Upload Part2/Fixed/digit (part 54)

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_04/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
+2508,1792824396593372244,3075916000000,1792824396591994876,XJC_ZERO_HOLD_BEFORE_DOWN,4,0.0685,0.06850149482488632,0.6759422813115469,-0.00477395070755622,0.09976620681041246,0.9999999445734102,-0.00014644098059408438,-0.00026278564459695386,0.00010860379820479649,0.6761,-0.0045,0.1,1.0,0.0,0.0,0.0,-8.714397645914751e-05,0.0005070989339780452,0.0025335885491722943,4.043785907389963e-05,0.00032765571147380657,0.00021795431474302572,1.1574545388532418,0.8731356540365783,0.22895080334327614,0.07644912082626092,-0.07548630979366,0.0035425498628158685,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.2738717249451211,1.3225626517644018,1.560012560412374,-0.0348931257186262,-0.991891873112206,0.8156940932124539,0.9945833496011472,-0.0025335885491722943,-0.5654292108112268,0.0,0.0,0,0,0.0,0.0
+2613,1792824397460204930,3076783000000,1792824397459983603,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6759380414819334,-0.004774647817528124,0.09975638813056044,0.9999999429271187,-0.0001449537647033783,-0.0002691766417628402,0.00011009525500565077,0.6761,-0.0045,0.09998862620205916,1.0,0.0,0.0,0.0,-0.005595850837797345,-0.014167597154092104,0.011709767065643972,-0.0008526914164098259,0.00033783708548203173,4.6462382907235585e-05,1.1519458319919036,0.8584609579485082,0.23812698185974782,0.07555599155077719,-0.07547612841965178,0.0033710579309800784,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.29375995549908973,1.3249119177588042,1.5867415393631237,-0.04225572587802868,-1.003926447946714,0.8029909025850365,0.9945833496011472,-0.011709767065643972,-0.5921581897619764,-0.5921581897619764,0.1012499999999989,0,0,-3.3749993670643914e-05,-9.999999025923074e-05
+2725,1792824398394015807,3077717000000,1792824398391985560,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6759334660323519,-0.004776536477213749,0.09972380710519435,0.9999999390647935,-0.00014205240088205318,-0.00028146938287279153,0.0001179380161393214,0.6761,-0.0045,0.09993531816222403,1.0,0.0,0.0,0.0,-0.0051445522595474635,-0.026583196685958543,0.07715867155518005,-0.001993966304694464,0.00034454780882445246,0.0003500615143094631,1.1523971305701535,0.8460453584166417,0.3035758863492839,0.07441471666249255,-0.07546941769630935,0.003674657062382306,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.34959223959521063,1.3078011063379935,1.4156683906562029,0.006960289328517615,-0.8870316689883747,0.7921939295153112,0.9945833496011472,-0.07715867155518005,-0.4210850410550556,-0.4210850410550556,0.2413500000000072,0,0,-8.044998457276543e-05,-9.999999025923074e-05
+2799,1792824399009839765,3078333000000,1792824399003993407,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6759597748750042,-0.004784967988675767,0.0996626054843375,0.9999999537911252,-0.00013688449675946173,-0.00021135647832351686,0.00014300938953309777,0.6761,-0.0045,0.09987628997357831,1.0,0.0,0.0,0.0,-0.0055455561245547624,-0.054297747837407595,0.20048810542187298,-0.0030410308245729656,0.0003388033768952359,0.00023275594506145863,1.1519961267051462,0.8183308072651927,0.4269053202159768,0.07336765214261405,-0.07547516212823857,0.0035573514931343015,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.42930327934220336,1.3081938274406621,1.3239624667984815,0.05709321790555003,-0.8151397348963842,0.7791678972765772,0.9945833496011472,-0.20048810542187298,-0.32937911719733426,-0.32937911719733426,0.3337499999999986,0,0,-0.00011124997857245156,-9.999999025923074e-05
+2862,1792824399534814768,3078858000000,1792824399527985081,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6759506362531793,-0.004786818432936776,0.09962727827195209,0.9999999483946254,-0.00013817996919774348,-0.00023337514517511913,0.00014524444483422297,0.6761,-0.0045,0.09981100623617273,1.0,0.0,0.0,0.0,-0.05965410855131248,-0.030153079143953043,0.24125332898533017,-0.0021062459851577814,0.003350289456803157,0.00025796551450145335,1.0978875742783885,0.8424754759586472,0.467670543779434,0.07430243698202924,-0.07246367604833065,0.003582561062574296,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.5328140501177476,1.2703560077554559,1.1811121649373317,0.10375477546596,-0.7146045457325617,0.7442192822475437,0.9945833496011472,-0.24125332898533017,-0.18652881533618448,-0.18652881533618448,0.41249999999998993,0,0,-0.0001374999734585477,-9.999999025923074e-05
+2935,1792824400143699415,3079467000000,1792824400135993838,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6759527476978401,-0.004789464951399359,0.09955536794003227,0.9999999478253699,-0.00015235112602375575,-0.00022668927024770903,0.00014557895097681614,0.6761,-0.0045,0.09971801195414577,1.0,0.0,0.0,0.0,-0.052806341178483596,-0.035397613457643695,0.3800708550500681,-0.00214049852978708,0.003526804521527538,0.00015027794642866795,1.1047353416512173,0.8372309416449566,0.6064880698441719,0.07426818443739994,-0.07228716098360627,0.0034748734945015108,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.5284387812296029,1.1905705801362276,0.9391257223311289,0.12301253048233912,-0.5616740919091378,0.6904509316481714,0.9945833496011472,-0.3800708550500681,0.05545762727001835,0.05545762727001835,0.5038499999999799,0,0,-0.00016794996752641923,-9.999999025923074e-05
+3010,1792824400768484143,3080092000000,1792824400767993499,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6759565148454225,-0.0047937855461819105,0.09946331132573605,0.9999999482122163,-0.00016101707532697906,-0.00021476858285489927,0.00015154664726422178,0.6761,-0.0045,0.0996032932263473,1.0,0.0,0.0,0.0,-0.08036552468666414,-0.05006133628292675,0.5421483545114425,-0.003242195334740447,0.005332769395963555,3.2534003075105136e-05,1.0771761581430368,0.8225672188196735,0.7685655693055463,0.07316648763244657,-0.07048119610917025,0.003357129551147948,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.6117443721675736,1.2904239123579868,0.7304589038853168,0.08592638791046558,-0.40795294153057976,0.7567979538851823,0.9945833496011472,-0.5421483545114425,0.2641244457158305,0.2641244457158305,0.5975999999999696,0,0,-0.00019919996143843844,-9.999999025923074e-05
+3086,1792824401401405894,3080725000000,1792824401395993870,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6759703884326553,-0.004799263968512441,0.09935926352293174,0.999999950415427,-0.00017403489336202823,-0.00018954414167981294,0.00015619501279837247,0.6761,-0.0045,0.09946775265376265,1.0,0.0,0.0,0.0,-0.08695699073359275,-0.043341954249722425,0.7130532141296881,-0.002282444342208978,0.006289381869955243,-8.278352185816899e-05,1.0705846920961082,0.8292866008528779,0.939470428923792,0.07412623862497804,-0.06952458363517856,0.003241812026214674,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.685755952445282,1.314295519874498,0.6312345610926944,0.08731114883393903,-0.32827630127308555,0.7751618649136677,0.9945833496011472,-0.7130532141296881,0.36334878850845287,0.36334878850845287,0.6925499999999591,0,0,-0.0002254811619459548,-9.9999754336838e-05
+3167,1792824402076303942,3081400000000,1792824402075984078,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6759834975021223,-0.004797351516066477,0.0992449350825325,0.9999999528167861,-0.00019335020452913962,-0.00016205715862745328,0.00014887063373503868,0.6761,-0.0045,0.09931633009578021,1.0,0.0,0.0,0.0,-0.11123194944419512,-0.029596505325671263,0.9134673918456938,-0.0013537273873337058,0.008254464469540784,-0.00020106224217017292,1.0463097333855058,0.843032049776929,1.1398846066397976,0.07505495557985331,-0.06755950103559302,0.00312353330590267,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.7213091905747564,1.2742767342071997,0.3798756923458355,0.09771156550266026,-0.16188079061728494,0.7417281114213313,0.9945833496011472,-0.9134673918456938,0.6147076572553117,0.6147076572553117,0.793799999999948,0,0,-0.00021447867967671526,-4.364965826749714e-06
+3242,1792824402701225021,3082025000000,1792824402699983651,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6759897435159158,-0.004801767955243332,0.09914420331296503,0.9999999505970951,-0.0002167366326294283,-0.00014976217863234268,0.0001443786453346584,0.6761,-0.0045,0.09919187902741451,1.0,0.0,0.0,0.0,-0.11739199736525974,-0.0184107905289409,1.0547914627924793,-0.0014103821564565716,0.009228983237422578,0.000259148414567493,1.0401496854644412,0.8542177645736594,1.2812086775865832,0.07499830081073044,-0.06658498226771123,0.003583743962640336,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.8259105253641016,1.1643547826259297,0.07242880317307629,0.13711711122910566,0.05960469693578161,0.6699648955252062,0.9945833496011472,-1.0547914627924793,0.9221545464280709,0.9221545464280709,0.8875499999999377,0,0,-0.00018357180617681467,9.999999025923074e-05
+3320,1792824403351104030,3082675000000,1792824403347983566,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6759993042835262,-0.004810101864014731,0.09905586083218552,0.999999949508911,-0.00023199577010938352,-0.00013054240067429716,0.00014683897278988762,0.6761,-0.0045,0.09908310360133868,1.0,0.0,0.0,0.0,-0.13846054194751134,-0.020870174362773053,1.1955172322597654,-0.0004223286270818444,0.009186464496754157,0.0006170933490335173,1.0190811408821896,0.8517583807398272,1.4219344470538693,0.07598635434010517,-0.06662750100837965,0.00394168889710636,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.8674745642485978,1.2880462388795035,0.043863090011136745,0.10354978714069495,0.0874141112190604,0.7497227361585368,0.9945833496011472,-1.1955172322597654,0.9507202595900105,0.9507202595900105,0.9850499999999269,0,0,-0.0001510718125083147,9.999999025923074e-05
+3393,1792824403958953357,3083283000000,1792824403955983961,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6760117751499901,-0.004805953442349024,0.09899707053379425,0.9999999507913785,-0.00023618959420566884,-0.0001145474760603757,0.0001447530863876855,0.6761,-0.0045,0.09900047833753026,1.0,0.0,0.0,0.0,-0.15079616173373211,0.004832261237773472,1.2760791836074812,0.0005304735385188303,0.011171224359867227,0.0005985808134629459,1.0067455210959688,0.8774608163403738,1.502496398401585,0.07693915650570585,-0.06464274114526658,0.003923176361535789,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.9046953943146809,1.17473341584683,-0.14589977650961275,0.14599234006334944,0.21471845940318374,0.6783542880067018,0.9945833496011472,-1.2760791836074812,1.14048312611076,1.14048312611076,1.0762499999999733,0,0,-0.0001206718184307024,9.999999025923074e-05
+3478,1792824404667855919,3083992000000,1792824404663983696,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6760225643996094,-0.004805492370233637,0.09893817483987809,0.9999999517271043,-0.0002377851129643583,-9.783891986576549e-05,0.00014790009753251263,0.6761,-0.0045,0.09892747131581119,1.0,0.0,0.0,0.0,-0.16101075056164948,0.010556701525132994,1.3567539783971836,0.0014777432045644662,0.012148455705284417,0.0005593697986958487,0.9965309322680515,0.8831852566277333,1.5831711931912875,0.07788642617175148,-0.06366550979984939,0.0038839653467686915,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,0.9852556601055454,1.240231630699947,-0.2683734974495174,0.13297004972137227,0.3134706204928353,0.7205956545751009,0.9945833496011472,-1.3567539783971836,1.2629568470506647,1.2629568470506647,1.1826000000000403,0,0,-8.52218253369078e-05,9.999999025923074e-05
+3560,1792824405350731504,3084675000000,1792824405343993479,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6760328180488362,-0.004810542097290516,0.09890762696336254,0.9999999809994107,-9.82167251701045e-06,-8.318537051148798e-05,0.00014975904477968204,0.6761,-0.0045,0.09888067722099068,1.0,0.0,0.0,0.0,-0.17035153801088299,0.012420666357191856,1.4068175190420815,0.0014988479440228575,0.012137426197879969,0.0005183167544979823,0.987190144818818,0.8850492214597921,1.6332347338361854,0.07790753091120987,-0.06367653930725384,0.003842912302570825,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.0483739847097933,1.3691799244632996,-0.2719031938273329,0.051955305315510174,0.3392690245041433,0.7313417775873525,0.9945833496011472,-1.4068175190420815,1.2664865434284802,1.2664865434284802,1.2850500000001048,0,0,-5.287937969858524e-05,9.982529666630597e-05
+3649,1792824406092565099,3085417000000,1792824406091993836,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.676033349386884,-0.004808624352850423,0.0988734896449384,0.9999999810303735,-1.9574057724012913e-05,-8.334284982290655e-05,0.00014850233281562422,0.6761,-0.0045,0.0988449868773515,1.0,0.0,0.0,0.0,-0.17995147133548572,0.026255291002909686,1.4370419348426944,0.0016747491274968634,0.013139691284390395,0.0005093813753248621,0.9775902114942152,0.89888384610551,1.6634591496367983,0.07808343209468388,-0.06267427422074341,0.003833976923397705,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.0610161358468178,1.3928597521681847,-0.33574708257085434,0.04723002543327615,0.3809570085698148,0.7514708381225302,0.9945833496011472,-1.4370419348426944,1.3303304321720015,1.3303304321720015,1.396350000000175,0,0,-5.216493692147684e-05,-9.526257146864054e-05
+3743,1792824406875445943,3086200000000,1792824406871993391,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6760416418261356,-0.004813299447426707,0.09883775575863984,0.9999999811709298,-2.8825926333955312e-05,-7.085373176076767e-05,0.00015247891346629338,0.6761,-0.0045,0.09879483154621846,1.0,0.0,0.0,0.0,-0.18858867213303843,0.018876525449782355,1.4871744011020465,0.0024766827562709842,0.013114722431700379,0.0004779656497514882,0.9689530106966625,0.8915050805523826,1.7135916158961504,0.078885365723458,-0.06269924307343343,0.003802561197824331,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.1334501948553701,1.4424964068057773,-0.49540987831314565,0.039014712943624213,0.5016914860246561,0.7870638766971859,0.9945833496011472,-1.4871744011020465,1.489993227914293,1.489993227914293,1.513800000000249,0,0,-7.951115830043409e-05,9.687500387845489e-05
+3835,1792824407642303575,3086967000000,1792824407635993052,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6760487745829664,-0.004808645024960608,0.09878409147717543,0.9999999820134534,-3.6262681758185075e-05,-5.8793630529872005e-05,0.0001504801787396998,0.6761,-0.0045,0.09872339336118639,1.0,0.0,0.0,0.0,-0.19386256721398132,0.033367352189095034,1.5580046908763976,0.0034073249626958985,0.014093878342279667,0.00044699650569939844,0.9636791156157196,0.9059959072916953,1.7844219056705015,0.07981600792988292,-0.06172008716285414,0.0037715920537722413,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.147628074513689,1.2667262917106719,-0.5211658817422582,0.10728716549244677,0.5166575164400048,0.6853884187150012,0.9945833496011472,-1.5580046908763976,1.5157492313434053,1.5157492313434053,1.6288500000003214,0,0,-0.00010623275621265827,-9.994837876637348e-05
+3928,1792824408417075075,3087742000000,1792824408415984418,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6760590054264637,-0.004814201043510147,0.09871261631563404,0.9999999816753392,-5.8226653715913136e-05,-3.972818898950201e-05,0.00015206417565687797,0.6761,-0.0045,0.09863566040759031,1.0,0.0,0.0,0.0,-0.2042396853129398,0.03786488996883064,1.6770246022945523,0.003407811046147999,0.015080351209681285,0.0003649502133744884,0.9533019975167611,0.9104934450714309,1.9034418170886562,0.07981649401333502,-0.06073361429545252,0.003689545761447331,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.2204928216870083,1.2875050637402676,-0.6237122908388015,0.11590788705906159,0.5950425186745172,0.7193826451455674,0.9945833496011472,-1.6770246022945523,1.618295640439949,1.618295640439949,1.7451000000003947,0,0,-0.00011866368232057856,-9.999996250365512e-05
+4018,1792824409167024998,3088492000000,1792824409163983462,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6760652747668382,-0.004821280974805683,0.0986406575584,0.999999980353216,-8.398479136498644e-05,-2.8413367734167645e-05,0.00015124704057702869,0.6761,-0.0045,0.09854661234187631,1.0,0.0,0.0,0.0,-0.21947001823960144,0.04155446263751583,1.7786202729686802,0.00336243253474984,0.01607176693731739,0.0002974614693443821,0.9380716645900995,0.9141830177401161,2.005037487762784,0.07977111550193686,-0.059742198567816415,0.003622057017417225,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.2282780686629515,1.1773738682024009,-0.802994887533624,0.17887496844712691,0.7048726331212062,0.6803399192584176,0.9945833496011472,-1.7786202729686802,1.7975782371347713,1.7975782371347713,1.8576000000004655,0,0,-0.0001173927782524301,9.997563474162802e-05
+4103,1792824409874894843,3089200000000,1792824409871984230,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6760732322992202,-0.004816285282708879,0.09857357381299604,0.9999999796284043,-9.391933374416679e-05,-1.633487320457556e-05,0.00015198153207294412,0.6761,-0.0045,0.09846666436576645,1.0,0.0,0.0,0.0,-0.22973535032439352,0.0482033407552942,1.87879877083963,0.004335299357218311,0.01704432214228086,0.0002687140388368853,0.9278063325053074,0.9208318958578945,2.105215985633734,0.08074398232440533,-0.058769643362852945,0.003593309586909728,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.243344821564808,1.218973752160721,-0.8959873187086848,0.196620032393777,0.7640918304299826,0.7341629518537636,0.9945833496011472,-1.87879877083963,1.890570668309832,1.890570668309832,1.9638000000005325,0,0,-0.000107758011504118,9.975746203950137e-05
+4185,1792824410557775498,3089883000000,1792824410551993287,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6760800111667837,-0.004820460754817602,0.09851289851794755,0.9999999786645153,-0.00010426685653993024,-4.6026270882896275e-06,0.00015238461806569905,0.6761,-0.0045,0.09839417609184702,1.0,0.0,0.0,0.0,-0.23914191816986385,0.054885344663863744,1.9595417944076243,0.004319873466253246,0.01702607683422306,0.00017142964022974667,0.9183997646598371,0.927513899766464,2.1859590092017283,0.08072855643344026,-0.05878788867091075,0.0034960251883025895,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.2808451792326556,1.2334187281716114,-0.950955608936575,0.19871475861803445,0.8109424848223261,0.7431410252355634,0.9945833496011472,-1.9595417944076243,1.9455389585377223,1.9455389585377223,2.066250000000597,0,0,-0.00010617182345381971,-9.999999025923074e-05
+4270,1792824411266573504,3090592000000,1792824411263993842,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6760871563025139,-0.004826200954508203,0.09845388423388604,0.9999999766937263,-0.00011768909216520124,7.622252857294624e-06,0.00015539173163176172,0.6761,-0.0045,0.09832029677355235,1.0,0.0,0.0,0.0,-0.24880229308548973,0.05305061515069165,2.0401398851055683,0.004269412142718532,0.018017639005397816,0.0011223485262240864,0.9087393897442112,0.9256791702532919,2.2665570998996722,0.08067809510990555,-0.05779632649973599,0.004446944074296929,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.3312163540625392,1.1476878653637204,-1.1382452485564842,0.22013342724174945,0.9432374981830246,0.6831274921057431,0.9945833496011472,-2.0401398851055683,2.1328285981576314,2.1328285981576314,2.172600000000664,0,0,-0.0001038297377284073,9.999999025923074e-05
+4368,1792824412082452881,3091408000000,1792824412075993484,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6760890000793721,-0.00482167377465064,0.09837556848784344,0.9999999758233583,-0.00012607641078348018,1.0049806471242855e-05,0.0001542721200285682,0.6761,-0.0045,0.09823453748768933,1.0,0.0,0.0,0.0,-0.25132983708549994,0.0583296951345178,2.1306239224818104,0.00426028077537928,0.018998167328506267,0.0006212453922312261,0.906211845744201,0.9309582502371181,2.3570411372759144,0.0806689637425663,-0.05681579817662754,0.003945840940304069,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.3293010077052247,1.14944143382543,-1.1210108616814376,0.23371872478714062,0.9310975418996289,0.6926530207881277,0.9945833496011472,-2.1306239224818104,2.115594211282585,2.115594211282585,2.295000000000741,0,0,-0.00010564597715675828,-9.996374147747673e-05
+4460,1792824412849304961,3092175000000,1792824412847993788,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6761043499460304,-0.004828029262556507,0.0983168559450874,0.9999999731162751,-0.0001396797793541459,3.736221495302606e-05,0.00015589720163631737,0.6761,-0.0045,0.09815087823285172,1.0,0.0,0.0,0.0,-0.26873544511190794,0.06282172345498915,2.2209709900877503,0.005200754669669974,0.019986021639166844,0.0010472251458116108,0.888806237717793,0.9354502785575894,2.4473882048818543,0.08160943763685699,-0.05582794386596696,0.004371820693884454,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.3763647633299263,1.146670981394058,-1.3483154021439894,0.2459735112196648,1.0843650064678625,0.691844065832345,0.9945833496011472,-2.2209709900877503,2.3428987517451367,2.3428987517451367,2.4100500000008136,0,0,-0.00011260241164903905,9.999999025923074e-05
+4551,1792824413607204861,3092933000000,1792824413603993391,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.676109085045627,-0.004834143228592118,0.09824017639971538,0.9999999704539836,-0.0001523202511677934,4.667309849293439e-05,0.00015860346527486177,0.6761,-0.0045,0.09806035868398921,1.0,0.0,0.0,0.0,-0.2861352486212958,0.08641441084831425,2.309121171860176,0.0061796879607483035,0.0209601139825853,0.0010009929016172895,0.8714064342084051,0.9590429659509145,2.53553838665428,0.08258837092793532,-0.05485385152254851,0.004325588449690132,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.428545093003315,1.1410475921475702,-1.4167897088167696,0.25209403669648583,1.1384410391218565,0.6809659208213829,0.9945833496011472,-2.309121171860176,2.411373058417917,2.411373058417917,2.5237500000008852,0,0,-0.00012419329637888688,-2.9366199776009696e-05
+4639,1792824414341036583,3093667000000,1792824414339993144,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6761200331839974,-0.004831262320412719,0.09817051388673474,0.9999999686995794,-0.00015973178127834845,6.51225554161542e-05,0.00015584773165464347,0.6761,-0.0045,0.0979671001297792,1.0,0.0,0.0,0.0,-0.28845472311750076,0.09007755095352321,2.4018800437210324,0.006137643266648993,0.021871236557801717,0.0009311563813263393,0.8690869597122002,0.9627061060561235,2.6282972585151363,0.08254632623383601,-0.05394272894733209,0.004255751929399182,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.4835112552303198,1.1457226240911011,-1.5388559654545473,0.25924614822804404,1.2316626372999784,0.6844805366427726,0.9945833496011472,-2.4018800437210324,2.5334393150556944,2.5334393150556944,2.6338500000009546,0,0,-0.00012861604007158674,8.205270845731876e-05
+4734,1792824415131914824,3094458000000,1792824415127983526,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6761291131937749,-0.004832056186979827,0.09808421572925952,0.9999999666345496,-0.00016339383738660275,8.082751314171001e-05,0.0001579339452920508,0.6761,-0.0045,0.0978630744865889,1.0,0.0,0.0,0.0,-0.3078639376073936,0.07883385568443468,2.5168059613307294,0.007131848950877359,0.02191086523395041,0.0008561559535899847,0.8496777452223073,0.951462410787035,2.7432231761248334,0.08354053191806438,-0.0539031002711834,0.0041807515016628275,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.5133769813033118,1.1036670852534312,-1.6739176710965065,0.28212868363082155,1.3225085258747868,0.6587777954986169,0.9945833496011472,-2.5168059613307294,2.668501020697654,2.668501020697654,2.7525000000010293,0,0,-0.00013125210183009971,9.999994862586731e-05
+4820,1792824415848767975,3095175000000,1792824415843993521,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6761368671236294,-0.00483708164524739,0.09800618188420016,0.9999999637658367,-0.00017111269201750136,9.421762668503406e-05,0.000160482631939315,0.6761,-0.0045,0.09776920987332419,1.0,0.0,0.0,0.0,-0.31788524330716017,0.09259758816634378,2.6205657571448726,0.0070585635595109,0.023908508336813718,0.0008042241480524818,0.8396564395225408,0.9652261432689441,2.8469829719389765,0.08346724652669792,-0.05190545716832009,0.004128819696125325,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.590202041480392,1.070088563640541,-1.6885439373972602,0.29725218482270716,1.354959295673017,0.6330457820002484,0.9945833496011472,-2.6205657571448726,2.6831272869984075,2.6831272869984075,2.860050000001097,0,0,-0.00012968324298731482,-8.750098842569826e-05
+4907,1792824416573567198,3095900000000,1792824416567993551,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6761456851892912,-0.004839212506459737,0.09793337898842323,0.9999999618267004,-0.0001714368968310423,0.00010918962279840939,0.00016271594426590108,0.6761,-0.0045,0.09767926701642773,1.0,0.0,0.0,0.0,-0.3273367175328138,0.08563023336573294,2.70302332242102,0.00704192237917943,0.023897383217638096,0.0007365674862580465,0.8302049652968871,0.9582587884683332,2.929440537215124,0.08345060534636645,-0.05191658228749571,0.004061163034330889,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.5971483685423362,1.112294607039262,-1.9637273680101925,0.2880748670835671,1.529254941887901,0.6624330052661803,0.9945833496011472,-2.70302332242102,2.9583107176113397,2.9583107176113397,2.9688000000011656,0,0,-0.00012015114817379301,9.990599600240841e-05
+4987,1792824417240516995,3096567000000,1792824417239993621,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6761545668140746,-0.004838499432335492,0.09786800436933348,0.9999999608938991,-0.00016749738792267533,0.00012288240984910698,0.00016278698632947252,0.6761,-0.0045,0.09759826919175607,1.0,0.0,0.0,0.0,-0.33381687079615097,0.10098907419002523,2.783590441889966,0.007884374164816688,0.024875957011935804,0.0006968214239945151,0.82372481203355,0.9736176292926255,3.01000765668407,0.0842930571320037,-0.050938008493198,0.004021416972067358,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.6888130469239526,1.1242342124332017,-1.9380952298235712,0.3022247630311255,1.5385171556382284,0.6771682524538618,0.9945833496011472,-2.783590441889966,2.9326785794247185,2.9326785794247185,3.0688500000012287,0,0,-0.00012132483704771347,-9.836923916951008e-05
+5093,1792824418123322565,3097450000000,1792824418115994194,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6761658806993135,-0.004846965470838308,0.09778114114251275,0.9999999583362947,-0.00016554749530243206,0.00014314047587739604,0.00016393628058570105,0.6761,-0.0045,0.09748966570129075,1.0,0.0,0.0,0.0,-0.34721684528214525,0.10832773808637886,2.883801494868606,0.007967609079145968,0.025859501951159394,0.0015213490304040846,0.8103248375475557,0.9809562931889791,3.11021870966271,0.08437629204633298,-0.04995446355397441,0.004845944578476927,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.6980035112470908,1.1449957069821264,-2.0881055115797253,0.308002631274645,1.633777807581923,0.693536292138045,0.9945833496011472,-2.883801494868606,3.0826888611808725,3.0826888611808725,3.201300000001312,0,0,-0.00012614619212677892,-9.368340411620153e-05
+5174,1792824418798266482,3098125000000,1792824418795993306,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6761753470645201,-0.004842836041437835,0.09770954892888437,0.9999999579294176,-0.0001546928873438665,0.00015913599419428706,0.00016226482412398045,0.6761,-0.0045,0.0973996197537843,1.0,0.0,0.0,0.0,-0.36132494225525136,0.10817066269614894,2.9724015591028854,0.008056602583384503,0.026851368530317894,0.0015989710248563759,0.7962167405744496,0.9807992177987492,3.1988187738969893,0.08446528555057152,-0.04896259697481591,0.004923566572929219,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.7499041359552117,1.1160391257807856,-2.1536851590035195,0.3271854038556356,1.6852034023001614,0.6765593798002236,0.9945833496011472,-2.9724015591028854,3.1482685086046667,3.1482685086046667,3.302550000001376,0,0,-0.00014196049796385968,-9.571590328517061e-05
+5255,1792824419473098964,3098800000000,1792824419471983891,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6761815055493469,-0.004849327142001261,0.09762684343171553,0.9999999633750107,-9.148635973397267e-05,0.00016977769432373376,0.00016582708494506531,0.6761,-0.0045,0.09730494213744367,1.0,0.0,0.0,0.0,-0.37518337104511,0.11497045871910483,3.06410151675292,0.008897888599824974,0.027821893984319244,0.0015520885520159495,0.7823583117845909,0.9875990138217051,3.290518731547024,0.08530657156701199,-0.04799207152081456,0.004876684100088792,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.790297649464535,1.0389227252565965,-2.185891698178654,0.3590037194933298,1.7177700662931836,0.6302257695851343,0.9945833496011472,-3.06410151675292,3.180475047779801,3.180475047779801,3.4038000000014397,0,0,-0.00014118547708305419,-9.670830389130742e-05
+5343,1792824420206030661,3099533000000,1792824420199984160,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6761904440205978,-0.004851715198643578,0.0975406288054911,0.9999999590497777,-0.00010519179531261563,0.00018513411741348987,0.00016734202112921755,0.6761,-0.0045,0.09720132720912261,1.0,0.0,0.0,0.0,-0.3778431200328676,0.10735658174154838,3.1654560868325787,0.008877403088951102,0.027807356835481294,0.0014700007694457232,0.7796985627968334,0.9799851368441487,3.3918733016266827,0.08528608605613812,-0.04800660866965251,0.004794596317518566,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.8136203395055068,0.9470852800364964,-2.3104320972231807,0.38750930607432965,1.800961379681587,0.5634875403328539,0.9945833496011472,-3.1654560868325787,3.305015446824328,3.305015446824328,3.513750000001509,0,0,-0.00014007012974079214,-9.999922698090131e-05
+5428,1792824420914888876,3100242000000,1792824420911983731,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6761983913734854,-0.004851712645502905,0.09745554295546571,0.9999999549281704,-0.00012406301016859334,0.00019756404930480463,0.00016481303775983937,0.6761,-0.0045,0.09710195212114175,1.0,0.0,0.0,0.0,-0.386306683876928,0.1242293830420036,3.255963237102211,0.009480539762717108,0.028793924010718792,0.001409985850973042,0.7712349989527729,0.9968579381446039,3.482380451896315,0.08588922272990412,-0.047020041494415014,0.004734581399045885,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.836493263173733,1.049883425829026,-2.4912787784283794,0.370292557469399,1.9228324063400106,0.6355336405395715,0.9945833496011472,-3.255963237102211,3.4858621280295266,3.4858621280295266,3.620100000001576,0,0,-0.00013937701584118412,-9.82549139535493e-05
+5504,1792824421547717415,3100875000000,1792824421543983566,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6762062777143912,-0.0048522929843311585,0.09738270316427915,0.9999999506745412,-0.00013768166210663868,0.00021154326603112014,0.00016244071541915282,0.6761,-0.0045,0.09701365852976905,1.0,0.0,0.0,0.0,-0.3953426948736105,0.13598960583617914,3.3326283109110326,0.009813329338796695,0.02977076477363827,0.0013738512048521393,0.7621989879560904,1.0086181609387794,3.5590455257051365,0.08622201230598371,-0.04604320073149554,0.004698446752924982,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.9223106706896134,1.0426635252663574,-2.656000971342201,0.3775169104734512,2.050854287269059,0.6243290298824878,0.9945833496011472,-3.3326283109110326,3.650584320943348,3.650584320943348,3.7150500000016358,0,0,-0.00013988089222064103,9.999857472487434e-05
+5591,1792824422272635152,3101600000000,1792824422271993305,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6762105119372291,-0.004857140304071757,0.09728876600450635,0.9999999468161793,-0.00014935823279694062,0.0002159962405803099,0.00016984771155982816,0.6761,-0.0045,0.09690925302110673,1.0,0.0,0.0,0.0,-0.40010503477992465,0.13171732935023073,3.426590895344167,0.0097955397566096,0.029757456494029985,0.0012995349722644354,0.7574366480497763,1.004345884452831,3.6530081101382708,0.08620422272379662,-0.04605650901110382,0.004624130520337278,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.9462235525162161,1.0818800351381002,-2.742774108772735,0.371825125896763,2.1129178564347435,0.6518639539911685,0.9945833496011472,-3.426590895344167,3.7373574583738822,3.7373574583738822,3.8238000000017043,0,0,-0.00014839064449848204,7.578356972371409e-05
+5677,1792824422989513343,3102317000000,1792824422987993820,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6762213406671586,-0.004854203826608736,0.09720415028572281,0.9999999415548049,-0.0001491764369618516,0.00023561484820833735,0.00017482930269405357,0.6761,-0.0045,0.09680222876563623,1.0,0.0,0.0,0.0,-0.40676977350364585,0.14262445383634637,3.5068159571530337,0.009754631312896528,0.030752658154731514,0.0012493820656911741,0.7507719093260551,1.0152530089389467,3.7332331719471377,0.08616331428008354,-0.04506130735040229,0.004573977613764017,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,1.9528760385313833,1.0908821364761079,-2.7671978142677296,0.3795745663809253,2.1253185948827595,0.6599663437369518,0.9945833496011472,-3.5068159571530337,3.7617811638688767,3.7617811638688767,3.931350000001772,0,0,-0.00015474483871655143,-9.999999025923074e-05
+5760,1792824423680307235,3103008000000,1792824423675993725,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6762285865972012,-0.004852448542853704,0.09710655297650457,0.999999937538443,-0.000143920470572663,0.00024698693381537337,0.00018614598346893563,0.6761,-0.0045,0.09669288925543673,1.0,0.0,0.0,0.0,-0.4012814965232723,0.1590953352423845,3.607569963275983,0.010757283858012126,0.030710681818067673,0.0011801762208027023,0.7562601863064287,1.0317238903449848,3.8339871780700867,0.08716596682519914,-0.045103283687066134,0.004504771768875545,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.0012170279965518,1.1063499744833807,-2.8858761776318427,0.37427052036425007,2.211657124791824,0.6662324118129239,0.9945833496011472,-3.607569963275983,3.88045952723299,3.88045952723299,4.035000000001734,0,0,-0.0001585211095681257,-5.0275571232499774e-05
+5844,1792824424380259595,3103708000000,1792824424379983552,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6762393556414706,-0.0048552088651823986,0.09701597715340472,0.9999999329589091,-0.0001442369454135128,0.0002647492291984977,0.00018608758893888088,0.6761,-0.0045,0.09658098557476613,1.0,0.0,0.0,0.0,-0.4115563778064504,0.15494808350628198,3.693751478859558,0.011760894773847647,0.030674445048450037,0.0011238246797443266,0.7459853050232506,1.0275766386088823,3.920168693653662,0.08816957774103466,-0.04513952045668377,0.0044484202278171694,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.077905801480712,1.0540686759407683,-2.991687826656408,0.41424513132986285,2.297335042541387,0.639684385036153,0.9945833496011472,-3.693751478859558,3.986271176257555,3.986271176257555,4.140000000001489,0,0,-0.0001596451243105187,-6.806789440284006e-05
+5927,1792824425072103898,3104400000000,1792824425071983400,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6762482361187322,-0.004847840129036907,0.09692195151012759,0.9999999267629552,-0.00019094376973740804,0.00028304089731797505,0.0001461002244246892,0.6761,-0.0045,0.09647061776247531,1.0,0.0,0.0,0.0,-0.40416683368094763,0.1902025431350134,3.7690997300022433,0.012766519860813383,0.030634133587980734,0.001488084478379492,0.7533748491487533,1.0628310982376137,3.9955169447963472,0.0891752028280004,-0.04517983191715307,0.004812680026452335,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.0867483610963062,1.050252137436986,-3.1910913439217468,0.4198761833600065,2.428159538455022,0.6388643343483014,0.9945833496011472,-3.7690997300022433,4.185674693522894,4.185674693522894,4.243800000001247,0,0,-0.0001601792802604932,9.980468815141136e-05
+6011,1792824425771970620,3105100000000,1792824425771984151,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6762531784753546,-0.004850234360631164,0.09682452384321555,0.9999999254657429,-0.00017329111959074443,0.0002913773786165486,0.00015993993842273029,0.6761,-0.0045,0.09635706125268967,1.0,0.0,0.0,0.0,-0.40886231678790497,0.18387072644832592,3.848188833872796,0.012729866227049746,0.03159894472360461,0.0020399707089302855,0.748679366041796,1.0564992815509262,4.0746060486669,0.08913854919423676,-0.044215020781529196,0.005364566257003128,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.1192621193575554,1.0936261396007159,-3.2154813698310036,0.415466339994744,2.4467443166397347,0.6713450124326078,0.9945833496011472,-3.848188833872796,4.210064719432151,4.210064719432151,4.3488000000010025,0,0,-0.00016492517860416416,-1.5728869479367583e-05
+6084,1792824426379836422,3105708000000,1792824426375983904,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6762586293218313,-0.004850460229941905,0.09672924915350556,0.9999999255768631,-0.0001461116878481407,0.0002995299381727636,0.0001709453810365024,0.6761,-0.0045,0.09625547823190292,1.0,0.0,0.0,0.0,-0.4091778604823184,0.19097454967535055,3.9290134969954638,0.012704813773183762,0.031608870038608565,0.001985550850168165,0.7483638223473825,1.0636031047779508,4.155430711789568,0.08911349674037078,-0.04420509546652524,0.005310146398241008,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.125203728055573,0.9732746830178445,-3.3135602496164664,0.45481721013345605,2.5060359066104474,0.5988224259045941,0.9945833496011472,-3.9290134969954638,4.308143599217614,4.308143599217614,4.44000000000079,0,0,-0.00016800364387584287,9.843787870800753e-05
+6163,1792824427038767660,3106367000000,1792824427035983845,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6762669832473329,-0.004847938515742578,0.09663808398685303,0.9999999256051482,-8.394890098235924e-05,0.00031493246223451225,0.00018439818000853806,0.6761,-0.0045,0.0961443030240742,1.0,0.0,0.0,0.0,-0.4130511650539078,0.19077296953946732,3.999530163949877,0.01348259212222655,0.03166095909985685,0.0019461477566351552,0.7444905177757931,1.0634015246420676,4.225947378743981,0.08989127508941357,-0.04415300640527696,0.005270743304707998,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.1769693150684772,1.0894630471729978,-3.4087549875827037,0.43322702455191137,2.5792765049563617,0.6741594754285443,0.9945833496011472,-3.999530163949877,4.403338337183851,4.403338337183851,4.53885000000056,0,0,-0.00017109943110313067,8.571147195031008e-05
+6229,1792824427588593857,3106917000000,1792824427587993720,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6762713304077906,-0.004858496652986478,0.09654965868464456,0.9999999207712869,-9.44884798264407e-05,0.0003202553439140182,0.00019598144424417757,0.6761,-0.0045,0.09604862534552358,1.0,0.0,0.0,0.0,-0.419814415726279,0.2003487406911746,4.064115727609091,0.013071682080139757,0.031955831969061835,0.0018863887565640607,0.737727267103422,1.0729772957937749,4.290532942403195,0.08948036504732677,-0.04385813353607197,0.0052109843046369035,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.2315886106232123,1.0018448421189434,-3.5409898537655025,0.46392670586611273,2.6772985750201714,0.6167822404542243,0.9945833496011472,-4.064115727609091,4.53557320336665,4.53557320336665,4.621350000000367,0,0,-0.00017696067847597507,9.997446900745217e-05
+6306,1792824428229570735,3107558000000,1792824428223994260,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6762774290616941,-0.004856176278586977,0.09644232793794216,0.99999991640617,-0.00010574599642954651,0.0003292609855097867,0.00019757404953738635,0.6761,-0.0045,0.0959337403842367,1.0,0.0,0.0,0.0,-0.4203677687449584,0.1912489279029863,4.13995561763051,0.012635748218073867,0.032587703799275454,0.001829750059295164,0.7371739140847425,1.0638774830055866,4.366372832424614,0.08904443118526088,-0.04322626170585835,0.005154345607368007,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.233638038084381,0.9702323949955811,-3.609106652842132,0.4791603070977054,2.717998077530178,0.594625026413087,0.9945833496011472,-4.13995561763051,4.60369000244328,4.60369000244328,4.717500000000143,0,0,-0.0001828495028624325,8.402725323731203e-05
+6391,1792824428938450406,3108267000000,1792824428935993338,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6762798640113036,-0.004849294726605073,0.09631595628078898,0.9999999149548059,-0.00014892367034976953,0.00033106164589874444,0.0001724910789675822,0.6761,-0.0045,0.0958027104548093,1.0,0.0,0.0,0.0,-0.41328680675134055,0.19501479365640484,4.219557751129033,0.01262105288035871,0.03256013465585651,0.0017663855776602882,0.7442548760783604,1.0676433487590051,4.445974965923137,0.08902973584754573,-0.043253830849277294,0.005090981125733131,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.2458783118052543,1.0065967201323633,-3.6560076530621655,0.4897032296064461,2.74887206629826,0.6188030382247188,0.9945833496011472,-4.219557751129033,4.650591002663313,4.650591002663313,4.823849999999895,0,0,-0.00018855202936071536,-9.999999025923074e-05
+6457,1792824429488330124,3108817000000,1792824429487993667,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6762898814055267,-0.00484731557445786,0.09622132077040407,0.9999999051048826,-0.00016258057425771967,0.00035482576519114365,0.0001699980096894328,0.6761,-0.0045,0.09569691559419213,1.0,0.0,0.0,0.0,-0.4114566759661332,0.2105416152680908,4.261282965506507,0.013634106862255163,0.032530377396277406,0.0017440886996152021,0.7460850068635677,1.083170170370691,4.487700180300611,0.09004278982944218,-0.0432835881088564,0.005068684247688045,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.26581591171146,1.0802386675524553,-3.707610587534962,0.4704572853537131,2.783340317537586,0.6701304728289245,0.9945833496011472,-4.261282965506507,4.7021939371361094,4.7021939371361094,4.906349999999703,0,0,-0.00019627237666661047,-9.99995600478087e-05
+6530,1792824430096244544,3109425000000,1792824430095993383,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6762941074919012,-0.00484882411716066,0.09611275534716185,0.9999999069386952,-0.00013826395000203167,0.0003574843349607496,0.00017508139709679433,0.6761,-0.0045,0.09557298634652973,1.0,0.0,0.0,0.0,-0.40104391407165385,0.20635433283971794,4.321122683311877,0.012604282584966195,0.03253693702587131,0.0016855090565383113,0.7564977687580471,1.0789828879423182,4.547539898105981,0.08901296555215321,-0.0432770284792625,0.005010104604611154,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.3660479036056383,1.0608517318585888,-3.7613768286714917,0.47850243675848053,2.8440732732716247,0.6702366380927318,0.9945833496011472,-4.321122683311877,4.755960178272639,4.755960178272639,4.997549999999491,0,0,-0.00021068380072072757,-9.999847758035969e-05
+6609,1792824430754126236,3110083000000,1792824430747984382,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6763052349521131,-0.0048541681064607715,0.09598361499642723,0.9999999003023042,-0.00013123229711870915,0.00037036971841717715,0.00019089945434494057,0.6761,-0.0045,0.09542865156063167,1.0,0.0,0.0,0.0,-0.4105741464422321,0.20851159500686078,4.381268507516225,0.012585193618258078,0.03292460288968456,0.0016418720198940612,0.7469675363874688,1.081140150109461,4.607685722310329,0.0889938765854451,-0.04288936261544925,0.004966467567966904,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.3466613759211,0.9908074104590272,-3.784308043950037,0.5095598017750751,2.8521667702653346,0.6256100738271706,0.9945833496011472,-4.381268507516225,4.778891393551184,4.778891393551184,5.0962499999992605,0,0,-0.0002261191162603301,-9.85822215789966e-05
+6684,1792824431379016885,3110708000000,1792824431371983957,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.67631374040343,-0.004858134588140449,0.09585066413832748,0.9999998919479588,-0.00013975288893559613,0.0003842082647422628,0.0002009976974315878,0.6761,-0.0045,0.09528107913706059,1.0,0.0,0.0,0.0,-0.4108161289671042,0.21339973609686913,4.451491164208988,0.01255193089630223,0.03352184872656997,0.0015947111544102107,0.7467255538625968,1.0860282911994694,4.6779083790030915,0.08896061386348925,-0.042292116778563836,0.0049193067024830535,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.413708397581218,1.0537632518608777,-3.96948645591021,0.5022646188916846,2.992612647548329,0.6634102737322101,0.9945833496011472,-4.451491164208988,4.9640698055113575,4.9640698055113575,5.189999999999042,0,0,-0.0002448947976310941,-9.998779168374767e-05
+6748,1792824431912820528,3111242000000,1792824431911983595,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.676315990628725,-0.004853159564536483,0.09571773068965433,0.999999887212623,-0.00018140471712661897,0.000392423573816232,0.00017353291593587666,0.6761,-0.0045,0.09514515384837072,1.0,0.0,0.0,0.0,-0.39943357187355155,0.20687414988828667,4.511766049705953,0.012566151099414488,0.0324957689963831,0.0015293500992139223,0.7581081109561494,1.079502704990887,4.738183264500057,0.0889748340666015,-0.043318196508750705,0.004853945647286765,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.4058854904387497,1.0456706220094294,-4.010976512626239,0.504973802734008,3.0188712911379625,0.6648371229000674,0.9945833496011472,-4.511766049705953,5.005559862227386,5.005559862227386,5.270099999998855,0,0,-0.0002632422333268255,-9.974166911697608e-05
+6813,1792824432453724504,3111783000000,1792824432451983756,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6763146624113249,-0.004861781242846468,0.09557594162269376,0.9999998849610257,-0.0001695129118488113,0.0003922892887203259,0.00019721887945468324,0.6761,-0.0045,0.09499746476200925,1.0,0.0,0.0,0.0,-0.39131433480507094,0.18379814456831767,4.581172061487352,0.010511355071037884,0.03251990629595554,0.0014535511110677184,0.76622734802463,1.056426699670918,4.807589276281456,0.0869200380382249,-0.04329405920917827,0.004778146659140561,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.4560042357025162,0.9246306778840123,-4.103089120443509,0.5421012800717006,3.1024997797059246,0.5970222057328805,0.9945833496011472,-4.581172061487352,5.097672470044657,5.097672470044657,5.351249999998666,0,0,-0.00028090481026951517,-9.338034098605447e-05
+6872,1792824432945709778,3112275000000,1792824432943992822,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6763193129584708,-0.004869859545655962,0.09543569869955712,0.9999998914738026,-5.46302721152219e-05,0.0003975409079480755,0.00021788071828893047,0.6761,-0.0045,0.09485507934422895,1.0,0.0,0.0,0.0,-0.3918886635057386,0.16390848537264802,4.640894857745988,0.009450067725989122,0.03354072053233291,0.0014095762162952144,0.7656530193239623,1.0365370404752483,4.867312072540092,0.08585875069317614,-0.0422732449728009,0.004734171764368057,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.498991959175297,1.0504140657162093,-4.142849882694428,0.4811531343416474,3.1538709939501826,0.6290936162595948,0.9945833496011472,-4.640894857745988,5.137433232295575,5.137433232295575,5.425049999998494,0,0,-0.0002985034093058988,-8.04125058470106e-05
+6929,1792824433420579389,3112750000000,1792824433415993879,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6763247003587078,-0.004864733852392839,0.09529424698725103,0.9999998886498663,-0.00014111063967770697,0.0004063491822820444,0.00017062018844736404,0.6761,-0.0045,0.09470836261779321,1.0,0.0,0.0,0.0,-0.3637021373542868,0.1978217641494333,4.681456877123634,0.010510254667529681,0.03188386688996132,0.0013659528193345396,0.7938395454754141,1.0704503192520336,4.907874091917738,0.0869189376347167,-0.04393009861517249,0.004690548367407382,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.5473271521643888,1.0392017657275987,-4.124448186629501,0.522667901500504,3.1547554599126384,0.666081536979891,0.9945833496011472,-4.681456877123634,5.119031536230649,5.119031536230649,5.496299999998328,0,0,-0.00031995915343171886,-9.999999025923074e-05
+6982,1792824433862569825,3113192000000,1792824433855993903,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.6763252006846824,-0.004871418025490066,0.09514375860602788,0.9999998836227133,-0.00014476777526146108,0.0004087960337758718,0.00019006714131101246,0.6761,-0.0045,0.09456294885425062,1.0,0.0,0.0,0.0,-0.38191150661431195,0.17635999132857938,4.72905981574003,0.009461910592175174,0.03250770119953395,0.0013237023000903713,0.775630176215389,1.0489885464311797,4.955477030534134,0.08587059355936219,-0.043306264305599855,0.004648297848163214,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.554598661212126,1.1281677621453425,-4.198945619659534,0.49695901333983716,3.2111727342917775,0.7266924974256657,0.9945833496011472,-4.72905981574003,5.193528969260681,5.193528969260681,5.562599999998174,0,0,-0.00033910104053488786,-9.999999025923074e-05
+7033,1792824434287470032,3113617000000,1792824434283993577,DOWN_FORCE_DETACH,4,0.0685,0.06850149482488632,0.676337771790508,-0.004879087038967641,0.0950016073149882,0.9999998712243692,-0.00015410473065541596,0.00042646376709034375,0.00020826544757979217,0.6761,-0.0045,0.09441437432571678,1.0,0.0,0.0,0.0,-0.3853035459581543,0.16481813975195192,4.763130365419946,0.008407178530611098,0.033532207204733266,0.0013024111171762946,0.7722381368715466,1.0374466948545522,4.98954758021405,0.08481586149779811,-0.04228175830040054,0.004627006665249137,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.611188178836561,1.0630809532063694,-4.197170828330192,0.5285759542873988,3.2287939629877664,0.6887513342956557,0.9945833496011472,-4.763130365419946,5.191754177931339,5.191754177931339,5.626349999998025,0,0,-0.00036007583063410307,-9.999999025923074e-05
+7084,1792824434712425859,3114042000000,1792824434711993597,DOWN_FORCE_DETACH,4,0.0685,0.06850215047597885,0.6763306373724557,-0.004881297965025536,0.09484724550018699,0.9999998867408546,-0.00010168056005054754,0.0004049291928396913,0.00020893672435495984,0.6761,-0.0045,0.0942568376494025,1.0,0.0,0.0,0.0,-0.37209191584934653,0.16340713038844012,4.8007274556866495,0.007380152703369461,0.033542927597572464,0.0012596755430671104,0.7854497669803544,1.0360356854910404,5.027144670480753,0.08378883567055648,-0.04227103790756134,0.004584271091139953,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.6796258615622572,0.9947253268583122,-4.244444471728957,0.5718227870144449,3.2879109321609254,0.6555119061890072,0.9945833496011472,-4.8007274556866495,5.2390278213301045,5.2390278213301045,5.6900999999978765,0,0,-0.00038131210701039384,-9.999999025923074e-05
+7126,1792824435062340392,3114392000000,1792824435059994017,DOWN_SETTLE,4,0.0685,0.06850215047597885,0.676344291019604,-0.004876996924022761,0.09472697384387581,0.999999872545559,-0.00015517655360508303,0.00043713747140008253,0.0001765865178323177,0.6761,-0.0045,0.09413142206173276,1.0,0.0,0.0,0.0,-0.36231808845218205,0.18315357837019075,4.824901465281991,0.008442895229241007,0.03251078351502314,0.0012373261813891472,0.7952235943775189,1.055782133472791,5.051318680076095,0.08485157819642802,-0.04330318199011067,0.00456192172946199,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.6804354916321738,0.9699493258274694,-4.180824749690412,0.5768940949470823,3.259668973396567,0.6554360865888573,0.9945833496011472,-4.824901465281991,5.17540809929156,0.0,0.0,0,0,-0.00017339306685860403,0.0017514451197838791
+7219,1792824435831186315,3115161000000,1792824435823994146,DOWN_PEAK_HOLD,4,0.0685,0.06850215047597885,0.6763325020819678,-0.004880834099903862,0.09467115384430184,0.9999998832182979,-0.00015014173776337064,0.00041121641252642795,0.00018266027340028057,0.6761,-0.0045,0.09411515320276692,1.0,0.0,0.0,0.0,-0.3328723273670522,0.15412861558687885,4.622218055100539,0.006475511899519018,0.030560512082170838,0.001350002845817661,0.8246693554626487,1.0267571706894791,4.848635269894643,0.08288419486670603,-0.04525345342296297,0.004674598393890504,1.157541682829701,0.8726285551026003,0.22641721479410384,0.07640868296718702,-0.0758139655051338,0.003324595548072843,1,2.494462606481334,1.0136421275155298,-3.9541523159164065,0.5437148848860625,3.086376073960504,0.6782604333344647,0.9945833496011472,-4.622218055100539,4.948735665517554,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_04/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792824396594062124,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.417020279e-09,-2.303531237e-10,-7.858508289e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027450212e-01,-1.183304062e-04,8.303261565e-01
+1,8.333333333e-01,DOWN_FORCE_DETACH,1792824397457816846,-2.959005648e-06,1.447978576e-06,-7.197104191e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.418368199e-08,-9.277190250e-09,-3.016611738e-08,7.019526389e-01,-2.053707600e-05,8.601361888e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027450740e-01,-1.183394530e-04,8.303261271e-01
+2,1.750000000e+00,DOWN_FORCE_DETACH,1792824398391583138,-9.384173184e-06,-2.838270280e-06,-4.365737340e-05,-9.081964344e-06,1.371980904e-06,-4.106250827e-05,-1.020133532e-05,1.357891638e-06,-4.094433626e-05,7.019462137e-01,-2.482332486e-05,8.600997285e-01,7.019465159e-01,-2.061307368e-05,8.601023234e-01,7.027348185e-01,-1.169722842e-04,8.302852129e-01
+3,2.366666667e+00,DOWN_FORCE_DETACH,1792824399013876469,2.598247653e-05,-8.337427061e-06,-9.117975338e-05,2.526968710e-05,-8.155732385e-06,-9.141252910e-05,2.609041293e-05,-8.219874793e-06,-9.110274785e-05,7.019815803e-01,-3.032248164e-05,8.600522062e-01,7.019808676e-01,-3.014078697e-05,8.600519734e-01,7.027711102e-01,-1.265500506e-04,8.302350545e-01
+4,2.900000000e+00,DOWN_FORCE_DETACH,1792824399537892754,9.209557875e-06,-1.477565111e-05,-1.385025584e-04,1.227386781e-05,-1.189456157e-05,-1.317876555e-04,1.164638559e-05,-1.198333137e-05,-1.314280387e-04,7.019648074e-01,-3.676070569e-05,8.600048834e-01,7.019678717e-01,-3.387961615e-05,8.600115983e-01,7.027566662e-01,-1.303135072e-04,8.301947292e-01
+5,3.500000000e+00,DOWN_FORCE_DETACH,1792824400146927578,1.174386025e-05,-1.200282583e-05,-2.090032585e-04,8.876776062e-06,-1.607840861e-05,-2.026437996e-04,7.135395551e-06,-1.620372716e-05,-2.022340352e-04,7.019673417e-01,-3.398788041e-05,8.599343827e-01,7.019644746e-01,-3.806346319e-05,8.599407421e-01,7.027521552e-01,-1.345339030e-04,8.301239232e-01
+6,4.116666667e+00,DOWN_FORCE_DETACH,1792824400766153926,1.701398269e-05,-2.253699945e-05,-2.993279647e-04,1.415885234e-05,-1.843305269e-05,-2.990958616e-04,1.162023551e-05,-1.856432764e-05,-2.984971915e-04,7.019726118e-01,-4.452205403e-05,8.598440580e-01,7.019697567e-01,-4.041810727e-05,8.598442901e-01,7.027566400e-01,-1.368945035e-04,8.300276601e-01
+7,4.733333333e+00,DOWN_FORCE_DETACH,1792824401404431033,2.755264248e-05,-2.422770956e-05,-4.068959494e-04,2.725644417e-05,-2.422984208e-05,-4.067092676e-04,2.437857390e-05,-2.442896413e-05,-4.059541195e-04,7.019831505e-01,-4.621276414e-05,8.597364900e-01,7.019828543e-01,-4.621489666e-05,8.597366766e-01,7.027693984e-01,-1.427591400e-04,8.299202031e-01
+8,5.416666667e+00,DOWN_FORCE_DETACH,1792824402076780221,4.071615669e-05,-2.667085562e-05,-5.220582897e-04,3.996510901e-05,-2.998024355e-05,-5.134294189e-04,3.677201978e-05,-3.021654744e-05,-5.125912994e-04,7.019963140e-01,-4.865591020e-05,8.596213276e-01,7.019955630e-01,-5.196529813e-05,8.596299565e-01,7.027817918e-01,-1.485467233e-04,8.298135660e-01
+9,6.033333333e+00,DOWN_FORCE_DETACH,1792824402700164519,5.118803700e-05,-2.994095246e-05,-6.155017148e-04,4.604639474e-05,-2.895106214e-05,-6.019392496e-04,4.223390098e-05,-2.915640587e-05,-6.012294955e-04,7.020067859e-01,-5.192600704e-05,8.595278842e-01,7.020016443e-01,-5.093611672e-05,8.595414467e-01,7.027872537e-01,-1.474865817e-04,8.297249278e-01
+10,6.683333333e+00,DOWN_FORCE_DETACH,1792824403353743075,5.939701883e-05,-3.525656284e-05,-7.076985595e-04,5.924821487e-05,-3.536186252e-05,-7.077617155e-04,5.522131811e-05,-3.558219107e-05,-7.069577635e-04,7.020149949e-01,-5.724161742e-05,8.594356874e-01,7.020148461e-01,-5.734691710e-05,8.594356242e-01,7.028002411e-01,-1.539123669e-04,8.296191995e-01
+11,7.300000000e+00,DOWN_FORCE_DETACH,1792824403959943250,7.056402674e-05,-3.554646272e-05,-7.702466693e-04,7.053397380e-05,-3.564053755e-05,-7.703350588e-04,6.661995513e-05,-3.589916990e-05,-7.696556344e-04,7.020261619e-01,-5.753151730e-05,8.593731392e-01,7.020261318e-01,-5.762559213e-05,8.593730509e-01,7.028116398e-01,-1.542293457e-04,8.295565016e-01
+12,8.000000000e+00,DOWN_FORCE_DETACH,1792824404668617253,8.333956917e-05,-3.230521068e-05,-8.227399508e-04,7.841781360e-05,-3.429770025e-05,-8.140170073e-04,7.454401256e-05,-3.452346194e-05,-8.134994139e-04,7.020389374e-01,-5.429026526e-05,8.593206460e-01,7.020340157e-01,-5.628275483e-05,8.593293689e-01,7.028195638e-01,-1.528536378e-04,8.295126578e-01
+13,8.683333333e+00,DOWN_FORCE_DETACH,1792824405352040680,9.220514806e-05,-3.583153170e-05,-8.576184353e-04,8.883348548e-05,-3.587365731e-05,-8.539806904e-04,8.531566792e-05,-3.611912638e-05,-8.535480523e-04,7.020478030e-01,-5.781658628e-05,8.592857675e-01,7.020444314e-01,-5.785871189e-05,8.592894052e-01,7.028303355e-01,-1.544493022e-04,8.294726092e-01
+14,9.400000000e+00,DOWN_FORCE_DETACH,1792824406106919305,9.723178061e-05,-3.821863633e-05,-8.858711641e-04,9.281666586e-05,-3.617458851e-05,-8.737634272e-04,8.941109530e-05,-3.643117629e-05,-8.734809830e-04,7.020528296e-01,-6.020369091e-05,8.592575148e-01,7.020484145e-01,-5.815964309e-05,8.592696225e-01,7.028344309e-01,-1.547613521e-04,8.294526763e-01
+15,1.018333333e+01,DOWN_FORCE_DETACH,1792824406875159115,1.009024883e-04,-3.658732458e-05,-9.256026605e-04,9.846456852e-05,-4.084870054e-05,-9.133427508e-04,9.501397733e-05,-4.115711420e-05,-9.130980571e-04,7.020565004e-01,-5.857237916e-05,8.592177833e-01,7.020540624e-01,-6.283375512e-05,8.592300432e-01,7.028400338e-01,-1.594872900e-04,8.294130592e-01
+16,1.093333333e+01,DOWN_FORCE_DETACH,1792824407645593880,1.086732109e-04,-3.438698085e-05,-9.799408314e-04,1.071586253e-04,-3.339445965e-05,-9.729540543e-04,1.036233722e-04,-3.365705691e-05,-9.726419140e-04,7.020642711e-01,-5.637203543e-05,8.591634451e-01,7.020627565e-01,-5.537951423e-05,8.591704319e-01,7.028486432e-01,-1.519872327e-04,8.293535153e-01
+17,1.170000000e+01,DOWN_FORCE_DETACH,1792824408414525027,1.180951015e-04,-4.134489844e-05,-1.051955136e-03,1.168229105e-04,-4.505060194e-05,-1.034642812e-03,1.133555294e-04,-4.541275295e-05,-1.034300511e-03,7.020736930e-01,-6.332995302e-05,8.590914308e-01,7.020724208e-01,-6.703565652e-05,8.591087431e-01,7.028583753e-01,-1.637429288e-04,8.292918567e-01
+18,1.245000000e+01,DOWN_FORCE_DETACH,1792824409167750693,1.242324469e-04,-4.333814506e-05,-1.123565603e-03,1.243898289e-04,-4.513159654e-05,-1.120216384e-03,1.204929034e-04,-4.548737987e-05,-1.119783609e-03,7.020798303e-01,-6.532319964e-05,8.590198203e-01,7.020799877e-01,-6.711665112e-05,8.590231695e-01,7.028655127e-01,-1.638175557e-04,8.292063736e-01
+19,1.313333333e+01,DOWN_FORCE_DETACH,1792824409871615174,1.336422463e-04,-4.666860870e-05,-1.190413597e-03,1.302215319e-04,-4.681149945e-05,-1.181397644e-03,1.259822046e-04,-4.715273256e-05,-1.180966780e-03,7.020892401e-01,-6.865366328e-05,8.589529723e-01,7.020858194e-01,-6.879655403e-05,8.589619883e-01,7.028710020e-01,-1.654829084e-04,8.291451905e-01
+20,1.381666667e+01,DOWN_FORCE_DETACH,1792824410559495625,1.388973428e-04,-4.988655525e-05,-1.251584664e-03,1.376665914e-04,-4.745898822e-05,-1.245610800e-03,1.332335658e-04,-4.783240297e-05,-1.245183769e-03,7.020944952e-01,-7.187160983e-05,8.588918013e-01,7.020932645e-01,-6.944404280e-05,8.588977751e-01,7.028782534e-01,-1.661625788e-04,8.290809735e-01
+21,1.451666667e+01,DOWN_FORCE_DETACH,1792824411263920628,1.440768012e-04,-5.067156602e-05,-1.313129345e-03,1.439192383e-04,-4.812286572e-05,-1.308040517e-03,1.392341311e-04,-4.851424793e-05,-1.307606740e-03,7.020996747e-01,-7.265662060e-05,8.588302566e-01,7.020995171e-01,-7.010792030e-05,8.588353454e-01,7.028842539e-01,-1.668444238e-04,8.290185505e-01
+22,1.535000000e+01,DOWN_FORCE_DETACH,1792824412083014598,1.490928147e-04,-4.682847347e-05,-1.387990904e-03,1.496460423e-04,-5.150145468e-05,-1.371787464e-03,1.446485321e-04,-5.190190262e-05,-1.371391738e-03,7.021046907e-01,-6.881352805e-05,8.587553950e-01,7.021052439e-01,-7.348650926e-05,8.587715985e-01,7.028896683e-01,-1.702320784e-04,8.289547655e-01
+23,1.610000000e+01,DOWN_FORCE_DETACH,1792824412852107072,1.626715271e-04,-5.473685501e-05,-1.448787428e-03,1.591684694e-04,-5.036275198e-05,-1.434612749e-03,1.541203639e-04,-5.073951235e-05,-1.434289398e-03,7.021182694e-01,-7.672190959e-05,8.586945985e-01,7.021147663e-01,-7.234780656e-05,8.587087732e-01,7.028991402e-01,-1.690696882e-04,8.288918679e-01
+24,1.686666667e+01,DOWN_FORCE_DETACH,1792824413605550254,1.712959591e-04,-5.600494825e-05,-1.521581236e-03,1.706398044e-04,-5.350551420e-05,-1.518369025e-03,1.654374916e-04,-5.395912309e-05,-1.517902556e-03,7.021268938e-01,-7.799000283e-05,8.586218047e-01,7.021262377e-01,-7.549056878e-05,8.586250169e-01,7.029104573e-01,-1.722892989e-04,8.288082547e-01
+25,1.756666667e+01,DOWN_FORCE_DETACH,1792824414342886824,1.800479152e-04,-5.640949377e-05,-1.592976839e-03,1.767119631e-04,-5.351343569e-05,-1.580263913e-03,1.712842466e-04,-5.396167535e-05,-1.579812334e-03,7.021356458e-01,-7.839454835e-05,8.585504091e-01,7.021323098e-01,-7.549849027e-05,8.585631220e-01,7.029163040e-01,-1.722918512e-04,8.287463449e-01
+26,1.828333333e+01,DOWN_FORCE_DETACH,1792824415128980456,1.890305354e-04,-5.719437811e-05,-1.680924848e-03,1.866970223e-04,-5.634035007e-05,-1.661224935e-03,1.810640764e-04,-5.681760195e-05,-1.660753869e-03,7.021446284e-01,-7.917943269e-05,8.584624611e-01,7.021422949e-01,-7.832540465e-05,8.584821610e-01,7.029260839e-01,-1.751477778e-04,8.286654034e-01
+27,1.900000000e+01,DOWN_FORCE_DETACH,1792824415849883315,1.978472450e-04,-6.273540371e-05,-1.758296589e-03,1.963705199e-04,-6.047509459e-05,-1.751197554e-03,1.903824358e-04,-6.097833809e-05,-1.750730345e-03,7.021534451e-01,-8.472045829e-05,8.583850893e-01,7.021519684e-01,-8.246014917e-05,8.583921884e-01,7.029354022e-01,-1.793085139e-04,8.285754269e-01
+28,1.970000000e+01,DOWN_FORCE_DETACH,1792824416569639957,2.086958091e-04,-6.684716362e-05,-1.826250339e-03,2.071523686e-04,-6.541975138e-05,-1.816162010e-03,2.012208659e-04,-6.589449053e-05,-1.815689310e-03,7.021642937e-01,-8.883221820e-05,8.583171356e-01,7.021627502e-01,-8.740480596e-05,8.583272239e-01,7.029462407e-01,-1.842246663e-04,8.285104679e-01
+29,2.035000000e+01,DOWN_FORCE_DETACH,1792824417241395011,2.146595494e-04,-6.365413116e-05,-1.895555022e-03,2.109578326e-04,-6.762966998e-05,-1.878191741e-03,2.045763906e-04,-6.814038840e-05,-1.877765927e-03,7.021702574e-01,-8.563918574e-05,8.582478309e-01,7.021665557e-01,-8.961472456e-05,8.582651942e-01,7.029495962e-01,-1.864705642e-04,8.284483913e-01
+30,2.118333333e+01,DOWN_FORCE_DETACH,1792824418125526451,2.247285191e-04,-6.887980183e-05,-1.983709253e-03,2.239474895e-04,-6.723557953e-05,-1.965933027e-03,2.175192323e-04,-6.774501635e-05,-1.965528880e-03,7.021803264e-01,-9.086485641e-05,8.581596767e-01,7.021795454e-01,-8.922063411e-05,8.581774529e-01,7.029625390e-01,-1.860751922e-04,8.283606284e-01
+31,2.186666667e+01,DOWN_FORCE_DETACH,1792824418796990107,2.317279940e-04,-7.087717332e-05,-2.061600071e-03,2.329751615e-04,-7.115871563e-05,-2.052092227e-03,2.262386617e-04,-7.168816200e-05,-2.051637715e-03,7.021873259e-01,-9.286222790e-05,8.580817858e-01,7.021885730e-01,-9.314377021e-05,8.580912937e-01,7.029712585e-01,-1.900183378e-04,8.282745195e-01
+32,2.253333333e+01,DOWN_FORCE_DETACH,1792824419469250734,2.403765537e-04,-7.481227780e-05,-2.136296058e-03,2.398389272e-04,-7.462819348e-05,-2.119710161e-03,2.327291194e-04,-7.518929809e-05,-2.119276381e-03,7.021959744e-01,-9.679733238e-05,8.580070899e-01,7.021954368e-01,-9.661324806e-05,8.580236758e-01,7.029777489e-01,-1.935194739e-04,8.282068809e-01
+33,2.323333333e+01,DOWN_FORCE_DETACH,1792824420206130441,2.486833330e-04,-7.403661102e-05,-2.224198388e-03,2.458234675e-04,-7.442423573e-05,-2.207143086e-03,2.382343102e-04,-7.495540918e-05,-2.206728902e-03,7.022042812e-01,-9.602166560e-05,8.579191875e-01,7.022014213e-01,-9.640929031e-05,8.579362428e-01,7.029832541e-01,-1.932855850e-04,8.281194284e-01
+34,2.393333333e+01,DOWN_FORCE_DETACH,1792824420910682906,2.578584235e-04,-7.660590092e-05,-2.308708689e-03,2.536450851e-04,-7.609592501e-05,-2.291997597e-03,2.455658978e-04,-7.663326789e-05,-2.291564407e-03,7.022134563e-01,-9.859095550e-05,8.578346772e-01,7.022092430e-01,-9.808097959e-05,8.578513883e-01,7.029905857e-01,-1.949634437e-04,8.280345928e-01
+35,2.456666667e+01,DOWN_FORCE_DETACH,1792824421549257381,2.647177741e-04,-8.238080784e-05,-2.383836415e-03,2.654677417e-04,-7.848987425e-05,-2.375153269e-03,2.573228606e-04,-7.907283573e-05,-2.374706371e-03,7.022203156e-01,-1.043658624e-04,8.577595495e-01,7.022210656e-01,-1.004749288e-04,8.577682326e-01,7.030023427e-01,-1.974030115e-04,8.279514509e-01
+36,2.530000000e+01,DOWN_FORCE_DETACH,1792824422269309790,2.729388559e-04,-8.151489255e-05,-2.472301564e-03,2.699787384e-04,-8.217479841e-05,-2.462119699e-03,2.612187688e-04,-8.276407648e-05,-2.461682349e-03,7.022285367e-01,-1.034999471e-04,8.576710844e-01,7.022255766e-01,-1.041598530e-04,8.576812662e-01,7.030062386e-01,-2.010942523e-04,8.278644749e-01
+37,2.601666667e+01,DOWN_FORCE_DETACH,1792824422989670792,2.800930601e-04,-8.218612313e-05,-2.559542994e-03,2.773109733e-04,-7.766561032e-05,-2.543040715e-03,2.680855611e-04,-7.819693241e-05,-2.542592192e-03,7.022356909e-01,-1.041711777e-04,8.575838429e-01,7.022329088e-01,-9.965066490e-05,8.576003452e-01,7.030131054e-01,-1.965271082e-04,8.277835651e-01
+38,2.668333333e+01,DOWN_FORCE_DETACH,1792824423680594375,2.905178030e-04,-7.939396506e-05,-2.652723161e-03,2.898533854e-04,-7.796160211e-05,-2.645881434e-03,2.803375882e-04,-7.853509710e-05,-2.645365206e-03,7.022461157e-01,-1.013790196e-04,8.574906628e-01,7.022454513e-01,-9.994665669e-05,8.574975045e-01,7.030253574e-01,-1.968652729e-04,8.276807920e-01
+39,2.736666667e+01,DOWN_FORCE_DETACH,1792824424381845401,2.990894318e-04,-8.049429890e-05,-2.747852416e-03,2.954556176e-04,-8.038640475e-05,-2.731169015e-03,2.854527601e-04,-8.096645947e-05,-2.730712285e-03,7.022546873e-01,-1.024793535e-04,8.573955335e-01,7.022510535e-01,-1.023714593e-04,8.574122169e-01,7.030304726e-01,-1.992966353e-04,8.275954450e-01
+40,2.805000000e+01,DOWN_FORCE_DETACH,1792824425070496275,3.077819160e-04,-7.234700463e-05,-2.841662676e-03,3.075847609e-04,-7.248892192e-05,-2.841530896e-03,2.972381448e-04,-7.301076479e-05,-2.840947415e-03,7.022633798e-01,-9.433205921e-05,8.573017232e-01,7.022631826e-01,-9.447397650e-05,8.573018550e-01,7.030422579e-01,-1.913409406e-04,8.274852098e-01
+41,2.876666667e+01,DOWN_FORCE_DETACH,1792824425773887291,3.140076065e-04,-7.424199225e-05,-2.937240076e-03,3.144984932e-04,-7.265916331e-05,-2.930032431e-03,3.035440279e-04,-7.316406054e-05,-2.929531114e-03,7.022696055e-01,-9.622704683e-05,8.572061458e-01,7.022700964e-01,-9.464421789e-05,8.572133535e-01,7.030485638e-01,-1.914942364e-04,8.273966261e-01
+42,2.936666667e+01,DOWN_FORCE_DETACH,1792824426380656963,3.187220571e-04,-7.561492876e-05,-3.034310238e-03,3.191019637e-04,-7.147360656e-05,-3.018908345e-03,3.074472344e-04,-7.196001946e-05,-3.018447974e-03,7.022743199e-01,-9.759998334e-05,8.571090757e-01,7.022746998e-01,-9.345866114e-05,8.571244776e-01,7.030524670e-01,-1.902901953e-04,8.273077093e-01
+43,3.001666667e+01,DOWN_FORCE_DETACH,1792824427034782156,3.295997192e-04,-7.824436729e-05,-3.121628876e-03,3.282453175e-04,-7.613160535e-05,-3.123263908e-03,3.160971931e-04,-7.662498921e-05,-3.122720796e-03,7.022851976e-01,-1.002294219e-04,8.570217570e-01,7.022838432e-01,-9.811665993e-05,8.570201220e-01,7.030611170e-01,-1.949551650e-04,8.272034365e-01
+44,3.058333333e+01,DOWN_FORCE_DETACH,1792824427591551726,3.314231431e-04,-8.365135181e-05,-3.213900707e-03,3.312196605e-04,-7.403577847e-05,-3.212568323e-03,3.181917745e-04,-7.451834521e-05,-3.212040570e-03,7.022870210e-01,-1.056364064e-04,8.569294852e-01,7.022868175e-01,-9.602083305e-05,8.569308176e-01,7.030632116e-01,-1.928485210e-04,8.271141167e-01
+45,3.121666667e+01,DOWN_FORCE_DETACH,1792824428230416709,3.375217970e-04,-8.133097741e-05,-3.321231454e-03,3.370543736e-04,-8.125188698e-05,-3.321482400e-03,3.231999273e-04,-8.183479069e-05,-3.320905237e-03,7.022931197e-01,-1.033160320e-04,8.568221545e-01,7.022926522e-01,-1.032369416e-04,8.568219035e-01,7.030682197e-01,-2.001649665e-04,8.270052520e-01
+46,3.193333333e+01,DOWN_FORCE_DETACH,1792824428934382851,3.393476462e-04,-7.356215227e-05,-3.445340556e-03,3.400418531e-04,-7.653267678e-05,-3.427851885e-03,3.251886091e-04,-7.701218819e-05,-3.427337560e-03,7.022949455e-01,-9.554720685e-05,8.566980454e-01,7.022956397e-01,-9.851773136e-05,8.567155340e-01,7.030702084e-01,-1.953423640e-04,8.268988197e-01
+47,3.250000000e+01,DOWN_FORCE_DETACH,1792824429492212184,3.502071741e-04,-7.194127111e-05,-3.541755405e-03,3.478085870e-04,-7.273891381e-05,-3.540213176e-03,3.321570318e-04,-7.321708628e-05,-3.539679735e-03,7.023058050e-01,-9.392632569e-05,8.566016305e-01,7.023034065e-01,-9.472396839e-05,8.566031727e-01,7.030771768e-01,-1.915472621e-04,8.267864775e-01
+48,3.310000000e+01,DOWN_FORCE_DETACH,1792824430098038388,3.539062457e-04,-7.579584835e-05,-3.651671310e-03,3.538800996e-04,-7.571114894e-05,-3.651572474e-03,3.373428027e-04,-7.619890804e-05,-3.651035176e-03,7.023095041e-01,-9.778090293e-05,8.564917146e-01,7.023094780e-01,-9.769620352e-05,8.564918134e-01,7.030823626e-01,-1.945290839e-04,8.266751221e-01
+49,3.375000000e+01,DOWN_FORCE_DETACH,1792824430752327123,3.639984828e-04,-7.884840177e-05,-3.782047540e-03,3.618279773e-04,-8.036933336e-05,-3.765064332e-03,3.446318791e-04,-8.088263638e-05,-3.764475163e-03,7.023195963e-01,-1.008334563e-04,8.563613384e-01,7.023174258e-01,-1.023543879e-04,8.563783216e-01,7.030896517e-01,-1.992128122e-04,8.265616821e-01
+50,3.435000000e+01,DOWN_FORCE_DETACH,1792824431375205404,3.733662522e-04,-8.391076310e-05,-3.912496344e-03,3.722542177e-04,-7.930031970e-05,-3.893994507e-03,3.543307419e-04,-7.979301069e-05,-3.893442097e-03,7.023289641e-01,-1.058958177e-04,8.562308896e-01,7.023278521e-01,-1.012853743e-04,8.562493914e-01,7.030993505e-01,-1.981231865e-04,8.264327152e-01
+51,3.486666667e+01,DOWN_FORCE_DETACH,1792824431915461189,3.774800334e-04,-7.759597588e-05,-4.045145152e-03,3.767446221e-04,-8.232005142e-05,-4.040688049e-03,3.574111581e-04,-8.284351017e-05,-4.039993795e-03,7.023330779e-01,-9.958103046e-05,8.560982408e-01,7.023323425e-01,-1.043051060e-04,8.561026979e-01,7.031024310e-01,-2.011736860e-04,8.262861635e-01
+52,3.538333333e+01,DOWN_FORCE_DETACH,1792824432456057720,3.753134109e-04,-9.186851028e-05,-4.186749730e-03,3.743004969e-04,-8.966787068e-05,-4.174183329e-03,3.531723620e-04,-9.024215783e-05,-4.173483625e-03,7.023309113e-01,-1.138535649e-04,8.559566362e-01,7.023298984e-01,-1.116529253e-04,8.559692026e-01,7.030981922e-01,-2.085723337e-04,8.261526736e-01
+53,3.581666667e+01,DOWN_FORCE_DETACH,1792824432947115260,3.791643928e-04,-9.572145954e-05,-4.328127983e-03,3.755067230e-04,-9.621631374e-05,-4.312128332e-03,3.528123139e-04,-9.683006180e-05,-4.311311295e-03,7.023347623e-01,-1.177065141e-04,8.558152579e-01,7.023311046e-01,-1.182013683e-04,8.558312576e-01,7.030978321e-01,-2.151602376e-04,8.260148460e-01
+54,3.630000000e+01,DOWN_FORCE_DETACH,1792824433421984270,3.847930940e-04,-8.988855122e-05,-4.469312404e-03,3.834125411e-04,-9.263649856e-05,-4.465358946e-03,3.595208019e-04,-9.321356014e-05,-4.464498355e-03,7.023403910e-01,-1.118736058e-04,8.556740735e-01,7.023390104e-01,-1.146215531e-04,8.556780270e-01,7.031045406e-01,-2.115437360e-04,8.258616589e-01
+55,3.671666667e+01,DOWN_FORCE_DETACH,1792824433864457290,3.862057364e-04,-9.730071655e-05,-4.617609685e-03,3.860797494e-04,-9.988426206e-05,-4.600666301e-03,3.607984130e-04,-1.004924615e-04,-4.599798889e-03,7.023418036e-01,-1.192857711e-04,8.555257762e-01,7.023416776e-01,-1.218693166e-04,8.555427196e-01,7.031058182e-01,-2.188226374e-04,8.257263584e-01
+56,3.715000000e+01,DOWN_FORCE_DETACH,1792824434290073012,3.978645258e-04,-1.042417378e-04,-4.761952077e-03,3.981588119e-04,-1.041558895e-04,-4.748736780e-03,3.720819037e-04,-1.047975669e-04,-4.747754444e-03,7.023534624e-01,-1.262267924e-04,8.553814338e-01,7.023537567e-01,-1.261409440e-04,8.553946491e-01,7.031171017e-01,-2.231277427e-04,8.255784028e-01
+57,3.756666667e+01,DOWN_FORCE_DETACH,1792824434715843651,3.943455676e-04,-1.070715745e-04,-4.913139457e-03,3.895144977e-04,-1.062018427e-04,-4.914135749e-03,3.608677639e-04,-1.068370743e-04,-4.913174101e-03,7.023499434e-01,-1.290566291e-04,8.552302465e-01,7.023451124e-01,-1.281868973e-04,8.552292502e-01,7.031058876e-01,-2.251672501e-04,8.254129832e-01
+58,3.791666667e+01,DOWN_SETTLE,1792824435059399584,4.050202956e-04,-1.020745226e-04,-5.035890327e-03,4.030353622e-04,-1.077178066e-04,-5.035402181e-03,3.739678217e-04,-1.083592393e-04,-5.034417493e-03,7.023606182e-01,-1.240595772e-04,8.551074956e-01,7.023586332e-01,-1.297028612e-04,8.551079837e-01,7.031189876e-01,-2.266894151e-04,8.252917398e-01
+59,3.865000000e+01,DOWN_PEAK_HOLD,1792824435829605993,3.926459009e-04,-1.034429289e-04,-5.091791095e-03,3.962514401e-04,-1.055040139e-04,-5.079186281e-03,3.661810167e-04,-1.061512511e-04,-5.078877309e-03,7.023482438e-01,-1.254279835e-04,8.550515948e-01,7.023518493e-01,-1.274890684e-04,8.550641996e-01,7.031112008e-01,-2.244814269e-04,8.252472799e-01

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_04/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.1842e-02,6.6111e-02,2.4643e+00,-4.1449e-02,3.9054e-02,7.5230e-05,2.4892e-04,-4.2126e-05,-1.4520e-04,1.9483e-06,1.8027e-05,-3.3237e-08,2.9124e-04,1.8132e-05
+1,8.3333e-01,DOWN_FORCE_DETACH,1.7872e-04,4.1117e-02,6.4458e-02,2.4589e+00,-4.1374e-02,3.9728e-02,7.2845e-05,9.5235e-03,-1.6949e-03,-5.5034e-03,7.6827e-05,6.9174e-04,-2.4183e-06,1.1129e-02,6.9600e-04
+2,1.7500e+00,DOWN_FORCE_DETACH,3.5771e-04,5.4325e-02,6.2062e-02,2.4862e+00,-4.1227e-02,4.0648e-02,6.8675e-05,2.2732e-02,-4.0908e-03,2.1756e-02,2.2405e-04,1.6117e-03,-6.5884e-06,3.1730e-02,1.6272e-03
+3,2.3667e+00,DOWN_FORCE_DETACH,5.4431e-04,6.3966e-02,7.4098e-02,2.5217e+00,-4.2046e-02,4.1299e-02,6.6721e-05,3.2372e-02,7.9447e-03,5.7266e-02,-5.9497e-04,2.2623e-03,-8.5426e-06,6.6261e-02,2.3393e-03
+4,2.9000e+00,DOWN_FORCE_DETACH,7.1091e-04,4.3726e-02,8.1715e-02,2.5218e+00,-4.2573e-02,3.9840e-02,7.0023e-05,1.2133e-02,1.5562e-02,5.7358e-02,-1.1220e-03,8.0346e-04,-5.2402e-06,6.0657e-02,1.3800e-03
+5,3.5000e+00,DOWN_FORCE_DETACH,8.9128e-04,4.7561e-02,8.8948e-02,2.5411e+00,-4.3051e-02,4.0088e-02,6.8792e-05,1.5968e-02,2.2795e-02,7.6732e-02,-1.6000e-03,1.0516e-03,-6.4719e-06,8.1623e-02,1.9147e-03
+6,4.1167e+00,DOWN_FORCE_DETACH,1.0683e-03,4.8468e-02,9.3855e-02,2.5781e+00,-4.3358e-02,4.0107e-02,6.9918e-05,1.6874e-02,2.7702e-02,1.1374e-01,-1.9067e-03,1.0709e-03,-5.3459e-06,1.1828e-01,2.1868e-03
+7,4.7333e+00,DOWN_FORCE_DETACH,1.2485e-03,4.2970e-02,9.9646e-02,2.5896e+00,-4.3715e-02,3.9692e-02,7.2646e-05,1.1377e-02,3.3493e-02,1.2524e-01,-2.2640e-03,6.5550e-04,-2.6174e-06,1.3014e-01,2.3570e-03
+8,5.4167e+00,DOWN_FORCE_DETACH,1.4257e-03,4.1034e-02,1.1539e-01,2.6179e+00,-4.4741e-02,3.9518e-02,7.7876e-05,9.4403e-03,4.9239e-02,1.5353e-01,-3.2896e-03,4.8149e-04,2.6125e-06,1.6151e-01,3.3247e-03
+9,6.0333e+00,DOWN_FORCE_DETACH,1.6011e-03,4.3079e-02,1.1388e-01,2.6135e+00,-4.4612e-02,3.9665e-02,7.8174e-05,1.1486e-02,4.7730e-02,1.4911e-01,-3.1614e-03,6.2912e-04,2.9105e-06,1.5698e-01,3.2234e-03
+10,6.6833e+00,DOWN_FORCE_DETACH,1.7867e-03,4.3109e-02,1.1660e-01,2.6032e+00,-4.4768e-02,3.9671e-02,7.7689e-05,1.1515e-02,5.0446e-02,1.3884e-01,-3.3173e-03,6.3496e-04,2.4254e-06,1.4817e-01,3.3775e-03
+11,7.3000e+00,DOWN_FORCE_DETACH,1.9609e-03,3.7651e-02,1.2367e-01,2.5872e+00,-4.5231e-02,3.9293e-02,7.8051e-05,6.0578e-03,5.7520e-02,1.2285e-01,-3.7796e-03,2.5629e-04,2.7879e-06,1.3579e-01,3.7883e-03
+12,8.0000e+00,DOWN_FORCE_DETACH,2.1375e-03,3.9867e-02,1.2424e-01,2.5725e+00,-4.5255e-02,3.9467e-02,7.4454e-05,8.2734e-03,5.8086e-02,1.0809e-01,-3.8037e-03,4.3065e-04,-8.0932e-07,1.2299e-01,3.8280e-03
+13,8.6833e+00,DOWN_FORCE_DETACH,2.3145e-03,3.8866e-02,1.2618e-01,2.5533e+00,-4.5394e-02,3.9419e-02,7.0138e-05,7.2723e-03,6.0030e-02,8.8915e-02,-3.9429e-03,3.8280e-04,-5.1251e-06,1.0753e-01,3.9615e-03
+14,9.4000e+00,DOWN_FORCE_DETACH,2.4974e-03,4.3776e-02,1.2538e-01,2.5262e+00,-4.5372e-02,3.9801e-02,6.2860e-05,1.2183e-02,5.9226e-02,6.1808e-02,-3.9208e-03,7.6440e-04,-1.2404e-05,8.6466e-02,3.9946e-03
+15,1.0183e+01,DOWN_FORCE_DETACH,2.6727e-03,4.6879e-02,1.3136e-01,2.5193e+00,-4.5816e-02,4.0031e-02,5.3813e-05,1.5286e-02,6.5205e-02,5.4952e-02,-4.3654e-03,9.9450e-04,-2.1450e-05,8.6632e-02,4.4773e-03
+16,1.0933e+01,DOWN_FORCE_DETACH,2.8540e-03,4.6894e-02,1.1872e-01,2.5313e+00,-4.4980e-02,4.0018e-02,4.2078e-05,1.5301e-02,5.2563e-02,6.6928e-02,-3.5287e-03,9.8178e-04,-3.3185e-05,8.6466e-02,3.6629e-03
+17,1.1700e+01,DOWN_FORCE_DETACH,3.0322e-03,4.6668e-02,1.3674e-01,2.5370e+00,-4.6205e-02,3.9987e-02,3.6629e-05,1.5075e-02,7.0589e-02,7.2574e-02,-4.7541e-03,9.5074e-04,-3.8634e-05,1.0236e-01,4.8484e-03
+18,1.2450e+01,DOWN_FORCE_DETACH,3.2095e-03,4.7780e-02,1.3734e-01,2.5570e+00,-4.6227e-02,4.0035e-02,2.8702e-05,1.6187e-02,7.1192e-02,9.2578e-02,-4.7763e-03,9.9866e-04,-4.6561e-05,1.1790e-01,4.8798e-03
+19,1.3133e+01,DOWN_FORCE_DETACH,3.3876e-03,4.8109e-02,1.4076e-01,2.5548e+00,-4.6437e-02,4.0053e-02,2.3176e-05,1.6516e-02,7.4606e-02,9.0407e-02,-4.9858e-03,1.0166e-03,-5.2088e-05,1.1837e-01,5.0886e-03
+20,1.3817e+01,DOWN_FORCE_DETACH,3.5656e-03,4.7354e-02,1.4242e-01,2.5587e+00,-4.6530e-02,3.9992e-02,2.0341e-05,1.5760e-02,7.6271e-02,9.4291e-02,-5.0793e-03,9.5609e-04,-5.4923e-05,1.2230e-01,5.1688e-03
+21,1.4517e+01,DOWN_FORCE_DETACH,3.7441e-03,4.7601e-02,1.4366e-01,2.5588e+00,-4.6607e-02,4.0008e-02,2.0144e-05,1.6007e-02,7.7504e-02,9.4361e-02,-5.1559e-03,9.7134e-04,-5.5119e-05,1.2315e-01,5.2468e-03
+22,1.5350e+01,DOWN_FORCE_DETACH,3.9179e-03,4.8549e-02,1.4835e-01,2.5502e+00,-4.6929e-02,4.0084e-02,2.2538e-05,1.6955e-02,8.2193e-02,8.5817e-02,-5.4778e-03,1.0478e-03,-5.2726e-05,1.2003e-01,5.5773e-03
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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_04/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_04/up/franka_data.csv

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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+6,6.666666667e-01,WAIT_W2,1792824385667896611,-1.326224643e-06,-6.143412969e-05,3.101702683e-06,-1.302132536e-06,-6.155667399e-05,2.975446863e-06,-1.321328829e-06,-6.204988952e-05,2.969086390e-06,7.019542716e-01,-8.341918427e-05,8.601464876e-01,7.019542957e-01,-8.354172857e-05,8.601463614e-01,7.027436985e-01,-1.803800774e-04,8.303291263e-01
+7,6.833333333e-01,WAIT_W2,1792824385686163190,9.562693849e-07,-1.339966642e-04,9.916261959e-06,1.063940473e-06,-1.337471269e-04,9.617993343e-06,1.291498067e-06,-1.348367676e-04,9.626487870e-06,7.019565541e-01,-1.559817188e-04,8.601533022e-01,7.019566618e-01,-1.557321814e-04,8.601530039e-01,7.027463113e-01,-2.531669555e-04,8.303357837e-01
+8,6.833333333e-01,WAIT_W2,1792824385686163190,9.562693849e-07,-1.339966642e-04,9.916261959e-06,1.063940473e-06,-1.337471269e-04,9.617993343e-06,1.291498067e-06,-1.348367676e-04,9.626487870e-06,7.019565541e-01,-1.559817188e-04,8.601533022e-01,7.019566618e-01,-1.557321814e-04,8.601530039e-01,7.027463113e-01,-2.531669555e-04,8.303357837e-01
+9,7.000000000e-01,WAIT_W2,1792824385699275972,-3.792721297e-07,-1.970608855e-04,1.058575683e-05,-2.587997743e-07,-1.970605354e-04,1.098231991e-05,-1.004818848e-07,-1.986554266e-04,1.098191531e-05,7.019552186e-01,-2.190459401e-04,8.601539717e-01,7.019553391e-01,-2.190455900e-04,8.601543682e-01,7.027449193e-01,-3.169856145e-04,8.303371392e-01
+10,7.000000000e-01,WAIT_W2,1792824385699275972,-3.792721297e-07,-1.970608855e-04,1.058575683e-05,-2.587997743e-07,-1.970605354e-04,1.098231991e-05,-1.004818848e-07,-1.986554266e-04,1.098191531e-05,7.019552186e-01,-2.190459401e-04,8.601539717e-01,7.019553391e-01,-2.190455900e-04,8.601543682e-01,7.027449193e-01,-3.169856145e-04,8.303371392e-01
+11,7.166666667e-01,WAIT_W2,1792824385715895372,1.569197385e-06,-2.578919417e-04,1.658456929e-05,1.557850047e-06,-2.576982739e-04,1.654690448e-05,1.950077293e-06,-2.598000552e-04,1.653555965e-05,7.019571671e-01,-2.798769963e-04,8.601599705e-01,7.019571557e-01,-2.796833285e-04,8.601599328e-01,7.027469699e-01,-3.781302431e-04,8.303426928e-01
+12,7.500000000e-01,WAIT_W2,1792824385748067365,2.837460697e-06,-2.882603555e-04,1.821376466e-05,1.795018609e-06,-2.880928157e-04,1.899627947e-05,2.198060255e-06,-2.904999936e-04,1.900679528e-05,7.019584353e-01,-3.102454101e-04,8.601615997e-01,7.019573929e-01,-3.100778703e-04,8.601623822e-01,7.027472179e-01,-4.088301815e-04,8.303451640e-01
+13,8.166666667e-01,WAIT_W2,1792824385814209797,-1.798415044e-06,-2.781141364e-04,1.387063733e-05,-3.804462769e-07,-2.679406412e-04,1.528047842e-05,-1.782479827e-07,-2.701668785e-04,1.532496786e-05,7.019537995e-01,-3.000991910e-04,8.601572566e-01,7.019552174e-01,-2.899256958e-04,8.601586664e-01,7.027448415e-01,-3.884970664e-04,8.303414822e-01
+14,9.500000000e-01,WAIT_W2,1792824385945007252,-3.370985779e-06,-2.900362781e-04,1.068522193e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.610623479e-06,-2.921172235e-04,1.678832201e-05,7.019522269e-01,-3.120213327e-04,8.601540711e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466304e-01,-4.104474114e-04,8.303429456e-01
+15,1.083333333e+00,WAIT_W2,1792824386076136194,-3.569482392e-06,-2.931518737e-04,1.224053638e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.620322385e-06,-2.921355408e-04,1.680497205e-05,7.019520284e-01,-3.151369283e-04,8.601556265e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466401e-01,-4.104657287e-04,8.303429622e-01
+16,1.200000000e+00,WAIT_W2,1792824386190750618,-1.993607494e-06,-2.912976274e-04,1.411179540e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.627320070e-06,-2.921487194e-04,1.681539306e-05,7.019536043e-01,-3.132826819e-04,8.601574977e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466471e-01,-4.104789073e-04,8.303429726e-01
+17,1.333333333e+00,WAIT_W2,1792824386321372461,-5.257545650e-06,-2.843469328e-04,9.139213079e-06,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.634552408e-06,-2.921615636e-04,1.682420073e-05,7.019503403e-01,-3.063319874e-04,8.601525251e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466543e-01,-4.104917516e-04,8.303429814e-01
+18,1.483333333e+00,UP_FORCE_RAMP,1792824386469443575,-3.358674042e-06,-2.954073855e-04,1.229828609e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.641298052e-06,-2.921738279e-04,1.683054861e-05,7.019522392e-01,-3.173924401e-04,8.601556842e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466611e-01,-4.105040158e-04,8.303429878e-01
+19,1.633333333e+00,UP_FORCE_RAMP,1792824386616500972,-3.591662707e-06,-2.929276199e-04,1.386060635e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.646977438e-06,-2.921844103e-04,1.683424785e-05,7.019520062e-01,-3.149126745e-04,8.601572465e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466668e-01,-4.105145983e-04,8.303429915e-01
+20,1.816666667e+00,UP_FORCE_RAMP,1792824386796506789,-3.154555035e-07,-2.946426349e-04,1.620054552e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.652729035e-06,-2.921955236e-04,1.683603457e-05,7.019552824e-01,-3.166276895e-04,8.601595865e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466725e-01,-4.105257115e-04,8.303429933e-01
+21,1.933333333e+00,UP_FORCE_RAMP,1792824386910863646,-3.686167497e-06,-2.921661096e-04,1.044646282e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.655800558e-06,-2.922017264e-04,1.683598609e-05,7.019519117e-01,-3.141511642e-04,8.601538324e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466756e-01,-4.105319143e-04,8.303429932e-01
+22,2.083333333e+00,UP_FORCE_RAMP,1792824387059165401,-3.041263066e-06,-2.884157616e-04,1.256420576e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.659200876e-06,-2.922088957e-04,1.683487641e-05,7.019525566e-01,-3.104008162e-04,8.601559501e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466790e-01,-4.105390836e-04,8.303429921e-01
+23,2.250000000e+00,UP_FORCE_RAMP,1792824387222005823,-4.655923412e-06,-2.909848427e-04,1.055762045e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.662362065e-06,-2.922159532e-04,1.683258836e-05,7.019509419e-01,-3.129698973e-04,8.601539435e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466822e-01,-4.105461412e-04,8.303429898e-01
+24,2.400000000e+00,UP_FORCE_RAMP,1792824387369744375,-3.311107148e-06,-2.906584410e-04,1.367459172e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.664745800e-06,-2.922216108e-04,1.682983981e-05,7.019522868e-01,-3.126434955e-04,8.601570605e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466845e-01,-4.105517987e-04,8.303429871e-01
+25,2.566666667e+00,UP_FORCE_RAMP,1792824387533917575,-4.311964581e-06,-2.914956565e-04,1.252433625e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.666960074e-06,-2.922272461e-04,1.682624784e-05,7.019512859e-01,-3.134807111e-04,8.601559103e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466868e-01,-4.105574340e-04,8.303429835e-01
+26,2.733333333e+00,UP_FORCE_RAMP,1792824387697198734,-6.155178850e-06,-2.861390617e-04,1.237864403e-05,1.238527683e-06,-2.896956583e-04,1.672448943e-05,1.668813096e-06,-2.922322811e-04,1.682228117e-05,7.019494427e-01,-3.081241163e-04,8.601557646e-01,7.019568364e-01,-3.116807129e-04,8.601601104e-01,7.027466886e-01,-4.105624690e-04,8.303429795e-01
+27,2.833333333e+00,UP_FORCE_RAMP,1792824387795711723,-3.632518299e-05,-2.867728122e-04,1.454167306e-06,-3.610927387e-05,-2.867395321e-04,1.414863131e-06,-3.861829063e-05,-2.892463961e-04,1.483976456e-06,7.019192727e-01,-3.087578668e-04,8.601448401e-01,7.019194886e-01,-3.087245866e-04,8.601448008e-01,7.027064015e-01,-4.075765841e-04,8.303276412e-01
+28,2.866666667e+00,UP_FORCE_RAMP,1792824387828457010,-3.866294730e-05,-2.867306001e-04,6.952506090e-06,-3.610927387e-05,-2.867395321e-04,1.414863131e-06,-3.863425980e-05,-2.892498144e-04,1.484583563e-06,7.019169349e-01,-3.087156546e-04,8.601503384e-01,7.019194886e-01,-3.087245866e-04,8.601448008e-01,7.027063855e-01,-4.075800023e-04,8.303276418e-01
+29,2.950000000e+00,UP_FORCE_RAMP,1792824387926900231,-4.270135718e-05,-2.826736031e-04,8.976613386e-06,-3.610927387e-05,-2.867395321e-04,1.414863131e-06,-3.865339322e-05,-2.892505857e-04,1.473544546e-06,7.019128965e-01,-3.046586577e-04,8.601523625e-01,7.019194886e-01,-3.087245866e-04,8.601448008e-01,7.027063664e-01,-4.075807736e-04,8.303276308e-01
+30,3.050000000e+00,UP_FORCE_RAMP,1792824388024879154,-3.674665614e-05,-2.886958613e-04,1.813644887e-05,-3.610927387e-05,-2.867395321e-04,1.414863131e-06,-3.867037594e-05,-2.892518408e-04,1.463756924e-06,7.019188512e-01,-3.106809159e-04,8.601615224e-01,7.019194886e-01,-3.087245866e-04,8.601448008e-01,7.027063494e-01,-4.075820287e-04,8.303276210e-01
+31,3.200000000e+00,UP_FORCE_RAMP,1792824388172439625,-3.476889271e-05,-2.878225208e-04,2.558470563e-05,-3.658467323e-05,-2.840044658e-04,2.301214356e-05,-3.893582122e-05,-2.865237025e-04,2.297141351e-05,7.019208290e-01,-3.098075754e-04,8.601689706e-01,7.019190132e-01,-3.059895204e-04,8.601663981e-01,7.027060840e-01,-4.048538904e-04,8.303491287e-01
+32,3.333333333e+00,UP_FORCE_RAMP,1792824388303483413,-3.693807385e-05,-2.864603992e-04,2.908049067e-05,-3.658467323e-05,-2.840044658e-04,2.301214356e-05,-3.894937769e-05,-2.865271265e-04,2.297727332e-05,7.019186598e-01,-3.084454538e-04,8.601724664e-01,7.019190132e-01,-3.059895204e-04,8.601663981e-01,7.027060704e-01,-4.048573144e-04,8.303491345e-01
+33,3.450000000e+00,UP_FORCE_RAMP,1792824388417776251,-3.535582833e-05,-2.828678504e-04,3.494762608e-05,-3.658467323e-05,-2.840044658e-04,2.301214356e-05,-3.895969936e-05,-2.865294824e-04,2.297938879e-05,7.019202420e-01,-3.048529050e-04,8.601783335e-01,7.019190132e-01,-3.059895204e-04,8.601663981e-01,7.027060601e-01,-4.048596703e-04,8.303491366e-01
+34,3.583333333e+00,UP_FORCE_RAMP,1792824388548844270,-3.391748845e-05,-2.825667547e-04,4.328274385e-05,-3.136558140e-05,-2.849374114e-04,4.292116921e-05,-3.318690256e-05,-2.874698503e-04,4.278490238e-05,7.019216804e-01,-3.045518093e-04,8.601866687e-01,7.019242323e-01,-3.069224660e-04,8.601863071e-01,7.027118329e-01,-4.058000382e-04,8.303689421e-01
+35,3.716666667e+00,UP_FORCE_RAMP,1792824388686153483,-3.326595938e-05,-2.810655316e-04,4.957837406e-05,-3.136558140e-05,-2.849374114e-04,4.292116921e-05,-3.319165129e-05,-2.874734310e-04,4.279773150e-05,7.019223319e-01,-3.030505862e-04,8.601929643e-01,7.019242323e-01,-3.069224660e-04,8.601863071e-01,7.027118281e-01,-4.058036189e-04,8.303689550e-01
+36,3.916666667e+00,UP_FORCE_RAMP,1792824388896127526,-2.918173787e-05,-2.811555049e-04,7.053939346e-05,-2.841321491e-05,-2.830588569e-04,6.329121704e-05,-2.969660718e-05,-2.856021912e-04,6.316736576e-05,7.019264161e-01,-3.031405595e-04,8.602139253e-01,7.019271847e-01,-3.050439114e-04,8.602066771e-01,7.027153232e-01,-4.039323791e-04,8.303893246e-01
+37,4.050000000e+00,UP_FORCE_RAMP,1792824389057547658,-2.625680699e-05,-2.813365325e-04,8.720195331e-05,-2.690558775e-05,-2.830787824e-04,8.335192460e-05,-2.786675021e-05,-2.856063784e-04,8.311301860e-05,7.019293411e-01,-3.033215871e-04,8.602305879e-01,7.019286923e-01,-3.050638370e-04,8.602267378e-01,7.027171530e-01,-4.039365663e-04,8.304092703e-01
+38,4.133333333e+00,UP_FORCE_RAMP,1792824389138695840,-2.181790311e-05,-2.829628982e-04,9.586420969e-05,-2.690558775e-05,-2.830787824e-04,8.335192460e-05,-2.786653715e-05,-2.856090191e-04,8.313112022e-05,7.019337800e-01,-3.049479528e-04,8.602392501e-01,7.019286923e-01,-3.050638370e-04,8.602267378e-01,7.027171533e-01,-4.039392070e-04,8.304092884e-01
+39,4.250000000e+00,UP_FORCE_RAMP,1792824389252741247,-2.320350804e-05,-2.769301001e-04,1.027539524e-04,-2.338217953e-05,-2.767786935e-04,1.027126660e-04,-2.381104325e-05,-2.792704123e-04,1.024591500e-04,7.019323944e-01,-2.989151547e-04,8.602461399e-01,7.019322157e-01,-2.987637480e-04,8.602460986e-01,7.027212087e-01,-3.976006002e-04,8.304286164e-01
+40,4.366666667e+00,UP_FORCE_RAMP,1792824389367499223,-2.268054916e-05,-2.810053703e-04,1.153532207e-04,-2.338217953e-05,-2.767786935e-04,1.027126660e-04,-2.380543567e-05,-2.792731148e-04,1.024937536e-04,7.019329173e-01,-3.029904249e-04,8.602587391e-01,7.019322157e-01,-2.987637480e-04,8.602460986e-01,7.027212144e-01,-3.976033027e-04,8.304286510e-01
+41,4.500000000e+00,UP_FORCE_RAMP,1792824389499297925,-2.164353583e-05,-2.800158131e-04,1.240193068e-04,-2.142844466e-05,-2.801813273e-04,1.237907165e-04,-2.147916250e-05,-2.827157086e-04,1.234794442e-04,7.019339543e-01,-3.020008677e-04,8.602674052e-01,7.019341694e-01,-3.021663819e-04,8.602671766e-01,7.027235406e-01,-4.010458965e-04,8.304496367e-01
+42,4.616666667e+00,UP_FORCE_RAMP,1792824389613522196,-2.701577660e-05,-2.743464774e-04,1.248341485e-04,-2.142844466e-05,-2.801813273e-04,1.237907165e-04,-2.147454863e-05,-2.827198912e-04,1.235196189e-04,7.019285821e-01,-2.963315320e-04,8.602682201e-01,7.019341694e-01,-3.021663819e-04,8.602671766e-01,7.027235452e-01,-4.010500791e-04,8.304496769e-01
+43,4.783333333e+00,UP_FORCE_RAMP,1792824389777412280,-2.995331326e-05,-2.722219121e-04,1.305101977e-04,-2.142844466e-05,-2.801813273e-04,1.237907165e-04,-2.147115141e-05,-2.827242631e-04,1.235560226e-04,7.019256446e-01,-2.942069667e-04,8.602738961e-01,7.019341694e-01,-3.021663819e-04,8.602671766e-01,7.027235486e-01,-4.010544510e-04,8.304497133e-01
+44,4.916666667e+00,UP_FORCE_RAMP,1792824389908268685,-3.142644242e-05,-2.804794809e-04,1.377380963e-04,-2.142844466e-05,-2.801813273e-04,1.237907165e-04,-2.146916277e-05,-2.827269962e-04,1.235793964e-04,7.019241714e-01,-3.024645355e-04,8.602811240e-01,7.019341694e-01,-3.021663819e-04,8.602671766e-01,7.027235506e-01,-4.010571841e-04,8.304497366e-01
+45,5.016666667e+00,UP_FORCE_RAMP,1792824390006313500,-3.075147994e-05,-2.667976748e-04,1.451478815e-04,-2.896845694e-05,-2.742268537e-04,1.421744673e-04,-2.933956919e-05,-2.767275292e-04,1.419068809e-04,7.019248464e-01,-2.887827293e-04,8.602885338e-01,7.019266294e-01,-2.962119082e-04,8.602855604e-01,7.027156802e-01,-3.950577171e-04,8.304680641e-01
+46,5.183333333e+00,UP_FORCE_RAMP,1792824390170433920,-3.588973097e-05,-2.786374683e-04,1.478402821e-04,-2.896845694e-05,-2.742268537e-04,1.421744673e-04,-2.934283051e-05,-2.767299429e-04,1.419411046e-04,7.019197081e-01,-3.006225229e-04,8.602912262e-01,7.019266294e-01,-2.962119082e-04,8.602855604e-01,7.027156770e-01,-3.950601309e-04,8.304680983e-01
+47,5.333333333e+00,UP_FORCE_RAMP,1792824390318431604,-3.565412281e-05,-2.732670066e-04,1.590379333e-04,-2.896845694e-05,-2.742268537e-04,1.421744673e-04,-2.934489156e-05,-2.767315342e-04,1.419657368e-04,7.019199437e-01,-2.952520612e-04,8.603024238e-01,7.019266294e-01,-2.962119082e-04,8.602855604e-01,7.027156749e-01,-3.950617221e-04,8.304681230e-01
+48,5.483333333e+00,UP_FORCE_RAMP,1792824390464800366,-3.773819681e-05,-2.739130687e-04,1.666006273e-04,-3.285904400e-05,-2.733089772e-04,1.636285270e-04,-3.333564704e-05,-2.758100945e-04,1.632939020e-04,7.019178597e-01,-2.958981232e-04,8.603099865e-01,7.019227388e-01,-2.952940318e-04,8.603070144e-01,7.027116841e-01,-3.941402825e-04,8.304894511e-01
+49,5.650000000e+00,UP_FORCE_RAMP,1792824390630692209,-3.524567387e-05,-2.714734549e-04,1.804962188e-04,-3.285904400e-05,-2.733089772e-04,1.636285270e-04,-3.333908891e-05,-2.758118839e-04,1.633273586e-04,7.019203522e-01,-2.934585095e-04,8.603238821e-01,7.019227388e-01,-2.952940318e-04,8.603070144e-01,7.027116807e-01,-3.941420718e-04,8.304894846e-01
+50,5.850000000e+00,UP_FORCE_RAMP,1792824390844174944,-3.615806897e-05,-2.721804825e-04,1.939735865e-04,-3.601767677e-05,-2.701610853e-04,1.829999613e-04,-3.642522108e-05,-2.726266397e-04,1.826820257e-04,7.019194398e-01,-2.941655371e-04,8.603373595e-01,7.019195802e-01,-2.921461399e-04,8.603263859e-01,7.027085946e-01,-3.909568276e-04,8.305088393e-01
+51,6.016666667e+00,UP_FORCE_RAMP,1792824391021720024,-3.691100898e-05,-2.695239857e-04,2.050731227e-04,-3.378713931e-05,-2.710561850e-04,2.083767641e-04,-3.370571307e-05,-2.735445200e-04,2.079911365e-04,7.019186869e-01,-2.915090403e-04,8.603484590e-01,7.019218107e-01,-2.930412395e-04,8.603517627e-01,7.027113141e-01,-3.918747080e-04,8.305341484e-01
+52,6.166666667e+00,UP_FORCE_RAMP,1792824391169067335,-3.883901137e-05,-2.686832483e-04,2.145055570e-04,-3.378713931e-05,-2.710561850e-04,2.083767641e-04,-3.370516309e-05,-2.735469371e-04,2.080366014e-04,7.019167589e-01,-2.906683028e-04,8.603578915e-01,7.019218107e-01,-2.930412395e-04,8.603517627e-01,7.027113146e-01,-3.918771251e-04,8.305341938e-01
+53,6.333333333e+00,UP_FORCE_HOLD,1792824391365717818,-3.841117405e-05,-2.703176717e-04,2.267856514e-04,-3.378713931e-05,-2.710561850e-04,2.083767641e-04,-3.370559206e-05,-2.735483013e-04,2.080745775e-04,7.019171867e-01,-2.923027262e-04,8.603701716e-01,7.019218107e-01,-2.930412395e-04,8.603517627e-01,7.027113142e-01,-3.918784892e-04,8.305342318e-01
+54,6.483333333e+00,UP_FORCE_HOLD,1792824391513809803,-3.891286074e-05,-2.708331154e-04,2.313594526e-04,-3.688020459e-05,-2.639620821e-04,2.289403643e-04,-3.684633920e-05,-2.663972514e-04,2.285771419e-04,7.019166850e-01,-2.928181700e-04,8.603747454e-01,7.019187177e-01,-2.859471366e-04,8.603723263e-01,7.027081735e-01,-3.847274393e-04,8.305547344e-01
+55,6.616666667e+00,UP_FORCE_HOLD,1792824391644287336,-3.881535760e-05,-2.687441497e-04,2.398022380e-04,-3.688020459e-05,-2.639620821e-04,2.289403643e-04,-3.684800490e-05,-2.663975481e-04,2.286100548e-04,7.019167825e-01,-2.907292043e-04,8.603831882e-01,7.019187177e-01,-2.859471366e-04,8.603723263e-01,7.027081718e-01,-3.847277360e-04,8.305547673e-01
+56,6.816666667e+00,UP_SETTLE,1792824391840292244,-4.280684150e-05,-2.670460937e-04,2.397274299e-04,-3.688020459e-05,-2.639620821e-04,2.289403643e-04,-3.685010184e-05,-2.663973690e-04,2.286500777e-04,7.019127910e-01,-2.890311482e-04,8.603831133e-01,7.019187177e-01,-2.859471366e-04,8.603723263e-01,7.027081697e-01,-3.847275569e-04,8.305548073e-01
+57,7.000000000e+00,UP_SETTLE,1792824392021064527,-4.052046815e-05,-2.744226852e-04,2.489888775e-04,-3.872847105e-05,-2.703322854e-04,2.489771461e-04,-3.855383788e-05,-2.728239847e-04,2.486571472e-04,7.019150774e-01,-2.964077398e-04,8.603923748e-01,7.019168694e-01,-2.923173400e-04,8.603923631e-01,7.027064660e-01,-3.911541726e-04,8.305748144e-01
+58,7.150000000e+00,UP_SETTLE,1792824392168562985,-4.146976772e-05,-2.683495438e-04,2.516580930e-04,-3.872847105e-05,-2.703322854e-04,2.489771461e-04,-3.855544816e-05,-2.728250362e-04,2.486924761e-04,7.019141281e-01,-2.903345983e-04,8.603950440e-01,7.019168694e-01,-2.923173400e-04,8.603923631e-01,7.027064643e-01,-3.911552242e-04,8.305748497e-01
+59,7.333333333e+00,UP_SETTLE,1792824392347991213,-4.032985268e-05,-2.642724348e-04,2.577003456e-04,-3.872847105e-05,-2.703322854e-04,2.489771461e-04,-3.855725604e-05,-2.728250853e-04,2.487267337e-04,7.019152680e-01,-2.862574894e-04,8.604010863e-01,7.019168694e-01,-2.923173400e-04,8.603923631e-01,7.027064625e-01,-3.911552732e-04,8.305748840e-01

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,3.1841e-02,6.6109e-02,2.4642e+00,-4.1449e-02,3.9054e-02,7.5236e-05,2.4893e-04,-4.2111e-05,-1.4496e-04,1.9409e-06,1.8030e-05,-3.2829e-08,2.9112e-04,1.8135e-05
+1,2.1667e-01,WAIT_W2,3.5730e-05,3.4813e-02,6.5602e-02,2.4625e+00,-4.1426e-02,3.9270e-02,7.4713e-05,3.2204e-03,-5.4931e-04,-1.8692e-03,2.5164e-05,2.3341e-04,-5.5571e-07,3.7639e-03,2.3476e-04
+2,3.3333e-01,WAIT_W2,7.1190e-05,3.6227e-02,6.5354e-02,2.4617e+00,-4.1414e-02,3.9372e-02,7.4387e-05,4.6348e-03,-7.9706e-04,-2.6882e-03,3.6426e-05,3.3607e-04,-8.8156e-07,5.4169e-03,3.3804e-04
+3,5.0000e-01,WAIT_W2,1.0762e-04,3.8052e-02,6.5027e-02,2.4607e+00,-4.1400e-02,3.9505e-02,7.3889e-05,6.4591e-03,-1.1238e-03,-3.7432e-03,5.1189e-05,4.6863e-04,-1.3794e-06,7.5495e-03,4.7142e-04
+4,6.3333e-01,WAIT_W2,1.3697e-04,3.9363e-02,6.4787e-02,2.4599e+00,-4.1389e-02,3.9600e-02,7.3477e-05,7.7708e-03,-1.3637e-03,-4.4997e-03,6.1959e-05,5.6406e-04,-1.7915e-06,9.0825e-03,5.6745e-04
+5,6.6667e-01,WAIT_W2,1.9392e-04,3.9959e-02,1.0386e-01,2.4571e+00,-4.4057e-02,3.9642e-02,7.9769e-05,8.3664e-03,3.7706e-02,-7.2618e-03,-2.6056e-03,6.0597e-04,4.5003e-06,3.9300e-02,2.6751e-03
+6,6.6667e-01,WAIT_W2,1.9392e-04,3.9959e-02,1.0386e-01,2.4571e+00,-4.4057e-02,3.9642e-02,7.9769e-05,8.3664e-03,3.7706e-02,-7.2618e-03,-2.6056e-03,6.0597e-04,4.5003e-06,3.9300e-02,2.6751e-03
+7,6.8333e-01,WAIT_W2,2.6684e-04,4.2454e-02,1.5979e-01,2.4577e+00,-4.7878e-02,3.9813e-02,8.9483e-05,1.0862e-02,9.3636e-02,-6.7143e-03,-6.4268e-03,7.7697e-04,1.4214e-05,9.4503e-02,6.4736e-03
+8,6.8333e-01,WAIT_W2,2.6684e-04,4.2454e-02,1.5979e-01,2.4577e+00,-4.7878e-02,3.9813e-02,8.9483e-05,1.0862e-02,9.3636e-02,-6.7143e-03,-6.4268e-03,7.7697e-04,1.4214e-05,9.4503e-02,6.4736e-03
+9,7.0000e-01,WAIT_W2,3.2992e-04,4.2193e-02,2.7011e-01,2.4530e+00,-5.5409e-02,3.9792e-02,1.0908e-04,1.0600e-02,2.0395e-01,-1.1366e-02,-1.3958e-02,7.5626e-04,3.3809e-05,2.0455e-01,1.3979e-02
+10,7.0000e-01,WAIT_W2,3.2992e-04,4.2193e-02,2.7011e-01,2.4530e+00,-5.5409e-02,3.9792e-02,1.0908e-04,1.0600e-02,2.0395e-01,-1.1366e-02,-1.3958e-02,7.5626e-04,3.3809e-05,2.0455e-01,1.3979e-02
+11,7.1667e-01,WAIT_W2,3.9108e-04,4.5443e-02,3.6867e-01,2.4549e+00,-6.2147e-02,4.0011e-02,1.2669e-04,1.3851e-02,3.0252e-01,-9.5005e-03,-2.0696e-02,9.7446e-04,5.1423e-05,3.0298e-01,2.0719e-02
+12,7.5000e-01,WAIT_W2,4.2282e-04,4.7321e-02,5.0581e-01,2.4563e+00,-7.1558e-02,4.0130e-02,1.5336e-04,1.5729e-02,4.3966e-01,-8.0757e-03,-3.0107e-02,1.0934e-03,7.8095e-05,4.4001e-01,3.0127e-02
+13,8.1667e-01,WAIT_W2,4.5628e-04,4.9887e-02,4.7141e-01,2.4634e+00,-6.9275e-02,4.0313e-02,1.4860e-04,1.8295e-02,4.0526e-01,-9.6273e-04,-2.7824e-02,1.2767e-03,7.3334e-05,4.0567e-01,2.7853e-02
+14,9.5000e-01,WAIT_W2,4.9482e-04,5.1090e-02,5.0030e-01,2.4675e+00,-7.1352e-02,4.0395e-02,1.5913e-04,1.9497e-02,4.3415e-01,3.1080e-03,-2.9901e-02,1.3587e-03,8.3864e-05,4.3460e-01,2.9932e-02
+15,1.0833e+00,WAIT_W2,5.3074e-04,5.2807e-02,4.9711e-01,2.4706e+00,-7.1218e-02,4.0518e-02,1.6246e-04,2.1214e-02,4.3096e-01,6.2056e-03,-2.9767e-02,1.4819e-03,8.7194e-05,4.3153e-01,2.9804e-02
+16,1.2000e+00,WAIT_W2,5.6791e-04,5.4067e-02,4.9484e-01,2.4725e+00,-7.1125e-02,4.0609e-02,1.6477e-04,2.2474e-02,4.2869e-01,8.1539e-03,-2.9674e-02,1.5730e-03,8.9501e-05,4.2936e-01,2.9716e-02
+17,1.3333e+00,WAIT_W2,6.0132e-04,5.5320e-02,4.9256e-01,2.4742e+00,-7.1032e-02,4.0700e-02,1.6682e-04,2.3728e-02,4.2641e-01,9.7637e-03,-2.9581e-02,1.6638e-03,9.1555e-05,4.2718e-01,2.9628e-02
+18,1.4833e+00,UP_FORCE_RAMP,6.3780e-04,5.6521e-02,4.9029e-01,2.4754e+00,-7.0938e-02,4.0787e-02,1.6855e-04,2.4928e-02,4.2414e-01,1.0968e-02,-2.9487e-02,1.7508e-03,9.3283e-05,4.2501e-01,2.9539e-02
+19,1.6333e+00,UP_FORCE_RAMP,6.7334e-04,5.7528e-02,4.8832e-01,2.4761e+00,-7.0857e-02,4.0860e-02,1.6978e-04,2.5936e-02,4.2216e-01,1.1681e-02,-2.9406e-02,1.8242e-03,9.4513e-05,4.2312e-01,2.9463e-02
+20,1.8167e+00,UP_FORCE_RAMP,7.1047e-04,5.8547e-02,4.8623e-01,2.4764e+00,-7.0772e-02,4.0935e-02,1.7076e-04,2.6954e-02,4.2008e-01,1.2050e-02,-2.9321e-02,1.8987e-03,9.5487e-05,4.2111e-01,2.9383e-02
+21,1.9333e+00,UP_FORCE_RAMP,7.4212e-04,5.9091e-02,4.8505e-01,2.4765e+00,-7.0724e-02,4.0975e-02,1.7113e-04,2.7498e-02,4.1890e-01,1.2065e-02,-2.9274e-02,1.9388e-03,9.5864e-05,4.1998e-01,2.9338e-02
+22,2.0833e+00,UP_FORCE_RAMP,7.7836e-04,5.9692e-02,4.8369e-01,2.4763e+00,-7.0669e-02,4.1019e-02,1.7140e-04,2.8099e-02,4.1754e-01,1.1892e-02,-2.9218e-02,1.9831e-03,9.6128e-05,4.1866e-01,2.9286e-02
+23,2.2500e+00,UP_FORCE_RAMP,8.1531e-04,6.0250e-02,4.8235e-01,2.4759e+00,-7.0615e-02,4.1061e-02,1.7146e-04,2.8657e-02,4.1620e-01,1.1507e-02,-2.9164e-02,2.0246e-03,9.6194e-05,4.1734e-01,2.9235e-02
+24,2.4000e+00,UP_FORCE_RAMP,8.5094e-04,6.0670e-02,4.8127e-01,2.4754e+00,-7.0572e-02,4.1092e-02,1.7136e-04,2.9078e-02,4.1512e-01,1.1032e-02,-2.9121e-02,2.0561e-03,9.6090e-05,4.1628e-01,2.9193e-02
+25,2.5667e+00,UP_FORCE_RAMP,8.8410e-04,6.1062e-02,4.8019e-01,2.4748e+00,-7.0528e-02,4.1122e-02,1.7110e-04,2.9469e-02,4.1404e-01,1.0405e-02,-2.9078e-02,2.0856e-03,9.5832e-05,4.1522e-01,2.9152e-02
+26,2.7333e+00,UP_FORCE_RAMP,9.2295e-04,6.1387e-02,4.7922e-01,2.4741e+00,-7.0490e-02,4.1146e-02,1.7072e-04,2.9795e-02,4.1307e-01,9.7070e-03,-2.9039e-02,2.1103e-03,9.5454e-05,4.1426e-01,2.9116e-02
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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_05/down/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_05/down/franka_data.csv

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+9864,1792824457807348295,3137141000000,1792824457803993853,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6758922997779051,-0.004821589205471064,0.09935240908124884,0.9999999407168467,-2.579542879632619e-05,-0.000288116712312382,0.0001622729904815062,0.6761,-0.0045,0.09954854378695058,1.0,0.0,0.0,0.0,-0.07729921522721117,-0.06126204854068329,0.6532689748036956,-0.002983389258813321,0.005365796638764075,-1.9237517334006436e-05,1.06812723832903,0.8253141398851996,0.8290675677552569,0.07414733170706496,-0.06949962815903056,0.003334325704951175,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,0.6034585111272873,1.224998108867261,0.5931406288082014,0.11570678502597077,-0.3267687862023645,0.716919153052829,0.9945833496011472,-0.6532689748036956,0.40144272079294585,0.40144272079294585,0.6374999999999652,0,0,-0.00021249995884739382,-9.999999025923074e-05
+9925,1792824458316342781,3137650000000,1792824458315983770,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6759290206087469,-0.004821544058208595,0.09927894805991844,0.9999999527611084,-6.34544676809538e-05,-0.0002456554506821818,0.00014679092455334076,0.6761,-0.0045,0.09943545117527264,1.0,0.0,0.0,0.0,-0.08925178985003979,-0.038789719106695375,0.8128423808527151,-0.002048435865024484,0.006324695178879722,-0.00012336719627311114,1.0561746637062013,0.8477864693191876,0.9886409738042764,0.0750822851008538,-0.06854072961891491,0.0032301960260120704,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,0.7154324242334968,1.1854767782047968,0.49479391993459343,0.14466008738583014,-0.23575422553339817,0.6905155755884198,0.9945833496011472,-0.8128423808527151,0.4997894296665538,0.4997894296665538,0.7138499999999568,0,0,-0.00022822903370941917,-9.999535507810293e-05
+9972,1792824458707283557,3138041000000,1792824458699993768,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6759689856175741,-0.004818093490462165,0.09924566820717799,0.9999999650486374,-7.565265196699038e-05,-0.0001875591941630366,0.00014298186354038634,0.6761,-0.0045,0.09934395566046424,1.0,0.0,0.0,0.0,-0.1457699621007985,0.04534908880930033,0.8425680765216068,0.003977595633563938,0.010896272971768678,-1.1320461224086694e-05,0.9996564914554426,0.9319252772351833,1.0183666694731681,0.08110831659944222,-0.06396915182602596,0.003342242761061095,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,0.8989567696733013,1.2131353307655124,0.42601281817852404,0.14922691583422643,-0.16620981473035856,0.7101963720780777,0.9945833496011472,-0.8425680765216068,0.5685705314226233,0.5685705314226233,0.7724999999999503,0,0,-0.00023673559662914213,-8.060369357222542e-05
+10055,1792824459399097044,3138733000000,1792824459395983905,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6759810854160202,-0.004821430525814409,0.09912950728001459,0.9999999671422999,-9.496034303954006e-05,-0.0001639879286204793,0.00014576953040728837,0.6761,-0.0045,0.09918848587034948,1.0,0.0,0.0,0.0,-0.16835544189179075,0.05167152453438684,1.0350427922493401,0.003896063101679559,0.012233378675437431,0.000849614077734167,0.9770710116644503,0.9382477129602698,1.2108413852009015,0.08102678406755784,-0.0626320461223572,0.0042031773000193486,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.0307098446319334,1.2982386563113693,0.12461405775672722,0.1287899292328652,0.06208115020646251,0.7687641888656384,0.9945833496011472,-1.0350427922493401,0.8699692918444201,0.8699692918444201,0.8762999999999389,0,0,-0.00020848706261814153,9.999999025923074e-05
+10147,1792824460165970811,3139500000000,1792824460163983714,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6759955172650215,-0.004828011003967112,0.09901342491890243,0.9999999684076389,-0.00011325552019334967,-0.0001398510408950235,0.00014913905982447056,0.6761,-0.0045,0.09904326434045244,1.0,0.0,0.0,0.0,-0.19359369100108426,0.0665869841869915,1.215932697362048,0.0048286658586473435,0.014151775004710043,0.0007717896028701459,0.9518327625551568,0.9531631726128744,1.3917312903136092,0.08195938682452562,-0.06071364979308459,0.004125352825155327,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.1277592658997853,1.165242892015081,-0.10621439024948262,0.16841921631933177,0.23149017497907548,0.6707905949520249,0.9945833496011472,-1.215932697362048,1.10079773985063,1.10079773985063,0.9913499999999262,0,0,-0.00017013707008931155,9.999999025923074e-05
+10237,1792824460915879714,3140250000000,1792824460915983938,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.676003248884706,-0.004831992636412995,0.0989206863207236,0.9999999676443081,-0.00012882141838458787,-0.00012738939581125334,0.00015274564216125703,0.6761,-0.0045,0.09892970528514221,1.0,0.0,0.0,0.0,-0.20761032654281453,0.06632766025597348,1.3585128765965435,0.004772716648540759,0.015184822805056793,0.0006717764698353948,0.9378161270134265,0.9529038486818564,1.5343114695481048,0.08190343761441904,-0.05968060199273784,0.004025339692120576,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.1839859860422035,1.248334768492255,-0.2326479839344212,0.14525614458687805,0.3263684846073367,0.7231631986436116,0.9945833496011472,-1.3585128765965435,1.2272313335355685,1.2272313335355685,1.1038499999999907,0,0,-0.0001326370773948885,9.999999025923074e-05
+10340,1792824461773669015,3141108000000,1792824461767992891,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6760122678035511,-0.004833273381000389,0.0988423355202375,0.9999999678149831,-0.00014126069090682544,-0.00010930200541868231,0.00015463306854514994,0.6761,-0.0045,0.09883428531914781,1.0,0.0,0.0,0.0,-0.21764669266287573,0.07331255065778297,1.4778963518169927,0.0057439499299425795,0.016152837241386643,0.0006013486770501133,0.9277797608933653,0.9598887390836659,1.653694944768554,0.08287467089582086,-0.05871258755640799,0.003954911899335295,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.190458527225191,1.2923872556168383,-0.26600176136627546,0.14116209774960492,0.3457343645819019,0.7561377302584318,0.9945833496011472,-1.4778963518169927,1.2605851109674227,1.2605851109674227,1.2325500000000718,0,0,-8.973708575246852e-05,9.999999025923074e-05
+10440,1792824462606559304,3141941000000,1792824462603993201,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6760207205473395,-0.0048326331142238225,0.0987969594705021,0.9999999678694615,-0.00015321332706425063,-9.600884482286575e-05,0.0001516967968670395,0.6761,-0.0045,0.09877657976882573,1.0,0.0,0.0,0.0,-0.2270392824703351,0.07651033437940358,1.5493634661430706,0.005906742163018647,0.016133593118286736,0.0005428856321879846,0.918387171085906,0.9630865228052865,1.725162059094632,0.08303746312889693,-0.0587318316795079,0.003896448854473166,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.1895494848495687,1.1369731536216274,-0.3694624889171207,0.1963914843431322,0.40791302210997166,0.6595674111375821,0.9945833496011472,-1.5493634661430706,1.3640458385182679,1.3640458385182679,1.3575000000001505,0,0,-4.870349912669691e-05,9.999999025923074e-05
+10542,1792824463456492185,3142791000000,1792824463455994084,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6760246773339779,-0.004835617735085233,0.09877303045015845,0.9999999674929752,-0.00015947283641989474,-9.144165625455013e-05,0.00015054484629690112,0.6761,-0.0045,0.09874748386858301,1.0,0.0,0.0,0.0,-0.22790274755526518,0.07977450528013197,1.5791324941756062,0.006745258367263987,0.01611230270246878,0.0005294240751215653,0.9175237060009759,0.9663506937060149,1.7549310871271675,0.08387597933314227,-0.058753122095325856,0.003882987297406747,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.214454207655998,1.2031379331213146,-0.4828671154293588,0.17112636182380217,0.4924216135012148,0.6930189249623728,0.9945833496011472,-1.5791324941756062,1.477450465030506,1.477450465030506,1.4850000000002308,0,0,-2.9012035500349025e-05,9.710504208915722e-05
+10650,1792824464356248617,3143691000000,1792824464355983376,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6760313122881522,-0.004832252596944838,0.09874330341795594,0.9999999681222612,-0.00015954599458856743,-8.377924767894254e-05,0.00015074632309990178,0.6761,-0.0045,0.09870927159221339,1.0,0.0,0.0,0.0,-0.23721358939823245,0.08475923038713529,1.6099674762990521,0.006713454685098666,0.017119350490583878,0.0005195039022499563,0.9082128641580086,0.9713354188130182,1.7857660692506134,0.08384417565097695,-0.05774607430721076,0.003873067124535138,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.2536748000954987,1.2169009294662994,-0.5584552473247861,0.17279873943619792,0.5471712427273671,0.7002951488596678,0.9945833496011472,-1.6099674762990521,1.5530385969259335,1.5530385969259335,1.6200000000003159,0,0,-5.884140735354227e-05,-9.510358753151422e-05
+10754,1792824465223113312,3144558000000,1792824465215994030,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6760383705725889,-0.004837581919559202,0.09869620188854779,0.999999967214335,-0.0001694123853264774,-7.020881882174241e-05,0.00015291945104881072,0.6761,-0.0045,0.09864000312697449,1.0,0.0,0.0,0.0,-0.2528889422525529,0.09591530152697625,1.6704885844156836,0.007694548107101171,0.018099051828852096,0.0004937510005037231,0.8925375113036882,0.9824914899528592,1.846287177367245,0.08482526907297945,-0.05676637296894254,0.0038473142227889046,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.2662783171432916,1.226056761074147,-0.6185214008730504,0.17534036274119866,0.5815233204803272,0.7062120857034662,0.9945833496011472,-1.6704885844156836,1.6131047504741978,1.6131047504741978,1.7500500000003978,0,0,-9.932223214301062e-05,-9.999818614681572e-05
+10843,1792824465965070342,3145300000000,1792824465963984180,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6760494378754366,-0.0048403727363858,0.09863048117172368,0.9999999664162167,-0.00017924508547812086,-5.086066813014778e-05,0.00015457949878907313,0.6761,-0.0045,0.0985549617847767,1.0,0.0,0.0,0.0,-0.2664154548083175,0.11000552496719485,1.7787438362590648,0.007823109011418472,0.019087527859493046,0.0005403870836292353,0.8790109987479235,0.9965817133930778,1.9545424292106262,0.08495382997729675,-0.05577789693830159,0.003893950305914417,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.3935845307517882,1.2282603862242167,-0.8091800545293165,0.18057113728257085,0.7316958124687113,0.7099119204855414,0.9945833496011472,-1.7787438362590648,1.8037634041304638,1.8037634041304638,1.861350000000468,0,0,-0.0001241784522334769,9.925920782383741e-05
+10929,1792824466680949770,3146016000000,1792824466679984024,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6760560528138886,-0.004845768036279516,0.0985518839255132,0.9999999651815835,-0.00018409418892347923,-4.058961005609253e-05,0.00015981711156988742,0.6761,-0.0045,0.09846428501318365,1.0,0.0,0.0,0.0,-0.2769153134586545,0.11279060432612187,1.9014515594832055,0.008609477970438845,0.020051080078249316,0.001372310579385343,0.8685111400975866,0.9993667927520048,2.077250152434767,0.08574019893631712,-0.05481434471954532,0.0047258738016705245,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.3475744660583335,1.2873820716186224,-0.802911237659414,0.1709249547764724,0.7180103011612408,0.747966686053849,0.9945833496011472,-1.9014515594832055,1.7974945872605612,1.7974945872605612,1.9687500000005356,0,0,-0.00012705184337521847,-9.99889019067723e-05
+11028,1792824467505807616,3146841000000,1792824467503984275,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6760641386317502,-0.004846156877716933,0.09847082366064633,0.9999999795300728,-7.72565581089524e-05,-2.4713797842943214e-05,0.00016063427646977136,0.6761,-0.0045,0.09836343262627495,1.0,0.0,0.0,0.0,-0.29549338755526455,0.11121474995802849,2.032267597042065,0.008556644117061557,0.02103690951183755,0.0012843930543141847,0.8499330660009765,0.9977909383839114,2.2080661899936267,0.08568736508293984,-0.053828515285957085,0.004637956276599366,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.434510511113351,1.1538193399862482,-0.9224690522231516,0.21816210706674463,0.8155062300947663,0.6696619991656099,0.9945833496011472,-2.032267597042065,1.9170524018242987,1.9170524018242987,2.0925000000006135,0,0,-0.00011333692783862948,-9.980468815141136e-05
+11104,1792824468139705636,3147475000000,1792824468135993497,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6760710646232773,-0.004843146764788634,0.09840931559112823,0.9999999786679605,-9.160893094284825e-05,-1.5902972481148446e-05,0.00015956767221740392,0.6761,-0.0045,0.09829229458538309,1.0,0.0,0.0,0.0,-0.29719745749684856,0.1246614504942265,2.1115467969752495,0.009541470988388645,0.021790214240510683,0.0012457065431323035,0.8482289960593925,1.0112376389201094,2.287345389926811,0.08667219195426693,-0.05307521055728395,0.004599269765417485,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.5131359315902793,1.2637494873410402,-1.0861585292936917,0.17545127939745078,0.9454796181802544,0.7098930284456376,0.9945833496011472,-2.1115467969752495,2.080741878894839,2.080741878894839,2.1876000000006735,0,0,-0.00011016195348575864,-6.24454335725943e-05
+11228,1792824469172549296,3148508000000,1792824469171993565,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6760869006695603,-0.004844604313174341,0.09832390503980307,0.9999999766277952,-0.00011478017492041247,8.849724350353903e-06,0.00015790651440857943,0.6761,-0.0045,0.0981789528963027,1.0,0.0,0.0,0.0,-0.3161528291677439,0.1433309579333426,2.233604380130535,0.010507104374585144,0.022980572989341017,0.0011737255620187094,0.8292736243884972,1.0299071463592255,2.4094029730820967,0.08763782534046342,-0.05188485180845362,0.004527288784303891,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.5892239195599314,1.1223156326416437,-1.2282832566492492,0.2453879853753341,1.0466096902005235,0.6487987192217205,0.9945833496011472,-2.233604380130535,2.2228666062503963,2.2228666062503963,2.342550000000771,0,0,-0.00010499257460247347,-7.500011309081173e-05
+11326,1792824469989412571,3149325000000,1792824469983994497,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6760936587405648,-0.004844685118952269,0.09825173877878858,0.9999999748634342,-0.0001268011634170045,2.146963259947002e-05,0.00015867109089177673,0.6761,-0.0045,0.09809224886597796,1.0,0.0,0.0,0.0,-0.3269406861044247,0.1477253512957033,2.3316318823005022,0.01046131115098621,0.02397257541002322,0.0011078490626267082,0.8184857674518163,1.0343015397215862,2.5074304752520638,0.08759203211686449,-0.050892849387771416,0.00446141228491189,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.6092932494470458,1.1585448201866018,-1.3417058010610006,0.23820304707384005,1.1238139813430907,0.6720892219068773,0.9945833496011472,-2.3316318823005022,2.336289150662148,2.336289150662148,2.4651000000008483,0,0,-0.00010974781889802466,-7.502623108746604e-05
+11423,1792824470797262788,3150133000000,1792824470795983602,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6761036370202109,-0.004850308442421418,0.09817818425869904,0.9999999724159342,-0.00014242945771096151,3.8806780158037525e-05,0.00015754008597647693,0.6761,-0.0045,0.0979992556307681,1.0,0.0,0.0,0.0,-0.3380889223576248,0.15750655250798284,2.424452500669431,0.011448766467721583,0.024544755453647295,0.0010531530330311419,0.8073375311986163,1.0440827409338658,2.6002510936209924,0.08857948743359986,-0.05032066934414734,0.004406716255316323,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.6510218845206244,1.1918509302900213,-1.480624399567564,0.23904158273004483,1.2201409392760583,0.6987231733571102,0.9945833496011472,-2.424452500669431,2.4752077491687112,2.4752077491687112,2.5863000000009246,0,0,-0.00011725731343811686,-5e-05
+11523,1792824471630096841,3150966000000,1792824471623985801,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6761141292432171,-0.004849188695970747,0.09810104264197443,0.999999969875392,-0.00015011087426340238,5.797050136538459e-05,0.00016061826106635626,0.6761,-0.0045,0.0978978623222141,1.0,0.0,0.0,0.0,-0.355211142444251,0.16266562999394152,2.534716535688191,0.011939933041399745,0.025330457237472265,0.0009818184259359369,0.7902153111119901,1.0492418184198244,2.7105151286397526,0.08907065400727802,-0.04953496756032237,0.004335381648221118,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.6695592447726872,1.1840639804369617,-1.6370888603276887,0.2502978534989802,1.3226235432721392,0.6931994255083059,0.9945833496011472,-2.534716535688191,2.631672209928836,2.631672209928836,2.7112500000010034,0,0,-0.00012318184528373332,7.934479048644078e-05
+11607,1792824472329978834,3151666000000,1792824472323985355,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6761265886077954,-0.004855239706611783,0.09803741228981921,0.9999999662106382,-0.000163573367442135,7.78180604575161e-05,0.0001618940685570031,0.6761,-0.0045,0.09781311110218475,1.0,0.0,0.0,0.0,-0.36529856632029833,0.17172039944826745,2.6332958322171036,0.012368547527814466,0.02668706867532971,0.0011423985076440203,0.7801278872359427,1.0582965878741504,2.809094425168665,0.08949926849369275,-0.048178356122464926,0.004495961729929202,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.7435678504038172,1.1462825821903646,-1.8192820350093595,0.27064529566213763,1.4601504336991153,0.6704006683438747,0.9945833496011472,-2.6332958322171036,2.813865384610507,2.813865384610507,2.8162500000010695,0,0,-0.00012095007282245251,9.980468815141136e-05
+11702,1792824473121876119,3152458000000,1792824473119983726,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6761322188293163,-0.004859065987634829,0.09795200967534781,0.9999999636405495,-0.00017049248876001253,8.674444223457899e-05,0.0001660405877129306,0.6761,-0.0045,0.09771461552962475,1.0,0.0,0.0,0.0,-0.3749581400135308,0.1676908549395466,2.7461642833117623,0.012333559505364272,0.026879842934074152,0.0018656361881997578,0.7704683135427103,1.0542670433654295,2.921962876263324,0.08946428047124255,-0.04798558186372048,0.005219199410484939,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.7496529234138931,1.1330634047318848,-1.8563370410137428,0.2883105445899075,1.4819249105292367,0.6671972279069021,0.9945833496011472,-2.7461642833117623,2.85092039061489,2.85092039061489,2.9350500000011444,0,0,-0.00012201180674545486,9.999999025923074e-05
+11804,1792824473971676581,3153308000000,1792824473967993126,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6761426029527892,-0.004861667759355298,0.09786840215634764,0.9999999617300144,-0.00017355323379820815,0.00010380363508419677,0.00016458102658613104,0.6761,-0.0045,0.09761157739575527,1.0,0.0,0.0,0.0,-0.38841835647382483,0.17412229537896606,2.8468251229933115,0.013307408814551766,0.027852492356629205,0.0018101763063374256,0.7570080970824162,1.060698483804849,3.022623715944873,0.09043812978043005,-0.04701293244116543,0.005163739528622607,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.7511105671208516,1.0672262214853085,-1.981138192670253,0.3264275939065277,1.562193689760191,0.6308197240474749,0.9945833496011472,-2.8468251229933115,2.9757215422714003,2.9757215422714003,3.0625500000012247,0,0,-0.00011827370142017545,9.928002450554913e-05
+11908,1792824474838574335,3154175000000,1792824474835993627,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6761539214718839,-0.004859855793248715,0.0977857633164538,0.9999999606967881,-0.000166285933493667,0.00012399735179355163,0.00016438653062590645,0.6761,-0.0045,0.09750722706425964,1.0,0.0,0.0,0.0,-0.40426628240976437,0.18769470679484335,2.9570722736246506,0.013234707439853402,0.02980475661477347,0.0017496114352943217,0.7411601711464767,1.0742708952207263,3.132870866576212,0.09036542840573168,-0.045060668183021166,0.005103174657579503,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.8500525618866415,1.1346493861140927,-2.0535076532337992,0.3043964124587457,1.6325662747863823,0.6665328229353513,0.9945833496011472,-2.9570722736246506,3.0480910028349464,3.0480910028349464,3.1926000000013066,0,0,-0.000118782640830288,-8.750000310276391e-05
+12003,1792824475629441765,3154966000000,1792824475627983729,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6761672076814521,-0.0048648126869766314,0.09770933644672776,0.999999958066568,-0.00016328720740334607,0.00014616803168363994,0.00016517239767830473,0.6761,-0.0045,0.09740872916829195,1.0,0.0,0.0,0.0,-0.4191298090342851,0.19328450391393526,3.0577528312065936,0.01423499336205393,0.029813864110581116,0.0016787379612392705,0.726296644521956,1.0798606923398182,3.233551424158155,0.09136571432793221,-0.04505156068721352,0.005032301183524452,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.8972048836067201,1.0973121950058433,-2.2396304349800693,0.3232813488553704,1.7644042991245021,0.6453868227885744,0.9945833496011472,-3.0577528312065936,3.2342137845812164,3.2342137845812164,3.3112500000013814,0,0,-0.00012715460133841538,9.999999025923074e-05
+12085,1792824476313329239,3155650000000,1792824476307994056,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6761719396670445,-0.0048665465653826194,0.09763475685517549,0.9999999650096066,-9.337455915654041e-05,0.0001555618241847735,0.00016883530587695814,0.6761,-0.0045,0.09732126902518119,1.0,0.0,0.0,0.0,-0.42397582296740355,0.19791362745087127,3.147996028558287,0.014190744197491945,0.03080747137396106,0.001620958129584299,0.7214506305888375,1.0844898158767542,3.3237946215098484,0.09132146516337022,-0.044057953423833576,0.004974521351869481,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.9678945076845649,1.03017982101436,-2.3318013405716824,0.3603183877888298,1.842410717370419,0.6112606931738721,0.9945833496011472,-3.147996028558287,3.3263846901728296,3.3263846901728296,3.413850000001446,0,0,-0.00012709898817156595,9.366743078243473e-05
+12168,1792824477004238524,3156341000000,1792824477003983730,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.676180623530761,-0.004865735404926313,0.09756430378375455,0.999999961747459,-0.00010583467313499432,0.00016921655857390558,0.00016766849172223145,0.6761,-0.0045,0.09723313834552119,1.0,0.0,0.0,0.0,-0.4308458193381036,0.20393465356874985,3.2386112146830204,0.015167114639260348,0.03175244055057986,0.0015738751009449227,0.7145806342181374,1.0905108419946328,3.414409807634582,0.09229783560513863,-0.043112984247214776,0.004927438323230104,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.9237448732641316,1.0649637465442066,-2.4534683592800386,0.3523562738304682,1.9073151049465562,0.6315227120486203,0.9945833496011472,-3.2386112146830204,3.4480517088811857,3.4480517088811857,3.5175000000015113,0,0,-0.00012934950363999308,9.752398474749952e-05
+12258,1792824477754139803,3157091000000,1792824477751983714,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6761889276984749,-0.004866649847686515,0.0974805977445109,0.9999999578884664,-0.00011988944365873578,0.0001831188845974019,0.0001666131002548688,0.6761,-0.0045,0.09713523313230099,1.0,0.0,0.0,0.0,-0.44344718330565547,0.1978775946846285,3.338893984543147,0.015146639978740425,0.03176140213114975,0.0014915927646520911,0.7019792702505856,1.0844537831105114,3.5146925774947086,0.0922773609446187,-0.043104022666644884,0.004845155986937273,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.9832570821923938,1.059516949878926,-2.520300519255249,0.36084172965773254,1.9643780255371794,0.6251883783064908,0.9945833496011472,-3.338893984543147,3.514883868856396,3.514883868856396,3.630000000001582,0,0,-0.0001323209642093134,-3.451764848805823e-05
+12345,1792824478479009326,3157816000000,1792824478475983748,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6761994009079325,-0.0048659027914373515,0.09740180967280745,0.9999999522785215,-0.00013975436381600566,0.00020032066379561803,0.00016500354132498293,0.6761,-0.0045,0.0970395540081178,1.0,0.0,0.0,0.0,-0.4539328844486862,0.21615933613880878,3.438177545631823,0.016122142428844882,0.03273334223024399,0.0014373598930012316,0.6914935691075549,1.1027355245646917,3.6139761385833844,0.09325286339472316,-0.04213208256755065,0.004790923115286413,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,1.9798510764089823,1.0656126368136525,-2.6131340193779122,0.37052817126911664,2.0224722874078545,0.6295619983307081,0.9945833496011472,-3.438177545631823,3.6077173689790594,3.6077173689790594,3.7387500000016507,0,0,-0.00013315961197166016,-7.921993202953387e-05
+12437,1792824479245896232,3158583000000,1792824479243983831,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6762057834215556,-0.0048690761300692826,0.09730967157137994,0.9999999485380231,-0.00014852613692594604,0.0002094720314229427,0.00016860685045546546,0.6761,-0.0045,0.09693382006269459,1.0,0.0,0.0,0.0,-0.46365473375283284,0.2184286584364279,3.5395227859567338,0.016075886324840347,0.03372480494758239,0.0013700022772557782,0.6817717198034082,1.1050048468623108,3.7153213789082953,0.09320660729071863,-0.041140619850212244,0.00472356549954096,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.0582448799281723,1.0793975596062817,-2.780502993501439,0.3675438974452203,2.1529019842619963,0.6407586878131581,0.9945833496011472,-3.5395227859567338,3.7750863431025863,3.7750863431025863,3.853800000001723,0,0,-0.00014101482999765024,8.592975916788532e-05
+12525,1792824479978711486,3159316000000,1792824479975993757,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6762166072069771,-0.004871352540608603,0.09722956486069302,0.9999999428147374,-0.0001523771548147985,0.00022796274063391293,0.00017500736485547602,0.6761,-0.0045,0.09683019554558117,1.0,0.0,0.0,0.0,-0.4659145860644611,0.22160163579064385,3.629329586462753,0.016056071739532343,0.03384079345753288,0.0012993334076617804,0.6795118674917799,1.1081778242165268,3.8051281794143144,0.09318679270541062,-0.041024631340261755,0.004652896629946962,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.131998456859148,0.9967501993740319,-2.9620174070508725,0.40471975788085374,2.289411279096461,0.5906684396970958,0.9945833496011472,-3.629329586462753,3.9566007566520196,3.9566007566520196,3.9637500000017925,0,0,-0.00014223538371130472,9.998866598437956e-05
+12614,1792824480720607321,3160058000000,1792824480719993568,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6762251350455203,-0.004876561484107125,0.09714058075139821,0.9999999368957069,-0.00015217700787314572,0.0002443329591803074,0.00018653420561130245,0.6761,-0.0045,0.0967201563720319,1.0,0.0,0.0,0.0,-0.48294895948243655,0.2266162497953903,3.7233725126056845,0.01702646398653719,0.03467865797690421,0.0016547546660686517,0.6624774940738045,1.1131924382212732,3.899171105557246,0.09415718495241547,-0.040186766820890424,0.005008317888353833,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.176937545895872,0.9508168964357651,-3.0542787288715005,0.42519994498470126,2.3576570636056724,0.5649754375749364,0.9945833496011472,-3.7233725126056845,4.048862078472648,4.048862078472648,4.0750500000016405,0,0,-0.00015067389809855924,9.998783331711109e-05
+12698,1792824481420532610,3160758000000,1792824481415994342,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6762335892983914,-0.0048709878028269805,0.09704801898750022,0.9999999350006054,-0.00014617672340093313,0.00025497652461591263,0.00018724579207829342,0.6761,-0.0045,0.09661543933168873,1.0,0.0,0.0,0.0,-0.47566752141312263,0.2450775230843918,3.8207644634634645,0.017384538887524753,0.0356574319723166,0.002215228037833888,0.6697589321431184,1.1316537115102747,3.996563056415026,0.09451525985340303,-0.03920799282547804,0.0055687912601190695,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.1629429012409394,1.034292937958633,-3.0925634008399294,0.40858235875673243,2.3761829260590526,0.6162230353293888,0.9945833496011472,-3.8207644634634645,4.087146750441077,4.087146750441077,4.180050000001396,0,0,-0.00014988813778063636,9.999990699250389e-05
+12783,1792824482128428282,3161466000000,1792824482127994148,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6762430201310072,-0.004861623474549059,0.09695616928762661,0.9999999286347633,-0.00019400591572245923,0.0002746564573425729,0.00014525449302729915,0.6761,-0.0045,0.096509059191322,1.0,0.0,0.0,0.0,-0.46486233808987076,0.29187410150945925,3.9131160369128017,0.020057026013075824,0.03457159889224641,0.002157135181489697,0.6805641154663703,1.1784502899353422,4.088914629864363,0.0971877469789541,-0.040293825905548225,0.005510698403774879,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.22191686723342,1.1791197714551584,-3.197719319160084,0.38573042805106994,2.4528851478154534,0.7157927426368125,0.9945833496011472,-3.9131160369128017,4.192302668761231,4.192302668761231,4.286250000001148,0,0,-0.00014670452568446712,9.999994862586731e-05
+12885,1792824482978251133,3162316000000,1792824482971994001,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6762547015917465,-0.004859895087687561,0.09685967063929928,0.9999999240504059,-0.0001770560007722708,0.0002955161133737788,0.00015704599902608842,0.6761,-0.0045,0.09638618330126657,1.0,0.0,0.0,0.0,-0.4763229920734191,0.2854923947517074,4.013317591615375,0.02003728553020241,0.03455079855118755,0.002074753974979173,0.669103461482822,1.1720685831775903,4.189116184566936,0.09716800649608069,-0.04031462624660709,0.005428317197264354,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.265216459713294,1.0965474340666372,-3.3461013046733044,0.4190330404454266,2.558450986175314,0.668283109380183,0.9945833496011472,-4.013317591615375,4.340684654274452,4.340684654274452,4.413750000000851,0,0,-0.00014453149073803828,9.92488966274962e-05
+12978,1792824483753085125,3163091000000,1792824483747984254,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6762582464899026,-0.004866405336371763,0.09675716173836135,0.9999999315517238,-8.983328921210142e-05,0.00030170364755919237,0.00017100965253856142,0.6761,-0.0045,0.09627144721426104,1.0,0.0,0.0,0.0,-0.485935099124463,0.2887873307555815,4.10364948791575,0.01999309801580683,0.03554452347519726,0.002016362938682872,0.6594913544317781,1.1753635191814644,4.279448080867311,0.09712381898168511,-0.03932090132259738,0.005369926160968054,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.296581258986652,1.029334898329862,-3.5049303952798128,0.44419028207437916,2.663017095418523,0.6353349833559205,0.9945833496011472,-4.10364948791575,4.49951374488096,4.49951374488096,4.53000000000058,0,0,-0.0001499998556378238,9.687505938960612e-05
+13070,1792824484519967952,3163858000000,1792824484519983884,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6762709359607117,-0.004868129446963037,0.0966614363870137,0.9999999226131883,-9.716860842340408e-05,0.0003220240170061545,0.0001818660933899793,0.6761,-0.0045,0.09615765079069191,1.0,0.0,0.0,0.0,-0.50490913840186,0.28237718474688656,4.203060264205707,0.01994594464670431,0.03653727765352449,0.0019494496068428921,0.640517315154381,1.1689533731727695,4.378858857157268,0.09707666561258259,-0.038328147144270144,0.005303012829128074,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.3130271720525895,1.0908218729820476,-3.4902372485078192,0.43563710641213454,2.6544200409226786,0.6674863635514038,0.9945833496011472,-4.203060264205707,4.484820598108967,4.484820598108967,4.645050000000312,0,0,-0.0001486165050288132,-9.996189573169829e-05
+13158,1792824485252904968,3164591000000,1792824485251984094,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6762763402643378,-0.004876264791876297,0.09656434948475798,0.9999999165650245,-0.00010584314230989507,0.0003303451859880155,0.00019488995795304733,0.6761,-0.0045,0.09604778177538856,1.0,0.0,0.0,0.0,-0.5054998768844083,0.28523843238405067,4.281859617325442,0.01990367334733012,0.03753332356260809,0.0019013844269151477,0.6399265766718327,1.1718146208099336,4.457658210277003,0.0970343943132084,-0.03733210123518654,0.005254947649200329,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.330675020517422,0.9992465280601032,-3.5429353130159935,0.45840497352200377,2.6874186930296906,0.6020334505902772,0.9945833496011472,-4.281859617325442,4.537518662617141,4.537518662617141,4.755000000000056,0,0,-0.00015221033517895245,-9.960946931031884e-05
+13231,1792824485861709908,3165200000000,1792824485859984116,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6762822107379157,-0.004879491692023392,0.09647796387317141,0.9999999119506111,-0.0001203046746717826,0.00033783396958567493,0.00019732366437359643,0.6761,-0.0045,0.09595241919238061,1.0,0.0,0.0,0.0,-0.5150676555907812,0.28780578465687756,4.363460964153524,0.019860978452848968,0.038528707414935054,0.0018500619690943868,0.6303587979654599,1.1743819730827605,4.539259557105085,0.09699169941872725,-0.03633671738285958,0.005203625191379568,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.357525461460972,1.0208778521611352,-3.7543489057957897,0.4687338299020411,2.8240580331862626,0.6256411883285709,0.9945833496011472,-4.363460964153524,4.748932255396937,4.748932255396937,4.846349999999843,0,0,-0.0001576439846481551,9.999928249205254e-05
+13318,1792824486586632065,3165925000000,1792824486583993227,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6762890736927452,-0.0048749566939552905,0.09637504125632848,0.9999999067556788,-0.00014995932144272332,0.00034971432531590404,0.0001820538122438597,0.6761,-0.0045,0.09583878384972438,1.0,0.0,0.0,0.0,-0.5152457846216943,0.29116615878690455,4.4445093199939905,0.01984615088838683,0.03851125331685654,0.0017845694501250286,0.6301806689345467,1.1777423472127875,4.6203079129455515,0.09697687185426511,-0.03635417148093809,0.00513813267241021,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.4196399857493667,1.0792315161210864,-3.778994955584288,0.46725065918623554,2.854906635752043,0.6597603832302568,0.9945833496011472,-4.4445093199939905,4.773578305185436,4.773578305185436,4.9550999999995895,0,0,-0.00015537762605297013,-9.070487003016154e-05
+13402,1792824487286485140,3166625000000,1792824487279993405,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6762985831374436,-0.004875542284150977,0.09627512828377491,0.99999989739467,-0.0001782829864970255,0.0003693209382183897,0.0001687327323941169,0.6761,-0.0045,0.09572940152631228,1.0,0.0,0.0,0.0,-0.5239563707482459,0.29647904638832245,4.514519397383213,0.020853302665950424,0.038477303706915836,0.0017384093765734133,0.6214700828079952,1.1830552348142054,4.6903179903347745,0.0979840236318287,-0.0363881210908788,0.005091972598858595,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.452942269166102,0.9985482767296221,-3.9522386246368346,0.5015312813400246,2.964058551193905,0.6148120884316217,0.9945833496011472,-4.514519397383213,4.946821974237982,4.946821974237982,5.060099999999345,0,0,-0.00015764561728662396,9.955813537321773e-05
+13486,1792824487986433377,3167325000000,1792824487983993131,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6763003286819721,-0.004875368223868557,0.09617065202509487,0.9999999041782016,-0.00014483167186101685,0.00036501954515536286,0.0001699145974151022,0.6761,-0.0045,0.09561442342123523,1.0,0.0,0.0,0.0,-0.5081139653592804,0.3057754614461188,4.5954483083608215,0.02083927527465408,0.03845856697396331,0.0016750911103419757,0.6373124881969606,1.1923516498720017,4.771246901312383,0.09796999624053236,-0.03640685782383132,0.005028654332627157,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.4584624377691826,1.0254222637017691,-3.8677885980431936,0.5003528687348384,2.915385536093566,0.6376067781622077,0.9945833496011472,-4.5954483083608215,4.862371947644341,4.862371947644341,5.1650999999991,0,0,-0.00016904165228290158,-9.998779168374767e-05
+13567,1792824488661372365,3168000000000,1792824488659984615,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6763162221156803,-0.004877400558458171,0.09607380937941239,0.9999998931922075,-0.00014107385140633218,0.00039004425587185087,0.00018171979751732732,0.6761,-0.0045,0.09549564451877149,1.0,0.0,0.0,0.0,-0.5310809914958124,0.2987763524060918,4.67047026017734,0.01977737548692915,0.039475511187706244,0.0016177613994966017,0.6143454620604286,1.1853525408319747,4.846268853128901,0.09690809645280743,-0.03538991361008839,0.004971324621781783,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.5234465982803296,0.9946595857297137,-4.027730674123738,0.5093224561232362,3.031252576453549,0.6175026583066188,0.9945833496011472,-4.67047026017734,5.022314023724886,5.022314023724886,5.266349999998864,0,0,-0.0001789633605711868,-9.69144584291925e-05
+13644,1792824489302260979,3168641000000,1792824489299983943,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.676323339232624,-0.004880037269750441,0.095969874729128,0.9999998872783382,-0.00014213337079198925,0.0004004701871255434,0.00019054634455620905,0.6761,-0.0045,0.09537627731555864,1.0,0.0,0.0,0.0,-0.5368404286146384,0.29174822069574136,4.735512911106347,0.019735500185808663,0.04047518670553093,0.002112343796688554,0.6085860249416026,1.1783244091216243,4.911311504057908,0.09686622115168694,-0.03439023809226371,0.005465907018973736,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.5946264607340814,0.9840488115241438,-4.2101760109671496,0.5130316480498606,3.1657648740910616,0.6127950930780438,0.9945833496011472,-4.735512911106347,5.204759360568297,5.204759360568297,5.36249999999864,0,0,-0.0001908989264505814,1.6264233678484432e-05
+13720,1792824489936060424,3169275000000,1792824489935983796,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6763281151883148,-0.004879022042616855,0.09585380490035715,0.9999998830718345,-0.00015438570411021265,0.00040868325969198544,0.0001855861771642611,0.6761,-0.0045,0.09525142812613861,1.0,0.0,0.0,0.0,-0.5262627917390004,0.2949754473326083,4.825115478444997,0.019713785744537984,0.04045243607921856,0.0021166223011296437,0.6191636618172407,1.1815516357584912,5.000914071396558,0.09684450671041626,-0.03441298871857608,0.005470185523414825,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.631472853008681,1.0255042792544904,-4.262532144173455,0.5191634060711671,3.209664123600724,0.6340474612728471,0.9945833496011472,-4.825115478444997,5.257115493774602,5.257115493774602,5.457599999998418,0,0,-0.00020143527195845413,-9.997557923047679e-05
+13791,1792824490526998419,3169866000000,1792824490519993331,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6763312769590507,-0.004879242814323715,0.09573950387588365,0.9999998782269051,-0.00017494129257271678,0.0004178318855342058,0.00017262994785339253,0.6761,-0.0045,0.0951300454315616,1.0,0.0,0.0,0.0,-0.5257258228901514,0.2969078696270895,4.896224594269988,0.01972476580178051,0.03942150734132881,0.0024453968227611694,0.6197006306660897,1.1834840580529724,5.072023187221549,0.09685548676765879,-0.03544391745646583,0.005798960045046351,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.613750114126108,0.9815320434541184,-4.392376236234483,0.5273602366950082,3.290264751651506,0.623667508035256,0.9945833496011472,-4.896224594269988,5.386959585835631,5.386959585835631,5.546249999998212,0,0,-0.00020882624854748488,6.097999469124034e-05
+13866,1792824491151964688,3170491000000,1792824491151984366,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6763365286984753,-0.0048850272403924005,0.09561678981559316,0.9999998820562586,-9.097272467941867e-05,0.0004254523886939327,0.00019505015133367047,0.6761,-0.0045,0.09499689449955241,1.0,0.0,0.0,0.0,-0.525599060425963,0.27578130228201503,4.966155598012767,0.01866339176963759,0.040357957124414985,0.0024058503390052438,0.619827393130278,1.162357490707898,5.141954190964328,0.09579411273551587,-0.03450746767337965,0.005759413561290425,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.6044524096954107,1.026776413676872,-4.474337216692224,0.5106614918810435,3.346033309545144,0.6475935330327978,0.9945833496011472,-4.966155598012767,5.468920566293372,5.468920566293372,5.639999999997993,0,0,-0.0002193365030059028,7.68111366441559e-05
+13937,1792824491743871170,3171083000000,1792824491739984564,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6763448120041363,-0.004883569326658617,0.0954949335607486,0.9999998740430126,-0.0001116977992531689,0.0004386503011248788,0.0001961283717864815,0.6761,-0.0045,0.09486341177648722,1.0,0.0,0.0,0.0,-0.533793335176617,0.27601142588517114,5.0237249730553675,0.017631353748512324,0.040446118016494205,0.0022702303082550034,0.6116331183796241,1.162587614311054,5.1995235660069286,0.0947620747143906,-0.03441930678130043,0.005623793530540185,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.7003756443441556,0.9756290886914428,-4.573183557500714,0.5452980160709188,3.4374426766406043,0.613362234216117,0.9945833496011472,-5.0237249730553675,5.567766907101862,5.567766907101862,5.728799999997786,0,0,-0.00023437301964882173,9.687500387845489e-05
+14007,1792824492326764603,3171666000000,1792824492319984099,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6763453985651777,-0.004879968383932016,0.09535723898686904,0.9999998714355437,-0.00016563262065232172,0.0004393645614305532,0.00016761974087179432,0.6761,-0.0045,0.09472280960666016,1.0,0.0,0.0,0.0,-0.49768599788881773,0.29136446651406844,5.100766976052874,0.018692650859296805,0.03838486098211404,0.0022723043715838363,0.6477404556674233,1.1779406549399514,5.276565569004435,0.09582337182517509,-0.03648056381568059,0.005625867593869018,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.636808400256145,1.059020032389526,-4.540651197021469,0.5120179536807207,3.4106256726717508,0.6740522744088784,0.9945833496011472,-5.100766976052874,5.5352345466226165,5.5352345466226165,5.8162499999975825,0,0,-0.00024972111357521163,-9.999999025923074e-05
+14076,1792824492901685413,3172241000000,1792824492899983708,DOWN_FORCE_DETACH,5,0.068,0.06800177693367004,0.6763540710527312,-0.004878155459047927,0.09521508587671089,0.9999998620548474,-0.00016433199830389288,0.00045369887013475976,0.00018570266571116094,0.6761,-0.0045,0.09457425044931746,1.0,0.0,0.0,0.0,-0.4980678181135476,0.2870468177216936,5.1549607368718755,0.01865392719988064,0.03938475581690517,0.0022441456408256615,0.6473586354426935,1.1736230061475765,5.330759329823437,0.09578464816575892,-0.03548066898088947,0.005597708863110843,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.8040848177627313,1.0307267297671026,-4.671886359568362,0.523249031449282,3.546526585411176,0.6521914820622179,0.9945833496011472,-5.1549607368718755,5.66646970916951,5.66646970916951,5.9024999999973815,0,0,-0.0002688782199209135,-9.999999025923074e-05
+14135,1792824493393574128,3172733000000,1792824493387993845,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6763551989736685,-0.004881742714410692,0.09507603064344104,0.9999998569589289,-0.00016532980384009188,0.0004571443424969427,0.00020300268986813615,0.6761,-0.0045,0.09443807774233327,1.0,0.0,0.0,0.0,-0.48504303806677374,0.2932686950581853,5.206837270412074,0.017876588826876774,0.03837397273757345,0.002178530918212188,0.6603834154894673,1.1798448834840682,5.382635863363635,0.09500730979275505,-0.03649145206022118,0.005532094140497369,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.714713416017903,1.0292527418003967,-4.589742132343402,0.5331039756944798,3.4727949999403585,0.6605262080775003,0.9945833496011472,-5.206837270412074,5.58432548194455,5.58432548194455,5.9762999999972095,0,0,-0.0002862482184576561,-9.999999025923074e-05
+14192,1792824493868434495,3173208000000,1792824493863993779,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.6763566654326728,-0.004880292284949886,0.09493942183862032,0.9999998566086383,-0.00016409547702024715,0.00045108712352563945,0.00021867475494824658,0.6761,-0.0045,0.09429718172779958,1.0,0.0,0.0,0.0,-0.4700604102706518,0.2979742832043839,5.256652531654736,0.018688981932858048,0.03741674030687966,0.0021352469011901363,0.6753660432855892,1.1845504716302668,5.432451124606297,0.09581970289873633,-0.03744868449091498,0.005488810123475318,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.816153277618299,0.970639550281141,-4.737692524211101,0.5582757936200748,3.6092095789605296,0.6229064280683483,0.9945833496011472,-5.256652531654736,5.732275873812249,5.732275873812249,6.0475499999970435,0,0,-0.00030806161901572447,-9.999999025923074e-05
+14243,1792824494293437595,3173633000000,1792824494291983707,DOWN_FORCE_DETACH,5,0.068,0.06800243258476257,0.676373483360669,-0.004876099986759594,0.09481181681214035,0.9999998534606608,-0.0001281867889434851,0.0004901727260382578,0.0001667943857915083,0.6761,-0.0045,0.09416175189279694,1.0,0.0,0.0,0.0,-0.44307503380259416,0.3332194619077209,5.2881356739782985,0.02008628646599951,0.037170221527264555,0.0021225328401856367,0.7023514197536469,1.2197956503336038,5.46393426692986,0.09721700743187779,-0.03769520327053008,0.005476096062470818,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.8070782142854758,1.0504231624558702,-4.62338395792497,0.49845306047355886,3.5518592920841074,0.6664558134389327,0.9945833496011472,-5.2881356739782985,5.617967307526118,5.617967307526118,6.111299999996895,0,0,-0.00032930770679370634,-9.999999025923074e-05
+14299,1792824494757368868,3174097000000,1792824494755993636,DOWN_SETTLE,5,0.068,0.06800177693367004,0.6763746790245956,-0.004883002796509912,0.09466341239979933,0.999999851633909,-0.00013394692142278976,0.00048377585103877134,0.00019024766111136842,0.6761,-0.0045,0.09401398913032817,1.0,0.0,0.0,0.0,-0.45118748718004953,0.30739329794020076,5.337251526690783,0.017675669321430484,0.03733440512833757,0.0020598799085961178,0.6942389663761915,1.1939694863660837,5.513050119642344,0.09480639028730876,-0.037531019669457065,0.005413443130881299,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.8141082708250034,1.0368296338039205,-4.774105396985201,0.5452732594615453,3.645191621169263,0.6797326209676722,0.9945833496011472,-5.337251526690783,5.768688746586348,0.0,0.0,0,0,-0.0001475862714759026,0.001490770418948511
+14390,1792824495510230358,3174850000000,1792824495507983450,DOWN_PEAK_HOLD,5,0.068,0.06800243258476257,0.6763643203699095,-0.0048853834817364225,0.0946148013242921,0.9999998601986139,-0.0001397527911298476,0.00046483562210113463,0.0001882621014221807,0.6761,-0.0045,0.09400028771032073,1.0,0.0,0.0,0.0,-0.407923900850816,0.279203023968811,5.152372134600442,0.01575505483047604,0.03538632327520542,0.002163480745121731,0.7375025527054251,1.165779212394694,5.328170727552003,0.09288577579635432,-0.03947910152258922,0.0055170439674069125,1.145426453556241,0.8865761884258829,0.17579859295156133,0.07713072096587828,-0.07486542479779464,0.0033535632222851815,1,2.6850808061617935,0.9918929898134484,-4.43865735246534,0.5510905984807165,3.424056977772714,0.6479951664396547,0.9945833496011472,-5.152372134600442,5.433240702066487,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_05/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792824453352827485,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.462748145e-09,-2.275294588e-10,-8.393854500e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027450314e-01,-1.183223030e-04,8.303261594e-01
+1,7.833333333e-01,DOWN_FORCE_DETACH,1792824454287347055,-2.773744396e-07,1.046721207e-06,-3.217287889e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.494908006e-08,-8.718198295e-09,-3.152133532e-08,7.019553205e-01,-2.093833337e-05,8.601401686e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027450849e-01,-1.183307936e-04,8.303261287e-01
+2,1.600000000e+00,DOWN_FORCE_DETACH,1792824455105415146,-6.256537865e-06,-4.109710918e-06,-4.040600107e-05,-9.044571115e-06,-4.056958739e-06,-4.505965067e-05,-1.021122117e-05,-4.103226793e-06,-4.488071035e-05,7.019493413e-01,-2.609476550e-05,8.601029799e-01,7.019465533e-01,-2.604201332e-05,8.600983263e-01,7.027348187e-01,-1.224253022e-04,8.302812795e-01
+3,2.283333333e+00,DOWN_FORCE_DETACH,1792824455776621831,1.848255762e-05,-1.050321928e-05,-9.932987505e-05,2.359301249e-05,-1.420612033e-05,-8.981433984e-05,2.431228335e-05,-1.432651176e-05,-8.953741434e-05,7.019740804e-01,-3.248827386e-05,8.600440560e-01,7.019791909e-01,-3.619117491e-05,8.600535716e-01,7.027693422e-01,-1.326485872e-04,8.302366228e-01
+4,3.000000000e+00,DOWN_FORCE_DETACH,1792824456480908360,5.663618956e-06,-1.709966844e-05,-1.645343836e-04,8.672205288e-06,-1.479452068e-05,-1.518642784e-04,7.525764931e-06,-1.492644608e-05,-1.514744259e-04,7.019612615e-01,-3.908472302e-05,8.599788515e-01,7.019642701e-01,-3.677957526e-05,8.599915216e-01,7.027525557e-01,-1.332485215e-04,8.301746858e-01
+5,3.650000000e+00,DOWN_FORCE_DETACH,1792824457119515658,1.518933166e-05,-2.229329577e-05,-2.401407841e-04,1.198305192e-05,-2.639564265e-05,-2.340692257e-04,1.007872043e-05,-2.662125967e-05,-2.335193031e-04,7.019707872e-01,-4.427835035e-05,8.599032451e-01,7.019675809e-01,-4.838069723e-05,8.599093167e-01,7.027551087e-01,-1.449433351e-04,8.300926409e-01
+6,4.350000000e+00,DOWN_FORCE_DETACH,1792824457807906493,1.486301217e-05,-2.436387782e-05,-3.530309778e-04,1.451798892e-05,-2.715139197e-05,-3.470696373e-04,1.141668264e-05,-2.736468286e-05,-3.463667909e-04,7.019704609e-01,-4.634893240e-05,8.597903549e-01,7.019701159e-01,-4.913644655e-05,8.597963163e-01,7.027564466e-01,-1.456867583e-04,8.299797934e-01
+7,4.866666667e+00,DOWN_FORCE_DETACH,1792824458315136290,3.888122145e-05,-2.258309081e-05,-4.359886082e-04,2.541178209e-05,-2.821786131e-05,-4.309494381e-04,2.214267790e-05,-2.840496410e-05,-4.301393090e-04,7.019944791e-01,-4.456814539e-05,8.597073973e-01,7.019810096e-01,-5.020291589e-05,8.597124365e-01,7.027671726e-01,-1.467270395e-04,8.298960209e-01
+8,5.250000000e+00,DOWN_FORCE_DETACH,1792824458708786848,9.343863950e-05,-1.896089155e-05,-4.556002209e-04,8.916583146e-05,-1.904413222e-05,-4.368081103e-04,9.068340384e-05,-1.920507516e-05,-4.360966325e-04,7.020490365e-01,-4.094594613e-05,8.596877857e-01,7.020447637e-01,-4.102918680e-05,8.597065778e-01,7.028357134e-01,-1.375271506e-04,8.298900636e-01
+9,5.916666667e+00,DOWN_FORCE_DETACH,1792824459396081687,1.012687646e-04,-2.688762771e-05,-5.792782458e-04,9.976112373e-05,-2.789797510e-05,-5.789895293e-04,1.003950569e-04,-2.811131129e-05,-5.780131909e-04,7.020568666e-01,-4.887268229e-05,8.595641077e-01,7.020553590e-01,-4.988302968e-05,8.595643964e-01,7.028454250e-01,-1.464333867e-04,8.297481470e-01
+10,6.600000000e+00,DOWN_FORCE_DETACH,1792824460167708095,1.173530117e-04,-3.151162423e-05,-6.929837219e-04,1.138326963e-04,-3.383782339e-05,-6.862385798e-04,1.142873727e-04,-3.409815626e-05,-6.852252527e-04,7.020729509e-01,-5.349667881e-05,8.594504022e-01,7.020694306e-01,-5.582287797e-05,8.594571473e-01,7.028593173e-01,-1.524202317e-04,8.296409350e-01
+11,7.366666667e+00,DOWN_FORCE_DETACH,1792824460919024534,1.276139544e-04,-3.424281913e-05,-7.818696083e-04,1.252235177e-04,-3.344575174e-05,-7.682638722e-04,1.256167895e-04,-3.372383540e-05,-7.673762281e-04,7.020832118e-01,-5.622787370e-05,8.593615163e-01,7.020808214e-01,-5.543080632e-05,8.593751220e-01,7.028706468e-01,-1.520459108e-04,8.295587840e-01
+12,8.166666667e+00,DOWN_FORCE_DETACH,1792824461771061887,1.355581251e-04,-3.823125669e-05,-8.612668117e-04,1.305567382e-04,-3.409329416e-05,-8.548094107e-04,1.303378894e-04,-3.434748219e-05,-8.540095571e-04,7.020911560e-01,-6.021631127e-05,8.592821191e-01,7.020861546e-01,-5.607834873e-05,8.592885765e-01,7.028753679e-01,-1.526695576e-04,8.294721506e-01
+13,9.000000000e+00,DOWN_FORCE_DETACH,1792824462607383370,1.436870061e-04,-3.398766723e-05,-9.081674024e-04,1.387158881e-04,-3.705408810e-05,-8.943132071e-04,1.386655108e-04,-3.733382849e-05,-8.937326152e-04,7.020992849e-01,-5.597272181e-05,8.592352185e-01,7.020943138e-01,-5.903914268e-05,8.592490727e-01,7.028836955e-01,-1.556559039e-04,8.294324276e-01
+14,9.833333333e+00,DOWN_FORCE_DETACH,1792824463458104225,1.452987864e-04,-3.981298179e-05,-9.348849224e-04,1.438402053e-04,-3.856781514e-05,-9.377760311e-04,1.437424437e-04,-3.889727332e-05,-9.372875099e-04,7.021008967e-01,-6.179803637e-05,8.592085010e-01,7.020994381e-01,-6.055286972e-05,8.592056099e-01,7.028887724e-01,-1.572193487e-04,8.293888727e-01
+15,1.071666667e+01,DOWN_FORCE_DETACH,1792824464358642261,1.538755224e-04,-3.502726929e-05,-9.621366411e-04,1.487375019e-04,-3.521760777e-05,-9.573731647e-04,1.487652790e-04,-3.552030486e-05,-9.570388669e-04,7.021094734e-01,-5.701232387e-05,8.591812493e-01,7.021043354e-01,-5.720266235e-05,8.591860128e-01,7.028937952e-01,-1.538423803e-04,8.293691213e-01
+16,1.148333333e+01,DOWN_FORCE_DETACH,1792824465226279043,1.611203701e-04,-4.090080014e-05,-1.007258216e-03,1.587114293e-04,-3.884612793e-05,-9.995473868e-04,1.590551232e-04,-3.918174275e-05,-9.991698822e-04,7.021167182e-01,-6.288585472e-05,8.591361277e-01,7.021143093e-01,-6.083118251e-05,8.591438385e-01,7.029040851e-01,-1.575038182e-04,8.293269903e-01
+17,1.221666667e+01,DOWN_FORCE_DETACH,1792824465963271370,1.716922716e-04,-4.565995142e-05,-1.075471765e-03,1.685320088e-04,-4.194598479e-05,-1.064279901e-03,1.688553031e-04,-4.231978932e-05,-1.063844784e-03,7.021272901e-01,-6.764500600e-05,8.590679142e-01,7.021241299e-01,-6.393103937e-05,8.590791060e-01,7.029138853e-01,-1.606418647e-04,8.292623154e-01
+18,1.288333333e+01,DOWN_FORCE_DETACH,1792824466683974660,1.786160482e-04,-4.854270863e-05,-1.153556134e-03,1.759813031e-04,-4.788528933e-05,-1.147050509e-03,1.758415083e-04,-4.829441848e-05,-1.146440696e-03,7.021342139e-01,-7.052776321e-05,8.589898298e-01,7.021315792e-01,-6.987034391e-05,8.589963354e-01,7.029208715e-01,-1.666164939e-04,8.291797195e-01
+19,1.370000000e+01,DOWN_FORCE_DETACH,1792824467502589092,1.853471456e-04,-4.638221204e-05,-1.239474571e-03,1.813555070e-04,-4.770892168e-05,-1.234252149e-03,1.806033798e-04,-4.808664199e-05,-1.233620060e-03,7.021409450e-01,-6.836726662e-05,8.589039113e-01,7.021369534e-01,-6.969397626e-05,8.589091338e-01,7.029256333e-01,-1.664087174e-04,8.290925401e-01
+20,1.433333333e+01,DOWN_FORCE_DETACH,1792824468141490054,1.922831808e-04,-4.678072672e-05,-1.296348062e-03,1.921912555e-04,-4.643498079e-05,-1.296470291e-03,1.914644593e-04,-4.682312208e-05,-1.295809407e-03,7.021478810e-01,-6.876578130e-05,8.588470379e-01,7.021477891e-01,-6.842003537e-05,8.588469156e-01,7.029364944e-01,-1.651451975e-04,8.290303508e-01
+21,1.520000000e+01,DOWN_FORCE_DETACH,1792824469174569521,2.073212989e-04,-5.104422361e-05,-1.383306723e-03,2.049485775e-04,-5.038071681e-05,-1.376696450e-03,2.042216606e-04,-5.078429833e-05,-1.376022746e-03,7.021629192e-01,-7.302927819e-05,8.587600792e-01,7.021605464e-01,-7.236577139e-05,8.587666895e-01,7.029492516e-01,-1.691063738e-04,8.289501375e-01
+22,1.603333333e+01,DOWN_FORCE_DETACH,1792824469992028912,2.162219748e-04,-4.745979130e-05,-1.453701280e-03,2.136756591e-04,-4.993143797e-05,-1.437616481e-03,2.129704551e-04,-5.033598363e-05,-1.437060773e-03,7.021718198e-01,-6.944484588e-05,8.586896846e-01,7.021692735e-01,-7.191649255e-05,8.587057694e-01,7.029580004e-01,-1.686580591e-04,8.288890994e-01
+23,1.683333333e+01,DOWN_FORCE_DETACH,1792824470798314847,2.260157139e-04,-5.240059358e-05,-1.524929426e-03,2.243125198e-04,-5.404436647e-05,-1.521258317e-03,2.233954546e-04,-5.451759376e-05,-1.520663321e-03,7.021816136e-01,-7.438564816e-05,8.586184565e-01,7.021799104e-01,-7.602942105e-05,8.586221276e-01,7.029684254e-01,-1.728396692e-04,8.288054969e-01
+24,1.763333333e+01,DOWN_FORCE_DETACH,1792824471629839859,2.379042721e-04,-6.083302103e-05,-1.600374742e-03,2.337361719e-04,-5.645664981e-05,-1.583127734e-03,2.327868682e-04,-5.693086312e-05,-1.582594939e-03,7.021935021e-01,-8.281807561e-05,8.585430112e-01,7.021893340e-01,-7.844170439e-05,8.585602582e-01,7.029778168e-01,-1.752529385e-04,8.287435653e-01
+25,1.835000000e+01,DOWN_FORCE_DETACH,1792824472334398119,2.499624419e-04,-5.862575845e-05,-1.668250059e-03,2.466227719e-04,-5.665521167e-05,-1.666216291e-03,2.457087016e-04,-5.710691928e-05,-1.665612934e-03,7.022055603e-01,-8.061081303e-05,8.584751359e-01,7.022022206e-01,-7.864026625e-05,8.584771696e-01,7.029907387e-01,-1.754289947e-04,8.286605473e-01
+26,1.910000000e+01,DOWN_FORCE_DETACH,1792824473121963589,2.547820636e-04,-6.184065998e-05,-1.753430384e-03,2.538157889e-04,-6.392205212e-05,-1.752031832e-03,2.524343747e-04,-6.442856604e-05,-1.751383774e-03,7.022103799e-01,-8.382571456e-05,8.583899555e-01,7.022094137e-01,-8.590710670e-05,8.583913541e-01,7.029974643e-01,-1.827506415e-04,8.285747764e-01
+27,1.990000000e+01,DOWN_FORCE_DETACH,1792824473969313514,2.651968621e-04,-6.397830428e-05,-1.836932400e-03,2.649210499e-04,-6.375792286e-05,-1.836803325e-03,2.633722686e-04,-6.424843294e-05,-1.836102648e-03,7.022207947e-01,-8.596335886e-05,8.583064535e-01,7.022205189e-01,-8.574297744e-05,8.583065826e-01,7.030084022e-01,-1.825705084e-04,8.284900576e-01
+28,2.071666667e+01,DOWN_FORCE_DETACH,1792824474840766779,2.781343882e-04,-6.573935999e-05,-1.916660158e-03,2.735102361e-04,-6.634016531e-05,-1.902496881e-03,2.718581473e-04,-6.688574482e-05,-1.901954128e-03,7.022337323e-01,-8.772441457e-05,8.582267258e-01,7.022291081e-01,-8.832521989e-05,8.582408890e-01,7.030168881e-01,-1.852078202e-04,8.284242061e-01
+29,2.150000000e+01,DOWN_FORCE_DETACH,1792824475625974646,2.877754667e-04,-6.556221187e-05,-1.995196215e-03,2.868062513e-04,-6.509302744e-05,-1.985224893e-03,2.851917542e-04,-6.560882873e-05,-1.984627674e-03,7.022433733e-01,-8.754726645e-05,8.581481897e-01,7.022424041e-01,-8.707808202e-05,8.581581610e-01,7.030302217e-01,-1.839309042e-04,8.283415325e-01
+30,2.220000000e+01,DOWN_FORCE_DETACH,1792824476314299991,2.945029013e-04,-6.932123773e-05,-2.070683204e-03,2.933162134e-04,-7.000699480e-05,-2.053202049e-03,2.913765742e-04,-7.056249936e-05,-2.052555326e-03,7.022501008e-01,-9.130629231e-05,8.580727027e-01,7.022489141e-01,-9.199204938e-05,8.580901839e-01,7.030364065e-01,-1.888845748e-04,8.282736049e-01
+31,2.290000000e+01,DOWN_FORCE_DETACH,1792824477001623861,3.033577704e-04,-6.998392507e-05,-2.140481011e-03,3.005086714e-04,-7.078225064e-05,-2.135675128e-03,2.981594885e-04,-7.131215554e-05,-2.135086815e-03,7.022589556e-01,-9.196897965e-05,8.580029049e-01,7.022561065e-01,-9.276730522e-05,8.580077108e-01,7.030431895e-01,-1.896342310e-04,8.281910734e-01
+32,2.361666667e+01,DOWN_FORCE_DETACH,1792824477755405212,3.086504082e-04,-7.246319433e-05,-2.229169336e-03,3.104694497e-04,-7.075258559e-05,-2.226242710e-03,3.077853795e-04,-7.130834866e-05,-2.225579127e-03,7.022642483e-01,-9.444824891e-05,8.579142166e-01,7.022660673e-01,-9.273764017e-05,8.579171432e-01,7.030528153e-01,-1.896304241e-04,8.281005811e-01
+33,2.433333333e+01,DOWN_FORCE_DETACH,1792824478475902684,3.222105004e-04,-7.297963920e-05,-2.303180877e-03,3.187181308e-04,-7.376724856e-05,-2.289016728e-03,3.159134303e-04,-7.434182710e-05,-2.288433824e-03,7.022778084e-01,-9.496469378e-05,8.578402050e-01,7.022743160e-01,-9.575230314e-05,8.578543692e-01,7.030609434e-01,-1.926639025e-04,8.280377264e-01
+34,2.506666667e+01,DOWN_FORCE_DETACH,1792824479245552029,3.282854099e-04,-7.180073059e-05,-2.395273817e-03,3.276990315e-04,-7.588310338e-05,-2.391943546e-03,3.244045972e-04,-7.644894570e-05,-2.391241091e-03,7.022838833e-01,-9.378578517e-05,8.577481121e-01,7.022832969e-01,-9.786815796e-05,8.577514424e-01,7.030694346e-01,-1.947710211e-04,8.279349191e-01
+35,2.581666667e+01,DOWN_FORCE_DETACH,1792824479982347240,3.364099640e-04,-7.661555590e-05,-2.479234162e-03,3.353911362e-04,-7.757755553e-05,-2.479364654e-03,3.316403950e-04,-7.814461856e-05,-2.478694354e-03,7.022920078e-01,-9.860061048e-05,8.576641518e-01,7.022909890e-01,-9.956261011e-05,8.576640213e-01,7.030766704e-01,-1.964666940e-04,8.278474658e-01
+36,2.656666667e+01,DOWN_FORCE_DETACH,1792824480719611565,3.488053329e-04,-7.297413887e-05,-2.563737945e-03,3.463095749e-04,-7.765314980e-05,-2.564376306e-03,3.423875764e-04,-7.822457171e-05,-2.563677449e-03,7.023044032e-01,-9.495919345e-05,8.575796480e-01,7.023019074e-01,-9.963820438e-05,8.575790096e-01,7.030874175e-01,-1.965466471e-04,8.277624828e-01
+37,2.726666667e+01,DOWN_FORCE_DETACH,1792824481424134938,3.562179881e-04,-7.402578586e-05,-2.655943933e-03,3.544519016e-04,-7.672259519e-05,-2.656568104e-03,3.500981801e-04,-7.730001478e-05,-2.655880890e-03,7.023118159e-01,-9.601084044e-05,8.574874420e-01,7.023100498e-01,-9.870764977e-05,8.574868178e-01,7.030951281e-01,-1.956220902e-04,8.276702793e-01
+38,2.796666667e+01,DOWN_FORCE_DETACH,1792824482128630571,3.646816038e-04,-6.461961129e-05,-2.750261477e-03,3.659066440e-04,-6.592842664e-05,-2.736623385e-03,3.614280330e-04,-6.639811938e-05,-2.735970689e-03,7.023202795e-01,-8.660466587e-05,8.573931244e-01,7.023215045e-01,-8.791348122e-05,8.574067625e-01,7.031064580e-01,-1.847201948e-04,8.275901895e-01
+39,2.878333333e+01,DOWN_FORCE_DETACH,1792824482980083291,3.757759137e-04,-6.655443787e-05,-2.846524192e-03,3.753154950e-04,-6.473709391e-05,-2.844200583e-03,3.702743195e-04,-6.521423172e-05,-2.843460127e-03,7.023313738e-01,-8.853949245e-05,8.572968617e-01,7.023309134e-01,-8.672214849e-05,8.572991853e-01,7.031153043e-01,-1.835363071e-04,8.274827001e-01
+40,2.950000000e+01,DOWN_FORCE_DETACH,1792824483749278391,3.829171164e-04,-7.155877460e-05,-2.945585090e-03,3.805973253e-04,-7.104866310e-05,-2.944109334e-03,3.748581860e-04,-7.157091632e-05,-2.943393374e-03,7.023385150e-01,-9.354382918e-05,8.571978008e-01,7.023361952e-01,-9.303371768e-05,8.571992766e-01,7.031198882e-01,-1.898929917e-04,8.273827668e-01
+41,3.028333333e+01,DOWN_FORCE_DETACH,1792824484519143731,3.934405421e-04,-7.085834490e-05,-3.044130930e-03,3.895289830e-04,-7.124673657e-05,-3.035638713e-03,3.833602624e-04,-7.176117607e-05,-3.034987333e-03,7.023490384e-01,-9.284339948e-05,8.570992550e-01,7.023451269e-01,-9.323179115e-05,8.571077472e-01,7.031283902e-01,-1.900832515e-04,8.272911729e-01
+42,3.103333333e+01,DOWN_FORCE_DETACH,1792824485255959135,4.001669541e-04,-7.814003806e-05,-3.139637413e-03,3.957002686e-04,-7.594500000e-05,-3.126650782e-03,3.889295187e-04,-7.651850496e-05,-3.126041399e-03,7.023557648e-01,-1.001250926e-04,8.570037485e-01,7.023512981e-01,-9.793005458e-05,8.570167351e-01,7.031339595e-01,-1.948405804e-04,8.272001188e-01
+43,3.165000000e+01,DOWN_FORCE_DETACH,1792824485862695097,4.047739722e-04,-8.226636437e-05,-3.227476186e-03,4.047345439e-04,-8.226141873e-05,-3.227248130e-03,3.974983067e-04,-8.286885659e-05,-3.226523684e-03,7.023603718e-01,-1.042514190e-04,8.569159097e-01,7.023603324e-01,-1.042464733e-04,8.569161378e-01,7.031425283e-01,-2.011909320e-04,8.270996365e-01
+44,3.235000000e+01,DOWN_FORCE_DETACH,1792824486582439754,4.116212175e-04,-7.670816453e-05,-3.327760958e-03,4.080006207e-04,-7.790983685e-05,-3.313806756e-03,3.999680688e-04,-7.843815248e-05,-3.313224859e-03,7.023672191e-01,-9.869321911e-05,8.568156250e-01,7.023635985e-01,-9.989489143e-05,8.568295792e-01,7.031449980e-01,-1.967602279e-04,8.270129353e-01
+45,3.305000000e+01,DOWN_FORCE_DETACH,1792824487287352246,4.225962925e-04,-7.443865731e-05,-3.427415583e-03,4.173598754e-04,-7.535512484e-05,-3.418578967e-03,4.087936821e-04,-7.589801381e-05,-3.417947457e-03,7.023781942e-01,-9.642371189e-05,8.567159703e-01,7.023729577e-01,-9.734017942e-05,8.567248069e-01,7.031538236e-01,-1.942200892e-04,8.269082127e-01
+46,3.371666667e+01,DOWN_FORCE_DETACH,1792824487986200445,4.237318171e-04,-7.464591255e-05,-3.531094232e-03,4.235197029e-04,-7.503065885e-05,-3.523850832e-03,4.141528794e-04,-7.554754780e-05,-3.523148422e-03,7.023793297e-01,-9.663096713e-05,8.566122917e-01,7.023791176e-01,-9.701571343e-05,8.566195351e-01,7.031591828e-01,-1.938696232e-04,8.268030118e-01
+47,3.436666667e+01,DOWN_FORCE_DETACH,1792824488663780080,4.390169049e-04,-7.764865972e-05,-3.632915747e-03,4.332299246e-04,-8.267440640e-05,-3.630709083e-03,4.233598133e-04,-8.324958966e-05,-3.630004144e-03,7.023946148e-01,-9.963371430e-05,8.565104702e-01,7.023888278e-01,-1.046594610e-04,8.565126768e-01,7.031683898e-01,-2.015716651e-04,8.266961561e-01
+48,3.500000000e+01,DOWN_FORCE_DETACH,1792824489301114901,4.454218330e-04,-7.669760007e-05,-3.738195227e-03,4.450903105e-04,-7.673717086e-05,-3.738146392e-03,4.348802849e-04,-7.727075524e-05,-3.737364740e-03,7.024010197e-01,-9.868265465e-05,8.564051907e-01,7.024006882e-01,-9.872222544e-05,8.564052395e-01,7.031799103e-01,-1.955928307e-04,8.265887955e-01
+49,3.563333333e+01,DOWN_FORCE_DETACH,1792824489939947793,4.498274197e-04,-8.373967155e-05,-3.852838060e-03,4.500008267e-04,-8.207035794e-05,-3.845039696e-03,4.388953307e-04,-8.261728251e-05,-3.844275632e-03,7.024054253e-01,-1.057247261e-04,8.562905479e-01,7.024055987e-01,-1.040554125e-04,8.562983462e-01,7.031839253e-01,-2.009393579e-04,8.264818846e-01
+50,3.621666667e+01,DOWN_FORCE_DETACH,1792824490529434854,4.544020267e-04,-8.319571158e-05,-3.965222115e-03,4.527328680e-04,-8.202890903e-05,-3.955168036e-03,4.405680710e-04,-8.257107356e-05,-3.954434497e-03,7.024099999e-01,-1.051807662e-04,8.561781638e-01,7.024083307e-01,-1.040139636e-04,8.561882179e-01,7.031855980e-01,-2.008931490e-04,8.263717257e-01
+51,3.685000000e+01,DOWN_FORCE_DETACH,1792824491151850201,4.554945673e-04,-9.067955353e-05,-4.089949103e-03,4.568711882e-04,-8.547023425e-05,-4.081637785e-03,4.435342232e-04,-8.606096051e-05,-4.080882765e-03,7.024110924e-01,-1.126646081e-04,8.560534368e-01,7.024124691e-01,-1.074552888e-04,8.560617481e-01,7.031885642e-01,-2.043830359e-04,8.262452774e-01
+52,3.743333333e+01,DOWN_FORCE_DETACH,1792824491741966432,4.673753030e-04,-8.658005397e-05,-4.210487293e-03,4.668968184e-04,-8.678449800e-05,-4.210509726e-03,4.528150986e-04,-8.738875244e-05,-4.209669135e-03,7.024229732e-01,-1.085651085e-04,8.559328986e-01,7.024224947e-01,-1.087695526e-04,8.559328762e-01,7.031978451e-01,-2.057108279e-04,8.261164911e-01
+53,3.801666667e+01,DOWN_FORCE_DETACH,1792824492330960758,4.679503872e-04,-8.277102996e-05,-4.349068549e-03,4.654931431e-04,-8.180115307e-05,-4.340418581e-03,4.497670829e-04,-8.235418713e-05,-4.339589539e-03,7.024235483e-01,-1.047560845e-04,8.557943174e-01,7.024210910e-01,-1.037862077e-04,8.558029673e-01,7.031947970e-01,-2.006762626e-04,8.259865707e-01
+54,3.858333333e+01,DOWN_FORCE_DETACH,1792824492904695430,4.766957291e-04,-8.582143574e-05,-4.491564169e-03,4.742799315e-04,-8.728580497e-05,-4.482247288e-03,4.575179781e-04,-8.785543871e-05,-4.481308349e-03,7.024322936e-01,-1.078064903e-04,8.556518217e-01,7.024298778e-01,-1.092708596e-04,8.556611386e-01,7.032025479e-01,-2.061775141e-04,8.258448519e-01
+55,3.908333333e+01,DOWN_FORCE_DETACH,1792824493395449146,4.774386386e-04,-8.855709729e-05,-4.629402895e-03,4.783714049e-04,-8.353815560e-05,-4.618142997e-03,4.603593042e-04,-8.404581857e-05,-4.617147862e-03,7.024330365e-01,-1.105421519e-04,8.555139830e-01,7.024339693e-01,-1.055232102e-04,8.555252429e-01,7.032053893e-01,-2.023678940e-04,8.257090123e-01
+56,3.956666667e+01,DOWN_FORCE_DETACH,1792824493870666740,4.806262912e-04,-8.011048838e-05,-4.764394035e-03,4.833728083e-04,-8.678625464e-05,-4.748661243e-03,4.642368853e-04,-8.732401057e-05,-4.747646917e-03,7.024362242e-01,-1.020955430e-04,8.553789919e-01,7.024389707e-01,-1.087713092e-04,8.553947247e-01,7.032092669e-01,-2.056460860e-04,8.255785133e-01
+57,4.000000000e+01,DOWN_FORCE_DETACH,1792824494296094423,4.949836819e-04,-7.336240604e-05,-4.895915224e-03,4.949630122e-04,-7.330194985e-05,-4.895362127e-03,4.749792131e-04,-7.372472408e-05,-4.894214729e-03,7.024505815e-01,-9.534746062e-05,8.552474707e-01,7.024505609e-01,-9.528700443e-05,8.552480238e-01,7.032200092e-01,-1.920467995e-04,8.254319455e-01
+58,4.046666667e+01,DOWN_SETTLE,1792824494755055993,4.965471347e-04,-8.427913992e-05,-5.042075423e-03,4.967808804e-04,-8.609639197e-05,-5.028168512e-03,4.753715042e-04,-8.659325892e-05,-5.027077269e-03,7.024521450e-01,-1.062641945e-04,8.551013105e-01,7.024523787e-01,-1.080814465e-04,8.551152174e-01,7.032204015e-01,-2.049153343e-04,8.252990829e-01
+59,4.123333333e+01,DOWN_PEAK_HOLD,1792824495507889504,4.865315344e-04,-8.686435986e-05,-5.089769484e-03,4.921382797e-04,-8.386950956e-05,-5.072236379e-03,4.698854582e-04,-8.435909366e-05,-5.071793820e-03,7.024421294e-01,-1.088494144e-04,8.550536164e-01,7.024477361e-01,-1.058545641e-04,8.550711495e-01,7.032149154e-01,-2.026811691e-04,8.252543664e-01

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_05/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.5019e-02,6.8028e-02,2.4665e+00,-4.1574e-02,3.9280e-02,8.1281e-05,2.5699e-04,-4.0695e-05,-1.5497e-04,1.9036e-06,1.8645e-05,-2.0838e-08,3.0284e-04,1.8742e-05
+1,7.8333e-01,DOWN_FORCE_DETACH,1.8545e-04,4.4420e-02,6.6479e-02,2.4609e+00,-4.1503e-02,3.9964e-02,7.9753e-05,9.6584e-03,-1.5895e-03,-5.7683e-03,7.2975e-05,7.0262e-04,-1.5486e-06,1.1362e-02,7.0640e-04
+2,1.6000e+00,DOWN_FORCE_DETACH,3.7244e-04,5.9147e-02,7.2449e-02,2.4937e+00,-4.1930e-02,4.0985e-02,7.8360e-05,2.4386e-02,4.3808e-03,2.7043e-02,-3.5374e-04,1.7236e-03,-2.9419e-06,3.6677e-02,1.7596e-03
+3,2.2833e+00,DOWN_FORCE_DETACH,5.5567e-04,3.1147e-02,8.7773e-02,2.5093e+00,-4.2985e-02,3.8964e-02,8.0409e-05,-3.6143e-03,1.9705e-02,4.2629e-02,-1.4084e-03,-2.9708e-04,-8.9221e-07,4.7102e-02,1.4394e-03
+4,3.0000e+00,DOWN_FORCE_DETACH,7.4542e-04,5.4135e-02,8.8917e-02,2.5318e+00,-4.3062e-02,4.0576e-02,8.0349e-05,1.9373e-02,2.0849e-02,6.5140e-02,-1.4857e-03,1.3149e-03,-9.5257e-07,7.1086e-02,1.9839e-03
+5,3.6500e+00,DOWN_FORCE_DETACH,9.3264e-04,5.3988e-02,1.0832e-01,2.5626e+00,-4.4366e-02,4.0526e-02,8.3164e-05,1.9226e-02,4.0252e-02,9.5963e-02,-2.7901e-03,1.2653e-03,1.8623e-06,1.0582e-01,3.0636e-03
+6,4.3500e+00,DOWN_FORCE_DETACH,1.1204e-03,5.6365e-02,1.1145e-01,2.6016e+00,-4.4541e-02,4.0645e-02,8.4558e-05,2.1604e-02,4.3383e-02,1.3489e-01,-2.9651e-03,1.3840e-03,3.2564e-06,1.4333e-01,3.2722e-03
+7,4.8667e+00,DOWN_FORCE_DETACH,1.2772e-03,4.9671e-02,1.1464e-01,2.6200e+00,-4.4725e-02,4.0145e-02,8.6203e-05,1.4910e-02,4.6571e-02,1.5336e-01,-3.1487e-03,8.8346e-04,4.9009e-06,1.6097e-01,3.2703e-03
+8,5.2500e+00,DOWN_FORCE_DETACH,1.4898e-03,6.9181e-03,9.8087e-02,2.5862e+00,-4.3603e-02,3.7110e-02,9.2341e-05,-2.7844e-02,3.0019e-02,1.1957e-01,-2.0266e-03,-2.1509e-03,1.1039e-05,1.2639e-01,2.9552e-03
+9,5.9167e+00,DOWN_FORCE_DETACH,1.6762e-03,2.1350e-02,1.1316e-01,2.6364e+00,-4.4595e-02,3.8089e-02,1.0221e-04,-1.3412e-02,4.5096e-02,1.6976e-01,-3.0186e-03,-1.1718e-03,2.0911e-05,1.7616e-01,3.2381e-03
+10,6.6000e+00,DOWN_FORCE_DETACH,1.8624e-03,2.7021e-02,1.2313e-01,2.6418e+00,-4.5235e-02,3.8476e-02,1.0857e-04,-7.7410e-03,5.5059e-02,1.7511e-01,-3.6587e-03,-7.8558e-04,2.7273e-05,1.8372e-01,3.7422e-03
+11,7.3667e+00,DOWN_FORCE_DETACH,2.0466e-03,3.4949e-02,1.2378e-01,2.6177e+00,-4.5246e-02,3.9060e-02,1.1107e-04,1.8688e-04,5.5715e-02,1.5107e-01,-3.6703e-03,-2.0108e-04,2.9768e-05,1.6101e-01,3.6759e-03
+12,8.1667e+00,DOWN_FORCE_DETACH,2.2338e-03,4.4298e-02,1.2583e-01,2.6049e+00,-4.5359e-02,3.9739e-02,1.0580e-04,9.5361e-03,5.7760e-02,1.3822e-01,-3.7827e-03,4.7776e-04,2.4495e-05,1.5010e-01,3.8128e-03
+13,9.0000e+00,DOWN_FORCE_DETACH,2.4207e-03,4.7480e-02,1.2989e-01,2.5655e+00,-4.5642e-02,4.0012e-02,9.5634e-05,1.2719e-02,6.1817e-02,9.8789e-02,-4.0656e-03,7.5046e-04,1.4333e-05,1.1723e-01,4.1343e-03
+14,9.8333e+00,DOWN_FORCE_DETACH,2.6065e-03,5.0821e-02,1.3084e-01,2.5489e+00,-4.5742e-02,4.0280e-02,7.9899e-05,1.6059e-02,6.2770e-02,8.2223e-02,-4.1659e-03,1.0189e-03,-1.4023e-06,1.0468e-01,4.2887e-03
+15,1.0717e+01,DOWN_FORCE_DETACH,2.7930e-03,5.3571e-02,1.2357e-01,2.5211e+00,-4.5297e-02,4.0499e-02,6.0778e-05,1.8809e-02,5.5498e-02,5.4466e-02,-3.7207e-03,1.2382e-03,-2.0524e-05,8.0002e-02,3.9214e-03
+16,1.1483e+01,DOWN_FORCE_DETACH,2.9789e-03,5.1566e-02,1.2839e-01,2.5248e+00,-4.5647e-02,4.0350e-02,4.8088e-05,1.6804e-02,6.0322e-02,5.8162e-02,-4.0704e-03,1.0889e-03,-3.3214e-05,8.5463e-02,4.2137e-03
+17,1.2217e+01,DOWN_FORCE_DETACH,3.1656e-03,5.1137e-02,1.3306e-01,2.5406e+00,-4.5964e-02,4.0293e-02,3.8371e-05,1.6375e-02,6.4993e-02,7.3957e-02,-4.3877e-03,1.0318e-03,-4.2930e-05,9.9809e-02,4.5076e-03
+18,1.2883e+01,DOWN_FORCE_DETACH,3.3490e-03,5.2475e-02,1.4335e-01,2.5647e+00,-4.6637e-02,4.0351e-02,3.1515e-05,1.7714e-02,7.5285e-02,9.8043e-02,-5.0612e-03,1.0896e-03,-4.9786e-05,1.2488e-01,5.1774e-03
+19,1.3700e+01,DOWN_FORCE_DETACH,3.5398e-03,5.5605e-02,1.4420e-01,2.5765e+00,-4.6658e-02,4.0552e-02,2.1794e-05,2.0843e-02,7.6130e-02,1.0984e-01,-5.0818e-03,1.2910e-03,-5.9508e-05,1.3526e-01,5.2436e-03
+20,1.4333e+01,DOWN_FORCE_DETACH,3.7246e-03,5.2742e-02,1.4572e-01,2.5619e+00,-4.6747e-02,4.0363e-02,1.6750e-05,1.7980e-02,7.7650e-02,9.5176e-02,-5.1709e-03,1.1019e-03,-6.4551e-05,1.2414e-01,5.2874e-03
+21,1.5200e+01,DOWN_FORCE_DETACH,3.9096e-03,4.8922e-02,1.4933e-01,2.5791e+00,-4.6973e-02,4.0066e-02,1.4630e-05,1.4160e-02,8.1258e-02,1.1240e-01,-5.3973e-03,8.0518e-04,-6.6672e-05,1.3942e-01,5.4574e-03
+22,1.6033e+01,DOWN_FORCE_DETACH,4.0994e-03,5.0567e-02,1.4845e-01,2.5628e+00,-4.6910e-02,4.0199e-02,1.5097e-05,1.5805e-02,8.0384e-02,9.6125e-02,-5.3342e-03,9.3812e-04,-6.6205e-05,1.2630e-01,5.4164e-03
+23,1.6833e+01,DOWN_FORCE_DETACH,4.2840e-03,5.0769e-02,1.5554e-01,2.5744e+00,-4.7380e-02,4.0196e-02,1.8026e-05,1.6007e-02,8.7472e-02,1.0775e-01,-5.8040e-03,9.3526e-04,-6.3276e-05,1.3970e-01,5.8792e-03
+24,1.7633e+01,DOWN_FORCE_DETACH,4.4727e-03,5.1050e-02,1.5914e-01,2.5632e+00,-4.7632e-02,4.0222e-02,1.9696e-05,1.6289e-02,9.1067e-02,9.6488e-02,-6.0556e-03,9.6096e-04,-6.1606e-05,1.3367e-01,6.1317e-03
+25,1.8350e+01,DOWN_FORCE_DETACH,4.6565e-03,4.7910e-02,1.5895e-01,2.5762e+00,-4.7621e-02,3.9982e-02,2.0795e-05,1.3148e-02,9.0883e-02,1.0954e-01,-6.0444e-03,7.2039e-04,-6.0507e-05,1.4294e-01,6.0875e-03
+26,1.9100e+01,DOWN_FORCE_DETACH,4.8401e-03,5.1061e-02,1.7078e-01,2.5876e+00,-4.8409e-02,4.0192e-02,2.2263e-05,1.6299e-02,1.0271e-01,1.2091e-01,-6.8331e-03,9.3078e-04,-5.9039e-05,1.5948e-01,6.8964e-03
+27,1.9900e+01,DOWN_FORCE_DETACH,5.0269e-03,5.1613e-02,1.6729e-01,2.5692e+00,-4.8161e-02,4.0243e-02,2.2857e-05,1.6851e-02,9.9220e-02,1.0256e-01,-6.5844e-03,9.8220e-04,-5.8444e-05,1.4369e-01,6.6575e-03
+28,2.0717e+01,DOWN_FORCE_DETACH,5.2125e-03,4.9853e-02,1.7657e-01,2.5723e+00,-4.8756e-02,4.0111e-02,2.8220e-05,1.5091e-02,1.0850e-01,1.0562e-01,-7.1797e-03,8.4988e-04,-5.3082e-05,1.5217e-01,7.2300e-03
+29,2.1500e+01,DOWN_FORCE_DETACH,5.3976e-03,4.6973e-02,1.7514e-01,2.5771e+00,-4.8633e-02,3.9900e-02,3.4195e-05,1.2211e-02,1.0707e-01,1.1037e-01,-7.0567e-03,6.3897e-04,-4.7107e-05,1.5426e-01,7.0857e-03
+30,2.2200e+01,DOWN_FORCE_DETACH,5.5875e-03,4.8417e-02,1.8385e-01,2.5737e+00,-4.9204e-02,4.0002e-02,3.8869e-05,1.3655e-02,1.1578e-01,1.0702e-01,-7.6278e-03,7.4077e-04,-4.2432e-05,1.5826e-01,7.6638e-03
+31,2.2900e+01,DOWN_FORCE_DETACH,5.7711e-03,4.9975e-02,1.8556e-01,2.5827e+00,-4.9302e-02,4.0095e-02,4.2264e-05,1.5213e-02,1.1749e-01,1.1606e-01,-7.7255e-03,8.3425e-04,-3.9038e-05,1.6585e-01,7.7705e-03
+32,2.3617e+01,DOWN_FORCE_DETACH,5.9592e-03,4.9893e-02,1.8533e-01,2.5953e+00,-4.9273e-02,4.0076e-02,4.4783e-05,1.5131e-02,1.1726e-01,1.2867e-01,-7.6966e-03,8.1433e-04,-3.6519e-05,1.7474e-01,7.7396e-03
+33,2.4333e+01,DOWN_FORCE_DETACH,6.1439e-03,5.1013e-02,1.8945e-01,2.5798e+00,-4.9546e-02,4.0153e-02,4.6410e-05,1.6251e-02,1.2138e-01,1.1313e-01,-7.9694e-03,8.9223e-04,-3.4892e-05,1.6672e-01,8.0193e-03
+34,2.5067e+01,DOWN_FORCE_DETACH,6.3329e-03,5.2492e-02,1.9315e-01,2.5993e+00,-4.9761e-02,4.0233e-02,4.5308e-05,1.7730e-02,1.2508e-01,1.3258e-01,-8.1850e-03,9.7190e-04,-3.5993e-05,1.8313e-01,8.2425e-03
+35,2.5817e+01,DOWN_FORCE_DETACH,6.5182e-03,5.4386e-02,1.9641e-01,2.6021e+00,-4.9953e-02,4.0353e-02,4.1692e-05,1.9624e-02,1.2834e-01,1.3543e-01,-8.3766e-03,1.0923e-03,-3.9609e-05,1.8761e-01,8.4476e-03
+36,2.6567e+01,DOWN_FORCE_DETACH,6.7036e-03,5.3284e-02,1.9636e-01,2.6014e+00,-4.9934e-02,4.0277e-02,3.8856e-05,1.8522e-02,1.2829e-01,1.3469e-01,-8.3576e-03,1.0160e-03,-4.2445e-05,1.8693e-01,8.4192e-03
+37,2.7267e+01,DOWN_FORCE_DETACH,6.8893e-03,5.4785e-02,1.9466e-01,2.6085e+00,-4.9797e-02,4.0368e-02,3.5641e-05,2.0023e-02,1.2659e-01,1.4183e-01,-8.2209e-03,1.1063e-03,-4.5660e-05,1.9116e-01,8.2952e-03
+38,2.7967e+01,DOWN_FORCE_DETACH,7.0777e-03,5.2116e-02,1.7615e-01,2.6010e+00,-4.8549e-02,4.0185e-02,2.9812e-05,1.7354e-02,1.0809e-01,1.3433e-01,-6.9724e-03,9.2369e-04,-5.1490e-05,1.7329e-01,7.0335e-03
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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_05/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_05/up/franka_data.csv

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