.3667e-01,1.8849e+00,4.0609e+00,-1.6045e-01,5.7746e-02,7.4941e-04,1.0444e-01,1.0578e+00,1.6123e+00,-6.3018e-02,4.1139e-03,-1.1364e-03,1.9311e+00,6.3162e-02
+46,4.7067e+01,DOWN_FORCE_DETACH,1.1268e-02,3.5392e-01,1.9019e+00,4.1837e+00,-1.6070e-01,5.8962e-02,7.9126e-04,1.2169e-01,1.0747e+00,1.7351e+00,-6.3266e-02,5.3301e-03,-1.0945e-03,2.0446e+00,6.3499e-02
+47,4.7817e+01,DOWN_FORCE_DETACH,1.1516e-02,3.6093e-01,1.8424e+00,4.2946e+00,-1.5506e-01,5.9024e-02,1.0153e-03,1.2870e-01,1.0153e+00,1.8460e+00,-5.7630e-02,5.3925e-03,-8.7047e-04,2.1107e+00,5.7888e-02
+48,4.8483e+01,DOWN_FORCE_DETACH,1.1760e-02,3.7130e-01,1.8985e+00,4.3926e+00,-1.5781e-01,5.9537e-02,9.0399e-04,1.3907e-01,1.0714e+00,1.9440e+00,-6.0382e-02,5.9049e-03,-9.8178e-04,2.2240e+00,6.0678e-02
+49,4.9167e+01,DOWN_FORCE_DETACH,1.2007e-02,3.8783e-01,1.8217e+00,4.5008e+00,-1.5097e-01,6.0574e-02,6.5368e-04,1.5560e-01,9.9455e-01,2.0522e+00,-5.3537e-02,6.9421e-03,-1.2321e-03,2.2858e+00,5.3999e-02
+50,4.9800e+01,DOWN_FORCE_DETACH,1.2254e-02,4.0860e-01,1.8523e+00,4.6036e+00,-1.5221e-01,6.1730e-02,4.5334e-04,1.7637e-01,1.0251e+00,2.1550e+00,-5.4774e-02,8.0981e-03,-1.4324e-03,2.3929e+00,5.5388e-02
+51,5.0383e+01,DOWN_FORCE_DETACH,1.2496e-02,4.4157e-01,1.9075e+00,4.7274e+00,-1.5561e-01,6.3831e-02,4.2370e-04,2.0934e-01,1.0804e+00,2.2788e+00,-5.8177e-02,1.0199e-02,-1.4621e-03,2.5306e+00,5.9082e-02
+52,5.1017e+01,DOWN_FORCE_DETACH,1.2742e-02,4.1554e-01,1.8382e+00,4.8394e+00,-1.4949e-01,6.1894e-02,3.2177e-04,1.8331e-01,1.0110e+00,2.3908e+00,-5.2053e-02,8.2617e-03,-1.5640e-03,2.6022e+00,5.2727e-02
+53,5.1617e+01,DOWN_FORCE_DETACH,1.2987e-02,3.7304e-01,1.9194e+00,4.8649e+00,-1.5457e-01,5.8956e-02,3.5871e-04,1.4081e-01,1.0923e+00,2.4163e+00,-5.7134e-02,5.3243e-03,-1.5271e-03,2.6554e+00,5.7402e-02
+54,5.2133e+01,DOWN_FORCE_DETACH,1.3231e-02,4.0585e-01,1.9829e+00,5.0107e+00,-1.5813e-01,6.0852e-02,4.5214e-04,1.7362e-01,1.1557e+00,2.5621e+00,-6.0698e-02,7.2195e-03,-1.4336e-03,2.8160e+00,6.1143e-02
+55,5.2650e+01,DOWN_FORCE_DETACH,1.3475e-02,4.2945e-01,1.9937e+00,5.1348e+00,-1.5777e-01,6.2120e-02,6.3828e-04,1.9722e-01,1.1666e+00,2.6861e+00,-6.0338e-02,8.4879e-03,-1.2475e-03,2.9352e+00,6.0945e-02
+56,5.3133e+01,DOWN_FORCE_DETACH,1.3722e-02,3.9001e-01,1.8825e+00,5.3022e+00,-1.4914e-01,5.9036e-02,7.5547e-04,1.5778e-01,1.0553e+00,2.8536e+00,-5.1711e-02,5.4042e-03,-1.1303e-03,3.0466e+00,5.2005e-02
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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_05/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_05/up/franka_data.csv

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_05/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,1793079064188116696,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.302336461e-08,-1.027303210e-09,-6.229481375e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027457931e-01,-1.142224182e-04,8.303255901e-01
+1,1.833333333e-01,XJC_ZERO_HOLD_BEFORE_UP,1793079064368932639,3.908050861e-07,-2.759084102e-06,6.606494662e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.450980316e-07,-1.287230718e-08,-8.783813454e-09,7.019559887e-01,-2.474413868e-05,8.601434520e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027459252e-01,-1.142342632e-04,8.303255819e-01
+2,3.500000000e-01,WAIT_W2,1793079064532191304,-4.068562329e-06,-1.846728197e-07,-6.691876265e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.470241027e-07,-2.202537625e-08,-1.664434968e-08,7.019515293e-01,-2.216972740e-05,8.601366940e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027460271e-01,-1.142434162e-04,8.303255740e-01
+3,5.000000000e-01,WAIT_W2,1793079064679570673,-1.584533285e-06,6.391155596e-07,-3.601479198e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.265103671e-07,-2.923300037e-08,-2.360629603e-08,7.019540133e-01,-2.134593902e-05,8.601397844e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027461066e-01,-1.142506239e-04,8.303255671e-01
+4,6.500000000e-01,WAIT_W2,1793079064827226203,-2.728852748e-06,-4.206745942e-06,-5.131370532e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.959624182e-07,-3.507951129e-08,-3.038607099e-08,7.019528690e-01,-2.619180052e-05,8.601382545e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027461760e-01,-1.142564704e-04,8.303255603e-01
+5,8.000000000e-01,WAIT_W2,1793079064976249217,-2.506334376e-06,-2.483728708e-06,-4.066174634e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.567119543e-07,-4.037904271e-08,-3.678747040e-08,7.019530915e-01,-2.446878329e-05,8.601393197e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027462368e-01,-1.142617699e-04,8.303255539e-01
+6,9.333333333e-01,WAIT_W2,1793079065105635311,-1.670049653e-06,-4.104482342e-06,-1.977995428e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.043600633e-07,-4.443715174e-08,-4.207431359e-08,7.019539278e-01,-2.608953692e-05,8.601414079e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027462844e-01,-1.142658280e-04,8.303255486e-01
+7,9.833333333e-01,WAIT_W2,1793079065155275733,-5.406881994e-07,-2.711842388e-05,7.176104690e-07,-5.472567950e-07,-2.704514291e-05,1.010389363e-06,-7.388591738e-09,-2.494164589e-05,9.120545710e-07,7.019550572e-01,-4.910347846e-05,8.601441035e-01,7.019550506e-01,-4.903019749e-05,8.601443963e-01,7.027457727e-01,-1.391630368e-04,8.303265027e-01
+8,1.000000000e+00,WAIT_W2,1793079065173420642,-8.729018616e-07,-6.644634805e-05,6.729323304e-07,-8.661709379e-07,-6.644066960e-05,2.938436100e-07,-3.384968192e-07,-6.124511780e-05,2.829443282e-07,7.019547250e-01,-8.843140263e-05,8.601440588e-01,7.019547317e-01,-8.842572418e-05,8.601436798e-01,7.027454416e-01,-1.754665087e-04,8.303258736e-01
+9,1.016666667e+00,WAIT_W2,1793079065189856980,-3.348698804e-07,-9.101407556e-05,3.594747432e-06,-3.695930761e-07,-9.088089733e-05,3.698685772e-06,2.237979065e-07,-8.378597628e-05,3.478511801e-06,7.019552630e-01,-1.129991301e-04,8.601469807e-01,7.019552283e-01,-1.128659519e-04,8.601470846e-01,7.027460039e-01,-1.980073672e-04,8.303290692e-01
+10,1.033333333e+00,WAIT_W2,1793079065220260321,9.144385417e-07,-2.021727435e-04,9.738396118e-06,9.243576896e-07,-2.021276692e-04,9.738406915e-06,1.762414527e-06,-1.861968444e-04,9.222903787e-06,7.019565123e-01,-2.241577980e-04,8.601531243e-01,7.019565222e-01,-2.241127237e-04,8.601531243e-01,7.027475425e-01,-3.004182353e-04,8.303348136e-01
+11,1.033333333e+00,WAIT_W2,1793079065220260321,9.144385417e-07,-2.021727435e-04,9.738396118e-06,9.243576896e-07,-2.021276692e-04,9.738406915e-06,1.762414527e-06,-1.861968444e-04,9.222903787e-06,7.019565123e-01,-2.241577980e-04,8.601531243e-01,7.019565222e-01,-2.241127237e-04,8.601531243e-01,7.027475425e-01,-3.004182353e-04,8.303348136e-01
+12,1.033333333e+00,WAIT_W2,1793079065220260321,9.144385417e-07,-2.021727435e-04,9.738396118e-06,9.243576896e-07,-2.021276692e-04,9.738406915e-06,1.762414527e-06,-1.861968444e-04,9.222903787e-06,7.019565123e-01,-2.241577980e-04,8.601531243e-01,7.019565222e-01,-2.241127237e-04,8.601531243e-01,7.027475425e-01,-3.004182353e-04,8.303348136e-01
+13,1.050000000e+00,WAIT_W2,1793079065236337287,-8.363970180e-07,-2.759962242e-04,6.926374987e-06,-8.074291279e-07,-2.757540694e-04,6.684740332e-06,2.408163036e-08,-2.541154074e-04,6.330353968e-06,7.019547615e-01,-2.979812787e-04,8.601503123e-01,7.019547904e-01,-2.977391240e-04,8.601500707e-01,7.027458041e-01,-3.683367983e-04,8.303319210e-01
+14,1.050000000e+00,WAIT_W2,1793079065236337287,-8.363970180e-07,-2.759962242e-04,6.926374987e-06,-8.074291279e-07,-2.757540694e-04,6.684740332e-06,2.408163036e-08,-2.541154074e-04,6.330353968e-06,7.019547615e-01,-2.979812787e-04,8.601503123e-01,7.019547904e-01,-2.977391240e-04,8.601500707e-01,7.027458041e-01,-3.683367983e-04,8.303319210e-01
+15,1.066666667e+00,WAIT_W2,1793079065254092405,-8.383193929e-07,-3.465147023e-04,1.203395544e-05,-1.036185053e-06,-3.464748142e-04,1.211589606e-05,-6.146489273e-08,-3.194507346e-04,1.145116825e-05,7.019547595e-01,-3.684997568e-04,8.601554199e-01,7.019545617e-01,-3.684598688e-04,8.601555018e-01,7.027457186e-01,-4.336721255e-04,8.303370419e-01
+16,1.083333333e+00,WAIT_W2,1793079065269705297,6.175575521e-07,-3.820131872e-04,1.432256792e-05,8.282330004e-07,-3.821815162e-04,1.433703899e-05,1.829317764e-06,-3.524927278e-04,1.358705739e-05,7.019562154e-01,-4.039982418e-04,8.601577085e-01,7.019564261e-01,-4.041665708e-04,8.601577230e-01,7.027476094e-01,-4.667141187e-04,8.303391778e-01
+17,1.100000000e+00,WAIT_W2,1793079065285527633,-1.298963790e-06,-4.122378328e-04,1.128824941e-05,-1.275253150e-06,-4.121875580e-04,1.116116667e-05,-3.995801827e-07,-3.802559035e-04,1.060360628e-05,7.019542989e-01,-4.342228873e-04,8.601546742e-01,7.019543226e-01,-4.341726126e-04,8.601545471e-01,7.027453805e-01,-4.944772943e-04,8.303361943e-01
+18,1.116666667e+00,WAIT_W2,1793079065302047202,2.413730390e-06,-4.509176967e-04,1.883638583e-05,2.322180863e-06,-4.507901771e-04,1.876756742e-05,3.429430114e-06,-4.159267541e-04,1.789875831e-05,7.019580116e-01,-4.729027513e-04,8.601622223e-01,7.019579200e-01,-4.727752317e-04,8.601621535e-01,7.027492095e-01,-5.301481450e-04,8.303434895e-01
+19,1.133333333e+00,WAIT_W2,1793079065318316749,2.731322852e-06,-4.862916761e-04,2.048157927e-05,2.953783461e-06,-4.863189107e-04,2.074144301e-05,4.091718827e-06,-4.488345084e-04,1.976005335e-05,7.019583292e-01,-5.082767307e-04,8.601638675e-01,7.019585517e-01,-5.083039653e-04,8.601641274e-01,7.027498718e-01,-5.630558992e-04,8.303453507e-01
+20,1.150000000e+00,WAIT_W2,1793079065334608719,3.738621519e-06,-5.171369458e-04,2.445384614e-05,3.541913499e-06,-5.170745879e-04,2.403009353e-05,4.638425733e-06,-4.772659416e-04,2.302474928e-05,7.019593365e-01,-5.391220003e-04,8.601678398e-01,7.019591398e-01,-5.390596425e-04,8.601674160e-01,7.027504185e-01,-5.914873325e-04,8.303486154e-01
+21,1.233333333e+00,WAIT_W2,1793079065416543464,1.273711990e-05,-5.163384929e-04,3.936331833e-05,3.541913499e-06,-5.170745879e-04,2.403009353e-05,4.605304293e-06,-4.774288262e-04,2.321543201e-05,7.019683350e-01,-5.383235475e-04,8.601827492e-01,7.019591398e-01,-5.390596425e-04,8.601674160e-01,7.027503854e-01,-5.916502171e-04,8.303488061e-01
+22,1.316666667e+00,WAIT_W2,1793079065498627316,1.855159919e-05,-5.201101992e-04,5.292229684e-05,1.399879102e-05,-5.169742369e-04,4.367906081e-05,1.584943670e-05,-4.773843462e-04,4.221423642e-05,7.019741495e-01,-5.420952538e-04,8.601963082e-01,7.019695967e-01,-5.389592915e-04,8.601870650e-01,7.027616295e-01,-5.916057371e-04,8.303678049e-01
+23,1.416666667e+00,WAIT_W2,1793079065597012888,2.483011041e-05,-5.079474214e-04,6.726677324e-05,2.298533594e-05,-5.154698207e-04,6.307912760e-05,2.553306046e-05,-4.760209651e-04,6.104203573e-05,7.019804280e-01,-5.299324760e-04,8.602106527e-01,7.019785832e-01,-5.374548753e-04,8.602064650e-01,7.027713131e-01,-5.902423559e-04,8.303866327e-01
+24,1.600000000e+00,UP_FORCE_RAMP,1793079065793485225,2.861132758e-05,-5.134471236e-04,7.740580488e-05,2.298533594e-05,-5.154698207e-04,6.307912760e-05,2.582909560e-05,-4.760890286e-04,6.125274348e-05,7.019842092e-01,-5.354321781e-04,8.602207917e-01,7.019785832e-01,-5.374548753e-04,8.602064650e-01,7.027716092e-01,-5.903104194e-04,8.303868434e-01
+25,1.733333333e+00,UP_FORCE_RAMP,1793079065925775610,3.038742259e-05,-5.095354194e-04,8.138124918e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.501581678e-05,-4.694675685e-04,8.016988418e-05,7.019859853e-01,-5.315204740e-04,8.602247672e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027807959e-01,-5.836889594e-04,8.304057606e-01
+26,1.900000000e+00,UP_FORCE_RAMP,1793079066088417871,3.224761942e-05,-5.045958862e-04,8.661055035e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.524353001e-05,-4.695151695e-04,8.033793258e-05,7.019878455e-01,-5.265809407e-04,8.602299965e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027810236e-01,-5.837365603e-04,8.304059286e-01
+27,2.033333333e+00,UP_FORCE_RAMP,1793079066219382595,3.004243601e-05,-5.087742770e-04,8.314763027e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.539534854e-05,-4.695453397e-04,8.044182253e-05,7.019856403e-01,-5.307593316e-04,8.602265335e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027811754e-01,-5.837667306e-04,8.304060325e-01
+28,2.233333333e+00,UP_FORCE_RAMP,1793079066418182160,3.354299446e-05,-5.061963382e-04,8.958710724e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.559699338e-05,-4.695842913e-04,8.057290288e-05,7.019891409e-01,-5.281813928e-04,8.602329730e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027813771e-01,-5.838056821e-04,8.304061636e-01
+29,2.416666667e+00,UP_FORCE_RAMP,1793079066596197566,3.360680120e-05,-5.093642260e-04,9.252249408e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.576343169e-05,-4.696167215e-04,8.067574227e-05,7.019892047e-01,-5.313492806e-04,8.602359084e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027815435e-01,-5.838381124e-04,8.304062664e-01
+30,2.533333333e+00,UP_FORCE_RAMP,1793079066710845683,3.230028956e-05,-5.090642397e-04,9.139355559e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.585861628e-05,-4.696343236e-04,8.073490753e-05,7.019878982e-01,-5.310492943e-04,8.602347795e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027816387e-01,-5.838557145e-04,8.304063256e-01
+31,2.700000000e+00,UP_FORCE_RAMP,1793079066874480431,3.238462592e-05,-5.059336741e-04,9.587996002e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.598583023e-05,-4.696584458e-04,8.081195181e-05,7.019879825e-01,-5.279187287e-04,8.602392659e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027817659e-01,-5.838798366e-04,8.304064026e-01
+32,2.833333333e+00,UP_FORCE_RAMP,1793079067005742977,3.200683097e-05,-5.067963966e-04,9.963422816e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.608104793e-05,-4.696750086e-04,8.086856998e-05,7.019876047e-01,-5.287814512e-04,8.602430201e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027818611e-01,-5.838963994e-04,8.304064593e-01
+33,3.000000000e+00,UP_FORCE_RAMP,1793079067169509017,2.794261180e-05,-5.028603939e-04,9.949426582e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.619224069e-05,-4.696960887e-04,8.093471986e-05,7.019835405e-01,-5.248454485e-04,8.602428802e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027819723e-01,-5.839174796e-04,8.304065254e-01
+34,3.200000000e+00,UP_FORCE_RAMP,1793079067366291465,2.811139102e-05,-5.080417713e-04,1.074525791e-04,2.855129072e-05,-5.081021575e-04,1.026232562e-04,3.350882103e-05,-4.694938721e-04,1.005673959e-04,7.019837093e-01,-5.300268259e-04,8.602508385e-01,7.019841492e-01,-5.300872120e-04,8.602460092e-01,7.027792889e-01,-5.837152630e-04,8.304261581e-01
+35,3.366666667e+00,UP_FORCE_RAMP,1793079067529829345,2.539155927e-05,-5.044903650e-04,1.122973537e-04,2.855129072e-05,-5.081021575e-04,1.026232562e-04,3.359473186e-05,-4.695109870e-04,1.006866155e-04,7.019809894e-01,-5.264754196e-04,8.602556833e-01,7.019841492e-01,-5.300872120e-04,8.602460092e-01,7.027793748e-01,-5.837323779e-04,8.304262773e-01
+36,3.500000000e+00,UP_FORCE_RAMP,1793079067661504648,2.401495347e-05,-5.040147868e-04,1.200528279e-04,2.855129072e-05,-5.081021575e-04,1.026232562e-04,3.365793342e-05,-4.695257316e-04,1.007646490e-04,7.019796128e-01,-5.259998413e-04,8.602634387e-01,7.019841492e-01,-5.300872120e-04,8.602460092e-01,7.027794380e-01,-5.837471225e-04,8.304263553e-01
+37,3.616666667e+00,UP_FORCE_RAMP,1793079067775807332,2.078240845e-05,-5.063946992e-04,1.229193793e-04,2.440110961e-05,-5.026735652e-04,1.214492304e-04,2.956526410e-05,-4.645376482e-04,1.190366128e-04,7.019763803e-01,-5.283797538e-04,8.602663053e-01,7.019799990e-01,-5.246586198e-04,8.602648351e-01,7.027753453e-01,-5.787590391e-04,8.304446273e-01
+38,3.766666667e+00,UP_FORCE_RAMP,1793079067923119943,2.017880028e-05,-5.042783838e-04,1.308060713e-04,2.440110961e-05,-5.026735652e-04,1.214492304e-04,2.961208680e-05,-4.645469286e-04,1.191931099e-04,7.019757767e-01,-5.262634384e-04,8.602741920e-01,7.019799990e-01,-5.246586198e-04,8.602648351e-01,7.027753921e-01,-5.787683195e-04,8.304447838e-01
+39,3.950000000e+00,UP_FORCE_RAMP,1793079068103539820,1.348832010e-05,-5.063647604e-04,1.359432425e-04,1.796858077e-05,-4.998891844e-04,1.410338345e-04,2.329998598e-05,-4.619443266e-04,1.381785151e-04,7.019690862e-01,-5.283498149e-04,8.602793292e-01,7.019735664e-01,-5.218742389e-04,8.602844198e-01,7.027690800e-01,-5.761657175e-04,8.304637692e-01
+40,4.116666667e+00,UP_FORCE_RAMP,1793079068267390803,1.034849702e-05,-5.064129709e-04,1.463304502e-04,1.796858077e-05,-4.998891844e-04,1.410338345e-04,2.329775918e-05,-4.619507883e-04,1.384537052e-04,7.019659464e-01,-5.283980255e-04,8.602897164e-01,7.019735664e-01,-5.218742389e-04,8.602844198e-01,7.027690778e-01,-5.761721792e-04,8.304640444e-01
+41,4.316666667e+00,UP_FORCE_RAMP,1793079068463578102,5.070531344e-06,-5.053420294e-04,1.561639438e-04,5.252338597e-06,-5.052435328e-04,1.558006214e-04,1.045455414e-05,-4.668646647e-04,1.527368333e-04,7.019606684e-01,-5.273270840e-04,8.602995499e-01,7.019608502e-01,-5.272285873e-04,8.602991865e-01,7.027562346e-01,-5.810860556e-04,8.304783275e-01
+42,4.483333333e+00,UP_FORCE_RAMP,1793079068627500080,-1.048372394e-06,-4.982322702e-04,1.676423165e-04,5.252338597e-06,-5.052435328e-04,1.558006214e-04,1.029968489e-05,-4.668873412e-04,1.530428800e-04,7.019545495e-01,-5.202173247e-04,8.603110282e-01,7.019608502e-01,-5.272285873e-04,8.602991865e-01,7.027560797e-01,-5.811087321e-04,8.304786336e-01
+43,4.683333333e+00,UP_FORCE_RAMP,1793079068823721305,-1.615870670e-05,-4.981380029e-04,1.727462993e-04,-7.825629430e-06,-4.984382221e-04,1.717558838e-04,-3.145243944e-06,-4.605485514e-04,1.686436386e-04,7.019394392e-01,-5.201230575e-04,8.603161322e-01,7.019477722e-01,-5.204232767e-04,8.603151418e-01,7.027426348e-01,-5.747699423e-04,8.304942343e-01
+44,4.833333333e+00,UP_FORCE_RAMP,1793079068971584075,-2.592992286e-05,-5.010967023e-04,1.802494356e-04,-2.383176217e-05,-5.025029043e-04,1.830965851e-04,-1.958288775e-05,-4.642763335e-04,1.796966271e-04,7.019296679e-01,-5.230817569e-04,8.603236354e-01,7.019317661e-01,-5.244879589e-04,8.603264825e-01,7.027261972e-01,-5.784977243e-04,8.305052873e-01
+45,4.966666667e+00,UP_FORCE_RAMP,1793079069102557932,-3.120355140e-05,-4.979016823e-04,1.895134675e-04,-2.383176217e-05,-5.025029043e-04,1.830965851e-04,-1.975865624e-05,-4.642688273e-04,1.799124009e-04,7.019243943e-01,-5.198867369e-04,8.603328994e-01,7.019317661e-01,-5.244879589e-04,8.603264825e-01,7.027260214e-01,-5.784902182e-04,8.305055031e-01
+46,5.133333333e+00,UP_FORCE_RAMP,1793079069266645980,-3.405346950e-05,-4.989199223e-04,2.048613749e-04,-3.240230700e-05,-4.957076765e-04,2.027847676e-04,-2.855987191e-05,-4.579553386e-04,1.990525973e-04,7.019215444e-01,-5.209049769e-04,8.603482473e-01,7.019231956e-01,-5.176927311e-04,8.603461707e-01,7.027172202e-01,-5.721767295e-04,8.305246433e-01
+47,5.300000000e+00,UP_FORCE_RAMP,1793079069430354817,-3.773978150e-05,-4.988554054e-04,2.153625857e-04,-3.240230700e-05,-4.957076765e-04,2.027847676e-04,-2.868225241e-05,-4.579407257e-04,1.993233314e-04,7.019178581e-01,-5.208404600e-04,8.603587485e-01,7.019231956e-01,-5.176927311e-04,8.603461707e-01,7.027170978e-01,-5.721621166e-04,8.305249140e-01
+48,5.433333333e+00,UP_FORCE_RAMP,1793079069561779571,-3.926790831e-05,-4.921579720e-04,2.205617460e-04,-3.739649762e-05,-4.968116483e-04,2.222020418e-04,-3.363232643e-05,-4.589127162e-04,2.182203757e-04,7.019163300e-01,-5.141430266e-04,8.603639477e-01,7.019182014e-01,-5.187967029e-04,8.603655880e-01,7.027121477e-01,-5.731341070e-04,8.305438111e-01
+49,5.566666667e+00,UP_FORCE_RAMP,1793079069705893133,-3.824656561e-05,-4.952924978e-04,2.335312957e-04,-3.739649762e-05,-4.968116483e-04,2.222020418e-04,-3.371434693e-05,-4.589059861e-04,2.184635836e-04,7.019173513e-01,-5.172775524e-04,8.603769172e-01,7.019182014e-01,-5.187967029e-04,8.603655880e-01,7.027120657e-01,-5.731273769e-04,8.305440543e-01
+50,5.683333333e+00,UP_FORCE_HOLD,1793079069822990683,-4.683365937e-05,-5.153156322e-04,2.362920900e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.302283277e-05,-4.760840430e-04,2.319206409e-04,7.019087642e-01,-5.373006868e-04,8.603796780e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027027572e-01,-5.903054339e-04,8.305575113e-01
+51,5.766666667e+00,UP_FORCE_HOLD,1793079069905239902,-4.661147870e-05,-5.132395670e-04,2.402677940e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.317256623e-05,-4.761375467e-04,2.321535140e-04,7.019089864e-01,-5.352246216e-04,8.603836537e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027026075e-01,-5.903589376e-04,8.305577442e-01
+52,5.883333333e+00,UP_FORCE_HOLD,1793079070019864179,-4.755033584e-05,-5.151067761e-04,2.437239560e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.323820776e-05,-4.761340094e-04,2.323152703e-04,7.019080475e-01,-5.370918306e-04,8.603871099e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027025419e-01,-5.903554003e-04,8.305579060e-01
+53,6.000000000e+00,UP_SETTLE,1793079070134730977,-4.983667506e-05,-5.096123109e-04,2.451183716e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.329207701e-05,-4.761294473e-04,2.324546163e-04,7.019057612e-01,-5.315973655e-04,8.603885043e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027024880e-01,-5.903508382e-04,8.305580453e-01
+54,6.150000000e+00,UP_SETTLE,1793079070281597389,-5.163261046e-05,-5.141165717e-04,2.477612085e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.335125213e-05,-4.761222525e-04,2.326160033e-04,7.019039653e-01,-5.361016263e-04,8.603911471e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027024288e-01,-5.903436433e-04,8.305582067e-01
+55,6.300000000e+00,UP_SETTLE,1793079070429284161,-4.976460333e-05,-5.105007931e-04,2.550789426e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.340252478e-05,-4.761167324e-04,2.327634078e-04,7.019058333e-01,-5.324858476e-04,8.603984649e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027023775e-01,-5.903381233e-04,8.305583541e-01
+56,6.450000000e+00,UP_SETTLE,1793079070576570171,-5.341433569e-05,-5.162951729e-04,2.552331993e-04,-5.021325101e-05,-5.066381508e-04,2.585687677e-04,-4.696455494e-05,-4.679133972e-04,2.545828582e-04,7.019021835e-01,-5.382802275e-04,8.603986191e-01,7.019053846e-01,-5.286232054e-04,8.604019547e-01,7.026988155e-01,-5.821347880e-04,8.305801736e-01
+57,6.600000000e+00,UP_SETTLE,1793079070724358949,-5.351301215e-05,-5.107984501e-04,2.598155392e-04,-5.021325101e-05,-5.066381508e-04,2.585687677e-04,-4.703251542e-05,-4.679034990e-04,2.548462700e-04,7.019020849e-01,-5.327835047e-04,8.604032015e-01,7.019053846e-01,-5.286232054e-04,8.604019547e-01,7.026987475e-01,-5.821248899e-04,8.305804370e-01
+58,6.783333333e+00,UP_SETTLE,1793079070904333981,-5.339870095e-05,-5.089374169e-04,2.643798220e-04,-5.021325101e-05,-5.066381508e-04,2.585687677e-04,-4.709555713e-05,-4.678957514e-04,2.550607466e-04,7.019021992e-01,-5.309224715e-04,8.604077657e-01,7.019053846e-01,-5.286232054e-04,8.604019547e-01,7.026986845e-01,-5.821171423e-04,8.305806514e-01
+59,6.983333333e+00,UP_SETTLE,1793079071100785857,-5.334182963e-05,-5.105097568e-04,2.687852077e-04,-5.021325101e-05,-5.066381508e-04,2.585687677e-04,-4.715456984e-05,-4.678903066e-04,2.552640885e-04,7.019022560e-01,-5.324948114e-04,8.604121711e-01,7.019053846e-01,-5.286232054e-04,8.604019547e-01,7.026986255e-01,-5.821116975e-04,8.305808548e-01

Part2/Fixed/digit/cylinder_PLA_17.5/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+00,2.3227e-01,8.2690e-01,2.4481e+00,-9.7402e-02,5.3682e-02,1.8998e-03,2.2803e-04,-5.4538e-05,-1.9550e-05,4.4480e-06,1.5084e-05,-1.5553e-07,2.3528e-04,1.5727e-05
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.6992e-05,2.5809e-01,8.1778e-01,2.4458e+00,-9.6593e-02,5.5496e-02,1.6980e-03,2.6048e-02,-9.1761e-03,-2.2781e-03,8.1328e-04,1.8288e-03,-2.0195e-04,2.7711e-02,2.0116e-03
+2,3.5000e-01,WAIT_W2,7.2291e-05,2.7405e-01,8.1721e-01,2.4448e+00,-9.6579e-02,5.6674e-02,1.5911e-03,4.2006e-02,-9.7467e-03,-3.3557e-03,8.2799e-04,3.0067e-03,-3.0887e-04,4.3253e-02,3.1339e-03
+3,5.0000e-01,WAIT_W2,1.0948e-04,2.8699e-01,8.1657e-01,2.4437e+00,-9.6555e-02,5.7613e-02,1.5061e-03,5.4949e-02,-1.0381e-02,-4.3726e-03,8.5146e-04,3.9461e-03,-3.9385e-04,5.6091e-02,4.0560e-03
+4,6.5000e-01,WAIT_W2,1.4881e-04,3.0321e-01,8.1843e-01,2.4426e+00,-9.6789e-02,5.8778e-02,1.3843e-03,7.1171e-02,-8.5282e-03,-5.4641e-03,6.1791e-04,5.1111e-03,-5.1567e-04,7.1888e-02,5.1740e-03
+5,8.0000e-01,WAIT_W2,1.8334e-04,3.1281e-01,8.1749e-01,2.4416e+00,-9.6722e-02,5.9473e-02,1.3159e-03,8.0768e-02,-9.4649e-03,-6.4993e-03,6.8491e-04,5.8058e-03,-5.8407e-04,8.1580e-02,5.8751e-03
+6,9.3333e-01,WAIT_W2,2.2104e-04,3.2124e-01,8.1671e-01,2.4407e+00,-9.6667e-02,6.0080e-02,1.2534e-03,8.9201e-02,-1.0248e-02,-7.4244e-03,7.3966e-04,6.4132e-03,-6.4658e-04,9.0095e-02,6.4880e-03
+7,9.8333e-01,WAIT_W2,2.4577e-04,3.2510e-01,8.1405e-01,2.4400e+00,-9.6413e-02,6.0358e-02,1.2234e-03,9.3062e-02,-1.2903e-02,-8.0695e-03,9.9406e-04,6.6911e-03,-6.7652e-04,9.4298e-02,6.7983e-03
+8,1.0000e+00,WAIT_W2,2.8510e-04,3.3371e-01,1.2865e+00,2.4187e+00,-1.3056e-01,6.1022e-02,1.6366e-03,1.0167e-01,4.5954e-01,-2.9424e-02,-3.3158e-02,7.3555e-03,-2.6332e-04,4.7157e-01,3.3965e-02
+9,1.0167e+00,WAIT_W2,3.0985e-04,3.4890e-01,1.9696e+00,2.4347e+00,-1.7999e-01,6.2079e-02,1.8340e-03,1.1686e-01,1.1426e+00,-1.3398e-02,-8.2581e-02,8.4119e-03,-6.5936e-05,1.1486e+00,8.3008e-02
+10,1.0333e+00,WAIT_W2,4.2118e-04,3.4857e-01,2.3761e+00,2.4064e+00,-2.0931e-01,6.2111e-02,2.6426e-03,1.1653e-01,1.5491e+00,-4.1679e-02,-1.1191e-01,8.4443e-03,7.4263e-04,1.5540e+00,1.1223e-01
+11,1.0333e+00,WAIT_W2,4.2118e-04,3.4857e-01,2.3761e+00,2.4064e+00,-2.0931e-01,6.2111e-02,2.6426e-03,1.1653e-01,1.5491e+00,-4.1679e-02,-1.1191e-01,8.4443e-03,7.4263e-04,1.5540e+00,1.1223e-01
+12,1.0333e+00,WAIT_W2,4.2118e-04,3.4857e-01,2.3761e+00,2.4064e+00,-2.0931e-01,6.2111e-02,2.6426e-03,1.1653e-01,1.5491e+00,-4.1679e-02,-1.1191e-01,8.4443e-03,7.4263e-04,1.5540e+00,1.1223e-01
+13,1.0500e+00,WAIT_W2,4.9508e-04,3.7683e-01,4.3190e+00,2.3421e+00,-3.5005e-01,6.4134e-02,3.1005e-03,1.4479e-01,3.4921e+00,-1.0602e-01,-2.5265e-01,1.0467e-02,1.2005e-03,3.4967e+00,2.5287e-01
+14,1.0500e+00,WAIT_W2,4.9508e-04,3.7683e-01,4.3190e+00,2.3421e+00,-3.5005e-01,6.4134e-02,3.1005e-03,1.4479e-01,3.4921e+00,-1.0602e-01,-2.5265e-01,1.0467e-02,1.2005e-03,3.4967e+00,2.5287e-01
+15,1.0667e+00,WAIT_W2,5.6578e-04,4.1623e-01,5.5809e+00,2.4113e+00,-4.4164e-01,6.7086e-02,3.8521e-03,1.8419e-01,4.7540e+00,-3.6824e-02,-3.4424e-01,1.3420e-02,1.9522e-03,4.7577e+00,3.4450e-01
+16,1.0833e+00,WAIT_W2,6.0138e-04,4.4185e-01,6.7563e+00,2.3664e+00,-5.2604e-01,6.8973e-02,6.6925e-03,2.0981e-01,5.9294e+00,-8.1698e-02,-4.2863e-01,1.5306e-02,4.7926e-03,5.9336e+00,4.2893e-01
+17,1.1000e+00,WAIT_W2,6.3182e-04,4.3613e-01,7.3416e+00,2.3358e+00,-5.6868e-01,6.8532e-02,6.8171e-03,2.0409e-01,6.5147e+00,-1.1229e-01,-4.7127e-01,1.4865e-02,4.9171e-03,6.5188e+00,4.7153e-01
+18,1.1167e+00,WAIT_W2,6.7140e-04,4.6998e-01,7.8392e+00,2.3875e+00,-6.0454e-01,7.0943e-02,6.9572e-03,2.3794e-01,7.0122e+00,-6.0570e-02,-5.0714e-01,1.7276e-02,5.0573e-03,7.0165e+00,5.0746e-01
+19,1.1333e+00,WAIT_W2,7.0682e-04,4.5148e-01,8.4812e+00,2.3197e+00,-6.5149e-01,6.9674e-02,8.1149e-03,2.1944e-01,7.6543e+00,-1.2844e-01,-5.5408e-01,1.6007e-02,6.2149e-03,7.6585e+00,5.5435e-01
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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_06/down/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_06/down/franka_data.csv

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+41712,1793079152690885912,15703785000000,1793079152684727569,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6759514038194662,-0.004927648217725173,0.09977039145226298,0.9999999588615611,3.653467510342355e-05,-0.00021489453007417307,0.00016188050807688987,0.6761,-0.0046,0.09992478423091004,1.0,0.0,0.0,0.0,-0.0884689395399042,0.011205913009409318,-0.06492053953171895,0.0014234002211809885,0.005384806561755884,0.000219689026523048,0.7156431774832406,0.9591886454217737,1.0122539776151835,0.06337243745621698,-0.04509577291887378,-0.0016539815955484431,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,0.4620571247810506,1.4421129205362853,0.5975761101075459,-0.15078115907520961,-0.29552999301956273,0.8318510568520427,1.6826685290495669,0.06492053953171895,1.085092418942021,1.085092418942021,1.1056897006689446,0,0,-8.921241671815077e-06,-9.995104330163258e-05
+41858,1793079153907817817,15705002000000,1793079153904728166,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6759560324610071,-0.004927530580962386,0.09976241794903032,0.9999999601695541,3.898306848516502e-05,-0.0002057674042153336,0.0001650571127818893,0.6761,-0.0046,0.09989947447829528,1.0,0.0,0.0,0.0,-0.12502652145871163,0.02555633704628757,0.015159818919550982,0.0023404216867794966,0.007415694782921811,0.001145208741306056,0.6790855955644332,0.973539069458652,1.0923343360664535,0.06428945892181549,-0.043064884697707854,-0.0007284618807654352,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,0.5810015521827234,1.432876420387336,0.4343204648911499,-0.1366865500310238,-0.16968091117376083,0.824941124261818,1.6826685290495669,-0.015159818919550982,1.248348064158417,1.248348064158417,1.2273897006689312,0,0,-2.751386831281876e-05,9.999999025923074e-05
+41999,1793079155082873351,15706177000000,1793079155080727904,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6759822321241529,-0.0049267689602886236,0.09975930865658267,0.9999999636000387,4.095365222116334e-05,-0.00018169007701126808,0.00017191364105892623,0.6761,-0.0046,0.09987209623443678,1.0,0.0,0.0,0.0,-0.2115863586674469,0.18805014223819372,0.01061228371092704,0.014173751834370578,0.013348664332234944,0.002395499545390513,0.5925257583556979,1.1360328746505581,1.0877868008578295,0.07612278906940657,-0.03713191514839472,0.0005218289233190218,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,0.8497208960744222,1.4771895704637852,0.3640777601468437,-0.11531145842809468,-0.0905271728031221,0.8537656825384283,1.6826685290495669,-0.01061228371092704,1.3185907689027232,1.3185907689027232,1.3448897006689182,0,0,-3.0506310376378016e-05,-1.0630381242989989e-05
+42131,1793079156182990869,15707277000000,1793079156176728998,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6759915001946631,-0.004926451457176912,0.0997382282013303,0.9999999657343216,4.236994223747908e-05,-0.0001636969562454298,0.00017715054174011883,0.6761,-0.0046,0.09982907687887826,1.0,0.0,0.0,0.0,-0.24672480447746692,0.180737106227435,0.2007306403689577,0.013290644974441677,0.015297891859566926,0.002259318968627931,0.5573873125456779,1.1287198386397994,1.2779051575158602,0.07523968220947767,-0.03518268762106274,0.00038564834655644006,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,0.9024919338355583,1.4381759820025288,0.24994490164627908,-0.0770017909896543,-0.010481767116092564,0.8276831123959301,1.6826685290495669,-0.2007306403689577,1.4327236274032877,1.4327236274032877,1.454889700668906,0,0,-3.182197321341539e-05,6.525192049151385e-11
+42257,1793079157233034743,15708327000000,1793079157228728256,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6759982109792255,-0.004930395034457007,0.09972986424217907,0.9999999677352918,3.632244037611127e-05,-0.00015168707485163258,0.00017788758129459536,0.6761,-0.0046,0.09980921661537477,1.0,0.0,0.0,0.0,-0.2201870268685504,0.18739025669403375,0.28153293050383965,0.014212705909452804,0.013240934519816693,0.002176484688235983,0.5839250901545944,1.1353729891063982,1.3587074476507421,0.0761617431444888,-0.03723964496081297,0.00030281406616449206,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,0.9220980097385795,1.3427781342439755,0.11479979381184181,-0.03825664046651313,0.0888524912462771,0.7693184691730228,1.6826685290495669,-0.28153293050383965,1.567868735237725,1.567868735237725,1.5598897006688945,0,0,-9.584585176775073e-06,9.68139916845967e-05
+42398,1793079158408035252,15709502000000,1793079158400727544,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760032481069935,-0.004928888708719527,0.09971961923000912,0.9999999725919007,1.3240673677373017e-05,-0.0001430790409139142,0.000160037918074941,0.6761,-0.0046,0.09978868674654931,1.0,0.0,0.0,0.0,-0.21847868679450533,0.2049877724354352,0.3284994884053323,0.015500798648816837,0.013147810970656634,0.00215631611320252,0.5856334302286395,1.1529705048477996,1.4056740055522348,0.07744983588385283,-0.03733276850997303,0.00028264549113102874,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,0.901885503719742,1.4635450517338944,0.0033334886433821938,-0.04928262046898911,0.1477970655212532,0.8509473317298311,1.6826685290495669,-0.3284994884053323,1.6793350404061846,1.6793350404061846,1.6773897006688816,0,0,-2.6039521390493252e-05,9.343103654491642e-05
+42536,1793079159558105956,15710652000000,1793079159552727472,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.676014485907749,-0.0049268812748939576,0.09970820917665012,0.999999975693985,8.014586401220032e-06,-0.00012181383129454876,0.0001585939810573954,0.6761,-0.0046,0.0997521573376669,1.0,0.0,0.0,0.0,-0.239811229736826,0.22268178619527368,0.46007233629565336,0.017342636460761708,0.014145562729827692,0.0031093988964886335,0.5643008872863188,1.170664518607638,1.5372468534425558,0.0792916736957977,-0.036335016750801974,0.0012357282744171424,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,0.9388183109132558,1.455164648993779,0.031181988120746573,-0.041306604869554384,0.1353263825363606,0.8482887743853835,1.6826685290495669,-0.46007233629565336,1.6514865409288202,1.6514865409288202,1.792389700668869,0,0,-3.468297602868121e-05,-9.999575753394935e-05
+42671,1793079160683160033,15711777000000,1793079160680736762,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760277894304852,-0.004934876434321752,0.09969668546391006,0.9999999776670538,-1.6157042969378816e-06,-9.98708934689464e-05,0.00016165379794574484,0.6761,-0.0046,0.09971913215336696,1.0,0.0,0.0,0.0,-0.2597749267410361,0.2457356116427576,0.5644762166469233,0.01933796867654112,0.015097754689031656,0.003060237221027718,0.5443371902821087,1.193718344055122,1.6416507337938258,0.08128700591157711,-0.03538282479159801,0.001186566598956227,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.0266792626348322,1.4367243036047903,-0.2693480462962632,-0.038327756480556294,0.34597895078959107,0.8398848460636644,1.6826685290495669,-0.5644762166469233,1.95201657534583,1.95201657534583,1.9048897006688565,0,0,-2.5340978847239508e-05,9.004854781136657e-05
+42803,1793079161783097325,15712877000000,1793079161780737346,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6760355164653755,-0.004931286813361989,0.09968414667123537,0.999999978761728,-8.206018114857939e-07,-8.793088110430121e-05,0.0001618236531476202,0.6761,-0.0046,0.09969132914627164,1.0,0.0,0.0,0.0,-0.26057860055329185,0.24811181812849004,0.6551508706543867,0.0203405694544223,0.015059397514178091,0.002998304433051087,0.5435335164698529,1.1960945505408545,1.7323253878012892,0.0822896066894583,-0.035421181966451575,0.0011246338109795959,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,0.9837652304786386,1.3846492205013778,-0.23835698779771963,-0.014545381990002396,0.31023595311371144,0.8106305053108737,1.6826685290495669,-0.6551508706543867,1.9210255168472865,1.9210255168472865,2.0148897006688773,0,0,-2.8377500872782353e-05,-9.999682612361056e-05
+42947,1793079162983193276,15714077000000,1793079162980727855,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760460707401046,-0.004933772265996782,0.09967065106166786,0.9999999801493157,-6.5373015427209664e-06,-7.114371616423143e-05,0.00016136935303930297,0.6761,-0.0046,0.09965876201100163,1.0,0.0,0.0,0.0,-0.2713311893639029,0.27762056272079283,0.7665114249864067,0.02219861913227584,0.016011779014960814,0.002944358139463317,0.5327809276592419,1.2256032951331572,1.8436859421333092,0.08414765636731183,-0.03446880046566885,0.0010706875173918259,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.053071745169149,1.4024351673907223,-0.47942945931660685,-0.013670383393295793,0.4824121072107161,0.8266083890481399,1.6826685290495669,-0.7665114249864067,2.162097988366174,2.162097988366174,2.1348897006691305,0,0,-2.7374088194782924e-05,9.648088858250076e-05
+43090,1793079164174283514,15715268000000,1793079164172727589,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.676051898230111,-0.004931060942210361,0.09965340516365676,0.9999999814583866,-1.3137417099940302e-05,-6.044559422817105e-05,0.00015716179267264953,0.6761,-0.0046,0.09962871687508147,1.0,0.0,0.0,0.0,-0.2809197759054681,0.2935396461501465,0.8767678993398855,0.02311020053073467,0.015975167452960987,0.002857245475423052,0.5231923411176767,1.241522378562511,1.953942416486788,0.08505923776577066,-0.03450541202766868,0.000983574853351561,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.0777391242526857,1.379604933811933,-0.6321608434891414,0.0009645336446259945,0.5860099165295757,0.8151242287489954,1.6826685290495669,-0.8767678993398855,2.3148293725387084,2.3148293725387084,2.253989700669382,0,0,-2.2787819468879416e-05,9.999960168117212e-05
+43252,1793079165524263697,15716618000000,1793079165516737482,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6760583815661649,-0.004929038692513641,0.09963730463416784,0.9999999820338734,-1.805822452588677e-05,-4.868461980282102e-05,0.00015709495775516498,0.6761,-0.0046,0.09959503566523494,1.0,0.0,0.0,0.0,-0.3093330332320898,0.27924734137149776,0.987966137230281,0.023276804957243123,0.01695154171086055,0.0038168358248995126,0.49477908379105495,1.2272300737838622,2.0651406543771835,0.08522584219227912,-0.033529037769769114,0.0019431652028280217,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.1009344796968006,1.4161297222828921,-0.6422983945799539,-0.013278555776366417,0.5954822076802937,0.8384762702604722,1.6826685290495669,-0.987966137230281,2.3249669236295207,2.3249669236295207,2.3889897006696668,0,0,-2.7766190037496703e-05,-9.998779168374767e-05
+43387,1793079166649322643,15717743000000,1793079166648727934,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760673576927888,-0.004933679633924114,0.09962615898411549,0.9999999820022198,-2.0520998585171834e-05,-3.446226261227491e-05,0.00016071610296306666,0.6761,-0.0046,0.09956583143635614,1.0,0.0,0.0,0.0,-0.3129026474476184,0.2950474603832609,1.0986561335833165,0.024343803162657017,0.018591125902066664,0.003769503922344546,0.49120946957552636,1.2430301927956253,2.175830650730219,0.08629284039769301,-0.031889453578563,0.0018958333002730549,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.1447831767637786,1.370465153959371,-0.7392276143026298,-0.000994015041161755,0.6668928904827945,0.8103928714597568,1.6826685290495669,-1.0986561335833165,2.4218961433521966,2.4218961433521966,2.501489700669904,0,0,-2.747576761527449e-05,-9.961858701690857e-05
+43529,1793079167833405499,15718927000000,1793079167828737822,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6760725802259285,-0.004934933520365807,0.09960540582404694,0.9999999818130507,-2.1714127483939603e-05,-2.460483268444149e-05,0.00016352327620471364,0.6761,-0.0046,0.09953068575822693,1.0,0.0,0.0,0.0,-0.34091205990008705,0.31483712990887813,1.229490205850273,0.02615461841861324,0.02090238252491346,0.0037100891185087885,0.46320005712305773,1.2628198623212425,2.3066647229971755,0.08810365565364923,-0.029578196955716205,0.0018364184964372976,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.1626791570005623,1.3661682230992178,-0.9304960186017207,-0.007290862632768041,0.7882279574775201,0.8066834066421531,1.6826685290495669,-1.229490205850273,2.6131645476512877,2.6131645476512877,2.619889700670154,0,0,-2.719723090208325e-05,9.99999208702917e-05
+43645,1793079168799437358,15719893000000,1793079168796727809,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6760774613787668,-0.004934516672592423,0.09959278511201622,0.9999999815299826,-2.290848688840691e-05,-1.735177687507789e-05,0.00016600306002071612,0.6761,-0.0046,0.09950874455633736,1.0,0.0,0.0,0.0,-0.3685989226266202,0.32181319675288855,1.3020148344841393,0.026145619607195338,0.021891893542522432,0.003670550437639486,0.4355131943965246,1.269795929165253,2.379189351631042,0.08809465684223133,-0.028588685938107233,0.001796879815567995,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.1993393062932014,1.4790984647437702,-0.9894729750423391,-0.0485171348233407,0.8343850130901296,0.8797045772018759,1.6826685290495669,-1.3020148344841393,2.672141504091906,2.672141504091906,2.716489700670358,0,0,-2.2442528470360774e-05,-9.99755931082646e-05
+43794,1793079170041417883,15721135000000,1793079170036737131,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760865741756079,-0.004937536171506073,0.09957524182464188,0.9999999813443934,-2.4733705900003844e-05,-2.6429144432250678e-06,0.0001677359120536414,0.6761,-0.0046,0.09947212039767081,1.0,0.0,0.0,0.0,-0.41045861153359436,0.3355485167404677,1.4204516971030055,0.027438672668274454,0.024657859866819586,0.003802362577646497,0.3936535054895504,1.2835312491528321,2.497626214249908,0.08938770990331045,-0.02582271961381008,0.001928691955575006,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.2511896488731034,1.5386885638254522,-1.1295832774029073,-0.06353162216241597,0.9335075028216571,0.9188606851184107,1.6826685290495669,-1.4204516971030055,2.8122518064524744,2.8122518064524744,2.84068970067062,0,0,-3.265824996131895e-05,-2.413861041105771e-07
+43947,1793079171316494181,15722410000000,1793079171312737924,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760941534485762,-0.004940015204130609,0.09955259332978535,0.9999999800928743,-2.4456911172080635e-05,8.073679544265389e-06,0.00017491080769335736,0.6761,-0.0046,0.09943409861912265,1.0,0.0,0.0,0.0,-0.43706600162548576,0.3572133410758005,1.5500553542485136,0.030043333098819465,0.025821571104514645,0.0045951097574587,0.367046115397659,1.305196073488165,2.627229871395416,0.09199237033385546,-0.02465900837611502,0.0027214391353872084,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.2939118971510806,1.3673760617940394,-1.2049809114464631,-0.01298760281652683,0.9878086888851692,0.8049792191556169,1.6826685290495669,-1.5500553542485136,2.88764944049603,2.88764944049603,2.968189700670889,0,0,-2.9579110240344992e-05,-9.999976821462581e-05
+44100,1793079172591577910,15723685000000,1793079172584737725,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6761002346043836,-0.004944396445887326,0.09953102957394858,0.9999999790791431,-2.894496750765654e-05,1.935839919622623e-05,0.00017908662448698465,0.6761,-0.0046,0.09939711814748756,1.0,0.0,0.0,0.0,-0.4745841625573962,0.3610407608480044,1.652664708765819,0.029982514201400322,0.028162681189743098,0.00455409359919374,0.32952795446574856,1.3090234932603688,2.7298392259127215,0.09193155143643632,-0.022317898290886568,0.0026804229771222486,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.3097116203696337,1.3983145495556748,-1.3663908735697936,-0.03137402925791978,1.0919513261413107,0.8237939416575509,1.6826685290495669,-1.652664708765819,3.0490594026193607,3.0490594026193607,3.095689700671158,0,0,-2.9426359803046094e-05,-4.437311215544355e-05
+44252,1793079173858567762,15724952000000,1793079173856736880,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6761088037099876,-0.004941367826983735,0.0995062500886491,0.9999999779456653,-2.3985980971157012e-05,3.260737376300994e-05,0.00018415473193681274,0.6761,-0.0046,0.09935650858826679,1.0,0.0,0.0,0.0,-0.5066419587259869,0.3513037579092675,1.7748951025194222,0.03055929570136335,0.03042573105956212,0.00448399677504476,0.2974701582971579,1.299286490321632,2.8520696196663247,0.09250833293639935,-0.020054848421067546,0.002610326152973269,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.3517782275036156,1.4387776262032557,-1.4822827315914462,-0.044255218534490985,1.17146973560026,0.852035221088149,1.6826685290495669,-1.7748951025194222,3.164951260641013,3.164951260641013,3.2223897006714255,0,0,-3.22832399244063e-05,-9.990234614421496e-05
+44407,1793079175149654174,15726243000000,1793079175148727177,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6761194028655084,-0.004946270432956044,0.09948040279653497,0.9999999759243523,-2.4006386576292916e-05,4.873621957505544e-05,0.00019142265699161908,0.6761,-0.0046,0.09931098585100208,1.0,0.0,0.0,0.0,-0.5229178530393298,0.37451334378783696,1.8941051604314154,0.030734877093790476,0.032016559008307736,0.004414303428090747,0.281194263983815,1.3224960762002014,2.971279677578318,0.09268391432882647,-0.01846402047232193,0.0025406328060192562,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.395606968493703,1.3733899798763343,-1.6998778516977204,-0.02780609129219835,1.3224357920752583,0.8094818935324014,1.6826685290495669,-1.8941051604314154,3.3825463807472875,3.3825463807472875,3.351489700671698,0,0,-3.632612500106968e-05,9.757400029475888e-05
+44543,1793079176284683984,15727377000000,1793079176280737523,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6761269507505561,-0.004942042152241415,0.09945189655436626,0.9999999744743583,-1.9970155132545858e-05,6.243326451354516e-05,0.00019544162231303772,0.6761,-0.0046,0.09926460855908255,1.0,0.0,0.0,0.0,-0.5322781911490668,0.37350268096885486,1.9826523833431344,0.029908022037564368,0.033811546661798586,0.0033342741467863625,0.271833925874078,1.3214854133812193,3.059826900490037,0.09185705927260036,-0.016669032818831083,0.0014606035247148714,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4053567616820168,1.2522559081753795,-1.6601179274619582,0.0044041490810182125,1.3002788205181255,0.7299113667918796,1.6826685290495669,-1.9826523833431344,3.342786456511525,3.342786456511525,3.4648897006719372,0,0,-4.686581804166779e-05,-8.759764721777969e-05
+44680,1793079177424639227,15728518000000,1793079177416727758,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6761379520196114,-0.004947606019849059,0.0994144039813256,0.9999999712092613,-1.8532818517811094e-05,7.990053296880307e-05,0.0002056618106529574,0.6761,-0.0046,0.09920710002820818,1.0,0.0,0.0,0.0,-0.5183175532587119,0.3987755841190195,2.0831808254215987,0.030487980255791504,0.0338981723698063,0.0032644566077638733,0.28579456376443296,1.346758316531384,3.160355342568501,0.0924370174908275,-0.016582407110823368,0.0013907859856923822,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.39987118523815,1.3625515834965412,-1.801652323135902,-0.03666569183755442,1.3893580466039805,0.8014013347504984,1.6826685290495669,-2.0831808254215987,3.484320852185469,3.484320852185469,3.578989700672178,0,0,-5.112148647043314e-05,-9.963378319455813e-05
+44818,1793079178574684973,15729668000000,1793079178568727814,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6761443391790315,-0.004951991003682383,0.09936509755326604,0.999999968259958,-2.1693255337766397e-05,9.260531611088509e-05,0.00021418824803574388,0.6761,-0.0046,0.09914024912251947,1.0,0.0,0.0,0.0,-0.5356612511861262,0.3643641227561687,2.178271490390097,0.02763718695193417,0.03588752033233537,0.00222472927349784,0.2684508658370186,1.312346855168533,3.2554460075369995,0.08958622418697017,-0.0145930591482943,0.0003510586514263492,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4684154571356962,1.4120829752561095,-2.016952132757756,-0.04785200695287397,1.5430000184509947,0.8364210796462406,1.6826685290495669,-2.178271490390097,3.699620661807323,3.699620661807323,3.6939897006724207,0,0,-6.544084768936453e-05,9.958004840016627e-05
+44963,1793079179783776169,15730877000000,1793079179780727962,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.676158583880029,-0.004951786375945597,0.099313958955735,0.9999999644349685,-1.5247030989485222e-05,0.00011126676998379858,0.00022351769561031442,0.6761,-0.0046,0.0990659303895185,1.0,0.0,0.0,0.0,-0.5789605489607454,0.34250246660875105,2.3317758072983925,0.02651361720718972,0.03888349594091662,0.0020688037823509294,0.2251515680623994,1.2904851990211155,3.408950324445295,0.08846265444222572,-0.011597083539713046,0.00019513316027943838,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4164797060481753,1.3652180257797903,-2.150045201912846,-0.04220246988904501,1.6130731957913458,0.8034200719081613,1.6826685290495669,-2.3317758072983925,3.832713730962413,3.832713730962413,3.814889700672676,0,0,-5.386197092918798e-05,9.999980984798924e-05
+45095,1793079180883814226,15731977000000,1793079180880727715,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6761688281501194,-0.004957256603623774,0.09927814707625345,0.9999999606905478,-1.6066669364927464e-05,0.00013013485222473442,0.00022993161976862596,0.6761,-0.0046,0.09900803949832923,1.0,0.0,0.0,0.0,-0.5775927867716487,0.32533641561147686,2.391153830180252,0.024460772300925533,0.03891150437469963,0.001992143851782064,0.2265193302514961,1.2733191480238413,3.4683283473271547,0.08640980953596153,-0.011569075105930037,0.0001184732297105729,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4647937548307037,1.329585237852842,-2.1934904680554452,-0.04040627064532351,1.6557760057229571,0.7803009831614829,1.6826685290495669,-2.391153830180252,3.876158997105012,3.876158997105012,3.924889700672908,0,0,-5.43382549331436e-05,-2.382842484396528e-09
+45235,1793079182049812617,15733143000000,1793079182048727156,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.676180213063933,-0.0049603569600314285,0.09922116172195562,0.9999999565555456,-2.1959482090941638e-05,0.00014738437298617837,0.0002369122177788987,0.6761,-0.0046,0.09893112382537803,1.0,0.0,0.0,0.0,-0.5780589859583991,0.3159101498096619,2.500329142718797,0.023352532454117163,0.039920514503612316,0.0019073343982656215,0.22605313106474562,1.2638928822220263,3.5775036598656995,0.08530156968915316,-0.01056006497701735,3.366377619413032e-05,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4727040941211271,1.3538450647483284,-2.262563053617852,-0.04636373352106525,1.7047768649756712,0.791994592453501,1.6826685290495669,-2.500329142718797,3.945231582667419,3.945231582667419,4.04148970067297,0,0,-7.283358915563388e-05,-9.972659783941679e-05
+45311,1793079182683900815,15733777000000,1793079182676728266,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6761876328296064,-0.0049540387305839215,0.0991801634993304,0.9999999550341978,-0.0002081088558278825,0.00017237257577744014,9.139401277515333e-05,0.6761,-0.0046,0.0988807207747624,1.0,0.0,0.0,0.0,-0.4088667230545283,0.5241323419992683,2.5562769149321554,0.03418119098419358,0.031221709931242507,0.002901935378736567,0.39524539396861647,1.4721150744116327,3.633451432079058,0.09613022821922958,-0.01925886954938716,0.0010282647566650755,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5573886470220566,1.4972493297518452,-2.3479953695320863,-0.11327273022284537,1.7957969246939238,0.9348999275348474,1.6826685290495669,-2.5562769149321554,4.030663898581653,4.030663898581653,4.104889700672822,0,0,-8.534646673693936e-05,-1.800846557842846e-05
+45435,1793079183716915469,15734810000000,1793079183716727841,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762018897558446,-0.004951380793892827,0.09911759641731334,0.9999999521876143,-0.00019564395869731778,0.00019239404954939947,0.00010851545790807473,0.6761,-0.0046,0.09879349311873296,1.0,0.0,0.0,0.0,-0.4589894229636313,0.45250920440736153,2.6456495746180595,0.030746607740033856,0.03365957530309334,0.002819731089411158,0.34512269405951346,1.400491936819726,3.722824091764962,0.09269564497506985,-0.01682100417753633,0.0009460604673396668,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5106822996473284,1.3991620277305843,-2.41309928302918,-0.04404401341036921,1.8164366715901092,0.8592187750381162,1.6826685290495669,-2.6456495746180595,4.095767812078747,4.095767812078747,4.208189700672581,0,0,-8.100258156870511e-05,-8.944153337265277e-05
+45561,1793079184766979906,15735860000000,1793079184760728124,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6762119175100489,-0.004962520785413132,0.09905872707969723,0.9999999476636517,-0.00019448595857777447,0.00020707629544013912,0.00012413773754232392,0.6761,-0.0046,0.09871715155343669,1.0,0.0,0.0,0.0,-0.4749117422335036,0.3994361195456524,2.7183062311572965,0.027165791469894736,0.03472863428197413,0.002734991863884646,0.3292003747896412,1.3474188519580168,3.795480748304199,0.08911482870493073,-0.015751945198655536,0.0008613212418131552,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5611409816397197,1.3654974993856595,-2.6241675327930807,-0.00476048195340781,1.9661321987690477,0.8242544482664398,1.6826685290495669,-2.7183062311572965,4.306836061842647,4.306836061842647,4.3131897006723365,0,0,-6.73062289554841e-05,9.980468815141136e-05
+45693,1793079185866950312,15736960000000,1793079185864727810,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762191609804943,-0.0049650172665048255,0.09899255167772204,0.9999999440031986,-0.00018946355694513615,0.00021951595615877096,0.00013911423180059545,0.6761,-0.0046,0.09863642809402283,1.0,0.0,0.0,0.0,-0.46704746445423956,0.34555792195668156,2.746956815424845,0.023485939028283033,0.0347953355533329,0.001643852990842984,0.3370646525689052,1.293540654369046,3.8241313325717474,0.08543497626331903,-0.01568524392729677,-0.00022981763122850707,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.49528898080033,1.4148403600757602,-2.589158763613821,0.007092847073805568,1.918918784196895,0.8387215626729747,1.6826685290495669,-2.746956815424845,4.271827292663388,4.271827292663388,4.42318970067208,0,0,-8.052958902079877e-05,-9.999775593539368e-05
+45814,1793079186875014009,15737968000000,1793079186868728283,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762306277740974,-0.0049690792791863,0.0989169443728194,0.9999999380388798,-0.0001905973062537729,0.00023702555480211614,0.00015118417267910477,0.6761,-0.0046,0.0985409482384916,1.0,0.0,0.0,0.0,-0.4703517783575503,0.2985454598153341,2.8547311130515958,0.01942943684908654,0.03484961619714577,0.0015088870589534589,0.33376033866559446,1.2465281922276985,3.9319056301984983,0.08137847408412253,-0.01563096328348389,-0.00036478356311803233,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4174169187954797,1.3263004161875984,-2.677776225752295,0.023982482916410103,1.9595923880487658,0.7719957851168853,1.6826685290495669,-2.8547311130515958,4.360444754801861,4.360444754801861,4.523989700671845,0,0,-0.00010194957434791897,-9.999999025923074e-05
+45962,1793079188109052828,15739202000000,1793079188108728047,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762429395136238,-0.004972683532661338,0.09881697559915763,0.9999999268053902,-0.00022533344404250316,0.0002608457249403963,0.0001379000550430197,0.6761,-0.0046,0.09841545494146724,1.0,0.0,0.0,0.0,-0.4505249222152583,0.3134327015024321,2.9522575497226358,0.020186972530801685,0.03380034381554105,0.00142637739254421,0.3535871948078865,1.2614154339147965,4.029432066869538,0.08213600976583768,-0.016680235665088614,-0.00044729322952728116,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.490053321219975,1.5107890763866774,-2.8631404486024334,-0.012059046137335386,2.096140548008637,0.8951939570813064,1.6826685290495669,-2.9522575497226358,4.545808977652,4.545808977652,4.647389700671558,0,0,-9.772954939343682e-05,-7.500209761446825e-05
+46088,1793079189159119485,15740252000000,1793079189152728066,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762537439476975,-0.004973725083999802,0.09872561121769453,0.9999999192924984,-0.00023605207253421092,0.00027836913135725324,0.0001401709897587002,0.6761,-0.0046,0.09831021640228761,1.0,0.0,0.0,0.0,-0.4252940166859034,0.2532660360838648,3.005516344507061,0.015547489683783784,0.032866472203538735,0.0013179488323421837,0.3788181003372414,1.2012487684962292,4.082690861653964,0.07749652691881978,-0.017614107277090934,-0.0005557217897293076,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4289213400687208,1.4530424154469774,-2.9969720445510917,-0.0032901888509393874,2.1725064687240248,0.8563836850611631,1.6826685290495669,-3.005516344507061,4.6796405736006585,4.6796405736006585,4.752389700671313,0,0,-0.00010737231480731501,5.4775874140605654e-05
+46229,1793079190334057872,15741427000000,1793079190332727622,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762691566997883,-0.00498022508343008,0.09861415211584085,0.999999907249663,-0.0002533659698425109,0.00030254228875314205,0.00014566186253222894,0.6761,-0.0046,0.09817329796114876,1.0,0.0,0.0,0.0,-0.42377116521463176,0.21311503837527224,3.1099242000844205,0.013484441592648826,0.032516223510773046,0.0012078161783074999,0.380340951808513,1.1610977707876367,4.187098717231323,0.07543347882768482,-0.017964355969856623,-0.0006658544437639912,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4146794547137969,1.4332529830759482,-3.0627479575243086,-0.0065667901238230224,2.2142042859575914,0.8368660470324052,1.6826685290495669,-3.1099242000844205,4.745416486573875,4.745416486573875,4.869889700671039,0,0,-0.00011847435777842386,-9.980468815141136e-05
+46349,1793079191334199227,15742427000000,1793079191332736754,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6762783439931634,-0.004984225333200799,0.09851127442298736,0.999999899074722,-0.0002648416558193745,0.0003173091082805532,0.00014989074963503088,0.6761,-0.0046,0.09805158531068678,1.0,0.0,0.0,0.0,-0.3948543488688102,0.16148836062220262,3.168054022865806,0.009233311426662068,0.030925819078264062,0.0010880450905551668,0.40925776815433457,1.109471093034567,4.245228540012708,0.07118234866169806,-0.019554760402365604,-0.0007856255315163243,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.444706402113248,1.4472341530509107,-3.160574806677534,-0.018634201272084146,2.294279087824501,0.845259786293447,1.6826685290495669,-3.168054022865806,4.8432433357271005,4.8432433357271005,4.969889700670806,0,0,-0.00012817985877852512,-9.999999025923074e-05
+46475,1793079192384224829,15743477000000,1793079192380737231,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762887324014195,-0.004982424432288688,0.09838646926592624,0.9999998951221424,-0.0002567586859195472,0.0003344787425924251,0.00015296246594819423,0.6761,-0.0046,0.09790992348351582,1.0,0.0,0.0,0.0,-0.4087367308554763,0.14040759593584395,3.2391079762355126,0.008151570829584238,0.03194454577759538,0.0010335556837057435,0.3953753861676685,1.0883903283482084,4.316282493382415,0.07010060806462023,-0.018536033703034284,-0.0008401149383657476,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4705357344569325,1.3716415004097051,-3.281482028714177,0.0011789033395144097,2.3765641849612917,0.7992655895105674,1.6826685290495669,-3.2391079762355126,4.964150557763744,4.964150557763744,5.074889700670561,0,0,-0.00014063348792814692,7.824764080773504e-05
+46597,1793079193400158406,15744493000000,1793079193396738028,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763030960458486,-0.00498757766829085,0.09826082352422255,0.999999914709816,-9.399179540107007e-05,0.00036197538854804834,0.00014887103718871496,0.6761,-0.0046,0.09775704306078045,1.0,0.0,0.0,0.0,-0.4023088296515322,0.11781762362378423,3.304061285587893,0.006096779183271124,0.03196930387377735,0.0009592649337708645,0.4018032873716126,1.0658003560361486,4.381235802734795,0.06804581641830712,-0.01851127560685232,-0.0009144056883006266,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4707814649728694,1.6646008517226036,-3.310961737727018,-0.1352913551695835,2.402009685233149,0.9146922413110483,1.6826685290495669,-3.304061285587893,4.993630266776584,4.993630266776584,5.1764897006703245,0,0,-0.00016161492822771984,-9.999999025923074e-05
+46723,1793079194450231186,15745543000000,1793079194448727814,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763173589105334,-0.004988547076119691,0.09811355431600367,0.9999999028961197,-0.00012489515607390917,0.00038439465770957683,0.00014930694137459894,0.6761,-0.0046,0.09758502345108327,1.0,0.0,0.0,0.0,-0.4113072280795455,0.08912709860458534,3.413988377908969,0.005052253421564935,0.031966687130300486,0.0008571152759227353,0.3928048889435993,1.0371098310169498,4.491162895055871,0.06700129065660093,-0.018513892350329176,-0.0010165553461487559,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4801114579629249,1.5675523383034404,-3.5673554326569583,-0.09154345475164001,2.566094544399408,0.8833278310512254,1.6826685290495669,-3.413988377908969,5.250023961706525,5.250023961706525,5.28148970067008,0,0,-0.00015699496438007087,9.960937216580418e-05
+46842,1793079195442286450,15746535000000,1793079195440737250,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6763264026415137,-0.004999826745055518,0.09796826135877568,0.9999998908831387,-0.00015743004715892955,0.0004010847211225766,0.00015499484392512313,0.6761,-0.0046,0.09742350525915505,1.0,0.0,0.0,0.0,-0.3869861333705263,0.0290402492235462,3.4549944396922116,0.001005773340523021,0.030017453356904606,0.0014350050705512546,0.4171259836526185,0.9770229816359106,4.532168956839114,0.06295481057555902,-0.02046312612372506,-0.0004386655515202367,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.3841148867020634,1.5069672778638474,-3.5005417741745486,-0.03877690761189095,2.5018592304599165,0.8880017611069106,1.6826685290495669,-3.4549944396922116,5.183210303224115,5.183210303224115,5.380689700669849,0,0,-0.00016952732799088566,-9.999999025923074e-05
+46951,1793079196350311940,15747443000000,1793079196348728295,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763336376706721,-0.004995807021621808,0.09782246049618654,0.9999998826818387,-0.00018146115902847518,0.00041365494863818836,0.000148460783748156,0.6761,-0.0046,0.09726421263607513,1.0,0.0,0.0,0.0,-0.3521354354852784,0.0005566232115704617,3.489671734387704,-0.001634362730612078,0.029027825400037472,0.0017102959173676355,0.45197668153786635,0.9485393556239349,4.566846251534606,0.06031467450442392,-0.021452754080592194,-0.00016337470470385567,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4209125340360498,1.458074932371227,-3.6640370312683905,-0.007821280796527002,2.6258953045916313,0.8611273369500687,1.6826685290495669,-3.489671734387704,5.346705560317957,5.346705560317957,5.471489700669637,0,0,-0.00018301505293608222,9.998738922790124e-05
+47067,1793079197317281138,15748410000000,1793079197312737807,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763494992019884,-0.0049997257270340476,0.09766492430293067,0.9999998670111251,-0.00020662537743248617,0.00043905293287158716,0.000148185936441443,0.6761,-0.0046,0.09707997256542708,1.0,0.0,0.0,0.0,-0.34985966882988306,-0.027912311026673797,3.5856449831689474,-0.003052319246045175,0.028029309542146746,0.001598094406435573,0.4542524481932617,0.9200704213856906,4.66281950031585,0.05889671798899082,-0.02245126993848292,-0.0002755762156359183,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4065405534032127,1.5552790774614478,-3.6572356051414685,-0.029874252681068875,2.6177177462746557,0.9229346924496575,1.6826685290495669,-3.5856449831689474,5.339904134191036,5.339904134191036,5.568189700669412,0,0,-0.0001948186562031592,-9.975229950243687e-05
+47177,1793079198234389790,15749327000000,1793079198232727825,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6763597679573814,-0.005004563635085319,0.09749710593972519,0.9999998552769295,-0.00022796279376830413,0.00045424152684938565,0.00015028833650997748,0.6761,-0.0046,0.09689750335723292,1.0,0.0,0.0,0.0,-0.34963548354095564,-0.0709249553836232,3.6536869839036292,-0.005110732557437485,0.028054684974729467,0.001519386631468565,0.45447663348218914,0.8770577770287412,4.730861501050532,0.05683830467759851,-0.0224258945059002,-0.00035428399060292624,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4350167625686938,1.423555884162371,-3.7796362827726115,0.01879793095519922,2.7100432848779508,0.8363777765044595,1.6826685290495669,-3.6536869839036292,5.462304811822179,5.462304811822179,5.659889700669198,0,0,-0.00020226921112617558,-9.999999025923074e-05
+47297,1793079199234436576,15750327000000,1793079199228737158,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.676370603580363,-0.005010715766740963,0.09730661749255373,0.9999998438923394,-0.00023282694295706944,0.00047407363412573975,0.00015717494964380096,0.6761,-0.0046,0.09668961339799212,1.0,0.0,0.0,0.0,-0.3200600430518946,-0.11983057263933738,3.6831003496336443,-0.008663226545649223,0.026091079056913664,0.0014246683879387666,0.48405207397125016,0.828152159773027,4.760274866780547,0.05328581068938677,-0.024389500423716,-0.0004490022341327244,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4084206054065975,1.3830582563143112,-3.8094425189724768,0.034010056049636785,2.735683862073323,0.8108860215896615,1.6826685290495669,-3.6831003496336443,5.492111048022044,5.492111048022044,5.759889700668965,0,0,-0.00021649130976383735,-9.999999025923074e-05
+47405,1793079200134433484,15751227000000,1793079200132737153,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763823093238235,-0.0050087427837078626,0.09712199426986638,0.9999998278604145,-0.00026033574916008655,0.0004958335836284913,0.00014864844513243436,0.6761,-0.0046,0.0964824772971561,1.0,0.0,0.0,0.0,-0.2824232370460653,-0.14160059688134763,3.753156018161209,-0.010127730753170888,0.024077806865146992,0.0013274055356712398,0.5216888799770795,0.8063821355310168,4.830330535308112,0.05182130648186511,-0.026402772615482673,-0.0005462650864002512,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.414020739604594,1.4146110128931741,-3.9336461919592263,0.043374770434044405,2.8231775748266035,0.8272048422562882,1.6826685290495669,-3.753156018161209,5.616314721008793,5.616314721008793,5.849889700668755,0,0,-0.00024319964830463026,-9.999999025923074e-05
+47505,1793079200967434864,15752060000000,1793079200964737493,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763896400252516,-0.005008352783840377,0.09692882941031235,0.9999998188304715,-0.0002631160826957722,0.0005086725830391173,0.00016063629228035205,0.6761,-0.0046,0.09627353076987033,1.0,0.0,0.0,0.0,-0.24928894962546455,-0.17413860874570886,3.8232873796165814,-0.01202369763841353,0.021062270864227663,0.0012054328497944824,0.5548231673976802,0.7738441236666556,4.900461896763484,0.049925339596622466,-0.029418308616402003,-0.0006682377722770087,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.3949021619958994,1.393906543090976,-4.031787786112795,0.0475711999940122,2.892385636899915,0.8127296268988391,1.6826685290495669,-3.8232873796165814,5.714456315162362,5.714456315162362,5.933189700668561,0,0,-0.00025787128848811747,-4.655327393253623e-05
+47601,1793079201767537087,15752860000000,1793079201760737310,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6764011530017027,-0.0050032082244676835,0.09673364214341382,0.9999998394904392,-9.172242113106794e-05,0.0005249814955940692,0.00016865167347331926,0.6761,-0.0046,0.09606060248381346,1.0,0.0,0.0,0.0,-0.18832628039103938,-0.13503264704415585,3.8352731074387707,-0.009962084127352895,0.017977975381430436,0.001178319161394791,0.6157858366321054,0.8129500853682086,4.912447624585673,0.0519869531076831,-0.03250260409919923,-0.0006953514606767001,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4311589623862633,1.602290159452705,-3.9723001993368134,-0.04533468852274249,2.8787072239115674,0.8521252330994662,1.6826685290495669,-3.8352731074387707,5.654968728386381,5.654968728386381,6.0131897006683745,0,0,-0.0002793449123225918,-9.999999025923074e-05
+47692,1793079202525457135,15753618000000,1793079202524737046,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764120145948215,-0.005002608792599589,0.09652910602589346,0.9999998225824227,-0.00015174491610132993,0.0005471170257892019,0.00015464290418563,0.6761,-0.0046,0.09583971702537519,1.0,0.0,0.0,0.0,-0.17036084260787154,-0.1277851162816972,3.943594729082606,-0.008865154226473576,0.016383586963897155,0.0020722824365646455,0.6337512744152732,0.8201976161306672,5.020769246229508,0.05308388300856242,-0.03409699251673251,0.00019861181449315433,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.496424053889685,1.5924996484919427,-4.157635490204806,0.002287008862913416,3.0129498993491137,0.8927754892668927,1.6826685290495669,-3.943594729082606,5.840304019254372,5.840304019254372,6.088989700668198,0,0,-0.0002996715189769788,1.2613144246341294e-05
+47782,1793079203275588903,15754368000000,1793079203272737137,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764163748375535,-0.005011994758103986,0.09631191885023153,0.9999998093400188,-0.00016994534283948387,0.0005582597833970505,0.0001795198732804281,0.6761,-0.0046,0.0956128177424009,1.0,0.0,0.0,0.0,-0.15810002584248206,-0.21349371633610814,4.003599264372742,-0.01394133485075133,0.01497691630932984,0.0016152080690466609,0.6460120911806627,0.7344890160762563,5.080773781519644,0.048007702384284666,-0.035503663171299826,-0.0002584625530248302,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4207880252860123,1.4144542563137754,-4.212551987434516,0.09494271908984697,3.0380269911902427,0.832118189610737,1.6826685290495669,-4.003599264372742,5.895220516484082,5.895220516484082,6.163989700668023,0,0,-0.0003037728794439128,-9.998176872383908e-05
+47874,1793079204042606884,15755135000000,1793079204040737080,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764341777304079,-0.005006456431161196,0.09608907833723344,0.9999997922571133,-0.00021195818760209927,0.0005776922177143373,0.00016814881097930605,0.6761,-0.0046,0.09537463889964377,1.0,0.0,0.0,0.0,-0.16950339797264224,-0.1547580478846734,3.9654119483813135,-0.009941674806779273,0.015283461501898271,0.002059825568435666,0.6346087190505025,0.793224684527691,5.042586465528216,0.05200736242825672,-0.035197117978731395,0.00018615494636417518,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5956348510874754,1.4934824530353663,-4.26731901536911,0.10995739838622173,3.111031168820626,0.8816949464451107,1.6826685290495669,-3.9654119483813135,5.949987544418677,5.949987544418677,6.240689700667844,0,0,-0.00032366684694504064,-8.790923130964074e-05
+47957,1793079204734571290,15755827000000,1793079204728737516,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764387889264164,-0.005009332718417228,0.09587008754376451,0.9999997775092129,-0.00023901670199872902,0.00059231127281426,0.0001687091016179975,0.6761,-0.0046,0.09513977708347024,1.0,0.0,0.0,0.0,-0.14975910740624698,-0.1953554702442326,4.045040626500211,-0.011962856183199706,0.01391590405536966,0.0019547650187267803,0.6543530096168978,0.7526272621681318,5.1222151436471135,0.04998618105183629,-0.036564675425260006,8.109439665528924e-05,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5745690392959664,1.4700514646172127,-4.278451137630523,0.10860348626656516,3.1258439303573406,0.8734529937940868,1.6826685290495669,-4.045040626500211,5.961119666680091,5.961119666680091,6.309889700667683,0,0,-0.0003546446457989002,-9.597396074945692e-05
+48034,1793079205375648177,15756468000000,1793079205372727588,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.676443530399981,-0.005010527554693725,0.09565005908667103,0.999999770439019,-0.00022930883457729042,0.0006012803937464241,0.0001909034306128288,0.6761,-0.0046,0.09490501544358912,1.0,0.0,0.0,0.0,-0.13780715525412568,-0.28907666310427016,4.1133033720229255,-0.017059467071078437,0.012988451597980719,0.0018277049154948267,0.6663049617690191,0.6589060693080943,5.190477889169828,0.04488957016395756,-0.03749212788264895,-4.59657065766644e-05,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4865362347559639,1.3059795165958692,-4.346463347210942,0.15595414561347837,3.1648668212074273,0.7677282781009714,1.6826685290495669,-4.1133033720229255,6.029131876260509,6.029131876260509,6.373989700667534,0,0,-0.0003757322748585131,-9.997560698605241e-05
+48104,1793079205959572919,15757052000000,1793079205956728146,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764445689311424,-0.005005944459885211,0.09543324204678579,0.9999997859027459,-0.00016441559707827916,0.0006095556082987139,0.00014507514792490818,0.6761,-0.0046,0.09467995870342202,1.0,0.0,0.0,0.0,-0.05171311515277777,-0.30410151127989593,4.172982417357988,-0.01900713014232737,0.009010774818854643,0.0017071825465656695,0.752399001870367,0.6438812211324685,5.250156934504891,0.04294190709270863,-0.04146980466177502,-0.00016648807550582168,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.496868082391467,1.392650578696935,-4.37860731698047,0.18872623333016908,3.2002486915693287,0.8349604831367498,1.6826685290495669,-4.172982417357988,6.061275846030037,6.061275846030037,6.432389700667398,0,0,-0.00039550542465657666,-9.999912983638665e-05
+48171,1793079206517624758,15757610000000,1793079206512737249,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.676459973856166,-0.005011601306594258,0.09521341212233467,0.9999997739961142,-0.00014271519058660584,0.0006253271481050175,0.00017902211345931015,0.6761,-0.0046,0.09445389033470783,1.0,0.0,0.0,0.0,-0.11142844485393233,-0.26382845605861205,4.162776329283917,-0.014365617022323869,0.010899862871490099,0.0017890537461608567,0.6926836721692124,0.6841542763537524,5.239950846430819,0.04758342021271213,-0.03958071660913957,-8.461687591063434e-05,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.6152351962812814,1.4565585348344998,-4.458746453783113,0.10146494104544558,3.2860219371829347,0.8327694059297253,1.6826685290495669,-4.162776329283917,6.14141498283268,6.14141498283268,6.4881897006672675,0,0,-0.0004173621779197126,1.2449661800080329e-05
+48240,1793079207092724446,15758185000000,1793079207088737133,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.676461079262159,-0.005017945277196048,0.09496900971144388,0.9999997677697838,-0.00014612241081621584,0.0006230990094658499,0.00021517227574401418,0.6761,-0.0046,0.09420704979784401,1.0,0.0,0.0,0.0,-0.10269680581113005,-0.3337534284215259,4.20733394514946,-0.01904175911295198,0.009968696221312502,0.0016852271181367578,0.7014153112120147,0.6142293039908385,5.284508462296363,0.04290727812208402,-0.040511883259317163,-0.00018844350393473324,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5473919248084136,1.2930615612687772,-4.424209548392842,0.16108186207236225,3.261885059976834,0.7612898346630116,1.6826685290495669,-4.20733394514946,6.106878077442408,6.106878077442408,6.5456897006671335,0,0,-0.0004424927127447394,-9.999999025923074e-05
+48302,1793079207602704270,15758695000000,1793079207600727552,DOWN_SETTLE,6,0.071,0.07100142538547516,0.6764653159977965,-0.005009201121332991,0.09474424033119799,0.9999997516965121,-0.00023689203007779257,0.0006363157334801421,0.00016442089765118133,0.6761,-0.0046,0.09397813124788884,1.0,0.0,0.0,0.0,-0.04683225210520081,-0.3320155712745866,4.230494965714049,-0.018954950120752045,0.005941364813292577,0.0026386393069635517,0.757279864917944,0.6159671611377778,5.307669482860952,0.04299408711428395,-0.04453921466733709,0.0007649686848920608,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.6021561612586412,1.3559139336802566,-4.3580180706585265,0.16580952574113902,3.252258659325793,0.8321335133404544,1.6826685290495669,-4.230494965714049,6.040686599708094,0.0,0.0,0,0,-0.00035467390331346495,0.0032500000097407714
+48402,1793079208434717537,15759527000000,1793079208428727474,DOWN_PEAK_HOLD,6,0.071,0.07100142538547516,0.676425356033241,-0.005009874547045999,0.09459417602872078,0.9999997955389841,-0.00023168049510275573,0.0005608540365506017,0.0001792533174056901,0.6761,-0.0046,0.09394376942160175,1.0,0.0,0.0,0.0,0.18405208435528164,-0.562502472520914,3.3585558942753195,-0.03458645953379046,-0.00978845694457161,-0.00012633537998417736,0.9881642013784264,0.3854802598914504,4.435730411422222,0.027362577701245533,-0.060269036425201275,-0.0020000060020556685,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.009812742994171,1.4315223210819383,-3.4330926266090067,0.13351608272572912,2.5544872713902333,0.8609168607063262,1.6826685290495669,-3.3585558942753195,5.115761155658573,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_06/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,1793079148107467403,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.389579907e-08,-1.075028327e-09,-5.637854628e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027458827e-01,-1.138800240e-04,8.303255138e-01
+1,1.083333333e+00,DOWN_FORCE_DETACH,1793079149184815486,-7.653206291e-09,1.406582345e-06,7.968845077e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.152165196e-07,-5.446711989e-08,-4.810990339e-08,7.019555902e-01,-2.057847223e-05,8.601441828e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027464840e-01,-1.139334161e-04,8.303254662e-01
+2,2.333333333e+00,DOWN_FORCE_DETACH,1793079150448482449,4.992495533e-06,-5.234896428e-07,2.922895278e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.961174216e-07,-7.928569006e-08,-8.199259072e-08,7.019605904e-01,-2.250854422e-05,8.601463088e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027467649e-01,-1.139582347e-04,8.303254323e-01
+3,3.616666667e+00,DOWN_FORCE_DETACH,1793079151754497504,1.176941866e-05,-1.138869991e-06,1.689652010e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.008335014e-06,-8.996316806e-08,-9.676236090e-08,7.019673673e-01,-2.312392457e-05,8.601450756e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027468772e-01,-1.139689121e-04,8.303254176e-01
+4,4.566666667e+00,DOWN_FORCE_DETACH,1793079152693201629,1.261891514e-05,2.149118161e-06,-3.301974820e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.044780268e-06,-9.366158137e-08,-1.014253459e-07,7.019682168e-01,-1.983593642e-05,8.601430557e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027469136e-01,-1.139726105e-04,8.303254129e-01
+5,5.766666667e+00,DOWN_FORCE_DETACH,1793079153908190743,1.811031051e-05,1.896940803e-06,-9.745879529e-06,1.665114240e-05,2.848966679e-06,-1.032134672e-05,1.784096829e-05,2.516543692e-06,-9.805092814e-06,7.019737082e-01,-2.008811378e-05,8.601336400e-01,7.019722490e-01,-1.913608790e-05,8.601330646e-01,7.027637098e-01,-1.113624053e-04,8.303157092e-01
+6,6.916666667e+00,DOWN_FORCE_DETACH,1793079155084522237,4.177954663e-05,1.456705767e-06,-1.289779362e-05,3.810861413e-05,4.043162585e-06,-8.433086745e-06,4.088432028e-05,3.551770162e-06,-8.314335651e-06,7.019973774e-01,-2.052834881e-05,8.601304881e-01,7.019937065e-01,-1.794189199e-05,8.601349528e-01,7.027867531e-01,-1.103271788e-04,8.303172000e-01
+7,8.016666667e+00,DOWN_FORCE_DETACH,1793079156179901958,5.385495473e-05,5.025847417e-06,-3.092607342e-05,4.815734297e-05,2.187997942e-07,-2.536710713e-05,5.190023648e-05,-2.004452458e-09,-2.477012843e-05,7.020094528e-01,-1.695920716e-05,8.601124598e-01,7.020037552e-01,-2.176625479e-05,8.601180188e-01,7.027977691e-01,-1.138809534e-04,8.303007442e-01
+8,9.066666667e+00,DOWN_FORCE_DETACH,1793079157231558018,5.938212226e-05,2.423163574e-06,-4.391354630e-05,5.751416368e-05,3.151262919e-06,-4.451234568e-05,6.172413984e-05,2.639404744e-06,-4.344135881e-05,7.020149800e-01,-1.956189101e-05,8.600994724e-01,7.020131120e-01,-1.883379166e-05,8.600988736e-01,7.028075930e-01,-1.112395442e-04,8.302820730e-01
+9,1.025000000e+01,DOWN_FORCE_DETACH,1793079158409673447,6.594533695e-05,5.086772683e-06,-4.862341975e-05,5.751416368e-05,3.151262919e-06,-4.451234568e-05,6.224821299e-05,2.614634865e-06,-4.405087657e-05,7.020215432e-01,-1.689828190e-05,8.600947625e-01,7.020131120e-01,-1.883379166e-05,8.600988736e-01,7.028081170e-01,-1.112643141e-04,8.302814635e-01
+10,1.141666667e+01,DOWN_FORCE_DETACH,1793079159556085457,7.521144163e-05,1.363671078e-06,-6.382514869e-05,6.941893807e-05,-1.642018230e-06,-6.035730876e-05,7.472549310e-05,-1.816862299e-06,-5.962498301e-05,7.020308093e-01,-2.062138350e-05,8.600795608e-01,7.020250168e-01,-2.362707281e-05,8.600830286e-01,7.028205943e-01,-1.156958113e-04,8.302658894e-01
+11,1.256666667e+01,DOWN_FORCE_DETACH,1793079160687040993,8.799043849e-05,5.289260976e-06,-7.586177678e-05,8.229966370e-05,5.079916126e-06,-7.476339074e-05,8.829624763e-05,4.299838967e-06,-7.387382786e-05,7.020435883e-01,-1.669579360e-05,8.600675241e-01,7.020378975e-01,-1.690513845e-05,8.600686225e-01,7.028341651e-01,-1.095791100e-04,8.302516405e-01
+12,1.366666667e+01,DOWN_FORCE_DETACH,1793079161784776628,9.620940112e-05,-8.950884496e-07,-9.001754706e-05,9.571233717e-05,-3.546234089e-06,-8.719588251e-05,1.023806096e-04,-3.623579117e-06,-8.624307809e-05,7.020518073e-01,-2.288014303e-05,8.600533684e-01,7.020513102e-01,-2.553128867e-05,8.600561900e-01,7.028482494e-01,-1.175025281e-04,8.302392713e-01
+13,1.486666667e+01,DOWN_FORCE_DETACH,1793079162979793069,1.066206481e-04,-2.044218869e-06,-1.011104874e-04,1.032996377e-04,-3.816914961e-06,-1.057586461e-04,1.104437318e-04,-3.919756612e-06,-1.043281470e-04,7.020622185e-01,-2.402927345e-05,8.600422754e-01,7.020588975e-01,-2.580196954e-05,8.600376273e-01,7.028563126e-01,-1.177987056e-04,8.302211862e-01
+14,1.606666667e+01,DOWN_FORCE_DETACH,1793079164176343538,1.133939602e-04,-1.646112679e-06,-1.174352452e-04,1.032996377e-04,-3.816914961e-06,-1.057586461e-04,1.109445553e-04,-3.944066607e-06,-1.050978526e-04,7.020689918e-01,-2.363116726e-05,8.600259507e-01,7.020588975e-01,-2.580196954e-05,8.600376273e-01,7.028568134e-01,-1.178230156e-04,8.302204165e-01
+15,1.741666667e+01,DOWN_FORCE_DETACH,1793079165525572829,1.183934976e-04,-4.372863686e-06,-1.352385676e-04,1.127115845e-04,-4.767893908e-07,-1.234716807e-04,1.208290334e-04,-8.859909205e-07,-1.227302850e-04,7.020739914e-01,-2.635791827e-05,8.600081473e-01,7.020683095e-01,-2.246184397e-05,8.600199142e-01,7.028666979e-01,-1.147649399e-04,8.302027840e-01
+16,1.855000000e+01,DOWN_FORCE_DETACH,1793079166649560710,1.282141426e-04,-3.955787173e-06,-1.452063987e-04,1.219308138e-04,-4.446380864e-06,-1.414845254e-04,1.304187878e-04,-4.600948444e-06,-1.405151507e-04,7.020838120e-01,-2.594084175e-05,8.599981795e-01,7.020775287e-01,-2.643143544e-05,8.600019014e-01,7.028762876e-01,-1.184798974e-04,8.301849992e-01
+17,1.973333333e+01,DOWN_FORCE_DETACH,1793079167829376596,1.335591218e-04,-4.707449557e-06,-1.646463033e-04,1.274651211e-04,-6.283855595e-07,-1.616732815e-04,1.362366161e-04,-1.090766923e-06,-1.605372806e-04,7.020891570e-01,-2.669250414e-05,8.599787396e-01,7.020830630e-01,-2.261344014e-05,8.599817126e-01,7.028821054e-01,-1.149697159e-04,8.301649771e-01
+18,2.066666667e+01,DOWN_FORCE_DETACH,1793079168795963520,1.372095914e-04,-9.849329464e-06,-1.793375585e-04,1.369756642e-04,-7.384354375e-06,-1.775952805e-04,1.459483997e-04,-7.293265887e-06,-1.761459025e-04,7.020928075e-01,-3.183438404e-05,8.599640484e-01,7.020925735e-01,-2.936940896e-05,8.599657906e-01,7.028918172e-01,-1.211722149e-04,8.301493684e-01
+19,2.186666667e+01,DOWN_FORCE_DETACH,1793079170039836338,1.451934064e-04,-7.160953270e-06,-1.997902433e-04,1.420893702e-04,-6.017739373e-06,-1.986813199e-04,1.514831016e-04,-6.083678789e-06,-1.971141764e-04,7.021007913e-01,-2.914600785e-05,8.599435957e-01,7.020976872e-01,-2.800279395e-05,8.599447046e-01,7.028973519e-01,-1.199626278e-04,8.301284002e-01
+20,2.313333333e+01,DOWN_FORCE_DETACH,1793079171319025850,1.552694567e-04,-1.049817093e-05,-2.203687617e-04,1.536115551e-04,-8.552857491e-06,-2.168559468e-04,1.633864425e-04,-8.428530311e-06,-2.153949735e-04,7.021108673e-01,-3.248322551e-05,8.599230172e-01,7.021092094e-01,-3.053791207e-05,8.599265300e-01,7.029092553e-01,-1.223074793e-04,8.301101194e-01
+21,2.438333333e+01,DOWN_FORCE_DETACH,1793079172595511008,1.631040667e-04,-1.486544781e-05,-2.384340725e-04,1.602536580e-04,-8.516367888e-06,-2.365588349e-04,1.704873817e-04,-8.404090970e-06,-2.351170830e-04,7.021187019e-01,-3.685050239e-05,8.599049518e-01,7.021158515e-01,-3.050142247e-05,8.599068271e-01,7.029163562e-01,-1.222830399e-04,8.300903973e-01
+22,2.566666667e+01,DOWN_FORCE_DETACH,1793079173856651435,1.721654832e-04,-1.032652861e-05,-2.609886622e-04,1.678140851e-04,-1.343108893e-05,-2.561369609e-04,1.785092797e-04,-1.297198290e-05,-2.548597888e-04,7.021277634e-01,-3.231158319e-05,8.598823973e-01,7.021234120e-01,-3.541614351e-05,8.598872490e-01,7.029243781e-01,-1.268509319e-04,8.300706545e-01
+23,2.693333333e+01,DOWN_FORCE_DETACH,1793079175151517921,1.804924547e-04,-1.623344887e-05,-2.908219711e-04,1.752515064e-04,-1.491003842e-05,-2.761904895e-04,1.863531146e-04,-1.433863673e-05,-2.750380959e-04,7.021360903e-01,-3.821850345e-05,8.598525639e-01,7.021308494e-01,-3.689509300e-05,8.598671954e-01,7.029322219e-01,-1.282175857e-04,8.300504762e-01
+24,2.806666667e+01,DOWN_FORCE_DETACH,1793079176281887689,1.888315045e-04,-1.114634616e-05,-3.180664057e-04,1.849580399e-04,-1.893762250e-05,-3.152045046e-04,1.962117402e-04,-1.810196091e-05,-3.134963779e-04,7.021444294e-01,-3.313140074e-05,8.598253195e-01,7.021405559e-01,-4.092267708e-05,8.598281814e-01,7.029420806e-01,-1.319809099e-04,8.300120180e-01
+25,2.920000000e+01,DOWN_FORCE_DETACH,1793079177428254695,1.956598986e-04,-2.034040748e-05,-3.601749744e-04,1.930764586e-04,-1.595353466e-05,-3.542309033e-04,2.045625825e-04,-1.534021412e-05,-3.522227560e-04,7.021512578e-01,-4.232546206e-05,8.597832109e-01,7.021486743e-01,-3.793858924e-05,8.597891550e-01,7.029504314e-01,-1.292191631e-04,8.299732916e-01
+26,3.036666667e+01,DOWN_FORCE_DETACH,1793079178574387602,2.084195752e-04,-2.336502741e-05,-4.035115953e-04,2.063170883e-04,-2.564240645e-05,-3.945316079e-04,2.182449418e-04,-2.430334432e-05,-3.923920897e-04,7.021640174e-01,-4.535008199e-05,8.597398743e-01,7.021619150e-01,-4.762746103e-05,8.597488543e-01,7.029641138e-01,-1.381822933e-04,8.299331222e-01
+27,3.158333333e+01,DOWN_FORCE_DETACH,1793079179787154901,2.191547264e-04,-2.529630893e-05,-4.571751417e-04,2.188417423e-04,-2.533369390e-05,-4.570358762e-04,2.308822089e-04,-2.407294164e-05,-4.540120661e-04,7.021747526e-01,-4.728136351e-05,8.596862108e-01,7.021744396e-01,-4.731874848e-05,8.596863500e-01,7.029767510e-01,-1.379518906e-04,8.298715023e-01
+28,3.268333333e+01,DOWN_FORCE_DETACH,1793079180884485463,2.310920681e-04,-2.946883432e-05,-4.926096128e-04,2.240126883e-04,-2.580963059e-05,-4.780042840e-04,2.364433543e-04,-2.455076650e-05,-4.761077123e-04,7.021866899e-01,-5.145388890e-05,8.596507763e-01,7.021796106e-01,-4.779468517e-05,8.596653816e-01,7.029823122e-01,-1.384297155e-04,8.298494066e-01
+29,3.381666667e+01,DOWN_FORCE_DETACH,1793079182048409184,2.375950324e-04,-3.372892710e-05,-5.517526454e-04,2.343158731e-04,-3.359462437e-05,-5.429701987e-04,2.468342909e-04,-3.174860313e-05,-5.402713246e-04,7.021931929e-01,-5.571398168e-05,8.595916333e-01,7.021899137e-01,-5.557967895e-05,8.596004157e-01,7.029927031e-01,-1.456275521e-04,8.297852430e-01
+30,3.445000000e+01,DOWN_FORCE_DETACH,1793079182685552795,2.503452599e-04,-2.436999174e-05,-5.876972766e-04,2.473601679e-04,-1.976795332e-05,-5.861972450e-04,2.601278481e-04,-1.905953498e-05,-5.829478281e-04,7.022059431e-01,-4.635504632e-05,8.595556886e-01,7.022029580e-01,-4.175300790e-05,8.595571887e-01,7.030059967e-01,-1.329384839e-04,8.297425665e-01
+31,3.548333333e+01,DOWN_FORCE_DETACH,1793079183718818590,2.625730763e-04,-2.726238899e-05,-6.553724796e-04,2.604992406e-04,-2.708644045e-05,-6.484576135e-04,2.734020800e-04,-2.578424808e-05,-6.448907837e-04,7.022181709e-01,-4.924744357e-05,8.594880134e-01,7.022160971e-01,-4.907149503e-05,8.594949283e-01,7.030192709e-01,-1.396631970e-04,8.296806235e-01
+32,3.653333333e+01,DOWN_FORCE_DETACH,1793079184765841642,2.727829673e-04,-3.270677033e-05,-7.127544048e-04,2.708330877e-04,-3.160238145e-05,-7.109193900e-04,2.838680595e-04,-2.997740584e-05,-7.071979402e-04,7.022283808e-01,-5.469182491e-05,8.594306315e-01,7.022264310e-01,-5.358743603e-05,8.594324665e-01,7.030297369e-01,-1.438563548e-04,8.296183164e-01
+33,3.761666667e+01,DOWN_FORCE_DETACH,1793079185863540902,2.788031127e-04,-3.780445807e-05,-7.801522404e-04,2.784153204e-04,-3.483475523e-05,-7.731010529e-04,2.914113342e-04,-3.294918190e-05,-7.694094073e-04,7.022344010e-01,-5.978951265e-05,8.593632337e-01,7.022340132e-01,-5.681980981e-05,8.593702849e-01,7.030372802e-01,-1.468281309e-04,8.295561049e-01
+34,3.861666667e+01,DOWN_FORCE_DETACH,1793079186878917738,2.899107255e-04,-3.732129810e-05,-8.556489674e-04,2.881147010e-04,-3.580440082e-05,-8.384313667e-04,3.010200163e-04,-3.388514112e-05,-8.347341050e-04,7.022455086e-01,-5.930635268e-05,8.592877369e-01,7.022437126e-01,-5.778945540e-05,8.593049545e-01,7.030468888e-01,-1.477640901e-04,8.294907802e-01
+35,3.983333333e+01,DOWN_FORCE_DETACH,1793079188107921197,3.025141995e-04,-4.162102045e-05,-9.562533630e-04,3.031353553e-04,-3.969994476e-05,-9.434046709e-04,3.159417669e-04,-3.756128191e-05,-9.391694166e-04,7.022581121e-01,-6.360607503e-05,8.591871326e-01,7.022587332e-01,-6.168499934e-05,8.591999812e-01,7.030618106e-01,-1.514402309e-04,8.293863449e-01
+36,4.090000000e+01,DOWN_FORCE_DETACH,1793079189156000452,3.168728511e-04,-4.439365176e-05,-1.042346217e-03,3.132070084e-04,-4.089786555e-05,-1.026216373e-03,3.259125450e-04,-3.873725569e-05,-1.022080999e-03,7.022724707e-01,-6.637870634e-05,8.591010397e-01,7.022688049e-01,-6.288292013e-05,8.591171695e-01,7.030717814e-01,-1.526162047e-04,8.293034333e-01
+37,4.200000000e+01,DOWN_FORCE_DETACH,1793079190335819060,3.301854403e-04,-4.597854213e-05,-1.157185888e-03,3.283964520e-04,-4.680282355e-05,-1.149029305e-03,3.408431798e-04,-4.421178051e-05,-1.143714504e-03,7.022857833e-01,-6.796359671e-05,8.589862000e-01,7.022839943e-01,-6.878787813e-05,8.589943566e-01,7.030867120e-01,-1.580907295e-04,8.291817998e-01
+38,4.301666667e+01,DOWN_FORCE_DETACH,1793079191334995244,3.392004429e-04,-5.450148645e-05,-1.260090960e-03,3.373570827e-04,-4.851713652e-05,-1.261505523e-03,3.493414316e-04,-4.581730806e-05,-1.255425200e-03,7.022947983e-01,-7.648654103e-05,8.588832950e-01,7.022929549e-01,-7.050219110e-05,8.588818804e-01,7.030952103e-01,-1.596962570e-04,8.290700891e-01
+39,4.405000000e+01,DOWN_FORCE_DETACH,1793079192384255738,3.515803234e-04,-5.304063455e-05,-1.381216624e-03,3.491542246e-04,-5.251348853e-05,-1.379332328e-03,3.606588374e-04,-4.949084540e-05,-1.372819439e-03,7.023071782e-01,-7.502568913e-05,8.587621693e-01,7.023047521e-01,-7.449854311e-05,8.587640536e-01,7.031065277e-01,-1.633697944e-04,8.289526949e-01
+40,4.505000000e+01,DOWN_FORCE_DETACH,1793079193398815501,3.651981813e-04,-6.089416802e-05,-1.508944841e-03,3.622358319e-04,-5.782313316e-05,-1.508128639e-03,3.732845997e-04,-5.444358527e-05,-1.500850309e-03,7.023207960e-01,-8.287922260e-05,8.586344411e-01,7.023178337e-01,-7.980818774e-05,8.586352573e-01,7.031191534e-01,-1.683225342e-04,8.288246640e-01
+41,4.611666667e+01,DOWN_FORCE_DETACH,1793079194447125880,3.764299818e-04,-6.657646209e-05,-1.659686274e-03,3.774755222e-04,-6.414585313e-05,-1.655227981e-03,3.879175020e-04,-6.027245303e-05,-1.647431200e-03,7.023320278e-01,-8.856151667e-05,8.584836996e-01,7.023330734e-01,-8.613090771e-05,8.584881579e-01,7.031337863e-01,-1.741514020e-04,8.286780831e-01
+42,4.710000000e+01,DOWN_FORCE_DETACH,1793079195446098381,3.856772949e-04,-6.674232000e-05,-1.806742024e-03,3.855743209e-04,-6.681099811e-05,-1.806558402e-03,3.949189192e-04,-6.275243007e-05,-1.798119586e-03,7.023412752e-01,-8.872737458e-05,8.583366439e-01,7.023411722e-01,-8.879605269e-05,8.583368275e-01,7.031407877e-01,-1.766313790e-04,8.285273947e-01
+43,4.801666667e+01,DOWN_FORCE_DETACH,1793079196347063751,3.965027333e-04,-6.961009628e-05,-1.943522600e-03,3.934219479e-04,-6.617285500e-05,-1.937122751e-03,4.019434388e-04,-6.218836187e-05,-1.929056650e-03,7.023521006e-01,-9.159515086e-05,8.581998633e-01,7.023490198e-01,-8.815790958e-05,8.582062632e-01,7.031478123e-01,-1.760673108e-04,8.283964577e-01
+44,4.896666667e+01,DOWN_FORCE_DETACH,1793079197314475928,4.074282481e-04,-7.482647733e-05,-2.108416252e-03,4.073186214e-04,-7.496431742e-05,-2.107980346e-03,4.146762370e-04,-7.032494845e-05,-2.098852779e-03,7.023630261e-01,-9.681153191e-05,8.580349697e-01,7.023629165e-01,-9.694937200e-05,8.580354056e-01,7.031605451e-01,-1.842038974e-04,8.282266616e-01
+45,4.990000000e+01,DOWN_FORCE_DETACH,1793079198231000080,4.208290494e-04,-7.238434281e-05,-2.274289915e-03,4.187339495e-04,-7.808168162e-05,-2.263103350e-03,4.251088277e-04,-7.328461553e-05,-2.254191962e-03,7.023764269e-01,-9.436939739e-05,8.578690960e-01,7.023743318e-01,-1.000667362e-04,8.578802826e-01,7.031709776e-01,-1.871635645e-04,8.280713224e-01
+46,5.065000000e+01,DOWN_FORCE_DETACH,1793079199230090872,4.320285659e-04,-7.634844609e-05,-2.462172291e-03,4.313900171e-04,-7.819031885e-05,-2.453719898e-03,4.362234481e-04,-7.338403153e-05,-2.442265682e-03,7.023876264e-01,-9.833350067e-05,8.576812136e-01,7.023869879e-01,-1.001753734e-04,8.576896660e-01,7.031820923e-01,-1.872629805e-04,8.278832487e-01
+47,5.151666667e+01,DOWN_FORCE_DETACH,1793079200131078411,4.403594908e-04,-7.477170222e-05,-2.653925723e-03,4.380763923e-04,-8.047058078e-05,-2.641039765e-03,4.413148725e-04,-7.543629424e-05,-2.630128519e-03,7.023959574e-01,-9.675675680e-05,8.574894602e-01,7.023936743e-01,-1.024556354e-04,8.575023462e-01,7.031871837e-01,-1.893152432e-04,8.276953858e-01
+48,5.236666667e+01,DOWN_FORCE_DETACH,1793079200966456848,4.504037285e-04,-8.131043755e-05,-2.842320668e-03,4.508516839e-04,-7.907520697e-05,-2.837203857e-03,4.526187525e-04,-7.415941275e-05,-2.825812763e-03,7.024060016e-01,-1.032954921e-04,8.573010652e-01,7.024064496e-01,-1.010602616e-04,8.573061821e-01,7.031984876e-01,-1.880383617e-04,8.274997016e-01
+49,5.318333333e+01,DOWN_FORCE_DETACH,1793079201769451768,4.620960172e-04,-7.265801648e-05,-3.037429318e-03,4.619544443e-04,-7.241590385e-05,-3.037319214e-03,4.622869508e-04,-6.815073059e-05,-3.025294348e-03,7.024176939e-01,-9.464307106e-05,8.571059566e-01,7.024175523e-01,-9.440095843e-05,8.571060667e-01,7.032081558e-01,-1.820296796e-04,8.273002200e-01
+50,5.393333333e+01,DOWN_FORCE_DETACH,1793079202522578676,4.724328961e-04,-7.548156373e-05,-3.242653732e-03,4.722926667e-04,-7.556726918e-05,-3.242630400e-03,4.710339368e-04,-7.108805867e-05,-3.229567026e-03,7.024280308e-01,-9.746661831e-05,8.569007322e-01,7.024278905e-01,-9.755232376e-05,8.569007555e-01,7.032169028e-01,-1.849670076e-04,8.270959473e-01
+51,5.470000000e+01,DOWN_FORCE_DETACH,1793079203276387324,4.772312873e-04,-8.227091135e-05,-3.459446533e-03,4.769086937e-04,-8.258281216e-05,-3.459438655e-03,4.737909531e-04,-7.750986630e-05,-3.445853546e-03,7.024328292e-01,-1.042559659e-04,8.566839394e-01,7.024325066e-01,-1.045678667e-04,8.566839473e-01,7.032196598e-01,-1.913888153e-04,8.268796608e-01
+52,5.548333333e+01,DOWN_FORCE_DETACH,1793079204046240260,4.921662640e-04,-7.413552642e-05,-3.687238032e-03,4.921566712e-04,-7.406906748e-05,-3.687087991e-03,4.871314117e-04,-6.973241990e-05,-3.673136083e-03,7.024477641e-01,-9.612058100e-05,8.564561479e-01,7.024477545e-01,-9.605412206e-05,8.564562979e-01,7.032330002e-01,-1.836113689e-04,8.266523783e-01
+53,5.613333333e+01,DOWN_FORCE_DETACH,1793079204734269622,5.007294127e-04,-7.804416223e-05,-3.899311579e-03,5.006398965e-04,-7.786946899e-05,-3.899451992e-03,4.937801591e-04,-7.328395845e-05,-3.884732845e-03,7.024563273e-01,-1.000292168e-04,8.562440743e-01,7.024562378e-01,-9.985452357e-05,8.562439339e-01,7.032396490e-01,-1.871629074e-04,8.264407815e-01
+54,5.676666667e+01,DOWN_FORCE_DETACH,1793079205372932069,5.025759663e-04,-8.195063013e-05,-4.123182303e-03,5.026333237e-04,-8.181842588e-05,-4.122779104e-03,4.936011903e-04,-7.685506110e-05,-4.107126682e-03,7.024581738e-01,-1.039356847e-04,8.560202036e-01,7.024582312e-01,-1.038034805e-04,8.560206068e-01,7.032394700e-01,-1.907340101e-04,8.262183877e-01
+55,5.733333333e+01,DOWN_FORCE_DETACH,1793079205962304386,5.028052568e-04,-7.670602772e-05,-4.342885000e-03,5.064189635e-04,-7.224789353e-05,-4.332370209e-03,4.950826644e-04,-6.801298499e-05,-4.316229459e-03,7.024584031e-01,-9.869108230e-05,8.558005009e-01,7.024620168e-01,-9.423294811e-05,8.558110157e-01,7.032409515e-01,-1.818919340e-04,8.260092849e-01
+56,5.790000000e+01,DOWN_FORCE_DETACH,1793079206519257519,5.205604529e-04,-8.556689896e-05,-4.557224186e-03,5.187960571e-04,-8.167205350e-05,-4.546371611e-03,5.055871817e-04,-7.683161024e-05,-4.530031441e-03,7.024761583e-01,-1.075519535e-04,8.555861617e-01,7.024743939e-01,-1.036571081e-04,8.555970143e-01,7.032514560e-01,-1.907105592e-04,8.257954829e-01
+57,5.848333333e+01,DOWN_FORCE_DETACH,1793079207093164490,5.258271692e-04,-8.614164919e-05,-4.797814410e-03,5.255434753e-04,-8.603504280e-05,-4.797827571e-03,5.099566917e-04,-8.089623345e-05,-4.780201871e-03,7.024814250e-01,-1.081267038e-04,8.553455715e-01,7.024811413e-01,-1.080200974e-04,8.553455583e-01,7.032558255e-01,-1.947751824e-04,8.255453125e-01
+58,5.900000000e+01,DOWN_SETTLE,1793079207600500815,5.284234841e-04,-7.701391564e-05,-5.024442389e-03,5.245144551e-04,-7.987407540e-05,-5.019979818e-03,5.067438780e-04,-7.525289455e-05,-5.001971097e-03,7.024840214e-01,-9.899897022e-05,8.551189435e-01,7.024801123e-01,-1.018591300e-04,8.551234061e-01,7.032526127e-01,-1.891318435e-04,8.253235432e-01
+59,5.983333333e+01,DOWN_PEAK_HOLD,1793079208436278149,4.856519942e-04,-8.353585407e-05,-5.176760341e-03,4.877745262e-04,-7.870615894e-05,-5.171440582e-03,4.667544234e-04,-7.418394778e-05,-5.159083280e-03,7.024412499e-01,-1.055209086e-04,8.549666256e-01,7.024433724e-01,-1.006912135e-04,8.549719453e-01,7.032126232e-01,-1.880628967e-04,8.251664311e-01

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_06/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.5784e-01,8.8830e-01,2.4490e+00,-1.0184e-01,5.5520e-02,2.1348e-03,3.4678e-04,-4.4107e-05,-1.9073e-05,2.8461e-06,2.3272e-05,-2.6450e-07,3.5009e-04,2.3447e-05
+1,1.0833e+00,DOWN_FORCE_DETACH,2.6124e-04,3.6888e-01,8.7649e-01,2.4404e+00,-1.0103e-01,6.3545e-02,1.3172e-03,1.1139e-01,-1.1853e-02,-8.5597e-03,8.0729e-04,8.0483e-03,-8.1793e-04,1.1234e-01,8.1300e-03
+2,2.3333e+00,DOWN_FORCE_DETACH,5.2477e-04,4.1917e-01,8.7442e-01,2.4347e+00,-1.0097e-01,6.7176e-02,9.1424e-04,1.6168e-01,-1.3923e-02,-1.4332e-02,8.7405e-04,1.1679e-02,-1.2209e-03,1.6291e-01,1.1775e-02
+3,3.6167e+00,DOWN_FORCE_DETACH,7.8384e-04,4.3861e-01,8.7228e-01,2.4321e+00,-1.0080e-01,6.8579e-02,7.3521e-04,1.8112e-01,-1.6059e-02,-1.6889e-02,1.0352e-03,1.3082e-02,-1.3999e-03,1.8261e-01,1.3197e-02
+4,4.5667e+00,DOWN_FORCE_DETACH,1.0472e-03,4.4535e-01,8.7178e-01,2.4313e+00,-1.0077e-01,6.9068e-02,6.6894e-04,1.8786e-01,-1.6558e-02,-1.7740e-02,1.0677e-03,1.3571e-02,-1.4662e-03,1.8942e-01,1.3692e-02
+5,5.7667e+00,DOWN_FORCE_DETACH,1.3070e-03,2.3260e-01,8.0771e-01,2.5499e+00,-9.6508e-02,5.4987e-02,6.3311e-04,-2.4892e-02,-8.0630e-02,1.0085e-01,5.3309e-03,-5.1023e-04,-1.5020e-03,1.3150e-01,5.5619e-03
+6,6.9167e+00,DOWN_FORCE_DETACH,1.5675e-03,2.3817e-01,7.8281e-01,2.4477e+00,-9.4304e-02,5.3997e-02,8.0281e-04,-1.9320e-02,-1.0553e-01,-1.3263e-03,7.5357e-03,-1.5002e-03,-1.3323e-03,1.0729e-01,7.7982e-03
+7,8.0167e+00,DOWN_FORCE_DETACH,1.8322e-03,2.9930e-01,8.4658e-01,2.5287e+00,-9.8734e-02,5.8292e-02,9.0518e-04,4.1807e-02,-4.1760e-02,7.9679e-02,3.1054e-03,2.7949e-03,-1.2299e-03,9.9199e-02,4.3552e-03
+8,9.0667e+00,DOWN_FORCE_DETACH,2.0940e-03,2.9458e-01,7.8539e-01,2.6365e+00,-9.4224e-02,5.7849e-02,8.5363e-04,3.7089e-02,-1.0295e-01,1.8749e-01,7.6155e-03,2.3522e-03,-1.2815e-03,2.1709e-01,8.0728e-03
+9,1.0250e+01,DOWN_FORCE_DETACH,2.3538e-03,3.9607e-01,7.8169e-01,2.5104e+00,-9.3995e-02,6.5383e-02,7.7491e-04,1.3857e-01,-1.0665e-01,6.1374e-02,7.8442e-03,9.8862e-03,-1.3602e-03,1.8532e-01,1.2693e-02
+10,1.1417e+01,DOWN_FORCE_DETACH,2.6153e-03,3.5495e-01,8.6208e-01,2.5516e+00,-9.9734e-02,6.2255e-02,8.0230e-04,9.7463e-02,-2.6267e-02,1.0261e-01,2.1051e-03,6.7585e-03,-1.3328e-03,1.4393e-01,7.2031e-03
+11,1.2567e+01,DOWN_FORCE_DETACH,2.8787e-03,3.2285e-01,7.3527e-01,2.5710e+00,-9.0556e-02,5.9876e-02,7.6586e-04,6.5358e-02,-1.5307e-01,1.2201e-01,1.1284e-02,4.3787e-03,-1.3692e-03,2.0637e-01,1.2181e-02
+12,1.3667e+01,DOWN_FORCE_DETACH,3.1366e-03,2.8848e-01,8.8261e-01,2.5835e+00,-1.0116e-01,5.7445e-02,8.8314e-04,3.0988e-02,-5.7354e-03,1.3446e-01,6.7711e-04,1.9481e-03,-1.2520e-03,1.3811e-01,2.4126e-03
+13,1.4867e+01,DOWN_FORCE_DETACH,3.4009e-03,3.7381e-01,8.8036e-01,2.5404e+00,-1.0106e-01,6.3861e-02,8.4359e-04,1.1632e-01,-7.9800e-03,9.1440e-02,7.8122e-04,8.3642e-03,-1.2915e-03,1.4817e-01,8.4993e-03
+14,1.6067e+01,DOWN_FORCE_DETACH,3.6590e-03,4.0177e-01,8.7852e-01,2.5219e+00,-1.0089e-01,6.5761e-02,7.7126e-04,1.4428e-01,-9.8246e-03,7.2878e-02,9.5078e-04,1.0264e-02,-1.3638e-03,1.6194e-01,1.0398e-02
+15,1.7417e+01,DOWN_FORCE_DETACH,3.9224e-03,3.9065e-01,8.1352e-01,2.5393e+00,-9.6160e-02,6.4899e-02,6.9615e-04,1.3316e-01,-7.4818e-02,9.0316e-02,5.6796e-03,9.4016e-03,-1.4390e-03,1.7744e-01,1.1078e-02
+16,1.8550e+01,DOWN_FORCE_DETACH,4.1833e-03,3.7007e-01,8.8070e-01,2.5738e+00,-1.0094e-01,6.3369e-02,7.2105e-04,1.1258e-01,-7.6475e-03,1.2484e-01,9.0321e-04,7.8723e-03,-1.4141e-03,1.6828e-01,8.0492e-03
+17,1.9733e+01,DOWN_FORCE_DETACH,4.4430e-03,3.8201e-01,8.0846e-01,2.6016e+00,-9.5633e-02,6.4197e-02,6.6601e-04,1.2451e-01,-7.9880e-02,1.5261e-01,6.2065e-03,8.6998e-03,-1.4691e-03,2.1254e-01,1.0787e-02
+18,2.0667e+01,DOWN_FORCE_DETACH,4.7034e-03,3.2153e-01,9.1903e-01,2.6802e+00,-1.0361e-01,5.9757e-02,6.8790e-04,6.4042e-02,3.0686e-02,2.3123e-01,-1.7751e-03,4.2601e-03,-1.4472e-03,2.4189e-01,4.8367e-03
+19,2.1867e+01,DOWN_FORCE_DETACH,4.9683e-03,3.5587e-01,8.9772e-01,2.6792e+00,-1.0189e-01,6.2200e-02,7.4739e-04,9.8382e-02,9.3799e-03,2.3019e-01,-5.1506e-05,6.7031e-03,-1.3877e-03,2.5051e-01,6.8455e-03
+20,2.3133e+01,DOWN_FORCE_DETACH,5.2285e-03,3.1105e-01,9.3849e-01,2.6621e+00,-1.0477e-01,5.8958e-02,7.5877e-04,5.3562e-02,5.0150e-02,2.1310e-01,-2.9332e-03,3.4611e-03,-1.3763e-03,2.2538e-01,4.7410e-03
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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_06/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_06/up/franka_data.csv

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_06/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+10,9.333333333e-01,WAIT_W2,1793079136787925308,1.125970427e-06,-2.274136670e-04,9.106071586e-06,1.349255527e-06,-2.273381997e-04,9.264046810e-06,2.199574554e-06,-2.079985532e-04,8.771349886e-06,7.019567238e-01,-2.493987216e-04,8.601524920e-01,7.019569471e-01,-2.493232542e-04,8.601526500e-01,7.027480684e-01,-3.218775051e-04,8.303342857e-01
+11,9.500000000e-01,WAIT_W2,1793079136804717056,8.786723394e-07,-3.070902164e-04,1.138245612e-05,7.366651125e-07,-3.068976462e-04,1.099284379e-05,1.684727921e-06,-2.808172525e-04,1.040076712e-05,7.019564765e-01,-3.290752710e-04,8.601547684e-01,7.019563345e-01,-3.288827008e-04,8.601543788e-01,7.027475535e-01,-3.946962044e-04,8.303359151e-01
+12,9.500000000e-01,WAIT_W2,1793079136804717056,8.786723394e-07,-3.070902164e-04,1.138245612e-05,7.366651125e-07,-3.068976462e-04,1.099284379e-05,1.684727921e-06,-2.808172525e-04,1.040076712e-05,7.019564765e-01,-3.290752710e-04,8.601547684e-01,7.019563345e-01,-3.288827008e-04,8.601543788e-01,7.027475535e-01,-3.946962044e-04,8.303359151e-01
+13,9.666666667e-01,WAIT_W2,1793079136820364556,2.686235720e-06,-3.665498144e-04,1.678487164e-05,2.602167080e-06,-3.665394386e-04,1.685692900e-05,3.724187951e-06,-3.354964567e-04,1.599206991e-05,7.019582841e-01,-3.885348690e-04,8.601601708e-01,7.019582000e-01,-3.885244932e-04,8.601602428e-01,7.027495930e-01,-4.493754086e-04,8.303415064e-01
+14,9.833333333e-01,WAIT_W2,1793079136837112801,8.107778303e-07,-4.034390899e-04,1.662040052e-05,9.752703582e-07,-4.035797558e-04,1.678543046e-05,2.071173961e-06,-3.695108316e-04,1.596051554e-05,7.019564086e-01,-4.254241445e-04,8.601600063e-01,7.019565731e-01,-4.255648103e-04,8.601601713e-01,7.027479400e-01,-4.833897835e-04,8.303414748e-01
+15,1.000000000e+00,WAIT_W2,1793079136853639259,1.817340144e-06,-4.260570166e-04,1.519500421e-05,1.796506099e-06,-4.259288114e-04,1.524084768e-05,2.860448319e-06,-3.900435001e-04,1.447898332e-05,7.019574152e-01,-4.480420712e-04,8.601585809e-01,7.019573944e-01,-4.479138660e-04,8.601586268e-01,7.027487293e-01,-5.039224520e-04,8.303399933e-01
+16,1.016666667e+00,WAIT_W2,1793079136869963410,2.429968588e-06,-4.558925671e-04,1.899074583e-05,2.331368717e-06,-4.558699738e-04,1.906601550e-05,3.500093252e-06,-4.174976014e-04,1.811679577e-05,7.019580278e-01,-4.778776217e-04,8.601623767e-01,7.019579292e-01,-4.778550284e-04,8.601624519e-01,7.027493689e-01,-5.313765533e-04,8.303436311e-01
+17,1.033333333e+00,WAIT_W2,1793079136886317427,5.777994803e-06,-4.987120183e-04,2.549815649e-05,5.814347512e-06,-4.987581131e-04,2.517948605e-05,7.198390909e-06,-4.567919000e-04,2.399403205e-05,7.019613759e-01,-5.206970729e-04,8.601688841e-01,7.019614122e-01,-5.207431676e-04,8.601685654e-01,7.027530672e-01,-5.706708519e-04,8.303495084e-01
+18,1.083333333e+00,WAIT_W2,1793079136934901761,1.020298319e-05,-5.208469348e-04,3.702712937e-05,4.340660940e-06,-5.295929225e-04,2.857060187e-05,5.703386390e-06,-4.852002266e-04,2.738120028e-05,7.019658009e-01,-5.428319894e-04,8.601804130e-01,7.019599385e-01,-5.515779771e-04,8.601719565e-01,7.027515722e-01,-5.990791785e-04,8.303528955e-01
+19,1.150000000e+00,WAIT_W2,1793079137000021642,1.752154509e-05,-5.186235858e-04,5.017233287e-05,1.387686007e-05,-5.127557970e-04,4.045543093e-05,1.562818948e-05,-4.698174443e-04,3.902943733e-05,7.019731194e-01,-5.406086403e-04,8.601935582e-01,7.019694747e-01,-5.347408516e-04,8.601838413e-01,7.027614970e-01,-5.836963962e-04,8.303645438e-01
+20,1.233333333e+00,WAIT_W2,1793079137082077433,2.778647908e-05,-5.144168759e-04,7.175225186e-05,2.249021220e-05,-5.183134428e-04,6.194151893e-05,2.489566610e-05,-4.749831924e-04,5.979279396e-05,7.019833843e-01,-5.364019304e-04,8.602151382e-01,7.019780881e-01,-5.402984974e-04,8.602053274e-01,7.027707645e-01,-5.888621442e-04,8.303853071e-01
+21,1.383333333e+00,WAIT_W2,1793079137230188198,3.553533078e-05,-5.108276687e-04,9.231713199e-05,3.152698868e-05,-5.193917272e-04,8.092433804e-05,3.483402641e-05,-4.760447448e-04,7.842675128e-05,7.019911332e-01,-5.328127233e-04,8.602357030e-01,7.019871249e-01,-5.413767818e-04,8.602243103e-01,7.027807028e-01,-5.899236967e-04,8.304039411e-01
+22,1.533333333e+00,WAIT_W2,1793079137376971362,4.081363874e-05,-5.119491386e-04,1.019728318e-04,3.838915070e-05,-5.122873529e-04,9.935383927e-05,4.241000014e-05,-4.695232867e-04,9.645451939e-05,7.019964115e-01,-5.339341932e-04,8.602453587e-01,7.019939870e-01,-5.342724075e-04,8.602427398e-01,7.027882788e-01,-5.834022386e-04,8.304219689e-01
+23,1.716666667e+00,UP_FORCE_RAMP,1793079137590616539,4.200663565e-05,-5.058772655e-04,1.094151584e-04,3.838915070e-05,-5.122873529e-04,9.935383927e-05,4.270610887e-05,-4.695800171e-04,9.670972367e-05,7.019976045e-01,-5.278623201e-04,8.602528011e-01,7.019939870e-01,-5.342724075e-04,8.602427398e-01,7.027885749e-01,-5.834589690e-04,8.304222241e-01
+24,1.900000000e+00,UP_FORCE_RAMP,1793079137771466166,4.283329365e-05,-5.110885232e-04,1.098215659e-04,3.838915070e-05,-5.122873529e-04,9.935383927e-05,4.294337754e-05,-4.696282314e-04,9.688544422e-05,7.019984312e-01,-5.330735778e-04,8.602532075e-01,7.019939870e-01,-5.342724075e-04,8.602427398e-01,7.027888122e-01,-5.835071833e-04,8.304223998e-01
+25,2.050000000e+00,UP_FORCE_RAMP,1793079137918162864,4.131485619e-05,-5.094455851e-04,1.089481738e-04,3.838915070e-05,-5.122873529e-04,9.935383927e-05,4.311162273e-05,-4.696610337e-04,9.700450698e-05,7.019969127e-01,-5.314306396e-04,8.602523341e-01,7.019939870e-01,-5.342724075e-04,8.602427398e-01,7.027889804e-01,-5.835399856e-04,8.304225188e-01
+26,2.233333333e+00,UP_FORCE_RAMP,1793079138097926048,4.255352520e-05,-5.115418306e-04,1.109414705e-04,3.838915070e-05,-5.122873529e-04,9.935383927e-05,4.329883527e-05,-4.696982303e-04,9.713146050e-05,7.019981514e-01,-5.335268851e-04,8.602543274e-01,7.019939870e-01,-5.342724075e-04,8.602427398e-01,7.027891677e-01,-5.835771821e-04,8.304226458e-01
+27,2.433333333e+00,UP_FORCE_RAMP,1793079138294262795,4.238159235e-05,-5.070216789e-04,1.131531836e-04,3.838915070e-05,-5.122873529e-04,9.935383927e-05,4.348179798e-05,-4.697316786e-04,9.725333138e-05,7.019979795e-01,-5.290067335e-04,8.602565391e-01,7.019939870e-01,-5.342724075e-04,8.602427398e-01,7.027893506e-01,-5.836106305e-04,8.304227677e-01
+28,2.600000000e+00,UP_FORCE_RAMP,1793079138475008862,3.978506778e-05,-5.083070249e-04,1.127270080e-04,3.838915070e-05,-5.122873529e-04,9.935383927e-05,4.362159386e-05,-4.697577834e-04,9.734455213e-05,7.019953829e-01,-5.302920795e-04,8.602561129e-01,7.019939870e-01,-5.342724075e-04,8.602427398e-01,7.027894904e-01,-5.836367353e-04,8.304228589e-01
+29,2.750000000e+00,UP_FORCE_RAMP,1793079138622096592,4.130893134e-05,-5.062748299e-04,1.196162601e-04,4.330388523e-05,-5.094954643e-04,1.201571744e-04,4.898736159e-05,-4.672442326e-04,1.173586211e-04,7.019969068e-01,-5.282598845e-04,8.602630022e-01,7.019989018e-01,-5.314805189e-04,8.602635431e-01,7.027948562e-01,-5.811231845e-04,8.304428730e-01
+30,2.916666667e+00,UP_FORCE_RAMP,1793079138785998873,4.244731607e-05,-5.054825940e-04,1.245162915e-04,4.330388523e-05,-5.094954643e-04,1.201571744e-04,4.918167631e-05,-4.672691362e-04,1.176649099e-04,7.019980452e-01,-5.274676486e-04,8.602679022e-01,7.019989018e-01,-5.314805189e-04,8.602635431e-01,7.027950505e-01,-5.811480881e-04,8.304431792e-01
+31,3.033333333e+00,UP_FORCE_RAMP,1793079138900745578,4.167191861e-05,-5.068041749e-04,1.275912837e-04,4.330388523e-05,-5.094954643e-04,1.201571744e-04,4.927750739e-05,-4.672865133e-04,1.177732908e-04,7.019972698e-01,-5.287892294e-04,8.602709772e-01,7.019989018e-01,-5.314805189e-04,8.602635431e-01,7.027951463e-01,-5.811654652e-04,8.304432876e-01
+32,3.183333333e+00,UP_FORCE_RAMP,1793079139063406551,3.824661914e-05,-5.062707990e-04,1.289141518e-04,4.330388523e-05,-5.094954643e-04,1.201571744e-04,4.939210265e-05,-4.673070026e-04,1.178838619e-04,7.019938445e-01,-5.282558536e-04,8.602723001e-01,7.019989018e-01,-5.314805189e-04,8.602635431e-01,7.027952609e-01,-5.811859545e-04,8.304433982e-01
+33,3.416666667e+00,UP_FORCE_RAMP,1793079139293615682,3.500313965e-05,-5.017533098e-04,1.381925475e-04,3.808405777e-05,-5.039549536e-04,1.386160382e-04,4.436230513e-05,-4.622452119e-04,1.358108670e-04,7.019906010e-01,-5.237383644e-04,8.602815785e-01,7.019936819e-01,-5.259400082e-04,8.602820020e-01,7.027902311e-01,-5.761241638e-04,8.304613252e-01
+34,3.583333333e+00,UP_FORCE_RAMP,1793079139458090112,3.552014850e-05,-5.031861466e-04,1.462656920e-04,3.808405777e-05,-5.039549536e-04,1.386160382e-04,4.441052896e-05,-4.622617365e-04,1.360753716e-04,7.019911180e-01,-5.251712012e-04,8.602896516e-01,7.019936819e-01,-5.259400082e-04,8.602820020e-01,7.027902794e-01,-5.761406884e-04,8.304615897e-01
+35,3.766666667e+00,UP_FORCE_RAMP,1793079139637283907,2.975431273e-05,-5.038332542e-04,1.513085031e-04,3.808405777e-05,-5.039549536e-04,1.386160382e-04,4.449259922e-05,-4.622779787e-04,1.362386333e-04,7.019853522e-01,-5.258183088e-04,8.602946944e-01,7.019936819e-01,-5.259400082e-04,8.602820020e-01,7.027903614e-01,-5.761569306e-04,8.304617530e-01
+36,3.950000000e+00,UP_FORCE_RAMP,1793079139817596662,3.122174889e-05,-5.033471333e-04,1.639162598e-04,2.961328688e-05,-5.016444863e-04,1.571131487e-04,3.608050323e-05,-4.601312936e-04,1.541071159e-04,7.019868196e-01,-5.253321879e-04,8.603073022e-01,7.019852112e-01,-5.236295409e-04,8.603004991e-01,7.027819493e-01,-5.740102455e-04,8.304796214e-01
+37,4.083333333e+00,UP_FORCE_RAMP,1793079139949097914,2.655089800e-05,-4.999080214e-04,1.702982710e-04,2.961328688e-05,-5.016444863e-04,1.571131487e-04,3.607865761e-05,-4.601407659e-04,1.543080731e-04,7.019821488e-01,-5.218930760e-04,8.603136842e-01,7.019852112e-01,-5.236295409e-04,8.603004991e-01,7.027819475e-01,-5.740197178e-04,8.304798224e-01
+38,4.266666667e+00,UP_FORCE_RAMP,1793079140129117538,2.166401718e-05,-4.995374220e-04,1.792621565e-04,2.151751677e-05,-5.000400389e-04,1.757315445e-04,2.795380790e-05,-4.586353283e-04,1.723183457e-04,7.019772619e-01,-5.215224766e-04,8.603226481e-01,7.019771154e-01,-5.220250935e-04,8.603191175e-01,7.027738226e-01,-5.725142802e-04,8.304978327e-01
+39,4.383333333e+00,UP_FORCE_RAMP,1793079140244161229,1.596500315e-05,-5.023010115e-04,1.841894039e-04,2.151751677e-05,-5.000400389e-04,1.757315445e-04,2.789778975e-05,-4.586400181e-04,1.725839927e-04,7.019715629e-01,-5.242860661e-04,8.603275753e-01,7.019771154e-01,-5.220250935e-04,8.603191175e-01,7.027737666e-01,-5.725189699e-04,8.304980983e-01
+40,4.550000000e+00,UP_FORCE_RAMP,1793079140407611643,1.114019804e-05,-5.012570164e-04,1.938723093e-04,1.364871695e-05,-4.988590739e-04,1.956045543e-04,2.004108538e-05,-4.575397358e-04,1.918011945e-04,7.019667381e-01,-5.232420710e-04,8.603372582e-01,7.019692466e-01,-5.208441285e-04,8.603389905e-01,7.027659099e-01,-5.714186877e-04,8.305173155e-01
+41,4.666666667e+00,UP_FORCE_RAMP,1793079140522014154,8.191565780e-06,-4.965483381e-04,2.021476743e-04,1.364871695e-05,-4.988590739e-04,1.956045543e-04,1.996791951e-05,-4.575402426e-04,1.920974506e-04,7.019637894e-01,-5.185333927e-04,8.603455336e-01,7.019692466e-01,-5.208441285e-04,8.603389905e-01,7.027658367e-01,-5.714191945e-04,8.305176118e-01
+42,4.816666667e+00,UP_FORCE_RAMP,1793079140669443814,-3.934428240e-07,-4.967287758e-04,2.149198779e-04,-1.833125334e-06,-4.961228834e-04,2.078432428e-04,4.225390022e-06,-4.550176742e-04,2.040036504e-04,7.019552044e-01,-5.187138304e-04,8.603583058e-01,7.019537647e-01,-5.181079379e-04,8.603512292e-01,7.027500942e-01,-5.688966260e-04,8.305295180e-01
+43,4.983333333e+00,UP_FORCE_RAMP,1793079140833355494,-9.779765412e-06,-4.928197780e-04,2.223931162e-04,-1.833125334e-06,-4.961228834e-04,2.078432428e-04,4.016959213e-06,-4.550176882e-04,2.043214107e-04,7.019458181e-01,-5.148048326e-04,8.603657790e-01,7.019537647e-01,-5.181079379e-04,8.603512292e-01,7.027498858e-01,-5.688966401e-04,8.305298357e-01
+44,5.116666667e+00,UP_FORCE_RAMP,1793079140964615235,-2.586030643e-05,-4.997215557e-04,2.267382180e-04,-1.345153272e-05,-4.969127616e-04,2.244066502e-04,-7.825289305e-06,-4.557233822e-04,2.204364405e-04,7.019297376e-01,-5.217066103e-04,8.603701241e-01,7.019421463e-01,-5.188978162e-04,8.603677926e-01,7.027380435e-01,-5.696023341e-04,8.305459508e-01
+45,5.283333333e+00,UP_FORCE_RAMP,1793079141142305062,-3.041891815e-05,-4.979520003e-04,2.370956156e-04,-2.902830065e-05,-4.981506957e-04,2.373019992e-04,-2.383054871e-05,-4.568055395e-04,2.330591686e-04,7.019251789e-01,-5.199370549e-04,8.603804815e-01,7.019265696e-01,-5.201357503e-04,8.603806879e-01,7.027220383e-01,-5.706844913e-04,8.305585735e-01
+46,5.466666667e+00,UP_FORCE_RAMP,1793079141341056062,-3.633142281e-05,-4.916062487e-04,2.448977314e-04,-2.902830065e-05,-4.981506957e-04,2.373019992e-04,-2.412705334e-05,-4.567958065e-04,2.334274839e-04,7.019192664e-01,-5.135913033e-04,8.603882836e-01,7.019265696e-01,-5.201357503e-04,8.603806879e-01,7.027217418e-01,-5.706747583e-04,8.305589418e-01
+47,5.666666667e+00,UP_FORCE_RAMP,1793079141554930050,-3.997971267e-05,-4.905448419e-04,2.583162756e-04,-3.920027889e-05,-4.913378327e-04,2.532791248e-04,-3.459184749e-05,-4.505141265e-04,2.490396195e-04,7.019156182e-01,-5.125298965e-04,8.604017022e-01,7.019163976e-01,-5.133228873e-04,8.603966650e-01,7.027112770e-01,-5.643930784e-04,8.305745540e-01
+48,5.783333333e+00,UP_FORCE_HOLD,1793079141685071154,-4.633480650e-05,-4.908928104e-04,2.625767596e-04,-3.920027889e-05,-4.913378327e-04,2.532791248e-04,-3.471239914e-05,-4.505035305e-04,2.492520375e-04,7.019092631e-01,-5.128778650e-04,8.604059627e-01,7.019163976e-01,-5.133228873e-04,8.603966650e-01,7.027111564e-01,-5.643824824e-04,8.305747664e-01
+49,5.950000000e+00,UP_FORCE_HOLD,1793079141849314392,-4.518528964e-05,-4.938490263e-04,2.777032832e-04,-4.159494839e-05,-4.913473205e-04,2.739083603e-04,-3.705305911e-05,-4.504886192e-04,2.693893887e-04,7.019104126e-01,-5.158340809e-04,8.604210892e-01,7.019140029e-01,-5.133323751e-04,8.604172943e-01,7.027088158e-01,-5.643675710e-04,8.305949037e-01
+50,6.150000000e+00,UP_SETTLE,1793079142045667583,-4.578227567e-05,-4.912724201e-04,2.887511719e-04,-4.159494839e-05,-4.913473205e-04,2.739083603e-04,-3.716811279e-05,-4.504770388e-04,2.697449145e-04,7.019098156e-01,-5.132574747e-04,8.604321371e-01,7.019140029e-01,-5.133323751e-04,8.604172943e-01,7.027087007e-01,-5.643559907e-04,8.305952592e-01
+51,6.400000000e+00,UP_SETTLE,1793079142291332491,-5.048524646e-05,-4.922886316e-04,2.920654803e-04,-4.775512480e-05,-4.909068289e-04,2.924211723e-04,-4.344152795e-05,-4.500302903e-04,2.879033515e-04,7.019051126e-01,-5.142736862e-04,8.604354514e-01,7.019078427e-01,-5.128918835e-04,8.604358071e-01,7.027024273e-01,-5.639092421e-04,8.306134177e-01
+52,6.566666667e+00,UP_SETTLE,1793079142455165441,-5.266125418e-05,-4.937507299e-04,2.978300948e-04,-4.775512480e-05,-4.909068289e-04,2.924211723e-04,-4.355894633e-05,-4.500212179e-04,2.882271936e-04,7.019029366e-01,-5.157357845e-04,8.604412160e-01,7.019078427e-01,-5.128918835e-04,8.604358071e-01,7.027023099e-01,-5.639001698e-04,8.306137415e-01
+53,6.600000000e+00,UP_SETTLE,1793079142487620468,-5.618496057e-05,-5.174876300e-04,3.025428083e-04,-5.266915590e-05,-5.204176403e-04,3.073649861e-04,-4.839479222e-05,-4.770607892e-04,3.025378323e-04,7.018994129e-01,-5.394726846e-04,8.604459287e-01,7.019029287e-01,-5.424026949e-04,8.604507509e-01,7.026974740e-01,-5.909397411e-04,8.306280522e-01
+54,6.650000000e+00,UP_SETTLE,1793079142537143148,-5.689979936e-05,-5.155643742e-04,3.090800118e-04,-5.342223976e-05,-4.962559032e-04,3.066415183e-04,-4.925065886e-05,-4.549050382e-04,3.019847314e-04,7.018986981e-01,-5.375494288e-04,8.604524659e-01,7.019021756e-01,-5.182409578e-04,8.604500274e-01,7.026966182e-01,-5.687839901e-04,8.306274991e-01
+55,6.750000000e+00,UP_SETTLE,1793079142635205981,-5.754181141e-05,-5.016946659e-04,3.067242118e-04,-5.342223976e-05,-4.962559032e-04,3.066415183e-04,-4.932645716e-05,-4.548947127e-04,3.021823743e-04,7.018980561e-01,-5.236797205e-04,8.604501101e-01,7.019021756e-01,-5.182409578e-04,8.604500274e-01,7.026965424e-01,-5.687736646e-04,8.306276967e-01
+56,6.866666667e+00,UP_SETTLE,1793079142799027449,-5.685766021e-05,-5.058753809e-04,3.110914466e-04,-5.342223976e-05,-4.962559032e-04,3.066415183e-04,-4.939180903e-05,-4.548889175e-04,3.023621939e-04,7.018987402e-01,-5.278604355e-04,8.604544774e-01,7.019021756e-01,-5.182409578e-04,8.604500274e-01,7.026964770e-01,-5.687678693e-04,8.306278765e-01
+57,7.016666667e+00,UP_SETTLE,1793079142946541004,-5.937744669e-05,-5.050107878e-04,3.122949292e-04,-5.342223976e-05,-4.962559032e-04,3.066415183e-04,-4.946014036e-05,-4.548824324e-04,3.025571429e-04,7.018962204e-01,-5.269958424e-04,8.604556808e-01,7.019021756e-01,-5.182409578e-04,8.604500274e-01,7.026964087e-01,-5.687613842e-04,8.306280715e-01
+58,7.216666667e+00,UP_SETTLE,1793079143143190999,-6.155511478e-05,-5.075466065e-04,3.123737539e-04,-5.342223976e-05,-4.962559032e-04,3.066415183e-04,-4.953696181e-05,-4.548739589e-04,3.027854532e-04,7.018940428e-01,-5.295316611e-04,8.604557597e-01,7.019021756e-01,-5.182409578e-04,8.604500274e-01,7.026963319e-01,-5.687529108e-04,8.306282998e-01
+59,7.350000000e+00,UP_SETTLE,1793079143327157449,-5.951504804e-05,-5.059222836e-04,3.178818626e-04,-5.342223976e-05,-4.962559032e-04,3.066415183e-04,-4.958168419e-05,-4.548701616e-04,3.029245740e-04,7.018960828e-01,-5.279073381e-04,8.604612678e-01,7.019021756e-01,-5.182409578e-04,8.604500274e-01,7.026962871e-01,-5.687491135e-04,8.306284389e-01

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_06/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.5775e-01,8.8837e-01,2.4489e+00,-1.0184e-01,5.5516e-02,2.1362e-03,3.5182e-04,-4.6730e-05,-1.5736e-05,3.0324e-06,2.3551e-05,-2.6450e-07,3.5525e-04,2.3747e-05
+1,2.0000e-01,WAIT_W2,3.8157e-05,2.8952e-01,8.8532e-01,2.4473e+00,-1.0166e-01,5.7850e-02,1.8758e-03,3.2125e-02,-3.0969e-03,-1.6909e-03,1.8436e-04,2.3577e-03,-2.6070e-04,3.2318e-02,2.3792e-03
+2,4.0000e-01,WAIT_W2,7.5558e-05,3.0700e-01,8.8156e-01,2.4458e+00,-1.0135e-01,5.9099e-02,1.7725e-03,4.9603e-02,-6.8522e-03,-3.1395e-03,4.9664e-04,3.6073e-03,-3.6397e-04,5.0172e-02,3.6595e-03
+3,6.1667e-01,WAIT_W2,1.1538e-04,3.3257e-01,8.8191e-01,2.4443e+00,-1.0147e-01,6.0929e-02,1.5882e-03,7.5174e-02,-6.4999e-03,-4.6906e-03,3.7773e-04,5.4369e-03,-5.4830e-04,7.5600e-02,5.4775e-03
+4,8.1667e-01,WAIT_W2,1.5405e-04,3.5192e-01,8.7783e-01,2.4421e+00,-1.0112e-01,6.2332e-02,1.4494e-03,9.4522e-02,-1.0585e-02,-6.7995e-03,7.2879e-04,6.8401e-03,-6.8712e-04,9.5355e-02,6.9130e-03
+5,8.6667e-01,WAIT_W2,1.9002e-04,3.5210e-01,8.7783e-01,2.4421e+00,-1.0112e-01,6.2344e-02,1.4492e-03,9.4701e-02,-1.0588e-02,-6.8021e-03,7.2838e-04,6.8516e-03,-6.8730e-04,9.5533e-02,6.9244e-03
+6,8.8333e-01,WAIT_W2,2.2351e-04,3.7554e-01,1.5004e+00,2.4959e+00,-1.4609e-01,6.4077e-02,1.9106e-03,1.1814e-01,6.1199e-01,4.7003e-02,-4.4246e-02,8.5849e-03,-2.2589e-04,6.2506e-01,4.5072e-02
+7,9.0000e-01,WAIT_W2,2.7050e-04,3.8441e-01,2.1086e+00,2.4081e+00,-1.9006e-01,6.4694e-02,2.5121e-03,1.2701e-01,1.2202e+00,-4.0884e-02,-8.8216e-02,9.2018e-03,3.7565e-04,1.2275e+00,8.8695e-02
+8,9.1667e-01,WAIT_W2,3.1055e-04,3.6972e-01,2.9662e+00,2.3525e+00,-2.5225e-01,6.3692e-02,2.7122e-03,1.1232e-01,2.0778e+00,-9.6480e-02,-1.5041e-01,8.1997e-03,5.7571e-04,2.0831e+00,1.5063e-01
+9,9.3333e-01,WAIT_W2,3.8501e-04,4.0055e-01,3.7070e+00,2.3996e+00,-3.0594e-01,6.5891e-02,3.0710e-03,1.4315e-01,2.8186e+00,-4.9355e-02,-2.0410e-01,1.0399e-02,9.3448e-04,2.8227e+00,2.0436e-01
+10,9.3333e-01,WAIT_W2,3.8501e-04,4.0055e-01,3.7070e+00,2.3996e+00,-3.0594e-01,6.5891e-02,3.0710e-03,1.4315e-01,2.8186e+00,-4.9355e-02,-2.0410e-01,1.0399e-02,9.3448e-04,2.8227e+00,2.0436e-01
+11,9.5000e-01,WAIT_W2,4.6472e-04,4.1637e-01,5.0878e+00,2.3552e+00,-4.0601e-01,6.7045e-02,3.7033e-03,1.5897e-01,4.1994e+00,-9.3781e-02,-3.0416e-01,1.1553e-02,1.5668e-03,4.2035e+00,3.0439e-01
+12,9.5000e-01,WAIT_W2,4.6472e-04,4.1637e-01,5.0878e+00,2.3552e+00,-4.0601e-01,6.7045e-02,3.7033e-03,1.5897e-01,4.1994e+00,-9.3781e-02,-3.0416e-01,1.1553e-02,1.5668e-03,4.2035e+00,3.0439e-01
+13,9.6667e-01,WAIT_W2,5.2445e-04,4.5902e-01,6.5512e+00,2.3557e+00,-5.1217e-01,7.0181e-02,4.5843e-03,2.0162e-01,5.6628e+00,-9.3203e-02,-4.1033e-01,1.4689e-02,2.4478e-03,5.6672e+00,4.1060e-01
+14,9.8333e-01,WAIT_W2,5.6139e-04,4.6556e-01,7.6079e+00,2.3169e+00,-5.8800e-01,7.0722e-02,7.6682e-03,2.0816e-01,6.7195e+00,-1.3207e-01,-4.8616e-01,1.5230e-02,5.5317e-03,6.7240e+00,4.8643e-01
+15,1.0000e+00,WAIT_W2,5.8408e-04,4.9345e-01,8.2677e+00,2.3218e+00,-6.3590e-01,7.2733e-02,7.7484e-03,2.3606e-01,7.3793e+00,-1.2713e-01,-5.3405e-01,1.7241e-02,5.6119e-03,7.3841e+00,5.3436e-01
+16,1.0167e+00,WAIT_W2,6.1416e-04,4.9262e-01,8.6607e+00,2.3483e+00,-6.6439e-01,7.2663e-02,7.9024e-03,2.3523e-01,7.7723e+00,-1.0065e-01,-5.6254e-01,1.7170e-02,5.7659e-03,7.7765e+00,5.6284e-01
+17,1.0333e+00,WAIT_W2,6.5760e-04,5.0001e-01,9.1995e+00,2.3033e+00,-7.0374e-01,7.3264e-02,8.1232e-03,2.4261e-01,8.3111e+00,-1.4564e-01,-6.0190e-01,1.7772e-02,5.9868e-03,8.3159e+00,6.0219e-01
+18,1.0833e+00,WAIT_W2,7.0318e-04,5.1328e-01,1.0525e+01,2.2565e+00,-8.0038e-01,7.4365e-02,9.5382e-03,2.5588e-01,9.6369e+00,-1.9244e-01,-6.9854e-01,1.8873e-02,7.4017e-03,9.6423e+00,6.9883e-01
+19,1.1500e+00,WAIT_W2,7.3439e-04,3.9462e-01,1.0164e+01,2.1843e+00,-7.7582e-01,6.5892e-02,9.6277e-03,1.3723e-01,9.2757e+00,-2.6466e-01,-6.7397e-01,1.0400e-02,7.4912e-03,9.2805e+00,6.7409e-01
+20,1.2333e+00,WAIT_W2,7.7304e-04,3.4255e-01,1.0248e+01,2.0646e+00,-7.8397e-01,6.2345e-02,1.0377e-02,8.5156e-02,9.3596e+00,-3.8430e-01,-6.8212e-01,6.8534e-03,8.2402e-03,9.3678e+00,6.8221e-01
+21,1.3833e+00,WAIT_W2,8.1336e-04,3.2125e-01,1.0259e+01,1.9899e+00,-7.8673e-01,6.0868e-02,1.0606e-02,6.3848e-02,9.3702e+00,-4.5903e-01,-6.8489e-01,5.3757e-03,8.4699e-03,9.3817e+00,6.8496e-01
+22,1.5333e+00,WAIT_W2,8.5331e-04,3.0161e-01,1.0093e+01,1.9280e+00,-7.7621e-01,5.9626e-02,1.0651e-02,4.4210e-02,9.2045e+00,-5.2096e-01,-6.7437e-01,4.1341e-03,8.5145e-03,9.2194e+00,6.7443e-01
+23,1.7167e+00,UP_FORCE_RAMP,8.9297e-04,3.6481e-01,1.0058e+01,2.0066e+00,-7.7280e-01,6.4392e-02,1.0455e-02,1.0741e-01,9.1694e+00,-4.4230e-01,-6.7096e-01,8.8996e-03,8.3182e-03,9.1806e+00,6.7107e-01
+24,1.9000e+00,UP_FORCE_RAMP,9.3207e-04,4.0452e-01,1.0058e+01,2.0273e+00,-7.7274e-01,6.6902e-02,9.8150e-03,1.4712e-01,9.1700e+00,-4.2160e-01,-6.7089e-01,1.1410e-02,7.6786e-03,9.1809e+00,6.7103e-01
+25,2.0500e+00,UP_FORCE_RAMP,9.6961e-04,4.3827e-01,1.0055e+01,2.0518e+00,-7.7218e-01,6.9213e-02,9.0869e-03,1.8087e-01,9.1661e+00,-3.9716e-01,-6.7034e-01,1.3721e-02,6.9505e-03,9.1765e+00,6.7051e-01
+26,2.2333e+00,UP_FORCE_RAMP,1.0093e-03,4.7114e-01,1.0040e+01,2.0846e+00,-7.7060e-01,7.1702e-02,8.4542e-03,2.1374e-01,9.1517e+00,-3.6435e-01,-6.6876e-01,1.6210e-02,6.3178e-03,9.1615e+00,6.6898e-01
+27,2.4333e+00,UP_FORCE_RAMP,1.0468e-03,5.0034e-01,1.0033e+01,2.1053e+00,-7.6980e-01,7.3765e-02,7.9018e-03,2.4294e-01,9.1448e+00,-3.4367e-01,-6.6795e-01,1.8273e-02,5.7653e-03,9.1545e+00,6.6823e-01
+28,2.6000e+00,UP_FORCE_RAMP,1.0867e-03,5.2889e-01,1.0020e+01,2.1258e+00,-7.6836e-01,7.5969e-02,7.4174e-03,2.7149e-01,9.1315e+00,-3.2314e-01,-6.6651e-01,2.0477e-02,5.2809e-03,9.1413e+00,6.6685e-01
+29,2.7500e+00,UP_FORCE_RAMP,1.1236e-03,5.1299e-01,9.9623e+00,1.9617e+00,-7.6584e-01,7.4929e-02,7.4302e-03,2.5560e-01,9.0738e+00,-4.8723e-01,-6.6399e-01,1.9437e-02,5.2937e-03,9.0905e+00,6.6430e-01
+30,2.9167e+00,UP_FORCE_RAMP,1.1630e-03,5.5773e-01,9.9657e+00,2.0479e+00,-7.6597e-01,7.7887e-02,7.3894e-03,3.0033e-01,9.0773e+00,-4.0107e-01,-6.6412e-01,2.2395e-02,5.2529e-03,9.0911e+00,6.6452e-01
+31,3.0333e+00,UP_FORCE_RAMP,1.2021e-03,5.7045e-01,9.9552e+00,2.0294e+00,-7.6492e-01,7.9076e-02,7.1383e-03,3.1305e-01,9.0668e+00,-4.1954e-01,-6.6308e-01,2.3584e-02,5.0018e-03,9.0819e+00,6.6351e-01
+32,3.1833e+00,UP_FORCE_RAMP,1.2406e-03,5.7612e-01,9.9533e+00,2.0628e+00,-7.6463e-01,7.9383e-02,6.7825e-03,3.1872e-01,9.0649e+00,-3.8616e-01,-6.6278e-01,2.3891e-02,4.6460e-03,9.0787e+00,6.6323e-01
+33,3.4167e+00,UP_FORCE_RAMP,1.2772e-03,6.5082e-01,9.8540e+00,1.9534e+00,-7.5857e-01,8.4971e-02,5.4848e-03,3.9343e-01,8.9655e+00,-4.9556e-01,-6.5673e-01,2.9479e-02,3.3483e-03,8.9878e+00,6.5740e-01
+34,3.5833e+00,UP_FORCE_RAMP,1.3203e-03,6.5289e-01,9.8506e+00,1.9809e+00,-7.5817e-01,8.5098e-02,5.3949e-03,3.9550e-01,8.9622e+00,-4.6802e-01,-6.5632e-01,2.9606e-02,3.2584e-03,8.9831e+00,6.5700e-01
+35,3.7667e+00,UP_FORCE_RAMP,1.3558e-03,6.7209e-01,9.8487e+00,2.0310e+00,-7.5758e-01,8.6406e-02,5.1064e-03,4.1469e-01,8.9602e+00,-4.1794e-01,-6.5574e-01,3.0914e-02,2.9699e-03,8.9796e+00,6.5647e-01
+36,3.9500e+00,UP_FORCE_RAMP,1.3983e-03,7.5570e-01,9.8131e+00,1.9174e+00,-7.5635e-01,9.2623e-02,3.8347e-03,4.9830e-01,8.9246e+00,-5.3154e-01,-6.5450e-01,3.7131e-02,1.6982e-03,8.9543e+00,6.5556e-01
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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_07/down/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9619f82cd2556a905fff1822c4669be9e10476521b1ad3313abbec54b8418861
+size 624640

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_07/down/franka_data.csv

@@ -0,0 +1,61 @@
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+51315,1793079232633527631,15783725000000,1793079232628737545,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6760173780339093,-0.004917774932999,0.09977149579890843,0.9999999227824694,-0.0003657684316833387,-0.000109531306750843,9.709054872446085e-06,0.6761,-0.0046,0.09983119482904097,1.0,0.0,0.0,0.0,-0.06982543261629648,0.0876478549693347,-0.016053001839902103,0.007672319128963517,0.0026521811628920228,0.0011507163293041495,0.7819821603226976,1.1489062130523553,1.2844555658851688,0.07563466479066117,-0.04938141675322812,-0.0008518743423511116,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.8080530850851109,1.4444462979943873,0.2065169291521085,-0.10269565634495047,0.03362375051052472,0.92954468791287,1.6826685290495669,0.016053001839902103,1.4761515998974584,1.4761515998974584,1.5725528985121406,0,0,-7.172771173821613e-05,-9.999999025923074e-05
+51466,1793079233891529520,15784983000000,1793079233884737508,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760317033628436,-0.004923061940553594,0.09973873236737295,0.9999999281858056,-0.00035766785039526835,-8.167135433976376e-05,2.178865881972503e-05,0.6761,-0.0046,0.09976244434361366,1.0,0.0,0.0,0.0,-0.17504360695465915,0.12367387304232813,0.3369738848628443,0.01151417369217761,0.008588663175563852,0.001949885274647535,0.676763985984335,1.1849322311253487,1.6374824525879152,0.07947651935387526,-0.043444934740556294,-5.2705397007726354e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.9066062174136913,1.373197037766888,-0.2293882172585827,-0.064363590225548,0.3224430661909349,0.8735483259345731,1.6826685290495669,-0.3369738848628443,1.9120567463081495,1.9120567463081495,1.6983528985121268,0,0,-2.5050273887135315e-05,9.999999025923074e-05
+51613,1793079235116554660,15786208000000,1793079235112738050,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760310410363012,-0.004919374336568518,0.09972551877488427,0.9999999302499777,-0.0003513198090227121,-8.31883979260131e-05,2.443328502458562e-05,0.6761,-0.0046,0.09975513117610423,1.0,0.0,0.0,0.0,-0.18466003885692683,0.12593511862393436,0.3807661507031086,0.011494384851557932,0.009594180465056106,0.0013602335363936675,0.6671475540820673,1.187193476706955,1.6812747184281795,0.07945673051325558,-0.04243941745106404,-0.0006423571352615937,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.9143266336988711,1.4155139101482233,-0.17556907531717397,-0.08538564252674456,0.28887719448042193,0.8912134179863322,1.6826685290495669,-0.3807661507031086,1.8582376043667408,1.8582376043667408,1.8208528985121133,0,0,-4.2716508080742344e-07,4.31479879603458e-06
+51751,1793079236266520947,15787358000000,1793079236264737322,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6760347616352818,-0.00491970649792253,0.09972712608987341,0.9999999313127951,-0.00034947256945986704,-7.787007885844339e-05,2.494880055779379e-05,0.6761,-0.0046,0.09974747224911862,1.0,0.0,0.0,0.0,-0.19905286673521205,0.12626842302265873,0.39088880819150895,0.011483604243245502,0.009592026534335184,0.001596662483762087,0.652754726203782,1.1875267811056793,1.69139737591658,0.07944594990494315,-0.04244157138178496,-0.0004059281878931741,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.851963723760199,1.3648678045526539,-0.11606866793087983,-0.0611264765053982,0.23243614820642544,0.8606600952130957,1.6826685290495669,-0.39088880819150895,1.7987371969804467,1.7987371969804467,1.9358528985121006,0,0,-1.559958296845488e-05,-9.999924085868912e-05
+51900,1793079237508579750,15788600000000,1793079237504737140,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760438285916031,-0.0049186424058491884,0.09971545444654878,0.9999999344869698,-0.0003430284691107924,-6.298032928022923e-05,2.8876756752090204e-05,0.6761,-0.0046,0.09971180476001272,1.0,0.0,0.0,0.0,-0.23351463427257313,0.15793306382951622,0.5024315851256653,0.014384981264918356,0.01254630158804692,0.0019888038070375166,0.618292958666421,1.2191914219125368,1.8029401528507363,0.082347326926616,-0.039487296328073226,-1.3786864617744469e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.9887106208714429,1.3872987889983932,-0.3143164834041614,-0.06589775354265522,0.3861577429224279,0.8709783829499848,1.6826685290495669,-0.5024315851256653,1.9969850124537283,1.9969850124537283,2.0600528985122204,0,0,-3.127903956265244e-05,-7.500000206850927e-05
+52030,1793079238591692757,15789683000000,1793079238584727465,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760561072369099,-0.00492305609032283,0.09970397431788568,0.999999935923947,-0.00034090211737073853,-4.624609641784711e-05,3.524216839945939e-05,0.6761,-0.0046,0.09967922557866186,1.0,0.0,0.0,0.0,-0.25361416948815585,0.1742815757765075,0.6015699809719461,0.015411144094354262,0.013518452838493566,0.0019333558704206517,0.5981934234508383,1.235539933859528,1.902078548697017,0.08337348975605191,-0.03851514507762658,-6.923480123460942e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.054611873225994,1.4920983297917414,-0.5475113135900989,-0.09390982562554046,0.5472445156334655,0.9349665432957424,1.6826685290495669,-0.6015699809719461,2.2301798426396657,2.2301798426396657,2.168352898512449,0,0,-2.6839603321755827e-05,9.999824165796695e-05
+52175,1793079239800703547,15790892000000,1793079239792727589,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760608571851636,-0.004920299677057323,0.09968827451455504,0.9999999399920165,-0.0003295158768514527,-3.699550231367162e-05,3.8851596667966376e-05,0.6761,-0.0046,0.09965158144467745,1.0,0.0,0.0,0.0,-0.3010984334778808,0.19400984024134416,0.7234973027791283,0.01734844088799653,0.01644454693841358,0.0019777882552372296,0.5507091594611133,1.2552681983243648,2.0240058705041992,0.08531078654969418,-0.035589050977706566,-2.4802416418031707e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.0691304525193952,1.3955011022506516,-0.6543655316085625,-0.05193976994795807,0.6099981070047567,0.8752601905849574,1.6826685290495669,-0.7234973027791283,2.3370340606581292,2.3370340606581292,2.289252898512704,0,0,-1.854291756667325e-05,9.999818614681572e-05
+52323,1793079241033676951,15792125000000,1793079241032727995,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760719166880571,-0.004922199559423221,0.09968314708618392,0.9999999426911559,-0.0003221191735388621,-1.919501617085748e-05,4.394698994056944e-05,0.6761,-0.0046,0.09962608909244429,1.0,0.0,0.0,0.0,-0.32995305926111573,0.20014916089477963,0.8186273673512743,0.018312840282665666,0.017461580188046222,0.0028688921279807567,0.5218545336778784,1.2614075189778002,2.1191359350763452,0.08627518594436331,-0.034572017728073924,0.0008663014563254954,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.0550828048975889,1.4937656036650437,-0.6452738619254711,-0.08138332141070057,0.5942822533755187,0.9321790684333684,1.6826685290495669,-0.8186273673512743,2.327942390975038,2.327942390975038,2.4125528985129643,0,0,-2.628653901079326e-05,-9.997557923047679e-05
+52459,1793079242166768371,15793258000000,1793079242164727593,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.676076341726604,-0.00492401555282558,0.09966550182360209,0.9999999430697132,-0.00032051886256485233,-8.71137611643511e-06,4.995202230009589e-05,0.6761,-0.0046,0.09959349199920087,1.0,0.0,0.0,0.0,-0.36807095454918903,0.21849920456004446,0.9442537551477665,0.01936663976182043,0.02044384119182619,0.0028269235638958704,0.4837366383898051,1.279757562643065,2.2447623228728375,0.08732898542351808,-0.031589756724293955,0.0008243328922406092,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.1842736363943671,1.4891386386410883,-0.8593067526042554,-0.07893768784924524,0.7622365358580733,0.9306901934443529,1.6826685290495669,-0.9442537551477665,2.5419752816538224,2.5419752816538224,2.5258528985132034,0,0,-2.6692853334593696e-05,9.999999025923074e-05
+52592,1793079243275730711,15794367000000,1793079243272727450,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760825215483457,-0.004924742333923315,0.09965342147139775,0.9999999441636657,-0.00031678512239293426,1.161773117992151e-06,5.254869820990623e-05,0.6761,-0.0046,0.09956810749581886,1.0,0.0,0.0,0.0,-0.3879176353062976,0.23604843968092193,1.0265020491117476,0.02122851937958714,0.021413629799834355,0.0027964660515734227,0.4638899576326965,1.2973067977639425,2.3270106168368185,0.08919086504128479,-0.03061996811628579,0.0007938753799181613,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.2693897203842346,1.456605164200951,-0.9625347739592527,-0.07308535568510545,0.8465072735147966,0.9068165922210342,1.6826685290495669,-1.0265020491117476,2.6452033030088193,2.6452033030088193,2.6367528985134374,0,0,-2.4686772699651687e-05,9.998705616099385e-05
+52746,1793079244558823730,15795650000000,1793079244556727617,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760901050007528,-0.004925555052575325,0.09963914698982607,0.9999999448137038,-0.0003136330249354709,1.2814943970691408e-05,5.731976933767583e-05,0.6761,-0.0046,0.09953645463382575,1.0,0.0,0.0,0.0,-0.4175623137104681,0.2436452422855333,1.1571241202387534,0.022169160259115916,0.023393586842817612,0.0027302760094776906,0.434245279228526,1.304903600368554,2.4576326879638244,0.09013150592081356,-0.028640011073302534,0.0007276853378224296,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.219886756388204,1.3466578157346698,-1.0561207039938132,-0.04617824502512213,0.8860151572747588,0.8299608946893351,1.6826685290495669,-1.1571241202387534,2.73878923304338,2.73878923304338,2.765052898513708,0,0,-2.706526260433254e-05,-4.496096929354997e-05
+52879,1793079245666833293,15796758000000,1793079245664727672,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760938809623752,-0.004927496844909434,0.09962029121688183,0.9999999450067042,-0.0003119735592504976,1.783238660898336e-05,6.151387176915577e-05,0.6761,-0.0046,0.09950986267706284,1.0,0.0,0.0,0.0,-0.44653670657710454,0.24949552606113867,1.2580330677213631,0.02310895144046686,0.02537485434908324,0.003488984275323369,0.40527088636188957,1.3107538841441593,2.558541635446434,0.09107129710216451,-0.026658743567036906,0.0014863936036681078,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.3021273939491145,1.4597185321705244,-1.2563626727897474,-0.09094370530235571,1.0369922282903927,0.9020733528064987,1.6826685290495669,-1.2580330677213631,2.939031201839314,2.939031201839314,2.875852898513942,0,0,-2.1520163946660336e-05,9.999999025923074e-05
+53046,1793079247058914442,15798150000000,1793079247056727364,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6761024603741288,-0.004929184630940895,0.09960412486384279,0.9999999446677207,-0.00031081466305473614,3.2816659738016204e-05,6.651865487080677e-05,0.6761,-0.0046,0.09947249488189605,1.0,0.0,0.0,0.0,-0.48536981214885627,0.2731992760257502,1.3891072737708219,0.025069236434433984,0.02733831852606418,0.0036593182637541747,0.36643778079013783,1.3344576341087708,2.689615841495893,0.09303158209613163,-0.024695279390055967,0.0016567275920989133,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.3201693438149495,1.3518051554498622,-1.3475028089106507,-0.0558174252195451,1.0935001425703454,0.8287860357237583,1.6826685290495669,-1.3891072737708219,3.0301713379602173,3.0301713379602173,3.0150528985142357,0,0,-2.9254602633395403e-05,8.124137060162013e-05
+53190,1793079248258886704,15799350000000,1793079248256728061,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761091181025856,-0.0049329496711688625,0.09958657963186077,0.9999999441713906,-0.00031015814383777334,4.3412680475577176e-05,7.083321506631256e-05,0.6761,-0.0046,0.09943910560091349,1.0,0.0,0.0,0.0,-0.523648493690716,0.2870783606282652,1.5007850527776772,0.026004460027579182,0.029686151109484613,0.003604713160637249,0.32815909924827813,1.3483367187112858,2.801293620502748,0.09396680568927683,-0.022347446806635533,0.0016021224889819876,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.3314249314624549,1.5374854260761284,-1.3300264535987787,-0.10967195250044487,1.077836575080237,0.9512128515907582,1.6826685290495669,-1.5007850527776772,3.0126949826483456,3.0126949826483456,3.135052898514489,0,0,-2.8318379470564044e-05,-9.999999025923074e-05
+53326,1793079249392024449,15800483000000,1793079249384728217,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761166396342323,-0.004934169978889512,0.09956856070121294,0.9999999441181463,-0.00030703987515588905,5.512515247013214e-05,7.677434907833496e-05,0.6761,-0.0046,0.0994099984580762,1.0,0.0,0.0,0.0,-0.5422991384884615,0.29383001037601675,1.6198975148162178,0.027076428849936093,0.03129941492248994,0.0035516789510097197,0.3095084544505326,1.3550883684590374,2.9204060825412888,0.09503877451163374,-0.020734182993630203,0.0015490882793544587,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.389557810828886,1.3729623676120917,-1.5719903529181616,-0.06953579956956311,1.247770330976534,0.841263029987418,1.6826685290495669,-1.6198975148162178,3.2546588819677282,3.2546588819677282,3.248352898514728,0,0,-2.5741622462745244e-05,9.98946023386182e-05
+53485,1793079250717000977,15801808000000,1793079250716728066,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761233969054308,-0.004935274311428862,0.0995509991920697,0.9999999438978913,-0.00030470893256692917,6.551732226583213e-05,8.066613243143717e-05,0.6761,-0.0046,0.09937258472220356,1.0,0.0,0.0,0.0,-0.5729061577795371,0.32392959135334864,1.7200244882787834,0.028870719434197306,0.03330071321476452,0.003520787737115556,0.27890143515945703,1.3851879494363692,3.0205330560038544,0.09683306509589495,-0.018732884701355625,0.001518197065460295,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.429229248689998,1.3889543353761529,-1.690352351095036,-0.07646243780446918,1.3254316952589933,0.8486355057305753,1.6826685290495669,-1.7200244882787834,3.373020880144603,3.373020880144603,3.3808528985150077,0,0,-3.502845446060198e-05,8.777035628704794e-05
+53634,1793079251959083267,15803050000000,1793079251956727988,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6761340901337909,-0.004934432446775806,0.09952817800330455,0.9999999430804989,-0.000302039818918964,8.228320326254236e-05,8.534216371540757e-05,0.6761,-0.0046,0.09933117651171522,1.0,0.0,0.0,0.0,-0.6114526574927641,0.33632701496565054,1.8520883700878807,0.02983799156088475,0.03625629605656413,0.004077213125158563,0.24035493544623,1.3975853730486711,3.1525969378129517,0.0978003372225824,-0.015777301859556017,0.0020746224535033017,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.4825460652111981,1.397769443493766,-1.7786276077624121,-0.07773778954703611,1.3947162001036222,0.8548672444137988,1.6826685290495669,-1.8520883700878807,3.461296136811979,3.461296136811979,3.50505289851527,0,0,-3.075577686559162e-05,-9.755364158004482e-05
+53787,1793079253234140326,15804325000000,1793079253232727883,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761418419654166,-0.004932810743040206,0.09950156688783335,0.9999999410701178,-0.00030405312640329797,9.470208949568752e-05,8.880222544189986e-05,0.6761,-0.0046,0.0992900199237372,1.0,0.0,0.0,0.0,-0.6404460210956459,0.33906110258450406,1.9625114942314397,0.030785065205739384,0.03824224608637808,0.0034166796451400353,0.21136157184334822,1.4003194606675247,3.2630200619565106,0.09874741086743703,-0.013791351829742065,0.001414088973484774,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5116403388437751,1.4240964663728388,-1.9506078168760363,-0.08266575391617675,1.50602828630247,0.8707540738150237,1.6826685290495669,-1.9625114942314397,3.6332763459256032,3.6332763459256032,3.632552898515539,0,0,-3.3159789696009294e-05,8.016306648895295e-05
+53931,1793079254434171790,15805525000000,1793079254428737075,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6761519791471643,-0.004936131871054485,0.09947463572178904,0.9999999394463376,-0.000302041534629334,0.00011106387338552225,9.4794051097429e-05,0.6761,-0.0046,0.09924203525461843,1.0,0.0,0.0,0.0,-0.6513794099605219,0.364158390025509,2.0694693252706884,0.031651173798277615,0.04022621992035435,0.0033731994977579745,0.20042818297847215,1.4254167481085296,3.3699778929957596,0.09961351945997526,-0.011807377995765799,0.0013706088261027133,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.563621985108352,1.4452853623629311,-2.0484934879118986,-0.08975890600322835,1.5813162212529353,0.8849188391136962,1.6826685290495669,-2.0694693252706884,3.7311620169614654,3.7311620169614654,3.752552898515792,0,0,-4.632252118411261e-05,5.7486150588320586e-05
+54067,1793079255567234880,15806658000000,1793079255564727350,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761593351819433,-0.004940899668616949,0.09944081247361641,0.9999999368289326,-0.000303987575641676,0.00012386557168998622,0.00010016919981938024,0.6761,-0.0046,0.0991926135933033,1.0,0.0,0.0,0.0,-0.6604152122334745,0.35886187312783857,2.1766333184271653,0.030665045838629015,0.04123493314693358,0.0032909452936302056,0.19139238070551962,1.4201202312108592,3.4771418861522365,0.09862739150032666,-0.01079866476918657,0.0012883546219749444,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5617421318853888,1.4042206847138439,-2.069530222300579,-0.08017127491903107,1.5948459442135183,0.8585623980994428,1.6826685290495669,-2.1766333184271653,3.752198751350146,3.752198751350146,3.865852898516031,0,0,-4.253600016243387e-05,-9.763656136219651e-05
+54214,1793079256792283793,15807883000000,1793079256788728207,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.676167445026166,-0.004946445571887536,0.09939816866878047,0.9999999309872158,-0.00031510385783409885,0.00013871085382766835,0.0001045814748867224,0.6761,-0.0046,0.09913109697702904,1.0,0.0,0.0,0.0,-0.6680213980428359,0.3507433131858606,2.2819562925502703,0.02857678689658308,0.04226362448784626,0.0031974650029951467,0.18378619489615822,1.4120016712688812,3.5824648602753415,0.09653913255828073,-0.009769973428273886,0.0011948743313398857,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6014249618009342,1.4122589157360719,-2.2715982650950566,-0.09214172468363314,1.7376706627894,0.8553320783275462,1.6826685290495669,-2.2819562925502703,3.9542667941446235,3.9542667941446235,3.9883528985162897,0,0,-6.029246038955082e-05,6.437197583165073e-05
+54367,1793079258067183724,15809158000000,1793079258060737763,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761792232584218,-0.004947984560117457,0.09935280914408857,0.9999999277257746,-0.0003134814530590417,0.000158428328739587,0.00011234390152101717,0.6761,-0.0046,0.09906000282035198,1.0,0.0,0.0,0.0,-0.6794498199531133,0.3486561519130551,2.4023691814099086,0.02748940096393225,0.044288135378756664,0.0020916871049266243,0.1723577729858808,1.4099145099960757,3.70287774913498,0.0954517466256299,-0.0077454625373634825,8.9096433271363e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.531122121920109,1.4996465297445212,-2.366610194055747,-0.1070856540136563,1.7746631283752434,0.9200546195179276,1.6826685290495669,-2.4023691814099086,4.049278723105314,4.049278723105314,4.115852898516044,0,0,-5.288003823297605e-05,-9.839953438029454e-05
+54505,1793079259217319703,15810308000000,1793079259212737932,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761896080719993,-0.004950330927112619,0.09931187335967726,0.9999999241321688,-0.000314601566628348,0.00017352477047198177,0.000118716168991041,0.6761,-0.0046,0.09899994628115992,1.0,0.0,0.0,0.0,-0.7032307456774821,0.3459023956863747,2.502165383954389,0.02742342260219452,0.04592748033493258,0.002033816222891886,0.148576847261512,1.4071607537693953,3.80267395167946,0.09538576826389217,-0.006106117581187564,3.1225551236624496e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5686574982785433,1.4863156925343322,-2.5116423876751837,-0.12030451512243373,1.8777849840041225,0.9025694729829172,1.6826685290495669,-2.502165383954389,4.194310916724751,4.194310916724751,4.230852898515776,0,0,-5.5752578100005994e-05,3.370302234373952e-05
+54648,1793079260409305252,15811500000000,1793079260404737619,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762014840518231,-0.00495098435166724,0.09926418500225843,0.9999999195610916,-0.000316269817117922,0.0001914102508444141,0.00012512470872698232,0.6761,-0.0046,0.0989302769120262,1.0,0.0,0.0,0.0,-0.715781945492994,0.33231529570601204,2.61599053529784,0.02635316030860721,0.0473028085471629,0.0019502348789406617,0.1360256474460001,1.3935736537890326,3.916499103022911,0.09431550597030486,-0.004730789368957249,-5.2355792714599396e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5976179526134737,1.4141192929514075,-2.6626326228750803,-0.09466523617353392,1.981827078534779,0.8541915232211426,1.6826685290495669,-2.61599053529784,4.345301151924647,4.345301151924647,4.350052898515498,0,0,-6.013524063844399e-05,9.971960343436165e-05
+54808,1793079261742286136,15812833000000,1793079261740727814,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762123207046817,-0.004952917679402509,0.09920024534266537,0.9999999112825754,-0.00032920053072631677,0.00021086121889761064,0.00012665805068673644,0.6761,-0.0046,0.09884782542073704,1.0,0.0,0.0,0.0,-0.69657798618575,0.32886019561003543,2.701560189577254,0.024421189444995925,0.04732208803018507,0.0018619062211487816,0.15522960675324415,1.390118553693056,4.002068757302325,0.09238353510669357,-0.004711509885935076,-0.00014068445050647964,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6121463000939655,1.4200837742067256,-2.65826413513011,-0.07915989645239438,1.9813271257201472,0.8583562874552754,1.6826685290495669,-2.701560189577254,4.340932664179677,4.340932664179677,4.483352898515188,0,0,-6.788851026759269e-05,-9.720152046999714e-05
+54965,1793079263051404173,15814142000000,1793079263048727851,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762274765833619,-0.004955898538202341,0.09912915181674857,0.9999999008565369,-0.00034483903806446336,0.00023553786963327651,0.00012384558783164754,0.6761,-0.0046,0.09875093634721138,1.0,0.0,0.0,0.0,-0.6942235331093076,0.3207870238792061,2.841647513921001,0.0232578709589268,0.0473103322422661,0.0017362033949991024,0.15758405982968646,1.3820453819622267,4.142156081646072,0.09122021662062445,-0.004723265673854048,-0.00026638727665615885,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6520544368731396,1.5229761403348523,-2.8956692109375775,-0.10352449372022515,2.1474399410954037,0.922349607336123,1.6826685290495669,-2.841647513921001,4.578337739987145,4.578337739987145,4.6142528985148825,0,0,-7.431191681864379e-05,9.429223654511815e-05
+55120,1793079264342421612,15815433000000,1793079264340736828,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762399002718813,-0.004962134130657276,0.09905916000209053,0.999999892892743,-0.0003528925329048553,0.0002522543484059943,0.00013225721039989395,0.6761,-0.0046,0.09866117265696124,1.0,0.0,0.0,0.0,-0.6961985185985228,0.29477814871199115,2.9314608537218536,0.022172136400777698,0.04832538238451307,0.001667372314733287,0.15560907434047136,1.3560365067950118,4.231969421446925,0.09013448206247535,-0.003708215531607077,-0.0003352183569219742,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.62244287921236,1.4056315034065798,-2.9180725292636374,-0.07915348193612351,2.1551883900935347,0.8385473360596329,1.6826685290495669,-2.9314608537218536,4.600741058313204,4.600741058313204,4.743352898514582,0,0,-7.194893130865599e-05,-9.978872869543238e-05
+55267,1793079265567445526,15816658000000,1793079265564737584,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6762508238623941,-0.004961032107146852,0.09897820645367567,0.9999998822542885,-0.00036927012831432677,0.0002724287760410516,0.00012789216857232686,0.6761,-0.0046,0.09855814278494121,1.0,0.0,0.0,0.0,-0.6871560174881485,0.2906141230571462,3.015801987772991,0.02106200195962768,0.048325679678565436,0.001588387524830911,0.1646515754508456,1.3518724811401668,4.316310555498062,0.08902434762132533,-0.0037079182375547087,-0.00041420314682435024,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6010314972205675,1.410447637238693,-3.020593775451456,-0.0611741579590864,2.210530970580276,0.8419192065524185,1.6826685290495669,-3.015801987772991,4.703262304501022,4.703262304501022,4.865852898514296,0,0,-9.475349292273195e-05,-9.990234614421496e-05
+55391,1793079266601534013,15817692000000,1793079266596728064,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762649585582199,-0.004963573429385358,0.09890362527448682,0.9999998660008779,-0.0003974936726599335,0.0002956486504034611,0.00011845566727639507,0.6761,-0.0046,0.09846305305164205,1.0,0.0,0.0,0.0,-0.6581602792232631,0.2801736676036515,3.11979272517213,0.019479425724581306,0.047117764747068136,0.00146847407959014,0.19364731371573093,1.341432025686672,4.420301292897201,0.08744177138627895,-0.004915833169052012,-0.0005341165920651211,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6069492873268205,1.4453905888960457,-3.1258988328514925,-0.06299350250385666,2.283927428927429,0.8650153209708451,1.6826685290495669,-3.11979272517213,4.808567361901059,4.808567361901059,4.969252898514055,0,0,-9.09085317815902e-05,-9.993268298836284e-05
+55527,1793079267734566308,15818825000000,1793079267728737462,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6762750345866135,-0.004969165212191074,0.09882175155033344,0.9999998537628846,-0.00041261421643880465,0.0003145596000428582,0.00012132122252184875,0.6761,-0.0046,0.09836080486517843,1.0,0.0,0.0,0.0,-0.6571836866714483,0.24931071093590118,3.1906289309092886,0.018092953346409604,0.046320337561341,0.001385228616487046,0.19462390626754578,1.3105690690189218,4.49113749863436,0.08605529900810725,-0.005713260354779147,-0.0006173620551682151,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6518207711687254,1.3662038226112994,-3.285637515452168,-0.04173644972365114,2.399739441157566,0.806395627038055,1.6826685290495669,-3.1906289309092886,4.968306044501735,4.968306044501735,5.082552898513791,0,0,-9.297927642678972e-05,-9.765417227492463e-05
+55659,1793079268834567324,15819925000000,1793079268832737343,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6762897732095632,-0.004972442429872862,0.09873422345127023,0.9999998410829958,-0.00042425091016768193,0.00033678958194928893,0.0001259396242848248,0.6761,-0.0046,0.09825202756916519,1.0,0.0,0.0,0.0,-0.6271795655472245,0.20627190728293443,3.2488841200430265,0.014025342219373418,0.04537192532868637,0.0012800187420393362,0.2246280273917695,1.267530265365955,4.549392687768098,0.08198768788107107,-0.0066616725874337765,-0.0007225719296159251,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.611687544809372,1.4603545887274103,-3.485581544025963,-0.07603983558296837,2.5234989154852028,0.8668500981579474,1.6826685290495669,-3.2488841200430265,5.16825007307553,5.16825007307553,5.192552898513535,0,0,-0.00010693058483527006,9.999976821462581e-05
+55800,1793079270009649753,15821100000000,1793079270008728732,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763003519449559,-0.004977745248201811,0.0986280945789755,0.9999998278319329,-0.0004393654345191665,0.00035475212927258906,0.00012995348873521154,0.6761,-0.0046,0.09812039148534661,1.0,0.0,0.0,0.0,-0.6253104229290287,0.15790690491369141,3.356600270826366,0.010961999713105838,0.04475712933902206,0.0011498511144086192,0.2264971700099654,1.219165262996712,4.657108838551437,0.07892434537480349,-0.007276468577098087,-0.0008527395572466419,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.543441502509756,1.5912185354134174,-3.498021265680149,-0.12151715780643765,2.514127226003242,0.9507955686662717,1.6826685290495669,-3.356600270826366,5.180689794729716,5.180689794729716,5.310052898513261,0,0,-0.00011317043128597349,-9.99984914581475e-05
+55932,1793079271109682072,15822200000000,1793079271104737689,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763135320788568,-0.004981887686281321,0.09852122949510547,0.9999998137923858,-0.00045192463246387633,0.00037616419063506043,0.0001346205207338357,0.6761,-0.0046,0.09799636300381488,1.0,0.0,0.0,0.0,-0.5972221678257038,0.10697785975487917,3.4265800525159893,0.007013578987752761,0.04344452343567806,0.00102788626097216,0.2545854251132903,1.1682362178378998,4.7270886202410605,0.07497592464945041,-0.008589074480442086,-0.0009747044106831012,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.573296502230464,1.3938730058837123,-3.523948439620186,-0.06548448904505737,2.553202578836437,0.8148461721484327,1.6826685290495669,-3.4265800525159893,5.206616968669753,5.206616968669753,5.4200528985130045,0,0,-0.00011446876399120865,-9.960941379916761e-05
+56071,1793079272267647953,15823358000000,1793079272264727985,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763287124535056,-0.004978378587750278,0.09840122005232063,0.9999998018501524,-0.00045496806324119823,0.0004028135002618915,0.00013597008523209657,0.6761,-0.0046,0.09784813683975659,1.0,0.0,0.0,0.0,-0.6045256157720011,0.07168961883785929,3.5052279272150404,0.005855541461856739,0.04344958688493371,0.0009524661638455627,0.2472819771669929,1.13294797692088,4.805736494940112,0.07381788712355439,-0.00858401103118644,-0.0010501245078096985,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5512968644264067,1.4195920734955483,-3.7708122774598163,-0.06760251601932275,2.700049633792368,0.836685167149499,1.6826685290495669,-3.5052279272150404,5.453480806509383,5.453480806509383,5.535852898512735,0,0,-0.00013638734138313324,9.719212520765125e-05
+56205,1793079273384728796,15824475000000,1793079273376727473,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.676341465585986,-0.004980786672793821,0.09826582521096619,0.9999998914382118,-8.885466423121788e-05,0.0004269133882529699,0.0001357064353787005,0.6761,-0.0046,0.09768618749397591,1.0,0.0,0.0,0.0,-0.6026204207301662,0.03498729444439541,3.565903141400433,0.0027889154440271374,0.04350102046617425,-0.0001585072611200093,0.24918717220882794,1.096245652527416,4.866411709125504,0.07075126110572479,-0.008532577449945896,-0.0021610979327752705,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5805324985797071,1.638765123404579,-3.776841132188134,-0.17960624518542814,2.723401545439644,0.8949511586183688,1.6826685290495669,-3.565903141400433,5.459509661237701,5.459509661237701,5.647552898512474,0,0,-0.00015442708818233365,-9.999999025923074e-05
+56339,1793079274501763688,15825592000000,1793079274500728248,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763575297758307,-0.004986812821706859,0.09812118549775199,0.9999998770028323,-0.00011485272197884881,0.0004511256805705557,0.0001439849195980942,0.6761,-0.0046,0.09751625504329667,1.0,0.0,0.0,0.0,-0.6013164744191121,-5.550382818153565e-05,3.6853482460937395,0.0007204503178713656,0.04351394277608136,-5.111670557885221e-05,0.25049111851988204,1.061202854254839,4.985856813818811,0.06868279597956901,-0.008519655140038787,-0.0020537073772341134,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.558234962940726,1.4710505124097375,-3.874899131511371,-0.0991211083634681,2.7798609478368266,0.831218562800084,1.6826685290495669,-3.6853482460937395,5.557567660560938,5.557567660560938,5.759252898512214,0,0,-0.00014222672301974904,-9.687500387845489e-05
+56466,1793079275559788287,15826650000000,1793079275552728055,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6763664459470579,-0.004987455161690183,0.09797343175735825,0.9999998659257842,-0.00014611748301263883,0.0004672000552449159,0.00014129779716657304,0.6761,-0.0046,0.09735644528463301,1.0,0.0,0.0,0.0,-0.5707439968030458,-0.04787771071086544,3.718904165457145,-0.002303955340972025,0.04153458826548335,0.00065794905437493,0.28106359613594833,1.0133806473721552,5.019412733182216,0.06565839032072562,-0.010499009650636798,-0.0013446416172803312,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.602380593959713,1.4436724701632717,-4.013142758770273,-0.05476312358661268,2.8855824625550364,0.8466840444656469,1.6826685290495669,-3.718904165457145,5.69581128781984,5.69581128781984,5.865052898511967,0,0,-0.0001577181361720178,-9.99413288501671e-05
+56596,1793079276642720229,15827733000000,1793079276640727296,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763807742394067,-0.004997000160991904,0.09782315653258981,0.9999998481585435,-0.00019069322412468975,0.0004913083308908225,0.00013182553792402406,0.6761,-0.0046,0.09717987225241441,1.0,0.0,0.0,0.0,-0.5136841200609231,-0.08025578185063753,3.7748887327947243,-0.005295344780186409,0.03854058338583457,0.0005397732142414572,0.338123472878071,0.9810025762323831,5.075397300519795,0.06266700088151124,-0.013493014530285579,-0.001462817457413804,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.4999832779113849,1.3706253131623714,-3.9699522922341797,-0.010565093516068299,2.8364924446665762,0.800116443472619,1.6826685290495669,-3.7748887327947243,5.6526208212837465,5.6526208212837465,5.973352898511715,0,0,-0.00016914190639347038,-9.999999025923074e-05
+56714,1793079277626837875,15828717000000,1793079277624727318,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763908189425454,-0.004991018889760066,0.09766480314856715,0.9999998356885609,-0.00020682009400318417,0.0005092657494511662,0.00013393864459441572,0.6761,-0.0046,0.09700440794311802,1.0,0.0,0.0,0.0,-0.5198782595793481,-0.11697409149789151,3.874093523539777,-0.007367322851379768,0.0385541607844115,0.001463149017363004,0.3319293333596461,0.9442842665851291,5.174602091264848,0.06059502281031788,-0.013479437131708648,-0.0005394416542922572,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5557093084126965,1.4593819374715091,-4.219762969801235,-0.038905359816272654,3.016636551460399,0.853630280842293,1.6826685290495669,-3.874093523539777,5.902431498850802,5.902431498850802,6.071752898511486,0,0,-0.00018188879010869042,-4.707282760663674e-05
+56826,1793079278559777950,15829650000000,1793079278556727534,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764043813752394,-0.004996838543917888,0.09750915628695073,0.9999998202056446,-0.00022721136960299147,0.0005283861546709903,0.00014217808407141456,0.6761,-0.0046,0.09683104093731676,1.0,0.0,0.0,0.0,-0.5103736889681849,-0.17714037763548962,3.9336824767781504,-0.010417965682798902,0.03758944514763653,0.0013658599463530507,0.34143390397080925,0.884117980447531,5.234191044503222,0.057544379978898746,-0.014444152768483617,-0.0006367307253022104,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5527727450070927,1.3443053003136685,-4.348215291247605,0.007713047494959437,3.10566424086896,0.780287283547171,1.6826685290495669,-3.9336824767781504,6.030883820297172,6.030883820297172,6.165052898511268,0,0,-0.00018778981235726,9.939432196593429e-05
+56930,1793079279426905161,15830517000000,1793079279424727646,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6764148477786891,-0.005001604318054001,0.09736280040905021,0.9999998055989783,-0.0002467522380507292,0.0005453962221453027,0.0001479904165174915,0.6761,-0.0046,0.09666568187496012,1.0,0.0,0.0,0.0,-0.48274009201642065,-0.2204338046324288,3.9541776250648804,-0.0136670755550201,0.03663208787583811,0.0013000168155987805,0.36906750092257345,0.8408245534505918,5.2546861927899515,0.05429527010667755,-0.015401510040282035,-0.0007025738560564808,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5712801230135156,1.3693537583867175,-4.356811120165837,0.0077846989149317905,3.1277930937819884,0.7924768951267089,1.6826685290495669,-3.9541776250648804,6.039479649215403,6.039479649215403,6.251752898511066,0,0,-0.00019973077084875358,-9.999999025923074e-05
+57046,1793079280392934670,15831483000000,1793079280392727946,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764242698278915,-0.004998985200207438,0.09717768175736649,0.9999997874698009,-0.0002779380798994403,0.0005661750058295722,0.00013674612754838826,0.6761,-0.0046,0.09645954769972309,1.0,0.0,0.0,0.0,-0.42525751155829794,-0.24380985529287125,4.0316110623596755,-0.01538684830868206,0.03195536962826475,0.0011486936559316364,0.42655008138069617,0.8174485027901494,5.332119630084747,0.05257549735301559,-0.020078228287855396,-0.0008538970157236249,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.538606567295891,1.283527097177408,-4.4783591272889085,0.04472416922960852,3.2088321987652346,0.7331477944591442,1.6826685290495669,-4.0316110623596755,6.161027656338476,6.161027656338476,6.348352898510841,0,0,-0.00022347796576508086,-1.3255806482397948e-05
+57151,1793079281267920833,15832358000000,1793079281264727814,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6764387689476861,-0.004997075091130408,0.09699708903783734,0.9999998061720796,-9.456414421106496e-05,0.0005882967774651992,0.00015512315111669306,0.6761,-0.0046,0.09625526926887248,1.0,0.0,0.0,0.0,-0.3425221565437184,-0.21486425087375216,4.123159800082993,-0.013224304213686734,0.02694308268326111,3.5372674746318375e-05,0.5092854363952757,0.8463941072092684,5.423668367808064,0.054738041448010914,-0.025090515232859035,-0.001967217996908943,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5559812426596202,1.6716397567938837,-4.526596688482259,-0.10590814664827936,3.262425908576753,0.9019304625799108,1.6826685290495669,-4.123159800082993,6.209265217531826,6.209265217531826,6.435852898510637,0,0,-0.00024246968230032107,-9.999999025923074e-05
+57261,1793079282184885397,15833275000000,1793079282180727853,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764562222325821,-0.0049934235759887795,0.09679032453684883,0.9999997851126491,-0.0001349970756972596,0.0006150423207567526,0.0001572140367203274,0.6761,-0.0046,0.09602214588045946,1.0,0.0,0.0,0.0,-0.3115711775600628,-0.19939614657950977,4.173859761198281,-0.011801251816721557,0.024404071688279464,0.0009821247928984175,0.5402364153789313,0.8618622115035108,5.474368328923352,0.05616109384497609,-0.027629526227840682,-0.0010204658787568437,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6141416676147684,1.4332351067245328,-4.613359398880761,0.032154432259172624,3.3318992485094667,0.7973629144453424,1.6826685290495669,-4.173859761198281,6.296027927930329,6.296027927930329,6.527552898510423,0,0,-0.00026469705082940296,-5.94610058269325e-06
+57361,1793079283018055210,15834108000000,1793079283016728924,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6764592768446642,-0.004992840878715808,0.09657821488680986,0.9999997691149017,-0.0001809515468833616,0.0006304752245734698,0.00015156033917514998,0.6761,-0.0046,0.09579875692534956,1.0,0.0,0.0,0.0,-0.28527700063213535,-0.2568415107916342,4.243836960353238,-0.014976633579245918,0.02241165009176413,0.0018768192896999288,0.5665305923068588,0.8044168472913864,5.544345528078309,0.05298571208245173,-0.029621947824356017,-0.00012577138195533246,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5406147486764679,1.3594854055276688,-4.68857932370449,0.09403222639877092,3.367808815812756,0.800831674339961,1.6826685290495669,-4.243836960353238,6.371247852754056,6.371247852754056,6.610852898510229,0,0,-0.00026925824708343,-9.989343660444234e-05
+57459,1793079283835012090,15834925000000,1793079283828737835,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6764732010938987,-0.004997432780577118,0.09636484230884372,0.9999997567238789,-0.00018005279447727614,0.0006443554733002756,0.00017430451092844765,0.6761,-0.0046,0.09557633263193796,1.0,0.0,0.0,0.0,-0.2938358539163036,-0.2805634593874645,4.256852642703071,-0.016372152037291393,0.023433734303827402,0.0018724791613042757,0.5579717390226905,0.7806948986955561,5.557361210428142,0.051590193624406255,-0.028599863612292744,-0.00013011151035098554,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6695940893404781,1.5313716085633549,-4.730840869865101,0.05075161878518745,3.4380672931226597,0.9130219127920315,1.6826685290495669,-4.256852642703071,6.413509398914668,6.413509398914668,6.692552898510039,0,0,-0.0002771914515656545,-9.999944902550623e-05
+57551,1793079284603003210,15835692000000,1793079284596727933,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6764847266004317,-0.004993103375844273,0.09615757518278091,0.9999997355884344,-0.00023787367080187256,0.0006657596801749378,0.00014298982594940286,0.6761,-0.0046,0.09535187834531883,1.0,0.0,0.0,0.0,-0.2388275052217551,-0.2589654108024487,4.314978018575458,-0.014136125123775309,0.018942490356575158,0.0017890047518571944,0.612980087717239,0.8022929472805719,5.615486586300529,0.05382622053792234,-0.03309110755954499,-0.00021358591979806684,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.633161203409332,1.427313872765388,-4.774558387435746,0.13235969356581695,3.458414218846994,0.8433621997364356,1.6826685290495669,-4.314978018575458,6.457226916485313,6.457226916485313,6.76925289850986,0,0,-0.0003079562182859138,-9.999999025923074e-05
+57642,1793079285359995720,15836450000000,1793079285352727573,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764933686841869,-0.004997156491227829,0.09593042291247526,0.9999997223865131,-0.0002376712800557415,0.0006806086631720199,0.0001641766454408749,0.6761,-0.0046,0.09510718317098621,1.0,0.0,0.0,0.0,-0.26440716074611814,-0.3511512122274092,4.3913683352962,-0.01902405745496971,0.020432059157839015,0.0016772455123726633,0.587400432192876,0.7101071458556114,5.691876903021271,0.04893828820672794,-0.03160153875828113,-0.00032534515928259785,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.624985948566612,1.3878839438522108,-4.83064433079941,0.11374378571457473,3.508365213981478,0.8208900623406198,1.6826685290495669,-4.3913683352962,6.513312859848977,6.513312859848977,6.8450528985096835,0,0,-0.0003369922378746156,-9.824170229955626e-05
+57728,1793079286077057007,15837167000000,1793079286072728536,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764996314869789,-0.005001369581174475,0.09570095619070416,0.9999997145040012,-0.0002187696842180898,0.0006919119767072098,0.00018929453754121202,0.6761,-0.0046,0.09485994341738575,1.0,0.0,0.0,0.0,-0.23852439632103484,-0.4405076954262178,4.465185519033491,-0.02430201408437261,0.017882868296642075,0.0015314092226356446,0.6132831966179593,0.6207506626568028,5.765694086758562,0.04366033157732504,-0.03415072961947807,-0.0004711814490196166,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.553111044755428,1.381789500727066,-4.963413014166887,0.11851966721917526,3.597434094304165,0.8179830395491681,1.6826685290495669,-4.465185519033491,6.646081543216454,6.646081543216454,6.916752898509516,0,0,-0.0003512668282814894,7.4943047627346e-05
+57807,1793079286735105152,15837825000000,1793079286732727444,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6765051836716224,-0.005001589870068121,0.09547388479504051,0.9999997197363725,-0.00016198928635794576,0.0007090899338378607,0.00015139675545760496,0.6761,-0.0046,0.09462250627556666,1.0,0.0,0.0,0.0,-0.1433856047643095,-0.3977187249085824,4.502292935961309,-0.02214819501289409,0.011370825175187137,0.0014487362983440846,0.7084219881746846,0.6635396331744382,5.80280150368638,0.04581415064880356,-0.04066277274093301,-0.0005538543733111766,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.623614697924516,1.3268119550749382,-4.9191140043531005,0.14255482686388435,3.6048035705839676,0.7556823119851778,1.6826685290495669,-4.502292935961309,6.601782533402668,6.601782533402668,6.982552898509363,0,0,-0.00037016394500574554,-9.999999025923074e-05
+57884,1793079287377132715,15838467000000,1793079287376727592,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6765219852052367,-0.005005042613311983,0.0952416687002287,0.9999997062664955,-0.0001569751331582551,0.0007213687178850254,0.0001841080315163665,0.6761,-0.0046,0.09437853438482878,1.0,0.0,0.0,0.0,-0.24240732026947454,-0.4435734389184183,4.5104787837931175,-0.024278572369262306,0.017062765862304465,0.0025013740197809367,0.6094002726695196,0.6176849191646023,5.810987351518189,0.04368377329243534,-0.03497083205381568,0.0004987833481256754,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6862371372277363,1.3274791133660513,-4.997809954106163,0.13804503488322067,3.664243669850614,0.7786309131701782,1.6826685290495669,-4.5104787837931175,6.68047848315573,6.68047848315573,7.046752898509213,0,0,-0.0003933559176397524,-9.999999025923074e-05
+57956,1793079287977087179,15839067000000,1793079287976727744,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6765264988955186,-0.005006455885623741,0.09500321066450243,0.9999996956525301,-0.00015608505900501825,0.0007280203400179008,0.00021391949465568989,0.6761,-0.0046,0.09413477720667308,1.0,0.0,0.0,0.0,-0.21851863668601146,-0.5209025320654964,4.550241569974013,-0.02830013068545225,0.015510174280291972,0.0023768126186659963,0.6332889562529826,0.5403558260175242,5.850750137699084,0.0396622149762454,-0.036523423635828174,0.000374221947010735,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5847185235562062,1.2859646983577273,-5.006449631837895,0.154326668900692,3.6595980548017817,0.7505095314628297,1.6826685290495669,-4.550241569974013,6.689118160887462,6.689118160887462,7.1067528985090735,0,0,-0.0004200352108033308,-9.262967756574198e-05
+58017,1793079288484166767,15839574000000,1793079288480739290,DOWN_SETTLE,7,0.0708,0.07080180197954178,0.6765272828883122,-0.005006273914534018,0.09478535020387185,0.9999996805877649,-0.00024485519087180614,0.0007362265521163836,0.00016817738105069494,0.6761,-0.0046,0.09391556763353263,1.0,0.0,0.0,0.0,-0.12592442661161363,-0.5099351696255844,4.5804920878392625,-0.02914213730120996,0.011350457031446916,0.0023091257530105363,0.7258831663273805,0.5513231884574362,5.881000655564334,0.03882020836048769,-0.04068314088467323,0.00030653508135527487,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6179848851682002,1.3811247116999164,-5.0502692695684415,0.1498614777891968,3.7185283577132773,0.8245549183830169,1.6826685290495669,-4.5804920878392625,6.732937798618009,0.0,0.0,0,0,-0.00043823985159180385,0.0007500000791297086
+58124,1793079289370086041,15840460000000,1793079289364728612,DOWN_PEAK_HOLD,7,0.0708,0.07080114632844925,0.6764890902216077,-0.005003491044459257,0.09461816301910168,0.9999997291451398,-0.00024068732977859127,0.000665303839113475,0.000180535099560778,0.6761,-0.0046,0.09386310404405035,1.0,0.0,0.0,0.0,0.09815800514413453,-0.7848978256928749,3.684070298756585,-0.045971363246605904,-0.005216382793189804,-0.0003528835056837705,0.9499655980831286,0.27636053239014563,4.984578866481656,0.02199098241509175,-0.05724998070930995,-0.0023554741773390317,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.0698208639775415,1.3098978377488215,-3.9923478555609244,0.1529864820476147,2.9545380349784325,0.7709094225905699,1.6826685290495669,-3.684070298756585,5.675016384610491,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_07/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,1793079225488767304,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.481242573e-08,-1.119236228e-09,-3.921103442e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027459799e-01,-1.135243950e-04,8.303254038e-01
+1,1.133333333e+00,DOWN_FORCE_DETACH,1793079226618658477,1.453245889e-06,1.852742790e-06,2.787355617e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.939731299e-07,-6.357298422e-08,-5.164498673e-08,7.019570511e-01,-2.013231179e-05,8.601461733e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027466591e-01,-1.135868487e-04,8.303253526e-01
+2,2.366666667e+00,DOWN_FORCE_DETACH,1793079227847235737,6.344772594e-06,4.422796270e-06,4.161364764e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.014577302e-06,-9.297765627e-08,-8.931318163e-08,7.019619426e-01,-1.756225831e-05,8.601475473e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027469797e-01,-1.136162534e-04,8.303253149e-01
+3,3.633333333e+00,DOWN_FORCE_DETACH,1793079229140927782,1.261370694e-05,-4.200678239e-07,-3.192441781e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.156905558e-06,-1.092671001e-07,-1.101229199e-07,7.019682116e-01,-2.240512240e-05,8.601430667e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027471220e-01,-1.136325428e-04,8.303252941e-01
+4,4.950000000e+00,DOWN_FORCE_DETACH,1793079230435199212,1.572592940e-05,2.443605232e-06,-5.378229432e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.222141099e-06,-1.161278720e-07,-1.183974740e-07,7.019713238e-01,-1.954144935e-05,8.601380077e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027471873e-01,-1.136394036e-04,8.303252858e-01
+5,6.100000000e+00,DOWN_FORCE_DETACH,1793079231582081822,2.940187476e-05,-2.223588390e-07,-8.559700825e-06,1.931804705e-05,2.089035957e-06,-4.274810054e-06,2.141918461e-05,1.759222799e-06,-4.171798433e-06,7.019849997e-01,-2.220741342e-05,8.601348262e-01,7.019749159e-01,-1.989601862e-05,8.601391111e-01,7.027673843e-01,-1.117640529e-04,8.303212324e-01
+6,7.133333333e+00,DOWN_FORCE_DETACH,1793079232630273916,6.458758462e-05,-5.765931938e-06,-2.259892210e-05,6.062817845e-05,-6.812028953e-06,-1.143050923e-05,6.508097167e-05,-6.483020022e-06,-1.094301062e-05,7.020201855e-01,-2.775098652e-05,8.601207870e-01,7.020162260e-01,-2.879708353e-05,8.601319554e-01,7.028110461e-01,-1.200062957e-04,8.303144612e-01
+7,8.400000000e+00,DOWN_FORCE_DETACH,1793079233891638829,8.271613360e-05,-1.073163069e-05,-4.995446997e-05,7.454982815e-05,-1.157232595e-05,-5.113025271e-05,8.013452408e-05,-1.083863567e-05,-4.977953289e-05,7.020383140e-01,-3.271668527e-05,8.600934314e-01,7.020301477e-01,-3.355738053e-05,8.600922557e-01,7.028260996e-01,-1.243619114e-04,8.302756247e-01
+8,9.633333333e+00,DOWN_FORCE_DETACH,1793079235120598608,8.378253971e-05,-8.226449618e-06,-5.804106218e-05,7.454982815e-05,-1.157232595e-05,-5.113025271e-05,8.073565088e-05,-1.087076689e-05,-5.046827684e-05,7.020393804e-01,-3.021150420e-05,8.600853449e-01,7.020301477e-01,-3.355738053e-05,8.600922557e-01,7.028267008e-01,-1.243940426e-04,8.302749360e-01
+9,1.075000000e+01,DOWN_FORCE_DETACH,1793079236266415776,8.607634511e-05,-5.896522146e-06,-6.119677597e-05,7.454982815e-05,-1.157232595e-05,-5.113025271e-05,8.095415518e-05,-1.088284343e-05,-5.073229942e-05,7.020416742e-01,-2.788157673e-05,8.600821891e-01,7.020301477e-01,-3.355738053e-05,8.600922557e-01,7.028269193e-01,-1.244061191e-04,8.302746719e-01
+10,1.201666667e+01,DOWN_FORCE_DETACH,1793079237512211227,9.343238494e-05,-5.446426272e-06,-7.457901871e-05,8.557481802e-05,-5.709841650e-06,-6.757893050e-05,9.233206276e-05,-5.604483002e-06,-6.684183077e-05,7.020490303e-01,-2.743148085e-05,8.600688069e-01,7.020411727e-01,-2.769489623e-05,8.600758070e-01,7.028382972e-01,-1.191277587e-04,8.302585624e-01
+11,1.311666667e+01,DOWN_FORCE_DETACH,1793079238592430069,1.071200077e-04,-1.072578046e-05,-8.471251945e-05,1.000645546e-04,-1.304190762e-05,-7.994372698e-05,1.075956665e-04,-1.231889571e-05,-7.909213822e-05,7.020627179e-01,-3.271083504e-05,8.600586734e-01,7.020556624e-01,-3.502696220e-05,8.600634422e-01,7.028535608e-01,-1.258421714e-04,8.302463121e-01
+12,1.431666667e+01,DOWN_FORCE_DETACH,1793079239804509277,1.121531820e-04,-1.135256333e-05,-1.004069178e-04,1.104217436e-04,-5.543492910e-06,-9.627820839e-05,1.185434603e-04,-5.547109529e-06,-9.521940239e-05,7.020677510e-01,-3.333761791e-05,8.600429790e-01,7.020660196e-01,-2.752854749e-05,8.600471077e-01,7.028645086e-01,-1.190703852e-04,8.302301848e-01
+13,1.555000000e+01,DOWN_FORCE_DETACH,1793079241033845334,1.219571294e-04,-1.168149382e-05,-1.070476112e-04,1.104217436e-04,-5.543492910e-06,-9.627820839e-05,1.189332010e-04,-5.561691797e-06,-9.565179472e-05,7.020775550e-01,-3.366654840e-05,8.600363383e-01,7.020660196e-01,-2.752854749e-05,8.600471077e-01,7.028648983e-01,-1.190849675e-04,8.302297524e-01
+14,1.670000000e+01,DOWN_FORCE_DETACH,1793079242163382585,1.269104109e-04,-1.316457856e-05,-1.257847884e-04,1.165233238e-04,-1.198874615e-05,-1.160439401e-04,1.252616543e-04,-1.142083918e-05,-1.152371856e-04,7.020825083e-01,-3.514963314e-05,8.600176011e-01,7.020721212e-01,-3.397380073e-05,8.600273420e-01,7.028712268e-01,-1.249441149e-04,8.302101670e-01
+15,1.783333333e+01,DOWN_FORCE_DETACH,1793079243277533594,1.337048118e-04,-1.409951106e-05,-1.339966175e-04,1.325169012e-04,-1.379756780e-05,-1.277414485e-04,1.420270274e-04,-1.312504199e-05,-1.268148504e-04,7.020893027e-01,-3.608456564e-05,8.600093893e-01,7.020881148e-01,-3.578262238e-05,8.600156445e-01,7.028879921e-01,-1.266483177e-04,8.301985894e-01
+16,1.913333333e+01,DOWN_FORCE_DETACH,1793079244555004956,1.383412892e-04,-1.460770508e-05,-1.555298481e-04,1.335224529e-04,-1.771924554e-05,-1.480827298e-04,1.432434159e-04,-1.668883042e-05,-1.469421691e-04,7.020939392e-01,-3.659275966e-05,8.599878561e-01,7.020891203e-01,-3.970430012e-05,8.599953032e-01,7.028892085e-01,-1.302121061e-04,8.301784621e-01
+17,2.025000000e+01,DOWN_FORCE_DETACH,1793079245668745716,1.445577032e-04,-1.492506107e-05,-1.686729601e-04,1.421350348e-04,-1.578765279e-05,-1.659202902e-04,1.521155967e-04,-1.496378885e-05,-1.645405448e-04,7.021001556e-01,-3.691011565e-05,8.599747130e-01,7.020977329e-01,-3.777270737e-05,8.599774656e-01,7.028980807e-01,-1.284870646e-04,8.301608637e-01
+18,2.165000000e+01,DOWN_FORCE_DETACH,1793079247061516285,1.570542906e-04,-1.860029898e-05,-1.799061942e-04,1.514874370e-04,-2.002004052e-05,-1.829773865e-04,1.618377254e-04,-1.883800778e-05,-1.815554367e-04,7.021126522e-01,-4.058535356e-05,8.599634797e-01,7.021070853e-01,-4.200509510e-05,8.599604085e-01,7.029078028e-01,-1.323612835e-04,8.301438488e-01
+19,2.285000000e+01,DOWN_FORCE_DETACH,1793079248257311587,1.604682345e-04,-1.836696882e-05,-2.033715708e-04,1.569564086e-04,-2.210390048e-05,-2.036429692e-04,1.676195795e-04,-2.072372384e-05,-2.019590246e-04,7.021160661e-01,-4.035202340e-05,8.599400143e-01,7.021125543e-01,-4.408895506e-05,8.599397429e-01,7.029135847e-01,-1.342469996e-04,8.301234452e-01
+20,2.396666667e+01,DOWN_FORCE_DETACH,1793079249388168194,1.680420136e-04,-2.235918246e-05,-2.189954591e-04,1.569564086e-04,-2.210390048e-05,-2.036429692e-04,1.679083295e-04,-2.073346830e-05,-2.026733333e-04,7.021236399e-01,-4.434423703e-05,8.599243905e-01,7.021125543e-01,-4.408895506e-05,8.599397429e-01,7.029138734e-01,-1.342567440e-04,8.301227309e-01
+21,2.531666667e+01,DOWN_FORCE_DETACH,1793079250714267863,1.760286861e-04,-2.293730706e-05,-2.362531350e-04,1.732508784e-04,-1.733941919e-05,-2.403418165e-04,1.846337109e-04,-1.644040933e-05,-2.384127684e-04,7.021316266e-01,-4.492236164e-05,8.599071328e-01,7.021288487e-01,-3.932447377e-05,8.599030441e-01,7.029305988e-01,-1.299636850e-04,8.300869915e-01
+22,2.655000000e+01,DOWN_FORCE_DETACH,1793079251959308889,1.856650587e-04,-2.022423661e-05,-2.588980360e-04,1.825684575e-04,-2.369748224e-05,-2.573385032e-04,1.944213956e-04,-2.223984349e-05,-2.557085805e-04,7.021412629e-01,-4.220929119e-05,8.598844879e-01,7.021381663e-01,-4.568253682e-05,8.598860474e-01,7.029403865e-01,-1.357631192e-04,8.300696957e-01
+23,2.783333333e+01,DOWN_FORCE_DETACH,1793079253236982780,1.928547362e-04,-2.048043317e-05,-2.871199495e-04,1.883476253e-04,-2.367744701e-05,-2.790170445e-04,2.005862582e-04,-2.230448610e-05,-2.775236569e-04,7.021484526e-01,-4.246548775e-05,8.598562660e-01,7.021439455e-01,-4.566250159e-05,8.598643689e-01,7.029465514e-01,-1.358277618e-04,8.300478806e-01
+24,2.903333333e+01,DOWN_FORCE_DETACH,1793079254432507754,2.023565880e-04,-2.952857523e-05,-3.117623895e-04,1.945909462e-04,-2.499211734e-05,-2.992009974e-04,2.071709330e-04,-2.349551877e-05,-2.978818470e-04,7.021579545e-01,-5.151362981e-05,8.598316235e-01,7.021501888e-01,-4.697717192e-05,8.598441849e-01,7.029531360e-01,-1.370187945e-04,8.300275224e-01
+25,3.015000000e+01,DOWN_FORCE_DETACH,1793079255565142553,2.084251341e-04,-2.702741258e-05,-3.512024187e-04,2.060173550e-04,-2.884848490e-05,-3.387984430e-04,2.189073790e-04,-2.701749219e-05,-3.369757945e-04,7.021640230e-01,-4.901246716e-05,8.597921835e-01,7.021616152e-01,-5.083353948e-05,8.598045875e-01,7.029648725e-01,-1.405407679e-04,8.299884284e-01
+26,3.136666667e+01,DOWN_FORCE_DETACH,1793079256791216800,2.190237708e-04,-3.256186758e-05,-3.908890888e-04,2.148181881e-04,-2.951241371e-05,-3.800873828e-04,2.278791576e-04,-2.770852904e-05,-3.780065440e-04,7.021746216e-01,-5.454692216e-05,8.597524968e-01,7.021704161e-01,-5.149746829e-05,8.597632985e-01,7.029738443e-01,-1.412318048e-04,8.299473977e-01
+27,3.266666667e+01,DOWN_FORCE_DETACH,1793079258069147585,2.300774770e-04,-3.632667462e-05,-4.357526201e-04,2.246660662e-04,-3.309381191e-05,-4.205924721e-04,2.380642925e-04,-3.101068950e-05,-4.186433831e-04,7.021856753e-01,-5.831172920e-05,8.597076333e-01,7.021802639e-01,-5.507886649e-05,8.597227934e-01,7.029840294e-01,-1.445339652e-04,8.299067608e-01
+28,3.380000000e+01,DOWN_FORCE_DETACH,1793079259216250977,2.411031963e-04,-3.872461251e-05,-4.795429897e-04,2.325871301e-04,-3.579534105e-05,-4.634983083e-04,2.462107150e-04,-3.350298224e-05,-4.613695835e-04,7.021967011e-01,-6.070966709e-05,8.596638429e-01,7.021881850e-01,-5.778039563e-05,8.596798876e-01,7.029921758e-01,-1.470262580e-04,8.298640346e-01
+29,3.500000000e+01,DOWN_FORCE_DETACH,1793079260411803696,2.524968226e-04,-3.865404180e-05,-5.245018351e-04,2.474749798e-04,-3.667145658e-05,-5.223447359e-04,2.613292045e-04,-3.434487029e-05,-5.195749718e-04,7.022080947e-01,-6.063909638e-05,8.596188841e-01,7.022030728e-01,-5.865651116e-05,8.596210412e-01,7.030072943e-01,-1.478681460e-04,8.298058293e-01
+30,3.633333333e+01,DOWN_FORCE_DETACH,1793079261738665984,2.658055343e-04,-4.390018213e-05,-5.863412958e-04,2.616208452e-04,-4.344825717e-05,-5.828074838e-04,2.758453186e-04,-4.059184118e-05,-5.796289400e-04,7.022214034e-01,-6.588523671e-05,8.595570446e-01,7.022172187e-01,-6.543331175e-05,8.595605784e-01,7.030218104e-01,-1.541151169e-04,8.297457753e-01
+31,3.761666667e+01,DOWN_FORCE_DETACH,1793079263048759099,2.787424108e-04,-4.946939340e-05,-6.601170512e-04,2.718293623e-04,-4.483607097e-05,-6.452694874e-04,2.861800892e-04,-4.184693194e-05,-6.420045170e-04,7.022343403e-01,-7.145444798e-05,8.594832689e-01,7.022274272e-01,-6.682112555e-05,8.594981164e-01,7.030321452e-01,-1.553702077e-04,8.296833997e-01
+32,3.891666667e+01,DOWN_FORCE_DETACH,1793079264343585741,2.899699432e-04,-4.735570765e-05,-7.297193555e-04,2.877924203e-04,-4.620159826e-05,-7.258891412e-04,3.023097140e-04,-4.313885737e-05,-7.219476631e-04,7.022455678e-01,-6.934076223e-05,8.594136666e-01,7.022433903e-01,-6.818665284e-05,8.594174968e-01,7.030482748e-01,-1.566621331e-04,8.296034566e-01
+33,4.015000000e+01,DOWN_FORCE_DETACH,1793079265571343198,3.032824512e-04,-5.737603748e-05,-8.075029584e-04,3.004528516e-04,-5.106451824e-05,-7.897652923e-04,3.151187571e-04,-4.759733912e-05,-7.859802927e-04,7.022588803e-01,-7.936109206e-05,8.593358830e-01,7.022560507e-01,-7.304957282e-05,8.593536206e-01,7.030610839e-01,-1.611206148e-04,8.295394239e-01
+34,4.120000000e+01,DOWN_FORCE_DETACH,1793079266603788709,3.155740852e-04,-4.742307642e-05,-8.866177719e-04,3.137071800e-04,-5.472103736e-05,-8.685539273e-04,3.283443001e-04,-5.101717280e-05,-8.643308920e-04,7.022711720e-01,-6.940813100e-05,8.592567681e-01,7.022693050e-01,-7.670609194e-05,8.592748320e-01,7.030743094e-01,-1.645404485e-04,8.294610733e-01
+35,4.226666667e+01,DOWN_FORCE_DETACH,1793079267733271129,3.258245395e-04,-5.668391381e-05,-9.661307012e-04,3.246912696e-04,-5.349326858e-05,-9.486733844e-04,3.392914093e-04,-4.995287025e-05,-9.442527982e-04,7.022814224e-01,-7.866896839e-05,8.591772552e-01,7.022802891e-01,-7.547832316e-05,8.591947125e-01,7.030852565e-01,-1.634761460e-04,8.293811514e-01
+36,4.338333333e+01,DOWN_FORCE_DETACH,1793079268831011116,3.397913282e-04,-5.953069881e-05,-1.052638615e-03,3.379752050e-04,-5.825094020e-05,-1.048169706e-03,3.524730209e-04,-5.434754400e-05,-1.043001002e-03,7.022953892e-01,-8.151575339e-05,8.590907473e-01,7.022935731e-01,-8.023599478e-05,8.590952162e-01,7.030984381e-01,-1.678708197e-04,8.292824032e-01
+37,4.456666667e+01,DOWN_FORCE_DETACH,1793079270010670417,3.538357452e-04,-6.261974025e-05,-1.157965575e-03,3.518184123e-04,-6.094401913e-05,-1.155658904e-03,3.661472272e-04,-5.682733003e-05,-1.149816777e-03,7.023094336e-01,-8.460479483e-05,8.589854203e-01,7.023074163e-01,-8.292907370e-05,8.589877270e-01,7.031121123e-01,-1.703506057e-04,8.291755875e-01
+38,4.566666667e+01,DOWN_FORCE_DETACH,1793079271107996395,3.644080667e-04,-6.031267301e-05,-1.266615475e-03,3.610026064e-04,-6.565055117e-05,-1.250470163e-03,3.751992575e-04,-6.111096282e-05,-1.244766098e-03,7.023200059e-01,-8.229772759e-05,8.588767704e-01,7.023166005e-01,-8.763560575e-05,8.588929158e-01,7.031211644e-01,-1.746342385e-04,8.290806381e-01
+39,4.673333333e+01,DOWN_FORCE_DETACH,1793079272271485498,3.791449988e-04,-6.591140720e-05,-1.387587748e-03,3.769772673e-04,-6.812554791e-05,-1.375604291e-03,3.907509403e-04,-6.345480780e-05,-1.368935665e-03,7.023347429e-01,-8.789646178e-05,8.587557982e-01,7.023325751e-01,-9.011060249e-05,8.587677816e-01,7.031367161e-01,-1.769780835e-04,8.289564686e-01
+40,4.783333333e+01,DOWN_FORCE_DETACH,1793079273384787549,3.947952745e-04,-7.258081631e-05,-1.519596774e-03,3.926256177e-04,-6.911389660e-05,-1.508917876e-03,4.060509821e-04,-6.443511083e-05,-1.501575022e-03,7.023503931e-01,-9.456587089e-05,8.586237891e-01,7.023482235e-01,-9.109895118e-05,8.586344680e-01,7.031520161e-01,-1.779583865e-04,8.288238292e-01
+41,4.891666667e+01,DOWN_FORCE_DETACH,1793079274501115567,4.060278132e-04,-7.779450662e-05,-1.670075985e-03,4.080400892e-04,-7.619339861e-05,-1.664966205e-03,4.208290627e-04,-7.099043426e-05,-1.656374785e-03,7.023616257e-01,-9.977956120e-05,8.584733099e-01,7.023636380e-01,-9.817845319e-05,8.584784197e-01,7.031667942e-01,-1.845137100e-04,8.286690294e-01
+42,4.998333333e+01,DOWN_FORCE_DETACH,1793079275563657372,4.188924051e-04,-7.855480220e-05,-1.811623512e-03,4.164514426e-04,-7.642330552e-05,-1.813727230e-03,4.283823091e-04,-7.116067235e-05,-1.804681050e-03,7.023744903e-01,-1.005398568e-04,8.583317624e-01,7.023720493e-01,-9.840836010e-05,8.583296587e-01,7.031743474e-01,-1.846839481e-04,8.285207232e-01
+43,5.103333333e+01,DOWN_FORCE_DETACH,1793079276644670682,4.319609872e-04,-8.429419764e-05,-1.965068088e-03,4.289643390e-04,-7.923206050e-05,-1.962398370e-03,4.401285532e-04,-7.384290542e-05,-1.953313967e-03,7.023875589e-01,-1.062792522e-04,8.581783178e-01,7.023845622e-01,-1.012171151e-04,8.581809875e-01,7.031860937e-01,-1.873661811e-04,8.283720903e-01
+44,5.200000000e+01,DOWN_FORCE_DETACH,1793079277628073811,4.418317133e-04,-7.868857989e-05,-2.123883689e-03,4.415244787e-04,-8.394928610e-05,-2.112023415e-03,4.517774308e-04,-7.818344775e-05,-2.102707843e-03,7.023974296e-01,-1.006736345e-04,8.580195022e-01,7.023971223e-01,-1.059343407e-04,8.580313625e-01,7.031977425e-01,-1.917067235e-04,8.282226964e-01
+45,5.295000000e+01,DOWN_FORCE_DETACH,1793079278561648911,4.585254719e-04,-8.787018684e-05,-2.273659074e-03,4.545367268e-04,-8.463809301e-05,-2.264986963e-03,4.638607053e-04,-7.892960355e-05,-2.255402617e-03,7.024141233e-01,-1.098552414e-04,8.578697268e-01,7.024101346e-01,-1.066231476e-04,8.578783990e-01,7.032098258e-01,-1.924528793e-04,8.280700016e-01
+46,5.383333333e+01,DOWN_FORCE_DETACH,1793079279429330874,4.634697090e-04,-8.282382677e-05,-2.428547477e-03,4.632489303e-04,-8.276529184e-05,-2.429019010e-03,4.713350236e-04,-7.725682396e-05,-2.418446792e-03,7.024190676e-01,-1.048088813e-04,8.577148384e-01,7.024188468e-01,-1.047503464e-04,8.577143669e-01,7.032173001e-01,-1.907800997e-04,8.279069574e-01
+47,5.478333333e+01,DOWN_FORCE_DETACH,1793079280395792489,4.766042897e-04,-8.672671335e-05,-2.610452074e-03,4.751086300e-04,-8.661316513e-05,-2.598578362e-03,4.820371491e-04,-8.068818389e-05,-2.587836588e-03,7.024322022e-01,-1.087117679e-04,8.575329338e-01,7.024307065e-01,-1.085982197e-04,8.575448076e-01,7.032280023e-01,-1.942114596e-04,8.277375676e-01
+48,5.565000000e+01,DOWN_FORCE_DETACH,1793079281264193429,4.897374241e-04,-8.116194012e-05,-2.791222577e-03,4.886357884e-04,-7.822437306e-05,-2.780298817e-03,4.941576189e-04,-7.293614538e-05,-2.768816270e-03,7.024453353e-01,-1.031469947e-04,8.573521633e-01,7.024442337e-01,-1.002094276e-04,8.573630871e-01,7.032401227e-01,-1.864594211e-04,8.275565880e-01
+49,5.656666667e+01,DOWN_FORCE_DETACH,1793079282182058748,5.040113727e-04,-7.829954164e-05,-3.002278110e-03,5.038531859e-04,-7.837466186e-05,-3.002104363e-03,5.079184326e-04,-7.323345381e-05,-2.989246258e-03,7.024596092e-01,-1.002845962e-04,8.571411078e-01,7.024594511e-01,-1.003597164e-04,8.571412816e-01,7.032538835e-01,-1.867567295e-04,8.273361580e-01
+50,5.741666667e+01,DOWN_FORCE_DETACH,1793079283017258525,5.108361066e-04,-8.124536509e-05,-3.209166264e-03,5.108950269e-04,-8.128665813e-05,-3.193717181e-03,5.135897242e-04,-7.605346780e-05,-3.180900813e-03,7.024664340e-01,-1.032304197e-04,8.569342197e-01,7.024664929e-01,-1.032717127e-04,8.569496687e-01,7.032595548e-01,-1.895767435e-04,8.271445034e-01
+51,5.825000000e+01,DOWN_FORCE_DETACH,1793079283836048033,5.252270099e-04,-8.689870001e-05,-3.423779754e-03,5.200418475e-04,-8.168772572e-05,-3.409597756e-03,5.209190983e-04,-7.643232747e-05,-3.396089871e-03,7.024808249e-01,-1.088837546e-04,8.567196062e-01,7.024756397e-01,-1.036727803e-04,8.567337882e-01,7.032668842e-01,-1.899556032e-04,8.269293144e-01
+52,5.903333333e+01,DOWN_FORCE_DETACH,1793079284605802537,5.346380587e-04,-8.100675603e-05,-3.633148945e-03,5.346345520e-04,-8.109939840e-05,-3.632836867e-03,5.339007236e-04,-7.591389814e-05,-3.618053565e-03,7.024902359e-01,-1.029918106e-04,8.565102370e-01,7.024902324e-01,-1.030844530e-04,8.565105490e-01,7.032798658e-01,-1.894371739e-04,8.267073507e-01
+53,5.978333333e+01,DOWN_FORCE_DETACH,1793079285359405601,5.463877187e-04,-8.830704104e-05,-3.854383757e-03,5.480490236e-04,-8.734190151e-05,-3.836573486e-03,5.458168339e-04,-8.171713405e-05,-3.821739419e-03,7.025019856e-01,-1.102920956e-04,8.562890022e-01,7.025036469e-01,-1.093269561e-04,8.563068124e-01,7.032917819e-01,-1.952404098e-04,8.265036648e-01
+54,6.048333333e+01,DOWN_FORCE_DETACH,1793079286080295755,5.486294549e-04,-9.194342503e-05,-4.092475203e-03,5.514650189e-04,-9.129379285e-05,-4.075643979e-03,5.469438142e-04,-8.531001572e-05,-4.059287752e-03,7.025042273e-01,-1.139284796e-04,8.560509107e-01,7.025070629e-01,-1.132788474e-04,8.560677419e-01,7.032929089e-01,-1.988332914e-04,8.262661165e-01
+55,6.115000000e+01,DOWN_FORCE_DETACH,1793079286734967970,5.551828498e-04,-8.762442765e-05,-4.315429570e-03,5.565849980e-04,-8.845306405e-05,-4.308556519e-03,5.497807436e-04,-8.257468848e-05,-4.291190133e-03,7.025107807e-01,-1.096094822e-04,8.558279563e-01,7.025121829e-01,-1.104381186e-04,8.558348294e-01,7.032957459e-01,-1.960979642e-04,8.260342141e-01
+56,6.180000000e+01,DOWN_FORCE_DETACH,1793079287373842119,5.729488435e-04,-9.320366795e-05,-4.546540289e-03,5.698809168e-04,-9.299960733e-05,-4.543557661e-03,5.609686069e-04,-8.683661694e-05,-4.525489005e-03,7.025285467e-01,-1.151887225e-04,8.555968456e-01,7.025254788e-01,-1.149846619e-04,8.555998283e-01,7.033069337e-01,-2.003598927e-04,8.257999152e-01
+57,6.240000000e+01,DOWN_FORCE_DETACH,1793079287980413174,5.792213400e-04,-9.855050126e-05,-4.787537573e-03,5.790778278e-04,-9.848236023e-05,-4.787297639e-03,5.678997216e-04,-9.198449498e-05,-4.767947092e-03,7.025348192e-01,-1.205355558e-04,8.553558483e-01,7.025346757e-01,-1.204674148e-04,8.553560883e-01,7.033138648e-01,-2.055077707e-04,8.255574571e-01
+58,6.291666667e+01,DOWN_SETTLE,1793079288488381962,5.813254895e-04,-8.949995794e-05,-5.002269479e-03,5.812935463e-04,-8.951508345e-05,-5.001911088e-03,5.681512318e-04,-8.386414039e-05,-4.981845115e-03,7.025369234e-01,-1.114850125e-04,8.551411164e-01,7.025368914e-01,-1.115001380e-04,8.551414748e-01,7.033141163e-01,-1.973874161e-04,8.253435591e-01
+59,6.380000000e+01,DOWN_PEAK_HOLD,1793079289371960778,5.399342471e-04,-9.429281366e-05,-5.169973113e-03,5.384735291e-04,-9.208035318e-05,-5.171198100e-03,5.219963198e-04,-8.623252114e-05,-5.156724854e-03,7.024955321e-01,-1.162778682e-04,8.549734128e-01,7.024940714e-01,-1.140654078e-04,8.549721878e-01,7.032679614e-01,-1.997557969e-04,8.251686794e-01

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_07/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.0990e-01,9.5174e-01,2.4522e+00,-1.0651e-01,5.9114e-02,2.3681e-03,2.7692e-02,-3.1197e-03,5.3372e-03,1.8708e-04,1.7518e-03,-2.2558e-05,2.8374e-02,1.7619e-03
+1,1.1333e+00,DOWN_FORCE_DETACH,2.7482e-04,4.1137e-01,9.4252e-01,2.4419e+00,-1.0594e-01,6.6645e-02,1.4475e-03,1.2917e-01,-1.2343e-02,-5.0211e-03,7.6053e-04,9.2826e-03,-9.4312e-04,1.2985e-01,9.3614e-03
+2,2.3667e+00,DOWN_FORCE_DETACH,5.5321e-04,4.6856e-01,9.3852e-01,2.4349e+00,-1.0571e-01,7.0776e-02,9.9923e-04,1.8635e-01,-1.6342e-02,-1.1931e-02,9.9351e-04,1.3414e-02,-1.3914e-03,1.8745e-01,1.3522e-02
+3,3.6333e+00,DOWN_FORCE_DETACH,8.2774e-04,4.9583e-01,9.3504e-01,2.4311e+00,-1.0546e-01,7.2725e-02,7.6128e-04,2.1363e-01,-1.9818e-02,-1.5743e-02,1.2447e-03,1.5363e-02,-1.6293e-03,2.1512e-01,1.5499e-02
+4,4.9500e+00,DOWN_FORCE_DETACH,1.1025e-03,5.0678e-01,9.3416e-01,2.4293e+00,-1.0540e-01,7.3525e-02,6.4099e-04,2.2457e-01,-2.0699e-02,-1.7555e-02,1.3037e-03,1.6163e-02,-1.7496e-03,2.2620e-01,1.6309e-02
+5,6.1000e+00,DOWN_FORCE_DETACH,1.3688e-03,4.0215e-01,8.8482e-01,2.4475e+00,-1.0181e-01,6.5908e-02,7.0816e-04,1.1995e-01,-7.0038e-02,6.6519e-04,4.8931e-03,8.5456e-03,-1.6825e-03,1.3890e-01,9.9901e-03
+6,7.1333e+00,DOWN_FORCE_DETACH,1.6533e-03,2.4932e-01,1.0372e+00,2.4991e+00,-1.1271e-01,5.4845e-02,1.0927e-03,-3.2888e-02,8.2319e-02,5.2256e-02,-6.0126e-03,-2.5172e-03,-1.2979e-03,1.0290e-01,6.6462e-03
+7,8.4000e+00,DOWN_FORCE_DETACH,1.9284e-03,3.4382e-01,1.1147e+00,2.6498e+00,-1.1795e-01,6.1281e-02,1.1191e-03,6.1618e-02,1.5984e-01,2.0295e-01,-1.1252e-02,3.9185e-03,-1.2715e-03,2.6559e-01,1.1982e-02
+8,9.6333e+00,DOWN_FORCE_DETACH,2.2078e-03,4.4751e-01,1.1087e+00,2.5354e+00,-1.1756e-01,6.9114e-02,9.5904e-04,1.6531e-01,1.5386e-01,8.8558e-02,-1.0857e-02,1.1752e-02,-1.4316e-03,2.4257e-01,1.6064e-02
+9,1.0750e+01,DOWN_FORCE_DETACH,2.4802e-03,4.8790e-01,1.1067e+00,2.4870e+00,-1.1749e-01,7.2040e-02,8.1275e-04,2.0570e-01,1.5185e-01,4.0146e-02,-1.0783e-02,1.4678e-02,-1.5779e-03,2.5881e-01,1.8282e-02
+10,1.2017e+01,DOWN_FORCE_DETACH,2.7589e-03,4.3955e-01,9.8902e-01,2.5400e+00,-1.0892e-01,6.8447e-02,7.2622e-04,1.5734e-01,3.4166e-02,9.3113e-02,-2.2215e-03,1.1085e-02,-1.6644e-03,1.8600e-01,1.1427e-02
+11,1.3117e+01,DOWN_FORCE_DETACH,3.0379e-03,3.9529e-01,1.1221e+00,2.5515e+00,-1.1849e-01,6.5171e-02,9.0759e-04,1.1308e-01,1.6727e-01,1.0462e-01,-1.1789e-02,7.8090e-03,-1.4830e-03,2.2740e-01,1.4219e-02
+12,1.4317e+01,DOWN_FORCE_DETACH,3.3110e-03,3.9474e-01,9.7205e-01,2.5870e+00,-1.0762e-01,6.5144e-02,8.0700e-04,1.1254e-01,1.7190e-02,1.4017e-01,-9.1392e-04,7.7823e-03,-1.5836e-03,1.8057e-01,7.9942e-03
+13,1.5550e+01,DOWN_FORCE_DETACH,3.5831e-03,4.6234e-01,9.7050e-01,2.5108e+00,-1.0758e-01,7.0172e-02,7.5948e-04,1.8013e-01,1.5642e-02,6.3879e-02,-8.7502e-04,1.2809e-02,-1.6311e-03,1.9176e-01,1.2942e-02
+14,1.6700e+01,DOWN_FORCE_DETACH,3.8604e-03,4.6610e-01,1.0896e+00,2.5523e+00,-1.1607e-01,7.0438e-02,7.9197e-04,1.8390e-01,1.3476e-01,1.0546e-01,-9.3687e-03,1.3076e-02,-1.5986e-03,2.5120e-01,1.6165e-02
+15,1.7833e+01,DOWN_FORCE_DETACH,4.1349e-03,3.9047e-01,1.1174e+00,2.5548e+00,-1.1804e-01,6.4860e-02,8.4209e-04,1.0827e-01,1.6251e-01,1.0788e-01,-1.1342e-02,7.4974e-03,-1.5485e-03,2.2309e-01,1.3684e-02
+16,1.9133e+01,DOWN_FORCE_DETACH,4.4118e-03,4.6401e-01,1.1888e+00,2.5962e+00,-1.2306e-01,7.0159e-02,8.3579e-04,1.8180e-01,2.3395e-01,1.4928e-01,-1.6361e-02,1.2797e-02,-1.5548e-03,3.3177e-01,2.0829e-02
+17,2.0250e+01,DOWN_FORCE_DETACH,4.6865e-03,4.2399e-01,1.1487e+00,2.6331e+00,-1.2007e-01,6.7196e-02,7.7011e-04,1.4178e-01,1.9383e-01,1.8625e-01,-1.3369e-02,9.8340e-03,-1.6205e-03,3.0391e-01,1.6675e-02
+18,2.1650e+01,DOWN_FORCE_DETACH,4.9674e-03,4.0311e-01,1.2261e+00,2.6407e+00,-1.2557e-01,6.5679e-02,8.2546e-04,1.2090e-01,2.7121e-01,1.9381e-01,-1.8864e-02,8.3166e-03,-1.5652e-03,3.5459e-01,2.0676e-02
+19,2.2850e+01,DOWN_FORCE_DETACH,5.2364e-03,4.2220e-01,1.2607e+00,2.6860e+00,-1.2794e-01,6.6998e-02,8.7666e-04,1.4000e-01,3.0586e-01,2.3914e-01,-2.1239e-02,9.6358e-03,-1.5140e-03,4.1272e-01,2.3371e-02
+20,2.3967e+01,DOWN_FORCE_DETACH,5.5156e-03,4.7331e-01,1.2602e+00,2.5584e+00,-1.2798e-01,7.0889e-02,8.8012e-04,1.9111e-01,3.0538e-01,1.1156e-01,-2.1283e-02,1.3527e-02,-1.5105e-03,3.7712e-01,2.5263e-02
+21,2.5317e+01,DOWN_FORCE_DETACH,5.7946e-03,4.4357e-01,1.1719e+00,2.5959e+00,-1.2158e-01,6.8811e-02,8.9605e-04,1.6136e-01,2.1704e-01,1.4906e-01,-1.4880e-02,1.1449e-02,-1.4946e-03,3.0881e-01,1.8834e-02
+22,2.6550e+01,DOWN_FORCE_DETACH,6.0681e-03,3.8969e-01,1.2834e+00,2.6717e+00,-1.2937e-01,6.4649e-02,9.7197e-04,1.0749e-01,3.2853e-01,2.2483e-01,-2.2670e-02,7.2870e-03,-1.4186e-03,4.1235e-01,2.3855e-02
+23,2.7833e+01,DOWN_FORCE_DETACH,6.3421e-03,4.2756e-01,1.2779e+00,2.6574e+00,-1.2894e-01,6.7365e-02,1.0049e-03,1.4536e-01,3.2308e-01,2.1056e-01,-2.2241e-02,1.0002e-02,-1.3858e-03,4.1212e-01,2.4426e-02
+24,2.9033e+01,DOWN_FORCE_DETACH,6.6176e-03,4.4732e-01,1.2984e+00,2.6189e+00,-1.3042e-01,6.8854e-02,9.7100e-04,1.6511e-01,3.4357e-01,1.7207e-01,-2.3719e-02,1.1492e-02,-1.4196e-03,4.1822e-01,2.6394e-02
+25,3.0150e+01,DOWN_FORCE_DETACH,6.8957e-03,4.1828e-01,1.3658e+00,2.7058e+00,-1.3507e-01,6.6514e-02,9.7703e-04,1.3608e-01,4.1092e-01,2.5889e-01,-2.8366e-02,9.1516e-03,-1.4136e-03,5.0437e-01,2.9840e-02
+26,3.1367e+01,DOWN_FORCE_DETACH,7.1699e-03,4.2356e-01,1.3760e+00,2.7688e+00,-1.3569e-01,6.6994e-02,9.6646e-04,1.4135e-01,4.2115e-01,3.2192e-01,-2.8988e-02,9.6318e-03,-1.4242e-03,5.4861e-01,3.0579e-02
+27,3.2667e+01,DOWN_FORCE_DETACH,7.4466e-03,4.2512e-01,1.4366e+00,2.7401e+00,-1.3989e-01,6.6936e-02,9.6804e-04,1.4292e-01,4.8173e-01,2.9320e-01,-3.3191e-02,9.5741e-03,-1.4226e-03,5.8177e-01,3.4574e-02
+28,3.3800e+01,DOWN_FORCE_DETACH,7.7200e-03,4.4889e-01,1.4810e+00,2.7478e+00,-1.4288e-01,6.8496e-02,9.9917e-04,1.6668e-01,5.2616e-01,3.0092e-01,-3.6181e-02,1.1134e-02,-1.3914e-03,6.2863e-01,3.7881e-02
+29,3.5000e+01,DOWN_FORCE_DETACH,7.9997e-03,4.2009e-01,1.4966e+00,2.8719e+00,-1.4378e-01,6.6310e-02,1.0692e-03,1.3789e-01,5.4175e-01,4.2498e-01,-3.7080e-02,8.9481e-03,-1.3214e-03,7.0222e-01,3.8167e-02
+30,3.6333e+01,DOWN_FORCE_DETACH,8.2717e-03,4.0930e-01,1.6183e+00,2.9420e+00,-1.5203e-01,6.5380e-02,1.1876e-03,1.2709e-01,6.6339e-01,4.9511e-01,-4.5328e-02,8.0182e-03,-1.2030e-03,8.3748e-01,4.6047e-02
+31,3.7617e+01,DOWN_FORCE_DETACH,8.5522e-03,4.2151e-01,1.6331e+00,2.9770e+00,-1.5251e-01,6.6026e-02,1.2491e-03,1.3931e-01,6.7823e-01,5.3016e-01,-4.5803e-02,8.6638e-03,-1.1415e-03,8.7205e-01,4.6630e-02
+32,3.8917e+01,DOWN_FORCE_DETACH,8.8241e-03,4.0155e-01,1.6512e+00,3.1353e+00,-1.5324e-01,6.4420e-02,1.3076e-03,1.1935e-01,6.9629e-01,6.8837e-01,-4.6538e-02,7.0573e-03,-1.0831e-03,9.8637e-01,4.7083e-02
+33,4.0150e+01,DOWN_FORCE_DETACH,9.1002e-03,3.9112e-01,1.7268e+00,3.0818e+00,-1.5841e-01,6.3673e-02,1.3582e-03,1.0892e-01,7.7199e-01,6.3488e-01,-5.1711e-02,6.3112e-03,-1.0324e-03,1.0054e+00,5.2105e-02
+34,4.1200e+01,DOWN_FORCE_DETACH,9.3766e-03,3.8045e-01,1.7543e+00,3.1849e+00,-1.6008e-01,6.2802e-02,1.3974e-03,9.8243e-02,7.9946e-01,7.3799e-01,-5.3374e-02,5.4394e-03,-9.9326e-04,1.0924e+00,5.3660e-02
+35,4.2267e+01,DOWN_FORCE_DETACH,9.6516e-03,3.8896e-01,1.7454e+00,3.2121e+00,-1.5948e-01,6.3366e-02,1.4028e-03,1.0675e-01,7.9054e-01,7.6520e-01,-5.2779e-02,6.0041e-03,-9.8777e-04,1.1054e+00,5.3129e-02
+36,4.3383e+01,DOWN_FORCE_DETACH,9.9281e-03,4.0056e-01,1.8358e+00,3.2655e+00,-1.6540e-01,6.4049e-02,1.3851e-03,1.1836e-01,8.8089e-01,8.1865e-01,-5.8694e-02,6.6867e-03,-1.0055e-03,1.2084e+00,5.9082e-02
+37,4.4567e+01,DOWN_FORCE_DETACH,1.0204e-02,4.1270e-01,1.8867e+00,3.4564e+00,-1.6793e-01,6.4673e-02,1.0349e-03,1.3049e-01,9.3187e-01,1.0095e+00,-6.1224e-02,7.3113e-03,-1.3557e-03,1.3800e+00,6.1674e-02
+38,4.5667e+01,DOWN_FORCE_DETACH,1.0482e-02,4.6056e-01,1.9730e+00,3.4553e+00,-1.7338e-01,6.7815e-02,9.5742e-04,1.7836e-01,1.0181e+00,1.0084e+00,-6.6674e-02,1.0453e-02,-1.4332e-03,1.4440e+00,6.7503e-02
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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_07/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_07/up/franka_data.csv

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_07/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+22,1.616666667e+00,WAIT_W2,1793079214250932141,5.105734884e-05,-5.101329432e-04,1.262558653e-04,4.638246050e-05,-5.108676571e-04,1.115266991e-04,5.082289189e-05,-4.646986789e-04,1.080372852e-04,7.020066552e-01,-5.321179978e-04,8.602696418e-01,7.020019803e-01,-5.328527117e-04,8.602549126e-01,7.027967880e-01,-5.782219564e-04,8.304334415e-01
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+26,2.366666667e+00,UP_FORCE_RAMP,1793079215005831948,5.554344552e-05,-5.061264796e-04,1.388679100e-04,5.293543656e-05,-5.057298473e-04,1.298949409e-04,5.903677358e-05,-4.602352502e-04,1.269620863e-04,7.020111413e-01,-5.281115342e-04,8.602822538e-01,7.020085333e-01,-5.277149019e-04,8.602732809e-01,7.028050019e-01,-5.737585276e-04,8.304523663e-01
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+29,2.866666667e+00,UP_FORCE_RAMP,1793079215496523805,5.416437463e-05,-5.097944402e-04,1.423868157e-04,5.293543656e-05,-5.057298473e-04,1.298949409e-04,5.954399467e-05,-4.603304907e-04,1.273658358e-04,7.020097622e-01,-5.317794948e-04,8.602857727e-01,7.020085333e-01,-5.277149019e-04,8.602732809e-01,7.028055091e-01,-5.738537681e-04,8.304527701e-01
+30,3.083333333e+00,UP_FORCE_RAMP,1793079215709170314,5.116624187e-05,-5.079124837e-04,1.433015945e-04,5.293543656e-05,-5.057298473e-04,1.298949409e-04,5.972887731e-05,-4.603661155e-04,1.275087092e-04,7.020067641e-01,-5.298975383e-04,8.602866875e-01,7.020085333e-01,-5.277149019e-04,8.602732809e-01,7.028056940e-01,-5.738893929e-04,8.304529129e-01
+31,3.266666667e+00,UP_FORCE_RAMP,1793079215889332436,5.041492342e-05,-5.099635482e-04,1.506691979e-04,5.260341309e-05,-5.101262306e-04,1.507781170e-04,5.973885927e-05,-4.643755285e-04,1.476050613e-04,7.020060128e-01,-5.319486028e-04,8.602940551e-01,7.020082013e-01,-5.321112851e-04,8.602941640e-01,7.028057040e-01,-5.778988059e-04,8.304730093e-01
+32,3.450000000e+00,UP_FORCE_RAMP,1793079216069424700,4.666667329e-05,-5.064343190e-04,1.523882350e-04,5.260341309e-05,-5.101262306e-04,1.507781170e-04,5.987113025e-05,-4.644078359e-04,1.479330159e-04,7.020022645e-01,-5.284193736e-04,8.602957742e-01,7.020082013e-01,-5.321112851e-04,8.602941640e-01,7.028058362e-01,-5.779311133e-04,8.304733372e-01
+33,3.650000000e+00,UP_FORCE_RAMP,1793079216282918883,5.057754629e-05,-5.049343325e-04,1.678312582e-04,5.260341309e-05,-5.101262306e-04,1.507781170e-04,6.000145015e-05,-4.644343479e-04,1.481352321e-04,7.020061754e-01,-5.269193871e-04,8.603112172e-01,7.020082013e-01,-5.321112851e-04,8.602941640e-01,7.028059666e-01,-5.779576253e-04,8.304735395e-01
+34,3.866666667e+00,UP_FORCE_RAMP,1793079216495539923,4.310610914e-05,-5.011626423e-04,1.715625334e-04,4.810579771e-05,-5.006183905e-04,1.698409662e-04,5.576875128e-05,-4.557823332e-04,1.666606186e-04,7.019987040e-01,-5.231476969e-04,8.603149484e-01,7.020037037e-01,-5.226034451e-04,8.603132269e-01,7.028017339e-01,-5.693056106e-04,8.304920648e-01
+35,4.100000000e+00,UP_FORCE_RAMP,1793079216724597268,4.038106266e-05,-5.060093108e-04,1.800392132e-04,4.810579771e-05,-5.006183905e-04,1.698409662e-04,5.586603411e-05,-4.558051148e-04,1.669673830e-04,7.019959789e-01,-5.279943654e-04,8.603234251e-01,7.020037037e-01,-5.226034451e-04,8.603132269e-01,7.028018312e-01,-5.693283922e-04,8.304923716e-01
+36,4.233333333e+00,UP_FORCE_RAMP,1793079216855829222,3.902216509e-05,-5.030808429e-04,1.890860608e-04,4.127219400e-05,-4.990527877e-04,1.884675388e-04,4.908451314e-05,-4.543761027e-04,1.848841087e-04,7.019946200e-01,-5.250658974e-04,8.603324720e-01,7.019968701e-01,-5.210378423e-04,8.603318535e-01,7.027950496e-01,-5.678993801e-04,8.305102883e-01
+37,4.483333333e+00,UP_FORCE_RAMP,1793079217101542447,3.274398127e-05,-5.018356380e-04,2.025143312e-04,4.127219400e-05,-4.990527877e-04,1.884675388e-04,4.910062384e-05,-4.544010340e-04,1.852968181e-04,7.019883418e-01,-5.238206926e-04,8.603459002e-01,7.019968701e-01,-5.210378423e-04,8.603318535e-01,7.027950657e-01,-5.679243115e-04,8.305107010e-01
+38,4.666666667e+00,UP_FORCE_RAMP,1793079217281289055,2.578353581e-05,-5.007690518e-04,2.086799332e-04,2.960547081e-05,-4.989658167e-04,2.065226329e-04,3.735813909e-05,-4.542902437e-04,2.028671930e-04,7.019813814e-01,-5.227541064e-04,8.603520658e-01,7.019852033e-01,-5.209508712e-04,8.603499085e-01,7.027833233e-01,-5.678135211e-04,8.305282714e-01
+39,4.816666667e+00,UP_FORCE_RAMP,1793079217428865861,2.054073239e-05,-4.996879872e-04,2.191954481e-04,2.960547081e-05,-4.989658167e-04,2.065226329e-04,3.731452356e-05,-4.542991662e-04,2.031144816e-04,7.019761386e-01,-5.216730418e-04,8.603625814e-01,7.019852033e-01,-5.209508712e-04,8.603499085e-01,7.027832796e-01,-5.678224436e-04,8.305285187e-01
+40,5.000000000e+00,UP_FORCE_RAMP,1793079217608960917,1.597907324e-05,-4.939148070e-04,2.356729016e-04,1.900484782e-05,-4.958602786e-04,2.235109873e-04,2.651942623e-05,-4.514593111e-04,2.197281191e-04,7.019715769e-01,-5.158998616e-04,8.603790588e-01,7.019746027e-01,-5.178453331e-04,8.603668969e-01,7.027724845e-01,-5.649825885e-04,8.305451323e-01
+41,5.116666667e+00,UP_FORCE_RAMP,1793079217723784604,1.257742332e-05,-4.969188586e-04,2.434378913e-04,1.261868325e-05,-4.931588829e-04,2.435736356e-04,2.017641125e-05,-4.489984400e-04,2.390017810e-04,7.019681753e-01,-5.189039132e-04,8.603868238e-01,7.019682166e-01,-5.151439374e-04,8.603869596e-01,7.027661415e-01,-5.625217175e-04,8.305644060e-01
+42,5.283333333e+00,UP_FORCE_RAMP,1793079217887614353,3.898170154e-06,-4.933469508e-04,2.513567033e-04,1.261868325e-05,-4.931588829e-04,2.435736356e-04,2.006141945e-05,-4.490014676e-04,2.394467017e-04,7.019594960e-01,-5.153320054e-04,8.603947426e-01,7.019682166e-01,-5.151439374e-04,8.603869596e-01,7.027660265e-01,-5.625247451e-04,8.305648509e-01
+43,5.450000000e+00,UP_FORCE_RAMP,1793079218067876284,2.235383040e-06,-4.938887019e-04,2.708969778e-04,4.024357132e-06,-4.980017882e-04,2.609352481e-04,1.133390916e-05,-4.533668392e-04,2.563665205e-04,7.019578333e-01,-5.158737565e-04,8.604142829e-01,7.019596222e-01,-5.199868428e-04,8.604043212e-01,7.027572990e-01,-5.668901166e-04,8.305817707e-01
+44,5.616666667e+00,UP_FORCE_RAMP,1793079218231964000,-2.972393179e-06,-4.919439024e-04,2.798707438e-04,-2.747749727e-06,-4.917327268e-04,2.798613714e-04,4.550398615e-06,-4.476525029e-04,2.746722134e-04,7.019526255e-01,-5.139289569e-04,8.604232567e-01,7.019528501e-01,-5.137177814e-04,8.604232473e-01,7.027505155e-01,-5.611757804e-04,8.306000764e-01
+45,5.750000000e+00,UP_FORCE_RAMP,1793079218362570462,-8.805034661e-06,-4.914328058e-04,2.862458194e-04,-2.747749727e-06,-4.917327268e-04,2.798613714e-04,4.403419763e-06,-4.476286999e-04,2.751211330e-04,7.019467928e-01,-5.134178603e-04,8.604296317e-01,7.019528501e-01,-5.137177814e-04,8.604232473e-01,7.027503685e-01,-5.611519774e-04,8.306005254e-01
+46,5.850000000e+00,UP_FORCE_RAMP,1793079218460862297,-3.823394988e-05,-4.917859914e-04,2.750762026e-04,-3.812098741e-05,-4.917788784e-04,2.749474113e-04,-3.178734859e-05,-4.476615264e-04,2.706257572e-04,7.019173639e-01,-5.137710460e-04,8.604184621e-01,7.019174769e-01,-5.137639330e-04,8.604183333e-01,7.027141778e-01,-5.611848038e-04,8.305960300e-01
+47,5.966666667e+00,UP_FORCE_RAMP,1793079218575925577,-3.646684753e-05,-4.908775020e-04,2.903533787e-04,-3.812098741e-05,-4.917788784e-04,2.749474113e-04,-3.230416503e-05,-4.476602110e-04,2.707449679e-04,7.019191310e-01,-5.128625566e-04,8.604337393e-01,7.019174769e-01,-5.137639330e-04,8.604183333e-01,7.027136610e-01,-5.611834884e-04,8.305961492e-01
+48,6.100000000e+00,UP_FORCE_RAMP,1793079218707098706,-3.973261914e-05,-4.906177342e-04,2.938931361e-04,-3.580991969e-05,-4.858920725e-04,2.965663391e-04,-2.995343082e-05,-4.422510789e-04,2.916409957e-04,7.019158652e-01,-5.126027888e-04,8.604372791e-01,7.019197879e-01,-5.078771271e-04,8.604399523e-01,7.027160117e-01,-5.557743564e-04,8.306170452e-01
+49,6.233333333e+00,UP_FORCE_RAMP,1793079218837471059,-3.799074297e-05,-4.859402361e-04,3.052265469e-04,-3.580991969e-05,-4.858920725e-04,2.965663391e-04,-3.009705649e-05,-4.422394015e-04,2.919614827e-04,7.019176071e-01,-5.079252907e-04,8.604486125e-01,7.019197879e-01,-5.078771271e-04,8.604399523e-01,7.027158681e-01,-5.557626789e-04,8.306173657e-01
+50,6.400000000e+00,UP_FORCE_HOLD,1793079219001361166,-4.349109599e-05,-4.865732768e-04,3.104339821e-04,-3.580991969e-05,-4.858920725e-04,2.965663391e-04,-3.022860466e-05,-4.422270939e-04,2.922446247e-04,7.019121068e-01,-5.085583314e-04,8.604538199e-01,7.019197879e-01,-5.078771271e-04,8.604399523e-01,7.027157365e-01,-5.557503713e-04,8.306176489e-01
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+57,7.650000000e+00,UP_SETTLE,1793079220263593209,-5.978376776e-05,-4.830269520e-04,3.499527228e-04,-5.823994957e-05,-4.867002371e-04,3.527332439e-04,-5.342913960e-05,-4.428233897e-04,3.479473513e-04,7.018958141e-01,-5.050120066e-04,8.604933386e-01,7.018973579e-01,-5.086852917e-04,8.604961192e-01,7.026925360e-01,-5.563466671e-04,8.306733516e-01
+58,7.816666667e+00,UP_SETTLE,1793079220426981718,-5.742537974e-05,-4.823075154e-04,3.576648690e-04,-5.823994957e-05,-4.867002371e-04,3.527332439e-04,-5.360332851e-05,-4.428205239e-04,3.482892997e-04,7.018981725e-01,-5.042925700e-04,8.605010508e-01,7.018973579e-01,-5.086852917e-04,8.604961192e-01,7.026923618e-01,-5.563438013e-04,8.306736935e-01
+59,8.016666667e+00,UP_SETTLE,1793079220623276875,-5.940326838e-05,-4.842929669e-04,3.593842915e-04,-5.823994957e-05,-4.867002371e-04,3.527332439e-04,-5.372983920e-05,-4.428124911e-04,3.485758046e-04,7.018961946e-01,-5.062780215e-04,8.605027702e-01,7.018973579e-01,-5.086852917e-04,8.604961192e-01,7.026922353e-01,-5.563357686e-04,8.306739800e-01

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_07/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,3.0991e-01,9.5174e-01,2.4522e+00,-1.0652e-01,5.9115e-02,2.3680e-03,2.7693e-02,-3.1147e-03,5.3496e-03,1.8678e-04,1.7518e-03,-2.2585e-05,2.8376e-02,1.7619e-03
+1,1.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,4.0839e-05,3.2553e-01,9.5006e-01,2.4509e+00,-1.0642e-01,6.0283e-02,2.1803e-03,4.3317e-02,-4.7982e-03,3.9792e-03,2.7984e-04,2.9201e-03,-2.1027e-04,4.3763e-02,2.9410e-03
+2,3.6667e-01,WAIT_W2,8.3538e-05,3.3997e-01,9.4847e-01,2.4444e+00,-1.0630e-01,6.1439e-02,2.0294e-03,5.7748e-02,-6.3801e-03,-2.4405e-03,4.0093e-04,4.0766e-03,-3.6120e-04,5.8150e-02,4.1121e-03
+3,5.3333e-01,WAIT_W2,1.2247e-04,3.5696e-01,9.4626e-01,2.4410e+00,-1.0615e-01,6.2639e-02,1.7901e-03,7.4744e-02,-8.5949e-03,-5.9094e-03,5.5335e-04,5.2759e-03,-6.0053e-04,7.5468e-02,5.3387e-03
+4,7.8333e-01,WAIT_W2,1.6488e-04,3.8517e-01,9.4434e-01,2.4447e+00,-1.0604e-01,6.4790e-02,1.6374e-03,1.0295e-01,-1.0513e-02,-2.2125e-03,6.6541e-04,7.4274e-03,-7.5320e-04,1.0351e-01,7.4951e-03
+5,9.6667e-01,WAIT_W2,2.0594e-04,4.0438e-01,9.4344e-01,2.4431e+00,-1.0600e-01,6.6132e-02,1.5430e-03,1.2216e-01,-1.1418e-02,-3.7379e-03,7.0062e-04,8.7694e-03,-8.4763e-04,1.2275e-01,8.8381e-03
+6,1.0333e+00,WAIT_W2,2.3218e-04,4.0460e-01,9.4333e-01,2.4429e+00,-1.0599e-01,6.6146e-02,1.5422e-03,1.2239e-01,-1.1526e-02,-3.9315e-03,7.0787e-04,8.7833e-03,-8.4847e-04,1.2299e-01,8.8525e-03
+7,1.0667e+00,WAIT_W2,2.8270e-04,3.8884e-01,1.8747e+00,2.3933e+00,-1.7344e-01,6.5055e-02,1.7034e-03,1.0663e-01,9.1981e-01,-5.3604e-02,-6.6743e-02,7.6918e-03,-6.8719e-04,9.2752e-01,6.7188e-02
+8,1.0833e+00,WAIT_W2,3.3035e-04,3.8884e-01,1.8741e+00,2.3932e+00,-1.7341e-01,6.5054e-02,1.7037e-03,1.0662e-01,9.1929e-01,-5.3695e-02,-6.6708e-02,7.6912e-03,-6.8690e-04,9.2701e-01,6.7154e-02
+9,1.1000e+00,WAIT_W2,3.7167e-04,4.2644e-01,3.1903e+00,2.3700e+00,-2.6871e-01,6.7838e-02,2.1822e-03,1.4422e-01,2.2354e+00,-7.6920e-02,-1.6201e-01,1.0475e-02,-2.0841e-04,2.2414e+00,1.6235e-01
+10,1.1000e+00,WAIT_W2,3.7167e-04,4.2644e-01,3.1903e+00,2.3700e+00,-2.6871e-01,6.7838e-02,2.1822e-03,1.4422e-01,2.2354e+00,-7.6920e-02,-1.6201e-01,1.0475e-02,-2.0841e-04,2.2414e+00,1.6235e-01
+11,1.1167e+00,WAIT_W2,4.6067e-04,4.2810e-01,3.9858e+00,2.3555e+00,-3.2585e-01,6.8153e-02,4.1525e-03,1.4588e-01,3.0310e+00,-9.1402e-02,-2.1914e-01,1.0790e-02,1.7619e-03,3.0358e+00,2.1942e-01
+12,1.1333e+00,WAIT_W2,5.1426e-04,4.3056e-01,5.7275e+00,2.2857e+00,-4.5220e-01,6.8184e-02,4.5841e-03,1.4834e-01,4.7726e+00,-1.6114e-01,-3.4549e-01,1.0821e-02,2.1935e-03,4.7776e+00,3.4567e-01
+13,1.1333e+00,WAIT_W2,5.1426e-04,4.3056e-01,5.7275e+00,2.2857e+00,-4.5220e-01,6.8184e-02,4.5841e-03,1.4834e-01,4.7726e+00,-1.6114e-01,-3.4549e-01,1.0821e-02,2.1935e-03,4.7776e+00,3.4567e-01
+14,1.1500e+00,WAIT_W2,5.9981e-04,5.0192e-01,6.7579e+00,2.3296e+00,-5.2640e-01,7.3352e-02,6.6900e-03,2.1970e-01,5.8031e+00,-1.1727e-01,-4.1969e-01,1.5989e-02,4.2994e-03,5.8084e+00,4.2002e-01
+15,1.1667e+00,WAIT_W2,6.2582e-04,5.2262e-01,8.4348e+00,2.2741e+00,-6.4825e-01,7.4872e-02,7.0907e-03,2.4040e-01,7.4800e+00,-1.7273e-01,-5.4155e-01,1.7509e-02,4.7001e-03,7.4858e+00,5.4185e-01
+16,1.1833e+00,WAIT_W2,6.5228e-04,5.7337e-01,8.9050e+00,2.3358e+00,-6.8187e-01,7.8526e-02,8.3576e-03,2.9115e-01,7.9501e+00,-1.1104e-01,-5.7516e-01,2.1163e-02,5.9669e-03,7.9562e+00,5.7558e-01
+17,1.2000e+00,WAIT_W2,6.8509e-04,5.2703e-01,9.3604e+00,2.2447e+00,-7.1559e-01,7.5285e-02,8.5236e-03,2.4481e-01,8.4055e+00,-2.0213e-01,-6.0889e-01,1.7922e-02,6.1330e-03,8.4115e+00,6.0918e-01
+18,1.2333e+00,WAIT_W2,7.4636e-04,5.6621e-01,1.0535e+01,2.2798e+00,-8.0050e-01,7.8184e-02,9.4527e-03,2.8399e-01,9.5798e+00,-1.6709e-01,-6.9380e-01,2.0821e-02,7.0621e-03,9.5855e+00,6.9415e-01
+19,1.2833e+00,WAIT_W2,7.7566e-04,5.9898e-01,1.1185e+01,2.2654e+00,-8.4777e-01,8.0593e-02,9.5691e-03,3.1676e-01,1.0230e+01,-1.8149e-01,-7.4107e-01,2.3230e-02,7.1785e-03,1.0236e+01,7.4147e-01
+20,1.3667e+00,WAIT_W2,8.1825e-04,4.1843e-01,1.1024e+01,2.0675e+00,-8.3895e-01,6.7963e-02,1.0729e-02,1.3621e-01,1.0069e+01,-3.7937e-01,-7.3224e-01,1.0600e-02,8.3380e-03,1.0077e+01,7.3237e-01
+21,1.4667e+00,WAIT_W2,8.6417e-04,2.7833e-01,1.0858e+01,1.8220e+00,-8.3063e-01,5.8086e-02,1.2132e-02,-3.8881e-03,9.9027e+00,-6.2488e-01,-7.2393e-01,7.2300e-04,9.7414e-03,9.9224e+00,7.2400e-01
+22,1.6167e+00,WAIT_W2,9.0420e-04,2.7211e-01,1.0793e+01,1.8021e+00,-8.2666e-01,5.7686e-02,1.2151e-02,-1.0103e-02,9.8379e+00,-6.4480e-01,-7.1996e-01,3.2269e-04,9.7604e-03,9.8590e+00,7.2003e-01
+23,1.8167e+00,WAIT_W2,9.4202e-04,2.9132e-01,1.0625e+01,1.7700e+00,-8.1639e-01,5.9032e-02,1.2164e-02,9.0985e-03,9.6701e+00,-6.7684e-01,-7.0969e-01,1.6690e-03,9.7733e-03,9.6938e+00,7.0976e-01
+24,2.0000e+00,UP_FORCE_RAMP,9.8497e-04,3.9738e-01,1.0584e+01,1.8329e+00,-8.1352e-01,6.7192e-02,1.1560e-02,1.1517e-01,9.6294e+00,-6.1397e-01,-7.0682e-01,9.8296e-03,9.1692e-03,9.6496e+00,7.0695e-01
+25,2.1500e+00,UP_FORCE_RAMP,1.0246e-03,4.0804e-01,1.0610e+01,1.8681e+00,-8.1452e-01,6.7341e-02,1.0891e-02,1.2582e-01,9.6554e+00,-5.7878e-01,-7.0782e-01,9.9780e-03,8.5008e-03,9.6735e+00,7.0794e-01
+26,2.3667e+00,UP_FORCE_RAMP,1.0675e-03,4.7199e-01,1.0579e+01,1.9172e+00,-8.1219e-01,7.2295e-02,1.0326e-02,1.8977e-01,9.6243e+00,-5.2970e-01,-7.0549e-01,1.4932e-02,7.9354e-03,9.6407e+00,7.0569e-01
+27,2.5500e+00,UP_FORCE_RAMP,1.1051e-03,4.6789e-01,1.0568e+01,1.9696e+00,-8.1072e-01,7.1732e-02,9.6910e-03,1.8567e-01,9.6128e+00,-4.7732e-01,-7.0402e-01,1.4369e-02,7.3004e-03,9.6265e+00,7.0421e-01
+28,2.7333e+00,UP_FORCE_RAMP,1.1483e-03,5.2592e-01,1.0577e+01,1.9931e+00,-8.1103e-01,7.6192e-02,9.1184e-03,2.4370e-01,9.6220e+00,-4.5382e-01,-7.0433e-01,1.8829e-02,6.7278e-03,9.6358e+00,7.0461e-01
+29,2.8667e+00,UP_FORCE_RAMP,1.1863e-03,5.3375e-01,1.0573e+01,2.0125e+00,-8.1047e-01,7.6306e-02,8.6619e-03,2.5153e-01,9.6183e+00,-4.3436e-01,-7.0376e-01,1.8943e-02,6.2713e-03,9.6314e+00,7.0405e-01
+30,3.0833e+00,UP_FORCE_RAMP,1.2295e-03,5.6322e-01,1.0566e+01,2.0354e+00,-8.0949e-01,7.8422e-02,8.1538e-03,2.8101e-01,9.6107e+00,-4.1147e-01,-7.0278e-01,2.1059e-02,5.7632e-03,9.6236e+00,7.0312e-01
+31,3.2667e+00,UP_FORCE_RAMP,1.2676e-03,6.1482e-01,1.0665e+01,1.8864e+00,-8.1808e-01,8.2474e-02,7.6514e-03,3.3260e-01,9.7099e+00,-5.6045e-01,-7.1138e-01,2.5111e-02,5.2608e-03,9.7318e+00,7.1184e-01
+32,3.4500e+00,UP_FORCE_RAMP,1.3087e-03,6.2892e-01,1.0646e+01,1.9411e+00,-8.1688e-01,8.3403e-02,7.6188e-03,3.4670e-01,9.6916e+00,-5.0579e-01,-7.1018e-01,2.6040e-02,5.2282e-03,9.7110e+00,7.1068e-01
+33,3.6500e+00,UP_FORCE_RAMP,1.3514e-03,6.5639e-01,1.0642e+01,1.9869e+00,-8.1602e-01,8.5375e-02,6.8106e-03,3.7417e-01,9.6875e+00,-4.6000e-01,-7.0931e-01,2.8012e-02,4.4200e-03,9.7056e+00,7.0988e-01
+34,3.8667e+00,UP_FORCE_RAMP,1.3915e-03,7.0991e-01,1.0456e+01,1.8650e+00,-8.0388e-01,8.9494e-02,6.1267e-03,4.2769e-01,9.5013e+00,-5.8190e-01,-6.9718e-01,3.2131e-02,3.7360e-03,9.5287e+00,6.9793e-01
+35,4.1000e+00,UP_FORCE_RAMP,1.4366e-03,7.1859e-01,1.0460e+01,1.9195e+00,-8.0377e-01,8.9948e-02,5.7260e-03,4.3637e-01,9.5053e+00,-5.2733e-01,-6.9707e-01,3.2585e-02,3.3353e-03,9.5300e+00,6.9784e-01
+36,4.2333e+00,UP_FORCE_RAMP,1.4740e-03,7.8181e-01,1.0475e+01,1.7884e+00,-8.0627e-01,9.5370e-02,5.1294e-03,4.9959e-01,9.5204e+00,-6.5846e-01,-6.9956e-01,3.8007e-02,2.7387e-03,9.5562e+00,7.0060e-01
+37,4.4833e+00,UP_FORCE_RAMP,1.5145e-03,8.0247e-01,1.0418e+01,1.8712e+00,-8.0168e-01,9.6123e-02,4.4852e-03,5.2026e-01,9.4634e+00,-5.7570e-01,-6.9498e-01,3.8760e-02,2.0946e-03,9.4952e+00,6.9606e-01
+38,4.6667e+00,UP_FORCE_RAMP,1.5572e-03,9.1326e-01,1.0435e+01,1.7758e+00,-8.0393e-01,1.0434e-01,3.0124e-03,6.3105e-01,9.4803e+00,-6.7105e-01,-6.9723e-01,4.6977e-02,6.2176e-04,9.5250e+00,6.9881e-01
+39,4.8167e+00,UP_FORCE_RAMP,1.5965e-03,8.9820e-01,1.0439e+01,1.8291e+00,-8.0410e-01,1.0332e-01,2.9910e-03,6.1598e-01,9.4841e+00,-6.1773e-01,-6.9740e-01,4.5960e-02,6.0034e-04,9.5242e+00,6.9891e-01
+40,5.0000e+00,UP_FORCE_RAMP,1.6409e-03,9.7671e-01,1.0386e+01,1.7702e+00,-8.0112e-01,1.0911e-01,1.6082e-03,6.9449e-01,9.4308e+00,-6.7666e-01,-6.9442e-01,5.1744e-02,-7.8239e-04,9.4805e+00,6.9635e-01
+41,5.1167e+00,UP_FORCE_RAMP,1.6784e-03,9.8179e-01,1.0365e+01,1.7704e+00,-7.9972e-01,1.0936e-01,1.5762e-03,6.9958e-01,9.4099e+00,-6.7651e-01,-6.9301e-01,5.1999e-02,-8.1445e-04,9.4601e+00,6.9496e-01
+42,5.2833e+00,UP_FORCE_RAMP,1.7192e-03,1.0214e+00,1.0333e+01,1.7073e+00,-7.9874e-01,1.1247e-01,9.0817e-04,7.3920e-01,9.3782e+00,-7.3961e-01,-6.9204e-01,5.5110e-02,-1.4825e-03,9.4363e+00,6.9423e-01
+43,5.4500e+00,UP_FORCE_RAMP,1.7662e-03,1.0736e+00,1.0428e+01,1.6320e+00,-8.0590e-01,1.1604e-01,1.6996e-04,7.9134e-01,9.4731e+00,-8.1484e-01,-6.9920e-01,5.8676e-02,-2.2207e-03,9.5409e+00,7.0166e-01
+44,5.6167e+00,UP_FORCE_RAMP,1.8006e-03,1.0572e+00,1.0433e+01,1.6879e+00,-8.0625e-01,1.1501e-01,1.4929e-04,7.7500e-01,9.4781e+00,-7.5901e-01,-6.9955e-01,5.7652e-02,-2.2413e-03,9.5400e+00,7.0192e-01
+45,5.7500e+00,UP_FORCE_RAMP,1.8446e-03,1.0964e+00,1.0315e+01,1.6239e+00,-7.9884e-01,1.1791e-01,-7.0526e-04,8.1423e-01,9.3605e+00,-8.2300e-01,-6.9214e-01,6.0548e-02,-3.0959e-03,9.4318e+00,6.9479e-01
+46,5.8500e+00,UP_FORCE_RAMP,1.8861e-03,1.2786e+00,1.0339e+01,1.5985e+00,-8.0080e-01,1.3116e-01,-2.4749e-03,9.9633e-01,9.3839e+00,-8.4834e-01,-6.9409e-01,7.3797e-02,-4.8655e-03,9.4747e+00,6.9802e-01
+47,5.9667e+00,UP_FORCE_RAMP,1.9250e-03,1.4283e+00,1.0353e+01,1.7203e+00,-8.0076e-01,1.4196e-01,-4.0930e-03,1.1461e+00,9.3982e+00,-7.2660e-01,-6.9405e-01,8.4599e-02,-6.4836e-03,9.4957e+00,6.9922e-01
+48,6.1000e+00,UP_FORCE_RAMP,1.9658e-03,1.2924e+00,1.0229e+01,1.5665e+00,-7.9298e-01,1.3222e-01,-4.1778e-03,1.0102e+00,9.2745e+00,-8.8042e-01,-6.8628e-01,7.4854e-02,-6.5684e-03,9.3708e+00,6.9038e-01
+49,6.2333e+00,UP_FORCE_RAMP,2.0086e-03,1.2694e+00,1.0243e+01,1.6397e+00,-7.9379e-01,1.3069e-01,-4.1710e-03,9.8718e-01,9.2886e+00,-8.0722e-01,-6.8709e-01,7.3330e-02,-6.5617e-03,9.3758e+00,6.9102e-01
+50,6.4000e+00,UP_FORCE_HOLD,2.0463e-03,1.2443e+00,1.0253e+01,1.7112e+00,-7.9412e-01,1.2890e-01,-4.1375e-03,9.6212e-01,9.2981e+00,-7.3563e-01,-6.8742e-01,7.1538e-02,-6.5281e-03,9.3766e+00,6.9116e-01
+51,6.5833e+00,UP_FORCE_HOLD,2.0889e-03,1.2974e+00,1.0264e+01,1.5727e+00,-7.9560e-01,1.3281e-01,-4.1237e-03,1.0152e+00,9.3087e+00,-8.7421e-01,-6.8889e-01,7.5444e-02,-6.5143e-03,9.4046e+00,6.9304e-01
+52,6.7667e+00,UP_SETTLE,2.1299e-03,1.2645e+00,1.0272e+01,1.6953e+00,-7.9585e-01,1.3046e-01,-4.1443e-03,9.8231e-01,9.3172e+00,-7.5155e-01,-6.8915e-01,7.3101e-02,-6.5350e-03,9.3989e+00,6.9305e-01
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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_08/down/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:794b28b99d0ee51883189c0cb71cf720f958a34f22dc3cff05f9e54a2c6eda1c
+size 624640

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_08/down/franka_data.csv

@@ -0,0 +1,61 @@
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+62164,1793079322970115632,15874059000000,1793079322968727991,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6760811798267041,-0.004915419628161066,0.09969287990232474,0.9999999877598357,-1.4132187728021275e-05,-1.0566010524432923e-05,0.00012494732340194404,0.6761,-0.0046,0.09960674812046563,1.0,0.0,0.0,0.0,-0.37369787425439516,0.41241792335005045,0.9537402773176202,0.031930590226740205,0.022208482950414013,0.004020563660766259,0.36142386421638184,1.2594783155080036,2.414966508682399,0.08484333570721443,-0.021439936456240823,0.0008056927790263329,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.2634586275265656,1.4085314606974586,-0.9987033527034753,-0.06284635820518883,0.8569647925745902,0.8309042738244111,1.6826685290495669,-0.9537402773176202,2.681371881753042,2.681371881753042,2.746341160431976,0,0,-2.309203831904328e-05,-9.999961555895993e-05
+62333,1793079324379082596,15875468000000,1793079324376727736,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6760895030666734,-0.004919235373713134,0.09967814575905154,0.9999999871121443,-1.7216956562424647e-05,4.598840534503632e-06,0.00013000385634724245,0.6761,-0.0046,0.09956688057411492,1.0,0.0,0.0,0.0,-0.42819873600582686,0.4324058938127049,1.1137631411908404,0.033851397401413894,0.025170684302706754,0.004983821404281671,0.30692300246495013,1.279466285970658,2.574989372555619,0.08676414288188812,-0.01847773510394808,0.0017689505225417445,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.3176907863839356,1.3829723711421358,-1.1281633713249248,-0.05476309992048158,0.9462694418220491,0.8164130842548359,1.6826685290495669,-1.1137631411908404,2.8108319003744917,2.8108319003744917,2.887241160432273,0,0,-2.956239602699829e-05,-8.102135215371504e-05
+62484,1793079325637151872,15876726000000,1793079325636737231,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6760974537162545,-0.004921765880140504,0.09966189637093831,0.9999999861536325,-1.536753008548798e-05,1.8809925410818785e-05,0.0001361823226068102,0.6761,-0.0046,0.0995365756477581,1.0,0.0,0.0,0.0,-0.47034867780800327,0.44403047353021363,1.2261183656668413,0.035788839920444154,0.028137793840307054,0.004955915341986144,0.26477306066277373,1.2910908656881668,2.68734459703162,0.08870158540091838,-0.01551062556634778,0.0017410444602462183,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.3521350165565265,1.3602196437890433,-1.3082642062323182,-0.0522798022316489,1.0602317629142104,0.8011404695404103,1.6826685290495669,-1.2261183656668413,2.990932735281885,2.990932735281885,3.0130411604325387,0,0,-2.1615332353201684e-05,-9.740769260256025e-12
+62651,1793079327029128159,15878118000000,1793079327028727626,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6761073237128329,-0.004922677226781652,0.09964888739937565,0.9999999852942754,-1.2418053425290784e-05,3.564973169696309e-05,0.00013938867310691968,0.6761,-0.0046,0.0995032887970372,1.0,0.0,0.0,0.0,-0.5091968137558562,0.47323874891349815,1.3571477218245813,0.03775141056900247,0.03010840763964476,0.0049002545490419176,0.22592492471492082,1.3202991410714513,2.81837395318936,0.0906641560494767,-0.013540011767010075,0.0016853836673019916,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.3623752083662117,1.3887018791912342,-1.4156871778377982,-0.06769804863926845,1.1271206421294266,0.8189180529032491,1.6826685290495669,-1.3571477218245813,3.0983557068873653,3.0983557068873653,3.1522411604328324,0,0,-2.4143410391778926e-05,-9.564966460396391e-05
+62814,1793079328387203479,15879476000000,1793079328384737567,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6761127118306922,-0.004923709693215186,0.09962548507377207,0.9999999841059498,-1.4052154027496123e-05,4.4040481870644595e-05,0.00014523752115007656,0.6761,-0.0046,0.09946786845938371,1.0,0.0,0.0,0.0,-0.5541269526274956,0.4935078360938263,1.4844368162720056,0.03967957268374639,0.0330796733296396,0.00486214619036174,0.18099478584328144,1.3405682282517795,2.9456630476367844,0.09259231816422062,-0.010568746077015235,0.0016472753086218136,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.3936825004206987,1.3490259161300857,-1.564649591495448,-0.0631991690681508,1.2236223740288894,0.7920958421413282,1.6826685290495669,-1.4844368162720056,3.247318120545015,3.247318120545015,3.288041160433119,0,0,-2.8734968858549987e-05,-5.312500025856366e-05
+62991,1793079329862191340,15880951000000,1793079329860727493,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6761223984480376,-0.004923231892236485,0.09960693400401402,0.9999999826967331,-8.641408428966306e-06,5.932021607146151e-05,0.0001498527148332371,0.6761,-0.0046,0.09942498770907841,1.0,0.0,0.0,0.0,-0.5951291852895155,0.521652375224056,1.6395515166858718,0.04160864184582344,0.03604591098180054,0.005829285155694181,0.13999255318126153,1.3687127673820092,3.1007777480506507,0.09452138732629767,-0.007602508424854299,0.0026144142739542545,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.4402676198382056,1.3879239338100888,-1.670375048855213,-0.0809773092362045,1.2971008571227867,0.8167019148950516,1.6826685290495669,-1.6395515166858718,3.3530435779047796,3.3530435779047796,3.4355411604334303,0,0,-2.9959534710048648e-05,-9.999554936713224e-05
+63147,1793079331162258787,15882251000000,1793079331160737181,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6761285510436532,-0.0049266348789437885,0.09958520817640097,0.999999981014352,-1.0275713319071644e-05,6.849250718182126e-05,0.00015689915958030793,0.6761,-0.0046,0.09939079700885707,1.0,0.0,0.0,0.0,-0.6348532479110052,0.5312631752476329,1.7552514801135226,0.04255281958510038,0.03802677636213659,0.005774228106793561,0.10026849055977188,1.378323567405586,3.2164777114783014,0.0954655650655746,-0.005621643044518244,0.002559357225053635,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.5245365759020701,1.3348845605896869,-1.932164533596851,-0.06741737439530737,1.4840923767960543,0.7806926312863077,1.6826685290495669,-1.7552514801135226,3.614833062646418,3.614833062646418,3.5655411604337046,0,0,-2.3193652183535522e-05,9.99999347480795e-05
+63294,1793079332387337696,15883476000000,1793079332380737691,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6761371886982611,-0.0049292239822058105,0.0995664687653506,0.9999999793664425,-1.0529428109851153e-05,8.189673571658153e-05,0.00016091002118182062,0.6761,-0.0046,0.09935274634669236,1.0,0.0,0.0,0.0,-0.663928996504158,0.5488000908842721,1.8967521653774893,0.04349415399569609,0.04000447652089179,0.00569904238225586,0.07119274196661897,1.3958604830422252,3.357978396742268,0.09640689947617032,-0.0036439428857630404,0.002484171500515934,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.553039455646748,1.3909469390952205,-1.922516445808254,-0.0937538846605241,1.4813262190594176,0.8160434320054697,1.6826685290495669,-1.8967521653774893,3.6051849748578206,3.6051849748578206,3.688041160433963,0,0,-3.1559390291395435e-05,-9.921875407237763e-05
+63453,1793079333712394073,15884801000000,1793079333708737264,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6761466180888203,-0.004927983778648144,0.09954964614936142,0.9999999772930424,-7.505483502125677e-06,9.582553161013293e-05,0.0001661863853007261,0.6761,-0.0046,0.0993202661000731,1.0,0.0,0.0,0.0,-0.6839369678651983,0.5586338137794269,1.9913427534198869,0.04444214157843589,0.04199163203027995,0.005663159451477396,0.05118477060557874,1.40569420593738,3.4525689847846657,0.09735488705891011,-0.001656787376374885,0.0024482885697374697,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.5503318378072215,1.318155964298925,-2.097851936600965,-0.07822169641490076,1.589680360336336,0.7678483627146102,1.6826685290495669,-1.9913427534198869,3.780520465650532,3.780520465650532,3.8205411604342427,0,0,-2.503881819523735e-05,-9.999924085868912e-05
+63603,1793079334962384792,15886051000000,1793079334956737329,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.676154699031944,-0.004930730818856706,0.09952704054603405,0.9999999750085979,-5.409005107046647e-06,0.00010878111948097839,0.0001719391714733161,0.6761,-0.0046,0.09927924066976829,1.0,0.0,0.0,0.0,-0.7219165217743455,0.5698056442958905,2.1084967009961417,0.045386036647952654,0.04397385661500804,0.005605690966136642,0.013205216696431463,1.4168660364538437,3.5697229323609205,0.09829878212842688,0.0003254372083532093,0.002390820084396716,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.6561094212510492,1.3806666562605172,-2.2514784030803683,-0.09066992324618552,1.712731556894997,0.8097124027018223,1.6826685290495669,-2.1084967009961417,3.934146932129935,3.934146932129935,3.9455411604345065,0,0,-4.054434895176128e-05,7.826076872519678e-05
+63766,1793079336320424518,15887409000000,1793079336312737427,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6761668604516559,-0.004934423279641858,0.09949903820585138,0.9999999710473271,-4.5347850439017625e-06,0.00012890380959536054,0.00018086307867021403,0.6761,-0.0046,0.099226261225032,1.0,0.0,0.0,0.0,-0.7600552552198464,0.5603098310350738,2.2520107737870827,0.04635076222879829,0.04494036844030023,0.005513456500385544,-0.02493351674906938,1.407370223193027,3.7132370051518615,0.09926350770927252,0.0012919490336453906,0.002298585618645617,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.677633394484118,1.3219247773204545,-2.420040586820836,-0.08796737895918061,1.8215875544700342,0.7708381836669003,1.6826685290495669,-2.2520107737870827,4.102709115870403,4.102709115870403,4.081341160434432,0,0,-3.608383939282677e-05,9.999874125832803e-05
+63905,1793079337479390747,15888568000000,1793079337476737518,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6761710127262538,-0.004932430865987559,0.09946886923982824,0.9999999692541914,-2.052645095279187e-06,0.00013558538506979812,0.00018586788522697163,0.6761,-0.0046,0.09918670118703592,1.0,0.0,0.0,0.0,-0.7736229699767233,0.5656797222943164,2.3450578553327794,0.046288105890026646,0.046575066986977276,0.005464141007452398,-0.03850123150594631,1.4127401144522695,3.8062840866975582,0.09920085137050087,0.0029266475803224373,0.0022492701257124715,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7029958983926845,1.3486948803532366,-2.4643669887858857,-0.0944664005241597,1.8561158142214846,0.7876819034572348,1.6826685290495669,-2.3450578553327794,4.1470355178354525,4.1470355178354525,4.197241160434162,0,0,-3.3669394157469175e-05,-7.465627702008532e-05
+64067,1793079338829462475,15889918000000,1793079338828737472,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6761827318699015,-0.004938823839211313,0.09943441710782229,0.9999999648014068,-5.91110488837988e-07,0.00015482697250734397,0.00019459781274242416,0.6761,-0.0046,0.09913093660505724,1.0,0.0,0.0,0.0,-0.7983322471167479,0.5679975556326133,2.4525084450342107,0.045732306208665585,0.04887459557617144,0.0044305007588705345,-0.06321050864597087,1.4150579477905665,3.9137346763989895,0.09864505168913981,0.005226176169516598,0.0012156298771306088,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.745262675998054,1.4620737084377353,-2.6532610318101777,-0.12959589476368308,1.985483584937934,0.8625840441354435,1.6826685290495669,-2.4525084450342107,4.335929560859745,4.335929560859745,4.332241160433847,0,0,-4.948418789033215e-05,8.750021126958103e-05
+64200,1793079339937470614,15891026000000,1793079339932727751,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6761951225219762,-0.004925496837968827,0.09939826058681052,0.9999999648789436,-0.00014710709689320423,0.00018467706289284816,7.706400149248468e-05,0.6761,-0.0046,0.09907671060323402,1.0,0.0,0.0,0.0,-0.6503554255729673,0.7965876912546659,2.602261885312707,0.05830797671587154,0.04411608693308097,0.0057248254032926564,0.0847663128978097,1.643648083412619,4.063488116677486,0.11122072219634577,0.0004676675264261368,0.0025099545215527303,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7637542725167485,1.4026466177351553,-2.691776960996197,-0.14198214825624977,2.0265521643470215,0.8595321230227769,1.6826685290495669,-2.602261885312707,4.374445490045764,4.374445490045764,4.443041160433589,0,0,-5.328216653585483e-05,-9.999999025923074e-05
+64342,1793079341120589773,15892209000000,1793079341112727738,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6762057438543567,-0.004927773497128229,0.09935670068826473,0.9999999622058473,-0.00013724922136549368,0.00020063404183830947,8.910556017695661e-05,0.6761,-0.0046,0.09900889475717518,1.0,0.0,0.0,0.0,-0.7281199672642344,0.7236206396385718,2.707654095538526,0.05442451771548708,0.045691525203856574,0.005257240474163535,0.0070017712065425335,1.570681031796525,4.168880326903305,0.1073372631959613,0.00204310579720174,0.002042369592423608,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8717386142234125,1.3300257347434428,-2.8768460236450504,-0.08730577144733358,2.1668833083389045,0.8132655710652293,1.6826685290495669,-2.707654095538526,4.559514552694617,4.559514552694617,4.561341160433313,0,0,-5.115647043888038e-05,9.960937216580418e-05
+64495,1793079342395606946,15893484000000,1793079342392737574,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6762157297518667,-0.004936209537688695,0.09931463020217837,0.9999999575204916,-0.00013973150128696176,0.00021569903087704443,0.00010173944620435436,0.6761,-0.0046,0.09895076620327416,1.0,0.0,0.0,0.0,-0.7197800235193424,0.7056052269155912,2.7767333741415783,0.05232778182478719,0.04673900800848131,0.0045687487071156,0.015341714951434531,1.5526656190735444,4.237959605506357,0.10524052730526141,0.0030905886018264737,0.001353877825375674,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8571602776123088,1.3762718919419645,-2.9275894272219425,-0.06676766607715014,2.194914088368869,0.8329887165182985,1.6826685290495669,-2.7767333741415783,4.610257956271509,4.610257956271509,4.688841160433016,0,0,-4.8138052942429905e-05,-9.208282333717505e-05
+64650,1793079343687655350,15894776000000,1793079343680737651,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6762276308856779,-0.004944811733865693,0.0992678186061126,0.9999999523462203,-0.00013449116730067403,0.00023451600355097775,0.00011689649918401494,0.6761,-0.0046,0.09888026929607595,1.0,0.0,0.0,0.0,-0.7460447331160283,0.6857938865335882,2.8959323955469154,0.05022197490222188,0.04877404339870199,0.004076760104525709,-0.01092299464525123,1.5328542786915413,4.357158626911694,0.10313472038269611,0.005125623992047159,0.000861889222785783,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8608691139757816,1.4015505578552006,-3.0622136664253006,-0.027415906297453718,2.2709162590913436,0.8325454473023832,1.6826685290495669,-2.8959323955469154,4.744882195474867,4.744882195474867,4.818041160432715,0,0,-5.183428001684221e-05,-9.171592238311205e-05
+64809,1793079345012646241,15896101000000,1793079345004737668,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6762397685425431,-0.0049424577775593346,0.09921299084060287,0.9999999462657228,-0.00014017819925174152,0.0002536326545670348,0.0001221964197642742,0.6761,-0.0046,0.09880605412482607,1.0,0.0,0.0,0.0,-0.748995978481022,0.6544981388734838,2.9916414683279644,0.0481498501743898,0.04920566532335266,0.0039900089657817625,-0.013874240010244903,1.501558531031437,4.452867699692743,0.10106259565486403,0.005557245916697821,0.0007751380840418363,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8427618792591283,1.2925643197019192,-3.2860969474372945,0.017857106337755623,2.409378955951645,0.7600164160221166,1.6826685290495669,-2.9916414683279644,4.968765476486862,4.968765476486862,4.950541160432406,0,0,-5.960735744295486e-05,9.960988564395307e-05
+64943,1793079346130654792,15897218000000,1793079346124729841,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6762517728970272,-0.004944582252925779,0.09916390694555242,0.9999999400357784,-0.00014300037348152913,0.000273646080194779,0.00012664920016698547,0.6761,-0.0046,0.09873475973163352,1.0,0.0,0.0,0.0,-0.7536203090848528,0.6368986091324249,3.0745416054738293,0.04709535928969681,0.049818081054965685,0.003492341309263794,-0.01849857061407577,1.483959001290378,4.535767836838608,0.10000810477017104,0.006169661648310851,0.000277470427523868,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8550161807153596,1.3444589898429409,-3.2902800009327873,-0.0006413575508165186,2.4151976680894207,0.7883955182245284,1.6826685290495669,-3.0745416054738293,4.972948529982354,4.972948529982354,5.062241160432146,0,0,-6.774967909880936e-05,-9.999389791038311e-05
+65091,1793079347362720386,15898451000000,1793079347356727565,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.67626365961675,-0.004949841364678653,0.09910320990824015,0.9999999324704291,-0.0001541979262000968,0.0002924530257561058,0.00013113439169651058,0.6761,-0.0046,0.09865204574362874,1.0,0.0,0.0,0.0,-0.7457839669250879,0.6232936389921035,3.1944453432333537,0.0450120909238286,0.05083975449482949,0.002782211462076692,-0.010662228454310833,1.4703540311500567,4.6556715745981325,0.09792483640430283,0.007191335088174653,-0.000432659419663234,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8426210717767046,1.4125563117080977,-3.356420271963885,-0.031080911834787138,2.456785630472343,0.83093269360217,1.6826685290495669,-3.1944453432333537,5.0390888010134525,5.0390888010134525,5.185541160431859,0,0,-7.06506404033177e-05,-9.999999025923074e-05
+65252,1793079348704714650,15899793000000,1793079348700727843,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6762754867755335,-0.004951711480199217,0.09902481917606132,0.999999924306777,-0.00016410071046340838,0.0003125812072404453,0.00013488235742510228,0.6761,-0.0046,0.09854994329568746,1.0,0.0,0.0,0.0,-0.7517697161252401,0.6020538123933727,3.3139322783205083,0.04295167721784704,0.050853106738346046,0.0026618936496298645,-0.0166479776544631,1.449114204551326,4.775158509685287,0.09586442269832127,0.007204687331691209,-0.0005529772321100617,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8660096966562565,1.3589956318835905,-3.570377989718724,-0.024150973078180822,2.6042501069079798,0.7887116050824805,1.6826685290495669,-3.3139322783205083,5.253046518768291,5.253046518768291,5.319741160431546,0,0,-7.957742028679869e-05,-4.607572819265713e-06
+65389,1793079349845767724,15900934000000,1793079349840728075,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6762857842022728,-0.0049512652415502545,0.09895327339649944,0.9999999159543604,-0.0001849373978538195,0.00033030590260344227,0.0001273982174646573,0.6761,-0.0046,0.09846268141176723,1.0,0.0,0.0,0.0,-0.7186410438095605,0.6014091689693413,3.3739991635984348,0.04194292820722348,0.049844511382337156,0.0025846066099218285,0.01648069466121651,1.4484695611272944,4.835225394963214,0.0948556736876977,0.006196091975682319,-0.0006302642718180976,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.857471780886513,1.4354152964295386,-3.6883336406704017,-0.034858201197407575,2.6799525968296765,0.8411872921701055,1.6826685290495669,-3.3739991635984348,5.371002169719969,5.371002169719969,5.43384116043128,0,0,-7.884652734753619e-05,3.4744833272348845e-05
+65535,1793079351062779269,15902151000000,1793079351056727787,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6763033599226065,-0.004952762859467213,0.09887644378950393,0.9999999032143073,-0.0001972359332109962,0.0003598983492902306,0.00012878433564127175,0.6761,-0.0046,0.0983549292581302,1.0,0.0,0.0,0.0,-0.7235980611667713,0.5700299664321045,3.4848555076137204,0.03987944480947678,0.04985745395793002,0.002476929617458842,0.011523677304005678,1.4170903585900576,4.946081738978499,0.092792190289951,0.006209034551275186,-0.000737941264281084,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8188508242960872,1.411445043796178,-3.806673277426394,-0.031188103870549114,2.745271165624205,0.8259109522946699,1.6826685290495669,-3.4848555076137204,5.489341806475961,5.489341806475961,5.555541160430996,0,0,-9.14319214686835e-05,9.957116661596927e-05
+65686,1793079352320819273,15903409000000,1793079352316727687,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6763188344864955,-0.004959236820282229,0.0987830418090331,0.999999889546105,-0.00021903829471754636,0.0003833551583449076,0.00013195336279498443,0.6761,-0.0046,0.09823805269490056,1.0,0.0,0.0,0.0,-0.709835217038575,0.528703012813379,3.608922417190355,0.03773250436723413,0.04886118546993109,0.00233932844434243,0.025286521432202027,1.375763404971332,5.070148648555134,0.09064524984770836,0.005212766063276254,-0.0008755424373974961,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.791963172153487,1.5052843773150653,-3.8623726440405735,-0.0629157944883865,2.7803114748213886,0.8823748332714276,1.6826685290495669,-3.608922417190355,5.545041173090141,5.545041173090141,5.681341160430703,0,0,-9.2676428055409e-05,-9.382000318159384e-05
+65853,1793079353712815628,15904801000000,1793079353708727909,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6763327307768492,-0.004965143870580378,0.09867009259789855,0.9999998762495925,-0.00023558561328452816,0.00040662594218993943,0.00013453038931902632,0.6761,-0.0046,0.0980986915357295,1.0,0.0,0.0,0.0,-0.6737815707734617,0.46057505531501297,3.6916653905538697,0.03314138456320097,0.046940854057276674,0.002191126750707421,0.06134016769731529,1.3076354474729661,5.1528916219186485,0.0860541300436752,0.0032924346506218345,-0.0010237441310325052,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8187719874702026,1.3394926108812548,-4.075023796173015,-0.022365446239853967,2.936888316070561,0.7667467928048658,1.6826685290495669,-3.6916653905538697,5.757692325222582,5.757692325222582,5.820541160430379,0,0,-0.00010736016619186805,9.68929617358782e-05
+65991,1793079354862905532,15905951000000,1793079354860728424,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6763466352132715,-0.004967313531525336,0.09857104583915466,0.9999998622478458,-0.00024877176976536685,0.0004315199205977078,0.00013729646056391496,0.6761,-0.0046,0.09797765042703648,1.0,0.0,0.0,0.0,-0.6568856726772271,0.410480265543387,3.779945441621515,0.02892071154168674,0.045956722305078905,0.0020591907561674574,0.07823606579354987,1.2575406577013402,5.241171672986294,0.08183345702216097,0.002308302898424072,-0.001155680125572469,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7758097523860614,1.3893698414170499,-4.118828527597334,-0.04450872566480396,2.960009310503528,0.7985300839046028,1.6826685290495669,-3.779945441621515,5.801497056646902,5.801497056646902,5.935541160430111,0,0,-0.00010238914925217302,-9.378827855866518e-05
+66140,1793079356104938323,15907193000000,1793079356100727790,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6763619359834545,-0.004969539967699307,0.0984499522519508,0.9999998458032441,-0.00026921446357562086,0.00045687013563949183,0.0001364903060399981,0.6761,-0.0046,0.0978289586189815,1.0,0.0,0.0,0.0,-0.6520927858850575,0.3728318992230648,3.848421488994882,0.026661429006051438,0.045645157571635966,0.0019776010291526506,0.08302895258571956,1.219892291381018,5.309647720359661,0.07957417448652566,0.001996738164981131,-0.0012372698525872758,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7424000315858332,1.3853703044592165,-4.236919835225815,-0.04564491171750728,3.0272488551396126,0.7913208961249532,1.6826685290495669,-3.848421488994882,5.919588364275382,5.919588364275382,6.059741160429821,0,0,-0.00013602219271355154,-9.999999025923074e-05
+66272,1793079357204980825,15908293000000,1793079357200727390,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6763763144411568,-0.004968879744139977,0.09833034067246854,0.9999998310118938,-0.00028363697532219316,0.0004818202048876673,0.0001296857900775283,0.6761,-0.0046,0.0976853059761868,1.0,0.0,0.0,0.0,-0.6413930869596541,0.3562206051488568,3.924071940959503,0.025629243568185897,0.04497706256308931,0.0018929131934505936,0.0937286515111229,1.20328099730681,5.385298172324282,0.07854198904866012,0.001328643156434471,-0.0013219576882893326,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8118938497004626,1.3607768466342063,-4.437670464058522,-0.03815859319921184,3.178354229041769,0.7727839657849752,1.6826685290495669,-3.924071940959503,6.1203389931080885,6.1203389931080885,6.169741160429565,0,0,-0.00013247737698921102,9.968910005676008e-05
+66404,1793079358304939763,15909393000000,1793079358300728258,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6763906209492008,-0.0049756492387368,0.09819935102746398,0.9999998548387106,-7.373083725059053e-05,0.000507192561615601,0.00013814807752775564,0.6761,-0.0046,0.09752792824811017,1.0,0.0,0.0,0.0,-0.6310006193462818,0.3115907574288199,4.038252834429927,0.022148091016746446,0.04502401102832148,0.0007566315626178566,0.10412111912449519,1.158651149586773,5.499479065794706,0.07506083649722067,0.0013755916216666457,-0.0024582393191220696,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.8043193826946886,1.4688681258970169,-4.513614866897223,-0.12189064307352121,3.2409734187269637,0.7642859212943568,1.6826685290495669,-4.038252834429927,6.196283395946789,6.196283395946789,6.2797411604293085,0,0,-0.00015101764342243117,9.999792246884737e-05
+66535,1793079359396024500,15910484000000,1793079359388727811,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6764059577759156,-0.004980438442097085,0.09805923224466548,0.9999998389430125,-0.0001076814199016492,0.0005318782111903234,0.00013808364805808482,0.6761,-0.0046,0.09736591303251908,1.0,0.0,0.0,0.0,-0.6115974421254358,0.29210991498807615,4.107927359417922,0.01946718123694008,0.045053059503181996,0.0016781490647513222,0.12352429634534118,1.1391703071460293,5.569153590782701,0.0723799267174143,0.0014046400965271601,-0.001536721816988604,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7807264019891713,1.505230883072327,-4.622278318113924,-0.10488857234177232,3.306859783620424,0.8185823491358816,1.6826685290495669,-4.107927359417922,6.304946847163491,6.304946847163491,6.388841160429054,0,0,-0.0001456667929097558,9.36780334123199e-05
+66657,1793079360413095965,15911501000000,1793079360412727343,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6764200716009786,-0.0049766359589529215,0.09792731561608665,0.9999998236600267,-0.00013666170648705004,0.0005549769827095547,0.0001320867376338922,0.6761,-0.0046,0.09721112158203923,1.0,0.0,0.0,0.0,-0.5632336729381107,0.24037372975644278,4.167132289015304,0.016516673439359253,0.04205882528254181,0.0015550208208499556,0.17188806553266628,1.087434121914396,5.6283585203800826,0.06942941891983348,-0.0015895941241130282,-0.0016598500608899706,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7594611141074759,1.4560529293609175,-4.656771000994191,-0.04313383871031999,3.3255420862216254,0.8316728262808321,1.6826685290495669,-4.167132289015304,6.339439530043759,6.339439530043759,6.490541160428817,0,0,-0.0001524843463399358,-9.449138280016029e-05
+66777,1793079361413014400,15912501000000,1793079361412726963,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6764323469294866,-0.00498016909259699,0.09778880966957909,0.9999998072092503,-0.00016846168572444515,0.0005761031544504575,0.00012942234145610102,0.6761,-0.0046,0.09705196942647759,1.0,0.0,0.0,0.0,-0.5336441764905921,0.19348102233305098,4.24345268515777,0.013444714206982594,0.040075728787335375,0.0015566403923520942,0.2014775619801848,1.0405414144910041,5.704678916522549,0.06635745968745682,-0.003572690619319457,-0.001658230489387832,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.6900211244274397,1.4049550649594302,-4.6942099419047025,-0.008448754688647201,3.3405465518768196,0.8174609523161231,1.6826685290495669,-4.24345268515777,6.376878470954269,6.376878470954269,6.590541160428584,0,0,-0.00016592770429454807,-9.983873036490393e-05
+66903,1793079362463110943,15913551000000,1793079362456727710,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6764469819926441,-0.004982257287161362,0.09762984745828876,0.999999790793956,-0.00018266532878821292,0.0005977186263279548,0.00013863884625119722,0.6761,-0.0046,0.09687186165420597,1.0,0.0,0.0,0.0,-0.5131371754169451,0.1394692356978654,4.30942918534864,0.010404505276335019,0.03896893787568933,0.0023564519740995353,0.22198456305383188,0.9865296278558185,5.770655416713419,0.06331725075680925,-0.004679481530965507,-0.0008584189076403909,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7416375114736258,1.3173518400977562,-4.942641868420602,0.027219874851382025,3.5234219239854174,0.7635682346252808,1.6826685290495669,-4.30942918534864,6.6253103974701695,6.6253103974701695,6.6955411604283395,0,0,-0.00017176863251614082,9.999942126993062e-05
+67041,1793079363613175419,15914701000000,1793079363608736722,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6764590024414738,-0.004986430492695964,0.09744874894443593,0.9999997703741994,-0.00021552270654912932,0.0006197954609394136,0.00014176728206964723,0.6761,-0.0046,0.09666818543805769,1.0,0.0,0.0,0.0,-0.4644489006000191,0.08724457845224687,4.3587004721486515,0.00637172707100829,0.036130124318871484,0.0022298336711292738,0.2706728378707579,0.9343049706102,5.81992670351343,0.05928447255148252,-0.007518295087783349,-0.0009850372106106524,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.6836800943301047,1.363771960802971,-4.945527293194251,0.017378947608447652,3.5207025060692065,0.7871176392444736,1.6826685290495669,-4.3587004721486515,6.628195822243818,6.628195822243818,6.8105411604280714,0,0,-0.00018809426638041605,-9.999999025923074e-05
+67160,1793079364605158176,15915693000000,1793079364604727666,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6764711947745744,-0.004984021449404059,0.09727379466891792,0.9999997490326334,-0.0002502134612041907,0.0006421068580455696,0.00013590268827970374,0.6761,-0.0046,0.09647409039086707,1.0,0.0,0.0,0.0,-0.3721374343095477,0.08710783607758665,4.435876077539233,0.007465225386467066,0.029000122103933313,0.0020799045899024668,0.3629843041612293,0.9341682282355398,5.897102308904012,0.06037797086694129,-0.014648297302721523,-0.0011349662918374592,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.6513379982869192,1.4261003497118534,-5.004391875018076,0.013488301671179754,3.5644470951018477,0.817179072970825,1.6826685290495669,-4.435876077539233,6.687060404067642,6.687060404067642,6.90974116042784,0,0,-0.00020606764881555962,-9.999999025923074e-05
+67284,1793079365638228869,15916726000000,1793079365632737851,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6764926425784076,-0.004976556908491852,0.09708360597194989,0.9999997266248315,-0.00024775195626736916,0.0006745228279174479,0.00014775333840124348,0.6761,-0.0046,0.09624921314034889,1.0,0.0,0.0,0.0,-0.3337470791231998,0.0801438021806754,4.516768746477385,0.007524136461911052,0.026953890940402195,0.0029640576713369864,0.4013746593475772,0.9272041943386286,5.9779949778421635,0.06043688194238528,-0.01669452846625264,-0.0002508132104029398,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7109266094777107,1.4173656615598997,-5.108722031107059,0.03493521713507596,3.649105531378355,0.8210384652955396,1.6826685290495669,-4.516768746477385,6.791390560156627,6.791390560156627,7.0130411604275995,0,0,-0.00022551358720287874,-9.997557923047679e-05
+67396,1793079366571218753,15917659000000,1793079366568738097,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6765002635992622,-0.004981931712592943,0.0968812884575252,0.9999997394967871,-0.0001079748944152205,0.0006909313863427054,0.0001529851752984998,0.6761,-0.0046,0.09603005591411155,1.0,0.0,0.0,0.0,-0.2941113263638638,0.020210301017434817,4.609426116890016,0.004223518924139434,0.023000064700440952,0.001815821300732382,0.4410104121069132,0.867270693175388,6.070652348254795,0.05713626440461366,-0.020648354706213883,-0.0013990495810075442,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.6880539990096661,1.5684200921221414,-5.163931342720192,-0.03801843913712651,3.708120236960269,0.8451742933009507,1.6826685290495669,-4.609426116890016,6.846599871769758,6.846599871769758,7.106341160427382,0,0,-0.00024242823431638717,-9.999999025923074e-05
+67500,1793079367438239996,15918526000000,1793079367436737387,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6765088626785412,-0.004980432210818501,0.09668177645150206,0.9999997188480538,-0.0001607685520513886,0.0007125216289588116,0.0001421727065747156,0.6761,-0.0046,0.09581579929475444,1.0,0.0,0.0,0.0,-0.2456270481875824,-0.01915540323693532,4.685111505042036,0.0016301615534640365,0.01994091678520493,0.0024896202075632935,0.4894946902831946,0.8279049889210178,6.146337736406815,0.054542907033938264,-0.023707502621449907,-0.0007252506741766325,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.6952935869477213,1.4834502836684744,-5.341143616841402,0.04534912118803603,3.8309206565272613,0.8587149916917133,1.6826685290495669,-4.685111505042036,7.023812145890968,7.023812145890968,7.19304116042718,0,0,-0.0002485051539033182,9.999999025923074e-05
+67613,1793079368380242826,15919468000000,1793079368376727573,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6765305806612927,-0.004980204329115112,0.09645830126426949,0.999999697050124,-0.00016561147787327768,0.0007364994732287458,0.00016578265487717187,0.6761,-0.0046,0.09557184202403447,1.0,0.0,0.0,0.0,-0.2908460155901376,-0.04471441478397842,4.705771131988299,0.0015235565926125447,0.021966424621300835,0.002719776150257049,0.4442757228806394,0.8023459773739747,6.166997363353078,0.05443630207308677,-0.021681994785354,-0.000495094731482877,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7577678898540874,1.2968129145046612,-5.292058578309262,0.10824610875809233,3.8169050705878593,0.7410653054404756,1.6826685290495669,-4.705771131988299,6.974727107358829,6.974727107358829,7.2872411604269605,0,0,-0.0002744476779961965,-9.998858271765271e-05
+67707,1793079369163302916,15920251000000,1793079369160737337,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6765424715647512,-0.004981415625837353,0.0962579181712387,0.9999996690531172,-0.0002371529021131976,0.0007614996693554872,0.00013119936976455497,0.6761,-0.0046,0.09535026075111087,1.0,0.0,0.0,0.0,-0.19254545310300009,-0.023651087164301088,4.785954670248708,0.0016306078018371792,0.016123631526668618,0.0025734541455690644,0.5425762853677769,0.8234093049936521,6.247180901613487,0.054543353282311406,-0.027524787879986218,-0.0006414167361708619,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.731104353641067,1.3412984723932215,-5.4132510336361195,0.16625386256912342,3.8979002637146505,0.7759886561139191,1.6826685290495669,-4.785954670248708,7.095919562685687,7.095919562685687,7.365541160426778,0,0,-0.00028939763834920216,-9.999997638144293e-05
+67801,1793079369946259766,15921034000000,1793079369944727611,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6765508156405153,-0.004988532747554676,0.09604231468024971,0.9999996555811952,-0.00022792594524897908,0.0007772697473972133,0.00015550517137472537,0.6761,-0.0046,0.09511774219120323,1.0,0.0,0.0,0.0,-0.20587037903894234,-0.12634785982727081,4.823945791950159,-0.0038032090809032235,0.01596504853242903,0.0024781111654066353,0.5292513594318347,0.7207125323306823,6.285172023314938,0.049109536399571004,-0.027683370874225805,-0.0007367597163332907,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.6960670760123633,1.3522274660266353,-5.469673114462415,0.12504564563964096,3.9469467568635617,0.7889247065137194,1.6826685290495669,-4.823945791950159,7.152341643511981,7.152341643511981,7.4438411604265955,0,0,-0.0003060631678195299,-9.999999025923074e-05
+67899,1793079370763271701,15921851000000,1793079370760727593,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6765598329224951,-0.00498688692676113,0.09579905452388669,0.999999660526865,-0.00011598610094668865,0.0007895503375569128,0.0001831570584022892,0.6761,-0.0046,0.09485680047833643,1.0,0.0,0.0,0.0,-0.18499113455416882,-0.22690412760742396,4.892402832309986,-0.009495873925447179,0.014249220762712057,0.0023324701152171723,0.5501306039166082,0.6201562645505292,6.353629063674765,0.04341687155502705,-0.02939919864394278,-0.0008824007665227541,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7304475204527128,1.3883503433952509,-5.593423612276153,0.0973774142559199,4.061148270093195,0.7987165717208213,1.6826685290495669,-4.892402832309986,7.276092141325719,7.276092141325719,7.525541160426405,0,0,-0.00033031780690276493,9.460454228194521e-05
+67986,1793079371488342120,15922576000000,1793079371484737526,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.676567051216289,-0.004982586320810781,0.09556431047632585,0.999999639206635,-0.00019790763914607172,0.0008082648064342774,0.00014342256770654707,0.6761,-0.0046,0.09460999870485828,1.0,0.0,0.0,0.0,-0.12358552423735769,-0.2234998639488226,4.969157517067513,-0.008762226553699189,0.009871050873068325,0.003241675644724946,0.6115362142334193,0.6235605282091305,6.430383748432292,0.04415051892677504,-0.03377736853358651,2.6804762985019758e-05,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.694712572598009,1.1925429182880667,-5.573586328768992,0.19793827103744718,4.053426408491586,0.691347612896976,1.6826685290495669,-4.969157517067513,7.2562548578185595,7.2562548578185595,7.598041160426236,0,0,-0.0003493241494359741,-9.999999025923074e-05
+68071,1793079372196392081,15923284000000,1793079372188737652,DOWN_FORCE_DETACH,8,0.0706,0.0706021711230278,0.6765859009562516,-0.004992649215175101,0.09532452181372128,0.9999996207292728,-0.0001997999716247891,0.0008235334531877528,0.00017848472596634817,0.6761,-0.0046,0.09435431819522254,1.0,0.0,0.0,0.0,-0.190176775355124,-0.23476315625393962,4.982393647946696,-0.00848140248362763,0.013417828461596008,0.0032815417868204116,0.544944963115653,0.6122972359040135,6.443619879311475,0.0444313429968466,-0.030230590945058828,6.667090508048529e-05,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7711510434585045,1.3396150772384974,-5.624309586559394,0.1274668116663484,4.099746068008542,0.7828018961530239,1.6826685290495669,-4.982393647946696,7.3069781156089615,7.3069781156089615,7.668841160426071,0,0,-0.00037544524277985234,-9.999999025923074e-05
+68153,1793079372880398928,15923968000000,1793079372876736875,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6765936076733674,-0.004994865073816276,0.09506873798318399,0.9999996161376261,-0.00013465602384089048,0.0008374627654761214,0.00019922684665773895,0.6761,-0.0046,0.09408923936699227,1.0,0.0,0.0,0.0,-0.15253017010140768,-0.35090212046046115,5.030457118454091,-0.015576780795740715,0.011082684497760183,0.0030522013918244176,0.5825915683693693,0.496158271697492,6.49168334981887,0.03733596468473351,-0.03256573490889465,-0.00016266948991550844,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.689134454943857,1.2223666003548064,-5.620316332341108,0.16989488160917063,4.100143479852505,0.7059013807186459,1.6826685290495669,-5.030457118454091,7.302984861390675,7.302984861390675,7.737241160425912,0,0,-0.00039964452892424083,-9.976064005290936e-05
+68222,1793079373455389574,15924543000000,1793079373452737150,DOWN_FORCE_DETACH,8,0.0706,0.07060151547193527,0.6765987867602932,-0.0049908977612691235,0.09483831981393398,0.9999995960044276,-0.0002132599179100412,0.0008530395368983025,0.00016210367500396264,0.6761,-0.0046,0.09385161128527116,1.0,0.0,0.0,0.0,-0.06573237687800304,-0.3329818170275012,5.081119942121684,-0.015444467374569802,0.006205296481440185,0.003028318121412202,0.669389361592774,0.514078575130452,6.542346173486463,0.037468278105904425,-0.03744312292521465,-0.00018655276032772446,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.7334797920331677,1.2779833767532311,-5.682042947714758,0.15648069934133363,4.170656519047038,0.7496129871913553,1.6826685290495669,-5.081119942121684,7.364711476764326,7.364711476764326,7.794741160425778,0,0,-0.000427053600353415,-9.999999025923074e-05
+68336,1793079374402414869,15925490000000,1793079374400737327,DOWN_PEAK_HOLD,8,0.0706,0.0706021711230278,0.6765588484833551,-0.004994418934686457,0.09464230536216935,0.9999996529446628,-0.0002145641776475648,0.0007797021293030012,0.00017770824805057905,0.6761,-0.0046,0.09377325350864615,1.0,0.0,0.0,0.0,0.18718598918046148,-0.6395307894550677,4.163921290758085,-0.03458117250424071,-0.011597790553145033,0.001234878212459124,0.9223077276512385,0.2075296027028854,5.625147522122864,0.01833157297623352,-0.05524620995979987,-0.001979992669280802,0.735121738470777,0.8470603921579531,1.4612262313647788,0.05291274548047423,-0.043648419406654836,-0.003214870881739926,1,1.091315219338222,1.2989381275263925,-4.640888399089269,0.13969642559630965,3.399984384669532,0.7614037027440925,1.6826685290495669,-4.163921290758085,6.323556928138835,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_08/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,1793079306621310467,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.555177187e-08,-1.580808186e-09,-7.234419730e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027460897e-01,-1.131710519e-04,8.303253481e-01
+1,1.266666667e+00,DOWN_FORCE_DETACH,1793079307866431581,3.593698432e-06,-1.095348467e-06,4.587261337e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.086697887e-07,-7.935337284e-08,-5.959142224e-08,7.019591916e-01,-2.308040305e-05,8.601438446e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027468828e-01,-1.132488245e-04,8.303252892e-01
+2,2.250000000e+00,DOWN_FORCE_DETACH,1793079308832154502,4.066610548e-05,1.913536433e-06,2.443549455e-05,4.057340407e-05,2.096494049e-06,2.452472050e-05,4.324382999e-05,1.725929678e-06,2.356273262e-05,7.019962640e-01,-2.007151815e-05,8.601678214e-01,7.019961713e-01,-1.988856053e-05,8.601679106e-01,7.027893180e-01,-1.114435414e-04,8.303489115e-01
+3,3.550000000e+00,DOWN_FORCE_DETACH,1793079310126370787,6.022836213e-05,-4.327004167e-06,-1.820952672e-05,5.768160295e-05,-3.474997292e-06,-1.151149499e-05,6.199664899e-05,-3.382962779e-06,-1.060772026e-05,7.020158262e-01,-2.631205875e-05,8.601251764e-01,7.020132795e-01,-2.546005187e-05,8.601318744e-01,7.028080708e-01,-1.165524339e-04,8.303147411e-01
+4,4.883333333e+00,DOWN_FORCE_DETACH,1793079311469304241,6.873194650e-05,-6.111736648e-07,-3.210439518e-05,6.572091171e-05,-4.453285250e-06,-2.935497907e-05,7.113273182e-05,-4.371755728e-06,-2.851320849e-05,7.020243298e-01,-2.259622824e-05,8.601112815e-01,7.020213188e-01,-2.643833983e-05,8.601140309e-01,7.028172069e-01,-1.175412268e-04,8.302968356e-01
+5,6.066666667e+00,DOWN_FORCE_DETACH,1793079312649072089,6.839227147e-05,-4.045499192e-06,-3.329437656e-05,6.572091171e-05,-4.453285250e-06,-2.935497907e-05,7.161974469e-05,-4.399466981e-06,-2.892095477e-05,7.020239901e-01,-2.603055377e-05,8.601100915e-01,7.020213188e-01,-2.643833983e-05,8.601140309e-01,7.028176939e-01,-1.175689381e-04,8.302964278e-01
+6,7.233333333e+00,DOWN_FORCE_DETACH,1793079313828491285,7.056309763e-05,-2.455529222e-06,-3.516976702e-05,6.572091171e-05,-4.453285250e-06,-2.935497907e-05,7.183729218e-05,-4.412562265e-06,-2.911251151e-05,7.020261610e-01,-2.444058380e-05,8.601082161e-01,7.020213188e-01,-2.643833983e-05,8.601140309e-01,7.028179115e-01,-1.175820334e-04,8.302962363e-01
+7,8.533333333e+00,DOWN_FORCE_DETACH,1793079315106014782,7.044567084e-05,-4.514477607e-06,-4.405440739e-05,6.572091171e-05,-4.453285250e-06,-2.935497907e-05,7.194696733e-05,-4.419692409e-06,-2.921658598e-05,7.020260435e-01,-2.649953219e-05,8.600993315e-01,7.020213188e-01,-2.643833983e-05,8.601140309e-01,7.028180211e-01,-1.175891635e-04,8.302961322e-01
+8,9.733333333e+00,DOWN_FORCE_DETACH,1793079316334634792,8.130062933e-05,-5.655560446e-06,-5.518534638e-05,7.305170090e-05,-7.750198482e-07,-4.773953598e-05,7.944287307e-05,-1.139327432e-06,-4.710139135e-05,7.020368985e-01,-2.764061503e-05,8.600882006e-01,7.020286496e-01,-2.276007443e-05,8.600956464e-01,7.028255171e-01,-1.143087986e-04,8.302782474e-01
+9,1.103333333e+01,DOWN_FORCE_DETACH,1793079317644995269,9.239537303e-05,-3.311946168e-06,-6.462673441e-05,8.467857593e-05,-6.965367049e-06,-6.352742108e-05,9.155060755e-05,-6.726648556e-06,-6.272094993e-05,7.020479932e-01,-2.529700075e-05,8.600787592e-01,7.020402764e-01,-2.895042163e-05,8.600798585e-01,7.028376248e-01,-1.198961197e-04,8.302626278e-01
+10,1.236666667e+01,DOWN_FORCE_DETACH,1793079319054362680,1.006347473e-04,5.484024275e-06,-7.984326223e-05,9.634095815e-05,5.829743440e-06,-7.633125340e-05,1.038039594e-04,4.786031837e-06,-7.544326969e-05,7.020562326e-01,-1.650103031e-05,8.600635427e-01,7.020519388e-01,-1.615531114e-05,8.600670547e-01,7.028498781e-01,-1.083834393e-04,8.302499055e-01
+11,1.376666667e+01,DOWN_FORCE_DETACH,1793079320462708589,1.073511513e-04,2.486292514e-06,-9.123231760e-05,9.634095815e-05,5.829743440e-06,-7.633125340e-05,1.041561820e-04,4.772949470e-06,-7.581049970e-05,7.020629490e-01,-1.949876207e-05,8.600521536e-01,7.020519388e-01,-1.615531114e-05,8.600670547e-01,7.028502304e-01,-1.083965216e-04,8.302495383e-01
+12,1.495000000e+01,DOWN_FORCE_DETACH,1793079321625089830,1.131766604e-04,7.547124327e-07,-1.128655833e-04,1.129866445e-04,6.795681859e-07,-1.127275588e-04,1.211790090e-04,9.035769363e-08,-1.108911249e-04,7.020687745e-01,-2.123034215e-05,8.600305203e-01,7.020685845e-01,-2.130548639e-05,8.600306584e-01,7.028672532e-01,-1.130791134e-04,8.302144577e-01
+13,1.630000000e+01,DOWN_FORCE_DETACH,1793079322968681039,1.183368254e-04,-3.083536909e-06,-1.210051926e-04,1.129866445e-04,6.795681859e-07,-1.127275588e-04,1.216844912e-04,6.341825926e-08,-1.119039504e-04,7.020739347e-01,-2.506859149e-05,8.600223807e-01,7.020685845e-01,-2.130548639e-05,8.600306584e-01,7.028677587e-01,-1.131060529e-04,8.302134448e-01
+14,1.770000000e+01,DOWN_FORCE_DETACH,1793079324377746101,1.284546178e-04,-7.095370310e-06,-1.356346765e-04,1.245131370e-04,-4.511639074e-06,-1.281571136e-04,1.337128813e-04,-4.658275289e-06,-1.271465821e-04,7.020840525e-01,-2.908042489e-05,8.600077512e-01,7.020801110e-01,-2.649669365e-05,8.600152288e-01,7.028797871e-01,-1.178277464e-04,8.301982022e-01
+15,1.898333333e+01,DOWN_FORCE_DETACH,1793079325638814881,1.363928733e-04,-5.917899422e-06,-1.493094863e-04,1.302060999e-04,-1.134855074e-06,-1.470318904e-04,1.397109177e-04,-1.623975413e-06,-1.459028195e-04,7.020919907e-01,-2.790295400e-05,8.599940764e-01,7.020858040e-01,-2.311990965e-05,8.599963540e-01,7.028857851e-01,-1.147934465e-04,8.301794460e-01
+16,2.036666667e+01,DOWN_FORCE_DETACH,1793079327031675900,1.446858064e-04,-8.050251436e-06,-1.666910085e-04,1.423527705e-04,-6.800484297e-06,-1.615618616e-04,1.523629949e-04,-6.774758733e-06,-1.604010156e-04,7.021002837e-01,-3.003530602e-05,8.599766949e-01,7.020979506e-01,-2.878553888e-05,8.599818241e-01,7.028984372e-01,-1.199442299e-04,8.301649478e-01
+17,2.168333333e+01,DOWN_FORCE_DETACH,1793079328390358160,1.536937985e-04,-6.212131266e-06,-1.821427816e-04,1.449983531e-04,-5.963941809e-06,-1.826676964e-04,1.552368578e-04,-6.055454781e-06,-1.813003144e-04,7.021092917e-01,-2.819718585e-05,8.599612431e-01,7.021005962e-01,-2.794899639e-05,8.599607182e-01,7.029013110e-01,-1.192249259e-04,8.301440485e-01
+18,2.311666667e+01,DOWN_FORCE_DETACH,1793079329865894169,1.612094875e-04,-1.153782766e-05,-2.069266688e-04,1.578193334e-04,-1.093539624e-05,-1.972519182e-04,1.686924338e-04,-1.055899239e-05,-1.959867434e-04,7.021168074e-01,-3.352288224e-05,8.599364592e-01,7.021134172e-01,-3.292045082e-05,8.599461340e-01,7.029147666e-01,-1.237284635e-04,8.301293620e-01
+19,2.440000000e+01,DOWN_FORCE_DETACH,1793079331159109347,1.706556916e-04,-8.055233511e-06,-2.218627079e-04,1.647633537e-04,-5.676196018e-06,-2.164747478e-04,1.760763996e-04,-5.831019270e-06,-2.152207168e-04,7.021262536e-01,-3.004028809e-05,8.599215232e-01,7.021203612e-01,-2.766125060e-05,8.599269112e-01,7.029221506e-01,-1.190004904e-04,8.301101281e-01
+20,2.561666667e+01,DOWN_FORCE_DETACH,1793079332387758931,1.761381243e-04,-1.271795918e-05,-2.458888255e-04,1.699815267e-04,-1.170937732e-05,-2.346371833e-04,1.815820380e-04,-1.127745172e-05,-2.333658751e-04,7.021317360e-01,-3.470301376e-05,8.598974971e-01,7.021255794e-01,-3.369443190e-05,8.599087487e-01,7.029276562e-01,-1.244469228e-04,8.300919829e-01
+21,2.691666667e+01,DOWN_FORCE_DETACH,1793079333714154398,1.821535125e-04,-1.052439117e-05,-2.684608144e-04,1.761549722e-04,-9.811194905e-06,-2.536278071e-04,1.880502301e-04,-9.578846861e-06,-2.524040605e-04,7.021377514e-01,-3.250944575e-05,8.598749251e-01,7.021317528e-01,-3.179624949e-05,8.598897581e-01,7.029341244e-01,-1.227483180e-04,8.300729447e-01
+22,2.815000000e+01,DOWN_FORCE_DETACH,1793079334960770276,1.923393207e-04,-1.790712978e-05,-2.868350640e-04,1.893177268e-04,-1.543658479e-05,-2.906460578e-04,2.014667683e-04,-1.469205425e-05,-2.884446696e-04,7.021479372e-01,-3.989218436e-05,8.598565509e-01,7.021449156e-01,-3.742163937e-05,8.598527399e-01,7.029475409e-01,-1.278615254e-04,8.300369041e-01
+23,2.951666667e+01,DOWN_FORCE_DETACH,1793079336318571496,2.022520148e-04,-1.750023421e-05,-3.176824755e-04,1.981320288e-04,-1.901768212e-05,-3.089015747e-04,2.108431373e-04,-1.796422519e-05,-3.072870970e-04,7.021578499e-01,-3.948528879e-05,8.598257034e-01,7.021537299e-01,-4.100273670e-05,8.598344843e-01,7.029569173e-01,-1.311336963e-04,8.300180617e-01
+24,3.065000000e+01,DOWN_FORCE_DETACH,1793079337481481574,2.118141743e-04,-1.746462181e-05,-3.411134307e-04,2.029268723e-04,-1.894005581e-05,-3.296320733e-04,2.159528914e-04,-1.791356599e-05,-3.281436988e-04,7.021674120e-01,-3.944967639e-05,8.598022725e-01,7.021585247e-01,-4.092511039e-05,8.598137538e-01,7.029620271e-01,-1.310830371e-04,8.299972051e-01
+25,3.198333333e+01,DOWN_FORCE_DETACH,1793079338825194798,2.209075729e-04,-2.342784529e-05,-3.773381440e-04,2.148178147e-04,-2.209540542e-05,-3.683309696e-04,2.282365935e-04,-2.082833952e-05,-3.665047912e-04,7.021765054e-01,-4.541289987e-05,8.597660478e-01,7.021704157e-01,-4.408046000e-05,8.597750549e-01,7.029743108e-01,-1.339978106e-04,8.299588440e-01
+26,3.310000000e+01,DOWN_FORCE_DETACH,1793079339939459055,2.338566573e-04,-1.313079213e-05,-4.145053636e-04,2.345012813e-04,-1.640911809e-05,-4.123435177e-04,2.483545432e-04,-1.574695246e-05,-4.098444317e-04,7.021894545e-01,-3.511584671e-05,8.597288806e-01,7.021900991e-01,-3.839417267e-05,8.597310424e-01,7.029944287e-01,-1.289164236e-04,8.299155044e-01
+27,3.426666667e+01,DOWN_FORCE_DETACH,1793079341118256904,2.436576552e-04,-1.881334458e-05,-4.576169704e-04,2.394055214e-04,-1.551352575e-05,-4.537795447e-04,2.536258811e-04,-1.495219229e-05,-4.510498293e-04,7.021992555e-01,-4.079839916e-05,8.596857689e-01,7.021950034e-01,-3.749858033e-05,8.596896064e-01,7.029997001e-01,-1.281216634e-04,8.298742990e-01
+28,3.550000000e+01,DOWN_FORCE_DETACH,1793079342395595775,2.538637930e-04,-2.001448601e-05,-4.988191149e-04,2.505442143e-04,-2.073113905e-05,-4.962440389e-04,2.651298211e-04,-1.971893532e-05,-4.934122901e-04,7.022094617e-01,-4.199954059e-05,8.596445668e-01,7.022061421e-01,-4.271619363e-05,8.596471419e-01,7.030112040e-01,-1.328884064e-04,8.298319365e-01
+29,3.681666667e+01,DOWN_FORCE_DETACH,1793079343689904198,2.666712335e-04,-2.543296895e-05,-5.445112942e-04,2.608244926e-04,-2.319906963e-05,-5.372835395e-04,2.756754499e-04,-2.199600476e-05,-5.346308228e-04,7.022222691e-01,-4.741802353e-05,8.595988746e-01,7.022164224e-01,-4.518412421e-05,8.596061024e-01,7.030217496e-01,-1.351654759e-04,8.297907180e-01
+30,3.816666667e+01,DOWN_FORCE_DETACH,1793079345016505286,2.791034707e-04,-2.692730238e-05,-5.972254517e-04,2.747707521e-04,-2.934417628e-05,-5.973907970e-04,2.898853029e-04,-2.758947169e-05,-5.940295861e-04,7.022347013e-01,-4.891235696e-05,8.595461605e-01,7.022303686e-01,-5.132923086e-05,8.595459951e-01,7.030359595e-01,-1.407589428e-04,8.297313192e-01
+31,3.928333333e+01,DOWN_FORCE_DETACH,1793079346130390397,2.913732711e-04,-3.201089580e-05,-6.462729679e-04,2.844648389e-04,-2.842000302e-05,-6.360475066e-04,2.999415326e-04,-2.676169439e-05,-6.329221317e-04,7.022469711e-01,-5.399595038e-05,8.594971129e-01,7.022400627e-01,-5.040505760e-05,8.595073384e-01,7.030460157e-01,-1.399311655e-04,8.296924267e-01
+32,4.048333333e+01,DOWN_FORCE_DETACH,1793079347360130436,3.002086978e-04,-3.275586715e-05,-7.122970532e-04,2.949818994e-04,-2.876582839e-05,-6.971947102e-04,3.105876107e-04,-2.714302189e-05,-6.937225713e-04,7.022558066e-01,-5.474092173e-05,8.594310889e-01,7.022505798e-01,-5.075088297e-05,8.594461912e-01,7.030566618e-01,-1.403124930e-04,8.296316262e-01
+33,4.178333333e+01,DOWN_FORCE_DETACH,1793079348702916483,3.150380710e-04,-3.443567081e-05,-7.861477086e-04,3.119598589e-04,-3.394091428e-05,-7.752995677e-04,3.277134884e-04,-3.184478834e-05,-7.712163474e-04,7.022706359e-01,-5.642072539e-05,8.593572382e-01,7.022675577e-01,-5.592596886e-05,8.593680863e-01,7.030737877e-01,-1.450142595e-04,8.295541324e-01
+34,4.293333333e+01,DOWN_FORCE_DETACH,1793079349848794538,3.266731369e-04,-3.893129395e-05,-8.565335944e-04,3.245529864e-04,-4.124882606e-05,-8.576145816e-04,3.402221137e-04,-3.850065137e-05,-8.527102659e-04,7.022822710e-01,-6.091634853e-05,8.592868523e-01,7.022801509e-01,-6.323388064e-05,8.592857713e-01,7.030862963e-01,-1.516701225e-04,8.294726385e-01
+35,4.415000000e+01,DOWN_FORCE_DETACH,1793079351061269694,3.418802593e-04,-4.443384611e-05,-9.351019616e-04,3.377742464e-04,-3.985674980e-05,-9.168313678e-04,3.538294332e-04,-3.735825935e-05,-9.126470768e-04,7.022974781e-01,-6.641890069e-05,8.592082840e-01,7.022933721e-01,-6.184180438e-05,8.592265545e-01,7.030999036e-01,-1.505277305e-04,8.294127017e-01
+36,4.540000000e+01,DOWN_FORCE_DETACH,1793079352322507610,3.560278292e-04,-4.346299680e-05,-1.031200902e-03,3.554250487e-04,-4.007133978e-05,-1.021008812e-03,3.715038383e-04,-3.760603184e-05,-1.015942254e-03,7.023116257e-01,-6.544805138e-05,8.591121850e-01,7.023110229e-01,-6.205639436e-05,8.591223771e-01,7.031175780e-01,-1.507755030e-04,8.293094065e-01
+37,4.680000000e+01,DOWN_FORCE_DETACH,1793079353715129930,3.708143614e-04,-4.570061450e-05,-1.142824237e-03,3.678996497e-04,-4.670818952e-05,-1.126658181e-03,3.839949522e-04,-4.368083159e-05,-1.121391101e-03,7.023264122e-01,-6.768566908e-05,8.590005617e-01,7.023234975e-01,-6.869324410e-05,8.590167277e-01,7.031300691e-01,-1.568503027e-04,8.292039577e-01
+38,4.788333333e+01,DOWN_FORCE_DETACH,1793079354861177460,3.841575221e-04,-5.035146449e-05,-1.244104493e-03,3.819687772e-04,-5.105613572e-05,-1.233248818e-03,3.979201112e-04,-4.765072374e-05,-1.227043988e-03,7.023397554e-01,-7.233651907e-05,8.588992814e-01,7.023375666e-01,-7.304119030e-05,8.589101371e-01,7.031439943e-01,-1.608201949e-04,8.290983048e-01
+39,4.911666667e+01,DOWN_FORCE_DETACH,1793079356106999692,3.979772905e-04,-5.335060002e-05,-1.365986544e-03,4.000514152e-04,-5.372681596e-05,-1.355861340e-03,4.158218643e-04,-5.012662854e-05,-1.348777938e-03,7.023535752e-01,-7.533565460e-05,8.587773994e-01,7.023556493e-01,-7.571187054e-05,8.587875246e-01,7.031618960e-01,-1.632960997e-04,8.289765709e-01
+40,5.023333333e+01,DOWN_FORCE_DETACH,1793079357203748882,4.150257909e-04,-5.697208150e-05,-1.480658631e-03,4.120988323e-04,-5.672041347e-05,-1.462706353e-03,4.278254619e-04,-5.287764506e-05,-1.455691739e-03,7.023706237e-01,-7.895713608e-05,8.586627273e-01,7.023676967e-01,-7.870546805e-05,8.586806796e-01,7.031738996e-01,-1.660471162e-04,8.288696570e-01
+41,5.131666667e+01,DOWN_FORCE_DETACH,1793079358301881209,4.286645193e-04,-5.508949849e-05,-1.611796842e-03,4.260459317e-04,-5.914270822e-05,-1.601162916e-03,4.412537815e-04,-5.523975387e-05,-1.593011819e-03,7.023842624e-01,-7.707455307e-05,8.585315891e-01,7.023816438e-01,-8.112776280e-05,8.585422230e-01,7.031873280e-01,-1.684092250e-04,8.287323370e-01
+42,5.240000000e+01,DOWN_FORCE_DETACH,1793079359398459953,4.465717551e-04,-5.976853382e-05,-1.748731780e-03,4.423109561e-04,-6.075660572e-05,-1.746285745e-03,4.570862552e-04,-5.670215845e-05,-1.737272314e-03,7.024021696e-01,-8.175358840e-05,8.583946541e-01,7.023979088e-01,-8.274166030e-05,8.583971002e-01,7.032031604e-01,-1.698716296e-04,8.285880765e-01
+43,5.341666667e+01,DOWN_FORCE_DETACH,1793079360414994232,4.568908117e-04,-6.692200235e-05,-1.886759135e-03,4.551126897e-04,-6.612813839e-05,-1.873472433e-03,4.695076073e-04,-6.156714420e-05,-1.864463094e-03,7.024124887e-01,-8.890705693e-05,8.582566268e-01,7.024107106e-01,-8.811319297e-05,8.582699135e-01,7.032155818e-01,-1.747366153e-04,8.284608857e-01
+44,5.443333333e+01,DOWN_FORCE_DETACH,1793079361413823506,4.705680534e-04,-6.405363239e-05,-2.024349776e-03,4.684454068e-04,-6.895674719e-05,-2.020765281e-03,4.820571249e-04,-6.425055262e-05,-2.011087417e-03,7.024261659e-01,-8.603868697e-05,8.581190361e-01,7.024240433e-01,-9.094180177e-05,8.581226206e-01,7.032281313e-01,-1.774200237e-04,8.283142614e-01
+45,5.548333333e+01,DOWN_FORCE_DETACH,1793079362462888929,4.848271717e-04,-6.842774429e-05,-2.182711898e-03,4.848898253e-04,-6.566979592e-05,-2.176864949e-03,4.977281255e-04,-6.133867878e-05,-2.166667920e-03,7.024404250e-01,-9.041279887e-05,8.579606740e-01,7.024404877e-01,-8.765485050e-05,8.579665210e-01,7.032438023e-01,-1.745081499e-04,8.281586809e-01
+46,5.660000000e+01,DOWN_FORCE_DETACH,1793079363609271812,4.966698154e-04,-7.095612322e-05,-2.363439717e-03,4.951205522e-04,-7.022808421e-05,-2.353956407e-03,5.069032684e-04,-6.558570182e-05,-2.343303529e-03,7.024522677e-01,-9.294117780e-05,8.577799462e-01,7.024507184e-01,-9.221313879e-05,8.577894295e-01,7.032529774e-01,-1.787551729e-04,8.279820453e-01
+47,5.758333333e+01,DOWN_FORCE_DETACH,1793079364607644386,5.094158984e-04,-6.790598920e-05,-2.539364777e-03,5.087296040e-04,-6.466815902e-05,-2.532574159e-03,5.191637493e-04,-6.059078130e-05,-2.520970289e-03,7.024650138e-01,-8.989104378e-05,8.576040211e-01,7.024643275e-01,-8.665321360e-05,8.576108118e-01,7.032652379e-01,-1.737602524e-04,8.278043785e-01
+48,5.858333333e+01,DOWN_FORCE_DETACH,1793079365641466725,5.281436500e-04,-6.226581032e-05,-2.734277545e-03,5.278179069e-04,-6.248417010e-05,-2.734302457e-03,5.369416539e-04,-5.848461316e-05,-2.721324254e-03,7.024837415e-01,-8.425086490e-05,8.574091084e-01,7.024834158e-01,-8.446922468e-05,8.574090835e-01,7.032830158e-01,-1.716540843e-04,8.276040245e-01
+49,5.950000000e+01,DOWN_FORCE_DETACH,1793079366573525790,5.406272530e-04,-6.162155553e-05,-2.929048025e-03,5.395388855e-04,-6.629824174e-05,-2.926895410e-03,5.475256525e-04,-6.192850574e-05,-2.913393135e-03,7.024962251e-01,-8.360661011e-05,8.572143379e-01,7.024951368e-01,-8.828329632e-05,8.572164905e-01,7.032935998e-01,-1.750979769e-04,8.274119557e-01
+50,6.035000000e+01,DOWN_FORCE_DETACH,1793079367441968308,5.470838024e-04,-6.431675061e-05,-3.131382994e-03,5.463448870e-04,-6.458726604e-05,-3.128475701e-03,5.526552339e-04,-6.056801016e-05,-3.113941141e-03,7.025026817e-01,-8.630180519e-05,8.570120029e-01,7.025019428e-01,-8.657232062e-05,8.570149102e-01,7.032987294e-01,-1.737374813e-04,8.272114076e-01
+51,6.128333333e+01,DOWN_FORCE_DETACH,1793079368379170668,5.688107371e-04,-6.410157759e-05,-3.355253537e-03,5.686286070e-04,-6.711905566e-05,-3.343425206e-03,5.737537229e-04,-6.297372956e-05,-3.328450972e-03,7.025244086e-01,-8.608663217e-05,8.567881324e-01,7.025242265e-01,-8.910411024e-05,8.567999607e-01,7.033198279e-01,-1.761432007e-04,8.269968978e-01
+52,6.206666667e+01,DOWN_FORCE_DETACH,1793079369161194629,5.816120513e-04,-6.183385540e-05,-3.554524441e-03,5.768605829e-04,-6.756992529e-05,-3.542545362e-03,5.807702388e-04,-6.339657203e-05,-3.527259895e-03,7.025372099e-01,-8.381890998e-05,8.565888615e-01,7.025324584e-01,-8.955497987e-05,8.566008406e-01,7.033268444e-01,-1.765660432e-04,8.267980889e-01
+53,6.281666667e+01,DOWN_FORCE_DETACH,1793079369948597992,5.904248878e-04,-6.744148149e-05,-3.769719426e-03,5.898540282e-04,-7.235757148e-05,-3.755355383e-03,5.921641054e-04,-6.780858095e-05,-3.739175405e-03,7.025460228e-01,-8.942653607e-05,8.563736665e-01,7.025454519e-01,-9.434262606e-05,8.563880305e-01,7.033382383e-01,-1.809780521e-04,8.265861734e-01
+54,6.363333333e+01,DOWN_FORCE_DETACH,1793079370767282723,5.970613623e-04,-7.566425699e-05,-4.014412014e-03,5.969677099e-04,-7.538519399e-05,-4.007469548e-03,5.970489104e-04,-7.065174547e-05,-3.989883762e-03,7.025526592e-01,-9.764931157e-05,8.561289739e-01,7.025525656e-01,-9.737024857e-05,8.561359164e-01,7.033431231e-01,-1.838212166e-04,8.263354650e-01
+55,6.436666667e+01,DOWN_FORCE_DETACH,1793079371488434206,6.052992168e-04,-6.723208569e-05,-4.246556568e-03,6.036220005e-04,-7.107434695e-05,-4.239894354e-03,6.016116846e-04,-6.665382659e-05,-4.221496372e-03,7.025608971e-01,-8.921714027e-05,8.558968293e-01,7.025592199e-01,-9.305940153e-05,8.559034916e-01,7.033476859e-01,-1.798232977e-04,8.261038524e-01
+56,6.506666667e+01,DOWN_FORCE_DETACH,1793079372192596641,6.245788110e-04,-7.618943524e-05,-4.487166144e-03,6.245466772e-04,-7.628097503e-05,-4.486894269e-03,6.204680082e-04,-7.130715918e-05,-4.467279426e-03,7.025801767e-01,-9.817448982e-05,8.556562198e-01,7.025801445e-01,-9.826602961e-05,8.556564916e-01,7.033665422e-01,-1.844766303e-04,8.258580694e-01
+57,6.575000000e+01,DOWN_FORCE_DETACH,1793079372879777411,6.281044879e-04,-7.635423895e-05,-4.747883006e-03,6.280600600e-04,-7.652848655e-05,-4.747384901e-03,6.216970384e-04,-7.166465999e-05,-4.726341969e-03,7.025837024e-01,-9.833929353e-05,8.553955029e-01,7.025836579e-01,-9.851354113e-05,8.553960010e-01,7.033677712e-01,-1.848341311e-04,8.255990068e-01
+58,6.633333333e+01,DOWN_FORCE_DETACH,1793079373453667404,6.369648604e-04,-7.741309586e-05,-4.976119017e-03,6.357521519e-04,-7.787279167e-05,-4.960288512e-03,6.274460553e-04,-7.295995530e-05,-4.939397380e-03,7.025925627e-01,-9.939815044e-05,8.551672669e-01,7.025913500e-01,-9.985784625e-05,8.551830974e-01,7.033735202e-01,-1.861294264e-04,8.253859514e-01
+59,6.726666667e+01,DOWN_PEAK_HOLD,1793079374403750380,5.987911603e-04,-7.521891626e-05,-5.167888863e-03,6.043397741e-04,-7.844795634e-05,-5.153602581e-03,5.929651241e-04,-7.350579484e-05,-5.137850386e-03,7.025543890e-01,-9.720397084e-05,8.549754971e-01,7.025599376e-01,-1.004330109e-04,8.549897833e-01,7.033390393e-01,-1.866752660e-04,8.251874984e-01

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_08/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.3058e-01,1.0199e+00,2.4500e+00,-1.1150e-01,6.0750e-02,2.4334e-03,2.3780e-02,-8.2613e-03,-1.2069e-03,6.5319e-04,1.9850e-03,-1.4445e-05,2.5203e-02,2.0898e-03
+1,1.2667e+00,DOWN_FORCE_DETACH,2.9012e-04,4.6857e-01,1.0041e+00,2.4416e+00,-1.1045e-01,7.0793e-02,1.4577e-03,1.6177e-01,-2.4077e-02,-9.6209e-03,1.7085e-03,1.2028e-02,-9.9016e-04,1.6384e-01,1.2189e-02
+2,2.2500e+00,DOWN_FORCE_DETACH,5.7527e-04,3.8695e-01,1.0051e+00,2.3777e+00,-1.1070e-01,6.4889e-02,1.3473e-03,8.0145e-02,-2.3071e-02,-7.3555e-02,1.4514e-03,6.1245e-03,-1.1006e-03,1.1120e-01,6.3896e-03
+3,3.5500e+00,DOWN_FORCE_DETACH,8.6506e-04,3.0890e-01,1.0392e+00,2.5771e+00,-1.1294e-01,5.8792e-02,1.2260e-03,2.1019e-03,1.1004e-02,1.2583e-01,-7.8472e-04,2.7169e-05,-1.2219e-03,1.2633e-01,1.4524e-03
+4,4.8833e+00,DOWN_FORCE_DETACH,1.1552e-03,4.2304e-01,1.0495e+00,2.5843e+00,-1.1350e-01,6.7241e-02,1.0970e-03,1.1624e-01,2.1310e-02,1.3311e-01,-1.3471e-03,8.4763e-03,-1.3509e-03,1.7800e-01,8.6884e-03
+5,6.0667e+00,DOWN_FORCE_DETACH,1.4425e-03,5.1122e-01,1.0459e+00,2.5078e+00,-1.1324e-01,7.3778e-02,8.7253e-04,2.0442e-01,1.7665e-02,5.6518e-02,-1.0887e-03,1.5013e-02,-1.5754e-03,2.1283e-01,1.5134e-02
+6,7.2333e+00,DOWN_FORCE_DETACH,1.7304e-03,5.4979e-01,1.0442e+00,2.4734e+00,-1.1315e-01,7.6587e-02,7.3913e-04,2.4299e-01,1.5984e-02,2.2139e-02,-9.9444e-04,1.7822e-02,-1.7088e-03,2.4451e-01,1.7932e-02
+7,8.5333e+00,DOWN_FORCE_DETACH,2.0196e-03,5.6905e-01,1.0432e+00,2.4552e+00,-1.1311e-01,7.7991e-02,6.4703e-04,2.6225e-01,1.5049e-02,3.9177e-03,-9.5423e-04,1.9226e-02,-1.8009e-03,2.6271e-01,1.9334e-02
+8,9.7333e+00,DOWN_FORCE_DETACH,2.3099e-03,5.3672e-01,9.6397e-01,2.5317e+00,-1.0726e-01,7.5510e-02,6.1944e-04,2.2992e-01,-6.4222e-02,8.0501e-02,4.8939e-03,1.6745e-02,-1.8285e-03,2.5193e-01,1.7541e-02
+9,1.1033e+01,DOWN_FORCE_DETACH,2.5971e-03,4.9649e-01,1.0830e+00,2.5596e+00,-1.1576e-01,7.2526e-02,7.6765e-04,1.8969e-01,5.4803e-02,1.0840e-01,-3.6051e-03,1.3762e-02,-1.6802e-03,2.2525e-01,1.4325e-02
+10,1.2367e+01,DOWN_FORCE_DETACH,2.8847e-03,4.6640e-01,8.1586e-01,2.5674e+00,-9.6453e-02,7.0370e-02,6.5272e-04,1.5960e-01,-2.1233e-01,1.1615e-01,1.5702e-02,1.1605e-02,-1.7952e-03,2.8991e-01,1.9608e-02
+11,1.3767e+01,DOWN_FORCE_DETACH,3.1757e-03,5.2929e-01,8.1460e-01,2.5006e+00,-9.6437e-02,7.5055e-02,6.6062e-04,2.2249e-01,-2.1359e-01,4.9400e-02,1.5719e-02,1.6291e-02,-1.7873e-03,3.1236e-01,2.2708e-02
+12,1.4950e+01,DOWN_FORCE_DETACH,3.4636e-03,5.0589e-01,8.5508e-01,2.5405e+00,-9.9307e-02,7.3272e-02,7.2799e-04,1.9909e-01,-1.7312e-01,8.9283e-02,1.2849e-02,1.4507e-02,-1.7199e-03,2.7853e-01,1.9455e-02
+13,1.6300e+01,DOWN_FORCE_DETACH,3.7539e-03,5.2155e-01,9.0977e-01,2.5532e+00,-1.0315e-01,7.4406e-02,7.6933e-04,2.1475e-01,-1.1843e-01,1.0196e-01,9.0023e-03,1.5641e-02,-1.6786e-03,2.6559e-01,1.8125e-02
+14,1.7700e+01,DOWN_FORCE_DETACH,4.0432e-03,4.7795e-01,1.0103e+00,2.5770e+00,-1.1035e-01,7.1203e-02,8.3053e-04,1.7115e-01,-1.7881e-02,1.2572e-01,1.8041e-03,1.2439e-02,-1.6174e-03,2.1311e-01,1.2672e-02
+15,1.8983e+01,DOWN_FORCE_DETACH,4.3290e-03,4.9698e-01,9.3846e-01,2.6114e+00,-1.0507e-01,7.2542e-02,7.8217e-04,1.9018e-01,-8.9732e-02,1.6015e-01,7.0850e-03,1.3777e-02,-1.6657e-03,2.6432e-01,1.5582e-02
+16,2.0367e+01,DOWN_FORCE_DETACH,4.6191e-03,4.4854e-01,1.0484e+00,2.6156e+00,-1.1293e-01,6.8995e-02,8.5911e-04,1.4174e-01,2.0224e-02,1.6439e-01,-7.7670e-04,1.0231e-02,-1.5888e-03,2.1800e-01,1.0382e-02
+17,2.1683e+01,DOWN_FORCE_DETACH,4.9054e-03,5.0929e-01,1.0303e+00,2.6390e+00,-1.1151e-01,7.3377e-02,8.5907e-04,2.0249e-01,2.1300e-03,1.8774e-01,6.4106e-04,1.4612e-02,-1.5888e-03,2.7614e-01,1.4712e-02
+18,2.3117e+01,DOWN_FORCE_DETACH,5.1967e-03,4.6216e-01,1.1257e+00,2.6172e+00,-1.1833e-01,6.9992e-02,9.5686e-04,1.5536e-01,9.7553e-02,1.6598e-01,-6.1766e-03,1.1228e-02,-1.4910e-03,2.4739e-01,1.2901e-02
+19,2.4400e+01,DOWN_FORCE_DETACH,5.4861e-03,4.8379e-01,1.0161e+00,2.6220e+00,-1.1035e-01,7.1559e-02,9.3014e-04,1.7699e-01,-1.2084e-02,1.7076e-01,1.8014e-03,1.2794e-02,-1.5178e-03,2.4623e-01,1.3009e-02
+20,2.5617e+01,DOWN_FORCE_DETACH,5.7741e-03,5.0567e-01,1.1369e+00,2.6185e+00,-1.1897e-01,7.3131e-02,9.9843e-04,1.9887e-01,1.0871e-01,1.6727e-01,-6.8179e-03,1.4366e-02,-1.4495e-03,2.8169e-01,1.5968e-02
+21,2.6917e+01,DOWN_FORCE_DETACH,6.0623e-03,5.1457e-01,1.0954e+00,2.6008e+00,-1.1593e-01,7.3767e-02,9.7449e-04,2.0777e-01,6.7210e-02,1.4961e-01,-3.7779e-03,1.5003e-02,-1.4734e-03,2.6470e-01,1.5541e-02
+22,2.8150e+01,DOWN_FORCE_DETACH,6.3475e-03,4.6073e-01,1.2083e+00,2.7832e+00,-1.2406e-01,7.0075e-02,1.0338e-03,1.5393e-01,1.8006e-01,3.3197e-01,-1.1902e-02,1.1310e-02,-1.4141e-03,4.0783e-01,1.6479e-02
+23,2.9517e+01,DOWN_FORCE_DETACH,6.6398e-03,4.6991e-01,1.2712e+00,2.6720e+00,-1.2846e-01,7.0376e-02,1.0339e-03,1.6311e-01,2.4300e-01,2.2074e-01,-1.6303e-02,1.1611e-02,-1.4140e-03,3.6658e-01,2.0065e-02
+24,3.0650e+01,DOWN_FORCE_DETACH,6.9257e-03,5.0325e-01,1.2671e+00,2.6494e+00,-1.2814e-01,7.2770e-02,1.0094e-03,1.9645e-01,2.3886e-01,1.9815e-01,-1.5988e-02,1.4005e-02,-1.4385e-03,3.6730e-01,2.1303e-02
+25,3.1983e+01,DOWN_FORCE_DETACH,7.2159e-03,4.9393e-01,1.3262e+00,2.7085e+00,-1.3230e-01,7.1976e-02,1.0217e-03,1.8713e-01,2.9801e-01,2.5729e-01,-2.0149e-02,1.3211e-02,-1.4262e-03,4.3592e-01,2.4136e-02
+26,3.3100e+01,DOWN_FORCE_DETACH,7.5035e-03,3.9232e-01,1.2001e+00,2.8184e+00,-1.2310e-01,6.4398e-02,6.5137e-04,8.5523e-02,1.7186e-01,3.6712e-01,-1.0940e-02,5.6335e-03,-1.7965e-03,4.1428e-01,1.2436e-02
+27,3.4267e+01,DOWN_FORCE_DETACH,7.7949e-03,4.6751e-01,1.1761e+00,2.8718e+00,-1.2108e-01,6.9822e-02,8.0096e-04,1.6071e-01,1.4788e-01,4.2054e-01,-8.9247e-03,1.1057e-02,-1.6469e-03,4.7386e-01,1.4304e-02
+28,3.5500e+01,DOWN_FORCE_DETACH,8.0823e-03,4.6362e-01,1.2801e+00,2.8915e+00,-1.2857e-01,6.9358e-02,9.3438e-04,1.5682e-01,2.5194e-01,4.4024e-01,-1.6411e-02,1.0593e-02,-1.5135e-03,5.3092e-01,1.9591e-02
+29,3.6817e+01,DOWN_FORCE_DETACH,8.3696e-03,4.7050e-01,1.3206e+00,2.8526e+00,-1.3114e-01,6.9876e-02,9.8889e-04,1.6370e-01,2.9241e-01,4.0137e-01,-1.8983e-02,1.1111e-02,-1.4590e-03,5.2288e-01,2.2044e-02
+30,3.8167e+01,DOWN_FORCE_DETACH,8.6578e-03,4.4597e-01,1.4423e+00,2.9932e+00,-1.3952e-01,6.7818e-02,1.1208e-03,1.3917e-01,4.1415e-01,5.4199e-01,-2.7366e-02,9.0530e-03,-1.3271e-03,6.9616e-01,2.8855e-02
+31,3.9283e+01,DOWN_FORCE_DETACH,8.9464e-03,4.5268e-01,1.4169e+00,2.9462e+00,-1.3754e-01,6.8330e-02,1.1540e-03,1.4588e-01,3.8867e-01,4.9501e-01,-2.5387e-02,9.5649e-03,-1.2939e-03,6.4605e-01,2.7160e-02
+32,4.0483e+01,DOWN_FORCE_DETACH,9.2355e-03,4.6022e-01,1.4207e+00,3.0193e+00,-1.3752e-01,6.8648e-02,1.1853e-03,1.5342e-01,3.9247e-01,5.6808e-01,-2.5368e-02,9.8830e-03,-1.2626e-03,7.0731e-01,2.7254e-02
+33,4.1783e+01,DOWN_FORCE_DETACH,9.5275e-03,4.2525e-01,1.5161e+00,3.1348e+00,-1.4406e-01,6.6089e-02,1.2469e-03,1.1845e-01,4.8791e-01,6.8353e-01,-3.1902e-02,7.3238e-03,-1.2010e-03,8.4812e-01,3.2754e-02
+34,4.2933e+01,DOWN_FORCE_DETACH,9.8127e-03,4.2722e-01,1.6439e+00,3.2503e+00,-1.5256e-01,6.6105e-02,1.3065e-03,1.2042e-01,6.1567e-01,7.9906e-01,-4.0409e-02,7.3406e-03,-1.1414e-03,1.0159e+00,4.1086e-02
+35,4.4150e+01,DOWN_FORCE_DETACH,1.0100e-02,4.2221e-01,1.5923e+00,3.1586e+00,-1.4897e-01,6.5788e-02,1.3109e-03,1.1541e-01,5.6415e-01,7.0740e-01,-3.6816e-02,7.0237e-03,-1.1370e-03,9.1214e-01,3.7497e-02
+36,4.5400e+01,DOWN_FORCE_DETACH,1.0392e-02,4.1266e-01,1.6122e+00,3.2845e+00,-1.5035e-01,6.4929e-02,1.3244e-03,1.0586e-01,5.8401e-01,8.3329e-01,-3.8199e-02,6.1638e-03,-1.1235e-03,1.0231e+00,3.8709e-02
+37,4.6800e+01,DOWN_FORCE_DETACH,1.0679e-02,4.6071e-01,1.7504e+00,3.3421e+00,-1.5930e-01,6.8080e-02,1.2093e-03,1.5391e-01,7.2218e-01,8.9087e-01,-4.7140e-02,9.3155e-03,-1.2386e-03,1.1571e+00,4.8068e-02
+38,4.7883e+01,DOWN_FORCE_DETACH,1.0969e-02,4.7066e-01,1.7910e+00,3.5049e+00,-1.6138e-01,6.8542e-02,1.1340e-03,1.6386e-01,7.6283e-01,1.0537e+00,-4.9224e-02,9.7773e-03,-1.3139e-03,1.3111e+00,5.0203e-02
+39,4.9117e+01,DOWN_FORCE_DETACH,1.1256e-02,4.8433e-01,1.8840e+00,3.6081e+00,-1.6716e-01,6.9519e-02,1.0951e-03,1.7753e-01,8.5583e-01,1.1569e+00,-5.5007e-02,1.0754e-02,-1.3528e-03,1.4499e+00,5.6065e-02
+40,5.0233e+01,DOWN_FORCE_DETACH,1.1543e-02,4.9048e-01,1.8670e+00,3.7053e+00,-1.6497e-01,6.9772e-02,8.0587e-04,1.8368e-01,8.3880e-01,1.2541e+00,-5.2816e-02,1.1007e-02,-1.6420e-03,1.5199e+00,5.3976e-02
+41,5.1317e+01,DOWN_FORCE_DETACH,1.1832e-02,5.2228e-01,1.9345e+00,3.9547e+00,-1.6861e-01,7.1606e-02,7.5890e-04,2.1548e-01,9.0633e-01,1.5035e+00,-5.6459e-02,1.2842e-02,-1.6890e-03,1.7687e+00,5.7925e-02
+42,5.2400e+01,DOWN_FORCE_DETACH,1.2122e-02,5.3742e-01,1.9781e+00,4.0560e+00,-1.7071e-01,7.2371e-02,7.8695e-04,2.3062e-01,9.4988e-01,1.6047e+00,-5.8559e-02,1.3606e-02,-1.6609e-03,1.8790e+00,6.0142e-02
+43,5.3417e+01,DOWN_FORCE_DETACH,1.2414e-02,5.4786e-01,2.0089e+00,4.0373e+00,-1.7247e-01,7.3074e-02,7.7814e-04,2.4106e-01,9.8071e-01,1.5861e+00,-6.0319e-02,1.4309e-02,-1.6698e-03,1.8803e+00,6.2015e-02
+44,5.4433e+01,DOWN_FORCE_DETACH,1.2698e-02,5.6664e-01,2.0863e+00,4.1843e+00,-1.7700e-01,7.4140e-02,6.5330e-04,2.5984e-01,1.0581e+00,1.7331e+00,-6.4846e-02,1.5375e-02,-1.7946e-03,2.0471e+00,6.6667e-02
+45,5.5483e+01,DOWN_FORCE_DETACH,1.2986e-02,5.4528e-01,2.0702e+00,4.2398e+00,-1.7526e-01,7.2358e-02,5.9908e-04,2.3848e-01,1.0420e+00,1.7886e+00,-6.3108e-02,1.3593e-02,-1.8488e-03,2.0837e+00,6.4582e-02
+46,5.6600e+01,DOWN_FORCE_DETACH,1.3281e-02,5.6534e-01,2.0878e+00,4.3946e+00,-1.7556e-01,7.3385e-02,5.7910e-04,2.5854e-01,1.0596e+00,1.9434e+00,-6.3408e-02,1.4620e-02,-1.8688e-03,2.2285e+00,6.5098e-02
+47,5.7583e+01,DOWN_FORCE_DETACH,1.3564e-02,5.4264e-01,1.9743e+00,4.5196e+00,-1.6675e-01,7.1525e-02,5.1964e-04,2.3584e-01,9.4613e-01,2.0684e+00,-5.4592e-02,1.2760e-02,-1.9282e-03,2.2867e+00,5.6097e-02
+48,5.8583e+01,DOWN_FORCE_DETACH,1.3853e-02,4.8450e-01,1.9181e+00,4.6818e+00,-1.6200e-01,6.7132e-02,7.5170e-04,1.7770e-01,8.8990e-01,2.2306e+00,-4.9842e-02,8.3671e-03,-1.6962e-03,2.4081e+00,5.0568e-02
+49,5.9500e+01,DOWN_FORCE_DETACH,1.4143e-02,4.9391e-01,1.9339e+00,4.8039e+00,-1.6289e-01,6.7563e-02,1.3448e-03,1.8711e-01,9.0567e-01,2.3527e+00,-5.0738e-02,8.7986e-03,-1.1031e-03,2.5279e+00,5.1507e-02
+50,6.0350e+01,DOWN_FORCE_DETACH,1.4430e-02,5.6241e-01,1.9706e+00,5.0286e+00,-1.6426e-01,7.1794e-02,1.4047e-03,2.5561e-01,9.4240e-01,2.5774e+00,-5.2109e-02,1.3029e-02,-1.0432e-03,2.7561e+00,5.3724e-02
+51,6.1283e+01,DOWN_FORCE_DETACH,1.4723e-02,4.8095e-01,2.0050e+00,5.0801e+00,-1.6526e-01,6.5926e-02,1.4211e-03,1.7415e-01,9.7676e-01,2.6288e+00,-5.3109e-02,7.1616e-03,-1.0268e-03,2.8098e+00,5.3599e-02
+52,6.2067e+01,DOWN_FORCE_DETACH,1.5011e-02,5.5915e-01,2.0134e+00,5.3165e+00,-1.6381e-01,7.0914e-02,1.2142e-03,2.5235e-01,9.8516e-01,2.8652e+00,-5.1656e-02,1.2149e-02,-1.2337e-03,3.0403e+00,5.3080e-02
+53,6.2817e+01,DOWN_FORCE_DETACH,1.5300e-02,5.7040e-01,2.0748e+00,5.4293e+00,-1.6736e-01,7.1319e-02,1.0560e-03,2.6360e-01,1.0466e+00,2.9780e+00,-5.5201e-02,1.2555e-02,-1.3919e-03,3.1676e+00,5.6628e-02
+54,6.3633e+01,DOWN_FORCE_DETACH,1.5588e-02,6.0501e-01,2.1047e+00,5.6197e+00,-1.6823e-01,7.3196e-02,7.7300e-04,2.9821e-01,1.0765e+00,3.1685e+00,-5.6071e-02,1.4431e-02,-1.6749e-03,3.3596e+00,5.7923e-02
+55,6.4367e+01,DOWN_FORCE_DETACH,1.5876e-02,6.2252e-01,2.0602e+00,5.7796e+00,-1.6355e-01,7.4020e-02,5.6404e-04,3.1572e-01,1.0320e+00,3.3283e+00,-5.1399e-02,1.5256e-02,-1.8839e-03,3.4989e+00,5.3648e-02
+56,6.5067e+01,DOWN_FORCE_DETACH,1.6161e-02,4.6582e-01,2.2142e+00,5.9431e+00,-1.7280e-01,6.3612e-02,5.4049e-04,1.5902e-01,1.1860e+00,3.4919e+00,-6.0640e-02,4.8475e-03,-1.9074e-03,3.6912e+00,6.0863e-02
+57,6.5750e+01,DOWN_FORCE_DETACH,1.6452e-02,5.7775e-01,2.1748e+00,6.1186e+00,-1.6922e-01,7.0434e-02,6.2395e-04,2.7095e-01,1.1466e+00,3.6673e+00,-5.7068e-02,1.1669e-02,-1.8239e-03,3.8519e+00,5.8277e-02
+58,6.6333e+01,DOWN_FORCE_DETACH,1.6741e-02,5.7901e-01,2.0892e+00,6.2846e+00,-1.6156e-01,6.9987e-02,7.1737e-04,2.7221e-01,1.0610e+00,3.8334e+00,-4.9401e-02,1.1223e-02,-1.7305e-03,3.9868e+00,5.0689e-02
+59,6.7267e+01,DOWN_PEAK_HOLD,1.7029e-02,9.2186e-01,2.1542e+00,5.6236e+00,-1.6621e-01,9.3924e-02,5.1353e-04,6.1507e-01,1.1260e+00,3.1723e+00,-5.4059e-02,3.5159e-02,-1.9344e-03,3.4220e+00,6.4515e-02

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_08/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_08/up/franka_data.csv

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_08/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,1793079293550306602,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.532363680e-08,-1.371441537e-09,-5.964552185e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027460900e-01,-1.131714350e-04,8.303253481e-01
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+22,1.633333333e+00,UP_FORCE_RAMP,1793079295416606122,6.405789377e-05,-4.938105144e-04,1.576872782e-04,5.949765958e-05,-4.964684429e-04,1.452783517e-04,6.534062234e-05,-4.482414330e-04,1.410579124e-04,7.020196558e-01,-5.157955690e-04,8.603010732e-01,7.020150955e-01,-5.184534974e-04,8.602886643e-01,7.028114153e-01,-5.614114965e-04,8.304664066e-01
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+24,1.966666667e+00,UP_FORCE_RAMP,1793079295744047750,6.514748466e-05,-4.906979186e-04,1.639161217e-04,6.514534111e-05,-4.906946125e-04,1.638784753e-04,7.181199261e-05,-4.431430887e-04,1.593478507e-04,7.020207454e-01,-5.126829732e-04,8.603073020e-01,7.020207432e-01,-5.126796670e-04,8.603072644e-01,7.028178866e-01,-5.563131522e-04,8.304846965e-01
+25,2.183333333e+00,UP_FORCE_RAMP,1793079295974207523,6.354883301e-05,-4.953861664e-04,1.604616208e-04,6.514534111e-05,-4.906946125e-04,1.638784753e-04,7.223661940e-05,-4.431750600e-04,1.599300576e-04,7.020191467e-01,-5.173712210e-04,8.603038475e-01,7.020207432e-01,-5.126796670e-04,8.603072644e-01,7.028183113e-01,-5.563451236e-04,8.304852787e-01
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+33,3.716666667e+00,UP_FORCE_RAMP,1793079297497854579,5.098746347e-05,-4.871979408e-04,2.017495567e-04,5.487459502e-05,-4.867320539e-04,2.055143918e-04,6.362120550e-05,-4.398086739e-04,2.013824405e-04,7.020065853e-01,-5.091829954e-04,8.603451355e-01,7.020104725e-01,-5.087171085e-04,8.603489003e-01,7.028096958e-01,-5.529787374e-04,8.305267311e-01
+34,3.900000000e+00,UP_FORCE_RAMP,1793079297677320340,4.713528199e-05,-4.870156571e-04,2.088229980e-04,5.487459502e-05,-4.867320539e-04,2.055143918e-04,6.364211563e-05,-4.398320826e-04,2.017967462e-04,7.020027331e-01,-5.090007117e-04,8.603522089e-01,7.020104725e-01,-5.087171085e-04,8.603489003e-01,7.028097167e-01,-5.530021461e-04,8.305271454e-01
+35,4.083333333e+00,UP_FORCE_RAMP,1793079297857577466,4.595134545e-05,-4.838630263e-04,2.190838874e-04,5.487459502e-05,-4.867320539e-04,2.055143918e-04,6.370885488e-05,-4.398545712e-04,2.020566571e-04,7.020015492e-01,-5.058480809e-04,8.603624698e-01,7.020104725e-01,-5.087171085e-04,8.603489003e-01,7.028097835e-01,-5.530246348e-04,8.305274053e-01
+36,4.316666667e+00,UP_FORCE_RAMP,1793079298086940381,3.874685566e-05,-4.880133910e-04,2.332330192e-04,4.479770700e-05,-4.850490992e-04,2.229839146e-04,5.359220414e-05,-4.383334101e-04,2.191238316e-04,7.019943447e-01,-5.099984456e-04,8.603766189e-01,7.020003956e-01,-5.070341537e-04,8.603663698e-01,7.027996668e-01,-5.515034736e-04,8.305444725e-01
+37,4.533333333e+00,UP_FORCE_RAMP,1793079298315802050,2.719554845e-05,-4.834520935e-04,2.442394324e-04,3.413130188e-05,-4.825124152e-04,2.394951650e-04,4.286003232e-05,-4.360223484e-04,2.352779158e-04,7.019827934e-01,-5.054371481e-04,8.603876253e-01,7.019897292e-01,-5.044974697e-04,8.603828811e-01,7.027889347e-01,-5.491924119e-04,8.305606266e-01
+38,4.750000000e+00,UP_FORCE_RAMP,1793079298545135743,2.299259533e-05,-4.795490533e-04,2.625718946e-04,2.530707344e-05,-4.797355497e-04,2.607325183e-04,3.398124105e-05,-4.334771918e-04,2.559141388e-04,7.019785905e-01,-5.015341079e-04,8.604059578e-01,7.019809049e-01,-5.017206043e-04,8.604041184e-01,7.027800559e-01,-5.466472554e-04,8.305812628e-01
+39,4.950000000e+00,UP_FORCE_RAMP,1793079298760883275,1.646419519e-05,-4.815900112e-04,2.805867695e-04,1.686982492e-05,-4.815265895e-04,2.808399764e-04,2.554338442e-05,-4.350915772e-04,2.753722015e-04,7.019720621e-01,-5.035750657e-04,8.604239727e-01,7.019724677e-01,-5.035116441e-04,8.604242259e-01,7.027716180e-01,-5.482616407e-04,8.306007209e-01
+40,5.100000000e+00,UP_FORCE_RAMP,1793079298938310780,1.304848443e-05,-4.765991988e-04,2.994084500e-04,1.686982492e-05,-4.815265895e-04,2.808399764e-04,2.536690227e-05,-4.351094424e-04,2.758942306e-04,7.019686464e-01,-4.985842534e-04,8.604427944e-01,7.019724677e-01,-5.035116441e-04,8.604242259e-01,7.027714415e-01,-5.482795059e-04,8.306012429e-01
+41,5.250000000e+00,UP_FORCE_RAMP,1793079299135988138,5.431499004e-06,-4.794644955e-04,3.100133731e-04,5.129641621e-06,-4.782212565e-04,2.978201889e-04,1.340252035e-05,-4.321166286e-04,2.925269464e-04,7.019610294e-01,-5.014495501e-04,8.604533993e-01,7.019607275e-01,-5.002063111e-04,8.604412061e-01,7.027594772e-01,-5.452866922e-04,8.306178756e-01
+42,5.300000000e+00,UP_FORCE_RAMP,1793079299188207493,3.609815641e-07,-4.771560437e-04,3.136629786e-04,4.130883422e-07,-4.770563604e-04,3.134801027e-04,8.712395658e-06,-4.311409389e-04,3.075428013e-04,7.019559588e-01,-4.991410983e-04,8.604570489e-01,7.019560110e-01,-4.990414150e-04,8.604568660e-01,7.027547870e-01,-5.443110024e-04,8.306328915e-01
+43,5.383333333e+00,UP_FORCE_RAMP,1793079299266553979,-3.058907383e-06,-4.866890131e-04,3.194167326e-04,4.130883422e-07,-4.770563604e-04,3.134801027e-04,8.596826287e-06,-4.310462446e-04,3.078278799e-04,7.019525390e-01,-5.086740677e-04,8.604628026e-01,7.019560110e-01,-4.990414150e-04,8.604568660e-01,7.027546715e-01,-5.442163082e-04,8.306331766e-01
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+46,5.766666667e+00,UP_FORCE_HOLD,1793079299642492957,-1.544151303e-05,-4.842626007e-04,3.373392799e-04,-2.043483170e-06,-4.910449281e-04,3.289178888e-04,6.014330959e-06,-4.436452283e-04,3.235925782e-04,7.019401564e-01,-5.062476553e-04,8.604807252e-01,7.019535544e-01,-5.130299827e-04,8.604723038e-01,7.027520890e-01,-5.568152918e-04,8.306489413e-01
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+48,6.116666667e+00,UP_SETTLE,1793079299986519837,-4.624646857e-05,-4.863117497e-04,3.452376907e-04,-4.561758665e-05,-4.863404479e-04,3.453659050e-04,-3.833267852e-05,-4.393112854e-04,3.400662130e-04,7.019093514e-01,-5.082968043e-04,8.604886236e-01,7.019099803e-01,-5.083255025e-04,8.604887518e-01,7.027077420e-01,-5.524813490e-04,8.306654149e-01
+49,6.166666667e+00,UP_SETTLE,1793079300036102757,-5.598441728e-05,-4.823105633e-04,3.478505460e-04,-4.561758665e-05,-4.863404479e-04,3.453659050e-04,-3.863175110e-05,-4.393085634e-04,3.401578088e-04,7.018996134e-01,-5.042956179e-04,8.604912365e-01,7.019099803e-01,-5.083255025e-04,8.604887518e-01,7.027074429e-01,-5.524786269e-04,8.306655065e-01
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+51,6.566666667e+00,UP_SETTLE,1793079300429018795,-6.354346822e-05,-4.842158299e-04,3.676673949e-04,-5.851834679e-05,-4.815449567e-04,3.607880564e-04,-5.258717972e-05,-4.348943329e-04,3.555525158e-04,7.018920544e-01,-5.062008845e-04,8.605110533e-01,7.018970795e-01,-5.035300113e-04,8.605041740e-01,7.026934875e-01,-5.480643965e-04,8.306809012e-01
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+54,7.200000000e+00,UP_SETTLE,1793079301051790614,-6.930757031e-05,-4.767800123e-04,3.956883025e-04,-6.348040426e-05,-4.766542451e-04,3.806812668e-04,-5.822075446e-05,-4.304301013e-04,3.757181922e-04,7.018862903e-01,-4.987650669e-04,8.605390742e-01,7.018921175e-01,-4.986392997e-04,8.605240672e-01,7.026878539e-01,-5.436001649e-04,8.307010669e-01
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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_08/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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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_09/down/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_09/down/franka_data.csv

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+70789,1793079394761937892,15945849000000,1793079394756728117,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6760100821756619,-0.0049165146042107945,0.09985609954989094,0.9999999741776158,1.1668427594166838e-05,-0.0001420384789974816,0.00015091901978420315,0.6761,-0.0046,0.09993325715859648,1.0,0.0,0.0,0.0,-0.04451755564287019,0.00178471038385708,-0.08585881758122582,0.0008983129418648483,0.0020262566759117508,0.0002714927629992711,0.4865244319804305,1.0740162954930288,1.3936426708164975,0.06682225204626452,-0.025922162721428766,-0.0017216862499411574,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,0.7268301067190122,1.4518521855239503,0.2860115143383263,-0.20163149083566076,-0.06581966508600391,0.8685251617447147,1.6826685290495669,0.08585881758122582,1.3966570147112405,1.3966570147112405,1.5505999432083972,0,0,-4.5510596953539324e-05,-9.999999025923074e-05
+70972,1793079396286983611,15947374000000,1793079396280738400,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6760206425651504,-0.004910112927040582,0.09983770304307842,0.9999999763278287,2.441429361230039e-05,-0.00011666894304989515,0.00015677852657911722,0.6761,-0.0046,0.09987114207177462,1.0,0.0,0.0,0.0,-0.12265976560566727,0.02652894755952029,0.08588450448654994,0.003825306783342558,0.0069929812097137105,0.00126414680416284,0.4083822220176334,1.098760532668692,1.5653859928842733,0.06974924588774223,-0.020955438187626806,-0.0007290322087775887,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,0.9994653297216909,1.3445963375526584,-0.10682287046941119,-0.13435342247457358,0.23925834127269396,0.8014754351533978,1.6826685290495669,-0.08588450448654994,1.789491399518978,1.789491399518978,1.7030999432083804,0,0,-2.149798045550521e-05,9.999999025923074e-05
+71133,1793079397630002529,15948716000000,1793079397624738501,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6760258274851877,-0.004913372049304133,0.09983260967858745,0.9999999768187935,2.1788423362201066e-05,-0.00010916266421874791,0.00015941786108758207,0.6761,-0.0046,0.09986174750525792,1.0,0.0,0.0,0.0,-0.14866256348304352,0.0412791121339533,0.15640230348523643,0.004763138143638407,0.007972633085345078,0.001230721460598828,0.38237942414025716,1.113510697243125,1.6359037918829598,0.07068707724803808,-0.01997578631199544,-0.0007624575523416006,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,0.9648639818466609,1.3676322109248746,-0.1610818657918103,-0.1406249271425156,0.2624235605557918,0.8134726432126268,1.6826685290495669,-0.15640230348523643,1.8437503948413771,1.8437503948413771,1.8372999432083656,0,0,-7.672007404369019e-06,7.749502428655575e-05
+71291,1793079398945996312,15950033000000,1793079398944727512,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.676027045615126,-0.004916021633022984,0.09981726846973056,0.9999999763470419,2.2381396037958434e-05,-0.0001047324452087045,0.00016516345884896367,0.6761,-0.0046,0.09983307728530452,1.0,0.0,0.0,0.0,-0.18920099342123808,0.04012640047811833,0.26644938041404864,0.005706750111290279,0.009960751234430514,0.0011798841736388828,0.3418409942020626,1.11235798558729,1.745950868811772,0.07163068921568995,-0.017987668162910003,-0.0008132948393015458,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.045270749155635,1.3803958892536763,-0.2838597271835407,-0.13864918697386552,0.35265145827094935,0.8217580860113025,1.6826685290495669,-0.26644938041404864,1.9665282562331075,1.9665282562331075,1.9689999432083511,0,0,-3.1677608762466274e-05,9.998845781756244e-05
+71456,1793079400320974018,15951408000000,1793079400316727633,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6760335492869771,-0.0049141152782868815,0.09980383464196681,0.9999999771336534,2.4109410511368292e-05,-9.313372278170973e-05,0.00016709399488229945,0.6761,-0.0046,0.09981059235734681,1.0,0.0,0.0,0.0,-0.219445990334049,0.058654942700345325,0.4081217409101823,0.007636873171692343,0.012926447631492533,0.0017500935891377432,0.3115959972892517,1.130886527809517,1.8876232293079056,0.07356081227609201,-0.015021971765847984,-0.0002430854238026854,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.1175121299434116,1.3971227234581824,-0.44596380010632947,-0.13579809134838158,0.4717220555757132,0.8293690135981133,1.6826685290495669,-0.4081217409101823,2.1286323291558964,2.1286323291558964,2.1064999432085725,0,0,-5.557340487793994e-06,5.613475240195953e-05
+71603,1793079401546106613,15952633000000,1793079401540728097,DOWN_FORCE_DETACH,9,0.0704,0.07040320336818695,0.6760380029730267,-0.004921530929032382,0.09979764260350714,0.9999999767605918,2.2179441842214948e-05,-8.611698150814841e-05,0.00017324438884346396,0.6761,-0.0046,0.0997915287295206,1.0,0.0,0.0,0.0,-0.23881291954177203,0.06066396338356794,0.4726386415923727,0.008071614668773208,0.013914225242878496,0.0021253680011902986,0.29222906808152865,1.1328955484927397,1.952140129990096,0.07399555377317288,-0.014034194154462021,0.00013218898824986984,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.1245812880495194,1.42724932718819,-0.48043645756582687,-0.1498567920000986,0.4919454147773314,0.847240596057067,1.6826685290495669,-0.4726386415923727,2.1631049866153935,2.1631049866153935,2.228999943208831,0,0,-2.8792967603245796e-05,-9.999999025923074e-05
+71782,1793079403037138273,15954124000000,1793079403036727722,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6760499991204915,-0.004917694888233551,0.09977988709310301,0.999999978159699,2.1417791833711818e-05,-6.598646522761151e-05,0.00017409919776666265,0.6761,-0.0046,0.09974871016232098,1.0,0.0,0.0,0.0,-0.3158618419771225,0.11053069906951563,0.6606597515569248,0.012324491035411,0.01784397455304176,0.002075796661066866,0.21518014564617816,1.1827622841786873,2.140161239954648,0.07824843013981067,-0.010104444844298757,8.261764812643769e-05,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.2165312445500285,1.3144060368406865,-0.7256374455415376,-0.11083211676492453,0.6584805124100334,0.7723499129830277,1.6826685290495669,-0.6606597515569248,2.4083059745911046,2.4083059745911046,2.3780999432091456,0,0,-1.6690958980188124e-05,9.999982372577704e-05
+71947,1793079404412165849,15955499000000,1793079404408728029,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6760549297412713,-0.004917767457657024,0.09977109641614965,0.9999999780196511,2.5325153773476543e-05,-5.813439568707608e-05,0.0001771513203406737,0.6761,-0.0046,0.09972717787439767,1.0,0.0,0.0,0.0,-0.3453093642812022,0.13628380533050333,0.7416982289893801,0.013494587589176696,0.01982347746560969,0.00308070840609964,0.18573262334209847,1.208515390439675,2.2211997173871034,0.07941852669357637,-0.008124941931730828,0.0010875293931592116,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.241807098826228,1.3797639967124407,-0.7137573619855789,-0.12917240285848133,0.6500293706435919,0.8148567956722448,1.6826685290495669,-0.7416982289893801,2.396425891035146,2.396425891035146,2.515599943209436,0,0,-1.919012523474007e-05,-9.998150504587073e-05
+72128,1793079405921163999,15957008000000,1793079405916737100,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6760673370442417,-0.004915934733921407,0.09975582403732029,0.9999999787164893,2.572369507017129e-05,-3.949435749151962e-05,0.000178292940470923,0.6761,-0.0046,0.09968497576463627,1.0,0.0,0.0,0.0,-0.4036710635069098,0.17274775515755136,0.9148853438712823,0.016541338510858927,0.02378156357442371,0.0030324328591170334,0.1273709241163909,1.244979340266723,2.3943868322690056,0.0824652776152586,-0.004166855822916807,0.0010392538461766047,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.3444785872965141,1.3777374993132514,-0.980643860287609,-0.12968801291800933,0.8406001110837704,0.8105930356006974,1.6826685290495669,-0.9148853438712823,2.6633123893371757,2.6633123893371757,2.6664999432097543,0,0,-2.5391597162334516e-05,5.006351863479637e-05
+72277,1793079407162146884,15958249000000,1793079407156736999,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6760739932304201,-0.0049127078134493145,0.0997397361858824,0.9999999875685314,-7.113333040574455e-05,-2.2119969142435363e-05,0.0001037138268410569,0.6761,-0.0046,0.09965493234590816,1.0,0.0,0.0,0.0,-0.3359307441675307,0.3227708986136879,1.05206764738506,0.02664701824279997,0.01958609491247082,0.004012294054519579,0.19511124345576997,1.3950024837228596,2.5315691357827834,0.09257095734719964,-0.008362324484869699,0.0020191150415791513,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.5253191422812091,1.3066900194087707,-1.2356782763318184,-0.12768460505595713,1.0564370713688385,0.7968164552429028,1.6826685290495669,-1.05206764738506,2.9183468053813852,2.9183468053813852,2.790599943210016,0,0,-2.383069730852038e-05,9.997557923047679e-05
+72425,1793079408396216239,15959483000000,1793079408392737651,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6760837556906353,-0.004910902371447289,0.09973220279604222,0.9999999876349409,-6.588523771326057e-05,-4.069770329806616e-06,0.00010869937854818086,0.6761,-0.0046,0.09962692669792425,1.0,0.0,0.0,0.0,-0.3912676078145084,0.33020213577433677,1.1576499979429615,0.02762526170586206,0.022492521771024544,0.003974814674943229,0.1397743798087923,1.4024337208835085,2.637151486340685,0.09354920081026173,-0.005455897626315971,0.0019816356620028005,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.4890611819985418,1.2462756615540354,-1.1682410435273844,-0.10297778783266438,0.9930586296165396,0.7520393016031175,1.6826685290495669,-1.1576499979429615,2.8509095725769513,2.8509095725769513,2.9139999432102766,0,0,-2.256675583486712e-05,-9.999990699250389e-05
+72598,1793079409837260661,15960924000000,1793079409832737319,DOWN_FORCE_DETACH,9,0.0704,0.07040320336818695,0.676089525568937,-0.004914293555724972,0.09971562726105276,0.9999999870219729,-6.350324352397181e-05,4.780704029374124e-06,0.00011551364162910335,0.6761,-0.0046,0.09959751886510078,1.0,0.0,0.0,0.0,-0.432316318351451,0.34030363938914054,1.2698245910187025,0.028616589170868706,0.02543478809575743,0.004960842191312161,0.09872566927184967,1.4125352244983123,2.749326079416426,0.09454052827526838,-0.0025136313015830854,0.0029676631783717316,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.540894425274951,1.377522333506018,-1.282509707396996,-0.12270151040682703,1.0709216919491602,0.8353748704726891,1.6826685290495669,-1.2698245910187025,2.9651782364465626,2.9651782364465626,3.0580999432105807,0,0,-2.2891404739848416e-05,-9.935910014047806e-05
+72773,1793079411296291181,15962383000000,1793079411292738022,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6760962093403259,-0.0049195645692564054,0.09969584054467752,0.9999999861987378,-6.525344701236756e-05,1.8361276340451796e-05,0.00012020915052625894,0.6761,-0.0046,0.09955893914432015,1.0,0.0,0.0,0.0,-0.47900142239422777,0.3793927446725587,1.4255830528519333,0.03146764201346362,0.028432727148802794,0.004912836829597876,0.0520405652290729,1.4516243297817304,2.9050845412496566,0.0973915811178633,0.0004843077514622769,0.0029196578166574474,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.5923966984494664,1.3264085531473222,-1.52111461589275,-0.1042970412363589,1.2254649599847371,0.7981220376735692,1.6826685290495669,-1.4255830528519333,3.203783144942317,3.203783144942317,3.2039999432108885,0,0,-2.8166056519037024e-05,9.999999025923074e-05
+72932,1793079412621347673,15963708000000,1793079412620737200,DOWN_FORCE_DETACH,9,0.0704,0.07040320336818695,0.676104906511743,-0.0049146239967399275,0.0996844191311457,0.9999999858419836,-5.8927344646120826e-05,3.023894580519881e-05,0.00012398415687008067,0.6761,-0.0046,0.09953062108273943,1.0,0.0,0.0,0.0,-0.5188071360059167,0.3652693397731661,1.5419405362656684,0.032454561308879,0.029403911352427006,0.004843696572838896,0.012234851617384076,1.4375009248823378,3.0214420246633917,0.09837850041327867,0.0014554919550864897,0.0028505175598984673,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.6157878787891855,1.2663355044004732,-1.6764450942328675,-0.07651497546042065,1.3269794712761858,0.7535042691207688,1.6826685290495669,-1.5419405362656684,3.3591136232824343,3.3591136232824343,3.336499943211168,0,0,-2.0135560292707015e-05,9.974298750681782e-05
+73097,1793079413996352293,15965083000000,1793079413988737672,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6761134467021404,-0.004916256545395408,0.09966863723307957,0.9999999846958733,-5.72205360946318e-05,4.400800451080368e-05,0.00012976988666632918,0.6761,-0.0046,0.0994945585926471,1.0,0.0,0.0,0.0,-0.5556484963339949,0.3881595073557833,1.6730203877384284,0.034417282387022755,0.031363832653278884,0.004787999991754406,-0.024606508710694253,1.460391092464955,3.1525218761361518,0.10034122149142242,0.00341541325593837,0.0027948209788139777,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.6792804559495134,1.2825435237400773,-1.7190084426274679,-0.0774370587176877,1.3635515368819462,0.7643499238852354,1.6826685290495669,-1.6730203877384284,3.401676971677035,3.401676971677035,3.4739999432114583,0,0,-2.8703086917018734e-05,-9.938834063938912e-05
+73260,1793079415354402012,15966441000000,1793079415352737698,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6761192820692041,-0.004919968313525683,0.09964821153192117,0.999999983678505,-5.311145553057627e-05,5.2722862214184186e-05,0.00013596075661468114,0.6761,-0.0046,0.09946229047092987,1.0,0.0,0.0,0.0,-0.606030635316545,0.40504424490194313,1.8100834469857505,0.03532967940073746,0.03435340434275848,0.00495598319877426,-0.07498864769324429,1.4772758300111148,3.289584935383474,0.10125361850513713,0.00640498494541796,0.002962804185833831,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.7546955846575218,1.3420709611105226,-1.9313744400199298,-0.09315704976989711,1.510735333560637,0.7993584615704251,1.6826685290495669,-1.8100834469857505,3.6140429690694966,3.6140429690694966,3.609799943211745,0,0,-1.8833334146346796e-05,9.133583753063163e-05
+73411,1793079416612447207,15967699000000,1793079416604737574,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6761249392324634,-0.0049146081457641195,0.09963598807207753,0.9999999832660581,-4.332190789689391e-05,6.26853046724843e-05,0.00013821907545749393,0.6761,-0.0046,0.09943544112664007,1.0,0.0,0.0,0.0,-0.6228887851092397,0.40407987049228455,1.9025067859295846,0.03651830510768035,0.03532072210260556,0.005709833866375339,-0.0918467974859391,1.4763114556014563,3.382008274327308,0.10244224421208002,0.007372302705265046,0.0037166548534349098,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.7251683379873315,1.333732066050126,-2.001676215834369,-0.08516267215970047,1.5426793680605244,0.7922481289228082,1.6826685290495669,-1.9025067859295846,3.6843447448839357,3.6843447448839357,3.7355999432120104,0,0,-2.9677554340438956e-05,-9.999999025923074e-05
+73567,1793079417912497829,15968999000000,1793079417908729199,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6761370927570504,-0.00491845331523327,0.09961843415942293,0.9999999810421629,-3.801113189054933e-05,8.288044867743431e-05,0.00014506730577968318,0.6761,-0.0046,0.09939424903334924,1.0,0.0,0.0,0.0,-0.6754143820289925,0.445081178746646,2.055898526790261,0.03922281854015611,0.0392861864435702,0.005674475233382556,-0.14437239440569183,1.5173127638558177,3.5354000151879847,0.10514675764455578,0.011337767046229687,0.0036812962204421274,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.8312615502990575,1.3268036314062124,-2.2061883939199953,-0.08500679388460414,1.6938780756695848,0.7866011724080997,1.6826685290495669,-2.055898526790261,3.888856922969562,3.888856922969562,3.8655999432122847,0,0,-2.3053730512064046e-05,9.999999025923074e-05
+73715,1793079419146475773,15970233000000,1793079419144737768,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.676141019614822,-0.004922788717814993,0.09959676935159523,0.9999999797415714,-3.516694580950025e-05,8.931159604862606e-05,0.00015081924928763313,0.6761,-0.0046,0.0993638786172565,1.0,0.0,0.0,0.0,-0.7049542900280155,0.4511661549336963,2.14655670585259,0.04019407011864824,0.040291603983759174,0.005625161389783051,-0.17391230240471472,1.523397740042868,3.626058194250313,0.10611800922304791,0.012343184586418657,0.003631982376842623,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.8560755380113825,1.4110999800160833,-2.290568564956463,-0.11158027426814897,1.751043870342968,0.8451397425330107,1.6826685290495669,-2.14655670585259,3.9732370940060298,3.9732370940060298,3.988999943212545,0,0,-2.7836237763397047e-05,4.818028895148814e-05
+73877,1793079420496508349,15971583000000,1793079420492727776,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.676151402288716,-0.004918971290719216,0.09957818346671601,0.9999999776846357,-2.678650783304698e-05,0.0001065773789154955,0.00015491074210864514,0.6761,-0.0046,0.09932167188753672,1.0,0.0,0.0,0.0,-0.7501900081032244,0.46948440425429205,2.2971797290912397,0.0411080725653622,0.043250088741423484,0.005556303415287636,-0.21914802047992374,1.5417159893634638,3.7766812174889632,0.10703201166976187,0.015301669344082964,0.003563124402347208,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.8760294158278152,1.3234157238080764,-2.3810982638725355,-0.09742391212865971,1.8107598647257561,0.7815211739126339,1.6826685290495669,-2.2971797290912397,4.063766792922102,4.063766792922102,4.123999943212279,0,0,-3.376931581175325e-05,-9.997641189774526e-05
+74040,1793079421854538771,15972941000000,1793079421852737195,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6761603776831476,-0.004926702851811572,0.0995551052707867,0.9999999747828352,-2.3183848051307152e-05,0.00011981113839085475,0.00016427109882317722,0.6761,-0.0046,0.09928103767785317,1.0,0.0,0.0,0.0,-0.7776141844761284,0.4808074037389827,2.4178353964548442,0.04205139516191399,0.04523108126685793,0.005498500468636059,-0.2465721968528277,1.5530389888481544,3.8973368848525674,0.10797533426631366,0.017282661869517414,0.00350532145569563,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.9278882461178604,1.3877062357386543,-2.5180645601479297,-0.1303590225158001,1.9094139449341017,0.8210799392592426,1.6826685290495669,-2.4178353964548442,4.200733089197497,4.200733089197497,4.259799943211963,0,0,-3.0067524577097278e-05,-9.99999347480795e-05
+74209,1793079423262619534,15974349000000,1793079423260737354,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6761658084304869,-0.00492586129537886,0.09952566915686811,0.999999973008384,-1.9576833445985875e-05,0.00012851565926915793,0.00016889810134992114,0.6761,-0.0046,0.09923693882992606,1.0,0.0,0.0,0.0,-0.8061110377854224,0.48138819270015953,2.548094253714142,0.04197984126978738,0.0472304493505605,0.005421304424425941,-0.2750690501621217,1.5536197778093312,4.027595742111865,0.10790378037418705,0.01928202995321998,0.003428125411485512,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.9205913039997182,1.376275185157087,-2.7155365515552217,-0.13402453088086913,2.034587638932135,0.8105789429033603,1.6826685290495669,-2.548094253714142,4.3982050806047885,4.3982050806047885,4.400599943211635,0,0,-3.240840110577269e-05,9.980468815141136e-05
+74381,1793079424696610786,15975783000000,1793079424692727879,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6761787916246558,-0.0049247482021963825,0.09949925392952297,0.9999999690344227,-1.4094356252697499e-05,0.00014926003559334795,0.00017577488150575212,0.6761,-0.0046,0.09918504739635899,1.0,0.0,0.0,0.0,-0.8446032384879618,0.49799837633522137,2.6787050293955597,0.042887926932082945,0.05021152626553184,0.005370091970886475,-0.3135612508646611,1.570229961444393,4.158206517793283,0.10881186603648262,0.022263106868191326,0.0033769129579460464,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.9828900615961647,1.4103419450964556,-2.7592645077106894,-0.14677917897875606,2.0718232019585807,0.832062921377704,1.6826685290495669,-2.6787050293955597,4.441933036760256,4.441933036760256,4.5439999432113005,0,0,-3.9750266546427444e-05,-9.843750400773672e-05
+74546,1793079426071681708,15977158000000,1793079426068736760,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6761904391113621,-0.004933231605492052,0.09946612327281636,0.9999999640738004,-1.6743938187179815e-05,0.00016803720461010995,0.00018648967995911196,0.6761,-0.0046,0.09913014779849999,1.0,0.0,0.0,0.0,-0.8640030406873773,0.49792860909512093,2.8192735370492246,0.043600014009477064,0.0522050931567941,0.0052874998048256065,-0.3329610530640767,1.5701601942042926,4.298775025446948,0.10952395311387673,0.024256673759453583,0.0032943207918851784,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.0067319606543097,1.3432869533821556,-2.990867604231027,-0.12665504295698662,2.2270618832995726,0.7863682833881743,1.6826685290495669,-2.8192735370492246,4.673536133280594,4.673536133280594,4.68149994321098,0,0,-3.833628699626145e-05,9.749112214597062e-05
+74701,1793079427362668572,15978449000000,1793079427360727179,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6762017079985573,-0.0049369576719536954,0.09943220589838717,0.999999959395339,-1.2054523016155858e-05,0.00018499229072890404,0.0001956648301222263,0.6761,-0.0046,0.09907486383456506,1.0,0.0,0.0,0.0,-0.8732741430865594,0.48719138112759475,2.937204373093806,0.04181690958605484,0.053597537187053824,0.004169042690163242,-0.3422321554632587,1.5594229662367665,4.416705861491529,0.10774084869045451,0.025649117789713308,0.002175863677222814,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.0296675158810413,1.3135439976182002,-3.183456465156156,-0.11651610853837066,2.352282282666878,0.7659582167584871,1.6826685290495669,-2.937204373093806,4.866124994205723,4.866124994205723,4.810599943210679,0,0,-4.4075778850268026e-05,9.999980984798924e-05
+74868,1793079428754734080,15979841000000,1793079428752727694,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.676211896726001,-0.00493845555523329,0.09938850606399971,0.9999999540434401,-1.1054456676957216e-05,0.0002032205759639124,0.00020478080649756234,0.6761,-0.0046,0.09900790414861119,1.0,0.0,0.0,0.0,-0.893512807919226,0.46861032950959847,3.07467809219691,0.04064056842948033,0.05525007264624518,0.004070949833642659,-0.3624708202959253,1.5408419146187702,4.554179580594633,0.10656450753388,0.027301653248904663,0.0020777708207022306,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.0395866801687896,1.447737344261569,-3.3379401233573978,-0.1675448090550092,2.456795739595493,0.8484624608493287,1.6826685290495669,-3.07467809219691,5.020608652406965,5.020608652406965,4.949799943210355,0,0,-4.582100310704528e-05,9.999999025923074e-05
+74996,1793079429821690302,15980908000000,1793079429816727856,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6762240860325499,-0.004925312891425622,0.09935056709488327,0.9999999493696214,-0.00018233012100756752,0.0002340114658918369,6.854180817589123e-05,0.6761,-0.0046,0.09895723943735488,1.0,0.0,0.0,0.0,-0.7527837362903684,0.6755764166714471,3.1756969220999904,0.051613883333620394,0.04740589471186184,0.0050388080041605735,-0.2217417486670677,1.7478080017806188,4.6551984104977135,0.11753782243802006,0.019457475314521324,0.0030456289912201453,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.1512893630408167,1.3640600001963854,-3.3143810722815465,-0.13648070929246384,2.4883458035702697,0.835629640340558,1.6826685290495669,-3.1756969220999904,4.997049601331113,4.997049601331113,5.056499943210106,0,0,-5.495237231509099e-05,-9.999999025923074e-05
+75143,1793079431046792547,15982133000000,1793079431040728128,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6762359587970667,-0.004928631431106169,0.09930443198305067,0.9999999446028004,-0.00017681618394360503,0.00025308008860054117,8.320917124918596e-05,0.6761,-0.0046,0.09888454526932078,1.0,0.0,0.0,0.0,-0.7770206688851712,0.6874581423527557,3.298487959664289,0.051978153430012275,0.0499082557032889,0.00429983211024977,-0.2459786812618705,1.7596897274619274,4.777989448062012,0.11790209253441195,0.02195983630594838,0.0023066530973093417,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.21063162392994,1.2726061062166216,-3.444336042730162,-0.07403776714093799,2.576081787117854,0.7786663973052191,1.6826685290495669,-3.298487959664289,5.127004571779729,5.127004571779729,5.178999943209821,0,0,-5.164343609284495e-05,-4.6627461640308357e-05
+75294,1793079432304823759,15983391000000,1793079432304727869,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6762462567872921,-0.0049343260832313855,0.09926057484970238,0.999999940369576,-0.00017254400971825618,0.0002674461529510875,9.69784960141063e-05,0.6761,-0.0046,0.09882454478798085,1.0,0.0,0.0,0.0,-0.7800209090032416,0.6379414688008358,3.3682852837863146,0.04890281303508384,0.049956198106503,0.0038666004287794013,-0.24897892137994093,1.7101730539100075,4.847786772184038,0.11482675213948351,0.022007778709162484,0.0018734214158389725,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.199171985688103,1.3571277794587824,-3.582983417372795,-0.06951604881233599,2.6646943356643304,0.8237169149446274,1.6826685290495669,-3.3682852837863146,5.265651946422362,5.265651946422362,5.304799943209527,0,0,-5.1959972273392434e-05,9.740769260256025e-12
+75454,1793079433637814857,15984724000000,1793079433632728124,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6762600906424493,-0.0049387868788101225,0.09920919880917684,0.9999999334296715,-0.0001691630061953863,0.0002895971411442232,0.00011000404510737852,0.6761,-0.0046,0.0987487310094279,1.0,0.0,0.0,0.0,-0.7843480030179573,0.5980174829876777,3.4816150258152083,0.045791759082556865,0.0512289723349508,0.0027273706886746054,-0.2533060153946565,1.6702490680968494,4.961116514212931,0.11171569818695654,0.02328055293761028,0.0007341916757341768,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.1647971435246927,1.2809692940774253,-3.7921226098203444,0.0030418173435168656,2.778757398694573,0.7607601964989396,1.6826685290495669,-3.4816150258152083,5.474791138869911,5.474791138869911,5.438099943209217,0,0,-6.0925297366816504e-05,9.999579916731278e-05
+75625,1793079435062872942,15986149000000,1793079435060728312,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6762744551744264,-0.004940247856073838,0.09914513161958341,0.9999999254032588,-0.00016961331167622464,0.0003114256823262057,0.00012199061425391191,0.6761,-0.0046,0.0986640074922798,1.0,0.0,0.0,0.0,-0.800941715585893,0.5635613717370338,3.59098072483667,0.04268380409290963,0.05205667203938309,0.002615041787367987,-0.2698997279625923,1.6357929568462055,5.070482213234393,0.1086077431973093,0.024108252642042572,0.0006218627744275585,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.1576274092026044,1.3245222968052688,-3.9059181053862,-0.010451047142015987,2.8521200021832245,0.7855591740182721,1.6826685290495669,-3.59098072483667,5.588586634435767,5.588586634435767,5.580599943208885,0,0,-5.9065562084377514e-05,9.998779168374767e-05
+75770,1793079436271913470,15987358000000,1793079436268727614,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6762876399240622,-0.004940762026330874,0.09909167091618462,0.9999999171624986,-0.00017094529076145648,0.00033382989016204266,0.00012826991940079036,0.6761,-0.0046,0.0985810392297255,1.0,0.0,0.0,0.0,-0.8003203658674634,0.5325645727620831,3.6803851645927796,0.040597634369293784,0.05309117813004058,0.0025355416475529176,-0.2692783782441626,1.6047961578712548,5.159886652990503,0.10652157347369345,0.025142758732700065,0.0005423626346124891,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.195018501398007,1.2904412512936005,-3.9250357749360445,-0.00474291083170463,2.8756306098510516,0.7615288976021498,1.6826685290495669,-3.6803851645927796,5.607704303985612,5.607704303985612,5.701499943208603,0,0,-7.815804190933052e-05,-9.999639591218851e-05
+75919,1793079437512937032,15988599000000,1793079437512728026,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6762997928754789,-0.0049440777558879745,0.09902054847204499,0.9999999063282314,-0.00019519842045040336,0.00035549452694516717,0.00011961442354327567,0.6761,-0.0046,0.09849006401633191,1.0,0.0,0.0,0.0,-0.7813589455523746,0.5335536831093055,3.8305968456357666,0.039581026317360976,0.0520657135864117,0.002308518451220887,-0.2503169579290739,1.6057852682184772,5.31009833403349,0.10550496542176065,0.024117294189071183,0.00031533943828045824,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.1830144549605026,1.3779051147409618,-4.135839936277221,-0.014048535158352065,3.0108621225109355,0.8120842624687353,1.6826685290495669,-3.8305968456357666,5.818508465326788,5.818508465326788,5.825599943208314,0,0,-6.702487905377452e-05,9.999999025923074e-05
+76067,1793079438746971042,15989833000000,1793079438744727564,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6763131105577004,-0.004942670107619126,0.0989544942873462,0.9999998957955396,-0.00020904108949519016,0.00037696647997774067,0.0001185321472664987,0.6761,-0.0046,0.09840291329437152,1.0,0.0,0.0,0.0,-0.7523109504282852,0.5097067038840482,3.865014795542735,0.0375649483740058,0.051069189605588455,0.0012992256755212047,-0.22126896280498448,1.5819382889932199,5.344516283940458,0.10348888747840547,0.023120770208247942,-0.0006939533374192239,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.10855444493159,1.3836693274518437,-4.095671397261452,-0.03224185744651385,2.9722847059443467,0.8057757103052201,1.6826685290495669,-3.865014795542735,5.778339926311018,5.778339926311018,5.948999943208026,0,0,-8.353636477972793e-05,-9.997616209756472e-05
+76228,1793079440087959292,15991174000000,1793079440080728199,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6763343634333293,-0.004945898393878558,0.09886616726391251,0.999999878559041,-0.0002241272408768918,0.0004111743636733359,0.0001225862545320367,0.6761,-0.0046,0.09827848918099674,1.0,0.0,0.0,0.0,-0.7804249426388358,0.49365766114897425,4.029825825623239,0.03704700700422389,0.052083233987922375,0.00138314087642925,-0.24938295501553506,1.565889246258146,5.509327314020962,0.10297094610862356,0.02413481459058186,-0.0006100381365111784,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.18482089624331,1.291382886768291,-4.306535501428247,-0.010883483013298034,3.122986683174811,0.7439137841498092,1.6826685290495669,-4.029825825623239,5.989204030477813,5.989204030477813,6.0830999432077135,0,0,-9.383396514936327e-05,-7.569802703966672e-05
+76370,1793079441271927062,15992358000000,1793079441268728021,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6763440351191393,-0.004952181084293768,0.09878216990623291,0.999999868725724,-0.00023689334119049712,0.0004263682408815794,0.00012681903126029323,0.6761,-0.0046,0.0981802322883031,1.0,0.0,0.0,0.0,-0.7315414057618469,0.431530850548961,4.088933236389262,0.03244018185031933,0.05012459906683785,0.001047282532490469,-0.2004994181385462,1.5037624356581327,5.568434724786985,0.098364120954719,0.022176179669497326,-0.0009458964804499598,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.04121752328535,1.341886304937145,-4.388423929952835,-0.02685558363300379,3.1465674711373253,0.7810014562609554,1.6826685290495669,-4.088933236389262,6.0710924590024025,6.0710924590024025,6.201499943207438,0,0,-7.88070997862197e-05,-9.999999025923074e-05
+76529,1793079442597028714,15993683000000,1793079442592727771,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6763614140608587,-0.004953375085395992,0.09869129910141881,0.999999851551532,-0.0002526859853078852,0.000455767130197456,0.00012948317928047039,0.6761,-0.0046,0.09805669443726527,1.0,0.0,0.0,0.0,-0.7106502445397459,0.3662645087006069,4.18497137740048,0.028346692794110742,0.04815805649215935,0.0008965712799732194,-0.17960825691644522,1.4384960938097786,5.664472865798203,0.09427063189851041,0.020209637094818836,-0.0010966077329672092,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.0634964186175817,1.270323046277898,-4.50844184483537,-0.012066453407177768,3.2406814560535016,0.7269859247426091,1.6826685290495669,-4.18497137740048,6.191110373884937,6.191110373884937,6.333999943207129,0,0,-0.00010813329686806673,-9.999999025923074e-05
+76688,1793079443922086770,15995008000000,1793079443916727729,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6763739092033746,-0.004958298211564631,0.09857454093208413,0.9999998358035863,-0.0002760731095859142,0.0004766931241073583,0.00012799596819212112,0.6761,-0.0046,0.09791812253339163,1.0,0.0,0.0,0.0,-0.6902919516020702,0.31213347648891787,4.286715701729671,0.02532863989295829,0.046186716561981915,0.0007485505428350631,-0.15924996397876953,1.3843650615980896,5.766217190127394,0.09125257899735796,0.0182382971646414,-0.0012446284701053655,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.9937023230180728,1.4115427952713242,-4.667996171351761,-0.06347966230347034,3.3321237469302494,0.8121463115708203,1.6826685290495669,-4.286715701729671,6.350664700401328,6.350664700401328,6.46649994320682,0,0,-0.00010268594177328805,-9.999999025923074e-05
+76845,1793079445230028074,15996316000000,1793079445224727875,DOWN_FORCE_DETACH,9,0.0704,0.07040320336818695,0.6763930372790897,-0.004963581692536724,0.09845728133695364,0.9999998120056436,-0.0003010459016693991,0.0005104875876438368,0.00012730015371451727,0.6761,-0.0046,0.09776953451954062,1.0,0.0,0.0,0.0,-0.6792023100882236,0.2727865903358573,4.371910034912111,0.022295921203791147,0.045556523791654556,0.0006342756690113096,-0.14816032246492292,1.345018175445029,5.851411523309834,0.08821986030819082,0.01760810439431404,-0.001358903343929119,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.0494846413637546,1.3310362526384614,-4.770521586240675,-0.043768320137309434,3.4165020702159383,0.7527585760243072,1.6826685290495669,-4.371910034912111,6.4531901152902424,6.4531901152902424,6.597299943206515,0,0,-0.0001278242955191341,-9.949281262600635e-05
+77001,1793079446531110519,15997616000000,1793079446528727155,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6764085663328621,-0.004966509312457457,0.09832265085181593,0.9999997916741323,-0.0003183442477650871,0.0005384708154812744,0.0001296174230431599,0.6761,-0.0046,0.09760885161426218,1.0,0.0,0.0,0.0,-0.6680722910264303,0.23846968319286987,4.473078107812063,0.018253044172058044,0.04524434090862878,0.000504185966607568,-0.13703030340312966,1.3107012683020416,5.9525795962097865,0.08417698327645771,0.01729592151128826,-0.0014889930463328606,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.0588824645277706,1.318630515946976,-4.938866818165495,-0.04248281982528567,3.5316167282393307,0.7463400701523609,1.6826685290495669,-4.473078107812063,6.621535347215062,6.621535347215062,6.727299943206212,0,0,-0.00012375331498035014,-9.740769260256025e-12
+77158,1793079447838134198,15998924000000,1793079447836727607,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.676426779328663,-0.004970312600999003,0.09818249998731157,0.9999997718847351,-0.0003294876431575642,0.0005675525820583498,0.00013036602756028587,0.6761,-0.0046,0.09743769416920792,1.0,0.0,0.0,0.0,-0.632796945914968,0.17379287101608187,4.563591297351825,0.015173699316911315,0.04326485919906203,0.00037604035942551,-0.10175495829166736,1.2460244561252536,6.043092785749548,0.08109763842131099,0.015316439801721508,-0.0016171386535149186,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.033793949343477,1.4098341098029075,-5.063041679501363,-0.058894610819485646,3.613539823346243,0.8104242219687386,1.6826685290495669,-4.563591297351825,6.74571020855093,6.74571020855093,6.858099943205907,0,0,-0.00013135678340467217,-7.591413108822367e-10
+77302,1793079449038200207,16000124000000,1793079449036728392,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6764473445352577,-0.0049667962011714405,0.09804080348928505,0.9999998069022804,-5.433360255420851e-05,0.0005994955245592997,0.00012365776161824026,0.6761,-0.0046,0.09726437190058852,1.0,0.0,0.0,0.0,-0.5916343041830325,0.1300810085442894,4.682560230088592,0.01217708826494314,0.04026362392614913,-0.0008300063376819196,-0.06059231655973181,1.202312593653461,6.162061718486315,0.07810102736934281,0.012315204528808615,-0.002823185350622348,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.058539481323587,1.4306901543030577,-5.264694712534491,-0.10196166780345119,3.769401154760895,0.7455983538290294,1.6826685290495669,-4.682560230088592,6.947363241584059,6.947363241584059,6.978099943205628,0,0,-0.00014909272182531274,9.992502244949292e-05
+77453,1793079450297138416,16001383000000,1793079450296727865,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6764659276708797,-0.004971756578755282,0.09788233663865341,0.9999997850321171,-9.551304756577123e-05,0.0006305524323634409,0.00012107630612372697,0.6761,-0.0046,0.09707484791385772,1.0,0.0,0.0,0.0,-0.5510969496120841,0.0625490193161653,4.758325030532247,0.00879519556887351,0.03727000122194547,5.6897723914462644e-05,-0.020054961988783426,1.134780604425337,6.23782651892997,0.07471913467327318,0.009321581824604954,-0.001936281289025966,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.974208081066406,1.4618452044013572,-5.327220595332674,-0.08751875296010946,3.7927592946996893,0.7984977595250222,1.6826685290495669,-4.758325030532247,7.009889124382241,7.009889124382241,7.103999943205334,0,0,-0.0001545554057693924,9.984165857813138e-05
+77598,1793079451505257261,16002591000000,1793079451504737793,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6764828354237246,-0.00497388537980214,0.09771752157554814,0.9999997639160245,-0.00012084386082201542,0.0006576587612489124,0.0001284230301068544,0.6761,-0.0046,0.09688748803531565,1.0,0.0,0.0,0.0,-0.5119552368297053,-0.009741825324379283,4.846748183216084,0.0030879147265139018,0.0349865750454099,-0.0001148235766759969,0.019086750793595394,1.0624897597847924,6.326249671613807,0.06901185383091357,0.007038155648069383,-0.0021080025896164254,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,2.0015624778631147,1.3379164029163568,-5.465294504538631,-0.0053780284508332075,3.9050421990966613,0.7647767358037285,1.6826685290495669,-4.846748183216084,7.147963033588198,7.147963033588198,7.224799943205053,0,0,-0.00015571760370450415,9.999982372577704e-05
+77726,1793079452572282167,16003658000000,1793079452564728492,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6764941981723405,-0.004972094554392654,0.09756847691919622,0.9999997469323434,-0.00013801543984146242,0.0006786353990527719,0.00013410386633051142,0.6761,-0.0046,0.09671657290048098,1.0,0.0,0.0,0.0,-0.46154701397793263,-0.07053000797794606,4.869047796660933,-0.0009033603714019012,0.031354012232793084,-0.0002283490817771637,0.06949497364536808,1.0017015771312257,6.348549285058656,0.06502057873299777,0.0034055928354525676,-0.0022215280947175922,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.8802592405003746,1.2417859001746205,-5.405368913150101,0.03292351320924439,3.8453494513881523,0.7112203826915904,1.6826685290495669,-4.869047796660933,7.088037442199667,7.088037442199667,7.331499943204804,0,0,-0.0001696514562124759,-9.999999025923074e-05
+77858,1793079453672270883,16004758000000,1793079453668728098,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6765111324252818,-0.004970593583476746,0.09739568445139113,0.9999997211069781,-0.00017686133747004027,0.0007082242616125253,0.00012793472128448755,0.6761,-0.0046,0.09652258064769627,1.0,0.0,0.0,0.0,-0.3476581823100575,-0.04285519026615536,5.000826804216684,0.00022378526179103742,0.026237759079480588,0.0006431002233609838,0.18338380531324314,1.0293763948430164,6.4803282926144075,0.06614772436619071,-0.0017106603178599277,-0.0013500787895794448,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.8632724489440142,1.3387330192497389,-5.530498236863171,0.027519466028800166,3.9376309289817177,0.768650416465736,1.6826685290495669,-5.000826804216684,7.213166765912739,7.213166765912739,7.441499943204548,0,0,-0.0001823274609722133,-9.980471590698698e-05
+77977,1793079454663335724,16005749000000,1793079454660728484,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6765285479214308,-0.004965935725888245,0.09723316992447138,0.9999996970590093,-0.00019368439184143545,0.0007359527816122182,0.0001348503376967041,0.6761,-0.0046,0.09632736285046989,1.0,0.0,0.0,0.0,-0.31193277301959665,-0.054520162989625254,5.053666755561731,-0.0007489504782738216,0.02419462486845217,0.0005502209434744673,0.219109214603704,1.0177114221195465,6.533168243959454,0.06517498862612585,-0.0037537945288883463,-0.0014429580694659612,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.9138397270116487,1.4675309158312513,-5.654176748389006,-0.0007194197592895514,4.038913309680503,0.8518613819357737,1.6826685290495669,-5.053666755561731,7.336845277438574,7.336845277438574,7.540599943204317,0,0,-0.00020697127024324325,-9.988952306828053e-05
+78103,1793079455713280779,16006799000000,1793079455712737565,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6765450725383703,-0.004965050396079186,0.09703795766817404,0.9999996723944596,-0.0002033576231507132,0.0007638844573417404,0.00014758065741436407,0.6761,-0.0046,0.09610690815514356,1.0,0.0,0.0,0.0,-0.2731173016018293,-0.1225376544945822,5.159228191477964,-0.0037432614480975845,0.020326527599233583,0.001272138089834674,0.2579246860214714,0.9496939306145895,6.638729679875687,0.062180677656302086,-0.007621891798106933,-0.0007210409231057546,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.830374270026598,1.3914878638268617,-5.724470815597992,0.034760139591110094,4.078591359457507,0.8068261714431202,1.6826685290495669,-5.159228191477964,7.407139344647559,7.407139344647559,7.645599943204072,0,0,-0.00021447895185852518,-9.999999025923074e-05
+78245,1793079456897344803,16007983000000,1793079456896737527,DOWN_FORCE_DETACH,9,0.0704,0.07040320336818695,0.6765557670761695,-0.004966902297086224,0.09679586072691118,0.999999667812525,-0.0001393005314674943,0.0007869859368874577,0.00013063767104026254,0.6761,-0.0046,0.095845012243247,1.0,0.0,0.0,0.0,-0.19793163101104355,-0.17834407895158,5.229719754873042,-0.0074776394809826716,0.01518499472897412,0.001224494627106896,0.33311035661225713,0.8938875061575917,6.709221243270765,0.058446299623417,-0.012763424668366398,-0.0007686843858335327,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.8542846776821162,1.4591795377723087,-5.824023824650697,0.018762388719725763,4.17335898255312,0.8212213389544215,1.6826685290495669,-5.229719754873042,7.506692353700263,7.506692353700263,7.763999943203796,0,0,-0.00023596688147472922,-9.999999025923074e-05
+78365,1793079457897352612,16008983000000,1793079457896737411,DOWN_FORCE_DETACH,9,0.0704,0.07040320336818695,0.6765831519571209,-0.004975650251736198,0.09657968174227373,0.9999996312317377,-0.00015471443082417557,0.0008249648430524933,0.0001564471336169381,0.6761,-0.0046,0.09559446058238821,1.0,0.0,0.0,0.0,-0.23408542873732485,-0.20267489065105004,5.338928801489086,-0.0077825578173946475,0.0171932536869996,0.001172504891768221,0.29695655888597583,0.8695566944581217,6.818430289886809,0.05814138128700502,-0.010755165710340917,-0.0008206741211722078,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.9448981798318048,1.22007224974151,-5.969915594390091,0.10857092166704323,4.2914176354331115,0.6898834422837151,1.6826685290495669,-5.338928801489086,7.652584123439658,7.652584123439658,7.863999943203563,0,0,-0.0002596401954599997,6.0012239831448017e-05
+78473,1793079458797392738,16009883000000,1793079458792728395,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6765959449650646,-0.004968395577475508,0.09636099688082045,0.9999996025386142,-0.00022475951231550634,0.0008493084068391228,0.00012051501742415,0.6761,-0.0046,0.09536045780663123,1.0,0.0,0.0,0.0,-0.10470455987322125,-0.202691407861899,5.430705081684914,-0.007719198745740022,0.008321853735125211,0.000984971170878941,0.42633742775007943,0.8695401772472727,6.910206570082637,0.05820474035865965,-0.019626565662215305,-0.0010082078420614875,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.8592223175952438,1.3080869771259098,-6.037862464537262,0.15076718992616311,4.329947710497004,0.7483531380441937,1.6826685290495669,-5.430705081684914,7.720530993586829,7.720530993586829,7.953999943203353,0,0,-0.00025643758481549837,-9.958873589533396e-05
+78589,1793079459763444868,16010849000000,1793079459760737177,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6766088200091598,-0.004973602459060324,0.09612581858807118,0.99999958228119,-0.00022381576905424844,0.0008687126147026033,0.00014874543360224567,0.6761,-0.0046,0.09510141058359155,1.0,0.0,0.0,0.0,-0.12602066451837685,-0.34405287388336914,5.397713782914287,-0.015733458597451844,0.008350535052457538,0.0009077309489460366,0.40502132310492384,0.7281787112258026,6.87721527131201,0.05019048050694783,-0.01959788434488298,-0.001085448063994392,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.8159129205277587,1.3333162379381165,-6.083886403387121,0.10749243645817738,4.374128327694902,0.772822863654304,1.6826685290495669,-5.397713782914287,7.766554932436687,7.766554932436687,8.050599943203128,0,0,-0.0002868767036798544,-9.999999025923074e-05
+78687,1793079460580420996,16011666000000,1793079460576737043,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6766190477328173,-0.004975231148073813,0.09589996186732629,0.9999995834662245,-9.473291176993139e-05,0.0008860389146063478,0.00017455932802357086,0.6761,-0.0046,0.09485484484796466,1.0,0.0,0.0,0.0,-0.11376685225314653,-0.4394148292078638,5.532806319307626,-0.021833569961823764,0.007295933340955019,0.0007119634168255807,0.41727513537015415,0.6328167559013079,7.012307807705349,0.04409036914257591,-0.020652486056385498,-0.0012812155961148478,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.7845955868091348,1.3736414170459355,-6.127526977849181,0.060839401942829587,4.417901894239408,0.7524633382053477,1.6826685290495669,-5.532806319307626,7.810195506898747,7.810195506898747,8.132299943202938,0,0,-0.00031436085092958885,-9.750906612560612e-05
+78777,1793079461330482510,16012416000000,1793079461328737695,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.676629574270255,-0.00496969817715717,0.09567710244390898,0.9999995569816535,-0.0001869670941421613,0.0009083704348637043,0.00013185529769192783,0.6761,-0.0046,0.09461434159842733,1.0,0.0,0.0,0.0,-0.034850123903958974,-0.4215564930111335,5.58704577335426,-0.02051647634519526,0.0029713953688532795,0.0016515190843717858,0.4961918637193417,0.6506750920980382,7.066547261751983,0.04540746275920441,-0.024977024028487237,-0.0003416599285686429,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.8109232884955355,1.2796386903631005,-6.297188193507086,0.14988997688142336,4.5418064085052405,0.7431681501702065,1.6826685290495669,-5.58704577335426,7.979856722556653,7.979856722556653,8.207299943202763,0,0,-0.0003270708537380943,9.687500387845489e-05
+78874,1793079462138492041,16013224000000,1793079462136737357,DOWN_FORCE_DETACH,9,0.0704,0.07040189206600189,0.6766400045792219,-0.004979335947851835,0.09541452788580929,0.9999995388213012,-0.00019243867255492857,0.0009210055883044243,0.00016886714444891716,0.6761,-0.0046,0.09434183597258801,1.0,0.0,0.0,0.0,-0.027054202782154646,-0.5370231459346224,5.655032891517631,-0.025861245632820787,0.0012665367821927676,0.0015106190731494639,0.503987784841146,0.5352084391745493,7.134534379915354,0.040062693471578883,-0.02668188261514775,-0.00048255993979096464,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.728790076506522,1.1228430794483637,-6.19891897352188,0.16580471437028574,4.481994378648525,0.6314366985010891,1.6826685290495669,-5.655032891517631,7.881587502571447,7.881587502571447,8.288099943202575,0,0,-0.00034608047277537155,-9.99999208702917e-05
+78960,1793079462855511013,16013941000000,1793079462852727647,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6766559086786331,-0.004969467806678269,0.09517053230490491,0.9999995022636546,-0.0002791856429804189,0.0009455066450498817,0.00012242494743958967,0.6761,-0.0046,0.09408322665127591,1.0,0.0,0.0,0.0,0.056577840398814305,-0.49192274473005937,5.677801988250828,-0.023437020562244247,-0.005837700224475072,0.00233198197870431,0.587619828022115,0.5803088403791123,7.1573034766485515,0.04248691854215542,-0.03378611962181559,0.0003388029657638816,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.7612050904742222,1.2908261524806712,-6.330047490845861,0.19476298063827638,4.578755073567171,0.7474782336595778,1.6826685290495669,-5.677801988250828,8.012716019895429,8.012716019895429,8.359799943202407,0,0,-0.00037332814926546574,-9.9998671869389e-05
+79045,1793079463563484256,16014649000000,1793079463560728533,DOWN_FORCE_DETACH,9,0.0704,0.07040254771709442,0.6766692263254611,-0.0049829614117296505,0.09491224406134666,0.9999995084724319,-9.919145749212877e-05,0.0009697007513039582,0.0001560104702778797,0.6761,-0.0046,0.09380914124706521,1.0,0.0,0.0,0.0,0.030621811375462382,-0.5876162233443232,5.722926062818684,-0.028779755396646012,-0.0027366096189586873,0.0013645462747404451,0.5616637989987631,0.4846153617648485,7.202427551216407,0.03714418370775366,-0.030685029016299204,-0.0006286327381999834,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.7262395626856086,1.4265063132710698,-6.207513954856581,0.05509916353589853,4.51924635319425,0.7727729949729503,1.6826685290495669,-5.722926062818684,7.890182483906148,7.890182483906148,8.430599943202242,0,0,-0.0004025759745521481,-9.999999025923074e-05
+79166,1793079464561518416,16015647000000,1793079464560737409,DOWN_PEAK_HOLD,9,0.0704,0.07040189206600189,0.6766312742614508,-0.004979688693987758,0.0947027372520903,0.9999995712576212,-0.0001107537178842896,0.0008990652064971465,0.00016835321968385278,0.6761,-0.0046,0.0937117431142952,1.0,0.0,0.0,0.0,0.3272633897127777,-0.9269967925359596,4.818022685219027,-0.05142863510214575,-0.02334795854099063,-0.0005141121743068309,0.8583053773360784,0.14523479257321215,6.29752417361675,0.014495304002253916,-0.051296377938331146,-0.0025072911872472594,0.5310419876233007,1.0722315851091717,1.4795014883977233,0.06592393910439967,-0.027948419397340517,-0.0019931790129404285,1,1.0881199568381787,1.2425935232638188,-5.422094419480485,0.12198639563052449,3.920423296443395,0.6879199842564625,1.6826685290495669,-4.818022685219027,7.104762948530052,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_09/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,1793079392062060398,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.649005921e-08,-1.504474316e-09,-8.327404322e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027462100e-01,-1.128155712e-04,8.303252624e-01
+1,1.300000000e+00,DOWN_FORCE_DETACH,1793079393339908627,2.258723418e-07,-2.901217655e-06,-1.754561622e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.873913060e-07,-8.939423220e-08,-6.151004228e-08,7.019558237e-01,-2.488627223e-05,8.601432105e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027470809e-01,-1.129034610e-04,8.303252017e-01
+2,2.700000000e+00,DOWN_FORCE_DETACH,1793079394764480947,8.145528885e-06,-1.912329934e-06,-1.716933918e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.305987290e-06,-1.308371730e-07,-1.064679745e-07,7.019637434e-01,-2.389738451e-05,8.601416690e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027474995e-01,-1.129449039e-04,8.303251568e-01
+3,4.233333333e+00,DOWN_FORCE_DETACH,1793079396287550764,1.952492350e-05,-3.063664807e-06,-1.799315701e-05,1.333258881e-05,5.443193324e-06,-1.386601258e-05,1.514338488e-05,4.711826484e-06,-1.350535390e-05,7.019751228e-01,-2.504871939e-05,8.601253928e-01,7.019689305e-01,-1.654186126e-05,8.601295199e-01,7.027613369e-01,-1.081022403e-04,8.303117579e-01
+4,5.583333333e+00,DOWN_FORCE_DETACH,1793079397631210776,2.259146046e-05,-1.383555558e-06,-2.642763701e-05,1.333258881e-05,5.443193324e-06,-1.386601258e-05,1.551530570e-05,4.691241171e-06,-1.374482048e-05,7.019781893e-01,-2.336861014e-05,8.601169583e-01,7.019689305e-01,-1.654186126e-05,8.601295199e-01,7.027617088e-01,-1.081228256e-04,8.303115184e-01
+5,6.883333333e+00,DOWN_FORCE_DETACH,1793079398941523603,2.715380573e-05,-1.120822651e-06,-3.911247526e-05,2.322325939e-05,-2.867251448e-06,-2.883100223e-05,2.584328821e-05,-2.809800376e-06,-2.836502964e-05,7.019827517e-01,-2.310587723e-05,8.601042734e-01,7.019788211e-01,-2.485230603e-05,8.601145549e-01,7.027720368e-01,-1.156238671e-04,8.302968982e-01
+6,8.250000000e+00,DOWN_FORCE_DETACH,1793079400316771305,3.222675551e-05,-1.111686217e-06,-5.230388602e-05,3.096277356e-05,1.235292298e-06,-4.667635605e-05,3.400851831e-05,8.297250327e-07,-4.594222654e-05,7.019878246e-01,-2.309674080e-05,8.600910820e-01,7.019865606e-01,-2.074976228e-05,8.600967096e-01,7.027802020e-01,-1.119843417e-04,8.302793210e-01
+7,9.483333333e+00,DOWN_FORCE_DETACH,1793079401546014367,3.552152791e-05,-5.048806667e-07,-6.011413328e-05,3.096277356e-05,1.235292298e-06,-4.667635605e-05,3.425876905e-05,8.187923012e-07,-4.631365443e-05,7.019911194e-01,-2.248993525e-05,8.600832718e-01,7.019865606e-01,-2.074976228e-05,8.600967096e-01,7.027804523e-01,-1.119952745e-04,8.302789496e-01
+8,1.080000000e+01,DOWN_FORCE_DETACH,1793079403036208879,4.805467302e-05,-2.601170957e-06,-7.755470476e-05,3.955484616e-05,-1.358792228e-07,-6.564884774e-05,4.311333592e-05,-4.091921995e-07,-6.491735940e-05,7.020036525e-01,-2.458622554e-05,8.600658312e-01,7.019951527e-01,-2.212093380e-05,8.600777371e-01,7.027893068e-01,-1.132232590e-04,8.302603459e-01
+9,1.220000000e+01,DOWN_FORCE_DETACH,1793079404412234510,5.299309449e-05,-3.165183380e-06,-8.672006766e-05,5.111630804e-05,-5.632539405e-06,-8.096029817e-05,5.520823839e-05,-5.384653637e-06,-8.015674470e-05,7.020085910e-01,-2.515023796e-05,8.600566658e-01,7.020067142e-01,-2.761759398e-05,8.600624256e-01,7.028014017e-01,-1.181987204e-04,8.302451065e-01
+10,1.373333333e+01,DOWN_FORCE_DETACH,1793079405918993585,6.542132076e-05,-5.535393074e-06,-1.012418920e-04,6.105220530e-05,-2.916145908e-06,-9.854993387e-05,6.558931784e-05,-2.982388420e-06,-9.751812495e-05,7.020210192e-01,-2.752044765e-05,8.600421440e-01,7.020166501e-01,-2.490120049e-05,8.600448360e-01,7.028117828e-01,-1.157964552e-04,8.302277451e-01
+11,1.500000000e+01,DOWN_FORCE_DETACH,1793079407164035920,7.357356503e-05,4.741221529e-06,-1.162093307e-04,6.925214707e-05,7.653787041e-06,-1.141840505e-04,7.428990986e-05,6.444134829e-06,-1.131581088e-04,7.020291714e-01,-1.724383305e-05,8.600271766e-01,7.020248500e-01,-1.433126754e-05,8.600292019e-01,7.028204834e-01,-1.063699319e-04,8.302121051e-01
+12,1.621666667e+01,DOWN_FORCE_DETACH,1793079408393274814,8.195051602e-05,-1.420425708e-06,-1.257813319e-04,7.970372487e-05,-1.179453194e-06,-1.283685298e-04,8.511976235e-05,-1.465825512e-06,-1.270672595e-04,7.020375484e-01,-2.340548029e-05,8.600176046e-01,7.020353016e-01,-2.316450777e-05,8.600150174e-01,7.028313133e-01,-1.142798923e-04,8.301981960e-01
+13,1.765000000e+01,DOWN_FORCE_DETACH,1793079409834064620,8.619800859e-05,1.739840792e-06,-1.424300603e-04,7.970372487e-05,-1.179453194e-06,-1.283685298e-04,8.567225030e-05,-1.488689655e-06,-1.277318807e-04,7.020417959e-01,-2.024521379e-05,8.600009559e-01,7.020353016e-01,-2.316450777e-05,8.600150174e-01,7.028318657e-01,-1.143027564e-04,8.301975314e-01
+14,1.910000000e+01,DOWN_FORCE_DETACH,1793079411292709575,9.660353102e-05,1.643695287e-06,-1.583360707e-04,8.703816596e-05,2.997712514e-06,-1.470526437e-04,9.335258552e-05,2.240071661e-06,-1.462263505e-04,7.020522014e-01,-2.034135929e-05,8.599850498e-01,7.020426360e-01,-1.898734207e-05,8.599963333e-01,7.028395461e-01,-1.105739951e-04,8.301790369e-01
+15,2.043333333e+01,DOWN_FORCE_DETACH,1793079412619413431,1.032623254e-04,-2.254300440e-06,-1.725069782e-04,9.751043079e-05,-5.503653009e-07,-1.638027933e-04,1.043086955e-04,-9.721975293e-07,-1.629228030e-04,7.020588602e-01,-2.423935502e-05,8.599708789e-01,7.020531083e-01,-2.253541988e-05,8.599795831e-01,7.028505022e-01,-1.137862643e-04,8.301623404e-01
+16,2.181666667e+01,DOWN_FORCE_DETACH,1793079413994452928,1.121246874e-04,-1.879262784e-06,-1.886293647e-04,1.039843737e-04,-8.958562092e-07,-1.830302653e-04,1.110240187e-04,-1.308204933e-06,-1.819206947e-04,7.020677226e-01,-2.386431736e-05,8.599547566e-01,7.020595822e-01,-2.288091079e-05,8.599603557e-01,7.028572175e-01,-1.141222717e-04,8.301433425e-01
+17,2.320000000e+01,DOWN_FORCE_DETACH,1793079415354439724,1.167371879e-04,-2.960388949e-06,-2.077831912e-04,1.142205942e-04,4.980249193e-08,-2.000219745e-04,1.217102729e-04,-4.495419854e-07,-1.988827928e-04,7.020723351e-01,-2.494544353e-05,8.599356027e-01,7.020698185e-01,-2.193525209e-05,8.599433639e-01,7.028679038e-01,-1.132636088e-04,8.301263804e-01
+18,2.448333333e+01,DOWN_FORCE_DETACH,1793079416615862926,1.234773853e-04,-5.206210212e-06,-2.220339158e-04,1.218590852e-04,-7.088983064e-06,-2.176875805e-04,1.297173631e-04,-6.860310912e-06,-2.163701956e-04,7.020790753e-01,-2.719126479e-05,8.599213520e-01,7.020774570e-01,-2.907403764e-05,8.599256983e-01,7.028759109e-01,-1.196743777e-04,8.301088930e-01
+19,2.578333333e+01,DOWN_FORCE_DETACH,1793079417910052913,1.351460868e-04,-3.509883024e-06,-2.395086748e-04,1.283554166e-04,-1.284622932e-06,-2.382274239e-04,1.366104188e-04,-1.694228468e-06,-2.367212388e-04,7.020907440e-01,-2.549493760e-05,8.599038772e-01,7.020839533e-01,-2.326967751e-05,8.599051585e-01,7.028828039e-01,-1.145082952e-04,8.300885420e-01
+20,2.698333333e+01,DOWN_FORCE_DETACH,1793079419145643805,1.413120759e-04,-1.061096901e-05,-2.585592683e-04,1.384372021e-04,-9.006481359e-06,-2.548605944e-04,1.470213487e-04,-8.628679612e-06,-2.532884394e-04,7.020969099e-01,-3.259602359e-05,8.598848266e-01,7.020940351e-01,-3.099153594e-05,8.598885253e-01,7.028932148e-01,-1.214427464e-04,8.300719748e-01
+21,2.830000000e+01,DOWN_FORCE_DETACH,1793079420497646110,1.494673277e-04,-4.201340651e-06,-2.796532448e-04,1.444770985e-04,-8.655015160e-06,-2.762970319e-04,1.534965403e-04,-8.346692884e-06,-2.746793229e-04,7.021050652e-01,-2.618639523e-05,8.598637327e-01,7.021000750e-01,-3.064006974e-05,8.598670889e-01,7.028996900e-01,-1.211607597e-04,8.300505839e-01
+22,2.963333333e+01,DOWN_FORCE_DETACH,1793079421858061364,1.568586655e-04,-1.128834897e-05,-3.027969885e-04,1.529256452e-04,-1.020498627e-05,-2.977184136e-04,1.623120719e-04,-9.704147239e-06,-2.961381405e-04,7.021124565e-01,-3.327340355e-05,8.598405889e-01,7.021085235e-01,-3.219004085e-05,8.598456675e-01,7.029085056e-01,-1.225182140e-04,8.300291251e-01
+23,3.106666667e+01,DOWN_FORCE_DETACH,1793079423265758223,1.662959704e-04,-1.446735782e-05,-3.304999287e-04,1.607760914e-04,-1.559391270e-05,-3.174724202e-04,1.706034650e-04,-1.458759683e-05,-3.160582622e-04,7.021218938e-01,-3.645241240e-05,8.598128860e-01,7.021163740e-01,-3.757896728e-05,8.598259135e-01,7.029167970e-01,-1.274016636e-04,8.300092050e-01
+24,3.251666667e+01,DOWN_FORCE_DETACH,1793079424700285328,1.768549779e-04,-1.014592792e-05,-3.585625543e-04,1.734109650e-04,-1.597662384e-05,-3.574788933e-04,1.835971191e-04,-1.500226318e-05,-3.554089621e-04,7.021324528e-01,-3.213098250e-05,8.597848234e-01,7.021290088e-01,-3.796167842e-05,8.597859070e-01,7.029297906e-01,-1.278163299e-04,8.299698543e-01
+25,3.386666667e+01,DOWN_FORCE_DETACH,1793079426067359069,1.884457537e-04,-1.729231555e-05,-3.929569858e-04,1.814377844e-04,-1.833074929e-05,-3.759184811e-04,1.921994301e-04,-1.713605203e-05,-3.743910274e-04,7.021440436e-01,-3.927737013e-05,8.597504289e-01,7.021370357e-01,-4.031580387e-05,8.597674674e-01,7.029383929e-01,-1.299501188e-04,8.299508722e-01
+26,3.513333333e+01,DOWN_FORCE_DETACH,1793079427361165624,2.000323041e-04,-2.201618393e-05,-4.254004008e-04,1.953794897e-04,-1.673150691e-05,-4.137681113e-04,2.066072129e-04,-1.574278178e-05,-4.118602809e-04,7.021556302e-01,-4.400123851e-05,8.597179855e-01,7.021509774e-01,-3.871656149e-05,8.597296178e-01,7.029528007e-01,-1.285568485e-04,8.299134030e-01
+27,3.653333333e+01,DOWN_FORCE_DETACH,1793079428753562585,2.129960545e-04,-2.552558113e-05,-4.653266313e-04,2.047473372e-04,-2.258213992e-05,-4.549917627e-04,2.163819767e-04,-2.103387521e-05,-4.529190584e-04,7.021685939e-01,-4.751063571e-05,8.596780593e-01,7.021603452e-01,-4.456719450e-05,8.596883942e-01,7.029625755e-01,-1.338479420e-04,8.298723442e-01
+28,3.760000000e+01,DOWN_FORCE_DETACH,1793079429818981373,2.212477776e-04,-9.555283849e-06,-5.077591750e-04,2.188781841e-04,-7.906468982e-06,-4.955847100e-04,2.307964956e-04,-7.924759914e-06,-4.929963583e-04,7.021768456e-01,-3.154033843e-05,8.596356267e-01,7.021744761e-01,-2.989152356e-05,8.596478012e-01,7.029769900e-01,-1.207388267e-04,8.298322669e-01
+29,3.883333333e+01,DOWN_FORCE_DETACH,1793079431047443399,2.340342107e-04,-1.642593572e-05,-5.542533613e-04,2.339157890e-04,-1.633478252e-05,-5.540130156e-04,2.461453508e-04,-1.547588983e-05,-5.503032467e-04,7.021896321e-01,-3.841099030e-05,8.595891326e-01,7.021895137e-01,-3.831983710e-05,8.595893729e-01,7.029923388e-01,-1.282899566e-04,8.297749600e-01
+30,4.010000000e+01,DOWN_FORCE_DETACH,1793079432307757056,2.458133464e-04,-1.528940344e-05,-5.965967397e-04,2.428435011e-04,-1.662541629e-05,-5.948829414e-04,2.556088222e-04,-1.580607735e-05,-5.914172661e-04,7.022014112e-01,-3.727445802e-05,8.595467892e-01,7.021984414e-01,-3.861047087e-05,8.595485030e-01,7.030018023e-01,-1.286201441e-04,8.297338460e-01
+31,4.145000000e+01,DOWN_FORCE_DETACH,1793079433634549637,2.586218759e-04,-2.117859033e-05,-6.471323872e-04,2.551560887e-04,-2.508295417e-05,-6.338764390e-04,2.683694412e-04,-2.342396769e-05,-6.308566506e-04,7.022142197e-01,-4.316364491e-05,8.594962535e-01,7.022107540e-01,-4.706800875e-05,8.595095095e-01,7.030145629e-01,-1.362380345e-04,8.296944066e-01
+32,4.290000000e+01,DOWN_FORCE_DETACH,1793079435059893718,2.714674009e-04,-2.475454794e-05,-7.107119972e-04,2.686605190e-04,-2.819825797e-05,-6.950621750e-04,2.821922108e-04,-2.625938745e-05,-6.917368004e-04,7.022270653e-01,-4.673960252e-05,8.594326739e-01,7.022242584e-01,-5.018331255e-05,8.594483237e-01,7.030283857e-01,-1.390734542e-04,8.296335264e-01
+33,4.410000000e+01,DOWN_FORCE_DETACH,1793079436274241602,2.834878085e-04,-2.651670173e-05,-7.696692593e-04,2.806858431e-04,-2.831694523e-05,-7.582854697e-04,2.943703369e-04,-2.642994835e-05,-7.543663806e-04,7.022390857e-01,-4.850175631e-05,8.593737167e-01,7.022362837e-01,-5.030199980e-05,8.593851004e-01,7.030405638e-01,-1.392440151e-04,8.295708969e-01
+34,4.536666667e+01,DOWN_FORCE_DETACH,1793079437516868313,2.976144865e-04,-2.952239065e-05,-8.378877215e-04,2.978098033e-04,-3.454320837e-05,-8.347191302e-04,3.116817751e-04,-3.206964177e-05,-8.299323092e-04,7.022532124e-01,-5.150744523e-05,8.593054982e-01,7.022534077e-01,-5.652826295e-05,8.593086668e-01,7.030578753e-01,-1.448837085e-04,8.294953309e-01
+35,4.660000000e+01,DOWN_FORCE_DETACH,1793079438746327595,3.110338139e-04,-3.341432876e-05,-9.039691185e-04,3.079424761e-04,-3.092809354e-05,-8.961071758e-04,3.220319976e-04,-2.891323838e-05,-8.914379544e-04,7.022666317e-01,-5.539938334e-05,8.592394168e-01,7.022635403e-01,-5.291314812e-05,8.592472787e-01,7.030682255e-01,-1.417273051e-04,8.294338253e-01
+36,4.796666667e+01,DOWN_FORCE_DETACH,1793079440088787312,3.324267866e-04,-3.129611960e-05,-9.916492199e-04,3.278572060e-04,-3.551532582e-05,-9.941212449e-04,3.421384175e-04,-3.315950376e-05,-9.884223247e-04,7.022880247e-01,-5.328117418e-05,8.591517367e-01,7.022834551e-01,-5.750038040e-05,8.591492647e-01,7.030883319e-01,-1.459735705e-04,8.293368409e-01
+37,4.916666667e+01,DOWN_FORCE_DETACH,1793079441268117424,3.433493448e-04,-3.830828593e-05,-1.072749464e-03,3.399960262e-04,-3.855095059e-05,-1.056629356e-03,3.546986467e-04,-3.595361335e-05,-1.051721694e-03,7.022989472e-01,-6.029334051e-05,8.590706365e-01,7.022955939e-01,-6.053600517e-05,8.590867566e-01,7.031008921e-01,-1.487676801e-04,8.292735415e-01
+38,5.048333333e+01,DOWN_FORCE_DETACH,1793079442595081509,3.579470676e-04,-3.529887949e-05,-1.167907214e-03,3.563909295e-04,-4.213560927e-05,-1.160159225e-03,3.711600748e-04,-3.924465695e-05,-1.154324387e-03,7.023135449e-01,-5.728393407e-05,8.589754787e-01,7.023119888e-01,-6.412066385e-05,8.589832267e-01,7.031173536e-01,-1.520587237e-04,8.291709389e-01
+39,5.181666667e+01,DOWN_FORCE_DETACH,1793079443921794312,3.719691460e-04,-4.287115432e-05,-1.283703675e-03,3.713171919e-04,-4.483247643e-05,-1.264237833e-03,3.861057733e-04,-4.170712094e-05,-1.258065574e-03,7.023275670e-01,-6.485620890e-05,8.588596822e-01,7.023269151e-01,-6.681753101e-05,8.588791481e-01,7.031322993e-01,-1.545211877e-04,8.290671977e-01
+40,5.315000000e+01,DOWN_FORCE_DETACH,1793079445232146014,3.905224811e-04,-4.311925103e-05,-1.402096269e-03,3.880890444e-04,-4.679863139e-05,-1.390798706e-03,4.026412367e-04,-4.352604225e-05,-1.383589784e-03,7.023461203e-01,-6.510430561e-05,8.587412896e-01,7.023436869e-01,-6.878368597e-05,8.587525872e-01,7.031488347e-01,-1.563401090e-04,8.289416735e-01
+41,5.441666667e+01,DOWN_FORCE_DETACH,1793079446526936988,4.083822727e-04,-4.840841082e-05,-1.530799995e-03,4.075100099e-04,-4.566164465e-05,-1.515490319e-03,4.221253804e-04,-4.258189708e-05,-1.507724545e-03,7.023639801e-01,-7.039346540e-05,8.586125859e-01,7.023631079e-01,-6.764669923e-05,8.586278956e-01,7.031683189e-01,-1.553959638e-04,8.288175387e-01
+42,5.573333333e+01,DOWN_FORCE_DETACH,1793079447837018089,4.283925352e-04,-5.053274831e-05,-1.671196729e-03,4.235037259e-04,-5.228820812e-05,-1.660734725e-03,4.378035878e-04,-4.867433312e-05,-1.652184498e-03,7.023839904e-01,-7.251780289e-05,8.584721892e-01,7.023791016e-01,-7.427326270e-05,8.584826512e-01,7.031839971e-01,-1.614883999e-04,8.286730787e-01
+43,5.688333333e+01,DOWN_FORCE_DETACH,1793079449040196115,4.467442655e-04,-5.349154079e-05,-1.814158291e-03,4.433834834e-04,-5.516333031e-05,-1.814363858e-03,4.573383227e-04,-5.125087817e-05,-1.804431383e-03,7.024023421e-01,-7.547659536e-05,8.583292276e-01,7.023989814e-01,-7.714838489e-05,8.583290221e-01,7.032035318e-01,-1.640649449e-04,8.285208319e-01
+44,5.810000000e+01,DOWN_FORCE_DETACH,1793079450293625896,4.631811328e-04,-5.616508157e-05,-1.974392076e-03,4.582826610e-04,-5.200561708e-05,-1.965224641e-03,4.719542276e-04,-4.849176009e-05,-1.955358174e-03,7.024187790e-01,-7.815013615e-05,8.581689938e-01,7.024138805e-01,-7.399067166e-05,8.581781613e-01,7.032181477e-01,-1.613058269e-04,8.283699051e-01
+45,5.933333333e+01,DOWN_FORCE_DETACH,1793079451505951846,4.808987769e-04,-5.928310553e-05,-2.140294908e-03,4.774577833e-04,-5.675307697e-05,-2.132344881e-03,4.905921157e-04,-5.287247134e-05,-2.121964705e-03,7.024364966e-01,-8.126816011e-05,8.580030910e-01,7.024330557e-01,-7.873813155e-05,8.580110410e-01,7.032367856e-01,-1.656865381e-04,8.282032985e-01
+46,6.038333333e+01,DOWN_FORCE_DETACH,1793079452570923185,4.913446774e-04,-5.949405679e-05,-2.291196943e-03,4.916559382e-04,-5.951785217e-05,-2.285537642e-03,5.039431797e-04,-5.544375443e-05,-2.274394840e-03,7.024469425e-01,-8.147911137e-05,8.578521890e-01,7.024472538e-01,-8.150290675e-05,8.578578483e-01,7.032501367e-01,-1.682578212e-04,8.280508684e-01
+47,6.148333333e+01,DOWN_FORCE_DETACH,1793079453669338369,5.061568260e-04,-4.980639414e-05,-2.467259873e-03,5.058920613e-04,-4.977714240e-05,-2.467194555e-03,5.170545034e-04,-4.676856515e-05,-2.454748116e-03,7.024617547e-01,-7.179144872e-05,8.576761260e-01,7.024614899e-01,-7.176219698e-05,8.576761914e-01,7.032632480e-01,-1.595826319e-04,8.278705151e-01
+48,6.246666667e+01,DOWN_FORCE_DETACH,1793079454667494246,5.241187437e-04,-4.775222135e-05,-2.632198097e-03,5.255187881e-04,-5.088509231e-05,-2.614378704e-03,5.359189986e-04,-4.773106585e-05,-2.602303777e-03,7.024797166e-01,-6.973727593e-05,8.575111878e-01,7.024811167e-01,-7.287014689e-05,8.575290072e-01,7.032821125e-01,-1.605451326e-04,8.277229595e-01
+49,6.350000000e+01,DOWN_FORCE_DETACH,1793079455716650827,5.407046137e-04,-5.037166293e-05,-2.823290694e-03,5.405670648e-04,-5.050231515e-05,-2.823059092e-03,5.498389002e-04,-4.730163242e-05,-2.809143450e-03,7.024963025e-01,-7.235671751e-05,8.573200952e-01,7.024961649e-01,-7.248736973e-05,8.573203268e-01,7.032960324e-01,-1.601156992e-04,8.275161198e-01
+50,6.443333333e+01,DOWN_FORCE_DETACH,1793079456895258013,5.550041333e-04,-4.962130898e-05,-3.057880249e-03,5.514056206e-04,-5.479786566e-05,-3.041614706e-03,5.591056752e-04,-5.125097128e-05,-3.026442407e-03,7.025106020e-01,-7.160636356e-05,8.570855057e-01,7.025070035e-01,-7.678292024e-05,8.571017712e-01,7.033052992e-01,-1.640650381e-04,8.272988208e-01
+51,6.543333333e+01,DOWN_FORCE_DETACH,1793079457897156057,5.800301767e-04,-5.377112882e-05,-3.280875351e-03,5.766259831e-04,-5.624234610e-05,-3.261915656e-03,5.833527542e-04,-5.276140964e-05,-3.246290503e-03,7.025356280e-01,-7.575618340e-05,8.568625106e-01,7.025322239e-01,-7.822740068e-05,8.568814703e-01,7.033295463e-01,-1.655754764e-04,8.270789727e-01
+52,6.631666667e+01,DOWN_FORCE_DETACH,1793079458800726958,5.921127739e-04,-5.115767603e-05,-3.501528574e-03,5.913604534e-04,-5.276125367e-05,-3.485872167e-03,5.968583030e-04,-4.964702475e-05,-3.469105958e-03,7.025477106e-01,-7.314273061e-05,8.566418573e-01,7.025469583e-01,-7.474630825e-05,8.566575137e-01,7.033430518e-01,-1.624610915e-04,8.268561573e-01
+53,6.726666667e+01,DOWN_FORCE_DETACH,1793079459761323583,6.053943370e-04,-5.599506778e-05,-3.732339078e-03,6.043750522e-04,-5.870194624e-05,-3.715269404e-03,6.084123629e-04,-5.511288751e-05,-3.698546547e-03,7.025609922e-01,-7.798012236e-05,8.564110468e-01,7.025599729e-01,-8.068700082e-05,8.564281165e-01,7.033546059e-01,-1.679269543e-04,8.266267167e-01
+54,6.806666667e+01,DOWN_FORCE_DETACH,1793079460580380329,6.205796715e-04,-6.414438620e-05,-3.952282441e-03,6.149728673e-04,-6.127656382e-05,-3.944802237e-03,6.172188994e-04,-5.756659385e-05,-3.926548046e-03,7.025761775e-01,-8.612944078e-05,8.561911035e-01,7.025705707e-01,-8.326161840e-05,8.561985837e-01,7.033634124e-01,-1.703806606e-04,8.263987152e-01
+55,6.881666667e+01,DOWN_FORCE_DETACH,1793079461334025928,6.284556157e-04,-5.786446587e-05,-4.181031065e-03,6.255423128e-04,-5.635519550e-05,-4.168249575e-03,6.260545711e-04,-5.320662807e-05,-4.148994735e-03,7.025840535e-01,-7.984952045e-05,8.559623549e-01,7.025811402e-01,-7.834025008e-05,8.559751363e-01,7.033722481e-01,-1.660206948e-04,8.261762685e-01
+56,6.963333333e+01,DOWN_FORCE_DETACH,1793079462136436902,6.354010362e-04,-6.612415006e-05,-4.445400107e-03,6.342503941e-04,-6.629522451e-05,-4.428764508e-03,6.324761371e-04,-6.203407592e-05,-4.408449901e-03,7.025909989e-01,-8.810920464e-05,8.556979858e-01,7.025898483e-01,-8.828027909e-05,8.557146214e-01,7.033786696e-01,-1.748481427e-04,8.259168133e-01
+57,7.036666667e+01,DOWN_FORCE_DETACH,1793079462857406357,6.512804442e-04,-5.636816984e-05,-4.691534086e-03,6.542729575e-04,-6.315570061e-05,-4.680544217e-03,6.506283121e-04,-5.929638629e-05,-4.659024811e-03,7.026068783e-01,-7.835322442e-05,8.554518518e-01,7.026098708e-01,-8.514075519e-05,8.554628417e-01,7.033968218e-01,-1.721104531e-04,8.256662384e-01
+58,7.108333333e+01,DOWN_FORCE_DETACH,1793079463562236647,6.656015525e-04,-6.469734183e-05,-4.949881846e-03,6.663491648e-04,-6.530237001e-05,-4.930171865e-03,6.606502810e-04,-6.129989209e-05,-4.908146145e-03,7.026211994e-01,-8.668239641e-05,8.551935041e-01,7.026219470e-01,-8.728742459e-05,8.552132141e-01,7.034068438e-01,-1.741139589e-04,8.254171171e-01
+59,7.208333333e+01,DOWN_PEAK_HOLD,1793079464561108454,6.292104142e-04,-6.377670686e-05,-5.156805460e-03,6.312965460e-04,-6.491878270e-05,-5.152213400e-03,6.223924419e-04,-6.100293996e-05,-5.134392763e-03,7.025848083e-01,-8.576176144e-05,8.549865805e-01,7.025868944e-01,-8.690383728e-05,8.549911725e-01,7.033685859e-01,-1.738170067e-04,8.251908705e-01

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_09/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.5394e-01,1.0903e+00,2.4523e+00,-1.1660e-01,6.2507e-02,2.8853e-03,1.7980e-04,-3.2783e-05,-9.5367e-06,2.0862e-06,1.1761e-05,-2.1420e-07,1.8301e-04,1.1946e-05
+1,1.3000e+00,DOWN_FORCE_DETACH,3.0229e-04,5.1480e-01,1.0726e+00,2.4407e+00,-1.1555e-01,7.4147e-02,1.6019e-03,1.6103e-01,-1.7655e-02,-1.1636e-02,1.0566e-03,1.1652e-02,-1.2837e-03,1.6242e-01,1.1770e-02
+2,2.7000e+00,DOWN_FORCE_DETACH,6.0686e-04,5.9114e-01,1.0633e+00,2.4343e+00,-1.1486e-01,7.9667e-02,1.0160e-03,2.3738e-01,-2.7013e-02,-1.8023e-02,1.7418e-03,1.7172e-02,-1.8695e-03,2.3959e-01,1.7361e-02
+3,4.2333e+00,DOWN_FORCE_DETACH,9.0829e-04,5.2875e-01,9.3516e-01,2.5140e+00,-1.0556e-01,7.5042e-02,7.6160e-04,1.7499e-01,-1.5513e-01,6.1635e-02,1.1041e-02,1.2547e-02,-2.1239e-03,2.4184e-01,1.6848e-02
+4,5.5833e+00,DOWN_FORCE_DETACH,1.2128e-03,5.9618e-01,9.3302e-01,2.4690e+00,-1.0541e-01,7.9960e-02,6.7537e-04,2.4242e-01,-1.5726e-01,1.6681e-02,1.1197e-02,1.7465e-02,-2.2102e-03,2.8945e-01,2.0864e-02
+5,6.8833e+00,DOWN_FORCE_DETACH,1.5168e-03,5.6837e-01,1.1076e+00,2.5253e+00,-1.1791e-01,7.7841e-02,7.8870e-04,2.1461e-01,1.7338e-02,7.2993e-02,-1.3096e-03,1.5346e-02,-2.0968e-03,2.2735e-01,1.5544e-02
+6,8.2500e+00,DOWN_FORCE_DETACH,1.8186e-03,5.6405e-01,1.0123e+00,2.5732e+00,-1.1091e-01,7.7444e-02,7.2710e-04,2.1029e-01,-7.8035e-02,1.2084e-01,5.6914e-03,1.4949e-02,-2.1584e-03,2.5478e-01,1.6141e-02
+7,9.4833e+00,DOWN_FORCE_DETACH,2.1210e-03,6.0923e-01,1.0103e+00,2.5028e+00,-1.1080e-01,8.0833e-02,7.1318e-04,2.5547e-01,-8.0018e-02,5.0462e-02,5.8020e-03,1.8338e-02,-2.1724e-03,2.7242e-01,1.9356e-02
+8,1.0800e+01,DOWN_FORCE_DETACH,2.4252e-03,5.7937e-01,1.0348e+00,2.5650e+00,-1.1246e-01,7.8566e-02,7.6011e-04,2.2561e-01,-5.5502e-02,1.1268e-01,4.1458e-03,1.6071e-02,-2.1254e-03,2.5822e-01,1.6733e-02
+9,1.2200e+01,DOWN_FORCE_DETACH,2.7269e-03,5.4819e-01,1.1476e+00,2.5783e+00,-1.2053e-01,7.6300e-02,8.9382e-04,1.9443e-01,5.7280e-02,1.2598e-01,-3.9230e-03,1.3805e-02,-1.9917e-03,2.3865e-01,1.4489e-02
+10,1.3733e+01,DOWN_FORCE_DETACH,3.0307e-03,5.2781e-01,1.0818e+00,2.6199e+00,-1.1569e-01,7.4718e-02,8.6452e-04,1.7405e-01,-8.4809e-03,1.6757e-01,9.1361e-04,1.2223e-02,-2.0210e-03,2.4175e-01,1.2422e-02
+11,1.5000e+01,DOWN_FORCE_DETACH,3.3347e-03,5.4204e-01,8.5151e-01,2.6098e+00,-9.8997e-02,7.5751e-02,7.7573e-04,1.8828e-01,-2.3877e-01,1.5751e-01,1.7607e-02,1.3256e-02,-2.1098e-03,3.4244e-01,2.2140e-02
+12,1.6217e+01,DOWN_FORCE_DETACH,3.6352e-03,4.7881e-01,1.0374e+00,2.6489e+00,-1.1234e-01,7.1382e-02,9.3097e-04,1.2505e-01,-5.2870e-02,1.9657e-01,4.2678e-03,8.8876e-03,-1.9546e-03,2.3890e-01,1.0051e-02
+13,1.7650e+01,DOWN_FORCE_DETACH,3.9388e-03,5.8078e-01,1.0328e+00,2.5325e+00,-1.1209e-01,7.8707e-02,9.6565e-04,2.2702e-01,-5.7441e-02,8.0139e-02,4.5166e-03,1.6212e-02,-1.9199e-03,2.4751e-01,1.6939e-02
+14,1.9100e+01,DOWN_FORCE_DETACH,4.2404e-03,5.7491e-01,9.3889e-01,2.5670e+00,-1.0519e-01,7.8242e-02,9.3556e-04,2.2115e-01,-1.5140e-01,1.1472e-01,1.1410e-02,1.5747e-02,-1.9500e-03,2.9153e-01,1.9544e-02
+15,2.0433e+01,DOWN_FORCE_DETACH,4.5463e-03,5.5276e-01,1.0116e+00,2.5807e+00,-1.1033e-01,7.6609e-02,1.0112e-03,1.9899e-01,-7.8681e-02,1.2834e-01,6.2718e-03,1.4114e-02,-1.8744e-03,2.4952e-01,1.5558e-02
+16,2.1817e+01,DOWN_FORCE_DETACH,4.8483e-03,5.5481e-01,1.0164e+00,2.6221e+00,-1.1057e-01,7.6707e-02,9.9250e-04,2.0105e-01,-7.3880e-02,1.6982e-01,6.0392e-03,1.4212e-02,-1.8930e-03,2.7335e-01,1.5557e-02
+17,2.3200e+01,DOWN_FORCE_DETACH,5.1507e-03,5.3077e-01,9.9128e-01,2.6232e+00,-1.0868e-01,7.4969e-02,9.8469e-04,1.7701e-01,-9.9005e-02,1.7084e-01,7.9245e-03,1.2474e-02,-1.9009e-03,2.6518e-01,1.4900e-02
+18,2.4483e+01,DOWN_FORCE_DETACH,5.4552e-03,5.3140e-01,1.1423e+00,2.6446e+00,-1.1948e-01,7.4954e-02,1.0782e-03,1.7764e-01,5.1995e-02,1.9228e-01,-2.8750e-03,1.2459e-02,-1.8074e-03,2.6689e-01,1.2913e-02
+19,2.5783e+01,DOWN_FORCE_DETACH,5.7588e-03,5.3625e-01,1.0149e+00,2.6711e+00,-1.1019e-01,7.5271e-02,1.0181e-03,1.8249e-01,-7.5413e-02,2.1882e-01,6.4143e-03,1.2776e-02,-1.8674e-03,2.9474e-01,1.4417e-02
+20,2.6983e+01,DOWN_FORCE_DETACH,6.0624e-03,5.0178e-01,1.1796e+00,2.6809e+00,-1.2195e-01,7.2819e-02,1.1195e-03,1.4802e-01,8.9294e-02,2.2863e-01,-5.3461e-03,1.0324e-02,-1.7661e-03,2.8662e-01,1.1760e-02
+21,2.8300e+01,DOWN_FORCE_DETACH,6.3664e-03,5.3160e-01,1.1697e+00,2.6860e+00,-1.2117e-01,7.4870e-02,1.1389e-03,1.7784e-01,7.9432e-02,2.3368e-01,-4.5645e-03,1.2375e-02,-1.7466e-03,3.0421e-01,1.3305e-02
+22,2.9633e+01,DOWN_FORCE_DETACH,6.6671e-03,5.2635e-01,1.1988e+00,2.6891e+00,-1.2319e-01,7.4484e-02,1.1489e-03,1.7259e-01,1.0851e-01,2.3679e-01,-6.5869e-03,1.1989e-02,-1.7366e-03,3.1246e-01,1.3789e-02
+23,3.1067e+01,DOWN_FORCE_DETACH,6.9699e-03,5.4345e-01,1.3117e+00,2.6531e+00,-1.3132e-01,7.5721e-02,1.1797e-03,1.8969e-01,2.2137e-01,2.0074e-01,-1.4713e-02,1.3226e-02,-1.7058e-03,3.5395e-01,1.9858e-02
+24,3.2517e+01,DOWN_FORCE_DETACH,7.2738e-03,5.0681e-01,1.3168e+00,2.7779e+00,-1.3152e-01,7.2912e-02,1.1129e-03,1.5304e-01,2.2653e-01,3.2558e-01,-1.4920e-02,1.0417e-02,-1.7727e-03,4.2514e-01,1.8283e-02
+25,3.3867e+01,DOWN_FORCE_DETACH,7.5772e-03,5.4096e-01,1.3619e+00,2.6720e+00,-1.3480e-01,7.5410e-02,1.0876e-03,1.8720e-01,2.7162e-01,2.1965e-01,-1.8196e-02,1.2915e-02,-1.7979e-03,3.9632e-01,2.2386e-02
+26,3.5133e+01,DOWN_FORCE_DETACH,7.8779e-03,5.0892e-01,1.3213e+00,2.7378e+00,-1.3179e-01,7.2954e-02,1.0120e-03,1.5516e-01,2.3103e-01,2.8547e-01,-1.5187e-02,1.0459e-02,-1.8736e-03,3.9867e-01,1.8535e-02
+27,3.6533e+01,DOWN_FORCE_DETACH,8.1811e-03,5.3601e-01,1.4448e+00,2.7743e+00,-1.4054e-01,7.4819e-02,9.8069e-04,1.8225e-01,3.5451e-01,3.2200e-01,-2.3938e-02,1.2325e-02,-1.9049e-03,5.1242e-01,2.6991e-02
+28,3.7600e+01,DOWN_FORCE_DETACH,8.4861e-03,4.8503e-01,1.1168e+00,2.8392e+00,-1.1673e-01,7.0915e-02,6.2809e-04,1.3127e-01,2.6548e-02,3.8692e-01,-1.2095e-04,8.4197e-03,-2.2575e-03,4.0944e-01,8.7179e-03
+29,3.8833e+01,DOWN_FORCE_DETACH,8.7868e-03,5.0793e-01,1.2074e+00,2.8455e+00,-1.2318e-01,7.2525e-02,7.0976e-04,1.5417e-01,1.1713e-01,3.9313e-01,-6.5715e-03,1.0031e-02,-2.1758e-03,4.3823e-01,1.2187e-02
+30,4.0100e+01,DOWN_FORCE_DETACH,9.0918e-03,5.0704e-01,1.2970e+00,3.0283e+00,-1.2901e-01,7.2426e-02,8.4408e-04,1.5327e-01,2.0670e-01,5.7596e-01,-1.2402e-02,9.9313e-03,-2.0415e-03,6.3083e-01,1.6019e-02
+31,4.1450e+01,DOWN_FORCE_DETACH,9.3924e-03,4.8997e-01,1.4710e+00,2.9522e+00,-1.4150e-01,7.0828e-02,1.0058e-03,1.3621e-01,3.8071e-01,4.9987e-01,-2.4896e-02,8.3326e-03,-1.8797e-03,6.4293e-01,2.6320e-02
+32,4.2900e+01,DOWN_FORCE_DETACH,9.6983e-03,5.0961e-01,1.5199e+00,3.0047e+00,-1.4455e-01,7.2184e-02,1.0451e-03,1.5585e-01,4.2960e-01,5.5235e-01,-2.7941e-02,9.6886e-03,-1.8404e-03,7.1689e-01,2.9630e-02
+33,4.4100e+01,DOWN_FORCE_DETACH,9.9992e-03,5.0021e-01,1.5246e+00,3.1186e+00,-1.4492e-01,7.1502e-02,1.0743e-03,1.4644e-01,4.3430e-01,6.6624e-01,-2.8320e-02,9.0073e-03,-1.8112e-03,8.0866e-01,2.9773e-02
+34,4.5367e+01,DOWN_FORCE_DETACH,1.0303e-02,4.5412e-01,1.6605e+00,3.2821e+00,-1.5379e-01,6.8090e-02,1.1221e-03,1.0036e-01,5.7021e-01,8.2982e-01,-3.7187e-02,5.5952e-03,-1.7635e-03,1.0118e+00,3.7647e-02
+35,4.6600e+01,DOWN_FORCE_DETACH,1.0604e-02,4.8447e-01,1.5377e+00,3.2539e+00,-1.4548e-01,7.0169e-02,1.1315e-03,1.3071e-01,4.4737e-01,8.0160e-01,-2.8877e-02,7.6743e-03,-1.7541e-03,9.2725e-01,2.9931e-02
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+38,5.0483e+01,DOWN_FORCE_DETACH,1.1514e-02,5.0106e-01,1.6888e+00,3.4145e+00,-1.5510e-01,7.0880e-02,1.0177e-03,1.4730e-01,5.9850e-01,9.6218e-01,-3.8498e-02,8.3856e-03,-1.8679e-03,1.1427e+00,3.9445e-02
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+40,5.3150e+01,DOWN_FORCE_DETACH,1.2122e-02,5.4090e-01,1.8141e+00,3.6700e+00,-1.6240e-01,7.3309e-02,8.1529e-04,1.8714e-01,7.2380e-01,1.2177e+00,-4.5795e-02,1.0814e-02,-2.0703e-03,1.4289e+00,4.7101e-02
+41,5.4417e+01,DOWN_FORCE_DETACH,1.2425e-02,5.2598e-01,1.8354e+00,3.7817e+00,-1.6307e-01,7.2050e-02,7.5871e-04,1.7222e-01,7.4516e-01,1.3293e+00,-4.6470e-02,9.5548e-03,-2.1268e-03,1.5337e+00,4.7490e-02
+42,5.5733e+01,DOWN_FORCE_DETACH,1.2729e-02,5.6327e-01,1.8846e+00,3.9352e+00,-1.6530e-01,7.4436e-02,7.1082e-04,2.0951e-01,7.9433e-01,1.4829e+00,-4.8699e-02,1.1941e-02,-2.1747e-03,1.6952e+00,5.0188e-02
+43,5.6883e+01,DOWN_FORCE_DETACH,1.3029e-02,5.9196e-01,1.9424e+00,4.0690e+00,-1.6837e-01,7.6121e-02,7.2459e-04,2.3820e-01,8.5211e-01,1.6167e+00,-5.1764e-02,1.3626e-02,-2.1610e-03,1.8430e+00,5.3571e-02
+44,5.8100e+01,DOWN_FORCE_DETACH,1.3335e-02,5.9005e-01,1.9378e+00,4.2357e+00,-1.6763e-01,7.5678e-02,7.4698e-04,2.3629e-01,8.4752e-01,1.7834e+00,-5.1022e-02,1.3183e-02,-2.1386e-03,1.9886e+00,5.2741e-02
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+46,6.0383e+01,DOWN_FORCE_DETACH,1.3940e-02,6.0602e-01,2.0112e+00,4.4320e+00,-1.7126e-01,7.6298e-02,6.8322e-04,2.5226e-01,9.2090e-01,1.9797e+00,-5.4653e-02,1.3803e-02,-2.2023e-03,2.1979e+00,5.6412e-02
+47,6.1483e+01,DOWN_FORCE_DETACH,1.4245e-02,5.8893e-01,1.9070e+00,4.5120e+00,-1.6379e-01,7.4970e-02,6.0996e-04,2.3516e-01,8.1672e-01,2.0597e+00,-4.7189e-02,1.2476e-02,-2.2756e-03,2.2282e+00,4.8863e-02
+48,6.2467e+01,DOWN_FORCE_DETACH,1.4548e-02,5.4639e-01,1.8260e+00,4.6430e+00,-1.5715e-01,7.1699e-02,5.6305e-04,1.9263e-01,7.3573e-01,2.1906e+00,-4.0549e-02,9.2044e-03,-2.3225e-03,2.3189e+00,4.1645e-02
+49,6.3500e+01,DOWN_FORCE_DETACH,1.4848e-02,5.1494e-01,1.8362e+00,4.8583e+00,-1.5699e-01,6.9039e-02,1.0679e-03,1.6118e-01,7.4595e-01,2.4060e+00,-4.0385e-02,6.5440e-03,-1.8177e-03,2.5241e+00,4.0952e-02
+50,6.4433e+01,DOWN_FORCE_DETACH,1.5151e-02,5.6891e-01,1.9171e+00,5.3436e+00,-1.6176e-01,7.2140e-02,1.1843e-03,2.1515e-01,8.2682e-01,2.8913e+00,-4.5156e-02,9.6448e-03,-1.7013e-03,3.0149e+00,4.6205e-02
+51,6.5433e+01,DOWN_FORCE_DETACH,1.5456e-02,4.9352e-01,1.8810e+00,5.3088e+00,-1.5846e-01,6.6566e-02,1.5914e-03,1.3976e-01,7.9068e-01,2.8565e+00,-4.1852e-02,4.0713e-03,-1.2941e-03,2.9672e+00,4.2069e-02
+52,6.6317e+01,DOWN_FORCE_DETACH,1.5757e-02,5.6356e-01,1.8273e+00,5.5291e+00,-1.5248e-01,7.0983e-02,1.5324e-03,2.0980e-01,7.3703e-01,3.0767e+00,-3.5879e-02,8.4877e-03,-1.3531e-03,3.1707e+00,3.6894e-02
+53,6.7267e+01,DOWN_FORCE_DETACH,1.6064e-02,6.0540e-01,1.9196e+00,5.5637e+00,-1.5785e-01,7.3390e-02,1.2137e-03,2.5164e-01,8.2933e-01,3.1113e+00,-4.1247e-02,1.0896e-02,-1.6718e-03,3.2298e+00,4.2694e-02
+54,6.8067e+01,DOWN_FORCE_DETACH,1.6360e-02,6.4506e-01,1.9908e+00,5.7977e+00,-1.6213e-01,7.5764e-02,1.0328e-03,2.9130e-01,9.0054e-01,3.3454e+00,-4.5527e-02,1.3270e-02,-1.8528e-03,3.4767e+00,4.7458e-02
+55,6.8817e+01,DOWN_FORCE_DETACH,1.6666e-02,6.3787e-01,1.8319e+00,5.9899e+00,-1.4979e-01,7.4782e-02,6.4935e-04,2.8411e-01,7.4166e-01,3.5375e+00,-3.3182e-02,1.2287e-02,-2.2362e-03,3.6256e+00,3.5455e-02
+56,6.9633e+01,DOWN_FORCE_DETACH,1.6971e-02,6.8438e-01,2.0838e+00,6.1883e+00,-1.6565e-01,7.7610e-02,5.8146e-04,3.3062e-01,9.9352e-01,3.7360e+00,-4.9041e-02,1.5115e-02,-2.3041e-03,3.8800e+00,5.1369e-02
+57,7.0367e+01,DOWN_FORCE_DETACH,1.7274e-02,6.1606e-01,2.0330e+00,6.3176e+00,-1.6145e-01,7.2716e-02,5.9597e-04,2.6230e-01,9.4273e-01,3.8653e+00,-4.4844e-02,1.0221e-02,-2.2896e-03,3.9872e+00,4.6051e-02
+58,7.1083e+01,DOWN_FORCE_DETACH,1.7581e-02,6.0049e-01,2.0764e+00,6.5251e+00,-1.6299e-01,7.1289e-02,7.4423e-04,2.4672e-01,9.8615e-01,4.0727e+00,-4.6389e-02,8.7939e-03,-2.1413e-03,4.1977e+00,4.7264e-02
+59,7.2083e+01,DOWN_PEAK_HOLD,1.7880e-02,9.5945e-01,2.0328e+00,5.8527e+00,-1.5916e-01,9.5818e-02,7.6351e-04,6.0569e-01,9.4250e-01,3.4004e+00,-4.2553e-02,3.3323e-02,-2.1220e-03,3.5802e+00,5.4089e-02

Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_09/up/camera_frames_60hz.tar

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