Upload Part2/Fixed/digit (part 12)

Part2/Fixed/digit/ball_15A_15/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
+21546,1792839420472749947,18099896000000,1792839420471847034,XJC_ZERO_HOLD_BEFORE_DOWN,4,0.0647,0.06470005214214325,0.6759230315457672,-0.00483170393833852,0.10675690659990907,0.999999941945843,-0.00017120154065678773,-0.00027246915455001337,6.325952193713275e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0005376740282830861,-0.00040184286656397283,0.0016419034576518887,-5.88868920990554e-05,-4.927746555234702e-05,-1.5990039530222534e-05,0.8942237998058781,0.9277455644548335,0.23465916159286734,0.07124345870238614,-0.06922276592951297,0.000678587959457232,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,-0.19535102233140714,1.3065538483099493,1.5416058053316772,-0.19160078394598185,-1.0875554989944782,0.7761388065287091,1.7207692514261648,-0.0016419034576518887,0.17916344609448753,0.0,0.0,0,0,0.0,0.0
+21648,1792839421323794993,18100747000000,1792839421323847691,DOWN_FORCE_DETACH,4,0.0647,0.06470070779323578,0.6759208653572881,-0.004833345215926362,0.10675482437001851,0.999999941006327,-0.00017314266982628544,-0.0002746001536762053,6.361271926561801e-05,0.6761,-0.0046,0.1069906087278939,1.0,0.0,0.0,0.0,-0.0079222577692879,-0.0094102392871811,0.001511000570408566,-7.563003718691341e-05,0.0005358604665044175,-1.342952255140408e-05,0.8868392160648733,0.9187371680342163,0.23452825870562402,0.07122671555729829,-0.06863762799745621,0.0006811484764360505,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,-0.08684285068134655,1.2259201248841372,1.520932035234646,-0.1578552818767698,-1.0478019003906203,0.7277166002961717,1.7207692514261648,-0.001511000570408566,0.19983721619151873,0.19983721619151873,0.3349069316415787,0,0,-2.9107019554357134e-05,-9.999999025923074e-05
+21756,1792839422223831958,18101647000000,1792839422223847385,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6759207252058254,-0.004835320093286351,0.10674054971460395,0.9999999407654816,-0.0001713919145626349,-0.0002755144137386217,6.803320445469497e-05,0.6761,-0.0046,0.10695394432523485,1.0,0.0,0.0,0.0,-0.010080250266181867,-0.009630634347464362,0.02258490929039475,-0.00013949144874250696,0.0008780050147197266,-2.084909257967112e-05,0.8846812235679793,0.9185167729739331,0.2556021674256102,0.0711628541457427,-0.0682954834492409,0.0006737289064077834,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.1567375125158743,1.2866470487045367,1.2337720653096087,-0.158256710042813,-0.8000924674867961,0.7672476057564592,1.7207692514261648,-0.02258490929039475,0.48699718611655607,0.48699718611655607,0.46990693164156383,0,0,-5.084892003706797e-05,9.810629672391542e-05
+21865,1792839423131817834,18102555000000,1792839423127847483,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6759459876693135,-0.004838687849148621,0.10670741351536164,0.9999999550672068,-0.00016588895443353226,-0.00021554994962700905,8.560094812675051e-05,0.6761,-0.0046,0.10690842518739192,1.0,0.0,0.0,0.0,-0.03442284531472073,-0.02385728424746769,0.13753605786733197,-0.0011768615766854645,0.0022876981609930847,0.0005366688727203953,0.8603386285194404,0.9042901230739298,0.37055331600254743,0.07012548401779974,-0.06688579030296754,0.0012312468717078499,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.22558559099848444,1.2994557901842336,1.188649439162414,-0.1439852973726997,-0.7659067583421834,0.7649815349662292,1.7207692514261648,-0.13753605786733197,0.5321198122637507,0.5321198122637507,0.6061069316415488,0,0,-4.2566139858728154e-05,-9.503525330434854e-05
+21957,1792839423898835651,18103322000000,1792839423891847516,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6759377840991391,-0.00483798320811606,0.10667378550808805,0.9999999508296362,-0.00016358905234821561,-0.00023440035728846843,8.988149909533146e-05,0.6761,-0.0046,0.10687462164889132,1.0,0.0,0.0,0.0,-0.0689131290601781,-0.012751155397141112,0.21119894304865128,-0.00023605703844092885,0.004892082345666085,-8.541147054388345e-05,0.8258483447739831,0.9153962519242563,0.44421620118386673,0.07106628855604427,-0.06428140611829454,0.0006091665284435711,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.2797267545024372,1.2512341802063256,1.0501859769395607,-0.10967807209574171,-0.6644023829473152,0.7248754195962888,1.7207692514261648,-0.21119894304865128,0.670583274486604,0.670583274486604,0.7211569316415362,0,0,-4.585817537791493e-05,-9.684098942053793e-05
+22067,1792839424815754528,18104239000000,1792839424815847111,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6759349883374626,-0.00484177906186887,0.10663948070461692,0.9999999491601759,-0.00016015682507165534,-0.00024040844125247464,9.836708162093741e-05,0.6761,-0.0046,0.10683299723009673,1.0,0.0,0.0,0.0,-0.0747820603484265,-0.02719332504826255,0.3109086346954042,-0.0012836024310493716,0.004886422584454833,0.0004512304671044793,0.8199794134857347,0.9009540822731349,0.5439258928306197,0.07001874316343583,-0.06428706587950579,0.0011458084660919338,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.3165503678023189,1.2468626465959483,0.8691429768686816,-0.07421402904070803,-0.5401600044425859,0.7220705739970099,1.7207692514261648,-0.3109086346954042,0.8516262745574832,0.8516262745574832,0.858706931641521,0,0,-4.582527385746526e-05,9.999996250365512e-05
+22181,1792839425765792349,18105189000000,1792839425763848185,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6759360230650957,-0.004845685045063344,0.1066095133432098,0.9999999478773764,-0.00016033982695102072,-0.00024222520257957973,0.00010633061499495361,0.6761,-0.0046,0.10678274033416613,1.0,0.0,0.0,0.0,-0.07254105611598016,-0.031678092890662035,0.3967660714653225,-0.0021170539676278743,0.005287252491347441,0.00034002279472887997,0.822220417718181,0.8964693144307354,0.629783329600538,0.06918529162685733,-0.06388623597261318,0.0010346007937163345,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.3770908453176906,1.209608213251787,0.789803534201864,-0.044510099279999195,-0.47467484253587566,0.6892549321689273,1.7207692514261648,-0.3967660714653225,0.9309657172243008,0.9309657172243008,1.0012069316415062,0,0,-6.268092267033699e-05,-9.997587066402076e-05
+22269,1792839426498749321,18105922000000,1792839426491857256,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6759366404569306,-0.004845509470980745,0.10657780322804705,0.9999999483538158,-0.00015802700686848957,-0.00023852910770018134,0.0001134308589525982,0.6761,-0.0046,0.1067318376389169,1.0,0.0,0.0,0.0,-0.08492721320391139,-0.04536029332169289,0.47129857610103765,-0.002365638890937452,0.00588456497696728,0.0006908354604666396,0.8098342606302498,0.8827871139997046,0.7043158342362531,0.06893670670354775,-0.06328892348699335,0.0013854134594540942,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.3727969646887736,1.1875699860073843,0.718869568744196,-0.016513292536578572,-0.4346603674679762,0.6728707512920553,1.7207692514261648,-0.47129857610103765,1.0018996826819686,1.0018996826819686,1.1111569316415755,0,0,-7.446639456040594e-05,-9.999999025923074e-05
+22382,1792839427440733195,18106864000000,1792839427439847214,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6759499845013136,-0.004851698379457659,0.10653035266212155,0.9999999540432837,-0.00015415436419234465,-0.00020669755648437417,0.00012988012505241734,0.6761,-0.0046,0.10665849716976455,1.0,0.0,0.0,0.0,-0.12249639223834952,-0.043085972789090654,0.6025653183433842,-0.002247776511907537,0.008892420729381185,0.0006290045495259353,0.7722650815958116,0.8850614345323068,0.8355825764785997,0.06905456908257766,-0.06028106773457944,0.0013235825485133899,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.41901645580731395,1.2103387015113647,0.6241496733244292,-0.018811025523900415,-0.36774307875528006,0.6842491243046636,1.7207692514261648,-0.6025653183433842,1.0966195781017356,1.0966195781017356,1.2524569316416645,0,0,-7.780235423557181e-05,-9.375000361989123e-05
+22484,1792839428290756807,18107714000000,1792839428287847324,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.675951828026119,-0.0048592088083753,0.10647719162367689,0.9999999529541617,-0.00015731093866108218,-0.00020225304152984126,0.0001410018247577256,0.6761,-0.0046,0.10659449958089665,1.0,0.0,0.0,0.0,-0.13323448726069997,-0.042082406706575926,0.7405167900016152,-0.002525548195797339,0.00988018067609471,0.0005309951904362108,0.7615269865734612,0.8860650006148215,0.9735340481368306,0.06877679739868786,-0.059293307787865915,0.0012255731894236653,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.4340496172706151,1.268518414210323,0.30292975939163447,-0.03254448664687001,-0.15767189541556764,0.7208333264647816,1.7207692514261648,-0.7405167900016152,1.4178394920345303,1.4178394920345303,1.3799569316417448,0,0,-7.076453508306357e-05,9.999389791038311e-05
+22598,1792839429240747210,18108664000000,1792839429239847974,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6759621607796343,-0.0048609999456604245,0.10643947305290523,0.9999999551259151,-0.00015714283596964364,-0.0001841692559266345,0.000150262591160797,0.6761,-0.0046,0.106531655242102,1.0,0.0,0.0,0.0,-0.1575716439821866,-0.05261350378067153,0.8330679695781216,-0.0025876001185227426,0.011485802499940134,0.00047849380177698386,0.7371898298519746,0.8755339035407259,1.066085227713337,0.06871474547596246,-0.05768768596402049,0.0011730718007644384,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.5408115643481688,1.1494499222838317,0.16443834706547514,0.005256150827962553,-0.03933484833485295,0.6459206718140349,1.7207692514261648,-0.8330679695781216,1.5563309043606897,1.5563309043606897,1.5224569316418346,0,0,-5.966803111737284e-05,9.843769829676603e-05
+22663,1792839429781747639,18109205000000,1792839429779847487,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6760024637349269,-0.00485633502491312,0.1064365454088175,0.9999999619198995,-0.0001489876351199206,-0.00014525608233633132,0.0001559051606907899,0.6761,-0.0046,0.10649990322807341,1.0,0.0,0.0,0.0,-0.19680010611812127,0.022542503606968523,0.8321628895935298,0.0024537871342659723,0.015197186625281509,0.0005864102376961369,0.6979613677160399,0.950689910928366,1.0651801477287453,0.07375613272875117,-0.05397630183867912,0.0012809882366835914,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.48435190391677196,1.1880644265828906,0.38793797634230986,-0.010143328473919315,-0.2153727320015878,0.6698428322811594,1.7207692514261648,-0.8321628895935298,1.332831275083855,1.332831275083855,1.6036069316418857,0,0,-6.1038396041739e-05,-9.999999025923074e-05
+22761,1792839430598691840,18110022000000,1792839430591848215,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6760098701224677,-0.004835638760741954,0.1063953244796983,0.9999999541168352,-0.0002532322788188667,-0.00012346992800635003,6.194982971967396e-05,0.6761,-0.0046,0.1064342448022298,1.0,0.0,0.0,0.0,-0.23012031964382285,0.011975860664315219,0.9336172507708309,0.002351732751479041,0.0168351883809794,0.000530860655292379,0.6646411541903383,0.9401232679857127,1.1666345089060464,0.07365407834596424,-0.05233830008298122,0.0012254386542798336,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.6921700271887417,1.171345262980741,0.09958485619940617,0.01580147210603131,0.02808930950217609,0.6521417314007515,1.7207692514261648,-0.9336172507708309,1.6211843952267586,1.6211843952267586,1.726156931641963,0,0,-9.73389987599368e-05,-9.999999025923074e-05
+22857,1792839431398672568,18110822000000,1792839431395847293,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6760194334730716,-0.004850292515094177,0.10633106777189008,0.9999999567705015,-0.0002456176766917814,-0.00010104765214112547,8.58090211167098e-05,0.6761,-0.0046,0.10634330227587993,1.0,0.0,0.0,0.0,-0.19588588825462372,0.07969176976699421,1.0907419632823268,0.006855204639357154,0.014759828254290987,0.0014589085414093662,0.6988755855795374,1.0078391770883917,1.3237592214175422,0.07815755023384235,-0.05441366020966964,0.0021534865403968206,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.8228356184870144,1.2910321574720676,-0.07076201453068696,-0.11397623496454586,0.18392773868611675,0.7571036101901998,1.7207692514261648,-1.0907419632823268,1.7915312659568516,1.7915312659568516,1.8461569316420385,0,0,-0.00012370804367414922,9.691558253000494e-05
+22954,1792839432206718944,18111630000000,1792839432203847161,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6760295914866071,-0.004852629252547613,0.10626447425235787,0.9999999593945686,-0.00023274832797188008,-8.494699553447748e-05,0.00010614117448477694,0.6761,-0.0046,0.10625370473474434,1.0,0.0,0.0,0.0,-0.23330209507623711,0.06375376189581683,1.2580030732778336,0.006342898457966109,0.017694520474191247,0.0013574953032700334,0.661459378757924,0.9919011692172143,1.491020331413049,0.07764524405245131,-0.05147896798976938,0.002052073302257488,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.8763553493871135,1.1870107154926264,-0.2446732606654903,-0.007488921636069114,0.29457663546499385,0.6753273812904252,1.7207692514261648,-1.2580030732778336,1.965442512091655,1.965442512091655,1.967356931642115,0,0,-9.402537379657604e-05,9.999999025923074e-05
+23038,1792839432906675798,18112330000000,1792839432899848303,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6760423507968217,-0.0048577028933278745,0.10622887270999584,0.9999999608064744,-0.0002296269993200753,-6.452653709209673e-05,0.00011374392800074565,0.6761,-0.0046,0.10619909429410362,1.0,0.0,0.0,0.0,-0.2563738781407464,0.06896308023908337,1.3531019907440867,0.006884527052201453,0.019608556264198468,0.0013157072272406336,0.6383875956934147,0.9971104875604808,1.5861192488793021,0.07818687264668665,-0.04956493219976216,0.002010285226228088,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.9326137274882083,1.0754172549824792,-0.3654315318009218,0.04246798791653137,0.38379222843378774,0.6011391799448698,1.7207692514261648,-1.3531019907440867,2.0862007832270866,2.0862007832270866,2.072356931642181,0,0,-6.142811451584495e-05,9.999999025923074e-05
+23129,1792839433665660786,18113089000000,1792839433663847036,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6760476040441242,-0.004857397851675407,0.10619995527113081,0.9999999616639788,-0.0002254938893451415,-5.851612957983972e-05,0.00011765744122349315,0.6761,-0.0046,0.1061620419289048,1.0,0.0,0.0,0.0,-0.2719503723398341,0.08993110522557612,1.41886235755941,0.007651659924165499,0.0206720897617722,0.001286444556234046,0.6228111014943271,1.0180785125469736,1.6518796156946254,0.0789540055186507,-0.04850139870218843,0.0019810225552215005,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.974923778745674,1.056055471882243,-0.5073665256859812,0.05035816443238138,0.4868133888866116,0.5870423030086072,1.7207692514261648,-1.41886235755941,2.228135777112146,2.228135777112146,2.1862069316422525,0,0,-4.21776397599175e-05,9.78029421602244e-05
+23229,1792839434498696469,18113922000000,1792839434491847483,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.676054837999558,-0.004855865941585564,0.10617523872894175,0.9999999648936633,-0.00021378209157019002,-4.7117421702630175e-05,0.00011718661244352394,0.6761,-0.0046,0.10612365930230461,1.0,0.0,0.0,0.0,-0.28183969677284226,0.08989564816249984,1.469210832446419,0.008250028739664142,0.021214215500431163,0.0012560924525141489,0.6129217770613189,1.0180430554838973,1.7022280905816345,0.07955237433414934,-0.04795927296352946,0.0019506704515016033,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,0.9643126521488914,1.146827988383183,-0.6539236294324422,0.030866479758015306,0.5706958263329769,0.6493125476115137,1.7207692514261648,-1.469210832446419,2.374692880858607,2.374692880858607,2.3111569316423313,0,0,-5.462111068024888e-05,9.997104119386364e-05
+23325,1792839435298631819,18114722000000,1792839435291847684,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6760668731585014,-0.004858291997920054,0.10614404993429086,0.9999999892499435,-7.0240541681503754e-06,-2.728469792441838e-05,0.00011022334252326238,0.6761,-0.0046,0.10606964987161943,1.0,0.0,0.0,0.0,-0.28649620511774665,0.10247023637374342,1.5505999958737255,0.009237130600173976,0.021627372151031034,0.0012117635804500242,0.6082652687164145,1.0306176436951409,1.783617254008941,0.08053947619465918,-0.04754611631292959,0.0019063415794374787,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.002624816252457,1.249672363047625,-0.591277773042824,-0.02699724135531925,0.5441215520612757,0.6465953113859785,1.7207692514261648,-1.5505999958737255,2.312047024468989,2.312047024468989,2.431156931642407,0,0,-8.264384245978829e-05,-9.999821390239134e-05
+23435,1792839436215650338,18115639000000,1792839436215847265,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6760757677846102,-0.004864011030052976,0.10607729512757952,0.999999989146971,-3.0218378957739776e-05,-1.1099918182037673e-05,0.00011005709299927592,0.6761,-0.0046,0.1059873702122953,1.0,0.0,0.0,0.0,-0.30262496954766804,0.11612655152039342,1.7008537000147017,0.010174868692469821,0.02351914689957922,0.00112801452068326,0.5921365042864931,1.0442739588417909,1.9338709581499172,0.08147721428695502,-0.045654341564381404,0.0018225925196707147,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.0926878301559722,1.2117241261639147,-0.7779197865859717,-0.004734339742515258,0.6833938850203379,0.636934054415051,1.7207692514261648,-1.7008537000147017,2.4986890380121363,2.4986890380121363,2.5687069316424935,0,0,-9.176464163954267e-05,7.501043816494075e-05
+23531,1792839437015560298,18116439000000,1792839437011847008,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6760890036172156,-0.004866285039137254,0.10602702654219143,0.9999999883705649,-3.541890520963399e-05,1.0423622281360565e-05,0.00011549278557877687,0.6761,-0.0046,0.10591724776297477,1.0,0.0,0.0,0.0,-0.3222821622848264,0.13299146246971716,1.831325505044757,0.011133178735486068,0.024571580115215624,0.0010510965379299333,0.5724793115493347,1.0611388697911146,2.0643427631799725,0.08243552432997127,-0.044601908348745,0.001745674536917388,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.083306695673666,1.20488674650949,-0.9488666340152374,0.008291922902907246,0.7845095262814765,0.6467813772514535,1.7207692514261648,-1.831325505044757,2.6696358854414024,2.6696358854414024,2.688706931642569,0,0,-8.224266040826744e-05,9.999391178817092e-05
+23636,1792839437890550252,18117314000000,1792839437883847489,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6760999779648287,-0.0048634382740093155,0.10597705649008111,0.99999998756968,-4.417952353822575e-05,2.7845218458091713e-05,0.00011651745738800499,0.6761,-0.0046,0.10584971637164209,1.0,0.0,0.0,0.0,-0.3355937703500229,0.13303059258266947,1.944020847457211,0.011065760900196078,0.02655058051037179,0.0020097898668471927,0.5591677034841382,1.061177999904067,2.1770381055924264,0.08236810649468128,-0.042622907953588834,0.002704367865834647,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.1566879406731896,1.1380826840803395,-1.0663981377771448,0.04155473280634245,0.8748168258027939,0.6239258493276566,1.7207692514261648,-1.944020847457211,2.7871673892033098,2.7871673892033098,2.819956931642652,0,0,-7.201014178418041e-05,9.9999393514355e-05
+23744,1792839438790614921,18118214000000,1792839438787848345,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6761027027545575,-0.004866078674224124,0.1059231064599047,0.9999999865864256,-6.603804220059548e-05,3.38991115311266e-05,0.00011295946209925278,0.6761,-0.0046,0.10578715228346464,1.0,0.0,0.0,0.0,-0.3435083665796179,0.13660534944918423,2.052511891830708,0.012058177999931696,0.026523300327940057,0.001939974663492547,0.5512531072545432,1.0647527567705817,2.285529149965923,0.0833605235944169,-0.04265018813602057,0.0026345526624800015,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.1876861450720246,1.098488426938633,-1.2941876486436958,0.07075358831737424,1.027613972024806,0.6138779459312139,1.7207692514261648,-2.052511891830708,3.0149569000698606,3.0149569000698606,2.954956931642737,0,0,-7.078444741873279e-05,9.99898039629798e-05
+23840,1792839439590635575,18119014000000,1792839439583847452,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.676111437965006,-0.004865895066753118,0.10588600190380246,0.9999999855226697,-8.082237346439298e-05,4.897096791071143e-05,0.00010708460775827701,0.6761,-0.0046,0.10572772353606391,1.0,0.0,0.0,0.0,-0.3578066958893996,0.14135117670007757,2.1394303022274963,0.012014636966506745,0.027517508663504747,0.0018838393999725208,0.5369547779447615,1.069498584021475,2.3724475603627115,0.08331698256099195,-0.04165597980045588,0.0025784173989599752,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.1557304008871743,1.0861480864222868,-1.2886201295752011,0.08175839432718678,1.011449667165929,0.6215379490618238,1.7207692514261648,-2.1394303022274963,3.009389381001366,3.009389381001366,3.0749569316428125,0,0,-7.860215554162097e-05,-7.970225062087829e-07
+23946,1792839440473549625,18119897000000,1792839440467847448,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6761223940599485,-0.0048703210936396485,0.10582801127777827,0.999999982861944,-9.17062967049019e-05,6.679208768641528e-05,0.00011334790832506345,0.6761,-0.0046,0.10565397089664669,1.0,0.0,0.0,0.0,-0.3715216363234878,0.14136937328854982,2.2736301228686173,0.012981581899226852,0.028482999639489748,0.0018008734366647618,0.5232398375106734,1.0695167806099473,2.506647381003833,0.08428392749371205,-0.04069048882447088,0.0024954514356522162,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.179366922522542,1.048753985723328,-1.4163170571939883,0.10614649815999984,1.0960781874647345,0.6055087577520845,1.7207692514261648,-2.2736301228686173,3.137086308620153,3.137086308620153,3.207406931642896,0,0,-8.537912088387173e-05,1.00441743088915e-05
+24052,1792839441356592824,18120780000000,1792839441351847800,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6761334305561524,-0.004868355429315776,0.10577319972632063,0.99999998072457,-9.806544828450299e-05,8.424454942602608e-05,0.0001152377877368817,0.6761,-0.0046,0.1055794849036165,1.0,0.0,0.0,0.0,-0.3940059413546667,0.15326252792684392,2.38377921566411,0.01290791532543617,0.0304847748469545,0.0017406107615294693,0.5007555324794944,1.0814099352482414,2.616796473799326,0.08421026091992137,-0.038688713617006126,0.0024351887605169238,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.2192220253127448,1.0043637867523127,-1.4732379124558856,0.12048515127868516,1.1403158934349649,0.5754025707860623,1.7207692514261648,-2.38377921566411,3.19400716388205,3.19400716388205,3.3398569316429794,0,0,-8.63243636947938e-05,-9.980485468486506e-05
+24145,1792839442131569796,18121555000000,1792839442123847603,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6761421631698888,-0.004875130084173277,0.10572245080495374,0.9999999777997377,-0.00010929704954342222,0.00010027730732362128,0.000117652051020382,0.6761,-0.0046,0.10551071086353012,1.0,0.0,0.0,0.0,-0.40302262116146376,0.15931933364351647,2.4744923332429147,0.01388352582502142,0.03146005275821483,0.0016934615074397355,0.4917388526726974,1.087466740964914,2.7075095913781304,0.08518587141950662,-0.03771343570574579,0.00238803950642719,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.2777056218755494,1.0696201948127502,-1.7022965586113046,0.10785885286251125,1.2986583977919455,0.6189726773930203,1.7207692514261648,-2.4744923332429147,3.4230658100374693,3.4230658100374693,3.4561069316430526,0,0,-9.069401167985524e-05,9.385920793215092e-05
+24235,1792839442881492539,18122305000000,1792839442875847037,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6761493929338916,-0.004875736052154213,0.10567281230280186,0.9999999753370968,-0.00011973928275719472,0.00011233570053307067,0.0001175238895170486,0.6761,-0.0046,0.10544469238062387,1.0,0.0,0.0,0.0,-0.4199235246126299,0.1629875094156904,2.5746795618883658,0.013837649975112026,0.032451748806066265,0.0016261677589514256,0.4748379492215313,1.0911349167370878,2.8076968200235815,0.08513999556959723,-0.03672173965789436,0.00232074575793888,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.308004403415719,1.0244681529748811,-1.7802795210990459,0.12317610933012597,1.351890871183449,0.5884441197447479,1.7207692514261648,-2.5746795618883658,3.501048772525211,3.501048772525211,3.5686069316431235,0,0,-8.731865633734875e-05,6.311985248336964e-05
+24333,1792839443698594434,18123122000000,1792839443695847274,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6761583699955548,-0.004875698863827497,0.10561733895421427,0.9999999726632436,-0.00013190199106403034,0.00012795948642891912,0.00011110630542492594,0.6761,-0.0046,0.10537077287762324,1.0,0.0,0.0,0.0,-0.4281461056299095,0.17725900864482502,2.6755851960306947,0.014812483303198481,0.03342362503860902,0.0016092364406299665,0.46661536820425165,1.1054064159662225,2.9086024541659103,0.08611482889768368,-0.03574986342535161,0.002303814439617421,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.3356355767628076,1.0317527125683474,-1.8398462828773572,0.1272417108202292,1.3938254767994933,0.5913640570741429,1.7207692514261648,-2.6755851960306947,3.5606155343035217,3.5606155343035217,3.6911569316432007,0,0,-9.146801876610956e-05,-9.984672397068123e-05
+24424,1792839444456535949,18123880000000,1792839444455847277,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6761642944946051,-0.004879154903717568,0.10555769032919729,0.9999999697585583,-0.0001470521658658315,0.0001363407491908245,0.00010822480016386876,0.6761,-0.0046,0.10530026930023292,1.0,0.0,0.0,0.0,-0.4304869957864024,0.17769802503030918,2.7964819383153694,0.015159431441595983,0.033376317338279095,0.002508492750619142,0.46427447804775873,1.1058454323517066,3.0294991964505846,0.08646177703608118,-0.03579717112568153,0.0032030707496065965,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.3632047124934967,1.0143087091249332,-2.0771165028545275,0.1443044715499345,1.5521966149799367,0.5853899117748198,1.7207692514261648,-2.7964819383153694,3.797885754280692,3.797885754280692,3.8048569316432723,0,0,-9.110981744467483e-05,9.999999025923074e-05
+24532,1792839445356567581,18124780000000,1792839445355847580,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6761744908425983,-0.004882158228570568,0.10549062855330474,0.9999999659529758,-0.00015603291078655518,0.00015292952059876378,0.00010864255123735522,0.6761,-0.0046,0.10521756020245465,1.0,0.0,0.0,0.0,-0.44099576678075997,0.17968620868266993,2.9000434455963964,0.015752385585128342,0.03436362030114314,0.0024382714810188126,0.4537657070534012,1.1078336160040674,3.133060703731612,0.08705473117961354,-0.03480986816281748,0.003132849480006267,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.3695703725270127,1.0425554710992984,-2.0429241326187735,0.1447368859330639,1.5270342112039237,0.6090611927712011,1.7207692514261648,-2.9000434455963964,3.763693384044938,3.763693384044938,3.9398569316433574,0,0,-9.671873818092725e-05,-9.978445433678757e-05
+24638,1792839446240561612,18125664000000,1792839446239847953,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6761851562163133,-0.004880953803464005,0.10542711382480852,0.9999999634952584,-0.00015344037831386133,0.0001724628915140853,0.00010566431439491388,0.6761,-0.0046,0.1051283469749557,1.0,0.0,0.0,0.0,-0.45044501951898885,0.18406464503006748,3.003476632680436,0.015755921246752624,0.035354621486089345,0.0023781133185573587,0.4443164543151723,1.112212052351465,3.2364938908156513,0.08705826684123782,-0.03381886697787128,0.003072691317544813,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.4027669157314946,1.0395808700664724,-2.225190222946994,0.1578767841773407,1.65073032272538,0.6073386039065719,1.7207692514261648,-3.003476632680436,3.9459594743731587,3.9459594743731587,4.072456931643226,0,0,-0.00010693458482177588,-9.999999025923074e-05
+24731,1792839447015555184,18126439000000,1792839447011847403,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.676194148458974,-0.004882909314737823,0.105358663661535,0.9999999617778144,-0.00014788274477642958,0.00018572607678706197,0.0001073487414670685,0.6761,-0.0046,0.10504509902628671,1.0,0.0,0.0,0.0,-0.46066353743387484,0.18943733169470367,3.087666727422631,0.0166835763024272,0.0363316895576129,0.0023314572930392815,0.4340979364002863,1.1175847390161011,3.3206839855578463,0.0879859218969124,-0.032841798906347724,0.003026035292026736,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.4056715145602867,1.062997835459849,-2.3149040087927717,0.1462147709370826,1.7058706796837697,0.6200648641845388,1.7207692514261648,-3.087666727422631,4.035673260218936,4.035673260218936,4.1887069316429555,0,0,-0.00011006346886252428,-9.37677255549218e-05
+24821,1792839447765541584,18127189000000,1792839447763847798,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6762051427231696,-0.004892218354370313,0.1052922761027452,0.999999956635553,-0.00015357294759870107,0.00020510135343711656,0.00011189522317488841,0.6761,-0.0046,0.10495809920698154,1.0,0.0,0.0,0.0,-0.4589614259656531,0.20233190693941572,3.1758016500669637,0.016667704412266796,0.03631462735835747,0.002260500338251881,0.43580004786850807,1.1304793142608132,3.4088189082021794,0.087970050006752,-0.032858861105603154,0.0029550783372393353,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.4574579363592493,1.0435364704502674,-2.3810241817918967,0.15648690847795005,1.7608455114646626,0.6021080186590009,1.7207692514261648,-3.1758016500669637,4.101793433218061,4.101793433218061,4.301206931642693,0,0,-0.00012162227623210698,-9.999999025923074e-05
+24907,1792839448481536989,18127905000000,1792839448479847601,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.676211369567037,-0.004894520933839394,0.10521318172853306,0.9999999531616997,-0.00015666011503013473,0.0002169231782997655,0.00011628158054061116,0.6761,-0.0046,0.10486684411397625,1.0,0.0,0.0,0.0,-0.4524907181518789,0.20550234181409543,3.258273513667696,0.016625573811485966,0.03730667205641629,0.002210356339247176,0.44227075568228225,1.1336497491354929,3.491290771802911,0.08792791940597117,-0.03186681640754434,0.0029049343382346305,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.4716030009954768,1.0087344137960264,-2.481963527113704,0.18377277441627907,1.8254650003974102,0.5886820591847796,1.7207692514261648,-3.258273513667696,4.202732778539869,4.202732778539869,4.408606931642443,0,0,-0.00013211340364335656,-9.999999025923074e-05
+24998,1792839449240526614,18128664000000,1792839449239846878,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.676219742744232,-0.004894829499331828,0.10512280992267031,0.9999999495617843,-0.00016111046377255368,0.0002316795186877585,0.00011263797044782884,0.6761,-0.0046,0.10476040658639006,1.0,0.0,0.0,0.0,-0.45223690714428977,0.2089668235149592,3.3485632040265587,0.016608872680970832,0.03728693146427548,0.002137442606341859,0.4425245666898714,1.1371142308363567,3.581580462161774,0.08791121827545603,-0.031886556999685144,0.0028320206053293133,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5297066552379064,0.9904887489112979,-2.7159877196357844,0.19597665913988674,1.993095262830534,0.5729010775910486,1.7207692514261648,-3.3485632040265587,4.436756971061949,4.436756971061949,4.522456931642178,0,0,-0.0001448603917694483,7.510432139946061e-05
+25094,1792839450040519188,18129464000000,1792839450039846856,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.676231124273985,-0.004905957607889849,0.10501940832705088,0.9999999506477888,-0.00011951922536135946,0.0002501277131699902,0.00011531940994059317,0.6761,-0.0046,0.10464158127549414,1.0,0.0,0.0,0.0,-0.44321356877391815,0.21231076655575942,3.4452870028603586,0.01659085846167878,0.037265617389298296,0.002060407440066825,0.451547905060243,1.1404581738771569,3.678304260995574,0.08789320405616398,-0.03190787107466233,0.0027549854390542796,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.4935531970628921,1.0683345470260108,-2.7371797054291243,0.19232364413911138,1.9946067834896344,0.6246282168842325,1.7207692514261648,-3.4452870028603586,4.457948956855289,4.457948956855289,4.642456931641898,0,0,-0.0001532260341899613,-9.902249439719952e-05
+25187,1792839450815405934,18130239000000,1792839450807847226,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6762386441688588,-0.004912256849067127,0.10490953280312057,0.9999999448483994,-0.0001375472279922975,0.0002607266339715666,0.0001218541954119503,0.6761,-0.0046,0.10451824877344855,1.0,0.0,0.0,0.0,-0.43372628628573406,0.2253961450374139,3.529275366290455,0.0165766277604342,0.037246248892106724,0.00199370459334298,0.4610351875484271,1.1535435523588113,3.7622926244256707,0.0878789733549194,-0.0319272395718539,0.0026882825923304344,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5451428103077829,1.0796645689455475,-2.907349297169584,0.1975146712309817,2.1171277855686097,0.6339764750232687,1.7207692514261648,-3.529275366290455,4.628118548595749,4.628118548595749,4.758706931641627,0,0,-0.000165325563507264,7.500008533523612e-05
+25275,1792839451548441523,18130972000000,1792839451543847150,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6762496882071037,-0.004915160055175323,0.104803809115028,0.9999999373484927,-0.00014872317398341827,0.0002792139671457238,0.00012910016706449084,0.6761,-0.0046,0.10439251574980665,1.0,0.0,0.0,0.0,-0.42655166367579717,0.2084110052888487,3.629587974785628,0.01553546548155503,0.03724448951624257,0.0019020286049831392,0.468209810158364,1.1365584126102461,3.8626052329208433,0.08683781107604023,-0.03192899894771806,0.0025966066039705936,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5447221673737523,0.9430517965238745,-3.0670304709272784,0.25133312284593895,2.2208343215024224,0.5484929722270366,1.7207692514261648,-3.629587974785628,4.787799722353443,4.787799722353443,4.868656931641371,0,0,-0.000176959055399302,9.959103960811006e-05
+25361,1792839452265495647,18131689000000,1792839452259857068,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6762616077010042,-0.004920863760986818,0.1046958123064235,0.9999999274713797,-0.0001721353215825996,0.00030125769199008045,0.00012693830695570475,0.6761,-0.0046,0.10426164441125685,1.0,0.0,0.0,0.0,-0.4156845507551677,0.2275395728532449,3.7173776237292397,0.015522251123699413,0.037223240515009255,0.0018324625957320921,0.47907692307899347,1.1556869801746423,3.950394881864455,0.08682459671818461,-0.03195024794895137,0.0025270405947195465,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5709600302466487,1.0435509619293748,-3.049918188863113,0.23593862065378507,2.2144489176387743,0.6125451851585981,1.7207692514261648,-3.7173776237292397,4.770687440289278,4.770687440289278,4.97620693164112,0,0,-0.00018731670653057553,-5.955285850423593e-05
+25446,1792839452973491253,18132397000000,1792839452971846760,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6762700709034221,-0.0049234387957781695,0.10457426440111856,0.999999920157589,-0.00018665426274407118,0.0003157667842504689,0.00012876025778633276,0.6761,-0.0046,0.10412675028641895,1.0,0.0,0.0,0.0,-0.40649060150216126,0.23282627174548864,3.8099067850216155,0.015504355424271088,0.0372032045764161,0.001758824487229342,0.4882708723319999,1.160973679066886,4.042924043156831,0.08680670101875629,-0.031970283887544526,0.0024534024862167964,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5735459651475925,1.0214694416685686,-3.1590073047030107,0.26044343246975316,2.283161017021663,0.6034695007811698,1.7207692514261648,-3.8099067850216155,4.879776556129175,4.879776556129175,5.082406931640873,0,0,-0.00019178601145672237,-7.56585586111413e-05
+25536,1792839453723372469,18133147000000,1792839453715847464,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6762819225915482,-0.004924403107252185,0.10444718100040623,0.9999999145841598,-0.00017458618484263882,0.0003364570647436118,0.00013634824892564708,0.6761,-0.0046,0.10397787272777975,1.0,0.0,0.0,0.0,-0.37923802159410813,0.251805722370369,3.8806712542514923,0.01653947787564604,0.036154010212790584,0.0017007786145852412,0.515523452240053,1.1799531296917665,4.113688512386708,0.08784182347013124,-0.03301947825117004,0.0023953566135726957,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.6165196368629404,1.038231872011159,-3.2116490553175168,0.26185382466598345,2.3302210760072306,0.6125521065377472,1.7207692514261648,-3.8806712542514923,4.932418306743681,4.932418306743681,5.1949069316406105,0,0,-0.00020455474978728206,-9.999389791038311e-05
+25607,1792839454315402503,18133739000000,1792839454311850333,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6762889868824304,-0.004929769617426728,0.10433245711862832,0.9999999222780019,-7.605007517170217e-05,0.00034772319031780186,0.00014209793664849376,0.6761,-0.0046,0.10385226098338231,1.0,0.0,0.0,0.0,-0.3674559967000737,0.2480116498709254,3.9519172345078832,0.01553424837678051,0.03514402829101401,0.001617340220799165,0.5273054771340875,1.1761590571923228,4.184934492643099,0.08683659397126571,-0.03402946017294661,0.0023119182197866195,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.6310878900867378,1.1006290970651786,-3.4043633425222555,0.2205180172011673,2.466316554980483,0.6022568566021799,1.7207692514261648,-3.9519172345078832,5.12513259394842,5.12513259394842,5.2837069316404035,0,0,-0.00021977708768575332,8.750000310276391e-05
+25690,1792839455006393746,18134430000000,1792839454999856843,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.676294937475718,-0.004930604302746774,0.10419398863766163,0.9999999140167912,-0.00010876667614475295,0.00036291069577168916,0.00014097840836063897,0.6761,-0.0046,0.10369319047657072,1.0,0.0,0.0,0.0,-0.35018665654426906,0.24083558727107646,4.000504187307099,0.01453642430128159,0.034137742036784144,0.0015530788180753794,0.5445748172898921,1.168982994592474,4.233521445442315,0.08583876989576679,-0.03503574642717648,0.002247656817062834,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5983187140830395,1.0668140029391833,-3.402629938968859,0.280352976458428,2.4502209612206625,0.6185469826495643,1.7207692514261648,-4.000504187307099,5.123399190395023,5.123399190395023,5.387356931640162,0,0,-0.0002433164323176459,-9.999999025923074e-05
+25762,1792839455606358069,18135030000000,1792839455603847593,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6762934502561073,-0.004935369626893864,0.10403782068550342,0.9999999115501914,-0.00013342240511372955,0.000358794899558209,0.0001476724605234019,0.6761,-0.0046,0.1035417788017462,1.0,0.0,0.0,0.0,-0.3305550959863659,0.2233436238223171,4.089611893628271,0.012511820474080448,0.03314452011975972,0.0014447877778700434,0.5642063778477953,1.1514910311437145,4.322629151763486,0.08381416606856565,-0.036028968344200905,0.002139365776857498,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5716883516884377,1.1218129086341522,-3.422039720233261,0.2780128787095254,2.461206746450211,0.6669821202512948,1.7207692514261648,-4.089611893628271,5.142808971659425,5.142808971659425,5.477356931639952,0,0,-0.00026205643123142073,-9.999999025923074e-05
+25830,1792839456173388647,18135597000000,1792839456171846946,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6762971563804345,-0.004939713555852315,0.10388924036071003,0.9999999061825412,-0.00015840248080212243,0.0003624054902675423,0.00015049481006995083,0.6761,-0.0046,0.10338852801032788,1.0,0.0,0.0,0.0,-0.3034045118885502,0.20331163071034097,4.136341513411184,0.011497475153741846,0.03214187912028601,0.0013806987064961,0.5913569619456109,1.1314590380317384,4.369358771546399,0.08279982074822705,-0.03703160934367462,0.0020752767054835544,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.605546087760156,1.1402132800233042,-3.4498465587370144,0.291840550318465,2.4922671137360113,0.6822446744244319,1.7207692514261648,-4.136341513411184,5.170615810163179,5.170615810163179,5.562406931639754,0,0,-0.0002803950302318877,-9.999999025923074e-05
+25896,1792839456723447031,18136147000000,1792839456715856823,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6763115412128332,-0.004943208747316272,0.10374255786833074,0.9999998951075497,-0.00017844317656374501,0.0003824419472675843,0.00015206558935275692,0.6761,-0.0046,0.10322688775406352,1.0,0.0,0.0,0.0,-0.30230490365554263,0.2012129885947319,4.149608377688871,0.010492243671256604,0.03218030370798955,0.0013610683724393146,0.5924565701786185,1.1293603959161294,4.382625635824087,0.0817945892657418,-0.036993184755971076,0.002055646371426769,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.6619976233869997,1.0930018657480798,-3.623045511172981,0.3156615388253728,2.61778918421728,0.6511730970472687,1.7207692514261648,-4.149608377688871,5.343814762599146,5.343814762599146,5.644906931639562,0,0,-0.0003073886498630981,-9.999999025923074e-05
+25960,1792839457256444012,18136680000000,1792839457251857242,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6763153686119696,-0.004948260368353861,0.10357627854305639,0.9999999015215904,-0.00010455615187290483,0.0003900559210074001,0.0001591353627985997,0.6761,-0.0046,0.10305613707872818,1.0,0.0,0.0,0.0,-0.2969402265200618,0.17598053185691376,4.158860837046335,0.008448887074246278,0.03219346042543732,0.0013334003737446123,0.5978212473140994,1.1041279391783112,4.391878095181551,0.07975123266873148,-0.03698002803852331,0.0020279783727320667,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.6376888763726953,1.09433975157917,-3.648125429067761,0.3345840771656954,2.6324293571495327,0.6715956930662715,1.7207692514261648,-4.158860837046335,5.368894680493926,5.368894680493926,5.724856931639375,0,0,-0.00033370070148394513,-9.999999025923074e-05
+26018,1792839457740404575,18137164000000,1792839457735857230,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6763182214987752,-0.004945220636377803,0.1034149060879089,0.9999998962802534,-0.00013383981284965062,0.0003956526127888134,0.00015629542968488067,0.6761,-0.0046,0.10288878164035323,1.0,0.0,0.0,0.0,-0.2814012108087486,0.15901900881718578,4.158201551257709,0.006641894176376006,0.03121128171238618,0.0012956229424373037,0.6133602630254126,1.0871664161385832,4.3912188093929245,0.0779442397708612,-0.03796220675157445,0.001990200941424758,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.6059021459869582,1.0941919372737368,-3.5849576682292397,0.3427573471641433,2.5850517543342995,0.6600952024836463,1.7207692514261648,-4.158201551257709,5.305726919655404,5.305726919655404,5.797456931639206,0,0,-0.0003579006967694128,-9.999999025923074e-05
+26075,1792839458215384790,18137639000000,1792839458207856798,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.67631878812821,-0.00495121193450323,0.1032400698001295,0.9999998918330778,-0.00015622978923336345,0.00039770875586476085,0.00015873466978958857,0.6761,-0.0046,0.10271315006048895,1.0,0.0,0.0,0.0,-0.2611240569695633,0.11706401452109472,4.16134067645666,0.00507094351318621,0.029217050860496856,0.0012450912304303847,0.6336374168645978,1.0452114218424922,4.394357934591875,0.07637328910767141,-0.03995643760346377,0.001939669229417839,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.6001189007600622,1.057032243217904,-3.588744814204819,0.35584485688761586,2.5927811757001553,0.6361947465329925,1.7207692514261648,-4.16134067645666,5.309514065630983,5.309514065630983,5.86870693163904,0,0,-0.0003816506921425474,-9.999999025923074e-05
+26126,1792839458640380720,18138064000000,1792839458635856598,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6763136499639925,-0.004956645961889528,0.10307025561657099,0.9999998915219588,-0.00016482683393331,0.0003908240460794819,0.00016878274427613142,0.6761,-0.0046,0.10254644351721015,1.0,0.0,0.0,0.0,-0.24969162236711073,0.07970735883057667,4.176180767995386,0.0013798791688666434,0.028570122208993597,0.0011792833160248267,0.6450698514670504,1.0078547661519741,4.409198026130602,0.07268222476335184,-0.04060336625496703,0.0018738613150122811,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.6229654603388857,0.894941807991197,-3.593573186830881,0.41358982230856867,2.6110651134912395,0.5352935452623625,1.7207692514261648,-4.176180767995386,5.314342438257046,5.314342438257046,5.9324569316388915,0,0,-0.0004029006880027205,-9.999999025923074e-05
+26175,1792839459048425648,18138472000000,1792839459043857944,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6763155710096919,-0.0049592492105312086,0.10290152308836967,0.999999899684873,-0.00010440962150080157,0.00039320823891526787,0.00016296938387143814,0.6761,-0.0046,0.10237790863731777,1.0,0.0,0.0,0.0,-0.22986047128378673,0.060277690343911616,4.147789607345001,-0.0006229767360610566,0.027306802475563392,0.0011665793001955208,0.6649010025503744,0.9884250976653091,4.380806865480217,0.07067936885842414,-0.04186668598839723,0.0018611572991829753,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5604458570487125,1.0227143763349467,-3.5703119533385888,0.39131791076973493,2.5857220468557154,0.6264549090723555,1.7207692514261648,-4.147789607345001,5.291081204764754,5.291081204764754,5.993656931638749,0,0,-0.0004233006840284866,-9.999999025923074e-05
+26221,1792839459431382929,18138855000000,1792839459423856620,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6763088278632485,-0.0049640386235287074,0.10271914454577066,0.9999999002448566,-0.0001117663172374052,0.000381769277962009,0.00018086915117214138,0.6761,-0.0046,0.10221212682605116,1.0,0.0,0.0,0.0,-0.22892923430412704,0.02330122291750658,4.114613547703883,-0.0027106535687964617,0.027354389970357787,0.0011693691001518377,0.6658322395300341,0.951448630238904,4.347630805839099,0.06859169202568874,-0.04181909849360284,0.0018639470991392924,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5695261101535225,0.9457713430802281,-3.550061569620776,0.4014914925206095,2.582798843010601,0.5723169967608854,1.7207692514261648,-4.114613547703883,5.270830821046941,5.270830821046941,6.051106931638615,0,0,-0.000442450680297772,-9.999999025923074e-05
+26264,1792839459790313123,18139214000000,1792839459783857400,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6763068953855075,-0.004948134993626794,0.10254847884113681,0.9999998970557251,-0.00018172992566822064,0.00038298846434435714,0.00013276096438495348,0.6761,-0.0046,0.1020500739824537,1.0,0.0,0.0,0.0,-0.22948545122557829,-0.028904489865724026,4.082952859481017,-0.006725668935754547,0.027034175323650086,0.0011393237237417478,0.6652760226085829,0.8992429174556734,4.315970117616232,0.06457667665873065,-0.04213931314031054,0.0018339017227292024,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5812095159977557,0.956795406932746,-3.5402515095772604,0.41885765440989736,2.584919626250312,0.5788450014371285,1.7207692514261648,-4.082952859481017,5.261020761003425,5.261020761003425,6.1049569316384895,0,0,-0.00046040067680083583,-9.999999025923074e-05
+26307,1792839460148308478,18139572000000,1792839460147848033,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6762978530160447,-0.0049659724428998886,0.10236651723302408,0.9999998992394735,-0.00017542487334454312,0.0003660101967487126,0.00016800760891754683,0.6761,-0.0046,0.10188205539078496,1.0,0.0,0.0,0.0,-0.19564866802734937,-0.04322175627369851,4.043103577364104,-0.007672399741660382,0.024427175794172973,0.0011255553086480133,0.6991128058068118,0.8849256510476989,4.27612083549932,0.06362994585282482,-0.04474631266978765,0.001820133307635468,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.554738529770149,0.9908588626666841,-3.3612521150688264,0.39622972265576817,2.476570689114713,0.611986530962197,1.7207692514261648,-4.043103577364104,5.082021366494991,5.082021366494991,6.158656931638364,0,0,-0.00047830067331364044,-9.999999025923074e-05
+26350,1792839460506370452,18139930000000,1792839460499857101,DOWN_FORCE_DETACH,4,0.0647,0.06470136344432831,0.6762985916019089,-0.004966646242527649,0.10218680497468684,0.9999998951864709,-0.00016637176122401493,0.0003663509630701846,0.0001979326157597064,0.6761,-0.0046,0.10170762860036463,1.0,0.0,0.0,0.0,-0.22864758976137767,-0.0968857867924241,3.974271445821916,-0.01178809219459271,0.026543320751593824,0.00116325264964373,0.6661138840727835,0.8312616205289733,4.207288703957132,0.05951425339989249,-0.0426301677123668,0.0018578306486311846,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.4723744488690647,0.9616366216244732,-3.341292703690293,0.4006514681655569,2.4444868572922753,0.5944942409691306,1.7207692514261648,-3.974271445821916,5.062061955116458,5.062061955116458,6.212356931638239,0,0,-0.0004962006698264451,-9.999999025923074e-05
+26391,1792839460848374075,18140272000000,1792839460843847228,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6763090036007426,-0.004962170778128968,0.10201481817097718,0.9999998827065913,-0.0002494891785674275,0.00037929370976123075,0.00014114212357527038,0.6761,-0.0046,0.10153501242185531,1.0,0.0,0.0,0.0,-0.2510440842168091,-0.108696024510473,3.890366216846682,-0.011831088581935052,0.027580902110039815,0.0012441222542991823,0.643717389617352,0.8194513828109244,4.123383474981898,0.05947125701255015,-0.04159258635392081,0.0019387002532866367,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5908950921429332,0.9582343781020753,-3.2151209829260967,0.4183877959452031,2.3909325408802835,0.590392188624299,1.7207692514261648,-3.890366216846682,4.935890234352262,4.935890234352262,6.26365693163812,0,0,-0.000513300666495102,-9.999999025923074e-05
+26429,1792839461165360740,18140589000000,1792839461159856831,DOWN_FORCE_DETACH,4,0.0647,0.06470202654600143,0.6762954493540412,-0.004972203189717603,0.10183198652068316,0.9999998890446951,-0.0002279925502570685,0.000360664678255936,0.00017690067444940457,0.6761,-0.0046,0.10136979181106733,1.0,0.0,0.0,0.0,-0.20133260768298378,-0.13870401964723666,3.869543656563568,-0.01471181483368876,0.02358873951417617,0.0011702059567857631,0.6934288661511774,0.7894433876741608,4.102560914698784,0.05659053076079644,-0.045584748949784454,0.0018647839557732178,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.5057380400806726,0.8671551176320947,-3.10851062171564,0.42650696079468337,2.3139042213986483,0.5404216925036118,1.7207692514261648,-3.869543656563568,4.829279873141805,4.829279873141805,6.311206931638009,0,0,-0.0005291506634072782,-9.999999025923074e-05
+26469,1792839461493358166,18140917000000,1792839461491856991,DOWN_SETTLE,4,0.0647,0.06470202654600143,0.6762759806395563,-0.004966397020563237,0.1016607126128783,0.9999999248374667,-0.00010645615619934816,0.000324805089969917,0.00015791347580122972,0.6761,-0.0046,0.10123284262473987,1.0,0.0,0.0,0.0,-0.17421666227644916,-0.16036591720744175,3.77209013548147,-0.017109703921960116,0.022033401045397374,0.0001753504704198256,0.720544811557712,0.7677814901139557,4.005107393616686,0.054192641672525084,-0.04714008741856325,0.0008699284694072801,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.4387798712874393,0.9851071817067383,-3.0952534989890075,0.3615169567989287,2.3011330298860124,0.5275931765411636,1.7207692514261648,-3.77209013548147,4.816022750415172,0.0,0.0,0,0,-0.00012393564703527536,0.0012518752225785389
+26558,1792839462229428492,18141653000000,1792839462223856736,DOWN_PEAK_HOLD,4,0.0647,0.06470136344432831,0.6762491470382077,-0.0049632266455265535,0.1015797639100387,0.9999999394607568,-0.0001114898950180067,0.0002732472588440708,0.0001594593544512692,0.6761,-0.0046,0.10122149071714405,1.0,0.0,0.0,0.0,-0.14308850920109017,-0.2156879784344783,3.3052576709293087,-0.020638274905213014,0.018849285035309832,0.00045855221518875504,0.751672964633071,0.7124594288869192,3.5382749290645243,0.050664070689272186,-0.05032420342865079,0.0011531302141762096,0.8947614738341612,0.9281474073213974,0.23301725813521545,0.0713023455944852,-0.06917348846396063,0.0006945779989874545,1,1.227936591007434,0.9567105506899781,-2.449724783165695,0.34438620567922557,1.8446272717648156,0.5232118089714529,1.7207692514261648,-3.3052576709293087,4.17049403459186,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_15A_15/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,1792839420475207582,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.953023410e-09,-6.787283756e-11,-3.037053942e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450576e-01,-1.184331069e-04,8.303258661e-01
+1,8.666666667e-01,DOWN_FORCE_DETACH,1792839421326762333,-8.877899850e-07,-5.576694205e-07,-1.349792908e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.412486547e-08,-3.155136340e-09,-8.016727282e-09,7.019547450e-01,-2.282840444e-05,8.601417374e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451298e-01,-1.184361941e-04,8.303258584e-01
+2,1.716666667e+00,DOWN_FORCE_DETACH,1792839422227781588,-1.925052577e-07,1.434645020e-06,-1.382805239e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.097893162e-07,-5.313612404e-09,-8.650573036e-09,7.019554403e-01,-2.083609000e-05,8.601292592e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451654e-01,-1.184383526e-04,8.303258578e-01
+3,2.633333333e+00,DOWN_FORCE_DETACH,1792839423128531336,2.384961026e-05,-3.825118433e-06,-4.839369975e-05,1.659241825e-05,-5.409739029e-06,-4.725908887e-05,1.730788726e-05,-5.440394690e-06,-4.707008957e-05,7.019794824e-01,-2.609585346e-05,8.600946935e-01,7.019722252e-01,-2.768047405e-05,8.600958282e-01,7.027623635e-01,-1.238734337e-04,8.302787964e-01
+4,3.416666667e+00,DOWN_FORCE_DETACH,1792839423899198260,2.016848391e-05,-4.745203282e-06,-7.569964373e-05,1.679252026e-05,-5.716952708e-06,-6.724817186e-05,1.734780296e-05,-5.736207394e-06,-6.705818825e-05,7.019758013e-01,-2.701593830e-05,8.600673876e-01,7.019724253e-01,-2.798768773e-05,8.600758391e-01,7.027624034e-01,-1.241692464e-04,8.302588083e-01
+5,4.333333333e+00,DOWN_FORCE_DETACH,1792839424815626629,1.562002328e-05,-8.096163648e-06,-1.137494238e-04,1.281972166e-05,-8.136885130e-06,-1.082717073e-04,1.264784137e-05,-8.160668753e-06,-1.080019302e-04,7.019712528e-01,-3.036689867e-05,8.600293378e-01,7.019684525e-01,-3.040762015e-05,8.600348155e-01,7.027577035e-01,-1.265937077e-04,8.302178645e-01
+6,5.266666667e+00,DOWN_FORCE_DETACH,1792839425765653639,1.547304349e-05,-1.637092338e-05,-1.433039484e-04,1.223663563e-05,-8.081676670e-06,-1.293401940e-04,1.176274181e-05,-8.079214422e-06,-1.290958876e-04,7.019711059e-01,-3.864165840e-05,8.599997833e-01,7.019678695e-01,-3.035241169e-05,8.600137470e-01,7.027568184e-01,-1.265122534e-04,8.301967706e-01
+7,6.016666667e+00,DOWN_FORCE_DETACH,1792839426502784061,1.687929060e-05,-1.037030440e-05,-1.757232224e-04,1.385517647e-05,-1.476905633e-05,-1.707416776e-04,1.295018417e-05,-1.480322258e-05,-1.704289197e-04,7.019725121e-01,-3.264103942e-05,8.599673640e-01,7.019694880e-01,-3.703979135e-05,8.599723456e-01,7.027580058e-01,-1.332362616e-04,8.301554375e-01
+8,6.966666667e+00,DOWN_FORCE_DETACH,1792839427436446203,3.067929231e-05,-2.108624812e-05,-2.252978890e-04,2.787111995e-05,-1.714156471e-05,-2.122902526e-04,2.757250406e-05,-1.717210991e-05,-2.119491999e-04,7.019863121e-01,-4.335698314e-05,8.599177894e-01,7.019835039e-01,-3.941229973e-05,8.599307970e-01,7.027726281e-01,-1.356051489e-04,8.301139173e-01
+9,7.833333333e+00,DOWN_FORCE_DETACH,1792839428288438713,3.133594474e-05,-2.673525489e-05,-2.757072002e-04,2.947721478e-05,-1.920055862e-05,-2.587037100e-04,2.872933953e-05,-1.923200217e-05,-2.583518857e-04,7.019869688e-01,-4.900598991e-05,8.598673800e-01,7.019851100e-01,-4.147129364e-05,8.598843835e-01,7.027737850e-01,-1.376650412e-04,8.300675146e-01
+10,8.800000000e+00,DOWN_FORCE_DETACH,1792839429238570591,3.769895556e-05,-2.756599467e-05,-3.209164206e-04,3.678626852e-05,-3.186883077e-05,-3.173080073e-04,3.583604485e-05,-3.195477466e-05,-3.168059584e-04,7.019933318e-01,-4.983672969e-05,8.598221708e-01,7.019924191e-01,-5.413956579e-05,8.598257792e-01,7.027808917e-01,-1.503878136e-04,8.300090605e-01
+11,9.316666667e+00,DOWN_FORCE_DETACH,1792839429778975284,8.085738012e-05,-2.744976366e-05,-3.195569870e-04,8.165516277e-05,-2.141815270e-05,-3.048065116e-04,8.414592983e-05,-2.149611192e-05,-3.045236123e-04,7.020364902e-01,-4.972049869e-05,8.598235303e-01,7.020372880e-01,-4.368888772e-05,8.598382807e-01,7.028292016e-01,-1.399291509e-04,8.300213428e-01
+12,1.015000000e+01,DOWN_FORCE_DETACH,1792839430597750276,8.979222698e-05,-1.381039846e-06,-3.624579439e-04,8.959098719e-05,-1.612860214e-06,-3.620946530e-04,9.217412977e-05,-1.612841468e-06,-3.616333263e-04,7.020454250e-01,-2.365177487e-05,8.597806293e-01,7.020452238e-01,-2.388359524e-05,8.597809926e-01,7.028372298e-01,-1.200458804e-04,8.299642331e-01
+13,1.096666667e+01,DOWN_FORCE_DETACH,1792839431401439954,9.917279011e-05,-1.692344321e-05,-4.229423594e-04,9.846789593e-05,-1.704135149e-05,-4.169887518e-04,1.010808440e-04,-1.712632335e-05,-4.165312212e-04,7.020548056e-01,-3.919417823e-05,8.597201449e-01,7.020541007e-01,-3.931208651e-05,8.597260985e-01,7.028461365e-01,-1.355593623e-04,8.299093352e-01
+14,1.178333333e+01,DOWN_FORCE_DETACH,1792839432203288295,1.088063671e-04,-2.107827722e-05,-4.898464230e-04,1.065107705e-04,-2.374687128e-05,-4.802418993e-04,1.089922278e-04,-2.387531875e-05,-4.797787609e-04,7.020644392e-01,-4.334901225e-05,8.596532408e-01,7.020621436e-01,-4.601760630e-05,8.596628453e-01,7.028540479e-01,-1.423083577e-04,8.298460877e-01
+15,1.250000000e+01,DOWN_FORCE_DETACH,1792839432907495704,1.210915417e-04,-2.422257538e-05,-5.262231363e-04,1.153418402e-04,-1.794540108e-05,-5.180685559e-04,1.181585932e-04,-1.803750394e-05,-5.177025119e-04,7.020767244e-01,-4.649331040e-05,8.596168641e-01,7.020709747e-01,-4.021613610e-05,8.596250187e-01,7.028632142e-01,-1.364705429e-04,8.298081639e-01
+16,1.326666667e+01,DOWN_FORCE_DETACH,1792839433661422775,1.288132989e-04,-2.224018731e-05,-5.514385693e-04,1.241604757e-04,-2.028271504e-05,-5.549417045e-04,1.272021238e-04,-2.039374318e-05,-5.545044075e-04,7.020844461e-01,-4.451092233e-05,8.595916487e-01,7.020797933e-01,-4.255345006e-05,8.595881455e-01,7.028722578e-01,-1.388267822e-04,8.297713620e-01
+17,1.405000000e+01,DOWN_FORCE_DETACH,1792839434496481028,1.348586093e-04,-2.178278223e-05,-5.765615623e-04,1.320870000e-04,-2.706200530e-05,-5.720697036e-04,1.355156812e-04,-2.718775126e-05,-5.717895093e-04,7.020904914e-01,-4.405351726e-05,8.595665257e-01,7.020877198e-01,-4.933274032e-05,8.595710175e-01,7.028805713e-01,-1.456207902e-04,8.297540769e-01
+18,1.486666667e+01,DOWN_FORCE_DETACH,1792839435298912655,1.456139034e-04,-2.481167997e-05,-6.110459120e-04,1.424121510e-04,-2.378209216e-05,-6.119744131e-04,1.461659943e-04,-2.390877259e-05,-6.115912018e-04,7.021012467e-01,-4.708241499e-05,8.595320413e-01,7.020980450e-01,-4.605282719e-05,8.595311128e-01,7.028912216e-01,-1.423418116e-04,8.297142752e-01
+19,1.571666667e+01,DOWN_FORCE_DETACH,1792839436216547108,1.545085295e-04,-3.053071210e-05,-6.778007187e-04,1.516510082e-04,-2.561352901e-05,-6.726519105e-04,1.554517437e-04,-2.577686011e-05,-6.721329608e-04,7.021101413e-01,-5.280144713e-05,8.594652865e-01,7.021072838e-01,-4.788426404e-05,8.594704353e-01,7.029005074e-01,-1.442098991e-04,8.296537335e-01
+20,1.653333333e+01,DOWN_FORCE_DETACH,1792839437018648104,1.670646186e-04,-3.061927528e-05,-7.284148538e-04,1.616470735e-04,-3.014309535e-05,-7.137541158e-04,1.657077402e-04,-3.031986111e-05,-7.133338843e-04,7.021226974e-01,-5.289001031e-05,8.594146724e-01,7.021172799e-01,-5.241383038e-05,8.594293331e-01,7.029107634e-01,-1.487529001e-04,8.296125326e-01
+21,1.741666667e+01,DOWN_FORCE_DETACH,1792839437887247803,1.761323298e-04,-3.832489604e-05,-7.813703595e-04,1.743464677e-04,-3.370179973e-05,-7.767338772e-04,1.786434176e-04,-3.384259692e-05,-7.762353499e-04,7.021317651e-01,-6.059563106e-05,8.593617169e-01,7.021299793e-01,-5.597253475e-05,8.593663534e-01,7.029236990e-01,-1.522756359e-04,8.295496311e-01
+22,1.833333333e+01,DOWN_FORCE_DETACH,1792839438788347592,1.826597656e-04,-2.971977697e-05,-8.280324796e-04,1.799844549e-04,-3.215953693e-05,-8.171512686e-04,1.842837430e-04,-3.234420653e-05,-8.167387042e-04,7.021382926e-01,-5.199051200e-05,8.593150548e-01,7.021356173e-01,-5.443027195e-05,8.593259360e-01,7.029293394e-01,-1.507772455e-04,8.295091277e-01
+23,1.911666667e+01,DOWN_FORCE_DETACH,1792839439590305556,1.906211584e-04,-2.887005717e-05,-8.708735632e-04,1.863869742e-04,-3.099333349e-05,-8.615012314e-04,1.906120899e-04,-3.115259878e-05,-8.610473486e-04,7.021462540e-01,-5.114079220e-05,8.592722137e-01,7.021420198e-01,-5.326406852e-05,8.592815860e-01,7.029356677e-01,-1.495856378e-04,8.294648191e-01
+24,1.996666667e+01,DOWN_FORCE_DETACH,1792839440476245808,2.012579051e-04,-3.691881641e-05,-9.270263640e-04,1.966450589e-04,-3.598391222e-05,-9.233658510e-04,2.009570306e-04,-3.614654261e-05,-9.228037551e-04,7.021568907e-01,-5.918955144e-05,8.592160609e-01,7.021522779e-01,-5.825464724e-05,8.592197214e-01,7.029460127e-01,-1.545795816e-04,8.294030627e-01
+25,2.083333333e+01,DOWN_FORCE_DETACH,1792839441359667817,2.103497150e-04,-3.677088077e-05,-9.829232558e-04,2.072088589e-04,-4.000791807e-05,-9.816476283e-04,2.115847607e-04,-4.019170999e-05,-9.810501489e-04,7.021659825e-01,-5.904161579e-05,8.591601640e-01,7.021628417e-01,-6.227865310e-05,8.591614396e-01,7.029566404e-01,-1.586247490e-04,8.293448163e-01
+26,2.160000000e+01,DOWN_FORCE_DETACH,1792839442129420899,2.208850199e-04,-3.793997340e-05,-1.029853781e-03,2.150926675e-04,-3.988722256e-05,-1.021331212e-03,2.196219845e-04,-4.006743743e-05,-1.020687824e-03,7.021765178e-01,-6.021070842e-05,8.591132335e-01,7.021707255e-01,-6.215795758e-05,8.591217560e-01,7.029646776e-01,-1.585004764e-04,8.293051786e-01
+27,2.233333333e+01,DOWN_FORCE_DETACH,1792839442882623759,2.272143085e-04,-4.310270475e-05,-1.083468697e-03,2.269742601e-04,-4.300735998e-05,-1.083482394e-03,2.316768759e-04,-4.319971954e-05,-1.082706314e-03,7.021828471e-01,-6.537343977e-05,8.590596185e-01,7.021826071e-01,-6.527809500e-05,8.590596048e-01,7.029767325e-01,-1.616327585e-04,8.292431601e-01
+28,2.315000000e+01,DOWN_FORCE_DETACH,1792839443701862168,2.385794215e-04,-4.353578552e-05,-1.137444769e-03,2.330870974e-04,-4.136389449e-05,-1.125684794e-03,2.377950435e-04,-4.154681698e-05,-1.125015754e-03,7.021942122e-01,-6.580652054e-05,8.590056425e-01,7.021887199e-01,-6.363462951e-05,8.590174024e-01,7.029828507e-01,-1.599798560e-04,8.292008507e-01
+29,2.390000000e+01,DOWN_FORCE_DETACH,1792839444455515186,2.417620214e-04,-4.571521569e-05,-1.198458846e-03,2.453155405e-04,-4.254681829e-05,-1.184909311e-03,2.502731975e-04,-4.278553062e-05,-1.184224325e-03,7.021973948e-01,-6.798595071e-05,8.589446284e-01,7.022009484e-01,-6.481755332e-05,8.589581779e-01,7.029953288e-01,-1.612185696e-04,8.291416421e-01
+30,2.481666667e+01,DOWN_FORCE_DETACH,1792839445356003183,2.538793678e-04,-5.019401055e-05,-1.262184301e-03,2.512251336e-04,-4.709197410e-05,-1.245673113e-03,2.558942385e-04,-4.736763315e-05,-1.245012359e-03,7.022095122e-01,-7.246474557e-05,8.588809029e-01,7.022068580e-01,-6.936270912e-05,8.588974141e-01,7.030009499e-01,-1.658006721e-04,8.290808541e-01
+31,2.566666667e+01,DOWN_FORCE_DETACH,1792839446240565008,2.658831574e-04,-4.704517450e-05,-1.325070191e-03,2.635449559e-04,-4.895570443e-05,-1.326020607e-03,2.681926340e-04,-4.925515753e-05,-1.325354066e-03,7.022215160e-01,-6.931590952e-05,8.588180170e-01,7.022191778e-01,-7.122643945e-05,8.588170666e-01,7.030132483e-01,-1.676881965e-04,8.290005124e-01
+32,2.645000000e+01,DOWN_FORCE_DETACH,1792839447011146090,2.710204741e-04,-5.058262148e-05,-1.398334586e-03,2.727730991e-04,-5.451095515e-05,-1.385564229e-03,2.774698542e-04,-5.476872142e-05,-1.384993871e-03,7.022266533e-01,-7.285335650e-05,8.587447527e-01,7.022284059e-01,-7.678169018e-05,8.587575230e-01,7.030225255e-01,-1.732017604e-04,8.289408726e-01
+33,2.721666667e+01,DOWN_FORCE_DETACH,1792839447764358226,2.833713696e-04,-5.847969736e-05,-1.461676461e-03,2.794329599e-04,-5.622466634e-05,-1.448290913e-03,2.838196884e-04,-5.650088562e-05,-1.447695686e-03,7.022390042e-01,-8.075043238e-05,8.586814108e-01,7.022350658e-01,-7.849540136e-05,8.586947963e-01,7.030288753e-01,-1.749339246e-04,8.288781708e-01
+34,2.795000000e+01,DOWN_FORCE_DETACH,1792839448484891747,2.908934960e-04,-6.277081184e-05,-1.541213057e-03,2.907028246e-04,-6.044827711e-05,-1.535031320e-03,2.949451170e-04,-6.073727103e-05,-1.534306027e-03,7.022465263e-01,-8.504154686e-05,8.586018742e-01,7.022463356e-01,-8.271901213e-05,8.586080559e-01,7.030400007e-01,-1.791703100e-04,8.287915604e-01
+35,2.871666667e+01,DOWN_FORCE_DETACH,1792839449238272319,2.990740991e-04,-6.136485402e-05,-1.631237262e-03,2.948686916e-04,-6.549406868e-05,-1.619196953e-03,2.984006514e-04,-6.582016229e-05,-1.618452148e-03,7.022547069e-01,-8.363558904e-05,8.585118500e-01,7.022505015e-01,-8.776480370e-05,8.585238903e-01,7.030434563e-01,-1.842532013e-04,8.287074143e-01
+36,2.953333333e+01,DOWN_FORCE_DETACH,1792839450040725345,3.098650189e-04,-7.247728994e-05,-1.735687519e-03,3.084631380e-04,-6.946919515e-05,-1.728775427e-03,3.116704255e-04,-6.979563666e-05,-1.727941995e-03,7.022654978e-01,-9.474802496e-05,8.584073997e-01,7.022640960e-01,-9.173993017e-05,8.584143118e-01,7.030567261e-01,-1.882286756e-04,8.285979245e-01
+37,3.030000000e+01,DOWN_FORCE_DETACH,1792839450811323964,3.175857948e-04,-7.460380414e-05,-1.844957052e-03,3.154264167e-04,-7.552508303e-05,-1.837029230e-03,3.179255469e-04,-7.587828673e-05,-1.836145192e-03,7.022732186e-01,-9.687453916e-05,8.582981302e-01,7.022710592e-01,-9.779581805e-05,8.583060580e-01,7.030629812e-01,-1.943113257e-04,8.284897213e-01
+38,3.103333333e+01,DOWN_FORCE_DETACH,1792839451547984767,3.282783206e-04,-8.283407040e-05,-1.951147185e-03,3.274592969e-04,-7.941451953e-05,-1.946677096e-03,3.296090488e-04,-7.975279778e-05,-1.945769461e-03,7.022839111e-01,-1.051048054e-04,8.581919401e-01,7.022830921e-01,-1.016852546e-04,8.581964101e-01,7.030746647e-01,-1.981858368e-04,8.283800970e-01
+39,3.176666667e+01,DOWN_FORCE_DETACH,1792839452269443797,3.390512223e-04,-8.666829782e-05,-2.062837023e-03,3.378274747e-04,-8.903778173e-05,-2.059559157e-03,3.394818873e-04,-8.944351180e-05,-2.058548023e-03,7.022946840e-01,-1.089390328e-04,8.580802502e-01,7.022934603e-01,-1.113085168e-04,8.580835281e-01,7.030845375e-01,-2.078765508e-04,8.282673184e-01
+40,3.246666667e+01,DOWN_FORCE_DETACH,1792839452973134695,3.500161387e-04,-8.997352003e-05,-2.179279229e-03,3.497986856e-04,-9.634743248e-05,-2.170102595e-03,3.510348493e-04,-9.676142327e-05,-2.169034502e-03,7.023056490e-01,-1.122442550e-04,8.579638080e-01,7.023054315e-01,-1.186181675e-04,8.579729846e-01,7.030960905e-01,-2.151944622e-04,8.281568319e-01
+41,3.323333333e+01,DOWN_FORCE_DETACH,1792839453727063217,3.613937690e-04,-9.204858004e-05,-2.303951379e-03,3.621079389e-04,-9.049587458e-05,-2.298067174e-03,3.627542368e-04,-9.087609333e-05,-2.297048598e-03,7.023170266e-01,-1.143193151e-04,8.578391359e-01,7.023177408e-01,-1.127666096e-04,8.578450201e-01,7.031078099e-01,-2.093091323e-04,8.280288179e-01
+42,3.381666667e+01,DOWN_FORCE_DETACH,1792839454316206550,3.677276273e-04,-9.628929948e-05,-2.422638728e-03,3.674290442e-04,-9.697788293e-05,-2.410986550e-03,3.670827567e-04,-9.736165563e-05,-2.409912314e-03,7.023233604e-01,-1.185600345e-04,8.577204485e-01,7.023230619e-01,-1.192486180e-04,8.577321007e-01,7.031121384e-01,-2.157946946e-04,8.279159541e-01
+43,3.446666667e+01,DOWN_FORCE_DETACH,1792839455008944708,3.725189972e-04,-9.533213322e-05,-2.565629174e-03,3.727515447e-04,-9.827359288e-05,-2.550756332e-03,3.710813994e-04,-9.862707018e-05,-2.549566290e-03,7.023281518e-01,-1.176028682e-04,8.575774581e-01,7.023283844e-01,-1.205443279e-04,8.575923309e-01,7.031161370e-01,-2.170601092e-04,8.277763002e-01
+44,3.505000000e+01,DOWN_FORCE_DETACH,1792839455610289749,3.734683112e-04,-1.029804078e-04,-2.715234281e-03,3.735431393e-04,-1.028310970e-04,-2.698974131e-03,3.701975960e-04,-1.032089245e-04,-2.697771765e-03,7.023291011e-01,-1.252511428e-04,8.574278530e-01,7.023291760e-01,-1.251018320e-04,8.574441131e-01,7.031152532e-01,-2.216419635e-04,8.276280947e-01
+45,3.558333333e+01,DOWN_FORCE_DETACH,1792839456170259332,3.788155548e-04,-1.030415857e-04,-2.861143039e-03,3.755492736e-04,-1.091320685e-04,-2.860965882e-03,3.704042864e-04,-1.095413023e-04,-2.859523734e-03,7.023344484e-01,-1.253123208e-04,8.572819442e-01,7.023311821e-01,-1.314028035e-04,8.572821214e-01,7.031154599e-01,-2.279743413e-04,8.274663427e-01
+46,3.613333333e+01,DOWN_FORCE_DETACH,1792839456723602352,3.911439742e-04,-1.058118172e-04,-3.011696521e-03,3.910352668e-04,-1.102188621e-04,-2.997259964e-03,3.854468483e-04,-1.106221970e-04,-2.995897322e-03,7.023467768e-01,-1.280825522e-04,8.571313907e-01,7.023466681e-01,-1.324895971e-04,8.571458273e-01,7.031305025e-01,-2.290552360e-04,8.273299691e-01
+47,3.665000000e+01,DOWN_FORCE_DETACH,1792839457253317140,3.946858694e-04,-1.147869758e-04,-3.174326236e-03,3.937629013e-04,-1.114187873e-04,-3.156559604e-03,3.865673392e-04,-1.118289060e-04,-3.155121372e-03,7.023503187e-01,-1.370577109e-04,8.569687610e-01,7.023493957e-01,-1.336895223e-04,8.569865276e-01,7.031316230e-01,-2.302619450e-04,8.271707451e-01
+48,3.711666667e+01,DOWN_FORCE_DETACH,1792839457742018941,3.987763602e-04,-1.166024309e-04,-3.338194638e-03,3.963261402e-04,-1.165964167e-04,-3.322541928e-03,3.873196179e-04,-1.171050420e-04,-3.321013659e-03,7.023544092e-01,-1.388731659e-04,8.568048926e-01,7.023519590e-01,-1.388671517e-04,8.568205453e-01,7.031323752e-01,-2.355380810e-04,8.270048528e-01
+49,3.755000000e+01,DOWN_FORCE_DETACH,1792839458214556738,3.971128994e-04,-1.215896711e-04,-3.517757182e-03,3.972607997e-04,-1.147316468e-04,-3.503634100e-03,3.861263613e-04,-1.152102959e-04,-3.502006769e-03,7.023527457e-01,-1.438604061e-04,8.566253301e-01,7.023528936e-01,-1.370023818e-04,8.566394531e-01,7.031311820e-01,-2.336433349e-04,8.268238597e-01
+50,3.798333333e+01,DOWN_FORCE_DETACH,1792839458640434951,3.945705730e-04,-1.270428528e-04,-3.681723025e-03,3.917111495e-04,-1.217481588e-04,-3.681250396e-03,3.780417844e-04,-1.222146817e-04,-3.679587854e-03,7.023502034e-01,-1.493135878e-04,8.564613642e-01,7.023473440e-01,-1.440188938e-04,8.564618368e-01,7.031230974e-01,-2.406477206e-04,8.266462786e-01
+51,3.840000000e+01,DOWN_FORCE_DETACH,1792839459051116001,3.916117990e-04,-1.242653674e-04,-3.860886056e-03,3.913815051e-04,-1.241346253e-04,-3.860558136e-03,3.755338418e-04,-1.246244416e-04,-3.858792661e-03,7.023472446e-01,-1.465361025e-04,8.562822012e-01,7.023470143e-01,-1.464053604e-04,8.562825291e-01,7.031205895e-01,-2.430574806e-04,8.264670738e-01
+52,3.876666667e+01,DOWN_FORCE_DETACH,1792839459427563449,3.879072299e-04,-1.256398993e-04,-4.032321424e-03,3.874167855e-04,-1.253684943e-04,-4.032254432e-03,3.692273121e-04,-1.258212653e-04,-4.030373699e-03,7.023435400e-01,-1.479106343e-04,8.561107658e-01,7.023430496e-01,-1.476392294e-04,8.561108328e-01,7.031142829e-01,-2.442543042e-04,8.262954928e-01
+53,3.910000000e+01,DOWN_FORCE_DETACH,1792839459787811203,3.867116309e-04,-1.178034875e-04,-4.201546313e-03,3.845898191e-04,-1.311654570e-04,-4.194215814e-03,3.642761809e-04,-1.316738044e-04,-4.192370091e-03,7.023423444e-01,-1.400742225e-04,8.559415409e-01,7.023402226e-01,-1.534361920e-04,8.559488714e-01,7.031093318e-01,-2.501068434e-04,8.261334964e-01
+54,3.946666667e+01,DOWN_FORCE_DETACH,1792839460147404112,3.765937609e-04,-1.324921250e-04,-4.388578613e-03,3.739936723e-04,-1.266407713e-04,-4.370132699e-03,3.506784160e-04,-1.270604944e-04,-4.368439060e-03,7.023322266e-01,-1.547628600e-04,8.557545086e-01,7.023296265e-01,-1.489115064e-04,8.557729545e-01,7.030957340e-01,-2.454935334e-04,8.259574274e-01
+55,3.981666667e+01,DOWN_FORCE_DETACH,1792839460507576492,3.742576150e-04,-1.355071996e-04,-4.571441817e-03,3.754066922e-04,-1.358944330e-04,-4.559389898e-03,3.499294849e-04,-1.364046425e-04,-4.557609908e-03,7.023298904e-01,-1.577779346e-04,8.555716454e-01,7.023310395e-01,-1.581651681e-04,8.555836973e-01,7.030949851e-01,-2.548376815e-04,8.257682565e-01
+56,4.015000000e+01,DOWN_FORCE_DETACH,1792839460851649284,3.860908217e-04,-1.250951107e-04,-4.744173256e-03,3.877763652e-04,-1.252438744e-04,-4.729415245e-03,3.611223931e-04,-1.256866739e-04,-4.727623511e-03,7.023417236e-01,-1.473658457e-04,8.553989140e-01,7.023434092e-01,-1.475146094e-04,8.554136720e-01,7.031061780e-01,-2.441197129e-04,8.255982429e-01
+57,4.046666667e+01,DOWN_FORCE_DETACH,1792839461163281192,3.725482148e-04,-1.335494494e-04,-4.922197039e-03,3.672076666e-04,-1.325690802e-04,-4.905101991e-03,3.369960572e-04,-1.330447711e-04,-4.903397868e-03,7.023281810e-01,-1.558201844e-04,8.552208902e-01,7.023228405e-01,-1.548398152e-04,8.552379852e-01,7.030820517e-01,-2.514778101e-04,8.254224686e-01
+58,4.080000000e+01,DOWN_SETTLE,1792839461490389752,3.532010544e-04,-1.357321059e-04,-5.093270814e-03,3.554991533e-04,-1.414630489e-04,-5.075057227e-03,3.223812093e-04,-1.419804333e-04,-5.073532408e-03,7.023088339e-01,-1.580028410e-04,8.550498164e-01,7.023111320e-01,-1.637337840e-04,8.550680300e-01,7.030674368e-01,-2.604134723e-04,8.252523340e-01
+59,4.155000000e+01,DOWN_PEAK_HOLD,1792839462227430918,3.271050926e-04,-1.296405242e-04,-5.176248556e-03,3.307460371e-04,-1.326172567e-04,-5.165566182e-03,2.946093815e-04,-1.331594224e-04,-5.165206078e-03,7.022827379e-01,-1.519112592e-04,8.549668387e-01,7.022863789e-01,-1.548879918e-04,8.549775211e-01,7.030396650e-01,-2.515924613e-04,8.251606604e-01

Part2/Fixed/digit/ball_15A_15/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+00,3.8382e-02,9.6025e-02,2.4570e+00,-4.3346e-02,3.9501e-02,9.7808e-05,3.5070e-04,-6.5565e-07,-6.0558e-05,2.3767e-06,2.4807e-05,-1.4623e-06,3.5589e-04,2.4963e-05
+1,8.6667e-01,DOWN_FORCE_DETACH,1.9698e-04,5.0943e-02,9.6026e-02,2.4555e+00,-4.3256e-02,4.0392e-02,3.5167e-05,1.2912e-02,5.1409e-07,-1.5230e-03,9.2663e-05,9.1588e-04,-6.4104e-05,1.3002e-02,9.2279e-04
+2,1.7167e+00,DOWN_FORCE_DETACH,3.9526e-04,5.7137e-02,9.5981e-02,2.4554e+00,-4.3203e-02,4.0829e-02,-7.7402e-06,1.9105e-02,-4.4972e-05,-1.6658e-03,1.4527e-04,1.3534e-03,-1.0701e-04,1.9178e-02,1.3654e-03
+3,2.6333e+00,DOWN_FORCE_DETACH,5.9394e-04,3.3554e-02,1.1044e-01,2.4947e+00,-4.4151e-02,3.9117e-02,-3.0196e-05,-4.4779e-03,1.4411e-02,3.7652e-02,-8.0286e-04,-3.5859e-04,-1.2947e-04,4.0563e-02,8.8878e-04
+4,3.4167e+00,DOWN_FORCE_DETACH,7.9072e-04,5.1861e-02,1.1158e-01,2.4935e+00,-4.4195e-02,4.0403e-02,-3.3175e-05,1.3830e-02,1.5560e-02,3.6468e-02,-8.4705e-04,9.2731e-04,-1.3245e-04,4.1991e-02,1.2629e-03
+5,4.3333e+00,DOWN_FORCE_DETACH,9.8527e-04,6.2454e-02,1.1944e-01,2.5094e+00,-4.4706e-02,4.1125e-02,-3.3554e-05,2.4422e-02,2.3415e-02,5.2331e-02,-1.3577e-03,1.6496e-03,-1.3282e-04,6.2316e-02,2.1406e-03
+6,5.2667e+00,DOWN_FORCE_DETACH,1.1825e-03,6.3956e-02,1.2072e-01,2.5033e+00,-4.4794e-02,4.1230e-02,-2.8300e-05,2.5925e-02,2.4699e-02,4.6288e-02,-1.4455e-03,1.7545e-03,-1.2757e-04,5.8521e-02,2.2769e-03
+7,6.0167e+00,DOWN_FORCE_DETACH,1.3819e-03,6.3067e-02,1.3810e-01,2.5246e+00,-4.6009e-02,4.1132e-02,-1.7759e-05,2.5035e-02,4.2078e-02,6.7554e-02,-2.6609e-03,1.6563e-03,-1.1703e-04,8.3432e-02,3.1365e-03
+8,6.9667e+00,DOWN_FORCE_DETACH,1.5785e-03,5.1621e-02,1.4407e-01,2.5325e+00,-4.6463e-02,4.0302e-02,3.0741e-06,1.3590e-02,4.8049e-02,7.5455e-02,-3.1147e-03,8.2627e-04,-9.6197e-05,9.0481e-02,3.2239e-03
+9,7.8333e+00,DOWN_FORCE_DETACH,1.7776e-03,5.8475e-02,1.4881e-01,2.5379e+00,-4.6852e-02,4.0769e-02,1.2141e-05,2.0443e-02,5.2784e-02,8.0837e-02,-3.5038e-03,1.2930e-03,-8.7129e-05,9.8685e-02,3.7358e-03
+10,8.8000e+00,DOWN_FORCE_DETACH,1.9734e-03,5.7822e-02,1.7720e-01,2.5488e+00,-4.8936e-02,4.0704e-02,2.6076e-05,1.9791e-02,8.1170e-02,9.1730e-02,-5.5874e-03,1.2283e-03,-7.3195e-05,1.2407e-01,5.7213e-03
+11,9.3167e+00,DOWN_FORCE_DETACH,2.1711e-03,1.1541e-03,1.4876e-01,2.4985e+00,-4.7070e-02,3.6773e-02,3.3163e-05,-3.6877e-02,5.2734e-02,4.1480e-02,-3.7213e-03,-2.7030e-03,-6.6107e-05,7.6560e-02,4.5999e-03
+12,1.0150e+01,DOWN_FORCE_DETACH,2.3711e-03,3.7035e-02,1.5037e-01,2.5095e+00,-4.7309e-02,3.9292e-02,2.2495e-05,-9.9687e-04,5.4348e-02,5.2521e-02,-3.9601e-03,-1.8391e-04,-7.6775e-05,7.5586e-02,3.9651e-03
+13,1.0967e+01,DOWN_FORCE_DETACH,2.5666e-03,3.6833e-02,1.3200e-01,2.5362e+00,-4.6119e-02,3.9253e-02,-8.2476e-06,-1.1979e-03,3.5979e-02,7.9220e-02,-2.7705e-03,-2.2316e-04,-1.0752e-04,8.7015e-02,2.7815e-03
+14,1.1783e+01,DOWN_FORCE_DETACH,2.7636e-03,4.3172e-02,1.4486e-01,2.5361e+00,-4.7023e-02,3.9713e-02,2.1125e-06,5.1406e-03,4.8836e-02,7.9108e-02,-3.6745e-03,2.3705e-04,-9.7158e-05,9.3110e-02,3.6834e-03
+15,1.2500e+01,DOWN_FORCE_DETACH,2.9596e-03,4.4201e-02,1.2912e-01,2.5197e+00,-4.5905e-02,3.9815e-02,4.3466e-05,6.1694e-03,3.3096e-02,6.2710e-02,-2.5569e-03,3.3914e-04,-5.5804e-05,7.1175e-02,2.5799e-03
+16,1.3267e+01,DOWN_FORCE_DETACH,3.1585e-03,4.6076e-02,1.3337e-01,2.5176e+00,-4.6178e-02,3.9955e-02,1.2140e-04,8.0445e-03,3.7340e-02,6.0580e-02,-2.8292e-03,4.7964e-04,2.2132e-05,7.1617e-02,2.8697e-03
+17,1.4050e+01,DOWN_FORCE_DETACH,3.3548e-03,4.6493e-02,1.4849e-01,2.5018e+00,-4.7217e-02,4.0007e-02,2.0465e-04,8.4614e-03,5.2466e-02,4.4785e-02,-3.8689e-03,5.3141e-04,1.0538e-04,6.9498e-02,3.9067e-03
+18,1.4867e+01,DOWN_FORCE_DETACH,3.5516e-03,4.4775e-02,1.4024e-01,2.5172e+00,-4.6618e-02,3.9867e-02,2.7592e-04,6.7435e-03,4.4214e-02,6.0128e-02,-3.2700e-03,3.9147e-04,1.7664e-04,7.4938e-02,3.2981e-03
+19,1.5717e+01,DOWN_FORCE_DETACH,3.7499e-03,4.7439e-02,1.4418e-01,2.5362e+00,-4.6857e-02,4.0031e-02,3.5127e-04,9.4077e-03,4.8157e-02,7.9162e-02,-3.5087e-03,5.5553e-04,2.5200e-04,9.3135e-02,3.5614e-03
+20,1.6533e+01,DOWN_FORCE_DETACH,3.9425e-03,5.0045e-02,1.5451e-01,2.5247e+00,-4.7555e-02,4.0231e-02,4.1541e-04,1.2013e-02,5.8486e-02,6.7709e-02,-4.2069e-03,7.5507e-04,3.1614e-04,9.0274e-02,4.2858e-03
+21,1.7417e+01,DOWN_FORCE_DETACH,4.1450e-03,4.8523e-02,1.6251e-01,2.5350e+00,-4.8081e-02,4.0112e-02,4.5132e-04,1.0491e-02,6.6488e-02,7.7936e-02,-4.7321e-03,6.3666e-04,3.5205e-04,1.0298e-01,4.7877e-03
+22,1.8333e+01,DOWN_FORCE_DETACH,4.3440e-03,5.4387e-02,1.5915e-01,2.5187e+00,-4.7823e-02,4.0546e-02,4.4256e-04,1.6356e-02,6.3124e-02,6.1678e-02,-4.4745e-03,1.0698e-03,3.4329e-04,8.9757e-02,4.6134e-03
+23,1.9117e+01,DOWN_FORCE_DETACH,4.5362e-03,5.5541e-02,1.5723e-01,2.5205e+00,-4.7653e-02,4.0622e-02,4.1464e-04,1.7509e-02,6.1200e-02,6.3457e-02,-4.3048e-03,1.1465e-03,3.1537e-04,8.9882e-02,4.4660e-03
+24,1.9967e+01,DOWN_FORCE_DETACH,4.7373e-03,5.3972e-02,1.6927e-01,2.5403e+00,-4.8441e-02,4.0486e-02,3.7797e-04,1.5941e-02,7.3241e-02,8.3306e-02,-5.0925e-03,1.0103e-03,2.7870e-04,1.1206e-01,5.1992e-03
+25,2.0833e+01,DOWN_FORCE_DETACH,4.9342e-03,5.4008e-02,1.7911e-01,2.5526e+00,-4.9092e-02,4.0470e-02,3.2072e-04,1.5977e-02,8.3083e-02,9.5557e-02,-5.7433e-03,9.9375e-04,2.2145e-04,1.2763e-01,5.8329e-03
+26,2.1600e+01,DOWN_FORCE_DETACH,5.1287e-03,5.7942e-02,1.7858e-01,2.5505e+00,-4.9062e-02,4.0746e-02,2.5643e-04,1.9910e-02,8.2550e-02,9.3478e-02,-5.7138e-03,1.2698e-03,1.5716e-04,1.2629e-01,5.8553e-03
+27,2.2333e+01,DOWN_FORCE_DETACH,5.3273e-03,6.1347e-02,1.8782e-01,2.5503e+00,-4.9727e-02,4.0983e-02,1.9410e-04,2.3316e-02,9.1798e-02,9.3311e-02,-6.3786e-03,1.5075e-03,9.4830e-05,1.3296e-01,6.5550e-03
+28,2.3150e+01,DOWN_FORCE_DETACH,5.5270e-03,6.2278e-02,1.7945e-01,2.5614e+00,-4.9174e-02,4.1034e-02,1.1084e-04,2.4247e-02,8.3423e-02,1.0437e-01,-5.8254e-03,1.5586e-03,1.1573e-05,1.3580e-01,6.0303e-03
+29,2.3900e+01,DOWN_FORCE_DETACH,5.7268e-03,5.8845e-02,1.7940e-01,2.5657e+00,-4.9208e-02,4.0789e-02,3.7117e-05,2.0814e-02,8.3372e-02,1.0867e-01,-5.8593e-03,1.3128e-03,-6.2153e-05,1.3854e-01,6.0049e-03
+30,2.4817e+01,DOWN_FORCE_DETACH,5.9206e-03,6.4236e-02,1.8580e-01,2.5492e+00,-4.9690e-02,4.1198e-02,-3.9300e-05,2.6205e-02,8.9775e-02,9.2183e-02,-6.3412e-03,1.7222e-03,-1.3857e-04,1.3132e-01,6.5724e-03
+31,2.5667e+01,DOWN_FORCE_DETACH,6.1181e-03,5.8436e-02,1.8910e-01,2.5623e+00,-4.9842e-02,4.0781e-02,-8.4002e-05,2.0404e-02,9.3074e-02,1.0532e-01,-6.4935e-03,1.3050e-03,-1.8327e-04,1.4202e-01,6.6258e-03
+32,2.6450e+01,DOWN_FORCE_DETACH,6.3174e-03,5.5241e-02,2.0379e-01,2.5491e+00,-5.0743e-02,4.0563e-02,-9.8818e-05,1.7210e-02,1.0776e-01,9.2092e-02,-7.3942e-03,1.0873e-03,-1.9809e-04,1.4279e-01,7.4763e-03
+33,2.7217e+01,DOWN_FORCE_DETACH,6.5138e-03,5.3858e-02,2.0873e-01,2.5468e+00,-5.1001e-02,4.0457e-02,-1.0311e-04,1.5826e-02,1.1271e-01,8.9788e-02,-7.6523e-03,9.8074e-04,-2.0238e-04,1.4497e-01,7.7175e-03
+34,2.7950e+01,DOWN_FORCE_DETACH,6.7098e-03,4.6245e-02,2.1815e-01,2.5756e+00,-5.1592e-02,3.9866e-02,-9.3042e-05,8.2140e-03,1.2213e-01,1.1862e-01,-8.2433e-03,3.8982e-04,-1.9231e-04,1.7045e-01,8.2547e-03
+35,2.8717e+01,DOWN_FORCE_DETACH,6.9076e-03,5.1545e-02,2.3092e-01,2.5812e+00,-5.2440e-02,4.0218e-02,-7.2162e-05,1.3514e-02,1.3489e-01,1.2421e-01,-9.0914e-03,7.4209e-04,-1.7143e-04,1.8386e-01,9.1232e-03
+36,2.9533e+01,DOWN_FORCE_DETACH,7.1059e-03,4.7054e-02,2.4344e-01,2.5961e+00,-5.3273e-02,3.9892e-02,-3.2841e-05,9.0222e-03,1.4742e-01,1.3910e-01,-9.9244e-03,4.1575e-04,-1.3211e-04,2.0288e-01,9.9340e-03
+37,3.0300e+01,DOWN_FORCE_DETACH,7.3025e-03,5.5022e-02,2.5860e-01,2.6072e+00,-5.4308e-02,4.0465e-02,8.5593e-06,1.6991e-02,1.6257e-01,1.5014e-01,-1.0960e-02,9.8867e-04,-9.0711e-05,2.2194e-01,1.1005e-02
+38,3.1033e+01,DOWN_FORCE_DETACH,7.4993e-03,6.0160e-02,2.6659e-01,2.6262e+00,-5.4852e-02,4.0812e-02,5.9196e-05,2.2129e-02,1.7056e-01,1.6920e-01,-1.1503e-02,1.3366e-03,-4.0075e-05,2.4127e-01,1.1581e-02
+39,3.1767e+01,DOWN_FORCE_DETACH,7.6972e-03,6.9400e-02,2.8841e-01,2.6424e+00,-5.6312e-02,4.1431e-02,1.2476e-04,3.1369e-02,1.9239e-01,1.8541e-01,-1.2963e-02,1.9552e-03,2.5488e-05,2.6903e-01,1.3110e-02
+40,3.2467e+01,DOWN_FORCE_DETACH,7.8936e-03,7.0207e-02,3.0562e-01,2.6452e+00,-5.7412e-02,4.1477e-02,1.6569e-04,3.2175e-02,2.0960e-01,1.8813e-01,-1.4063e-02,2.0010e-03,6.6420e-05,2.8348e-01,1.4205e-02
+41,3.3233e+01,DOWN_FORCE_DETACH,8.0919e-03,6.4169e-02,2.9642e-01,2.6499e+00,-5.6642e-02,4.1038e-02,1.5871e-04,2.6138e-02,2.0040e-01,1.9284e-01,-1.3294e-02,1.5625e-03,5.9436e-05,2.7934e-01,1.3385e-02
+42,3.3817e+01,DOWN_FORCE_DETACH,8.2889e-03,5.8190e-02,3.1436e-01,2.6669e+00,-5.7756e-02,4.0569e-02,1.3694e-04,2.0159e-02,2.1834e-01,2.0984e-01,-1.4408e-02,1.0927e-03,3.7672e-05,3.0350e-01,1.4449e-02
+43,3.4467e+01,DOWN_FORCE_DETACH,8.4855e-03,5.0508e-02,3.1854e-01,2.6869e+00,-5.7893e-02,3.9967e-02,9.7419e-05,1.2476e-02,2.2251e-01,2.2989e-01,-1.4545e-02,4.9130e-04,-1.8519e-06,3.2018e-01,1.4553e-02
+44,3.5050e+01,DOWN_FORCE_DETACH,8.6832e-03,5.3800e-02,3.3187e-01,2.7034e+00,-5.8681e-02,4.0173e-02,9.2892e-05,1.5768e-02,2.3585e-01,2.4633e-01,-1.5333e-02,6.9758e-04,-6.3782e-06,3.4140e-01,1.5349e-02
+45,3.5583e+01,DOWN_FORCE_DETACH,8.8826e-03,6.1745e-02,3.4688e-01,2.7455e+00,-5.9617e-02,4.0708e-02,1.3289e-04,2.3714e-02,2.5086e-01,2.8843e-01,-1.6269e-02,1.2322e-03,3.3618e-05,3.8300e-01,1.6316e-02
+46,3.6133e+01,DOWN_FORCE_DETACH,9.0783e-03,6.0888e-02,3.4721e-01,2.7449e+00,-5.9555e-02,4.0656e-02,2.0119e-04,2.2857e-02,2.5118e-01,2.8789e-01,-1.6207e-02,1.1797e-03,1.0192e-04,3.8274e-01,1.6250e-02
+47,3.6650e+01,DOWN_FORCE_DETACH,9.2787e-03,7.1594e-02,3.4827e-01,2.7566e+00,-5.9475e-02,4.1382e-02,2.0152e-04,3.3563e-02,2.5224e-01,2.9961e-01,-1.6127e-02,1.9057e-03,1.0225e-04,3.9309e-01,1.6239e-02
+48,3.7117e+01,DOWN_FORCE_DETACH,9.4717e-03,7.1454e-02,3.5688e-01,2.7819e+00,-5.9955e-02,4.1334e-02,1.4582e-04,3.3423e-02,2.6086e-01,3.2486e-01,-1.6606e-02,1.8577e-03,4.6545e-05,4.1797e-01,1.6710e-02
+49,3.7550e+01,DOWN_FORCE_DETACH,9.6724e-03,6.8198e-02,3.5726e-01,2.8189e+00,-5.9701e-02,4.1042e-02,7.7580e-05,3.0166e-02,2.6124e-01,3.6185e-01,-1.6353e-02,1.5665e-03,-2.1691e-05,4.4731e-01,1.6427e-02
+50,3.7983e+01,DOWN_FORCE_DETACH,9.8628e-03,7.7093e-02,3.8180e-01,2.8397e+00,-6.1109e-02,4.1638e-02,6.3858e-05,3.9062e-02,2.8578e-01,3.8268e-01,-1.7761e-02,2.1626e-03,-3.5413e-05,4.7921e-01,1.7892e-02
+51,3.8400e+01,DOWN_FORCE_DETACH,1.0065e-02,8.5238e-02,3.7934e-01,2.8324e+00,-6.0862e-02,4.2233e-02,8.9333e-05,4.7207e-02,2.8331e-01,3.7537e-01,-1.7513e-02,2.7570e-03,-9.9372e-06,4.7265e-01,1.7729e-02
+52,3.8767e+01,DOWN_FORCE_DETACH,1.0260e-02,8.9273e-02,3.9228e-01,2.8521e+00,-6.1580e-02,4.2487e-02,8.0819e-05,5.1241e-02,2.9625e-01,3.9509e-01,-1.8231e-02,3.0111e-03,-1.8451e-05,4.9648e-01,1.8478e-02
+53,3.9100e+01,DOWN_FORCE_DETACH,1.0455e-02,9.1356e-02,4.0862e-01,2.8994e+00,-6.2390e-02,4.2565e-02,1.2000e-05,5.3325e-02,3.1259e-01,4.4242e-01,-1.9042e-02,3.0890e-03,-8.7271e-05,5.4433e-01,1.9291e-02
+54,3.9467e+01,DOWN_FORCE_DETACH,1.0657e-02,9.1283e-02,4.0310e-01,2.8920e+00,-6.1826e-02,4.2551e-02,-7.7534e-05,5.3252e-02,3.0707e-01,4.3500e-01,-1.8477e-02,3.0748e-03,-1.7680e-04,5.3512e-01,1.8732e-02
+55,3.9817e+01,DOWN_FORCE_DETACH,1.0857e-02,8.1651e-02,4.2317e-01,2.9126e+00,-6.2943e-02,4.1831e-02,-6.4360e-05,4.3620e-02,3.2715e-01,4.5563e-01,-1.9595e-02,2.3550e-03,-1.6363e-04,5.6260e-01,1.9737e-02
+56,4.0150e+01,DOWN_FORCE_DETACH,1.1054e-02,6.6764e-02,3.9341e-01,2.9207e+00,-6.0784e-02,4.0781e-02,1.4650e-05,2.8733e-02,2.9739e-01,4.6364e-01,-1.7436e-02,1.3050e-03,-8.4621e-05,5.5157e-01,1.7485e-02
+57,4.0467e+01,DOWN_FORCE_DETACH,1.1245e-02,9.0001e-02,4.1260e-01,2.9308e+00,-6.2024e-02,4.2403e-02,2.1400e-05,5.1970e-02,3.1657e-01,4.7381e-01,-1.8675e-02,2.9275e-03,-7.7871e-05,5.7220e-01,1.8903e-02
+58,4.0800e+01,DOWN_SETTLE,1.1448e-02,9.5962e-02,4.3602e-01,2.9149e+00,-6.3459e-02,4.2819e-02,-4.4953e-05,5.7930e-02,3.3999e-01,4.5790e-01,-2.0111e-02,3.3427e-03,-1.4422e-04,5.7325e-01,2.0387e-02
+59,4.1550e+01,DOWN_PEAK_HOLD,1.1644e-02,1.0067e-01,4.0496e-01,2.7052e+00,-6.2254e-02,4.3463e-02,-1.9830e-04,6.2634e-02,3.0893e-01,2.4822e-01,-1.8905e-02,3.9875e-03,-2.9757e-04,4.0122e-01,1.9324e-02

Part2/Fixed/digit/ball_15A_15/press_depth_04/up/camera_frames_60hz.tar

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Part2/Fixed/digit/ball_15A_15/press_depth_04/up/franka_data.csv

@@ -0,0 +1,61 @@
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Part2/Fixed/digit/ball_15A_15/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792839408698038181,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.953091133e-09,-6.845296725e-11,-3.044871022e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450576e-01,-1.184331024e-04,8.303258662e-01
+1,1.333333333e-01,XJC_ZERO_HOLD_BEFORE_UP,1792839408829153632,-8.176810085e-08,2.166743910e-06,2.667893604e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.660466498e-08,-5.996344549e-10,-2.424095591e-09,7.019555510e-01,-2.010399111e-05,8.601433540e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450722e-01,-1.184336335e-04,8.303258640e-01
+2,3.000000000e-01,WAIT_W2,1792839408992902136,8.091619409e-07,4.666512527e-06,-8.087768354e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.280468697e-08,-1.245106285e-09,-4.467213710e-09,7.019564420e-01,-1.760422250e-05,8.601422785e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450884e-01,-1.184342790e-04,8.303258620e-01
+3,4.500000000e-01,WAIT_W2,1792839409140494848,-3.396696256e-07,2.340613075e-06,1.710993242e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.563500822e-08,-1.791371334e-09,-5.843121542e-09,7.019552931e-01,-1.993012195e-05,8.601447982e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451012e-01,-1.184348253e-04,8.303258606e-01
+4,6.333333333e-01,WAIT_W2,1792839409320849756,5.234097609e-07,-1.369672257e-06,1.556800225e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.932121250e-08,-2.412783572e-09,-7.047685657e-09,7.019561562e-01,-2.364040728e-05,8.601446440e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451149e-01,-1.184354467e-04,8.303258594e-01
+5,7.500000000e-01,WAIT_W2,1792839409435846564,1.139030504e-06,-2.849719556e-05,5.131785920e-06,1.174789529e-06,-2.843422075e-05,5.141907869e-06,1.411254224e-06,-2.852887290e-05,5.090609081e-06,7.019567718e-01,-5.076793058e-05,8.601482190e-01,7.019568076e-01,-5.070495577e-05,8.601482291e-01,7.027464669e-01,-1.469619068e-04,8.303309571e-01
+6,7.666666667e-01,WAIT_W2,1792839409452106986,1.921548405e-06,-6.362427216e-05,6.693938313e-06,1.784480235e-06,-6.345939086e-05,6.937458401e-06,2.067145528e-06,-6.363820386e-05,6.842937191e-06,7.019575544e-01,-8.589500718e-05,8.601497812e-01,7.019574173e-01,-8.573012589e-05,8.601500247e-01,7.027471227e-01,-1.820712378e-04,8.303327094e-01
+7,7.833333333e-01,WAIT_W2,1792839409469672883,4.219082899e-06,-1.033537093e-04,9.743108366e-06,4.372792720e-06,-1.034858344e-04,9.880192775e-06,4.870269909e-06,-1.038023316e-04,9.793227357e-06,7.019598519e-01,-1.256244443e-04,8.601528303e-01,7.019600056e-01,-1.257565695e-04,8.601529674e-01,7.027499259e-01,-2.222353656e-04,8.303356597e-01
+8,7.833333333e-01,WAIT_W2,1792839409469672883,4.219082899e-06,-1.033537093e-04,9.743108366e-06,4.372792720e-06,-1.034858344e-04,9.880192775e-06,4.870269909e-06,-1.038023316e-04,9.793227357e-06,7.019598519e-01,-1.256244443e-04,8.601528303e-01,7.019600056e-01,-1.257565695e-04,8.601529674e-01,7.027499259e-01,-2.222353656e-04,8.303356597e-01
+9,8.000000000e-01,WAIT_W2,1792839409500672035,5.856134160e-06,-2.616446864e-04,1.808634117e-05,5.860625522e-06,-2.615521818e-04,1.789177119e-05,6.627667643e-06,-2.624041291e-04,1.780261813e-05,7.019614890e-01,-2.839154214e-04,8.601611736e-01,7.019614934e-01,-2.838229169e-04,8.601609790e-01,7.027516833e-01,-3.808371630e-04,8.303436691e-01
+10,8.000000000e-01,WAIT_W2,1792839409500672035,5.856134160e-06,-2.616446864e-04,1.808634117e-05,5.860625522e-06,-2.615521818e-04,1.789177119e-05,6.627667643e-06,-2.624041291e-04,1.780261813e-05,7.019614890e-01,-2.839154214e-04,8.601611736e-01,7.019614934e-01,-2.838229169e-04,8.601609790e-01,7.027516833e-01,-3.808371630e-04,8.303436691e-01
+11,8.000000000e-01,WAIT_W2,1792839409500672035,5.856134160e-06,-2.616446864e-04,1.808634117e-05,5.860625522e-06,-2.615521818e-04,1.789177119e-05,6.627667643e-06,-2.624041291e-04,1.780261813e-05,7.019614890e-01,-2.839154214e-04,8.601611736e-01,7.019614934e-01,-2.838229169e-04,8.601609790e-01,7.027516833e-01,-3.808371630e-04,8.303436691e-01
+12,8.166666667e-01,WAIT_W2,1792839409516920804,5.921894725e-06,-3.517659851e-04,2.078148738e-05,5.801904247e-06,-3.516373189e-04,2.075868599e-05,6.648367761e-06,-3.528766649e-04,2.066946916e-05,7.019615547e-01,-3.740367201e-04,8.601638687e-01,7.019614347e-01,-3.739080539e-04,8.601638459e-01,7.027517040e-01,-4.713096988e-04,8.303465359e-01
+13,8.166666667e-01,WAIT_W2,1792839409516920804,5.921894725e-06,-3.517659851e-04,2.078148738e-05,5.801904247e-06,-3.516373189e-04,2.075868599e-05,6.648367761e-06,-3.528766649e-04,2.066946916e-05,7.019615547e-01,-3.740367201e-04,8.601638687e-01,7.019614347e-01,-3.739080539e-04,8.601638459e-01,7.027517040e-01,-4.713096988e-04,8.303465359e-01
+14,8.333333333e-01,WAIT_W2,1792839409533634545,5.600709551e-06,-4.126850790e-04,2.385753689e-05,5.407170755e-06,-4.123930334e-04,2.362227038e-05,6.263840033e-06,-4.138744790e-04,2.363208219e-05,7.019612335e-01,-4.349558140e-04,8.601669448e-01,7.019610400e-01,-4.346637684e-04,8.601667095e-01,7.027513194e-01,-5.323075129e-04,8.303494985e-01
+15,8.666666667e-01,WAIT_W2,1792839409566825423,7.596437557e-06,-4.017880840e-04,2.703890490e-05,5.407170755e-06,-4.123930334e-04,2.362227038e-05,6.257501521e-06,-4.139031887e-04,2.371398465e-05,7.019632293e-01,-4.240588190e-04,8.601701261e-01,7.019610400e-01,-4.346637684e-04,8.601667095e-01,7.027513131e-01,-5.323362226e-04,8.303495805e-01
+16,9.000000000e-01,WAIT_W2,1792839409599555618,9.103546153e-06,-3.667427773e-04,2.682927497e-05,8.994386192e-06,-3.715217493e-04,2.901724289e-05,1.015819602e-05,-3.729140610e-04,2.904759152e-05,7.019647364e-01,-3.890135123e-04,8.601699165e-01,7.019646272e-01,-3.937924844e-04,8.601721045e-01,7.027552138e-01,-4.913470949e-04,8.303549141e-01
+17,9.666666667e-01,WAIT_W2,1792839409665392764,7.738249698e-06,-4.100752762e-04,2.867275706e-05,7.037075267e-06,-4.018557584e-04,2.775099068e-05,8.083202470e-06,-4.033840920e-04,2.787308938e-05,7.019633711e-01,-4.323460112e-04,8.601717600e-01,7.019626699e-01,-4.241264934e-04,8.601708382e-01,7.027531388e-01,-5.218171259e-04,8.303537396e-01
+18,1.083333333e+00,WAIT_W2,1792839409779643194,9.719230721e-06,-4.020466212e-04,3.184884684e-05,7.037075267e-06,-4.018557584e-04,2.775099068e-05,8.104989673e-06,-4.033955929e-04,2.791417316e-05,7.019653520e-01,-4.243173562e-04,8.601749361e-01,7.019626699e-01,-4.241264934e-04,8.601708382e-01,7.027531606e-01,-5.218286268e-04,8.303537806e-01
+19,1.233333333e+00,WAIT_W2,1792839409926608200,1.192509929e-05,-3.940267247e-04,3.738293882e-05,7.037075267e-06,-4.018557584e-04,2.775099068e-05,8.126365665e-06,-4.034022323e-04,2.793879277e-05,7.019675579e-01,-4.162974597e-04,8.601804702e-01,7.019626699e-01,-4.241264934e-04,8.601708382e-01,7.027531820e-01,-5.218352662e-04,8.303538053e-01
+20,1.366666667e+00,WAIT_W2,1792839410057524293,1.233595524e-05,-3.962364943e-04,3.874101951e-05,7.037075267e-06,-4.018557584e-04,2.775099068e-05,8.140424611e-06,-4.034061030e-04,2.794929281e-05,7.019679688e-01,-4.185072293e-04,8.601818283e-01,7.019626699e-01,-4.241264934e-04,8.601708382e-01,7.027531960e-01,-5.218391369e-04,8.303538158e-01
+21,1.500000000e+00,UP_FORCE_RAMP,1792839410189324853,1.376919588e-05,-4.042960410e-04,4.236645608e-05,7.037075267e-06,-4.018557584e-04,2.775099068e-05,8.151864803e-06,-4.034091138e-04,2.795432884e-05,7.019694020e-01,-4.265667760e-04,8.601854537e-01,7.019626699e-01,-4.241264934e-04,8.601708382e-01,7.027532075e-01,-5.218421477e-04,8.303538208e-01
+22,1.633333333e+00,UP_FORCE_RAMP,1792839410319923443,1.424970855e-05,-3.951096192e-04,4.293281923e-05,7.037075267e-06,-4.018557584e-04,2.775099068e-05,8.161646839e-06,-4.034116215e-04,2.795635124e-05,7.019698825e-01,-4.173803542e-04,8.601860201e-01,7.019626699e-01,-4.241264934e-04,8.601708382e-01,7.027532172e-01,-5.218446554e-04,8.303538228e-01
+23,1.866666667e+00,UP_FORCE_RAMP,1792839410565515657,1.368364666e-05,-3.947060060e-04,4.247402957e-05,7.037075267e-06,-4.018557584e-04,2.775099068e-05,8.176235418e-06,-4.034152896e-04,2.795633570e-05,7.019693165e-01,-4.169767410e-04,8.601855613e-01,7.019626699e-01,-4.241264934e-04,8.601708382e-01,7.027532318e-01,-5.218483235e-04,8.303538228e-01
+24,2.033333333e+00,UP_FORCE_RAMP,1792839410729924065,1.497088416e-05,-3.974015235e-04,4.392964819e-05,1.423130817e-05,-3.934595489e-04,4.469102911e-05,1.613281593e-05,-3.949545005e-04,4.478005541e-05,7.019706037e-01,-4.196722585e-04,8.601870169e-01,7.019698641e-01,-4.157302840e-04,8.601877783e-01,7.027611884e-01,-5.133875344e-04,8.303706465e-01
+25,2.183333333e+00,UP_FORCE_RAMP,1792839410893451802,1.525896766e-05,-3.921105055e-04,4.770065734e-05,1.423130817e-05,-3.934595489e-04,4.469102911e-05,1.615309929e-05,-3.949566906e-04,4.480083987e-05,7.019708918e-01,-4.143812405e-04,8.601907879e-01,7.019698641e-01,-4.157302840e-04,8.601877783e-01,7.027612087e-01,-5.133897245e-04,8.303706673e-01
+26,2.400000000e+00,UP_FORCE_RAMP,1792839411107994191,1.437499063e-05,-3.955192375e-04,5.106738846e-05,1.423130817e-05,-3.934595489e-04,4.469102911e-05,1.617207625e-05,-3.949594210e-04,4.481495312e-05,7.019700078e-01,-4.177899725e-04,8.601941546e-01,7.019698641e-01,-4.157302840e-04,8.601877783e-01,7.027612277e-01,-5.133924549e-04,8.303706814e-01
+27,2.600000000e+00,UP_FORCE_RAMP,1792839411318779865,1.455976597e-05,-3.946979065e-04,5.986401281e-05,1.423130817e-05,-3.934595489e-04,4.469102911e-05,1.618470595e-05,-3.949617189e-04,4.482136472e-05,7.019701926e-01,-4.169686416e-04,8.602029513e-01,7.019698641e-01,-4.157302840e-04,8.601877783e-01,7.027612403e-01,-5.133947528e-04,8.303706878e-01
+28,2.750000000e+00,UP_FORCE_RAMP,1792839411466541711,9.684498606e-06,-3.961198562e-04,6.206736999e-05,1.370234488e-05,-3.902640462e-04,6.593095025e-05,1.592619876e-05,-3.917853331e-04,6.598494612e-05,7.019653173e-01,-4.183905912e-04,8.602051546e-01,7.019693352e-01,-4.125347813e-04,8.602090182e-01,7.027609818e-01,-5.102183670e-04,8.303918514e-01
+29,2.883333333e+00,UP_FORCE_RAMP,1792839411597752510,-6.253541530e-06,-3.918268178e-04,6.827731633e-05,-9.203255608e-06,-3.889129225e-04,6.021344798e-05,-8.729893553e-06,-3.904159113e-04,6.023408464e-05,7.019493793e-01,-4.140975528e-04,8.602113646e-01,7.019464296e-01,-4.111836575e-04,8.602033007e-01,7.027363257e-01,-5.088489452e-04,8.303861006e-01
+30,3.016666667e+00,UP_FORCE_RAMP,1792839411728638661,-3.560626213e-06,-3.943016877e-04,7.701810590e-05,-9.203255608e-06,-3.889129225e-04,6.021344798e-05,-8.757298901e-06,-3.904156883e-04,6.024514247e-05,7.019520722e-01,-4.165724227e-04,8.602201053e-01,7.019464296e-01,-4.111836575e-04,8.602033007e-01,7.027362983e-01,-5.088487222e-04,8.303861116e-01
+31,3.133333333e+00,UP_FORCE_RAMP,1792839411843308171,-5.229511450e-06,-3.907058962e-04,8.146458715e-05,-4.149138540e-06,-3.933912453e-04,7.922594682e-05,-3.155406557e-06,-3.949501666e-04,7.923821336e-05,7.019504033e-01,-4.129766312e-04,8.602245518e-01,7.019514837e-01,-4.156619803e-04,8.602223132e-01,7.027419002e-01,-5.133832005e-04,8.304051047e-01
+32,3.300000000e+00,UP_FORCE_RAMP,1792839412039886530,-1.677549192e-07,-3.944114367e-04,1.017681580e-04,-1.714594079e-06,-3.880389366e-04,9.929375755e-05,-3.304332694e-07,-3.895493036e-04,9.916639147e-05,7.019554651e-01,-4.166821718e-04,8.602448554e-01,7.019539182e-01,-4.103096716e-04,8.602423810e-01,7.027447252e-01,-5.079823375e-04,8.304250329e-01
+33,3.500000000e+00,UP_FORCE_RAMP,1792839412236397296,-1.928618667e-06,-3.917660226e-04,1.130325199e-04,-1.714594079e-06,-3.880389366e-04,9.929375755e-05,-3.190754267e-07,-3.895500818e-04,9.923602195e-05,7.019537042e-01,-4.140367577e-04,8.602561198e-01,7.019539182e-01,-4.103096716e-04,8.602423810e-01,7.027447365e-01,-5.079831157e-04,8.304251025e-01
+34,3.650000000e+00,UP_FORCE_RAMP,1792839412383432794,1.280320195e-06,-3.935717897e-04,1.293831815e-04,2.293636150e-06,-3.916655806e-04,1.222377553e-04,4.287759197e-06,-3.932148379e-04,1.221379712e-04,7.019569131e-01,-4.158425248e-04,8.602724704e-01,7.019579265e-01,-4.139363156e-04,8.602653250e-01,7.027493434e-01,-5.116478718e-04,8.304480044e-01
+35,3.816666667e+00,UP_FORCE_RAMP,1792839412547724119,4.276840963e-06,-3.864723693e-04,1.526558751e-04,3.123624567e-06,-3.875935533e-04,1.423543296e-04,5.462325482e-06,-3.891617620e-04,1.422175078e-04,7.019599097e-01,-4.087431043e-04,8.602957431e-01,7.019587564e-01,-4.098642883e-04,8.602854416e-01,7.027505179e-01,-5.075947959e-04,8.304680840e-01
+36,3.966666667e+00,UP_FORCE_RAMP,1792839412694681692,6.164598045e-06,-3.878934837e-04,1.680953165e-04,7.698008647e-06,-3.872379796e-04,1.639893434e-04,1.066279983e-05,-3.887948712e-04,1.638011355e-04,7.019617974e-01,-4.101642187e-04,8.603111826e-01,7.019633308e-01,-4.095087147e-04,8.603070766e-01,7.027557184e-01,-5.072279051e-04,8.304896676e-01
+37,4.150000000e+00,UP_FORCE_RAMP,1792839412875274156,8.221696163e-06,-3.898140748e-04,1.843500819e-04,8.216300455e-06,-3.900772948e-04,1.839834486e-04,1.145789041e-05,-3.916483688e-04,1.837137772e-04,7.019638545e-01,-4.120848098e-04,8.603274373e-01,7.019638491e-01,-4.123480298e-04,8.603270707e-01,7.027565135e-01,-5.100814027e-04,8.305095802e-01
+38,4.300000000e+00,UP_FORCE_RAMP,1792839413023853366,3.181692271e-06,-3.983022099e-04,1.910208244e-04,8.216300455e-06,-3.900772948e-04,1.839834486e-04,1.146836964e-05,-3.916491623e-04,1.838007727e-04,7.019588145e-01,-4.205729449e-04,8.603341081e-01,7.019638491e-01,-4.123480298e-04,8.603270707e-01,7.027565240e-01,-5.100821962e-04,8.305096672e-01
+39,4.433333333e+00,UP_FORCE_RAMP,1792839413153455988,-2.001532225e-05,-3.954632486e-04,1.966749191e-04,-3.485424070e-06,-3.990270299e-04,1.991143319e-04,-8.598453657e-07,-4.006250604e-04,1.988367543e-04,7.019356175e-01,-4.177339836e-04,8.603397622e-01,7.019521474e-01,-4.212977649e-04,8.603422016e-01,7.027441958e-01,-5.190580943e-04,8.305247032e-01
+40,4.533333333e+00,UP_FORCE_RAMP,1792839413252173850,-2.823507493e-05,-3.950601646e-04,2.051878106e-04,-3.182433886e-05,-3.920467134e-04,1.949693842e-04,-3.133863537e-05,-3.935957669e-04,1.946965241e-04,7.019273977e-01,-4.173308996e-04,8.603482750e-01,7.019238085e-01,-4.143174484e-04,8.603380566e-01,7.027137170e-01,-5.120288008e-04,8.305205630e-01
+41,4.733333333e+00,UP_FORCE_RAMP,1792839413448214820,-2.233229002e-05,-3.896170737e-04,2.316361831e-04,-2.640618821e-05,-3.902301916e-04,2.154766835e-04,-2.535962001e-05,-3.917735491e-04,2.151557491e-04,7.019333005e-01,-4.118878087e-04,8.603747234e-01,7.019292266e-01,-4.125009266e-04,8.603585639e-01,7.027196960e-01,-5.102065830e-04,8.305410222e-01
+42,4.850000000e+00,UP_FORCE_RAMP,1792839413562761205,-2.085403313e-05,-3.904058565e-04,2.448119326e-04,-1.987644384e-05,-3.907838324e-04,2.406453865e-04,-1.808437036e-05,-3.923585777e-04,2.402816350e-04,7.019347788e-01,-4.126765915e-04,8.603878992e-01,7.019357564e-01,-4.130545674e-04,8.603837326e-01,7.027269712e-01,-5.107916116e-04,8.305661481e-01
+43,5.083333333e+00,UP_FORCE_RAMP,1792839413792529080,-1.803786150e-05,-3.862964601e-04,2.721912150e-04,-2.118179388e-05,-3.877973407e-04,2.602099756e-04,-1.920450177e-05,-3.893460884e-04,2.598018961e-04,7.019375950e-01,-4.085671952e-04,8.604152785e-01,7.019344510e-01,-4.100680757e-04,8.604032972e-01,7.027258511e-01,-5.077791223e-04,8.305856684e-01
+44,5.250000000e+00,UP_FORCE_RAMP,1792839413956020501,-1.679231901e-05,-3.843531925e-04,2.902048667e-04,-1.744256499e-05,-3.859138207e-04,2.835702751e-04,-1.490592857e-05,-3.874857850e-04,2.830719912e-04,7.019388405e-01,-4.066239275e-04,8.604332921e-01,7.019381903e-01,-4.081845558e-04,8.604266575e-01,7.027301497e-01,-5.059188189e-04,8.306089385e-01
+45,5.416666667e+00,UP_FORCE_RAMP,1792839414120108742,-1.463346221e-05,-3.841800164e-04,3.066655717e-04,-1.461357171e-05,-3.840177948e-04,3.063858019e-04,-1.153157743e-05,-3.855642262e-04,3.058465069e-04,7.019409994e-01,-4.064507515e-04,8.604497528e-01,7.019410192e-01,-4.062885299e-04,8.604494730e-01,7.027335240e-01,-5.039972601e-04,8.306317130e-01
+46,5.600000000e+00,UP_FORCE_RAMP,1792839414316365941,-1.614058178e-05,-3.856678018e-04,3.224209659e-04,-1.461357171e-05,-3.840177948e-04,3.063858019e-04,-1.151596140e-05,-3.855633872e-04,3.059611222e-04,7.019394922e-01,-4.079385368e-04,8.604655082e-01,7.019410192e-01,-4.062885299e-04,8.604494730e-01,7.027335396e-01,-5.039964211e-04,8.306318276e-01
+47,5.783333333e+00,UP_FORCE_HOLD,1792839414498060659,-1.667384005e-05,-3.802535378e-04,3.385866516e-04,-1.635662462e-05,-3.851710959e-04,3.283326574e-04,-1.316494133e-05,-3.867571744e-04,3.278504375e-04,7.019389590e-01,-4.025242728e-04,8.604816739e-01,7.019392762e-01,-4.074418310e-04,8.604714199e-01,7.027318907e-01,-5.051902083e-04,8.306537169e-01
+48,5.983333333e+00,UP_FORCE_HOLD,1792839414694214915,-2.038108452e-05,-3.799402865e-04,3.505118663e-04,-2.085137842e-05,-3.830801803e-04,3.489456446e-04,-1.773528474e-05,-3.846737914e-04,3.484006061e-04,7.019352517e-01,-4.022110215e-04,8.604935991e-01,7.019347814e-01,-4.053509153e-04,8.604920329e-01,7.027273203e-01,-5.031068253e-04,8.306742671e-01
+49,6.133333333e+00,UP_SETTLE,1792839414874234815,-2.980839441e-05,-3.862620917e-04,3.602375925e-04,-2.085137842e-05,-3.830801803e-04,3.489456446e-04,-1.774494642e-05,-3.846737679e-04,3.484783429e-04,7.019258244e-01,-4.085328267e-04,8.605033248e-01,7.019347814e-01,-4.053509153e-04,8.604920329e-01,7.027273107e-01,-5.031068018e-04,8.306743448e-01
+50,6.333333333e+00,UP_SETTLE,1792839415069675756,-3.447764330e-05,-3.788496449e-04,3.709018805e-04,-2.742969337e-05,-3.781915084e-04,3.668589831e-04,-2.460683599e-05,-3.797145733e-04,3.664038501e-04,7.019211552e-01,-4.011203799e-04,8.605139891e-01,7.019282031e-01,-4.004622434e-04,8.605099462e-01,7.027204488e-01,-4.981476072e-04,8.306922703e-01
+51,6.500000000e+00,UP_SETTLE,1792839415233601368,-3.583794671e-05,-3.810547733e-04,3.847692223e-04,-3.417465908e-05,-3.856351952e-04,3.854287140e-04,-3.153594152e-05,-3.872197336e-04,3.848326823e-04,7.019197949e-01,-4.033255083e-04,8.605278565e-01,7.019214582e-01,-4.079059302e-04,8.605285160e-01,7.027135197e-01,-5.056527675e-04,8.307106991e-01
+52,6.683333333e+00,UP_SETTLE,1792839415414088757,-3.979520989e-05,-3.797795867e-04,3.953061933e-04,-3.417465908e-05,-3.856351952e-04,3.854287140e-04,-3.155735746e-05,-3.872191202e-04,3.849134877e-04,7.019158376e-01,-4.020503218e-04,8.605383934e-01,7.019214582e-01,-4.079059302e-04,8.605285160e-01,7.027134982e-01,-5.056521541e-04,8.307107800e-01
+53,6.716666667e+00,UP_SETTLE,1792839415446440417,-8.010917881e-05,-3.857628721e-04,3.675203660e-04,-8.006271920e-05,-3.858013266e-04,3.673697134e-04,-8.104487059e-05,-3.873533088e-04,3.669129305e-04,7.018755236e-01,-4.080336071e-04,8.605106076e-01,7.018755701e-01,-4.080720616e-04,8.605104570e-01,7.026640107e-01,-5.057863427e-04,8.306927794e-01
+54,6.783333333e+00,UP_SETTLE,1792839415511893382,-7.542607894e-05,-3.798401993e-04,3.804577870e-04,-6.748310962e-05,-3.873905684e-04,3.852454578e-04,-6.740776031e-05,-3.889759789e-04,3.847213118e-04,7.018802067e-01,-4.021109344e-04,8.605235450e-01,7.018881497e-01,-4.096613034e-04,8.605283327e-01,7.026776478e-01,-5.074090129e-04,8.307105878e-01
+55,6.916666667e+00,UP_SETTLE,1792839415643028641,-7.368049375e-05,-3.852737090e-04,3.853444669e-04,-6.748310962e-05,-3.873905684e-04,3.852454578e-04,-6.745238715e-05,-3.889734814e-04,3.847618223e-04,7.018819523e-01,-4.075444440e-04,8.605284317e-01,7.018881497e-01,-4.096613034e-04,8.605283327e-01,7.026776032e-01,-5.074065153e-04,8.307106283e-01
+56,7.100000000e+00,UP_SETTLE,1792839415823443635,-7.476233387e-05,-3.813512642e-04,3.883961764e-04,-6.748310962e-05,-3.873905684e-04,3.852454578e-04,-6.748597345e-05,-3.889700125e-04,3.848002235e-04,7.018808705e-01,-4.036219992e-04,8.605314834e-01,7.018881497e-01,-4.096613034e-04,8.605283327e-01,7.026775696e-01,-5.074030464e-04,8.307106667e-01
+57,7.283333333e+00,UP_SETTLE,1792839416003781805,-7.385816068e-05,-3.832107040e-04,3.954454253e-04,-6.748310962e-05,-3.873905684e-04,3.852454578e-04,-6.750546474e-05,-3.889662976e-04,3.848314584e-04,7.018817747e-01,-4.054814390e-04,8.605385327e-01,7.018881497e-01,-4.096613034e-04,8.605283327e-01,7.026775501e-01,-5.073993315e-04,8.307106979e-01
+58,7.483333333e+00,UP_SETTLE,1792839416217424054,-7.513654524e-05,-3.839445528e-04,3.979218000e-04,-6.748310962e-05,-3.873905684e-04,3.852454578e-04,-6.751959820e-05,-3.889622421e-04,3.848610987e-04,7.018804963e-01,-4.062152878e-04,8.605410090e-01,7.018881497e-01,-4.096613034e-04,8.605283327e-01,7.026775360e-01,-5.073952760e-04,8.307107276e-01
+59,7.666666667e+00,UP_SETTLE,1792839416396778745,-7.381504744e-05,-3.790415539e-04,4.034318385e-04,-7.345686876e-05,-3.775519192e-04,4.016704481e-04,-7.377647616e-05,-3.790665651e-04,4.012285655e-04,7.018818178e-01,-4.013122889e-04,8.605465191e-01,7.018821759e-01,-3.998226543e-04,8.605447577e-01,7.026712791e-01,-4.974995990e-04,8.307270950e-01

Part2/Fixed/digit/ball_15A_15/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+00,3.8378e-02,9.6026e-02,2.4570e+00,-4.3346e-02,3.9500e-02,9.7874e-05,3.5034e-04,-5.6624e-07,-6.0558e-05,2.3693e-06,2.4781e-05,-1.4638e-06,3.5553e-04,2.4937e-05
+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,4.2375e-05,4.0918e-02,9.6033e-02,2.4566e+00,-4.3329e-02,3.9681e-02,8.6464e-05,2.8908e-03,7.3090e-06,-4.5848e-04,1.9461e-05,2.0546e-04,-1.2874e-05,2.9270e-03,2.0679e-04
+2,3.0000e-01,WAIT_W2,8.4808e-05,4.3738e-02,9.6036e-02,2.4562e+00,-4.3309e-02,3.9881e-02,7.3279e-05,5.7106e-03,1.0207e-05,-8.4448e-04,3.9093e-05,4.0567e-04,-2.6060e-05,5.7727e-03,4.0838e-04
+3,4.5000e-01,WAIT_W2,1.2615e-04,4.5979e-02,9.6035e-02,2.4559e+00,-4.3293e-02,4.0040e-02,6.2287e-05,7.9516e-03,9.2983e-06,-1.1063e-03,5.5172e-05,5.6453e-04,-3.7051e-05,8.0282e-03,5.6843e-04
+4,6.3333e-01,WAIT_W2,1.7144e-04,4.8366e-02,9.6034e-02,2.4557e+00,-4.3276e-02,4.0209e-02,4.9789e-05,1.0338e-02,7.4208e-06,-1.3366e-03,7.2800e-05,7.3368e-04,-4.9550e-05,1.0424e-02,7.3895e-04
+5,7.5000e-01,WAIT_W2,2.1775e-04,4.9713e-02,9.6031e-02,2.4556e+00,-4.3265e-02,4.0305e-02,4.2327e-05,1.1686e-02,4.6119e-06,-1.4434e-03,8.3059e-05,8.2909e-04,-5.7012e-05,1.1775e-02,8.3519e-04
+6,7.6667e-01,WAIT_W2,2.5292e-04,4.9109e-02,1.6476e-01,2.4485e+00,-4.8029e-02,4.0266e-02,6.6492e-05,1.1082e-02,6.8729e-02,-8.5354e-03,-4.6802e-03,7.9059e-04,-3.2846e-05,7.0138e-02,4.7466e-03
+7,7.8333e-01,WAIT_W2,2.9283e-04,4.9935e-02,2.4906e-01,2.4472e+00,-5.3877e-02,4.0322e-02,9.6467e-05,1.1907e-02,1.5304e-01,-9.8505e-03,-1.0529e-02,8.4646e-04,-2.8708e-06,1.5382e-01,1.0563e-02
+8,7.8333e-01,WAIT_W2,2.9283e-04,4.9935e-02,2.4906e-01,2.4472e+00,-5.3877e-02,4.0322e-02,9.6467e-05,1.1907e-02,1.5304e-01,-9.8505e-03,-1.0529e-02,8.4646e-04,-2.8708e-06,1.5382e-01,1.0563e-02
+9,8.0000e-01,WAIT_W2,4.5135e-04,4.8357e-02,3.4445e-01,2.4446e+00,-6.0500e-02,4.0209e-02,1.3215e-04,1.0330e-02,2.4843e-01,-1.2390e-02,-1.7152e-02,7.3307e-04,3.2812e-05,2.4895e-01,1.7168e-02
+10,8.0000e-01,WAIT_W2,4.5135e-04,4.8357e-02,3.4445e-01,2.4446e+00,-6.0500e-02,4.0209e-02,1.3215e-04,1.0330e-02,2.4843e-01,-1.2390e-02,-1.7152e-02,7.3307e-04,3.2812e-05,2.4895e-01,1.7168e-02
+11,8.0000e-01,WAIT_W2,4.5135e-04,4.8357e-02,3.4445e-01,2.4446e+00,-6.0500e-02,4.0209e-02,1.3215e-04,1.0330e-02,2.4843e-01,-1.2390e-02,-1.7152e-02,7.3307e-04,3.2812e-05,2.4895e-01,1.7168e-02
+12,8.1667e-01,WAIT_W2,5.4151e-04,5.7353e-02,7.2120e-01,2.4401e+00,-8.6655e-02,4.0828e-02,2.6926e-04,1.9326e-02,6.2517e-01,-1.6959e-02,-4.3307e-02,1.3526e-03,1.6992e-04,6.2570e-01,4.3328e-02
+13,8.1667e-01,WAIT_W2,5.4151e-04,5.7353e-02,7.2120e-01,2.4401e+00,-8.6655e-02,4.0828e-02,2.6926e-04,1.9326e-02,6.2517e-01,-1.6959e-02,-4.3307e-02,1.3526e-03,1.6992e-04,6.2570e-01,4.3328e-02
+14,8.3333e-01,WAIT_W2,6.0251e-04,6.7238e-02,9.2100e-01,2.4480e+00,-1.0062e-01,4.1512e-02,3.5831e-04,2.9211e-02,8.2497e-01,-8.9834e-03,-5.7276e-02,2.0367e-03,2.5897e-04,8.2554e-01,5.7313e-02
+15,8.6667e-01,WAIT_W2,6.3560e-04,7.7570e-02,1.0491e+00,2.4673e+00,-1.0974e-01,4.2224e-02,4.2813e-04,3.9543e-02,9.5310e-01,1.0303e-02,-6.6387e-02,2.7489e-03,3.2879e-04,9.5398e-01,6.6444e-02
+16,9.0000e-01,WAIT_W2,6.7140e-04,6.9934e-02,9.5309e-01,2.4642e+00,-1.0320e-01,4.1701e-02,3.9945e-04,3.1907e-02,8.5707e-01,7.1592e-03,-5.9847e-02,2.2253e-03,3.0011e-04,8.5769e-01,5.9889e-02
+17,9.6667e-01,WAIT_W2,7.1663e-04,7.9205e-02,1.0216e+00,2.4753e+00,-1.0803e-01,4.2341e-02,4.2274e-04,4.1177e-02,9.2560e-01,1.8266e-02,-6.4679e-02,2.8655e-03,3.2340e-04,9.2670e-01,6.4743e-02
+18,1.0833e+00,WAIT_W2,7.5547e-04,8.3419e-02,1.0187e+00,2.4835e+00,-1.0794e-01,4.2632e-02,4.1274e-04,4.5391e-02,9.2264e-01,2.6433e-02,-6.4590e-02,3.1566e-03,3.1341e-04,9.2413e-01,6.4668e-02
+19,1.2333e+00,WAIT_W2,8.0003e-04,8.7145e-02,1.0175e+00,2.4883e+00,-1.0793e-01,4.2891e-02,3.9459e-04,4.9118e-02,9.2143e-01,3.1241e-02,-6.4585e-02,3.4159e-03,2.9525e-04,9.2327e-01,6.4676e-02
+20,1.3667e+00,WAIT_W2,8.4274e-04,8.9635e-02,1.0168e+00,2.4903e+00,-1.0793e-01,4.3066e-02,3.7593e-04,5.1608e-02,9.2072e-01,3.3284e-02,-6.4578e-02,3.5900e-03,2.7659e-04,9.2277e-01,6.4679e-02
+21,1.5000e+00,UP_FORCE_RAMP,8.8430e-04,9.1646e-02,1.0162e+00,2.4913e+00,-1.0792e-01,4.3207e-02,3.5630e-04,5.3618e-02,9.2020e-01,3.4271e-02,-6.4570e-02,3.7314e-03,2.5696e-04,9.2240e-01,6.4678e-02
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Part2/Fixed/digit/ball_15A_15/press_depth_05/down/camera_frames_60hz.tar

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+size 624640

Part2/Fixed/digit/ball_15A_15/press_depth_05/down/franka_data.csv

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+2712,1792839543770586245,18223195000000,1792839543768309323,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6760032044478733,-0.004832515005763081,0.10673668483748298,0.9999999801367035,-9.493512536162502e-05,-0.00014039673023345548,4.945237157572231e-05,0.6761,-0.0046,0.10688801067132041,1.0,0.0,0.0,0.0,-0.017411928013362443,-0.04265030346443943,0.17624355986938417,-0.0017720200825160348,0.0006332858778864969,0.0002811473904660007,0.923509561038138,0.9275929107675163,0.4261123480341031,0.07227531285428615,-0.07139660799440527,0.0013093567459457555,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.1503151401277972,1.4999656832961554,1.2441310325993082,-0.29134569660005805,-0.7900289797957233,0.8743056420769939,-1.1525176019116832,-0.17624355986938417,-2.396648634510991,-2.396648634510991,0.3175500000000004,0,0,-0.00010584997962445464,-9.999999025923074e-05
+2783,1792839544362583002,18223787000000,1792839544356319090,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6759882639731101,-0.004833006276474532,0.10667267867752697,0.9999999744879653,-9.209152738620878e-05,-0.0001746984626624777,5.887725165940185e-05,0.6761,-0.0046,0.10681660068509251,1.0,0.0,0.0,0.0,-0.06107477682378115,-0.028339077430348025,0.31619636772570126,-0.0019005363803598768,0.00465537629113949,0.0004497223597990708,0.8798467122277193,0.9419041368016077,0.5660651558904202,0.07214679655644231,-0.06737451758115227,0.0014779317152788256,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.25612166011775855,1.4547799638277386,0.9534745600347145,-0.21898080338112333,-0.5920569870949228,0.8497306686630429,-1.1525176019116832,-0.31619636772570126,-2.1059921619463977,-2.1059921619463977,0.4063499999999906,0,0,-0.00013544997385791924,-9.999999025923074e-05
+2858,1792839544987522285,18224412000000,1792839544980319251,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6759914481932717,-0.004838800056833238,0.1066215602647143,0.9999999744706953,-8.824996400376279e-05,-0.00017027885434173817,7.562095427329211e-05,0.6761,-0.0046,0.10672219445333685,1.0,0.0,0.0,0.0,-0.08231460721172268,-0.04054515769280087,0.47455984175877786,-0.002370129941482002,0.005646783553852175,0.0003207720226499713,0.8586068818397777,0.9296980565391548,0.7244286299234968,0.07167720299532018,-0.06638311031843959,0.001348981378129726,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.38377416799186165,1.3070428702008066,0.7813498120713412,-0.10775858477534532,-0.45817700533596945,0.7444645307308562,-1.1525176019116832,-0.47455984175877786,-1.9338674139830245,-1.9338674139830245,0.5000999999999803,0,0,-0.00016669996776993846,-9.999999025923074e-05
+2911,1792839545429565359,18224854000000,1792839545428309192,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6760047978798392,-0.0048481898516520355,0.10656592881918019,0.9999999780086698,-8.599221375902998e-05,-0.00013767897570928116,9.526470058214532e-05,0.6761,-0.0046,0.10664364001853618,1.0,0.0,0.0,0.0,-0.1214410595333596,-0.03937973426749353,0.6231571575708879,-0.002076973711838931,0.008644150296180611,0.00025740674324082474,0.8194804295181408,0.9308634799644622,0.8730259457356068,0.07197035922496325,-0.06338574357611115,0.0012856160987205795,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.41043773100344494,1.4306958878781155,0.5893669432033526,-0.09526335483889782,-0.3473792771989713,0.8187254344665149,-1.1525176019116832,-0.6231571575708879,-1.7418845451150358,-1.7418845451150358,0.566399999999973,0,0,-0.00018879996346451845,-9.999999025923074e-05
+2968,1792839545904519285,18225329000000,1792839545904309231,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6760102567501499,-0.004848968857245004,0.1064966085976628,0.9999999782285177,-8.43928761291662e-05,-0.00012791644965928054,0.00010724296152632808,0.6761,-0.0046,0.10654833128699173,1.0,0.0,0.0,0.0,-0.15089211727580432,-0.05254861372737196,0.8072704004072636,-0.0031702507710173883,0.01064060966055231,0.00012486226187550793,0.7900293717756961,0.9176946005045837,1.0571391885719825,0.0708770821657848,-0.061389284211739455,0.0011530716173552627,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.5162076152644095,1.2528989691425634,0.21846876553951605,-0.01814702993763129,-0.08505464258715581,0.6963909801712816,-1.1525176019116832,-0.8072704004072636,-1.3709863674511993,-1.3709863674511993,0.6376499999999652,0,0,-0.00021254995883765305,-9.999999025923074e-05
+3027,1792839546395450663,18225820000000,1792839546388318852,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6760256600446792,-0.0048537147237489265,0.10642343836541715,0.999999980300506,-9.03442758947372e-05,-9.670428295245216e-05,0.0001154471538355297,0.6761,-0.0046,0.10643795450837899,1.0,0.0,0.0,0.0,-0.1719231921393245,-0.050014912679414714,0.9979587515188207,-0.0022596764075159953,0.012618735055131579,2.9353112263747318e-05,0.7689982969121759,0.920228301552541,1.2478275396835397,0.07178765652928619,-0.059411158817160185,0.001057562467743502,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.6316302800549644,1.2686420904029652,0.017933564299040482,-0.02860475629611848,0.07231088782841999,0.7107002481560648,-1.1525176019116832,-0.9979587515188207,-1.1704511662107238,-1.1704511662107238,0.7112999999999571,0,0,-0.00023709995405493534,-9.999999025923074e-05
+3086,1792839546887561093,18226312000000,1792839546880309629,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.676039211508627,-0.004860214564531775,0.10633552673754222,0.999999980350606,-9.748339703822519e-05,-6.995215443309679e-05,0.00012784887680012644,0.6761,-0.0046,0.1063152620321653,1.0,0.0,0.0,0.0,-0.21936439889045523,-0.032757920588865175,1.2181680096629441,-0.0013637382383548807,0.015589724005332754,0.00011363044209282717,0.7215570901610452,0.9374852936430905,1.4680367978276632,0.0726835946984473,-0.05644016986695901,0.001141839797572582,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.6443886732038061,1.3089620175586403,-0.19154253246265143,-0.04433176479882111,0.2054573238978433,0.736187219760273,-1.1525176019116832,-1.2181680096629441,-0.9609750694490318,-0.9609750694490318,0.785099999999949,0,0,-0.00026169994926247684,-9.999999025923074e-05
+3153,1792839547445444595,18226870000000,1792839547444308884,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.676061120439707,-0.004859761291738874,0.10622922159148636,0.9999999798000878,-0.00013588265475107607,-3.077223579882328e-05,0.00011149736288440518,0.6761,-0.0046,0.10616146331199602,1.0,0.0,0.0,0.0,-0.24038773764167265,-0.01610989839084198,1.5092494011441673,0.0005605714427505959,0.01751216034327612,0.0007297769370369898,0.7005337514098278,0.9541333158411137,1.759118189308886,0.07460790437955278,-0.05451773352901564,0.0017579862925167446,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.7875904143278524,1.2269166924743478,-0.5051479769066354,-0.016027672701029273,0.4397149076714598,0.678130540178769,-1.1525176019116832,-1.5092494011441673,-0.6473696250050478,-0.6473696250050478,0.8687999999999397,0,0,-0.0002895999438271276,-9.999999025923074e-05
+3208,1792839547904528815,18227329000000,1792839547904308541,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6760843685553447,-0.004858085273233228,0.10613132276624379,0.9999999778751923,-0.00015791459118130708,4.278494102979329e-06,0.00010362024619629066,0.6761,-0.0046,0.1060232813888077,1.0,0.0,0.0,0.0,-0.2738704476566367,0.027515749804094214,1.7521558387054963,0.0032711501844516627,0.02044507616214656,0.0006109713314509618,0.6670510413948637,0.9977589640360499,2.0020246268702153,0.07731848312125385,-0.051584817710145205,0.0016391806869307166,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.9116478699685906,1.2512454360937884,-0.9419131178108158,-0.014983525283980826,0.7473289660409045,0.6945045441320552,-1.1525176019116832,-1.7521558387054963,-0.2106044841008674,-0.2106044841008674,0.9376499999999321,0,0,-0.0003125499393561145,-9.999999025923074e-05
+3259,1792839548329526493,18227754000000,1792839548324319082,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6761111664966108,-0.004865477628881463,0.10603663818702518,0.9999999749659404,-0.0001631086412738169,4.906695169272536e-05,0.0001117988743482031,0.6761,-0.0046,0.10588594266546314,1.0,0.0,0.0,0.0,-0.31969261837688434,0.05262788849077649,1.9632372116654864,0.005391042453930739,0.024185311886785514,0.0006039056489954345,0.6212288706746161,1.0228711027227322,2.2131059998302054,0.07943837539073292,-0.04784458198550625,0.0016321150044751893,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,0.999033132856979,1.220748961169134,-1.1159411442535554,-0.0005320712691956536,0.8704250106602259,0.6765543467277942,-1.1525176019116832,-1.9632372116654864,-0.03657645765812778,-0.03657645765812778,1.0013999999999261,0,0,-0.00033379993521628757,-9.999999025923074e-05
+3306,1792839548720567626,18228145000000,1792839548716318524,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.676125205245042,-0.0048709050054900485,0.10593548669472462,0.9999999848880633,-3.394506231546288e-05,7.356062865054839e-05,0.0001228955009227431,0.6761,-0.0046,0.10575161464154006,1.0,0.0,0.0,0.0,-0.3494497274350402,0.05346454266414691,2.224060173227407,0.006295124644827066,0.026356063374975744,0.0013741395976747549,0.5914717616164602,1.0237077568961026,2.473928961392126,0.08034245758162925,-0.04567383049731602,0.0024023489531545096,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.1177844187101356,1.310563863356505,-1.242192964475937,-0.051039522650460294,0.985161680731948,0.6864752528186572,-1.1525176019116832,-2.224060173227407,0.0896753625642539,0.0896753625642539,1.060049999999963,0,0,-0.0003533499314076468,-9.999999025923074e-05
+3353,1792839549112498211,18228537000000,1792839549112308504,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6761444145044995,-0.004872549964289374,0.10582852436698162,0.9999999810602894,-6.521612500159514e-05,0.00010435702447195622,0.00011907457193654637,0.6761,-0.0046,0.10560926966917858,1.0,0.0,0.0,0.0,-0.37568437184555925,0.0561731206720788,2.4642863148964262,0.007215144915633048,0.02831342541483752,0.0012255880064631502,0.5652371172059412,1.0264163349040345,2.7141551030611453,0.08126247785243523,-0.04371646845745424,0.002253797361942905,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.2302305862038625,1.2187152968154726,-1.6240929072754158,0.011987488961681086,1.249218335259875,0.6591351259930612,-1.1525176019116832,-2.4642863148964262,0.4715753053637326,0.4715753053637326,1.1188500000000001,0,0,-0.00037294992758926524,-9.999999025923074e-05
+3398,1792839549487520919,18228912000000,1792839549480318777,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6761720883777593,-0.00487201991738965,0.10573313053606494,0.9999999733800184,-0.00010644487290278276,0.00014981530555971019,0.0001044398875902168,0.6761,-0.0046,0.10546592380454194,1.0,0.0,0.0,0.0,-0.40015633711847254,0.10252705628903591,2.6777770684253417,0.010148659343363203,0.031236205640401,0.0020752687789885463,0.5407651519330279,1.0727702705209916,2.9276458565900607,0.08419599228016539,-0.040793688231890765,0.003103478134468301,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.3117575169523685,1.1972297713269362,-1.9748061565712487,0.042901384227962684,1.4840214866198669,0.6765065527105013,-1.1525176019116832,-2.6777770684253417,0.8222885546595655,0.8222885546595655,1.1751000000000356,0,0,-0.00039153626974905285,-9.999999025923074e-05
+3446,1792839549887526167,18229312000000,1792839549880309507,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6761879991719741,-0.004875485773182082,0.1056155345459129,0.9999999652852947,-0.00013033015804090378,0.00018217469982468782,0.00010343453227497116,0.6761,-0.0046,0.10530965482710954,1.0,0.0,0.0,0.0,-0.42947233658183914,0.11753504100091816,2.929619178114845,0.011066176587416501,0.0331943544152524,0.0019921842978784738,0.5114491524696613,1.0877782552328739,3.179487966279564,0.08511350952421869,-0.03883553945703937,0.0030203936533582283,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.3466204246121074,1.0292776080675732,-2.1799335040308856,0.11865332154484015,1.6119987054331943,0.565323205771139,-1.1525176019116832,-2.929619178114845,1.0274159021192024,1.0274159021192024,1.2351000000000734,0,0,-0.0003834675681338177,9.999999025923074e-05
+3474,1792839550120491244,18229545000000,1792839550120309002,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6762115303098656,-0.004879928265457063,0.1055456194151894,0.9999999593427946,-0.0001404812082670297,0.00020301062334769973,0.0001086691787336395,0.6761,-0.0046,0.10522165828346881,1.0,0.0,0.0,0.0,-0.44907903441984737,0.12126027088846869,3.1370790299162805,0.011633108068758724,0.03455796987081127,0.0018659731429326069,0.49184245463165305,1.0915034851204244,3.3869478180809995,0.08568044100556091,-0.03747192400148049,0.0028941824984123616,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.3318472408511313,1.1469466032443523,-2.3979218780406244,0.08463460712993517,1.7495823770167465,0.6447907181972403,-1.1525176019116832,-3.1370790299162805,1.2454042761289412,1.2454042761289412,1.2700500000000954,0,0,-0.0003718175704034169,9.999999025923074e-05
+3524,1792839550537520839,18229962000000,1792839550536318161,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.676226715922716,-0.004883132112376003,0.10543975037072395,0.9999999497443212,-0.00015261887596614343,0.0002364016561950649,0.00011303077087037764,0.6761,-0.0046,0.10507094715576165,1.0,0.0,0.0,0.0,-0.495242764965346,0.14840100073964813,3.2899266645989775,0.012956620769992697,0.038095796157411425,0.0017938933920255233,0.4456787240861544,1.1186442149716038,3.5397954527636966,0.08700395370679488,-0.03393409771488034,0.002822102747505278,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.4882352299395636,1.0406742662632449,-2.7125866164463237,0.11933504478715001,1.9883263873494788,0.5717542384123125,-1.1525176019116832,-3.2899266645989775,1.5600690145346405,1.5600690145346405,1.3326000000001348,0,0,-0.0003509675744653177,9.999999025923074e-05
+3573,1792839550945476980,18230370000000,1792839550944318145,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6762401872599656,-0.004890237360198597,0.10533040313182258,0.9999999519502218,-7.240855823006755e-05,0.00026457367275847316,0.00011090622497021662,0.6761,-0.0046,0.10493190378456707,1.0,0.0,0.0,0.0,-0.5004877964129395,0.16140536366489067,3.4659548178009705,0.013864509826118962,0.03910152356792775,0.0016767420669053588,0.4404336926385609,1.1316485778968464,3.7158236059656895,0.08791184276292115,-0.03292837030436401,0.0027049514223851136,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.5416172173037035,0.96179555263705,-2.777466987180618,0.16593018611368462,2.037413752960877,0.5283580430405086,-1.1525176019116832,-3.4659548178009705,1.624949385268935,1.624949385268935,1.3938000000001733,0,0,-0.00033056757843955156,9.999999025923074e-05
+3619,1792839551329516016,18230754000000,1792839551324309888,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6762522402715159,-0.0048907832032408895,0.10523023456568248,0.9999999438609313,-9.912725247414522e-05,0.0002858462729785396,0.00011039336385331251,0.6761,-0.0046,0.10480864263372625,1.0,0.0,0.0,0.0,-0.5087143889909704,0.17105837487759445,3.6129372695944144,0.014635347237911864,0.04006581163364027,0.0015862214855916358,0.4322071000605299,1.1413015891095502,3.8628060577591334,0.08868268017471405,-0.03196408223865149,0.0026144308410713905,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.5885753173057804,1.090810477404043,-2.9775554224957164,0.12309390113266942,2.1871617017460383,0.5893916590438928,-1.1525176019116832,-3.6129372695944144,1.8250378205840332,1.8250378205840332,1.4514000000002096,0,0,-0.00031136758218000695,9.999999025923074e-05
+3668,1792839551737514755,18231162000000,1792839551736318610,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.676259583809782,-0.004896077537724935,0.10511760462928363,0.9999999384387556,-0.00011424623861172867,0.00029600110947642814,0.00011788337342283069,0.6761,-0.0046,0.10468575605938407,1.0,0.0,0.0,0.0,-0.5174657094752162,0.17085501390283286,3.7516612466605594,0.013749662737765803,0.04101044583819801,0.0025021200563644635,0.4234557795762843,1.1410982281347886,4.0015300348252785,0.08779699567456799,-0.031019448034093754,0.0035303294118442185,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.5687217210453461,1.0286977200508376,-3.165778067627127,0.166520733849037,2.3013544664104266,0.572601404861826,-1.1525176019116832,-3.7516612466605594,2.013260465715444,2.013260465715444,1.5126000000002482,0,0,-0.0002909675861542408,9.999999025923074e-05
+3719,1792839552162406560,18231587000000,1792839552156308919,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6762650236912913,-0.004907431195872136,0.10500627753958001,0.9999999320101559,-0.00013140071390381968,0.00030636310713399095,0.00012766380377891146,0.6761,-0.0046,0.10456659983438674,1.0,0.0,0.0,0.0,-0.5000068883797875,0.16048490935871618,3.851464861879021,0.013705542575532026,0.04007646228197169,0.002404809882458573,0.4409146006717129,1.1307281235906719,4.10133365004374,0.08775287551233421,-0.031953431590320075,0.0034330192379383277,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6375981192830749,1.1301111753373114,-3.268565367175532,0.16008017499520272,2.390284744894276,0.6442109201467521,-1.1525176019116832,-3.851464861879021,2.1160477652638487,2.1160477652638487,1.5763500000002884,0,0,-0.00026971759029406774,9.999999025923074e-05
+3770,1792839552587494828,18232012000000,1792839552584308709,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6762747187122506,-0.004911725046154761,0.10491406086481982,0.9999999235334118,-0.000157104848452875,0.00032341293749257004,0.0001228746246309907,0.6761,-0.0046,0.10445647485762997,1.0,0.0,0.0,0.0,-0.4814525956900101,0.16745841728819055,3.92410644235366,0.013738338039618811,0.040009913315535835,0.0023544956257267784,0.4594688933614903,1.1377016315201463,4.173975230518379,0.087785670976421,-0.03201998055675593,0.003382704981206533,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.5959022188350926,1.0795596420996034,-3.2955598082423,0.1877478857767529,2.3946475382235155,0.6103261316606181,-1.1525176019116832,-3.92410644235366,2.143042206330617,2.143042206330617,1.6401000000003285,0,0,-0.0002484675944338947,9.999999025923074e-05
+3831,1792839553095505362,18232520000000,1792839553088309310,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.676284987032416,-0.004917397050908513,0.10481162009671392,0.9999999153090573,-0.00017005521567326357,0.00034032698372087397,0.0001268207796393399,0.6761,-0.0046,0.10433669221839821,1.0,0.0,0.0,0.0,-0.4728159336364508,0.16772521077582536,3.993515110873282,0.012708792325487661,0.04001364270657549,0.002288093896614594,0.4681055554150496,1.137968425007781,4.243383899038001,0.08675612526228985,-0.03201625116571628,0.003316303252094349,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.620217137313028,1.1450900428552537,-3.3744680226844954,0.18182978393475896,2.452513062153321,0.6566562860158888,-1.1525176019116832,-3.993515110873282,2.2219504207728122,2.2219504207728122,1.7163000000003765,0,0,-0.00022306759938220543,9.999999025923074e-05
+3890,1792839553587384397,18233012000000,1792839553584309207,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6762910031045519,-0.004917546004567605,0.10471911590538142,0.9999999131908792,-0.0001620311315984095,0.000349429698247694,0.00012925129226958672,0.6761,-0.0046,0.10423298225832082,1.0,0.0,0.0,0.0,-0.4714461814909774,0.16898192261415113,4.0364109222466835,0.012701157969791196,0.04000365226577149,0.0022520897902807754,0.469475307560523,1.1392251368461068,4.286279710411402,0.08674849090659338,-0.032026241606520275,0.00328029914576053,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.695511041397699,1.0519438120361675,-3.4346791272469015,0.21756687419437357,2.5172721214568865,0.597794330351095,-1.1525176019116832,-4.0364109222466835,2.2821615253352183,2.2821615253352183,1.790100000000423,0,0,-0.0001984676041746639,9.999999025923074e-05
+3955,1792839554129416821,18233554000000,1792839554124309237,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6762968770348504,-0.004922496743867528,0.10462701537068371,0.9999999189930538,-7.724712615123461e-05,0.0003603435496964382,0.00013282378451264152,0.6761,-0.0046,0.10413274336542477,1.0,0.0,0.0,0.0,-0.44517577870061487,0.1677533222779859,4.084101764911923,0.011699818898871811,0.03899851710058501,0.002191161876168104,0.49574571035088555,1.1379965365099416,4.333970553076641,0.085747151835674,-0.033031376771706755,0.003219371231647859,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6755919914520285,1.2462305824671653,-3.501819069408484,0.1656828827202814,2.5590706049984244,0.7119009256537885,-1.1525176019116832,-4.084101764911923,2.349301467496801,2.349301467496801,1.8714000000004742,0,0,-0.00017136760945416085,9.999999025923074e-05
+4020,1792839554670406856,18234095000000,1792839554668308829,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763058434973291,-0.004923512105931525,0.1045536604840959,0.9999999114253392,-9.369704278812697e-05,0.0003755444542013074,0.00013703796971974833,0.6761,-0.0046,0.10404733698728197,1.0,0.0,0.0,0.0,-0.42889829592595574,0.18128724241366578,4.104674769146021,0.012743850919467767,0.037964791931646806,0.002172199305793654,0.5120231931255447,1.1515304566456215,4.354543557310739,0.08679118385626995,-0.03406510194064496,0.003200408661273409,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6144005425201935,1.1166316297039791,-3.4418313097257704,0.2231457322727711,2.499987768804897,0.6436556008705245,-1.1525176019116832,-4.104674769146021,2.2893137078140873,2.2893137078140873,1.9525500000005254,0,0,-0.00014431761472391701,9.999999025923074e-05
+4083,1792839555195406463,18234620000000,1792839555188309657,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.676308870101127,-0.004927732600277882,0.10448882717145884,0.9999999084817515,-0.00010421009806136263,0.00038016246183706417,0.0001381886790336441,0.6761,-0.0046,0.10397844773820696,1.0,0.0,0.0,0.0,-0.419287123985445,0.18097838379160613,4.124537649726697,0.012100046340410328,0.03774693844909291,0.002144907792268839,0.5216343650660554,1.1512215980235618,4.374406437891415,0.08614737927721251,-0.034282955423198855,0.0031731171477485938,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6400541149856693,1.1440668232711526,-3.4198759554029676,0.229149053102837,2.4963985351999156,0.664526963947953,-1.1525176019116832,-4.124537649726697,2.2673583534912845,2.2673583534912845,2.031300000000575,0,0,-0.00011806761983782087,9.999999025923074e-05
+4145,1792839555712432596,18235137000000,1792839555712318121,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763089913480463,-0.004932641498180233,0.10443384534417977,0.9999999062417115,-0.00011799996668831171,0.00038235399551679133,0.00013726202124393004,0.6761,-0.0046,0.10392407607744648,1.0,0.0,0.0,0.0,-0.40264687722472037,0.181726209336194,4.131018379537333,0.011747308312268473,0.03695979776018417,0.0021268870594734835,0.53827461182678,1.1519694235681497,4.380887167702052,0.08579464124907066,-0.035070096112107596,0.003155096414953238,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6174934008478823,1.0881116122111585,-3.5790931661692134,0.2513576389177627,2.5907132670686033,0.6292103404541947,-1.1525176019116832,-4.131018379537333,2.42657556425753,2.42657556425753,2.108850000000624,0,0,-9.221762487379858e-05,9.999999025923074e-05
+4216,1792839556304464190,18235729000000,1792839556300308682,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763080912510732,-0.004930952504868809,0.10438521213215178,0.9999999069877983,-0.00012317375305086886,0.00037869948080419206,0.0001374124772777409,0.6761,-0.0046,0.10387823004181142,1.0,0.0,0.0,0.0,-0.3801674092829618,0.1784129266176988,4.108879582980669,0.011551883693217593,0.03597228286361854,0.0021265672315286662,0.5607540797685386,1.1486561408496545,4.358748371145388,0.08559921663001978,-0.036057611008673225,0.003154776587008421,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6016168497681864,1.105368396917029,-3.4959822265420133,0.24760583743303527,2.537589678276475,0.6367963510897244,-1.1525176019116832,-4.108879582980669,2.34346462463033,2.34346462463033,2.19765000000068,0,0,-6.261763064033398e-05,9.999999025923074e-05
+4297,1792839556979355590,18236404000000,1792839556972308979,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763083582218368,-0.004933710923289964,0.1043485260785276,0.9999999057247757,-0.00012985428721838798,0.0003793104773546787,0.00013876141319526568,0.6761,-0.0046,0.10384622257641404,1.0,0.0,0.0,0.0,-0.38568334691177064,0.16123098746116926,4.073180837025536,0.009756588931657886,0.03586740179203342,0.0011115935849953763,0.5552381421397298,1.131474201693125,4.323049625190254,0.08380392186846007,-0.036162492080258346,0.002139802940475131,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.5441044923924145,1.0934412820222486,-3.405373497588221,0.25284251396910085,2.464804213538323,0.6276257286793369,-1.1525176019116832,-4.073180837025536,2.2528558956765377,2.2528558956765377,2.2989000000007436,0,0,-3.7841357904159996e-05,-6.661368265182261e-05
+4371,1792839557595361439,18237020000000,1792839557588309497,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763063523289153,-0.004931283931607348,0.10431799493551991,0.9999999064995269,-0.00013042015654971342,0.00037658568106324934,0.0001400628769388411,0.6761,-0.0046,0.10381696802392099,1.0,0.0,0.0,0.0,-0.3666261196246168,0.15268470559157166,4.043218033477578,0.00875692156917214,0.03500936688702655,0.0021360926633002403,0.5742953694268836,1.1229279198235274,4.293086821642296,0.08280425450597433,-0.037020526985265215,0.003164302018779995,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.51363222801158,1.144597967060075,-3.403270510442963,0.24001802697059002,2.4547363695039914,0.66260714577058,-1.1525176019116832,-4.043218033477578,2.25075290853128,2.25075290853128,2.391300000000802,0,0,-6.045191005696194e-05,-9.999999025923074e-05
+4450,1792839558254414239,18237679000000,1792839558248308853,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763063627227547,-0.004933187843224194,0.10427660116650467,0.999999905758622,-0.00013579252194468875,0.00037639394744943655,0.0001407607860223008,0.6761,-0.0046,0.10376662461514383,1.0,0.0,0.0,0.0,-0.3665454882316199,0.14858497885338573,4.044912929620041,0.008765920118450676,0.0349659058929957,0.001108274883029299,0.5743760008198805,1.1188281930853414,4.294781717784759,0.08281325305525286,-0.03706398797929607,0.0021364842385090538,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.5160941154032646,1.1839455478323018,-3.3875273645834625,0.22848300722466305,2.4420036156634586,0.6864119248808751,-1.1525176019116832,-4.044912929620041,2.2350097626717793,2.2350097626717793,2.490150000000864,0,0,-9.2819813969662e-05,-9.999999025923074e-05
+4526,1792839558887440393,18238312000000,1792839558884308606,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763057506995279,-0.004936970162800432,0.10420868346796153,0.9999999039671077,-0.00014737387228496348,0.0003754880974639764,0.00014421605296747791,0.6761,-0.0046,0.10369786827485562,1.0,0.0,0.0,0.0,-0.3660320477461948,0.13848500806972086,4.112548203931569,0.007754639954813597,0.034138285535178066,0.0010301940337777403,0.5748894413053056,1.1087282223016766,4.362416992096287,0.08180197289161578,-0.0378916083371137,0.002058403389257495,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.5944988950734884,1.0441536858228477,-3.548787349627083,0.2880256246581359,2.565349251445115,0.5997833165580267,-1.1525176019116832,-4.112548203931569,2.3962697477154,2.3962697477154,2.585100000000924,0,0,-0.00012446980780375506,-9.999999025923074e-05
+4588,1792839559404414962,18238829000000,1792839559404318130,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763181319685206,-0.004939404107521938,0.10415343457865137,0.9999998917834926,-0.00015890580057710565,0.0004020363743244268,0.0001448846705753675,0.6761,-0.0046,0.10362696930144659,1.0,0.0,0.0,0.0,-0.37657932093995194,0.15009734109197614,4.153379279813234,0.00769156878274474,0.036017037506520015,0.002045997128444649,0.5643421681115485,1.1203405553239318,4.403248067977953,0.08173890171954692,-0.03601285636577175,0.003074206483924404,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.5924235265991196,1.200160940809883,-3.665866925986421,0.24247595860127166,2.631192934219113,0.7024194901132375,-1.1525176019116832,-4.153379279813234,2.513349324074738,2.513349324074738,2.6626500000009727,0,0,-0.0001499837355520547,-9.999999025923074e-05
+4649,1792839559912382263,18239337000000,1792839559912309165,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763162570764131,-0.0049420900389810785,0.10407513090397187,0.9999998932006834,-0.00016418620535414813,0.00039526621692797446,0.00014781405152823797,0.6761,-0.0046,0.10354438853685488,1.0,0.0,0.0,0.0,-0.3842381991931181,0.12319573953581164,4.230774673872971,0.006681404303228652,0.03600287055766532,0.0019752436662226203,0.5566832898583823,1.0934389537677673,4.48064346203769,0.08072873724003084,-0.03602702331462644,0.003003453021702375,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6005526883551855,1.1006669915167764,-3.578553205443468,0.2839347591364049,2.58048328431723,0.6396047946959944,-1.1525176019116832,-4.230774673872971,2.4260356035317847,2.4260356035317847,2.7388500000010207,0,0,-0.00017518522308776342,-9.999999025923074e-05
+4706,1792839560387400480,18239812000000,1792839560380318761,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.676324522539437,-0.004947388942067071,0.10399786043448853,0.9999998838508555,-0.00017296679688358542,0.0004136881390263715,0.00015061789631085526,0.6761,-0.0046,0.10345579197809428,1.0,0.0,0.0,0.0,-0.37609988564808283,0.1433225990358844,4.2712703650830965,0.007664274612290425,0.035993144564848166,0.0019541533321768938,0.5648216034034176,1.11356581326784,4.521139153247815,0.08171160754909261,-0.0360367493074436,0.0029823626876566488,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.635544214781349,1.036976136553628,-3.7349109760695525,0.30729369706804094,2.684233437937112,0.5997807001905915,-1.1525176019116832,-4.2712703650830965,2.5823933741578693,2.5823933741578693,2.8101000000010656,0,0,-0.00019804716953483593,-9.999999025923074e-05
+4755,1792839560795424908,18240220000000,1792839560788310649,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.676323739962241,-0.004946177816802659,0.10391665748231278,0.9999998874791943,-0.0001686061392660304,0.00040712411407114183,0.00014935323367686715,0.6761,-0.0046,0.10337157667279376,1.0,0.0,0.0,0.0,-0.3675503903759937,0.12933426353574018,4.333657597148319,0.006642334276332512,0.035596629876394316,0.0018878631720955984,0.5733710986755067,1.0995774777676959,4.5835263853130375,0.0806896672131347,-0.03643326399589745,0.0029160725275753532,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6451675873152447,1.062201806703495,-3.8500559644037424,0.30477837371057137,2.7671469591991507,0.617238583503919,-1.1525176019116832,-4.333657597148319,2.6975383624920592,2.6975383624920592,2.871300000001104,0,0,-0.0002152456944806439,9.740769260256025e-12
+4802,1792839561187394847,18240612000000,1792839561180319271,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763335828127864,-0.0049467158242198096,0.10383805173767455,0.9999998873017674,-0.00011895266587743463,0.0004241212887713098,0.00015103215688099032,0.6761,-0.0046,0.10328391638854505,1.0,0.0,0.0,0.0,-0.3664510074684908,0.13101889426148894,4.392135190624405,0.006620112724731814,0.035986825547939784,0.0018469560256272756,0.5744704815830096,1.1012621084934446,4.642003978789123,0.080667445661534,-0.03604306832435198,0.0028751653811070303,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6135082085480874,1.1315094738926705,-3.841804351735685,0.3000916676757407,2.7500938540390876,0.6721982524652401,-1.1525176019116832,-4.392135190624405,2.6892867498240016,2.6892867498240016,2.9301000000011412,0,0,-0.00023079285226964975,-9.999999025923074e-05
+4857,1792839561645374113,18241070000000,1792839561644308573,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763369731472667,-0.00495322399199067,0.10374115652399728,0.9999998844243686,-0.00014091570504046685,0.0004252498681503758,0.0001479845517388224,0.6761,-0.0046,0.10317368665561623,1.0,0.0,0.0,0.0,-0.35622466860631286,0.12608096544568959,4.423670431346419,0.00664040236368435,0.034967162339534605,0.001807012512558483,0.5846968204451876,1.0963241796776453,4.673539219511137,0.08068773530048653,-0.03706273153275716,0.002835221868038238,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.674735555809004,1.0757857142061933,-3.777775279168777,0.3196716229354736,2.729518067153694,0.6304662245162069,-1.1525176019116832,-4.423670431346419,2.625257677257094,2.625257677257094,2.9988000000011845,0,0,-0.00025059596988760555,-9.999999025923074e-05
+4910,1792839562087412260,18241512000000,1792839562080309512,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763420994615962,-0.004950951900263279,0.10362423683731813,0.9999998780370996,-0.00015156863848305897,0.00043601272255250963,0.00014929334834386075,0.6761,-0.0046,0.10305845328112494,1.0,0.0,0.0,0.0,-0.365232030507078,0.11452232028888454,4.466996729210487,0.004711315637380101,0.03597751274090127,0.0017643590813080413,0.5756894585444224,1.0847655345208402,4.716865517375205,0.07875864857418229,-0.0360523811313905,0.002792568436787796,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6293039738211206,1.1201397603348275,-3.9036689503576527,0.31635620218767785,2.7946752429455537,0.6645101053765902,-1.1525176019116832,-4.466996729210487,2.7511513484459695,2.7511513484459695,3.0651000000012263,0,0,-0.00027113648407991873,-9.999999025923074e-05
+4959,1792839562495411935,18241920000000,1792839562488318315,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763407768937216,-0.004953695112252936,0.10351380957738454,0.9999998784070009,-0.0001610958017101971,0.0004304169263155107,0.0001530302583503765,0.6761,-0.0046,0.10294379049630378,1.0,0.0,0.0,0.0,-0.34040253878099425,0.10901722119799295,4.492791167147958,0.003597979631782988,0.034978127497432066,0.0017184101811677799,0.6005189502705062,1.0792604354299487,4.742659955312677,0.07764531256858517,-0.0370517663748597,0.0027466195366475346,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.698685635550284,1.1167016747150253,-3.903390866896136,0.32564228037949927,2.8212291269286274,0.6617091901145414,-1.1525176019116832,-4.492791167147958,2.750873264984453,2.750873264984453,3.126300000001265,0,0,-0.00029105874934795404,-9.999999025923074e-05
+5008,1792839562904405777,18242329000000,1792839562904308463,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.67634415050202,-0.004962736922886863,0.10339708866326251,0.9999998717573166,-0.00017133779654194346,0.0004390266520292308,0.00016070834674619048,0.6761,-0.0046,0.10282057566863718,1.0,0.0,0.0,0.0,-0.33575972584562286,0.08781341931862352,4.501653236514426,0.0026190636158493485,0.03401384850937641,0.0016845894218954908,0.6051617632058776,1.0580566335505792,4.7515220246791445,0.07666639655265153,-0.038016045362915356,0.0027127987773752455,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6807912869407104,1.1093523697554173,-3.881201583702794,0.33114655991314323,2.805122892075411,0.6565379814597384,-1.1525176019116832,-4.501653236514426,2.728683981791111,2.728683981791111,3.1876500000013035,0,0,-0.0003115087453639794,-9.999999025923074e-05
+5053,1792839563279363690,18242704000000,1792839563276318756,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763464993540623,-0.0049620982276111425,0.10328139795354518,0.9999998677584454,-0.00017587034215840657,0.00044623391914603335,0.00016084423551101997,0.6761,-0.0046,0.10270025363981242,1.0,0.0,0.0,0.0,-0.31783558731744144,0.07367636388214294,4.522175669472601,0.0015538609825598432,0.033065749983677444,0.0016432924372657219,0.623085901734059,1.0439195781140986,4.772044457637319,0.07560119391936203,-0.03896414388861432,0.0026715017927454766,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6746673326324275,1.0814689352454832,-3.994676525644302,0.35150329803295277,2.874838700967708,0.6468540264712567,-1.1525176019116832,-4.522175669472601,2.842158923732619,2.842158923732619,3.243900000001339,0,0,-0.00033025874171119094,-9.999999025923074e-05
+5093,1792839563612335766,18243037000000,1792839563608309150,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763471750038191,-0.004956594390583985,0.10316759655917591,0.999999880370719,-8.961451548271218e-05,0.000445241177860232,0.00015630401256686081,0.6761,-0.0046,0.10258751357936428,1.0,0.0,0.0,0.0,-0.3007741265670558,0.07253698704299705,4.511850944411935,0.0007961191089558006,0.032022485323902755,0.0016248778702088863,0.6401473624844446,1.0427802012749527,4.761719732576654,0.07484345204575799,-0.04000740854838901,0.002653087225688641,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.67210169127424,1.1633757704177297,-3.963102008955897,0.31907433666028356,2.863051197730995,0.6805905552877187,-1.1525176019116832,-4.511850944411935,2.810584407044214,2.810584407044214,3.2938500000013704,0,0,-0.0003469087384675148,-9.999999025923074e-05
+5132,1792839563937298103,18243362000000,1792839563936309257,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763464257599939,-0.004936847161575973,0.10305143647319565,0.9999998775987669,-8.26614357418538e-05,0.0004462652388569585,0.00017395326749439737,0.6761,-0.0046,0.10247213573987836,1.0,0.0,0.0,0.0,-0.22616176838701907,0.12194652472800316,4.513880874296725,0.004659603539785381,0.02690146118686542,0.0015997797103990726,0.7147597206644813,1.0921897389599589,4.763749662461444,0.07870693647658757,-0.045128432685426344,0.0026279890658788274,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6472554844580636,1.2534647987084349,-3.839557310479639,0.2986583880154757,2.78332675551589,0.7502259829917809,-1.1525176019116832,-4.513880874296725,2.687039708567956,2.687039708567956,3.342600000001401,0,0,-0.00036315873530176477,-9.999999025923074e-05
+5169,1792839564245392905,18243670000000,1792839564240309085,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.676348013974624,-0.004939005270405171,0.10293813186812893,0.9999998743420312,-8.769011327295984e-05,0.0004472840368924668,0.0001870994941448421,0.6761,-0.0046,0.10235791894986894,1.0,0.0,0.0,0.0,-0.23237508672285745,0.07835299769818271,4.498561073293391,0.001742236499323646,0.026940345404942542,0.001581252826302109,0.708546402328643,1.0485962119301384,4.74842986145811,0.07578956943612583,-0.04508954846734922,0.0026094621817818638,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.661249924534142,1.1714453403066463,-3.962995847925359,0.3369431485898262,2.870169848537326,0.7072902096340443,-1.1525176019116832,-4.498561073293391,2.810478246013676,2.810478246013676,3.3888000000014302,0,0,-0.00037855873230160784,-9.999999025923074e-05
+5205,1792839564545353556,18243970000000,1792839564540309381,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763438966726553,-0.004935437147699239,0.102815076965267,0.9999998749250805,-0.0001564906373717502,0.0004436033329639941,0.00014254631254375212,0.6761,-0.0046,0.10224210883061825,1.0,0.0,0.0,0.0,-0.186529723587599,0.09254603640588588,4.49391521940074,0.002230359859723488,0.023970227467685463,0.0015463071779774683,0.7543917654639014,1.0627892506378416,4.743784007565458,0.07627769279652567,-0.0480596664046063,0.002574516533457223,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6090132260508603,1.258734143738712,-3.7814860392726724,0.3105836340594563,2.751485511915631,0.7656678547859294,-1.1525176019116832,-4.49391521940074,2.628968437360989,2.628968437360989,3.4338000000014586,0,0,-0.00039355872937937706,-9.999999025923074e-05
+5242,1792839564854301420,18244279000000,1792839564852309000,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763369630787665,-0.004943004559728801,0.1026762204031424,0.9999998761632679,-0.0001576034935326013,0.00043227812093875773,0.00016556895191792423,0.6761,-0.0046,0.10211811988370656,1.0,0.0,0.0,0.0,-0.20169523678495793,0.03333046874852963,4.48119938541852,-0.0022343904480069954,0.024975423321251827,0.00151839939344401,0.7392262522665425,1.0035736829804853,4.731068173583239,0.07181294248879519,-0.04705447055103994,0.0025466087489237647,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.619879960331992,1.2148134316583419,-3.82283073608434,0.318133763087183,2.787396865066633,0.7367601909865114,-1.1525176019116832,-4.48119938541852,2.6703131341726567,2.6703131341726567,3.4801500000014878,0,0,-0.00040900872636947936,-9.999999025923074e-05
+5278,1792839565154383521,18244579000000,1792839565152308516,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.676332317166822,-0.004946314609107362,0.1025434718162946,0.9999998766407329,-0.00015345696505365358,0.0004248668796417278,0.00018466314682116184,0.6761,-0.0046,0.10199317476623551,1.0,0.0,0.0,0.0,-0.20072875533980117,-0.014171640453064849,4.4495470550441985,-0.005328287352621974,0.02506522583206028,0.0014794776750474776,0.7401927337116992,0.9560715737788908,4.699415843208917,0.06871904558418021,-0.046964668040231486,0.0025076870305272324,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6168586833884186,1.193174185074844,-3.8296769678622815,0.3258540994218861,2.798417866222446,0.7282657732790497,-1.1525176019116832,-4.4495470550441985,2.6771593659505983,2.6771593659505983,3.525150000001516,0,0,-0.0004240087234472486,-9.999999025923074e-05
+5309,1792839565412355089,18244837000000,1792839565412309363,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763351559692075,-0.004952564172196699,0.10242735484293335,0.9999998746284295,-0.00014295415463942804,0.0004237575717539796,0.00020537677441777912,0.6761,-0.0046,0.10188212286591157,1.0,0.0,0.0,0.0,-0.2168662752162841,-0.04959402919835176,4.442975115329884,-0.008325233906969084,0.02511997454549772,0.0014872045360553412,0.7240552138352163,0.9206491850336039,4.692843903494603,0.0657220990298331,-0.046909919326794045,0.002515413891535096,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6450633255119942,0.9557134771661505,-3.7694184875942742,0.3954877476592951,2.772302199637631,0.5692390419983311,-1.1525176019116832,-4.442975115329884,2.616900885682591,2.616900885682591,3.5638500000015405,0,0,-0.0004369087209341301,-9.999999025923074e-05
+5342,1792839565687350892,18245112000000,1792839565680319157,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.67634319562395,-0.004945671226484154,0.10230860820346291,0.9999998656229566,-0.00020883385373244426,0.00043979546955258024,0.00015220150948428706,0.6761,-0.0046,0.10176008921802435,1.0,0.0,0.0,0.0,-0.19470365953855906,-0.003144434403137497,4.349023602996208,-0.004525273693004511,0.023465734302697473,0.0005603338009229541,0.7462178295129414,0.9670987798288182,4.598892391160927,0.06952205924379767,-0.04856415956959429,0.001588543156402709,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.7165190219085737,1.0764508829789303,-3.7526862884210948,0.374524003918455,2.7768973323860355,0.6666026764990098,-1.1525176019116832,-4.349023602996208,2.6001686865094116,2.6001686865094116,3.6051000000015665,0,0,-0.00045065871825541857,-9.999999025923074e-05
+5374,1792839565954357463,18245379000000,1792839565948308412,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763336536520848,-0.004949517736583566,0.102180594895771,0.9999998756900571,-0.00018377029923322038,0.00041990786254452367,0.00017311440878737405,0.6761,-0.0046,0.10163798779059866,1.0,0.0,0.0,0.0,-0.19957238923872844,-0.06300455545220529,4.328133668531651,-0.008352711908938965,0.02413715074933201,0.0005303312839742488,0.741349099812772,0.9072386587797504,4.578002456696369,0.06569462102786322,-0.047892743122959755,0.0015585406394540036,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6492986370181535,1.044286592160837,-3.6156092990785464,0.3765749193458736,2.6859236181488138,0.6455837657749663,-1.1525176019116832,-4.328133668531651,2.4630916971668633,2.4630916971668633,3.6451500000015917,0,0,-0.0004640087156546332,-9.999999025923074e-05
+5405,1792839566212381364,18245637000000,1792839566212318235,DOWN_FORCE_DETACH,5,0.0645,0.06450239568948746,0.6763325504068706,-0.004957181524653099,0.10204981272109007,0.9999998854529687,-4.975390060589327e-05,0.0004245126150339336,0.000194552057363593,0.6761,-0.0046,0.10151661589228521,1.0,0.0,0.0,0.0,-0.23291359148522262,-0.09492336161575166,4.2789474465289965,-0.010430526897900444,0.025904043335005206,0.0005574299416591382,0.7080078975662778,0.875319852616204,4.528816234693715,0.06361680603890174,-0.04612585053728656,0.001585639297138893,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6763379747192892,1.0972005615354543,-3.716477795525132,0.3217805123642861,2.762024881299033,0.6150705017929003,-1.1525176019116832,-4.2789474465289965,2.5639601936134486,2.5639601936134486,3.683850000001616,0,0,-0.0004769087131415147,-9.999999025923074e-05
+5433,1792839566445375560,18245870000000,1792839566440309553,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763159973517225,-0.004943501015052694,0.10192222859370155,0.9999999000782996,-0.00012252840712227578,0.0003945233666887292,0.00014361182936684037,0.6761,-0.0046,0.10140414476238878,1.0,0.0,0.0,0.0,-0.21370294371988652,-0.14687615901006512,4.275123763813221,-0.014485362330733047,0.02491883109975851,0.0005043537649294103,0.7272185453316139,0.8233670552218906,4.52499255197794,0.05956197060606914,-0.047111062772533255,0.001532563120409165,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.6595096555806375,1.0707516650207425,-3.655192680246494,0.36091886813433216,2.7290142500184498,0.6188795472621345,-1.1525176019116832,-4.275123763813221,2.5026750783348106,2.5026750783348106,3.718800000001638,0,0,-0.0004885587108719155,-9.999999025923074e-05
+5460,1792839566670378391,18246095000000,1792839566664309051,DOWN_FORCE_DETACH,5,0.0645,0.06450174003839493,0.6763127863606037,-0.004958976402583278,0.10180032635173236,0.9999998937792411,-0.00012752341557868411,0.00039743338916175907,0.00017224648117958926,0.6761,-0.0046,0.10129295905269026,1.0,0.0,0.0,0.0,-0.19381957970373176,-0.13473242809588637,4.215211466475379,-0.01381091249327182,0.02325541913185465,0.0005381177727057456,0.7471019093477687,0.8355107861360693,4.465080254640098,0.060236420443530364,-0.04877447474043711,0.0015663271281855004,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.604258544624772,0.986634069711358,-3.577070463933731,0.3924903660750707,2.6607835108399196,0.600158496851799,-1.1525176019116832,-4.215211466475379,2.424552862022048,2.424552862022048,3.7525500000016594,0,0,-0.0004998087086802424,-9.999999025923074e-05
+5502,1792839567016296505,18246441000000,1792839567016308808,DOWN_SETTLE,5,0.0645,0.06450174003839493,0.6762962475215916,-0.0049567734209889835,0.10168519600679096,0.9999999050358508,-0.00013467672122175945,0.0003633118275223995,0.00017674232792169408,0.6761,-0.0046,0.10121522062048599,1.0,0.0,0.0,0.0,-0.17360475754149252,-0.17535614455925175,4.036278240905265,-0.01740355534340668,0.021337955264075927,0.0006144285734822369,0.7673167315100079,0.794887069672704,4.2861470290699835,0.056643777593395506,-0.05069193860821584,0.0016426379289619917,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.4705343327596032,0.9964137774920802,-3.2865452048412997,0.40358255414361144,2.4482757970252957,0.6094654496867047,-1.1525176019116832,-4.036278240905265,2.1340276029296166,0.0,0.0,0,0,-2.9355391939316674e-05,0.0002965191104981482
+5574,1792839567609264179,18247034000000,1792839567604309150,DOWN_PEAK_HOLD,5,0.0645,0.06450174003839493,0.6762781631388142,-0.004953536090065097,0.10163511789720531,0.9999999168574005,-0.00013635264658207603,0.0003288881955851069,0.0001759788821340105,0.6761,-0.0046,0.1012132764274752,1.0,0.0,0.0,0.0,-0.1464136137181593,-0.21415552700002505,3.6872841411886244,-0.02020821158319925,0.01944419303872095,0.0002211553310693848,0.7945078753333411,0.7560876872319306,3.9371529293533434,0.053839121353602935,-0.052585700833570816,0.0012493646865491396,0.9409214890515004,0.9702432142319557,0.2498687881647189,0.07404733293680218,-0.07202989387229176,0.0010282093554797548,1,1.4079396316279624,0.9910489723154915,-2.9412850424647976,0.3895283917100708,2.2167418221833532,0.6024174297091507,-1.1525176019116832,-3.6872841411886244,1.7887674405531144,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_15A_15/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,1792839541465281636,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.145652100e-09,-6.815335102e-11,-3.563332962e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451423e-01,-1.184094888e-04,8.303258588e-01
+1,5.333333333e-01,DOWN_FORCE_DETACH,1792839541989587142,-9.957219397e-07,3.454314305e-06,-1.642604548e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.855607665e-08,-2.140072326e-09,-8.031296739e-09,7.019546371e-01,-1.881642072e-05,8.601414446e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451987e-01,-1.184115607e-04,8.303258512e-01
+2,1.166666667e+00,DOWN_FORCE_DETACH,1792839542611590214,3.080665616e-06,4.863188400e-06,4.244232297e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.028265039e-07,-4.294148759e-09,-1.154913198e-08,7.019587135e-01,-1.740754662e-05,8.601473315e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452430e-01,-1.184137148e-04,8.303258476e-01
+3,1.850000000e+00,DOWN_FORCE_DETACH,1792839543283511276,-4.605980438e-06,-1.717433429e-06,-3.255747886e-05,-2.650282483e-06,-1.159695043e-06,-1.971124149e-05,-3.013348080e-06,-1.186232271e-06,-1.960134230e-05,7.019510268e-01,-2.398816845e-05,8.601105298e-01,7.019529825e-01,-2.343043007e-05,8.601233760e-01,7.027421268e-01,-1.195956529e-04,8.303062579e-01
+4,2.333333333e+00,DOWN_FORCE_DETACH,1792839543774751689,2.642231016e-05,-7.157801812e-06,-5.450174964e-05,2.612352794e-05,-7.182235177e-06,-5.458698636e-05,2.732446987e-05,-7.219625401e-06,-5.430278062e-05,7.019820551e-01,-2.942853684e-05,8.600885855e-01,7.019817563e-01,-2.945297020e-05,8.600885003e-01,7.027724647e-01,-1.256290460e-04,8.302715564e-01
+5,2.933333333e+00,DOWN_FORCE_DETACH,1792839544364620675,1.223931049e-05,-1.105353261e-05,-1.198168905e-04,1.272963786e-05,-7.685038934e-06,-1.169842696e-04,1.238209754e-05,-7.689953609e-06,-1.164870221e-04,7.019678721e-01,-3.332426763e-05,8.600232703e-01,7.019683625e-01,-2.995577396e-05,8.600261030e-01,7.027575223e-01,-1.260993742e-04,8.302093722e-01
+6,3.566666667e+00,DOWN_FORCE_DETACH,1792839544987216771,1.545868959e-05,-1.477227491e-05,-1.714570838e-04,1.260930275e-05,-1.469993460e-05,-1.586966711e-04,1.174968100e-05,-1.470232592e-05,-1.581697654e-04,7.019710915e-01,-3.704300993e-05,8.599716302e-01,7.019682421e-01,-3.697066963e-05,8.599843906e-01,7.027568899e-01,-1.331117466e-04,8.301676894e-01
+7,4.016666667e+00,DOWN_FORCE_DETACH,1792839545429297056,2.768228083e-05,-2.502749361e-05,-2.286353108e-04,2.705138741e-05,-2.039680600e-05,-2.174880591e-04,2.645513128e-05,-2.040724867e-05,-2.168043445e-04,7.019833151e-01,-4.729822863e-05,8.599144519e-01,7.019826842e-01,-4.266754103e-05,8.599255992e-01,7.027715953e-01,-1.388166693e-04,8.301090549e-01
+8,4.483333333e+00,DOWN_FORCE_DETACH,1792839545904157507,3.308456807e-05,-2.658763302e-05,-2.969219496e-04,3.179357863e-05,-2.162064066e-05,-2.784989494e-04,3.086819327e-05,-2.160347038e-05,-2.776693047e-04,7.019887174e-01,-4.885836804e-05,8.598461653e-01,7.019874264e-01,-4.389137568e-05,8.598645883e-01,7.027760084e-01,-1.400128910e-04,8.300481899e-01
+9,4.983333333e+00,DOWN_FORCE_DETACH,1792839546395645428,4.979136196e-05,-2.965271245e-05,-3.692183618e-04,4.361420009e-05,-2.712296686e-05,-3.657141039e-04,4.250607862e-05,-2.711394228e-05,-3.646854501e-04,7.020054242e-01,-5.192344747e-05,8.597738689e-01,7.019992470e-01,-4.939370188e-05,8.597773731e-01,7.027876463e-01,-1.455233629e-04,8.299611737e-01
+10,5.466666667e+00,DOWN_FORCE_DETACH,1792839546890689583,6.418938526e-05,-3.532724130e-05,-4.587279329e-04,6.042398295e-05,-3.351829308e-05,-4.478788013e-04,5.964464295e-05,-3.355597000e-05,-4.466723394e-04,7.020198222e-01,-5.759797632e-05,8.596843593e-01,7.020160568e-01,-5.578902811e-05,8.596952084e-01,7.028047848e-01,-1.519653906e-04,8.298791869e-01
+11,5.983333333e+00,DOWN_FORCE_DETACH,1792839547443738214,8.699918222e-05,-3.420086702e-05,-5.618718648e-04,8.325557007e-05,-3.509656132e-05,-5.576890599e-04,8.281103620e-05,-3.516914849e-05,-5.563346390e-04,7.020426320e-01,-5.647160204e-05,8.595812154e-01,7.020388884e-01,-5.736729635e-05,8.595853982e-01,7.028279512e-01,-1.535785691e-04,8.297695246e-01
+12,6.450000000e+00,DOWN_FORCE_DETACH,1792839547903263532,1.102667404e-04,-3.376737358e-05,-6.591967594e-04,1.055487092e-04,-3.736725602e-05,-6.626085851e-04,1.055279183e-04,-3.747948708e-05,-6.610867987e-04,7.020658996e-01,-5.603810860e-05,8.594838905e-01,7.020611815e-01,-5.963799104e-05,8.594804787e-01,7.028506681e-01,-1.558889077e-04,8.296647724e-01
+13,6.866666667e+00,DOWN_FORCE_DETACH,1792839548328966933,1.341226100e-04,-3.950015174e-05,-7.559127377e-04,1.327186572e-04,-4.194494721e-05,-7.415355332e-04,1.337852681e-04,-4.210564965e-05,-7.400546227e-04,7.020897554e-01,-6.177088676e-05,8.593871745e-01,7.020883515e-01,-6.421568223e-05,8.594015517e-01,7.028789255e-01,-1.605150703e-04,8.295858046e-01
+14,7.266666667e+00,DOWN_FORCE_DETACH,1792839548724839831,1.462631610e-04,-4.668004507e-05,-8.620523702e-04,1.470203416e-04,-4.743689444e-05,-8.537931786e-04,1.479152039e-04,-4.763178707e-05,-8.520910836e-04,7.021018960e-01,-6.895078009e-05,8.592810349e-01,7.021026532e-01,-6.970762946e-05,8.592892941e-01,7.028930554e-01,-1.660412077e-04,8.294737681e-01
+15,7.666666667e+00,DOWN_FORCE_DETACH,1792839549114826038,1.691449899e-04,-4.857966306e-05,-9.638875769e-04,1.630251143e-04,-5.207639074e-05,-9.478389181e-04,1.640349764e-04,-5.224792351e-05,-9.461639517e-04,7.021247778e-01,-7.085039808e-05,8.591791997e-01,7.021186579e-01,-7.434712576e-05,8.591952483e-01,7.029091752e-01,-1.706573441e-04,8.293796952e-01
+16,8.050000000e+00,DOWN_FORCE_DETACH,1792839549491465119,1.957876383e-04,-4.729026697e-05,-1.062507084e-03,1.904654003e-04,-4.628356867e-05,-1.053198428e-03,1.922928885e-04,-4.643372405e-05,-1.051367511e-03,7.021514205e-01,-6.956100200e-05,8.590805802e-01,7.021460982e-01,-6.855430369e-05,8.590898888e-01,7.029374331e-01,-1.648431447e-04,8.292744917e-01
+17,8.433333333e+00,DOWN_FORCE_DETACH,1792839549886004092,2.139935440e-04,-5.198900641e-05,-1.172602187e-03,2.083485335e-04,-5.359702582e-05,-1.163579687e-03,2.102656998e-04,-5.379157842e-05,-1.161658078e-03,7.021696264e-01,-7.425974143e-05,8.589704851e-01,7.021639814e-01,-7.586776084e-05,8.589795076e-01,7.029554059e-01,-1.722009990e-04,8.291642011e-01
+18,8.666666667e+00,DOWN_FORCE_DETACH,1792839550129941444,2.368247675e-04,-5.350975484e-05,-1.247819433e-03,2.187637040e-04,-5.115899591e-05,-1.245851980e-03,2.205103675e-04,-5.130732641e-05,-1.243707844e-03,7.021924576e-01,-7.578048987e-05,8.588952678e-01,7.021743965e-01,-7.342973094e-05,8.588972353e-01,7.029656506e-01,-1.697167470e-04,8.290821514e-01
+19,9.033333333e+00,DOWN_FORCE_DETACH,1792839550539734882,2.490587573e-04,-5.808551382e-05,-1.354227208e-03,2.479730095e-04,-5.577303755e-05,-1.346603116e-03,2.507454069e-04,-5.596587905e-05,-1.344382148e-03,7.022046916e-01,-8.035624884e-05,8.587888600e-01,7.022036058e-01,-7.804377257e-05,8.587964841e-01,7.029958856e-01,-1.743752997e-04,8.289814770e-01
+20,9.450000000e+00,DOWN_FORCE_DETACH,1792839550949855936,2.625816122e-04,-6.225700531e-05,-1.464444381e-03,2.619088790e-04,-6.354370948e-05,-1.457789672e-03,2.644837557e-04,-6.376979606e-05,-1.455657331e-03,7.022182144e-01,-8.452774033e-05,8.586786429e-01,7.022175417e-01,-8.581444451e-05,8.586852976e-01,7.030096239e-01,-1.821792167e-04,8.288702019e-01
+21,9.833333333e+00,DOWN_FORCE_DETACH,1792839551327255295,2.771513624e-04,-6.585395346e-05,-1.561461771e-03,2.710191992e-04,-6.427253079e-05,-1.550153893e-03,2.732955032e-04,-6.450470771e-05,-1.548189618e-03,7.022327842e-01,-8.812468848e-05,8.585816255e-01,7.022266520e-01,-8.654326581e-05,8.585929333e-01,7.030184357e-01,-1.829141283e-04,8.287776696e-01
+22,1.025000000e+01,DOWN_FORCE_DETACH,1792839551736301519,2.837943788e-04,-7.304863333e-05,-1.671327046e-03,2.830152366e-04,-7.095009874e-05,-1.663562502e-03,2.848738046e-04,-7.122641366e-05,-1.661558788e-03,7.022394272e-01,-9.531936835e-05,8.584717602e-01,7.022386481e-01,-9.322083376e-05,8.584795247e-01,7.030300140e-01,-1.896358343e-04,8.286643004e-01
+23,1.068333333e+01,DOWN_FORCE_DETACH,1792839552161030849,2.898034959e-04,-8.014356067e-05,-1.785350743e-03,2.907616208e-04,-7.992402181e-05,-1.776403921e-03,2.918873087e-04,-8.020938928e-05,-1.774432427e-03,7.022454363e-01,-1.024142957e-04,8.583577365e-01,7.022463944e-01,-1.021947568e-04,8.583666833e-01,7.030370275e-01,-1.986188099e-04,8.285514268e-01
+24,1.108333333e+01,DOWN_FORCE_DETACH,1792839552587157605,3.003456516e-04,-8.677010953e-05,-1.875498698e-03,2.986882530e-04,-8.471984052e-05,-1.875997298e-03,2.991977595e-04,-8.501026735e-05,-1.874053669e-03,7.022559785e-01,-1.090408446e-04,8.582675885e-01,7.022543211e-01,-1.069905755e-04,8.582670899e-01,7.030443380e-01,-2.034196880e-04,8.284518055e-01
+25,1.160000000e+01,DOWN_FORCE_DETACH,1792839553094879197,3.114245639e-04,-9.204652263e-05,-1.979737912e-03,3.076090118e-04,-9.064063864e-05,-1.960427864e-03,3.078819737e-04,-9.092228800e-05,-1.958795913e-03,7.022670574e-01,-1.143172576e-04,8.581633493e-01,7.022632418e-01,-1.129113737e-04,8.581826594e-01,7.030530222e-01,-2.093317086e-04,8.283670633e-01
+26,1.210000000e+01,DOWN_FORCE_DETACH,1792839553586527540,3.159288641e-04,-9.522519759e-05,-2.074013491e-03,3.149913097e-04,-9.811063693e-05,-2.066767657e-03,3.145564545e-04,-9.844177633e-05,-2.065181614e-03,7.022715617e-01,-1.174959326e-04,8.580690737e-01,7.022706241e-01,-1.203813720e-04,8.580763196e-01,7.030596966e-01,-2.168511970e-04,8.282606776e-01
+27,1.265000000e+01,DOWN_FORCE_DETACH,1792839554126779192,3.222186472e-04,-1.000945589e-04,-2.166270691e-03,3.221408467e-04,-9.731062553e-05,-2.149957235e-03,3.213469057e-04,-9.764973750e-05,-2.148535933e-03,7.022778515e-01,-1.223652939e-04,8.579768165e-01,7.022777737e-01,-1.195813606e-04,8.579931300e-01,7.030664871e-01,-2.160591581e-04,8.281773233e-01
+28,1.318333333e+01,DOWN_FORCE_DETACH,1792839554667502146,3.286275417e-04,-9.931547544e-05,-2.238930199e-03,3.291281650e-04,-9.976011850e-05,-2.233565054e-03,3.279662760e-04,-1.000952589e-04,-2.232254509e-03,7.022842604e-01,-1.215862105e-04,8.579041570e-01,7.022847610e-01,-1.220308535e-04,8.579095222e-01,7.030731065e-01,-2.185046795e-04,8.280936047e-01
+29,1.370000000e+01,DOWN_FORCE_DETACH,1792839555192633591,3.315055136e-04,-9.931675246e-05,-2.306534523e-03,3.315345980e-04,-9.970684041e-05,-2.297158123e-03,3.297424169e-04,-1.000571790e-04,-2.296014561e-03,7.022871383e-01,-1.215874875e-04,8.578365527e-01,7.022871674e-01,-1.219775754e-04,8.578459291e-01,7.030748826e-01,-2.184665997e-04,8.280298446e-01
+30,1.423333333e+01,DOWN_FORCE_DETACH,1792839555715943223,3.363834774e-04,-1.061214875e-04,-2.354355808e-03,3.335019479e-04,-1.045278672e-04,-2.340821644e-03,3.313113442e-04,-1.048859277e-04,-2.339925673e-03,7.022920163e-01,-1.283922226e-04,8.577887314e-01,7.022891348e-01,-1.267986022e-04,8.578022656e-01,7.030764515e-01,-2.232953483e-04,8.279859335e-01
+31,1.481666667e+01,DOWN_FORCE_DETACH,1792839556305292604,3.322225683e-04,-1.068904936e-04,-2.407444595e-03,3.321623756e-04,-1.070003066e-04,-2.407366416e-03,3.290664045e-04,-1.073749584e-04,-2.406492214e-03,7.022878554e-01,-1.291612286e-04,8.577356426e-01,7.022877952e-01,-1.292710416e-04,8.577357208e-01,7.030742066e-01,-2.257843790e-04,8.279193670e-01
+32,1.546666667e+01,DOWN_FORCE_DETACH,1792839556977429477,3.300036571e-04,-1.036586822e-04,-2.449014128e-03,3.299218846e-04,-1.035556752e-04,-2.449032693e-03,3.261149082e-04,-1.039760643e-04,-2.448295092e-03,7.022856365e-01,-1.259294172e-04,8.576940731e-01,7.022855547e-01,-1.258264102e-04,8.576940545e-01,7.030712551e-01,-2.223854850e-04,8.278775641e-01
+33,1.608333333e+01,DOWN_FORCE_DETACH,1792839557599450551,3.307730161e-04,-1.061977761e-04,-2.475664993e-03,3.293181836e-04,-1.106444444e-04,-2.468250550e-03,3.252146498e-04,-1.110906135e-04,-2.467785520e-03,7.022864058e-01,-1.284685112e-04,8.576674222e-01,7.022849510e-01,-1.329151794e-04,8.576748367e-01,7.030703548e-01,-2.295000342e-04,8.278580737e-01
+34,1.668333333e+01,DOWN_FORCE_DETACH,1792839558254330392,3.317525453e-04,-1.124756630e-04,-2.513535238e-03,3.283699808e-04,-1.091626838e-04,-2.509550198e-03,3.236239953e-04,-1.095660689e-04,-2.509140721e-03,7.022873854e-01,-1.347463981e-04,8.576295520e-01,7.022840028e-01,-1.314334188e-04,8.576335370e-01,7.030687642e-01,-2.279754895e-04,8.278167185e-01
+35,1.716666667e+01,DOWN_FORCE_DETACH,1792839558883612351,3.307651754e-04,-1.099819354e-04,-2.578194883e-03,3.306981349e-04,-1.101210221e-04,-2.578274206e-03,3.253099662e-04,-1.105439688e-04,-2.577589632e-03,7.022863980e-01,-1.322526704e-04,8.575648924e-01,7.022863310e-01,-1.323917571e-04,8.575648130e-01,7.030704502e-01,-2.289533895e-04,8.277482696e-01
+36,1.770000000e+01,DOWN_FORCE_DETACH,1792839559401082720,3.410588345e-04,-1.146324902e-04,-2.642670256e-03,3.383710267e-04,-1.162595968e-04,-2.640335449e-03,3.327890178e-04,-1.166805402e-04,-2.639672482e-03,7.022966917e-01,-1.369032253e-04,8.575004170e-01,7.022940038e-01,-1.385303318e-04,8.575027518e-01,7.030779292e-01,-2.350899608e-04,8.276861867e-01
+37,1.821666667e+01,DOWN_FORCE_DETACH,1792839559909218708,3.363770253e-04,-1.181251334e-04,-2.723207176e-03,3.371114708e-04,-1.129230972e-04,-2.708666035e-03,3.306601925e-04,-1.133337322e-04,-2.707976560e-03,7.022920098e-01,-1.403958684e-04,8.574198801e-01,7.022927443e-01,-1.351938323e-04,8.574344212e-01,7.030758004e-01,-2.317431529e-04,8.276178826e-01
+38,1.870000000e+01,DOWN_FORCE_DETACH,1792839560384761839,3.497704161e-04,-1.178730203e-04,-2.792208783e-03,3.472565739e-04,-1.224403145e-04,-2.773574926e-03,3.407781387e-04,-1.229050479e-04,-2.772795780e-03,7.023054032e-01,-1.401437553e-04,8.573508785e-01,7.023028894e-01,-1.447110495e-04,8.573695123e-01,7.030859183e-01,-2.413144686e-04,8.275530634e-01
+39,1.911666667e+01,DOWN_FORCE_DETACH,1792839560793684763,3.525993664e-04,-1.180307232e-04,-2.869357931e-03,3.472488375e-04,-1.206548238e-04,-2.858186827e-03,3.398405531e-04,-1.210885200e-04,-2.857273003e-03,7.023082322e-01,-1.403014583e-04,8.572737293e-01,7.023028817e-01,-1.429255589e-04,8.572849004e-01,7.030849807e-01,-2.394979406e-04,8.274685862e-01
+40,1.951666667e+01,DOWN_FORCE_DETACH,1792839561186370475,3.569518762e-04,-1.246186276e-04,-2.954516989e-03,3.529289692e-04,-1.244212235e-04,-2.948008656e-03,3.449298818e-04,-1.249157356e-04,-2.946944581e-03,7.023125847e-01,-1.468893626e-04,8.571885703e-01,7.023085618e-01,-1.466919585e-04,8.571950786e-01,7.030900701e-01,-2.433251563e-04,8.273789146e-01
+41,1.996666667e+01,DOWN_FORCE_DETACH,1792839561644997446,3.623903609e-04,-1.285400850e-04,-3.051061168e-03,3.620269015e-04,-1.282542468e-04,-3.033687527e-03,3.537344263e-04,-1.287319443e-04,-3.032631487e-03,7.023180232e-01,-1.508108200e-04,8.570920261e-01,7.023176597e-01,-1.505249818e-04,8.571093997e-01,7.030988746e-01,-2.471413649e-04,8.272932277e-01
+42,2.041666667e+01,DOWN_FORCE_DETACH,1792839562087408643,3.658554821e-04,-1.311926533e-04,-3.167756944e-03,3.647514080e-04,-1.292359832e-04,-3.163689680e-03,3.551001794e-04,-1.297580248e-04,-3.162397463e-03,7.023214883e-01,-1.534633883e-04,8.569753303e-01,7.023203842e-01,-1.515067183e-04,8.569793976e-01,7.031002404e-01,-2.481674454e-04,8.271634617e-01
+43,2.083333333e+01,DOWN_FORCE_DETACH,1792839562497898080,3.659618604e-04,-1.334119968e-04,-3.276002255e-03,3.658601907e-04,-1.334952713e-04,-3.275622153e-03,3.550306834e-04,-1.340175463e-04,-3.274305198e-03,7.023215947e-01,-1.556827318e-04,8.568670850e-01,7.023214930e-01,-1.557660064e-04,8.568674651e-01,7.031001709e-01,-2.524269669e-04,8.270515540e-01
+44,2.123333333e+01,DOWN_FORCE_DETACH,1792839562906612567,3.692160746e-04,-1.355833119e-04,-3.393462638e-03,3.683152396e-04,-1.380553118e-04,-3.388082200e-03,3.562839151e-04,-1.386080836e-04,-3.386672979e-03,7.023248489e-01,-1.578540469e-04,8.567496246e-01,7.023239481e-01,-1.603260468e-04,8.567550050e-01,7.031014241e-01,-2.570175042e-04,8.269391862e-01
+45,2.161666667e+01,DOWN_FORCE_DETACH,1792839563282988181,3.689295996e-04,-1.385616610e-04,-3.513438118e-03,3.697629058e-04,-1.390185295e-04,-3.498579731e-03,3.563981906e-04,-1.395554194e-04,-3.497157348e-03,7.023245624e-01,-1.608323960e-04,8.566296491e-01,7.023253957e-01,-1.612892646e-04,8.566445075e-01,7.031015384e-01,-2.579648400e-04,8.268287018e-01
+46,2.193333333e+01,DOWN_FORCE_DETACH,1792839563611136977,3.708929996e-04,-1.376038156e-04,-3.625463847e-03,3.694194982e-04,-1.350951513e-04,-3.617622426e-03,3.546283434e-04,-1.355605747e-04,-3.616063880e-03,7.023265258e-01,-1.598745506e-04,8.565176234e-01,7.023250523e-01,-1.573658863e-04,8.565254648e-01,7.030997685e-01,-2.539699953e-04,8.267097953e-01
+47,2.226666667e+01,DOWN_FORCE_DETACH,1792839563938826321,3.728037745e-04,-1.067930471e-04,-3.736688397e-03,3.713527690e-04,-1.134101113e-04,-3.728714403e-03,3.554235345e-04,-1.138289394e-04,-3.727099253e-03,7.023284366e-01,-1.290637821e-04,8.564063988e-01,7.023269856e-01,-1.356808463e-04,8.564143728e-01,7.031005637e-01,-2.322383600e-04,8.265987599e-01
+48,2.256666667e+01,DOWN_FORCE_DETACH,1792839564249400856,3.712824541e-04,-1.149557225e-04,-3.856256099e-03,3.722563069e-04,-1.142135563e-04,-3.847388220e-03,3.550107944e-04,-1.146272173e-04,-3.845675518e-03,7.023269153e-01,-1.372264576e-04,8.562868311e-01,7.023278891e-01,-1.364842913e-04,8.562956990e-01,7.031001510e-01,-2.330366379e-04,8.264801837e-01
+49,2.285000000e+01,DOWN_FORCE_DETACH,1792839564544984103,3.665704392e-04,-1.091525405e-04,-3.980454408e-03,3.673365109e-04,-1.057696448e-04,-3.965866281e-03,3.483504331e-04,-1.061530126e-04,-3.964026471e-03,7.023222033e-01,-1.314232755e-04,8.561626328e-01,7.023229693e-01,-1.280403798e-04,8.561772210e-01,7.030934906e-01,-2.245624332e-04,8.263618327e-01
+50,2.315000000e+01,DOWN_FORCE_DETACH,1792839564855681820,3.614003482e-04,-1.135279368e-04,-4.115317589e-03,3.620486705e-04,-1.176333209e-04,-4.097890905e-03,3.411311043e-04,-1.180285308e-04,-4.096078912e-03,7.023170332e-01,-1.357986718e-04,8.560277697e-01,7.023176815e-01,-1.399040559e-04,8.560451963e-01,7.030862713e-01,-2.364379515e-04,8.262297803e-01
+51,2.338333333e+01,DOWN_FORCE_DETACH,1792839565150817540,3.560169765e-04,-1.230479190e-04,-4.248156664e-03,3.559559091e-04,-1.231122874e-04,-4.247581906e-03,3.327736695e-04,-1.234813328e-04,-4.245510147e-03,7.023116498e-01,-1.453186540e-04,8.558949306e-01,7.023115887e-01,-1.453830224e-04,8.558955053e-01,7.030779139e-01,-2.418907534e-04,8.260803490e-01
+52,2.365000000e+01,DOWN_FORCE_DETACH,1792839565412389794,3.592872865e-04,-1.285021609e-04,-4.365301884e-03,3.540091850e-04,-1.235004719e-04,-4.361024391e-03,3.292520505e-04,-1.238529768e-04,-4.359015934e-03,7.023149201e-01,-1.507728959e-04,8.557777854e-01,7.023096420e-01,-1.457712070e-04,8.557820628e-01,7.030743922e-01,-2.422623975e-04,8.259668433e-01
+53,2.393333333e+01,DOWN_FORCE_DETACH,1792839565690917955,3.673269412e-04,-1.216092152e-04,-4.484048524e-03,3.672180638e-04,-1.214719887e-04,-4.483728049e-03,3.419257898e-04,-1.218111774e-04,-4.481705200e-03,7.023229598e-01,-1.438799502e-04,8.556590387e-01,7.023228509e-01,-1.437427237e-04,8.556593592e-01,7.030870660e-01,-2.402205980e-04,8.258441540e-01
+54,2.420000000e+01,DOWN_FORCE_DETACH,1792839565953951391,3.578282024e-04,-1.207230477e-04,-4.610434560e-03,3.584038153e-04,-1.261391558e-04,-4.604379300e-03,3.310622005e-04,-1.265449745e-04,-4.602421972e-03,7.023134610e-01,-1.429937828e-04,8.555326527e-01,7.023140366e-01,-1.484098908e-04,8.555387079e-01,7.030762024e-01,-2.449543951e-04,8.257234372e-01
+55,2.446666667e+01,DOWN_FORCE_DETACH,1792839566215415858,3.569429189e-04,-1.301068919e-04,-4.745335984e-03,3.579921483e-04,-1.343333242e-04,-4.734516633e-03,3.290224069e-04,-1.347801713e-04,-4.732547253e-03,7.023125757e-01,-1.523776269e-04,8.553977513e-01,7.023136250e-01,-1.566040592e-04,8.554085706e-01,7.030741626e-01,-2.531895919e-04,8.255933119e-01
+56,2.470000000e+01,DOWN_FORCE_DETACH,1792839566444431568,3.403350835e-04,-1.169250706e-04,-4.871038101e-03,3.401968139e-04,-1.171440478e-04,-4.870921768e-03,3.082762752e-04,-1.175280537e-04,-4.868910020e-03,7.022959679e-01,-1.391958057e-04,8.552720491e-01,7.022958296e-01,-1.394147829e-04,8.552721655e-01,7.030534165e-01,-2.359374743e-04,8.254569492e-01
+57,2.491666667e+01,DOWN_FORCE_DETACH,1792839566672997816,3.411061139e-04,-1.302030937e-04,-4.989135482e-03,3.409375670e-04,-1.301776462e-04,-4.989057432e-03,3.076588175e-04,-1.305944378e-04,-4.986959561e-03,7.022967389e-01,-1.524738288e-04,8.551539518e-01,7.022965704e-01,-1.524483812e-04,8.551540298e-01,7.030527990e-01,-2.490038584e-04,8.253388996e-01
+58,2.526666667e+01,DOWN_SETTLE,1792839567017952653,3.186461586e-04,-1.312172256e-04,-5.109203180e-03,3.220704071e-04,-1.335954739e-04,-5.103391756e-03,2.859792610e-04,-1.339643840e-04,-5.101787842e-03,7.022742790e-01,-1.534879606e-04,8.550338841e-01,7.022777032e-01,-1.558662089e-04,8.550396955e-01,7.030311195e-01,-2.523738046e-04,8.252240714e-01
+59,2.583333333e+01,DOWN_PEAK_HOLD,1792839567608748000,3.018662160e-04,-1.280210150e-04,-5.159357900e-03,3.074961555e-04,-1.296818159e-04,-5.143410945e-03,2.697541760e-04,-1.301264485e-04,-5.142807853e-03,7.022574990e-01,-1.502917500e-04,8.549837293e-01,7.022631290e-01,-1.519525509e-04,8.549996763e-01,7.030148944e-01,-2.485358691e-04,8.251830513e-01

Part2/Fixed/digit/ball_15A_15/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+00,4.4731e-02,1.0224e-01,2.4579e+00,-4.3770e-02,3.9948e-02,1.0840e-04,3.7340e-04,1.4752e-06,-6.6996e-05,2.3358e-06,2.6569e-05,-1.5526e-06,3.7937e-04,2.6716e-05
+1,5.3333e-01,DOWN_FORCE_DETACH,1.4451e-04,5.4535e-02,1.0226e-01,2.4565e+00,-4.3705e-02,4.0645e-02,6.4733e-05,1.0178e-02,1.9714e-05,-1.5049e-03,6.6753e-05,7.2320e-04,-4.5224e-05,1.0288e-02,7.2768e-04
+2,1.1667e+00,DOWN_FORCE_DETACH,2.7937e-04,6.2228e-02,1.0223e-01,2.4558e+00,-4.3649e-02,4.1190e-02,2.3906e-05,1.7871e-02,-6.1840e-06,-2.1696e-03,1.2316e-04,1.2682e-03,-8.6051e-05,1.8002e-02,1.2771e-03
+3,1.8500e+00,DOWN_FORCE_DETACH,4.2134e-04,7.0761e-02,1.0591e-01,2.4757e+00,-4.3858e-02,4.1768e-02,-1.1238e-05,2.6404e-02,3.6758e-03,1.7661e-02,-8.5689e-05,1.8466e-03,-1.2120e-04,3.1978e-02,1.8525e-03
+4,2.3333e+00,DOWN_FORCE_DETACH,5.5905e-04,7.4174e-02,1.1266e-01,2.5142e+00,-4.4285e-02,4.1963e-02,-3.1521e-05,2.9817e-02,1.0425e-02,5.6242e-02,-5.1303e-04,2.0410e-03,-1.4148e-04,6.4505e-02,2.1093e-03
+5,2.9333e+00,DOWN_FORCE_DETACH,6.9978e-04,6.6906e-02,1.2484e-01,2.5576e+00,-4.5077e-02,4.1392e-02,-3.0246e-05,2.2548e-02,2.2605e-02,9.9631e-02,-1.3046e-03,1.4698e-03,-1.4020e-04,1.0462e-01,1.9702e-03
+6,3.5667e+00,DOWN_FORCE_DETACH,8.4092e-04,7.0042e-02,1.4510e-01,2.5591e+00,-4.6442e-02,4.1598e-02,-2.9013e-05,2.5685e-02,4.2861e-02,1.0111e-01,-2.6694e-03,1.6765e-03,-1.3897e-04,1.1278e-01,3.1553e-03
+7,4.0167e+00,DOWN_FORCE_DETACH,9.7974e-04,5.6633e-02,1.6137e-01,2.5949e+00,-4.7535e-02,4.0599e-02,-1.7303e-05,1.2275e-02,5.9139e-02,1.3688e-01,-3.7627e-03,6.7664e-04,-1.2726e-04,1.4962e-01,3.8252e-03
+8,4.4833e+00,DOWN_FORCE_DETACH,1.1210e-03,6.0152e-02,1.6561e-01,2.6192e+00,-4.7810e-02,4.0803e-02,-1.0230e-05,1.5794e-02,6.3373e-02,1.6120e-01,-4.0383e-03,8.8100e-04,-1.2019e-04,1.7393e-01,4.1351e-03
+9,4.9833e+00,DOWN_FORCE_DETACH,1.2589e-03,5.4826e-02,1.7958e-01,2.6600e+00,-4.8775e-02,4.0363e-02,1.7562e-06,1.0468e-02,7.7348e-02,2.0205e-01,-5.0031e-03,4.4096e-04,-1.0820e-04,2.1660e-01,5.0237e-03
+10,5.4667e+00,DOWN_FORCE_DETACH,1.4004e-03,4.6626e-02,1.9394e-01,2.6832e+00,-4.9804e-02,3.9745e-02,1.6939e-05,2.2684e-03,9.1708e-02,2.2525e-01,-6.0314e-03,-1.7686e-04,-9.3018e-05,2.4321e-01,6.0347e-03
+11,5.9833e+00,DOWN_FORCE_DETACH,1.5377e-03,3.5337e-02,1.9378e-01,2.7129e+00,-4.9849e-02,3.8915e-02,3.8418e-05,-9.0202e-03,9.1540e-02,2.5486e-01,-6.0766e-03,-1.0074e-03,-7.1539e-05,2.7095e-01,6.1599e-03
+12,6.4500e+00,DOWN_FORCE_DETACH,1.6810e-03,2.7767e-02,1.9380e-01,2.7351e+00,-4.9917e-02,3.8374e-02,8.7054e-05,-1.6590e-02,9.1567e-02,2.7707e-01,-6.1453e-03,-1.5480e-03,-2.2903e-05,2.9228e-01,6.3373e-03
+13,6.8667e+00,DOWN_FORCE_DETACH,1.8193e-03,1.5863e-02,1.9861e-01,2.7266e+00,-5.0275e-02,3.7552e-02,1.7175e-04,-2.8494e-02,9.6370e-02,2.6865e-01,-6.5025e-03,-2.3704e-03,6.1791e-05,2.8683e-01,6.9213e-03
+14,7.2667e+00,DOWN_FORCE_DETACH,1.9590e-03,2.3796e-02,2.1165e-01,2.7667e+00,-5.1096e-02,3.8081e-02,2.7183e-04,-2.0562e-02,1.0941e-01,3.0875e-01,-7.3237e-03,-1.8408e-03,1.6188e-04,3.2821e-01,7.5532e-03
+15,7.6667e+00,DOWN_FORCE_DETACH,2.1014e-03,2.6633e-02,2.2483e-01,2.7670e+00,-5.1892e-02,3.8275e-02,3.6463e-04,-1.7724e-02,1.2259e-01,3.0900e-01,-8.1195e-03,-1.6467e-03,2.5467e-04,3.3290e-01,8.2887e-03
+16,8.0500e+00,DOWN_FORCE_DETACH,2.2400e-03,1.5628e-02,2.1197e-01,2.7833e+00,-5.0881e-02,3.7479e-02,4.2298e-04,-2.8729e-02,1.0973e-01,3.2534e-01,-7.1086e-03,-2.4425e-03,3.1302e-04,3.4455e-01,7.5231e-03
+17,8.4333e+00,DOWN_FORCE_DETACH,2.3804e-03,1.6219e-02,2.3142e-01,2.8053e+00,-5.2120e-02,3.7484e-02,4.4714e-04,-2.8138e-02,1.2918e-01,3.4732e-01,-8.3482e-03,-2.4381e-03,3.3719e-04,3.7163e-01,8.7035e-03
+18,8.6667e+00,DOWN_FORCE_DETACH,2.5184e-03,1.7420e-02,2.2705e-01,2.8341e+00,-5.1730e-02,3.7524e-02,4.3914e-04,-2.6938e-02,1.2481e-01,3.7612e-01,-7.9581e-03,-2.3979e-03,3.2918e-04,3.9720e-01,8.3180e-03
+19,9.0333e+00,DOWN_FORCE_DETACH,2.6599e-03,8.2592e-03,2.3869e-01,2.8431e+00,-5.2426e-02,3.6854e-02,4.2163e-04,-3.6098e-02,1.3645e-01,3.8510e-01,-8.6540e-03,-3.0676e-03,3.1167e-04,4.1015e-01,9.1869e-03
+20,9.4500e+00,DOWN_FORCE_DETACH,2.7980e-03,1.8595e-02,2.5806e-01,2.8371e+00,-5.3665e-02,3.7581e-02,3.5993e-04,-2.5763e-02,1.5582e-01,3.7911e-01,-9.8926e-03,-2.3411e-03,2.4997e-04,4.1069e-01,1.0169e-02
+21,9.8333e+00,DOWN_FORCE_DETACH,2.9362e-03,2.9759e-02,2.5961e-01,2.8094e+00,-5.3705e-02,3.8403e-02,2.8012e-04,-1.4598e-02,1.5737e-01,3.5142e-01,-9.9333e-03,-1.5185e-03,1.7016e-04,3.8533e-01,1.0050e-02
+22,1.0250e+01,DOWN_FORCE_DETACH,3.0797e-03,3.3986e-02,2.7337e-01,2.8100e+00,-5.4616e-02,3.8703e-02,2.1120e-04,-1.0372e-02,1.7113e-01,3.5202e-01,-1.0844e-02,-1.2190e-03,1.0124e-04,3.9155e-01,1.0913e-02
+23,1.0683e+01,DOWN_FORCE_DETACH,3.2226e-03,3.8763e-02,2.9640e-01,2.8107e+00,-5.6128e-02,3.9028e-02,1.7641e-04,-5.5945e-03,1.9417e-01,3.5272e-01,-1.2356e-02,-8.9364e-04,6.6457e-05,4.0267e-01,1.2388e-02
+24,1.1083e+01,DOWN_FORCE_DETACH,3.3546e-03,4.1925e-02,3.1298e-01,2.8087e+00,-5.7197e-02,3.9249e-02,1.7750e-04,-2.4326e-03,2.1074e-01,3.5073e-01,-1.3424e-02,-6.7335e-04,6.7543e-05,4.0918e-01,1.3442e-02
+25,1.1600e+01,DOWN_FORCE_DETACH,3.4984e-03,4.9691e-02,3.2634e-01,2.7550e+00,-5.8184e-02,3.9874e-02,2.0709e-04,5.3334e-03,2.2411e-01,2.9700e-01,-1.4412e-02,-4.7401e-05,9.7130e-05,3.7211e-01,1.4412e-02
+26,1.2100e+01,DOWN_FORCE_DETACH,3.6381e-03,6.2695e-02,3.4104e-01,2.7548e+00,-5.9256e-02,4.0806e-02,2.2934e-04,1.8338e-02,2.3881e-01,2.9678e-01,-1.5484e-02,8.8378e-04,1.1938e-04,3.8137e-01,1.5510e-02
+27,1.2650e+01,DOWN_FORCE_DETACH,3.7764e-03,7.5624e-02,3.3572e-01,2.7225e+00,-5.8958e-02,4.1750e-02,2.2279e-04,3.1266e-02,2.3349e-01,2.6448e-01,-1.5186e-02,1.8276e-03,1.1284e-04,3.5418e-01,1.5296e-02
+28,1.3183e+01,DOWN_FORCE_DETACH,3.9168e-03,8.1377e-02,3.4216e-01,2.7064e+00,-5.9417e-02,4.2173e-02,2.0037e-04,3.7019e-02,2.3992e-01,2.4844e-01,-1.5645e-02,2.2511e-03,9.0412e-05,3.4736e-01,1.5806e-02
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+30,1.4233e+01,DOWN_FORCE_DETACH,4.1954e-03,8.0520e-02,3.5572e-01,2.6361e+00,-6.0479e-02,4.2191e-02,1.2441e-04,3.6162e-02,2.5349e-01,1.7808e-01,-1.6707e-02,2.2691e-03,1.4452e-05,3.1189e-01,1.6860e-02
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+38,1.8700e+01,DOWN_FORCE_DETACH,5.3184e-03,6.2430e-02,3.9644e-01,2.6293e+00,-6.3702e-02,4.0938e-02,2.0216e-04,1.8072e-02,2.9421e-01,1.7130e-01,-1.9930e-02,1.0161e-03,9.2208e-05,3.4092e-01,1.9956e-02
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+41,1.9967e+01,DOWN_FORCE_DETACH,5.7348e-03,8.1802e-02,4.0895e-01,2.6988e+00,-6.4263e-02,4.2195e-02,2.3512e-04,3.7445e-02,3.0671e-01,2.4079e-01,-2.0491e-02,2.2731e-03,1.2516e-04,3.9173e-01,2.0617e-02
+42,2.0417e+01,DOWN_FORCE_DETACH,5.8782e-03,9.0193e-02,4.1095e-01,2.7423e+00,-6.4222e-02,4.2730e-02,2.0293e-04,4.5835e-02,3.0871e-01,2.8432e-01,-2.0450e-02,2.8078e-03,9.2969e-05,4.2219e-01,2.0642e-02
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+46,2.1933e+01,DOWN_FORCE_DETACH,6.4353e-03,8.1424e-02,4.3694e-01,2.8220e+00,-6.5260e-02,4.1981e-02,3.4397e-05,3.7066e-02,3.3471e-01,3.6398e-01,-2.1488e-02,2.0587e-03,-7.5559e-05,4.9587e-01,2.1586e-02
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+49,2.2850e+01,DOWN_FORCE_DETACH,6.8528e-03,9.7984e-02,3.6482e-01,2.8822e+00,-6.0036e-02,4.3085e-02,6.4821e-05,5.3626e-02,2.6258e-01,4.2420e-01,-1.6264e-02,3.1628e-03,-4.5136e-05,5.0177e-01,1.6569e-02
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Part2/Fixed/digit/ball_15A_15/press_depth_05/up/camera_frames_60hz.tar

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+size 604160

Part2/Fixed/digit/ball_15A_15/press_depth_05/up/franka_data.csv

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Part2/Fixed/digit/ball_15A_15/press_depth_05/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+9,8.666666667e-01,WAIT_W2,1792839531604725484,-1.745496022e-06,-9.594643419e-05,3.462315680e-06,-1.842990291e-06,-9.598443411e-05,3.330582771e-06,-1.918909341e-06,-9.622133839e-05,3.300665341e-06,7.019538873e-01,-1.182171692e-04,8.601465496e-01,7.019537898e-01,-1.182551691e-04,8.601464178e-01,7.027432212e-01,-2.146307643e-04,8.303291599e-01
+10,8.666666667e-01,WAIT_W2,1792839531604725484,-1.745496022e-06,-9.594643419e-05,3.462315680e-06,-1.842990291e-06,-9.598443411e-05,3.330582771e-06,-1.918909341e-06,-9.622133839e-05,3.300665341e-06,7.019538873e-01,-1.182171692e-04,8.601465496e-01,7.019537898e-01,-1.182551691e-04,8.601464178e-01,7.027432212e-01,-2.146307643e-04,8.303291599e-01
+11,8.833333333e-01,WAIT_W2,1792839531620845371,3.084338162e-07,-1.688177727e-04,9.609303343e-06,3.294380897e-07,-1.688562815e-04,9.971261159e-06,5.517562016e-07,-1.692640861e-04,9.860118366e-06,7.019559413e-01,-1.910885078e-04,8.601526965e-01,7.019559623e-01,-1.911270165e-04,8.601530585e-01,7.027456919e-01,-2.876735120e-04,8.303357193e-01
+12,8.833333333e-01,WAIT_W2,1792839531620845371,3.084338162e-07,-1.688177727e-04,9.609303343e-06,3.294380897e-07,-1.688562815e-04,9.971261159e-06,5.517562016e-07,-1.692640861e-04,9.860118366e-06,7.019559413e-01,-1.910885078e-04,8.601526965e-01,7.019559623e-01,-1.911270165e-04,8.601530585e-01,7.027456919e-01,-2.876735120e-04,8.303357193e-01
+13,9.000000000e-01,WAIT_W2,1792839531638333856,1.154125645e-06,-2.059070191e-04,1.352093607e-05,1.115238839e-06,-2.058395821e-04,1.331984442e-05,1.416698436e-06,-2.063873203e-04,1.320354264e-05,7.019567869e-01,-2.281777542e-04,8.601566082e-01,7.019567481e-01,-2.281103171e-04,8.601564071e-01,7.027465569e-01,-3.247967462e-04,8.303390628e-01
+14,9.333333333e-01,WAIT_W2,1792839531670587937,6.536631549e-07,-1.976875472e-04,1.395440207e-05,1.115238839e-06,-2.058395821e-04,1.331984442e-05,1.416008004e-06,-2.064006232e-04,1.322943017e-05,7.019562865e-01,-2.199582822e-04,8.601570416e-01,7.019567481e-01,-2.281103171e-04,8.601564071e-01,7.027465562e-01,-3.248100491e-04,8.303390886e-01
+15,9.666666667e-01,WAIT_W2,1792839531702776115,2.504838150e-06,-1.799355226e-04,1.583439329e-05,2.554510465e-06,-1.817512314e-04,1.327089265e-05,2.957155084e-06,-1.822325835e-04,1.321230979e-05,7.019581377e-01,-2.022062576e-04,8.601589216e-01,7.019581873e-01,-2.040219665e-04,8.601563581e-01,7.027480973e-01,-3.006420094e-04,8.303390715e-01
+16,1.033333333e+00,WAIT_W2,1792839531768718279,1.471269697e-06,-2.022417987e-04,1.468424434e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.382727566e-06,-2.095315417e-04,1.272219095e-05,7.019571041e-01,-2.245125337e-04,8.601577715e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027465229e-01,-3.279409676e-04,8.303385814e-01
+17,1.150000000e+00,WAIT_W2,1792839531883195443,2.381361994e-06,-2.094464126e-04,1.807448393e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.395338253e-06,-2.095419270e-04,1.274200499e-05,7.019580142e-01,-2.317171476e-04,8.601611617e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027465355e-01,-3.279513530e-04,8.303386012e-01
+18,1.300000000e+00,WAIT_W2,1792839532047358788,5.770090809e-06,-2.020705943e-04,2.144182323e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.409614246e-06,-2.095488766e-04,1.275941909e-05,7.019614029e-01,-2.243413294e-04,8.601645291e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027465498e-01,-3.279583025e-04,8.303386186e-01
+19,1.416666667e+00,WAIT_W2,1792839532163426759,3.283808489e-06,-2.049652850e-04,1.767083945e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.419165361e-06,-2.095526816e-04,1.276994953e-05,7.019589166e-01,-2.272360201e-04,8.601607581e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027465593e-01,-3.279621075e-04,8.303386292e-01
+20,1.483333333e+00,WAIT_W2,1792839532243915800,5.527125471e-06,-2.058226616e-04,2.277509030e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.424225017e-06,-2.095545496e-04,1.277514872e-05,7.019611599e-01,-2.280933966e-04,8.601658623e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027465644e-01,-3.279639755e-04,8.303386344e-01
+21,1.633333333e+00,UP_FORCE_RAMP,1792839532424308531,3.879252204e-06,-2.056252028e-04,2.160369938e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.434581905e-06,-2.095579393e-04,1.278441176e-05,7.019595121e-01,-2.278959378e-04,8.601646909e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027465747e-01,-3.279673652e-04,8.303386436e-01
+22,1.750000000e+00,UP_FORCE_RAMP,1792839532571865799,3.867301758e-06,-2.081171631e-04,1.826554446e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.441935934e-06,-2.095601267e-04,1.279072286e-05,7.019595001e-01,-2.303878981e-04,8.601613528e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027465821e-01,-3.279695526e-04,8.303386499e-01
+23,1.850000000e+00,UP_FORCE_RAMP,1792839532685374318,5.609699120e-06,-2.140664123e-04,2.172032397e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.447694021e-06,-2.095617533e-04,1.279552085e-05,7.019612425e-01,-2.363371473e-04,8.601648076e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027465879e-01,-3.279711792e-04,8.303386547e-01
+24,1.966666667e+00,UP_FORCE_RAMP,1792839532816530481,6.484232226e-06,-2.074004691e-04,2.597358575e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.453973890e-06,-2.095635020e-04,1.280037652e-05,7.019621170e-01,-2.296712041e-04,8.601690608e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027465941e-01,-3.279729280e-04,8.303386596e-01
+25,2.150000000e+00,UP_FORCE_RAMP,1792839532997042485,6.185352428e-06,-2.055808993e-04,2.521249987e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.463069244e-06,-2.095660617e-04,1.280680369e-05,7.019618182e-01,-2.278516343e-04,8.601682997e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027466032e-01,-3.279754877e-04,8.303386660e-01
+26,2.316666667e+00,UP_FORCE_RAMP,1792839533161308388,3.328254007e-06,-2.085975477e-04,2.660608736e-05,1.090684145e-06,-2.089713424e-04,1.272323906e-05,1.470406397e-06,-2.095681236e-04,1.281150165e-05,7.019589611e-01,-2.308682827e-04,8.601696933e-01,7.019567235e-01,-2.312420774e-04,8.601558105e-01,7.027466106e-01,-3.279775495e-04,8.303386707e-01
+27,2.383333333e+00,UP_FORCE_RAMP,1792839533226995866,-2.245166670e-05,-2.050452907e-04,1.818890638e-05,-2.228620318e-05,-2.051474833e-04,1.786369644e-05,-2.349048506e-05,-2.057367247e-04,1.783925113e-05,7.019331812e-01,-2.273160258e-04,8.601612761e-01,7.019333466e-01,-2.274182183e-04,8.601609509e-01,7.027216497e-01,-3.241461506e-04,8.303436985e-01
+28,2.450000000e+00,UP_FORCE_RAMP,1792839533291629467,-1.806862532e-05,-2.037434283e-04,2.319943273e-05,-2.228620318e-05,-2.051474833e-04,1.786369644e-05,-2.352581894e-05,-2.057378987e-04,1.784400339e-05,7.019375642e-01,-2.260141633e-04,8.601662867e-01,7.019333466e-01,-2.274182183e-04,8.601609509e-01,7.027216143e-01,-3.241473246e-04,8.303437032e-01
+29,2.550000000e+00,UP_FORCE_RAMP,1792839533390176072,-1.584872374e-05,-1.969097637e-04,3.069985243e-05,-2.228620318e-05,-2.051474833e-04,1.786369644e-05,-2.354747694e-05,-2.057375036e-04,1.785089060e-05,7.019397841e-01,-2.191804988e-04,8.601737871e-01,7.019333466e-01,-2.274182183e-04,8.601609509e-01,7.027215927e-01,-3.241469295e-04,8.303437101e-01
+30,2.683333333e+00,UP_FORCE_RAMP,1792839533521426063,-1.501664140e-05,-2.075759682e-04,3.454723040e-05,-2.228620318e-05,-2.051474833e-04,1.786369644e-05,-2.356617882e-05,-2.057373544e-04,1.785790021e-05,7.019406162e-01,-2.298467032e-04,8.601776345e-01,7.019333466e-01,-2.274182183e-04,8.601609509e-01,7.027215740e-01,-3.241467803e-04,8.303437171e-01
+31,2.816666667e+00,UP_FORCE_RAMP,1792839533684530097,-1.389538433e-05,-2.043139606e-04,4.090414569e-05,-1.437122320e-05,-2.059805278e-04,3.850890677e-05,-1.476169674e-05,-2.065646287e-04,3.840419863e-05,7.019417374e-01,-2.265846956e-04,8.601839914e-01,7.019412616e-01,-2.282512628e-04,8.601815961e-01,7.027303785e-01,-3.249740546e-04,8.303642634e-01
+32,2.966666667e+00,UP_FORCE_RAMP,1792839533849257546,-1.512753198e-05,-2.072968742e-04,4.831609227e-05,-1.437122320e-05,-2.059805278e-04,3.850890677e-05,-1.476227323e-05,-2.065669292e-04,3.843612944e-05,7.019405053e-01,-2.295676092e-04,8.601914033e-01,7.019412616e-01,-2.282512628e-04,8.601815961e-01,7.027303779e-01,-3.249763551e-04,8.303642953e-01
+33,3.116666667e+00,UP_FORCE_RAMP,1792839533996312684,-1.145300336e-05,-2.031236840e-04,6.325228160e-05,-1.123819895e-05,-2.033201341e-04,6.335573023e-05,-1.115941444e-05,-2.039260404e-04,6.308411234e-05,7.019441798e-01,-2.253944190e-04,8.602063395e-01,7.019443946e-01,-2.255908691e-04,8.602064430e-01,7.027339807e-01,-3.223354663e-04,8.303889433e-01
+34,3.200000000e+00,UP_FORCE_RAMP,1792839534079127010,-6.514020588e-06,-2.010546232e-04,7.343537730e-05,-1.123819895e-05,-2.033201341e-04,6.335573023e-05,-1.115417207e-05,-2.039282312e-04,6.313422596e-05,7.019491188e-01,-2.233253582e-04,8.602165226e-01,7.019443946e-01,-2.255908691e-04,8.602064430e-01,7.027339860e-01,-3.223376571e-04,8.303889934e-01
+35,3.333333333e+00,UP_FORCE_RAMP,1792839534208694808,-7.391082087e-06,-2.052555383e-04,8.221634932e-05,-1.123819895e-05,-2.033201341e-04,6.335573023e-05,-1.115198571e-05,-2.039307468e-04,6.317529915e-05,7.019482417e-01,-2.275262733e-04,8.602253036e-01,7.019443946e-01,-2.255908691e-04,8.602064430e-01,7.027339882e-01,-3.223401727e-04,8.303890345e-01
+36,3.466666667e+00,UP_FORCE_RAMP,1792839534359664833,-4.018562634e-06,-1.993487146e-04,9.676098486e-05,-7.455761280e-06,-2.033705062e-04,8.391095889e-05,-6.854987306e-06,-2.039860720e-04,8.364683148e-05,7.019516143e-01,-2.216194496e-04,8.602398482e-01,7.019481771e-01,-2.256412412e-04,8.602269982e-01,7.027382852e-01,-3.223954979e-04,8.304095061e-01
+37,3.566666667e+00,UP_FORCE_RAMP,1792839534474388746,-5.110930079e-06,-2.037179166e-04,1.032047555e-04,-7.455761280e-06,-2.033705062e-04,8.391095889e-05,-6.850448907e-06,-2.039885943e-04,8.368204474e-05,7.019505219e-01,-2.259886517e-04,8.602462920e-01,7.019481771e-01,-2.256412412e-04,8.602269982e-01,7.027382897e-01,-3.223980202e-04,8.304095413e-01
+38,3.700000000e+00,UP_FORCE_RAMP,1792839534618529280,-2.533494700e-06,-2.031548901e-04,1.201026248e-04,-4.289778015e-06,-2.004926526e-04,1.069673964e-04,-3.114451361e-06,-2.010788724e-04,1.066168853e-04,7.019530993e-01,-2.254256251e-04,8.602631899e-01,7.019513430e-01,-2.227633877e-04,8.602500546e-01,7.027420257e-01,-3.194882983e-04,8.304324761e-01
+39,3.800000000e+00,UP_FORCE_RAMP,1792839534716479779,-9.802084333e-08,-2.000788568e-04,1.375778383e-04,-6.099241940e-07,-1.950495535e-04,1.260908937e-04,1.060072982e-06,-1.956412944e-04,1.257546570e-04,7.019555348e-01,-2.223495918e-04,8.602806651e-01,7.019550229e-01,-2.173202885e-04,8.602691781e-01,7.027462002e-01,-3.140507203e-04,8.304516139e-01
+40,3.933333333e+00,UP_FORCE_RAMP,1792839534863986477,-6.802273589e-08,-1.965405427e-04,1.529017421e-04,2.812621915e-06,-1.992237254e-04,1.522522669e-04,5.062771338e-06,-1.998332096e-04,1.517553674e-04,7.019555648e-01,-2.188112777e-04,8.602959890e-01,7.019584454e-01,-2.214944605e-04,8.602953395e-01,7.027502029e-01,-3.182426355e-04,8.304776146e-01
+41,4.050000000e+00,UP_FORCE_RAMP,1792839534979073622,8.796319412e-07,-1.941465820e-04,1.614391108e-04,2.812621915e-06,-1.992237254e-04,1.522522669e-04,5.077479059e-06,-1.998378448e-04,1.518349173e-04,7.019565124e-01,-2.164173171e-04,8.603045264e-01,7.019584454e-01,-2.214944605e-04,8.602953395e-01,7.027502176e-01,-3.182472707e-04,8.304776941e-01
+42,4.183333333e+00,UP_FORCE_RAMP,1792839535110918403,-8.988715138e-07,-1.939646429e-04,1.653193454e-04,2.812621915e-06,-1.992237254e-04,1.522522669e-04,5.090318169e-06,-1.998414168e-04,1.519031596e-04,7.019547339e-01,-2.162353779e-04,8.603084066e-01,7.019584454e-01,-2.214944605e-04,8.602953395e-01,7.027502305e-01,-3.182508427e-04,8.304777624e-01
+43,4.283333333e+00,UP_FORCE_RAMP,1792839535208292352,-3.264015514e-06,-1.949831760e-04,1.701125455e-04,2.812621915e-06,-1.992237254e-04,1.522522669e-04,5.098222764e-06,-1.998422843e-04,1.519451513e-04,7.019523688e-01,-2.172539111e-04,8.603131998e-01,7.019584454e-01,-2.214944605e-04,8.602953395e-01,7.027502384e-01,-3.182517102e-04,8.304778044e-01
+44,4.383333333e+00,UP_FORCE_RAMP,1792839535306904604,-3.272656663e-05,-1.920392552e-04,1.662462279e-04,-3.220762831e-05,-1.919098270e-04,1.664370495e-04,-3.227161704e-05,-1.925131760e-04,1.660560228e-04,7.019229063e-01,-2.143099902e-04,8.603093335e-01,7.019234252e-01,-2.141805620e-04,8.603095243e-01,7.027128685e-01,-3.109226019e-04,8.304919152e-01
+45,4.433333333e+00,UP_FORCE_RAMP,1792839535355649533,-3.569522199e-05,-1.953977637e-04,1.662872251e-04,-3.220762831e-05,-1.919098270e-04,1.664370495e-04,-3.230922141e-05,-1.925148704e-04,1.660756189e-04,7.019199376e-01,-2.176684988e-04,8.603093745e-01,7.019234252e-01,-2.141805620e-04,8.603095243e-01,7.027128309e-01,-3.109242963e-04,8.304919348e-01
+46,4.566666667e+00,UP_FORCE_RAMP,1792839535487301312,-3.085219299e-05,-1.963248005e-04,1.740737981e-04,-3.220762831e-05,-1.919098270e-04,1.664370495e-04,-3.234995726e-05,-1.925119494e-04,1.661284951e-04,7.019247806e-01,-2.185955355e-04,8.603171610e-01,7.019234252e-01,-2.141805620e-04,8.603095243e-01,7.027127902e-01,-3.109213753e-04,8.304919877e-01
+47,4.700000000e+00,UP_FORCE_RAMP,1792839535618131240,-3.213457277e-05,-1.911365427e-04,1.772692073e-04,-3.220762831e-05,-1.919098270e-04,1.664370495e-04,-3.237492368e-05,-1.925100877e-04,1.661741288e-04,7.019234982e-01,-2.134072778e-04,8.603203564e-01,7.019234252e-01,-2.141805620e-04,8.603095243e-01,7.027127652e-01,-3.109195136e-04,8.304920333e-01
+48,4.833333333e+00,UP_FORCE_RAMP,1792839535748369648,-2.848866729e-05,-1.951358745e-04,1.890809469e-04,-2.846423007e-05,-1.952693544e-04,1.888422015e-04,-2.805136403e-05,-1.958710716e-04,1.883882984e-04,7.019271441e-01,-2.174066095e-04,8.603321682e-01,7.019271686e-01,-2.175400895e-04,8.603319294e-01,7.027170888e-01,-3.142804975e-04,8.305142475e-01
+49,5.000000000e+00,UP_FORCE_RAMP,1792839535912461961,-2.858784418e-05,-1.925259637e-04,1.941770644e-04,-2.846423007e-05,-1.952693544e-04,1.888422015e-04,-2.805796366e-05,-1.958722232e-04,1.884844447e-04,7.019270450e-01,-2.147966988e-04,8.603372643e-01,7.019271686e-01,-2.175400895e-04,8.603319294e-01,7.027170822e-01,-3.142816491e-04,8.305143437e-01
+50,5.166666667e+00,UP_FORCE_RAMP,1792839536076081068,-2.526085139e-05,-1.921123493e-04,2.079005566e-04,-2.846423007e-05,-1.952693544e-04,1.888422015e-04,-2.806783334e-05,-1.958716561e-04,1.885431661e-04,7.019303720e-01,-2.143830843e-04,8.603509878e-01,7.019271686e-01,-2.175400895e-04,8.603319294e-01,7.027170723e-01,-3.142810820e-04,8.305144024e-01
+51,5.266666667e+00,UP_FORCE_RAMP,1792839536174255140,-2.563910396e-05,-1.915617817e-04,2.090815336e-04,-2.548935134e-05,-1.914086971e-04,2.089133087e-04,-2.463732051e-05,-1.920031546e-04,2.084924110e-04,7.019299937e-01,-2.138325167e-04,8.603521688e-01,7.019301435e-01,-2.136794321e-04,8.603520005e-01,7.027205028e-01,-3.104125805e-04,8.305343516e-01
+52,5.483333333e+00,UP_FORCE_RAMP,1792839536387263977,-2.618841760e-05,-1.924820430e-04,2.181304169e-04,-2.548935134e-05,-1.914086971e-04,2.089133087e-04,-2.463582550e-05,-1.920029284e-04,2.085998814e-04,7.019294444e-01,-2.147527780e-04,8.603612177e-01,7.019301435e-01,-2.136794321e-04,8.603520005e-01,7.027205043e-01,-3.104123543e-04,8.305344591e-01
+53,5.600000000e+00,UP_FORCE_RAMP,1792839536502326509,-2.336987150e-05,-1.893730431e-04,2.275589733e-04,-2.548935134e-05,-1.914086971e-04,2.089133087e-04,-2.463751105e-05,-1.920020925e-04,2.086373626e-04,7.019322629e-01,-2.116437782e-04,8.603706462e-01,7.019301435e-01,-2.136794321e-04,8.603520005e-01,7.027205026e-01,-3.104115184e-04,8.305344966e-01
+54,5.750000000e+00,UP_FORCE_RAMP,1792839536666187461,-2.478676046e-05,-1.907626304e-04,2.298628156e-04,-2.239285614e-05,-1.904050398e-04,2.297014209e-04,-2.102986067e-05,-1.909971815e-04,2.293434993e-04,7.019308461e-01,-2.130333654e-04,8.603729501e-01,7.019332400e-01,-2.126757748e-04,8.603727887e-01,7.027241103e-01,-3.094066074e-04,8.305552027e-01
+55,5.833333333e+00,UP_FORCE_RAMP,1792839536747576266,-2.397132244e-05,-1.948752318e-04,2.338299152e-04,-2.239285614e-05,-1.904050398e-04,2.297014209e-04,-2.102750818e-05,-1.909972878e-04,2.293786480e-04,7.019316615e-01,-2.171459668e-04,8.603769172e-01,7.019332400e-01,-2.126757748e-04,8.603727887e-01,7.027241126e-01,-3.094067137e-04,8.305552379e-01
+56,5.966666667e+00,UP_FORCE_RAMP,1792839536911619981,-2.268378162e-05,-1.903004209e-04,2.396486756e-04,-2.239285614e-05,-1.904050398e-04,2.297014209e-04,-2.102519057e-05,-1.909969889e-04,2.294236239e-04,7.019329490e-01,-2.125711559e-04,8.603827359e-01,7.019332400e-01,-2.126757748e-04,8.603727887e-01,7.027241150e-01,-3.094064149e-04,8.305552828e-01
+57,6.100000000e+00,UP_FORCE_HOLD,1792839537042615422,-2.198668590e-05,-1.874125971e-04,2.431963153e-04,-2.239285614e-05,-1.904050398e-04,2.297014209e-04,-2.102329187e-05,-1.909965605e-04,2.294604093e-04,7.019336461e-01,-2.096833321e-04,8.603862836e-01,7.019332400e-01,-2.126757748e-04,8.603727887e-01,7.027241169e-01,-3.094059864e-04,8.305553196e-01
+58,6.200000000e+00,UP_FORCE_HOLD,1792839537141574168,-2.225506151e-05,-1.931426525e-04,2.434186759e-04,-2.239285614e-05,-1.904050398e-04,2.297014209e-04,-2.102197929e-05,-1.909962070e-04,2.294841606e-04,7.019333778e-01,-2.154133875e-04,8.603865059e-01,7.019332400e-01,-2.126757748e-04,8.603727887e-01,7.027241182e-01,-3.094056329e-04,8.305553434e-01
+59,6.333333333e+00,UP_FORCE_HOLD,1792839537272108986,-2.131582856e-05,-1.901564444e-04,2.468154665e-04,-2.239285614e-05,-1.904050398e-04,2.297014209e-04,-2.102036633e-05,-1.909958708e-04,2.295120045e-04,7.019343170e-01,-2.124271794e-04,8.603899027e-01,7.019332400e-01,-2.126757748e-04,8.603727887e-01,7.027241198e-01,-3.094052967e-04,8.305553712e-01

Part2/Fixed/digit/ball_15A_15/press_depth_05/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,4.4724e-02,1.0224e-01,2.4579e+00,-4.3770e-02,3.9948e-02,1.0836e-04,3.7473e-04,1.4901e-06,-6.6996e-05,2.3358e-06,2.6654e-05,-1.5523e-06,3.8068e-04,2.6802e-05
+1,1.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,3.2210e-05,4.6854e-02,1.0225e-01,2.4576e+00,-4.3756e-02,4.0100e-02,9.9297e-05,2.5044e-03,1.1563e-05,-4.3130e-04,1.5717e-05,1.7829e-04,-1.0617e-05,2.5413e-03,1.7930e-04
+2,2.6667e-01,WAIT_W2,6.3250e-05,5.0090e-02,1.0225e-01,2.4571e+00,-4.3735e-02,4.0330e-02,8.5183e-05,5.7400e-03,1.9550e-05,-9.3126e-04,3.6675e-05,4.0827e-04,-2.4730e-05,5.8151e-03,4.1066e-04
+3,3.8333e-01,WAIT_W2,9.2798e-05,5.2142e-02,1.0226e-01,2.4568e+00,-4.3722e-02,4.0475e-02,7.5943e-05,7.7928e-03,2.0623e-05,-1.2147e-03,5.0370e-05,5.5396e-04,-3.3970e-05,7.8870e-03,5.5728e-04
+4,5.0000e-01,WAIT_W2,1.2135e-04,5.4021e-02,1.0226e-01,2.4566e+00,-4.3709e-02,4.0609e-02,6.7136e-05,9.6715e-03,2.0511e-05,-1.4477e-03,6.3218e-05,6.8729e-04,-4.2778e-05,9.7793e-03,6.9152e-04
+5,6.6667e-01,WAIT_W2,1.5366e-04,5.6450e-02,1.0225e-01,2.4563e+00,-4.3692e-02,4.0781e-02,5.5245e-05,1.2100e-02,1.6034e-05,-1.7140e-03,8.0377e-05,8.5953e-04,-5.4668e-05,1.2221e-02,8.6500e-04
+6,7.5000e-01,WAIT_W2,1.7572e-04,5.7558e-02,1.0225e-01,2.4562e+00,-4.3684e-02,4.0859e-02,4.9579e-05,1.3208e-02,1.3657e-05,-1.8222e-03,8.8349e-05,9.3806e-04,-6.0334e-05,1.3333e-02,9.4414e-04
+7,8.3333e-01,WAIT_W2,2.1289e-04,5.8604e-02,1.0225e-01,2.4561e+00,-4.3676e-02,4.0934e-02,4.4102e-05,1.4254e-02,1.1064e-05,-1.9155e-03,9.5934e-05,1.0122e-03,-6.5811e-05,1.4383e-02,1.0188e-03
+8,8.5000e-01,WAIT_W2,2.4559e-04,5.8806e-02,1.0225e-01,2.4561e+00,-4.3675e-02,4.0948e-02,4.3028e-05,1.4456e-02,1.0431e-05,-1.9324e-03,9.7413e-05,1.0265e-03,-6.6885e-05,1.4585e-02,1.0333e-03
+9,8.6667e-01,WAIT_W2,2.9577e-04,6.3787e-02,2.1818e-01,2.4555e+00,-5.1703e-02,4.1294e-02,7.8832e-05,1.9437e-02,1.1594e-01,-2.4765e-03,-7.9312e-03,1.3723e-03,-3.1082e-05,1.1759e-01,8.0491e-03
+10,8.6667e-01,WAIT_W2,2.9577e-04,6.3787e-02,2.1818e-01,2.4555e+00,-5.1703e-02,4.1294e-02,7.8832e-05,1.9437e-02,1.1594e-01,-2.4765e-03,-7.9312e-03,1.3723e-03,-3.1082e-05,1.1759e-01,8.0491e-03
+11,8.8333e-01,WAIT_W2,3.6893e-04,6.6459e-02,3.4700e-01,2.4531e+00,-6.0638e-02,4.1479e-02,1.2124e-04,2.2109e-02,2.4476e-01,-4.8683e-03,-1.6866e-02,1.5577e-03,1.1324e-05,2.4581e-01,1.6938e-02
+12,8.8333e-01,WAIT_W2,3.6893e-04,6.6459e-02,3.4700e-01,2.4531e+00,-6.0638e-02,4.1479e-02,1.2124e-04,2.2109e-02,2.4476e-01,-4.8683e-03,-1.6866e-02,1.5577e-03,1.1324e-05,2.4581e-01,1.6938e-02
+13,9.0000e-01,WAIT_W2,4.0623e-04,6.7303e-02,5.2968e-01,2.4466e+00,-7.3320e-02,4.1537e-02,1.8415e-04,2.2953e-02,4.2744e-01,-1.1397e-02,-2.9547e-02,1.6160e-03,7.4240e-05,4.2821e-01,2.9592e-02
+14,9.3333e-01,WAIT_W2,4.2829e-04,6.9427e-02,6.1914e-01,2.4478e+00,-7.9600e-02,4.1685e-02,2.1424e-04,2.5078e-02,5.1690e-01,-1.0170e-02,-3.5827e-02,1.7640e-03,1.0433e-04,5.1761e-01,3.5871e-02
+15,9.6667e-01,WAIT_W2,4.4753e-04,6.6472e-02,5.5615e-01,2.4498e+00,-7.5270e-02,4.1480e-02,1.9046e-04,2.2122e-02,4.5392e-01,-8.2107e-03,-3.1498e-02,1.5589e-03,8.0550e-05,4.5453e-01,3.1536e-02
+16,1.0333e+00,WAIT_W2,4.8492e-04,7.2573e-02,6.2429e-01,2.4543e+00,-8.0024e-02,4.1902e-02,2.0616e-04,2.8223e-02,5.2205e-01,-3.7162e-03,-3.6252e-02,1.9803e-03,9.6247e-05,5.2283e-01,3.6306e-02
+17,1.1500e+00,WAIT_W2,5.1297e-04,7.4788e-02,6.2204e-01,2.4582e+00,-7.9924e-02,4.2056e-02,1.9134e-04,3.0438e-02,5.1980e-01,1.9288e-04,-3.6152e-02,2.1342e-03,8.1426e-05,5.2070e-01,3.6215e-02
+18,1.3000e+00,WAIT_W2,5.4414e-04,7.7236e-02,6.2082e-01,2.4614e+00,-7.9888e-02,4.2227e-02,1.7346e-04,3.2887e-02,5.1858e-01,3.4120e-03,-3.6116e-02,2.3056e-03,6.3542e-05,5.1964e-01,3.6189e-02
+19,1.4167e+00,WAIT_W2,5.7617e-04,7.8909e-02,6.2013e-01,2.4633e+00,-7.9869e-02,4.2344e-02,1.6063e-04,3.4559e-02,5.1789e-01,5.3504e-03,-3.6097e-02,2.4226e-03,5.0715e-05,5.1907e-01,3.6178e-02
+20,1.4833e+00,WAIT_W2,6.0445e-04,7.9805e-02,6.1979e-01,2.4643e+00,-7.9859e-02,4.2407e-02,1.5356e-04,3.5455e-02,5.1755e-01,6.3093e-03,-3.6087e-02,2.4853e-03,4.3651e-05,5.1880e-01,3.6173e-02
+21,1.6333e+00,UP_FORCE_RAMP,6.3448e-04,8.1614e-02,6.1916e-01,2.4660e+00,-7.9842e-02,4.2534e-02,1.3791e-04,3.7264e-02,5.1692e-01,8.0311e-03,-3.6070e-02,2.6124e-03,2.8000e-05,5.1833e-01,3.6164e-02
+22,1.7500e+00,UP_FORCE_RAMP,6.6170e-04,8.2883e-02,6.1878e-01,2.4671e+00,-7.9833e-02,4.2623e-02,1.2626e-04,3.8533e-02,5.1655e-01,9.1505e-03,-3.6061e-02,2.7015e-03,1.6344e-05,5.1806e-01,3.6162e-02
+23,1.8500e+00,UP_FORCE_RAMP,6.9831e-04,8.3915e-02,6.1847e-01,2.4680e+00,-7.9825e-02,4.2695e-02,1.1660e-04,3.9565e-02,5.1624e-01,1.0037e-02,-3.6053e-02,2.7739e-03,6.6835e-06,5.1785e-01,3.6160e-02
+24,1.9667e+00,UP_FORCE_RAMP,7.2715e-04,8.4992e-02,6.1818e-01,2.4689e+00,-7.9819e-02,4.2771e-02,1.0547e-04,4.0642e-02,5.1595e-01,1.0911e-02,-3.6047e-02,2.8495e-03,-4.4467e-06,5.1766e-01,3.6159e-02
+25,2.1500e+00,UP_FORCE_RAMP,7.5694e-04,8.6577e-02,6.1774e-01,2.4701e+00,-7.9807e-02,4.2882e-02,8.8928e-05,4.2227e-02,5.1551e-01,1.2079e-02,-3.6035e-02,2.9608e-03,-2.0985e-05,5.1737e-01,3.6156e-02
+26,2.3167e+00,UP_FORCE_RAMP,7.8643e-04,8.7856e-02,6.1739e-01,2.4709e+00,-7.9797e-02,4.2972e-02,7.4536e-05,4.3506e-02,5.1515e-01,1.2932e-02,-3.6025e-02,3.0507e-03,-3.5378e-05,5.1715e-01,3.6154e-02
+27,2.3833e+00,UP_FORCE_RAMP,8.2447e-04,8.8328e-02,6.1726e-01,2.4712e+00,-7.9793e-02,4.3005e-02,6.8936e-05,4.3978e-02,5.1502e-01,1.3226e-02,-3.6021e-02,3.0839e-03,-4.0977e-05,5.1707e-01,3.6152e-02
+28,2.4500e+00,UP_FORCE_RAMP,8.4590e-04,1.1978e-01,6.0936e-01,2.4648e+00,-7.9259e-02,4.5233e-02,1.3325e-05,7.5429e-02,5.0712e-01,6.8429e-03,-3.5487e-02,5.3116e-03,-9.6588e-05,5.1275e-01,3.5882e-02
+29,2.5500e+00,UP_FORCE_RAMP,8.7517e-04,1.1567e-01,6.0940e-01,2.4661e+00,-7.9270e-02,4.4942e-02,-4.0643e-06,7.1316e-02,5.0716e-01,8.0988e-03,-3.5498e-02,5.0205e-03,-1.1398e-04,5.1222e-01,3.5851e-02
+30,2.6833e+00,UP_FORCE_RAMP,9.0662e-04,1.1229e-01,6.0940e-01,2.4674e+00,-7.9279e-02,4.4703e-02,-2.3245e-05,6.7939e-02,5.0716e-01,9.3715e-03,-3.5507e-02,4.7812e-03,-1.3316e-04,5.1178e-01,3.5828e-02
+31,2.8167e+00,UP_FORCE_RAMP,9.3676e-04,9.8739e-02,6.0954e-01,2.4424e+00,-7.9357e-02,4.3774e-02,-2.2480e-05,5.4389e-02,5.0730e-01,-1.5588e-02,-3.5585e-02,3.8528e-03,-1.3239e-04,5.1045e-01,3.5793e-02
+32,2.9667e+00,UP_FORCE_RAMP,9.6679e-04,9.8789e-02,6.0911e-01,2.4485e+00,-7.9344e-02,4.3771e-02,-3.6188e-05,5.4439e-02,5.0687e-01,-9.4926e-03,-3.5572e-02,3.8499e-03,-1.4610e-04,5.0988e-01,3.5780e-02
+33,3.1167e+00,UP_FORCE_RAMP,1.0000e-03,9.8360e-02,6.0884e-01,2.4524e+00,-7.9336e-02,4.3737e-02,-4.9953e-05,5.4010e-02,5.0660e-01,-5.6236e-03,-3.5564e-02,3.8160e-03,-1.5987e-04,5.0951e-01,3.5769e-02
+34,3.2000e+00,UP_FORCE_RAMP,1.0252e-03,9.3511e-02,6.0035e-01,2.4239e+00,-7.8824e-02,4.3428e-02,-5.1101e-05,4.9161e-02,4.9811e-01,-3.4086e-02,-3.5052e-02,3.5066e-03,-1.6101e-04,5.0169e-01,3.5227e-02
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Part2/Fixed/digit/ball_15A_15/press_depth_06/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
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+size 624640

Part2/Fixed/digit/ball_15A_15/press_depth_06/down/franka_data.csv

@@ -0,0 +1,61 @@
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+7944,1792839587327199304,18266752000000,1792839587324308678,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6759506329980858,-0.004875146270042167,0.10655296851116862,0.9999999583255794,-1.4601083840096849e-05,-0.0002036800863654465,0.00018191463575265498,0.6761,-0.0046,0.1066730232128494,1.0,0.0,0.0,0.0,-0.10941102917289613,-0.03851063421158307,0.5807843677247131,-0.002263236595441212,0.008014505021505018,0.0006481571536320209,0.7531026367482809,0.8751993094957323,0.8648589567729711,0.0677489661633124,-0.058236816731168976,0.0013164236372013192,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,0.4997569851451098,1.1654152814474943,0.5421461131635547,-0.023836896278755886,-0.2942830666737573,0.650969529596627,-1.1525176019116832,-0.5807843677247131,-1.694663715075238,-1.694663715075238,0.5425499999999757,0,0,-0.00018084996501330076,-9.999999025923074e-05
+8019,1792839587952141917,18267377000000,1792839587952308789,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6759580837643973,-0.004878905516896172,0.10646343769686,0.9999999572278979,-6.35862813729904e-06,-0.00019047890463959406,0.0002016542126171301,0.6761,-0.0046,0.10655024198662162,1.0,0.0,0.0,0.0,-0.1456304421940553,-0.043802197251256336,0.8149719197994247,-0.0023914857588570176,0.010974720816271898,0.0004980726843091894,0.7168832237271218,0.8699077464560591,1.0990465088476826,0.0676207169998966,-0.0552766009364021,0.0011663391678784878,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,0.5642022882925684,1.1906106653482416,0.20600154541371082,-0.01978970078435121,-0.06327025997805562,0.6720421553915299,-1.1525176019116832,-0.8149719197994247,-1.358519147325394,-1.358519147325394,0.6362999999999653,0,0,-0.00021209995892531997,-9.999999025923074e-05
+8058,1792839588277179626,18267702000000,1792839588276309031,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6760162894805253,-0.004867869858413863,0.10645313977160564,0.9999999665838546,3.809381288765732e-06,-0.00012153843792378789,0.00020854028629354638,0.6761,-0.0046,0.10647867700048691,1.0,0.0,0.0,0.0,-0.22166635254553446,0.034976666789170996,0.8839039526752464,0.0030402072174957467,0.01646622457754924,0.0005865728619473196,0.6408473133756426,0.9486866104964864,1.1679785417235042,0.07305240997624936,-0.049785097175124755,0.001254839345516618,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,0.5431802334420648,1.0845261579971484,0.12947022152917348,0.009756942927020977,-0.03301262860882895,0.5941652018045978,-1.1525176019116832,-0.8839039526752464,-1.2819878234408566,-1.2819878234408566,0.68504999999996,0,0,-0.00022834995575956996,-9.999999025923074e-05
+8091,1792839588552107383,18267977000000,1792839588544308826,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6760194210950154,-0.004856499012209689,0.10639058220939664,0.9999999740643868,-0.00016746072931698032,-0.00010313214719599959,6.807902987489094e-05,0.6761,-0.0046,0.10641399701302269,1.0,0.0,0.0,0.0,-0.15846680320747564,0.12432415702630462,1.0065859542885391,0.00981004561998075,0.012739627277567854,0.0005949782779673301,0.7040468627137014,1.03803410073362,1.290660543336797,0.07982224837873436,-0.05351169447510614,0.0012632447615366284,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,0.7546286237389959,1.3006106056268985,0.12666781347574796,-0.1765734338395226,0.046213047904914505,0.768283410445449,-1.1525176019116832,-1.0065859542885391,-1.2791854153874311,-1.2791854153874311,0.7262999999999554,0,0,-0.00024209995308085842,-9.999999025923074e-05
+8158,1792839589111145853,18268536000000,1792839589104309141,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6760362566689374,-0.004863193921924531,0.10629413594789114,0.999999976216089,-0.00015551027878308156,-7.015196772437893e-05,9.952858989908005e-05,0.6761,-0.0046,0.10627086509077512,1.0,0.0,0.0,0.0,-0.2120622421442997,0.12444817535769104,1.2640913354463126,0.010654146255371477,0.015713742519349594,0.0013851995853569599,0.6504514237768774,1.0381581190650064,1.5481659244945705,0.08066634901412509,-0.0505375792333244,0.0020534660689262582,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,0.9203221970080434,1.1672033362240264,-0.30692150800664886,-0.011058420856762936,0.3442614115370497,0.658194071152381,-1.1525176019116832,-1.2640913354463126,-0.8455960939050343,-0.8455960939050343,0.8101499999999462,0,0,-0.0002700499476357684,-9.999999025923074e-05
+8223,1792839589652175682,18269077000000,1792839589652308390,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6760582498118294,-0.004870314321054482,0.1061863263448298,0.9999999763676869,-0.00014966250089271688,-3.565084971006284e-05,0.00012262806612845734,0.6761,-0.0046,0.10611746457053227,1.0,0.0,0.0,0.0,-0.2616430315191576,0.13273048226426465,1.5480277218333296,0.010881444029194304,0.02070817947347521,0.0012277778081942361,0.6008706344020195,1.04644042597158,1.8321023108815875,0.08089364678794791,-0.045543142279198784,0.0018960442917635345,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.0248804702065908,1.1335798237890875,-0.7300189807018878,0.031597829367689456,0.6321986029013745,0.6244770524307993,-1.1525176019116832,-1.5480277218333296,-0.4224986212097954,-0.4224986212097954,0.8912999999999373,0,0,-0.0002970999423660122,-9.999999025923074e-05
+8284,1792839590161170222,18269586000000,1792839590160308684,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6760883065406211,-0.004875128540326878,0.10608016970631931,0.9999999708728207,-0.00019407555859404056,1.2331709170726916e-05,0.00010899462641700856,0.6761,-0.0046,0.10595977640113227,1.0,0.0,0.0,0.0,-0.30058573465949134,0.16979153656870827,1.8346403039761385,0.014204264012281795,0.02360625867960721,0.0010747198666267452,0.5619279312616857,1.0835014802760237,2.1187148930243964,0.0842164667710354,-0.042645063073066786,0.0017429863501960436,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.0840095406564072,1.1851041366631778,-0.8960743012574013,0.04008310241381754,0.7423343541459893,0.6549109184821587,-1.1525176019116832,-1.8346403039761385,-0.2564433006542819,-0.2564433006542819,0.9676499999999288,0,0,-0.00032254993740796065,-9.999999025923074e-05
+8339,1792839590619167597,18270044000000,1792839590616309001,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6761133154579904,-0.004877132936967482,0.10596684904488905,0.999999966615889,-0.00020075549891961303,5.268633646284187e-05,0.00012301408320044562,0.6761,-0.0046,0.10580681588082329,1.0,0.0,0.0,0.0,-0.3514100429864847,0.18497986506760944,2.1197713821629742,0.01617200787582676,0.026565683449179714,0.0019410868223103258,0.5111036229346924,1.0986898087749248,2.4038459712112323,0.08618421063458037,-0.03968563830349428,0.002609353305879624,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.236960546605702,1.2507543821514564,-1.261434807466591,0.018881792703936515,1.014918302131518,0.6976008449644049,-1.1525176019116832,-2.1197713821629742,0.10891720555490791,0.10891720555490791,1.0363499999999481,0,0,-0.00034544993294668833,-9.999999025923074e-05
+8394,1792839591077078491,18270502000000,1792839591076309066,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6761371856124565,-0.004882837104400125,0.10585035001693503,0.9999999596027147,-0.00021900622645824947,9.198184819723799e-05,0.00012574993222231034,0.6761,-0.0046,0.10564336716255757,1.0,0.0,0.0,0.0,-0.38160413284224975,0.19901764544803024,2.4203416156401163,0.01713942003869602,0.029511021318798437,0.001758418630799948,0.4809095330789273,1.1127275891553456,2.7044162046883744,0.08715162279744963,-0.03674030043387556,0.0024266851143692463,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.2889773789941321,1.153411433856493,-1.6321548300651556,0.06539150402724642,1.2582600842352405,0.6361141073094471,-1.1525176019116832,-2.4203416156401163,0.47963722815347243,0.47963722815347243,1.1050499999999914,0,0,-0.000368349928485416,-9.999999025923074e-05
+8451,1792839591552071831,18270977000000,1792839591548309459,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.676163419099071,-0.0048819343585253545,0.1057229734186322,0.9999999802294796,1.2639874926361895e-05,0.0001357819700467861,0.00011129867568745479,0.6761,-0.0046,0.10546278606367766,1.0,0.0,0.0,0.0,-0.4357270484678499,0.23910944488506447,2.7035664609938728,0.020318513408957406,0.03282552190770943,0.002217620322278381,0.4267866174533272,1.1528193885923799,2.987641050042131,0.09033071616771102,-0.03342579984496456,0.0028858868058476797,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.3989443849597962,1.1105007743696036,-1.9001527667018083,0.08155686179523981,1.4530117531906226,0.5963420146443824,-1.1525176019116832,-2.7035664609938728,0.7476351647901252,0.7476351647901252,1.1763000000000363,0,0,-0.00039189254273239014,-9.999999025923074e-05
+8499,1792839591952108533,18271377000000,1792839591948309262,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6761861152411737,-0.004888510876206071,0.10561017917863055,0.9999999737558721,-2.9181911227396426e-05,0.00017506953011053492,0.00011149078409599396,0.6761,-0.0046,0.10530654828789202,1.0,0.0,0.0,0.0,-0.4659658884943273,0.26234451982055196,2.9654659830311627,0.022014883860780626,0.03537289079567628,0.002488079947092419,0.39654777742684977,1.1760544635278674,3.249540572079421,0.09202708661953424,-0.030878430956997716,0.003156346430661717,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.509146058772205,1.2420287491329653,-2.3127165435569284,0.022198680779463725,1.7454890923981055,0.6415237041469501,-1.1525176019116832,-2.9654659830311627,1.1601989416452452,1.1601989416452452,1.2363000000000741,0,0,-0.00038255044099569515,9.999999025923074e-05
+8552,1792839592394157249,18271819000000,1792839592392308819,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6762141600142274,-0.004886325872481738,0.10548945675123078,0.9999999636789924,-5.7423577506574574e-05,0.00021922644135522487,0.00011281479709597692,0.6761,-0.0046,0.10514233404201827,1.0,0.0,0.0,0.0,-0.5102765640782506,0.27344377999368896,3.2274490047831206,0.022891790300244505,0.03933246480353359,0.002338180527935386,0.35223710184292645,1.1871537237010044,3.5115235938313787,0.09290399305899812,-0.026918856949140403,0.003006447011504684,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.5371397943388072,1.1531523466040423,-2.5369205212134776,0.08084489344723675,1.8890383332961498,0.61788260680651,-1.1525176019116832,-3.2274490047831206,1.3844029193017944,1.3844029193017944,1.3026000000001159,0,0,-0.00036045044530111516,9.999999025923074e-05
+8605,1792839592836148348,18272261000000,1792839592832318469,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6762277756884089,-0.004892772112995657,0.10536695057227767,0.9999999558480814,-9.200839309474125e-05,0.00024227939437164317,0.00011216884736014924,0.6761,-0.0046,0.10498788799424152,1.0,0.0,0.0,0.0,-0.5213213917049284,0.2908577849938393,3.468751114920482,0.024230992594740097,0.04028461150167579,0.002179544337448377,0.3411922742162486,1.2045677287011547,3.7528257039687403,0.09424319535349371,-0.025966710250998205,0.0028478108210176754,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.6439777509598053,1.0679359310629195,-2.7401130676733567,0.14326732004532305,2.0437109415156294,0.6020652678751259,-1.1525176019116832,-3.468751114920482,1.5875954657616735,1.5875954657616735,1.3689000000001577,0,0,-0.0003383504496065352,9.999999025923074e-05
+8660,1792839593294138168,18272719000000,1792839593288309698,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6762483922198852,-0.004896843793551417,0.10525624848856925,0.9999999437619697,-0.00011910684173887861,0.0002789277765434324,0.000109232676530214,0.6761,-0.0046,0.10483815613729787,1.0,0.0,0.0,0.0,-0.5507440029780937,0.3014523327367401,3.6850551599963492,0.025340720375593415,0.042242572400196604,0.0020477620287693435,0.31176966294308334,1.2151622764440555,3.9691297490446074,0.09535292313434703,-0.024008749352477394,0.002716028512338642,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.705245052619474,1.043772168188546,-2.91615876369776,0.16669289122370926,2.167541369106505,0.5948725447775209,-1.1525176019116832,-3.6850551599963492,1.7636411617860768,1.7636411617860768,1.437600000000201,0,0,-0.0003154504540678075,9.999999025923074e-05
+8715,1792839593753037918,18273177000000,1792839593748309673,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6762582547344824,-0.004902050009943072,0.10513472000246273,0.9999999360375756,-0.00013617334270211995,0.00029482777615545116,0.00011790297752267478,0.6761,-0.0046,0.10469891247831095,1.0,0.0,0.0,0.0,-0.5752323125807123,0.2956648885801144,3.865127402250439,0.02468095374118033,0.04422946437063974,0.0019985365839985444,0.2872813533404648,1.2093748322874298,4.149201991298697,0.09469315649993394,-0.022021857382034257,0.0026668030675678425,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7526547852742909,1.0593817521230344,-3.211590092041715,0.16560121375733936,2.3718722966651224,0.6073136008301777,-1.1525176019116832,-3.865127402250439,2.0590724901300317,2.0590724901300317,1.5063000000002442,0,0,-0.0002925504585290798,9.999999025923074e-05
+8772,1792839594227090832,18273652000000,1792839594220309273,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6762754892308119,-0.004909436367197711,0.10502850485927058,0.9999999244392178,-0.00015317810066655,0.0003227818884448948,0.00012211775005598318,0.6761,-0.0046,0.10456557975940844,1.0,0.0,0.0,0.0,-0.576782599340634,0.31126432131676063,4.0220789197597195,0.025618948461846203,0.04519614516306871,0.0028514355848687917,0.28573106658054304,1.224974265024076,4.306153508807977,0.09563115122059981,-0.021055176589605283,0.00351970206843809,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.805119625206796,0.9281760811607035,-3.4459662371631237,0.21439081922373707,2.5392164189972757,0.5183867201215417,-1.1525176019116832,-4.0220789197597195,2.2934486352514405,2.2934486352514405,1.577550000000289,0,0,-0.0002688004631559452,9.999999025923074e-05
+8831,1792839594719100621,18274144000000,1792839594712318381,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6762884448196362,-0.004914356404745573,0.10492235923166933,0.9999999143233084,-0.0001736560156200072,0.0003444615100552692,0.00011826282795701519,0.6761,-0.0046,0.10443936923035438,1.0,0.0,0.0,0.0,-0.5672696590094346,0.3169133482611285,4.116659462538603,0.025623185506023355,0.04438289597573171,0.002758887773395103,0.29524400691174246,1.2306232919684439,4.400734051586861,0.09563538826477697,-0.02186842577694228,0.0034271542569644015,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8390549459899743,0.9977374055075994,-3.550284630234806,0.2077358127139686,2.6156947745178645,0.564319098941171,-1.1525176019116832,-4.116659462538603,2.397767028323123,2.397767028323123,1.6513500000003356,0,0,-0.0002442004679484037,9.999999025923074e-05
+8892,1792839595227130351,18274652000000,1792839595224309696,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.676298931027426,-0.004920934540286411,0.10482218300490576,0.9999999065709279,-0.00017839748984871132,0.0003620367737567193,0.00012411571123540087,0.6761,-0.0046,0.10432175429137724,1.0,0.0,0.0,0.0,-0.5584074043669645,0.32754645030073026,4.207241680155283,0.025588322233706037,0.04501908589859828,0.0026982341187288816,0.30410626155421255,1.2412563940080457,4.491316269203541,0.09560052499245965,-0.02123223585407571,0.0033665006022981798,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8149278348860123,1.0578170807955007,-3.6086617388571307,0.20778764364770375,2.6481332312345156,0.6071191856082416,-1.1525176019116832,-4.207241680155283,2.4561441369454475,2.4561441369454475,1.7275500000003836,0,0,-0.00021880047289671444,9.999999025923074e-05
+8960,1792839595794043380,18275219000000,1792839595792309174,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763039792909287,-0.004920698374440381,0.10471844583345265,0.9999999080651045,-0.0001552442111693301,0.0003684909732247845,0.00012420259320231473,0.6761,-0.0046,0.10420571747167627,1.0,0.0,0.0,0.0,-0.5342685872581462,0.3097952065036217,4.273113125807996,0.024607077582030762,0.043144035384037834,0.0026111568705503704,0.3282450786630309,1.223505150210937,4.557187714856254,0.09461928034078437,-0.02310728636863616,0.003279423354119669,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8288610069203637,0.9986779469461293,-3.6837481071420637,0.23301659599902952,2.7060656392000957,0.571422057739105,-1.1525176019116832,-4.273113125807996,2.5312305052303805,2.5312305052303805,1.8126000000004372,0,0,-0.0001904504784197306,9.999999025923074e-05
+9039,1792839596452120246,18275877000000,1792839596448308581,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763149834996184,-0.00492499194479169,0.10461575522865667,0.9999999070825032,-9.159792063246838e-05,0.0003900858492209728,0.0001293085478445096,0.6761,-0.0046,0.10409120870476418,1.0,0.0,0.0,0.0,-0.5026106490849196,0.320116162461224,4.343623361448288,0.024590774685018357,0.04213404270063508,0.0025423085512415646,0.3599030168362575,1.2338261061685394,4.627697950496546,0.09460297744377197,-0.024117279052038913,0.003210575034810863,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7992250505806877,1.127547797449455,-3.8054463416520905,0.20474741249597836,2.7765682326431054,0.6543574496560306,-1.1525176019116832,-4.343623361448288,2.6529287397404073,2.6529287397404073,1.9113000000004994,0,0,-0.00015755048482915678,9.999999025923074e-05
+9106,1792839597011107428,18276436000000,1792839597008308895,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763192876665997,-0.004927443948737648,0.10454632545649253,0.9999999021561214,-0.00010655935765837436,0.00039832638190974825,0.00013081211167278122,0.6761,-0.0046,0.10401093603222006,1.0,0.0,0.0,0.0,-0.4828353392906926,0.3173744941106401,4.343370945897183,0.02362865285521476,0.04110789254815238,0.0025139568580360566,0.37967832663048445,1.2310844378179555,4.627445534945441,0.09364085561396837,-0.025143429204521617,0.0031822233416053548,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7274644268338364,1.0868235676953257,-3.6717176071092754,0.23495707897208273,2.6696694413422666,0.632781145524698,-1.1525176019116832,-4.343370945897183,2.5192000051975922,2.5192000051975922,1.9951500000005522,0,0,-0.0001296004902742468,9.999999025923074e-05
+9188,1792839597694116072,18277119000000,1792839597692318868,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763201386108348,-0.004925613353053544,0.10447161729035882,0.9999998995426027,-0.00011701040949858018,0.00040231742162545326,0.0001296414494015424,0.6761,-0.0046,0.10393406404508744,1.0,0.0,0.0,0.0,-0.4640265360080606,0.32813229183830706,4.363565369387225,0.023654369513297163,0.04008978678106391,0.002487868503138235,0.39848712991311647,1.2418422355456225,4.647639958435483,0.09366657227205077,-0.026161534971610088,0.003156134986707533,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.799540628889284,1.1080815958966623,-3.729790198664621,0.23563638644098045,2.73080677180645,0.645744641171965,-1.1525176019116832,-4.363565369387225,2.577272596752938,2.577272596752938,2.0976000000006167,0,0,-9.54504969271922e-05,9.999999025923074e-05
+9279,1792839598452071730,18277877000000,1792839598444308808,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763220312837297,-0.004931737785152855,0.10441610971657589,0.9999998972870809,-0.00012708030541850574,0.00040383682915064227,0.0001327972264574668,0.6761,-0.0046,0.10387605771561459,1.0,0.0,0.0,0.0,-0.44470034342128534,0.32133844384727694,4.353247096438725,0.022663525341084262,0.03909731726421237,0.0024713288714811885,0.4178133224998917,1.2350483875545923,4.637321685486983,0.09267572809983787,-0.027154004488461628,0.0031395953550504866,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7086077235100436,1.0882321466628242,-3.655864296299062,0.2480173227729288,2.661919183378811,0.6312779219706716,-1.1525176019116832,-4.353247096438725,2.503346694387379,2.503346694387379,2.2113000000006884,0,0,-5.75505043106953e-05,9.999999025923074e-05
+9365,1792839599169102032,18278594000000,1792839599168318220,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763190559068081,-0.0049312236698553615,0.10437975233051061,0.9999998989703301,-0.0001312738093954604,0.00039821500371120256,0.00013301951602620525,0.6761,-0.0046,0.10384762830151652,1.0,0.0,0.0,0.0,-0.4253556572950349,0.31080796109654785,4.312785627992258,0.021677174865203583,0.038112048477983815,0.002479115067609565,0.4371580086261422,1.2245179048038632,4.596860217040516,0.0916893776239572,-0.02813927327469018,0.0031473815511788637,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.67209930219171,1.1272639526967319,-3.5858333654146914,0.2359289184294642,2.6116076750914017,0.6588834455187234,-1.1525176019116832,-4.312785627992258,2.4333157635030083,2.4333157635030083,2.318850000000756,0,0,-2.1700511294826856e-05,9.999999025923074e-05
+9444,1792839599826998614,18279252000000,1792839599820309609,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763157743099162,-0.004932447730935115,0.10436154378812534,0.9999999009405331,-0.0001314426820042005,0.000392827792591918,0.0001340557158574424,0.6761,-0.0046,0.10384190539170222,1.0,0.0,0.0,0.0,-0.40596783077429727,0.3061012865704543,4.2623521660095225,0.020694447587815315,0.03712824624036252,0.0024949995614066264,0.4565458351468798,1.2198112302777697,4.54642675505778,0.09070665034656893,-0.029123075512311476,0.003163266044975925,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.6118960557569924,1.0475434843689362,-3.5949907854154066,0.26096770310728457,2.6018644431017854,0.6053847006609644,-1.1525176019116832,-4.2623521660095225,2.4424731835037234,2.4424731835037234,2.4175500000008183,0,0,-3.625442356325337e-06,3.662062986187209e-05
+9540,1792839600627083571,18280052000000,1792839600624310445,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763117906291762,-0.004932509788586704,0.10434098819682193,0.9999999037722839,-0.00013177907596656355,0.00038418202835865164,0.00013761079717435404,0.6761,-0.0046,0.10382907331340491,1.0,0.0,0.0,0.0,-0.3959554728599434,0.2990311975175922,4.211834694883689,0.0203272401163255,0.03614116212476137,0.002495354826206707,0.46655819306123364,1.2127411412249076,4.4959092839319466,0.09033944287507911,-0.030110159627912622,0.0031636213097760058,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.6167804616099521,1.0485110374249613,-3.571917077769608,0.25947234504506156,2.5902785799195858,0.6034100553560056,-1.1525176019116832,-4.211834694883689,2.419399475857925,2.419399475857925,2.537550000000894,0,0,-3.329325138776008e-05,-9.999999025923074e-05
+9629,1792839601369045703,18280794000000,1792839601368318036,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763132008227372,-0.004934966169048061,0.10431325086655627,0.9999999015570907,-0.00013639965678630182,0.00038800750567056933,0.00013847014951530107,0.6761,-0.0046,0.10379079745335458,1.0,0.0,0.0,0.0,-0.3902425497238371,0.28569608034211125,4.221887637866664,0.019707863750525315,0.03614383391704504,0.002501761998140604,0.47227111619733997,1.1994060240494266,4.505962226914922,0.08972006650927893,-0.030107487835628954,0.003170028481709902,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.6374682874979536,1.1270660526708818,-3.6260495207512844,0.2500562903230024,2.6253082736801963,0.6572800544973356,-1.1525176019116832,-4.221887637866664,2.473531918839601,2.473531918839601,2.648850000000964,0,0,-6.997304954489548e-05,-9.999999025923074e-05
+9699,1792839601952014060,18281377000000,1792839601948318222,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763187613550958,-0.004927709808417544,0.10428487638624094,0.999999897519818,-0.00013802715427080502,0.00039763535094978065,0.00013870057745938745,0.6761,-0.0046,0.10374152051712814,1.0,0.0,0.0,0.0,-0.4142647973991395,0.26793062581892635,4.240617491682842,0.018051264054697952,0.03779064819009034,0.0018378697034692815,0.44824886852203755,1.1816405695262417,4.5246920807311,0.08806346681345156,-0.028460673562583656,0.00250613618703858,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.685973838192004,1.0827729205317154,-3.5413915616883944,0.2835441375001051,2.579907617834956,0.634510705718788,-1.1525176019116832,-4.240617491682842,2.3888739597767112,2.3888739597767112,2.736300000001019,0,0,-9.9123043866027e-05,-9.999999025923074e-05
+9753,1792839602402067099,18281827000000,1792839602396317946,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763201534297664,-0.004930598712572591,0.10423036787386816,0.9999998958667169,-0.00014470030760767774,0.0003984576441878467,0.0001414310659274844,0.6761,-0.0046,0.10369186389837687,1.0,0.0,0.0,0.0,-0.39435604848688377,0.2843192613741582,4.321864089628211,0.019348057762204524,0.03687836021264501,0.0024200958291926396,0.4681576174342933,1.1980292050814736,4.605938678676469,0.08936026052095813,-0.02937296154002898,0.003088362312761938,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.728703260835497,1.053589817379305,-3.755864548093539,0.28972846909034605,2.7288251380246185,0.6124995839232098,-1.1525176019116832,-4.321864089628211,2.6033469461818557,2.6033469461818557,2.8038000000010617,0,0,-0.00012162303948268083,-9.999999025923074e-05
+9804,1792839602827073777,18282252000000,1792839602824308716,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763318222019841,-0.004935595603900541,0.10418839837872874,0.9999998816937715,-0.00015446135149957041,0.0004275757438797888,0.00014620527089585108,0.6761,-0.0046,0.10363621255867018,1.0,0.0,0.0,0.0,-0.40273530498897625,0.3226224276994646,4.373148688012717,0.02169967533389286,0.036719990244889006,0.0024120050512579823,0.4597783609322008,1.23633237140678,4.657223277060974,0.09171187809264647,-0.029531331507784985,0.003080271534827281,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.711834699858271,1.0323572912253918,-3.7614929461826345,0.30015700132217416,2.7194677035374784,0.6009139931924786,-1.1525176019116832,-4.373148688012717,2.6089753442709513,2.6089753442709513,2.867550000001102,0,0,-0.00014148176600700525,-9.999999025923074e-05
+9865,1792839603336055699,18282761000000,1792839603332309135,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763312166002617,-0.004929519481743067,0.10412058910570292,0.9999998838453492,-0.00015503310991393722,0.0004224775499680881,0.0001457038329317461,0.6761,-0.0046,0.10355801017365375,1.0,0.0,0.0,0.0,-0.3767210161129766,0.3076590748818798,4.442926616957799,0.02106221036792462,0.03593923026809728,0.0023318222618282022,0.48579264980820047,1.2213690185891952,4.727001206006056,0.09107441312667823,-0.030312091484576708,0.0030000887453975004,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7719216249232699,1.1538973550820022,-3.9165109914807794,0.2685257636103891,2.842367703672795,0.6812954050915478,-1.1525176019116832,-4.442926616957799,2.7639933895690962,2.7639933895690962,2.94390000000115,0,0,-0.0001659205826718121,-9.992617430588097e-05
+9929,1792839603869068298,18283294000000,1792839603868308601,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763397322017358,-0.004936533296093293,0.10403837702120847,0.999999874165436,-0.00015858803049160968,0.0004412914134311155,0.0001523932459532044,0.6761,-0.0046,0.10346269092158589,1.0,0.0,0.0,0.0,-0.36684851736280916,0.3447919640347513,4.533308529611303,0.022777863874640134,0.03493914145304001,0.002273117095407255,0.4956651485583679,1.2585019077420667,4.817383118659561,0.09279006663339374,-0.031312180299633986,0.002941383578976553,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7022590023082507,1.1869229604032694,-3.9252791871440467,0.2690516047815869,2.818611103197116,0.7034951116974855,-1.1525176019116832,-4.533308529611303,2.7727615852323635,2.7727615852323635,3.0238500000012003,0,0,-0.0001911304129229282,-9.999999025923074e-05
+9979,1792839604286053221,18283711000000,1792839604284308575,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763450332655373,-0.004935978372192252,0.10396457690766311,0.9999998737269312,-0.00014950326152016522,0.00044386587655449885,0.00015691030645472665,0.6761,-0.0046,0.10338078150645613,1.0,0.0,0.0,0.0,-0.28088205029663693,0.3974949612091666,4.606747401304015,0.02700546535914973,0.029923741436982565,0.0021936663238261538,0.5816316156245401,1.311204904916482,4.890821990352273,0.09701766811790334,-0.03632758031569143,0.0028619328073954523,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8110354166929223,1.1789499258899017,-4.057773925955879,0.2995307704499799,2.9376030065643293,0.7073123972754759,-1.1525176019116832,-4.606747401304015,2.905256324044196,2.905256324044196,3.0864000000012397,0,0,-0.00019997867435203454,-7.736727511276626e-05
+10020,1792839604627053293,18284052000000,1792839604624318168,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763540917211842,-0.004923761712117549,0.10390524644361646,0.9999998720436004,-0.0001248927553274821,0.00045493437769917054,0.00015745525965230582,0.6761,-0.0046,0.10331063285462497,1.0,0.0,0.0,0.0,-0.34297820997470474,0.36722878779901535,4.62507497692777,0.02377264073878267,0.033948174392638246,0.002197071021331102,0.5195354559464723,1.2809387315063308,4.909149565976028,0.09378484349753628,-0.03230314736003575,0.0028653375049004,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7972876864759801,1.1585198652711515,-4.008307214072083,0.31165774471830704,2.8975646689523424,0.698341241651617,-1.1525176019116832,-4.62507497692777,2.8557896121604,2.8557896121604,3.137550000001272,0,0,-0.00020983758821788013,-9.999792246884737e-05
+10075,1792839605085951309,18284511000000,1792839605080318656,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763605785517447,-0.004926423972089561,0.10381915292380428,0.9999998656595752,-0.00013343907420644983,0.00046776775546745943,0.0001533330891447447,0.6761,-0.0046,0.103211876946363,1.0,0.0,0.0,0.0,-0.3437515299373427,0.34777265470969987,4.704111146858514,0.022743819111483002,0.034927525401261275,0.0021332871685258116,0.5187621359838344,1.2614825984170153,4.988185735906772,0.09275602187023661,-0.03132379635141272,0.00280155365209511,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8464002201714667,1.1758718472239076,-4.133247361964571,0.3149031640582388,2.992468409588426,0.7089950739071781,-1.1525176019116832,-4.704111146858514,2.980729760052888,2.980729760052888,3.2064000000013153,0,0,-0.00022032267271296225,-9.999999025923074e-05
+10126,1792839605511043819,18284936000000,1792839605508308513,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763616166728738,-0.004935415514319015,0.10372598016910418,0.9999998625289873,-0.00014469940131791776,0.0004704728996110609,0.0001552488477025265,0.6761,-0.0046,0.10311700623574728,1.0,0.0,0.0,0.0,-0.3227672500140072,0.3487188808736227,4.7349010255671296,0.023031473548402043,0.032549978950565606,0.0020871208479627083,0.5397464159071699,1.262428824580938,5.018975614615387,0.09304367630715565,-0.03370134280210839,0.002755387331532007,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8386375256073542,1.1620141529724886,-4.126696604392665,0.32450030251690903,2.984962251412835,0.6966116343417518,-1.1525176019116832,-4.7349010255671296,2.9741790024809815,2.9741790024809815,3.2701500000013555,0,0,-0.00022824442235810783,-9.998142177914388e-05
+10175,1792839605919045408,18285344000000,1792839605912318751,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763689592121219,-0.00493686302749813,0.10364585209555882,0.9999998558847936,-0.0001523510143273203,0.0004825301111452414,0.00015371114698784405,0.6761,-0.0046,0.10302116804918462,1.0,0.0,0.0,0.0,-0.31462818457371633,0.3497757275225305,4.764443200904988,0.022993312525455556,0.032191626293310016,0.002048019986181794,0.5478854813474607,1.263485671229846,5.048517789953245,0.09300551528420917,-0.03405969545936398,0.0027162864697510927,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8850418652009497,1.068924800469653,-4.226754182538018,0.36565399237378665,3.0637265339470727,0.6452066617392462,-1.1525176019116832,-4.764443200904988,3.074236580626335,3.074236580626335,3.331350000001394,0,0,-0.00024251260205140757,-9.999961555895993e-05
+10220,1792839606293996947,18285719000000,1792839606292310000,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763664357545165,-0.004941649196467869,0.10354585376054042,0.999999857064136,-0.0001587109943288208,0.00047569351705006077,0.00016075157844392058,0.6761,-0.0046,0.10292719064476866,1.0,0.0,0.0,0.0,-0.2836641631249326,0.3471442140030584,4.813336375885911,0.02131077510706733,0.03136577873861441,0.0019818894409952383,0.5788495027962445,1.2608541577103738,5.097410964934169,0.09132297786582094,-0.034885543014059585,0.0026501559245645364,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7806394423718674,1.1575833030775922,-4.174925007890661,0.3398024403018579,3.0039251789350065,0.6998201201289727,-1.1525176019116832,-4.813336375885911,3.0224074059789774,3.0224074059789774,3.3876000000014295,0,0,-0.0002567384420435178,-9.999999025923074e-05
+10275,1792839606752032297,18286177000000,1792839606744318738,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763660852825152,-0.0049391023558474564,0.10343049925308435,0.9999998563945491,-0.00015590441765348794,0.00047701229605939463,0.00016372790685880665,0.6761,-0.0046,0.10280589703686871,1.0,0.0,0.0,0.0,-0.27155415544989014,0.31660540432642426,4.838042493357591,0.018987226947004596,0.030750501940369705,0.0019284142221379908,0.5909595104712869,1.2303153480337397,5.122117082405849,0.0889994297057582,-0.03550081981230429,0.002596680705707289,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8342209554014808,1.1073806304674287,-4.282792032951714,0.3584471563916404,3.096107550920643,0.6681014165900463,-1.1525176019116832,-4.838042493357591,3.130274431040031,3.130274431040031,3.4563000000014727,0,0,-0.0002753291308652247,-9.999999025923074e-05
+10323,1792839607151985198,18286577000000,1792839607148319005,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763736304332363,-0.00494833989402233,0.10332658058965274,0.9999998600627229,-6.0993582421654e-05,0.0004909711680157299,0.00016292481101016956,0.6761,-0.0046,0.10269210517485122,1.0,0.0,0.0,0.0,-0.27773899211115627,0.2998247100924495,4.847471395273663,0.017547439481270105,0.031112443219499616,0.0019076356870815216,0.5847746738100208,1.2135346537997649,5.131545984321921,0.08755964224002372,-0.03513887853317438,0.00257590217065082,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8182883075116305,1.1407559508847138,-4.3220492530771395,0.368757555539502,3.113568089299496,0.7020968401904513,-1.1525176019116832,-4.847471395273663,3.1695316511654563,3.1695316511654563,3.5163000000015106,0,0,-0.00029353996009870285,-9.999999025923074e-05
+10372,1792839607561028004,18286986000000,1792839607560308954,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763742129339615,-0.004949061872689529,0.10320417481724178,0.9999998572908105,-8.722003171668492e-05,0.0004923887546786897,0.00016372905461505046,0.6761,-0.0046,0.10256787553198757,1.0,0.0,0.0,0.0,-0.27349875092497,0.27281187310190813,4.855443213254619,0.01566899824486323,0.03003025525832772,0.0018657816573184555,0.5890149149962071,1.1865218168092235,5.139517802302876,0.08568120100361684,-0.036221066494346275,0.002534048140887754,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8231193576970761,1.230585036547313,-4.368341982666404,0.3133106045156496,3.1520766173436385,0.7263272795032694,-1.1525176019116832,-4.855443213254619,3.215824380754721,3.215824380754721,3.577650000001549,0,0,-0.0003139899561147282,-9.999999025923074e-05
+10421,1792839607968935890,18287394000000,1792839607964319013,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763750045528499,-0.004947825514969198,0.1030728982653963,0.9999998529995348,-9.571497638190087e-05,0.0004953170931642325,0.00017590734410031874,0.6761,-0.0046,0.10243561623070549,1.0,0.0,0.0,0.0,-0.29598528193847284,0.20034643496793636,4.863327045307505,0.011823696375835496,0.0316389881772961,0.001833827060258649,0.5665283839827042,1.1140563786752518,5.147401634355763,0.08183589913458911,-0.03461233357537789,0.0025020935438279475,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8229347172008044,1.1286145941059538,-4.334511544428993,0.360953212033476,3.13423472568896,0.6838013817121068,-1.1525176019116832,-4.863327045307505,3.1819939425173094,3.1819939425173094,3.6388500000015878,0,0,-0.00033438995214049436,-9.999999025923074e-05
+10452,1792839608227021008,18287652000000,1792839608220310381,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763720507583941,-0.004962913418145855,0.10298170732414505,0.9999998516277665,-0.00011048439810190585,0.000491608873347605,0.00018520589269123013,0.6761,-0.0046,0.10234768597337869,1.0,0.0,0.0,0.0,-0.2347652111309474,0.24717259710949746,4.872439325056353,0.013540388210368112,0.028066790068314702,0.0017958786190317366,0.6277484547902297,1.1608825408168129,5.156513914104611,0.08355259096912172,-0.03818453168435929,0.002464145102601035,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7887458529616562,1.0638806302837642,-4.33944837473339,0.3917786514639027,3.133128233693966,0.6426991620200291,-1.1525176019116832,-4.872439325056353,3.186930772821707,3.186930772821707,3.677550000001612,0,0,-0.0003472899496273759,-9.999999025923074e-05
+10495,1792839608586016679,18288011000000,1792839608584308722,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763713978636727,-0.004951699777844248,0.10285019110367485,0.9999998482125309,-0.00016847507101133629,0.0004955702133462156,0.00014506582532039337,0.6761,-0.0046,0.10221979583209191,1.0,0.0,0.0,0.0,-0.23606018845179544,0.1982793071744614,4.871172441169515,0.009679700516602427,0.028069370409724258,0.0017556733607715662,0.6264534774693816,1.1119892508817768,5.155247030217772,0.07969190327535604,-0.03818195134294974,0.0024239398443408645,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7551022415892221,1.1328471973809977,-4.301097526307,0.35712538432176827,3.1115722264015386,0.692366252547045,-1.1525176019116832,-4.871172441169515,3.148579924395317,3.148579924395317,3.731400000001646,0,0,-0.00036523994613043973,-9.999999025923074e-05
+10539,1792839608951939756,18288377000000,1792839608948318487,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.676369507510893,-0.0049591249666276664,0.10270660418319978,0.9999998475787533,-0.00016744155227462902,0.0004896936169634346,0.00016866778712967503,0.6761,-0.0046,0.10208277826246237,1.0,0.0,0.0,0.0,-0.24922803297362028,0.13705536683455122,4.859255929004068,0.005877416895785803,0.028801437633329353,0.001736905938570602,0.6132856329475568,1.0507653105418666,5.143330518052326,0.07588961965453941,-0.03744988411934464,0.0024051724221399004,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7969237015961652,1.1498112718298794,-4.323864274521579,0.34447327781590215,3.1446344579473293,0.7047230599388573,-1.1525176019116832,-4.859255929004068,3.171346672609896,3.171346672609896,3.7863000000016807,0,0,-0.0003835399425653182,-9.999999025923074e-05
+10582,1792839609310978994,18288736000000,1792839609304318691,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763777302997275,-0.004973867527541141,0.10256781210447996,0.9999998420444389,-0.0001637971801548669,0.000492274519414746,0.00019542324009218213,0.6761,-0.0046,0.10194187437371087,1.0,0.0,0.0,0.0,-0.2529058030978072,0.1324573509059982,4.809436157949109,0.005487241303432894,0.028214399812788962,0.0017627115585639923,0.6096078628233699,1.0461672946133136,5.093510746997366,0.0754994440621865,-0.03803692193988503,0.0024309780421332907,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8326065177938184,0.9335859412126456,-4.280525057991205,0.4132251797750162,3.1290002740880767,0.5644242500236237,-1.1525176019116832,-4.809436157949109,3.1280074560795215,3.1280074560795215,3.8401500000017146,0,0,-0.000401489939068382,-9.999999025923074e-05
+10617,1792839609601967668,18289027000000,1792839609600308253,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763714222744186,-0.004971346984156476,0.10243959014069022,0.999999846886273,-0.00015255937019225627,0.00048229781638487167,0.00020441318351093455,0.6761,-0.0046,0.10182293105185582,1.0,0.0,0.0,0.0,-0.24031806610477846,0.08404973485087974,4.7801245192956126,0.0023257512094074922,0.027700110723782645,0.0017353212613307014,0.6221955998163986,0.9977596785581951,5.06419910834387,0.0723379539681611,-0.03855121102889135,0.0024035877448999998,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8215389590941122,0.9751187431211094,-4.236559161626518,0.4156786892381819,3.105582049165003,0.6007389577794889,-1.1525176019116832,-4.7801245192956126,3.084041559714835,3.084041559714835,3.883800000001742,0,0,-0.00041603993623381817,-9.999999025923074e-05
+10653,1792839609901940585,18289327000000,1792839609900318269,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763691429604578,-0.004961425503916003,0.10230499470936834,0.9999998440343478,-0.00019718170866787256,0.0004884939843291916,0.0001608326615328663,0.6761,-0.0046,0.10169587657142547,1.0,0.0,0.0,0.0,-0.2359865014167024,0.06716069101506372,4.733664674769717,0.0005044282444852805,0.02725198655242063,0.0017475644852013507,0.6265271645044747,0.9808706347223791,5.017739263817974,0.07051663100323889,-0.038999335200253366,0.002415830968770649,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7896570257484674,1.010273493974245,-4.210811545818666,0.3864387816873779,3.089695592981539,0.6286851796274686,-1.1525176019116832,-4.733664674769717,3.058293943906983,3.058293943906983,3.9288000000017704,0,0,-0.0004310399333115874,-9.999999025923074e-05
+10690,1792839610211004079,18289636000000,1792839610208318396,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763610414049914,-0.00497506555562341,0.10215719158349588,0.9999998624617493,-6.084713358906191e-05,0.0004779011501951858,0.00018554639274372128,0.6761,-0.0046,0.10156030593249872,1.0,0.0,0.0,0.0,-0.23077290786794113,0.0063721329961667905,4.715161772447947,-0.0036017310817963166,0.026335098253558356,0.0017015277193957775,0.6317407580532359,0.9200820767034822,4.999236361496204,0.0664104716769573,-0.03991622349911564,0.002369794202965076,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8056137432682346,1.024413510229344,-4.227468099231264,0.36118665620529694,3.1145099082706973,0.6134612572150053,-1.1525176019116832,-4.715161772447947,3.074950497319581,3.074950497319581,3.9751500000017996,0,0,-0.0004464899303016897,-9.999999025923074e-05
+10726,1792839610511003682,18289936000000,1792839610504318191,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763457760030451,-0.004963585813227188,0.10200206194995565,0.9999998751267719,-0.00012135399625699915,0.0004506518264227332,0.00015289030040335853,0.6761,-0.0046,0.10142411645384801,1.0,0.0,0.0,0.0,-0.22331225350946293,-0.03949765243115544,4.683464233537735,-0.006628370268809511,0.02549620235991438,0.000651370497724738,0.6392014124117141,0.87421229127616,4.967538822585992,0.0633838324899441,-0.040755119392759616,0.0013196369812940364,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7277343099338862,1.0148931951012516,-4.109291929090465,0.3780110554630478,3.0302789067080353,0.5846148856506502,-1.1525176019116832,-4.683464233537735,2.9567743271787816,2.9567743271787816,4.0201500000017685,0,0,-0.0004614899273794589,-9.999999025923074e-05
+10755,1792839610751906805,18290177000000,1792839610748318027,DOWN_FORCE_DETACH,6,0.0643,0.06430211663246155,0.6763888914325914,-0.004962853534884133,0.1019212107369574,0.9999998453190808,-0.00012809716990502422,0.000506824719587911,0.00016590508565489438,0.6761,-0.0046,0.10131145138163361,1.0,0.0,0.0,0.0,-0.27141200124141607,0.0032141687751365833,4.5418039537788815,-0.003995503041465967,0.02957500512445621,0.0008593121857103456,0.591101664679761,0.916924112482452,4.825878542827139,0.06601669971728764,-0.036676316628217784,0.001527578669279644,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.9446465942433644,0.9613743860716181,-4.0208036260329365,0.40429713498375996,3.0157099019832794,0.5864555137635127,-1.1525176019116832,-4.5418039537788815,2.8682860241212533,2.8682860241212533,4.056300000001684,0,0,-0.0004735399250319335,-9.999999025923074e-05
+10785,1792839611002002825,18290427000000,1792839611000308654,DOWN_FORCE_DETACH,6,0.0643,0.06430145353078842,0.6763661091749743,-0.004973198426798104,0.10177708350171731,0.9999998616940959,-0.00015973860897771486,0.00046445566318805754,0.00016376558555294518,0.6761,-0.0046,0.10119151015068124,1.0,0.0,0.0,0.0,-0.214760361733625,-0.0028004753735475507,4.554081165446897,-0.004544140718240344,0.02452822391982272,0.0007652147835426799,0.6477533041875521,0.9109094683337678,4.838155754495155,0.06546806204051327,-0.041723097832851275,0.0014334812671119783,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.8372880997678431,0.9591628118563036,-3.995877804635053,0.415994634612063,2.9788904847655435,0.5974814797227129,-1.1525176019116832,-4.554081165446897,2.8433602027233698,2.8433602027233698,4.093800000001597,0,0,-0.0004860399225967412,-9.999999025923074e-05
+10822,1792839611308931969,18290734000000,1792839611308318586,DOWN_SETTLE,6,0.0643,0.06430145353078842,0.6763532674102618,-0.004969386927294047,0.10165845266000609,0.999999868834145,-0.00017162572636181058,0.00044461766344766233,0.0001632001848543681,0.6761,-0.0046,0.10110869737823033,1.0,0.0,0.0,0.0,-0.18408073585477502,-0.046607833267556686,4.453788654341719,-0.007997460632217117,0.023909792968383747,0.0007988987717189495,0.678432930066402,0.8671021104397587,4.7378632433899766,0.062014742126536494,-0.04234152878429025,0.0014671652552882479,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.7426969733059516,0.951148395014189,-3.823780605503194,0.4287678063145416,2.8531488301340198,0.5911499788453141,-1.1525176019116832,-4.453788654341719,2.671263003591511,0.0,0.0,0,0,-5.127237034737868e-05,0.0005179027307816028
+10901,1792839611964984190,18291390000000,1792839611964318379,DOWN_PEAK_HOLD,6,0.0643,0.06430211663246155,0.6763323771121718,-0.004968168002817609,0.10159859860450536,0.9999998848244818,-0.0001816078117240688,0.00040573366605933087,0.00015553997027074645,0.6761,-0.0046,0.1011045772504566,1.0,0.0,0.0,0.0,-0.17005380831925532,-0.11077052454546976,4.0219911017498635,-0.011451033298833006,0.020588289062132066,0.0010570025736976606,0.6924598576019217,0.8029394191618456,4.306065690798121,0.058561169459920605,-0.04566303269054193,0.001725269057266959,0.8625136659211771,0.9137099437073154,0.28407458904825794,0.07001220275875361,-0.066251321752674,0.0006682664835692984,1,1.5099266523208126,0.9641985653022404,-3.3635672023002674,0.4062644336280956,2.5026059374872434,0.5945818990132834,-1.1525176019116832,-4.0219911017498635,2.2110496003885842,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_15A_15/press_depth_06/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792839583512254213,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.355636464e-09,-5.560692011e-11,-4.188942526e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451359e-01,-1.183790809e-04,8.303258522e-01
+1,7.333333333e-01,DOWN_FORCE_DETACH,1792839584267097339,2.988238665e-06,-9.557252791e-07,5.763183118e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.386333206e-08,-2.651283984e-09,-1.193422317e-08,7.019586211e-01,-2.322646030e-05,8.601488504e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452174e-01,-1.183816766e-04,8.303258407e-01
+2,1.433333333e+00,DOWN_FORCE_DETACH,1792839585101002718,4.801776573e-06,-2.144957881e-06,-2.515963606e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.331353858e-07,-4.803782004e-09,-1.588495335e-08,7.019604346e-01,-2.441569290e-05,8.601428356e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452667e-01,-1.183838291e-04,8.303258367e-01
+3,2.083333333e+00,DOWN_FORCE_DETACH,1792839585756638743,-3.307853623e-06,-1.431293317e-05,-5.168391408e-05,-6.761635223e-06,-8.190506815e-06,-3.919419520e-05,-7.563803861e-06,-8.221404914e-06,-3.902151962e-05,7.019523250e-01,-3.658366820e-05,8.600914033e-01,7.019488712e-01,-3.046124184e-05,8.601038930e-01,7.027375698e-01,-1.266004303e-04,8.302868311e-01
+4,2.433333333e+00,DOWN_FORCE_DETACH,1792839586100924252,2.432433184e-05,-1.323646590e-05,-7.826896410e-05,2.284254288e-05,-9.617292011e-06,-6.851596951e-05,2.383946260e-05,-9.643753938e-06,-6.817547331e-05,7.019799571e-01,-3.550720092e-05,8.600648183e-01,7.019784754e-01,-3.188802703e-05,8.600745713e-01,7.027689730e-01,-1.280227793e-04,8.302576771e-01
+5,3.016666667e+00,DOWN_FORCE_DETACH,1792839586708351373,1.637970586e-05,-1.985829350e-05,-1.382386931e-04,1.347590969e-05,-1.746525888e-05,-1.336867271e-04,1.302451162e-05,-1.748024398e-05,-1.331606231e-04,7.019720125e-01,-4.212902852e-05,8.600048485e-01,7.019691087e-01,-3.973599390e-05,8.600094005e-01,7.027581581e-01,-1.358592693e-04,8.301926920e-01
+6,3.650000000e+00,DOWN_FORCE_DETACH,1792839587329393171,3.136215958e-05,-2.421077781e-05,-2.004142212e-04,2.755802870e-05,-2.482951195e-05,-1.955838649e-04,2.735660929e-05,-2.486404843e-05,-1.948591977e-04,7.019869950e-01,-4.648151283e-05,8.599426730e-01,7.019831908e-01,-4.710024698e-05,8.599475034e-01,7.027724902e-01,-1.432430738e-04,8.301309934e-01
+7,4.283333333e+00,DOWN_FORCE_DETACH,1792839587951117745,3.778085071e-05,-3.578874410e-05,-2.910965907e-04,3.542871589e-05,-3.165767883e-05,-2.768014316e-04,3.492172626e-05,-3.165110303e-05,-2.758530912e-04,7.019934137e-01,-5.805947912e-05,8.598519906e-01,7.019910615e-01,-5.392841385e-05,8.598662858e-01,7.027800553e-01,-1.500301284e-04,8.300499995e-01
+8,4.616666667e+00,DOWN_FORCE_DETACH,1792839588278741818,9.654947218e-05,-1.988291284e-05,-3.001217353e-04,9.016872259e-05,-3.150024090e-05,-3.098175278e-04,9.316055048e-05,-3.154680664e-05,-3.087417091e-04,7.020521823e-01,-4.215364786e-05,8.598429655e-01,7.020458015e-01,-5.377097592e-05,8.598332697e-01,7.028382941e-01,-1.499258320e-04,8.300171109e-01
+9,4.866666667e+00,DOWN_FORCE_DETACH,1792839588557260074,1.020074123e-04,-6.279652791e-06,-3.590935463e-04,9.397566090e-05,-1.233262060e-05,-3.452939949e-04,9.695031554e-05,-1.229775533e-05,-3.441369097e-04,7.020576402e-01,-2.855038781e-05,8.597839937e-01,7.020496085e-01,-3.460335562e-05,8.597977932e-01,7.028420839e-01,-1.306767807e-04,8.299817157e-01
+10,5.333333333e+00,DOWN_FORCE_DETACH,1792839589114200215,1.156069159e-04,-1.342623419e-05,-4.599908439e-04,1.173391766e-04,-1.662376262e-05,-4.497881900e-04,1.208737499e-04,-1.663810891e-05,-4.483269804e-04,7.020712397e-01,-3.569696921e-05,8.596830964e-01,7.020729720e-01,-3.889449764e-05,8.596932990e-01,7.028660073e-01,-1.350171343e-04,8.298775256e-01
+11,5.883333333e+00,DOWN_FORCE_DETACH,1792839589655087427,1.401854036e-04,-2.391887537e-05,-5.643730993e-04,1.376489351e-04,-2.707549033e-05,-5.517998157e-04,1.415535519e-04,-2.715164993e-05,-5.501645230e-04,7.020958182e-01,-4.618961039e-05,8.595787141e-01,7.020932818e-01,-4.934622535e-05,8.595912874e-01,7.028866871e-01,-1.455306753e-04,8.297756881e-01
+12,6.400000000e+00,DOWN_FORCE_DETACH,1792839590162612719,1.688176977e-04,-2.712878808e-05,-6.730406143e-04,1.610561154e-04,-2.710447550e-05,-6.637529858e-04,1.654278730e-04,-2.719413315e-05,-6.620247310e-04,7.021244505e-01,-4.939952310e-05,8.594700466e-01,7.021166889e-01,-4.937521052e-05,8.594793343e-01,7.029105615e-01,-1.455731585e-04,8.296638279e-01
+13,6.866666667e+00,DOWN_FORCE_DETACH,1792839590621860851,1.909765318e-04,-2.967306567e-05,-7.871695459e-04,1.909012621e-04,-2.950596838e-05,-7.868767984e-04,1.960458754e-04,-2.963878881e-05,-7.849225095e-04,7.021466093e-01,-5.194380069e-05,8.593559177e-01,7.021465341e-01,-5.177670341e-05,8.593562104e-01,7.029411795e-01,-1.480178142e-04,8.295409301e-01
+14,7.333333333e+00,DOWN_FORCE_DETACH,1792839591079835375,2.156899551e-04,-3.634827855e-05,-9.059805180e-04,2.101015613e-04,-3.496761836e-05,-8.919388083e-04,2.154753716e-04,-3.512477697e-05,-8.899448649e-04,7.021713228e-01,-5.861901358e-05,8.592371067e-01,7.021657344e-01,-5.723835339e-05,8.592511484e-01,7.029606090e-01,-1.535038023e-04,8.294359077e-01
+15,7.816666667e+00,DOWN_FORCE_DETACH,1792839591554885130,2.456510548e-04,-3.290375227e-05,-1.029507788e-03,2.428137964e-04,-3.303593179e-05,-1.017248712e-03,2.491801961e-04,-3.319896774e-05,-1.015130436e-03,7.022012839e-01,-5.517448729e-05,8.591135795e-01,7.021984466e-01,-5.530666682e-05,8.591258385e-01,7.029943138e-01,-1.515779931e-04,8.293107222e-01
+16,8.216666667e+00,DOWN_FORCE_DETACH,1792839591949067145,2.655322651e-04,-4.110927051e-05,-1.144226998e-03,2.652034283e-04,-4.099252883e-05,-1.144065500e-03,2.718043820e-04,-4.115783339e-05,-1.141758380e-03,7.022211651e-01,-6.338000553e-05,8.589988602e-01,7.022208362e-01,-6.326326385e-05,8.589990217e-01,7.030169380e-01,-1.595368587e-04,8.291840942e-01
+17,8.666666667e+00,DOWN_FORCE_DETACH,1792839592390330357,2.934173006e-04,-3.793255854e-05,-1.263862507e-03,2.928851783e-04,-4.007913170e-05,-1.257717259e-03,3.002580422e-04,-4.022477525e-05,-1.255346844e-03,7.022490501e-01,-6.020329356e-05,8.588792247e-01,7.022485180e-01,-6.234986673e-05,8.588853700e-01,7.030453916e-01,-1.586038006e-04,8.290705058e-01
+18,9.116666667e+00,DOWN_FORCE_DETACH,1792839592832908668,3.071460544e-04,-4.515016677e-05,-1.386967043e-03,3.070781447e-04,-4.502447250e-05,-1.386744424e-03,3.141085242e-04,-4.516218813e-05,-1.384175756e-03,7.022627789e-01,-6.742090179e-05,8.587561202e-01,7.022627110e-01,-6.729520752e-05,8.587563428e-01,7.030592421e-01,-1.635412135e-04,8.289416768e-01
+19,9.533333333e+00,DOWN_FORCE_DETACH,1792839593291558376,3.296409045e-04,-4.949532791e-05,-1.495479835e-03,3.261305990e-04,-5.004882060e-05,-1.495207803e-03,3.334261464e-04,-5.027618838e-05,-1.492740180e-03,7.022852737e-01,-7.176606293e-05,8.586476074e-01,7.022817634e-01,-7.231955563e-05,8.586478794e-01,7.030785597e-01,-1.686552137e-04,8.288331124e-01
+20,1.000000000e+01,DOWN_FORCE_DETACH,1792839593750077182,3.411865064e-04,-5.460291920e-05,-1.614781415e-03,3.398321276e-04,-5.130854204e-05,-1.610930860e-03,3.468354071e-04,-5.153051327e-05,-1.608581752e-03,7.022968193e-01,-7.687365422e-05,8.585283058e-01,7.022954649e-01,-7.357927706e-05,8.585321564e-01,7.030919690e-01,-1.699095386e-04,8.287172708e-01
+21,1.048333333e+01,DOWN_FORCE_DETACH,1792839594224897325,3.557504197e-04,-5.901011744e-05,-1.724615693e-03,3.552761393e-04,-5.749497643e-05,-1.711304757e-03,3.622950815e-04,-5.776788430e-05,-1.709099411e-03,7.023113832e-01,-8.128085246e-05,8.584184715e-01,7.023109090e-01,-7.976571145e-05,8.584317825e-01,7.031074287e-01,-1.761469096e-04,8.286167532e-01
+22,1.098333333e+01,DOWN_FORCE_DETACH,1792839594716568869,3.690930480e-04,-6.606365357e-05,-1.827764982e-03,3.687224195e-04,-6.100990320e-05,-1.819988467e-03,3.754859033e-04,-6.127453660e-05,-1.817861423e-03,7.023247259e-01,-8.833438859e-05,8.583153223e-01,7.023243552e-01,-8.328063822e-05,8.583230988e-01,7.031206195e-01,-1.796535619e-04,8.285079912e-01
+23,1.150000000e+01,DOWN_FORCE_DETACH,1792839595224397121,3.814329818e-04,-6.905743892e-05,-1.930040306e-03,3.804039663e-04,-6.782997718e-05,-1.926596449e-03,3.868263472e-04,-6.811105608e-05,-1.924575398e-03,7.023370658e-01,-9.132817394e-05,8.582130469e-01,7.023360368e-01,-9.010071220e-05,8.582164908e-01,7.031319599e-01,-1.864900814e-04,8.284012772e-01
+24,1.203333333e+01,DOWN_FORCE_DETACH,1792839595797737844,3.872964976e-04,-7.340693115e-05,-2.029845902e-03,3.854697041e-04,-7.516658808e-05,-2.011114918e-03,3.913477457e-04,-7.542791249e-05,-2.009340885e-03,7.023429293e-01,-9.567766617e-05,8.581132413e-01,7.023411025e-01,-9.743732310e-05,8.581319723e-01,7.031364813e-01,-1.938069378e-04,8.283165117e-01
+25,1.270000000e+01,DOWN_FORCE_DETACH,1792839596452841540,3.954946567e-04,-7.699219254e-05,-2.137455092e-03,3.942331982e-04,-7.604294526e-05,-2.124246827e-03,3.995235804e-04,-7.634575165e-05,-2.122565494e-03,7.023511275e-01,-9.926292757e-05,8.580056321e-01,7.023498660e-01,-9.831368029e-05,8.580188404e-01,7.031446572e-01,-1.947247770e-04,8.282032871e-01
+26,1.325000000e+01,DOWN_FORCE_DETACH,1792839597009817968,3.970042916e-04,-8.252162136e-05,-2.208445019e-03,3.968704524e-04,-8.261705780e-05,-2.208186210e-03,4.013476735e-04,-8.297281081e-05,-2.206571479e-03,7.023526371e-01,-1.047923564e-04,8.579346422e-01,7.023525033e-01,-1.048877928e-04,8.579349010e-01,7.031464813e-01,-2.013518362e-04,8.281192811e-01
+27,1.391666667e+01,DOWN_FORCE_DETACH,1792839597697441574,4.036722021e-04,-7.854937534e-05,-2.276838859e-03,3.997017167e-04,-7.810494270e-05,-2.269925499e-03,4.036901874e-04,-7.842715940e-05,-2.268654340e-03,7.023593050e-01,-1.008201104e-04,8.578662484e-01,7.023553345e-01,-1.003756777e-04,8.578731617e-01,7.031488238e-01,-1.968061847e-04,8.280571983e-01
+28,1.468333333e+01,DOWN_FORCE_DETACH,1792839598451061514,4.018438934e-04,-8.481994485e-05,-2.339889233e-03,4.027822409e-04,-8.216676242e-05,-2.333334770e-03,4.062330095e-04,-8.249438232e-05,-2.332193445e-03,7.023574767e-01,-1.070906799e-04,8.578031980e-01,7.023584151e-01,-1.044374974e-04,8.578097525e-01,7.031513666e-01,-2.008734077e-04,8.279936592e-01
+29,1.541666667e+01,DOWN_FORCE_DETACH,1792839599171411927,4.020015929e-04,-7.964910536e-05,-2.371178158e-03,3.993207527e-04,-8.451827369e-05,-2.374592895e-03,4.020445775e-04,-8.484018962e-05,-2.373671393e-03,7.023576344e-01,-1.019198404e-04,8.577719091e-01,7.023549536e-01,-1.067890087e-04,8.577684943e-01,7.031471782e-01,-2.032192150e-04,8.279521812e-01
+30,1.606666667e+01,DOWN_FORCE_DETACH,1792839599826863430,3.975281984e-04,-8.226403819e-05,-2.391416221e-03,3.946668885e-04,-8.403089064e-05,-2.394557941e-03,3.967744130e-04,-8.439896609e-05,-2.393875210e-03,7.023531610e-01,-1.045347732e-04,8.577516710e-01,7.023502997e-01,-1.063016257e-04,8.577485293e-01,7.031419080e-01,-2.027779914e-04,8.279319774e-01
+31,1.683333333e+01,DOWN_FORCE_DETACH,1792839600629426989,3.929946753e-04,-8.561328479e-05,-2.409739809e-03,3.946668885e-04,-8.403089064e-05,-2.394557941e-03,3.967428841e-04,-8.441236568e-05,-2.394162060e-03,7.023486275e-01,-1.078840198e-04,8.577333474e-01,7.023502997e-01,-1.063016257e-04,8.577485293e-01,7.031418765e-01,-2.027913910e-04,8.279316905e-01
+32,1.755000000e+01,DOWN_FORCE_DETACH,1792839601366318494,3.940031370e-04,-8.579086598e-05,-2.440413328e-03,3.933304049e-04,-8.322706596e-05,-2.435262761e-03,3.948054391e-04,-8.360759245e-05,-2.434828085e-03,7.023496360e-01,-1.080616010e-04,8.577026739e-01,7.023489632e-01,-1.054978010e-04,8.577078245e-01,7.031399390e-01,-2.019866178e-04,8.278910245e-01
+33,1.813333333e+01,DOWN_FORCE_DETACH,1792839601955909732,3.973830722e-04,-7.877193471e-05,-2.470414744e-03,3.932671741e-04,-8.953441776e-05,-2.454537149e-03,3.944579793e-04,-8.990286343e-05,-2.454152086e-03,7.023530159e-01,-1.010426697e-04,8.576726725e-01,7.023489000e-01,-1.118051528e-04,8.576885501e-01,7.031395916e-01,-2.082818888e-04,8.278717005e-01
+34,1.856666667e+01,DOWN_FORCE_DETACH,1792839602402151357,3.984059146e-04,-8.109933396e-05,-2.525011945e-03,3.992183658e-04,-8.528537034e-05,-2.522101139e-03,4.000188376e-04,-8.567072007e-05,-2.521471225e-03,7.023540387e-01,-1.033700690e-04,8.576180753e-01,7.023548512e-01,-1.075561054e-04,8.576209861e-01,7.031451524e-01,-2.040497454e-04,8.278043814e-01
+35,1.898333333e+01,DOWN_FORCE_DETACH,1792839602824166520,4.126169724e-04,-8.776211640e-05,-2.563529403e-03,4.139509038e-04,-8.739452354e-05,-2.560062221e-03,4.153878396e-04,-8.779569369e-05,-2.559374638e-03,7.023682498e-01,-1.100328514e-04,8.575795578e-01,7.023695837e-01,-1.096652586e-04,8.575830250e-01,7.031605214e-01,-2.061747190e-04,8.277664780e-01
+36,1.946666667e+01,DOWN_FORCE_DETACH,1792839603336426615,4.130347041e-04,-8.818381579e-05,-2.628961982e-03,4.110476647e-04,-8.745989867e-05,-2.627334120e-03,4.115176783e-04,-8.786422566e-05,-2.626559575e-03,7.023686675e-01,-1.104545508e-04,8.575141253e-01,7.023666805e-01,-1.097306337e-04,8.575157531e-01,7.031566513e-01,-2.062432510e-04,8.276992930e-01
+37,2.001666667e+01,DOWN_FORCE_DETACH,1792839603872557737,4.213898745e-04,-8.593957514e-05,-2.716061119e-03,4.202049966e-04,-8.350040554e-05,-2.712417471e-03,4.203015134e-04,-8.386212158e-05,-2.711414029e-03,7.023770227e-01,-1.082103102e-04,8.574270261e-01,7.023758378e-01,-1.057711406e-04,8.574306698e-01,7.031654351e-01,-2.022411469e-04,8.276144386e-01
+38,2.043333333e+01,DOWN_FORCE_DETACH,1792839604281833340,4.241174967e-04,-8.579894281e-05,-2.789094758e-03,4.218487316e-04,-7.465169546e-05,-2.776313260e-03,4.213794459e-04,-7.499121634e-05,-2.775326750e-03,7.023797503e-01,-1.080696778e-04,8.573539925e-01,7.023774815e-01,-9.692243048e-05,8.573667740e-01,7.031665130e-01,-1.933702417e-04,8.275505258e-01
+39,2.078333333e+01,DOWN_FORCE_DETACH,1792839604625842290,4.339761644e-04,-7.364666310e-05,-2.846890408e-03,4.331531381e-04,-7.405237068e-05,-2.839839762e-03,4.327984082e-04,-7.437811300e-05,-2.838690421e-03,7.023896090e-01,-9.591739812e-05,8.572961968e-01,7.023887860e-01,-9.632310570e-05,8.573032475e-01,7.031779320e-01,-1.927571383e-04,8.274871622e-01
+40,2.125000000e+01,DOWN_FORCE_DETACH,1792839605084597488,4.403820319e-04,-7.618827795e-05,-2.935373103e-03,4.404791667e-04,-8.266792474e-05,-2.930843693e-03,4.396521388e-04,-8.298899063e-05,-2.929607039e-03,7.023960148e-01,-9.845901297e-05,8.572077141e-01,7.023961120e-01,-1.049386598e-04,8.572122435e-01,7.031847857e-01,-2.013680160e-04,8.273962456e-01
+41,2.168333333e+01,DOWN_FORCE_DETACH,1792839605510527720,4.421936909e-04,-8.364711123e-05,-3.024514441e-03,4.433014704e-04,-8.312634063e-05,-3.017643505e-03,4.416918739e-04,-8.345946868e-05,-3.016220513e-03,7.023978265e-01,-1.059178462e-04,8.571185728e-01,7.023989343e-01,-1.053970757e-04,8.571254437e-01,7.031868255e-01,-2.018384940e-04,8.273096321e-01
+42,2.210000000e+01,DOWN_FORCE_DETACH,1792839605920121819,4.478192944e-04,-8.962957124e-05,-3.110224247e-03,4.454286489e-04,-9.502277927e-05,-3.109640609e-03,4.429343487e-04,-9.540556589e-05,-3.108202426e-03,7.024034521e-01,-1.119003063e-04,8.570328630e-01,7.024010615e-01,-1.172935143e-04,8.570334466e-01,7.031880679e-01,-2.137845912e-04,8.272176502e-01
+43,2.248333333e+01,DOWN_FORCE_DETACH,1792839606296900467,4.466412279e-04,-9.105374507e-05,-3.208447368e-03,4.492269912e-04,-8.344247926e-05,-3.199238204e-03,4.459529033e-04,-8.378852270e-05,-3.197707532e-03,7.024022740e-01,-1.133244801e-04,8.569346399e-01,7.024048598e-01,-1.057132143e-04,8.569438490e-01,7.031910865e-01,-2.021675480e-04,8.271281451e-01
+44,2.293333333e+01,DOWN_FORCE_DETACH,1792839606755577722,4.491622562e-04,-9.227139446e-05,-3.319526060e-03,4.500784092e-04,-9.788207587e-05,-3.300493245e-03,4.456824828e-04,-9.829545942e-05,-3.298988373e-03,7.024047951e-01,-1.145421295e-04,8.568235612e-01,7.024057112e-01,-1.201528109e-04,8.568425940e-01,7.031908161e-01,-2.166744848e-04,8.270268642e-01
+45,2.330000000e+01,DOWN_FORCE_DETACH,1792839607149492679,4.535531035e-04,-9.800438938e-05,-3.427317675e-03,4.534524385e-04,-9.792056700e-05,-3.427029720e-03,4.477774235e-04,-9.832104727e-05,-3.425253962e-03,7.024091859e-01,-1.202751244e-04,8.567157696e-01,7.024090853e-01,-1.201913020e-04,8.567160575e-01,7.031929110e-01,-2.167000726e-04,8.269005986e-01
+46,2.371666667e+01,DOWN_FORCE_DETACH,1792839607558946948,4.543878008e-04,-1.053254129e-04,-3.547909664e-03,4.534149731e-04,-1.001962425e-04,-3.537717720e-03,4.464084972e-04,-1.005756643e-04,-3.535975267e-03,7.024100206e-01,-1.275961479e-04,8.565951776e-01,7.024090478e-01,-1.224669775e-04,8.566053695e-01,7.031915421e-01,-2.189546897e-04,8.267898773e-01
+47,2.413333333e+01,DOWN_FORCE_DETACH,1792839607967428170,4.544020015e-04,-1.051457859e-04,-3.682855827e-03,4.549185163e-04,-1.044790887e-04,-3.666174153e-03,4.464158945e-04,-1.048296953e-04,-3.664411672e-03,7.024100348e-01,-1.274165209e-04,8.564602314e-01,7.024105513e-01,-1.267498237e-04,8.564769131e-01,7.031915495e-01,-2.232087207e-04,8.266614409e-01
+48,2.440000000e+01,DOWN_FORCE_DETACH,1792839608229627551,4.508944165e-04,-1.141239819e-04,-3.775864793e-03,4.507316914e-04,-1.141529020e-04,-3.775758047e-03,4.406800710e-04,-1.145289482e-04,-3.773790460e-03,7.024065272e-01,-1.363947169e-04,8.563672224e-01,7.024063645e-01,-1.364236370e-04,8.563673292e-01,7.031858137e-01,-2.329079736e-04,8.265520621e-01
+49,2.475000000e+01,DOWN_FORCE_DETACH,1792839608589778039,4.501281234e-04,-1.065964865e-04,-3.907598209e-03,4.499199346e-04,-1.009758597e-04,-3.901966264e-03,4.382720633e-04,-1.012899812e-04,-3.899956226e-03,7.024057609e-01,-1.288672216e-04,8.562354890e-01,7.024055528e-01,-1.232465947e-04,8.562411210e-01,7.031834056e-01,-2.196690065e-04,8.264258964e-01
+50,2.511666667e+01,DOWN_FORCE_DETACH,1792839608950303986,4.504495896e-04,-1.135815295e-04,-4.044606500e-03,4.488676262e-04,-1.118941680e-04,-4.034438332e-03,4.356114485e-04,-1.122943759e-04,-4.032406352e-03,7.024060824e-01,-1.358522645e-04,8.560984807e-01,7.024045004e-01,-1.341649030e-04,8.561086489e-01,7.031807450e-01,-2.306734013e-04,8.262934462e-01
+51,2.546666667e+01,DOWN_FORCE_DETACH,1792839609310718154,4.584295968e-04,-1.203200969e-04,-4.185881447e-03,4.565586863e-04,-1.122144543e-04,-4.167802594e-03,4.422197301e-04,-1.125647017e-04,-4.165667877e-03,7.024140624e-01,-1.425908319e-04,8.559572058e-01,7.024121915e-01,-1.344851893e-04,8.559752846e-01,7.031873533e-01,-2.309437271e-04,8.261601847e-01
+52,2.576666667e+01,DOWN_FORCE_DETACH,1792839609605782409,4.498992713e-04,-1.198453929e-04,-4.317488495e-03,4.523647639e-04,-1.132018247e-04,-4.300894728e-03,4.361077843e-04,-1.135291466e-04,-4.298756560e-03,7.024055321e-01,-1.421161279e-04,8.558255987e-01,7.024079976e-01,-1.354725597e-04,8.558421925e-01,7.031812414e-01,-2.319081720e-04,8.260270960e-01
+53,2.605000000e+01,DOWN_FORCE_DETACH,1792839609900733219,4.483619318e-04,-1.168430132e-04,-4.448999265e-03,4.499704514e-04,-1.170822719e-04,-4.433078105e-03,4.320170163e-04,-1.174176470e-04,-4.430833958e-03,7.024039947e-01,-1.391137482e-04,8.556940880e-01,7.024056033e-01,-1.393530069e-04,8.557100091e-01,7.031771506e-01,-2.357966724e-04,8.258950186e-01
+54,2.636666667e+01,DOWN_FORCE_DETACH,1792839610211730572,4.418865380e-04,-1.281181749e-04,-4.598170806e-03,4.416442205e-04,-1.277275181e-04,-4.597940807e-03,4.210228228e-04,-1.280534200e-04,-4.595569363e-03,7.023975194e-01,-1.503889100e-04,8.555449164e-01,7.023972770e-01,-1.499982531e-04,8.555451464e-01,7.031661564e-01,-2.464324453e-04,8.257302832e-01
+55,2.661666667e+01,DOWN_FORCE_DETACH,1792839610510553577,4.293298903e-04,-1.188822811e-04,-4.748785719e-03,4.291035229e-04,-1.189794687e-04,-4.748751339e-03,4.057353014e-04,-1.192880295e-04,-4.746122542e-03,7.023849627e-01,-1.411530161e-04,8.553943015e-01,7.023847363e-01,-1.412502037e-04,8.553943359e-01,7.031508689e-01,-2.376670548e-04,8.255797301e-01
+56,2.683333333e+01,DOWN_FORCE_DETACH,1792839610752046437,4.694025897e-04,-1.148537826e-04,-4.831999584e-03,4.691568971e-04,-1.150332917e-04,-4.831524957e-03,4.477222562e-04,-1.153246886e-04,-4.829110320e-03,7.024250354e-01,-1.371245177e-04,8.553110877e-01,7.024247897e-01,-1.373040267e-04,8.553115623e-01,7.031928558e-01,-2.337037139e-04,8.254967423e-01
+57,2.708333333e+01,DOWN_FORCE_DETACH,1792839610998167055,4.459717411e-04,-1.216086867e-04,-4.970977745e-03,4.456150562e-04,-1.236114994e-04,-4.964572028e-03,4.209939626e-04,-1.239232094e-04,-4.962155306e-03,7.024016046e-01,-1.438794217e-04,8.551721095e-01,7.024012479e-01,-1.458822344e-04,8.551785152e-01,7.031661275e-01,-2.423022348e-04,8.253636973e-01
+58,2.740000000e+01,DOWN_SETTLE,1792839611309023911,4.329977996e-04,-1.225278180e-04,-5.097061573e-03,4.356381642e-04,-1.185219068e-04,-5.087498569e-03,4.087644094e-04,-1.188304602e-04,-5.085249822e-03,7.023886306e-01,-1.447985530e-04,8.550460257e-01,7.023912710e-01,-1.407926418e-04,8.550555887e-01,7.031538980e-01,-2.372094855e-04,8.252406028e-01
+59,2.803333333e+01,DOWN_PEAK_HOLD,1792839611964992846,4.138935039e-04,-1.205763732e-04,-5.151566288e-03,4.143628845e-04,-1.206110249e-04,-5.150239664e-03,3.851729974e-04,-1.209911067e-04,-5.149169888e-03,7.023695263e-01,-1.428471082e-04,8.549915210e-01,7.023699957e-01,-1.428817599e-04,8.549928476e-01,7.031303066e-01,-2.393701321e-04,8.251766827e-01

Part2/Fixed/digit/ball_15A_15/press_depth_06/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.0948e-02,1.0827e-01,2.4591e+00,-4.4183e-02,4.0386e-02,1.2220e-04,4.0907e-04,4.1798e-06,-7.8201e-05,2.2575e-06,2.9128e-05,-1.6207e-06,4.1650e-04,2.9260e-05
+1,7.3333e-01,DOWN_FORCE_DETACH,1.5971e-04,6.5114e-02,1.0835e-01,2.4570e+00,-4.4098e-02,4.1393e-02,6.1665e-05,1.4575e-02,8.7142e-05,-2.2187e-03,8.7291e-05,1.0362e-03,-6.2156e-05,1.4743e-02,1.0417e-03
+2,1.4333e+00,DOWN_FORCE_DETACH,3.1556e-04,7.3663e-02,1.0835e-01,2.4563e+00,-4.4040e-02,4.1998e-02,1.7724e-05,2.3123e-02,8.9534e-05,-2.9573e-03,1.4512e-04,1.6420e-03,-1.0610e-04,2.3312e-02,1.6518e-03
+3,2.0833e+00,DOWN_FORCE_DETACH,4.7642e-04,8.7715e-02,1.3175e-01,2.4964e+00,-4.5613e-02,4.2942e-02,-1.2613e-05,3.7176e-02,2.3487e-02,3.7158e-02,-1.4276e-03,2.5853e-03,-1.3643e-04,5.7570e-02,2.9564e-03
+4,2.4333e+00,DOWN_FORCE_DETACH,6.3139e-04,5.2901e-02,1.3507e-01,2.5193e+00,-4.5813e-02,4.0455e-02,-1.5667e-05,2.3619e-03,2.6802e-02,6.0106e-02,-1.6277e-03,9.8731e-05,-1.3949e-04,6.5853e-02,1.6366e-03
+5,3.0167e+00,DOWN_FORCE_DETACH,7.9307e-04,7.8914e-02,1.5897e-01,2.5676e+00,-4.7408e-02,4.2226e-02,-2.5617e-05,2.8375e-02,5.0701e-02,1.0834e-01,-3.2227e-03,1.8694e-03,-1.4944e-04,1.2294e-01,3.7286e-03
+6,3.6500e+00,DOWN_FORCE_DETACH,9.5059e-04,6.6093e-02,1.8108e-01,2.5995e+00,-4.8890e-02,4.1271e-02,-2.4517e-05,1.5554e-02,7.2815e-02,1.4027e-01,-4.7047e-03,9.1412e-04,-1.4834e-04,1.5881e-01,4.7949e-03
+7,4.2833e+00,DOWN_FORCE_DETACH,1.1112e-03,7.0185e-02,2.0170e-01,2.6376e+00,-5.0277e-02,4.1494e-02,-1.7535e-05,1.9646e-02,9.3433e-02,1.7841e-01,-6.0915e-03,1.1380e-03,-1.4136e-04,2.0235e-01,6.1985e-03
+8,4.6167e+00,DOWN_FORCE_DETACH,1.2606e-03,-8.4233e-03,1.9900e-01,2.6350e+00,-5.0099e-02,3.5947e-02,4.1034e-06,-5.8963e-02,9.0734e-02,1.7580e-01,-5.9138e-03,-4.4092e-03,-1.1972e-04,2.0643e-01,7.3775e-03
+9,4.8667e+00,DOWN_FORCE_DETACH,1.4270e-03,1.2390e-02,1.4712e-01,2.6494e+00,-4.6526e-02,3.7379e-02,-1.7255e-05,-3.8150e-02,3.8852e-02,1.9018e-01,-2.3403e-03,-2.9770e-03,-1.4108e-04,1.9782e-01,3.7894e-03
+10,5.3333e+00,DOWN_FORCE_DETACH,1.5858e-03,1.1487e-02,1.5665e-01,2.7132e+00,-4.7235e-02,3.7227e-02,-2.9011e-05,-3.9052e-02,4.8385e-02,2.5402e-01,-3.0500e-03,-3.1294e-03,-1.5283e-04,2.6152e-01,4.3726e-03
+11,5.8833e+00,DOWN_FORCE_DETACH,1.7436e-03,1.8743e-02,1.7851e-01,2.7291e+00,-4.8810e-02,3.7714e-02,-4.1134e-05,-3.1796e-02,7.0246e-02,2.6986e-01,-4.6248e-03,-2.6422e-03,-1.6495e-04,2.8066e-01,5.3289e-03
+12,6.4000e+00,DOWN_FORCE_DETACH,1.9023e-03,1.9916e-02,1.7328e-01,2.7482e+00,-4.8485e-02,3.7784e-02,-1.1539e-05,-3.0623e-02,6.5018e-02,2.8900e-01,-4.2998e-03,-2.5727e-03,-1.3536e-04,2.9781e-01,5.0125e-03
+13,6.8667e+00,DOWN_FORCE_DETACH,2.0592e-03,1.4845e-02,1.7526e-01,2.7592e+00,-4.8624e-02,3.7425e-02,8.2379e-05,-3.5694e-02,6.6992e-02,2.9996e-01,-4.4390e-03,-2.9316e-03,-4.1442e-05,3.0941e-01,5.3198e-03
+14,7.3333e+00,DOWN_FORCE_DETACH,2.2212e-03,1.6486e-02,1.9057e-01,2.7966e+00,-4.9598e-02,3.7506e-02,2.1877e-04,-3.4054e-02,8.2306e-02,3.3742e-01,-5.4123e-03,-2.8504e-03,9.4950e-05,3.4898e-01,6.1177e-03
+15,7.8167e+00,DOWN_FORCE_DETACH,2.3793e-03,3.3275e-03,1.8490e-01,2.8137e+00,-4.9130e-02,3.6559e-02,3.3915e-04,-4.7212e-02,7.6635e-02,3.5448e-01,-4.9450e-03,-3.7976e-03,2.1533e-04,3.6573e-01,6.2386e-03
+16,8.2167e+00,DOWN_FORCE_DETACH,2.5392e-03,4.7998e-03,1.9328e-01,2.8229e+00,-4.9639e-02,3.6647e-02,3.8811e-04,-4.5739e-02,8.5015e-02,3.6369e-01,-5.4540e-03,-3.7095e-03,2.6429e-04,3.7629e-01,6.6013e-03
+17,8.6667e+00,DOWN_FORCE_DETACH,2.6956e-03,-2.9651e-03,2.0669e-01,2.8590e+00,-5.0466e-02,3.6060e-02,4.1952e-04,-5.3504e-02,9.8426e-02,3.9973e-01,-6.2812e-03,-4.2966e-03,2.9570e-04,4.1513e-01,7.6159e-03
+18,9.1167e+00,DOWN_FORCE_DETACH,2.8563e-03,1.8430e-02,2.1654e-01,2.8567e+00,-5.1099e-02,3.7548e-02,4.1161e-04,-3.2109e-02,1.0827e-01,3.9743e-01,-6.9133e-03,-2.8084e-03,2.8779e-04,4.1316e-01,7.4675e-03
+19,9.5333e+00,DOWN_FORCE_DETACH,3.0116e-03,2.7098e-02,2.3008e-01,2.8815e+00,-5.1971e-02,3.8134e-02,3.9277e-04,-2.3441e-02,1.2181e-01,4.2228e-01,-7.7857e-03,-2.2227e-03,2.6895e-04,4.4012e-01,8.1012e-03
+20,1.0000e+01,DOWN_FORCE_DETACH,3.1690e-03,4.0324e-02,2.2828e-01,2.8636e+00,-5.1789e-02,3.9086e-02,3.3891e-04,-1.0215e-02,1.2001e-01,4.0436e-01,-7.6038e-03,-1.2704e-03,2.1509e-04,4.2192e-01,7.7122e-03
+21,1.0483e+01,DOWN_FORCE_DETACH,3.3312e-03,3.9125e-02,2.3957e-01,2.8318e+00,-5.2529e-02,3.9015e-02,2.6577e-04,-1.1414e-02,1.3130e-01,3.7253e-01,-8.3441e-03,-1.3415e-03,1.4195e-04,3.9516e-01,8.4524e-03
+22,1.0983e+01,DOWN_FORCE_DETACH,3.4873e-03,3.7271e-02,2.5224e-01,2.8176e+00,-5.3273e-02,3.8881e-02,1.8926e-04,-1.3268e-02,1.4397e-01,3.5835e-01,-9.0879e-03,-1.4756e-03,6.5438e-05,3.8642e-01,9.2072e-03
+23,1.1500e+01,DOWN_FORCE_DETACH,3.6462e-03,3.9464e-02,2.7471e-01,2.7961e+00,-5.4747e-02,3.9083e-02,1.4798e-04,-1.1075e-02,1.6644e-01,3.3688e-01,-1.0562e-02,-1.2730e-03,2.4163e-05,3.7591e-01,1.0639e-02
+24,1.2033e+01,DOWN_FORCE_DETACH,3.8058e-03,5.7528e-02,2.9167e-01,2.7527e+00,-5.6001e-02,4.0436e-02,1.5402e-04,6.9886e-03,1.8340e-01,2.9343e-01,-1.1816e-02,7.9516e-05,3.0200e-05,3.4610e-01,1.1816e-02
+25,1.2700e+01,DOWN_FORCE_DETACH,3.9650e-03,7.2475e-02,2.9098e-01,2.7384e+00,-5.6047e-02,4.1519e-02,2.1267e-04,2.1936e-02,1.8272e-01,2.7917e-01,-1.1862e-02,1.1627e-03,8.8850e-05,3.3437e-01,1.1919e-02
+26,1.3250e+01,DOWN_FORCE_DETACH,4.1197e-03,8.3552e-02,2.8840e-01,2.7005e+00,-5.5949e-02,4.2344e-02,2.5284e-04,3.3013e-02,1.8014e-01,2.4125e-01,-1.1764e-02,1.9879e-03,1.2902e-04,3.0289e-01,1.1931e-02
+27,1.3917e+01,DOWN_FORCE_DETACH,4.2803e-03,8.8647e-02,2.9618e-01,2.6788e+00,-5.6540e-02,4.2727e-02,2.5665e-04,3.8108e-02,1.8791e-01,2.1962e-01,-1.2354e-02,2.3708e-03,1.3283e-04,2.9154e-01,1.2581e-02
+28,1.4683e+01,DOWN_FORCE_DETACH,4.4367e-03,8.6998e-02,3.0630e-01,2.6425e+00,-5.7337e-02,4.2646e-02,2.0983e-04,3.6459e-02,1.9804e-01,1.8327e-01,-1.3152e-02,2.2897e-03,8.6011e-05,2.7228e-01,1.3350e-02
+29,1.5417e+01,DOWN_FORCE_DETACH,4.6008e-03,9.0683e-02,3.1085e-01,2.6167e+00,-5.7756e-02,4.2913e-02,1.3724e-04,4.0144e-02,2.0259e-01,1.5749e-01,-1.3571e-02,2.5568e-03,1.3421e-05,2.5972e-01,1.3810e-02
+30,1.6067e+01,DOWN_FORCE_DETACH,4.7548e-03,9.1856e-02,3.0769e-01,2.5800e+00,-5.7652e-02,4.3024e-02,6.5009e-05,4.1317e-02,1.9943e-01,1.2081e-01,-1.3467e-02,2.6678e-03,-5.8812e-05,2.3680e-01,1.3729e-02
+31,1.6833e+01,DOWN_FORCE_DETACH,4.9141e-03,8.6181e-02,3.0526e-01,2.5280e+00,-5.7642e-02,4.2680e-02,-2.2660e-05,3.5642e-02,1.9700e-01,6.8748e-02,-1.3456e-02,2.3232e-03,-1.4648e-04,2.1167e-01,1.3656e-02
+32,1.7550e+01,DOWN_FORCE_DETACH,5.0722e-03,8.4396e-02,3.0148e-01,2.5380e+00,-5.7475e-02,4.2538e-02,-9.8347e-05,3.3857e-02,1.9321e-01,7.8753e-02,-1.3290e-02,2.1815e-03,-2.2217e-04,2.1138e-01,1.3470e-02
+33,1.8133e+01,DOWN_FORCE_DETACH,5.2307e-03,8.3859e-02,3.1664e-01,2.5224e+00,-5.8589e-02,4.2522e-02,-1.4151e-04,3.3319e-02,2.0838e-01,6.3157e-02,-1.4404e-02,2.1660e-03,-2.6533e-04,2.2027e-01,1.4568e-02
+34,1.8567e+01,DOWN_FORCE_DETACH,5.3892e-03,7.6915e-02,3.0615e-01,2.5778e+00,-5.7831e-02,4.1969e-02,-1.7029e-04,2.6376e-02,1.9789e-01,1.1861e-01,-1.3646e-02,1.6127e-03,-2.9411e-04,2.3221e-01,1.3744e-02
+35,1.8983e+01,DOWN_FORCE_DETACH,5.5478e-03,5.8212e-02,3.1122e-01,2.5801e+00,-5.8159e-02,4.0659e-02,-1.7182e-04,7.6728e-03,2.0295e-01,1.2089e-01,-1.3974e-02,3.0259e-04,-2.9564e-04,2.3636e-01,1.3980e-02
+36,1.9467e+01,DOWN_FORCE_DETACH,5.7087e-03,7.2171e-02,3.1296e-01,2.6070e+00,-5.8209e-02,4.1617e-02,-1.7345e-04,2.1632e-02,2.0469e-01,1.4782e-01,-1.4024e-02,1.2604e-03,-2.9727e-04,2.5341e-01,1.4084e-02
+37,2.0017e+01,DOWN_FORCE_DETACH,5.8657e-03,6.6109e-02,3.0496e-01,2.6363e+00,-5.7569e-02,4.1174e-02,-1.4475e-04,1.5570e-02,1.9670e-01,1.7706e-01,-1.3383e-02,8.1791e-04,-2.6857e-04,2.6511e-01,1.3411e-02
+38,2.0433e+01,DOWN_FORCE_DETACH,6.0283e-03,7.3769e-02,2.8381e-01,2.6457e+00,-5.6042e-02,4.1710e-02,-1.1242e-04,2.3230e-02,1.7555e-01,1.8643e-01,-1.1856e-02,1.3540e-03,-2.3624e-04,2.5713e-01,1.1936e-02
+39,2.0783e+01,DOWN_FORCE_DETACH,6.1776e-03,6.8118e-02,2.8340e-01,2.6712e+00,-5.5967e-02,4.1286e-02,-6.0053e-05,1.7579e-02,1.7514e-01,2.1193e-01,-1.1781e-02,9.2926e-04,-1.8387e-04,2.7549e-01,1.1819e-02
+40,2.1250e+01,DOWN_FORCE_DETACH,6.3417e-03,7.5841e-02,3.0593e-01,2.7014e+00,-5.7475e-02,4.1785e-02,1.9385e-05,2.5302e-02,1.9767e-01,2.4214e-01,-1.3290e-02,1.4290e-03,-1.0444e-04,3.1360e-01,1.3367e-02
+41,2.1683e+01,DOWN_FORCE_DETACH,6.5008e-03,8.4020e-02,3.0492e-01,2.7211e+00,-5.7383e-02,4.2328e-02,7.5087e-05,3.3481e-02,1.9666e-01,2.6188e-01,-1.3197e-02,1.9717e-03,-4.8734e-05,3.2921e-01,1.3344e-02
+42,2.2100e+01,DOWN_FORCE_DETACH,6.6592e-03,9.3522e-02,3.3356e-01,2.7422e+00,-5.9319e-02,4.2966e-02,1.2519e-04,4.2983e-02,2.2529e-01,2.8297e-01,-1.5133e-02,2.6099e-03,1.3723e-06,3.6425e-01,1.5357e-02
+43,2.2483e+01,DOWN_FORCE_DETACH,6.8201e-03,9.0890e-02,3.0125e-01,2.7549e+00,-5.7029e-02,4.2765e-02,1.3061e-04,4.0351e-02,1.9299e-01,2.9571e-01,-1.2844e-02,2.4081e-03,6.7940e-06,3.5541e-01,1.3068e-02
+44,2.2933e+01,DOWN_FORCE_DETACH,6.9793e-03,9.7170e-02,3.3373e-01,2.7606e+00,-5.9193e-02,4.3182e-02,1.3716e-04,4.6631e-02,2.2547e-01,3.0141e-01,-1.5008e-02,2.8253e-03,1.3343e-05,3.7929e-01,1.5271e-02
+45,2.3300e+01,DOWN_FORCE_DETACH,7.1355e-03,9.8358e-02,3.4412e-01,2.7907e+00,-5.9758e-02,4.3206e-02,1.2095e-04,4.7818e-02,2.3586e-01,3.3151e-01,-1.5572e-02,2.8498e-03,-2.8713e-06,4.0965e-01,1.5831e-02
+46,2.3717e+01,DOWN_FORCE_DETACH,7.2892e-03,9.6129e-02,3.4607e-01,2.8206e+00,-5.9634e-02,4.2996e-02,8.0997e-05,4.5590e-02,2.3780e-01,3.6141e-01,-1.5449e-02,2.6400e-03,-4.2824e-05,4.3502e-01,1.5673e-02
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Part2/Fixed/digit/ball_15A_15/press_depth_06/up/camera_frames_60hz.tar

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Part2/Fixed/digit/ball_15A_15/press_depth_06/up/franka_data.csv

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Part2/Fixed/digit/ball_15A_15/press_depth_06/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+40,5.183333333e+00,UP_FORCE_RAMP,1792839576599896919,-1.064835531e-05,-3.690656654e-04,2.933285383e-04,-1.116029996e-05,-3.739150866e-04,2.863001664e-04,-8.092371051e-06,-3.748705807e-04,2.857660325e-04,7.019449845e-01,-3.913364004e-04,8.604364158e-01,7.019444725e-01,-3.961858216e-04,8.604293874e-01,7.027370412e-01,-4.932496046e-04,8.306116187e-01
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+46,6.133333333e+00,UP_SETTLE,1792839577534001166,-3.336121753e-05,-3.674440715e-04,3.767570587e-04,-3.219046713e-05,-3.693848292e-04,3.634830321e-04,-2.967248655e-05,-3.703333067e-04,3.628936594e-04,7.019222716e-01,-3.897148065e-04,8.605198443e-01,7.019234423e-01,-3.916555643e-04,8.605065703e-01,7.027154611e-01,-4.887123306e-04,8.306887463e-01
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Part2/Fixed/digit/ball_15A_15/press_depth_06/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,5.0945e-02,1.0827e-01,2.4592e+00,-4.4183e-02,4.0385e-02,1.2229e-04,4.0924e-04,4.2319e-06,-7.8440e-05,2.2575e-06,2.9139e-05,-1.6213e-06,4.1671e-04,2.9271e-05
+1,2.1667e-01,WAIT_W2,3.9575e-05,5.5857e-02,1.0831e-01,2.4583e+00,-4.4155e-02,4.0735e-02,1.0238e-04,5.3212e-03,4.1269e-05,-9.4557e-04,3.0603e-05,3.7874e-04,-2.1538e-05,5.4047e-03,3.8059e-04
+2,3.6667e-01,WAIT_W2,8.4205e-05,5.8865e-02,1.0832e-01,2.4578e+00,-4.4137e-02,4.0949e-02,8.9686e-05,8.3295e-03,5.9903e-05,-1.4119e-03,4.8522e-05,5.9264e-04,-3.4229e-05,8.4486e-03,5.9561e-04
+3,5.8333e-01,WAIT_W2,1.2687e-04,6.2732e-02,1.0834e-01,2.4573e+00,-4.4113e-02,4.1223e-02,7.2699e-05,1.2196e-02,7.8022e-05,-1.9374e-03,7.2304e-05,8.6732e-04,-5.1217e-05,1.2349e-02,8.7183e-04
+4,6.5000e-01,WAIT_W2,1.8017e-04,6.3818e-02,1.0835e-01,2.4572e+00,-4.4106e-02,4.1301e-02,6.7754e-05,1.3282e-02,8.3186e-05,-2.0719e-03,7.9062e-05,9.4439e-04,-5.6162e-05,1.3443e-02,9.4936e-04
+5,6.6667e-01,WAIT_W2,2.3665e-04,6.3255e-02,2.5248e-01,2.4487e+00,-5.4089e-02,4.1262e-02,1.1036e-04,1.2719e-02,1.4422e-01,-1.0484e-02,-9.9038e-03,9.0546e-04,-1.3559e-05,1.4516e-01,9.9451e-03
+6,6.6667e-01,WAIT_W2,2.3665e-04,6.3255e-02,2.5248e-01,2.4487e+00,-5.4089e-02,4.1262e-02,1.1036e-04,1.2719e-02,1.4422e-01,-1.0484e-02,-9.9038e-03,9.0546e-04,-1.3559e-05,1.4516e-01,9.9451e-03
+7,6.6667e-01,WAIT_W2,2.3665e-04,6.3255e-02,2.5248e-01,2.4487e+00,-5.4089e-02,4.1262e-02,1.1036e-04,1.2719e-02,1.4422e-01,-1.0484e-02,-9.9038e-03,9.0546e-04,-1.3559e-05,1.4516e-01,9.9451e-03
+8,6.8333e-01,WAIT_W2,4.0449e-04,6.6598e-02,4.0260e-01,2.4481e+00,-6.4499e-02,4.1493e-02,1.5772e-04,1.6063e-02,2.9434e-01,-1.1119e-02,-2.0313e-02,1.1365e-03,3.3801e-05,2.9498e-01,2.0345e-02
+9,6.8333e-01,WAIT_W2,4.0449e-04,6.6598e-02,4.0260e-01,2.4481e+00,-6.4499e-02,4.1493e-02,1.5772e-04,1.6063e-02,2.9434e-01,-1.1119e-02,-2.0313e-02,1.1365e-03,3.3801e-05,2.9498e-01,2.0345e-02
+10,6.8333e-01,WAIT_W2,4.0449e-04,6.6598e-02,4.0260e-01,2.4481e+00,-6.4499e-02,4.1493e-02,1.5772e-04,1.6063e-02,2.9434e-01,-1.1119e-02,-2.0313e-02,1.1365e-03,3.3801e-05,2.9498e-01,2.0345e-02
+11,7.0000e-01,WAIT_W2,4.7810e-04,7.2516e-02,8.4287e-01,2.4371e+00,-9.5030e-02,4.1901e-02,3.0890e-04,2.1981e-02,7.3461e-01,-2.2100e-02,-5.0844e-02,1.5443e-03,1.8499e-04,7.3527e-01,5.0868e-02
+12,7.1667e-01,WAIT_W2,5.2567e-04,8.3987e-02,1.0278e+00,2.4480e+00,-1.0796e-01,4.2692e-02,3.7785e-04,3.3451e-02,9.1957e-01,-1.1255e-02,-6.3770e-02,2.3359e-03,2.5394e-04,9.2024e-01,6.3813e-02
+13,7.8333e-01,WAIT_W2,5.5806e-04,8.6577e-02,1.0759e+00,2.4644e+00,-1.1153e-01,4.2864e-02,4.1520e-04,3.6041e-02,9.6767e-01,5.1727e-03,-6.7344e-02,2.5075e-03,2.9129e-04,9.6836e-01,6.7391e-02
+14,8.5000e-01,WAIT_W2,5.9991e-04,8.8957e-02,1.1419e+00,2.4610e+00,-1.1620e-01,4.3035e-02,4.4364e-04,3.8421e-02,1.0336e+00,1.7667e-03,-7.2012e-02,2.6790e-03,3.1973e-04,1.0344e+00,7.2063e-02
+15,1.0000e+00,WAIT_W2,6.4307e-04,8.9753e-02,1.0875e+00,2.4655e+00,-1.1260e-01,4.3094e-02,4.2803e-04,3.9217e-02,9.7920e-01,6.2733e-03,-6.8420e-02,2.7380e-03,3.0411e-04,9.8000e-01,6.8475e-02
+16,1.1667e+00,WAIT_W2,6.8543e-04,9.5598e-02,1.0857e+00,2.4736e+00,-1.1258e-01,4.3501e-02,4.1657e-04,4.5063e-02,9.7748e-01,1.4414e-02,-6.8399e-02,3.1446e-03,2.9266e-04,9.7863e-01,6.8472e-02
+17,1.3333e+00,WAIT_W2,7.2856e-04,1.0031e-01,1.0845e+00,2.4792e+00,-1.1257e-01,4.3829e-02,4.0271e-04,4.9777e-02,9.7620e-01,1.9939e-02,-6.8381e-02,3.4733e-03,2.7879e-04,9.7767e-01,6.8469e-02
+18,1.4667e+00,UP_FORCE_RAMP,7.6815e-04,1.0349e-01,1.0837e+00,2.4824e+00,-1.1255e-01,4.4051e-02,3.9039e-04,5.2953e-02,9.7541e-01,2.3179e-02,-6.8370e-02,3.6952e-03,2.6647e-04,9.7712e-01,6.8470e-02
+19,1.5833e+00,UP_FORCE_RAMP,8.1254e-04,1.0593e-01,1.0831e+00,2.4846e+00,-1.1255e-01,4.4222e-02,3.7896e-04,5.5391e-02,9.7482e-01,2.5386e-02,-6.8361e-02,3.8659e-03,2.5504e-04,9.7673e-01,6.8470e-02
+20,1.7167e+00,UP_FORCE_RAMP,8.5513e-04,1.0028e-01,1.1147e+00,2.4654e+00,-1.1484e-01,4.3847e-02,4.0096e-04,4.9744e-02,1.0064e+00,6.1488e-03,-7.0659e-02,3.4913e-03,2.7705e-04,1.0077e+00,7.0746e-02
+21,1.8833e+00,UP_FORCE_RAMP,8.9504e-04,1.0589e-01,1.1130e+00,2.4740e+00,-1.1479e-01,4.4235e-02,3.9132e-04,5.5359e-02,1.0048e+00,1.4760e-02,-7.0606e-02,3.8785e-03,2.6740e-04,1.0064e+00,7.0713e-02
+22,2.0667e+00,UP_FORCE_RAMP,9.4385e-04,1.1011e-01,1.1122e+00,2.4788e+00,-1.1478e-01,4.4529e-02,3.7665e-04,5.9571e-02,1.0040e+00,1.9597e-02,-7.0592e-02,4.1726e-03,2.5274e-04,1.0059e+00,7.0716e-02
+23,2.2500e+00,UP_FORCE_RAMP,9.8370e-04,1.1347e-01,1.1117e+00,2.4821e+00,-1.1477e-01,4.4764e-02,3.6007e-04,6.2933e-02,1.0034e+00,2.2831e-02,-7.0581e-02,4.4078e-03,2.3615e-04,1.0056e+00,7.0719e-02
+24,2.4333e+00,UP_FORCE_RAMP,1.0226e-03,1.1621e-01,1.1112e+00,2.4843e+00,-1.1476e-01,4.4956e-02,3.4228e-04,6.5671e-02,1.0030e+00,2.5085e-02,-7.0570e-02,4.6000e-03,2.1837e-04,1.0054e+00,7.0720e-02
+25,2.5500e+00,UP_FORCE_RAMP,1.0716e-03,1.5075e-01,1.0972e+00,2.4791e+00,-1.1380e-01,4.7399e-02,2.6049e-04,1.0021e-01,9.8894e-01,1.9824e-02,-6.9618e-02,7.0425e-03,1.3657e-04,9.9420e-01,6.9973e-02
+26,2.7667e+00,UP_FORCE_RAMP,1.1137e-03,1.4076e-01,1.0973e+00,2.4825e+00,-1.1383e-01,4.6695e-02,1.9946e-04,9.0228e-02,9.8906e-01,2.3309e-02,-6.9645e-02,6.3383e-03,7.5540e-05,9.9344e-01,6.9933e-02
+27,2.9167e+00,UP_FORCE_RAMP,1.1519e-03,1.3814e-01,1.0972e+00,2.4837e+00,-1.1383e-01,4.6509e-02,1.7132e-04,8.7601e-02,9.8896e-01,2.4482e-02,-6.9644e-02,6.1525e-03,4.7401e-05,9.9313e-01,6.9915e-02
+28,3.1167e+00,UP_FORCE_RAMP,1.1965e-03,1.3440e-01,1.0959e+00,2.4645e+00,-1.1386e-01,4.6269e-02,1.4789e-04,8.3862e-02,9.8761e-01,5.2924e-03,-6.9674e-02,5.9131e-03,2.3974e-05,9.9118e-01,6.9925e-02
+29,3.3000e+00,UP_FORCE_RAMP,1.2389e-03,1.2884e-01,1.0917e+00,2.4490e+00,-1.1369e-01,4.5898e-02,1.4492e-04,7.8303e-02,9.8340e-01,-1.0266e-02,-6.9508e-02,5.5415e-03,2.1002e-05,9.8656e-01,6.9729e-02
+30,3.5000e+00,UP_FORCE_RAMP,1.2829e-03,1.2519e-01,1.0795e+00,2.4336e+00,-1.1297e-01,4.5661e-02,1.3845e-04,7.4650e-02,9.7129e-01,-2.5644e-02,-6.8786e-02,5.3050e-03,1.4531e-05,9.7449e-01,6.8991e-02
+31,3.7167e+00,UP_FORCE_RAMP,1.3241e-03,1.2473e-01,1.0806e+00,2.4224e+00,-1.1317e-01,4.5645e-02,1.3699e-04,7.4192e-02,9.7234e-01,-3.6863e-02,-6.8988e-02,5.2887e-03,1.3070e-05,9.7586e-01,6.9191e-02
+32,3.9333e+00,UP_FORCE_RAMP,1.3683e-03,1.2219e-01,1.0657e+00,2.4159e+00,-1.1227e-01,4.5477e-02,1.3993e-04,7.1651e-02,9.5746e-01,-4.3369e-02,-6.8089e-02,5.1205e-03,1.6013e-05,9.6112e-01,6.8281e-02
+33,4.1167e+00,UP_FORCE_RAMP,1.4112e-03,1.2378e-01,1.0758e+00,2.4081e+00,-1.1310e-01,4.5601e-02,1.4760e-04,7.3243e-02,9.6755e-01,-5.1164e-02,-6.8918e-02,5.2452e-03,2.3680e-05,9.7166e-01,6.9118e-02
+34,4.3000e+00,UP_FORCE_RAMP,1.4545e-03,1.2653e-01,1.0756e+00,2.4211e+00,-1.1311e-01,4.5783e-02,1.4280e-04,7.5990e-02,9.6734e-01,-3.8151e-02,-6.8923e-02,5.4264e-03,1.8884e-05,9.7107e-01,6.9136e-02
+35,4.4167e+00,UP_FORCE_RAMP,1.4923e-03,1.3421e-01,1.0588e+00,2.4023e+00,-1.1205e-01,4.6349e-02,1.1338e-04,8.3671e-02,9.5057e-01,-5.6952e-02,-6.7862e-02,5.9931e-03,-1.0535e-05,9.5594e-01,6.8126e-02
+36,4.5667e+00,UP_FORCE_RAMP,1.5410e-03,1.6176e-01,1.0580e+00,2.4125e+00,-1.1200e-01,4.8282e-02,2.9802e-08,1.1122e-01,9.4975e-01,-4.6749e-02,-6.7816e-02,7.9261e-03,-1.2389e-04,9.5739e-01,6.8277e-02
+37,4.7167e+00,UP_FORCE_RAMP,1.5817e-03,1.5433e-01,1.0441e+00,2.3919e+00,-1.1113e-01,4.7785e-02,-2.5166e-05,1.0379e-01,9.3579e-01,-6.7369e-02,-6.6945e-02,7.4289e-03,-1.4908e-04,9.4393e-01,6.7357e-02
+38,4.8833e+00,UP_FORCE_RAMP,1.6247e-03,1.4734e-01,1.0548e+00,2.3791e+00,-1.1199e-01,4.7308e-02,-2.8154e-05,9.6807e-02,9.4651e-01,-8.0172e-02,-6.7802e-02,6.9518e-03,-1.5207e-04,9.5482e-01,6.8158e-02
+39,5.0500e+00,UP_FORCE_RAMP,1.6678e-03,1.4060e-01,1.0389e+00,2.3687e+00,-1.1100e-01,4.6846e-02,-3.1685e-05,9.0064e-02,9.3064e-01,-9.0491e-02,-6.6812e-02,6.4901e-03,-1.5560e-04,9.3936e-01,6.7126e-02
+40,5.1833e+00,UP_FORCE_RAMP,1.7100e-03,1.3766e-01,1.0425e+00,2.3582e+00,-1.1134e-01,4.6652e-02,-2.4591e-05,8.7125e-02,9.3427e-01,-1.0101e-01,-6.7159e-02,6.2963e-03,-1.4851e-04,9.4374e-01,6.7453e-02
+41,5.3833e+00,UP_FORCE_RAMP,1.7536e-03,1.4045e-01,1.0319e+00,2.3458e+00,-1.1069e-01,4.6867e-02,-3.4524e-05,8.9918e-02,9.2361e-01,-1.1345e-01,-6.6500e-02,6.5103e-03,-1.5844e-04,9.3489e-01,6.6818e-02
+42,5.5333e+00,UP_FORCE_RAMP,1.7957e-03,1.4017e-01,1.0325e+00,2.3644e+00,-1.1073e-01,4.6825e-02,-3.7182e-05,8.9633e-02,9.2420e-01,-9.4840e-02,-6.6542e-02,6.4690e-03,-1.6110e-04,9.3337e-01,6.6856e-02
+43,5.6667e+00,UP_FORCE_RAMP,1.8361e-03,1.4259e-01,1.0365e+00,2.3510e+00,-1.1108e-01,4.7013e-02,-4.0624e-05,9.2052e-02,9.2827e-01,-1.0828e-01,-6.6899e-02,6.6564e-03,-1.6454e-04,9.3909e-01,6.7230e-02
+44,5.8167e+00,UP_FORCE_HOLD,1.8821e-03,1.4631e-01,1.0340e+00,2.3384e+00,-1.1097e-01,4.7291e-02,-5.0800e-05,9.5771e-02,9.2570e-01,-1.2088e-01,-6.6786e-02,6.9345e-03,-1.7472e-04,9.3846e-01,6.7145e-02
+45,5.9833e+00,UP_FORCE_HOLD,1.9247e-03,1.4500e-01,1.0340e+00,2.3565e+00,-1.1096e-01,4.7179e-02,-5.4138e-05,9.4465e-02,9.2571e-01,-1.0275e-01,-6.6776e-02,6.8225e-03,-1.7805e-04,9.3618e-01,6.7124e-02
+46,6.1333e+00,UP_SETTLE,1.9684e-03,1.5886e-01,1.0282e+00,2.3513e+00,-1.1060e-01,4.8164e-02,-1.0538e-04,1.0832e-01,9.1997e-01,-1.0798e-01,-6.6418e-02,7.8082e-03,-2.2930e-04,9.3260e-01,6.6876e-02
+47,6.3000e+00,UP_SETTLE,2.0088e-03,1.5743e-01,1.0281e+00,2.3367e+00,-1.1065e-01,4.8082e-02,-1.1458e-04,1.0689e-01,9.1987e-01,-1.2258e-01,-6.6465e-02,7.7261e-03,-2.3849e-04,9.3414e-01,6.6913e-02
+48,6.5000e+00,UP_SETTLE,2.0508e-03,1.5440e-01,1.0285e+00,2.3553e+00,-1.1065e-01,4.7848e-02,-1.1806e-04,1.0386e-01,9.2023e-01,-1.0391e-01,-6.6465e-02,7.4916e-03,-2.4197e-04,9.3188e-01,6.6886e-02
+49,6.6667e+00,UP_SETTLE,2.0960e-03,1.5106e-01,1.0192e+00,2.3428e+00,-1.1006e-01,4.7628e-02,-1.1435e-04,1.0052e-01,9.1092e-01,-1.1643e-01,-6.5875e-02,7.2719e-03,-2.3827e-04,9.2382e-01,6.6276e-02
+50,6.8167e+00,UP_SETTLE,2.1390e-03,1.5013e-01,1.0196e+00,2.3549e+00,-1.1006e-01,4.7549e-02,-1.1052e-04,9.9591e-02,9.1132e-01,-1.0435e-01,-6.5877e-02,7.1932e-03,-2.3443e-04,9.2267e-01,6.6269e-02
+51,7.0000e+00,UP_SETTLE,2.1810e-03,1.5230e-01,1.0153e+00,2.3407e+00,-1.0980e-01,4.7720e-02,-1.1133e-04,1.0176e-01,9.0703e-01,-1.1852e-01,-6.5613e-02,7.3643e-03,-2.3525e-04,9.2038e-01,6.6025e-02
+52,7.0500e+00,UP_SETTLE,2.2081e-03,1.5175e-01,1.0154e+00,2.3459e+00,-1.0980e-01,4.7676e-02,-1.1049e-04,1.0121e-01,9.0716e-01,-1.1337e-01,-6.5617e-02,7.3200e-03,-2.3440e-04,9.1981e-01,6.6025e-02
+53,7.1167e+00,UP_SETTLE,2.2756e-03,2.1026e-01,1.0402e+00,2.3838e+00,-1.1140e-01,5.1759e-02,-2.4584e-04,1.5973e-01,9.3195e-01,-7.5468e-02,-6.7216e-02,1.1403e-02,-3.6976e-04,9.4855e-01,6.8177e-02
+54,7.1667e+00,UP_SETTLE,2.3099e-03,1.8213e-01,1.0280e+00,2.3552e+00,-1.1063e-01,4.9811e-02,-2.1038e-04,1.3160e-01,9.1972e-01,-1.0408e-01,-6.6447e-02,9.4545e-03,-3.3430e-04,9.3490e-01,6.7117e-02
+55,7.2667e+00,UP_SETTLE,2.3546e-03,1.9955e-01,1.0852e+00,2.3736e+00,-1.1456e-01,5.1016e-02,-2.6317e-04,1.4901e-01,9.7698e-01,-8.5620e-02,-7.0374e-02,1.0660e-02,-3.8708e-04,9.9198e-01,7.1178e-02
+56,7.4500e+00,UP_SETTLE,2.3956e-03,1.8876e-01,1.0856e+00,2.3814e+00,-1.1454e-01,5.0248e-02,-2.8656e-04,1.3823e-01,9.7729e-01,-7.7799e-02,-7.0358e-02,9.8919e-03,-4.1047e-04,9.9008e-01,7.1051e-02
+57,7.6500e+00,UP_SETTLE,2.4387e-03,1.7141e-01,1.0535e+00,2.3686e+00,-1.1234e-01,4.9040e-02,-2.7342e-04,1.2088e-01,9.4522e-01,-9.0679e-02,-6.8160e-02,8.6842e-03,-3.9734e-04,9.5723e-01,6.8712e-02
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Part2/Fixed/digit/ball_15A_15/press_depth_07/down/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d644406f87160a3b66b59062027006b445031d3ee84959901c7f1db32dd96130
+size 624640

Part2/Fixed/digit/ball_15A_15/press_depth_07/down/franka_data.csv

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+13607,1792839634485733343,18313911000000,1792839634484318886,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6760699362929604,-0.004878957999716506,0.10616760789151472,0.9999999737310569,-0.00016860140375411355,-1.5072350737567696e-05,0.0001238028302028262,0.6761,-0.0046,0.1060747758288152,1.0,0.0,0.0,0.0,-0.2886951742490993,0.1610792727461463,1.6405070038283804,0.013412277166210004,0.02130838103738065,0.001200181229088046,0.566361657431492,1.0762750525652125,1.9647789479215623,0.08383721327399708,-0.04469082761508151,0.0018434046874445365,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.1119585223347712,1.151201739435537,-0.7589118462386729,0.009824532400371731,0.6731496806848138,0.6413541829662397,-1.1525176019116832,-1.6405070038283804,-0.39360575567301026,-0.39360575567301026,0.9125999999999349,0,0,-0.00030419994098282297,-9.999999025923074e-05
+13674,1792839635043811147,18314469000000,1792839635036318689,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6761000603861945,-0.004876691171620264,0.10604248806192677,0.9999999680717995,-0.0002023783789072243,3.517826969102791e-05,0.00011447595943958615,0.6761,-0.0046,0.10589726211326596,1.0,0.0,0.0,0.0,-0.34070320831471224,0.1930618078247448,1.9822645829010854,0.015970786089944802,0.02526073798679155,0.0016855280826582899,0.5143536233658791,1.108257587643811,2.3065365269942673,0.08639572219773188,-0.04073847066567061,0.0023287515410147803,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.1681789796629303,1.183550628805122,-1.2014998324826256,0.04384538175880608,0.9562585510695804,0.6544136568323395,-1.1525176019116832,-1.9822645829010854,0.04898223057094242,0.04898223057094242,0.9962999999999257,0,0,-0.0003320999355474737,-9.999999025923074e-05
+13731,1792839635518717469,18314944000000,1792839635516318373,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6761268596901271,-0.004886986420312785,0.1059274239094918,0.9999999617293451,-0.00021240561272900684,7.593665160442978e-05,0.00013077328751112712,0.6761,-0.0046,0.1057338858949821,1.0,0.0,0.0,0.0,-0.3808160147195919,0.21627575994309223,2.2826275601961163,0.01781340935227531,0.029261553052757953,0.001873795202119167,0.4742408169609994,1.1314715397621584,2.606899504289298,0.08823834546006239,-0.036737655599704204,0.0025170186604756574,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.3201476031199706,1.2141766140214487,-1.534253306320794,0.03505805715817016,1.2055047330759348,0.672436474143949,-1.1525176019116832,-2.2826275601961163,0.38173570440911075,0.38173570440911075,1.0675499999999678,0,0,-0.00035584993092060833,-9.999999025923074e-05
+13790,1792839636010806811,18315436000000,1792839636008318358,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6761556413207868,-0.004886970146758887,0.10579721562787987,0.9999999470698524,-0.00026447433431603607,0.000126295914054206,0.00010679805606513061,0.6761,-0.0046,0.1055527684301505,1.0,0.0,0.0,0.0,-0.40942505523884115,0.25852480612177775,2.604248164900588,0.021547194576299708,0.03151091817938645,0.0021002762544938655,0.44563177644175017,1.173720585940844,2.92852010899377,0.09197213068408679,-0.03448829047307571,0.002743499712850356,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.4633855642280826,1.1296795629274308,-1.8696824688382216,0.0726295271240782,1.4516147635990242,0.6211753940834619,-1.1525176019116832,-2.604248164900588,0.7171648669265385,0.7171648669265385,1.1413500000000143,0,0,-0.00038044992612814985,-9.999999025923074e-05
+13839,1792839636418766880,18315844000000,1792839636412318492,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6761780877720465,-0.004877839387887917,0.10568621156355422,0.9999999751953027,2.630177474346905e-05,0.00016169868736584574,0.00011922252122193405,0.6761,-0.0046,0.10539713571178906,1.0,0.0,0.0,0.0,-0.4702632699143307,0.2630365205079648,2.86563923231033,0.021378059635297833,0.036765466791923,0.0025735472489024002,0.3847935617662606,1.178232300327031,3.1899111764035117,0.09180299574308491,-0.029233741860539154,0.0032167707072588906,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.4965327338208896,1.1353376546493508,-2.119571035683545,0.07250389093664565,1.6173312109130877,0.6076242593057254,-1.1525176019116832,-2.86563923231033,0.9670534337718619,0.9670534337718619,1.2025500000000529,0,0,-0.00037536071248869964,9.999999025923074e-05
+13894,1792839636877800378,18316303000000,1792839636876318445,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6762026512978316,-0.004891733319239456,0.10556017421548113,0.9999999685233182,-3.617111328556203e-05,0.00020131801432679653,0.00011206665395167929,0.6761,-0.0046,0.10523010069372842,1.0,0.0,0.0,0.0,-0.49659191773945616,0.29678959800172344,3.172643502189867,0.02454112311982401,0.03804873033306925,0.0023910153601566088,0.35846491394113517,1.2119853778207896,3.4969154462830487,0.09496605922761109,-0.02795047831939291,0.003034238818513099,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.5754582548974783,1.3244018469035397,-2.4518639017161723,0.00858433489090799,1.8464545082484705,0.7024313246517935,-1.1525176019116832,-3.172643502189867,1.2993462998044891,1.2993462998044891,1.2714000000000962,0,0,-0.00035241071695971273,9.999999025923074e-05
+13951,1792839637352767215,18316778000000,1792839637352318812,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6762241821968598,-0.004895808446738734,0.10544393776327837,0.9999999590169592,-6.351969435371844e-05,0.00023637058951707206,0.00011620299979794339,0.6761,-0.0046,0.10506833435207136,1.0,0.0,0.0,0.0,-0.528615181329626,0.3019240852538778,3.4301653597492363,0.025430728950336573,0.04093262294326533,0.0022366280370500593,0.3264416503509653,1.217119865072944,3.754437303842418,0.09585566505812365,-0.025066585709196825,0.0028798514954065497,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.6365967449794294,1.1890328300685165,-2.802948859388789,0.06549365061543187,2.0833982682106456,0.6463007691600633,-1.1525176019116832,-3.4301653597492363,1.6504312574771056,1.6504312574771056,1.3426500000001411,0,0,-0.00032866072158657813,9.999999025923074e-05
+14009,1792839637835686024,18317261000000,1792839637832318731,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6762437046068058,-0.004901846156795561,0.10532914985851122,0.9999999472515151,-0.00010661422795399531,0.00027153350513006214,0.00010882459878049062,0.6761,-0.0046,0.10491541137240648,1.0,0.0,0.0,0.0,-0.5505495196139083,0.34655190580109285,3.652208912330708,0.02836046343331991,0.04198298452394275,0.002181773287259565,0.304507312066683,1.261747685620159,3.97648085642389,0.09878539954110699,-0.02401622412851941,0.002824996745616055,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.7342212357108575,1.0010523047182653,-3.059583691090673,0.16587226789731532,2.2654616274667205,0.557427011998582,-1.1525176019116832,-3.652208912330708,1.90706608917899,1.90706608917899,1.4151000000001868,0,0,-0.0003045107262913697,9.999999025923074e-05
+14067,1792839638318790375,18317744000000,1792839638316318493,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6762645053701389,-0.00489294267757757,0.10522275176022902,0.9999999355135596,-0.00011668314165204306,0.0003069871253081598,0.00011207002450396884,0.6761,-0.0046,0.10477415284046919,1.0,0.0,0.0,0.0,-0.6035501687601597,0.3249809622022164,3.8703584919087737,0.02725100370904239,0.046261980049431814,0.003006827195701865,0.2515066629204316,1.2401767420212826,4.1946304360019555,0.09767593981682947,-0.019737228603030347,0.0036500506540583554,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.6873263793067852,1.0534576917136331,-3.2716604752380283,0.16664382763043395,2.382353400163631,0.6051482723118091,-1.1525176019116832,-3.8703584919087737,2.119142873326345,2.119142873326345,1.4875500000002324,0,0,-0.00028036073099616123,9.999999025923074e-05
+14136,1792839638893737623,18318319000000,1792839638892309241,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6762850233205441,-0.004903941339951407,0.10510388182717988,0.9999999220898521,-0.00013396983984932757,0.00033830561547505147,0.00012192024678809628,0.6761,-0.0046,0.10462119666853333,1.0,0.0,0.0,0.0,-0.6089352303334659,0.35461200234708423,4.083951788426374,0.029210426707849957,0.04687367339841391,0.0028667770956032398,0.2461216013471255,1.2698077821661504,4.408223732519556,0.09963536281563704,-0.019125535254048247,0.00351000055395973,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8632928744706458,1.0978747347554683,-3.5001002328979003,0.1550784824710952,2.5802891723225985,0.6310510116076858,-1.1525176019116832,-4.083951788426374,2.347582630986217,2.347582630986217,1.5738000000002867,0,0,-0.00025161073659710356,9.999999025923074e-05
+14197,1792839639402776164,18318828000000,1792839639396318559,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6763000709221821,-0.004906760566174743,0.10500759102091109,0.999999910622025,-0.00015483799989144878,0.00036281851190791845,0.00012077552551742487,0.6761,-0.0046,0.1044995911023411,1.0,0.0,0.0,0.0,-0.6117422494379959,0.3623545944207318,4.224861556713313,0.030127129993368723,0.04704723543408289,0.002764727213091655,0.2433145822425954,1.277550374239798,4.549133500806495,0.1005520661011558,-0.018951973218379273,0.003407950671448145,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.895820472261984,1.0096786690259416,-3.627857784595268,0.19594081106193614,2.6729665949047243,0.5737443015642246,-1.1525176019116832,-4.224861556713313,2.475340182683585,2.475340182683585,1.6501500000003348,0,0,-0.00022616074155515508,9.999999025923074e-05
+14268,1792839639993765249,18319419000000,1792839639988318582,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763124087315943,-0.004895474036909222,0.10490237944330665,0.9999999014397238,-0.0001617091032436832,0.0003841606178985627,0.00012179569892139675,0.6761,-0.0046,0.10437464735237799,1.0,0.0,0.0,0.0,-0.5918572414688458,0.3914775175241496,4.355158000220392,0.031238897199569876,0.04611847743064407,0.002670723438601285,0.26319959021174555,1.3066732973432158,4.679429944313574,0.10166383330735695,-0.019880731221818087,0.0033139468969577753,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9035607635783962,1.215540403162564,-3.698405834826319,0.1426409974661371,2.7220555929681134,0.7040867393217403,-1.1525176019116832,-4.355158000220392,2.5458882329146357,2.5458882329146357,1.7388000000003907,0,0,-0.0001966107473119497,9.999999025923074e-05
+14370,1792839640843666856,18320269000000,1792839640836318658,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763238455253398,-0.0049050030800468665,0.10477497817572476,0.9999998962054065,-0.00014231351664852957,0.0004028704923910775,0.0001283521324119394,0.6761,-0.0046,0.10422556946363984,1.0,0.0,0.0,0.0,-0.5373153901435224,0.40705830728140624,4.4573200781876166,0.032280585828541236,0.044104001140445326,0.002559096997922718,0.3177414415370689,1.3222540871004724,4.781592022280798,0.10270552193632831,-0.021895207512016828,0.0032023204562792082,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9139219608842315,1.0386928550331578,-3.868570031089624,0.21642965976123082,2.8355814458933186,0.5979911218221784,-1.1525176019116832,-4.4573200781876166,2.7160524291779407,2.7160524291779407,1.866300000000471,0,0,-0.00015411075559160358,9.999999025923074e-05
+14455,1792839641552658369,18320978000000,1792839641552308822,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763269892895977,-0.004906857773034108,0.10468432959559032,0.9999998992856075,-7.632853103971583e-05,0.00041210290823427313,0.0001312127566122891,0.6761,-0.0046,0.10412885423547369,1.0,0.0,0.0,0.0,-0.527742731353771,0.41438763298615355,4.513187952468735,0.0312653721909768,0.04369490571724161,0.0024966939580167843,0.32731410032682035,1.3295834128052197,4.837459896561917,0.10169030829876388,-0.022304302935220545,0.0031399174163732747,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9062235325054706,1.1249078190702597,-3.93481688372414,0.19597939849749646,2.879828705617108,0.6520691540552186,-1.1525176019116832,-4.513187952468735,2.782299281812457,2.782299281812457,1.972650000000538,0,0,-0.00011866076249780898,9.999999025923074e-05
+14541,1792839642268649600,18321694000000,1792839642268318477,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6763301539541589,-0.004907744813855626,0.10461204710525565,0.9999998963781991,-8.846253198751428e-05,0.0004160885784192955,0.00013315829275573413,0.6761,-0.0046,0.10405669162702494,1.0,0.0,0.0,0.0,-0.49903265538868846,0.4166437317237086,4.536590434094353,0.03129675117904092,0.04169315477238447,0.0024588595407482087,0.35602417629190286,1.3318395115427748,4.860862378187535,0.101721687286828,-0.024306053880077682,0.003102082999104699,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9150584782845037,1.086519984292842,-3.890066631464826,0.2302999201626332,2.8571156896972196,0.6339138741731669,-1.1525176019116832,-4.536590434094353,2.7375490295531426,2.7375490295531426,2.0800500000006057,0,0,-8.286076947219977e-05,9.999999025923074e-05
+14625,1792839642968648482,18322394000000,1792839642968318812,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763341271421903,-0.0049039042329186815,0.10457225981855152,0.9999998935518779,-9.497625286228923e-05,0.00042256701752663124,0.00012944390458215826,0.6761,-0.0046,0.1040109215860045,1.0,0.0,0.0,0.0,-0.48073938898494295,0.41045515385113496,4.506693077758328,0.030309475480713652,0.040756783622334626,0.0024587502866468404,0.3743174426956484,1.3256509336702011,4.83096502185151,0.10073441158850073,-0.02524242503012753,0.003101973745003331,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8169869543114605,1.155733394022825,-3.889722953070179,0.21285215058279128,2.833983408744067,0.6775126959510656,-1.1525176019116832,-4.506693077758328,2.737205351158496,2.737205351158496,2.185050000000672,0,0,-4.7860776290738254e-05,9.999999025923074e-05
+14710,1792839643677719977,18323103000000,1792839643676308897,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763311681407713,-0.004914938698207602,0.1045395078681526,0.9999998938011986,-0.00010789445092404183,0.0004178348200836796,0.0001327151330383903,0.6761,-0.0046,0.10398953759316266,1.0,0.0,0.0,0.0,-0.4428583140072696,0.4241111896841274,4.4771711792601545,0.03134159819032188,0.03869861364935318,0.002466492154948515,0.4121985176733217,1.3393069695031936,4.801443123353336,0.10176653429810896,-0.027300595003108975,0.0031097156133050056,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.7877495620306367,1.0392974491903493,-3.879247729442944,0.25661844929749045,2.8220403186306506,0.6006533882990227,-1.1525176019116832,-4.4771711792601545,2.726730127531261,2.726730127531261,2.291400000000739,0,0,-1.241078319694366e-05,9.999999025923074e-05
+14804,1792839644460737227,18323886000000,1792839644456318780,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.67632886743547,-0.0049127908263468046,0.10452430357093653,0.9999998964102604,-0.0001062826012981877,0.00041192025787410074,0.00013284593549997472,0.6761,-0.0046,0.1039870464645398,1.0,0.0,0.0,0.0,-0.44076889799256735,0.39840238494002156,4.406277993000497,0.02836130520515455,0.0387071900556761,0.0024897728845109167,0.41428793368802397,1.3135981647590877,4.730549937093679,0.09878624131294163,-0.02729201859678606,0.003132996342867407,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.7489626954614381,1.1436961220292121,-3.7037436139376942,0.2205841657265566,2.70172243307287,0.6703468754648955,-1.1525176019116832,-4.406277993000497,2.551226012026011,2.551226012026011,2.408850000000813,0,0,-2.513894654943005e-07,2.53928753024546e-06
+14887,1792839645152726422,18324578000000,1792839645148319266,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763248237133856,-0.004907826419307597,0.10451720132018526,0.9999998997626065,-0.00010274016336601037,0.0004055191247012228,0.00013006282973917956,0.6761,-0.0046,0.1039868775152646,1.0,0.0,0.0,0.0,-0.4392710753703146,0.3798043002165312,4.36525540761872,0.027491798476452084,0.03849309874889627,0.00251108013867935,0.4157857563102767,1.2950000800355974,4.689527351711902,0.09791673458423916,-0.02750610990356589,0.0031543035970358403,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.6501123304769374,1.1743703976560278,-3.5956566123751945,0.20948607391698998,2.608360144242479,0.6916003169056438,-1.1525176019116832,-4.36525540761872,2.4431390104635113,2.4431390104635113,2.5126500000008782,0,0,-9.13234442260996e-07,-9.958912447339258e-05
+14969,1792839645835728119,18325261000000,1792839645832318827,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6763250586418682,-0.004902931116464642,0.10451012055895711,0.999999900386693,-0.00010374923204484352,0.00040374557597309653,0.00012998105768141874,0.6761,-0.0046,0.10398162986188704,1.0,0.0,0.0,0.0,-0.4311807243477234,0.37333425408430143,4.328652945332035,0.026768952552156694,0.03794042813428869,0.002528990777272027,0.4238761073328679,1.2885300339033676,4.652924889425217,0.09719388865994377,-0.028058780518173464,0.0031722142356285176,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.7394147928018782,1.1055414860881934,-3.6336652568766628,0.238935234156045,2.6614320398808964,0.647934537454216,-1.1525176019116832,-4.328652945332035,2.4811476549649796,2.4811476549649796,2.615100000000943,0,0,-1.8920691523287243e-05,-9.999999025923074e-05
+15064,1792839646627701269,18326053000000,1792839646624319118,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6763233367018411,-0.004908825108694175,0.1044879846886745,0.9999999002902819,-0.00010436277851946945,0.00040232479184101053,0.00013455654185546962,0.6761,-0.0046,0.10395199468215306,1.0,0.0,0.0,0.0,-0.43175924001690263,0.3544248159516523,4.33442526762705,0.026027923647373843,0.03802098877602479,0.002513037424967993,0.4232975916636887,1.2696205957707185,4.658697211720232,0.09645285975516092,-0.027978219876437366,0.0031562608833244836,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.7137769412394608,1.1610989392606261,-3.6335112025869445,0.22693254198632273,2.6462701784130487,0.6840080473540732,-1.1525176019116832,-4.33442526762705,2.4809936006752613,2.4809936006752613,2.7339000000010176,0,0,-5.6382855033480734e-05,-9.999999025923074e-05
+15132,1792839647193635202,18326619000000,1792839647192309081,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763284492223198,-0.004912030315267237,0.10446729467453919,0.9999998943191,-0.00011007943193464175,0.00041478667307611036,0.00013652541092979532,0.6761,-0.0046,0.10391211723016917,1.0,0.0,0.0,0.0,-0.41771951466373486,0.3796895919556058,4.375146384320008,0.027376458671192566,0.03735456820529577,0.0024867760003224816,0.43733731701685646,1.294885371774672,4.69941832841319,0.09780139477897964,-0.028644640447166386,0.003129999458678972,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.760613220658253,1.1440025967395149,-3.8319426069117117,0.23957497214051018,2.7843558156510007,0.6748350383751329,-1.1525176019116832,-4.375146384320008,2.6794250050000286,2.6794250050000286,2.818800000001071,0,0,-8.461888209162905e-05,-9.999999025923074e-05
+15202,1792839647777665969,18327203000000,1792839647776318859,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.676330151678203,-0.004909850328626616,0.10442457712292885,0.9999998935946725,-0.00011358114481484301,0.00041572055978053606,0.00013612217992739625,0.6761,-0.0046,0.10385464302720669,1.0,0.0,0.0,0.0,-0.4247063582371744,0.36676809297557544,4.443165781704954,0.0266118227214817,0.03895686710935546,0.0024291840192806535,0.4303504734434169,1.2819638727946416,4.7674377257981355,0.09703675882926878,-0.027042341543106693,0.003072407477637144,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.7978403163502108,1.1195034666264212,-3.8043759635255787,0.25131888010015296,2.7764902829712104,0.6591814400799146,-1.1525176019116832,-4.443165781704954,2.6518583616138955,2.6518583616138955,2.9064000000011263,0,0,-0.00011217663394988276,-9.999999025923074e-05
+15258,1792839648243703964,18327669000000,1792839648236318696,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6763412037687325,-0.004914648317805104,0.10437889090266657,0.9999998826671095,-0.00011769551660924694,0.0004377612344643784,0.00014360187557429762,0.6761,-0.0046,0.10379740327816957,1.0,0.0,0.0,0.0,-0.4589647984822442,0.35638392693903964,4.515307525592271,0.026736434508934537,0.03927535923554368,0.0023978603178236657,0.3960920331983471,1.2715797067581058,4.839579469685453,0.09716137061672162,-0.02672384941691848,0.003041083776180156,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8782991372577602,1.1359387755000834,-3.971976783683275,0.24584473556656977,2.8984695511972527,0.6665328612539159,-1.1525176019116832,-4.515307525592271,2.8194591817715917,2.8194591817715917,2.9763000000011703,0,0,-0.00013245070013964545,-9.999999025923074e-05
+15337,1792839648902706098,18328328000000,1792839648900318574,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763506403667915,-0.004921223507604956,0.10429692177590831,0.9999998715173071,-0.0001359683065417711,0.00045648846505460676,0.00014676217032088195,0.6761,-0.0046,0.10370209108008022,1.0,0.0,0.0,0.0,-0.4416053397576802,0.39693326149905195,4.646512681774232,0.02827654135105595,0.03968065721846206,0.0023113539299622577,0.41345149192291114,1.3121290413181181,4.970784625867414,0.09870147745884303,-0.0263185514340001,0.002954577388318748,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8397935293545045,1.1123958159130585,-4.092533247220029,0.2569812284204754,2.962855257290275,0.6540774591294318,-1.1525176019116832,-4.646512681774232,2.9400156453083457,2.9400156453083457,3.0751500000012326,0,0,-0.0001539523702923359,-7.068931137522156e-05
+15421,1792839649602620880,18329028000000,1792839649600318035,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763560546526894,-0.004923194675753202,0.10420258545933354,0.999999865627764,-0.0001482191248568744,0.00046593234353520203,0.00014534600271031236,0.6761,-0.0046,0.10359354584779959,1.0,0.0,0.0,0.0,-0.45712066035303595,0.37255863942709166,4.7560294051811205,0.026852553081143857,0.04060328953798548,0.0022226118018789636,0.3979361713275554,1.2877544192461579,5.080301349274302,0.09727748918893094,-0.025395919114476674,0.002865835260235454,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8903038727490538,1.134967942015699,-4.227520259530433,0.25994709121050197,3.0667884857121033,0.6680313399218478,-1.1525176019116832,-4.7560294051811205,3.0750026576187497,3.0750026576187497,3.1801500000012988,0,0,-0.00015591213669144543,9.993022661992085e-05
+15490,1792839650177664691,18329603000000,1792839650176318372,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6763615589142846,-0.00492792707009358,0.1041271180403208,0.9999998591673938,-0.00016056920113718522,0.0004757390134301056,0.00014490679665056928,0.6761,-0.0046,0.10350279247937141,1.0,0.0,0.0,0.0,-0.4232745034988531,0.39763926814507355,4.836913846474402,0.027863717450672912,0.03862894219566511,0.0021447648902248027,0.43178232818173823,1.3128350479641397,5.1611857905675835,0.09828865355845999,-0.027370266456797052,0.002787988348581293,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8819061904061287,1.1150820577132936,-4.30479946496243,0.27882425942731376,3.112994483637269,0.655252916083062,-1.1525176019116832,-4.836913846474402,3.152281863050747,3.152281863050747,3.266400000001353,0,0,-0.0001585357166003235,9.999997638144293e-05
+15567,1792839650818585934,18330244000000,1792839650812318776,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6763744209464874,-0.00492853817866537,0.10402929696217314,0.9999998526421738,-0.00015553659247728014,0.0004899010033570551,0.00014820212606834264,0.6761,-0.0046,0.10339982131095363,1.0,0.0,0.0,0.0,-0.43540171989298393,0.41300499870621077,4.913445010604597,0.028592127915300122,0.03961095988487143,0.0021004807767108246,0.4196551117876074,1.328200778525277,5.237716954697778,0.0990170640230872,-0.026388248767590727,0.002743704235067315,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8828686080629986,1.2588098099198262,-4.315405989652006,0.251349621861816,3.118484293469972,0.7579978303558698,-1.1525176019116832,-4.913445010604597,3.1628883877403227,3.1628883877403227,3.3625500000014137,0,0,-0.00016234195216876935,-9.516667595488854e-05
+15632,1792839651360654060,18330786000000,1792839651360318408,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763788144653282,-0.004930508801429614,0.10395323267321063,0.9999998527320776,-0.0001366198531767942,0.0004957614829940193,0.00014674554496370333,0.6761,-0.0046,0.10330891238393124,1.0,0.0,0.0,0.0,-0.4219800329017486,0.39705700569193403,4.946691095255823,0.027292209101948225,0.03957618715386983,0.0020592929986001543,0.4330767987788427,1.3122527855110002,5.270963039349005,0.0977171452097353,-0.02642302149859232,0.0027025164569566447,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9513158919222966,1.124161156655088,-4.443467095546218,0.31182930735364023,3.2200542849916554,0.6780319347729277,-1.1525176019116832,-4.946691095255823,3.290949493634535,3.290949493634535,3.443850000001465,0,0,-0.00017730674920712596,-6.236220639585879e-05
+15710,1792839652010701808,18331436000000,1792839652008318251,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6763840901069911,-0.004940503956807215,0.10383972058497638,0.9999998438678405,-0.00015565376521833727,0.0005077668905013916,0.0001471456730263621,0.6761,-0.0046,0.10318786847378862,1.0,0.0,0.0,0.0,-0.4062976495779079,0.39809116623502394,5.027533229826007,0.027220420554777372,0.03859551591025499,0.0019855879901429984,0.4487591821026834,1.3132869460540901,5.351805173919189,0.09764535666256445,-0.027403692742207168,0.002628811448499489,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9303359771492947,1.1285604592247502,-4.451641929638693,0.31610238662726753,3.2202428907893084,0.6787556582555873,-1.1525176019116832,-5.027533229826007,3.2991243277270095,3.2991243277270095,3.5413500000015263,0,0,-0.00019597267534729313,-9.999971270347458e-05
+15773,1792839652535572592,18331961000000,1792839652532318972,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763917171730061,-0.004945527688999668,0.10374200823758545,0.999999835540266,-0.0001599198500677165,0.0005211857853386063,0.0001521621634488771,0.6761,-0.0046,0.1030807730004892,1.0,0.0,0.0,0.0,-0.3878576190993353,0.39762281701787594,5.067609681794241,0.027436018530117123,0.037574718282192145,0.0019406779062467257,0.467199212581256,1.3128185968369421,5.3918816258874225,0.0978609546379042,-0.028424490370270013,0.002583901364603216,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9383880055646112,1.157538093882656,-4.548462856822751,0.3159906419371375,3.2834099382513346,0.6976359776190757,-1.1525176019116832,-5.067609681794241,3.395945254911068,3.395945254911068,3.620100000001576,0,0,-0.00021302626874583475,-9.999999025923074e-05
+15828,1792839652993662583,18332419000000,1792839652988318537,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763929470521357,-0.004940519650009132,0.103651652508645,0.9999998363833005,-0.0001593720606808377,0.000520314823361474,0.00015016413524703796,0.6761,-0.0046,0.10297985071492731,1.0,0.0,0.0,0.0,-0.3955522046244606,0.3671022526873582,5.116507463516781,0.023140028876410076,0.03922885805333218,0.0018757927110608108,0.4595046270561307,1.2822980325064244,5.440779407609963,0.09356496498419715,-0.026770350599129977,0.002519016169417301,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9374265853244812,1.0736702638182851,-4.626419876179506,0.34951867801872827,3.3363708714111553,0.645234000965965,-1.1525176019116832,-5.116507463516781,3.473902274267823,3.473902274267823,3.6888000000016192,0,0,-0.00022848671286520984,-9.999818614681572e-05
+15891,1792839653518639964,18332944000000,1792839653516318373,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6764028495927218,-0.0049462263227276195,0.10354111495906348,0.9999998244645589,-0.0001633461106866861,0.0005400223358802577,0.00015558804734682109,0.6761,-0.0046,0.10285464031206183,1.0,0.0,0.0,0.0,-0.3911635538508089,0.3487594384067654,5.155990541565129,0.022532201907520727,0.03864147130856414,0.0018254415508611888,0.4638932778297824,1.2639552182258316,5.480262485658311,0.0929571380153078,-0.027357737343898018,0.0024686650092176792,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.886378875986598,1.1249027194746435,-4.621134555929273,0.34319198830865455,3.3205470859105324,0.6812048259219415,-1.1525176019116832,-5.155990541565129,3.4686169540175897,3.4686169540175897,3.767550000001669,0,0,-0.0002490135836933068,-9.999999025923074e-05
+15944,1792839653960668202,18333386000000,1792839653956319314,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6764061133373872,-0.004953788215038008,0.10343629252546042,0.9999998329352897,-6.286847355917662e-05,0.0005454274970618996,0.00015533401984635275,0.6761,-0.0046,0.10274032404170201,1.0,0.0,0.0,0.0,-0.35694264036913353,0.35864687480285706,5.1878352777208905,0.023071206878762282,0.03630818484113265,0.0017746711065849225,0.4981141913114578,1.2738426546219233,5.512107221814072,0.09349614298654936,-0.029691023811329507,0.002417894564941413,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9144516352445786,1.103783126453133,-4.738465915866185,0.36662246952563476,3.399843059829842,0.6814126254216709,-1.1525176019116832,-5.1878352777208905,3.585948313954502,3.585948313954502,3.8338500000017106,0,0,-0.0002670860981088526,-5.0506372721531536e-05
+16001,1792839654435642879,18333861000000,1792839654428318234,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6764078496854847,-0.0049514365888910115,0.10330881222713645,0.9999998291448374,-9.14179392403612e-05,0.0005486937859655767,0.00015404885639468328,0.6761,-0.0046,0.10260807736717742,1.0,0.0,0.0,0.0,-0.3692141014799175,0.31029621392343,5.225395617440494,0.019850334605960945,0.0372069191007406,0.0017132894544339573,0.4858427302006738,1.2254919937424962,5.549667561533676,0.09027527071374802,-0.02879228955172156,0.0023565129127904477,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9167361930507738,1.1018726262401808,-4.7918084984236975,0.34658192159218165,3.4445920215167187,0.6428606604407741,-1.1525176019116832,-5.225395617440494,3.6392908965120143,3.6392908965120143,3.9051000000017555,0,0,-0.0002901660494617194,-9.999999025923074e-05
+16054,1792839654877634755,18334303000000,1792839654876318812,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6764093771961065,-0.004954913446310563,0.10317664060187684,0.9999998237859477,-0.00010724788145182571,0.000552345473640383,0.00016517659530061905,0.6761,-0.0046,0.10247576271316601,1.0,0.0,0.0,0.0,-0.3622584400948883,0.2883779813230438,5.25393433066599,0.01702235170249057,0.03689758472442206,0.00165781646380003,0.49279839158570304,1.20357376114211,5.578206274759172,0.08744728781027765,-0.0291016239280401,0.0023010399221565204,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9870186867502069,1.040075899652345,-4.839281310276721,0.37746388621804494,3.498969164151022,0.6272882673987727,-1.1525176019116832,-5.25393433066599,3.686763708365038,3.686763708365038,3.9714000000017973,0,0,-0.00030972695487105204,-5.890137963338589e-05
+16111,1792839655352616841,18334778000000,1792839655348319190,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6764105884621022,-0.004963118559682109,0.1030242941580646,0.9999998193327265,-0.00013586328098960933,0.000553861461510303,0.00016600008712359723,0.6761,-0.0046,0.10232314466630467,1.0,0.0,0.0,0.0,-0.31594779334940726,0.27539128040569616,5.263690516583007,0.01663971401637447,0.03470054570879248,0.0016176735236796851,0.5391090383311841,1.1905870602247624,5.587962460676189,0.08706465012416155,-0.031298662943669675,0.0022608969820361756,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9021022749609673,1.0298984506694584,-4.725580635478362,0.3934435425408395,3.4040875607428314,0.6132421296393301,-1.1525176019116832,-5.263690516583007,3.573063033566679,3.573063033566679,4.042650000001716,0,0,-0.0003331851143553984,-9.999999025923074e-05
+16158,1792839655743650056,18335169000000,1792839655740318589,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6764183795013166,-0.004965543878629811,0.10289601858089573,0.9999998087927465,-0.0001796669170760773,0.0005653535295378867,0.00014816382881406592,0.6761,-0.0046,0.1021890570373382,1.0,0.0,0.0,0.0,-0.2930966149825308,0.29218984816454774,5.2548752774777325,0.017098369474356043,0.03271827457461386,0.0016013166482542456,0.5619602166980605,1.207385627983614,5.579147221570914,0.08752330558214312,-0.033280934077848295,0.002244540106610736,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9970548623612439,1.060265079135773,-4.807050393719983,0.3796073698489303,3.491312977438334,0.643140847646095,-1.1525176019116832,-5.2548752774777325,3.6545327918083,3.6545327918083,4.101300000001579,0,0,-0.00035273511054675764,-9.999999025923074e-05
+16208,1792839656160650573,18335586000000,1792839656160309702,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6764101388585445,-0.004967227334059904,0.10272710553468671,0.999999814791278,-0.00017317729273993044,0.0005496967505514978,0.00017234669040745238,0.6761,-0.0046,0.10203762969708914,1.0,0.0,0.0,0.0,-0.3040262451705814,0.20759394780667617,5.272342071917021,0.010996477040082192,0.03313995214995202,0.0015196790599926687,0.5510305865100099,1.1227897276257424,5.596614016010203,0.08142141314786927,-0.032859256502510134,0.002162902518349159,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8802748848278965,1.1174736542493928,-4.7081566671113935,0.35093452636436523,3.409379002806829,0.6824372706547543,-1.1525176019116832,-5.272342071917021,3.5556390651997103,3.5556390651997103,4.163850000001434,0,0,-0.00037358510648485686,-9.999999025923074e-05
+16255,1792839656552643806,18335978000000,1792839656552308796,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6764066344333698,-0.00497248030931396,0.10257534865864971,0.9999998125885659,-0.0001621995856752718,0.0005490847228606041,0.0001961197569792361,0.6761,-0.0046,0.10188735253609739,1.0,0.0,0.0,0.0,-0.30478005324261426,0.15346942212751769,5.250986312820328,0.006910769639735623,0.03321251775841164,0.001503874045065913,0.5502767784379771,1.0686652019465839,5.57525825691351,0.0773357057475227,-0.032786690894050514,0.0021470975034224033,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8473573315761025,1.0379792171938895,-4.676835455126045,0.37927238913169853,3.3841142065229377,0.6344416065565583,-1.1525176019116832,-5.250986312820328,3.5243178532143618,3.5243178532143618,4.2226500000012965,0,0,-0.0003931851026664753,-9.999999025923074e-05
+16296,1792839656893568245,18336319000000,1792839656888319588,DOWN_FORCE_DETACH,7,0.0641,0.06410248577594757,0.6764048857163946,-0.004968049645648038,0.1024282818054171,0.9999998092823043,-0.00020930226929102245,0.0005533697317324501,0.00015117115867859012,0.6761,-0.0046,0.10175037791665612,1.0,0.0,0.0,0.0,-0.258893767538928,0.1478133746736967,5.220214926987952,0.0074366722243357775,0.029441507916525715,0.0014696486708097476,0.5961630641416633,1.063009154492763,5.5444868710811335,0.07786160833212286,-0.03655770073593644,0.002112872129166238,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8795572365117785,1.0330029776668461,-4.674605349087723,0.3934752526695406,3.4019390682887662,0.6447556913453818,-1.1525176019116832,-5.220214926987952,3.5220877471760397,3.5220877471760397,4.273800000001177,0,0,-0.000410235099344873,-9.999999025923074e-05
+16337,1792839657235540735,18336661000000,1792839657232318604,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763872514279132,-0.004973568387631918,0.10226991855882903,0.9999998284798566,-0.00018352964792036177,0.0005204223839121004,0.00017309110994492708,0.6761,-0.0046,0.1016071619632515,1.0,0.0,0.0,0.0,-0.26610060892517795,0.05869324978942192,5.17251805827408,0.0013679047502363345,0.029669080123937965,0.001436063258813125,0.5889562227554134,0.9738890296084881,5.496790002367262,0.07179284085802341,-0.03633012852852419,0.0020792867171696154,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.835671133160448,0.9840010250558905,-4.678846998254279,0.40677442876763126,3.405333755046268,0.6158947270051012,-1.1525176019116832,-5.17251805827408,3.526329396342596,3.526329396342596,4.325100000001058,0,0,-0.0004273350960135299,-9.999999025923074e-05
+16377,1792839657568540408,18336994000000,1792839657568318791,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6763882112495636,-0.00498517514075261,0.10212314915754862,0.9999998378057007,-6.075778278555761e-05,0.0005246331582282969,0.00019209366976392255,0.6761,-0.0046,0.10146209547682068,1.0,0.0,0.0,0.0,-0.19744860373548234,0.08630343004398622,5.119479693333877,0.00218661856833291,0.025103399029055798,0.0014358242457162395,0.657608227945109,1.0014992098630524,5.4437516374270585,0.07261155467611999,-0.04089580962340636,0.00207904770407273,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.8862805353161296,1.0252431286356576,-4.66707694302575,0.40129149044293655,3.41957434242744,0.6403952885315648,-1.1525176019116832,-5.119479693333877,3.5145593411140665,3.5145593411140665,4.375050000000941,0,0,-0.00044398509276985374,-9.999999025923074e-05
+16402,1792839657777634286,18337203000000,1792839657776318855,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.676416131944301,-0.0049756208669439845,0.10204605060886182,0.9999998230314868,-0.00011189194745490562,0.0005537233282206533,0.0001620201444439684,0.6761,-0.0046,0.10136821579264554,1.0,0.0,0.0,0.0,-0.20635247581132243,0.11416316707363716,5.0405431689697915,0.005074314603990035,0.026565724720279564,0.0015545887029489516,0.6487043558692689,1.0293589468927034,5.364815113062973,0.07549925071177711,-0.03943348393218259,0.002197812161305442,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9241061095458571,1.0364606453118193,-4.534844357863703,0.36125339355688985,3.343656744353432,0.5878302715247268,-1.1525176019116832,-5.0405431689697915,3.3823267559520196,3.3823267559520196,4.406400000000868,0,0,-0.00045443509073403297,-9.999999025923074e-05
+16438,1792839658077537082,18337503000000,1792839658076318863,DOWN_FORCE_DETACH,7,0.0641,0.06410183012485504,0.6764046338421974,-0.004974099828992002,0.10189818329083929,0.9999998316438313,-0.0001199959787258491,0.0005323603355984886,0.00017420852831346285,0.6761,-0.0046,0.10122964276586513,1.0,0.0,0.0,0.0,-0.2402008075905635,0.055589461815661156,5.018013890584447,-0.00022072790628828443,0.02814337648569805,0.0015249132024685525,0.6148560240900278,0.9707852416347273,5.342285834677629,0.0702042082014988,-0.03785583216676411,0.002168136660825043,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9794879445734748,0.9691441874513405,-4.520079139621309,0.4037421785667386,3.3575975367731408,0.5778704928732332,-1.1525176019116832,-5.018013890584447,3.367561537709626,3.367561537709626,4.451400000000763,0,0,-0.0004694350878118022,-9.999999025923074e-05
+16471,1792839658348593775,18337774000000,1792839658348318847,DOWN_SETTLE,7,0.0641,0.06410248577594757,0.6764006852265417,-0.004964044505653326,0.1017584306880543,0.9999998289065466,-0.0001769193685267491,0.0005306413558203917,0.00014404523688759944,0.6761,-0.0046,0.10110060148242707,1.0,0.0,0.0,0.0,-0.26396261927742637,-0.005491255104874582,4.999660218735597,-0.004079315430723665,0.029012342309920162,0.001506794850768242,0.591094212403165,0.9097045247141916,5.323932162828779,0.06634562067706341,-0.036986866342541995,0.0021500183091247324,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.9025844616134748,0.9502200740619234,-4.5342140603040155,0.4415076099952769,3.3446010018552697,0.5969375927588992,-1.1525176019116832,-4.999660218735597,3.3816964583923323,0.0,0.0,0,0,-0.0004811850851720538,0.00035000000974076933
+16509,1792839658665529598,18338091000000,1792839658664308955,DOWN_SETTLE,7,0.0641,0.06410183012485504,0.6763892581986448,-0.004965559964513954,0.10165969411935807,0.9999998395252032,-0.0001790839024049774,0.0005067912210482662,0.0001532450533923683,0.6761,-0.0046,0.10104023378905133,1.0,0.0,0.0,0.0,-0.1996633226728204,0.00655801911247178,4.823362069681808,-0.0043512081740544745,0.026312933012762517,0.0015931029023415855,0.6553935090077709,0.921753798931538,5.14763401377499,0.0660737279337326,-0.03968627563969964,0.002236326360698076,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.7678545938546266,0.9215731445375566,-4.205709857613997,0.43689390367463293,3.1118056469321287,0.5809800874235871,-1.1525176019116832,-4.823362069681808,3.053192255702314,0.0,0.0,0,0,-2.7904200682088036e-05,0.0002818606129503842
+16580,1792839659253591919,18338679000000,1792839659252318627,DOWN_PEAK_HOLD,7,0.0641,0.06410248577594757,0.6763686205499947,-0.004982426763632791,0.10160179285106928,0.9999998556119465,-0.00018978166603557376,0.0004676581981038748,0.00015967992790705127,0.6761,-0.0046,0.1010384335527827,1.0,0.0,0.0,0.0,-0.1779546317016134,-0.05889674097719111,4.464826538790309,-0.007586617395183334,0.02142430083892679,0.0007645675091217716,0.6771021999789779,0.8562990388418751,4.789098482883491,0.06283831871260374,-0.04457490781353537,0.0014077909674782621,0.8550568316805913,0.9151957798190662,0.3242719440931819,0.07042493610778708,-0.06599920865246216,0.0006432234583564905,1,1.648493658297229,0.9695472352363107,-3.853825573059326,0.40797693037255023,2.856906602152373,0.6126863110322256,-1.1525176019116832,-4.464826538790309,2.7013079711476427,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_15A_15/press_depth_07/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792839628213485333,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.553677381e-09,-7.592556792e-11,-4.660705155e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451597e-01,-1.183470091e-04,8.303258472e-01
+1,6.166666667e-01,DOWN_FORCE_DETACH,1792839628851712416,4.093832700e-07,-1.091806450e-05,-7.375851570e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.021278941e-08,-2.815502767e-09,-1.213374157e-08,7.019560422e-01,-3.318879953e-05,8.601423497e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452374e-01,-1.183497487e-04,8.303258355e-01
+2,1.166666667e+00,DOWN_FORCE_DETACH,1792839629393122716,1.494901652e-06,-2.082996422e-05,3.628101846e-07,1.431616822e-06,-2.066478155e-05,3.095230553e-07,1.645747876e-06,-2.069556647e-05,2.873889304e-07,7.019571277e-01,-4.310069924e-05,8.601434500e-01,7.019570644e-01,-4.293551657e-05,8.601433968e-01,7.027468029e-01,-1.390424997e-04,8.303261350e-01
+3,1.666666667e+00,DOWN_FORCE_DETACH,1792839629966177777,-3.239527281e-07,-4.739534636e-06,-1.565173292e-05,2.239461760e-06,-1.887180448e-05,-2.668301384e-06,2.521498468e-06,-1.886729735e-05,-2.645803595e-06,7.019553089e-01,-2.701026966e-05,8.601274355e-01,7.019578723e-01,-4.114253950e-05,8.601404189e-01,7.027476787e-01,-1.372142306e-04,8.303232018e-01
+4,2.266666667e+00,DOWN_FORCE_DETACH,1792839630555613158,2.427897912e-05,-1.403895491e-05,-5.715037080e-05,2.382814398e-05,-1.368025897e-05,-5.716962801e-05,2.494686438e-05,-1.371316535e-05,-5.688054510e-05,7.019799118e-01,-3.630968993e-05,8.600859369e-01,7.019794610e-01,-3.595099399e-05,8.600859176e-01,7.027701040e-01,-1.320600986e-04,8.302689671e-01
+5,2.916666667e+00,DOWN_FORCE_DETACH,1792839631194396406,1.287374102e-05,-2.610139302e-05,-1.266262063e-04,1.272295806e-05,-2.283936370e-05,-1.199690970e-04,1.235967467e-05,-2.284918058e-05,-1.193904839e-04,7.019685066e-01,-4.837212804e-05,8.600164610e-01,7.019683558e-01,-4.511009872e-05,8.600231181e-01,7.027575168e-01,-1.411961138e-04,8.302064571e-01
+6,3.350000000e+00,DOWN_FORCE_DETACH,1792839631620494458,1.442241082e-05,-1.848663773e-05,-1.629695085e-04,1.484911365e-05,-3.062414576e-05,-1.567707463e-04,1.419266883e-05,-3.063766751e-05,-1.560915256e-04,7.019700552e-01,-4.075737275e-05,8.599801177e-01,7.019704819e-01,-5.289488078e-05,8.599863165e-01,7.027593498e-01,-1.489846007e-04,8.301697561e-01
+7,3.866666667e+00,DOWN_FORCE_DETACH,1792839632127671920,3.307946052e-05,-2.785465934e-05,-2.149337276e-04,3.231149912e-05,-3.135340360e-05,-2.102295084e-04,3.230156374e-05,-3.138080694e-05,-2.093977997e-04,7.019887123e-01,-5.012539436e-05,8.599281535e-01,7.019879443e-01,-5.362413863e-05,8.599328577e-01,7.027774587e-01,-1.497277402e-04,8.301164498e-01
+8,4.450000000e+00,DOWN_FORCE_DETACH,1792839632701388237,4.069663703e-05,-3.768157964e-05,-2.989621402e-04,3.644410046e-05,-3.531188125e-05,-2.940396577e-04,3.575549767e-05,-3.532667219e-05,-2.929396836e-04,7.019963295e-01,-5.995231466e-05,8.598441251e-01,7.019920769e-01,-5.758261628e-05,8.598490476e-01,7.027809127e-01,-1.536736054e-04,8.300329079e-01
+9,4.966666667e+00,DOWN_FORCE_DETACH,1792839633225914799,5.213386111e-05,-3.824305497e-05,-3.858078505e-04,5.082941859e-05,-3.774389771e-05,-3.805787126e-04,5.020014212e-05,-3.775205285e-05,-3.792244364e-04,7.020077667e-01,-6.051378999e-05,8.597572794e-01,7.020064622e-01,-6.001463274e-05,8.597625085e-01,7.027953573e-01,-1.560989861e-04,8.299466232e-01
+10,5.200000000e+00,DOWN_FORCE_DETACH,1792839633471096918,1.098156355e-04,-1.212008821e-05,-4.000983936e-04,1.026595769e-04,-2.385056187e-06,-3.957750468e-04,1.056054578e-04,-2.367472383e-06,-3.943577658e-04,7.020654485e-01,-3.439082323e-05,8.597429888e-01,7.020582924e-01,-2.465579121e-05,8.597473122e-01,7.028507626e-01,-1.207144056e-04,8.299314899e-01
+11,5.633333333e+00,DOWN_FORCE_DETACH,1792839633897284441,1.246975284e-04,-1.174931476e-05,-4.698605582e-04,1.213919103e-04,-7.908054875e-06,-4.534004650e-04,1.252099787e-04,-7.914647056e-06,-4.519651975e-04,7.020803303e-01,-3.402004978e-05,8.596732267e-01,7.020770247e-01,-3.017878990e-05,8.596896868e-01,7.028703671e-01,-1.262615803e-04,8.298738824e-01
+12,6.233333333e+00,DOWN_FORCE_DETACH,1792839634487441570,1.499371248e-04,-2.873940639e-05,-5.937374328e-04,1.457833149e-04,-2.621953876e-05,-5.792498822e-04,1.499813911e-04,-2.625993769e-05,-5.774891065e-04,7.021055699e-01,-5.101014141e-05,8.595493498e-01,7.021014161e-01,-4.849027378e-05,8.595638374e-01,7.028951385e-01,-1.446068709e-04,8.297483585e-01
+13,6.800000000e+00,DOWN_FORCE_DETACH,1792839635043617834,1.806575243e-04,-2.551827659e-05,-7.180412712e-04,1.720691984e-04,-2.456501353e-05,-7.006701950e-04,1.768187361e-04,-2.460069155e-05,-6.987664596e-04,7.021362903e-01,-4.778901161e-05,8.594250460e-01,7.021277020e-01,-4.683574855e-05,8.594424170e-01,7.029219759e-01,-1.429476248e-04,8.296270812e-01
+14,7.283333333e+00,DOWN_FORCE_DETACH,1792839635518414820,2.041026270e-04,-3.903748118e-05,-8.374095381e-04,2.013968914e-04,-3.726165584e-05,-8.286307695e-04,2.068984859e-04,-3.738015860e-05,-8.264846532e-04,7.021597354e-01,-6.130821620e-05,8.593056777e-01,7.021570297e-01,-5.953239087e-05,8.593144565e-01,7.029520556e-01,-1.557270918e-04,8.294993630e-01
+15,7.783333333e+00,DOWN_FORCE_DETACH,1792839636009873558,2.350116944e-04,-3.308775277e-05,-9.625609267e-04,2.348019072e-04,-3.310074208e-05,-9.621699462e-04,2.412166612e-04,-3.319028072e-05,-9.597406434e-04,7.021906445e-01,-5.535848779e-05,8.591805263e-01,7.021904347e-01,-5.537147711e-05,8.591809173e-01,7.029863738e-01,-1.515372139e-04,8.293661070e-01
+16,8.200000000e+00,DOWN_FORCE_DETACH,1792839636419917150,2.580291998e-04,-2.741863237e-05,-1.074332463e-03,2.577401497e-04,-2.719707662e-05,-1.074424100e-03,2.645659073e-04,-2.727285026e-05,-1.071923231e-03,7.022136620e-01,-4.968936739e-05,8.590687548e-01,7.022133730e-01,-4.946781164e-05,8.590686631e-01,7.030097231e-01,-1.456197835e-04,8.292539244e-01
+17,8.666666667e+00,DOWN_FORCE_DETACH,1792839636877875289,2.816714986e-04,-4.197781494e-05,-1.200334517e-03,2.808394969e-04,-3.641663960e-05,-1.196224685e-03,2.880113407e-04,-3.652864063e-05,-1.193642240e-03,7.022373043e-01,-6.424854996e-05,8.589427527e-01,7.022364723e-01,-5.868737463e-05,8.589468626e-01,7.030331685e-01,-1.548755739e-04,8.291322054e-01
+18,9.150000000e+00,DOWN_FORCE_DETACH,1792839637353434278,3.035231086e-04,-4.591453332e-05,-1.316194424e-03,2.998010809e-04,-3.832425251e-05,-1.300333066e-03,3.072804460e-04,-3.839409594e-05,-1.297797364e-03,7.022591559e-01,-6.818526834e-05,8.588268928e-01,7.022554339e-01,-6.059498753e-05,8.588427542e-01,7.030524376e-01,-1.567410292e-04,8.290280503e-01
+19,9.633333333e+00,DOWN_FORCE_DETACH,1792839637837614545,3.258952240e-04,-5.333890166e-05,-1.426741267e-03,3.226802140e-04,-4.461373837e-05,-1.421358328e-03,3.305628027e-04,-4.469323832e-05,-1.418726742e-03,7.022815280e-01,-7.560963669e-05,8.587163460e-01,7.022783130e-01,-6.688447339e-05,8.587217289e-01,7.030757200e-01,-1.630401715e-04,8.289071209e-01
+20,1.011666667e+01,DOWN_FORCE_DETACH,1792839638319736311,3.435255709e-04,-4.318717328e-05,-1.537756972e-03,3.419357902e-04,-4.942805527e-05,-1.531251571e-03,3.501277661e-04,-4.951632387e-05,-1.528722665e-03,7.022991584e-01,-6.545790830e-05,8.586053303e-01,7.022975686e-01,-7.169879029e-05,8.586118357e-01,7.030952849e-01,-1.678632571e-04,8.287971250e-01
+21,1.070000000e+01,DOWN_FORCE_DETACH,1792839638892798911,3.637669129e-04,-5.198619205e-05,-1.657958838e-03,3.611634122e-04,-5.257368271e-05,-1.651529537e-03,3.693467523e-04,-5.276578570e-05,-1.649156276e-03,7.023193997e-01,-7.425692708e-05,8.584851284e-01,7.023167962e-01,-7.484441774e-05,8.584915577e-01,7.031145039e-01,-1.711127189e-04,8.286766913e-01
+22,1.121666667e+01,DOWN_FORCE_DETACH,1792839639400825482,3.781366754e-04,-5.730700211e-05,-1.755513759e-03,3.755239172e-04,-5.693098893e-05,-1.740095663e-03,3.838284410e-04,-5.716082651e-05,-1.737909346e-03,7.023337695e-01,-7.957773713e-05,8.583875735e-01,7.023311567e-01,-7.920172396e-05,8.584029916e-01,7.031289856e-01,-1.755077597e-04,8.285879383e-01
+23,1.181666667e+01,DOWN_FORCE_DETACH,1792839639990413637,3.909400562e-04,-4.644139599e-05,-1.859836592e-03,3.896382996e-04,-5.181047289e-05,-1.849370542e-03,3.977403323e-04,-5.197123497e-05,-1.847296974e-03,7.023465729e-01,-6.871213101e-05,8.582832506e-01,7.023452711e-01,-7.408120792e-05,8.582937167e-01,7.031428975e-01,-1.703181682e-04,8.284785506e-01
+24,1.225000000e+01,DOWN_FORCE_DETACH,1792839640842318534,4.008898470e-04,-5.492131728e-05,-1.986670559e-03,3.988646732e-04,-5.141472654e-05,-1.974911928e-03,4.061815605e-04,-5.159322308e-05,-1.972685351e-03,7.023565227e-01,-7.719205230e-05,8.581564167e-01,7.023544975e-01,-7.368546156e-05,8.581681753e-01,7.031513387e-01,-1.699401563e-04,8.283531623e-01
+25,1.293333333e+01,DOWN_FORCE_DETACH,1792839641548911083,4.073654464e-04,-5.579253487e-05,-2.074219088e-03,4.071856444e-04,-5.359911387e-05,-2.058630856e-03,4.142244277e-04,-5.380509595e-05,-2.056834248e-03,7.023629983e-01,-7.806326989e-05,8.580688682e-01,7.023628185e-01,-7.586984890e-05,8.580844564e-01,7.031593816e-01,-1.721520292e-04,8.282690134e-01
+26,1.365000000e+01,DOWN_FORCE_DETACH,1792839642267490845,4.104502453e-04,-5.617493609e-05,-2.145348130e-03,4.089799395e-04,-6.141700523e-05,-2.139234360e-03,4.152962268e-04,-6.162076544e-05,-2.137630020e-03,7.023660831e-01,-7.844567111e-05,8.579977391e-01,7.023646128e-01,-8.368774026e-05,8.580038529e-01,7.031604534e-01,-1.799676987e-04,8.281882176e-01
+27,1.433333333e+01,DOWN_FORCE_DETACH,1792839642973104198,4.127949373e-04,-5.895302783e-05,-2.186432224e-03,4.112005501e-04,-5.382033312e-05,-2.181704436e-03,4.172097667e-04,-5.403435267e-05,-2.180441095e-03,7.023684278e-01,-8.122376285e-05,8.579566550e-01,7.023668334e-01,-7.609106814e-05,8.579613828e-01,7.031623669e-01,-1.723812859e-04,8.281454065e-01
+28,1.501666667e+01,DOWN_FORCE_DETACH,1792839643676100336,4.101883415e-04,-6.518319391e-05,-2.221000864e-03,4.077745893e-04,-5.241035525e-05,-2.222605891e-03,4.131032816e-04,-5.263583281e-05,-2.221489727e-03,7.023658212e-01,-8.745392893e-05,8.579220864e-01,7.023634074e-01,-7.468109027e-05,8.579204813e-01,7.031582604e-01,-1.709827660e-04,8.281043579e-01
+29,1.580000000e+01,DOWN_FORCE_DETACH,1792839644461793370,4.078876362e-04,-6.303532205e-05,-2.236205161e-03,4.077745893e-04,-5.241035525e-05,-2.222605891e-03,4.131002035e-04,-5.263807713e-05,-2.221897776e-03,7.023635205e-01,-8.530605707e-05,8.579068821e-01,7.023634074e-01,-7.468109027e-05,8.579204813e-01,7.031582574e-01,-1.709850103e-04,8.281039498e-01
+30,1.650000000e+01,DOWN_FORCE_DETACH,1792839645151018094,4.059840318e-04,-5.656286528e-05,-2.242346742e-03,4.055372345e-04,-6.250704812e-05,-2.240046007e-03,4.104986073e-04,-6.274196594e-05,-2.239489262e-03,7.023616168e-01,-7.883360030e-05,8.579007405e-01,7.023611701e-01,-8.477778314e-05,8.579030412e-01,7.031556558e-01,-1.810888992e-04,8.280863584e-01
+31,1.718333333e+01,DOWN_FORCE_DETACH,1792839645837694211,4.020435318e-04,-5.524642371e-05,-2.253150622e-03,4.055372345e-04,-6.250704812e-05,-2.240046007e-03,4.104904044e-04,-6.274812328e-05,-2.239635158e-03,7.023576763e-01,-7.751715874e-05,8.578899366e-01,7.023611701e-01,-8.477778314e-05,8.579030412e-01,7.031556476e-01,-1.810950565e-04,8.280862125e-01
+32,1.796666667e+01,DOWN_FORCE_DETACH,1792839646624357050,4.022283905e-04,-6.346782414e-05,-2.272495619e-03,4.008937027e-04,-6.225543010e-05,-2.262039068e-03,4.051996930e-04,-6.250607852e-05,-2.261616198e-03,7.023578612e-01,-8.573855917e-05,8.578705916e-01,7.023565265e-01,-8.452616512e-05,8.578810482e-01,7.031503568e-01,-1.808530117e-04,8.280642314e-01
+33,1.853333333e+01,DOWN_FORCE_DETACH,1792839647197354435,4.065720356e-04,-6.608760530e-05,-2.294484053e-03,4.028380575e-04,-5.869528539e-05,-2.282074843e-03,4.070249862e-04,-5.891945670e-05,-2.281632903e-03,7.023622049e-01,-8.835834032e-05,8.578486032e-01,7.023584709e-01,-8.096602041e-05,8.578610124e-01,7.031521821e-01,-1.772663899e-04,8.280442147e-01
+34,1.910000000e+01,DOWN_FORCE_DETACH,1792839647773572163,4.093931779e-04,-5.375078093e-05,-2.334881489e-03,4.093744957e-04,-5.368795040e-05,-2.334777076e-03,4.134012136e-04,-5.393342114e-05,-2.334060528e-03,7.023650260e-01,-7.602151595e-05,8.578082058e-01,7.023650073e-01,-7.595868542e-05,8.578083102e-01,7.031585584e-01,-1.722803544e-04,8.279917871e-01
+35,1.956666667e+01,DOWN_FORCE_DETACH,1792839648245514354,4.205846633e-04,-6.472234874e-05,-2.381346533e-03,4.165061427e-04,-6.047286930e-05,-2.375300720e-03,4.205623721e-04,-6.073667912e-05,-2.374527427e-03,7.023762175e-01,-8.699308376e-05,8.577617407e-01,7.023721390e-01,-8.274360433e-05,8.577677865e-01,7.031657195e-01,-1.790836123e-04,8.279513202e-01
+36,2.016666667e+01,DOWN_FORCE_DETACH,1792839648901050340,4.298144150e-04,-7.255000266e-05,-2.462677684e-03,4.298099804e-04,-7.046247767e-05,-2.457728643e-03,4.338463131e-04,-7.076109441e-05,-2.456664085e-03,7.023854472e-01,-9.482073769e-05,8.576804096e-01,7.023854428e-01,-9.273321270e-05,8.576853586e-01,7.031790035e-01,-1.891080276e-04,8.278691835e-01
+37,2.088333333e+01,DOWN_FORCE_DETACH,1792839649605305771,4.358797721e-04,-7.292295390e-05,-2.556204308e-03,4.350012879e-04,-7.474278622e-05,-2.540215533e-03,4.384531029e-04,-7.501113401e-05,-2.539118311e-03,7.023915126e-01,-9.519368892e-05,8.575868829e-01,7.023906341e-01,-9.701352124e-05,8.576028717e-01,7.031836103e-01,-1.933580672e-04,8.277867293e-01
+38,2.146666667e+01,DOWN_FORCE_DETACH,1792839650178623151,4.405791150e-04,-7.817156579e-05,-2.633390692e-03,4.350840955e-04,-7.685163040e-05,-2.622860725e-03,4.375599889e-04,-7.712826663e-05,-2.621795590e-03,7.023962119e-01,-1.004423008e-04,8.575096965e-01,7.023907169e-01,-9.912236543e-05,8.575202265e-01,7.031827171e-01,-1.954751998e-04,8.277040520e-01
+39,2.211666667e+01,DOWN_FORCE_DETACH,1792839650818277826,4.535128801e-04,-7.727667229e-05,-2.730708557e-03,4.528354417e-04,-7.826433566e-05,-2.726438038e-03,4.554274331e-04,-7.853391327e-05,-2.725181219e-03,7.024091457e-01,-9.954740732e-05,8.574123787e-01,7.024084683e-01,-1.005350707e-04,8.574166492e-01,7.032005846e-01,-1.968808465e-04,8.276006664e-01
+40,2.266666667e+01,DOWN_FORCE_DETACH,1792839651357682260,4.587279182e-04,-8.071825893e-05,-2.805169240e-03,4.557203480e-04,-8.135669544e-05,-2.788355999e-03,4.578651114e-04,-8.162088686e-05,-2.787162872e-03,7.024143607e-01,-1.029889940e-04,8.573379180e-01,7.024113532e-01,-1.036274305e-04,8.573547312e-01,7.032030223e-01,-1.999678201e-04,8.275386847e-01
+41,2.330000000e+01,DOWN_FORCE_DETACH,1792839652013506364,4.620730711e-04,-8.940221146e-05,-2.921216305e-03,4.619176771e-04,-8.962319925e-05,-2.921376954e-03,4.629847336e-04,-8.991085446e-05,-2.919895480e-03,7.024177059e-01,-1.116729465e-04,8.572218709e-01,7.024175505e-01,-1.118939343e-04,8.572217103e-01,7.032081419e-01,-2.082577877e-04,8.274059521e-01
+42,2.380000000e+01,DOWN_FORCE_DETACH,1792839652537853024,4.707373738e-04,-9.577218470e-05,-3.018500495e-03,4.685005392e-04,-8.486824843e-05,-3.006539160e-03,4.690477071e-04,-8.515636317e-05,-3.004984657e-03,7.024263702e-01,-1.180429197e-04,8.571245867e-01,7.024241334e-01,-1.071389834e-04,8.571365481e-01,7.032142049e-01,-2.035032964e-04,8.273208630e-01
+43,2.425000000e+01,DOWN_FORCE_DETACH,1792839652995990704,4.726438178e-04,-9.009434333e-05,-3.107576323e-03,4.703195392e-04,-8.667026952e-05,-3.091199344e-03,4.700194965e-04,-8.695304682e-05,-3.089645386e-03,7.024282766e-01,-1.123650784e-04,8.570355109e-01,7.024259524e-01,-1.089410045e-04,8.570518879e-01,7.032151767e-01,-2.052999800e-04,8.272362022e-01
+44,2.478333333e+01,DOWN_FORCE_DETACH,1792839653519912463,4.805033873e-04,-9.298177558e-05,-3.222957790e-03,4.805076011e-04,-9.311709007e-05,-3.222817679e-03,4.794402140e-04,-9.338597155e-05,-3.221093872e-03,7.024361362e-01,-1.152525106e-04,8.569201294e-01,7.024361404e-01,-1.153878251e-04,8.569202696e-01,7.032245974e-01,-2.117329048e-04,8.271047537e-01
+45,2.523333333e+01,DOWN_FORCE_DETACH,1792839653962481817,4.854564652e-04,-1.081905584e-04,-3.323698766e-03,4.811494098e-04,-9.849692534e-05,-3.315541129e-03,4.790217718e-04,-9.885209747e-05,-3.313821412e-03,7.024410893e-01,-1.304612934e-04,8.568193885e-01,7.024367822e-01,-1.207676604e-04,8.568275461e-01,7.032241789e-01,-2.171990307e-04,8.270120262e-01
+46,2.568333333e+01,DOWN_FORCE_DETACH,1792839654437309759,4.883668709e-04,-1.027609883e-04,-3.449459316e-03,4.831381994e-04,-1.094360967e-04,-3.447994600e-03,4.796321295e-04,-1.098090083e-04,-3.446043194e-03,7.024439997e-01,-1.250317233e-04,8.566936279e-01,7.024387710e-01,-1.317068318e-04,8.566950926e-01,7.032247893e-01,-2.281559416e-04,8.268798044e-01
+47,2.613333333e+01,DOWN_FORCE_DETACH,1792839654879765195,4.857073389e-04,-1.042820676e-04,-3.586344019e-03,4.872722511e-04,-1.111844051e-04,-3.570048678e-03,4.825958970e-04,-1.115088593e-04,-3.568110927e-03,7.024413402e-01,-1.265528026e-04,8.565567432e-01,7.024429051e-01,-1.334551401e-04,8.565730386e-01,7.032277531e-01,-2.298557925e-04,8.267577367e-01
+48,2.660000000e+01,DOWN_FORCE_DETACH,1792839655354563286,4.899861767e-04,-1.135576971e-04,-3.735990482e-03,4.897512858e-04,-1.136918448e-04,-3.735615015e-03,4.833064840e-04,-1.139721952e-04,-3.733429855e-03,7.024456190e-01,-1.358284321e-04,8.564070968e-01,7.024453841e-01,-1.359625798e-04,8.564074722e-01,7.032284636e-01,-2.323191285e-04,8.265924178e-01
+49,2.698333333e+01,DOWN_FORCE_DETACH,1792839655747552785,4.973997021e-04,-1.157883743e-04,-3.864490151e-03,4.972989469e-04,-1.156383622e-04,-3.864267215e-03,4.898686588e-04,-1.158986542e-04,-3.861969583e-03,7.024530325e-01,-1.380591094e-04,8.562785971e-01,7.024529318e-01,-1.379090972e-04,8.562788200e-01,7.032350258e-01,-2.342455874e-04,8.264638780e-01
+50,2.740000000e+01,DOWN_FORCE_DETACH,1792839656162479678,4.899932329e-04,-1.159661135e-04,-4.030065750e-03,4.912823115e-04,-1.151373400e-04,-4.014320719e-03,4.816637286e-04,-1.153964850e-04,-4.012002421e-03,7.024456260e-01,-1.382368486e-04,8.561130215e-01,7.024469151e-01,-1.374080750e-04,8.561287665e-01,7.032268209e-01,-2.337434182e-04,8.263138452e-01
+51,2.778333333e+01,DOWN_FORCE_DETACH,1792839656550756122,4.856178153e-04,-1.227558035e-04,-4.185167526e-03,4.890369494e-04,-1.211011499e-04,-4.175025197e-03,4.773043438e-04,-1.213423163e-04,-4.172502271e-03,7.024412506e-01,-1.450265385e-04,8.559579197e-01,7.024446698e-01,-1.433718849e-04,8.559680620e-01,7.032224615e-01,-2.396892495e-04,8.261533453e-01
+52,2.808333333e+01,DOWN_FORCE_DETACH,1792839656894093041,4.839059172e-04,-1.182941413e-04,-4.332226927e-03,4.847730255e-04,-1.182524152e-04,-4.315338170e-03,4.710342103e-04,-1.185023954e-04,-4.312667197e-03,7.024395387e-01,-1.405648764e-04,8.558108603e-01,7.024404058e-01,-1.405231503e-04,8.558277491e-01,7.032161914e-01,-2.368493286e-04,8.260131804e-01
+53,2.843333333e+01,DOWN_FORCE_DETACH,1792839657238726467,4.665470952e-04,-1.216358482e-04,-4.489267134e-03,4.684021064e-04,-1.284587339e-04,-4.472623678e-03,4.514975765e-04,-1.287002941e-04,-4.469964732e-03,7.024221799e-01,-1.439065832e-04,8.556538201e-01,7.024240349e-01,-1.507294689e-04,8.556704636e-01,7.031966547e-01,-2.470472273e-04,8.258558829e-01
+54,2.875000000e+01,DOWN_FORCE_DETACH,1792839657566852970,4.657835059e-04,-1.295471113e-04,-4.635575540e-03,4.657866880e-04,-1.294326803e-04,-4.635357967e-03,4.467826901e-04,-1.296064922e-04,-4.632562747e-03,7.024214163e-01,-1.518178463e-04,8.555075117e-01,7.024214195e-01,-1.517034153e-04,8.555077293e-01,7.031919398e-01,-2.479534254e-04,8.256932849e-01
+55,2.896666667e+01,DOWN_FORCE_DETACH,1792839657778593397,4.951521451e-04,-1.258653626e-04,-4.714458123e-03,4.949116446e-04,-1.258075469e-04,-4.714090792e-03,4.771000532e-04,-1.259713688e-04,-4.711327123e-03,7.024507850e-01,-1.481360977e-04,8.554286291e-01,7.024505445e-01,-1.480782819e-04,8.554289964e-01,7.032222572e-01,-2.443183020e-04,8.256145205e-01
+56,2.926666667e+01,DOWN_FORCE_DETACH,1792839658073768486,4.805685379e-04,-1.199612156e-04,-4.866127184e-03,4.823025996e-04,-1.240733362e-04,-4.857682470e-03,4.618885391e-04,-1.242654411e-04,-4.854944160e-03,7.024362014e-01,-1.422319506e-04,8.552769601e-01,7.024379354e-01,-1.463440712e-04,8.552854048e-01,7.032070457e-01,-2.426123743e-04,8.254709035e-01
+57,2.955000000e+01,DOWN_SETTLE,1792839658352483980,4.786541276e-04,-1.091390435e-04,-5.005375065e-03,4.785178559e-04,-1.091118494e-04,-5.005208852e-03,4.561086560e-04,-1.092812287e-04,-5.002400238e-03,7.024342869e-01,-1.314097785e-04,8.551377122e-01,7.024341507e-01,-1.313825844e-04,8.551378784e-01,7.032012658e-01,-2.276281619e-04,8.253234474e-01
+58,2.986666667e+01,DOWN_SETTLE,1792839658663206386,4.705027037e-04,-1.157473478e-04,-5.098700507e-03,4.707012673e-04,-1.159801168e-04,-5.086771204e-03,4.466870840e-04,-1.161707037e-04,-5.084382591e-03,7.024261355e-01,-1.380180828e-04,8.550443867e-01,7.024263341e-01,-1.382508518e-04,8.550563160e-01,7.031918442e-01,-2.345176369e-04,8.252414650e-01
+59,3.046666667e+01,DOWN_PEAK_HOLD,1792839659253178402,4.481610936e-04,-1.283103173e-04,-5.157687357e-03,4.515405479e-04,-1.236868588e-04,-5.143113218e-03,4.254191454e-04,-1.239317638e-04,-5.141769212e-03,7.024037939e-01,-1.505810523e-04,8.549853999e-01,7.024071734e-01,-1.459575939e-04,8.549999740e-01,7.031705763e-01,-2.422786970e-04,8.251840784e-01

Part2/Fixed/digit/ball_15A_15/press_depth_07/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.7372e-02,1.1390e-01,2.4608e+00,-4.4567e-02,4.0836e-02,1.3737e-04,4.4369e-04,1.4231e-06,-8.6546e-05,2.5257e-06,3.1576e-05,-1.6636e-06,4.5205e-04,3.1720e-05
+1,6.1667e-01,DOWN_FORCE_DETACH,1.8307e-04,7.0862e-02,1.1391e-01,2.4586e+00,-4.4487e-02,4.1796e-02,8.2664e-05,1.3934e-02,1.5728e-05,-2.2519e-03,8.3324e-05,9.9154e-04,-5.6367e-05,1.4115e-02,9.9663e-04
+2,1.1667e+00,DOWN_FORCE_DETACH,3.5542e-04,7.9480e-02,1.1391e-01,2.4576e+00,-4.4432e-02,4.2407e-02,4.3609e-05,2.2552e-02,1.3620e-05,-3.2356e-03,1.3819e-04,1.6033e-03,-9.5421e-05,2.2783e-02,1.6120e-03
+3,1.6667e+00,DOWN_FORCE_DETACH,5.3878e-04,8.3749e-02,1.6610e-01,2.4603e+00,-4.8025e-02,4.2705e-02,2.7760e-05,2.6820e-02,5.2203e-02,-5.6505e-04,-3.4546e-03,1.9012e-03,-1.1127e-04,5.8692e-02,3.9447e-03
+4,2.2667e+00,DOWN_FORCE_DETACH,7.2120e-04,1.0209e-01,1.6323e-01,2.5201e+00,-4.7763e-02,4.3930e-02,-9.3540e-06,4.5157e-02,4.9335e-02,5.9235e-02,-3.1932e-03,3.1258e-03,-1.4838e-04,8.9341e-02,4.4709e-03
+5,2.9167e+00,DOWN_FORCE_DETACH,8.9503e-04,8.8847e-02,1.8059e-01,2.5680e+00,-4.8904e-02,4.2930e-02,-1.9835e-05,3.1918e-02,6.6692e-02,1.0716e-01,-4.3339e-03,2.1262e-03,-1.5887e-04,1.3019e-01,4.8300e-03
+6,3.3500e+00,DOWN_FORCE_DETACH,1.0783e-03,8.9640e-02,2.0506e-01,2.5849e+00,-5.0562e-02,4.2958e-02,-2.6155e-05,3.2711e-02,9.1159e-02,1.2407e-01,-5.9924e-03,2.1542e-03,-1.6519e-04,1.5740e-01,6.3700e-03
+7,3.8667e+00,DOWN_FORCE_DETACH,1.2517e-03,7.3431e-02,2.0869e-01,2.6158e+00,-5.0772e-02,4.1767e-02,-2.7498e-05,1.6502e-02,9.4787e-02,1.5488e-01,-6.2022e-03,9.6323e-04,-1.6653e-04,1.8234e-01,6.2788e-03
+8,4.4500e+00,DOWN_FORCE_DETACH,1.4356e-03,8.0295e-02,2.2203e-01,2.6660e+00,-5.1650e-02,4.2175e-02,-3.0348e-05,2.3367e-02,1.0814e-01,2.0514e-01,-7.0798e-03,1.3711e-03,-1.6938e-04,2.3307e-01,7.2133e-03
+9,4.9667e+00,DOWN_FORCE_DETACH,1.5981e-03,7.1438e-02,2.2981e-01,2.7119e+00,-5.2178e-02,4.1478e-02,-3.2082e-05,1.4509e-02,1.1591e-01,2.5104e-01,-7.6080e-03,6.7383e-04,-1.7111e-04,2.7689e-01,7.6397e-03
+10,5.2000e+00,DOWN_FORCE_DETACH,1.7930e-03,1.0461e-02,1.2451e-01,2.6987e+00,-4.4932e-02,3.7193e-02,-4.2096e-05,-4.6468e-02,1.0609e-02,2.3785e-01,-3.6252e-04,-3.6115e-03,-1.8113e-04,2.4258e-01,3.6342e-03
+11,5.6333e+00,DOWN_FORCE_DETACH,1.9681e-03,1.7907e-02,1.3863e-01,2.7047e+00,-4.5988e-02,3.7685e-02,-5.5153e-05,-3.9021e-02,2.4726e-02,2.4382e-01,-1.4179e-03,-3.1190e-03,-1.9418e-04,2.4816e-01,3.4316e-03
+12,6.2333e+00,DOWN_FORCE_DETACH,2.1510e-03,2.3603e-02,1.8349e-01,2.7547e+00,-4.9167e-02,3.8021e-02,-5.7855e-05,-3.3326e-02,6.9590e-02,2.9382e-01,-4.5973e-03,-2.7830e-03,-1.9689e-04,3.0379e-01,5.3776e-03
+13,6.8000e+00,DOWN_FORCE_DETACH,2.3306e-03,2.4712e-02,1.7254e-01,2.7779e+00,-4.8437e-02,3.8082e-02,-1.4340e-05,-3.2217e-02,5.8645e-02,3.1702e-01,-3.8666e-03,-2.7220e-03,-1.5337e-04,3.2400e-01,4.7311e-03
+14,7.2833e+00,DOWN_FORCE_DETACH,2.5107e-03,1.7438e-02,2.0674e-01,2.8262e+00,-5.0761e-02,3.7527e-02,1.0488e-04,-3.9491e-02,9.2845e-02,3.6534e-01,-6.1910e-03,-3.2769e-03,-3.4151e-05,3.7902e-01,7.0048e-03
+15,7.7833e+00,DOWN_FORCE_DETACH,2.6903e-03,1.4643e-02,1.9406e-01,2.8272e+00,-4.9811e-02,3.7336e-02,2.4413e-04,-4.2285e-02,8.0161e-02,3.6637e-01,-5.2407e-03,-3.4684e-03,1.0509e-04,3.7742e-01,6.2854e-03
+16,8.2000e+00,DOWN_FORCE_DETACH,2.8644e-03,1.0461e-02,2.0654e-01,2.8489e+00,-5.0606e-02,3.7014e-02,3.3804e-04,-4.6467e-02,9.2639e-02,3.8804e-01,-6.0360e-03,-3.7898e-03,1.9901e-04,4.0165e-01,7.1299e-03
+17,8.6667e+00,DOWN_FORCE_DETACH,3.0460e-03,2.6244e-03,2.0609e-01,2.8974e+00,-5.0478e-02,3.6414e-02,3.9179e-04,-5.4304e-02,9.2195e-02,4.3657e-01,-5.9082e-03,-4.3904e-03,2.5276e-04,4.4949e-01,7.3652e-03
+18,9.1500e+00,DOWN_FORCE_DETACH,3.2244e-03,1.5740e-02,2.1345e-01,2.8841e+00,-5.0922e-02,3.7332e-02,4.1651e-04,-4.1189e-02,9.9549e-02,4.2322e-01,-6.3525e-03,-3.4724e-03,2.7748e-04,4.3672e-01,7.2449e-03
+19,9.6333e+00,DOWN_FORCE_DETACH,3.4047e-03,2.3722e-02,2.3032e-01,2.8986e+00,-5.2050e-02,3.7869e-02,4.1722e-04,-3.3206e-02,1.1642e-01,4.3775e-01,-7.4801e-03,-2.9356e-03,2.7819e-04,4.5418e-01,8.0403e-03
+20,1.0117e+01,DOWN_FORCE_DETACH,3.5858e-03,3.7616e-02,2.3869e-01,2.8867e+00,-5.2595e-02,3.8870e-02,4.0470e-04,-1.9312e-02,1.2480e-01,4.2587e-01,-8.0249e-03,-1.9342e-03,2.6567e-04,4.4420e-01,8.2589e-03
+21,1.0700e+01,DOWN_FORCE_DETACH,3.7655e-03,4.3632e-02,2.3948e-01,2.8587e+00,-5.2651e-02,3.9319e-02,3.3824e-04,-1.3297e-02,1.2558e-01,3.9784e-01,-8.0811e-03,-1.4849e-03,1.9921e-04,4.1740e-01,8.2188e-03
+22,1.1217e+01,DOWN_FORCE_DETACH,3.9435e-03,4.4906e-02,2.4906e-01,2.8245e+00,-5.3253e-02,3.9423e-02,2.6219e-04,-1.2023e-02,1.3516e-01,3.6360e-01,-8.6825e-03,-1.3812e-03,1.2316e-04,3.8809e-01,8.7926e-03
+23,1.1817e+01,DOWN_FORCE_DETACH,4.1214e-03,4.7047e-02,2.3924e-01,2.8035e+00,-5.2479e-02,3.9589e-02,1.6041e-04,-9.8819e-03,1.2535e-01,3.4263e-01,-7.9090e-03,-1.2151e-03,2.1379e-05,3.6497e-01,8.0018e-03
+24,1.2250e+01,DOWN_FORCE_DETACH,4.3022e-03,5.2715e-02,2.4103e-01,2.8327e+00,-5.2532e-02,3.9970e-02,1.1312e-04,-4.2138e-03,1.2713e-01,3.7180e-01,-7.9619e-03,-8.3411e-04,-2.5914e-05,3.9296e-01,8.0055e-03
+25,1.2933e+01,DOWN_FORCE_DETACH,4.4818e-03,6.8305e-02,2.4422e-01,2.7575e+00,-5.2865e-02,4.1199e-02,1.2441e-04,1.1377e-02,1.3032e-01,2.9665e-01,-8.2950e-03,3.9428e-04,-1.4622e-05,3.2421e-01,8.3044e-03
+26,1.3650e+01,DOWN_FORCE_DETACH,4.6596e-03,8.7525e-02,2.6227e-01,2.7199e+00,-5.4250e-02,4.2605e-02,2.0490e-04,3.0596e-02,1.4837e-01,2.5904e-01,-9.6805e-03,1.8003e-03,6.5872e-05,3.0009e-01,9.8467e-03
+27,1.4333e+01,DOWN_FORCE_DETACH,4.8386e-03,9.5729e-02,2.3916e-01,2.6667e+00,-5.2791e-02,4.3245e-02,2.3841e-04,3.8800e-02,1.2526e-01,2.0583e-01,-8.2212e-03,2.4407e-03,9.9378e-05,2.4405e-01,8.5764e-03
+28,1.5017e+01,DOWN_FORCE_DETACH,5.0188e-03,1.0703e-01,2.3562e-01,2.6372e+00,-5.2647e-02,4.4079e-02,2.4083e-04,5.0101e-02,1.2172e-01,1.7630e-01,-8.0767e-03,3.2749e-03,1.0180e-04,2.2002e-01,8.7160e-03
+29,1.5800e+01,DOWN_FORCE_DETACH,5.1965e-03,1.0636e-01,2.3544e-01,2.5623e+00,-5.2752e-02,4.4123e-02,2.2415e-04,4.9429e-02,1.2154e-01,1.0141e-01,-8.1819e-03,3.3192e-03,8.5118e-05,1.6583e-01,8.8300e-03
+30,1.6500e+01,DOWN_FORCE_DETACH,5.3761e-03,1.0894e-01,2.6251e-01,2.5440e+00,-5.4706e-02,4.4320e-02,2.0033e-04,5.2013e-02,1.4861e-01,8.3163e-02,-1.0136e-02,3.5155e-03,6.1297e-05,1.7806e-01,1.0729e-02
+31,1.7183e+01,DOWN_FORCE_DETACH,5.5534e-03,1.0745e-01,2.6147e-01,2.5176e+00,-5.4717e-02,4.4239e-02,1.6302e-04,5.0526e-02,1.4757e-01,5.6756e-02,-1.0147e-02,3.4350e-03,2.3990e-05,1.6599e-01,1.0712e-02
+32,1.7967e+01,DOWN_FORCE_DETACH,5.7355e-03,1.1220e-01,2.6031e-01,2.5224e+00,-5.4702e-02,4.4557e-02,1.1486e-04,5.5267e-02,1.4642e-01,6.1493e-02,-1.0133e-02,3.7523e-03,-2.4169e-05,1.6815e-01,1.0805e-02
+33,1.8533e+01,DOWN_FORCE_DETACH,5.9132e-03,1.0739e-01,2.5007e-01,2.5256e+00,-5.4024e-02,4.4207e-02,7.6351e-05,5.0458e-02,1.3617e-01,6.4693e-02,-9.4536e-03,3.4031e-03,-6.2680e-05,1.5898e-01,1.0048e-02
+34,1.9100e+01,DOWN_FORCE_DETACH,6.0912e-03,9.9725e-02,2.8393e-01,2.5468e+00,-5.6382e-02,4.3633e-02,4.9741e-05,4.2797e-02,1.7003e-01,8.5918e-02,-1.1812e-02,2.8284e-03,-8.9290e-05,1.9525e-01,1.2147e-02
+35,1.9567e+01,DOWN_FORCE_DETACH,6.2749e-03,9.1959e-02,2.5361e-01,2.5857e+00,-5.4272e-02,4.3029e-02,6.1160e-06,3.5030e-02,1.3972e-01,1.2483e-01,-9.7023e-03,2.2246e-03,-1.3291e-04,1.9061e-01,9.9550e-03
+36,2.0167e+01,DOWN_FORCE_DETACH,6.4518e-03,8.0821e-02,2.7847e-01,2.6404e+00,-5.5962e-02,4.2168e-02,-3.2498e-05,2.3892e-02,1.6457e-01,1.7952e-01,-1.1392e-02,1.3639e-03,-1.7153e-04,2.4470e-01,1.1475e-02
+37,2.0883e+01,DOWN_FORCE_DETACH,6.6290e-03,8.4718e-02,2.8861e-01,2.6423e+00,-5.6595e-02,4.2429e-02,-9.1983e-05,2.7789e-02,1.7472e-01,1.8141e-01,-1.2025e-02,1.6249e-03,-2.3101e-04,2.5339e-01,1.2137e-02
+38,2.1467e+01,DOWN_FORCE_DETACH,6.8078e-03,8.9770e-02,2.9661e-01,2.6535e+00,-5.7032e-02,4.2779e-02,-1.4163e-04,3.2842e-02,1.8271e-01,1.9262e-01,-1.2462e-02,1.9743e-03,-2.8066e-04,2.6751e-01,1.2621e-02
+39,2.2117e+01,DOWN_FORCE_DETACH,6.9902e-03,7.5612e-02,3.0395e-01,2.6786e+00,-5.7389e-02,4.1774e-02,-1.4817e-04,1.8683e-02,1.9005e-01,2.1770e-01,-1.2819e-02,9.7024e-04,-2.8720e-04,2.8959e-01,1.2859e-02
+40,2.2667e+01,DOWN_FORCE_DETACH,7.1695e-03,8.5925e-02,3.1460e-01,2.6635e+00,-5.8054e-02,4.2530e-02,-1.1591e-04,2.8996e-02,2.0070e-01,2.0267e-01,-1.3484e-02,1.7256e-03,-2.5494e-04,2.8670e-01,1.3596e-02
+41,2.3300e+01,DOWN_FORCE_DETACH,7.3448e-03,9.0184e-02,3.3724e-01,2.6975e+00,-5.9558e-02,4.2784e-02,-3.3693e-05,3.3256e-02,2.2334e-01,2.3667e-01,-1.4988e-02,1.9800e-03,-1.7272e-04,3.2711e-01,1.5119e-02
+42,2.3800e+01,DOWN_FORCE_DETACH,7.5274e-03,9.7264e-02,3.2360e-01,2.7390e+00,-5.8603e-02,4.3222e-02,1.8114e-05,4.0335e-02,2.0971e-01,2.7815e-01,-1.4033e-02,2.4174e-03,-1.2092e-04,3.5067e-01,1.4240e-02
+43,2.4250e+01,DOWN_FORCE_DETACH,7.7080e-03,1.0423e-01,3.2571e-01,2.7455e+00,-5.8748e-02,4.3698e-02,6.1247e-05,4.7302e-02,2.1181e-01,2.8460e-01,-1.4178e-02,2.8936e-03,-7.7784e-05,3.5791e-01,1.4470e-02
+44,2.4783e+01,DOWN_FORCE_DETACH,7.8882e-03,9.7042e-02,3.4394e-01,2.7561e+00,-5.9979e-02,4.3179e-02,1.1010e-04,4.0113e-02,2.3004e-01,2.9523e-01,-1.5409e-02,2.3749e-03,-2.8930e-05,3.7641e-01,1.5591e-02
+45,2.5233e+01,DOWN_FORCE_DETACH,8.0629e-03,1.0579e-01,3.5022e-01,2.7898e+00,-6.0334e-02,4.3746e-02,1.2066e-04,4.8861e-02,2.3633e-01,3.2889e-01,-1.5764e-02,2.9416e-03,-1.8366e-05,4.0793e-01,1.6036e-02
+46,2.5683e+01,DOWN_FORCE_DETACH,8.2427e-03,1.1303e-01,3.7990e-01,2.8374e+00,-6.2205e-02,4.4177e-02,1.2782e-04,5.6097e-02,2.6600e-01,3.7654e-01,-1.7635e-02,3.3724e-03,-1.1214e-05,4.6442e-01,1.7955e-02
+47,2.6133e+01,DOWN_FORCE_DETACH,8.4223e-03,1.1149e-01,3.9163e-01,2.8457e+00,-6.2744e-02,4.4046e-02,1.0336e-04,5.4563e-02,2.7774e-01,3.8487e-01,-1.8174e-02,3.2415e-03,-3.5672e-05,4.7774e-01,1.8460e-02
+48,2.6600e+01,DOWN_FORCE_DETACH,8.6053e-03,1.1035e-01,4.0522e-01,2.8547e+00,-6.3408e-02,4.3972e-02,5.7628e-05,5.3419e-02,2.9132e-01,3.9380e-01,-1.8838e-02,3.1676e-03,-8.1402e-05,4.9274e-01,1.9103e-02
+49,2.6983e+01,DOWN_FORCE_DETACH,8.7811e-03,1.0025e-01,3.7603e-01,2.8945e+00,-6.1244e-02,4.3237e-02,2.8607e-05,4.3322e-02,2.6213e-01,4.3364e-01,-1.6674e-02,2.4329e-03,-1.1042e-04,5.0856e-01,1.6851e-02
+50,2.7400e+01,DOWN_FORCE_DETACH,8.9641e-03,1.1376e-01,4.1440e-01,2.9416e+00,-6.3716e-02,4.4112e-02,3.7509e-05,5.6835e-02,3.0050e-01,4.8068e-01,-1.9146e-02,3.3081e-03,-1.0152e-04,5.6972e-01,1.9430e-02
+51,2.7783e+01,DOWN_FORCE_DETACH,9.1418e-03,1.1418e-01,4.3272e-01,2.9799e+00,-6.4756e-02,4.4079e-02,5.1143e-05,5.7255e-02,3.1882e-01,5.1901e-01,-2.0186e-02,3.2746e-03,-8.7888e-05,6.1179e-01,2.0450e-02
+52,2.8083e+01,DOWN_FORCE_DETACH,9.3191e-03,1.1662e-01,4.2582e-01,3.0163e+00,-6.4120e-02,4.4201e-02,4.4510e-05,5.9695e-02,3.1192e-01,5.5537e-01,-1.9551e-02,3.3972e-03,-9.4521e-05,6.3977e-01,1.9844e-02
+53,2.8433e+01,DOWN_FORCE_DETACH,9.4972e-03,1.3336e-01,4.5665e-01,3.0330e+00,-6.5995e-02,4.5333e-02,1.9217e-05,7.6429e-02,3.4275e-01,5.7208e-01,-2.1426e-02,4.5288e-03,-1.1981e-04,6.7126e-01,2.1899e-02
+54,2.8750e+01,DOWN_FORCE_DETACH,9.6804e-03,1.2442e-01,4.2813e-01,3.0440e+00,-6.3699e-02,4.4661e-02,-1.6945e-05,6.7493e-02,3.1423e-01,5.8308e-01,-1.9129e-02,3.8566e-03,-1.5598e-04,6.6580e-01,1.9514e-02
+55,2.8967e+01,DOWN_FORCE_DETACH,9.8557e-03,9.1638e-02,4.0939e-01,3.0215e+00,-6.2357e-02,4.2367e-02,1.0833e-05,3.4709e-02,2.9550e-01,5.6065e-01,-1.7787e-02,1.5630e-03,-1.2820e-04,6.3470e-01,1.7856e-02
+56,2.9267e+01,DOWN_FORCE_DETACH,1.0039e-02,1.1435e-01,4.5121e-01,3.0665e+00,-6.5132e-02,4.3912e-02,2.2762e-05,5.7425e-02,3.3731e-01,6.0560e-01,-2.0562e-02,3.1075e-03,-1.1627e-04,6.9558e-01,2.0796e-02
+57,2.9550e+01,DOWN_SETTLE,1.0224e-02,1.1613e-01,4.7349e-01,3.0545e+00,-6.6608e-02,4.4043e-02,3.5143e-05,5.9199e-02,3.5959e-01,5.9359e-01,-2.2038e-02,3.2390e-03,-1.0389e-04,6.9654e-01,2.2275e-02
+58,2.9867e+01,DOWN_SETTLE,1.0396e-02,1.2789e-01,4.2423e-01,3.0132e+00,-6.3220e-02,4.4923e-02,3.0822e-06,7.0965e-02,3.1033e-01,5.5230e-01,-1.8650e-02,4.1183e-03,-1.3595e-04,6.3748e-01,1.9100e-02
+59,3.0467e+01,DOWN_PEAK_HOLD,1.0574e-02,1.3941e-01,4.3499e-01,2.8349e+00,-6.4324e-02,4.5981e-02,-6.9422e-05,8.2480e-02,3.2109e-01,3.7401e-01,-1.9754e-02,5.1772e-03,-2.0845e-04,4.9978e-01,2.0422e-02

Part2/Fixed/digit/ball_15A_15/press_depth_07/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e309f37ba4bb492e6cd8ce3507423ee05cb3113c69188029185da8f1d1c8d10f
+size 604160

Part2/Fixed/digit/ball_15A_15/press_depth_07/up/franka_data.csv

@@ -0,0 +1,61 @@
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Part2/Fixed/digit/ball_15A_15/press_depth_07/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+4,6.833333333e-01,WAIT_W2,1792839616566903323,2.495227153e-06,-2.956166194e-05,5.634061324e-06,2.528709907e-06,-2.946544478e-05,5.867780360e-06,2.859284904e-06,-2.946997078e-05,5.766769838e-06,7.019581280e-01,-5.183239696e-05,8.601487213e-01,7.019581615e-01,-5.173617981e-05,8.601489550e-01,7.027480165e-01,-1.478169039e-04,8.303316144e-01
+5,7.000000000e-01,WAIT_W2,1792839616583763782,1.344223972e-06,-8.182820287e-05,7.631411318e-06,1.447036495e-06,-8.187060913e-05,7.650511274e-06,1.701520268e-06,-8.191193466e-05,7.545898143e-06,7.019569770e-01,-1.040989379e-04,8.601507187e-01,7.019570799e-01,-1.041413442e-04,8.601507378e-01,7.027468587e-01,-2.002588678e-04,8.303333935e-01
+6,7.166666667e-01,WAIT_W2,1792839616599880005,4.285401044e-06,-1.577573958e-04,1.159534444e-05,4.057509144e-06,-1.577537613e-04,1.167076573e-05,4.586552588e-06,-1.578778240e-04,1.153286294e-05,7.019599182e-01,-1.800281308e-04,8.601546826e-01,7.019596903e-01,-1.800244963e-04,8.601547580e-01,7.027497437e-01,-2.762247571e-04,8.303373805e-01
+7,7.166666667e-01,WAIT_W2,1792839616599880005,4.285401044e-06,-1.577573958e-04,1.159534444e-05,4.057509144e-06,-1.577537613e-04,1.167076573e-05,4.586552588e-06,-1.578778240e-04,1.153286294e-05,7.019599182e-01,-1.800281308e-04,8.601546826e-01,7.019596903e-01,-1.800244963e-04,8.601547580e-01,7.027497437e-01,-2.762247571e-04,8.303373805e-01
+8,7.333333333e-01,WAIT_W2,1792839616615931346,6.466137084e-06,-2.605455694e-04,1.817999382e-05,6.497835155e-06,-2.602330153e-04,1.753836101e-05,7.308793231e-06,-2.605274683e-04,1.739920846e-05,7.019620990e-01,-2.828163045e-04,8.601612672e-01,7.019621307e-01,-2.825037503e-04,8.601606256e-01,7.027524660e-01,-3.788744015e-04,8.303432468e-01
+9,7.500000000e-01,WAIT_W2,1792839616632587934,3.435920438e-06,-3.458913958e-04,1.789650806e-05,3.428735171e-06,-3.457953449e-04,1.823485567e-05,4.038680648e-06,-3.461990792e-04,1.811299958e-05,7.019590687e-01,-3.681621308e-04,8.601609837e-01,7.019590616e-01,-3.680660800e-04,8.601613221e-01,7.027491959e-01,-4.645460124e-04,8.303439606e-01
+10,7.500000000e-01,WAIT_W2,1792839616632587934,3.435920438e-06,-3.458913958e-04,1.789650806e-05,3.428735171e-06,-3.457953449e-04,1.823485567e-05,4.038680648e-06,-3.461990792e-04,1.811299958e-05,7.019590687e-01,-3.681621308e-04,8.601609837e-01,7.019590616e-01,-3.680660800e-04,8.601613221e-01,7.027491959e-01,-4.645460124e-04,8.303439606e-01
+11,7.833333333e-01,WAIT_W2,1792839616665776514,7.627510678e-06,-4.274335336e-04,2.795790483e-05,3.149007935e-06,-4.163375519e-04,2.151748606e-05,3.832928116e-06,-4.169344285e-04,2.154379881e-05,7.019632603e-01,-4.497042686e-04,8.601710451e-01,7.019587818e-01,-4.386082869e-04,8.601646047e-01,7.027489901e-01,-5.352813616e-04,8.303473914e-01
+12,8.500000000e-01,WAIT_W2,1792839616730773935,7.731141871e-06,-3.980177145e-04,2.884754088e-05,7.512007740e-06,-3.953811633e-04,2.733665998e-05,8.571053123e-06,-3.959462872e-04,2.735071657e-05,7.019633640e-01,-4.202884496e-04,8.601719348e-01,7.019631448e-01,-4.176518983e-04,8.601704239e-01,7.027537282e-01,-5.142932203e-04,8.303531983e-01
+13,9.833333333e-01,WAIT_W2,1792839616861637127,1.483822653e-05,-4.095464100e-04,4.156295981e-05,8.168357408e-06,-4.155973379e-04,2.805890294e-05,9.377196905e-06,-4.162247514e-04,2.813797346e-05,7.019704710e-01,-4.318171450e-04,8.601846502e-01,7.019638012e-01,-4.378680729e-04,8.601711461e-01,7.027545344e-01,-5.345716845e-04,8.303539856e-01
+14,1.133333333e+00,WAIT_W2,1792839617009871418,1.395831054e-05,-4.217235709e-04,4.432672349e-05,8.168357408e-06,-4.155973379e-04,2.805890294e-05,9.407378271e-06,-4.162376793e-04,2.818232984e-05,7.019695911e-01,-4.439943059e-04,8.601874140e-01,7.019638012e-01,-4.378680729e-04,8.601711461e-01,7.027545646e-01,-5.345846125e-04,8.303540299e-01
+15,1.283333333e+00,WAIT_W2,1792839617156666930,1.543027200e-05,-4.089131699e-04,4.639775864e-05,1.615749948e-05,-4.222129725e-04,4.667525705e-05,1.814760186e-05,-4.228624260e-04,4.671954616e-05,7.019710631e-01,-4.311839049e-04,8.601894850e-01,7.019717903e-01,-4.444837075e-04,8.601897625e-01,7.027633048e-01,-5.412093591e-04,8.303725671e-01
+16,1.400000000e+00,WAIT_W2,1792839617271539597,1.663134590e-05,-4.157776736e-04,5.025755803e-05,1.615749948e-05,-4.222129725e-04,4.667525705e-05,1.817560035e-05,-4.228697645e-04,4.675821357e-05,7.019722642e-01,-4.380484087e-04,8.601933448e-01,7.019717903e-01,-4.444837075e-04,8.601897625e-01,7.027633328e-01,-5.412166976e-04,8.303726058e-01
+17,1.583333333e+00,UP_FORCE_RAMP,1792839617451835997,1.444337726e-05,-4.203435937e-04,4.884428662e-05,1.615749948e-05,-4.222129725e-04,4.667525705e-05,1.821033842e-05,-4.228775973e-04,4.679969427e-05,7.019700762e-01,-4.426143287e-04,8.601919315e-01,7.019717903e-01,-4.444837075e-04,8.601897625e-01,7.027633675e-01,-5.412245304e-04,8.303726473e-01
+18,1.850000000e+00,UP_FORCE_RAMP,1792839617714038659,1.701937946e-05,-4.166253338e-04,5.284073580e-05,1.615749948e-05,-4.222129725e-04,4.667525705e-05,1.824931712e-05,-4.228854066e-04,4.683856556e-05,7.019726522e-01,-4.388960688e-04,8.601959280e-01,7.019717903e-01,-4.444837075e-04,8.601897625e-01,7.027634065e-01,-5.412323397e-04,8.303726862e-01
+19,2.083333333e+00,UP_FORCE_RAMP,1792839617943052420,1.766080807e-05,-4.185220960e-04,5.522718947e-05,1.615749948e-05,-4.222129725e-04,4.667525705e-05,1.827562345e-05,-4.228903992e-04,4.686004228e-05,7.019732936e-01,-4.407928310e-04,8.601983144e-01,7.019717903e-01,-4.444837075e-04,8.601897625e-01,7.027634328e-01,-5.412373323e-04,8.303727076e-01
+20,2.316666667e+00,UP_FORCE_RAMP,1792839618172046095,1.513867299e-05,-4.229307647e-04,5.669613653e-05,1.615749948e-05,-4.222129725e-04,4.667525705e-05,1.829684333e-05,-4.228943412e-04,4.687430031e-05,7.019707715e-01,-4.452014998e-04,8.601997834e-01,7.019717903e-01,-4.444837075e-04,8.601897625e-01,7.027634540e-01,-5.412412743e-04,8.303727219e-01
+21,2.516666667e+00,UP_FORCE_RAMP,1792839618368640462,1.552982097e-05,-4.248127391e-04,6.787726002e-05,1.566651812e-05,-4.245445384e-04,6.779559182e-05,1.806590427e-05,-4.252829788e-04,6.784942321e-05,7.019711626e-01,-4.470834741e-04,8.602109645e-01,7.019712993e-01,-4.468152734e-04,8.602108828e-01,7.027632231e-01,-5.436299119e-04,8.303936970e-01
+22,2.616666667e+00,UP_FORCE_RAMP,1792839618466982249,-2.340896593e-06,-4.250069428e-04,6.751291892e-05,-9.331985805e-06,-4.187732998e-04,5.466463745e-05,-8.894876047e-06,-4.194719319e-04,5.478581902e-05,7.019532919e-01,-4.472776778e-04,8.602106002e-01,7.019463008e-01,-4.410440349e-04,8.601977519e-01,7.027362623e-01,-5.378188650e-04,8.303806334e-01
+23,2.766666667e+00,UP_FORCE_RAMP,1792839618614579288,-2.254614151e-06,-4.150800231e-04,7.280197509e-05,-5.741391428e-07,-4.131016831e-04,7.227175436e-05,6.775663852e-07,-4.137750167e-04,7.231941440e-05,7.019533782e-01,-4.373507581e-04,8.602158892e-01,7.019550587e-01,-4.353724181e-04,8.602153590e-01,7.027458348e-01,-5.321219498e-04,8.303981670e-01
+24,2.983333333e+00,UP_FORCE_RAMP,1792839618827419441,1.375005081e-06,-4.184590799e-04,8.611789158e-05,-5.741391428e-07,-4.131016831e-04,7.227175436e-05,6.724113873e-07,-4.137776631e-04,7.235815719e-05,7.019570078e-01,-4.407298150e-04,8.602292051e-01,7.019550587e-01,-4.353724181e-04,8.602153590e-01,7.027458296e-01,-5.321245963e-04,8.303982058e-01
+25,3.100000000e+00,UP_FORCE_RAMP,1792839618942049664,3.602420321e-06,-4.077772224e-04,9.703397179e-05,4.274940223e-06,-4.260735146e-04,9.707190395e-05,6.167701663e-06,-4.268071311e-04,9.698902150e-05,7.019592352e-01,-4.300479574e-04,8.602401212e-01,7.019599078e-01,-4.483442496e-04,8.602401591e-01,7.027513249e-01,-5.451540642e-04,8.304228366e-01
+26,3.250000000e+00,UP_FORCE_RAMP,1792839619089474371,4.529152852e-06,-4.180708502e-04,1.057178534e-04,5.283533351e-06,-4.042537076e-04,1.056118979e-04,7.366816325e-06,-4.049609477e-04,1.055317928e-04,7.019601620e-01,-4.403415852e-04,8.602488051e-01,7.019609164e-01,-4.265244426e-04,8.602486991e-01,7.027525240e-01,-5.233078808e-04,8.304313794e-01
+27,3.433333333e+00,UP_FORCE_RAMP,1792839619271963592,6.267502792e-06,-4.180147089e-04,1.191402535e-04,5.283533351e-06,-4.042537076e-04,1.056118979e-04,7.376687386e-06,-4.049606877e-04,1.055839172e-04,7.019619003e-01,-4.402854439e-04,8.602622275e-01,7.019609164e-01,-4.265244426e-04,8.602486991e-01,7.027525339e-01,-5.233076208e-04,8.304314315e-01
+28,3.633333333e+00,UP_FORCE_RAMP,1792839619482574895,7.335939300e-06,-4.141291757e-04,1.377182248e-04,1.036667471e-05,-4.112091265e-04,1.314282168e-04,1.320281248e-05,-4.119276644e-04,1.312933829e-04,7.019629688e-01,-4.363999107e-04,8.602808055e-01,7.019659995e-01,-4.334798616e-04,8.602745155e-01,7.027583600e-01,-5.302745975e-04,8.304571410e-01
+29,3.800000000e+00,UP_FORCE_RAMP,1792839619646771436,1.446636223e-05,-4.060206270e-04,1.678280536e-04,1.282873087e-05,-4.113805905e-04,1.519142560e-04,1.611684209e-05,-4.121079841e-04,1.517233063e-04,7.019700992e-01,-4.282913620e-04,8.603109153e-01,7.019684615e-01,-4.336513255e-04,8.602950015e-01,7.027612740e-01,-5.304549173e-04,8.304775709e-01
+30,4.066666667e+00,UP_FORCE_RAMP,1792839619908684343,1.294610221e-05,-4.069217822e-04,1.868356402e-04,1.367242977e-05,-4.139391479e-04,1.745364170e-04,1.727167186e-05,-4.146504790e-04,1.743000668e-04,7.019685789e-01,-4.291925172e-04,8.603299229e-01,7.019693052e-01,-4.362098830e-04,8.603176237e-01,7.027624289e-01,-5.329974122e-04,8.305001477e-01
+31,4.216666667e+00,UP_FORCE_RAMP,1792839620064622673,1.078106305e-05,-4.088929555e-04,1.976887929e-04,1.322850466e-05,-3.988632062e-04,1.914803736e-04,1.704835077e-05,-3.995939156e-04,1.912045980e-04,7.019664139e-01,-4.311636905e-04,8.603407760e-01,7.019688613e-01,-4.211339412e-04,8.603345676e-01,7.027622055e-01,-5.179408488e-04,8.305170522e-01
+32,4.350000000e+00,UP_FORCE_RAMP,1792839620203391403,2.197029949e-07,-4.119781017e-04,2.026957470e-04,6.717711910e-06,-4.165141068e-04,1.979378790e-04,1.015698890e-05,-4.172785516e-04,1.976661365e-04,7.019558525e-01,-4.342488368e-04,8.603457830e-01,7.019623505e-01,-4.387848418e-04,8.603410251e-01,7.027553142e-01,-5.356254847e-04,8.305235137e-01
+33,4.466666667e+00,UP_FORCE_RAMP,1792839620406847226,-1.619212155e-05,-3.945939673e-04,2.187453299e-04,-1.617711602e-05,-3.944683246e-04,2.185354360e-04,-1.413403500e-05,-3.952149804e-04,2.181125378e-04,7.019394407e-01,-4.168647023e-04,8.603618326e-01,7.019394557e-01,-4.167390597e-04,8.603616227e-01,7.027310232e-01,-5.135619135e-04,8.305439601e-01
+34,4.616666667e+00,UP_FORCE_RAMP,1792839620646091713,-1.547230608e-05,-4.015268270e-04,2.425692668e-04,-1.207765976e-05,-4.088972792e-04,2.410618412e-04,-9.531145657e-06,-4.096426547e-04,2.406203578e-04,7.019401605e-01,-4.237975620e-04,8.603856565e-01,7.019435552e-01,-4.311680142e-04,8.603841491e-01,7.027356260e-01,-5.279895878e-04,8.305664680e-01
+35,4.750000000e+00,UP_FORCE_RAMP,1792839620777106627,-8.567835071e-06,-4.080592635e-04,2.690089010e-04,-9.515569713e-06,-3.950814614e-04,2.614292543e-04,-6.529375019e-06,-3.957967763e-04,2.608786484e-04,7.019470650e-01,-4.303299985e-04,8.604120961e-01,7.019461172e-01,-4.173521964e-04,8.604045165e-01,7.027386278e-01,-5.141437095e-04,8.305867263e-01
+36,4.883333333e+00,UP_FORCE_RAMP,1792839620925340396,-1.019451142e-05,-4.044532477e-04,2.858757831e-04,-9.325376973e-06,-4.066210025e-04,2.816000617e-04,-6.057142094e-06,-4.074062843e-04,2.810425170e-04,7.019454383e-01,-4.267239827e-04,8.604289630e-01,7.019463074e-01,-4.288917376e-04,8.604246873e-01,7.027391000e-01,-5.257532174e-04,8.306068901e-01
+37,5.000000000e+00,UP_FORCE_RAMP,1792839621039971956,-7.386608010e-06,-3.999582255e-04,2.999568831e-04,-9.325376973e-06,-4.066210025e-04,2.816000617e-04,-6.060458455e-06,-4.074088808e-04,2.811272993e-04,7.019482462e-01,-4.222289605e-04,8.604430441e-01,7.019463074e-01,-4.288917376e-04,8.604246873e-01,7.027390967e-01,-5.257558139e-04,8.306069749e-01
+38,5.150000000e+00,UP_FORCE_RAMP,1792839621188036048,-9.207394585e-06,-4.009028231e-04,3.155441398e-04,-8.809641022e-06,-3.959301173e-04,3.047574382e-04,-5.254531317e-06,-3.966851974e-04,3.041986594e-04,7.019464254e-01,-4.231735581e-04,8.604586314e-01,7.019468232e-01,-4.182008524e-04,8.604478447e-01,7.027399027e-01,-5.150321305e-04,8.306300463e-01
+39,5.333333333e+00,UP_FORCE_RAMP,1792839621367243474,-1.044070018e-05,-3.945135340e-04,3.339843702e-04,-6.477516384e-06,-4.060321757e-04,3.230946222e-04,-2.528273364e-06,-4.067872840e-04,3.225466644e-04,7.019451921e-01,-4.167842690e-04,8.604770716e-01,7.019491553e-01,-4.283029107e-04,8.604661819e-01,7.027426289e-01,-5.251342172e-04,8.306483943e-01
+40,5.516666667e+00,UP_FORCE_RAMP,1792839621579820333,-2.407343903e-05,-4.029593312e-04,3.562005651e-04,-8.852066341e-06,-3.959810477e-04,3.466479086e-04,-4.727325611e-06,-3.967406433e-04,3.460036133e-04,7.019315594e-01,-4.252300663e-04,8.604992878e-01,7.019467808e-01,-4.182517827e-04,8.604897351e-01,7.027404299e-01,-5.150875764e-04,8.306718512e-01
+41,5.716666667e+00,UP_FORCE_HOLD,1792839621778136009,-2.916562525e-05,-3.960221350e-04,3.736758133e-04,-2.673029116e-05,-3.935989973e-04,3.571387603e-04,-2.385190449e-05,-3.943631440e-04,3.564802843e-04,7.019264672e-01,-4.182928701e-04,8.605167631e-01,7.019289025e-01,-4.158697323e-04,8.605002260e-01,7.027213053e-01,-5.127100772e-04,8.306823279e-01
+42,5.916666667e+00,UP_SETTLE,1792839621989852112,-3.065658615e-05,-3.899265630e-04,3.904984168e-04,-2.860998527e-05,-3.911517749e-04,3.775336944e-04,-2.558527313e-05,-3.919121212e-04,3.768662426e-04,7.019249762e-01,-4.121972980e-04,8.605335857e-01,7.019270228e-01,-4.134225099e-04,8.605206209e-01,7.027195719e-01,-5.102590543e-04,8.307027138e-01
+43,6.116666667e+00,UP_SETTLE,1792839622202275044,-2.933287796e-05,-4.006587165e-04,4.080919447e-04,-3.037371512e-05,-3.928891208e-04,3.982267097e-04,-2.725137254e-05,-3.936461784e-04,3.974836243e-04,7.019262999e-01,-4.229294515e-04,8.605511792e-01,7.019252591e-01,-4.151598558e-04,8.605413139e-01,7.027179058e-01,-5.119931115e-04,8.307233312e-01
+44,6.316666667e+00,UP_SETTLE,1792839622399540182,-3.105606409e-05,-3.986836813e-04,4.194269704e-04,-3.032117553e-05,-3.952603367e-04,4.187543347e-04,-2.700923977e-05,-3.960428959e-04,4.180076869e-04,7.019245768e-01,-4.209544163e-04,8.605625142e-01,7.019253116e-01,-4.175310717e-04,8.605618416e-01,7.027181479e-01,-5.143898290e-04,8.307438553e-01
+45,6.500000000e+00,UP_SETTLE,1792839622578832499,-3.216072180e-05,-3.913924810e-04,4.316219611e-04,-3.032117553e-05,-3.952603367e-04,4.187543347e-04,-2.701670254e-05,-3.960423152e-04,4.181129257e-04,7.019234721e-01,-4.136632160e-04,8.605747092e-01,7.019253116e-01,-4.175310717e-04,8.605618416e-01,7.027181405e-01,-5.143892483e-04,8.307439605e-01
+46,6.650000000e+00,UP_SETTLE,1792839622726650832,-3.330056197e-05,-3.991567737e-04,4.391995704e-04,-2.899731059e-05,-3.831973756e-04,4.420365338e-04,-2.524376208e-05,-3.839679997e-04,4.412739614e-04,7.019223323e-01,-4.214275087e-04,8.605822868e-01,7.019266355e-01,-4.054681106e-04,8.605851238e-01,7.027199134e-01,-5.023149328e-04,8.307671216e-01
+47,6.783333333e+00,UP_SETTLE,1792839622857241705,-3.026386474e-05,-3.798793280e-04,4.518128114e-04,-3.015923245e-05,-3.799411504e-04,4.516351550e-04,-2.639604735e-05,-3.807036233e-04,4.509035145e-04,7.019253690e-01,-4.021500631e-04,8.605949001e-01,7.019254736e-01,-4.022118854e-04,8.605947224e-01,7.027187611e-01,-4.990505565e-04,8.307767511e-01
+48,6.866666667e+00,UP_SETTLE,1792839622938893787,-3.299945159e-05,-3.709916018e-04,4.526781638e-04,-3.294750314e-05,-3.711184987e-04,4.525698792e-04,-2.941550297e-05,-3.718651089e-04,4.518568572e-04,7.019226334e-01,-3.932623368e-04,8.605957654e-01,7.019226853e-01,-3.933892337e-04,8.605956571e-01,7.027157417e-01,-4.902120420e-04,8.307777045e-01
+49,6.916666667e+00,UP_SETTLE,1792839622987706982,-5.452942538e-05,-4.155737031e-04,4.514699372e-04,-5.436049829e-05,-4.155323570e-04,4.515782629e-04,-5.229967490e-05,-4.163165509e-04,4.508693225e-04,7.019011034e-01,-4.378444381e-04,8.605945572e-01,7.019012723e-01,-4.378030920e-04,8.605946655e-01,7.026928575e-01,-5.346634841e-04,8.307767169e-01
+50,6.950000000e+00,UP_SETTLE,1792839623020913269,-7.650728506e-05,-3.922557381e-04,4.228546335e-04,-7.658553899e-05,-3.922276749e-04,4.224737256e-04,-7.651474494e-05,-3.929540521e-04,4.219363584e-04,7.018791255e-01,-4.145264731e-04,8.605659419e-01,7.018790473e-01,-4.144984100e-04,8.605655610e-01,7.026686424e-01,-5.113009852e-04,8.307477840e-01
+51,6.983333333e+00,UP_SETTLE,1792839623053731859,-5.947916193e-05,-3.778362820e-04,4.517479842e-04,-5.949729498e-05,-3.778711715e-04,4.518980217e-04,-5.793080773e-05,-3.785885932e-04,4.511753159e-04,7.018961537e-01,-4.001070171e-04,8.605948352e-01,7.018961355e-01,-4.001419066e-04,8.605949853e-01,7.026872264e-01,-4.969355264e-04,8.307770229e-01
+52,7.033333333e+00,UP_SETTLE,1792839623102863442,-7.426322465e-05,-4.217170577e-04,4.435833397e-04,-7.422413191e-05,-4.215753810e-04,4.436747429e-04,-7.375361773e-05,-4.223617207e-04,4.429853152e-04,7.018813696e-01,-4.439877928e-04,8.605866706e-01,7.018814087e-01,-4.438461160e-04,8.605867620e-01,7.026714036e-01,-5.407086538e-04,8.307688329e-01
+53,7.100000000e+00,UP_SETTLE,1792839623167888031,-6.969354540e-05,-3.892565220e-04,4.501581043e-04,-6.618407198e-05,-3.787985933e-04,4.493422654e-04,-6.509277921e-05,-3.795219785e-04,4.486890068e-04,7.018859393e-01,-4.115272570e-04,8.605932453e-01,7.018894487e-01,-4.010693283e-04,8.605924295e-01,7.026800644e-01,-4.978689116e-04,8.307745366e-01
+54,7.150000000e+00,UP_SETTLE,1792839623217118680,-7.065371508e-05,-4.052808432e-04,4.517722780e-04,-7.364641589e-05,-4.059884247e-04,4.461866097e-04,-7.311866075e-05,-4.067843234e-04,4.455698358e-04,7.018849791e-01,-4.275515782e-04,8.605948595e-01,7.018819864e-01,-4.282591597e-04,8.605892738e-01,7.026720385e-01,-5.251312565e-04,8.307714174e-01
+55,7.250000000e+00,UP_SETTLE,1792839623315423144,-7.004576899e-05,-3.989594417e-04,4.543698752e-04,-6.952034901e-05,-4.059165006e-04,4.549882702e-04,-6.864088378e-05,-4.066791304e-04,4.543570532e-04,7.018855870e-01,-4.212301767e-04,8.605974571e-01,7.018861125e-01,-4.281872356e-04,8.605980755e-01,7.026765163e-01,-5.250260635e-04,8.307802047e-01
+56,7.416666667e+00,UP_SETTLE,1792839623480158768,-7.271019745e-05,-3.996440176e-04,4.594623359e-04,-7.010705949e-05,-3.842017231e-04,4.561767368e-04,-6.931725754e-05,-3.849240366e-04,4.555889360e-04,7.018829226e-01,-4.219147526e-04,8.606025496e-01,7.018855258e-01,-4.064724582e-04,8.605992640e-01,7.026758399e-01,-5.032709697e-04,8.307814365e-01
+57,7.600000000e+00,UP_SETTLE,1792839623659615858,-7.787449864e-05,-4.186251076e-04,4.601544388e-04,-7.754324745e-05,-4.188646268e-04,4.601212932e-04,-7.723937405e-05,-4.196118650e-04,4.595442105e-04,7.018777583e-01,-4.408958426e-04,8.606032417e-01,7.018780896e-01,-4.411353618e-04,8.606032085e-01,7.026679178e-01,-5.379587981e-04,8.307853918e-01
+58,7.716666667e+00,UP_SETTLE,1792839623774101258,-8.152895177e-05,-4.144451100e-04,4.697703746e-04,-7.862622742e-05,-4.011892847e-04,4.721668924e-04,-7.827772569e-05,-4.019157402e-04,4.715063585e-04,7.018741039e-01,-4.367158450e-04,8.606128576e-01,7.018770066e-01,-4.234600198e-04,8.606152541e-01,7.026668795e-01,-5.202626733e-04,8.307973540e-01
+59,7.950000000e+00,UP_SETTLE,1792839624003322469,-8.276353774e-05,-4.181855987e-04,4.712049196e-04,-7.862622742e-05,-4.011892847e-04,4.721668924e-04,-7.831292415e-05,-4.019109030e-04,4.715827809e-04,7.018728693e-01,-4.404563337e-04,8.606142922e-01,7.018770066e-01,-4.234600198e-04,8.606152541e-01,7.026668443e-01,-5.202578362e-04,8.307974304e-01

Part2/Fixed/digit/ball_15A_15/press_depth_07/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,5.7378e-02,1.1390e-01,2.4608e+00,-4.4567e-02,4.0836e-02,1.3731e-04,4.4363e-04,1.4156e-06,-8.6784e-05,2.5295e-06,3.1576e-05,-1.6631e-06,4.5204e-04,3.1720e-05
+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,5.7431e-05,6.1546e-02,1.1391e-01,2.4600e+00,-4.4543e-02,4.1133e-02,1.2127e-04,4.6115e-03,8.8364e-06,-8.4829e-04,2.6882e-05,3.2822e-04,-1.7705e-05,4.6888e-03,3.2980e-04
+2,3.8333e-01,WAIT_W2,1.1152e-04,6.6327e-02,1.1390e-01,2.4593e+00,-4.4514e-02,4.1473e-02,1.0177e-04,9.3926e-03,1.5721e-06,-1.6084e-03,5.6297e-05,6.6858e-04,-3.7206e-05,9.5293e-03,6.7197e-04
+3,5.3333e-01,WAIT_W2,1.6903e-04,6.9311e-02,1.1391e-01,2.4588e+00,-4.4496e-02,4.1685e-02,8.9231e-05,1.2376e-02,1.2264e-05,-2.0382e-03,7.3891e-05,8.8086e-04,-4.9745e-05,1.2543e-02,8.8535e-04
+4,6.8333e-01,WAIT_W2,2.3095e-04,7.2060e-02,1.1392e-01,2.4585e+00,-4.4479e-02,4.1881e-02,7.7473e-05,1.5126e-02,1.7524e-05,-2.4064e-03,9.0633e-05,1.0763e-03,-6.1503e-05,1.5316e-02,1.0818e-03
+5,7.0000e-01,WAIT_W2,2.8326e-04,6.9332e-02,1.9686e-01,2.4497e+00,-5.0223e-02,4.1693e-02,1.0039e-04,1.2398e-02,8.2965e-02,-1.1205e-02,-5.6529e-03,8.8872e-04,-3.8585e-05,8.4632e-02,5.7225e-03
+6,7.1667e-01,WAIT_W2,3.5935e-04,7.4245e-02,3.4334e-01,2.4484e+00,-6.0374e-02,4.2034e-02,1.4257e-04,1.7311e-02,2.2944e-01,-1.2493e-02,-1.5804e-02,1.2298e-03,3.5977e-06,2.3043e-01,1.5851e-02
+7,7.1667e-01,WAIT_W2,3.5935e-04,7.4245e-02,3.4334e-01,2.4484e+00,-6.0374e-02,4.2034e-02,1.4257e-04,1.7311e-02,2.2944e-01,-1.2493e-02,-1.5804e-02,1.2298e-03,3.5977e-06,2.3043e-01,1.5851e-02
+8,7.3333e-01,WAIT_W2,4.6238e-04,7.4863e-02,5.5516e-01,2.4452e+00,-7.5058e-02,4.2071e-02,2.0844e-04,1.7929e-02,4.4127e-01,-1.5669e-02,-3.0489e-02,1.2662e-03,6.9460e-05,4.4191e-01,3.0515e-02
+9,7.5000e-01,WAIT_W2,5.4778e-04,7.8625e-02,8.3497e-01,2.4419e+00,-9.4477e-02,4.2330e-02,3.0491e-04,2.1691e-02,7.2107e-01,-1.8937e-02,-4.9907e-02,1.5258e-03,1.6593e-04,7.2164e-01,4.9931e-02
+10,7.5000e-01,WAIT_W2,5.4778e-04,7.8625e-02,8.3497e-01,2.4419e+00,-9.4477e-02,4.2330e-02,3.0491e-04,2.1691e-02,7.2107e-01,-1.8937e-02,-4.9907e-02,1.5258e-03,1.6593e-04,7.2164e-01,4.9931e-02
+11,7.8333e-01,WAIT_W2,6.3182e-04,1.0055e-01,1.2488e+00,2.4546e+00,-1.2329e-01,4.3843e-02,4.5059e-04,4.3618e-02,1.1349e+00,-6.2733e-03,-7.8718e-02,3.0386e-03,3.1161e-04,1.1357e+00,7.8777e-02
+12,8.5000e-01,WAIT_W2,6.8280e-04,9.5278e-02,1.1847e+00,2.4589e+00,-1.1906e-01,4.3480e-02,4.4748e-04,3.8344e-02,1.0708e+00,-2.0118e-03,-7.4490e-02,2.6757e-03,3.0850e-04,1.0715e+00,7.4539e-02
+13,9.8333e-01,WAIT_W2,7.4616e-04,1.0280e-01,1.2348e+00,2.4720e+00,-1.2270e-01,4.3999e-02,4.6708e-04,4.5862e-02,1.1209e+00,1.1111e-02,-7.8133e-02,3.1944e-03,3.2811e-04,1.1219e+00,7.8199e-02
+14,1.1333e+00,WAIT_W2,7.9728e-04,1.0811e-01,1.2324e+00,2.4803e+00,-1.2265e-01,4.4369e-02,4.5801e-04,5.1175e-02,1.1185e+00,1.9412e-02,-7.8081e-02,3.5645e-03,3.1904e-04,1.1198e+00,7.8163e-02
+15,1.2833e+00,WAIT_W2,8.5662e-04,1.0284e-01,1.2456e+00,2.4644e+00,-1.2376e-01,4.4020e-02,4.8494e-04,4.5907e-02,1.1317e+00,3.5200e-03,-7.9185e-02,3.2153e-03,3.4596e-04,1.1326e+00,7.9251e-02
+16,1.4000e+00,WAIT_W2,9.1426e-04,1.0789e-01,1.2442e+00,2.4717e+00,-1.2373e-01,4.4369e-02,4.8157e-04,5.0959e-02,1.1303e+00,1.0840e-02,-7.9155e-02,3.5644e-03,3.4259e-04,1.1315e+00,7.9236e-02
+17,1.5833e+00,UP_FORCE_RAMP,9.7053e-04,1.1396e-01,1.2428e+00,2.4794e+00,-1.2371e-01,4.4792e-02,4.7185e-04,5.7030e-02,1.1289e+00,1.8483e-02,-7.9140e-02,3.9872e-03,3.3287e-04,1.1304e+00,7.9241e-02
+18,1.8500e+00,UP_FORCE_RAMP,1.0281e-03,1.2081e-01,1.2413e+00,2.4865e+00,-1.2369e-01,4.5270e-02,4.5258e-04,6.3877e-02,1.1274e+00,2.5625e-02,-7.9122e-02,4.4656e-03,3.1360e-04,1.1295e+00,7.9248e-02
+19,2.0833e+00,UP_FORCE_RAMP,1.0872e-03,1.2543e-01,1.2404e+00,2.4904e+00,-1.2368e-01,4.5594e-02,4.3225e-04,6.8494e-02,1.1265e+00,2.9564e-02,-7.9108e-02,4.7893e-03,2.9328e-04,1.1290e+00,7.9254e-02
+20,2.3167e+00,UP_FORCE_RAMP,1.1428e-03,1.2915e-01,1.2397e+00,2.4931e+00,-1.2366e-01,4.5856e-02,4.1015e-04,7.2215e-02,1.1258e+00,3.2176e-02,-7.9095e-02,5.0510e-03,2.7118e-04,1.1286e+00,7.9256e-02
+21,2.5167e+00,UP_FORCE_RAMP,1.1957e-03,1.3181e-01,1.2392e+00,2.4946e+00,-1.2365e-01,4.6043e-02,3.9052e-04,7.4874e-02,1.1253e+00,3.3695e-02,-7.9081e-02,5.2387e-03,2.5154e-04,1.1283e+00,7.9255e-02
+22,2.6167e+00,UP_FORCE_RAMP,1.2635e-03,1.6622e-01,1.2321e+00,2.4866e+00,-1.2321e-01,4.8481e-02,2.9029e-04,1.0928e-01,1.1182e+00,2.5734e-02,-7.8636e-02,7.6760e-03,1.5131e-04,1.1238e+00,7.9010e-02
+23,2.7667e+00,UP_FORCE_RAMP,1.3113e-03,1.4780e-01,1.2142e+00,2.4664e+00,-1.2207e-01,4.7210e-02,2.7878e-04,9.0862e-02,1.1003e+00,5.5060e-03,-7.7499e-02,6.4053e-03,1.3981e-04,1.1040e+00,7.7763e-02
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Part2/Fixed/digit/ball_15A_15/press_depth_08/down/camera_frames_60hz.tar

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Part2/Fixed/digit/ball_15A_15/press_depth_08/down/franka_data.csv

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+18791,1792839677646496337,18357072000000,1792839677644308527,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6759225692414041,-0.004849512967896017,0.10672991609107844,0.9999999509552856,-0.00013248132905303663,-0.0002644397344768114,4.530579551169812e-05,0.6761,-0.0046,0.10691750816631876,1.0,0.0,0.0,0.0,0.0278236703458703,0.029460161521923323,0.08008338118674163,0.001535886115800314,-0.0010802869254557396,-7.16365485725083e-05,0.9389185376131992,1.0169618716693987,0.44798006962240566,0.0771491325170431,-0.07124092429151191,0.0005495083920451896,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,0.3428422377100251,1.338748327245315,0.8972676450863702,-0.12025438003960418,-0.5445281825045833,0.7813119442030797,-1.1525176019116832,-0.08008338118674163,-2.0497852469980535,-2.0497852469980535,0.27255000000000534,0,0,-9.084998217198515e-05,-9.999999025923074e-05
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+18950,1792839678971484497,18358397000000,1792839678964309741,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6759383268177191,-0.004861683848840751,0.10661156453507484,0.9999999587065871,-0.00012431719457996633,-0.00022800872633676764,8.115999158815601e-05,0.6761,-0.0046,0.1067532744484979,1.0,0.0,0.0,0.0,-0.08095942056908123,-0.03892016652438901,0.449460218502058,-0.002210544590868835,0.005524379730770426,0.0007099759040888304,0.8301354466982477,0.9485815436230863,0.817356906937722,0.07340270181037395,-0.06463625763528574,0.0013311208447065283,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,0.5712281576418088,1.282165377613159,0.4408687194824649,-0.011652336161929136,-0.2056097360931107,0.730304611934506,-1.1525176019116832,-0.449460218502058,-1.5933863213941482,-1.5933863213941482,0.47129999999998345,0,0,-0.00015709996926546588,-9.999999025923074e-05
+19037,1792839679696479107,18359122000000,1792839679696308936,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6759584161060226,-0.004864979597442805,0.10652788089613258,0.9999999668636236,-0.00012007810503701366,-0.00018104119575746108,0.00010257168247098851,0.6761,-0.0046,0.10662625447334396,1.0,0.0,0.0,0.0,-0.13637196688617015,-0.03809953474732908,0.6881899089805013,-0.0017174500349371458,0.009737427431169988,0.000581430073197248,0.7747229003811588,0.9494021754001463,1.0560865974161653,0.07389579636630564,-0.06042320993488618,0.001202575013814946,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,0.5682690416918593,1.2895483490943125,0.24744168800773095,-0.007340854554825103,-0.09532688768519626,0.7310069744476207,-1.1525176019116832,-0.6881899089805013,-1.3999592899194142,-1.3999592899194142,0.5800499999999715,0,0,-0.00019334996220340817,-9.999999025923074e-05
+19149,1792839680630439104,18360056000000,1792839680628308461,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6759753175201413,-0.0048720229971392194,0.10638214885686297,0.999999969164047,-0.0001449418013254676,-0.00014264882214338467,0.0001084341145880564,0.6761,-0.0046,0.10642388006289924,1.0,0.0,0.0,0.0,-0.17995899455402076,-0.024243346136444632,1.0909999687585665,-0.0005065694454512576,0.013065912783670752,0.0003235131665213734,0.7311358727133082,0.9632583640110307,1.4588966571942306,0.07510667695579153,-0.05709472458238542,0.0009446581071390713,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,0.6612497555565845,1.2694136106616405,-0.24777718045754432,-0.007500744701384767,0.24654688101781938,0.717513774687539,-1.1525176019116832,-1.0909999687585665,-0.9047404214541388,-0.9047404214541388,0.7201499999999561,0,0,-0.00024004995310552969,-9.999999025923074e-05
+19194,1792839681005438970,18360431000000,1792839681000308834,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6760408861285575,-0.004862608282897078,0.10634468881673512,0.9999999758519913,-0.00015189385663223076,-7.210749397289078e-05,0.00010708709838918906,0.6761,-0.0046,0.10633035508117139,1.0,0.0,0.0,0.0,-0.28085519152390526,0.09256247648040217,1.1606677751959873,0.008951205868803644,0.02135682111117712,0.0014338047927589855,0.6302396757434237,1.0800641866278775,1.5285644636316513,0.08456445227004643,-0.04880381625487905,0.0020549497333766835,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,0.8152737460452417,1.3290433596477287,-0.34277958485814986,-0.016499107517708826,0.32443078039088863,0.7561690627609535,-1.1525176019116832,-1.1606677751959873,-0.8097380170535333,-0.8097380170535333,0.7763999999999499,0,0,-0.0002587999494527412,-9.999999025923074e-05
+19251,1792839681480395387,18360906000000,1792839681480308483,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6760542811897324,-0.004872385203689418,0.10626594722752185,0.9999999750869843,-0.00016321962798917096,-4.234752208144458e-05,0.00011329137387410116,0.6761,-0.0046,0.10620179635628253,1.0,0.0,0.0,0.0,-0.3571551367976903,0.05597524328601067,1.4043660225894568,0.0056578820259733514,0.025865526330328473,0.001336138346154367,0.5539397304696386,1.043476953433486,1.7722627110251208,0.08127112842721614,-0.0442951110357277,0.001957283286772065,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.0155053360889101,1.1921602933812465,-0.5967514613920958,0.02741756203802163,0.5386441148263831,0.6675098385688006,-1.1525176019116832,-1.4043660225894568,-0.5557661405195874,-0.5557661405195874,0.8476499999999421,0,0,-0.0002825499448258758,-9.999999025923074e-05
+19288,1792839681788470859,18361214000000,1792839681784309101,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6760688641819086,-0.0048803545039813314,0.10620410259736673,0.9999999731518409,-0.00017086663844990898,-1.5551846112649932e-05,0.00012530727708085027,0.6761,-0.0046,0.10611240707373969,1.0,0.0,0.0,0.0,-0.38016608309332445,0.0564604090922064,1.591512782467532,0.006530727669739972,0.027901574196081545,0.0012318415446522808,0.5309287841740045,1.0439621192396817,1.959409470903196,0.08214397407098276,-0.042259063169974624,0.0018529864852699785,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.1519866386569575,1.237547056725634,-0.8324220708323694,0.011024505490828496,0.7232704413526168,0.7002467316922514,-1.1525176019116832,-1.591512782467532,-0.32009553107931377,-0.32009553107931377,0.893849999999937,0,0,-0.00029794994182571886,-9.999999025923074e-05
+19328,1792839682121389639,18361547000000,1792839682120308818,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6760855406999727,-0.004860024010844231,0.1061308554449337,0.9999999747150079,-0.00015902842615375567,7.832651946356222e-06,0.0001290792669616905,0.6761,-0.0046,0.10601042584365342,1.0,0.0,0.0,0.0,-0.37420862745122063,0.11093155898195939,1.7963954705396947,0.009966037375137765,0.02796577151511704,0.0011121646896773058,0.5368862398161083,1.0984332691294347,2.1642921589753588,0.08557928377638055,-0.04219486585093913,0.0017333096302950036,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.1772605768406836,1.1952125637710067,-0.997701856346817,0.02462384596906269,0.8337720247639092,0.6663380769139304,-1.1525176019116832,-1.7963954705396947,-0.15481574556486621,-0.15481574556486621,0.9437999999999315,0,0,-0.0003145999385820427,-9.999999025923074e-05
+19391,1792839682646434534,18362072000000,1792839682644308971,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6761139741390149,-0.004873155089308288,0.10600925325144231,0.999999965146688,-0.00020870007723729117,6.0191219096906166e-05,0.00011819806237819076,0.6761,-0.0046,0.1058383833772428,1.0,0.0,0.0,0.0,-0.42741794660216864,0.14792708887800432,2.11741989955771,0.013732051774242984,0.031384315746128745,0.00197555353011271,0.48367692066516027,1.1354287990254797,2.485316587993374,0.08934529817548577,-0.038776321619927424,0.002596698470730408,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.2980285198961783,1.2075441464415841,-1.4480087189324227,0.026415195754036242,1.1492200104863233,0.6762650370639733,-1.1525176019116832,-2.11741989955771,0.2954911170207395,0.2954911170207395,1.0225499999999395,0,0,-0.00034084993346813883,-9.999999025923074e-05
+19461,1792839683230413465,18362656000000,1792839683228309422,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6761479926626351,-0.004877541314340948,0.10586240850903747,0.9999999499104031,-0.00026374665516589254,0.00011488999288215729,9.412782081893264e-05,0.6761,-0.0046,0.10563083436545474,1.0,0.0,0.0,0.0,-0.4647732719037603,0.18910073255909954,2.518172076728266,0.01673504957401631,0.03508641757969453,0.0017420042622985354,0.44632159536356864,1.1766024427065749,2.88606876516393,0.09234829597525909,-0.03507421978636164,0.0023631492029162334,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.4246474566731548,1.0686701358058088,-1.8512279221588361,0.0915044894812359,1.430592799582073,0.5813452774546388,-1.1525176019116832,-2.518172076728266,0.698710320247153,0.698710320247153,1.1101499999999946,0,0,-0.0003697245279890834,-9.999999025923074e-05
+19536,1792839683855438240,18363281000000,1792839683852308891,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.676185822691777,-0.004880235174245876,0.10570187133659904,0.9999999732895221,-9.146124464308177e-06,0.00017622071637261687,0.00011715983582395982,0.6761,-0.0046,0.10539790651804158,1.0,0.0,0.0,0.0,-0.5239642641804555,0.24151016481195386,2.9010636282489055,0.02049217350937939,0.03920234180643392,0.002568644026171501,0.3871306030868734,1.2290118749594292,3.2689603166845695,0.09610541991062217,-0.030958295559622248,0.003189788966789199,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.5528628591892875,1.228748382770085,-2.245002732853531,0.003231489481082627,1.7131062483547996,0.6355272509908971,-1.1525176019116832,-2.9010636282489055,1.092485130941848,1.092485130941848,1.2039000000000537,0,0,-0.00036169005711708815,9.999999025923074e-05
+19595,1792839684346349289,18363772000000,1792839684344308705,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6762113612736086,-0.004899359990976107,0.10557500696044676,0.999999963393888,-6.0195569981321787e-05,0.00021823945947218974,0.0001157718398444584,0.6761,-0.0046,0.10522633144882054,1.0,0.0,0.0,0.0,-0.4502873986906197,0.3730441934765948,3.208640659732757,0.030396280514671664,0.03519406733731057,0.002372209875769808,0.46080746857670923,1.3605459036240701,3.576537348168421,0.10600952691591445,-0.0349665700287456,0.002993354816387506,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.632615910733796,1.2527642642254189,-2.6109439628200155,0.05216110917718786,1.959667506894073,0.6879128570764774,-1.1525176019116832,-3.208640659732757,1.4584263609083323,1.4584263609083323,1.2775500000001,0,0,-0.00033714006189980585,9.999999025923074e-05
+19615,1792839684513440967,18363939000000,1792839684512308810,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6762205466908793,-0.004856895656820734,0.10553086205776017,0.9999999621332364,-3.899150931055084e-05,0.00023023882875155925,0.0001124550316286187,0.6761,-0.0046,0.10517072210834663,1.0,0.0,0.0,0.0,-0.6856604450967319,0.15587624208266215,3.320838834389418,0.015052182252571322,0.05047136038090652,0.002332437413267759,0.225434422170597,1.1433779522301375,3.688735522825082,0.0906654286538141,-0.019689276985149648,0.002953582353885457,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.6532842292336718,1.0848071010053664,-2.6889338182357245,0.08984417483904861,2.013995747672574,0.591562239220907,-1.1525176019116832,-3.320838834389418,1.5364162163240414,1.5364162163240414,1.3026000000001159,0,0,-0.0003287900635265143,9.999999025923074e-05
+19654,1792839684838456025,18364264000000,1792839684836308891,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6762334687663287,-0.004877763107900453,0.10545689454092923,0.9999999541409546,-7.518311183628317e-05,0.0002533203344663719,0.0001154870613592699,0.6761,-0.0046,0.1050664978371845,1.0,0.0,0.0,0.0,-0.6498879324588729,0.22360898805184204,3.4867889468529154,0.020234875090923393,0.048980879254990534,0.002235990098344888,0.261206934808456,1.2111106981993174,3.8546856352885794,0.09584812149216618,-0.021179758111065632,0.002857135038962586,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.7035386107374608,1.0138308324517318,-2.87092925487941,0.14583179440171387,2.137331760601426,0.5754107551365739,-1.1525176019116832,-3.4867889468529154,1.7184116529677267,1.7184116529677267,1.3513500000001466,0,0,-0.0003125400666922643,9.999999025923074e-05
+19684,1792839685088407085,18364514000000,1792839685084309177,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6762450825889393,-0.004885257781139008,0.10540335278969182,0.9999999474769492,-9.516805971157694e-05,0.0002730497997957457,0.00011347162856926017,0.6761,-0.0046,0.10498991907020581,1.0,0.0,0.0,0.0,-0.5417238254836986,0.3559812015523868,3.5976065629117855,0.02940756629123291,0.04192698861348225,0.0021539624660164704,0.36937104178363034,1.3434829116998621,3.9655032513474495,0.10502081269247569,-0.028233648752573923,0.0027751074066341684,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.7616177722113187,1.0081973431588247,-3.019884190175118,0.16606863661163696,2.2462789838300687,0.5769416568258884,-1.1525176019116832,-3.5976065629117855,1.867366588263435,1.867366588263435,1.3888500000001702,0,0,-0.00030004006912745664,9.999999025923074e-05
+19744,1792839685588434344,18365014000000,1792839685584309095,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6762626082866342,-0.004886920518038398,0.10529062828205314,0.9999999363969226,-0.00011861659805144253,0.00030396576633108524,0.00011038084364352084,0.6761,-0.0046,0.10484613653442205,1.0,0.0,0.0,0.0,-0.6547913123724731,0.2896242617727617,3.8478622508831304,0.025154775433651036,0.04900810763580511,0.0030254759280638225,0.2563035548948558,1.277125971920237,4.215758939318794,0.10076802183489382,-0.021152529730251057,0.0036466208686815205,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.7872624156291266,1.0491378796820652,-3.309451492868269,0.16071364910261582,2.4367821487963957,0.6074754295230044,-1.1525176019116832,-3.8478622508831304,2.156933890956586,2.156933890956586,1.4638500000002175,0,0,-0.00027504007399784127,9.999999025923074e-05
+19821,1792839686230396849,18365656000000,1792839686228318224,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6762850308750626,-0.004886939896493446,0.10516693169243366,0.9999999231906982,-0.00012713030859723824,0.0003388835602324218,0.00011856339732743087,0.6761,-0.0046,0.10467984885490492,1.0,0.0,0.0,0.0,-0.6930956506399533,0.30122856440133516,4.101107832336314,0.02612914194726075,0.05193708893129056,0.00287473507210856,0.21799921662737562,1.2887302745488105,4.469004520771978,0.10174238834850353,-0.01822354843476561,0.003495880012726258,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.8466323753048681,1.0602403336494362,-3.4666947739490004,0.16909830571750675,2.549858915100699,0.6142861798227306,-1.1525176019116832,-4.101107832336314,2.314177172037317,2.314177172037317,1.5601500000002781,0,0,-0.0002429400802514151,9.999999025923074e-05
+19902,1792839686905422607,18366331000000,1792839686900308671,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763082409536523,-0.004909640752059675,0.1050519157124913,0.9999999046989602,-0.00015776095203182507,0.0003767639767696361,0.00012330986530412007,0.6761,-0.0046,0.10452723804851285,1.0,0.0,0.0,0.0,-0.6870910747863712,0.3689305482951327,4.2936176271053625,0.02976504989550019,0.05179260124949724,0.002756597183712028,0.22400379248095773,1.356432258442608,4.661514315541027,0.10537829629674297,-0.018368036116558926,0.003377742124329726,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.886619301631865,1.2106646840808073,-3.7972082566337972,0.129374101456732,2.7722875307808303,0.7103776225803334,-1.1525176019116832,-4.2936176271053625,2.644690654722114,2.644690654722114,1.661400000000342,0,0,-0.00020919008682643436,9.999999025923074e-05
+19968,1792839687455428686,18366881000000,1792839687452319665,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6763208027285863,-0.004889802257847744,0.10496400640211953,0.9999998971072608,-0.0001560314426261287,0.00039821057970897925,0.00011962798661037442,0.6761,-0.0046,0.10441973224928235,1.0,0.0,0.0,0.0,-0.7229925411295813,0.324455697452101,4.4316641020178755,0.027965363161309986,0.05486059028596109,0.002673562386985807,0.18810232613774758,1.3119574075995764,4.79956079045354,0.10357860956255277,-0.015300047080095082,0.003294707327603505,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.9236682294834062,1.0833015339117815,-3.786622032414885,0.17239879073142045,2.779701942021612,0.6226597080055003,-1.1525176019116832,-4.4316641020178755,2.6341044305032018,2.6341044305032018,1.743900000000394,0,0,-0.00018169009218385745,9.999999025923074e-05
+20055,1792839688180422424,18367606000000,1792839688180309660,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763298428245351,-0.0048989289565002925,0.10486425439542285,0.9999998892549801,-0.00015838410029893668,0.00041510303501606817,0.00012464685758443013,0.6761,-0.0046,0.10430112942988552,1.0,0.0,0.0,0.0,-0.7139685065032,0.3333616966822427,4.560056447877588,0.028013026738247307,0.05460779727329984,0.002569391577058468,0.19712636076412887,1.320863406829718,4.927953136313252,0.10362627313949009,-0.01555284009275633,0.003190536517676166,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.952237781279076,1.185397912606069,-3.949295227113821,0.159392174087601,2.890536351035854,0.6939170724812852,-1.1525176019116832,-4.560056447877588,2.7967776252021377,2.7967776252021377,1.8526500000004624,0,0,-0.00014544009924591516,9.999999025923074e-05
+20153,1792839688996348475,18368422000000,1792839688996309030,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763373575859858,-0.0049017932967942825,0.10477479067445905,0.9999998866224078,-0.00014438287051699196,0.00042718647573020596,0.00012191528775411521,0.6761,-0.0046,0.1041990763056539,1.0,0.0,0.0,0.0,-0.6712623684907362,0.3575484923917086,4.622733671025301,0.02897121869750341,0.052830219972705886,0.0025064330857938136,0.2398324987765927,1.345050202539184,4.990630359460965,0.1045844650987462,-0.017330417393350287,0.0031275780264115116,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.8465277421878026,1.0876496765477563,-4.012614731160644,0.2014709390746052,2.9056845741847805,0.6341925305525917,-1.1525176019116832,-4.622733671025301,2.860097129248961,2.860097129248961,1.9750500000005395,0,0,-0.00010464010719438287,9.999999025923074e-05
+20273,1792839689996356778,18369422000000,1792839689992318211,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763439207709082,-0.004906089572189867,0.10470085757706919,0.9999998879386592,-9.029953898746907e-05,0.00043842036789010474,0.00012328466042613707,0.6761,-0.0046,0.10411941119358427,1.0,0.0,0.0,0.0,-0.6414793285867424,0.34552389148255747,4.644127070703473,0.028000865758397858,0.05082263682941419,0.002450145263539446,0.2696155386805866,1.3330256016300328,5.0120237591391374,0.10361411215964064,-0.019338000536641982,0.003071290204157144,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.9003474729006091,1.1501665811553248,-4.142595826880537,0.18511592797158227,3.0081297869987726,0.6757065918399614,-1.1525176019116832,-4.644127070703473,2.9900782249688542,2.9900782249688542,2.125050000000634,0,0,-5.464011693515213e-05,9.999999025923074e-05
+20395,1792839691013384991,18370439000000,1792839691012308548,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763412567474165,-0.0049094523176862435,0.10465942857042618,0.9999998892090401,-9.805320845793389e-05,0.0004333678250777866,0.00012491064131496386,0.6761,-0.0046,0.10408960661743184,1.0,0.0,0.0,0.0,-0.6053015764422731,0.3534219037079519,4.5950506561927815,0.02798239418483303,0.048855477023452804,0.0024634754615242603,0.30579329082505585,1.3409236138554272,4.962947344628446,0.10359564058607582,-0.02130516034260337,0.0030846204021419583,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.834093077779204,1.1900701957049495,-4.038482306304458,0.1783850064968696,2.9298023674153697,0.7061609242369944,-1.1525176019116832,-4.5950506561927815,2.885964704392775,2.885964704392775,2.27760000000073,0,0,-5.365239246629683e-06,5.419433582454225e-05
+20489,1792839691796388909,18371222000000,1792839691792308674,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6763412253726405,-0.004908226100224964,0.10464992088934291,0.9999998902571366,-9.574107964217747e-05,0.0004309720376416908,0.0001265911828798775,0.6761,-0.0046,0.10408855475758225,1.0,0.0,0.0,0.0,-0.5800277369848454,0.3528571294746853,4.5340670038431945,0.02759961094098068,0.047632129858441154,0.0024875321992776605,0.3310671302824834,1.3403588396221606,4.9019636922788585,0.10321285734222346,-0.022528507507615016,0.0031086771398953585,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.8465798913592906,1.1601001055755744,-3.938737044374336,0.1915181452716654,2.8742932073610334,0.6874293865290735,-1.1525176019116832,-4.5340670038431945,2.7862194424626527,2.7862194424626527,2.395050000000804,0,0,-1.0592696969569104e-07,1.069969390865566e-06
+20580,1792839692555388860,18371981000000,1792839692552308783,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763385996873854,-0.004909432931716525,0.10464372181172849,0.9999998912485621,-9.942256904851474e-05,0.00042786680355200255,0.00012645504956904346,0.6761,-0.0046,0.10408853404445366,1.0,0.0,0.0,0.0,-0.5843076330673121,0.3380907183604961,4.485460257715122,0.02607379445514907,0.04785331846863852,0.0025158185868261367,0.32678723420001676,1.3255924285079714,4.853356946150786,0.10168704085639185,-0.02230731889741765,0.0031369635274438347,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.7347169479242037,1.1375575570018874,-3.856197260077624,0.1989196853469414,2.789237384749438,0.6698243740441505,-1.1525176019116832,-4.485460257715122,2.703679658165941,2.703679658165941,2.508900000000876,0,0,-2.3585758346378327e-09,2.3823998329675078e-08
+20637,1792839693030382716,18372456000000,1792839693028308419,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763335162595489,-0.0049357716270141344,0.10463386841225937,0.9999998920871125,-0.00011497121905445564,0.00041990596493825526,0.00013315114423548534,0.6761,-0.0046,0.10408853361636748,1.0,0.0,0.0,0.0,-0.49301652968886023,0.4347351314136626,4.46038252089902,0.03327213626721311,0.041416290344,0.0025066889201609964,0.4180783375784687,1.422236841561138,4.828279209334684,0.10888538266845589,-0.028744347022056173,0.0031278338607786944,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.7307157609140138,1.298608093361537,-3.830884978625993,0.1556131628509442,2.7770202780175546,0.7777569634782998,-1.1525176019116832,-4.46038252089902,2.6783673767143097,2.6783673767143097,2.5801500000009208,0,0,-2.1803808758491527e-10,2.2024049251001543e-09
+20692,1792839693488340661,18372914000000,1792839693484308857,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6763360530616541,-0.004908578029098171,0.10463474000996872,0.9999998938864675,-9.780041231355213e-05,0.00042169143401269327,0.00012759832227771076,0.6761,-0.0046,0.10408823291855758,1.0,0.0,0.0,0.0,-0.5879923309400461,0.3183038686831491,4.452287847835414,0.024471660062150735,0.04749148800825907,0.0025210602718398613,0.32310253632728286,1.3058055788306244,4.8201845362710785,0.10008490646339352,-0.0226691493577971,0.0031422052124575593,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.7289712485537638,1.0679852171681452,-3.7385840894268347,0.22717752543544795,2.716997559088031,0.6264899500221464,-1.1525176019116832,-4.452287847835414,2.5860664875151516,2.5860664875151516,2.648850000000964,0,0,-2.4146606617244714e-06,-9.999389791038311e-05
+20782,1792839694238330814,18373664000000,1792839694232308902,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763353794225181,-0.0049083805437188065,0.10462998529892736,0.9999998940995365,-9.675343853550413e-05,0.00042090569052093054,0.00012930952021752423,0.6761,-0.0046,0.10407861716496149,1.0,0.0,0.0,0.0,-0.565479672987711,0.32909708307900065,4.422765118620477,0.025108962326741147,0.04623016055160682,0.0025306597594474496,0.34561519427961795,1.316598793226476,4.790661807056141,0.10072220872798393,-0.02393047681444935,0.0031518047000651476,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.8101039800095642,1.1518717889837184,-3.761950888968797,0.20519522183985844,2.7539139123687715,0.6815881024505817,-1.1525176019116832,-4.422765118620477,2.6094332870571137,2.6094332870571137,2.761350000001035,0,0,-2.58880555978599e-05,-9.999999025923074e-05
+20849,1792839694796329897,18374222000000,1792839694792308713,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763369839492549,-0.004923159976756692,0.10461908910709862,0.9999998904107199,-0.0001089069493697532,0.0004252322631428837,0.00013393360810752105,0.6761,-0.0046,0.10405702892898777,1.0,0.0,0.0,0.0,-0.5121098812704968,0.377077145557254,4.434257121983927,0.029014528168302106,0.04291289208696498,0.0025218893043013617,0.3989849859968321,1.3645788557047294,4.802153810419591,0.10462777456954489,-0.02724774527909119,0.0031430342449190597,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.7973731229936971,1.2362545157865148,-3.9511655379628796,0.18322771904809224,2.8667030368727366,0.7410039296077022,-1.1525176019116832,-4.434257121983927,2.7986479360511964,2.7986479360511964,2.8450500000010877,0,0,-5.222348244834195e-05,-3.493933627805561e-05
+20940,1792839695555328485,18374981000000,1792839695552308812,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6763375185680404,-0.0049151860586889515,0.10458071336689015,0.9999998899299051,-0.00010597785978214613,0.00042733535146058187,0.00013317744795217094,0.6761,-0.0046,0.10400327082431571,1.0,0.0,0.0,0.0,-0.5556574651818548,0.3460341947328519,4.50344025363687,0.025836946978867348,0.04599226061292801,0.0024725656475934046,0.35543740208547414,1.3335359048803272,4.871336942072534,0.10145019338011013,-0.024168376753128166,0.0030937105882111026,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.810624158476145,1.0267354337473258,-3.9388070937130673,0.2515974845470478,2.860059128414456,0.5960937947474091,-1.1525176019116832,-4.50344025363687,2.786289491801384,2.786289491801384,2.9589000000011594,0,0,-8.970107112235415e-05,-9.999999025923074e-05
+21026,1792839696271356027,18375697000000,1792839696264308890,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763468484459991,-0.004915937876991371,0.10452714221418889,0.999999882766456,-0.0001146417388963148,0.0004417629578219163,0.00013271284588996758,0.6761,-0.0046,0.10392695430207224,1.0,0.0,0.0,0.0,-0.6059873345965214,0.3062459586791092,4.592864420977311,0.023798294557753355,0.04914871180901654,0.002415071199758534,0.30510753267080754,1.2937476688265845,4.960761109412975,0.09941154095899614,-0.02101192555703963,0.003036216140376232,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.8894359789221244,1.1082131784222915,-4.044185782973711,0.24116788138234826,2.941629094061875,0.6565191577327182,-1.1525176019116832,-4.592864420977311,2.891668181062028,2.891668181062028,3.066300000001227,0,0,-0.00012338284331311756,-9.999999025923074e-05
+21097,1792839696863358993,18376289000000,1792839696860308773,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763604008808387,-0.004911463198100563,0.10446173620386999,0.9999998691142569,-0.00011574324279167165,0.0004698590475071075,0.00013802286282866462,0.6761,-0.0046,0.10385094098532978,1.0,0.0,0.0,0.0,-0.5888103638305509,0.367584632956503,4.725728122042647,0.027378076069066254,0.04844434681682039,0.00234666692545378,0.32228450343677806,1.3550863431039784,5.093624810478311,0.10299132247030904,-0.021716290549235778,0.002967811866071478,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.9448383587258469,1.0468481294632785,-4.250568836591981,0.25695510139632893,3.089529141483955,0.6135449251230936,-1.1525176019116832,-4.725728122042647,3.0980512346802977,3.0980512346802977,3.155100000001283,0,0,-0.00013114911528025607,9.995706626154117e-05
+21173,1792839697496350433,18376922000000,1792839697496309395,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.676366610281518,-0.004925798359839765,0.10439707931528394,0.99999986047892,-0.00013105032303661077,0.00048285317764408704,0.00014199868533366406,0.6761,-0.0046,0.10376653682010753,1.0,0.0,0.0,0.0,-0.5854243760495079,0.37125383146460555,4.804999700057084,0.02801583517840915,0.04775660675032768,0.002284500058677526,0.325670491217821,1.358755541612081,5.172896388492748,0.10362908157965194,-0.02240403061572849,0.002905644999295224,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.940813470857333,1.048943198669246,-4.262174144152967,0.2670410077584307,3.09483925434699,0.6129281929979676,-1.1525176019116832,-4.804999700057084,3.1096565422412836,3.1096565422412836,3.250050000001343,0,0,-0.00013529284572796752,-9.999999025923074e-05
+21266,1792839698271248200,18377697000000,1792839698268308777,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.676371069110176,-0.0049256100549114916,0.10429711079822679,0.9999998537433504,-0.00014536166614894367,0.0004923889959575754,0.00014275575183748376,0.6761,-0.0046,0.10366190209846957,1.0,0.0,0.0,0.0,-0.6003224630794519,0.33558531346266796,4.948837862960662,0.02592486601001627,0.04956156753165304,0.003049436801239461,0.31077240418787705,1.3230870236101433,5.316734551396326,0.10153811241125905,-0.020599069834403124,0.003670581741857159,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.9164927257363673,1.1247202960375202,-4.441668083525352,0.24470770773394912,3.2047096705364955,0.659781226575801,-1.1525176019116832,-4.948837862960662,3.2891504816136687,3.2891504816136687,3.366300000001416,0,0,-0.0001295714694884723,9.995255598050363e-05
+21366,1792839699105294273,18378531000000,1792839699100308787,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763787551981085,-0.004933641159994321,0.10421160174763552,0.9999998440518104,-0.0001660819725808736,0.0005065328450164748,0.00013849358886240388,0.6761,-0.0046,0.10355013460054574,1.0,0.0,0.0,0.0,-0.5574838757346692,0.36797079549047595,5.01578672864372,0.02695489410163418,0.04775233004034685,0.003090090155960818,0.3536109915326597,1.3554725056379513,5.383683417079384,0.10256814050287696,-0.022408307325709316,0.003711235096578516,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.953245217047594,1.1948351131788355,-4.5915351288447095,0.24237009811334984,3.3107259274098917,0.7086892676074239,-1.1525176019116832,-5.01578672864372,3.4390175269330263,3.4390175269330263,3.491400000001495,0,0,-0.00014165243892164258,9.9609746866075e-05
+21417,1792839699530319254,18378956000000,1792839699528308616,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763822760861194,-0.004936494460705826,0.1041516718444875,0.9999998408198455,-0.00017318211401101558,0.0005101144354297812,0.00013997987749456161,0.6761,-0.0046,0.10348899396855486,1.0,0.0,0.0,0.0,-0.6101793175410084,0.31651667066324063,5.071786602316584,0.023415491144271855,0.05130401772273345,0.002436255197265236,0.30091554972632045,1.304018380810716,5.439683290752248,0.09902873754551464,-0.018856619643322716,0.003057400137882934,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.99197061279337,1.0480699543096321,-4.592123299393316,0.2991906162354509,3.320090162440154,0.6187073738305232,-1.1525176019116832,-5.071786602316584,3.439605697481633,3.439605697481633,3.555150000001535,0,0,-0.0001456769205348054,7.094704556488018e-05
+21504,1792839700255331108,18379681000000,1792839700248309538,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6763950727799544,-0.004926556503289307,0.10405364453752357,0.9999998335478162,-0.0001670841634908923,0.0005261434395900241,0.0001400113115589342,0.6761,-0.0046,0.10337805575557664,1.0,0.0,0.0,0.0,-0.5763568691110525,0.3708148928091807,5.1562234247972585,0.026915360239474065,0.049708612844696784,0.0030351198131786947,0.3347379981562764,1.358316602956656,5.5241201132329225,0.10252860664071685,-0.020452024521359385,0.0036562647537963927,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.0504878961840705,1.1192141129442241,-4.713666391334484,0.28719631932697715,3.414192090904441,0.669160994643548,-1.1525176019116832,-5.1562234247972585,3.5611487894228007,3.5611487894228007,3.6639000000016035,0,0,-0.00016120129574662278,7.500000206850927e-05
+21612,1792839701155318933,18380581000000,1792839701152308637,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6764086306019578,-0.004934709729125452,0.10392408813414358,0.9999998216198158,-0.00015564107522732826,0.0005504702764398966,0.00014478097659305678,0.6761,-0.0046,0.1032288093945127,1.0,0.0,0.0,0.0,-0.5663748853015806,0.37179569778785104,5.266222524434764,0.025881131432917828,0.04965361681015188,0.002944904029905486,0.34471998196574827,1.3592974079353264,5.634119212870428,0.10149437783416061,-0.02050702055590429,0.003566048970523184,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.023268648192965,1.161614455618029,-4.762272942976648,0.28386563052875263,3.4355161047358496,0.6958519820200095,-1.1525176019116832,-5.266222524434764,3.609755341064965,3.609755341064965,3.7989000000016886,0,0,-0.00017515133155929086,-9.999999025923074e-05
+21669,1792839701630287025,18381056000000,1792839701628308928,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6764128232797153,-0.004934923605287385,0.10384926815793875,0.9999998207247426,-0.00015909686518821256,0.0005510422054785728,0.00014503110723192327,0.6761,-0.0046,0.10314371968845042,1.0,0.0,0.0,0.0,-0.68198492120418,0.20915453585864385,5.32053745583353,0.015325548786568902,0.0571020585835042,0.0028824448267653117,0.229109946063149,1.1966562460061192,5.688434144269194,0.09093879518781169,-0.013058578782551969,0.0035035897673830097,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.9837902400342642,0.9387983084614624,-4.8660070743617405,0.35104514016249366,3.4940452262543715,0.5576526103250152,-1.1525176019116832,-5.32053745583353,3.7134894724500573,3.7134894724500573,3.8701500000017335,0,0,-0.00018438486356094124,-3.6442116172425495e-05
+21689,1792839701796327927,18381222000000,1792839701796308739,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6764160730679772,-0.004980671736958537,0.10382727279756643,0.9999998074516002,-0.00019013803952142554,0.0005619148780678693,0.00015696758361672126,0.6761,-0.0046,0.10311275751570045,1.0,0.0,0.0,0.0,-0.4663222442210283,0.436553639076268,5.313697413777441,0.03071642522728088,0.04220993089963959,0.0028683889791083898,0.4447726230463006,1.4240553492237433,5.681594102213105,0.10632967162852366,-0.027950706466416578,0.0034895339197260878,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.041906883352058,1.2015497019298929,-4.835674696264968,0.3095431664331596,3.4889405229222112,0.736241199984671,-1.1525176019116832,-5.313697413777441,3.683157094353285,3.683157094353285,3.895050000001749,0,0,-0.00018937565344631502,-9.999999025923074e-05
+21706,1792839701938320838,18381364000000,1792839701932308994,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6764193772697223,-0.004905946276404922,0.10380139198146934,0.9999998140852083,-0.0001429402714405409,0.0005679745759193069,0.00014228623611394823,0.6761,-0.0046,0.10308557657143723,1.0,0.0,0.0,0.0,-0.682952706702671,0.22670478401190486,5.349462915084573,0.014723571527154589,0.05730881882144275,0.002875619933549721,0.2281421605646579,1.2142064941593802,5.717359603520237,0.09033681792839737,-0.012851818544613416,0.003496764874167419,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.0214610005073865,0.9787342098901394,-4.826631237528647,0.35997720357828417,3.4746011984395953,0.5846770850698956,-1.1525176019116832,-5.349462915084573,3.674113635616964,3.674113635616964,3.9163500000017626,0,0,-0.0001934592963562506,-9.999997638144293e-05
+21726,1792839702105267021,18381531000000,1792839702104309852,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6764192088813562,-0.0049729320156705415,0.10376854350960175,0.9999998043834935,-0.00018699276963463814,0.000568905909791484,0.00015509870719005367,0.6761,-0.0046,0.10305287222543526,1.0,0.0,0.0,0.0,-0.5743364089118288,0.32909508567139933,5.360506833529244,0.022798983006484544,0.050316048930858046,0.002839964294196647,0.33675845835550017,1.3165967958188747,5.728403521964908,0.09841222940772733,-0.01984458843519812,0.003461109234814345,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.035095395798534,1.1414211833521768,-4.984867408228133,0.3263264756869296,3.577965852770128,0.6966436473434241,-1.1525176019116832,-5.360506833529244,3.8323498063164494,3.8323498063164494,3.9414000000017784,0,0,-0.00019727468131694603,9.836883671366365e-05
+21767,1792839702446270146,18381872000000,1792839702440308536,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6764191688089612,-0.004942613130474656,0.10370727462497661,0.9999998107135816,-0.00016283516260325165,0.0005660443134414418,0.00015196779388871383,0.6761,-0.0046,0.10298411030826163,1.0,0.0,0.0,0.0,-0.537150368242499,0.33048229257427264,5.395143293641711,0.022884612546157937,0.047876330456658,0.0027817502712691373,0.3739444990248299,1.317984002721748,5.763039982077375,0.09849785894740072,-0.02228430690939817,0.0034028952118868353,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.068951048413244,1.0817883047402088,-4.976938017637627,0.3548121445059141,3.589827511555141,0.659755415526121,-1.1525176019116832,-5.395143293641711,3.824420415725944,3.824420415725944,3.9925500000018106,0,0,-0.0002062059058088066,4.4953582603701856e-05
+21824,1792839702922210610,18382347000000,1792839702916308673,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6764278786023389,-0.004939693542964566,0.10361488624480439,0.9999998017983581,-0.00015906222591685786,0.0005824654953495451,0.00015257543630901426,0.6761,-0.0046,0.10288197896736677,1.0,0.0,0.0,0.0,-0.4911140867326753,0.36563328203069745,5.4369318764649055,0.025095854452363592,0.04573842458661794,0.0027456870827847666,0.4199807805346536,1.3531349921781728,5.8048285649005695,0.10070910085360638,-0.024422212779438228,0.0033668320234024646,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.9392679505944612,1.0807037484244402,-4.9110291886978485,0.3599719703624589,3.507562881570218,0.6579118320897013,-1.1525176019116832,-5.4369318764649055,3.7585115867861654,3.7585115867861654,4.063800000001667,0,0,-0.00022197098028672724,-9.999999025923074e-05
+21895,1792839703513287809,18382939000000,1792839703512308709,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6764322176251327,-0.004935709565659524,0.10348647355586037,0.999999809838144,-6.364755676892794e-05,0.000587118434665381,0.0001516821434178602,0.6761,-0.0046,0.10274447704511636,1.0,0.0,0.0,0.0,-0.5017635767705635,0.33824683650435905,5.505316491272943,0.021817926013600997,0.04668185309072167,0.0026666954640549713,0.4093312904967654,1.3257485466518344,5.873213179708607,0.09743117241484378,-0.0234787842753345,0.0032878404046726693,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.0472113591740135,1.0588413122278446,-5.029539702352695,0.3448518865030675,3.622908937581302,0.5980785422697025,-1.1525176019116832,-5.505316491272943,3.8770221004410117,3.8770221004410117,4.15260000000146,0,0,-0.00024086756172522617,-9.999999025923074e-05
+21936,1792839703855284985,18383281000000,1792839703852310026,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.676436810347185,-0.0049549213950180904,0.10341274257511575,0.9999997999828546,-9.352252230538001e-05,0.0005990251048723527,0.00015459487932946295,0.6761,-0.0046,0.10265934387203098,1.0,0.0,0.0,0.0,-0.4632428594963298,0.36626334206832534,5.5189162598562564,0.023836706099108998,0.04369886954159055,0.002638057058755853,0.4478520077709991,1.3537650522158007,5.8868129482919205,0.09944995250035178,-0.026461767824465614,0.003259201999373551,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.0459786601724104,1.1082654955321956,-5.013947647396058,0.3603100433467487,3.6133236593532545,0.6506611416982526,-1.1525176019116832,-5.5189162598562564,3.8614300454843744,3.8614300454843744,4.20390000000134,0,0,-0.00025654514916181723,-9.999999025923074e-05
+22003,1792839704413270953,18383839000000,1792839704408309993,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.676441407081837,-0.004965803521652481,0.10326891851213142,0.9999997920179456,-0.00011505755201258258,0.000605394969330419,0.00016632985477507011,0.6761,-0.0046,0.10251044009311891,1.0,0.0,0.0,0.0,-0.4553922077285947,0.333590881954995,5.575724860956525,0.021734828519454005,0.04372419787385742,0.002567846299280778,0.45570265953873423,1.3210925921024703,5.943621549392189,0.09734807492069679,-0.02643643949219875,0.003188991239898476,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.9965833108794906,1.0718977443541962,-5.184722022360576,0.38014588465391086,3.708223344732508,0.6538275276274021,-1.1525176019116832,-5.575724860956525,4.032204420448894,4.032204420448894,4.287600000001145,0,0,-0.00027859504108804076,-9.999922698090131e-05
+22080,1792839705055300899,18384481000000,1792839705052309639,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6764490954266991,-0.0049583192346002855,0.10308740134347492,0.9999997791723357,-0.00018381310585869,0.0006190716437197912,0.000126732733902308,0.6761,-0.0046,0.10232240769800187,1.0,0.0,0.0,0.0,-0.4759278994485416,0.2792124447182699,5.608170171603417,0.016719373085766098,0.04573171832284699,0.002472563462609158,0.43516696781878733,1.2667141548657452,5.976066860039081,0.09233261948700888,-0.02442891904320918,0.003093708403226856,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.038307119035645,1.0507526954688478,-5.16728313718449,0.4071441137135919,3.709808584002433,0.637422457894689,-1.1525176019116832,-5.608170171603417,4.014765535272806,4.014765535272806,4.383900000000921,0,0,-0.0003081615210329388,-9.999999025923074e-05
+22142,1792839705571301871,18384997000000,1792839705568308828,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6764434310313862,-0.004966182727027025,0.10291766838077265,0.9999997817836102,-0.00018137138021238105,0.0006097058643379431,0.00015244270356769166,0.6761,-0.0046,0.10215776045461199,1.0,0.0,0.0,0.0,-0.4054607478367379,0.265390282540925,5.627733639578355,0.015717131662816186,0.04113641582468115,0.002419627134492115,0.505634119430591,1.2528919926884003,5.995630328014019,0.09133037806405897,-0.029024221541375017,0.003040772075109813,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.024994810818697,1.0692895534017712,-5.142238438279295,0.3826036910996671,3.707843252533075,0.6540543020836894,-1.1525176019116832,-5.627733639578355,3.989720836367612,3.989720836367612,4.46130000000074,0,0,-0.0003313959666781648,-9.999999025923074e-05
+22209,1792839706130265245,18385556000000,1792839706124318473,DOWN_FORCE_DETACH,8,0.0639,0.06390220671892166,0.6764382628199805,-0.004974113052536032,0.10271879584495328,0.99999978150834,-0.00017403859172749735,0.000604062767251002,0.0001823317804613402,0.6761,-0.0046,0.1019647173702743,1.0,0.0,0.0,0.0,-0.42332875921410523,0.1557693089848492,5.631152813452383,0.008032731795074521,0.04199237211840457,0.0023400087191175222,0.4877661080532237,1.1432710191323245,5.999049501888047,0.0836459781963173,-0.0281682652476516,0.0029611536597352202,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.9627298797006056,1.103467235662972,-5.24493137444829,0.36239852960185587,3.769831926696258,0.6786427651954117,-1.1525176019116832,-5.631152813452383,4.092413772536608,4.092413772536608,4.545150000000545,0,0,-0.00035933523495210027,-9.999999025923074e-05
+22272,1792839706655254447,18386081000000,1792839706648308849,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6764358737455389,-0.004976041690791739,0.10251455564652752,0.9999997744428014,-0.0002216763494591584,0.0006091986937176846,0.00014931094430434416,0.6761,-0.0046,0.1017691888732694,1.0,0.0,0.0,0.0,-0.37154634628316285,0.14033852256152712,5.605441596118479,0.006642017102923697,0.037924930515382614,0.002290324259931463,0.5395485209841661,1.1278402327090025,5.973338284554143,0.08225526350416648,-0.032235706850673555,0.002911469200549161,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.906225168917401,1.048542049950075,-5.167473662934262,0.39416681182367924,3.7170879967194614,0.658500195742215,-1.1525176019116832,-5.605441596118479,4.014956061022579,4.014956061022579,4.623900000000361,0,0,-0.0003855852298381964,-9.999999025923074e-05
+22323,1792839707080242568,18386506000000,1792839707076308807,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6764555390472556,-0.004978558506116133,0.10235280739538594,0.999999777552872,-0.0001720635721128132,0.0006131690318090152,0.00017537085340031816,0.6761,-0.0046,0.10160081015146995,1.0,0.0,0.0,0.0,-0.4053750330786081,0.14296369594097047,5.481520719850021,0.007690599809862253,0.04058078085564665,0.002442028535153405,0.5057198341887208,1.1304654060884458,5.849417408285685,0.08330384621110504,-0.029579856510409522,0.003063173475771103,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.0687321304102437,1.054994134695531,-5.1339331116001805,0.39762104725501485,3.7389126148742173,0.6674453891263411,-1.1525176019116832,-5.481520719850021,3.9814155096884973,3.9814155096884973,4.687650000000213,0,0,-0.0004068352256983695,-9.999999025923074e-05
+22382,1792839707571248732,18386997000000,1792839707568309449,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6764473583295063,-0.004976470419524222,0.10213767158081358,0.9999997780384438,-0.00020561104792599555,0.0006067223424730629,0.00015804437177194895,0.6761,-0.0046,0.1013950393068286,1.0,0.0,0.0,0.0,-0.37588233649105596,0.06717274984113819,5.492165917584102,0.0016479122313027839,0.03804500973555055,0.0013774841903090073,0.535212530776273,1.0546744599886135,5.860062606019766,0.07726115863254557,-0.03211562763050562,0.0019986291309267053,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.954991947247573,0.9668275350351075,-5.031613858973849,0.42866725302493375,3.6582841458691377,0.6130884144610229,-1.1525176019116832,-5.492165917584102,3.8790962570621654,3.8790962570621654,4.761300000000041,0,0,-0.00043138522091565177,-9.999999025923074e-05
+22439,1792839708046281602,18387472000000,1792839708040309272,DOWN_FORCE_DETACH,8,0.0639,0.06390154361724854,0.6764420652720412,-0.00498907110853549,0.10191777134812988,0.9999997941310057,-0.00010879327751400287,0.0005957988338160807,0.0001907054878128183,0.6761,-0.0046,0.10118450257799486,1.0,0.0,0.0,0.0,-0.3821783944701247,-0.004207401690967449,5.43518629206775,-0.00442996791234887,0.038372278442938224,0.0019384792547889208,0.5289164727972042,0.9832943084565079,5.803082980503414,0.07118327848889391,-0.031788358923117946,0.0025596241954066188,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,2.045681241050542,1.027563062952045,-5.031836649591733,0.36126566810898664,3.702358282384547,0.5901914766138601,-1.1525176019116832,-5.43518629206775,3.8793190476800494,3.8793190476800494,4.832549999999875,0,0,-0.00045513521628878637,-9.999999025923074e-05
+22492,1792839708487284024,18387913000000,1792839708480309702,DOWN_SETTLE,8,0.0639,0.06390154361724854,0.6764375199917183,-0.004983352230392168,0.10170983224162265,0.9999997921325046,-0.0001879369817231084,0.0005899077059418897,0.0001544875435321968,0.6761,-0.0046,0.10099083649666603,1.0,0.0,0.0,0.0,-0.3384085839180173,-0.027026066404581606,5.385077364015057,-0.0053369942959378275,0.03507789065912681,0.0012573205594788714,0.5726862833493116,0.9604756437428937,5.752974052450721,0.07027625210530496,-0.03508274670692936,0.0018784655000965694,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.9705312910826165,1.006819619051847,-4.964174375856323,0.4011925836606368,3.6427606860046287,0.6392882873677624,-1.1525176019116832,-5.385077364015057,3.8116567739446396,0.0,0.0,0,0,-0.00022084238385058192,0.0022307311500058776
+22587,1792839709280259356,18388706000000,1792839709276308564,DOWN_PEAK_HOLD,8,0.0639,0.06390220671892166,0.676407057295705,-0.0049861998504006425,0.10160416332671385,0.9999998248594821,-0.0001832385746892464,0.0005300670557092748,0.00016485269350362088,0.6761,-0.0046,0.10096984709994734,1.0,0.0,0.0,0.0,-0.27358622755952955,-0.08504864276243373,4.855164347460914,-0.01026886742735017,0.030240979019631874,0.0015491821612697377,0.6375086397077994,0.9024530673850416,5.223061035896578,0.06534437897389261,-0.039919658346424296,0.0021703271018874357,0.9110948672673289,0.9875017101474753,0.36789668843566403,0.07561324640124278,-0.07016063736605617,0.0006211449406176979,1,1.6864709177208832,0.965670756082323,-4.308195144787241,0.39839857973149684,3.1638920155123618,0.613133456941352,-1.1525176019116832,-4.855164347460914,3.155677542875558,0.0,0.0,0,0,0.0,0.0