Upload Part2/Fixed/digit (part 60)

Part2/Fixed/digit/cylinder_0050_20/press_depth_09/down/franka_data.csv

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+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+14451,1792825656011332677,4335434000000,1792825656009898464,XJC_ZERO_HOLD_BEFORE_DOWN,9,0.07,0.07000132650136948,0.6759072051279181,-0.0047746781488683795,0.0997081415191318,0.9999999444516088,-2.8651030485937824e-05,-0.00031018146235540275,7.420392603309825e-05,0.6761,-0.0045,0.1,1.0,0.0,0.0,0.0,-0.005518403467976496,-0.0030730425403843187,0.007167335582717482,-0.00023351633412652117,0.00016164095929865896,4.4628109756643126e-05,1.0618311950889134,0.7754702884928708,0.07317279902596185,0.06704547786865413,-0.06514375040749516,0.002899210064243693,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,0.09373303380301443,1.3925143432061284,2.0079786909119117,-0.24114294504004968,-1.3136462215068885,0.8133625356200733,-1.0985171920661467,-0.007167335582717482,-3.1064958829780585,0.0,0.0,0,0,0.0,0.0
+14553,1792825656854207090,4336277000000,1792825656849898444,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6759052816664528,-0.004774078656262668,0.09970240619335488,0.9999999433070581,-2.864355108391507e-05,-0.000314148504434599,7.293153779604152e-05,0.6761,-0.0045,0.09998915940195906,1.0,0.0,0.0,0.0,-0.006729813173551369,-0.02026237890374516,0.01676150221174319,-0.00045425831945725137,0.00016819110459048714,-0.0008544852902798114,1.0606197853833386,0.75828095212951,0.08276696565498756,0.0668247358833234,-0.06513720026220333,0.0020000966642072385,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,0.15991032063181193,1.416515625497175,1.9083650468859121,-0.24678508544262137,-1.2339288669405877,0.8312201007720738,-1.0985171920661467,-0.01676150221174319,-3.006882238952059,-3.006882238952059,0.09884999999999894,0,0,-3.294999382649622e-05,-9.999999025923074e-05
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+15005,1792825660620195540,4340042999999,1792825660617898907,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6759225704913686,-0.004803202361873484,0.09933148971412002,0.9999999474821107,-1.3172148571557042e-05,-0.0002599430607861493,0.00016951324445631813,0.6761,-0.0045,0.09951059504430229,1.0,0.0,0.0,0.0,-0.11645136278934431,-0.09591589591354555,0.7663830788813761,-0.005680395219295614,0.007193765273431116,-0.00052964737295723,0.9508982357675456,0.6826274351197096,0.8323885423246206,0.061598598983485034,-0.058111626093362706,0.00232493458152982,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,0.48478589579499753,1.1521244913636095,0.8950123775557391,0.062037814651982666,-0.5502352225190111,0.6544409520955026,-1.0985171920661467,-0.7663830788813761,-1.9935295696218858,-1.9935295696218858,0.6637499999999623,0,0,-0.0002212499571427592,-9.999999025923074e-05
+15090,1792825661329149553,4340752000000,1792825661325888701,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6759324460917845,-0.004814187848545565,0.09920132782582146,0.999999949544807,-2.6549227581599985e-05,-0.00023669042822931674,0.00018874858363580643,0.6761,-0.0045,0.09934117952713978,1.0,0.0,0.0,0.0,-0.1460154390311078,-0.09517174742925516,1.0067379240880743,-0.005784864525140848,0.009367974407814922,-0.0005614645015075302,0.9213341595257821,0.683371583604,1.0727433875313186,0.0614941296776398,-0.0559374169589789,0.0022931174529795197,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,0.6243858201825413,1.0120221435323558,0.5765267605985039,0.09980664846717381,-0.30961495281275814,0.5622052874230711,-1.0985171920661467,-1.0067379240880743,-1.6750439526646508,-1.6750439526646508,0.7700999999999506,0,0,-0.00025669995023655377,-9.999999025923074e-05
+15135,1792825661704169190,4341127000000,1792825661701889458,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6759821110045664,-0.0047922881308313115,0.09915151747718239,0.9999999672536999,-0.00012446887091022412,-0.00017540140332198355,0.00010333107634297318,0.6761,-0.0045,0.0992414107964878,1.0,0.0,0.0,0.0,-0.16584727176767988,0.01146065746820546,1.0850026791742344,0.0026726592596580945,0.010664255982610948,0.00038112351426324237,0.90150232678921,0.7900039885014606,1.1510081426174787,0.06995165346243874,-0.05464113538418287,0.0032357054687502922,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,0.7786316919918904,1.2547821074914711,0.57765846389733,-0.09230295741070348,-0.26006380406509283,0.7535692737696972,-1.0985171920661467,-1.0850026791742344,-1.6761756559634766,-1.6761756559634766,0.8263499999999444,0,0,-0.0002754499465837653,-9.999999025923074e-05
+15200,1792825662245056007,4341667999999,1792825662237899024,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6759886418125449,-0.004803783991866438,0.09903469780071249,0.9999999679974501,-0.00011013117196057617,-0.00015605949938469026,0.00013771173121188775,0.6761,-0.0045,0.09908508887681408,1.0,0.0,0.0,0.0,-0.18829469652732067,0.005773646754348549,1.2909163845052103,0.0011972411981859693,0.013017691687181643,0.0002398524588507825,0.8790549020295693,0.7843169777876037,1.3569218479484546,0.06847623540096662,-0.05228769967961218,0.0030944344133378324,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,0.8478982929603788,1.2343297398067903,0.24482334566911623,0.0018218295788774703,-0.048397333637057734,0.7165761617929983,-1.0985171920661467,-1.2909163845052103,-1.343340537735263,-1.343340537735263,0.9074999999999355,0,0,-0.0003024999413140091,-9.999999025923074e-05
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+15438,1792825664229092252,4343652000000,1792825664225889177,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6760670071908086,-0.004818851137401651,0.09848826725205082,0.9999999838797295,-5.6368352194965886e-05,-2.5308294491036367e-05,0.00014094503979559834,0.6761,-0.0045,0.09838657221242783,1.0,0.0,0.0,0.0,-0.31968751725145383,0.08331738271521139,2.2561863530853574,0.006886424005914146,0.021808213132615425,0.0006818769116664005,0.7476620813054361,0.8618607137484665,2.3221918165286017,0.0741654182086948,-0.043497178234178396,0.0035364588661534503,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,1.3313803081112812,1.3465102409867375,-0.9559748539012678,0.02229275616525005,0.8217741539727008,0.7061291877587001,-1.0985171920661467,-2.2561863530853574,-0.14254233816487893,-0.14254233816487893,1.2051000000000545,0,0,-0.0004016999219883229,-9.999999025923074e-05
+15493,1792825664686976066,4344109999999,1792825664681890717,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6760881703969281,-0.004826848432778118,0.09834357208887749,0.9999999802147528,-7.860083994497883e-05,1.0808277936262759e-05,0.00015722101507008294,0.6761,-0.0045,0.09819736099918104,1.0,0.0,0.0,0.0,-0.35438710983618116,0.1013000955672857,2.5106978521400656,0.007783044845343257,0.02454889979116196,0.0005264754416924979,0.7129624887207088,0.8798434266005408,2.57670331558331,0.0750620390481239,-0.04075649157563186,0.0033810573961795477,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,1.4411195233705287,1.1388952788775484,-1.1887959884492851,0.10867491391408911,0.9939062830909655,0.601199546603264,-1.0985171920661467,-2.5106978521400656,0.0902787963831384,0.0902787963831384,1.2738000000000977,0,0,-0.0004245999175270506,-9.999999025923074e-05
+15548,1792825665144971030,4344568000000,1792825665141889159,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6761128423709503,-0.004826561786429216,0.09819382109918673,0.9999999743203087,-0.0001581263579061668,5.746349311843152e-05,0.00012040036565632079,0.6761,-0.0045,0.09799766158797751,1.0,0.0,0.0,0.0,-0.38476101787743067,0.12715999656386523,2.7595234466621346,0.01061986168544675,0.02567309641517853,0.0014029836103222177,0.6825885806794593,0.9057033275971204,2.825528910105379,0.0778988558882274,-0.03963229495161529,0.0042575655648092675,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,1.51176678335346,1.1009592613234662,-1.4987812174639454,0.18459783340571106,1.195944271372336,0.6289298453557538,-1.0985171920661467,-2.7595234466621346,0.4002640253977987,0.4002640253977987,1.342500000000141,0,0,-0.0004474999130657783,-9.999999025923074e-05
+15595,1792825665536945203,4344960000000,1792825665529898274,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.676132844860546,-0.00483276357436726,0.09805419575429022,0.9999999685193094,-0.0001676813272138443,9.027038758098634e-05,0.00013467915279458066,0.6761,-0.0045,0.09781840982280604,1.0,0.0,0.0,0.0,-0.4042816453236743,0.15367289717561727,2.9988108789312373,0.011679225677736577,0.027624965229916962,0.001249600098917367,0.6630679532332157,0.9322162282088724,3.0648163423744816,0.07895821988051722,-0.03768042613687686,0.004104182053404417,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,1.6015754595162741,1.1341406084615209,-1.7404747508489242,0.18565913681459095,1.375075026601154,0.6586947236640309,-1.0985171920661467,-2.9988108789312373,0.6419575587827775,0.6419575587827775,1.401300000000178,0,0,-0.00046709990924739673,-9.999999025923074e-05
+15644,1792825665944940729,4345368000000,1792825665937898118,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6761614843762863,-0.004836905275921511,0.09791086160334807,0.9999999717953073,-9.061604717798041e-05,0.0001344547792154651,0.00014684309043460215,0.6761,-0.0045,0.09762368166064583,1.0,0.0,0.0,0.0,-0.4359219842358155,0.18043301262674938,3.231684646632171,0.014563732356111025,0.030556285247524455,0.0011332479671702172,0.6314276143210744,0.9589763436600045,3.2976901100754152,0.08184272655889167,-0.03474910611926937,0.003987829921657267,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,1.7314089396090269,1.0683439253340754,-1.9854632109691897,0.20015733879507897,1.5664243991237594,0.6022342562922315,-1.0985171920661467,-3.231684646632171,0.8869460189030429,0.8869460189030429,1.4625000000002166,0,0,-0.00048749990527316287,-9.999999025923074e-05
+15691,1792825666337008970,4345760000000,1792825666333889058,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6761828546514267,-0.004847791457247122,0.09775906783461234,0.9999999616923388,-0.00011024871243635192,0.00016942348306226562,0.0001649214659729263,0.6761,-0.0045,0.09743065787042675,1.0,0.0,0.0,0.0,-0.48345968436851927,0.18890136692393966,3.4895228329672414,0.0155087837489703,0.032508167273554316,0.001583002336179694,0.5838899141883707,0.9674446979571948,3.5555282964104857,0.08278777795175095,-0.032797224093239506,0.004437584290666744,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,1.8215050605046945,0.9298107330245886,-2.316841262338814,0.26130616184662236,1.8003531411474847,0.5305886260505063,-1.0985171920661467,-3.4895228329672414,1.2183240702726672,1.2183240702726672,1.5213000000002537,0,0,-0.0004896586251232085,9.999999025923074e-05
+15734,1792825666694960115,4346118000000,1792825666693888575,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.676198216752677,-0.004846782046155927,0.09761480505025111,0.9999999537498437,-0.00015649570791232317,0.0001966683651094229,0.0001441312672340012,0.6761,-0.0045,0.09725844308301129,1.0,0.0,0.0,0.0,-0.49346227397024367,0.21827744669603555,3.7241831821647566,0.017493660365430944,0.03342737124484511,0.0018412460802551948,0.5738873245866463,0.9968207777292907,3.790188645608001,0.08477265456821159,-0.031878020121948715,0.004695828034742245,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,1.9332543083492808,0.9319419225138541,-2.576038591640753,0.2912869070376562,2.0006031076044413,0.531812775296854,-1.0985171920661467,-3.7241831821647566,1.4775213995746062,1.4775213995746062,1.5750000000002875,0,0,-0.00047208923298761176,9.999999025923074e-05
+15784,1792825667112003556,4346535000000,1792825667109888550,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6762181957858029,-0.004853197057508949,0.09746083034140073,0.9999999419684473,-0.0001783919194867389,0.00023300357459225452,0.00014625875557071214,0.6761,-0.0045,0.09706591867200652,1.0,0.0,0.0,0.0,-0.5229469806791612,0.23832254253202756,3.9742467023868278,0.018414554267958683,0.035380827491600875,0.0016819687364718595,0.5444026178777287,1.0168658735652827,4.040252165830072,0.08569354847073933,-0.02992456387519295,0.004536550690958909,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.0063258283115033,0.9965451916209676,-2.8257043497842265,0.2775650886912814,2.1818140786909765,0.5777255708981356,-1.0985171920661467,-3.9742467023868278,1.7271871577180797,1.7271871577180797,1.637550000000327,0,0,-0.00045123923704951254,9.999999025923074e-05
+15835,1792825667536992051,4346960000000,1792825667533888440,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6762395638253422,-0.004851543950135738,0.09731349131410431,0.9999999442050541,-9.681814245830005e-05,0.0002650023132669465,0.00015307767440563182,0.6761,-0.0045,0.0968786469953787,1.0,0.0,0.0,0.0,-0.5443757115163677,0.27040980109933554,4.196484932557749,0.02036112872798497,0.03731994715786845,0.0015543086699196591,0.5229738870405223,1.0489531321325907,4.262490396000993,0.08764012293076562,-0.02798544420892538,0.004408890624406709,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.1015342496207277,1.1104017863871376,-3.0617125089675787,0.24786885847760876,2.3608338172483077,0.6488096417650883,-1.0985171920661467,-4.196484932557749,1.963195316901432,1.963195316901432,1.701300000000367,0,0,-0.0004299892411893395,9.999999025923074e-05
+15892,1792825668011982400,4347435000000,1792825668009888152,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6762623225701802,-0.00484514457490491,0.097159406150072,0.9999999292688901,-0.00014194905051522847,0.00030620843686340155,0.00013781124525274582,0.6761,-0.0045,0.09668003085471256,1.0,0.0,0.0,0.0,-0.5378039709377173,0.3282057126214607,4.42065159544024,0.024395728336063058,0.03718705261471261,0.002428737704242238,0.5295456276191727,1.1067490436547158,4.486657058883484,0.0916747225388437,-0.02811833875208121,0.005283319658729288,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.1872424650419857,1.031825969051799,-3.2181791645700146,0.3018245121659648,2.4860652315052434,0.6058784833836545,-1.0985171920661467,-4.42065159544024,2.119661972503868,2.119661972503868,1.772550000000412,0,0,-0.0004062392458162049,9.999999025923074e-05
+15941,1792825668419926004,4347843000000,1792825668413888819,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6762762267651067,-0.004850010972406664,0.09702167313620683,0.9999999190062272,-0.00015053956459268986,0.0003284150902306351,0.00015136634748795275,0.6761,-0.0045,0.09651843664160682,1.0,0.0,0.0,0.0,-0.5575426475187524,0.34083302797116366,4.630447078580437,0.02534945198776911,0.038153985299268986,0.00230146942887044,0.5098069510381376,1.1193763590044188,4.696452542023681,0.09262844619054976,-0.027151406067524832,0.00515605138335749,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.267065609152699,1.1404057381999797,-3.4440498567434346,0.2763479863885252,2.651256726158582,0.6795708771204185,-1.0985171920661467,-4.630447078580437,2.345532664677288,2.345532664677288,1.8337500000004505,0,0,-0.00038583924979043873,9.999999025923074e-05
+15994,1792825668861957810,4348285000000,1792825668857889489,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6762950601815484,-0.004850248676332851,0.09689773503391406,0.9999999068288934,-0.00013719815202733023,0.0003626666612264384,0.0001656340205237088,0.6761,-0.0045,0.0963527687422458,1.0,0.0,0.0,0.0,-0.5898469557235924,0.36195065874464405,4.796434206672144,0.027294257938304256,0.040088337936359304,0.0022171739942201435,0.47750264283329763,1.1404939897778992,4.862439670115388,0.0945732521410849,-0.025217053430434518,0.005071755948707193,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.294278912226493,1.1378237583441482,-3.5931122308890147,0.28902763646182245,2.7514781135274506,0.6811860626342808,-1.0985171920661467,-4.796434206672144,2.494595038822868,2.494595038822868,1.9000500000004923,0,0,-0.00036373925409585874,9.999999025923074e-05
+16049,1792825669319899993,4348743000000,1792825669317889160,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6763111569385427,-0.004843110309517068,0.09676218413960548,0.9999998943170195,-0.00017533763959527636,0.00039235224567864475,0.0001346300173011143,0.6761,-0.0045,0.09619140881284603,1.0,0.0,0.0,0.0,-0.5886837120956243,0.4049374674983147,4.984639458537923,0.02928744527177561,0.04102022096083867,0.0021060133944306417,0.4786658864612657,1.1834807985315698,5.050644921981167,0.09656643947455626,-0.024285170405955157,0.0049605953489176915,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.359839105294582,1.0282829993105493,-3.751935973710994,0.33721015574599533,2.869877867362396,0.6134976919242465,-1.0985171920661467,-4.984639458537923,2.6534187816448473,2.6534187816448473,1.9687500000005356,0,0,-0.00034083925855713106,9.999999025923074e-05
+16108,1792825669811922559,4349234999999,1792825669809888593,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6763269806882303,-0.004855743242846485,0.09662612458939707,0.9999998828445822,-0.00016602498433671768,0.0004163083811629752,0.00015772356362821034,0.6761,-0.0045,0.09602975519645458,1.0,0.0,0.0,0.0,-0.618138255149552,0.4093924177153979,5.175403446513706,0.030216512766810116,0.04298728504424161,0.0019912830547190214,0.44921134340733787,1.187935748748653,5.2414089099569505,0.09749550696959076,-0.022318106322552208,0.004845865009206071,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.499169964014478,1.0877054542012448,-4.056523003482367,0.329397228930341,3.100000116480361,0.6590290142850532,-1.0985171920661467,-5.175403446513706,2.95800581141622,2.95800581141622,2.042550000000582,0,0,-0.00031623926334958954,9.999999025923074e-05
+16167,1792825670303881495,4349727000000,1792825670301888896,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6763417603112423,-0.004854125150685817,0.09650145832805249,0.9999998850222815,-5.356177980667533e-05,0.00043506742323485057,0.00017101392029084448,0.6761,-0.0045,0.09588020477770524,1.0,0.0,0.0,0.0,-0.6378618442776123,0.41358833863092126,5.345563519333046,0.031176974252690753,0.04394532418221714,0.001878616204367097,0.4294877542792777,1.1921316696641764,5.4115689827762905,0.0984559684554714,-0.021360067184576687,0.004733198158854147,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.524086194753501,1.0613441321203012,-4.14777759984729,0.3244731832070611,3.16495921226079,0.6144728534270427,-1.0985171920661467,-5.345563519333046,3.049260407781143,3.049260407781143,2.1163500000006286,0,0,-0.000291639268142048,9.999999025923074e-05
+16232,1792825670844868378,4350268000000,1792825670837888783,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6763531897306623,-0.004854268054768389,0.09637104231617473,0.9999998744937798,-0.00010128923971430965,0.00045576204663896604,0.000156450426530078,0.6761,-0.0045,0.09572973143221229,1.0,0.0,0.0,0.0,-0.6480130436182154,0.43871778830472474,5.516309870902272,0.03175749928298177,0.044895631175699696,0.0027032985761448612,0.41933655493867455,1.2172611193379799,5.582315334345516,0.09903649348576242,-0.020409760191094126,0.005557880530631911,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.6026215135918767,1.0385872814486967,-4.487703589931659,0.37196789894600385,3.3993713656871907,0.6238434558181021,-1.0985171920661467,-5.516309870902272,3.389186397865512,3.389186397865512,2.1975000000006797,0,0,-0.0002645892734118042,9.999999025923074e-05
+16306,1792825671461882765,4350885000000,1792825671457889732,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.676360669037437,-0.0048545424377195315,0.09623842937908696,0.9999998642955839,-0.00013821594792149267,0.0004717337195848575,0.00014565482491872553,0.6761,-0.0045,0.0955759816486601,1.0,0.0,0.0,0.0,-0.657795662171774,0.44904418095999044,5.687425106971856,0.03230141276684537,0.04587504313120695,0.0017781604422584378,0.409553936385116,1.2275875119932456,5.753430570415101,0.09958040696962601,-0.01943034823558687,0.004632742396745488,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.599363715183416,1.0894667992055032,-4.592639416224809,0.3468437859713726,3.4645006604229156,0.6615825627971189,-1.0985171920661467,-5.687425106971856,3.4941222241586627,3.4941222241586627,2.290050000000738,0,0,-0.00023373927942185879,9.999999025923074e-05
+16381,1792825672086786049,4351510000000,1792825672085888882,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.676378391936454,-0.004856494744336954,0.09612900220657296,0.9999998497419365,-0.00013481155471717802,0.0004968484512424978,0.0001640927478443862,0.6761,-0.0045,0.0954396445971159,1.0,0.0,0.0,0.0,-0.6868638402228615,0.44573210313114264,5.8187018003489515,0.03303958679403628,0.046838852460807434,0.002587898217168741,0.3804857583340284,1.2242754341643978,5.884707263792196,0.10031858099681693,-0.018466538905986384,0.005442480171655791,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.6538704796218755,1.0093303392518111,-4.788754021188865,0.376822651951016,3.598042920079735,0.6112184516892762,-1.0985171920661467,-5.8187018003489515,3.690236829122718,3.690236829122718,2.383800000000797,0,0,-0.00020248928550983957,9.999999025923074e-05
+16460,1792825672744768141,4352167999999,1792825672737888902,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6763954585695862,-0.004861217228758432,0.09603275588133013,0.9999998363794466,-0.00014500469195336422,0.0005193060090296709,0.00016726880328015324,0.6761,-0.0045,0.09531721429513852,1.0,0.0,0.0,0.0,-0.7068719222598121,0.4622174056450322,5.919576973470823,0.03398733208500972,0.048824077942099475,0.002546919630026159,0.36047767629707783,1.2407607366782873,5.9855824369140676,0.10126632628779036,-0.01648131342469435,0.005401501584513209,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.760022569208423,1.0905186939372857,-4.95700860382827,0.35762855264197063,3.7290752231905313,0.6597577998114632,-1.0985171920661467,-5.919576973470823,3.8584914117621234,3.8584914117621234,2.4825000000008592,0,0,-0.00016958929191926574,9.999999025923074e-05
+16542,1792825673428780948,4352852000000,1792825673421888424,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6764063423438507,-0.004861362158769241,0.09594489181830261,0.9999998244332085,-0.00017246260883546318,0.0005381472719286223,0.00015241580929200655,0.6761,-0.0045,0.09521289451718377,1.0,0.0,0.0,0.0,-0.7073431299760933,0.4771543676208413,6.010289296167344,0.03499177417105269,0.04878469665072789,0.002485113778341501,0.3600064685807967,1.2556976986540964,6.0762947596105885,0.10227076837383334,-0.016520694716065935,0.005339695732828551,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.764688856579533,1.0636021498830661,-4.961902415479228,0.37958133218444273,3.7276655715796605,0.6502481643061675,-1.0985171920661467,-6.010289296167344,3.8633852234130814,3.8633852234130814,2.585100000000924,0,0,-0.00013538929858195192,9.999999025923074e-05
+16631,1792825674169721574,4353593000000,1792825674165889079,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6764071129561557,-0.004861669875988206,0.09586161809707751,0.9999998241004109,-0.000164669967581182,0.0005398151240251076,0.00015724326793890235,0.6761,-0.0045,0.0951262795442567,1.0,0.0,0.0,0.0,-0.7158611001773021,0.4684896510912079,6.091440550920508,0.03395581929952256,0.04878661849863731,0.0024077019565302625,0.35148849837958784,1.247032982124463,6.157446014363752,0.1012348135023032,-0.016518772868156513,0.005262283911017312,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.8270077729653926,0.9223564749366445,-5.104381987410472,0.418933807006277,3.8345231964079396,0.5594185983035281,-1.0985171920661467,-6.091440550920508,4.0058647953443245,4.0058647953443245,2.696250000000994,0,0,-9.833930579986194e-05,9.999999025923074e-05
+16727,1792825674969771334,4354393000000,1792825674965889057,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6764080811654638,-0.004861943478805034,0.09579942957359165,0.9999998239137247,-0.000163429241424109,0.0005406657905188843,0.0001568016898270898,0.6761,-0.0045,0.09506358809649587,1.0,0.0,0.0,0.0,-0.7070715229822508,0.4697848410941402,6.130307952527059,0.03394841764816793,0.04877802761945104,0.0023766727530384816,0.3602780755746391,1.2483281721273953,6.1963134159703035,0.10122741185094858,-0.01652736374734278,0.0052312547075255315,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.756945838843816,0.8856821067847083,-5.097059412085544,0.43726453216504824,3.8097862585934243,0.5356121635743138,-1.0985171920661467,-6.130307952527059,3.9985422200193974,3.9985422200193974,2.8162500000010695,0,0,-5.833931359247734e-05,9.999999025923074e-05
+16806,1792825675628753196,4355051999999,1792825675625889379,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6764089706468289,-0.004859499135483859,0.09577234552366147,0.9999998249027356,-0.00015924614559830697,0.0005406172376892383,0.00015495492852937368,0.6761,-0.0045,0.0950359830367201,1.0,0.0,0.0,0.0,-0.7070330494114552,0.4601755045306356,6.1402941238612305,0.033808691788749234,0.048777589445399144,0.0023680263235631477,0.3603165491454347,1.2387188355638907,6.206299587304475,0.10108768599152988,-0.016527801921394678,0.0052226082780501976,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.7190408182135393,1.0418032741317707,-5.06801135750084,0.3976199249910763,3.7827915508560834,0.6394166985790914,-1.0985171920661467,-6.1402941238612305,3.969494165434693,3.969494165434693,2.915100000001132,0,0,-2.5389320011644283e-05,9.999999025923074e-05
+16912,1792825676511726593,4355935000000,1792825676505888656,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6764086923606732,-0.0048662370761361744,0.09575539850535,0.9999998261383944,-0.00015892958612261977,0.0005383653023592051,0.0001551458445575197,0.6761,-0.0045,0.09502864114969839,1.0,0.0,0.0,0.0,-0.6890106661093973,0.45595632637100747,6.109927819687569,0.03295696303223322,0.04778909716535059,0.0023674316440733486,0.3783389324474926,1.2344996574042626,6.175933283130814,0.10023595723501387,-0.017516294201443232,0.0052220135985603985,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.75496378728634,0.9807261163551335,-5.061701096554533,0.4101811725895052,3.795160131170735,0.5978838020129499,-1.0985171920661467,-6.109927819687569,3.963183904488386,3.963183904488386,3.0475500000012152,0,0,-5.593823879102011e-07,5.650327150608092e-06
+17016,1792825677378663035,4356801999999,1792825677377888766,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.676407162931081,-0.0048642691024187905,0.09574908640788177,0.9999998281559237,-0.00015617577818692927,0.0005355574076686713,0.00015465567188116566,0.6761,-0.0045,0.09502853072362039,1.0,0.0,0.0,0.0,-0.6876465790939984,0.4636236131766617,6.0733746462772205,0.032966599096839536,0.047796260006827865,0.0023996733132678866,0.37970301946289153,1.2421669442099168,6.139380109720465,0.10024559329962018,-0.01750913135996596,0.0052542552677549365,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.663821802615655,1.0059756922638154,-4.988866672590396,0.4055838232879642,3.7255902908384133,0.6171609663037991,-1.0985171920661467,-6.0733746462772205,3.890349480524249,3.890349480524249,3.177600000001297,0,0,-7.248124600511829e-09,7.321337980314979e-08
+17114,1792825678194673261,4357618000000,1792825678193888543,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6764027409661767,-0.004863154332624759,0.09574087532661542,0.9999998312163177,-0.00015373075406059484,0.0005307076851198382,0.0001540337903643414,0.6761,-0.0045,0.09502852929835574,1.0,0.0,0.0,0.0,-0.6874437284692492,0.4478298071661969,6.040202036911828,0.03298742912261568,0.04719094079980371,0.0024155360258358654,0.3799058700876408,1.226373138199452,6.106207500355072,0.10026642332539633,-0.018114450566990115,0.005270117980322915,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.6645100723735307,0.9934244955765259,-4.9178918429359895,0.41280918779118514,3.681295401315226,0.6117662301821074,-1.0985171920661467,-6.040202036911828,3.8193746508698427,3.8193746508698427,3.3000000000013743,0,0,-1.2121928461006348e-10,1.2244372182834695e-09
+17207,1792825678969657965,4358393000000,1792825678961898251,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6764035535767084,-0.0048625681156756586,0.09573956751131431,0.9999998319110441,-0.00015506406008379813,0.0005288192827938963,0.00015468048122344388,0.6761,-0.0045,0.09502852927459288,1.0,0.0,0.0,0.0,-0.6801961165872317,0.4410478542829045,6.01933979429114,0.03217662595503787,0.04681247893631785,0.0024156226393152055,0.3871534819696583,1.2195911853161596,6.085345257734384,0.09945562015781852,-0.018492912430475978,0.005270204593802255,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.696622196212643,1.0658040291505326,-5.050115632191074,0.3769051716772265,3.7791008938878576,0.652372524251425,-1.0985171920661467,-6.01933979429114,3.951598440124927,3.951598440124927,3.4162500000014475,0,0,-2.692845946228317e-12,2.7200464103316335e-11
+17313,1792825679853524583,4359277000000,1792825679845888979,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6764021717397117,-0.004863217753947029,0.09573631117830979,0.999999832319813,-0.0001556326816880038,0.0005278537825624716,0.00015476453944119706,0.6761,-0.0045,0.09502852927331507,1.0,0.0,0.0,0.0,-0.6702680716207529,0.4491803180703421,5.9892353016199,0.03198805700736895,0.04682021914547,0.002440636010752622,0.3970815269361371,1.2277236491035972,6.055240765063144,0.0992670512101496,-0.01848517222132382,0.005295217965239672,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.685164904056015,0.9375632637710622,-5.022174587055732,0.42780034428769903,3.756055637463267,0.5770866828976764,-1.0985171920661467,-5.9892353016199,3.923657394989585,3.923657394989585,3.548850000001531,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+17421,1792825680753543463,4360176999999,1792825680749888537,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6763987939531221,-0.004864644808412956,0.09572913668847036,0.9999998361257016,-0.00015283594358206462,0.0005216657880613313,0.00015393964401630032,0.6761,-0.0045,0.09502852927207855,1.0,0.0,0.0,0.0,-0.6767375606421543,0.42971085451060953,5.969163441337092,0.032016604373310095,0.04581327512328941,0.0024403424865071716,0.39061203791473564,1.2082541855438647,6.0351689047803365,0.09929559857609074,-0.01949211624350442,0.0052949244409942215,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.677197108454128,0.964608479989574,-4.870333883218904,0.4148937693572726,3.6608611592956244,0.5891389847060988,-1.0985171920661467,-5.969163441337092,3.771816691152757,3.771816691152757,3.683850000001616,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+17519,1792825681569573133,4360993000000,1792825681565898471,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.676399106295641,-0.004862719269809802,0.09572954765892408,0.9999998358959391,-0.00015164365861263993,0.0005223747832178091,0.00015420682816358054,0.6761,-0.0045,0.095026172222494,1.0,0.0,0.0,0.0,-0.6766143547846462,0.43767323538137337,5.949127312542366,0.03202157038205901,0.04581648317936368,0.002456521815931195,0.3907352437722437,1.2162165664146285,6.01513277598561,0.09930056458483966,-0.019488908187430144,0.005311103770418245,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.685829064970242,0.9154510072962564,-4.915497689879525,0.4223255669703877,3.694479165954608,0.5539513427099934,-1.0985171920661467,-5.949127312542366,3.8169804978133786,3.8169804978133786,3.8062500000016932,0,0,-1.0459530093405495e-05,7.500000206850927e-05
+17612,1792825682344518438,4361768000000,1792825682341889216,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6764009102906448,-0.004861920294426442,0.09572255034008828,0.9999998336316644,-0.00015418824761177004,0.0005255879468222543,0.00015544388713844377,0.6761,-0.0045,0.09500765385402159,1.0,0.0,0.0,0.0,-0.6673494097601965,0.4299365286234119,5.9488833052999714,0.03140610395980424,0.04582821029528012,0.002451322907339941,0.4000001887966934,1.208479859656667,6.014888768743216,0.09868509816258489,-0.0194771810715137,0.005305904861826991,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.6657687161092385,0.952072151553283,-4.872679343809433,0.4183435404953255,3.6483124212023466,0.5815886250049151,-1.0985171920661467,-5.9488833052999714,3.7741621517432864,3.7741621517432864,3.9225000000017665,0,0,-4.075970353875492e-05,-9.999999025923074e-05
+17718,1792825683228506531,4362652000000,1792825683225898559,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6764014345335184,-0.004864758598955287,0.0956835092509024,0.9999998318350125,-0.00015517557248241598,0.0005280506586592163,0.00015765739624463935,0.6761,-0.0045,0.09495369406999588,1.0,0.0,0.0,0.0,-0.6769035808268125,0.43636691728969457,5.988707904125354,0.030968237402522733,0.04683920348068509,0.002427517876920962,0.39044601773007753,1.2149102483229497,6.054713367568598,0.09824723160530338,-0.01846618788610873,0.005282099831408012,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.774030819406895,0.9905891024400448,-5.034348222201919,0.41889181435162226,3.7700179706650636,0.6080815883556364,-1.0985171920661467,-5.988707904125354,3.935831030135772,3.935831030135772,4.055100000001687,0,0,-8.226128786067844e-05,-9.999999025923074e-05
+17804,1792825683944514736,4363368000000,1792825683941898208,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.676409025070278,-0.004866109202950462,0.09563609264280676,0.9999998261182006,-0.00015240229186863828,0.0005383612302318848,0.00016170083508808823,0.6761,-0.0045,0.0948843113727049,1.0,0.0,0.0,0.0,-0.6868887217985553,0.42453738139780917,6.067930363665672,0.031970561166338465,0.04680538490080505,0.002375028126411004,0.3804608767583346,1.2030807124310643,6.133935827108917,0.09924955536911911,-0.018500006465988778,0.005229610080898054,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.7783842263500027,0.9620676653908636,-5.137011931810394,0.43722584795205327,3.823900002621736,0.5948512826501077,-1.0985171920661467,-6.067930363665672,4.038494739744248,4.038494739744248,4.162500000001437,0,0,-0.00011175603614329977,-9.999999025923074e-05
+17893,1792825684686470365,4364109999999,1792825684681889220,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6764175737850676,-0.004870645231650802,0.09555005992421803,0.9999998153282438,-0.0001437306393733402,0.000557052530620019,0.00017268562209804488,0.6761,-0.0045,0.09479855415523736,1.0,0.0,0.0,0.0,-0.7197192477259786,0.43223422718965343,6.179607029463528,0.031892891428595596,0.048806907570761615,0.0023076344936994292,0.3476303508309113,1.2107775582229086,6.245612492906773,0.09917188563137624,-0.016498483796032203,0.005162216448186479,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.8418294860376396,0.9034862098983472,-5.2271773994113095,0.4499017381703985,3.889722451699791,0.5581820571515854,-1.0985171920661467,-6.179607029463528,4.128660207345163,4.128660207345163,4.273800000001177,0,0,-0.00011580254868501084,-9.078758164549611e-05
+17992,1792825685511443204,4364935000000,1792825685505897959,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6764188974110259,-0.004873453261121204,0.09546556365146432,0.9999998157036826,-0.00013626337979945007,0.0005560731097818043,0.0001795841114880882,0.6761,-0.0045,0.0947003196790224,1.0,0.0,0.0,0.0,-0.7245532567569164,0.43111047299354255,6.297359370962146,0.030826131518501027,0.04981464911026147,0.0022200548342755024,0.3427963417999736,1.2096538040267977,6.36336483440539,0.09810512572128167,-0.015490742256532356,0.005074636788762552,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.8580357318587297,0.9805462196281939,-5.446784819975989,0.4345029355530392,4.033170245889688,0.6077461225877046,-1.0985171920661467,-6.297359370962146,4.348267627909843,4.348267627909843,4.397550000000889,0,0,-0.000119740071653747,9.991322632985628e-05
+18075,1792825686203452834,4365627000000,1792825686201898527,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6764259339428856,-0.004874289803647867,0.09539385580229487,0.9999998086866193,-0.00013254240633120697,0.0005681209267221481,0.00018368645088140162,0.6761,-0.0045,0.09461860392483104,1.0,0.0,0.0,0.0,-0.7348240081467597,0.42732057210506,6.390558488059206,0.0317989475907737,0.05078975511685187,0.0021713853182608257,0.3325255904101302,1.2058639031383152,6.45656395150245,0.09907794179355435,-0.014515636249941956,0.005025967272747876,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.886841974674722,0.9281528084816053,-5.511027564054592,0.46027702358300343,4.072292564582851,0.5772888671828842,-1.0985171920661467,-6.390558488059206,4.412510371988445,4.412510371988445,4.501350000000647,0,0,-0.00011522767097840868,2.854641109462648e-05
+18162,1792825686928424127,4366352000000,1792825686925898707,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6764327924544723,-0.004880135587947002,0.09532315185435371,0.9999997992542681,-0.0001459898486704429,0.000581540344300962,0.0001828444149272578,0.6761,-0.0045,0.0945389579683882,1.0,0.0,0.0,0.0,-0.7442421171196811,0.4368542798001046,6.479099657886775,0.0317836770862259,0.050770959876691744,0.002098753692039172,0.32310748143720885,1.2153976108333597,6.545105121330019,0.09906267128900655,-0.01453443149010208,0.004953335646526222,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.972791946644095,0.868277102739437,-5.602062505571975,0.4874815675983982,4.155369859273067,0.5387256512008566,-1.0985171920661467,-6.479099657886775,4.503545313505828,4.503545313505828,4.6101000000003935,0,0,-0.00010901010838035153,-6.230664181672835e-05
+18245,1792825687619381844,4367042999999,1792825687617898429,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.676439621522912,-0.004878435344905401,0.09526142784768966,0.9999997929521477,-0.00015443568543896594,0.0005919856211038702,0.0001767517164346632,0.6761,-0.0045,0.09446379488793394,1.0,0.0,0.0,0.0,-0.7543970721827362,0.4516859486242627,6.537286892206505,0.03276511505220803,0.05175116894629755,0.002077738200893756,0.31295252637415366,1.2302292796575178,6.603292355649749,0.10004410925498868,-0.013554222420496274,0.004932320155380806,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,2.9083364933647187,0.9337632475924713,-5.72729767403317,0.47416479111722115,4.208627464639159,0.5793418085679526,-1.0985171920661467,-6.537286892206505,4.6287804819670235,4.6287804819670235,4.713750000000152,0,0,-0.00011250106623087041,5.012309597785532e-05
+18319,1792825688236348495,4367660000000,1792825688229899211,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.676450627390982,-0.0048725208895143745,0.09520071059473764,0.9999997758873688,-0.0002031892354231654,0.0006162374609567326,0.00013650495513093728,0.6761,-0.0045,0.0943916067492209,1.0,0.0,0.0,0.0,-0.7371264583705062,0.4801395886417633,6.6113123213362455,0.0348231185962654,0.050682041567905275,0.002027001086577622,0.3302231401863837,1.2586829196750184,6.67731778477949,0.10210211279904605,-0.014623349798888543,0.004881583041064672,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,3.0562006843305114,0.9664158278100152,-5.856846979368016,0.4757151581482327,4.331154314711382,0.611736119329531,-1.0985171920661467,-6.6113123213362455,4.75832978730187,4.75832978730187,4.806299999999936,0,0,-0.00011924578989933187,9.991558555378361e-05
+18400,1792825688911308425,4368335000000,1792825688905898600,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6764545257427229,-0.004870279297961253,0.09512606978852876,0.9999997761967148,-0.00019218181807338053,0.0006168576644210818,0.000146976716143166,0.6761,-0.0045,0.09430522725525957,1.0,0.0,0.0,0.0,-0.7552745967020937,0.4731578983766048,6.69179144130049,0.03375964084814845,0.05169860393495785,0.001964368424441991,0.31207500185479625,1.25170122940986,6.757796904743734,0.1010386350509291,-0.013606787431835974,0.004818950378929041,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,3.070743902299229,0.9766512963490878,-5.799212466613846,0.4640206723653036,4.303925057974865,0.6189646197361253,-1.0985171920661467,-6.69179144130049,4.7006952745477,4.7006952745477,4.9075499999997,0,0,-0.00013526572102270785,-9.99981583912401e-05
+18478,1792825689561354970,4368984999999,1792825689557898392,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.676456609126209,-0.004881230893275607,0.09504412479569026,0.9999997762277716,-0.0001785748247913567,0.0006173658116777111,0.00016111411323671042,0.6761,-0.0045,0.09421356382887526,1.0,0.0,0.0,0.0,-0.7649817383145513,0.4635338282896172,6.782084192007467,0.03371401184513961,0.05269230481461535,0.0019059331448338592,0.30236786024233864,1.2420771593228723,6.848089655450711,0.10099300604792026,-0.012613086552178472,0.004760515099320909,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,3.137838813120794,0.9277514545697264,-5.936741995803939,0.48500499724399526,4.405535519259219,0.5921458131698805,-1.0985171920661467,-6.782084192007467,4.838224803737793,4.838224803737793,5.005049999999473,0,0,-0.00014420071451778783,-9.168743128474261e-05
+18555,1792825690203236246,4369627000000,1792825690201889344,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6764708909117015,-0.0048804248262119465,0.09496431198719946,0.9999997699839526,-6.973318666136841e-05,0.0006442799569233052,0.0001775261278499828,0.6761,-0.0045,0.09411857953680601,1.0,0.0,0.0,0.0,-0.7934526933689481,0.46684022642057565,6.87221538123092,0.033642510092597985,0.054699713369150166,0.0018610887439596195,0.2738969051879418,1.2453835574538308,6.938220844674165,0.10092150429537863,-0.010605677997643658,0.004715670698446669,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,3.194615844853644,1.0083693899481105,-6.040768677735842,0.4457868789492028,4.499506965530405,0.6148051286294491,-1.0985171920661467,-6.87221538123092,4.942251485669695,4.942251485669695,5.101349999999249,0,0,-0.00015448458646624553,-9.807991504929276e-05
+18638,1792825690894208619,4370318000000,1792825690893889605,DOWN_FORCE_DETACH,9,0.07,0.070001982152462,0.6764700676225858,-0.004879958167191452,0.09487061203382643,0.9999997731804435,-8.087495105107956e-05,0.0006358694586623021,0.00018496269815491365,0.6761,-0.0045,0.09401058199603933,1.0,0.0,0.0,0.0,-0.8023369698707574,0.457567454698142,6.982134523684674,0.03259996360619857,0.054696007570646035,0.0017596898966461875,0.26501262868613257,1.236110785731397,7.048139987127918,0.09987895780897922,-0.010609383796147783,0.004614271851133237,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,3.2290205057965133,0.8585467385288443,-6.143780345862895,0.49887197736536915,4.574562913111341,0.5347615387461185,-1.0985171920661467,-6.982134523684674,5.045263153796748,5.045263153796748,5.204999999999007,0,0,-0.0001555445528864371,-9.99977836909693e-05
+18718,1792825691561263996,4370984999999,1792825691557898487,DOWN_FORCE_DETACH,9,0.07,0.07000132650136948,0.6764819935855789,-0.004874812696292913,0.09477812263879674,0.9999997521436341,-0.00014385453838027632,0.000667516867450075,0.00014450826254101536,0.6761,-0.0045,0.09391149267828683,1.0,0.0,0.0,0.0,-0.7943554605162653,0.4877089478713147,7.074565486285706,0.03467560167537301,0.05463441023639626,0.0017099552611758444,0.2729941380406247,1.2662522789045698,7.14057094972895,0.10195459587815366,-0.010670981130397566,0.004564537215662894,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,3.3023552391049735,0.851270860146594,-6.331494232556657,0.5320826302607174,4.710711648002621,0.5411493832040523,-1.0985171920661467,-7.074565486285706,5.2329770404905105,5.2329770404905105,5.305049999998774,0,0,-0.00014448763846900003,9.843767054119041e-05
+18797,1792825692214224124,4371638000000,1792825692213889271,DOWN_SETTLE,9,0.07,0.070001982152462,0.6764942840610851,-0.004878197441640563,0.09470496639360823,0.999999742563453,-0.00014481539429857184,0.0006786959833955282,0.00015721372631283316,0.6761,-0.0045,0.09381908664487458,1.0,0.0,0.0,0.0,-0.8046133134759406,0.5008684876039226,7.143071085836287,0.03559704345895301,0.05561304753515238,0.0016796218376888,0.2627362850809494,1.2794118186371777,7.209076549279532,0.10287603766173366,-0.009692343831641439,0.00453420379217585,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,3.329670027452562,0.796282887235483,-6.340093324331692,0.5536596761818339,4.725674349065663,0.5118230671436249,-1.0985171920661467,-7.143071085836287,5.2415761322655445,0.0,0.0,0,0,-9.157809088766112e-05,0.0009250312210874861
+18882,1792825692920244992,4372344000000,1792825692913898749,DOWN_PEAK_HOLD,9,0.07,0.07000132650136948,0.6765001873491555,-0.0048761466617659455,0.09467852740487243,0.9999997404417605,-0.00013861838618724746,0.0006823721960213087,0.00016035088100331026,0.6761,-0.0045,0.09381095327588279,1.0,0.0,0.0,0.0,-0.8137559948198408,0.4914934989743679,7.1224554223610355,0.03561039710370095,0.05562093489863213,0.0016959526267638371,0.2535936037370491,1.270036830007623,7.18846088580428,0.1028893913064816,-0.009684456468161693,0.004550534581250887,1.06734959855689,0.7785433310332551,0.06600546344324437,0.06727899420278065,-0.06530539136679382,0.00285458195448705,1,3.3121557269523927,0.8851014674784135,-6.220293834450464,0.5072983232298728,4.660223276412302,0.566136972695519,-1.0985171920661467,-7.1224554223610355,5.121776642384317,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_0050_20/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,1792825656007512278,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.506972880e-09,-1.433005208e-10,-7.528417889e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027451106e-01,-1.182940359e-04,8.303263009e-01
+1,8.333333333e-01,DOWN_FORCE_DETACH,1792825656854470920,-8.065854956e-07,-1.941876235e-06,-5.826407821e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.336222325e-08,-6.710436446e-09,-3.195368004e-08,7.019548630e-01,-2.402978764e-05,8.601428632e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027451725e-01,-1.183006031e-04,8.303262697e-01
+2,1.483333333e+00,DOWN_FORCE_DETACH,1792825657493415473,-6.995669933e-06,-3.569814414e-06,-3.081447932e-05,-7.249393515e-06,-3.168520201e-06,-2.195310282e-05,-7.963728689e-06,-3.176124258e-06,-2.191055678e-05,7.019486740e-01,-2.565772582e-05,8.601126314e-01,7.019484202e-01,-2.525643161e-05,8.601214927e-01,7.027371454e-01,-1.214700169e-04,8.303043910e-01
+3,2.133333333e+00,DOWN_FORCE_DETACH,1792825658165234926,-1.680724902e-05,-9.161074861e-06,-8.267899702e-05,-1.368417131e-05,-8.036016461e-06,-6.388989558e-05,-1.538377792e-05,-8.118981763e-06,-6.377870007e-05,7.019388624e-01,-3.124898627e-05,8.600607668e-01,7.019419855e-01,-3.012392787e-05,8.600795559e-01,7.027297253e-01,-1.264128744e-04,8.302625229e-01
+4,2.583333333e+00,DOWN_FORCE_DETACH,1792825658607499258,1.630293531e-05,-1.563663755e-05,-1.135894654e-04,1.977108276e-05,-1.686913038e-05,-1.003443836e-04,2.014605710e-05,-1.699659382e-05,-1.001070162e-04,7.019719726e-01,-3.772454895e-05,8.600298564e-01,7.019754407e-01,-3.895704178e-05,8.600431015e-01,7.027652552e-01,-1.352904864e-04,8.302261946e-01
+5,3.316666667e+00,DOWN_FORCE_DETACH,1792825659327980029,9.134162827e-07,-2.110646258e-05,-1.834647656e-04,8.398444897e-07,-2.122296148e-05,-1.833677496e-04,-1.196152742e-06,-2.136493333e-05,-1.829297823e-04,7.019565830e-01,-4.319437399e-05,8.599599811e-01,7.019565095e-01,-4.331087289e-05,8.599600781e-01,7.027439130e-01,-1.396588260e-04,8.301433718e-01
+6,3.933333333e+00,DOWN_FORCE_DETACH,1792825659933757749,9.072703192e-06,-2.517951705e-05,-2.673852649e-04,3.041395074e-06,-2.696949991e-05,-2.727403965e-04,8.430040976e-08,-2.716315447e-05,-2.721139319e-04,7.019647423e-01,-4.726742846e-05,8.598760606e-01,7.019587110e-01,-4.905741132e-05,8.598707054e-01,7.027451934e-01,-1.454570471e-04,8.300541877e-01
+7,4.616666667e+00,DOWN_FORCE_DETACH,1792825660622271372,1.471305284e-05,-3.582072166e-05,-3.737751229e-04,1.254968752e-05,-3.565009010e-05,-3.577639159e-04,9.258940847e-06,-3.586346281e-05,-3.570173725e-04,7.019703827e-01,-5.790863307e-05,8.597696707e-01,7.019682193e-01,-5.773800151e-05,8.597856819e-01,7.027543681e-01,-1.541573554e-04,8.299692842e-01
+8,5.250000000e+00,DOWN_FORCE_DETACH,1792825661326727909,2.616298790e-05,-4.042393579e-05,-5.013286827e-04,2.337473264e-05,-4.432740371e-05,-4.850861982e-04,1.934444517e-05,-4.462905593e-05,-4.840675208e-04,7.019818326e-01,-6.251184720e-05,8.596421172e-01,7.019790444e-01,-6.641531512e-05,8.596583596e-01,7.027644536e-01,-1.629229485e-04,8.298422341e-01
+9,5.616666667e+00,DOWN_FORCE_DETACH,1792825661703234185,7.882206968e-05,-2.346593808e-05,-5.476343836e-04,7.023550617e-05,-2.397808893e-05,-5.454902554e-04,6.898416131e-05,-2.412603940e-05,-5.443331488e-04,7.020344917e-01,-4.555384948e-05,8.595958115e-01,7.020259051e-01,-4.606600033e-05,8.595979556e-01,7.028140933e-01,-1.424199320e-04,8.297819685e-01
+10,6.166666667e+00,DOWN_FORCE_DETACH,1792825662243105447,8.381542906e-05,-3.356149831e-05,-6.675281322e-04,8.119330106e-05,-3.131584593e-05,-6.516275759e-04,7.952246914e-05,-3.154964400e-05,-6.503249403e-04,7.020394851e-01,-5.564940972e-05,8.594759177e-01,7.020368629e-01,-5.340375733e-05,8.594918183e-01,7.028246316e-01,-1.498435366e-04,8.296759767e-01
+11,6.700000000e+00,DOWN_FORCE_DETACH,1792825662783929896,9.270443582e-05,-4.231487188e-05,-8.088289226e-04,9.119887137e-05,-3.886139139e-05,-7.897553896e-04,8.871103226e-05,-3.910745116e-05,-7.882333508e-04,7.020483741e-01,-6.440278329e-05,8.593346169e-01,7.020468685e-01,-6.094930280e-05,8.593536905e-01,7.028338201e-01,-1.574013438e-04,8.295380683e-01
+12,7.200000000e+00,DOWN_FORCE_DETACH,1792825663275624273,1.117837711e-04,-4.513286108e-05,-9.363619169e-04,1.118837960e-04,-4.353526763e-05,-9.253589233e-04,1.092314151e-04,-4.383505852e-05,-9.236395064e-04,7.020674534e-01,-6.722077248e-05,8.592070839e-01,7.020675534e-01,-6.562317904e-05,8.592180869e-01,7.028543405e-01,-1.621289511e-04,8.294026621e-01
+13,7.683333333e+00,DOWN_FORCE_DETACH,1792825663766870475,1.356712102e-04,-4.767509757e-05,-1.080591715e-03,1.325977181e-04,-4.588306246e-05,-1.070688315e-03,1.298177179e-04,-4.620358950e-05,-1.068764484e-03,7.020913408e-01,-6.976300897e-05,8.590628541e-01,7.020882673e-01,-6.797097386e-05,8.590727575e-01,7.028749268e-01,-1.644974821e-04,8.292575371e-01
+14,8.150000000e+00,DOWN_FORCE_DETACH,1792825664225248118,1.607058842e-04,-5.639124581e-05,-1.213710933e-03,1.552407671e-04,-4.921939899e-05,-1.196669076e-03,1.526635591e-04,-4.953576256e-05,-1.194622035e-03,7.021163755e-01,-7.847915722e-05,8.589297349e-01,7.021109104e-01,-7.130731039e-05,8.589467768e-01,7.028977727e-01,-1.678296552e-04,8.291316796e-01
+15,8.600000000e+00,DOWN_FORCE_DETACH,1792825664686671310,1.804969081e-04,-5.866496372e-05,-1.363517332e-03,1.796990249e-04,-5.749102803e-05,-1.351877292e-03,1.771002141e-04,-5.782911096e-05,-1.349565680e-03,7.021361665e-01,-8.075287513e-05,8.587799285e-01,7.021353686e-01,-7.957893943e-05,8.587915686e-01,7.029222093e-01,-1.761230036e-04,8.289767359e-01
+16,9.000000000e+00,DOWN_FORCE_DETACH,1792825665145897008,2.041179138e-04,-5.924683752e-05,-1.515357789e-03,2.026899437e-04,-5.676768650e-05,-1.501364621e-03,2.001110913e-04,-5.710625937e-05,-1.498853200e-03,7.021597875e-01,-8.133474892e-05,8.586280881e-01,7.021583596e-01,-7.885559790e-05,8.586420812e-01,7.029452202e-01,-1.754001520e-04,8.288274484e-01
+17,9.383333333e+00,DOWN_FORCE_DETACH,1792825665535883393,2.261495993e-04,-6.354770356e-05,-1.648952355e-03,2.227767562e-04,-6.441837391e-05,-1.638941408e-03,2.200765744e-04,-6.480489331e-05,-1.636372484e-03,7.021818192e-01,-8.563561497e-05,8.584944935e-01,7.021784464e-01,-8.650628531e-05,8.585045044e-01,7.029651857e-01,-1.830987859e-04,8.286899291e-01
+18,9.766666667e+00,DOWN_FORCE_DETACH,1792825665944904251,2.539843987e-04,-6.742596345e-05,-1.795185379e-03,2.538171291e-04,-6.763743656e-05,-1.795232759e-03,2.515957594e-04,-6.802724510e-05,-1.792432461e-03,7.022096540e-01,-8.951387486e-05,8.583482605e-01,7.022094868e-01,-8.972534797e-05,8.583482131e-01,7.029967049e-01,-1.863211377e-04,8.285338691e-01
+19,1.016666667e+01,DOWN_FORCE_DETACH,1792825666338208686,2.759651076e-04,-7.464761954e-05,-1.943923483e-03,2.724799254e-04,-7.373458297e-05,-1.937353515e-03,2.699951448e-04,-7.415969145e-05,-1.934497572e-03,7.022316347e-01,-9.673553095e-05,8.581995224e-01,7.022281496e-01,-9.582249438e-05,8.582060923e-01,7.030151043e-01,-1.924535841e-04,8.283918040e-01
+20,1.053333333e+01,DOWN_FORCE_DETACH,1792825666698489405,2.891582484e-04,-7.584382386e-05,-2.095862264e-03,2.890885627e-04,-7.573012256e-05,-2.095719002e-03,2.860455702e-04,-7.618089802e-05,-2.092640802e-03,7.022448279e-01,-9.793173526e-05,8.580475836e-01,7.022447582e-01,-9.781803396e-05,8.580477268e-01,7.030311547e-01,-1.944747906e-04,8.282336608e-01
+21,1.095000000e+01,DOWN_FORCE_DETACH,1792825667108059086,3.090349801e-04,-8.133987662e-05,-2.246549715e-03,3.086351230e-04,-7.987570580e-05,-2.233597151e-03,3.054642202e-04,-8.030335938e-05,-2.230635451e-03,7.022647046e-01,-1.034277880e-04,8.578968961e-01,7.022643047e-01,-1.019636172e-04,8.579098487e-01,7.030505733e-01,-1.985972520e-04,8.280956662e-01
+22,1.138333333e+01,DOWN_FORCE_DETACH,1792825667533906384,3.331086183e-04,-8.341526543e-05,-2.391130991e-03,3.322974833e-04,-8.273666441e-05,-2.371205361e-03,3.293406936e-04,-8.321891877e-05,-2.368347427e-03,7.022887782e-01,-1.055031768e-04,8.577523149e-01,7.022879671e-01,-1.048245758e-04,8.577722405e-01,7.030744498e-01,-2.015128114e-04,8.279579542e-01
+23,1.183333333e+01,DOWN_FORCE_DETACH,1792825668008722701,3.540855681e-04,-7.539131677e-05,-2.547190646e-03,3.549764424e-04,-7.810860736e-05,-2.528810396e-03,3.519095179e-04,-7.853933679e-05,-2.525880596e-03,7.023097552e-01,-9.747922818e-05,8.575962552e-01,7.023106461e-01,-1.001965188e-04,8.576146354e-01,7.030970186e-01,-1.968332294e-04,8.278004210e-01
+24,1.223333333e+01,DOWN_FORCE_DETACH,1792825668418878350,3.695568589e-04,-7.617206978e-05,-2.681564217e-03,3.650433893e-04,-7.812293935e-05,-2.664607337e-03,3.611816411e-04,-7.850583030e-05,-2.661714648e-03,7.023252265e-01,-9.825998118e-05,8.574618816e-01,7.023207130e-01,-1.002108508e-04,8.574788385e-01,7.031062908e-01,-1.967997229e-04,8.276645870e-01
+25,1.268333333e+01,DOWN_FORCE_DETACH,1792825668861012727,3.889451089e-04,-7.988193781e-05,-2.807107189e-03,3.859361356e-04,-7.848291659e-05,-2.801577969e-03,3.821069271e-04,-7.885923235e-05,-2.798727584e-03,7.023446147e-01,-1.019698492e-04,8.573363387e-01,7.023416058e-01,-1.005708280e-04,8.573418679e-01,7.031272160e-01,-1.971531250e-04,8.275275740e-01
+26,1.315000000e+01,DOWN_FORCE_DETACH,1792825669319602090,4.036231715e-04,-7.362466198e-05,-2.944205825e-03,4.037746924e-04,-8.000281257e-05,-2.931948567e-03,3.997592894e-04,-8.038791842e-05,-2.929246710e-03,7.023592928e-01,-9.571257339e-05,8.571992400e-01,7.023594443e-01,-1.020907240e-04,8.572114973e-01,7.031448684e-01,-1.986818110e-04,8.273970549e-01
+27,1.365000000e+01,DOWN_FORCE_DETACH,1792825669810944253,4.207808631e-04,-8.435729265e-05,-3.078195416e-03,4.156989074e-04,-8.062429184e-05,-3.061107046e-03,4.111008996e-04,-8.101245140e-05,-3.058569212e-03,7.023764505e-01,-1.064452041e-04,8.570652504e-01,7.023713685e-01,-1.027122032e-04,8.570823388e-01,7.031562100e-01,-1.993063440e-04,8.272677324e-01
+28,1.413333333e+01,DOWN_FORCE_DETACH,1792825670303495669,4.312068550e-04,-8.322409806e-05,-3.207611087e-03,4.311830254e-04,-8.334456970e-05,-3.207783377e-03,4.260699369e-04,-8.378024707e-05,-3.205239049e-03,7.023868765e-01,-1.053120095e-04,8.569358348e-01,7.023868527e-01,-1.054324811e-04,8.569356625e-01,7.031711790e-01,-2.020741397e-04,8.271210626e-01
+29,1.468333333e+01,DOWN_FORCE_DETACH,1792825670843295810,4.454035410e-04,-8.346830767e-05,-3.335230348e-03,4.452218874e-04,-8.325267633e-05,-3.335314500e-03,4.397661898e-04,-8.366542169e-05,-3.332971498e-03,7.024010732e-01,-1.055562191e-04,8.568082155e-01,7.024008915e-01,-1.053405877e-04,8.568081313e-01,7.031848753e-01,-2.019593143e-04,8.269933301e-01
+30,1.526666667e+01,DOWN_FORCE_DETACH,1792825671465286792,4.536573662e-04,-8.428214898e-05,-3.467053579e-03,4.545447289e-04,-8.548189817e-05,-3.462880184e-03,4.483096199e-04,-8.593135096e-05,-3.460698963e-03,7.024093270e-01,-1.063700604e-04,8.566763923e-01,7.024102144e-01,-1.075698096e-04,8.566805657e-01,7.031934187e-01,-2.042252436e-04,8.268656026e-01
+31,1.590000000e+01,DOWN_FORCE_DETACH,1792825672088061486,4.715967870e-04,-8.463022320e-05,-3.576881274e-03,4.673685789e-04,-9.063235438e-05,-3.570433243e-03,4.608902184e-04,-9.110348685e-05,-3.568495478e-03,7.024272664e-01,-1.067181346e-04,8.565665646e-01,7.024230382e-01,-1.127202658e-04,8.565730126e-01,7.032059993e-01,-2.093973795e-04,8.267578061e-01
+32,1.643333333e+01,DOWN_FORCE_DETACH,1792825672742792655,4.882333103e-04,-9.123508895e-05,-3.673493329e-03,4.853909333e-04,-8.722153339e-05,-3.657896356e-03,4.793179007e-04,-8.764829105e-05,-3.656107116e-03,7.024439029e-01,-1.133230004e-04,8.564699525e-01,7.024410606e-01,-1.093094448e-04,8.564855495e-01,7.032244270e-01,-2.059421837e-04,8.266701945e-01
+33,1.708333333e+01,DOWN_FORCE_DETACH,1792825673430586699,4.982143688e-04,-8.839379541e-05,-3.763519315e-03,4.940640975e-04,-9.156971929e-05,-3.767327884e-03,4.873231232e-04,-9.207406109e-05,-3.765679939e-03,7.024538840e-01,-1.104817068e-04,8.563799265e-01,7.024497337e-01,-1.136576307e-04,8.563761180e-01,7.032324322e-01,-2.103679537e-04,8.265606217e-01
+34,1.780000000e+01,DOWN_FORCE_DETACH,1792825674167917466,4.997510149e-04,-9.256438865e-05,-3.844384674e-03,5.004567079e-04,-9.443220972e-05,-3.829755374e-03,4.935728234e-04,-9.496783293e-05,-3.828488363e-03,7.024554206e-01,-1.146523001e-04,8.562990612e-01,7.024561263e-01,-1.165201211e-04,8.563136905e-01,7.032386819e-01,-2.132617255e-04,8.264978132e-01
+35,1.858333333e+01,DOWN_FORCE_DETACH,1792825674971163538,5.030575731e-04,-9.401487763e-05,-3.901615222e-03,5.002983699e-04,-9.032398873e-05,-3.893006190e-03,4.926536815e-04,-9.082716270e-05,-3.891966404e-03,7.024587272e-01,-1.161027890e-04,8.562418306e-01,7.024559680e-01,-1.124119001e-04,8.562504397e-01,7.032377628e-01,-2.091210553e-04,8.264343352e-01
+36,1.925000000e+01,DOWN_FORCE_DETACH,1792825675625409019,5.000355060e-04,-9.425198136e-05,-3.938086817e-03,5.006508717e-04,-9.486942789e-05,-3.934771650e-03,4.926356123e-04,-9.543131330e-05,-3.933967164e-03,7.024557051e-01,-1.163398928e-04,8.562053590e-01,7.024563205e-01,-1.169573393e-04,8.562086742e-01,7.032377447e-01,-2.137252059e-04,8.263923344e-01
+37,2.008333333e+01,DOWN_FORCE_DETACH,1792825676509967137,4.992153782e-04,-8.655556599e-05,-3.953806748e-03,4.994430773e-04,-9.521814850e-05,-3.954770840e-03,4.911024478e-04,-9.581792440e-05,-3.954186061e-03,7.024548850e-01,-1.086434774e-04,8.561896391e-01,7.024551127e-01,-1.173060599e-04,8.561886750e-01,7.032362116e-01,-2.141118170e-04,8.263721155e-01
+38,2.095000000e+01,DOWN_FORCE_DETACH,1792825677378466680,4.961266174e-04,-9.196376210e-05,-3.963696019e-03,4.994430773e-04,-9.521814850e-05,-3.954770840e-03,4.911317362e-04,-9.582976425e-05,-3.954455599e-03,7.024517962e-01,-1.140516735e-04,8.561797498e-01,7.024551127e-01,-1.173060599e-04,8.561886750e-01,7.032362408e-01,-2.141236569e-04,8.263718460e-01
+39,2.173333333e+01,DOWN_FORCE_DETACH,1792825678197331234,4.955465109e-04,-9.567003102e-05,-3.965927306e-03,4.994430773e-04,-9.521814850e-05,-3.954770840e-03,4.911522727e-04,-9.583815284e-05,-3.954611698e-03,7.024512161e-01,-1.177579424e-04,8.561775185e-01,7.024551127e-01,-1.173060599e-04,8.561886750e-01,7.032362614e-01,-2.141320455e-04,8.263716899e-01
+40,2.251666667e+01,DOWN_FORCE_DETACH,1792825678966858820,4.979115904e-04,-9.072689515e-05,-3.964572707e-03,4.994430773e-04,-9.521814850e-05,-3.954770840e-03,4.911677936e-04,-9.584597612e-05,-3.954724768e-03,7.024535812e-01,-1.128148066e-04,8.561788731e-01,7.024551127e-01,-1.173060599e-04,8.561886750e-01,7.032362769e-01,-2.141398687e-04,8.263715768e-01
+41,2.340000000e+01,DOWN_FORCE_DETACH,1792825679851718390,4.940256088e-04,-9.162355536e-05,-3.971346516e-03,4.994430773e-04,-9.521814850e-05,-3.954770840e-03,4.911807344e-04,-9.585405071e-05,-3.954819076e-03,7.024496952e-01,-1.137114668e-04,8.561720993e-01,7.024551127e-01,-1.173060599e-04,8.561886750e-01,7.032362898e-01,-2.141479433e-04,8.263714825e-01
+42,2.430000000e+01,DOWN_FORCE_DETACH,1792825680753250840,4.939228086e-04,-9.559719040e-05,-3.974795936e-03,4.938235818e-04,-9.215988427e-05,-3.974144081e-03,4.849262015e-04,-9.277559730e-05,-3.974306770e-03,7.024495924e-01,-1.176851018e-04,8.561686499e-01,7.024494932e-01,-1.142477957e-04,8.561693018e-01,7.032300353e-01,-2.110694899e-04,8.263519948e-01
+43,2.511666667e+01,DOWN_FORCE_DETACH,1792825681571393262,4.941875174e-04,-9.224002874e-05,-3.975536714e-03,4.938235818e-04,-9.215988427e-05,-3.974144081e-03,4.849243495e-04,-9.278155255e-05,-3.974379345e-03,7.024498571e-01,-1.143279401e-04,8.561679091e-01,7.024494932e-01,-1.142477957e-04,8.561693018e-01,7.032300335e-01,-2.110754452e-04,8.263519223e-01
+44,2.586666667e+01,DOWN_FORCE_DETACH,1792825682341215598,4.910912748e-04,-9.547906584e-05,-3.989469316e-03,4.938235818e-04,-9.215988427e-05,-3.974144081e-03,4.849236396e-04,-9.278697417e-05,-3.974430681e-03,7.024467609e-01,-1.175669772e-04,8.561539765e-01,7.024494932e-01,-1.142477957e-04,8.561693018e-01,7.032300328e-01,-2.110808668e-04,8.263518709e-01
+45,2.658333333e+01,DOWN_FORCE_DETACH,1792825683225489952,4.923847482e-04,-9.898299863e-05,-4.023312965e-03,4.905798318e-04,-9.516551374e-05,-4.013967970e-03,4.810122579e-04,-9.578085423e-05,-4.014143892e-03,7.024480544e-01,-1.210709100e-04,8.561201329e-01,7.024462495e-01,-1.172534251e-04,8.561294779e-01,7.032261214e-01,-2.140747468e-04,8.263121577e-01
+46,2.730000000e+01,DOWN_FORCE_DETACH,1792825683946417899,5.003511641e-04,-9.876943250e-05,-4.073001827e-03,4.971323498e-04,-9.494157163e-05,-4.056405031e-03,4.875138833e-04,-9.557635694e-05,-4.056492620e-03,7.024560208e-01,-1.208573439e-04,8.560704440e-01,7.024528020e-01,-1.170294830e-04,8.560870408e-01,7.032326230e-01,-2.138702496e-04,8.262698090e-01
+47,2.801666667e+01,DOWN_FORCE_DETACH,1792825684684070240,5.123953437e-04,-1.022694327e-04,-4.153787118e-03,5.107796942e-04,-1.013883659e-04,-4.144378281e-03,5.011311663e-04,-1.020590594e-04,-4.144174515e-03,7.024680650e-01,-1.243573441e-04,8.559896587e-01,7.024664493e-01,-1.234762773e-04,8.559990676e-01,7.032462403e-01,-2.203529520e-04,8.261821271e-01
+48,2.878333333e+01,DOWN_FORCE_DETACH,1792825685512765088,5.125656164e-04,-1.055075942e-04,-4.239145611e-03,5.102890358e-04,-1.042430221e-04,-4.230901834e-03,4.996175594e-04,-1.049207276e-04,-4.230602940e-03,7.024682352e-01,-1.275955056e-04,8.559043002e-01,7.024659587e-01,-1.263309336e-04,8.559125440e-01,7.032447267e-01,-2.232146202e-04,8.260956987e-01
+49,2.943333333e+01,DOWN_FORCE_DETACH,1792825686206744375,5.189257396e-04,-1.058216840e-04,-4.312514123e-03,5.165666878e-04,-1.098305844e-04,-4.297686421e-03,5.055677360e-04,-1.104938167e-04,-4.297325698e-03,7.024745954e-01,-1.279095954e-04,8.558309317e-01,7.024722363e-01,-1.319184958e-04,8.558457594e-01,7.032506768e-01,-2.287877093e-04,8.260289759e-01
+50,3.013333333e+01,DOWN_FORCE_DETACH,1792825686929459308,5.231533408e-04,-1.077426507e-04,-4.387093442e-03,5.243798654e-04,-1.093092643e-04,-4.377288045e-03,5.129850498e-04,-1.100029480e-04,-4.376882216e-03,7.024788230e-01,-1.298305621e-04,8.557563524e-01,7.024800495e-01,-1.313971757e-04,8.557661578e-01,7.032580942e-01,-2.282968406e-04,8.259494194e-01
+51,3.081666667e+01,DOWN_FORCE_DETACH,1792825687615392949,5.336391271e-04,-1.071069883e-04,-4.443848350e-03,5.312594453e-04,-1.048315328e-04,-4.440367857e-03,5.196764119e-04,-1.055118686e-04,-4.439907592e-03,7.024893088e-01,-1.291948997e-04,8.556995975e-01,7.024869291e-01,-1.269194442e-04,8.557030780e-01,7.032647855e-01,-2.238057612e-04,8.258863940e-01
+52,3.145000000e+01,DOWN_FORCE_DETACH,1792825688238060854,5.409833517e-04,-1.023862096e-04,-4.509598971e-03,5.382501656e-04,-1.033291386e-04,-4.505297122e-03,5.264748300e-04,-1.039933641e-04,-4.504788757e-03,7.024966530e-01,-1.244741210e-04,8.556338469e-01,7.024939198e-01,-1.254170500e-04,8.556381487e-01,7.032715839e-01,-2.222872567e-04,8.258215128e-01
+53,3.213333333e+01,DOWN_FORCE_DETACH,1792825688909013645,5.461201236e-04,-1.047408077e-04,-4.579939891e-03,5.448897949e-04,-9.936750736e-05,-4.568259294e-03,5.328341803e-04,-1.000101813e-04,-4.567796171e-03,7.025017897e-01,-1.268287191e-04,8.555635060e-01,7.025005594e-01,-1.214554188e-04,8.555751866e-01,7.032779433e-01,-2.183040739e-04,8.257585054e-01
+54,3.280000000e+01,DOWN_FORCE_DETACH,1792825689564471155,5.489303209e-04,-1.037885453e-04,-4.661858903e-03,5.496471172e-04,-1.076833811e-04,-4.656832844e-03,5.369305571e-04,-1.083386544e-04,-4.656246281e-03,7.025045999e-01,-1.258764567e-04,8.554815869e-01,7.025053167e-01,-1.297712926e-04,8.554866130e-01,7.032820397e-01,-2.266325470e-04,8.256700553e-01
+55,3.341666667e+01,DOWN_FORCE_DETACH,1792825690203070989,5.644995276e-04,-1.131810995e-04,-4.742574997e-03,5.634708980e-04,-1.093684778e-04,-4.726247485e-03,5.509622211e-04,-1.100473239e-04,-4.725690360e-03,7.025201692e-01,-1.352690109e-04,8.554008708e-01,7.025191405e-01,-1.314563892e-04,8.554171984e-01,7.032960713e-01,-2.283412165e-04,8.256006112e-01
+56,3.408333333e+01,DOWN_FORCE_DETACH,1792825690892335251,5.628423633e-04,-1.099760274e-04,-4.835637177e-03,5.612381785e-04,-1.116229609e-04,-4.833487984e-03,5.474179450e-04,-1.123128674e-04,-4.832770566e-03,7.025185120e-01,-1.320639388e-04,8.553078087e-01,7.025169078e-01,-1.337108723e-04,8.553099579e-01,7.032925271e-01,-2.306067601e-04,8.254935310e-01
+57,3.476666667e+01,DOWN_FORCE_DETACH,1792825691562904492,5.766563683e-04,-1.031085588e-04,-4.925257368e-03,5.742033269e-04,-1.042776281e-04,-4.915379479e-03,5.603343893e-04,-1.049529857e-04,-4.914665241e-03,7.025323260e-01,-1.251964702e-04,8.552181885e-01,7.025298730e-01,-1.263655395e-04,8.552280664e-01,7.033054435e-01,-2.232468784e-04,8.254116364e-01
+58,3.543333333e+01,DOWN_SETTLE,1792825692217836000,5.864575064e-04,-1.093207831e-04,-4.998785335e-03,5.846012885e-04,-1.070195274e-04,-5.000153568e-03,5.704975653e-04,-1.076588673e-04,-4.999468479e-03,7.025421271e-01,-1.314086945e-04,8.551446605e-01,7.025402709e-01,-1.291074388e-04,8.551432923e-01,7.033156067e-01,-2.259527599e-04,8.253268331e-01
+59,3.606666667e+01,DOWN_PEAK_HOLD,1792825692922040486,5.915360386e-04,-1.099014016e-04,-5.029046152e-03,5.890014898e-04,-1.103319384e-04,-5.019454835e-03,5.750647699e-04,-1.110084102e-04,-5.018972119e-03,7.025472057e-01,-1.319893130e-04,8.551143997e-01,7.025446711e-01,-1.324198498e-04,8.551239910e-01,7.033201739e-01,-2.293023028e-04,8.253073295e-01

Part2/Fixed/digit/cylinder_0050_20/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+00,4.1708e-02,7.8552e-02,2.4776e+00,-4.2238e-02,3.9733e-02,9.3349e-05,2.6446e-04,-2.1398e-05,-1.4067e-04,1.1176e-06,1.9260e-05,1.1420e-07,3.0031e-04,1.9292e-05
+1,8.3333e-01,DOWN_FORCE_DETACH,1.7402e-04,5.2562e-02,7.7545e-02,2.4719e+00,-4.2186e-02,4.0526e-02,9.7929e-05,1.1119e-02,-1.0279e-03,-5.8951e-03,5.2623e-05,8.1151e-04,4.6943e-06,1.2627e-02,8.1322e-04
+2,1.4833e+00,DOWN_FORCE_DETACH,3.4709e-04,6.5788e-02,8.2541e-02,2.4869e+00,-4.2533e-02,4.1459e-02,1.0132e-04,2.4345e-02,3.9682e-03,9.1324e-03,-2.9462e-04,1.7451e-03,8.0826e-06,2.6302e-02,1.7698e-03
+3,2.1333e+00,DOWN_FORCE_DETACH,5.1984e-04,7.4715e-02,9.0786e-02,2.5104e+00,-4.3097e-02,4.2075e-02,1.0434e-04,3.3271e-02,1.2213e-02,3.2602e-02,-8.5782e-04,2.3612e-03,1.1107e-05,4.8156e-02,2.5122e-03
+4,2.5833e+00,DOWN_FORCE_DETACH,6.9307e-04,4.6249e-02,1.0511e-01,2.5269e+00,-4.4070e-02,4.0025e-02,1.0930e-04,4.8055e-03,2.6541e-02,4.9113e-02,-1.8315e-03,3.1116e-04,1.6063e-05,5.6032e-02,1.8578e-03
+5,3.3167e+00,DOWN_FORCE_DETACH,8.6743e-04,6.9544e-02,1.1096e-01,2.5516e+00,-4.4467e-02,4.1654e-02,1.1241e-04,2.8101e-02,3.2388e-02,7.3775e-02,-2.2279e-03,1.9402e-03,1.9173e-05,8.5331e-02,2.9544e-03
+6,3.9333e+00,DOWN_FORCE_DETACH,1.0378e-03,7.6049e-02,1.2303e-01,2.6140e+00,-4.5277e-02,4.2051e-02,1.1363e-04,3.4605e-02,4.4458e-02,1.3621e-01,-3.0377e-03,2.3370e-03,2.0399e-05,1.4740e-01,3.8327e-03
+7,4.6167e+00,DOWN_FORCE_DETACH,1.2151e-03,7.2566e-02,1.3788e-01,2.6337e+00,-4.6274e-02,4.1772e-02,1.1385e-04,3.1122e-02,5.9303e-02,1.5593e-01,-4.0356e-03,2.0581e-03,2.0613e-05,1.6971e-01,4.5302e-03
+8,5.2500e+00,DOWN_FORCE_DETACH,1.3861e-03,7.0569e-02,1.5396e-01,2.6846e+00,-4.7332e-02,4.1557e-02,1.1178e-04,2.9126e-02,7.5387e-02,2.0684e-01,-5.0935e-03,1.8427e-03,1.8546e-05,2.2207e-01,5.4166e-03
+9,5.6167e+00,DOWN_FORCE_DETACH,1.5591e-03,3.1792e-02,1.1826e-01,2.6962e+00,-4.4911e-02,3.8777e-02,1.0756e-04,-9.6512e-03,3.9682e-02,2.1840e-01,-2.6718e-03,-9.3717e-04,1.4325e-05,2.2219e-01,2.8315e-03
+10,6.1667e+00,DOWN_FORCE_DETACH,1.7289e-03,3.9839e-02,1.3291e-01,2.7254e+00,-4.5858e-02,3.9288e-02,1.0762e-04,-1.6047e-03,5.4341e-02,2.4765e-01,-3.6194e-03,-4.2626e-04,1.4383e-05,2.5355e-01,3.6445e-03
+11,6.7000e+00,DOWN_FORCE_DETACH,1.9076e-03,4.5477e-02,1.4748e-01,2.7716e+00,-4.6794e-02,3.9626e-02,1.0897e-04,4.0338e-03,6.8903e-02,2.9379e-01,-4.5550e-03,-8.8442e-05,1.5734e-05,3.0179e-01,4.5559e-03
+12,7.2000e+00,DOWN_FORCE_DETACH,2.0833e-03,3.8830e-02,1.5558e-01,2.8081e+00,-4.7308e-02,3.9117e-02,1.1257e-04,-2.6131e-03,7.7002e-02,3.3028e-01,-5.0691e-03,-5.9721e-04,1.9333e-05,3.3915e-01,5.1042e-03
+13,7.6833e+00,DOWN_FORCE_DETACH,2.2553e-03,3.3029e-02,1.5958e-01,2.8463e+00,-4.7539e-02,3.8649e-02,1.1873e-04,-8.4141e-03,8.1007e-02,3.6854e-01,-5.3001e-03,-1.0652e-03,2.5497e-05,3.7743e-01,5.4062e-03
+14,8.1500e+00,DOWN_FORCE_DETACH,2.4324e-03,2.7173e-02,1.6722e-01,2.8617e+00,-4.7995e-02,3.8173e-02,1.2911e-04,-1.4271e-02,8.8642e-02,3.8396e-01,-5.7558e-03,-1.5406e-03,3.5879e-05,3.9432e-01,5.9585e-03
+15,8.6000e+00,DOWN_FORCE_DETACH,2.6046e-03,2.2286e-02,1.8525e-01,2.9048e+00,-4.9132e-02,3.7753e-02,1.4372e-04,-1.9158e-02,1.0668e-01,4.2699e-01,-6.8935e-03,-1.9609e-03,5.0487e-05,4.4054e-01,7.1671e-03
+16,9.0000e+00,DOWN_FORCE_DETACH,2.7792e-03,1.7544e-02,1.8600e-01,2.9410e+00,-4.9116e-02,3.7361e-02,1.5370e-04,-2.3899e-02,1.0743e-01,4.6322e-01,-6.8774e-03,-2.3532e-03,6.0466e-05,4.7611e-01,7.2691e-03
+17,9.3833e+00,DOWN_FORCE_DETACH,2.9443e-03,1.5467e-02,2.0107e-01,2.9619e+00,-5.0065e-02,3.7169e-02,1.5965e-04,-2.5977e-02,1.2250e-01,4.8414e-01,-7.8266e-03,-2.5449e-03,6.6413e-05,5.0008e-01,8.2302e-03
+18,9.7667e+00,DOWN_FORCE_DETACH,3.1203e-03,5.5161e-03,2.1476e-01,2.9785e+00,-5.0912e-02,3.6437e-02,1.6493e-04,-3.5927e-02,1.3619e-01,5.0075e-01,-8.6730e-03,-3.2771e-03,7.1695e-05,5.2018e-01,9.2718e-03
+19,1.0167e+01,DOWN_FORCE_DETACH,3.2974e-03,6.8773e-03,2.2217e-01,3.0112e+00,-5.1303e-02,3.6455e-02,1.7207e-04,-3.4566e-02,1.4360e-01,5.3344e-01,-9.0644e-03,-3.2586e-03,7.8833e-05,5.5351e-01,9.6327e-03
+20,1.0533e+01,DOWN_FORCE_DETACH,3.4690e-03,7.9093e-03,2.2933e-01,3.0155e+00,-5.1697e-02,3.6497e-02,1.8093e-04,-3.3534e-02,1.5075e-01,5.3770e-01,-9.4578e-03,-3.2170e-03,8.7693e-05,5.5944e-01,9.9903e-03
+21,1.0950e+01,DOWN_FORCE_DETACH,3.6465e-03,1.1370e-02,2.3595e-01,3.0321e+00,-5.2060e-02,3.6708e-02,1.8656e-04,-3.0073e-02,1.5738e-01,5.5433e-01,-9.8211e-03,-3.0059e-03,9.3324e-05,5.7702e-01,1.0271e-02
+22,1.1383e+01,DOWN_FORCE_DETACH,3.8113e-03,1.1581e-02,2.4499e-01,3.0174e+00,-5.2534e-02,3.6726e-02,1.9019e-04,-2.9862e-02,1.6641e-01,5.3962e-01,-1.0295e-02,-2.9877e-03,9.6952e-05,5.6548e-01,1.0721e-02
+23,1.1833e+01,DOWN_FORCE_DETACH,3.9906e-03,1.3249e-02,2.3883e-01,3.0212e+00,-5.2023e-02,3.6858e-02,1.9023e-04,-2.8195e-02,1.6025e-01,5.4345e-01,-9.7847e-03,-2.8565e-03,9.6993e-05,5.6729e-01,1.0194e-02
+24,1.2233e+01,DOWN_FORCE_DETACH,4.1621e-03,2.4229e-02,2.3736e-01,3.0200e+00,-5.1886e-02,3.7600e-02,1.9000e-04,-1.7215e-02,1.5879e-01,5.4221e-01,-9.6471e-03,-2.1142e-03,9.6767e-05,5.6524e-01,9.8765e-03
+25,1.2683e+01,DOWN_FORCE_DETACH,4.3326e-03,2.2834e-02,2.3951e-01,3.0086e+00,-5.1957e-02,3.7528e-02,1.8875e-04,-1.8609e-02,1.6094e-01,5.3081e-01,-9.7181e-03,-2.1865e-03,9.5511e-05,5.5498e-01,9.9615e-03
+26,1.3150e+01,DOWN_FORCE_DETACH,4.5125e-03,2.4129e-02,2.4430e-01,2.9859e+00,-5.2208e-02,3.7640e-02,1.8855e-04,-1.7314e-02,1.6572e-01,5.0817e-01,-9.9696e-03,-2.0738e-03,9.5320e-05,5.3479e-01,1.0183e-02
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+36,1.9250e+01,DOWN_FORCE_DETACH,6.2440e-03,7.8845e-02,2.5528e-01,2.6638e+00,-5.3128e-02,4.1819e-02,1.9368e-04,3.7402e-02,1.7671e-01,1.8602e-01,-1.0890e-02,2.1048e-03,1.0045e-04,2.5928e-01,1.1092e-02
+37,2.0083e+01,DOWN_FORCE_DETACH,6.4175e-03,8.8266e-02,2.5244e-01,2.6181e+00,-5.3067e-02,4.2531e-02,1.8389e-04,4.6822e-02,1.7386e-01,1.4028e-01,-1.0828e-02,2.8171e-03,9.0651e-05,2.2825e-01,1.1189e-02
+38,2.0950e+01,DOWN_FORCE_DETACH,6.5927e-03,9.3369e-02,2.5022e-01,2.5687e+00,-5.3023e-02,4.2947e-02,1.7233e-04,5.1925e-02,1.7165e-01,9.0968e-02,-1.0784e-02,3.2332e-03,7.9096e-05,2.0108e-01,1.1259e-02
+39,2.1733e+01,DOWN_FORCE_DETACH,6.7628e-03,9.7013e-02,2.4868e-01,2.5407e+00,-5.3003e-02,4.3239e-02,1.6335e-04,5.5570e-02,1.7011e-01,6.2941e-02,-1.0764e-02,3.5254e-03,7.0119e-05,1.8970e-01,1.1327e-02
+40,2.2517e+01,DOWN_FORCE_DETACH,6.9355e-03,9.9756e-02,2.4717e-01,2.5204e+00,-5.2982e-02,4.3460e-02,1.5544e-04,5.8312e-02,1.6860e-01,4.2642e-02,-1.0743e-02,3.7459e-03,6.2205e-05,1.8342e-01,1.1378e-02
+41,2.3400e+01,DOWN_FORCE_DETACH,7.1099e-03,1.0202e-01,2.4554e-01,2.5035e+00,-5.2962e-02,4.3643e-02,1.4719e-04,6.0581e-02,1.6696e-01,2.5754e-02,-1.0723e-02,3.9291e-03,5.3960e-05,1.7947e-01,1.1421e-02
+42,2.4300e+01,DOWN_FORCE_DETACH,7.2843e-03,1.0745e-01,2.3881e-01,2.5015e+00,-5.2589e-02,4.4019e-02,1.3688e-04,6.6003e-02,1.6024e-01,2.3669e-02,-1.0350e-02,4.3046e-03,4.3644e-05,1.7491e-01,1.1210e-02
+43,2.5117e+01,DOWN_FORCE_DETACH,7.4597e-03,1.0711e-01,2.3744e-01,2.4885e+00,-5.2572e-02,4.4017e-02,1.2980e-04,6.5670e-02,1.5887e-01,1.0688e-02,-1.0333e-02,4.3033e-03,3.6563e-05,1.7224e-01,1.1193e-02
+44,2.5867e+01,DOWN_FORCE_DETACH,7.6315e-03,1.0698e-01,2.3620e-01,2.4793e+00,-5.2555e-02,4.4024e-02,1.2413e-04,6.5541e-02,1.5763e-01,1.5135e-03,-1.0316e-02,4.3102e-03,3.0892e-05,1.7072e-01,1.1180e-02
+45,2.6583e+01,DOWN_FORCE_DETACH,7.8030e-03,1.1030e-01,2.4111e-01,2.5014e+00,-5.2914e-02,4.4219e-02,1.1939e-04,6.8856e-02,1.6254e-01,2.3585e-02,-1.0675e-02,4.5047e-03,2.6157e-05,1.7809e-01,1.1587e-02
+46,2.7300e+01,DOWN_FORCE_DETACH,7.9788e-03,1.0437e-01,2.4014e-01,2.5172e+00,-5.2869e-02,4.3791e-02,1.1648e-04,6.2931e-02,1.6156e-01,3.9389e-02,-1.0630e-02,4.0773e-03,2.3242e-05,1.7780e-01,1.1385e-02
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+48,2.8783e+01,DOWN_FORCE_DETACH,8.3273e-03,1.0098e-01,2.5865e-01,2.5874e+00,-5.4023e-02,4.3446e-02,1.1871e-04,5.9534e-02,1.8008e-01,1.0966e-01,-1.1784e-02,3.7321e-03,2.5480e-05,2.1908e-01,1.2361e-02
+49,2.9433e+01,DOWN_FORCE_DETACH,8.4966e-03,9.7040e-02,2.7004e-01,2.5972e+00,-5.4730e-02,4.3151e-02,1.1784e-04,5.5597e-02,1.9146e-01,1.1938e-01,-1.2491e-02,3.4373e-03,2.4601e-05,2.3238e-01,1.2955e-02
+50,3.0133e+01,DOWN_FORCE_DETACH,8.6719e-03,9.3216e-02,2.6999e-01,2.6144e+00,-5.4673e-02,4.2852e-02,1.1502e-04,5.1772e-02,1.9142e-01,1.3665e-01,-1.2434e-02,3.1380e-03,2.1785e-05,2.4082e-01,1.2824e-02
+51,3.0817e+01,DOWN_FORCE_DETACH,8.8468e-03,8.9601e-02,2.6224e-01,2.6179e+00,-5.4107e-02,4.2589e-02,1.1236e-04,4.8157e-02,1.8367e-01,1.4009e-01,-1.1868e-02,2.8751e-03,1.9123e-05,2.3596e-01,1.2212e-02
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+53,3.2133e+01,DOWN_FORCE_DETACH,9.1915e-03,8.6250e-02,2.5365e-01,2.6218e+00,-5.3440e-02,4.2360e-02,1.2175e-04,4.4807e-02,1.7508e-01,1.4397e-01,-1.1201e-02,2.6457e-03,2.8513e-05,2.3106e-01,1.1509e-02
+54,3.2800e+01,DOWN_FORCE_DETACH,9.3656e-03,8.6540e-02,2.6989e-01,2.6413e+00,-5.4470e-02,4.2375e-02,1.3408e-04,4.5097e-02,1.9132e-01,1.6348e-01,-1.2231e-02,2.6614e-03,4.0848e-05,2.5565e-01,1.2517e-02
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Part2/Fixed/digit/cylinder_0050_20/press_depth_09/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 604160

Part2/Fixed/digit/cylinder_0050_20/press_depth_09/up/franka_data.csv

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+13791,1792825650533469834,4329956000000,1792825650525889318,UP_FORCE_RAMP,9,0.07,0.070001982152462,0.6758776207901697,-0.004759089145569266,0.09980260751369815,0.9999999217979632,-3.6244558034302924e-05,-0.0003816986138047867,2.8972954028167785e-05,0.6761,-0.0045,0.10032535465466343,1.0,0.0,0.0,0.0,0.9826994260310495,0.9922034920675542,-0.6401967740558334,0.062107141579991226,-0.061340826443891466,0.0002900601479058195,1.1012398904654668,0.7444109080160538,-0.19650476393701416,0.06514452391382136,-0.06808101084527964,0.002024432276562698,0.11854046443441725,-0.2477925840515004,0.44369201011881926,0.003037382333830135,-0.006740184401388171,0.0017343721286568786,1,-0.9179750943129,1.5827502671365028,3.1725052394594266,-0.5208441873014243,-2.2074677449693096,0.9210458452592533,-1.0985171920661467,0.6401967740558334,-4.271022431525573,0.6401967740558334,0.74,0,0,7.906164290682086e-05,-9.292307824145722e-05
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Part2/Fixed/digit/cylinder_0050_20/press_depth_09/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+8,7.666666667e-01,WAIT_W2,1792825645225292439,1.413852087e-06,-1.305862252e-04,8.767018645e-06,1.395330463e-06,-1.303900169e-04,8.785912663e-06,1.668603967e-06,-1.312979542e-04,8.646624482e-06,7.019570835e-01,-1.526741366e-04,8.601522129e-01,7.019570650e-01,-1.524779283e-04,8.601522318e-01,7.027467777e-01,-2.495918511e-04,8.303349482e-01
+9,7.833333333e-01,WAIT_W2,1792825645241587639,3.811862436e-07,-1.875586839e-04,1.158347531e-05,3.268350166e-07,-1.875571781e-04,1.140533480e-05,5.743644280e-07,-1.888873650e-04,1.135459392e-05,7.019560508e-01,-2.096465954e-04,8.601550293e-01,7.019559965e-01,-2.096450895e-04,8.601548512e-01,7.027456835e-01,-3.071812619e-04,8.303376562e-01
+10,7.833333333e-01,WAIT_W2,1792825645241587639,3.811862436e-07,-1.875586839e-04,1.158347531e-05,3.268350166e-07,-1.875571781e-04,1.140533480e-05,5.743644280e-07,-1.888873650e-04,1.135459392e-05,7.019560508e-01,-2.096465954e-04,8.601550293e-01,7.019559965e-01,-2.096450895e-04,8.601548512e-01,7.027456835e-01,-3.071812619e-04,8.303376562e-01
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+12,8.333333333e-01,WAIT_W2,1792825645290523405,-7.464223029e-06,-2.878733955e-04,6.793711045e-06,-5.406595688e-06,-2.790674165e-04,8.560397310e-06,-5.624552543e-06,-2.810531845e-04,8.509806615e-06,7.019482054e-01,-3.099613069e-04,8.601502396e-01,7.019502630e-01,-3.011553279e-04,8.601520062e-01,7.027394846e-01,-3.993470814e-04,8.303348114e-01
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+26,2.416666667e+00,UP_FORCE_RAMP,1792825646896327114,-5.193378157e-05,-3.214317394e-04,-3.640154145e-05,-5.005409571e-05,-3.283927423e-04,-3.234218031e-05,-5.413311308e-05,-3.308450407e-04,-3.235388391e-05,7.019037358e-01,-3.435196508e-04,8.601070443e-01,7.019056155e-01,-3.504806537e-04,8.601111037e-01,7.026909760e-01,-4.491389376e-04,8.302939477e-01
+27,2.650000000e+00,UP_FORCE_RAMP,1792825647142160082,-5.401950068e-05,-3.184377413e-04,-3.721526864e-05,-5.005409571e-05,-3.283927423e-04,-3.234218031e-05,-5.413693814e-05,-3.308591291e-04,-3.236030080e-05,7.019016501e-01,-3.405256527e-04,8.601062306e-01,7.019056155e-01,-3.504806537e-04,8.601111037e-01,7.026909722e-01,-4.491530260e-04,8.302939413e-01
+28,2.800000000e+00,UP_FORCE_RAMP,1792825647289387416,-7.070431642e-05,-3.225199695e-04,-4.100537929e-05,-7.064813982e-05,-3.224523695e-04,-4.120373536e-05,-7.639315269e-05,-3.249068948e-04,-4.122140838e-05,7.018849653e-01,-3.446078810e-04,8.601024405e-01,7.018850215e-01,-3.445402809e-04,8.601022421e-01,7.026687160e-01,-4.432007917e-04,8.302850802e-01
+29,2.883333333e+00,UP_FORCE_RAMP,1792825647388057093,-8.638881900e-05,-3.205018303e-04,-4.201718050e-05,-8.979361592e-05,-3.197058248e-04,-4.617599716e-05,-9.700121945e-05,-3.221503914e-04,-4.619731074e-05,7.018692808e-01,-3.425897417e-04,8.601014287e-01,7.018658760e-01,-3.417937362e-04,8.600972698e-01,7.026481079e-01,-4.404442883e-04,8.302801043e-01
+30,3.016666667e+00,UP_FORCE_RAMP,1792825647518037088,-8.325371062e-05,-3.201943687e-04,-3.510591968e-05,-8.979361592e-05,-3.197058248e-04,-4.617599716e-05,-9.702424512e-05,-3.221543953e-04,-4.620973186e-05,7.018724159e-01,-3.422822801e-04,8.601083399e-01,7.018658760e-01,-3.417937362e-04,8.600972698e-01,7.026480849e-01,-4.404482922e-04,8.302800919e-01
+31,3.200000000e+00,UP_FORCE_RAMP,1792825647699014346,-8.227193001e-05,-3.193888499e-04,-2.846666531e-05,-8.979361592e-05,-3.197058248e-04,-4.617599716e-05,-9.704715460e-05,-3.221603899e-04,-4.622366915e-05,7.018733977e-01,-3.414767613e-04,8.601149792e-01,7.018658760e-01,-3.417937362e-04,8.600972698e-01,7.026480620e-01,-4.404542868e-04,8.302800779e-01
+32,3.383333333e+00,UP_FORCE_RAMP,1792825647929219634,-7.712192254e-05,-3.202427196e-04,-9.620313975e-06,-8.246419971e-05,-3.208231099e-04,-2.661026000e-05,-8.898534528e-05,-3.232604743e-04,-2.678037511e-05,7.018785477e-01,-3.423306310e-04,8.601338255e-01,7.018732054e-01,-3.429110213e-04,8.601168356e-01,7.026561238e-01,-4.415543712e-04,8.302995212e-01
+33,3.533333333e+00,UP_FORCE_RAMP,1792825648075788288,-7.534294497e-05,-3.140595584e-04,4.826645454e-06,-7.712573675e-05,-3.121528281e-04,-7.893929242e-06,-8.304799687e-05,-3.145872074e-04,-8.114266559e-06,7.018803267e-01,-3.361474698e-04,8.601482725e-01,7.018785439e-01,-3.342407395e-04,8.601355519e-01,7.026620611e-01,-4.328811043e-04,8.303181873e-01
+34,3.733333333e+00,UP_FORCE_RAMP,1792825648271790387,-7.321543927e-05,-3.159318081e-04,2.252064874e-05,-7.338453842e-05,-3.161419245e-04,1.295952802e-05,-7.874474258e-05,-3.185893048e-04,1.266052347e-05,7.018824542e-01,-3.380197195e-04,8.601659665e-01,7.018822851e-01,-3.382298359e-04,8.601564054e-01,7.026663644e-01,-4.368832017e-04,8.303389621e-01
+35,3.833333333e+00,UP_FORCE_RAMP,1792825648370054544,-7.050761335e-05,-3.133230173e-04,3.645980127e-05,-6.977718211e-05,-3.194872344e-04,3.351301800e-05,-7.463733363e-05,-3.219953529e-04,3.313657525e-05,7.018851620e-01,-3.354109287e-04,8.601799056e-01,7.018858924e-01,-3.415751458e-04,8.601769589e-01,7.026704718e-01,-4.402892498e-04,8.303594382e-01
+36,3.950000000e+00,UP_FORCE_RAMP,1792825648484539896,-6.628188360e-05,-3.108805477e-04,5.544195826e-05,-6.622637772e-05,-3.110036187e-04,5.543874478e-05,-7.055084454e-05,-3.134429633e-04,5.494423184e-05,7.018893877e-01,-3.329684591e-04,8.601988878e-01,7.018894432e-01,-3.330915301e-04,8.601988846e-01,7.026745583e-01,-4.317368602e-04,8.303812458e-01
+37,4.066666667e+00,UP_FORCE_RAMP,1792825648599318813,-6.326763519e-05,-3.127785137e-04,7.320572035e-05,-6.622637772e-05,-3.110036187e-04,5.543874478e-05,-7.054464461e-05,-3.134407276e-04,5.497560882e-05,7.018924020e-01,-3.348664251e-04,8.602166516e-01,7.018894432e-01,-3.330915301e-04,8.601988846e-01,7.026745645e-01,-4.317346245e-04,8.303812772e-01
+38,4.200000000e+00,UP_FORCE_RAMP,1792825648730341657,-6.455230351e-05,-3.136323571e-04,8.530943552e-05,-6.232891311e-05,-3.120279413e-04,7.635278376e-05,-6.608762493e-05,-3.144888310e-04,7.585791139e-05,7.018911173e-01,-3.357202685e-04,8.602287553e-01,7.018933407e-01,-3.341158527e-04,8.602197986e-01,7.026790215e-01,-4.327827279e-04,8.304021595e-01
+39,4.400000000e+00,UP_FORCE_RAMP,1792825648927130796,-6.621857960e-05,-3.099364403e-04,9.698871369e-05,-6.312491413e-05,-3.077069019e-04,9.591968203e-05,-6.672265852e-05,-3.101468032e-04,9.536109270e-05,7.018894510e-01,-3.320243517e-04,8.602404346e-01,7.018925447e-01,-3.297948133e-04,8.602393655e-01,7.026783865e-01,-4.284407000e-04,8.304216627e-01
+40,4.566666667e+00,UP_FORCE_RAMP,1792825649107522075,-6.860601249e-05,-3.073696020e-04,1.057887082e-04,-6.312491413e-05,-3.077069019e-04,9.591968203e-05,-6.672024935e-05,-3.101534822e-04,9.539852483e-05,7.018870636e-01,-3.294575134e-04,8.602492346e-01,7.018925447e-01,-3.297948133e-04,8.602393655e-01,7.026783889e-01,-4.284473791e-04,8.304217001e-01
+41,4.733333333e+00,UP_FORCE_RAMP,1792825649287168665,-7.264203584e-05,-3.063494219e-04,1.133566929e-04,-6.312491413e-05,-3.077069019e-04,9.591968203e-05,-6.671813922e-05,-3.101598107e-04,9.542791044e-05,7.018830276e-01,-3.284373333e-04,8.602568025e-01,7.018925447e-01,-3.297948133e-04,8.602393655e-01,7.026783910e-01,-4.284537076e-04,8.304217295e-01
+42,4.883333333e+00,UP_FORCE_RAMP,1792825649434406126,-7.330608713e-05,-3.101227640e-04,1.217328268e-04,-7.091987820e-05,-3.085994965e-04,1.175235805e-04,-7.482297665e-05,-3.110935456e-04,1.169631110e-04,7.018823635e-01,-3.322106754e-04,8.602651787e-01,7.018847497e-01,-3.306874079e-04,8.602609694e-01,7.026702862e-01,-4.293874425e-04,8.304432647e-01
+43,5.083333333e+00,UP_FORCE_RAMP,1792825649664243736,-7.445597844e-05,-3.044804705e-04,1.329759122e-04,-7.091987820e-05,-3.085994965e-04,1.175235805e-04,-7.482511661e-05,-3.111008336e-04,1.170020695e-04,7.018812136e-01,-3.265683820e-04,8.602764218e-01,7.018847497e-01,-3.306874079e-04,8.602609694e-01,7.026702840e-01,-4.293947305e-04,8.304433037e-01
+44,5.233333333e+00,UP_FORCE_RAMP,1792825649811338502,-7.622762274e-05,-3.061276522e-04,1.369758636e-04,-7.359801083e-05,-3.063763121e-04,1.375539235e-04,-7.746727455e-05,-3.088383255e-04,1.369605306e-04,7.018794420e-01,-3.282155636e-04,8.602804217e-01,7.018820716e-01,-3.284642235e-04,8.602809998e-01,7.026676419e-01,-4.271322224e-04,8.304632621e-01
+45,5.366666667e+00,UP_FORCE_RAMP,1792825649942577370,-7.821896934e-05,-3.037149604e-04,1.435554332e-04,-7.359801083e-05,-3.063763121e-04,1.375539235e-04,-7.746872413e-05,-3.088427586e-04,1.369886662e-04,7.018774507e-01,-3.258028718e-04,8.602870013e-01,7.018820716e-01,-3.284642235e-04,8.602809998e-01,7.026676404e-01,-4.271366555e-04,8.304632903e-01
+46,5.500000000e+00,UP_FORCE_RAMP,1792825650074034556,-7.765461450e-05,-3.068822439e-04,1.537045065e-04,-7.359801083e-05,-3.063763121e-04,1.375539235e-04,-7.746978092e-05,-3.088469050e-04,1.370128583e-04,7.018780150e-01,-3.289701553e-04,8.602971504e-01,7.018820716e-01,-3.284642235e-04,8.602809998e-01,7.026676394e-01,-4.271408019e-04,8.304633144e-01
+47,5.683333333e+00,UP_FORCE_RAMP,1792825650253715876,-7.908278967e-05,-3.053033122e-04,1.640762886e-04,-7.751919368e-05,-3.039538119e-04,1.588283353e-04,-8.139027238e-05,-3.064035722e-04,1.581867895e-04,7.018765868e-01,-3.273912236e-04,8.603075221e-01,7.018781504e-01,-3.260417233e-04,8.603022742e-01,7.026637189e-01,-4.246974691e-04,8.304844884e-01
+48,5.866666667e+00,UP_FORCE_RAMP,1792825650434898621,-8.052781580e-05,-2.997630294e-04,1.737625555e-04,-7.751919368e-05,-3.039538119e-04,1.588283353e-04,-8.139291287e-05,-3.064089057e-04,1.582245932e-04,7.018751418e-01,-3.218509408e-04,8.603172084e-01,7.018781504e-01,-3.260417233e-04,8.603022742e-01,7.026637162e-01,-4.247028026e-04,8.304845262e-01
+49,5.966666667e+00,UP_FORCE_RAMP,1792825650532059938,-8.006245467e-05,-3.075757306e-04,1.797149713e-04,-7.862363184e-05,-3.023055239e-04,1.818536846e-04,-8.227010048e-05,-3.047525608e-04,1.812021139e-04,7.018756072e-01,-3.296636420e-04,8.603231608e-01,7.018770460e-01,-3.243934353e-04,8.603252995e-01,7.026628390e-01,-4.230464577e-04,8.305075037e-01
+50,6.100000000e+00,UP_FORCE_RAMP,1792825650663264346,-8.034899276e-05,-3.061137186e-04,1.898997055e-04,-7.862363184e-05,-3.023055239e-04,1.818536846e-04,-8.227152232e-05,-3.047565043e-04,1.812388732e-04,7.018753206e-01,-3.282016300e-04,8.603333456e-01,7.018770460e-01,-3.243934353e-04,8.603252995e-01,7.026628376e-01,-4.230504012e-04,8.305075405e-01
+51,6.216666667e+00,UP_FORCE_RAMP,1792825650777704471,-7.940727612e-05,-3.032907776e-04,1.992225375e-04,-7.862363184e-05,-3.023055239e-04,1.818536846e-04,-8.227260894e-05,-3.047597793e-04,1.812642163e-04,7.018762623e-01,-3.253786890e-04,8.603426684e-01,7.018770460e-01,-3.243934353e-04,8.603252995e-01,7.026628365e-01,-4.230536762e-04,8.305075658e-01
+52,6.333333333e+00,UP_FORCE_HOLD,1792825650892521305,-7.860065586e-05,-2.991618008e-04,2.089922367e-04,-7.628356089e-05,-2.982107368e-04,2.027564094e-04,-7.954603119e-05,-3.006497112e-04,2.020471083e-04,7.018770690e-01,-3.212497122e-04,8.603524381e-01,7.018793861e-01,-3.202986482e-04,8.603462023e-01,7.026655631e-01,-4.189436081e-04,8.305283487e-01
+53,6.500000000e+00,UP_FORCE_HOLD,1792825651056583247,-7.504984972e-05,-3.019773377e-04,2.254156779e-04,-7.498732930e-05,-3.017203396e-04,2.257400410e-04,-7.780665773e-05,-3.042079422e-04,2.249888267e-04,7.018806198e-01,-3.240652491e-04,8.603688615e-01,7.018806823e-01,-3.238082510e-04,8.603691859e-01,7.026673025e-01,-4.225018391e-04,8.305512904e-01
+54,6.633333333e+00,UP_SETTLE,1792825651187430286,-7.801100833e-05,-3.001667316e-04,2.296356875e-04,-7.498732930e-05,-3.017203396e-04,2.257400410e-04,-7.780397371e-05,-3.042154020e-04,2.250416671e-04,7.018776586e-01,-3.222546430e-04,8.603730815e-01,7.018806823e-01,-3.238082510e-04,8.603691859e-01,7.026673052e-01,-4.225092989e-04,8.305513433e-01
+55,6.800000000e+00,UP_SETTLE,1792825651351097499,-7.972590895e-05,-3.021645897e-04,2.339900481e-04,-7.498732930e-05,-3.017203396e-04,2.257400410e-04,-7.780272051e-05,-3.042206490e-04,2.250849748e-04,7.018759437e-01,-3.242525011e-04,8.603774359e-01,7.018806823e-01,-3.238082510e-04,8.603691859e-01,7.026673064e-01,-4.225145459e-04,8.305513866e-01
+56,6.983333333e+00,UP_SETTLE,1792825651531504020,-8.068136627e-05,-3.029360963e-04,2.384161267e-04,-7.498732930e-05,-3.017203396e-04,2.257400410e-04,-7.780180348e-05,-3.042255282e-04,2.251258104e-04,7.018749883e-01,-3.250240077e-04,8.603818620e-01,7.018806823e-01,-3.238082510e-04,8.603691859e-01,7.026673073e-01,-4.225194251e-04,8.305514274e-01
+57,7.116666667e+00,UP_SETTLE,1792825651662071660,-8.144354988e-05,-3.012641087e-04,2.411459277e-04,-7.498732930e-05,-3.017203396e-04,2.257400410e-04,-7.780131251e-05,-3.042286317e-04,2.251525749e-04,7.018742261e-01,-3.233520201e-04,8.603845918e-01,7.018806823e-01,-3.238082510e-04,8.603691859e-01,7.026673078e-01,-4.225225286e-04,8.305514542e-01
+58,7.266666667e+00,UP_SETTLE,1792825651809518338,-8.203250776e-05,-3.019479243e-04,2.441183715e-04,-7.971005979e-05,-3.007880853e-04,2.458750270e-04,-8.274290006e-05,-3.032571932e-04,2.452217003e-04,7.018736371e-01,-3.240358357e-04,8.603875642e-01,7.018759596e-01,-3.228759967e-04,8.603893209e-01,7.026623662e-01,-4.215510901e-04,8.305715233e-01
+59,7.366666667e+00,UP_SETTLE,1792825651908084765,-8.324298259e-05,-2.984424040e-04,2.452795759e-04,-7.971005979e-05,-3.007880853e-04,2.458750270e-04,-8.274419966e-05,-3.032594467e-04,2.452462994e-04,7.018724266e-01,-3.205303154e-04,8.603887254e-01,7.018759596e-01,-3.228759967e-04,8.603893209e-01,7.026623649e-01,-4.215533436e-04,8.305715479e-01

Part2/Fixed/digit/cylinder_0050_20/press_depth_09/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+00,4.1713e-02,7.8551e-02,2.4776e+00,-4.2238e-02,3.9734e-02,9.3347e-05,2.6443e-04,-2.1398e-05,-1.4067e-04,1.1176e-06,1.9263e-05,1.1409e-07,3.0028e-04,1.9296e-05
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.5333e-05,4.4477e-02,7.8317e-02,2.4762e+00,-4.2226e-02,3.9935e-02,9.4510e-05,3.0292e-03,-2.5488e-04,-1.6026e-03,1.3258e-05,2.2073e-04,1.2773e-06,3.4365e-03,2.2113e-04
+2,3.8333e-01,WAIT_W2,7.4672e-05,4.7225e-02,7.8069e-02,2.4747e+00,-4.2213e-02,4.0136e-02,9.5639e-05,5.7772e-03,-5.0335e-04,-3.0541e-03,2.6051e-05,4.2119e-04,2.4068e-06,6.5542e-03,4.2200e-04
+3,5.5000e-01,WAIT_W2,1.0689e-04,4.9329e-02,7.7869e-02,2.4736e+00,-4.2203e-02,4.0289e-02,9.6515e-05,7.8808e-03,-7.0320e-04,-4.1695e-03,3.6240e-05,5.7480e-04,3.2824e-06,8.9435e-03,5.7595e-04
+4,7.0000e-01,WAIT_W2,1.4485e-04,5.1093e-02,7.7695e-02,2.4727e+00,-4.2194e-02,4.0418e-02,9.7270e-05,9.6444e-03,-8.7743e-04,-5.1060e-03,4.5061e-05,7.0371e-04,4.0376e-06,1.0948e-02,7.0517e-04
+5,7.3333e-01,WAIT_W2,1.6350e-04,5.1469e-02,7.7657e-02,2.4725e+00,-4.2192e-02,4.0446e-02,9.7436e-05,1.0021e-02,-9.1542e-04,-5.3072e-03,4.6980e-05,7.3122e-04,4.2030e-06,1.1376e-02,7.3274e-04
+6,7.5000e-01,WAIT_W2,2.0823e-04,5.5019e-02,1.1663e-01,2.4743e+00,-4.4819e-02,4.0687e-02,1.0265e-04,1.3571e-02,3.8055e-02,-3.4995e-03,-2.5802e-03,9.7233e-04,9.4132e-06,4.0554e-02,2.7574e-03
+7,7.6667e-01,WAIT_W2,2.7195e-04,5.3640e-02,1.9543e-01,2.4701e+00,-5.0133e-02,4.0595e-02,1.1336e-04,1.2192e-02,1.1686e-01,-7.6556e-03,-7.8943e-03,8.8099e-04,2.0123e-05,1.1774e-01,7.9433e-03
+8,7.6667e-01,WAIT_W2,2.7195e-04,5.3640e-02,1.9543e-01,2.4701e+00,-5.0133e-02,4.0595e-02,1.1336e-04,1.2192e-02,1.1686e-01,-7.6556e-03,-7.8943e-03,8.8099e-04,2.0123e-05,1.1774e-01,7.9433e-03
+9,7.8333e-01,WAIT_W2,3.2900e-04,5.3551e-02,3.0498e-01,2.4652e+00,-5.7529e-02,4.0584e-02,1.2825e-04,1.2103e-02,2.2640e-01,-1.2621e-02,-1.5290e-02,8.6940e-04,3.5015e-05,2.2708e-01,1.5315e-02
+10,7.8333e-01,WAIT_W2,3.2900e-04,5.3551e-02,3.0498e-01,2.4652e+00,-5.7529e-02,4.0584e-02,1.2825e-04,1.2103e-02,2.2640e-01,-1.2621e-02,-1.5290e-02,8.6940e-04,3.5015e-05,2.2708e-01,1.5315e-02
+11,8.0000e-01,WAIT_W2,3.9597e-04,5.6590e-02,4.0465e-01,2.4643e+00,-6.4268e-02,4.0784e-02,1.4104e-04,1.5141e-02,3.2608e-01,-1.3462e-02,-2.2029e-02,1.0696e-03,4.7803e-05,3.2670e-01,2.2055e-02
+12,8.3333e-01,WAIT_W2,4.3061e-04,6.5808e-02,5.6327e-01,2.4725e+00,-7.5003e-02,4.1410e-02,1.6036e-04,2.4360e-02,4.8470e-01,-5.2428e-03,-3.2765e-02,1.6955e-03,6.7124e-05,4.8534e-01,3.2808e-02
+13,8.6667e-01,WAIT_W2,4.8057e-04,6.6066e-02,5.5913e-01,2.4740e+00,-7.4754e-02,4.1438e-02,1.5962e-04,2.4618e-02,4.8055e-01,-3.8042e-03,-3.2515e-02,1.7232e-03,6.6389e-05,4.8120e-01,3.2561e-02
+14,9.0000e-01,WAIT_W2,5.0774e-04,1.0281e-01,5.5824e-01,2.5086e+00,-7.4685e-02,4.4023e-02,1.4686e-04,6.1362e-02,4.7967e-01,3.0813e-02,-3.2446e-02,4.3086e-03,5.3629e-05,4.8456e-01,3.2731e-02
+15,9.3333e-01,WAIT_W2,5.3922e-04,1.1267e-01,5.8539e-01,2.5260e+00,-7.6518e-02,4.4701e-02,1.4592e-04,7.1222e-02,5.0682e-01,4.8217e-02,-3.4279e-02,4.9867e-03,5.2691e-05,5.1406e-01,3.4640e-02
+16,1.0167e+00,WAIT_W2,5.7176e-04,9.5092e-02,6.0082e-01,2.5027e+00,-7.7632e-02,4.3482e-02,1.5183e-04,5.3644e-02,5.2225e-01,2.4942e-02,-3.5393e-02,3.7672e-03,5.8599e-05,5.2559e-01,3.5593e-02
+17,1.1167e+00,WAIT_W2,6.1508e-04,9.4478e-02,5.9839e-01,2.5023e+00,-7.7518e-02,4.3443e-02,1.5069e-04,5.3030e-02,5.1981e-01,2.4539e-02,-3.5279e-02,3.7285e-03,5.7459e-05,5.2309e-01,3.5476e-02
+18,1.2333e+00,WAIT_W2,6.4384e-04,1.0870e-01,6.0299e-01,2.5167e+00,-7.7859e-02,4.4446e-02,1.4337e-04,6.7247e-02,5.2441e-01,3.8943e-02,-3.5620e-02,4.7315e-03,5.0133e-05,5.3014e-01,3.5933e-02
+19,1.3833e+00,WAIT_W2,6.7934e-04,1.0680e-01,6.0052e-01,2.5145e+00,-7.7750e-02,4.4320e-02,1.4076e-04,6.5355e-02,5.2195e-01,3.6728e-02,-3.5511e-02,4.6053e-03,4.7523e-05,5.2730e-01,3.5809e-02
+20,1.5500e+00,UP_FORCE_RAMP,7.1599e-04,1.0523e-01,5.9809e-01,2.5125e+00,-7.7645e-02,4.4215e-02,1.3815e-04,6.3779e-02,5.1952e-01,3.4742e-02,-3.5406e-02,4.5006e-03,4.4917e-05,5.2457e-01,3.5691e-02
+21,1.7167e+00,UP_FORCE_RAMP,7.5077e-04,1.0394e-01,5.9588e-01,2.5107e+00,-7.7550e-02,4.4130e-02,1.3570e-04,6.2493e-02,5.1731e-01,3.2932e-02,-3.5312e-02,4.4155e-03,4.2472e-05,5.2211e-01,3.5587e-02
+22,1.8833e+00,UP_FORCE_RAMP,7.8833e-04,1.0285e-01,5.9384e-01,2.5090e+00,-7.7464e-02,4.4058e-02,1.3340e-04,6.1404e-02,5.1527e-01,3.1203e-02,-3.5225e-02,4.3437e-03,4.0164e-05,5.1985e-01,3.5492e-02
+23,2.0667e+00,UP_FORCE_RAMP,8.2504e-04,1.0181e-01,5.9174e-01,2.5071e+00,-7.7375e-02,4.3990e-02,1.3103e-04,6.0365e-02,5.1317e-01,2.9362e-02,-3.5136e-02,4.2755e-03,3.7795e-05,5.1754e-01,3.5395e-02
+24,2.1667e+00,UP_FORCE_RAMP,8.6190e-04,1.0131e-01,5.9065e-01,2.5062e+00,-7.7329e-02,4.3957e-02,1.2979e-04,5.9859e-02,5.1208e-01,2.8377e-02,-3.5091e-02,4.2423e-03,3.6562e-05,5.1635e-01,3.5346e-02
+25,2.2833e+00,UP_FORCE_RAMP,8.9719e-04,1.0076e-01,5.8943e-01,2.5050e+00,-7.7278e-02,4.3921e-02,1.2840e-04,5.9314e-02,5.1086e-01,2.7244e-02,-3.5039e-02,4.2068e-03,3.5168e-05,5.1502e-01,3.5291e-02
+26,2.4167e+00,UP_FORCE_RAMP,9.2958e-04,9.9631e-02,6.2337e-01,2.4999e+00,-7.9615e-02,4.3845e-02,1.3158e-04,5.8183e-02,5.4479e-01,2.2081e-02,-3.7376e-02,4.1309e-03,3.8343e-05,5.4834e-01,3.7604e-02
+27,2.6500e+00,UP_FORCE_RAMP,9.6901e-04,9.8972e-02,6.2071e-01,2.4987e+00,-7.9502e-02,4.3803e-02,1.2882e-04,5.7524e-02,5.4214e-01,2.0966e-02,-3.7264e-02,4.0885e-03,3.5587e-05,5.4559e-01,3.7487e-02
+28,2.8000e+00,UP_FORCE_RAMP,1.0042e-03,9.8605e-02,6.1920e-01,2.4979e+00,-7.9439e-02,4.3780e-02,1.2720e-04,5.7156e-02,5.4062e-01,2.0116e-02,-3.7200e-02,4.0653e-03,3.3966e-05,5.4401e-01,3.7422e-02
+29,2.8833e+00,UP_FORCE_RAMP,1.0402e-03,1.3569e-01,6.0567e-01,2.5101e+00,-7.8525e-02,4.6413e-02,1.0765e-04,9.4238e-02,5.2709e-01,3.2362e-02,-3.6286e-02,6.6986e-03,1.4422e-05,5.3643e-01,3.6899e-02
+30,3.0167e+00,UP_FORCE_RAMP,1.0719e-03,1.3158e-01,6.0468e-01,2.5079e+00,-7.8486e-02,4.6132e-02,1.0309e-04,9.0134e-02,5.2611e-01,3.0097e-02,-3.6247e-02,6.4178e-03,9.8546e-06,5.3462e-01,3.6811e-02
+31,3.2000e+00,UP_FORCE_RAMP,1.1123e-03,1.2759e-01,6.0337e-01,2.5054e+00,-7.8434e-02,4.5857e-02,9.7272e-05,8.6146e-02,5.2480e-01,2.7598e-02,-3.6196e-02,6.1423e-03,4.0394e-06,5.3253e-01,3.6713e-02
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Part2/Fixed/digit/cylinder_0050_20/press_depth_10/down/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:944b9b4863c5b471572ef70915602ac246c9022b8bed4b0c866d93186fb8f724
+size 624640

Part2/Fixed/digit/cylinder_0050_20/press_depth_10/down/franka_data.csv

@@ -0,0 +1,61 @@
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+3047,1792825852054979092,4531483000000,1792825852054151242,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6759404850440909,-0.004795262252394842,0.09921488695192422,0.9999999451396009,-8.978468540491713e-05,-0.0002357825136115116,0.00019367234214674695,0.6761,-0.0045,0.09935827622400067,1.0,0.0,0.0,0.0,-0.16986376186304508,-0.08206830985442237,0.9492393385752138,-0.0039804425696394335,0.010702613372522374,-0.0006038034704707444,0.9297971606522965,0.7510381465503914,0.953586020350306,0.06664132471556582,-0.05681405143725894,0.00230002173547649,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,0.7353044148806154,1.0440082939521658,0.6642770151074268,0.19724366828929213,-0.3512538166048392,0.6051025936411274,1.1513142353769403,-0.9492393385752138,0.48703722026951357,0.48703722026951357,0.7600499999999517,0,0,-0.00025304994306504645,-9.999999025923074e-05
+3128,1792825852729979574,4532158000000,1792825852730151012,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6759653903413679,-0.004785202174793497,0.09909270319469216,0.9999999518379138,-0.00018968692416053228,-0.00018964296355747804,0.00012578335170479964,0.6761,-0.0045,0.0991835302914183,1.0,0.0,0.0,0.0,-0.17255083935387472,-0.013702942211001545,1.1635797317814867,4.441796434363765e-05,0.011128819258063812,0.00030847545677811176,0.9271100831614668,0.8194035141938122,1.167926413556579,0.07066618524954889,-0.056387845551717504,0.003212300662725346,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,0.8477052625610215,1.0855528004623916,0.5929220036835333,0.020727104136879594,-0.25116906082544166,0.6834704741848012,1.1513142353769403,-1.1635797317814867,0.558392231693407,0.558392231693407,0.8612999999999406,0,0,-0.00026235876239152765,-9.999997638144293e-05
+3214,1792825853446904182,4532875000000,1792825853446151221,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.675985678556904,-0.0047958755669837635,0.09895904095404677,0.9999999542969987,-0.0001730297021535595,-0.00015981177481449925,0.00016543815623143427,0.6761,-0.0045,0.09900567870016967,1.0,0.0,0.0,0.0,-0.22765780977256456,-0.024910003406823145,1.4036029007823618,-0.00011252931918391551,0.015178128951432404,0.00017156854644209555,0.872003112742777,0.8081964529979906,1.4079495825574542,0.07050923796602133,-0.05233853585834891,0.0030753937523893297,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,0.9686817046813326,1.1262564284915055,0.0527990144358015,0.14987209798578754,0.0964440356298911,0.6788095629270582,1.1513142353769403,-1.4036029007823618,1.0985152209411388,1.0985152209411388,0.9688499999999287,0,0,-0.00023022180137691339,9.999999025923074e-05
+3305,1792825854204836943,4533633000000,1792825854198151276,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6760057632663949,-0.00480084261714839,0.09883614464627824,0.9999999550113265,-0.00017126121914138364,-0.00012833718084127217,0.00018873095112806662,0.6761,-0.0045,0.09884551572192393,1.0,0.0,0.0,0.0,-0.2696597202080735,-0.01405485665194961,1.6135939140688458,0.0007861687864604838,0.018154692073911106,5.5488498153755464e-05,0.830001202307268,0.8190515997528641,1.6179405958439381,0.07140793607166573,-0.04936197273587021,0.0029593137041009896,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.1767165449590562,1.0545745707863334,-0.1444731615115712,0.20046318127290605,0.2655779502626013,0.6194429193866072,1.1513142353769403,-1.6135939140688458,1.2957873968885116,1.2957873968885116,1.0825499999999773,0,0,-0.00019232180876041648,9.999999025923074e-05
+3387,1792825854887908185,4534316000000,1792825854882150955,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6760257767879715,-0.004787566742672275,0.09875029696781527,0.9999999510012327,-0.0002575627595514719,-9.346112142114964e-05,0.00011986175222202257,0.6761,-0.0045,0.09872580507426526,1.0,0.0,0.0,0.0,-0.26194155392793117,0.04368961182909403,1.7767585070587344,0.004853549450133485,0.0170225154543292,0.0008990178446327234,0.8377193685874104,0.8767960682339078,1.7811051888338267,0.07547531673533873,-0.050494149355452114,0.0038028430505799575,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.1665690007516218,1.0542773684311897,-0.22696104962933591,0.14671266797654756,0.3229205040060394,0.6295745516999253,1.1513142353769403,-1.7767585070587344,1.3782752850062763,1.3782752850062763,1.1850000000000418,0,0,-0.0001581718154133619,9.999999025923074e-05
+3507,1792825855887890758,4535316000000,1792825855886151252,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6760398600246835,-0.004800815157237667,0.09863874083503602,0.9999999514661323,-0.0002480542521051496,-7.321942708729654e-05,0.00014703265138325187,0.6761,-0.0045,0.09859260825397664,1.0,0.0,0.0,0.0,-0.29162268375948375,0.0524596422531286,1.9575146759523452,0.004744679722356759,0.020022386492944425,0.0008797582271158092,0.8080382387558578,0.8855660986579423,1.9618613577274375,0.07536644700756201,-0.04749427831683689,0.0037835834330630434,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.2979601279188309,1.0134442015327083,-0.5545893134549373,0.2248716090608447,0.5522756646577605,0.5846979127795642,1.1513142353769403,-1.9575146759523452,1.7059035488318777,1.7059035488318777,1.3350000000001363,0,0,-0.00010817182515413114,9.999999025923074e-05
+3615,1792825856787855989,4536216000000,1792825856786151017,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6760464322016269,-0.004800964492695768,0.09857505831195958,0.9999999531788416,-0.00023770136558481404,-6.309504116456017e-05,0.00015685106079112418,0.6761,-0.0045,0.09851548110738853,1.0,0.0,0.0,0.0,-0.31056162561488954,0.052538909355744456,2.0682735102685355,0.004696327070353112,0.02101215123991554,0.0008036899127194961,0.789099296900452,0.8856453657605582,2.072620192043628,0.07531809435555836,-0.04650451356986578,0.0037075151186667303,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.307079547602872,1.113437848580492,-0.6941045232596734,0.20770927735665112,0.640232436469129,0.6523007560109578,1.1513142353769403,-2.0682735102685355,1.8454187586366138,1.8454187586366138,1.4700000000002214,0,0,-6.317183392082348e-05,9.999999025923074e-05
+3743,1792825857854810026,4537283000000,1792825857854160528,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6760504249985066,-0.004803041576609569,0.0985376157714386,0.9999999527737127,-0.0002382611999887218,-5.7219457851713786e-05,0.00016078858947474403,0.6761,-0.0045,0.09847651230437335,1.0,0.0,0.0,0.0,-0.31955973857325604,0.044333262699129516,2.1184044116908693,0.004685801506203749,0.02100221869303614,0.0007620488356114672,0.7801011839420855,0.8774397191039432,2.1227510934659617,0.075307568791409,-0.04651444611674518,0.0036658740415587013,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.3169369689935582,0.9991755777242087,-0.7416805486931881,0.2488869830190745,0.6712138317919679,0.578282768829743,1.1513142353769403,-2.1184044116908693,1.8929947840701284,1.8929947840701284,1.6300500000003222,0,0,-9.82276521621639e-06,9.921985066885242e-05
+3867,1792825858887745189,4538316000000,1792825858882160620,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6760509252157338,-0.004804828728710377,0.0985315239615949,0.9999999529216969,-0.0002376259689695109,-5.58730035750186e-05,0.00016128104177202973,0.6761,-0.0045,0.0984744253061952,1.0,0.0,0.0,0.0,-0.31072904365046494,0.04431766670575532,2.118418739196781,0.004685605249183447,0.021002034730143643,0.0007631507918284576,0.7889318788648766,0.877424123110569,2.122765420971873,0.0753073725343887,-0.04651463007963767,0.0036669759977756918,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.266058370368108,1.0889379732162103,-0.6415827259264775,0.21432123452822596,0.5981751484092529,0.6374019181180917,1.1513142353769403,-2.118418739196781,1.7928969613034178,1.7928969613034178,1.7850000000004198,0,0,-1.2798919823975297e-06,1.292820184239929e-05
+3985,1792825859871782166,4539300000000,1792825859866160537,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.676049418989279,-0.004806754950405457,0.09852181541231374,0.9999999527620013,-0.00023705080435203101,-5.90659852705124e-05,0.00016197834676419268,0.6761,-0.0045,0.09846524031098264,1.0,0.0,0.0,0.0,-0.3127691542556238,0.04403792855244226,2.118414669661197,0.004685605520317285,0.021002099537947266,0.000762906300234587,0.7868917682597177,0.877144384957256,2.1227613514362895,0.07530737280552253,-0.04651456527183405,0.003666731506181821,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.2490864818459033,1.0295801152038222,-0.6047442935012316,0.2400946920350351,0.568847220326763,0.5985430726904291,1.1513142353769403,-2.118414669661197,1.7560585288781718,1.7560585288781718,1.9326000000005128,0,0,-2.549596580666969e-05,-9.999999025923074e-05
+4101,1792825860837720611,4540266000000,1792825860834160617,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6760552480656261,-0.004801217425982543,0.09849237998904693,0.9999999541954541,-0.00023439874810678705,-4.574776442066643e-05,0.00016129576229123794,0.6761,-0.0045,0.0984186359163897,1.0,0.0,0.0,0.0,-0.32078583134985705,0.05821707256515485,2.158861672016691,0.005535611982461747,0.02198795023010617,0.0007559264278255368,0.7788750911654845,0.8913235289699686,2.1632083537917834,0.076157379267667,-0.045528714579675146,0.003659751633772771,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.3223967373148549,1.075963362807548,-0.8051526855032223,0.2365135135809581,0.7082287546122578,0.6333935199724224,1.1513142353769403,-2.158861672016691,1.9564669208801626,1.9564669208801626,2.077500000000604,0,0,-7.143932313355273e-05,-9.999999025923074e-05
+4203,1792825861687700416,4541116000000,1792825861686160651,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.676061682327969,-0.004806853272964824,0.09844189262087187,0.9999999827571593,1.5559631050536443e-05,-3.498544483452744e-05,0.00015640480249652172,0.6761,-0.0045,0.09834046975644134,1.0,0.0,0.0,0.0,-0.32122977539523867,0.06836283575444224,2.2583719394425525,0.005635373827616946,0.022690864970029423,0.0006921713356846655,0.7784311471201029,0.901469292159256,2.262718621217645,0.0762571411128222,-0.04482579983975189,0.0035959965416318997,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.3607530110607176,1.1379720611608446,-0.8778717966346716,0.18378514681000382,0.7692966637126502,0.6122801583289472,1.1513142353769403,-2.2583719394425525,2.029186032011612,2.029186032011612,2.2050000000006844,0,0,-0.00011250225907396961,-9.875425063666227e-05
+4303,1792825862521715675,4541950000000,1792825862518160360,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6760777422018955,-0.004812877494617547,0.0983568422455018,0.999999983084804,-8.261871629737983e-06,-5.863379811861569e-06,0.00015865250849834812,0.6761,-0.0045,0.09823501222396443,1.0,0.0,0.0,0.0,-0.3573543625555231,0.07044607992772767,2.4077079300742015,0.006591218163039633,0.023941034252781573,0.00059316092692296,0.7423065599598184,0.9035525363325414,2.412054611849294,0.07721298544824488,-0.04357563055699974,0.003496986132870194,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.4600166827968013,1.0816758828277693,-1.068690405663825,0.21127559719026895,0.9144554268699897,0.5859810100806251,1.1513142353769403,-2.4077079300742015,2.2200046410407652,2.2200046410407652,2.3301000000007632,0,0,-0.0001306993607189374,-5.1374132683699395e-11
+4419,1792825863487668045,4542916000000,1792825863486161001,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6760856763841623,-0.0048116174598988115,0.09825791385688246,0.9999999829582981,-2.927663056754064e-05,6.779889731483313e-06,0.00015691774956881247,0.6761,-0.0045,0.0981105117119977,1.0,0.0,0.0,0.0,-0.3698080012807299,0.08326690030557438,2.5707539983497067,0.007553408461080338,0.0248989044881111,0.0004879657952660309,0.7298529212346117,0.9163733567103881,2.575100680124799,0.07817517574628559,-0.042617760321670216,0.003391791001213265,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.5246391902234584,1.0465957079459336,-1.2856946255566626,0.25110056664534536,1.0654403992888204,0.5985715708169362,1.1513142353769403,-2.5707539983497067,2.437008860933603,2.437008860933603,2.4750000000008545,0,0,-0.00012310680683605556,9.875698456086041e-05
+4543,1792825864521571382,4543950000000,1792825864518160876,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6761020000761564,-0.004811863924237539,0.0981742389660793,0.9999999821465629,-6.422694925190557e-05,3.587003471714338e-05,0.00014743804828685036,0.6761,-0.0045,0.09799722545138695,1.0,0.0,0.0,0.0,-0.3886976945297238,0.11022291652597394,2.720714983508678,0.009540680715760308,0.025841234420048133,0.00045073734557045213,0.7109632279856177,0.9433293729307877,2.7250616652837705,0.08016244800096556,-0.04167543038973318,0.0033545625515176863,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.5769888436907558,1.0616311325745347,-1.3937613719996949,0.2684843452274415,1.1444078279019612,0.6266269093281229,1.1513142353769403,-2.720714983508678,2.545075607376635,2.545075607376635,2.6301000000009522,0,0,-9.875684812663728e-05,-3.305477800548919e-05
+4659,1792825865487613025,4544916000000,1792825865486161043,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6761135630716657,-0.004815937514962582,0.0980994580633766,0.9999999794400927,-8.620774315643777e-05,5.2502246588720065e-05,0.0001495808071122994,0.6761,-0.0045,0.09790975768645013,1.0,0.0,0.0,0.0,-0.3996184324885279,0.11398544285456214,2.8419506003784987,0.009482222338435098,0.026823212717179967,0.0013469802632123042,0.7000424900268136,0.9470918992593759,2.846297282153591,0.08010398962364035,-0.04069345209260135,0.004250805469159538,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.6118702492615435,0.9262898876737478,-1.4969907972390275,0.32425038459303296,1.220792510432267,0.56169661018581,1.1513142353769403,-2.8419506003784987,2.648305032615968,2.648305032615968,2.7750000000010435,0,0,-8.725237695825084e-05,-9.999997638144293e-05
+4785,1792825866537526388,4545966000000,1792825866534160906,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6761243366080886,-0.0048205509004286195,0.09803443726763991,0.9999999765896717,-9.613194833602301e-05,7.212052846789228e-05,0.00015433987932963003,0.6761,-0.0045,0.0978127225587442,1.0,0.0,0.0,0.0,-0.4111963582705791,0.11688225985103384,2.9528916063612085,0.010436832309429378,0.028406005828757568,0.0012925228468040222,0.6884645642447624,0.9499887162558476,2.957238288136301,0.08105859959463463,-0.03911065898102375,0.004196348052751256,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.6279901895446391,0.9700569793283964,-1.6286775576055421,0.3138496540084965,1.3058594087978173,0.5912759526446963,1.1513142353769403,-2.9528916063612085,2.7799917929824822,2.7799917929824822,2.9325000000011427,0,0,-0.00010142503073104348,-9.999831104690599e-05
+4893,1792825867437573406,4546866000000,1792825867434160736,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.676131997774075,-0.0048202301097486355,0.09795118283318105,0.9999999743151219,-9.716416991361503e-05,8.710761190122373e-05,0.00016057399561447453,0.6761,-0.0045,0.09771553621162597,1.0,0.0,0.0,0.0,-0.43171357113699727,0.1369911754588602,3.0836288739882174,0.011394985773546196,0.029772573472216075,0.0012176877513412547,0.6679473513783443,0.9700976318636739,3.0879755557633097,0.08201675305875145,-0.03774409133756524,0.004121512957288489,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.7271323773545182,0.9114791970634728,-1.850193716364099,0.346951364485387,1.4733561769416248,0.5640224239846476,1.1513142353769403,-3.0836288739882174,3.001507951741039,3.001507951741039,3.067500000001228,0,0,-0.00011103890653199754,9.999999025923074e-05
+5007,1792825868387516031,4547816000000,1792825868382161208,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6761483886526385,-0.004824449379583961,0.0978760359963507,0.999999969630389,-0.00011046303731875059,0.000114351336440158,0.00016402370200034862,0.6761,-0.0045,0.09760749604232984,1.0,0.0,0.0,0.0,-0.4493610398251777,0.1358972192950889,3.214807834748397,0.012363269078389971,0.030739378687656166,0.0011371150781123583,0.6502998826901638,0.9690036756999026,3.2191545165234894,0.08298503636359522,-0.03677728612212515,0.0040409402840595925,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.8084427252424646,0.9181881130700927,-1.972676250224764,0.3440494657764275,1.575939063621507,0.5617233887157772,1.1513142353769403,-3.214807834748397,3.1239904856017042,3.1239904856017042,3.2100000000013176,0,0,-0.00011629946663063861,8.652435738670763e-06
+5113,1792825869271549065,4548700000000,1792825869270160862,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6761623891501312,-0.0048222631147558604,0.09779428248178328,0.9999999646213413,-0.00015961399515840473,0.00013815606185175628,0.00013280231707907316,0.6761,-0.0045,0.09750382435116473,1.0,0.0,0.0,0.0,-0.4506835244581633,0.17607794883641292,3.3360691796400244,0.01438507272910347,0.03067273176075487,0.0010620603407779645,0.6489773980571782,1.0091844052412267,3.3404158614151167,0.08500684001430872,-0.036843933049026445,0.003965885546725199,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.8680573310667787,0.9184601711315042,-2.166119291015779,0.3614224561008961,1.7114877808319773,0.5617537187076089,1.1513142353769403,-3.3360691796400244,3.3174335263927195,3.3174335263927195,3.342600000001401,0,0,-0.00011712686593248899,9.985513391009277e-05
+5227,1792825870221531928,4549650000000,1792825870218160745,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6761733641692633,-0.004823392823286207,0.09770774174663605,0.9999999600563665,-0.00016645857756225748,0.00015850594713059552,0.00013600564834336955,0.6761,-0.0045,0.09739590559068803,1.0,0.0,0.0,0.0,-0.47973372924024527,0.19360250980546934,3.4720333515845936,0.015324759083897174,0.03265009491483195,0.0009884415560844138,0.6199271932750963,1.026708966210283,3.476380033359686,0.08594652636910242,-0.034866569894949365,0.003892266762031648,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.9183729913273442,0.8498417202977113,-2.2342703427028465,0.3911175901568608,1.7693878036914212,0.5151071350680099,1.1513142353769403,-3.4720333515845936,3.385584578079787,3.385584578079787,3.485100000001491,0,0,-0.00011061465047676323,-6.834682405998933e-05
+5340,1792825871162463778,4550591000000,1792825871158160831,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6761811562878263,-0.004832593918405355,0.09762144786295772,0.9999999560502997,-0.0001738901962006426,0.00017032903170397003,0.00014174795821531226,0.6761,-0.0045,0.09729229432008484,1.0,0.0,0.0,0.0,-0.48905454224719924,0.1976134900677492,3.607528601214081,0.015265819042609652,0.03362936714692003,0.001558746237187545,0.6106063802681423,1.030719946472563,3.6118752829891734,0.0858875863278149,-0.033887297662861283,0.004462571443134779,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.946298038354057,0.9675313789719034,-2.3730411260111284,0.3646739916438967,1.8647872759929351,0.5978475075333595,1.1513142353769403,-3.607528601214081,3.5243553613880687,3.5243553613880687,3.62625000000158,0,0,-0.00010769679239660957,-5.208232482739563e-06
+5461,1792825872171482196,4551600000000,1792825872170160737,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6761921454462108,-0.004835187483258646,0.09753690978795931,0.999999953925117,-0.00015863297471890373,0.00018926737518419224,0.00015035314474086802,0.6761,-0.0045,0.09718359227192667,1.0,0.0,0.0,0.0,-0.4998617309397049,0.20573245971763543,3.748248773539874,0.016231254923104482,0.03459286792926989,0.0018362416801114135,0.5997991915756367,1.0388389161224492,3.7525954553149665,0.08685302220830973,-0.032923796880511426,0.004740066886058648,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,1.956279435068101,1.0271985365867793,-2.489113668204962,0.3509522021174451,1.9504759130978309,0.6404184906874214,1.1513142353769403,-3.748248773539874,3.6404279035819025,3.6404279035819025,3.777600000001675,0,0,-0.00010724276745396744,-9.981585977059666e-05
+5579,1792825873154445675,4552583000000,1792825873154151227,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6762041269836168,-0.004836942466613817,0.09744788763838984,0.9999999556973287,-9.886416220113723e-05,0.00021026687433352927,0.00016143705873708313,0.6761,-0.0045,0.09707324796231206,1.0,0.0,0.0,0.0,-0.5188969384384375,0.200863548029646,3.885059558786703,0.01617791271473723,0.03557628335950111,0.0017372415545159159,0.580763984076904,1.0339700044344597,3.8894062405617955,0.08679967999994248,-0.031940381450280206,0.00464106676046315,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.051726939528437,0.8902896737930692,-2.6690355136529376,0.39930944321008804,2.090588763671198,0.5494147250059317,1.1513142353769403,-3.885059558786703,3.820349749029878,3.820349749029878,3.925050000001768,0,0,-0.00011587904450497427,-9.859855213428207e-05
+5693,1792825874104433997,4553533000000,1792825874102161058,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6762193434262341,-0.004845780567668505,0.09736211924219357,0.9999999487741811,-0.00010884148755145189,0.00023092260097443194,0.00016947797057181423,0.6761,-0.0045,0.09696430928399577,1.0,0.0,0.0,0.0,-0.5481008823791524,0.2269496467866282,4.009711114437038,0.01814013552460285,0.03753758698552373,0.0016871465170852705,0.5515600401361891,1.060056103191442,4.01405779621213,0.0887619028098081,-0.029979077824257582,0.004590971723032505,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.181992719224889,0.8385453708233594,-2.8519228110152377,0.4125351181839734,2.2448023193867144,0.5131080087527665,1.1513142353769403,-4.009711114437038,4.003237046392178,4.003237046392178,4.067550000001658,0,0,-0.0001178849088525905,9.718161972228074e-05
+5811,1792825875087405447,4554516000000,1792825875086161261,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6762360416804769,-0.004841707371006846,0.0972675986725786,0.9999999409865311,-0.00014028969729289883,0.00025698482925634673,0.0001541019046125459,0.6761,-0.0045,0.09684196051674078,1.0,0.0,0.0,0.0,-0.5509634263656893,0.24838386717310346,4.150841017440688,0.019783176740815034,0.03747848677550725,0.001596423034447196,0.5486974961496522,1.0814903235779172,4.15518769921578,0.09040494402602028,-0.03003817803427407,0.00450024824039443,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.181994939351281,0.9576283962229106,-3.007287779654702,0.39583560637883236,2.3397599235156945,0.5963696263281394,1.1513142353769403,-4.150841017440688,4.158602015031642,4.158602015031642,4.215000000001314,0,0,-0.00012509261828189266,9.999987923692828e-05
+5927,1792825876054366655,4555483000000,1792825876054160711,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.676245964074319,-0.0048377418387805906,0.0971708792303098,0.9999999332547138,-0.00016300792015422843,0.0002783234612992854,0.000144561063744042,0.6761,-0.0045,0.09672046541367216,1.0,0.0,0.0,0.0,-0.5597027255479844,0.2572536665077819,4.301172068976564,0.020112862068479107,0.038449055665660675,0.0014912095902814182,0.5399581969673571,1.0903601229125957,4.305518750751657,0.09073462935368436,-0.029067609144120637,0.004395034796228652,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.170108705015312,0.9442704454113192,-3.1217445277387066,0.40916285180852957,2.4102880509138225,0.5800141311014348,1.1513142353769403,-4.301172068976564,4.273058763115647,4.273058763115647,4.360050000000976,0,0,-0.00012283135492477536,9.999999025923074e-05
+6027,1792825876887327339,4556316000000,1792825876882151809,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6762553163994216,-0.004844635029003013,0.0970880041169648,0.9999999253108298,-0.00017810070531303188,0.0002957918534130596,0.00014699835780506215,0.6761,-0.0045,0.09661750479417092,1.0,0.0,0.0,0.0,-0.579195418992122,0.27398568520416144,4.412145799466042,0.021076047701820963,0.03941904507343258,0.0014264560841657056,0.5204655035232195,1.1070921416089752,4.416492481241134,0.09169781498702621,-0.028097619736348736,0.00433028129011294,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.2959899479190824,0.9230532335086535,-3.226380436342352,0.4286161923761925,2.510184061427601,0.5755137087711426,1.1513142353769403,-4.412145799466042,4.377694671719292,4.377694671719292,4.485000000000685,0,0,-0.0001211137102297267,-7.72998354337914e-05
+6139,1792825877821315288,4557250000000,1792825877814160254,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6762678088387808,-0.004845448002810309,0.09700516220005248,0.9999999193520647,-0.0001677482215927617,0.00031786132907953506,0.00015350386973916137,0.6761,-0.0045,0.09650576165702845,1.0,0.0,0.0,0.0,-0.5952074473288189,0.29119754143728593,4.5328744433846095,0.022047263925003058,0.04038657097999246,0.001359808893181783,0.5044534751865226,1.1243039978420997,4.537221125159702,0.09266903121020831,-0.027130093829788857,0.004263634099129017,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.3135493355131014,0.916705738830838,-3.4132156783218814,0.431197182043157,2.6335529346638857,0.5636096892058445,1.1513142353769403,-4.5328744433846095,4.564529913698822,4.564529913698822,4.625100000000359,0,0,-0.00011924289643608509,9.999389791038311e-05
+6243,1792825878687318623,4558116000000,1792825878682160905,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6762788107313552,-0.004853275395907224,0.09691411611539892,0.9999999168313469,-0.00012884918275881568,0.00033587875164781524,0.00016841471348735934,0.6761,-0.0045,0.09640338641810137,1.0,0.0,0.0,0.0,-0.6090718231879322,0.28967492054972366,4.674046661205374,0.023003143433737036,0.04134588077410065,0.0022929392886261563,0.4905890993274094,1.1227813769545374,4.678393342980466,0.09362491071894229,-0.026170784035680662,0.0051967644945733905,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.376892266448603,0.8590534050900706,-3.5212420036982035,0.4589197799534072,2.714716138878766,0.5355170491852531,1.1513142353769403,-4.674046661205374,4.672556239075144,4.672556239075144,4.755000000000056,0,0,-0.00011209688097616054,7.770075835378804e-05
+6343,1792825879521281944,4558950000000,1792825879514151926,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6762839989967399,-0.004854328076091587,0.09683413927117208,0.9999999159013593,-0.00012052815141266957,0.0003422695061337987,0.00016722645916048977,0.6761,-0.0045,0.0963079120830463,1.0,0.0,0.0,0.0,-0.6134893937901342,0.3051076980787407,4.784764347958537,0.023977505060776158,0.042315515129126555,0.002231635661825902,0.4861715287252073,1.1382141544835545,4.789111029733629,0.09459927234598141,-0.025201149680654757,0.005135460867773136,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.3886027752638723,0.9382710820049407,-3.675026026469108,0.45680821391479065,2.817266060795316,0.5962891970982848,1.1513142353769403,-4.784764347958537,4.826340261846049,4.826340261846049,4.880099999999764,0,0,-0.00011686473310315725,7.504882412601716e-05
+6448,1792825880396280103,4559825000000,1792825880394151521,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6762877745860335,-0.004848004706273208,0.09675106617108446,0.99999991458363,-0.00015043453728938797,0.00034514091138565533,0.00014325780365253806,0.6761,-0.0045,0.0962056843904274,1.0,0.0,0.0,0.0,-0.6086314778510824,0.32825360480695875,4.903434098242857,0.025003731575880206,0.0412562683693432,0.002130746031390332,0.4910294446642591,1.1613600612117725,4.90778078001795,0.09562549886108546,-0.026260396440438115,0.005034571237337566,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.413656195894848,0.8257820568676312,-3.7575959941423713,0.5008820680058941,2.8755582562367747,0.5129561433232669,1.1513142353769403,-4.903434098242857,4.908910229519312,4.908910229519312,5.011349999999458,0,0,-0.0001160627036598411,-6.934364561954516e-05
+6530,1792825881079225992,4560508000000,1792825881078151141,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6763103069611773,-0.004854010538805346,0.09668475971284453,0.9999998934439556,-0.00015608613062635928,0.00039549133856619476,0.00015420331674447565,0.6761,-0.0045,0.09612301671994727,1.0,0.0,0.0,0.0,-0.6408189569043826,0.36080206442169727,4.98042880704595,0.026950943282871287,0.04423998780015527,0.0021343876170216137,0.4588419656109589,1.193908520826511,4.984775488821042,0.09757271056807654,-0.02327667700962605,0.005038212822968848,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.527010952862817,0.8624802213113976,-3.814819405326971,0.4934806240284254,2.938445417998754,0.5406752597635784,1.1513142353769403,-4.98042880704595,4.966133640703911,4.966133640703911,5.11379999999922,0,0,-0.0001264003642962016,-9.999109459724593e-05
+6652,1792825882096189682,4561525000000,1792825882094151298,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6763093219477383,-0.00485591179596572,0.09656988189531573,0.9999998975107668,-0.0001544525054037662,0.00038239611184107076,0.00016229281370109072,0.6761,-0.0045,0.09599443441111023,1.0,0.0,0.0,0.0,-0.6419666942664186,0.3521667392946565,5.137002434754296,0.026919692951697452,0.04420571146301083,0.0020081989141999402,0.457694228248923,1.1852731956994702,5.141349116529389,0.0975414602369027,-0.02331095334677048,0.004912024120147174,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.5506916863141265,0.8573902271690984,-3.9933776163799264,0.4994411378678296,3.0596285877386182,0.5376098664495546,1.1513142353769403,-5.137002434754296,5.144691851756867,5.144691851756867,5.266349999998864,0,0,-0.00012095210782522704,-9.843750400773672e-05
+6778,1792825883146104346,4562575000000,1792825883142151219,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6763202978137138,-0.004858833565045188,0.09647054782282956,0.9999998907593186,-0.0001455454329833744,0.00039897581311832466,0.00017192743369604186,0.6761,-0.0045,0.09587421278416555,1.0,0.0,0.0,0.0,-0.6526133738855286,0.36176274754759363,5.277401882856498,0.026938633873534207,0.04518799969361588,0.0019102395403927173,0.4470475486298129,1.1948692039524074,5.281748564631591,0.09756040115873946,-0.022328665116165432,0.0048140647463399515,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.630324155490445,0.8531704084276267,-4.271440132923478,0.5007597162925919,3.255843794415156,0.5327551300778596,1.1513142353769403,-5.277401882856498,5.422754368300418,5.422754368300418,5.423849999998497,0,0,-0.00011315218019916783,9.921911489486063e-05
+6881,1792825884004143054,4563433000000,1792825883998151024,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6763316666047763,-0.00485554354853042,0.09639212160688267,0.9999998806498224,-0.00017197457052735578,0.00042199039425740647,0.00014997352975117567,0.6761,-0.0045,0.09577949489546511,1.0,0.0,0.0,0.0,-0.6523546778855284,0.4021638278848988,5.375293513982821,0.029908713654900262,0.04510867799783072,0.0018626398619922126,0.44730624462981317,1.2352702842897125,5.379640195757913,0.10053048094010551,-0.0224079868119506,0.004766465067939447,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.657664387306286,0.9315831512203849,-4.2363039580165,0.51061988088234,3.2277581968028373,0.5853357163631027,1.1513142353769403,-5.375293513982821,5.387618193393441,5.387618193393441,5.552549999998197,0,0,-0.00010823997819850296,-7.500302742625137e-05
+7000,1792825884996086271,4564425000000,1792825884990150805,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6763452066084278,-0.004849787888523647,0.09630505964287898,0.9999998716333908,-0.00015966332056699436,0.00044601526217184957,0.0001541235745423693,0.6761,-0.0045,0.09567170809909956,1.0,0.0,0.0,0.0,-0.6622401035039185,0.4090775065580635,5.48941083536784,0.02986522381080714,0.04609716220617508,0.0017871704706098764,0.437420819011423,1.2421839629628773,5.4937575171429325,0.10048699109601239,-0.021419502603606234,0.004690995676557111,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.7377667592072994,0.8824521580339622,-4.448470369985868,0.5152616497978912,3.379929770828424,0.5508245914439956,1.1513142353769403,-5.48941083536784,5.599784605362808,5.599784605362808,5.70134999999785,0,0,-0.00011443490684796784,-7.51875425664891e-05
+7110,1792825885912073664,4565341000000,1792825885910151086,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6763523104376087,-0.00485342566347898,0.09621801051558646,0.9999998667312565,-0.00015159768531095523,0.00045622302655909494,0.0001638872335415852,0.6761,-0.0045,0.0955653905262045,1.0,0.0,0.0,0.0,-0.6721149093379393,0.42369207381777174,5.600119205081498,0.030864935396464233,0.04605349031169937,0.0019169722338201723,0.42754601317740226,1.2567985302225855,5.60446588685659,0.10148670268166948,-0.021463174498081945,0.0048207974397674064,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.7007730883913856,0.9216059356579627,-4.601820335460643,0.5086150323370691,3.4594768699190013,0.5794929369958556,1.1513142353769403,-5.600119205081498,5.753134570837584,5.753134570837584,5.83874999999753,0,0,-0.00011986644620346076,6.644223646124487e-05
+7226,1792825886879096311,4566308000000,1792825886874151048,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6763613704434213,-0.004849502776908784,0.09612420917245922,0.9999998624492267,-0.0001292052209656502,0.00046862667412551386,0.00017389491997858638,0.6761,-0.0045,0.09545151747683071,1.0,0.0,0.0,0.0,-0.6831095338352018,0.43073885623986075,5.731116133353771,0.03168925155710611,0.04701795818840826,0.0026557457775557634,0.41655138868013974,1.2638453126446745,5.735462815128863,0.10231101884231136,-0.020498706621373052,0.005559570983502998,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.7333991285258277,0.8871166909476598,-4.724614297207336,0.5366431775042905,3.5372433185906296,0.5732140479411977,1.1513142353769403,-5.731116133353771,5.875928532584276,5.875928532584276,5.983799999997192,0,0,-0.0001149792003649327,-1.6728572720064963e-05
+7333,1792825887771096609,4567200000000,1792825887770151480,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6763733513118723,-0.004849585941287514,0.09603983017790536,0.9999998577006725,-5.305204034560264e-05,0.0004890442447637953,0.00018456084870758493,0.6761,-0.0045,0.09534678202181095,1.0,0.0,0.0,0.0,-0.7013506616318286,0.43496418838407547,5.833509117264905,0.03177821398350757,0.048004899553880195,0.0022897479434286273,0.3983102608835129,1.2680706447888892,5.837855799039997,0.10239998126871282,-0.01951176525590112,0.0051935731493758614,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.8299178919698784,0.905254439842742,-4.8321708824181915,0.5152936681155884,3.628618643542016,0.5601629287652404,1.1513142353769403,-5.833509117264905,5.983485117795132,5.983485117795132,6.11759999999688,0,0,-0.00011915921575430944,-7.526970299676634e-05
+7452,1792825888762058708,4568191000000,1792825888758151086,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6763858737406916,-0.00484281537547367,0.09594252709775127,0.9999998483774748,-0.00011868965049635958,0.0005102848857465065,0.000142161858398878,0.6761,-0.0045,0.09523112537719086,1.0,0.0,0.0,0.0,-0.693992029199263,0.4628501938309092,5.952682203354325,0.03379813888084027,0.047941828631059176,0.0025137071727339088,0.40566889331607864,1.295956650235723,5.957028885129417,0.10441990616604552,-0.01957483617872214,0.005417532378681143,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.8725134771751666,0.9125223974362184,-4.988992811783342,0.5646541610057827,3.726419320331624,0.5661649776779891,1.1513142353769403,-5.952682203354325,6.140307047160283,6.140307047160283,6.266249999996534,0,0,-0.00011398469438736315,-9.007912057790719e-05
+7584,1792825889862056251,4569291000000,1792825889862150776,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6764010061474672,-0.004852428270521445,0.09584418714254736,0.9999998338432463,-0.00012816713419069354,0.0005322503758552344,0.0001550453714572002,0.6761,-0.0045,0.09510442120255778,1.0,0.0,0.0,0.0,-0.7130647485024085,0.473495730349475,6.083355322080597,0.0347671463633389,0.048905895435097504,0.002433052718873879,0.386596174012933,1.3066021867542887,6.087702003855689,0.10538891364854415,-0.018610769374683808,0.005336877924821113,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.9630527301773824,0.8746291902046371,-5.22034064116406,0.5573912639472162,3.895253923029249,0.5545803976119945,1.1513142353769403,-6.083355322080597,6.371654876541,6.371654876541,6.431249999996149,0,0,-0.00012052180860669536,8.750000310276391e-05
+7682,1792825890678947114,4570108000000,1792825890674150978,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6764050779536367,-0.004850557689617472,0.09575469501347839,0.999999829435905,-0.00012788212971082718,0.0005370246599609177,0.00016679838314551226,0.6761,-0.0045,0.09500548605058219,1.0,0.0,0.0,0.0,-0.725928537754867,0.4740585071332625,6.193342310275353,0.033777870789113165,0.04991365876756637,0.0023477522505291333,0.3737323847604746,1.3071649635380762,6.197688992050446,0.10439963807431842,-0.017603006042214948,0.0052515774564763675,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,2.987676817810528,0.8316468939710415,-5.371809199536102,0.5659142535953936,3.9976671677273927,0.5215765460468862,1.1513142353769403,-6.193342310275353,6.5231234349130425,6.5231234349130425,6.553799999995864,0,0,-0.00012076153610843387,9.425167177135591e-05
+7788,1792825891561976759,4570991000000,1792825891562150822,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6764189360104426,-0.0048563795155755285,0.09566837978742225,0.999999814595768,-0.00012770684727891546,0.0005598265558437668,0.00018037871928607894,0.6761,-0.0045,0.09489770702839755,1.0,0.0,0.0,0.0,-0.7490449470681844,0.4783711555060769,6.300307204474841,0.03467212319736254,0.05088619166280814,0.0022836808027442124,0.35061597544715717,1.3114776119108906,6.304653886249933,0.10529389048256779,-0.01663047314697318,0.005187506008691447,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.0247943897747747,0.9324514538197795,-5.449376310039176,0.5446179963273887,4.045702865801568,0.594794638921097,1.1513142353769403,-6.300307204474841,6.600690545416116,6.600690545416116,6.686249999995555,0,0,-0.0001226624393210488,1.4432464971686445e-05
+7890,1792825892411981199,4571841000000,1792825892410150632,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6764209723407224,-0.004854563606279574,0.0955726950843008,0.9999998119674587,-0.00013961903788341822,0.0005620621714381982,0.00017916626697300373,0.6761,-0.0045,0.09479600738319194,1.0,0.0,0.0,0.0,-0.7515135089408993,0.48321618777534836,6.4042556411557765,0.03462448899139435,0.051875648631075716,0.0022162869592460064,0.3481474135744422,1.316322644180162,6.408602322930869,0.1052462562765996,-0.0156410161787056,0.005120112165193241,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.0918122230951264,0.8231866883484927,-5.641450233072054,0.5872582716307453,4.188724654000602,0.5191879207593819,1.1513142353769403,-6.4042556411557765,6.792764468448994,6.792764468448994,6.813749999995258,0,0,-0.00011371346352454103,9.999999025923074e-05
+7995,1792825893286967694,4572716000000,1792825893282151110,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6764316946982266,-0.004853807926349479,0.09549273656567497,0.9999998005596966,-0.00014808881265181468,0.0005810873535531059,0.00017530151809080178,0.6761,-0.0045,0.09469499616059793,1.0,0.0,0.0,0.0,-0.7528263377434725,0.49059805199931283,6.504954296236149,0.035627185450296986,0.051836124816353565,0.002146284953458272,0.346834584771869,1.3237045084041266,6.509300978011241,0.10624895273550224,-0.015680539993427754,0.005050110159405506,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.1175644169975745,0.8642980682164771,-5.656784531462444,0.5822283097222868,4.19914188693951,0.5516353662563858,1.1513142353769403,-6.504954296236149,6.808098766839384,6.808098766839384,6.944999999994952,0,0,-0.0001200006755727997,-9.999999025923074e-05
+8105,1792825894203911264,4573633000000,1792825894202150477,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6764407226707584,-0.004860021472345654,0.0953832818654637,0.9999997924023429,-0.0001471017324733149,0.0005926475331049965,0.00018376103267848048,0.6761,-0.0045,0.09457903306685311,1.0,0.0,0.0,0.0,-0.7701995741818686,0.49752560704294335,6.622002566681667,0.03659751361880502,0.05280488625794921,0.002075681392053401,0.3294613483334729,1.330632063447757,6.626349248456759,0.10721928090401027,-0.0147117785518321,0.004979506598000635,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.1214384933905035,0.8585302787599083,-5.815227097678868,0.5990843396681218,4.304128494310368,0.5512921946719938,1.1513142353769403,-6.622002566681667,6.966541333055808,6.966541333055808,7.082549999994631,0,0,-0.00013252681893138754,-6.751092318384074e-05
+8231,1792825895253843424,4574683000000,1792825895250151362,DOWN_FORCE_DETACH,10,0.0695,0.0695016011595726,0.6764496581742195,-0.004851044349849103,0.0952600046961039,0.9999997829685716,-0.0001523414031636837,0.0006093765113774092,0.00017594896507815887,0.6761,-0.0045,0.09444161432563697,1.0,0.0,0.0,0.0,-0.7756701164852682,0.5129384366330482,6.760065872513802,0.03662874597558437,0.05378568708053193,0.001978311033008887,0.3239908060300733,1.346044893037862,6.764412554288894,0.10725051326078962,-0.013730977729249388,0.004882136238956121,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.227024536135032,0.8098984130449083,-5.9777376589766495,0.6194024694162223,4.42916476115405,0.5225980979852991,1.1513142353769403,-6.760065872513802,7.12905189435359,7.12905189435359,7.240049999994264,0,0,-0.00012985998309598701,-3.371458255375953e-05
+8344,1792825896195890024,4575625000000,1792825896194160014,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6764606959708461,-0.004854993248795897,0.09515927093866826,0.9999997734526443,-0.00013576929490845366,0.0006255320497671632,0.0001865847729870008,0.6761,-0.0045,0.0943178632753226,1.0,0.0,0.0,0.0,-0.7823787175161745,0.5119778412291188,6.876723568406646,0.03754378964592815,0.05374415024004797,0.0018967965995200418,0.3172822049991671,1.3450842976339326,6.881070250181739,0.1081655569311334,-0.013772514569733343,0.004800621805467276,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.2233701725641155,0.8306774469962728,-6.044221598867866,0.6157161784012003,4.482067283171672,0.5368882525316259,1.1513142353769403,-6.876723568406646,7.195535834244806,7.195535834244806,7.381349999993935,0,0,-0.00013790109830022346,-9.999876901390365e-05
+8434,1792825896945775168,4576375000000,1792825896938151039,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.676481859161562,-0.004853295614970884,0.09506745090247959,0.999999744165122,-0.00010937563273927145,0.0006738593124651085,0.0001925179281250575,0.6761,-0.0045,0.09421051332035416,1.0,0.0,0.0,0.0,-0.8297058898573407,0.5357282055539131,6.957206013487526,0.038499274482187956,0.05675074098693937,0.001884947916711613,0.2699550326580008,1.3688346619587268,6.961552695262618,0.1091210417673932,-0.010765923822841944,0.004788773122658847,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.3257435271510416,0.7893298709146748,-6.2518700362624795,0.6413980000428543,4.635741631895414,0.5212670552372322,1.1513142353769403,-6.957206013487526,7.40318427163942,7.40318427163942,7.493849999993673,0,0,-0.00014562296549583553,9.172021061954467e-05
+8545,1792825897870859390,4577300000000,1792825897870152885,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6764786924110694,-0.004859089927149505,0.09494054777038541,0.9999997599987902,-0.00010794579039393953,0.0006509840025216484,0.00018977028531635216,0.6761,-0.0045,0.09406614413226898,1.0,0.0,0.0,0.0,-0.8110993132724635,0.5183608581728439,7.107497614916074,0.03744473778915654,0.055720035868594656,0.0017342127124834188,0.28856160924287805,1.3514673145776577,7.111844296691166,0.10806650507436179,-0.011796628941186662,0.004638037918430653,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.3464222890352575,0.8421009949793206,-6.3199767812962975,0.643742809612574,4.692353482123753,0.5602905354277815,1.1513142353769403,-7.107497614916074,7.471291016673238,7.471291016673238,7.632599999993349,0,0,-0.00016023118326188713,-9.687508714518173e-05
+8643,1792825898686799643,4578116000000,1792825898686160042,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6764875553156309,-0.00485537797563962,0.09482064407862822,0.9999997474636628,-0.00014942251058799123,0.0006707499310260358,0.00015582977350321058,0.6761,-0.0045,0.0939369498436651,1.0,0.0,0.0,0.0,-0.8124802543350771,0.5393375122561844,7.238315299372881,0.03946305127229065,0.055653855930751166,0.0016662416093525339,0.28718066818026444,1.3724439686609982,7.2426619811479735,0.1100848185574959,-0.011862808879030148,0.004570066815299768,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.421063148081592,0.7614260640390766,-6.474485816518437,0.6703413901125898,4.815147469126821,0.5070741473894708,1.1513142353769403,-7.238315299372881,7.625800051895378,7.625800051895378,7.754999999993064,0,0,-0.0001562350665132176,1.008941491422897e-09
+8745,1792825899536813170,4578966000000,1792825899530160499,DOWN_FORCE_DETACH,10,0.0695,0.06950225681066513,0.6765040234611209,-0.004861540852783663,0.09471184397020274,0.9999997268369238,-0.00013713207566065161,0.0006993508552633281,0.00017283552042222586,0.6761,-0.0045,0.09380581075327007,1.0,0.0,0.0,0.0,-0.848404774385768,0.5406321989984227,7.339109798366703,0.039030940542853054,0.05766034620045368,0.0025447569782765284,0.25125614812957353,1.3737386554032365,7.343456480141795,0.1096527078280583,-0.009856318609327636,0.0054485821842237625,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.456997011922502,0.7862599824455294,-6.5653486621636254,0.660611759493588,4.882296814007307,0.5293510013087322,1.1513142353769403,-7.339109798366703,7.716662897540566,7.716662897540566,7.882499999992767,0,0,-0.00015836098468255256,-9.728216429494835e-05
+8857,1792825900456737291,4579886000000,1792825900450160461,DOWN_PEAK_HOLD,10,0.0695,0.0695016011595726,0.6765027517850568,-0.004859462062689861,0.09464912356989483,0.99999972930006,-0.00013025121678619052,0.0006957016995480022,0.0001785397348919816,0.6761,-0.0045,0.09376602528923948,1.0,0.0,0.0,0.0,-0.8392028914780434,0.528493101374076,7.348896356736913,0.03835732904837594,0.05767122392586149,0.002610095799852432,0.2604580310372981,1.3615995577788897,7.353243038512005,0.10897909633358119,-0.00984544088391982,0.005513921005799666,1.0996609225153415,0.8331064564048137,0.004346681775092285,0.07062176728520525,-0.06751666480978132,0.002903825205947234,1,3.412273436209321,0.8026275038950741,-6.499804356626454,0.6416093331264833,4.85810156519402,0.5398087553116425,1.1513142353769403,-7.348896356736913,7.651118592003394,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_0050_20/press_depth_10/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,1792825846798586857,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.553826290e-09,-1.469204012e-10,-7.913160127e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027451511e-01,-1.182819862e-04,8.303263066e-01
+1,1.066666667e+00,DOWN_FORCE_DETACH,1792825847879713497,6.936569612e-07,1.357812512e-06,-5.911456754e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.051291656e-08,-8.557790986e-09,-4.142467880e-08,7.019563633e-01,-2.073009889e-05,8.601375344e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027452301e-01,-1.182903970e-04,8.303262660e-01
+2,1.950000000e+00,DOWN_FORCE_DETACH,1792825848764114084,-4.960562516e-06,-6.492244811e-06,-4.685437082e-05,-6.293022096e-06,1.719573466e-06,-4.271287829e-05,-7.190623672e-06,1.729697669e-06,-4.264958193e-05,7.019507091e-01,-2.858015622e-05,8.600965915e-01,7.019493766e-01,-2.036833794e-05,8.601007330e-01,7.027379589e-01,-1.165521416e-04,8.302836579e-01
+3,2.766666667e+00,DOWN_FORCE_DETACH,1792825849583792834,1.457724933e-05,-1.422331963e-05,-1.197680930e-04,1.113906223e-05,-1.073773314e-05,-1.221882523e-04,1.059954619e-05,-1.083979074e-05,-1.218594310e-04,7.019702469e-01,-3.631123104e-05,8.600236778e-01,7.019668087e-01,-3.282564455e-05,8.600212576e-01,7.027557491e-01,-1.291216300e-04,8.302044480e-01
+4,3.633333333e+00,DOWN_FORCE_DETACH,1792825850435069164,1.088636294e-05,-1.764032190e-05,-2.156791186e-04,6.310805828e-06,-2.319762099e-05,-2.094654377e-04,4.395562674e-06,-2.335936185e-05,-2.089869238e-04,7.019665560e-01,-3.972823330e-05,8.599277667e-01,7.019619804e-01,-4.528553240e-05,8.599339804e-01,7.027495451e-01,-1.416412011e-04,8.301173205e-01
+5,4.483333333e+00,DOWN_FORCE_DETACH,1792825851269777067,2.196021956e-05,-3.335127418e-05,-3.396835959e-04,2.160722506e-05,-3.328571750e-05,-3.396785367e-04,1.914252859e-05,-3.355320466e-05,-3.388571628e-04,7.019776298e-01,-5.543918558e-05,8.598037622e-01,7.019772768e-01,-5.537362891e-05,8.598037673e-01,7.027642921e-01,-1.518350439e-04,8.299874503e-01
+6,5.266666667e+00,DOWN_FORCE_DETACH,1792825852056199112,4.443460871e-05,-3.899480821e-05,-4.704081717e-04,4.236160504e-05,-3.562415153e-05,-4.638848136e-04,4.001029181e-05,-3.588112356e-05,-4.627871837e-04,7.020001042e-01,-6.108271961e-05,8.596730377e-01,7.019980312e-01,-5.771206293e-05,8.596795610e-01,7.027851599e-01,-1.541629628e-04,8.298635203e-01
+7,5.950000000e+00,DOWN_FORCE_DETACH,1792825852727560153,6.595037151e-05,-2.943902229e-05,-5.938805003e-04,6.392591323e-05,-3.074940238e-05,-5.863539182e-04,6.173216853e-05,-3.095523620e-05,-5.850849233e-04,7.020216200e-01,-5.152693370e-05,8.595495653e-01,7.020195955e-01,-5.283731378e-05,8.595570919e-01,7.028068817e-01,-1.492370754e-04,8.297412225e-01
+8,6.683333333e+00,DOWN_FORCE_DETACH,1792825853448829213,8.441065096e-05,-4.152907609e-05,-7.331183427e-04,8.487154480e-05,-3.586321452e-05,-7.161673752e-04,8.272091621e-05,-3.609429101e-05,-7.147291397e-04,7.020400803e-01,-6.361698750e-05,8.594103275e-01,7.020405412e-01,-5.795112592e-05,8.594272785e-01,7.028278705e-01,-1.543761302e-04,8.296115783e-01
+9,7.450000000e+00,DOWN_FORCE_DETACH,1792825854201945845,1.048767131e-04,-4.756836568e-05,-8.546908782e-04,1.069677636e-04,-4.703452717e-05,-8.444806287e-04,1.049615097e-04,-4.732595503e-05,-8.429799702e-04,7.020605463e-01,-6.965627709e-05,8.592887550e-01,7.020626374e-01,-6.912243858e-05,8.592989652e-01,7.028501111e-01,-1.656077943e-04,8.294833275e-01
+10,8.150000000e+00,DOWN_FORCE_DETACH,1792825854889745944,1.259636570e-04,-3.667459110e-05,-9.377985483e-04,1.240186562e-04,-3.776951473e-05,-9.379235038e-04,1.221991364e-04,-3.804520119e-05,-9.364963987e-04,7.020816333e-01,-5.876250251e-05,8.592056473e-01,7.020796883e-01,-5.985742614e-05,8.592055223e-01,7.028673487e-01,-1.563270404e-04,8.293898110e-01
+11,9.133333333e+00,DOWN_FORCE_DETACH,1792825855889691277,1.406495191e-04,-4.464435386e-05,-1.047564230e-03,1.384944442e-04,-4.762869508e-05,-1.041885024e-03,1.365885562e-04,-4.797853455e-05,-1.040602575e-03,7.020963191e-01,-6.673226527e-05,8.590958816e-01,7.020941641e-01,-6.971660649e-05,8.591015608e-01,7.028817381e-01,-1.662603738e-04,8.292857049e-01
+12,1.005000000e+01,DOWN_FORCE_DETACH,1792825856790549269,1.459210644e-04,-4.623554835e-05,-1.118344752e-03,1.467347235e-04,-4.585372511e-05,-1.105793441e-03,1.447282861e-04,-4.613687757e-05,-1.104763298e-03,7.021015907e-01,-6.832345975e-05,8.590251011e-01,7.021024043e-01,-6.794163652e-05,8.590376524e-01,7.028898778e-01,-1.644187168e-04,8.292215441e-01
+13,1.111666667e+01,DOWN_FORCE_DETACH,1792825857856390586,1.522361916e-04,-5.045164825e-05,-1.151010600e-03,1.512444490e-04,-4.958883621e-05,-1.148665379e-03,1.490976664e-04,-4.990021613e-05,-1.147925767e-03,7.021079058e-01,-7.253955965e-05,8.589924352e-01,7.021069141e-01,-7.167674762e-05,8.589947805e-01,7.028942472e-01,-1.681820554e-04,8.291783817e-01
+14,1.215000000e+01,DOWN_FORCE_DETACH,1792825858886381743,1.518049199e-04,-5.113954852e-05,-1.159785089e-03,1.512444490e-04,-4.958883621e-05,-1.148665379e-03,1.491503307e-04,-4.990693058e-05,-1.148277458e-03,7.021074745e-01,-7.322745993e-05,8.589836608e-01,7.021069141e-01,-7.167674762e-05,8.589947805e-01,7.028942999e-01,-1.681887698e-04,8.291780300e-01
+15,1.315000000e+01,DOWN_FORCE_DETACH,1792825859869452842,1.499042357e-04,-5.386366003e-05,-1.167059206e-03,1.512444490e-04,-4.958883621e-05,-1.148665379e-03,1.491831967e-04,-4.991458883e-05,-1.148484975e-03,7.021055739e-01,-7.595157143e-05,8.589763866e-01,7.021069141e-01,-7.167674762e-05,8.589947805e-01,7.028943328e-01,-1.681964281e-04,8.291778225e-01
+16,1.413333333e+01,DOWN_FORCE_DETACH,1792825860835306409,1.591261363e-04,-5.195244343e-05,-1.190385738e-03,1.530661787e-04,-5.189391459e-05,-1.192748434e-03,1.506224591e-04,-5.224205394e-05,-1.192562171e-03,7.021147958e-01,-7.404035484e-05,8.589530601e-01,7.021087358e-01,-7.398182599e-05,8.589506974e-01,7.028957720e-01,-1.705238932e-04,8.291337453e-01
+17,1.500000000e+01,DOWN_FORCE_DETACH,1792825861687393004,1.652555057e-04,-5.540523225e-05,-1.243597912e-03,1.629702314e-04,-5.122943570e-05,-1.231881711e-03,1.608110945e-04,-5.158014895e-05,-1.231638330e-03,7.021209251e-01,-7.749314366e-05,8.588998479e-01,7.021186399e-01,-7.331734710e-05,8.589115641e-01,7.029059607e-01,-1.698619882e-04,8.290946691e-01
+18,1.585000000e+01,DOWN_FORCE_DETACH,1792825862522536843,1.796753861e-04,-5.898044103e-05,-1.329789656e-03,1.723187334e-04,-5.651116736e-05,-1.316189549e-03,1.698964415e-04,-5.691782938e-05,-1.315679696e-03,7.021353450e-01,-8.106835244e-05,8.588136562e-01,7.021279884e-01,-7.859907877e-05,8.588272563e-01,7.029150460e-01,-1.751996686e-04,8.290106277e-01
+19,1.681666667e+01,DOWN_FORCE_DETACH,1792825863489424483,1.890597032e-04,-5.515922786e-05,-1.428354265e-03,1.860609565e-04,-5.515457069e-05,-1.420156499e-03,1.833790676e-04,-5.554606675e-05,-1.419481800e-03,7.021447293e-01,-7.724713927e-05,8.587150916e-01,7.021417306e-01,-7.724248209e-05,8.587232893e-01,7.029285286e-01,-1.738279060e-04,8.289068256e-01
+20,1.783333333e+01,DOWN_FORCE_DETACH,1792825864520197766,2.039332604e-04,-5.796687065e-05,-1.512392936e-03,1.998190926e-04,-5.864759600e-05,-1.503596913e-03,1.971957887e-04,-5.906959336e-05,-1.502936681e-03,7.021596029e-01,-8.005478206e-05,8.586310529e-01,7.021554887e-01,-8.073550741e-05,8.586398489e-01,7.029423453e-01,-1.773514326e-04,8.288233708e-01
+21,1.873333333e+01,DOWN_FORCE_DETACH,1792825865488085524,2.126742273e-04,-6.296088406e-05,-1.588330659e-03,2.105354277e-04,-6.025532805e-05,-1.568919179e-03,2.079245086e-04,-6.070103666e-05,-1.568301626e-03,7.021683439e-01,-8.504879547e-05,8.585551152e-01,7.021662051e-01,-8.234323946e-05,8.585745267e-01,7.029530741e-01,-1.789828759e-04,8.287580058e-01
+22,1.978333333e+01,DOWN_FORCE_DETACH,1792825866535436430,2.262833247e-04,-6.140010429e-05,-1.654705552e-03,2.236650256e-04,-6.420688591e-05,-1.655644985e-03,2.210956637e-04,-6.464897820e-05,-1.654966224e-03,7.021819529e-01,-8.348801569e-05,8.584887403e-01,7.021793347e-01,-8.629479731e-05,8.584878009e-01,7.029662452e-01,-1.829308174e-04,8.286713412e-01
+23,2.070000000e+01,DOWN_FORCE_DETACH,1792825867436336114,2.352549545e-04,-6.892574543e-05,-1.733572118e-03,2.362328450e-04,-6.135948491e-05,-1.717850516e-03,2.339088123e-04,-6.178708274e-05,-1.717218310e-03,7.021909246e-01,-9.101365684e-05,8.584098737e-01,7.021919025e-01,-8.344739631e-05,8.584255953e-01,7.029790584e-01,-1.800689220e-04,8.286090891e-01
+24,2.165000000e+01,DOWN_FORCE_DETACH,1792825868387523945,2.493522679e-04,-7.034206314e-05,-1.811487475e-03,2.437007950e-04,-6.694874263e-05,-1.797516315e-03,2.409899364e-04,-6.745332842e-05,-1.796901768e-03,7.022050219e-01,-9.242997454e-05,8.583319584e-01,7.021993704e-01,-8.903665404e-05,8.583459295e-01,7.029861395e-01,-1.857351677e-04,8.285294057e-01
+25,2.255000000e+01,DOWN_FORCE_DETACH,1792825869270918232,2.625639768e-04,-6.582662788e-05,-1.896347325e-03,2.621932836e-04,-6.574540353e-05,-1.880861967e-03,2.599476247e-04,-6.624545491e-05,-1.880170513e-03,7.022182336e-01,-8.791453929e-05,8.582470985e-01,7.022178629e-01,-8.783331494e-05,8.582625839e-01,7.030050972e-01,-1.845272941e-04,8.284461369e-01
+26,2.350000000e+01,DOWN_FORCE_DETACH,1792825870221488587,2.763998243e-04,-6.827908992e-05,-1.979799819e-03,2.728855760e-04,-6.949859889e-05,-1.964740740e-03,2.704868286e-04,-7.004052828e-05,-1.964012612e-03,7.022320694e-01,-9.036700132e-05,8.581636460e-01,7.022285552e-01,-9.158651030e-05,8.581787051e-01,7.030156364e-01,-1.883223675e-04,8.283622948e-01
+27,2.438333333e+01,DOWN_FORCE_DETACH,1792825871154705974,2.862338199e-04,-7.193528205e-05,-2.060408832e-03,2.804422730e-04,-7.291132941e-05,-2.049120896e-03,2.776229673e-04,-7.343317793e-05,-2.048418689e-03,7.022419034e-01,-9.402319346e-05,8.580830370e-01,7.022361119e-01,-9.499924082e-05,8.580943249e-01,7.030227725e-01,-1.917150172e-04,8.282778887e-01
+28,2.526666667e+01,DOWN_FORCE_DETACH,1792825872170470814,2.960360637e-04,-8.255055542e-05,-2.149487272e-03,2.907956857e-04,-8.068284074e-05,-2.150605999e-03,2.875577796e-04,-8.127101854e-05,-2.149785301e-03,7.022517057e-01,-1.046384668e-04,8.579939586e-01,7.022464653e-01,-1.027707521e-04,8.579928398e-01,7.030327073e-01,-1.995528578e-04,8.281765221e-01
+29,2.620000000e+01,DOWN_FORCE_DETACH,1792825873153215636,3.040354110e-04,-8.692999490e-05,-2.242185021e-03,3.021003454e-04,-8.429968329e-05,-2.234361978e-03,2.987471760e-04,-8.489944122e-05,-2.233569698e-03,7.022597050e-01,-1.090179063e-04,8.579012608e-01,7.022577700e-01,-1.063875947e-04,8.579090839e-01,7.030438967e-01,-2.031812805e-04,8.280927377e-01
+30,2.713333333e+01,DOWN_FORCE_DETACH,1792825874103222914,3.231390635e-04,-8.684073626e-05,-2.322981984e-03,3.167051021e-04,-8.668889429e-05,-2.316004555e-03,3.134955111e-04,-8.727519101e-05,-2.315168713e-03,7.022788087e-01,-1.089286477e-04,8.578204639e-01,7.022723747e-01,-1.087768057e-04,8.578274413e-01,7.030586451e-01,-2.055570302e-04,8.280111387e-01
+31,2.811666667e+01,DOWN_FORCE_DETACH,1792825875085672132,3.384772587e-04,-8.518332072e-05,-2.417431541e-03,3.352825705e-04,-9.003677065e-05,-2.416892082e-03,3.323124856e-04,-9.063088409e-05,-2.415989700e-03,7.022941469e-01,-1.072712321e-04,8.577260143e-01,7.022909522e-01,-1.121246821e-04,8.577265538e-01,7.030774620e-01,-2.089127233e-04,8.279103177e-01
+32,2.901666667e+01,DOWN_FORCE_DETACH,1792825876052824886,3.479018582e-04,-8.698256764e-05,-2.515278347e-03,3.453502552e-04,-8.963128197e-05,-2.499701926e-03,3.421615473e-04,-9.024740677e-05,-2.498841570e-03,7.023035715e-01,-1.090704790e-04,8.576281675e-01,7.023010199e-01,-1.117191934e-04,8.576437439e-01,7.030873111e-01,-2.085292460e-04,8.278274659e-01
+33,2.981666667e+01,DOWN_FORCE_DETACH,1792825876887763882,3.603112179e-04,-9.284978804e-05,-2.594833429e-03,3.566672288e-04,-8.399701152e-05,-2.580890092e-03,3.533801696e-04,-8.455076580e-05,-2.580108246e-03,7.023159808e-01,-1.149376994e-04,8.575486124e-01,7.023123369e-01,-1.060849229e-04,8.575625558e-01,7.030985297e-01,-2.028326050e-04,8.277461992e-01
+34,3.076666667e+01,DOWN_FORCE_DETACH,1792825877821180186,3.707022177e-04,-9.564150997e-05,-2.682206223e-03,3.681306625e-04,-9.006296481e-05,-2.683740439e-03,3.645067588e-04,-9.066760030e-05,-2.682846712e-03,7.023263718e-01,-1.177294214e-04,8.574612396e-01,7.023238003e-01,-1.121508762e-04,8.574597054e-01,7.031096563e-01,-2.089494395e-04,8.276434607e-01
+35,3.163333333e+01,DOWN_FORCE_DETACH,1792825878689601240,3.807439155e-04,-9.937834232e-05,-2.772515786e-03,3.746939227e-04,-1.019854499e-04,-2.765857952e-03,3.706642252e-04,-1.026753348e-04,-2.765033487e-03,7.023364135e-01,-1.214662537e-04,8.573709301e-01,7.023303635e-01,-1.240733614e-04,8.573775879e-01,7.031158138e-01,-2.209571741e-04,8.275612739e-01
+36,3.248333333e+01,DOWN_FORCE_DETACH,1792825879525176420,3.830446016e-04,-9.621113951e-05,-2.857979574e-03,3.845047068e-04,-1.007883569e-04,-2.847118579e-03,3.802049491e-04,-1.014601982e-04,-2.846306845e-03,7.023387142e-01,-1.182990509e-04,8.572854663e-01,7.023401743e-01,-1.228762683e-04,8.572963273e-01,7.031253545e-01,-2.197420374e-04,8.274800006e-01
+37,3.336666667e+01,DOWN_FORCE_DETACH,1792825880392836776,3.875873818e-04,-9.367338440e-05,-2.938175642e-03,3.872199127e-04,-9.493925119e-05,-2.932427765e-03,3.821815963e-04,-9.555514923e-05,-2.931632622e-03,7.023432570e-01,-1.157612958e-04,8.572052702e-01,7.023428895e-01,-1.170271626e-04,8.572110181e-01,7.031273312e-01,-2.138369885e-04,8.273946748e-01
+38,3.406666667e+01,DOWN_FORCE_DETACH,1792825881081018317,4.103806779e-04,-1.016201903e-04,-3.005068301e-03,4.121395195e-04,-9.933409847e-05,-2.988575098e-03,4.082944481e-04,-9.999254549e-05,-2.987815572e-03,7.023660503e-01,-1.237081017e-04,8.571383775e-01,7.023678091e-01,-1.214220099e-04,8.571548707e-01,7.031534440e-01,-2.182743847e-04,8.273384919e-01
+39,3.508333333e+01,DOWN_FORCE_DETACH,1792825882096554140,4.151146506e-04,-1.006131565e-04,-3.110036022e-03,4.132261878e-04,-1.036224742e-04,-3.111548422e-03,4.080162467e-04,-1.043312030e-04,-3.110687824e-03,7.023707843e-01,-1.227010679e-04,8.570334098e-01,7.023688958e-01,-1.257103856e-04,8.570318974e-01,7.031531658e-01,-2.226130422e-04,8.272156196e-01
+40,3.583333333e+01,DOWN_FORCE_DETACH,1792825883145492437,4.275552897e-04,-1.003911564e-04,-3.208047215e-03,4.230290850e-04,-1.058241884e-04,-3.213631506e-03,4.173948248e-04,-1.065151002e-04,-3.212638883e-03,7.023832249e-01,-1.224790678e-04,8.569353986e-01,7.023786987e-01,-1.279120998e-04,8.569298143e-01,7.031625444e-01,-2.247969395e-04,8.271136686e-01
+41,3.666666667e+01,DOWN_FORCE_DETACH,1792825884001328006,4.359157346e-04,-1.000371657e-04,-3.291622804e-03,4.318363857e-04,-9.840732529e-05,-3.277594099e-03,4.261191280e-04,-9.906381245e-05,-3.276747809e-03,7.023915854e-01,-1.221250771e-04,8.568518230e-01,7.023875060e-01,-1.204952367e-04,8.568658517e-01,7.031712687e-01,-2.173456517e-04,8.270495596e-01
+42,3.760000000e+01,DOWN_FORCE_DETACH,1792825884996330956,4.471397926e-04,-9.589083494e-05,-3.381572259e-03,4.471792728e-04,-9.777396609e-05,-3.366271098e-03,4.416111867e-04,-9.843386402e-05,-3.365495723e-03,7.024028094e-01,-1.179787463e-04,8.567618736e-01,7.024028489e-01,-1.198618775e-04,8.567771747e-01,7.031867607e-01,-2.167157032e-04,8.269608117e-01
+43,3.853333333e+01,DOWN_FORCE_DETACH,1792825885913821747,4.542436218e-04,-9.952860989e-05,-3.468621386e-03,4.543041222e-04,-9.918282546e-05,-3.450653076e-03,4.483028753e-04,-9.987597911e-05,-3.449957199e-03,7.024099132e-01,-1.216165213e-04,8.566748245e-01,7.024099737e-01,-1.212707369e-04,8.566927928e-01,7.031934524e-01,-2.181578183e-04,8.268763502e-01
+44,3.946666667e+01,DOWN_FORCE_DETACH,1792825886879875331,4.634649431e-04,-9.533739616e-05,-3.561979591e-03,4.614561604e-04,-9.709629929e-05,-3.554368196e-03,4.547987387e-04,-9.776144859e-05,-3.553598754e-03,7.024191346e-01,-1.174253076e-04,8.565814663e-01,7.024171258e-01,-1.191842107e-04,8.565890776e-01,7.031999483e-01,-2.160432878e-04,8.267727087e-01
+45,4.035000000e+01,DOWN_FORCE_DETACH,1792825887773058810,4.767219780e-04,-9.762027091e-05,-3.645157225e-03,4.741830785e-04,-9.735058636e-05,-3.643540604e-03,4.674535442e-04,-9.801241606e-05,-3.642765087e-03,7.024323916e-01,-1.197081823e-04,8.564982886e-01,7.024298527e-01,-1.194384978e-04,8.564999052e-01,7.032126031e-01,-2.162942553e-04,8.266835423e-01
+46,4.131666667e+01,DOWN_FORCE_DETACH,1792825888760981183,4.851308262e-04,-9.289811952e-05,-3.746155956e-03,4.826598532e-04,-9.960302566e-05,-3.729105724e-03,4.755626760e-04,-1.003118729e-04,-3.728410354e-03,7.024408005e-01,-1.149860309e-04,8.563972899e-01,7.024383295e-01,-1.216909371e-04,8.564143401e-01,7.032207122e-01,-2.185937121e-04,8.265978971e-01
+47,4.226666667e+01,DOWN_FORCE_DETACH,1792825889860681783,5.013843021e-04,-9.556633724e-05,-3.844017142e-03,5.008288544e-04,-9.593744956e-05,-3.835127106e-03,4.938626523e-04,-9.661122660e-05,-3.834348778e-03,7.024570539e-01,-1.176542486e-04,8.562994287e-01,7.024564985e-01,-1.180253610e-04,8.563083187e-01,7.032390122e-01,-2.148930658e-04,8.264919587e-01
+48,4.308333333e+01,DOWN_FORCE_DETACH,1792825890678995353,5.070111378e-04,-9.666063603e-05,-3.931936888e-03,5.047031061e-04,-9.402065776e-05,-3.924064891e-03,4.970894655e-04,-9.468982817e-05,-3.923329114e-03,7.024626808e-01,-1.187485474e-04,8.562115090e-01,7.024603727e-01,-1.161085692e-04,8.562193810e-01,7.032422390e-01,-2.129716674e-04,8.264029783e-01
+49,4.398333333e+01,DOWN_FORCE_DETACH,1792825891564048033,5.184586481e-04,-1.017945871e-04,-4.020292914e-03,5.156171476e-04,-9.971885779e-05,-4.004897855e-03,5.078784797e-04,-1.004068100e-04,-4.004191331e-03,7.024741283e-01,-1.238824985e-04,8.561231529e-01,7.024712868e-01,-1.218067692e-04,8.561385480e-01,7.032530280e-01,-2.186886492e-04,8.263221161e-01
+50,4.481666667e+01,DOWN_FORCE_DETACH,1792825892415400533,5.240304510e-04,-9.968551449e-05,-4.113009153e-03,5.241253711e-04,-1.021462661e-04,-4.108481417e-03,5.158450487e-04,-1.028699555e-04,-4.107665314e-03,7.024797001e-01,-1.217734259e-04,8.560304367e-01,7.024797950e-01,-1.242341775e-04,8.560349644e-01,7.032609946e-01,-2.211517947e-04,8.262186421e-01
+51,4.566666667e+01,DOWN_FORCE_DETACH,1792825893283599776,5.322080386e-04,-9.521412310e-05,-4.197787234e-03,5.299826313e-04,-9.775802082e-05,-4.196810181e-03,5.212038824e-04,-9.843200654e-05,-4.196006303e-03,7.024878777e-01,-1.173020345e-04,8.559456586e-01,7.024856523e-01,-1.198459322e-04,8.559466357e-01,7.032663534e-01,-2.167138458e-04,8.261303011e-01
+52,4.658333333e+01,DOWN_FORCE_DETACH,1792825894200819410,5.449482616e-04,-1.011930766e-04,-4.297656045e-03,5.428858407e-04,-9.950288802e-05,-4.280133565e-03,5.341200216e-04,-1.001650047e-04,-4.279398603e-03,7.025006179e-01,-1.232809880e-04,8.558457898e-01,7.024985555e-01,-1.215907994e-04,8.558633123e-01,7.032792696e-01,-2.184468439e-04,8.260469088e-01
+53,4.763333333e+01,DOWN_FORCE_DETACH,1792825895250365120,5.529875826e-04,-1.021002734e-04,-4.423358076e-03,5.497961607e-04,-1.023018453e-04,-4.403718606e-03,5.401210806e-04,-1.030114247e-04,-4.402933564e-03,7.025086572e-01,-1.241881848e-04,8.557200878e-01,7.025054658e-01,-1.243897567e-04,8.557397272e-01,7.032852706e-01,-2.212932639e-04,8.259233739e-01
+54,4.858333333e+01,DOWN_FORCE_DETACH,1792825896199154429,5.606339372e-04,-9.797900788e-05,-4.530398036e-03,5.615204657e-04,-1.005012314e-04,-4.512411085e-03,5.514390985e-04,-1.011935737e-04,-4.511680642e-03,7.025163036e-01,-1.200669193e-04,8.556130478e-01,7.025171901e-01,-1.225891428e-04,8.556310348e-01,7.032965887e-01,-2.194754129e-04,8.258146268e-01
+55,4.933333333e+01,DOWN_FORCE_DETACH,1792825896944090834,5.847720043e-04,-1.005026409e-04,-4.618958918e-03,5.847382065e-04,-1.002023055e-04,-4.618572768e-03,5.751648915e-04,-1.009189325e-04,-4.617712140e-03,7.025404416e-01,-1.225905523e-04,8.555244869e-01,7.025404078e-01,-1.222902169e-04,8.555248731e-01,7.033203145e-01,-2.192007717e-04,8.257085953e-01
+56,5.025000000e+01,DOWN_FORCE_DETACH,1792825897869870540,5.777815708e-04,-1.051190865e-04,-4.748145428e-03,5.760271501e-04,-1.021275037e-04,-4.748474959e-03,5.643485826e-04,-1.028203967e-04,-4.747592644e-03,7.025334512e-01,-1.272069979e-04,8.553953004e-01,7.025316968e-01,-1.242154151e-04,8.553949709e-01,7.033094981e-01,-2.211022359e-04,8.255787148e-01
+57,5.108333333e+01,DOWN_FORCE_DETACH,1792825898688843777,5.902417683e-04,-1.015321636e-04,-4.863936272e-03,5.884174515e-04,-9.903475047e-05,-4.859071354e-03,5.763873113e-04,-9.971255490e-05,-4.858126799e-03,7.025459114e-01,-1.236200750e-04,8.552795096e-01,7.025440871e-01,-1.211226619e-04,8.552843745e-01,7.033215369e-01,-2.179943941e-04,8.254681806e-01
+58,5.195000000e+01,DOWN_FORCE_DETACH,1792825899540616078,6.025471502e-04,-1.049361744e-04,-4.977857595e-03,6.027658811e-04,-1.058646060e-04,-4.963268304e-03,5.905611190e-04,-1.066038792e-04,-4.962407716e-03,7.025582168e-01,-1.270240858e-04,8.551655883e-01,7.025584355e-01,-1.279525174e-04,8.551801775e-01,7.033357107e-01,-2.248857184e-04,8.253638997e-01
+59,5.286666667e+01,DOWN_PEAK_HOLD,1792825900459041340,6.047227466e-04,-1.059859714e-04,-5.034570285e-03,6.043172179e-04,-1.055340288e-04,-5.025014936e-03,5.915585228e-04,-1.062804863e-04,-5.024418953e-03,7.025603924e-01,-1.280738828e-04,8.551088756e-01,7.025599868e-01,-1.276219403e-04,8.551184309e-01,7.033367081e-01,-2.245623255e-04,8.253018885e-01

Part2/Fixed/digit/cylinder_0050_20/press_depth_10/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+00,4.5117e-02,7.9850e-02,2.4806e+00,-4.2329e-02,3.9971e-02,9.8797e-05,2.7234e-04,-2.1644e-05,-1.4782e-04,1.1623e-06,1.9819e-05,1.2357e-07,3.1063e-04,1.9853e-05
+1,1.0667e+00,DOWN_FORCE_DETACH,2.1984e-04,5.8960e-02,7.8581e-02,2.4731e+00,-4.2263e-02,4.0982e-02,1.0519e-04,1.4116e-02,-1.2913e-03,-7.6494e-03,6.7208e-05,1.0305e-03,6.5214e-06,1.6107e-02,1.0327e-03
+2,1.9500e+00,DOWN_FORCE_DETACH,4.3874e-04,7.3478e-02,7.5053e-02,2.5032e+00,-4.2034e-02,4.1992e-02,1.0894e-04,2.8634e-02,-4.8186e-03,2.2450e-02,2.9614e-04,2.0404e-03,1.0268e-05,3.6703e-02,2.0618e-03
+3,2.7667e+00,DOWN_FORCE_DETACH,6.6016e-04,6.9057e-02,9.6313e-02,2.5534e+00,-4.3473e-02,4.1613e-02,1.1694e-04,2.4213e-02,1.6441e-02,7.2618e-02,-1.1429e-03,1.6613e-03,1.8263e-05,7.8294e-02,2.0165e-03
+4,3.6333e+00,DOWN_FORCE_DETACH,8.7977e-04,8.0182e-02,1.1853e-01,2.5891e+00,-4.4972e-02,4.2371e-02,1.2311e-04,3.5337e-02,3.8658e-02,1.0834e-01,-2.6421e-03,2.4202e-03,2.4442e-05,1.2034e-01,3.5831e-03
+5,4.4833e+00,DOWN_FORCE_DETACH,1.0963e-03,7.8812e-02,1.2606e-01,2.6257e+00,-4.5482e-02,4.2232e-02,1.2448e-04,3.3968e-02,4.6191e-02,1.4492e-01,-3.1523e-03,2.2805e-03,2.5806e-05,1.5585e-01,3.8908e-03
+6,5.2667e+00,DOWN_FORCE_DETACH,1.3188e-03,6.4527e-02,1.4032e-01,2.6886e+00,-4.6428e-02,4.1138e-02,1.2343e-04,1.9683e-02,6.0451e-02,2.0784e-01,-4.0981e-03,1.1867e-03,2.4760e-05,2.1735e-01,4.2665e-03
+7,5.9500e+00,DOWN_FORCE_DETACH,1.5369e-03,5.8326e-02,1.3311e-01,2.7252e+00,-4.5908e-02,4.0630e-02,1.1847e-04,1.3481e-02,5.3242e-02,2.4448e-01,-3.5778e-03,6.7862e-04,1.9802e-05,2.5057e-01,3.6416e-03
+8,6.6833e+00,DOWN_FORCE_DETACH,1.7593e-03,5.4629e-02,1.4375e-01,2.7502e+00,-4.6574e-02,4.0316e-02,1.1642e-04,9.7848e-03,6.3873e-02,2.6947e-01,-4.2443e-03,3.6502e-04,1.7745e-05,2.7711e-01,4.2600e-03
+9,7.4500e+00,DOWN_FORCE_DETACH,1.9822e-03,4.9957e-02,1.6387e-01,2.7631e+00,-4.7897e-02,3.9971e-02,1.1990e-04,5.1127e-03,8.3998e-02,2.8236e-01,-5.5676e-03,1.9766e-05,2.1231e-05,2.9463e-01,5.5676e-03
+10,8.1500e+00,DOWN_FORCE_DETACH,2.1986e-03,4.7721e-02,1.4568e-01,2.7502e+00,-4.6673e-02,3.9825e-02,1.2163e-04,2.8764e-03,6.5806e-02,2.6947e-01,-4.3433e-03,-1.2637e-04,2.2955e-05,2.7740e-01,4.3452e-03
+11,9.1333e+00,DOWN_FORCE_DETACH,2.4175e-03,5.3064e-02,1.6445e-01,2.7232e+00,-4.7904e-02,4.0196e-02,1.3519e-04,8.2192e-03,8.4581e-02,2.4246e-01,-5.5738e-03,2.4482e-04,3.6520e-05,2.5692e-01,5.5793e-03
+12,1.0050e+01,DOWN_FORCE_DETACH,2.6397e-03,5.9699e-02,1.6273e-01,2.6824e+00,-4.7771e-02,4.0702e-02,1.4584e-04,1.4855e-02,8.2862e-02,2.0166e-01,-5.4409e-03,7.5109e-04,4.7165e-05,2.1853e-01,5.4927e-03
+13,1.1117e+01,DOWN_FORCE_DETACH,2.8596e-03,6.9132e-02,1.6941e-01,2.6295e+00,-4.8242e-02,4.1442e-02,1.5123e-04,2.4288e-02,8.9537e-02,1.4870e-01,-5.9121e-03,1.4909e-03,5.2558e-05,1.7526e-01,6.0974e-03
+14,1.2150e+01,DOWN_FORCE_DETACH,3.0800e-03,7.8448e-02,1.6774e-01,2.5665e+00,-4.8179e-02,4.2189e-02,1.4826e-04,3.3603e-02,8.7873e-02,8.5718e-02,-5.8492e-03,2.2377e-03,4.9588e-05,1.2727e-01,6.2628e-03
+15,1.3150e+01,DOWN_FORCE_DETACH,3.2987e-03,8.4282e-02,1.6620e-01,2.5293e+00,-4.8118e-02,4.2656e-02,1.4276e-04,3.9438e-02,8.6327e-02,4.8531e-02,-5.7883e-03,2.7049e-03,4.4085e-05,1.0660e-01,6.3893e-03
+16,1.4133e+01,DOWN_FORCE_DETACH,3.5214e-03,8.7722e-02,1.6941e-01,2.5392e+00,-4.8356e-02,4.2889e-02,1.3694e-04,4.2877e-02,8.9541e-02,5.8464e-02,-6.0259e-03,2.9376e-03,3.8268e-05,1.1521e-01,6.7039e-03
+17,1.5000e+01,DOWN_FORCE_DETACH,3.7416e-03,8.3206e-02,1.6756e-01,2.5455e+00,-4.8240e-02,4.2558e-02,1.3138e-04,3.8362e-02,8.7689e-02,6.4746e-02,-5.9097e-03,2.6069e-03,3.2709e-05,1.1556e-01,6.4592e-03
+18,1.5850e+01,DOWN_FORCE_DETACH,3.9620e-03,8.1659e-02,1.7725e-01,2.5812e+00,-4.8876e-02,4.2390e-02,1.2654e-04,3.6815e-02,9.7380e-02,1.0040e-01,-6.5465e-03,2.4386e-03,2.7870e-05,1.4463e-01,6.9860e-03
+19,1.6817e+01,DOWN_FORCE_DETACH,4.1781e-03,7.8697e-02,1.7506e-01,2.6152e+00,-4.8710e-02,4.2119e-02,1.1927e-04,3.3853e-02,9.5187e-02,1.3442e-01,-6.3801e-03,2.1673e-03,2.0601e-05,1.6815e-01,6.7382e-03
+20,1.7833e+01,DOWN_FORCE_DETACH,4.3983e-03,7.4889e-02,1.8107e-01,2.6182e+00,-4.9106e-02,4.1832e-02,1.1286e-04,3.0045e-02,1.0120e-01,1.3748e-01,-6.7760e-03,1.8808e-03,1.4190e-05,1.7333e-01,7.0322e-03
+21,1.8733e+01,DOWN_FORCE_DETACH,4.6187e-03,7.4640e-02,1.8325e-01,2.6106e+00,-4.9258e-02,4.1813e-02,1.0769e-04,2.9795e-02,1.0338e-01,1.2984e-01,-6.9283e-03,1.8621e-03,9.0140e-06,1.6862e-01,7.1742e-03
+22,1.9783e+01,DOWN_FORCE_DETACH,4.8403e-03,7.4250e-02,1.8949e-01,2.6174e+00,-4.9696e-02,4.1770e-02,1.0171e-04,2.9406e-02,1.0962e-01,1.3663e-01,-7.3657e-03,1.8191e-03,3.0401e-06,1.7762e-01,7.5870e-03
+23,2.0700e+01,DOWN_FORCE_DETACH,5.0586e-03,7.3381e-02,1.8339e-01,2.6090e+00,-4.9303e-02,4.1706e-02,9.2829e-05,2.8537e-02,1.0352e-01,1.2822e-01,-6.9736e-03,1.7550e-03,-5.8443e-06,1.6724e-01,7.1911e-03
+24,2.1650e+01,DOWN_FORCE_DETACH,5.2760e-03,7.9032e-02,1.9356e-01,2.6148e+00,-4.9971e-02,4.2083e-02,8.3038e-05,3.4188e-02,1.1369e-01,1.3406e-01,-7.6408e-03,2.1315e-03,-1.5635e-05,1.7907e-01,7.9325e-03
+25,2.2550e+01,DOWN_FORCE_DETACH,5.5029e-03,7.3721e-02,1.9158e-01,2.6251e+00,-4.9797e-02,4.1691e-02,7.3500e-05,2.8877e-02,1.1171e-01,1.4438e-01,-7.4669e-03,1.7400e-03,-2.5173e-05,1.8482e-01,7.6670e-03
+26,2.3500e+01,DOWN_FORCE_DETACH,5.7193e-03,7.7268e-02,1.9981e-01,2.6255e+00,-5.0295e-02,4.1944e-02,6.3643e-05,3.2424e-02,1.1994e-01,1.4473e-01,-7.9651e-03,1.9926e-03,-3.5030e-05,1.9074e-01,8.2107e-03
+27,2.4383e+01,DOWN_FORCE_DETACH,5.9363e-03,8.1786e-02,2.0723e-01,2.6293e+00,-5.0765e-02,4.2265e-02,5.3754e-05,3.6941e-02,1.2736e-01,1.4854e-01,-8.4351e-03,2.3137e-03,-4.4919e-05,1.9912e-01,8.7468e-03
+28,2.5267e+01,DOWN_FORCE_DETACH,6.1572e-03,8.4393e-02,2.2289e-01,2.6497e+00,-5.1785e-02,4.2425e-02,4.5992e-05,3.9549e-02,1.4302e-01,1.6893e-01,-9.4555e-03,2.4735e-03,-5.2681e-05,2.2484e-01,9.7738e-03
+29,2.6200e+01,DOWN_FORCE_DETACH,6.3801e-03,8.5092e-02,2.3030e-01,2.6487e+00,-5.2250e-02,4.2458e-02,3.8815e-05,4.0247e-02,1.5043e-01,1.6793e-01,-9.9206e-03,2.5071e-03,-5.9858e-05,2.2902e-01,1.0233e-02
+30,2.7133e+01,DOWN_FORCE_DETACH,6.5990e-03,8.2494e-02,2.3492e-01,2.6465e+00,-5.2529e-02,4.2265e-02,3.4546e-05,3.7649e-02,1.5505e-01,1.6572e-01,-1.0199e-02,2.3136e-03,-6.4127e-05,2.3004e-01,1.0458e-02
+31,2.8117e+01,DOWN_FORCE_DETACH,6.8198e-03,7.8044e-02,2.4009e-01,2.6602e+00,-5.2864e-02,4.1935e-02,3.3990e-05,3.3200e-02,1.6022e-01,1.7946e-01,-1.0534e-02,1.9842e-03,-6.4683e-05,2.4286e-01,1.0720e-02
+32,2.9017e+01,DOWN_FORCE_DETACH,7.0373e-03,7.7834e-02,2.3905e-01,2.6511e+00,-5.2788e-02,4.1926e-02,3.1315e-05,3.2990e-02,1.5917e-01,1.7036e-01,-1.0458e-02,1.9744e-03,-6.7358e-05,2.3547e-01,1.0643e-02
+33,2.9817e+01,DOWN_FORCE_DETACH,7.2588e-03,7.5172e-02,2.2911e-01,2.6472e+00,-5.2110e-02,4.1740e-02,2.8657e-05,3.0328e-02,1.4924e-01,1.6649e-01,-9.7797e-03,1.7886e-03,-7.0016e-05,2.2564e-01,9.9422e-03
+34,3.0767e+01,DOWN_FORCE_DETACH,7.4785e-03,7.6329e-02,2.4155e-01,2.6554e+00,-5.2903e-02,4.1806e-02,3.0306e-05,3.1485e-02,1.6168e-01,1.7463e-01,-1.0573e-02,1.8544e-03,-6.8367e-05,2.4006e-01,1.0735e-02
+35,3.1633e+01,DOWN_FORCE_DETACH,7.6932e-03,7.9153e-02,2.6524e-01,2.6509e+00,-5.4443e-02,4.1979e-02,3.3593e-05,3.4309e-02,1.8537e-01,1.7010e-01,-1.2113e-02,2.0282e-03,-6.5080e-05,2.5392e-01,1.2282e-02
+36,3.2483e+01,DOWN_FORCE_DETACH,7.9217e-03,7.9289e-02,2.6367e-01,2.6529e+00,-5.4325e-02,4.1983e-02,3.3681e-05,3.4445e-02,1.8380e-01,1.7212e-01,-1.1995e-02,2.0318e-03,-6.4992e-05,2.5416e-01,1.2166e-02
+37,3.3367e+01,DOWN_FORCE_DETACH,8.1381e-03,8.4865e-02,2.5272e-01,2.6517e+00,-5.3600e-02,4.2371e-02,3.0465e-05,4.0020e-02,1.7285e-01,1.7093e-01,-1.1270e-02,2.4201e-03,-6.8208e-05,2.4637e-01,1.1527e-02
+38,3.4067e+01,DOWN_FORCE_DETACH,8.3574e-03,7.0226e-02,2.5980e-01,2.6405e+00,-5.4081e-02,4.1370e-02,3.8673e-05,2.5382e-02,1.7993e-01,1.5970e-01,-1.1752e-02,1.4188e-03,-6.0000e-05,2.4191e-01,1.1837e-02
+39,3.5083e+01,DOWN_FORCE_DETACH,8.5756e-03,8.1297e-02,2.6844e-01,2.6636e+00,-5.4619e-02,4.2103e-02,4.8653e-05,3.6453e-02,1.8857e-01,1.8288e-01,-1.2289e-02,2.1515e-03,-5.0020e-05,2.6520e-01,1.2476e-02
+40,3.5833e+01,DOWN_FORCE_DETACH,8.8000e-03,7.9033e-02,2.7322e-01,2.6912e+00,-5.4895e-02,4.1904e-02,5.5586e-05,3.4188e-02,1.9335e-01,2.1040e-01,-1.2566e-02,1.9528e-03,-4.3087e-05,2.8779e-01,1.2717e-02
+41,3.6667e+01,DOWN_FORCE_DETACH,9.0179e-03,7.8331e-02,2.5979e-01,2.6636e+00,-5.3974e-02,4.1869e-02,6.0200e-05,3.3487e-02,1.7992e-01,1.8282e-01,-1.1644e-02,1.9182e-03,-3.8473e-05,2.5868e-01,1.1801e-02
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Part2/Fixed/digit/cylinder_0050_20/press_depth_10/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_0050_20/press_depth_10/up/franka_data.csv

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