Upload Fixed (part 10)

Fixed/digit/ball_0050_10/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
+3003,1792753977534673903,37380556000000,1792753977533817939,XJC_ZERO_HOLD_BEFORE_DOWN,4,0.054,0.054001640528440475,0.6759323043786718,-0.004256022349360737,0.1067609907200526,0.9999999514490377,-0.00011861219737725309,-0.00025663469298278985,9.281469452181659e-05,0.6761,-0.004,0.107,1.0,0.0,0.0,0.0,-0.007769264361221828,-0.003875786659689684,-0.005772813163041984,-0.0006835709531004819,0.0007560189066873058,0.00010124786830608291,0.8998422904615251,0.7569459125664314,0.11078096412822817,0.06104153371673479,-0.06908335334505786,0.0016899448301063561,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.1674075295551391,1.3908796072189067,1.4292743543699828,-0.21336182526598085,-0.8891305280234223,0.8120929795964074,-0.05596638033884349,0.005772813163041984,-1.4852407347088263,0.0,0.0,0,0,0.0,0.0
+3057,1792753977978717006,37381000000000,1792753977977808966,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6759307768345161,-0.004253547854493115,0.10676013535784135,0.9999999514100089,-0.00011628755438403193,-0.00025834490312222423,9.142187853989024e-05,0.6761,-0.004,0.10699854190022957,1.0,0.0,0.0,0.0,-0.009807427176947603,0.004028978361237612,-0.005892270043157025,-0.0006801135237745892,0.0007568783251427624,0.00010072136268852918,0.8978041276457993,0.7648506775873587,0.11066150724811313,0.061044991146060684,-0.0690824939266024,0.0016894183244888024,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.12567657981786684,1.2934520600950934,1.4340773443093877,-0.1830044346438912,-0.9043407977297676,0.7494015614820697,-0.05596638033884349,0.005892270043157025,-1.4900437246482312,-1.4900437246482312,0.03630000000000004,0,0,-1.2099997888397001e-05,-9.999999025923074e-05
+3138,1792753978653677287,37381675000000,1792753978653809367,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6759348731227824,-0.00425234331174451,0.10676015170241238,0.9999999535649388,-0.00011217968068019772,-0.0002509705074789988,9.35013812075998e-05,0.6761,-0.004,0.10697900065387726,1.0,0.0,0.0,0.0,-0.017036477746886103,-0.013212501199815319,-0.006316524671792639,-0.0006763953142878074,0.0007623307516878841,-0.0008442835629996312,0.8905750770758608,0.7476091980263058,0.11023725261947752,0.061048709355547466,-0.06907704150005728,0.000744413398800642,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.2805554036286069,1.2777182571898504,1.3853812985997327,-0.17443720928864728,-0.8315640176593103,0.7402532231826136,-0.05596638033884349,0.006316524671792639,-1.4413476789385762,-1.4413476789385762,0.13754999999999942,0,0,-4.5849991313377754e-05,-9.999999025923074e-05
+3193,1792753979111650422,37382133000000,1792753979105811553,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6759336280136186,-0.004252606853887176,0.1067409485978984,0.9999999534443517,-0.00011065277839340176,-0.0002515366832899794,9.507585658991322e-05,0.6761,-0.004,0.1069527687088796,1.0,0.0,0.0,0.0,-0.017133725273073552,-0.01145295240954125,0.014078076265857678,-0.0006982008812203636,0.0011234853328260241,8.974655968616691e-05,0.8904778295496734,0.7493687468165798,0.13063185355712784,0.06102690378861491,-0.06871588691891914,0.0016784435214864401,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.381760447505379,1.3377798816634408,1.236531796049544,-0.18185575176528004,-0.7127968014478585,0.7764189067632585,-0.05596638033884349,0.014078076265857678,-1.2924981763883876,-1.2924981763883876,0.20625000000000457,0,0,-6.874998685210543e-05,-9.999999025923074e-05
+3250,1792753979586587998,37382608000000,1792753979585809184,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6759339452176423,-0.004260822897981187,0.10670950656753946,0.9999999518021389,-0.00011192887642991812,-0.0002524243962602588,0.00010766817219179344,0.6761,-0.004,0.10691448371622604,1.0,0.0,0.0,0.0,-0.0258413136751674,-0.01608847525591428,0.06298384763622324,-0.0017452447498064669,0.001774516481763938,4.7417859623126056e-05,0.8817702411475795,0.7447332239702068,0.1795376249274934,0.05997985992002881,-0.06806485576998123,0.0016361148214233993,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.39153985520781764,1.322819255557111,1.2372654852363214,-0.1429518235614408,-0.7179411987804343,0.7612445956242211,-0.05596638033884349,0.06298384763622324,-1.293231865575165,-1.293231865575165,0.2775000000000048,0,0,-9.249998222524004e-05,-9.999999025923074e-05
+3299,1792753979995565875,37383017000000,1792753979993810596,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6759369770765119,-0.004262446325787206,0.1066789888713182,0.9999999528370591,-0.00010732338168181666,-0.0002471859530889661,0.00011467144518284304,0.6761,-0.004,0.10687247942431263,1.0,0.0,0.0,0.0,-0.028504943322579357,-0.024681651670418026,0.10301404614509337,-0.00177992024404304,0.0027348539077297757,3.152205325506461e-05,0.8791066115001676,0.7361400475557031,0.21956782343636352,0.05994518442579223,-0.06710451834401539,0.0016202190150553378,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.4719974432357517,1.2400082093203284,1.0280538018084917,-0.09662284374757502,-0.5672752206957985,0.6976191532030993,-0.05596638033884349,0.10301404614509337,-1.0840201821473352,-1.0840201821473352,0.33884999999999804,0,0,-0.00011294997824126541,-9.999999025923074e-05
+3352,1792753980436564437,37383458000000,1792753980433809162,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6759516206848154,-0.004264204208568144,0.1066478692228127,0.99999995717861,-0.00010427554268977283,-0.0002245785708312469,0.00012560541114127292,0.6761,-0.004,0.10681781748485758,1.0,0.0,0.0,0.0,-0.05450976543240549,-0.01846494932396936,0.14305268577666724,-0.001816092274511849,0.0037849820371680942,1.072147617268938e-05,0.8531017893903414,0.7423567499021517,0.2596064630679374,0.059909012395323424,-0.06605439021457707,0.0015994184379729626,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.509370379988104,1.2087142091558676,1.0244799499223654,-0.057104658044395885,-0.5626047832058267,0.6714622459034071,-0.05596638033884349,0.14305268577666724,-1.0804463302612088,-1.0804463302612088,0.40499999999999076,0,0,-0.00013499997394558617,-9.999999025923074e-05
+3409,1792753980911546151,37383933000000,1792753980909809437,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6759620695478257,-0.004266851110559456,0.10659909849222342,0.9999999603252387,-0.0001008541312848642,-0.00020549313956231158,0.00013562226601317767,0.6761,-0.004,0.10674806374833462,1.0,0.0,0.0,0.0,-0.06415756082748492,-0.030245023535571902,0.20366270817094606,-0.0018562914802653444,0.004786050277109016,-2.339631073808757e-05,0.843453993995262,0.7305766756905492,0.3202164854622162,0.05986881318956993,-0.06505332197463615,0.0015653006510621857,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.5427063354422343,1.1887252221409061,0.8548911532614122,-0.03268401122827422,-0.45285477408650876,0.6553805973027307,-0.05596638033884349,0.20366270817094606,-0.9108575336002557,-0.9108575336002557,0.4762499999999829,0,0,-0.00015874996931872077,-9.999999025923074e-05
+3462,1792753981353487354,37384375000000,1792753981345818581,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6759659104802154,-0.0042717701283446294,0.106537766328817,0.9999999601499953,-0.00011875700859538835,-0.00019869272895108763,0.00013251733736969738,0.6761,-0.004,0.1066730232128494,1.0,0.0,0.0,0.0,-0.06926304388373439,-0.016162709158551003,0.26083340868396077,-0.0008734374517133103,0.00576701313442729,-4.322665644762992e-05,0.8383485109390125,0.7446589900675701,0.3773871859752309,0.06085166721812196,-0.06407235911731787,0.0015454703053526433,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.5946598696216732,1.1361264716222401,0.7693207649205533,-0.014490687932075781,-0.3885500226367856,0.6180246828523447,-0.05596638033884349,0.26083340868396077,-0.8252871452593968,-0.8252871452593968,0.5425499999999757,0,0,-0.00018084996501330076,-9.999999025923074e-05
+3509,1792753981745419849,37384767000000,1792753981737819470,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6759735528423805,-0.004272975016727419,0.10647183075606637,0.9999999623925864,-0.00011770450552763558,-0.00018655350479655406,0.00013416828791985643,0.6761,-0.004,0.1065982982273145,1.0,0.0,0.0,0.0,-0.0827159624514131,-0.02328679872156525,0.3521049167901003,-0.0012865777056989686,0.006716278455110344,-0.0001265463699706838,0.8248955923713338,0.7375349005045558,0.46865869408137045,0.060438526964136305,-0.06312309379663482,0.0014621505918295894,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.6380698963495512,1.2421796348780079,0.667993864406549,-0.0470714801478329,-0.31336406921287435,0.6924490276069671,-0.05596638033884349,0.3521049167901003,-0.7239602447453924,-0.7239602447453924,0.6013499999999692,0,0,-0.0002004499611949192,-9.999999025923074e-05
+3554,1792753982120449117,37385142000000,1792753982117809582,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6759799044596012,-0.004274339379180771,0.10640983484363573,0.9999999651852484,-0.00011129698524975502,-0.0001742684051380266,0.00013533613928473295,0.6761,-0.004,0.10651962324255312,1.0,0.0,0.0,0.0,-0.0855923048467232,-0.033023905408480325,0.424222457135071,-0.001953547635129463,0.006765638419023029,-0.00017291526059531773,0.8220192499760237,0.7277977938176408,0.5407762344263412,0.05977155703470581,-0.06307373383272213,0.0014157817012049555,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.6066728887988877,1.1552937289252507,0.6382788896318511,-0.013248433608163772,-0.3102800068461562,0.6387434273990641,-0.05596638033884349,0.424222457135071,-0.6942452699706946,-0.6942452699706946,0.657599999999963,0,0,-0.00021919995754213074,-9.999999025923074e-05
+3606,1792753982553387119,37385575000000,1792753982545819139,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6759846910622638,-0.0042801246011121875,0.10633056576948657,0.9999999663195441,-0.00012751830721529272,-0.00016071934650477274,0.0001292754729783062,0.6761,-0.004,0.10642003326185263,1.0,0.0,0.0,0.0,-0.09383562749066976,-0.02224516115643027,0.5149632933640734,-0.0009734929270771298,0.00760446106606931,-0.0002224435763924482,0.8137759273320772,0.7385765380696908,0.6315170706553436,0.060751611742758144,-0.062234911185675854,0.001366253385407825,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.6643042873259823,1.2339153341451503,0.41950274952639516,-0.032954395166065145,-0.15371120807807984,0.6934201694237996,-0.05596638033884349,0.5149632933640734,-0.47546912986523865,-0.47546912986523865,0.7225499999999558,0,0,-0.00024084995332437765,-9.999999025923074e-05
+3649,1792753982911319256,37385933000000,1792753982909818973,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6759930744573169,-0.0042812702437968675,0.10625675953350285,0.9999999681130364,-0.0001317124523410099,-0.00014559023637702515,0.00012912049997483506,0.6761,-0.004,0.10633061382918846,1.0,0.0,0.0,0.0,-0.10330763029281897,-0.02377952137216721,0.6025343820394109,-0.0010023986994017395,0.007721793965340194,-0.00029157195249464025,0.8043039245299279,0.7370421778539539,0.719088159330681,0.060722705970433534,-0.06211757828640497,0.001297125009305633,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.7352038169472981,1.2976454875175316,0.3822100512518944,-0.05216682576211755,-0.11112160505798149,0.7309332304723626,-0.05596638033884349,0.6025343820394109,-0.4381764315907379,-0.4381764315907379,0.7762499999999499,0,0,-0.0002587499498371822,-9.999999025923074e-05
+3690,1792753983253401630,37386275000000,1792753983249818512,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6759973627541119,-0.004283196658456656,0.10617883165431986,0.9999999691676599,-0.00013497372037057486,-0.0001368854505149506,0.00012709056552214686,0.6761,-0.004,0.10623920579691547,1.0,0.0,0.0,0.0,-0.11278124429123892,-0.020542554129755253,0.6919362632594535,-0.001037939354974128,0.008715429489009358,-0.00034942980174531126,0.794830310531508,0.7402791450963658,0.8084900405507236,0.060687165314861145,-0.061123942762735806,0.001239267160054962,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.7353979380503367,1.2425752261182386,0.3264520864586704,-0.033196118668042576,-0.07792419987265521,0.6919896304882018,-0.05596638033884349,0.6919362632594535,-0.3824184667975139,-0.3824184667975139,0.8275499999999443,0,0,-0.00027584994650583914,-9.999999025923074e-05
+3735,1792753983628364025,37386650000000,1792753983625808694,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760068283758369,-0.0042897738355480355,0.10609175797421996,0.9999999700861374,-0.00013902109937874297,-0.00012081006829381115,0.00013171427388855125,0.6761,-0.004,0.1061322558176625,1.0,0.0,0.0,0.0,-0.12271421783661762,-0.02704418300195932,0.7858452979862361,-0.0010842083617280257,0.009708040811516772,-0.00041060753147838724,0.7848973369861293,0.7337775162241618,0.9023990752775063,0.06064089630810725,-0.06013133144022839,0.001178089430321886,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.7613011105477429,1.1694383249539122,0.15133723633758736,-0.008741231758510097,0.04028662245273389,0.6451125062713728,-0.05596638033884349,0.7858452979862361,-0.20730361667643085,-0.20730361667643085,0.8837999999999381,0,0,-0.00029459994285305067,-9.999999025923074e-05
+3779,1792753983995345055,37387017000000,1792753983989818585,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760201862471714,-0.004293377188757191,0.10600361396090452,0.9999999735084235,-0.00012618201042683227,-9.986792779173764e-05,0.00013612683024040722,0.6761,-0.004,0.10602077958929321,1.0,0.0,0.0,0.0,-0.13244825193219611,-0.0302949081759305,0.8928357532901003,-0.0011420796294541596,0.010693666728370181,0.0005144058718008358,0.7751633028905508,0.7305267910501906,1.0093895305813705,0.060583025040381114,-0.05914570552337498,0.002103102833601109,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8393185165952874,1.1971073228816287,0.03858613638691343,-0.011386034594230432,0.12982781864763918,0.6699965768433671,-0.05596638033884349,0.8928357532901003,-0.09455251672575693,-0.09455251672575693,0.938849999999932,0,0,-0.00031294993927818835,-9.999999025923074e-05
+3824,1792753984370340529,37387392000000,1792753984369808936,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760324347769164,-0.004298328607706531,0.1059008189902081,0.9999999750657882,-0.00012129143358384824,-8.263637228602247e-05,0.0001406090517256199,0.6761,-0.004,0.10589991711275061,1.0,0.0,0.0,0.0,-0.15111031951288278,-0.020113405325940303,0.9967989820010001,-0.0011871262390248521,0.011684833653289046,0.0004740253552471896,0.7565012353098641,0.7407082939001808,1.1133527592922703,0.06053797843081042,-0.05815453859845612,0.002062722317047463,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8877602506258891,1.2040800014945134,-0.18417660272921163,-0.0055447247496709234,0.28173414253074464,0.6730522701124986,-0.05596638033884349,0.9967989820010001,0.12821022239036814,0.12821022239036814,0.9950999999999258,0,0,-0.0003316999356253999,-9.999999025923074e-05
+3863,1792753984695321716,37387717000000,1792753984693809501,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760415879661335,-0.004300054977558009,0.10580578815222151,0.9999999756745107,-0.00012768716050038766,-6.874918490802673e-05,0.00013807020270560118,0.6761,-0.004,0.10578948213418837,1.0,0.0,0.0,0.0,-0.1591562865381808,-0.02300498576840071,1.0846909157520757,-0.0009018180619640714,0.012672595871257228,-5.710704376924044e-05,0.7484552682845661,0.7378167134577204,1.2012446930433458,0.0608232866078712,-0.057166776380487935,0.0015315899180310328,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8973968505997529,1.2699754188210122,-0.21333897338777477,-0.018781105808606053,0.29940938380193893,0.7193400744329879,-0.05596638033884349,1.0846909157520757,0.15737259304893128,0.15737259304893128,1.0438499999999529,0,0,-0.00034794993245964987,-9.999999025923074e-05
+3896,1792753984970229317,37387992000000,1792753984969819447,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760485400003284,-0.00430224070783216,0.10572321817737565,0.9999999758464562,-0.00013343722944883962,-5.622277318638886e-05,0.000137052752694876,0.6761,-0.004,0.10569191215313163,1.0,0.0,0.0,0.0,-0.16900755321790184,-0.03049257656685489,1.1668077342010836,-0.0002446373363814633,0.01264379727579712,0.00036082233275926395,0.7386040016048451,0.7303291226592662,1.2833615114923538,0.06148046733345381,-0.057195574975948044,0.0019495192945595372,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.9086766664697676,1.2947548670842988,-0.3645298248674968,-0.025927855948519745,0.39765420846856814,0.7336716017179726,-0.05596638033884349,1.1668077342010836,0.3085634445286533,0.3085634445286533,1.0850999999999789,0,0,-0.0003616999297809383,-9.999999025923074e-05
+3930,1792753985253284737,37388275000000,1792753985249819112,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760551640782844,-0.0043043346522633795,0.10563434466473855,0.999999975849708,-0.00013575549197854708,-4.2451597189801154e-05,0.0001396844871208095,0.6761,-0.004,0.10558755592339507,1.0,0.0,0.0,0.0,-0.16804041330156527,-0.01887545825929171,1.251375594648395,-0.00027206193226783637,0.01364482424948258,0.00030459559333304736,0.7395711415211816,0.7419462409668294,1.3679293719396652,0.06145304273756744,-0.05619454800226258,0.0018932925551333206,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.9730339367663132,1.2263989743862012,-0.5129033612586136,-0.010612952455376332,0.5092603687798848,0.6852156765100612,-0.05596638033884349,1.251375594648395,0.4569369809197701,0.4569369809197701,1.1275500000000056,0,0,-0.0003758499270243006,-9.999999025923074e-05
+3963,1792753985528172634,37388550000000,1792753985525818330,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760585911338232,-0.004312540034296399,0.10553742152670971,0.9999999755758401,-0.00013437627415954794,-3.801134727148142e-05,0.00014418508257894823,0.6761,-0.004,0.10548231344383305,1.0,0.0,0.0,0.0,-0.18036023159305836,-0.02750818896544005,1.3450569210971006,-0.0013058422695332583,0.013637709063034624,0.0002209091538198356,0.7272513232296886,0.733313510260681,1.4616106983883708,0.060419262400302015,-0.05620166318871054,0.0018096061156201088,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.9643587213267575,1.2060749614618023,-0.5093480350799138,0.009340960140789152,0.5010426386454259,0.6767151454985367,-0.05596638033884349,1.3450569210971006,0.4533816547410703,0.4533816547410703,1.1688000000000316,0,0,-0.0003895999243455891,-9.999999025923074e-05
+3999,1792753985828274599,37388850000000,1792753985825808891,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760690940526571,-0.004313883286320441,0.10543875681113353,0.9999999757658404,-0.0001426403944025314,-1.8384071324831653e-05,0.0001386611937009322,0.6761,-0.004,0.10536319096696917,1.0,0.0,0.0,0.0,-0.18501991957705455,-0.021740793208888665,1.428303565891527,-0.00034197910878289856,0.01461387486858217,0.0001798916549625015,0.7225916352456924,0.7390809060172324,1.5448573431827972,0.061383125561052375,-0.05522549738316299,0.0017685886167627747,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.0478859837310035,1.1876326270516915,-0.6853402996414063,0.02033641900675845,0.6346813114075354,0.6653016923689797,-0.05596638033884349,1.428303565891527,0.6293739193025628,0.6293739193025628,1.21380000000006,0,0,-0.0004045999214233583,-9.999999025923074e-05
+4035,1792753986128239844,37389150000000,1792753986125818116,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760788711778906,-0.004317776311680211,0.10533433670230015,0.9999999748210244,-0.00014747378109622523,-3.1900475706390405e-06,0.00014157020261292718,0.6761,-0.004,0.10523956849098196,1.0,0.0,0.0,0.0,-0.18531175172593284,-0.028142028431254795,1.528381002588196,-0.0003522915569077953,0.014592746320980891,9.950773968469976e-05,0.7222998030968141,0.7326796707948663,1.6449347798794662,0.06137281311292748,-0.05524662593076427,0.001688204701484973,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.0716525057729032,1.2246002427303937,-0.8444654598462182,0.013276291966143395,0.7414975887322173,0.6897857379628649,-0.05596638033884349,1.528381002588196,0.7884990795073747,0.7884990795073747,1.2588000000000883,0,0,-0.0004195999185011275,-9.999999025923074e-05
+4066,1792753986386126600,37389408000000,1792753986381809068,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760834070612024,-0.004320227021202952,0.10523679667257889,0.9999999748787338,-0.00014642213669198616,6.680427386274629e-06,0.00014213136788190908,0.6761,-0.004,0.1051296740619131,1.0,0.0,0.0,0.0,-0.19132739123301268,-0.024914478804959783,1.6180523908787896,-0.0004106059834899159,0.01558686215246815,4.144868614072402e-05,0.7162841635897342,0.7359072204211613,1.7346061681700597,0.06131449868634536,-0.054252510099277014,0.0016301456479409972,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.0977554281400084,1.2073100539996422,-0.9021159279116501,0.020549985275661892,0.7862706834999942,0.6771794128516689,-0.05596638033884349,1.6180523908787896,0.8461495475728066,0.8461495475728066,1.2975000000001127,0,0,-0.00043168664388556897,-9.999990699250389e-05
+4099,1792753986661192874,37389683000000,1792753986653818405,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676095312665417,-0.004324122766299807,0.10513692060164888,0.9999999737855974,-0.00015118189487275328,2.5174363452971813e-05,0.00014276538452390005,0.6761,-0.004,0.10500926415032931,1.0,0.0,0.0,0.0,-0.20070292919172372,-0.021928383704543197,1.6967668198647494,-0.00041987939232973615,0.015910183049007272,-2.0085075060579695e-05,0.7069086256310232,0.7388933155215779,1.8133205971560196,0.06130522527750554,-0.05392918920273789,0.0015686118867396935,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1139843156644849,1.2254223883763524,-1.017826029554378,0.027509650661267846,0.8581802671629454,0.6944860249093212,-0.05596638033884349,1.6967668198647494,0.9618596492155345,0.9618596492155345,1.3387500000001387,0,0,-0.000442881360469853,-9.105904505280477e-05
+4130,1792753986920148945,37389942000000,1792753986917818434,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761038540052591,-0.004326194003246951,0.10503760456433389,0.9999999725868992,-0.0001538213192596956,3.919429138129289e-05,0.00014516154565069245,0.6761,-0.004,0.10489409137775405,1.0,0.0,0.0,0.0,-0.21029286677564007,-0.01855043486607022,1.7780278992962892,-0.00045344590443459343,0.01656493728930563,-7.410978378893213e-05,0.6973186880471068,0.7422712643600509,1.8945816765875594,0.06127165876540068,-0.05327443496243953,0.001514587178011341,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1547271226447664,1.2350116255479366,-1.1312047118553819,0.02827441163226433,0.9423641049368787,0.6970790346963076,-0.05596638033884349,1.7780278992962892,1.0752383315165384,1.0752383315165384,1.3776000000001631,0,0,-0.00044504974782280806,9.942431186538698e-05
+4166,1792753987220178548,37390242000000,1792753987217809116,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761237448904642,-0.004335436018629394,0.1049305854011456,0.9999999687699442,-0.0001633052552092736,7.120932852188834e-05,0.00014887444407221347,0.6761,-0.004,0.10476172784906278,1.0,0.0,0.0,0.0,-0.12553225578229155,-0.03052925392687955,1.8497189421175109,-0.0013132528063897822,0.010520601899824102,-0.00022711284167769175,0.7820792990404554,0.7302924452992415,1.966272719408781,0.06041185186344549,-0.05931877035192106,0.0013615841201225815,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.152466934432596,1.2182755725314378,-1.1808098051692184,0.062984399776092,0.9840267691627466,0.6928438938252617,-0.05596638033884349,1.8497189421175109,1.124843424830375,1.124843424830375,1.4226000000001915,0,0,-0.0004369807528644979,9.999999025923074e-05
+4195,1792753987461137666,37390483000000,1792753987453818258,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761243180830453,-0.004336498934429673,0.10483041495424217,0.9999999687575767,-0.00016200661863489984,7.126095372641733e-05,0.0001503444111310047,0.6761,-0.004,0.10465719708502884,1.0,0.0,0.0,0.0,-0.13503317012355753,-0.026481576799551765,1.9276896433683146,-0.0013659348529344653,0.01148376481770591,-0.00022764882195916046,0.7725783846991894,0.7343401224265693,2.0442434206595848,0.06035916981690081,-0.05835560743403925,0.0013610481398411128,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1473853693885216,1.2752628716936933,-1.2376949162291604,0.04290568822816903,1.0202052102388248,0.729232846664518,-0.05596638033884349,1.9276896433683146,1.181728535890317,1.181728535890317,1.4587500000002143,0,0,-0.0004287469239819001,9.999999025923074e-05
+4229,1792753987745086094,37390767000000,1792753987741808913,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761330196260407,-0.004342044827518732,0.10472461152651091,0.999999968185893,-0.00015842097286111528,8.579541874699544e-05,0.0001503762570776123,0.6761,-0.004,0.1045374170771524,1.0,0.0,0.0,0.0,-0.13878490227173756,-0.025803054953830395,1.9987533000108049,-0.001406082340121878,0.012479855396680409,-0.00031744912458605483,0.7688266525510093,0.7350186442722907,2.115307077302075,0.060319022329713395,-0.057359516855064754,0.0012712478372142184,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1177322499719364,1.2743380008738125,-1.3229329482689731,0.04697339317283915,1.0640793631584842,0.7272826755997468,-0.05596638033884349,1.9987533000108049,1.2669665679301296,1.2669665679301296,1.501350000000241,0,0,-0.0004146691175196685,9.999999025923074e-05
+4260,1792753988003128826,37391025000000,1792753988001809433,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761397619376456,-0.004343062016042194,0.1046275060290058,0.9999999668454482,-0.00015742273945984188,9.653180251572796e-05,0.0001537909587288842,0.6761,-0.004,0.10443199715408831,1.0,0.0,0.0,0.0,-0.14480240669437194,-0.02593407365239986,2.060222545654642,-0.0014267681993410108,0.012463842359357505,0.0006586504470380409,0.762809148128375,0.7348876255737212,2.176776322945912,0.06029833647049426,-0.05737552989238766,0.002247347408838314,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1578940834648517,1.2481478340214496,-1.4979134515744934,0.055506072108878,1.1852605704253902,0.7100401164837581,-0.05596638033884349,2.060222545654642,1.44194707123565,1.44194707123565,1.5400500000002655,0,0,-0.00040275810187365293,9.999999025923074e-05
+4296,1792753988303116200,37391325000000,1792753988301819339,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761442661897554,-0.0043467326091442,0.1045206689554964,0.9999999646321912,-0.00016563219029401303,0.00010497470068966954,0.000154028472537064,0.6761,-0.004,0.10431307855725344,1.0,0.0,0.0,0.0,-0.13963351117334488,-0.027605634734491735,2.111055244985524,-0.00041560685317583446,0.01243544603381877,0.0004209035634359457,0.767978043649402,0.7332160644916293,2.2276090222767944,0.06130949781665944,-0.05740392621792639,0.002009600525236219,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1511004410651327,1.1893895738000442,-1.4247393434715354,0.08791489539933635,1.1375027900783272,0.6723492636336119,-0.05596638033884349,2.111055244985524,1.368772963132692,1.368772963132692,1.5850500000002938,0,0,-0.00038914803566073166,9.999999025923074e-05
+4331,1792753988595092362,37391617000000,1792753988593818523,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761516852611364,-0.004353729178056249,0.10442008212464139,0.9999999608560143,-0.00017822496644551375,0.00011825245371869287,0.00015486462694122197,0.6761,-0.004,0.10420157163042382,1.0,0.0,0.0,0.0,-0.14236290199658597,-0.015616626551044566,2.1614395695073902,-0.0004241334124153312,0.012421178952561986,0.0005885394472608346,0.765248652826161,0.7452050726750765,2.2779933467986604,0.06130097125741994,-0.05741819329918318,0.002177236409061108,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.103590294584968,1.1848692500430296,-1.5276800548953973,0.09412024467090452,1.1856704138958176,0.6713203048942022,-0.05596638033884349,2.1614395695073902,1.4717136745565538,1.4717136745565538,1.6288500000003214,0,0,-0.0003745480385050363,9.999999025923074e-05
+4364,1792753988870038589,37391892000000,1792753988869809288,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761538900986137,-0.0043573202819372206,0.1043254168186867,0.9999999594623439,-0.00017968200091929819,0.00012236963251890265,0.00015892836914195552,0.6761,-0.004,0.10410045466946527,1.0,0.0,0.0,0.0,-0.13220486034328827,-0.014477280777365209,2.1965872451633905,-0.0004322993746351464,0.012414105514711476,0.0005587616668700189,0.7754066944794586,0.7463444184487559,2.3131410224546607,0.06129280529520013,-0.05742526673703369,0.002147458628670292,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1651255702038186,1.2578972467236413,-1.5831450837393506,0.07561299395679676,1.2415084837642267,0.7185420414018743,-0.05596638033884349,2.1965872451633905,1.527178703400507,1.527178703400507,1.6701000000003474,0,0,-0.00036079804118374783,9.999999025923074e-05
+4398,1792753989153008952,37392175000000,1792753989145809391,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761578098141571,-0.004361184795326746,0.10423192717404411,0.9999999595537161,-0.00016915918998339238,0.00012986756303606494,0.0001638749973011255,0.6761,-0.004,0.104000297947761,1.0,0.0,0.0,0.0,-0.1274008679177263,-0.0034606147239019114,2.2309259895657876,-0.000436885229537505,0.012406125142706427,0.0005343931614137042,0.7802106869050206,0.7573610845022192,2.3474797668570577,0.06128821944029777,-0.057433247109038736,0.0021230901232139774,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1218079842287532,1.3892950976537033,-1.5886367307263298,0.04891662064827747,1.2297901995769926,0.8101099168221559,-0.05596638033884349,2.2309259895657876,1.5326703503874863,1.5326703503874863,1.7125500000003742,0,0,-0.00034807766193381697,9.98125568570984e-05
+4431,1792753989427961501,37392450000000,1792753989421809465,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.676161340855237,-0.00436356438974208,0.10414942748754794,0.9999999589184848,-0.0001678095763511634,0.00013682428154376136,0.000163477689590931,0.6761,-0.004,0.10390633393347509,1.0,0.0,0.0,0.0,-0.11825361110077814,-0.01168062223018762,2.2354544566523074,-0.0003321864201464783,0.012401203219461927,0.0005350102635868735,0.7893579437219688,0.7491410769959335,2.3520082339435775,0.061392918249688795,-0.057438169032283236,0.0021237072253871467,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1038462325379497,1.2940662321573606,-1.5417700928949385,0.08809521464267586,1.1890692806394345,0.7490167954582843,-0.05596638033884349,2.2354544566523074,1.485803712556095,1.485803712556095,1.7538000000004001,0,0,-0.00033648154514479147,2.184280120521294e-05
+4465,1792753989711036185,37392733000000,1792753989709808580,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761616065840426,-0.004366346367981892,0.10405182006406334,0.9999999573181125,-0.00017538987437969237,0.00013564976636058643,0.00016626536036020304,0.6761,-0.004,0.10381196755885586,1.0,0.0,0.0,0.0,-0.1092402119899415,0.0005766339549168054,2.2623147941866475,0.0006037992677402557,0.011366919274613807,0.0005070376815711226,0.7983713428328054,0.7613983331810379,2.3788685714779176,0.06232890393757553,-0.058472452977131356,0.002095734643371396,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.1645501440845292,1.3105165845941837,-1.6967802613933267,0.08253174319566962,1.308482298676218,0.7581592629014829,-0.05596638033884349,2.2623147941866475,1.6408138810544832,1.6408138810544832,1.796250000000427,0,0,-0.0003313258967643521,9.999695102370083e-05
+4504,1792753990035912186,37393058000000,1792753990029819057,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761614963813948,-0.00437072893726915,0.10394787848860017,0.999999953967725,-0.00020033805482507378,0.00013905552847477955,0.00015503430471532287,0.6761,-0.004,0.10370497608789826,1.0,0.0,0.0,0.0,-0.09934372144473214,0.011435146402980378,2.283251879250808,0.0006284778450395823,0.010348229125182906,0.0004760427324079228,0.8082678333780148,0.7722568456291015,2.3998056565420782,0.062353582514874856,-0.05949114312656226,0.002064739694208196,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.0801392257161786,1.2966862601228728,-1.6819221065897187,0.09524429792287055,1.273710916588115,0.747177556266748,-0.05596638033884349,2.283251879250808,1.6259557262508753,1.6259557262508753,1.8450000000004576,0,0,-0.00033040278759191723,9.993751245851996e-05
+4539,1792753990327955786,37393350000000,1792753990325808860,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761609097545631,-0.004371805750016518,0.10385148171513994,0.9999999534414035,-0.00019765756254786556,0.00013634665206993144,0.0001640156498574682,0.6761,-0.004,0.10360805416973783,1.0,0.0,0.0,0.0,-0.09050603222962028,0.012443782765595324,2.3126169173781728,0.0006242105847832496,0.01034144609545571,0.0004529861671962541,0.8171055225931266,0.7732654819917164,2.429170694669443,0.06234931525461852,-0.05949792615628945,0.0020416831289965273,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.0946065818184094,1.2419180378956403,-1.5764333690760615,0.1126112445401176,1.2108500738242733,0.7133476381682013,-0.05596638033884349,2.3126169173781728,1.520466988737218,1.520466988737218,1.8888000000004852,0,0,-0.00033440409413362646,-9.999180236442413e-05
+4573,1792753990610933905,37393633000000,1792753990609809248,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761678123095337,-0.004375686283001569,0.10376570982142622,0.9999999513759177,-0.00019364502766821754,0.000148083634028312,0.00017106684997107317,0.6761,-0.004,0.10351217151807005,1.0,0.0,0.0,0.0,-0.09002625839334111,0.004254610670736292,2.3266054751554894,0.0006214639420048587,0.010339639404613708,0.0004453731637272572,0.8175852964294058,0.7650763098968574,2.4431592524467596,0.06234656861184013,-0.059499732847131455,0.0020340701255275304,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.0953272978185258,1.3206785547880142,-1.6031799820325012,0.09709063900003308,1.2257335680059611,0.7641395335411851,-0.05596638033884349,2.3266054751554894,1.5472136016936577,1.5472136016936577,1.931250000000512,0,0,-0.0003435404410626327,-9.739106329587627e-05
+4604,1792753990869904191,37393892000000,1792753990869808856,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761656981647037,-0.004378613602077572,0.10366896964168118,0.9999999522508056,-0.00018770874213658276,0.0001418862303104801,0.0001776934899525647,0.6761,-0.004,0.10342195519763785,1.0,0.0,0.0,0.0,-0.07308403682495446,0.012974949129643698,2.3367437864901732,0.0006461991225125072,0.009322224370213655,0.0004194613319463054,0.8345275179977925,0.7737966483557648,2.4532975637814434,0.06237130379234778,-0.06051714788153151,0.0020081582937465786,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.0467608782614894,1.223224839389972,-1.6996817494920942,0.12913583243335885,1.273632810045582,0.7031804019839759,-0.05596638033884349,2.3367437864901732,1.6437153691532507,1.6437153691532507,1.9701000000005364,0,0,-0.000353990874858738,-9.999999025923074e-05
+4637,1792753991144907154,37394167000000,1792753991137820268,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761704815312122,-0.004385426743032318,0.1035751695057636,0.9999999557223181,-0.00015403590652008105,0.00014781691540535622,0.00018552984935065904,0.6761,-0.004,0.10332283055664895,1.0,0.0,0.0,0.0,-0.07184818269496906,0.01352383182148409,2.3428156759089482,0.0006459589537654437,0.009321208266945012,0.00041514612836188744,0.8357633721277778,0.7743455310476052,2.4593694532002184,0.06237106362360072,-0.06051816398480015,0.0020038430901621607,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.0563047804684413,1.4063943526571028,-1.665832643886919,0.08055139302361528,1.2507575259257235,0.8291709971380337,-0.05596638033884349,2.3428156759089482,1.6098662635480756,1.6098662635480756,2.0113500000005624,0,0,-0.0003666814365297074,-9.999999025923074e-05
+4671,1792753991427902476,37394450000000,1792753991425808167,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761695438531582,-0.004385524474215713,0.10346995289237569,0.9999999544167795,-0.0001706087174565458,0.0001506674532660033,0.0001755029556336268,0.6761,-0.004,0.10321712593453489,1.0,0.0,0.0,0.0,-0.06236484034219991,0.02316825812469292,2.3529650794830967,0.0006728937021537457,0.008304782263724692,0.0003923270763829573,0.845246714480547,0.783989957350814,2.469518856774367,0.06239799837198902,-0.06153458998802047,0.0019810240381832305,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.0505118704567171,1.3246259855232616,-1.6085215300477054,0.1212094290390112,1.2138650660807333,0.774783438478911,-0.05596638033884349,2.3529650794830967,1.5525551497088619,1.5525551497088619,2.053800000000589,0,0,-0.0003804803764787242,-9.999999025923074e-05
+4700,1792753991669923549,37394692000000,1792753991669809018,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761655988846232,-0.004383123814776383,0.10336960711193946,0.9999999539572584,-0.00019053876965426152,0.00014306268160776614,0.0001635738106632129,0.6761,-0.004,0.10312359163371344,1.0,0.0,0.0,0.0,-0.03497167818709446,0.03724291566954807,2.36747620287985,0.0017189149124684638,0.007268050224427169,0.0003798180927174831,0.8726398766356525,0.7980646148956692,2.4840299801711203,0.06344401958230374,-0.062571322027318,0.0019685150545177563,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.9934860542865128,1.3366109665668284,-1.6033912058699544,0.11166874169333453,1.1917687022958525,0.7804772486025847,-0.05596638033884349,2.36747620287985,1.547424825531111,1.547424825531111,2.090100000000612,0,0,-0.00039258037412145806,-9.999999025923074e-05
+4732,1792753991935838309,37394958000000,1792753991929809327,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761610728817754,-0.004390538280962433,0.10326100361641596,0.9999999528842362,-0.00019173581760713895,0.00013545667626254883,0.00017482349589038838,0.6761,-0.004,0.10301740300454304,1.0,0.0,0.0,0.0,-0.03726112739391452,0.022923858112724904,2.3631160679471646,0.0007022120213235131,0.007162606110029071,0.0003704552892757314,0.8703504274288324,0.783745557338846,2.4796698452384347,0.062427316691158787,-0.06267676614171609,0.0019591522510760046,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.004981803418122,1.3707258917215537,-1.6411550867907394,0.10834031157634753,1.220235628029626,0.8045101418209413,-0.05596638033884349,2.3631160679471646,1.585188706451896,1.585188706451896,2.130000000000637,0,0,-0.00040588037153041343,-9.999999025923074e-05
+4763,1792753992194888094,37395217000000,1792753992189809359,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761611407239677,-0.004394281043987402,0.10315473537169705,0.9999999513664821,-0.0001907934760693506,0.0001355795021052798,0.00018418997111296575,0.6761,-0.004,0.10291060943864463,1.0,0.0,0.0,0.0,-0.033731272352772956,0.02387175543369302,2.3648964287900016,0.0007256465766494746,0.006275024713260843,0.000354819754611346,0.873880282469974,0.7846934546598141,2.4814502060812718,0.06245075124648475,-0.06356434753848432,0.0019435167164116192,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,1.028907804183483,1.38598555207182,-1.6638654136298843,0.10984503072150283,1.2401399328997174,0.8191657720097791,-0.05596638033884349,2.3648964287900016,1.6078990332910408,1.6078990332910408,2.1688500000006616,0,0,-0.0004188303690075542,-9.999999025923074e-05
+4793,1792753992444871802,37395467000000,1792753992437809420,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761634847649164,-0.004392306944313965,0.10305281570817207,0.9999999515353293,-0.00018706426688818906,0.00013891145793414487,0.00018461519462620053,0.6761,-0.004,0.10280434559669836,1.0,0.0,0.0,0.0,-0.024216879519365797,0.02152132660923911,2.3628121409348175,-0.0002924980071177183,0.006294043756161438,0.00034615775587625757,0.8833946753033811,0.7823430258353602,2.4793659182260877,0.061432606662717555,-0.06354532849558372,0.0019348547176765308,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.975039277503975,1.352683686598843,-1.6290025129069763,0.12623142027308554,1.2028891078102015,0.7967579851170167,-0.05596638033884349,2.3628121409348175,1.5730361325681328,1.5730361325681328,2.2063500000006853,0,0,-0.0004313303665723619,-9.999999025923074e-05
+4822,1792753992685860897,37395708000000,1792753992681809159,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761629406089,-0.004391353060207756,0.10294320099728999,0.9999999519537573,-0.00018699747149158064,0.00013755151403768424,0.0001834308422593231,0.6761,-0.004,0.10269894897863847,1.0,0.0,0.0,0.0,-0.020911086480709162,0.02394374488848605,2.3532230052383203,0.0007493610038065632,0.005282249633552019,0.00035012274692963405,0.8867004683420378,0.7847654441146071,2.4697767825295904,0.06247446567364184,-0.06455712261819314,0.0019388197087299073,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.9732294544558212,1.3095408211115147,-1.6921621925935604,0.1465088880431795,1.2443330587487933,0.7717166382144647,-0.05596638033884349,2.3532230052383203,1.6361958122547169,1.6361958122547169,2.242500000000708,0,0,-0.0004433803642248365,-9.999999025923074e-05
+4850,1792753992919800475,37395942000000,1792753992917808833,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676164546387984,-0.004400356287106286,0.10283894593969459,0.9999999499140394,-0.0001916964731688248,0.00013890026365865704,0.00018861060926351605,0.6761,-0.004,0.10259383492367768,1.0,0.0,0.0,0.0,-0.0073999546408345385,0.023511351607991338,2.3432098256204403,0.0007503370909476975,0.005266048653395472,0.0003597495831741456,0.9002116001819124,0.7843330508341124,2.4597636029117105,0.06247544176078297,-0.06457332359834969,0.0019484465449744188,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.9867369426099489,1.313114164992786,-1.63672990779153,0.15562546361397883,1.2094223253826528,0.7753834134282476,-0.05596638033884349,2.3432098256204403,1.5807635274526866,1.5807635274526866,2.27760000000073,0,0,-0.0004550803619454965,-9.999999025923074e-05
+4877,1792753993144834124,37396167000000,1792753993137809180,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761629995387617,-0.004397347850618677,0.10273039448247501,0.9999999510529476,-0.00018738047369157588,0.0001359728480106562,0.00018904208340950014,0.6761,-0.004,0.10249018184248761,1.0,0.0,0.0,0.0,-0.005562804486350381,0.027864516724423916,2.3227866883535735,-0.0002599815141410139,0.005288311488183248,0.00036504039815112715,0.9020487503363965,0.788686215950545,2.4393404656448436,0.06146512315569426,-0.06455106076356192,0.0019537373599514004,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.901794147772247,1.414759890314555,-1.607564236378795,0.12656956466316224,1.1665285182859786,0.843162139736341,-0.05596638033884349,2.3227866883535735,1.5515978560399515,1.5515978560399515,2.3113500000007514,0,0,-0.0004663303597538234,-9.999999025923074e-05
+4903,1792753993360822463,37396383000000,1792753993353809561,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761628136572787,-0.004400435231801191,0.102628631238357,0.9999999490808135,-0.00019408208205499012,0.0001362819441343999,0.00019245937678038236,0.6761,-0.004,0.10238829348500907,1.0,0.0,0.0,0.0,-0.005541128070082668,0.0196745717866339,2.3128440470500027,-0.00025741425575210447,0.005291344252583638,0.0003730679807166025,0.9020704267526642,0.780496271012755,2.429397824341273,0.06146769041408317,-0.06454802799916153,0.0019617649425168757,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8961571775016688,1.4417158317601984,-1.5800643787747142,0.12833711724123287,1.1445377961909857,0.8628491500095176,-0.05596638033884349,2.3128440470500027,1.5240979984358707,1.5240979984358707,2.343750000000772,0,0,-0.00047713035764981724,-9.999999025923074e-05
+4926,1792753993552807682,37396575000000,1792753993549809029,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761551931057633,-0.00440435237975377,0.1025245445536546,0.9999999495402928,-0.00019827893883623038,0.00012320280758458473,0.00019459909207111887,0.6761,-0.004,0.10229576765652078,1.0,0.0,0.0,0.0,-0.000995509090433222,0.007562704827233535,2.30194973862257,-0.0012417288145760291,0.0043512863601120055,-0.0005337508511481298,0.9066160457323137,0.7683844040533546,2.41850351591384,0.060483375855259244,-0.06548808589163316,0.0010549461106521434,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.911750536480392,1.4003961110083727,-1.5485878651031555,0.1406603487857529,1.132031526905684,0.8367377481871905,-0.05596638033884349,2.30194973862257,1.492621484764312,1.492621484764312,2.37255000000079,0,0,-0.00048673035577958954,-9.999999025923074e-05
+4952,1792753993769795659,37396792000000,1792753993765808989,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761516379964634,-0.004407290525343232,0.10240755150900493,0.9999999499349034,-0.0001944785673958522,0.00011888551580602684,0.00019904114136858343,0.6761,-0.004,0.102188975369547,1.0,0.0,0.0,0.0,0.00510958030724451,0.003189959750395488,2.2745039828419116,-0.002251726661400888,0.004327997127382424,-0.0002849910152188952,0.9127211351299914,0.7640116589765166,2.3910577601331817,0.059473378008434385,-0.06551137512436274,0.001303705946581378,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8865639832186095,1.2911167758391509,-1.5243345949269458,0.1802862879888128,1.1127629784001238,0.7705710534776197,-0.05596638033884349,2.2745039828419116,1.4683682145881023,1.4683682145881023,2.4051000000008105,0,0,-0.0004975803536658427,-9.999999025923074e-05
+4978,1792753993985765645,37397008000000,1792753993985809032,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761598704620756,-0.004403274275732113,0.1022995661925044,0.9999999523908226,-0.000179552065421096,0.00012371809831877563,0.00019777791723009543,0.6761,-0.004,0.10208033701338347,1.0,0.0,0.0,0.0,0.00517399505031102,0.0005930113270663506,2.2545868229306456,-0.0022600899918148315,0.004330041092814055,0.0003844667680449388,0.9127855498730579,0.7614147105531874,2.3711406002219158,0.05946501467802044,-0.06550933115893111,0.001973163729845212,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.9183159154061249,1.3275760510549761,-1.491488824379546,0.17780838918189776,1.0977400735975316,0.7971916997174116,-0.05596638033884349,2.2545868229306456,1.4355224440407026,1.4355224440407026,2.437500000000831,0,0,-0.0005083803515618365,-9.999999025923074e-05
+5003,1792753994194731701,37397217000000,1792753994193809363,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761580423752696,-0.004399544201506616,0.10218241827588881,0.9999999530908767,-0.0001859540919279717,0.00011845813262915841,0.00019144151885425176,0.6761,-0.004,0.1019729987201208,1.0,0.0,0.0,0.0,0.01316370908650788,0.0004801164504752986,2.2129911434549605,-0.0022520847599105595,0.004338544963850596,0.00019429618832406278,0.9207752639092548,0.7613018156765964,2.3295449207462307,0.059473019909924714,-0.06550082728789457,0.001782993150124336,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8624304093875148,1.3360743600873335,-1.5021298694735343,0.17203793151515195,1.0901748412730012,0.8004193036655117,-0.05596638033884349,2.2129911434549605,1.4461634891346908,1.4461634891346908,2.4688500000008506,0,0,-0.0005188303495260157,-9.999999025923074e-05
+5025,1792753994377759048,37397400000000,1792753994373809256,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761519448822225,-0.004402613074061169,0.1020789960435485,0.9999999521922689,-0.00019231625846813672,0.0001101142843455926,0.00019480150228041394,0.6761,-0.004,0.10187722011632154,1.0,0.0,0.0,0.0,-0.0030911676886687944,-0.01334064637785215,2.182522067832024,-0.002943960190334098,0.0043642162531127154,0.0004294849541492964,0.9045203871340781,0.7474810528482689,2.299075845123294,0.058781144479501175,-0.06547515599863245,0.0020181819159495696,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8559842119901783,1.3832355809857495,-1.37929549265913,0.1592721988700689,1.0111113685292472,0.8336919716279367,-0.05596638033884349,2.182522067832024,1.3233291123202866,1.3233291123202866,2.496300000000868,0,0,-0.000527980347743455,-9.999999025923074e-05
+5050,1792753994585721491,37397608000000,1792753994581809357,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761474610260232,-0.004406804509659056,0.10196370707291924,0.9999999506807911,-0.0001939101929873067,0.00010789660495041767,0.00020208522795611605,0.6761,-0.004,0.10176632380420263,1.0,0.0,0.0,0.0,0.006038297213417754,-0.02690174185435612,2.141214155713592,-0.00427310419356542,0.004398540206064866,-0.00046689127362463173,0.9136498520361647,0.733919957371765,2.257767933004862,0.05745200047626985,-0.0654408320456803,0.0011218056881756415,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8166400972566754,1.319754468346215,-1.300451064732522,0.18560826692085364,0.9483206374247509,0.7993804467620994,-0.05596638033884349,2.141214155713592,1.2444846843936785,1.2444846843936785,2.5275000000008876,0,0,-0.000538380345717375,-9.999999025923074e-05
+5072,1792753994769744969,37397792000000,1792753994769809184,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761410646549508,-0.004402456246284282,0.10185610565785355,0.9999999535566982,-0.00018504917508197212,9.580444682535157e-05,0.000202256708605714,0.6761,-0.004,0.10166642002075642,1.0,0.0,0.0,0.0,-0.002153765389849349,-0.04070061481425369,2.1197292301910133,-0.005273337714527544,0.004422131871985563,-0.0004333522044405228,0.9054577894328976,0.7201210844118674,2.2362830074822835,0.05645176695530773,-0.0654172403797596,0.0011553447573597504,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8485745361913167,1.2020597141394342,-1.3923065398041328,0.22488211331091687,1.0191824461945247,0.7216397068238583,-0.05596638033884349,2.1197292301910133,1.3363401594652893,1.3363401594652893,2.555100000000905,0,0,-0.0005475803439250734,-9.999999025923074e-05
+5094,1792753994947730308,37397970000000,1792753994945809364,DOWN_SETTLE,4,0.054,0.054001640528440475,0.6761417799563386,-0.004406396292139851,0.10175208432531398,0.9999999523784631,-0.00018885340169618177,9.89104488776962e-05,0.00020306908062256936,0.6761,-0.004,0.10156828494469282,1.0,0.0,0.0,0.0,-0.0020698581762572665,-0.04558960372429932,2.0798712643381414,-0.005283266242427392,0.004432139214078354,-0.0005151793887863865,0.9055416966464896,0.7152320955018218,2.1964250416294115,0.05644183842740788,-0.06540723303766681,0.0010735175730138867,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.8423219636724936,1.2857785833086963,-1.3513157937012614,0.19885009205681786,0.9914490585477375,0.7763993087127438,-0.05596638033884349,2.0798712643381414,1.295349413362418,0.0,0.0,0,0,-0.0005414803421912164,0.0011500000097407694
+5131,1792753995256713444,37398279000000,1792753995253809343,DOWN_SETTLE,4,0.054,0.054001640528440475,0.6761285859813669,-0.004399720664004581,0.10165541881424768,0.9999999557255077,-0.0001882377175664073,7.086165828772465e-05,0.00019883921615789976,0.6761,-0.004,0.1015048477778069,1.0,0.0,0.0,0.0,0.008215756822389064,-0.04939305481915779,1.961560908649672,-0.006254865099550075,0.0034675112683441867,-0.00046926332897677804,0.915827311645136,0.7114286444069633,2.078114685940942,0.0554702395702852,-0.06637186098340098,0.0011194336328234952,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.7429204870112764,1.3439893333631054,-1.092508427962608,0.1741968824062529,0.8079841674010148,0.81591788812243,-0.05596638033884349,1.961560908649672,1.0365420476237646,0.0,0.0,0,0,-3.1246495027924704e-05,0.00031562116189822934
+5204,1792753995863643366,37398886000000,1792753995861808680,DOWN_PEAK_HOLD,4,0.054,0.054001640528440475,0.6761169829680526,-0.004392562661213652,0.10161815346713417,0.9999999581670475,-0.00018191440043150537,4.9016854649890456e-05,0.00019903081756193644,0.6761,-0.004,0.1015027175015364,1.0,0.0,0.0,0.0,0.003330824210508232,-0.06346600515951639,1.773893113583127,-0.0072390719423282845,0.0035233081338462563,-0.0003278392888571603,0.9109423790332551,0.6973556940666047,1.8904468908743972,0.05448603272750699,-0.0663160641178989,0.001260857672943113,0.9076115548227469,0.7608216992261211,0.11655377729127016,0.06172510466983527,-0.06983937225174516,0.0015886969618002732,1,0.6973481688613746,1.3203995253806768,-0.8653619423192199,0.16471996459962612,0.651265907114066,0.7926048924737252,-0.05596638033884349,1.773893113583127,0.8093955619803764,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_0050_10/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,1792753977537484909,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.968855741e-10,-3.747243748e-11,2.127942267e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450079e-01,-1.187886648e-04,8.303259043e-01
+1,4.500000000e-01,DOWN_FORCE_DETACH,1792753977980026228,2.714628699e-06,-1.844691506e-06,3.236430339e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.433591650e-08,-1.010166821e-09,9.570271242e-10,7.019583474e-01,-2.411542653e-05,8.601463237e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450312e-01,-1.187896374e-04,8.303259053e-01
+2,8.666666667e-01,DOWN_FORCE_DETACH,1792753978651496813,3.388154354e-06,-5.174198116e-07,-8.210659107e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.038622536e-08,-1.729691319e-09,1.920955395e-09,7.019590210e-01,-2.278815483e-05,8.601422662e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450473e-01,-1.187903570e-04,8.303259062e-01
+3,1.333333333e+00,DOWN_FORCE_DETACH,1792753979110370583,1.374134212e-06,2.226737332e-06,-1.976255107e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.355817001e-08,-2.287933305e-09,2.823663303e-09,7.019570070e-01,-2.004399769e-05,8.601233247e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450605e-01,-1.187909152e-04,8.303259072e-01
+4,1.816666667e+00,DOWN_FORCE_DETACH,1792753979585695157,1.691338236e-06,-5.989306762e-06,-5.120458143e-05,2.405221926e-06,-7.962087309e-06,-4.306538091e-05,2.097046986e-06,-8.038231149e-06,-4.300177001e-05,7.019573242e-01,-2.826004178e-05,8.600918827e-01,7.019580380e-01,-3.023282233e-05,8.601000219e-01,7.027471040e-01,-1.268268584e-04,8.302829026e-01
+5,2.233333333e+00,DOWN_FORCE_DETACH,1792753979994316051,4.682030393e-06,-5.282558817e-06,-8.032561218e-05,1.232269293e-06,-6.946168697e-06,-6.330398022e-05,5.705604512e-07,-7.022307384e-06,-6.324535251e-05,7.019603148e-01,-2.755329384e-05,8.600627616e-01,7.019568651e-01,-2.921690372e-05,8.600797833e-01,7.027455775e-01,-1.258109347e-04,8.302626590e-01
+6,2.683333333e+00,DOWN_FORCE_DETACH,1792753980436672234,1.936680541e-05,-9.370617348e-06,-1.128419262e-04,1.315232114e-05,-1.293179113e-05,-1.027791931e-04,1.294430019e-05,-1.305787476e-05,-1.026561076e-04,7.019749996e-01,-3.164135237e-05,8.600302453e-01,7.019687851e-01,-3.520252615e-05,8.600403080e-01,7.027579512e-01,-1.318465020e-04,8.302232482e-01
+7,3.166666667e+00,DOWN_FORCE_DETACH,1792753980911416935,2.911110333e-05,-1.080610020e-05,-1.634648424e-04,2.738251877e-05,-1.515449441e-05,-1.625267153e-04,2.755960848e-05,-1.531301977e-05,-1.623270248e-04,7.019847439e-01,-3.307683522e-05,8.599796224e-01,7.019830153e-01,-3.742522944e-05,8.599805605e-01,7.027725665e-01,-1.341016471e-04,8.301635773e-01
+8,3.616666667e+00,DOWN_FORCE_DETACH,1792753981354284862,3.365660081e-05,-1.693653712e-05,-2.229448201e-04,3.507529445e-05,-2.069171660e-05,-2.047186931e-04,3.531541235e-05,-2.090815986e-05,-2.044693048e-04,7.019892894e-01,-3.920727215e-05,8.599201424e-01,7.019907081e-01,-4.296245163e-05,8.599383685e-01,7.027803223e-01,-1.396967871e-04,8.301214350e-01
+9,4.016666667e+00,DOWN_FORCE_DETACH,1792753981747003903,3.991515596e-05,-1.877787032e-05,-2.920197009e-04,3.978169176e-05,-1.869028975e-05,-2.918062688e-04,3.936060259e-05,-1.889200117e-05,-2.914626989e-04,7.019955480e-01,-4.104860535e-05,8.598510675e-01,7.019954145e-01,-4.096102478e-05,8.598512810e-01,7.027843675e-01,-1.376806284e-04,8.300344416e-01
+10,4.400000000e+00,DOWN_FORCE_DETACH,1792753982123982283,4.278700744e-05,-2.232949393e-05,-3.562259222e-04,4.267925098e-05,-2.219165955e-05,-3.562318399e-04,4.165019499e-05,-2.243267836e-05,-3.558280241e-04,7.019984198e-01,-4.460022895e-05,8.597868613e-01,7.019983121e-01,-4.446239457e-05,8.597868554e-01,7.027866571e-01,-1.412213056e-04,8.299700763e-01
+11,4.816666667e+00,DOWN_FORCE_DETACH,1792753982549610659,5.509985274e-05,-2.468366958e-05,-4.244844172e-04,5.204132188e-05,-2.333101983e-05,-4.215050995e-04,5.091654001e-05,-2.356976535e-05,-4.210916188e-04,7.020107327e-01,-4.695440461e-05,8.597186028e-01,7.020076741e-01,-4.560175485e-05,8.597215821e-01,7.027959235e-01,-1.423583926e-04,8.299048127e-01
+12,5.166666667e+00,DOWN_FORCE_DETACH,1792753982909837538,6.145753551e-05,-2.780285058e-05,-5.047612360e-04,5.797159610e-05,-2.636169125e-05,-4.895478020e-04,5.648252296e-05,-2.663087158e-05,-4.891368685e-04,7.020170904e-01,-5.007358561e-05,8.596383260e-01,7.020136044e-01,-4.863242628e-05,8.596535394e-01,7.028014894e-01,-1.454194989e-04,8.298367675e-01
+13,5.516666667e+00,DOWN_FORCE_DETACH,1792753983254477206,6.532218796e-05,-2.677339132e-05,-5.807625533e-04,6.619165752e-05,-2.674941570e-05,-5.718354246e-04,6.435641462e-05,-2.700690726e-05,-5.713483193e-04,7.020209550e-01,-4.904412634e-05,8.595623247e-01,7.020218245e-01,-4.902015072e-05,8.595712518e-01,7.028093633e-01,-1.457955345e-04,8.297545560e-01
+14,5.883333333e+00,DOWN_FORCE_DETACH,1792753983631325908,7.634285962e-05,-3.665826381e-05,-6.665404572e-04,7.486833406e-05,-3.313827002e-05,-6.621167489e-04,7.261017975e-05,-3.345196922e-05,-6.616716122e-04,7.020319757e-01,-5.892899883e-05,8.594765468e-01,7.020305012e-01,-5.540900504e-05,8.594809705e-01,7.028176171e-01,-1.522405965e-04,8.296642327e-01
+15,6.216666667e+00,DOWN_FORCE_DETACH,1792753983991498356,8.475240183e-05,-3.713973047e-05,-7.580725129e-04,8.438559183e-05,-3.205956008e-05,-7.542410513e-04,8.171918735e-05,-3.239623620e-05,-7.537343964e-04,7.020403852e-01,-5.941046549e-05,8.593850147e-01,7.020400184e-01,-5.433029510e-05,8.593888462e-01,7.028267261e-01,-1.511848635e-04,8.295721699e-01
+16,6.583333333e+00,DOWN_FORCE_DETACH,1792753984367650593,1.005059721e-04,-4.274311873e-05,-8.560553949e-04,9.577913571e-05,-3.737734662e-05,-8.465903076e-04,9.282999426e-05,-3.773840233e-05,-8.460523821e-04,7.020561388e-01,-6.501385375e-05,8.592870318e-01,7.020514120e-01,-5.964808164e-05,8.592964969e-01,7.028378369e-01,-1.565270296e-04,8.294798519e-01
+17,6.866666667e+00,DOWN_FORCE_DETACH,1792753984695535055,1.121155661e-04,-4.795790084e-05,-9.517080850e-04,1.098172450e-04,-4.582475530e-05,-9.493022473e-04,1.066951333e-04,-4.631610627e-05,-9.486778473e-04,7.020677484e-01,-7.022863586e-05,8.591913792e-01,7.020654501e-01,-6.809549032e-05,8.591937850e-01,7.028517020e-01,-1.651047336e-04,8.293772265e-01
+18,7.150000000e+00,DOWN_FORCE_DETACH,1792753984974190406,1.162966415e-04,-4.519156835e-05,-1.038502819e-03,1.160954930e-04,-4.519249626e-05,-1.038646062e-03,1.124046230e-04,-4.568400631e-05,-1.038032797e-03,7.020719295e-01,-6.746230337e-05,8.591045844e-01,7.020717283e-01,-6.746323128e-05,8.591044412e-01,7.028574115e-01,-1.644726336e-04,8.292878715e-01
+19,7.433333333e+00,DOWN_FORCE_DETACH,1792753985252162366,1.219691242e-04,-5.046553425e-05,-1.128989410e-03,1.235699312e-04,-5.036662083e-05,-1.121296606e-03,1.194910884e-04,-5.090220008e-05,-1.120688778e-03,7.020776019e-01,-7.273626927e-05,8.590140978e-01,7.020792027e-01,-7.263735586e-05,8.590217906e-01,7.028644980e-01,-1.696908274e-04,8.292052155e-01
+20,7.716666667e+00,DOWN_FORCE_DETACH,1792753985530602755,1.261450374e-04,-5.536452657e-05,-1.223511136e-03,1.261553916e-04,-5.731219624e-05,-1.211858854e-03,1.211703742e-04,-5.796925247e-05,-1.211300310e-03,7.020817779e-01,-7.763526159e-05,8.589195761e-01,7.020817882e-01,-7.958293126e-05,8.589312284e-01,7.028661773e-01,-1.767578798e-04,8.291146040e-01
+21,8.016666667e+00,DOWN_FORCE_DETACH,1792753985825416496,1.380870973e-04,-5.879669836e-05,-1.318363215e-03,1.339896972e-04,-5.705869121e-05,-1.302981082e-03,1.284497160e-04,-5.769554670e-05,-1.302397670e-03,7.020937199e-01,-8.106743338e-05,8.588247240e-01,7.020896225e-01,-7.932942624e-05,8.588401062e-01,7.028734566e-01,-1.764841740e-04,8.290235067e-01
+22,8.266666667e+00,DOWN_FORCE_DETACH,1792753986125651103,1.466300255e-04,-6.245971889e-05,-1.423892745e-03,1.465303663e-04,-6.247794151e-05,-1.423663985e-03,1.405050424e-04,-6.316331805e-05,-1.422977073e-03,7.021022628e-01,-8.473045391e-05,8.587191945e-01,7.021021632e-01,-8.474867653e-05,8.587194233e-01,7.028855120e-01,-1.819519453e-04,8.289029273e-01
+23,8.533333333e+00,DOWN_FORCE_DETACH,1792753986382830316,1.531770468e-04,-6.404239373e-05,-1.519357934e-03,1.531254136e-04,-6.408032390e-05,-1.519270222e-03,1.464348696e-04,-6.478062292e-05,-1.518585271e-03,7.021088099e-01,-8.631312875e-05,8.586237293e-01,7.021087582e-01,-8.635105892e-05,8.586238170e-01,7.028914418e-01,-1.835692502e-04,8.288073191e-01
+24,8.816666667e+00,DOWN_FORCE_DETACH,1792753986661560295,1.616145431e-04,-6.787690281e-05,-1.622467370e-03,1.605797126e-04,-6.666406779e-05,-1.613257031e-03,1.533838563e-04,-6.738519337e-05,-1.612588693e-03,7.021172474e-01,-9.014763784e-05,8.585206199e-01,7.021162125e-01,-8.893480281e-05,8.585298302e-01,7.028983908e-01,-1.861738207e-04,8.287133156e-01
+25,9.066666667e+00,DOWN_FORCE_DETACH,1792753986922683036,1.733570197e-04,-7.679849654e-05,-1.718829994e-03,1.707192367e-04,-7.124393198e-05,-1.707524519e-03,1.631880769e-04,-7.203292735e-05,-1.706898522e-03,7.021289898e-01,-9.906923157e-05,8.584242572e-01,7.021263521e-01,-9.351466700e-05,8.584355627e-01,7.029081950e-01,-1.908215546e-04,8.286190058e-01
+26,9.366666667e+00,DOWN_FORCE_DETACH,1792753987217962868,1.915284350e-04,-7.885669804e-05,-1.828665931e-03,1.890484225e-04,-7.668917923e-05,-1.821840606e-03,1.816168950e-04,-7.756721281e-05,-1.821195366e-03,7.021471613e-01,-1.011274331e-04,8.583144213e-01,7.021446812e-01,-9.895991425e-05,8.583212466e-01,7.029266238e-01,-1.963558401e-04,8.285047090e-01
+27,9.616666667e+00,DOWN_FORCE_DETACH,1792753987463340392,1.929330453e-04,-8.475789509e-05,-1.930755889e-03,1.928079350e-04,-8.467608595e-05,-1.930293697e-03,1.843597259e-04,-8.563930989e-05,-1.929635773e-03,7.021485659e-01,-1.070286301e-04,8.582123314e-01,7.021484408e-01,-1.069468210e-04,8.582127935e-01,7.029293666e-01,-2.044279372e-04,8.283962686e-01
+28,9.866666667e+00,DOWN_FORCE_DETACH,1792753987745372227,2.004669547e-04,-8.866024669e-05,-2.035207642e-03,1.995489752e-04,-8.693659730e-05,-2.017364655e-03,1.905296230e-04,-8.791958906e-05,-2.016748762e-03,7.021560998e-01,-1.109309817e-04,8.581078796e-01,7.021551818e-01,-1.092073323e-04,8.581257226e-01,7.029355365e-01,-2.067082163e-04,8.283091556e-01
+29,1.013333333e+01,DOWN_FORCE_DETACH,1792753988004199583,2.046794336e-04,-9.270721042e-05,-2.138167420e-03,2.045826997e-04,-9.295594371e-05,-2.138399820e-03,1.944843527e-04,-9.398799509e-05,-2.137717185e-03,7.021603123e-01,-1.149779454e-04,8.580049198e-01,7.021602155e-01,-1.152266787e-04,8.580046874e-01,7.029394913e-01,-2.127766224e-04,8.281881871e-01
+30,1.041666667e+01,DOWN_FORCE_DETACH,1792753988300044756,2.132376160e-04,-9.502974413e-05,-2.239554061e-03,2.131218827e-04,-9.518107365e-05,-2.239419451e-03,2.024292663e-04,-9.625977428e-05,-2.238735243e-03,7.021688704e-01,-1.173004792e-04,8.579035332e-01,7.021687547e-01,-1.174518087e-04,8.579036678e-01,7.029474362e-01,-2.150484016e-04,8.280871691e-01
+31,1.071666667e+01,DOWN_FORCE_DETACH,1792753988595163933,2.201383298e-04,-9.681365549e-05,-2.338537072e-03,2.160182606e-04,-9.510398686e-05,-2.331828570e-03,2.045019494e-04,-9.613746630e-05,-2.331308213e-03,7.021757711e-01,-1.190843905e-04,8.578045502e-01,7.021716511e-01,-1.173747219e-04,8.578112587e-01,7.029495089e-01,-2.149260936e-04,8.279945961e-01
+32,1.100000000e+01,DOWN_FORCE_DETACH,1792753988873954015,2.212550964e-04,-9.791924115e-05,-2.437176937e-03,2.212982887e-04,-9.803941749e-05,-2.436869051e-03,2.089027135e-04,-9.910307745e-05,-2.436292897e-03,7.021768879e-01,-1.201899762e-04,8.577059103e-01,7.021769311e-01,-1.203101525e-04,8.577062182e-01,7.029539096e-01,-2.178917047e-04,8.278896114e-01
+33,1.126666667e+01,DOWN_FORCE_DETACH,1792753989150685475,2.278620220e-04,-1.030025612e-04,-2.523795739e-03,2.250874586e-04,-1.068003766e-04,-2.505462984e-03,2.121838361e-04,-1.079867627e-04,-2.505033853e-03,7.021834948e-01,-1.252732962e-04,8.576192915e-01,7.021807203e-01,-1.290711116e-04,8.576376243e-01,7.029571907e-01,-2.267753900e-04,8.278208705e-01
+34,1.155000000e+01,DOWN_FORCE_DETACH,1792753989429260084,2.290869758e-04,-1.087307985e-04,-2.611283661e-03,2.279693410e-04,-1.070291779e-04,-2.600079151e-03,2.141397902e-04,-1.082305958e-04,-2.599653109e-03,7.021847198e-01,-1.310015335e-04,8.575318036e-01,7.021836022e-01,-1.292999130e-04,8.575430081e-01,7.029591467e-01,-2.270192231e-04,8.277262512e-01
+35,1.183333333e+01,DOWN_FORCE_DETACH,1792753989707286722,2.293265617e-04,-1.108536235e-04,-2.705840288e-03,2.281444642e-04,-1.106069161e-04,-2.690656607e-03,2.132781478e-04,-1.118287524e-04,-2.690293063e-03,7.021849594e-01,-1.331243585e-04,8.574372470e-01,7.021837773e-01,-1.328776512e-04,8.574524306e-01,7.029582851e-01,-2.306173797e-04,8.276356113e-01
+36,1.215000000e+01,DOWN_FORCE_DETACH,1792753990035283367,2.302972889e-04,-1.140728759e-04,-2.810201803e-03,2.295206272e-04,-1.147965553e-04,-2.800200304e-03,2.133505979e-04,-1.160933735e-04,-2.799866677e-03,7.021859301e-01,-1.363436110e-04,8.573328854e-01,7.021851534e-01,-1.370672903e-04,8.573428869e-01,7.029583575e-01,-2.348820008e-04,8.275260377e-01
+37,1.245000000e+01,DOWN_FORCE_DETACH,1792753990329673957,2.275252929e-04,-1.209060371e-04,-2.911405401e-03,2.255987973e-04,-1.167510445e-04,-2.909184685e-03,2.078666344e-04,-1.180700035e-04,-2.908852700e-03,7.021831581e-01,-1.431767721e-04,8.572316818e-01,7.021812316e-01,-1.390217795e-04,8.572339026e-01,7.029528735e-01,-2.368586307e-04,8.274170516e-01
+38,1.273333333e+01,DOWN_FORCE_DETACH,1792753990607928893,2.347485223e-04,-1.224869094e-04,-2.995747729e-03,2.331567179e-04,-1.258751305e-04,-2.980256633e-03,2.151386391e-04,-1.272759745e-04,-2.979978287e-03,7.021903813e-01,-1.447576444e-04,8.571473395e-01,7.021887895e-01,-1.481458656e-04,8.571628306e-01,7.029601455e-01,-2.460646018e-04,8.273459260e-01
+39,1.300000000e+01,DOWN_FORCE_DETACH,1792753990870523513,2.325587337e-04,-1.251835030e-04,-3.092620480e-03,2.322498104e-04,-1.253715427e-04,-3.092620355e-03,2.128184693e-04,-1.268106284e-04,-3.092329514e-03,7.021881916e-01,-1.474542381e-04,8.570504668e-01,7.021878826e-01,-1.476422777e-04,8.570504669e-01,7.029578254e-01,-2.455992557e-04,8.272335748e-01
+40,1.326666667e+01,DOWN_FORCE_DETACH,1792753991148775235,2.367096232e-04,-1.291332170e-04,-3.189962029e-03,2.366315692e-04,-1.292722160e-04,-3.189909991e-03,2.163943865e-04,-1.307413541e-04,-3.189579958e-03,7.021923424e-01,-1.514039520e-04,8.569531252e-01,7.021922644e-01,-1.515429510e-04,8.569531772e-01,7.029614013e-01,-2.495299814e-04,8.271363244e-01
+41,1.351666667e+01,DOWN_FORCE_DETACH,1792753991426804038,2.379136989e-04,-1.294190552e-04,-3.291011650e-03,2.374133083e-04,-1.272228092e-04,-3.277915810e-03,2.161467415e-04,-1.286549552e-04,-3.277629772e-03,7.021935465e-01,-1.516897902e-04,8.568520756e-01,7.021930461e-01,-1.494935443e-04,8.568651714e-01,7.029611537e-01,-2.474435825e-04,8.270482746e-01
+42,1.376666667e+01,DOWN_FORCE_DETACH,1792753991672869484,2.324725392e-04,-1.299306666e-04,-3.393999194e-03,2.324231808e-04,-1.299855597e-04,-3.393888134e-03,2.093979745e-04,-1.314396612e-04,-3.393589825e-03,7.021881054e-01,-1.522014016e-04,8.567490880e-01,7.021880560e-01,-1.522562948e-04,8.567491991e-01,7.029544049e-01,-2.502282885e-04,8.269323145e-01
+43,1.400000000e+01,DOWN_FORCE_DETACH,1792753991935196776,2.311726653e-04,-1.356632720e-04,-3.494605736e-03,2.320599704e-04,-1.348615164e-04,-3.483393055e-03,2.079528285e-04,-1.363925019e-04,-3.483144802e-03,7.021868055e-01,-1.579340070e-04,8.566484815e-01,7.021876928e-01,-1.571322514e-04,8.566596942e-01,7.029529597e-01,-2.551811292e-04,8.268427595e-01
+44,1.425000000e+01,DOWN_FORCE_DETACH,1792753992197348151,2.319540366e-04,-1.385985809e-04,-3.604421688e-03,2.317491346e-04,-1.384984582e-04,-3.603985693e-03,2.061441178e-04,-1.400591347e-04,-3.603732134e-03,7.021875869e-01,-1.608693159e-04,8.565386656e-01,7.021873820e-01,-1.607691932e-04,8.565391015e-01,7.029511510e-01,-2.588477620e-04,8.267221722e-01
+45,1.450000000e+01,DOWN_FORCE_DETACH,1792753992442647355,2.309780190e-04,-1.406848317e-04,-3.707101241e-03,2.312256116e-04,-1.411287794e-04,-3.691463336e-03,2.044919346e-04,-1.427573179e-04,-3.691256814e-03,7.021866108e-01,-1.629555667e-04,8.564359860e-01,7.021868584e-01,-1.633995144e-04,8.564516239e-01,7.029494988e-01,-2.615459451e-04,8.266346475e-01
+46,1.473333333e+01,DOWN_FORCE_DETACH,1792753992689177019,2.307016113e-04,-1.357530967e-04,-3.818009171e-03,2.304601691e-04,-1.425302543e-04,-3.802153009e-03,2.023684766e-04,-1.441744371e-04,-3.801958174e-03,7.021863344e-01,-1.580238317e-04,8.563250781e-01,7.021860930e-01,-1.648009894e-04,8.563409342e-01,7.029473754e-01,-2.629630644e-04,8.265239462e-01
+47,1.496666667e+01,DOWN_FORCE_DETACH,1792753992917613818,2.315757783e-04,-1.441186674e-04,-3.922595176e-03,2.304678334e-04,-1.457998299e-04,-3.914806392e-03,2.010111226e-04,-1.474471311e-04,-3.914615470e-03,7.021872086e-01,-1.663894024e-04,8.562204921e-01,7.021861007e-01,-1.680705649e-04,8.562282808e-01,7.029460180e-01,-2.662357584e-04,8.264112889e-01
+48,1.520000000e+01,DOWN_FORCE_DETACH,1792753993147074069,2.325141310e-04,-1.459825108e-04,-4.029593230e-03,2.301669936e-04,-1.431402922e-04,-4.023822537e-03,1.993445817e-04,-1.447668454e-04,-4.023684084e-03,7.021881469e-01,-1.682532459e-04,8.561134940e-01,7.021857998e-01,-1.654110272e-04,8.561192647e-01,7.029443515e-01,-2.635554727e-04,8.263022202e-01
+49,1.541666667e+01,DOWN_FORCE_DETACH,1792753993359743831,2.305462068e-04,-1.475438905e-04,-4.130814877e-03,2.307387752e-04,-1.481583270e-04,-4.115825797e-03,1.988925490e-04,-1.498340673e-04,-4.115706501e-03,7.021861790e-01,-1.698146256e-04,8.560122724e-01,7.021863716e-01,-1.704290620e-04,8.560272614e-01,7.029438995e-01,-2.686226946e-04,8.262101978e-01
+50,1.561666667e+01,DOWN_FORCE_DETACH,1792753993556680662,2.230298740e-04,-1.470793415e-04,-4.238159337e-03,2.229212241e-04,-1.472523867e-04,-4.237662054e-03,1.890456550e-04,-1.489140982e-04,-4.237524425e-03,7.021786627e-01,-1.693500765e-04,8.559049279e-01,7.021785540e-01,-1.695231217e-04,8.559054252e-01,7.029340526e-01,-2.677027255e-04,8.260883799e-01
+51,1.583333333e+01,DOWN_FORCE_DETACH,1792753993769104545,2.199094742e-04,-1.518622381e-04,-4.353136572e-03,2.229772816e-04,-1.481610216e-04,-4.338140437e-03,1.878852622e-04,-1.498084419e-04,-4.338047893e-03,7.021755423e-01,-1.741329731e-04,8.557899507e-01,7.021786101e-01,-1.704317566e-04,8.558049468e-01,7.029328922e-01,-2.685970692e-04,8.259878564e-01
+52,1.605000000e+01,DOWN_FORCE_DETACH,1792753993982188705,2.240168623e-04,-1.515008829e-04,-4.465001386e-03,2.215034713e-04,-1.497133851e-04,-4.457723214e-03,1.848595942e-04,-1.513935251e-04,-4.457665299e-03,7.021796497e-01,-1.737716179e-04,8.556780859e-01,7.021771363e-01,-1.719841201e-04,8.556853640e-01,7.029298665e-01,-2.701821523e-04,8.258682390e-01
+53,1.626666667e+01,DOWN_FORCE_DETACH,1792753994195499956,2.257884959e-04,-1.447106103e-04,-4.578292873e-03,2.241433513e-04,-1.489990617e-04,-4.559795036e-03,1.864658787e-04,-1.506854604e-04,-4.559757440e-03,7.021814213e-01,-1.669813453e-04,8.555647944e-01,7.021797762e-01,-1.712697967e-04,8.555832922e-01,7.029314728e-01,-2.694740877e-04,8.257661469e-01
+54,1.645000000e+01,DOWN_FORCE_DETACH,1792753994375371002,2.182864014e-04,-1.521975337e-04,-4.679174742e-03,2.181523171e-04,-1.524119526e-04,-4.679050825e-03,1.786405831e-04,-1.541551334e-04,-4.678954614e-03,7.021739192e-01,-1.744682687e-04,8.554639125e-01,7.021737851e-01,-1.746826876e-04,8.554640364e-01,7.029236475e-01,-2.729437606e-04,8.256469497e-01
+55,1.666666667e+01,DOWN_FORCE_DETACH,1792753994589004513,2.151758037e-04,-1.509756518e-04,-4.797674760e-03,2.147687927e-04,-1.489987770e-04,-4.777823468e-03,1.737714297e-04,-1.506840594e-04,-4.777840257e-03,7.021708086e-01,-1.732463868e-04,8.553454125e-01,7.021704016e-01,-1.712695120e-04,8.553652638e-01,7.029187783e-01,-2.694726866e-04,8.255480641e-01
+56,1.685000000e+01,DOWN_FORCE_DETACH,1792753994768334771,2.089035390e-04,-1.475694998e-04,-4.903305344e-03,2.068374496e-04,-1.517296750e-04,-4.886888458e-03,1.639187104e-04,-1.534649669e-04,-4.886966793e-03,7.021645364e-01,-1.698402348e-04,8.552397819e-01,7.021624703e-01,-1.740004100e-04,8.552561988e-01,7.029089256e-01,-2.722535942e-04,8.254389375e-01
+57,1.703333333e+01,DOWN_SETTLE,1792753994948971166,2.095337209e-04,-1.541968276e-04,-5.007919391e-03,2.093872887e-04,-1.541665472e-04,-5.007395930e-03,1.652151045e-04,-1.559262728e-04,-5.007441542e-03,7.021651665e-01,-1.764675626e-04,8.551351678e-01,7.021650201e-01,-1.764372822e-04,8.551356913e-01,7.029102220e-01,-2.747149000e-04,8.253184628e-01
+58,1.730000000e+01,DOWN_SETTLE,1792753995256279240,1.963501864e-04,-1.452957871e-04,-5.107467171e-03,1.954430115e-04,-1.457405701e-04,-5.101109057e-03,1.490605346e-04,-1.473538311e-04,-5.101350946e-03,7.021519830e-01,-1.675665222e-04,8.550356201e-01,7.021510758e-01,-1.680113051e-04,8.550419782e-01,7.028940674e-01,-2.661424583e-04,8.252245534e-01
+59,1.791666667e+01,DOWN_PEAK_HOLD,1792753995866142225,1.834114293e-04,-1.402830642e-04,-5.144580843e-03,1.831435809e-04,-1.410214678e-04,-5.141407807e-03,1.353211471e-04,-1.426486018e-04,-5.142015442e-03,7.021390442e-01,-1.625537992e-04,8.549985064e-01,7.021387764e-01,-1.632922028e-04,8.550016794e-01,7.028803281e-01,-2.614372291e-04,8.251838889e-01

Fixed/digit/ball_0050_10/press_depth_04/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.8057e-02,3.4033e-02,2.4549e+00,-3.9111e-02,3.8052e-02,3.1507e-05,1.7315e-04,-5.2154e-08,3.0994e-06,5.1409e-07,1.2305e-05,-3.4276e-07,1.7318e-04,1.2320e-05
+1,4.5000e-01,DOWN_FORCE_DETACH,1.1923e-04,2.2109e-02,3.4000e-02,2.4551e+00,-3.9097e-02,3.8339e-02,2.4881e-05,4.2253e-03,-3.3010e-05,1.5402e-04,1.4573e-05,2.9949e-04,-6.9691e-06,4.2282e-03,2.9992e-04
+2,8.6667e-01,DOWN_FORCE_DETACH,2.3491e-04,2.4897e-02,3.3959e-02,2.4553e+00,-3.9086e-02,3.8536e-02,2.1324e-05,7.0134e-03,-7.3880e-05,3.1662e-04,2.5440e-05,4.9647e-04,-1.0526e-05,7.0209e-03,4.9723e-04
+3,1.3333e+00,DOWN_FORCE_DETACH,3.4978e-04,2.7184e-02,3.3930e-02,2.4554e+00,-3.9077e-02,3.8697e-02,1.8911e-05,9.3005e-03,-1.0373e-04,4.7064e-04,3.4027e-05,6.5781e-04,-1.2938e-05,9.3130e-03,6.5882e-04
+4,1.8167e+00,DOWN_FORCE_DETACH,4.6933e-04,2.8516e-02,4.2162e-02,2.4704e+00,-3.9648e-02,3.8778e-02,2.0536e-05,1.0632e-02,8.1288e-03,1.5453e-02,-5.3632e-04,7.3814e-04,-1.1313e-05,2.0443e-02,9.1248e-04
+5,2.2333e+00,DOWN_FORCE_DETACH,5.8535e-04,3.0289e-02,4.1326e-02,2.4730e+00,-3.9582e-02,3.8900e-02,1.9485e-05,1.2405e-02,7.2930e-03,1.8060e-02,-4.7043e-04,8.6042e-04,-1.2365e-05,2.3092e-02,9.8070e-04
+6,2.6833e+00,DOWN_FORCE_DETACH,7.0194e-04,2.6712e-02,4.7301e-02,2.4814e+00,-3.9993e-02,3.8639e-02,2.1515e-05,8.8279e-03,1.3268e-02,2.6426e-02,-8.8135e-04,5.9965e-04,-1.0335e-05,3.0860e-02,1.0661e-03
+7,3.1667e+00,DOWN_FORCE_DETACH,8.2055e-04,2.4078e-02,4.9762e-02,2.4977e+00,-4.0156e-02,3.8438e-02,2.3284e-05,6.1940e-03,1.5729e-02,4.2712e-02,-1.0446e-03,3.9822e-04,-8.5658e-06,4.5935e-02,1.1179e-03
+8,3.6167e+00,DOWN_FORCE_DETACH,9.3998e-04,2.3888e-02,5.5322e-02,2.5010e+00,-4.0541e-02,3.8420e-02,2.3608e-05,6.0041e-03,2.1289e-02,4.6028e-02,-1.4298e-03,3.8052e-04,-8.2419e-06,5.1067e-02,1.4796e-03
+9,4.0167e+00,DOWN_FORCE_DETACH,1.0516e-03,2.3745e-02,5.3937e-02,2.5148e+00,-4.0439e-02,3.8397e-02,1.9250e-05,5.8610e-03,1.9904e-02,5.9842e-02,-1.3278e-03,3.5753e-04,-1.2600e-05,6.3337e-02,1.3752e-03
+10,4.4000e+00,DOWN_FORCE_DETACH,1.1667e-03,2.5358e-02,5.8980e-02,2.5222e+00,-4.0784e-02,3.8505e-02,1.2751e-05,7.4737e-03,2.4947e-02,6.7252e-02,-1.6723e-03,4.6518e-04,-1.9099e-05,7.2118e-02,1.7359e-03
+11,4.8167e+00,DOWN_FORCE_DETACH,1.2850e-03,2.3435e-02,5.9676e-02,2.5353e+00,-4.0820e-02,3.8359e-02,-1.1610e-06,5.5506e-03,2.5643e-02,8.0348e-02,-1.7089e-03,3.1967e-04,-3.3011e-05,8.4524e-02,1.7388e-03
+12,5.1667e+00,DOWN_FORCE_DETACH,1.4041e-03,2.2793e-02,6.3748e-02,2.5384e+00,-4.1089e-02,3.8314e-02,-1.3180e-05,4.9095e-03,2.9714e-02,8.3501e-02,-1.9779e-03,2.7407e-04,-4.5030e-05,8.8766e-02,1.9973e-03
+13,5.5167e+00,DOWN_FORCE_DETACH,1.5187e-03,2.1589e-02,6.5181e-02,2.5452e+00,-4.1172e-02,3.8224e-02,-2.3555e-05,3.7048e-03,3.1148e-02,9.0272e-02,-2.0603e-03,1.8476e-04,-5.5404e-05,9.5567e-02,2.0693e-03
+14,5.8833e+00,DOWN_FORCE_DETACH,1.6399e-03,2.1278e-02,7.2491e-02,2.5523e+00,-4.1674e-02,3.8196e-02,-2.2813e-05,3.3940e-03,3.8457e-02,9.7398e-02,-2.5631e-03,1.5623e-04,-5.4663e-05,1.0477e-01,2.5684e-03
+15,6.2167e+00,DOWN_FORCE_DETACH,1.7529e-03,2.0346e-02,7.1162e-02,2.5616e+00,-4.1581e-02,3.8119e-02,-1.3656e-05,2.4621e-03,3.7128e-02,1.0662e-01,-2.4694e-03,7.9066e-05,-4.5505e-05,1.1293e-01,2.4711e-03
+16,6.5833e+00,DOWN_FORCE_DETACH,1.8704e-03,1.9723e-02,7.5756e-02,2.5663e+00,-4.1906e-02,3.8067e-02,1.0632e-05,1.8393e-03,4.1723e-02,1.1133e-01,-2.7949e-03,2.7191e-05,-2.1218e-05,1.1891e-01,2.7951e-03
+17,6.8667e+00,DOWN_FORCE_DETACH,1.9843e-03,1.7660e-02,8.3099e-02,2.5820e+00,-4.2415e-02,3.7907e-02,3.9073e-05,-2.2398e-04,4.9066e-02,1.2701e-01,-3.3034e-03,-1.3234e-04,7.2233e-06,1.3616e-01,3.3060e-03
+18,7.1500e+00,DOWN_FORCE_DETACH,2.1018e-03,1.8784e-02,8.1027e-02,2.5738e+00,-4.2260e-02,3.7997e-02,5.9685e-05,9.0036e-04,4.6993e-02,1.1885e-01,-3.1487e-03,-4.2167e-05,2.7835e-05,1.2781e-01,3.1491e-03
+19,7.4333e+00,DOWN_FORCE_DETACH,2.2222e-03,1.9731e-02,8.5118e-02,2.5846e+00,-4.2523e-02,3.8056e-02,7.4171e-05,1.8468e-03,5.1085e-02,1.2969e-01,-3.4118e-03,1.6972e-05,4.2321e-05,1.3940e-01,3.4121e-03
+20,7.7167e+00,DOWN_FORCE_DETACH,2.3402e-03,2.2671e-02,9.1832e-02,2.5872e+00,-4.2967e-02,3.8258e-02,7.0505e-05,4.7874e-03,5.7799e-02,1.3225e-01,-3.8551e-03,2.1897e-04,3.8655e-05,1.4441e-01,3.8616e-03
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+41,1.3517e+01,DOWN_FORCE_DETACH,4.7892e-03,3.3701e-02,1.6662e-01,2.6107e+00,-4.7724e-02,3.8986e-02,1.4990e-05,1.5817e-02,1.3259e-01,1.5580e-01,-8.6129e-03,9.4675e-04,-1.6859e-05,2.0519e-01,8.6648e-03
+42,1.3767e+01,DOWN_FORCE_DETACH,4.9103e-03,3.8327e-02,1.6927e-01,2.6111e+00,-4.7911e-02,3.9316e-02,-3.2624e-06,2.0443e-02,1.3524e-01,1.5617e-01,-8.7996e-03,1.2763e-03,-3.5112e-05,2.0760e-01,8.8917e-03
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Fixed/digit/ball_0050_10/press_depth_04/up/camera_frames_60hz.tar

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Fixed/digit/ball_0050_10/press_depth_04/up/franka_data.csv

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+2127,1792753970265164875,37373286000000,1792753970257818828,UP_FORCE_HOLD,4,0.054,0.054002296179533005,0.6758854608716753,-0.004231235622510426,0.1069715866824652,0.9999999199349925,-0.00013877194457860348,-0.00036374549373845665,-2.106208215073092e-06,0.6761,-0.004,0.10745881828142365,1.0,0.0,0.0,0.0,0.9578530584924988,0.8676954024870955,-0.323509756533875,0.06325294444541288,-0.07134948458142992,0.0006423060525794376,0.9358674028955919,0.779102949804294,-0.33423385534528594,0.063261138651227,-0.07207494456697651,0.0010047405292734387,-0.021985655596906878,-0.08859245268280162,-0.010724098811410955,8.194205814112963e-06,-0.0007254599855465836,0.0003624344766940012,1,-1.224881604108071,1.531143934309983,3.0241760650759923,-0.6421794274849518,-2.1692120746051526,0.8964262341596734,-0.05596638033884349,0.323509756533875,-3.080142445414836,0.323509756533875,0.3625,0,0,8.95505424438906e-05,-9.999999025923074e-05
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+2203,1792753970891088026,37373912000000,1792753970889818336,UP_SETTLE,4,0.054,0.054002296179533005,0.6758837027030887,-0.004233039093939165,0.10701375042221155,0.9999999171119494,-0.00014380577743165353,-0.0003695112418729522,-5.470873396323356e-07,0.6761,-0.004,0.10750509567290516,1.0,0.0,0.0,0.0,0.9597958000543706,0.8620070953099561,-0.37065597911883247,0.06328781606957325,-0.07233921573746892,0.0006619300993361635,0.9378101444574637,0.7734146426271545,-0.3813800779302434,0.06329601027538737,-0.0730646757230155,0.0010243645760301646,-0.021985655596906878,-0.08859245268280162,-0.010724098811410955,8.194205814112963e-06,-0.0007254599855465836,0.0003624344766940012,1,-1.2238863974319572,1.5649727498334944,3.1308650318786992,-0.6532293913093701,-2.2407051449384072,0.9179379572873819,-0.05596638033884349,0.37065597911883247,-3.1868314122175425,0.37065597911883247,0.3625,0,0,5.825054854161215e-05,-9.999999025923074e-05
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Fixed/digit/ball_0050_10/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
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+5,8.166666667e-01,WAIT_W2,1792753964204969001,2.810965804e-06,-3.478648326e-06,6.116863069e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.867779652e-08,-1.634514251e-09,1.808287964e-09,7.019584438e-01,-2.574938335e-05,8.601492041e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450456e-01,-1.187902924e-04,8.303259061e-01
+6,1.000000000e+00,WAIT_W2,1792753964385455783,2.061265844e-06,-6.259393953e-07,5.120848753e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.458461911e-08,-1.888075855e-09,2.199954552e-09,7.019576941e-01,-2.289667442e-05,8.601482081e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450515e-01,-1.187905460e-04,8.303259065e-01
+7,1.233333333e+00,WAIT_W2,1792753964614544095,1.674689232e-06,-3.296809716e-06,3.554775022e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.107057721e-08,-2.158809654e-09,2.647478459e-09,7.019573075e-01,-2.556754474e-05,8.601466420e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450580e-01,-1.187908167e-04,8.303259070e-01
+8,1.300000000e+00,WAIT_W2,1792753964679958442,2.942012880e-06,-4.733632469e-05,7.118522106e-06,2.927207010e-06,-4.763562375e-05,7.362519971e-06,3.255717594e-06,-4.814965869e-05,7.336846567e-06,7.019585748e-01,-6.960705971e-05,8.601502058e-01,7.019585600e-01,-6.990635877e-05,8.601504498e-01,7.027482626e-01,-1.669383166e-04,8.303332412e-01
+9,1.316666667e+00,WAIT_W2,1792753964696125480,2.798541847e-06,-7.531621638e-05,1.006672487e-05,2.786758146e-06,-7.528209266e-05,1.010752906e-05,3.183079586e-06,-7.610951230e-05,1.007520115e-05,7.019584314e-01,-9.758695141e-05,8.601531540e-01,7.019584196e-01,-9.755282768e-05,8.601531948e-01,7.027481900e-01,-1.948981702e-04,8.303359795e-01
+10,1.333333333e+00,WAIT_W2,1792753964713018745,5.472420078e-07,-1.041948789e-04,8.000380536e-06,5.752123803e-07,-1.040360314e-04,7.764503022e-06,7.033211717e-07,-1.051685190e-04,7.750769407e-06,7.019561801e-01,-1.264656139e-04,8.601510876e-01,7.019562080e-01,-1.263067664e-04,8.601508517e-01,7.027457102e-01,-2.239571769e-04,8.303336551e-01
+11,1.366666667e+00,WAIT_W2,1792753964745638043,3.594208093e-06,-1.499065655e-04,1.572863473e-05,3.736685030e-06,-1.499087260e-04,1.560545302e-05,4.190511582e-06,-1.515425442e-04,1.559486018e-05,7.019592270e-01,-1.721773005e-04,8.601588159e-01,7.019593695e-01,-1.721794611e-04,8.601586927e-01,7.027491974e-01,-2.703312021e-04,8.303414992e-01
+12,1.400000000e+00,WAIT_W2,1792753964778980782,5.827717267e-06,-1.809461992e-04,1.853987626e-05,4.962805738e-06,-1.699972986e-04,1.889774957e-05,5.605885552e-06,-1.718896906e-04,1.885027504e-05,7.019614605e-01,-2.032169342e-04,8.601616271e-01,7.019605956e-01,-1.922680336e-04,8.601619850e-01,7.027506128e-01,-2.906783485e-04,8.303447546e-01
+13,1.533333333e+00,WAIT_W2,1792753964925431419,8.592353311e-06,-1.951522700e-04,2.467574803e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.839935691e-06,-1.933061171e-04,1.892522146e-05,7.019642252e-01,-2.174230050e-04,8.601677630e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518469e-01,-3.120947750e-04,8.303448295e-01
+14,1.733333333e+00,WAIT_W2,1792753965122898114,8.074666766e-06,-1.957525790e-04,2.454813309e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.847967843e-06,-1.933119623e-04,1.893257384e-05,7.019637075e-01,-2.180233140e-04,8.601676354e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518549e-01,-3.121006201e-04,8.303448369e-01
+15,1.883333333e+00,WAIT_W2,1792753965286462511,7.031793888e-06,-2.009614904e-04,2.252638191e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.852593537e-06,-1.933137451e-04,1.893712421e-05,7.019626646e-01,-2.232322254e-04,8.601656136e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518595e-01,-3.121024030e-04,8.303448414e-01
+16,2.033333333e+00,UP_FORCE_RAMP,1792753965433401292,8.000149821e-06,-2.004340162e-04,2.372353164e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.856539850e-06,-1.933148761e-04,1.894096246e-05,7.019636330e-01,-2.227047512e-04,8.601668108e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518635e-01,-3.121035340e-04,8.303448453e-01
+17,2.183333333e+00,UP_FORCE_RAMP,1792753965581119535,9.345478510e-06,-1.983275494e-04,2.617559391e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.859974387e-06,-1.933156914e-04,1.894419430e-05,7.019649783e-01,-2.205982845e-04,8.601692628e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518669e-01,-3.121043493e-04,8.303448485e-01
+18,2.383333333e+00,UP_FORCE_RAMP,1792753965777144303,9.341827105e-06,-1.981417764e-04,2.525623519e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.863923267e-06,-1.933165088e-04,1.894771789e-05,7.019649746e-01,-2.204125114e-04,8.601683435e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518708e-01,-3.121051667e-04,8.303448520e-01
+19,2.516666667e+00,UP_FORCE_RAMP,1792753965908448847,1.134315825e-05,-1.999601148e-04,2.949759029e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.866224739e-06,-1.933169501e-04,1.894965111e-05,7.019669760e-01,-2.222308498e-04,8.601725848e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518731e-01,-3.121056080e-04,8.303448540e-01
+20,2.700000000e+00,UP_FORCE_RAMP,1792753966088881031,9.480202763e-06,-2.049342271e-04,2.851100982e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.869029756e-06,-1.933174665e-04,1.895186600e-05,7.019651130e-01,-2.272049621e-04,8.601715982e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518760e-01,-3.121061244e-04,8.303448562e-01
+21,2.833333333e+00,UP_FORCE_RAMP,1792753966226188145,1.052222339e-05,-2.014657939e-04,2.851066485e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.870846048e-06,-1.933177924e-04,1.895320848e-05,7.019661550e-01,-2.237365289e-04,8.601715979e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518778e-01,-3.121064503e-04,8.303448575e-01
+22,2.966666667e+00,UP_FORCE_RAMP,1792753966351239090,8.563098865e-06,-1.981848840e-04,2.957704298e-05,6.098621668e-06,-1.911714781e-04,1.896586384e-05,6.872499563e-06,-1.933180853e-04,1.895436167e-05,7.019641959e-01,-2.204556190e-04,8.601726643e-01,7.019617314e-01,-2.134422131e-04,8.601620531e-01,7.027518794e-01,-3.121067432e-04,8.303448587e-01
+23,3.133333333e+00,UP_FORCE_RAMP,1792753966515540486,1.049858413e-05,-2.003814883e-04,3.514961300e-05,1.178386848e-05,-1.999681600e-04,3.661168825e-05,1.324300382e-05,-2.022264068e-04,3.659878851e-05,7.019661314e-01,-2.226522233e-04,8.601782369e-01,7.019674167e-01,-2.222388950e-04,8.601796989e-01,7.027582499e-01,-3.210150647e-04,8.303625031e-01
+24,3.316666667e+00,UP_FORCE_RAMP,1792753966711282663,1.060437156e-05,-2.004185328e-04,3.886726633e-05,1.178386848e-05,-1.999681600e-04,3.661168825e-05,1.324989044e-05,-2.022281333e-04,3.661223883e-05,7.019662372e-01,-2.226892678e-04,8.601819545e-01,7.019674167e-01,-2.222388950e-04,8.601796989e-01,7.027582568e-01,-3.210167912e-04,8.303625166e-01
+25,3.533333333e+00,UP_FORCE_RAMP,1792753966924409315,1.358249950e-05,-2.010136886e-04,5.123798196e-05,1.178386848e-05,-1.999681600e-04,3.661168825e-05,1.325488750e-05,-2.022289182e-04,3.662073392e-05,7.019692153e-01,-2.232844236e-04,8.601943252e-01,7.019674167e-01,-2.222388950e-04,8.601796989e-01,7.027582618e-01,-3.210175761e-04,8.303625251e-01
+26,3.683333333e+00,UP_FORCE_RAMP,1792753967071369161,1.903031763e-05,-2.008289998e-04,6.516124381e-05,1.610492732e-05,-1.997147787e-04,5.597655614e-05,1.814425495e-05,-2.019669188e-04,5.593580284e-05,7.019746631e-01,-2.230997348e-04,8.602082485e-01,7.019717377e-01,-2.219855137e-04,8.601990638e-01,7.027631512e-01,-3.207555767e-04,8.303818401e-01
+27,3.900000000e+00,UP_FORCE_RAMP,1792753967284448744,1.501351121e-05,-1.972235674e-04,7.463171915e-05,1.610492732e-05,-1.997147787e-04,5.597655614e-05,1.815055138e-05,-2.019672372e-04,5.595026581e-05,7.019706463e-01,-2.194943024e-04,8.602177190e-01,7.019717377e-01,-2.219855137e-04,8.601990638e-01,7.027631575e-01,-3.207558951e-04,8.303818546e-01
+28,4.050000000e+00,UP_FORCE_RAMP,1792753967431654215,1.267077360e-05,-1.998192298e-04,8.236416460e-05,1.597863850e-05,-2.038093176e-04,7.739828139e-05,1.826186106e-05,-2.061360451e-04,7.738727009e-05,7.019683036e-01,-2.220899649e-04,8.602254514e-01,7.019716115e-01,-2.260800526e-04,8.602204855e-01,7.027632688e-01,-3.249247030e-04,8.304032916e-01
+29,4.200000000e+00,UP_FORCE_RAMP,1792753967579098772,1.356525651e-05,-2.037608568e-04,9.598643100e-05,1.411840531e-05,-1.976556132e-04,9.642114126e-05,1.649075999e-05,-1.999066787e-04,9.637207934e-05,7.019691981e-01,-2.260315918e-04,8.602390737e-01,7.019697512e-01,-2.199263482e-04,8.602395084e-01,7.027614977e-01,-3.186953366e-04,8.304222764e-01
+30,4.316666667e+00,UP_FORCE_RAMP,1792753967693629335,1.733680600e-05,-1.943615376e-04,1.109931187e-04,1.411840531e-05,-1.976556132e-04,9.642114126e-05,1.649232344e-05,-1.999049854e-04,9.639068832e-05,7.019729696e-01,-2.166322726e-04,8.602540804e-01,7.019697512e-01,-2.199263482e-04,8.602395084e-01,7.027614992e-01,-3.186936433e-04,8.304222950e-01
+31,4.416666667e+00,UP_FORCE_RAMP,1792753967792501625,1.506958596e-05,-1.933853218e-04,1.189054829e-04,1.520873728e-05,-1.935014410e-04,1.192833179e-04,1.802941289e-05,-1.956988646e-04,1.191888347e-04,7.019707024e-01,-2.156560568e-04,8.602619927e-01,7.019708416e-01,-2.157721761e-04,8.602623706e-01,7.027630363e-01,-3.144875225e-04,8.304450932e-01
+32,4.566666667e+00,UP_FORCE_RAMP,1792753967939180444,1.227123724e-05,-1.980936600e-04,1.302557496e-04,1.520873728e-05,-1.935014410e-04,1.192833179e-04,1.803444910e-05,-1.956962193e-04,1.192217730e-04,7.019679041e-01,-2.203643950e-04,8.602733430e-01,7.019708416e-01,-2.157721761e-04,8.602623706e-01,7.027630414e-01,-3.144848772e-04,8.304451261e-01
+33,4.716666667e+00,UP_FORCE_RAMP,1792753968087095076,9.407234146e-06,-1.957233269e-04,1.440801178e-04,1.095869689e-05,-1.984339985e-04,1.415703454e-04,1.370546158e-05,-2.006542680e-04,1.415039817e-04,7.019650401e-01,-2.179940619e-04,8.602871674e-01,7.019665915e-01,-2.207047335e-04,8.602846576e-01,7.027587124e-01,-3.194429259e-04,8.304674083e-01
+34,4.866666667e+00,UP_FORCE_RAMP,1792753968251295925,6.886966546e-06,-1.934951684e-04,1.620653548e-04,1.081837163e-05,-1.981299135e-04,1.650213352e-04,1.379405739e-05,-2.003666106e-04,1.648867427e-04,7.019625198e-01,-2.157659035e-04,8.603051526e-01,7.019664512e-01,-2.204006485e-04,8.603081086e-01,7.027588010e-01,-3.191552685e-04,8.304907911e-01
+35,4.983333333e+00,UP_FORCE_RAMP,1792753968365645808,8.305924872e-06,-1.959490935e-04,1.780682818e-04,1.081837163e-05,-1.981299135e-04,1.650213352e-04,1.379526393e-05,-2.003655485e-04,1.649148354e-04,7.019639387e-01,-2.182198285e-04,8.603211555e-01,7.019664512e-01,-2.204006485e-04,8.603081086e-01,7.027588022e-01,-3.191542063e-04,8.304908192e-01
+36,5.133333333e+00,UP_FORCE_RAMP,1792753968512648450,1.012415981e-05,-1.908806432e-04,2.014269199e-04,9.019883633e-06,-1.931373413e-04,1.854764030e-04,1.215711423e-05,-1.952962853e-04,1.853478331e-04,7.019657570e-01,-2.131513783e-04,8.603445142e-01,7.019646527e-01,-2.154080764e-04,8.603285636e-01,7.027571640e-01,-3.140849432e-04,8.305112522e-01
+37,5.266666667e+00,UP_FORCE_RAMP,1792753968643854574,9.120160132e-06,-1.933818118e-04,2.172593582e-04,7.477840668e-06,-1.925514137e-04,2.056340350e-04,1.067788743e-05,-1.947024482e-04,2.055118275e-04,7.019647530e-01,-2.156525468e-04,8.603603466e-01,7.019631107e-01,-2.148221488e-04,8.603487213e-01,7.027556848e-01,-3.134911060e-04,8.305314161e-01
+38,5.400000000e+00,UP_FORCE_RAMP,1792753968791282423,5.705846751e-06,-1.917298472e-04,2.296060690e-04,8.309245832e-06,-1.959641424e-04,2.281366994e-04,1.195605839e-05,-1.981987448e-04,2.279833126e-04,7.019613387e-01,-2.140005822e-04,8.603726933e-01,7.019639421e-01,-2.182348774e-04,8.603712239e-01,7.027569630e-01,-3.169874027e-04,8.305538876e-01
+39,5.516666667e+00,UP_FORCE_RAMP,1792753968907027794,9.270961751e-06,-1.937414221e-04,2.540565954e-04,8.507981224e-06,-1.923425801e-04,2.493221315e-04,1.238643909e-05,-1.945199876e-04,2.491670353e-04,7.019649038e-01,-2.160121571e-04,8.603971438e-01,7.019641408e-01,-2.146133151e-04,8.603924094e-01,7.027573934e-01,-3.133086455e-04,8.305750714e-01
+40,5.633333333e+00,UP_FORCE_RAMP,1792753969023170562,6.828153294e-06,-1.874037210e-04,2.656339937e-04,8.507981224e-06,-1.923425801e-04,2.493221315e-04,1.238810175e-05,-1.945177357e-04,2.492020524e-04,7.019624610e-01,-2.096744561e-04,8.604087212e-01,7.019641408e-01,-2.146133151e-04,8.603924094e-01,7.027573950e-01,-3.133063936e-04,8.305751064e-01
+41,5.783333333e+00,UP_FORCE_RAMP,1792753969171267865,1.140596375e-06,-1.921737525e-04,2.832354644e-04,4.966731011e-06,-1.900340733e-04,2.708983158e-04,8.804433529e-06,-1.922330571e-04,2.707349760e-04,7.019567734e-01,-2.144444875e-04,8.604263227e-01,7.019605995e-01,-2.123048083e-04,8.604139856e-01,7.027538114e-01,-3.110217150e-04,8.305966393e-01
+42,5.933333333e+00,UP_FORCE_RAMP,1792753969315637971,3.856223939e-07,-1.878583189e-04,3.003954599e-04,3.677896216e-06,-1.907386220e-04,2.913560015e-04,7.706272117e-06,-1.929161274e-04,2.912095610e-04,7.019560184e-01,-2.101290539e-04,8.604434827e-01,7.019593107e-01,-2.130093570e-04,8.604344432e-01,7.027527132e-01,-3.117047853e-04,8.306171139e-01
+43,6.100000000e+00,UP_FORCE_RAMP,1792753969496138650,1.058378445e-06,-1.852684857e-04,3.241047216e-04,-3.341452721e-07,-1.854439220e-04,3.124506645e-04,3.660276274e-06,-1.875678820e-04,3.122671959e-04,7.019566912e-01,-2.075392207e-04,8.604671920e-01,7.019552987e-01,-2.077146571e-04,8.604555379e-01,7.027486672e-01,-3.063565399e-04,8.306381715e-01
+44,6.266666667e+00,UP_FORCE_RAMP,1792753969660065341,-3.442801189e-06,-1.872856223e-04,3.363448087e-04,-1.312774307e-06,-1.851085202e-04,3.345823364e-04,2.878577719e-06,-1.871943142e-04,3.344077401e-04,7.019521900e-01,-2.095563573e-04,8.604794320e-01,7.019543200e-01,-2.073792552e-04,8.604776696e-01,7.027478855e-01,-3.059829721e-04,8.306603121e-01
+45,6.383333333e+00,UP_FORCE_RAMP,1792753969777445647,-4.143462778e-06,-1.895444906e-04,3.491710708e-04,-1.312774307e-06,-1.851085202e-04,3.345823364e-04,2.876622320e-06,-1.871930582e-04,3.344392071e-04,7.019514894e-01,-2.118152256e-04,8.604922583e-01,7.019543200e-01,-2.073792552e-04,8.604776696e-01,7.027478835e-01,-3.059817161e-04,8.306603435e-01
+46,6.550000000e+00,UP_FORCE_RAMP,1792753969954457966,-6.101117215e-06,-1.866475846e-04,3.638707811e-04,-4.455712005e-06,-1.869118136e-04,3.577125802e-04,-2.385459370e-07,-1.890242630e-04,3.576115276e-04,7.019495317e-01,-2.089183197e-04,8.605069580e-01,7.019511771e-01,-2.091825487e-04,8.605007998e-01,7.027447684e-01,-3.078129208e-04,8.306835158e-01
+47,6.700000000e+00,UP_FORCE_HOLD,1792753970101567382,-7.362465269e-06,-1.883474189e-04,3.778972544e-04,-5.572273968e-06,-1.900288394e-04,3.794266283e-04,-1.186680372e-06,-1.921881330e-04,3.792662015e-04,7.019482704e-01,-2.106181539e-04,8.605209845e-01,7.019500605e-01,-2.122995745e-04,8.605225139e-01,7.027438202e-01,-3.109767908e-04,8.307051705e-01
+48,6.866666667e+00,UP_FORCE_HOLD,1792753970266197601,-9.387289309e-06,-1.834510841e-04,3.909783241e-04,-5.572273968e-06,-1.900288394e-04,3.794266283e-04,-1.190743514e-06,-1.921885791e-04,3.793065079e-04,7.019462455e-01,-2.057218191e-04,8.605340656e-01,7.019500605e-01,-2.122995745e-04,8.605225139e-01,7.027438162e-01,-3.109772370e-04,8.307052108e-01
+49,7.016666667e+00,UP_SETTLE,1792753970412715361,-7.886685656e-06,-1.865114100e-04,4.054887889e-04,-8.669518780e-06,-1.883704183e-04,4.002898564e-04,-4.243125503e-06,-1.905113868e-04,4.001755540e-04,7.019477461e-01,-2.087821450e-04,8.605485760e-01,7.019469633e-01,-2.106411533e-04,8.605433771e-01,7.027407638e-01,-3.093000446e-04,8.307260799e-01
+50,7.183333333e+00,UP_SETTLE,1792753970577018622,-8.872927926e-06,-1.851914296e-04,4.175297601e-04,-8.669518780e-06,-1.883704183e-04,4.002898564e-04,-4.247672478e-06,-1.905113196e-04,4.002092492e-04,7.019467599e-01,-2.074621646e-04,8.605606170e-01,7.019469633e-01,-2.106411533e-04,8.605433771e-01,7.027407592e-01,-3.092999774e-04,8.307261136e-01
+51,7.350000000e+00,UP_SETTLE,1792753970740170742,-7.497137551e-06,-1.885964065e-04,4.294150192e-04,-1.123464562e-05,-1.800360181e-04,4.196642565e-04,-6.807169419e-06,-1.820707061e-04,4.195636472e-04,7.019481357e-01,-2.108671415e-04,8.605725023e-01,7.019443982e-01,-2.023067531e-04,8.605627515e-01,7.027381998e-01,-3.008593640e-04,8.307454680e-01
+52,7.500000000e+00,UP_SETTLE,1792753970887739000,-9.935790229e-06,-1.832694952e-04,4.362264071e-04,-1.123464562e-05,-1.800360181e-04,4.196642565e-04,-6.810648001e-06,-1.820698274e-04,4.195903568e-04,7.019456970e-01,-2.055402303e-04,8.605793136e-01,7.019443982e-01,-2.023067531e-04,8.605627515e-01,7.027381963e-01,-3.008584852e-04,8.307454947e-01
+53,7.633333333e+00,UP_SETTLE,1792753971018664404,-9.967068026e-06,-1.886975918e-04,4.427903564e-04,-7.770827103e-06,-1.851122302e-04,4.412906468e-04,-2.834074233e-06,-1.872087601e-04,4.412030540e-04,7.019456657e-01,-2.109683269e-04,8.605858776e-01,7.019478620e-01,-2.073829653e-04,8.605843779e-01,7.027421728e-01,-3.059974180e-04,8.307671074e-01
+54,7.766666667e+00,UP_SETTLE,1792753971150369041,-9.541079654e-06,-1.837717848e-04,4.473340043e-04,-7.770827103e-06,-1.851122302e-04,4.412906468e-04,-2.834682772e-06,-1.872091658e-04,4.412265937e-04,7.019460917e-01,-2.060425198e-04,8.605904212e-01,7.019478620e-01,-2.073829653e-04,8.605843779e-01,7.027421722e-01,-3.059978237e-04,8.307671309e-01
+55,7.900000000e+00,UP_SETTLE,1792753971280678008,-1.206802197e-05,-1.847150591e-04,4.516279781e-04,-7.770827103e-06,-1.851122302e-04,4.412906468e-04,-2.835565623e-06,-1.872092216e-04,4.412453024e-04,7.019435648e-01,-2.069857941e-04,8.605947152e-01,7.019478620e-01,-2.073829653e-04,8.605843779e-01,7.027421714e-01,-3.059978794e-04,8.307671496e-01
+56,8.033333333e+00,UP_SETTLE,1792753971412159657,-9.869683258e-06,-1.857874408e-04,4.586444165e-04,-7.800307856e-06,-1.859652267e-04,4.615212631e-04,-2.615819945e-06,-1.880583043e-04,4.614641360e-04,7.019457631e-01,-2.080581758e-04,8.606017317e-01,7.019478325e-01,-2.082359617e-04,8.606046085e-01,7.027423911e-01,-3.068469622e-04,8.307873685e-01
+57,8.133333333e+00,UP_SETTLE,1792753971510573241,-9.251877266e-06,-1.868443229e-04,4.632149999e-04,-7.800307856e-06,-1.859652267e-04,4.615212631e-04,-2.616264813e-06,-1.880586721e-04,4.614829560e-04,7.019463809e-01,-2.091150579e-04,8.606063022e-01,7.019478325e-01,-2.082359617e-04,8.606046085e-01,7.027423907e-01,-3.068473299e-04,8.307873873e-01
+58,8.300000000e+00,UP_SETTLE,1792753971673976832,-7.990793674e-06,-1.831678789e-04,4.703615701e-04,-7.800307856e-06,-1.859652267e-04,4.615212631e-04,-2.617074511e-06,-1.880586735e-04,4.615054911e-04,7.019476420e-01,-2.054386139e-04,8.606134488e-01,7.019478325e-01,-2.082359617e-04,8.606046085e-01,7.027423898e-01,-3.068473314e-04,8.307874098e-01
+59,8.466666667e+00,UP_SETTLE,1792753971837881158,-8.697462554e-06,-1.831315474e-04,4.732110487e-04,-7.800307856e-06,-1.859652267e-04,4.615212631e-04,-2.617794329e-06,-1.880585352e-04,4.615235453e-04,7.019469354e-01,-2.054022825e-04,8.606162983e-01,7.019478325e-01,-2.082359617e-04,8.606046085e-01,7.027423891e-01,-3.068471930e-04,8.307874279e-01

Fixed/digit/ball_0050_10/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.8059e-02,3.4030e-02,2.4549e+00,-3.9111e-02,3.8052e-02,3.1473e-05,1.7298e-04,6.7055e-08,3.0994e-06,5.0664e-07,1.2301e-05,-3.4226e-07,1.7301e-04,1.2316e-05
+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.5777e-05,1.9698e-02,3.4026e-02,2.4550e+00,-3.9106e-02,3.8168e-02,2.8523e-05,1.8121e-03,-3.6024e-06,4.8637e-05,5.5432e-06,1.2865e-04,-3.2930e-06,1.8128e-03,1.2881e-04
+2,3.3333e-01,WAIT_W2,6.9506e-05,2.1172e-02,3.4011e-02,2.4550e+00,-3.9100e-02,3.8273e-02,2.6209e-05,3.2860e-03,-1.8567e-05,1.0800e-04,1.0852e-05,2.3304e-04,-5.6066e-06,3.2878e-03,2.3336e-04
+3,5.1667e-01,WAIT_W2,1.0567e-04,2.2611e-02,3.3991e-02,2.4551e+00,-3.9095e-02,3.8374e-02,2.4166e-05,4.7249e-03,-3.8262e-05,1.7977e-04,1.6384e-05,3.3482e-04,-7.6495e-06,4.7285e-03,3.3531e-04
+4,6.3333e-01,WAIT_W2,1.4624e-04,2.3436e-02,3.3980e-02,2.4552e+00,-3.9092e-02,3.8433e-02,2.3082e-05,5.5496e-03,-5.0202e-05,2.2626e-04,1.9595e-05,3.9310e-04,-8.7340e-06,5.5544e-03,3.9368e-04
+5,8.1667e-01,WAIT_W2,1.8047e-04,2.4603e-02,3.3963e-02,2.4552e+00,-3.9087e-02,3.8515e-02,2.1644e-05,6.7167e-03,-6.7066e-05,2.9731e-04,2.4125e-05,4.7552e-04,-1.0171e-05,6.7236e-03,4.7624e-04
+6,1.0000e+00,WAIT_W2,2.1874e-04,2.5628e-02,3.3949e-02,2.4553e+00,-3.9083e-02,3.8588e-02,2.0478e-05,7.7424e-03,-8.0943e-05,3.6407e-04,2.8025e-05,5.4792e-04,-1.1338e-05,7.7514e-03,5.4875e-04
+7,1.2333e+00,WAIT_W2,2.5461e-04,2.6754e-02,3.3935e-02,2.4554e+00,-3.9079e-02,3.8667e-02,1.9305e-05,8.8685e-03,-9.5110e-05,4.4036e-04,3.2213e-05,6.2736e-04,-1.2510e-05,8.8800e-03,6.2831e-04
+8,1.3000e+00,WAIT_W2,3.0400e-04,2.8025e-02,5.5641e-02,2.4539e+00,-4.0598e-02,3.8757e-02,2.6086e-05,1.0139e-02,2.1612e-02,-1.0600e-03,-1.4873e-03,7.1734e-04,-5.7294e-06,2.3895e-02,1.6512e-03
+9,1.3167e+00,WAIT_W2,3.3214e-04,2.6338e-02,8.2855e-02,2.4522e+00,-4.2506e-02,3.8639e-02,3.5040e-05,8.4520e-03,4.8825e-02,-2.6991e-03,-3.3953e-03,5.9936e-04,3.2244e-06,4.9625e-02,3.4478e-03
+10,1.3333e+00,WAIT_W2,3.6118e-04,2.7478e-02,1.1034e-01,2.4515e+00,-4.4434e-02,3.8720e-02,4.3550e-05,9.5925e-03,7.6309e-02,-3.4235e-03,-5.3230e-03,6.7999e-04,1.1734e-05,7.6986e-02,5.3663e-03
+11,1.3667e+00,WAIT_W2,4.0765e-04,2.9478e-02,1.5721e-01,2.4519e+00,-4.7724e-02,3.8860e-02,5.7092e-05,1.1592e-02,1.2318e-01,-3.0162e-03,-8.6133e-03,8.2042e-04,2.5276e-05,1.2376e-01,8.6523e-03
+12,1.4000e+00,WAIT_W2,4.3898e-04,2.9902e-02,2.0198e-01,2.4497e+00,-5.0870e-02,3.8892e-02,7.3424e-05,1.2017e-02,1.6795e-01,-5.2073e-03,-1.1758e-02,8.5285e-04,4.1608e-05,1.6846e-01,1.1789e-02
+13,1.5333e+00,WAIT_W2,4.7491e-04,3.1836e-02,2.1958e-01,2.4517e+00,-5.2120e-02,3.9028e-02,7.8861e-05,1.3950e-02,1.8555e-01,-3.2392e-03,-1.3008e-02,9.8863e-04,4.7045e-05,1.8611e-01,1.3046e-02
+14,1.7333e+00,WAIT_W2,5.1016e-04,3.3277e-02,2.1862e-01,2.4530e+00,-5.2063e-02,3.9129e-02,7.6741e-05,1.5391e-02,1.8459e-01,-1.9112e-03,-1.2952e-02,1.0898e-03,4.4926e-05,1.8524e-01,1.2998e-02
+15,1.8833e+00,WAIT_W2,5.4914e-04,3.4089e-02,2.1835e-01,2.4539e+00,-5.2049e-02,3.9186e-02,7.4734e-05,1.6203e-02,1.8432e-01,-1.0884e-03,-1.2938e-02,1.1467e-03,4.2918e-05,1.8504e-01,1.2989e-02
+16,2.0333e+00,UP_FORCE_RAMP,5.8222e-04,3.4779e-02,2.1819e-01,2.4545e+00,-5.2041e-02,3.9235e-02,7.2485e-05,1.6893e-02,1.8416e-01,-3.9458e-04,-1.2930e-02,1.1952e-03,4.0669e-05,1.8493e-01,1.2985e-02
+17,2.1833e+00,UP_FORCE_RAMP,6.1955e-04,3.5379e-02,2.1807e-01,2.4551e+00,-5.2036e-02,3.9277e-02,7.0117e-05,1.7493e-02,1.8405e-01,1.8907e-04,-1.2925e-02,1.2374e-03,3.8302e-05,1.8487e-01,1.2984e-02
+18,2.3833e+00,UP_FORCE_RAMP,6.5714e-04,3.6068e-02,2.1796e-01,2.4558e+00,-5.2031e-02,3.9326e-02,6.6910e-05,1.8182e-02,1.8393e-01,8.2445e-04,-1.2920e-02,1.2859e-03,3.5094e-05,1.8483e-01,1.2983e-02
+19,2.5167e+00,UP_FORCE_RAMP,6.9307e-04,3.6470e-02,2.1790e-01,2.4561e+00,-5.2028e-02,3.9354e-02,6.4791e-05,1.8584e-02,1.8387e-01,1.1728e-03,-1.2917e-02,1.3141e-03,3.2975e-05,1.8481e-01,1.2983e-02
+20,2.7000e+00,UP_FORCE_RAMP,7.2641e-04,3.6958e-02,2.1783e-01,2.4565e+00,-5.2024e-02,3.9388e-02,6.1941e-05,1.9072e-02,1.8380e-01,1.5709e-03,-1.2913e-02,1.3485e-03,3.0126e-05,1.8480e-01,1.2983e-02
+21,2.8333e+00,UP_FORCE_RAMP,7.6577e-04,3.7274e-02,2.1779e-01,2.4568e+00,-5.2022e-02,3.9410e-02,5.9932e-05,1.9389e-02,1.8376e-01,1.8120e-03,-1.2911e-02,1.3708e-03,2.8116e-05,1.8479e-01,1.2984e-02
+22,2.9667e+00,UP_FORCE_RAMP,8.0512e-04,3.7562e-02,2.1775e-01,2.4570e+00,-5.2020e-02,3.9431e-02,5.7983e-05,1.9676e-02,1.8372e-01,2.0192e-03,-1.2909e-02,1.3911e-03,2.6167e-05,1.8478e-01,1.2984e-02
+23,3.1333e+00,UP_FORCE_RAMP,8.3690e-04,3.4972e-02,2.2611e-01,2.4483e+00,-5.2617e-02,3.9256e-02,6.2234e-05,1.7086e-02,1.9208e-01,-6.6078e-03,-1.3506e-02,1.2166e-03,3.0418e-05,1.9295e-01,1.3560e-02
+24,3.3167e+00,UP_FORCE_RAMP,8.7645e-04,3.6325e-02,2.2561e-01,2.4515e+00,-5.2586e-02,3.9349e-02,6.0625e-05,1.8440e-02,1.9158e-01,-3.4363e-03,-1.3475e-02,1.3094e-03,2.8809e-05,1.9250e-01,1.3539e-02
+25,3.5333e+00,UP_FORCE_RAMP,9.1052e-04,3.7205e-02,2.2549e-01,2.4531e+00,-5.2581e-02,3.9410e-02,5.8608e-05,1.9319e-02,1.9146e-01,-1.8823e-03,-1.3470e-02,1.3703e-03,2.6792e-05,1.9244e-01,1.3540e-02
+26,3.6833e+00,UP_FORCE_RAMP,9.4564e-04,3.5707e-02,2.2459e-01,2.4466e+00,-5.2534e-02,3.9311e-02,6.0593e-05,1.7821e-02,1.9056e-01,-8.3439e-03,-1.3423e-02,1.2712e-03,2.8778e-05,1.9158e-01,1.3483e-02
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+28,4.0500e+00,UP_FORCE_RAMP,1.0225e-03,3.7422e-02,2.2819e-01,2.4424e+00,-5.2810e-02,3.9437e-02,6.0417e-05,1.9536e-02,1.9416e-01,-1.2497e-02,-1.3699e-02,1.3972e-03,2.8602e-05,1.9554e-01,1.3770e-02
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Fixed/digit/ball_0050_10/press_depth_05/down/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:42ca1699760f5478553814bff466e8ff066556c51991af482a81b872b19a7644
+size 624640

Fixed/digit/ball_0050_10/press_depth_05/down/franka_data.csv

@@ -0,0 +1,61 @@
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+3395,1792754047809816228,37450835000000,1792754047807025976,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6759394491117868,-0.004258280221744146,0.1067244408901835,0.9999999494789416,-9.85003060379334e-05,-0.0002448486173788283,0.00015110202813445163,0.6761,-0.004,0.10691470174033442,1.0,0.0,0.0,0.0,-0.03115017338514625,-0.018137928451112395,0.05140429638626651,-0.0014041419507456118,0.0021434011258794072,-2.729860623122064e-05,0.9182550884927871,0.7627604494263085,0.21149696607611695,0.06209797386719524,-0.07115090109412392,0.00159100702833864,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.47004465611463914,1.324822857591294,1.0211202253442193,-0.09054197100469635,-0.5687146754116524,0.7514054329144746,1.6387436357963205,0.05140429638626651,0.6176234104521012,0.6176234104521012,0.7072749424512571,0,0,-7.334633669450608e-05,-9.999999025923074e-05
+3483,1792754048543671147,37451569000000,1792754048543026245,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.675950787023959,-0.004258402220762531,0.10668576658873055,0.9999999524600977,-9.33518521314282e-05,-0.00022969065732707927,0.00015827286763479557,0.6761,-0.004,0.10685359897638189,1.0,0.0,0.0,0.0,-0.04824688044607639,-0.01759219446748117,0.10145765376219137,-0.0014226915981849844,0.003145694387534856,-4.6290146356186114e-05,0.901158381431857,0.7633061834099397,0.2615503234520418,0.06207942421975587,-0.07014860783246847,0.0015720154882136745,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.5173433942512871,1.2970139399337783,1.0250556379749258,-0.04414711243135146,-0.5676840394735702,0.7292342789677182,1.6387436357963205,0.10145765376219137,0.6136879978213947,0.6136879978213947,0.817374942451245,0,0,-9.42818697100264e-05,-9.999847758035969e-05
+3550,1792754049101755326,37452127000000,1792754049095026818,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6759652314967097,-0.004261957777546229,0.10664910589942321,0.9999999562765429,-0.00011476377239209245,-0.00020812192615308263,0.00014968071670856372,0.6761,-0.004,0.10679545903900682,1.0,0.0,0.0,0.0,-0.046170752215659805,0.009083074995724694,0.1423572873469696,0.0005375153221796325,0.0041115393117510945,-4.8395749398812225e-05,0.9032345096622736,0.7899814528731456,0.30244995703682004,0.06403963114012048,-0.06918276290825223,0.0015699098851710484,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.5599007594963341,1.2699387423136441,0.8365934541358359,-0.03456824219434415,-0.43957207730296627,0.7097618166489266,1.6387436357963205,0.1423572873469696,0.8021501816604847,0.8021501816604847,0.9010749424512358,0,0,-0.00011393206792387629,-4.8259040656818095e-05
+3623,1792754049709630799,37452735000000,1792754049707026306,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6759721587852928,-0.004254922172679176,0.10659217624283683,0.9999999585950339,-0.0001505561120451404,-0.0001915328996319663,0.00012206883410241909,0.6761,-0.004,0.10672184505561287,1.0,0.0,0.0,0.0,-0.04382188627589689,0.02509949704666059,0.22083545166755628,0.0015730458753876325,0.004069956657303281,-0.00010111310498994068,0.9055833756020365,0.8059978749240815,0.3809281213574067,0.06507516169332848,-0.06922434556270005,0.00151719252957992,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.6165574709187607,1.3001973462987002,0.7772545988702702,-0.03374655442998232,-0.3884669051987379,0.7282953883768805,1.6387436357963205,0.22083545166755628,0.8614890369260504,0.8614890369260504,0.9922749424512257,0,0,-0.0001269743765922301,-9.984389290196844e-05
+3702,1792754050368656519,37453394000000,1792754050363026213,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6759802057746143,-0.0042598878028356135,0.1065243841186934,0.9999999589440418,-0.00017122265512159454,-0.00017558670004119673,0.00011578813405410242,0.6761,-0.004,0.10663553479488659,1.0,0.0,0.0,0.0,-0.05052621599253648,0.020013446695909654,0.3043337497242138,0.0015566940224007036,0.004056934704720655,-0.00016808573509360133,0.8988790458853969,0.8009118245733305,0.46442641941406426,0.06505880984034156,-0.06923736751528267,0.0014502198994762593,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.6928106691623538,1.2203858383722779,0.6684887661662402,0.0029587667209097094,-0.3012130479679619,0.6782497460827815,1.6387436357963205,0.3043337497242138,0.9702548696300803,0.9702548696300803,1.0911249424512823,0,0,-0.00013233039345836162,-9.92417912001386e-05
+3768,1792754050918652748,37453944000000,1792754050915026424,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.675985519384019,-0.004260129590272549,0.10646294915697598,0.9999999738129838,-4.610203172554932e-05,-0.00016591352322541943,0.00011901345160772365,0.6761,-0.004,0.10656361585770426,1.0,0.0,0.0,0.0,-0.06477384960098564,0.014964267557480704,0.3934805308789113,0.001511199579740552,0.0050498510086535026,-0.00022576078614331904,0.8846314122769477,0.7958626454349016,0.5535732005687618,0.0650133153976814,-0.06824445121134982,0.0013925448484265416,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.6537377668836434,1.3213164507953905,0.5657268817202478,-0.06665313546642017,-0.24547162106755346,0.694799607794873,1.6387436357963205,0.3934805308789113,1.0730167540760727,1.0730167540760727,1.1736249424513343,0,0,-0.00012584429962406307,4.1247209840672385e-05
+3847,1792754051576577350,37454602000000,1792754051575026658,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6759853800975949,-0.004269179809066107,0.1063891514788359,0.9999999727336635,-6.423048991206266e-05,-0.00016162502280185327,0.0001254086636863218,0.6761,-0.004,0.10648096289096388,1.0,0.0,0.0,0.0,-0.07122305775336113,0.007612810148705518,0.4735852975504582,0.0004743400298564404,0.005052235885883133,-0.0003076494202339875,0.8781822041245723,0.7885111880261264,0.6336779672403087,0.06397645584779729,-0.0682420663341202,0.0013106562143358732,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.6450666842602647,1.4405591042838075,0.4969144600458894,-0.09146128935146605,-0.20370726471376707,0.7813983059952921,1.6387436357963205,0.4735852975504582,1.141829175750431,1.141829175750431,1.2723249424513965,0,0,-0.00012379766347744704,-9.994195335061846e-05
+3916,1792754052151490991,37455177000000,1792754052147025990,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6759905599147716,-0.00426936649839485,0.10633151402139926,0.9999999734089121,-7.322184720024765e-05,-0.0001513612763819987,0.00012788027487092157,0.6761,-0.004,0.10640997044945939,1.0,0.0,0.0,0.0,-0.08076937324900868,-0.0020467879259216115,0.5442263377994592,0.0004336408316003154,0.00605263928880137,-0.0003455701129541752,0.8686358886289247,0.7788515899514993,0.7043190074893096,0.06393575664954117,-0.06724166293120196,0.0012727355216156854,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.6700475037064749,1.38428219827676,0.35947083791416345,-0.06492173974574196,-0.11386793672824469,0.7600937454841372,1.6387436357963205,0.5442263377994592,1.279272797882157,1.279272797882157,1.3585749424514508,0,0,-0.00012350134643149412,9.620928639731403e-05
+3987,1792754052743559564,37455769000000,1792754052743026296,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6759956540353763,-0.00426938933680858,0.106272468013534,0.9999999739225,-8.321343454008118e-05,-0.00014161915087209344,0.0001289085102297592,0.6761,-0.004,0.10633845514297952,1.0,0.0,0.0,0.0,-0.0904388555115403,-0.0031308411845935025,0.6237150774000177,0.0003897582702154928,0.007048417817324293,-0.0002644053453875208,0.8589664063663931,0.7777675366928274,0.7838077470898682,0.06389187408815634,-0.06624588440267903,0.0013539002891823399,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.7250482590006343,1.287778864603399,0.2841677259656662,-0.028083387854490396,-0.05117217870089101,0.7125597586286405,1.6387436357963205,0.6237150774000177,1.3545759098306545,1.3545759098306545,1.4473749424515068,0,0,-0.00011670162748037657,5.396755894296768e-05
+4063,1792754053376524397,37456402000000,1792754053371016965,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760031339823528,-0.004274240683721281,0.10621232577539776,0.9999999740435407,-9.287078580731418e-05,-0.0001290125034925805,0.00013448633158718803,0.6761,-0.004,0.10626486725964343,1.0,0.0,0.0,0.0,-0.10009504764290011,5.397453711242228e-05,0.7001818738005262,0.0003494285884594883,0.008041808312021434,-0.00043634941028853876,0.8493102142350333,0.7809523524145333,0.8602745434903767,0.06385154440640034,-0.06525249390798189,0.0011819562242813219,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.7363383930569213,1.1591547550683552,0.25655617782306683,0.02131803744244932,-0.03235206905077097,0.6410255937915137,1.6387436357963205,0.7001818738005262,1.3821874579732536,1.3821874579732536,1.5423249424515666,0,0,-0.00011246152095275986,-9.9999032691872e-05
+4142,1792754054034458742,37457060000000,1792754054031027584,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760090257291649,-0.004279672291416697,0.10615351060761472,0.9999999738152213,-0.00010531343271049744,-0.00011858451689862442,0.00013659873460617367,0.6761,-0.004,0.10619129932294048,1.0,0.0,0.0,0.0,-0.10945979989964938,-0.0053917425116157824,0.760376844484661,0.00032793700790575975,0.008030710607489638,0.0005349641082487175,0.839945461978284,0.7755066353658051,0.9204695141745115,0.06383005282584661,-0.06526359161251369,0.002153269742818578,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.7924340279104163,1.2700853542007633,0.16902146907054,-0.0019775879076061867,0.0392356977910723,0.7166607119956462,1.6387436357963205,0.760376844484661,1.4697221667257805,1.4697221667257805,1.6410249424516288,0,0,-0.00011364228657692455,-9.89546181370315e-05
+4220,1792754054684426762,37457710000000,1792754054683026486,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.67601633956241,-0.004280902615338286,0.10609021257182258,0.9999999738717206,-0.00011352637242536755,-0.00010837393694995125,0.00013808068315850243,0.6761,-0.004,0.10611762634381496,1.0,0.0,0.0,0.0,-0.11912165410287334,0.0020362932126337663,0.8344942322217823,0.00028656618579651905,0.009024829132374151,0.00019722211906482868,0.83028360777506,0.7829346710900547,0.9945869019116328,0.06378868200373737,-0.06426947308762918,0.0018155277536346893,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.8145010965920958,1.2444755161812937,0.08451518610364574,0.0017529356875768144,0.0955246184871438,0.6977031665730262,1.6387436357963205,0.8344942322217823,1.5542284496926748,1.5542284496926748,1.7385249424516902,0,0,-0.00011752504474746151,-9.99748853410864e-05
+4287,1792754055243324597,37458269000000,1792754055243016663,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760234276947084,-0.0042788982747964015,0.1060373665208379,0.9999999747145554,-0.00011960437083999516,-9.661654269683801e-05,0.00013554995806958805,0.6761,-0.004,0.1060496663906264,1.0,0.0,0.0,0.0,-0.11950406759517584,0.006242069700728714,0.9039865115432236,0.0002476326877069446,0.0100046905023225,0.00040950357651080467,0.8299011942827575,0.7871404475781496,1.064079181233074,0.0637497485056478,-0.06328961171768083,0.0020278092110806653,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.8326223284774981,1.2704570880419448,-0.05040257466249429,-0.004300832530505503,0.18875887654184728,0.7157620394297801,1.6387436357963205,0.9039865115432236,1.6891462104588149,1.6891462104588149,1.822374942451743,0,0,-0.00012513758112650398,-9.999944902550623e-05
+4356,1792754055818396002,37458844000000,1792754055811016769,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760325426692635,-0.004283681689865797,0.10597141580296958,0.9999999742855364,-0.0001305583007161409,-8.341943188306482e-05,0.00013735908847589174,0.6761,-0.004,0.10597442717383744,1.0,0.0,0.0,0.0,-0.13531335115309384,0.0013542482621218266,0.9653382572515544,0.001254980151303639,0.009991815991863148,0.0004091959136579659,0.8140919107248396,0.7822526261395427,1.125430926941405,0.06475709596924449,-0.06330248622814018,0.0020275015482278265,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.8538987249083995,1.2819817219392848,-0.08190196216410839,-0.008867273569764985,0.2112873119508266,0.722308163241173,1.6387436357963205,0.9653382572515544,1.720645597960429,1.720645597960429,1.9086249424517974,0,0,-0.000135066984884051,-9.999985148135266e-05
+4429,1792754056426361784,37459452000000,1792754056419026361,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760408180569526,-0.004283419641746202,0.1059073333232422,0.9999999760220534,-0.00012691430550359575,-6.900350013769239e-05,0.00013612506360455637,0.6761,-0.004,0.10589251979566895,1.0,0.0,0.0,0.0,-0.1391700204187296,0.004627836491263748,1.0275883888163404,0.0012161791912926878,0.010991654788388108,0.0003741251914266648,0.8102352414592038,0.7855262143686846,1.1876810585061908,0.06471829500923354,-0.06230264743161522,0.0019924308259965254,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.9425436784411242,1.2873985301816675,-0.17621794095447527,-0.0012957494308568612,0.2948564181871751,0.7283640748291262,1.6387436357963205,1.0275883888163404,1.8149615767507958,1.8149615767507958,1.9998249424518548,0,0,-0.0001349797941571903,-9.998779168374767e-05
+4503,1792754057043325601,37460069000000,1792754057043016894,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760473089643091,-0.004289115189542284,0.1058346811089314,0.9999999771137731,-0.00011958132205728722,-5.9775121596894415e-05,0.0001390775322150731,0.6761,-0.004,0.10580911717804235,1.0,0.0,0.0,0.0,-0.15238931479061701,0.012772062919057081,1.1156985094290819,0.001173757824032548,0.011986189610162568,0.00032027831199473106,0.7970159470873164,0.793670440796478,1.2757911791189323,0.0646758736419734,-0.06130811260984076,0.0019385839465645917,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.9724905896059514,1.34952253240985,-0.38004473294405605,-0.012469163353143001,0.43380725891632843,0.7764015496475201,1.6387436357963205,1.1156985094290819,2.0187883687403767,2.0187883687403767,2.092374942451913,0,0,-0.00013328384960012573,9.999990699250389e-05
+4574,1792754057634270502,37460660000000,1792754057627016698,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760559870950462,-0.004290073855057512,0.10577010967598147,0.9999999772734118,-0.0001234165451682146,-4.4177972723458226e-05,0.00014040193498977735,0.6761,-0.004,0.10572948172910698,1.0,0.0,0.0,0.0,-0.14965344818069182,0.004093295512911821,1.1856261726809412,0.001158328471021569,0.01197096900060278,0.00026097364136820427,0.7997518136972416,0.7849916733903327,1.3457188423707915,0.06466044428896242,-0.06132333321940055,0.001879279275938065,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.9647551706077946,1.26659143866487,-0.45337762085971717,0.01000417343789446,0.4757587172280851,0.7126478986211298,1.6387436357963205,1.1856261726809412,2.092121256656038,2.092121256656038,2.1810249424519688,0,0,-0.00013699626258825847,9.931469121949305e-05
+4641,1792754058193172974,37461219000000,1792754058187016711,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.67605722881525,-0.004297464436483384,0.10569785484565908,0.9999999766334186,-0.00013088469436947287,-4.2005426777796895e-05,0.0001388552039623125,0.6761,-0.004,0.10565173824265506,1.0,0.0,0.0,0.0,-0.15832264104481697,0.0013536989686318002,1.2624098439593463,0.0011181140816819701,0.012886180951472835,0.00021231276409977356,0.7910826208331164,0.7822520768460527,1.4225025136491967,0.06462022989962282,-0.06040812126853049,0.0018306183986696342,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.9601446838893719,1.3183825732375871,-0.47706249924528216,-0.0015248712053937514,0.4859606946842227,0.7522603572403725,1.6387436357963205,1.2624098439593463,2.115806135041603,2.115806135041603,2.2648749424520216,0,0,-0.0001374917058913613,-9.999994862586731e-05
+4722,1792754058868208028,37461894000000,1792754058867016935,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760686789923097,-0.004296987345905695,0.10562620936240529,0.9999999767258948,-0.00013421710152478454,-1.99411924341286e-05,0.00013992566820845761,0.6761,-0.004,0.10555787655122324,1.0,0.0,0.0,0.0,-0.1682456244066194,0.004664982268727025,1.3363072454359213,0.0011024997818803867,0.012952854180652777,0.00015265522072247764,0.781159637471314,0.7855633601461479,1.4963999151257716,0.06460461559982124,-0.06034144803935055,0.0017709608552923383,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.03751801433344,1.2636126377498944,-0.578910530681011,0.013414138092183128,0.5705414135983095,0.712915884113621,1.6387436357963205,1.3363072454359213,2.2176541664773315,2.2176541664773315,2.3661249424520854,0,0,-0.00014141060447200727,-9.999969882568677e-05
+4798,1792754059501173404,37462527000000,1792754059495017331,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760707310004682,-0.004300396302972106,0.10554267067466909,0.9999999770473793,-0.00013223162232485882,-1.8967898369942866e-05,0.00013965357903856365,0.6761,-0.004,0.10546739779829777,1.0,0.0,0.0,0.0,-0.17738458595086026,0.007762018381260449,1.416524480851566,0.0010609143299325774,0.013947951814535148,0.00010244557040214658,0.7720206759270731,0.7886603962586813,1.5766171505414164,0.06456303014787343,-0.05934635040546818,0.0017207512049720072,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.0109338383123587,1.275673568166349,-0.6188949678237471,0.015037040353749693,0.5906742088344821,0.7216464381727432,1.6387436357963205,1.416524480851566,2.2576386036200677,2.2576386036200677,2.461074942452145,0,0,-0.00014506095747798676,-9.921876795016544e-05
+4875,1792754060143133393,37463169000000,1792754060139026024,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760785795864245,-0.004302548759094818,0.10546542044868608,0.9999999768241317,-0.00013474632947088627,-2.0911279440899014e-06,0.0001401201428914885,0.6761,-0.004,0.10537329569787035,1.0,0.0,0.0,0.0,-0.17809551108878385,0.010432989226765721,1.4966929307126926,0.0010999372018048043,0.014912199093625865,4.954656912854196e-05,0.7713097507891495,0.7913313671041866,1.656785600402543,0.06460205301974566,-0.05838210312637746,0.0016678522036984026,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.049405578995343,1.2892155930207463,-0.7786561133956978,0.0169824042398493,0.6964455753677672,0.7310030166386654,1.6387436357963205,1.4966929307126926,2.4173997491920183,2.4173997491920183,2.557374942452206,0,0,-0.00015004936850945694,-4.4587912555132905e-05
+4948,1792754060751127621,37463777000000,1792754060751017078,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760879149687432,-0.004305999337741581,0.10538823232863342,0.9999999760497476,-0.0001387112670343883,1.1690335349618719e-05,0.0001413007041511636,0.6761,-0.004,0.10528089441000765,1.0,0.0,0.0,0.0,-0.185591216853898,0.0036687093364533574,1.5773242185645613,0.0016149162111305376,0.014919532762671418,-4.063067101338271e-06,0.7638140450240354,0.7845670872138742,1.7374168882544117,0.06511703202907139,-0.05837476945733191,0.0016142425674685224,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.0259826897641575,1.267144310597201,-0.9253614212141408,0.03086739203383721,0.7826994144095446,0.7214770612619279,1.6387436357963205,1.5773242185645613,2.5641050570104613,2.5641050570104613,2.6485749424522633,0,0,-0.00015297151525065088,7.500046003550693e-05
+5016,1792754061318074016,37464344000000,1792754061311017000,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760935280995004,-0.004307724451014211,0.10531295114472534,0.9999999757252053,-0.00013992019020826835,1.9845001872639583e-05,0.00014149547478187226,0.6761,-0.004,0.10519410205803159,1.0,0.0,0.0,0.0,-0.19731424024665678,0.004148340649566151,1.647380698440913,0.0020076587106954286,0.014893532295444128,-5.893121621914927e-05,0.7520910216312766,0.785046718526987,1.8074733681307633,0.06550977452863628,-0.0584007699245592,0.0015593744183507114,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.0594280456360312,1.2611877622660463,-0.9227847612133859,0.03386211896794169,0.7874819244530932,0.7153923590419842,1.6387436357963205,1.647380698440913,2.5615283970097065,2.5615283970097065,2.733624942452317,0,0,-0.00015504171528154943,-9.737096825913056e-05
+5097,1792754061993063510,37465019000000,1792754061991017389,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760998085352667,-0.004309386786634979,0.10522099722407414,0.9999999751439672,-0.00014197185272177209,3.0506177433689065e-05,0.0001416626111808345,0.6761,-0.004,0.10508789235363,1.0,0.0,0.0,0.0,-0.19788576848461836,0.014887067403971499,1.7280602101975149,0.001960812143176463,0.015885090759098476,0.0005452669584706739,0.751519493393315,0.7957854452813924,1.8881528798873652,0.06546292796111731,-0.05740921146090485,0.0021635725930405345,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.115673133421323,1.2243841864772553,-1.0977279973390217,0.05191484333367491,0.9157902751622379,0.6939644632255387,1.6387436357963205,1.7280602101975149,2.7364716331353423,2.7364716331353423,2.8348749424523807,0,0,-0.00015771373932241405,9.999999025923074e-05
+5168,1792754062584010051,37465610000000,1792754062579026245,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761104346195491,-0.004315391941105308,0.10514364818369407,0.9999999733559104,-0.00014786719385719786,4.922860917812454e-05,0.00014297859911235476,0.6761,-0.004,0.10499220805998656,1.0,0.0,0.0,0.0,-0.19809181295942047,0.007546357847190044,1.8026220082566853,0.0019415791279990824,0.015867145532574997,0.0008544099110805174,0.7513134489185129,0.7884447357246109,1.9627146779465356,0.06544369494593993,-0.05742715668742833,0.002472715545650378,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1758344814521124,1.216442758247561,-1.147685207736573,0.06444789492650616,0.9629156148231828,0.6884982532676922,1.6387436357963205,1.8026220082566853,2.786428843532893,2.786428843532893,2.9235249424524365,0,0,-0.00016261177432796338,-1.9227720964531373e-05
+5241,1792754063193904675,37466219000000,1792754063191016661,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761196265422451,-0.004313054501676216,0.10505726495993735,0.9999999736559203,-0.00014317692788207818,6.251820246229179e-05,0.00014043811651146595,0.6761,-0.004,0.10488971696916519,1.0,0.0,0.0,0.0,-0.20791916339367955,0.012046107035353582,1.8784601548369912,0.002272603391613684,0.016857692722302704,0.0008156372065314917,0.7414860984842538,0.7929444849127745,2.0385528245268416,0.06577471920955454,-0.05643660949770062,0.0024339428411013523,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1014709573897898,1.300207479051413,-1.2868098625308146,0.0331122147379133,1.0272806757784703,0.7422840677400261,1.6387436357963205,1.8784601548369912,2.925553498327135,2.925553498327135,3.014874942452494,0,0,-0.0001724772144037504,7.51812043439159e-05
+5304,1792754063717875856,37466744000000,1792754063711018536,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761266816653554,-0.004319380255244599,0.10497677712066257,0.9999999722496477,-0.0001419636190040625,7.442468781393747e-05,0.00014577676472045305,0.6761,-0.004,0.10479794059403148,1.0,0.0,0.0,0.0,-0.21711050587644753,0.00930203254483708,1.9527968882379443,0.0018900709809571564,0.01684796556403364,0.0007471723385010366,0.7322947560014859,0.790200410422258,2.1128895579277946,0.06539218679889801,-0.05644633665596969,0.0023654779730708972,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1586217505042895,1.219374811488732,-1.3614386894259436,0.0683928357622443,1.0876270553135845,0.6928068758792207,1.6387436357963205,1.9527968882379443,3.000182325222264,3.000182325222264,3.0936249424525437,0,0,-0.00017663870366804867,9.971860423363949e-05
+5362,1792754064200876499,37467227000000,1792754064199025796,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761334958609166,-0.004321246606072094,0.10489868716034273,0.999999970987653,-0.00014311922436672112,8.54355096147206e-05,0.0001472590191147882,0.6761,-0.004,0.10471204013535879,1.0,0.0,0.0,0.0,-0.2087550443757481,0.016369527656661886,2.0190717175864314,0.002219465595189221,0.01784024783809012,0.0007176931735761766,0.7406502175021853,0.7972679055340828,2.179164387276282,0.06572158141313007,-0.055454054381913205,0.0023359988081460372,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1676816736264448,1.2416317489546582,-1.3834690463249448,0.05555381594655597,1.1038342490855975,0.7029209612865981,1.6387436357963205,2.0190717175864314,3.0222126821212654,3.0222126821212654,3.1660749424525894,0,0,-0.0001791193624436652,4.83357895638747e-05
+5433,1792754064792819945,37467819000000,1792754064791025896,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761430820628256,-0.004328580383911437,0.10480779066815828,0.999999967247159,-0.0001552064702606046,0.00010218598226598989,0.00014972481991155668,0.6761,-0.004,0.10460603564518116,1.0,0.0,0.0,0.0,-0.15121310981264735,0.0011951762643346298,2.0832058792933097,0.0009504127339513002,0.012785081341705348,0.0005766194119071928,0.798192152065286,0.7820935541417555,2.24329854898316,0.06445252855189215,-0.06050922087829798,0.0021949250464770535,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.132750418450034,1.251614055490507,-1.5520769151788814,0.06544721486135012,1.2122624615656585,0.7115289318323677,1.6387436357963205,2.0832058792933097,3.190820550975202,3.190820550975202,3.2548749424526453,0,0,-0.00018216656057637592,9.997557923047679e-05
+5490,1792754065267812805,37468294000000,1792754065267026012,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761483854513125,-0.004331328259954685,0.10473133923137982,0.9999999657934752,-0.00015886352903839388,0.00011057347839338696,0.00014963889106011345,0.6761,-0.004,0.10451907663292818,1.0,0.0,0.0,0.0,-0.16082055424861708,0.00323939525489092,2.139369517776449,0.0009129627936296375,0.013786794448268101,0.0005477315545996037,0.7885847076293163,0.7841377731323118,2.2994621874662995,0.06441507861157049,-0.059507507771735225,0.0021660371891694644,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1591244449876101,1.2512981026713068,-1.634847673914495,0.07278035118128842,1.2695192522922325,0.7113951797924886,1.6387436357963205,2.139369517776449,3.273591309710816,3.273591309710816,3.32612494245269,0,0,-0.00018705167275226563,9.948605414334394e-05
+5551,1792754065775829558,37468802000000,1792754065775026204,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761531422360092,-0.004334690695629017,0.10464358591844797,0.9999999640381143,-0.0001613770433382356,0.00011943130469862091,0.00015185600970830975,0.6761,-0.004,0.10442259297394878,1.0,0.0,0.0,0.0,-0.1702930362184376,0.004710475449461127,2.209528297970174,0.0008744309063193068,0.014702860756567945,0.0005039016884172899,0.7791122256594958,0.785608853326882,2.3696209676600244,0.06437654672426016,-0.05859144146343538,0.0021222073229871506,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.0935897388450175,1.2406486640559375,-1.5435493987678206,0.08186010698367009,1.1895247007125198,0.7052993127877174,1.6387436357963205,2.209528297970174,3.1822930345641414,3.1822930345641414,3.402324942452738,0,0,-0.00019114666340999532,-9.999389791038311e-05
+5628,1792754066417853325,37469444000000,1792754066415026793,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761593482864344,-0.0043395894199001386,0.10452972030629153,0.9999999627689315,-0.00015532685580327236,0.00012920891465631568,0.00015837810521757863,0.6761,-0.004,0.1042974655120825,1.0,0.0,0.0,0.0,-0.178365330759384,0.019378463087504016,2.2908018855646195,0.001855520713864231,0.014747837414186483,0.00045071304086116573,0.7710399311185494,0.8002768409649249,2.45089455525447,0.06535763653180508,-0.05854646480581684,0.0020690186754310264,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1774907254704845,1.2927130273758765,-1.7178521284908461,0.07048581279310209,1.322368893205824,0.7428017735722217,1.6387436357963205,2.2908018855646195,3.3565957642871664,3.3565957642871664,3.498624942452799,0,0,-0.0001985704825471516,9.999999025923074e-05
+5691,1792754066942781343,37469969000000,1792754066935026306,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761696185235029,-0.004343956268492877,0.1044463891869247,0.9999999610033274,-0.00014786985666994163,0.00014819963187048894,0.0001600236939114906,0.6761,-0.004,0.1041912608602688,1.0,0.0,0.0,0.0,-0.17133102012521106,0.013669917425945477,2.35021028656367,0.001866416827069367,0.014735366938985875,0.0004033577351562753,0.7780742417527223,0.7945682953033664,2.51030295625352,0.06536853264501022,-0.05855893528101745,0.002021663369726136,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1500803401511894,1.2712476341169174,-1.745152007102695,0.08366436301681716,1.3332085411236079,0.7299558988799524,1.6387436357963205,2.35021028656367,3.3838956428990157,3.3838956428990157,3.5773749424528485,0,0,-0.00020723126744756482,-9.999999025923074e-05
+5758,1792754067500766766,37470527000000,1792754067495026252,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761735539086641,-0.004342084418232581,0.10433956300913443,0.9999999580636266,-0.00015767261913916122,0.00015802230395712812,0.00015963679375462144,0.6761,-0.004,0.10407313919620337,1.0,0.0,0.0,0.0,-0.15404802347070234,0.01861636946351275,2.411060656560733,0.0029024398570223348,0.013689823587091171,0.0003521029020774739,0.795357238407231,0.7995147473409336,2.5711533262505832,0.06640455567496319,-0.059604478632912156,0.0019704085366473345,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1792384067888984,1.2057359484629695,-1.908393730631819,0.10925677550226459,1.4405744542979537,0.6844745592345383,1.6387436357963205,2.411060656560733,3.5471373664281396,3.5471373664281396,3.661074942452901,0,0,-0.0002163957613140769,9.921875407237763e-05
+5809,1792754067925755900,37470952000000,1792754067923026496,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761788209020447,-0.004341925855271896,0.10425001599520026,0.9999999550485482,-0.00017409202247373653,0.0001677391718552841,0.000151331766694525,0.6761,-0.004,0.10397867681048122,1.0,0.0,0.0,0.0,-0.13588123531334895,0.04741074079054375,2.4617147882389827,0.003926027723199582,0.013293064566725618,0.000322434675766938,0.8135240265645844,0.8283091186679646,2.621807457928833,0.06742814354114043,-0.06000123765327771,0.0019407403103367986,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1415927073396075,1.2884325045247336,-1.8271302813946877,0.09142768367950002,1.3765343082436603,0.7387197867010108,1.6387436357963205,2.4617147882389827,3.4658739171910082,3.4658739171910082,3.7248249424529414,0,0,-0.00022852841772699606,-9.999999025923074e-05
+5868,1792754068417655489,37471444000000,1792754068411026345,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761847510530518,-0.004339903584496197,0.10414924006474904,0.9999999531157937,-0.0001705285418433002,0.0001766573085695392,0.00015787174074713368,0.6761,-0.004,0.10386344937679454,1.0,0.0,0.0,0.0,-0.13945165053548725,0.04752418273725434,2.5122518671869716,0.004584746137712523,0.012617124244072297,0.0002774430882668763,0.8099536113424461,0.8284225606146752,2.672344536876822,0.06808686195565337,-0.06067717797593103,0.001895748722836737,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.158673381365618,1.3585100036056312,-1.9066813697242722,0.07128047875214154,1.4321657944654116,0.7843689767061487,1.6387436357963205,2.5122518671869716,3.5454250055205927,3.5454250055205927,3.798624942452988,0,0,-0.0002424436655698844,-9.388583940695411e-05
+5927,1792754068908693973,37471935000000,1792754068907026646,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761941620762032,-0.004344824099796194,0.10404214663924305,0.9999999494463959,-0.00016882821527679977,0.00019118588470030715,0.00016581634709468267,0.6761,-0.004,0.10374135757275456,1.0,0.0,0.0,0.0,-0.13599900230187534,0.05021733030261333,2.572412378587981,0.004942735214039248,0.012601390342435223,0.00023199658700276166,0.813406259576058,0.8311157081800342,2.7325050482778312,0.0684448510319801,-0.060692911877568104,0.0018503022215726223,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1468464863327845,1.305293006782496,-1.9184905896791604,0.09257600764770753,1.4373662708004211,0.7515485796770632,1.6387436357963205,2.572412378587981,3.557234225475481,3.557234225475481,3.8722749424530343,0,0,-0.0002568445683040751,-9.989968160895585e-05
+5984,1792754069383687386,37472410000000,1792754069383026424,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761936746951298,-0.004343117879916275,0.1039183660866136,0.9999999535904304,-0.00013768221893567016,0.00018849156427195945,0.0001725587961844619,0.6761,-0.004,0.1036148902764157,1.0,0.0,0.0,0.0,-0.1178853506625267,0.05400265151288708,2.62267341064631,0.0049471423251074564,0.012150014688341232,0.00018568484861054813,0.8315199112154067,0.834901029390308,2.7827660803361605,0.06844925814304831,-0.061144287531662095,0.0018039904831804088,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1430483933339939,1.2735853865763755,-2.028129234725112,0.11365503624935101,1.500704756529182,0.7356528839897765,1.6387436357963205,2.62267341064631,3.6668728705214324,3.6668728705214324,3.943524942453079,0,0,-0.00027441972963035264,-9.999971270347458e-05
+6033,1792754069792633312,37472819000000,1792754069791026285,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761959708711661,-0.004351419554701416,0.10380669876799417,0.9999999513297392,-0.00013969294567168787,0.0001968691084703844,0.00017467632512904404,0.6761,-0.004,0.10349976936242675,1.0,0.0,0.0,0.0,-0.11197130201794858,0.06674183682180546,2.662933378079121,0.004954769464767486,0.011566618045468553,0.000147517242237497,0.8374339598599848,0.8476402146992263,2.8230260477689715,0.06845688528270834,-0.06172768417453477,0.0017658228768073576,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1337702356703387,1.3689878606044057,-2.1165470818844203,0.09514920237488414,1.5541949589199704,0.7989862646326388,1.6387436357963205,2.662933378079121,3.755290717680741,3.755290717680741,4.004874942453103,0,0,-0.0002883424880626136,-9.999865799160119e-05
+6080,1792754070184646313,37473210000000,1792754070179026038,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761984663369492,-0.004349263260548778,0.10369732163255795,0.9999999498613822,-0.00016521396568038412,0.00019923659216268015,0.0001572552803202202,0.6761,-0.004,0.10338383207957483,1.0,0.0,0.0,0.0,-0.09201847791684203,0.08388538368461051,2.701448504179027,0.005996922730916954,0.010524341027396647,0.0001286159604206175,0.8573867839610914,0.8647837615620314,2.8615411738688774,0.0694990385488578,-0.06276996119260668,0.0017469215949904781,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1267527858615354,1.4252694983145193,-2.1224561137311513,0.09285067754145977,1.5581171195660977,0.8391635235320815,1.6387436357963205,2.701448504179027,3.7611997495274716,3.7611997495274716,4.0635249424529665,0,0,-0.0003029325945050606,-9.999999025923074e-05
+6127,1792754070575592884,37473602000000,1792754070571026340,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762032806213247,-0.0043555604003506,0.10357883272366261,0.999999946307167,-0.00016542020650964033,0.00020604994747673838,0.00017031764962989105,0.6761,-0.004,0.10326147759538809,1.0,0.0,0.0,0.0,-0.08299563365066132,0.08037797902056398,2.727663859133878,0.005990659004304219,0.010518354523885706,9.540142740634876e-05,0.8664096282272721,0.8612763568979849,2.8877565288237284,0.06949277482224507,-0.06277594769611762,0.0017137070619762094,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1501147353279528,1.3987541277257882,-2.104055835674272,0.10210952094772771,1.5515335125405845,0.8231075130470593,1.6387436357963205,2.727663859133878,3.742799471470592,3.742799471470592,4.122324942452829,0,0,-0.00032125312623562517,-9.999999025923074e-05
+6179,1792754071008566090,37474035000000,1792754071003026582,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.676212425718157,-0.004358986424427066,0.10344325504438218,0.9999999435435414,-0.0001595867306910168,0.00021624923585592304,0.00017923203306408102,0.6761,-0.004,0.10311780690800633,1.0,0.0,0.0,0.0,-0.0900744350658621,0.08952357909811548,2.753814921615737,0.005987837125199111,0.010512936462163308,8.791088145391405e-05,0.8593308268120713,0.8704219569755364,2.913907591305587,0.06948995294313996,-0.06278136575784002,0.0017062165160237747,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1730726194682113,1.3773454594389416,-2.1655757359445817,0.12080349178563239,1.5959943904603913,0.8106847640257455,1.6387436357963205,2.753814921615737,3.8043193717409025,3.8043193717409025,4.187274942452678,0,0,-0.000342102600812992,-9.999999025923074e-05
+6223,1792754071375563643,37474402000000,1792754071371026634,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762135560415355,-0.0043657703253002665,0.1033206841794568,0.999999942017965,-0.00016365364272264476,0.00021966164197804072,0.00017992548209444834,0.6761,-0.004,0.10298889720416574,1.0,0.0,0.0,0.0,-0.07156023724971383,0.09060875214894837,2.7839700219147807,0.006009759832041869,0.00949275467030769,3.263724345660933e-05,0.8778450246282196,0.8715071300263693,2.944062691604631,0.06951187564998272,-0.06380154754969564,0.00165094287802647,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.106804252175615,1.2786960449353297,-2.1972310194563995,0.1615063496535393,1.5953930595407912,0.7487080644971883,1.6387436357963205,2.7839700219147807,3.83597465525272,3.83597465525272,4.24232494245255,0,0,-0.0003604525972381297,-9.999999025923074e-05
+6268,1792754071750560033,37474777000000,1792754071747017587,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762095619704185,-0.004370222149839044,0.10317775242964201,0.999999942353016,-0.00016889109516189966,0.00021413215097618803,0.00017988898991112408,0.6761,-0.004,0.10285022123088816,1.0,0.0,0.0,0.0,-0.05473660985349671,0.08994794518801963,2.7941217239582694,0.005661659369188471,0.008477403324863172,0.0002311775324766066,0.8946686520244367,0.8708463230654405,2.9542143936481198,0.06916377518712932,-0.06481689889514015,0.0018494831670464672,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.1239049685163267,1.3335776119530673,-2.2169136691351863,0.13948308562546427,1.6159113185160732,0.7841564940051651,1.6387436357963205,2.7941217239582694,3.8556573049315066,3.8556573049315066,4.298574942452419,0,0,-0.00037920259358534123,-9.999999025923074e-05
+6310,1792754072100549057,37475127000000,1792754072095026139,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762100324267195,-0.004375745427638996,0.10304438193582154,0.9999999404745061,-0.00017421157691086575,0.00021666857662865565,0.00018220566098679672,0.6761,-0.004,0.10271444657373162,1.0,0.0,0.0,0.0,-0.04286589878711011,0.08540457050767958,2.813522676917194,0.0050386455315740986,0.007478414195596458,-2.873111300677987e-05,0.9065393630908233,0.8663029483851005,2.9736153466070445,0.06854076134951495,-0.06581588802440687,0.0015895745215630808,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.0402716729404402,1.3726823859695634,-2.139356353446182,0.1458857134967325,1.544004728858826,0.8163304386496917,1.6387436357963205,2.813522676917194,3.7780999892425022,3.7780999892425022,4.351074942452296,0,0,-0.000396702590176072,-9.999999025923074e-05
+6349,1792754072425490689,37475452000000,1792754072419026555,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762073147908035,-0.004380689814735034,0.10290872938411612,0.9999999401152302,-0.00017366022141406432,0.00021489510255223856,0.00018674748360290945,0.6761,-0.004,0.10258288573244041,1.0,0.0,0.0,0.0,-0.03360517130648688,0.0876774889708214,2.8143256315686296,0.0050322439924275625,0.0074088822505610635,0.0007687303763266192,0.9158000905714465,0.8685758668482423,2.97441830125848,0.06853435981036841,-0.06588541996944226,0.00238703601089648,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.0602376206382407,1.4513966345610028,-2.1766042197910065,0.13255016811635822,1.5748515315812524,0.8700100722185062,1.6387436357963205,2.8143256315686296,3.8153478555873273,3.8153478555873273,4.399824942452183,0,0,-0.000412952587010322,-9.999999025923074e-05
+6388,1792754072750506637,37475777000000,1792754072743026601,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762168843214321,-0.0043863196918602675,0.1027769827035656,0.99999993799195,-0.00017336749369807782,0.00022161091205200146,0.00019050269354313555,0.6761,-0.004,0.10244604364217808,1.0,0.0,0.0,0.0,-0.025306574811646443,0.09784039919722531,2.803986588543359,0.005043627902364747,0.007478586040369037,0.00011232100016284638,0.924098687066287,0.8787387770746462,2.9640792582332094,0.0685457437203056,-0.06581571617963429,0.001730626634732707,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.0488098743830545,1.406506061158343,-2.1693994775471106,0.14734631238429396,1.565657688501435,0.8429963517764567,1.6387436357963205,2.803986588543359,3.808143113343431,3.808143113343431,4.448574942452069,0,0,-0.000429202583844572,-9.999999025923074e-05
+6424,1792754073050445907,37476077000000,1792754073047026206,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.676215904979582,-0.004388088800370042,0.10264062021439609,0.9999999376450686,-0.00017785745790254695,0.00021939032946432035,0.00019075463594993376,0.6761,-0.004,0.1023150403674645,1.0,0.0,0.0,0.0,-0.022957226322470214,0.09328282305369262,2.803992176691715,0.005069102913839066,0.0064660474346546065,-3.623116439470386e-05,0.9264480355554632,0.8741812009311135,2.9640848463815654,0.06857121873177992,-0.06682825478534872,0.0015820744701751568,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.043053586839504,1.3797741472435892,-2.1715674670602123,0.16258748181400842,1.5665774751420667,0.8251379293719547,1.6387436357963205,2.803992176691715,3.8103111028565326,3.8103111028565326,4.493574942451964,0,0,-0.0004442025809223412,-9.999999025923074e-05
+6460,1792754073350423013,37476377000000,1792754073343017113,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762148051808036,-0.004391056684923625,0.10250374333279205,0.999999935982381,-0.00019000736624604696,0.00021986420465271563,0.00018717646885556884,0.6761,-0.004,0.10217953709362759,1.0,0.0,0.0,0.0,-0.005372678319488511,0.08723247233914355,2.7986688315450596,0.005095154908449612,0.005462217527467728,7.629357925397363e-05,0.9440325835584449,0.8681308502165644,2.95876150123491,0.06859727072639046,-0.0678320846925356,0.0016945992138238343,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.0115717024574271,1.3988402416169636,-2.0578676721403397,0.16316140294244993,1.4910257814487513,0.8393308002908328,1.6387436357963205,2.7986688315450596,3.69661130793666,3.69661130793666,4.538574942451859,0,0,-0.0004592025780001104,-9.999999025923074e-05
+6491,1792754073608425681,37476635000000,1792754073607016567,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762068444403888,-0.004399299568864553,0.1023670652980392,0.9999999382057585,-0.0001858114424336373,0.00020575556459327208,0.00019537169446077479,0.6761,-0.004,0.10205940517882901,1.0,0.0,0.0,0.0,0.004822812754188721,0.07235985879324092,2.7868014967767003,0.0030579730949165523,0.0054947176515250384,-5.578326017907425e-05,0.9542280746321221,0.8532582366706618,2.9468941664665507,0.0665600889128574,-0.06779958456847829,0.0015625223743907864,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.9420945804801344,1.4000430842164016,-2.078552890111803,0.16887362364400837,1.4890878534299201,0.8478545937310633,1.6387436357963205,2.7868014967767003,3.7172965259081234,3.7172965259081234,4.577274942451769,0,0,-0.00047210257548699195,-9.999999025923074e-05
+6524,1792754073883414456,37476910000000,1792754073883026524,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762014169524644,-0.004404679802418365,0.10222470700554638,0.9999999417588987,-0.0001596067231587299,0.00019900306973712564,0.00020699887808177484,0.6761,-0.004,0.10192769322093975,1.0,0.0,0.0,0.0,0.005555436924948198,0.05810729146284033,2.768558652402519,0.002040174443456555,0.0055193983013333975,-5.1348827122887e-05,0.9549606988028816,0.8390056693402612,2.9286513220923696,0.0655422902613974,-0.06777490391866993,0.0015669568074469736,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.932049036376094,1.4137829904098334,-2.0919674388940943,0.17184918599994015,1.4964859757021685,0.859271601284614,1.6387436357963205,2.768558652402519,3.730711074690415,3.730711074690415,4.618524942451673,0,0,-0.0004858525728082804,-9.999999025923074e-05
+6560,1792754074183434012,37477210000000,1792754074183016475,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762044016568501,-0.00440239651294996,0.10207390273046589,0.9999999382146171,-0.0001972127426163323,0.00020249887635919944,0.0001873898754157876,0.6761,-0.004,0.10177969494953706,1.0,0.0,0.0,0.0,0.015223362329200296,0.0612988176261674,2.7126883890518805,0.0020778967113003893,0.0045165829581994416,-2.3870523459514287e-05,0.9646286242071337,0.8421971955035883,2.872781058741731,0.06558001252924124,-0.06877771926180389,0.0015944351111103464,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,1.0208253635916977,1.3283067414349374,-2.065860671365279,0.19206765242502852,1.5094142887710136,0.8012646080343051,1.6387436357963205,2.7126883890518805,3.7046043071616,3.7046043071616,4.663524942451568,0,0,-0.0005008525698860497,-9.999999025923074e-05
+6591,1792754074442386358,37477469000000,1792754074435017484,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761975135710344,-0.004407962805623654,0.10193499174790026,0.9999999405850615,-0.00018881762747418376,0.00018552474839853616,0.00020050239122996444,0.6761,-0.004,0.10164830358426455,1.0,0.0,0.0,0.0,0.006660236355594651,0.031755140788186975,2.671790257032665,0.0010636391032220888,0.004548375761245588,-1.192772299003081e-07,0.956065498233528,0.8126535186656079,2.8318829267225154,0.06456575492116294,-0.06874592645875774,0.0016181863573399603,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.9380449457354271,1.4398428482433,-1.9899841278453714,0.16657670695546978,1.4372015324868541,0.8792654380664375,1.6387436357963205,2.671790257032665,3.6287277636416917,3.6287277636416917,4.702374942451478,0,0,-0.0005138025673631904,-9.999999025923074e-05
+6623,1792754074708370167,37477735000000,1792754074707017366,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761942073295971,-0.004412091557412822,0.10178847194875056,0.999999939076899,-0.00019260404735016987,0.00018551652406223522,0.00020439266790873,0.6761,-0.004,0.10150986985169184,1.0,0.0,0.0,0.0,0.007705172581229602,0.02521262639526023,2.6315084177972614,-0.0008880788634703374,0.004603969770745356,6.619719241459602e-06,0.957110434459163,0.8061110042726811,2.7916010874871118,0.06261403695447051,-0.06869033244925797,0.0016249253538113202,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.9422193731662972,1.2795463024978857,-1.848630333756357,0.2232884233738864,1.3508140188901174,0.7737018709702379,1.6387436357963205,2.6315084177972614,3.4873739695526775,3.4873739695526775,4.742274942451385,0,0,-0.0005271025647721458,-9.999999025923074e-05
+6666,1792754075061324624,37478088000000,1792754075059017042,DOWN_SETTLE,5,0.0535,0.05350257456302643,0.6761805614360281,-0.004404826981883674,0.10166002686752024,0.9999999451426795,-0.00019183922118263632,0.00015976229410287563,0.0001970563998295319,0.6761,-0.004,0.101418708087885,1.0,0.0,0.0,0.0,0.010778985985077982,0.0003186182099735868,2.5126567866187406,-0.001947935523518414,0.0039978417305594205,8.601412972018873e-05,0.9601842478630114,0.7812169960873945,2.672749456308591,0.06155418029442244,-0.0692964604894439,0.0017043197642900494,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.8606606333051751,1.4302819908711195,-1.720975868268334,0.1643441931570241,1.2569038716206449,0.8730792533287909,1.6387436357963205,2.5126567866187406,3.3597195040646546,0.0,0.0,0,0,-3.464305123626404e-05,0.0003499298104673135
+6739,1792754075670371678,37478697000000,1792754075667017286,DOWN_PEAK_HOLD,5,0.0535,0.05350257456302643,0.6761671651438411,-0.004404258626413944,0.10162347676514279,0.9999999493308526,-0.00018882640302309692,0.00013507894785126458,0.00019717865945734767,0.6761,-0.004,0.1014162424873117,1.0,0.0,0.0,0.0,0.011599299602732205,-0.015313215457828822,2.271165477597799,-0.003712990866098706,0.0037126743337629886,0.00024981466275723636,0.9610045614806656,0.7655851624195921,2.4312581472876493,0.059789124951842146,-0.06958162788624034,0.001868120297327097,0.9494052618779334,0.7808983778774209,0.16009266968985045,0.06350211581794085,-0.07329430222000333,0.0016183056345698606,1,0.6166678874384571,1.4785668315236398,-1.448219506332906,0.13249716608155462,1.0179735193838422,0.8997372827847937,1.6387436357963205,2.271165477597799,3.0869631421292265,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_0050_10/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,1792754045287360817,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.959106873e-10,-4.047178218e-11,1.770494862e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450171e-01,-1.187832630e-04,8.303259028e-01
+1,6.500000000e-01,DOWN_FORCE_DETACH,1792754045941990831,8.826722473e-07,4.861205428e-06,-1.230126756e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.331912701e-08,-1.356753821e-09,1.443346331e-09,7.019565155e-01,-1.740952960e-05,8.601418571e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450495e-01,-1.187845793e-04,8.303259042e-01
+2,1.300000000e+00,DOWN_FORCE_DETACH,1792754046581438915,3.237065899e-06,9.079249147e-07,6.178235037e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.534680469e-08,-2.254779364e-09,2.898479123e-09,7.019588699e-01,-2.136281011e-05,8.601437051e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450715e-01,-1.187854773e-04,8.303259057e-01
+3,1.850000000e+00,DOWN_FORCE_DETACH,1792754047137763788,5.000610721e-06,-8.189905291e-07,-1.189444999e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.811728714e-08,-2.770839768e-09,3.841390317e-09,7.019606334e-01,-2.308972555e-05,8.601311928e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450843e-01,-1.187859934e-04,8.303259066e-01
+4,2.516666667e+00,DOWN_FORCE_DETACH,1792754047810401060,8.233886784e-06,-1.556250421e-06,-4.088736128e-05,4.972034168e-06,3.903008704e-06,-3.994399027e-05,4.865289429e-06,3.966070815e-06,-3.988678220e-05,7.019638667e-01,-2.382698544e-05,8.601021999e-01,7.019606049e-01,-1.836772632e-05,8.601031432e-01,7.027498814e-01,-1.148171517e-04,8.302860160e-01
+5,3.216666667e+00,DOWN_FORCE_DETACH,1792754048546171047,1.957179896e-05,-1.678249440e-06,-7.956166273e-05,1.752639632e-05,-6.706096670e-06,-7.559705460e-05,1.798402951e-05,-6.761049320e-06,-7.550986814e-05,7.019752046e-01,-2.394898446e-05,8.600635256e-01,7.019731592e-01,-2.897683169e-05,8.600674902e-01,7.027630002e-01,-1.255442719e-04,8.302503929e-01
+6,3.783333333e+00,DOWN_FORCE_DETACH,1792754049103706751,3.246171518e-05,-5.405021906e-06,-1.187103015e-04,3.112715948e-05,-2.858699781e-06,-1.169103560e-04,3.218224530e-05,-2.880905058e-06,-1.167498308e-04,7.019880945e-01,-2.767575693e-05,8.600243769e-01,7.019867600e-01,-2.512943480e-05,8.600261769e-01,7.027771984e-01,-1.216641276e-04,8.302091529e-01
+7,4.383333333e+00,DOWN_FORCE_DETACH,1792754049709446872,4.220726770e-05,3.406691442e-07,-1.717429281e-04,3.937912350e-05,1.393752589e-06,-1.630970264e-04,4.047770460e-05,1.410904277e-06,-1.628120071e-04,7.019978401e-01,-2.193006588e-05,8.599713443e-01,7.019950119e-01,-2.087698243e-05,8.599799902e-01,7.027854938e-01,-1.173723183e-04,8.301630908e-01
+8,5.050000000e+00,DOWN_FORCE_DETACH,1792754050364266075,4.793880156e-05,3.250573680e-07,-2.406076876e-04,4.705397932e-05,3.327335704e-06,-2.265921869e-04,4.796874723e-05,3.391291055e-06,-2.263063438e-04,7.020035716e-01,-2.194567765e-05,8.599024796e-01,7.020026868e-01,-1.894339932e-05,8.599164951e-01,7.027929849e-01,-1.153919315e-04,8.300995964e-01
+9,5.600000000e+00,DOWN_FORCE_DETACH,1792754050921418926,5.123168947e-05,-2.051841805e-07,-3.055326831e-04,4.988575689e-05,-3.418039382e-06,-2.908987237e-04,5.026628630e-05,-3.447909108e-06,-2.905773389e-04,7.020068645e-01,-2.247591920e-05,8.598375546e-01,7.020055186e-01,-2.568877440e-05,8.598521885e-01,7.027952824e-01,-1.222311317e-04,8.300353254e-01
+10,6.233333333e+00,DOWN_FORCE_DETACH,1792754051576419481,5.651470206e-05,-9.173353199e-06,-3.752105072e-04,5.387917483e-05,-6.145204956e-06,-3.716068715e-04,5.355359049e-05,-6.184877947e-06,-3.712729248e-04,7.020121475e-01,-3.144408822e-05,8.597678767e-01,7.020095120e-01,-2.841593998e-05,8.597714804e-01,7.027985697e-01,-1.249681005e-04,8.299546298e-01
+11,6.816666667e+00,DOWN_FORCE_DETACH,1792754052149687387,5.962554459e-05,-9.967966377e-06,-4.323710713e-04,5.943516046e-05,-9.840785107e-06,-4.322527575e-04,5.882099180e-05,-9.929838629e-06,-4.319081999e-04,7.020152584e-01,-3.223870140e-05,8.597107162e-01,7.020150680e-01,-3.211152013e-05,8.597108345e-01,7.028038371e-01,-1.287130612e-04,8.298939946e-01
+12,7.400000000e+00,DOWN_FORCE_DETACH,1792754052739295140,6.462000994e-05,-1.605916810e-05,-4.906864182e-04,6.264427286e-05,-1.315316457e-05,-4.717928820e-04,6.176329862e-05,-1.329051626e-05,-4.715179353e-04,7.020202528e-01,-3.832990313e-05,8.596524008e-01,7.020182771e-01,-3.542389959e-05,8.596712944e-01,7.028067794e-01,-1.320737388e-04,8.298543848e-01
+13,8.050000000e+00,DOWN_FORCE_DETACH,1792754053378410272,7.108792954e-05,-2.089010786e-05,-5.544260136e-04,7.103290687e-05,-2.110895578e-05,-5.543174729e-04,6.978396521e-05,-2.126570655e-05,-5.540582096e-04,7.020267207e-01,-4.316084288e-05,8.595886612e-01,7.020266657e-01,-4.337969081e-05,8.595887698e-01,7.028148001e-01,-1.400489291e-04,8.297718446e-01
+14,8.700000000e+00,DOWN_FORCE_DETACH,1792754054034074218,8.008025488e-05,-2.271702428e-05,-6.095647370e-04,7.538204931e-05,-2.117337314e-05,-5.963545519e-04,7.400770266e-05,-2.135869717e-05,-5.961554866e-04,7.020357131e-01,-4.498775930e-05,8.595335225e-01,7.020310149e-01,-4.344410816e-05,8.595467327e-01,7.028190238e-01,-1.401419197e-04,8.297297473e-01
+15,9.350000000e+00,DOWN_FORCE_DETACH,1792754054688872519,8.378120177e-05,-2.291002642e-05,-6.757392589e-04,8.381621099e-05,-2.286324698e-05,-6.754194013e-04,8.211739200e-05,-2.310221543e-05,-6.751813102e-04,7.020394140e-01,-4.518076144e-05,8.594673480e-01,7.020394490e-01,-4.513398201e-05,8.594676678e-01,7.028271335e-01,-1.418854380e-04,8.296507215e-01
+16,9.916666667e+00,DOWN_FORCE_DETACH,1792754055245263170,9.285694729e-05,-2.602035757e-05,-7.278338881e-04,8.893014951e-05,-2.788587984e-05,-7.166754751e-04,8.712737185e-05,-2.815097177e-05,-7.164400963e-04,7.020484898e-01,-4.829109259e-05,8.594152534e-01,7.020445630e-01,-5.015661486e-05,8.594264118e-01,7.028321435e-01,-1.469341943e-04,8.296094627e-01
+17,1.046666667e+01,DOWN_FORCE_DETACH,1792754055819415059,1.039398988e-04,-2.547094500e-05,-7.889089269e-04,9.895390754e-05,-2.515389905e-05,-7.786013679e-04,9.716989510e-05,-2.537754837e-05,-7.783162854e-04,7.020595727e-01,-4.774168002e-05,8.593541783e-01,7.020545867e-01,-4.742463407e-05,8.593644859e-01,7.028421860e-01,-1.441607709e-04,8.295475865e-01
+18,1.108333333e+01,DOWN_FORCE_DETACH,1792754056425577857,1.087187089e-04,-2.961934779e-05,-8.583942654e-04,1.062569722e-04,-2.553271850e-05,-8.422175535e-04,1.042535552e-04,-2.581292140e-05,-8.419985101e-04,7.020643515e-01,-5.189008282e-05,8.592846930e-01,7.020618898e-01,-4.780345353e-05,8.593008697e-01,7.028492697e-01,-1.445961440e-04,8.294839043e-01
+19,1.168333333e+01,DOWN_FORCE_DETACH,1792754057047152434,1.168438161e-04,-3.469246444e-05,-9.284544335e-04,1.154839850e-04,-2.846830454e-05,-9.262886529e-04,1.132200628e-04,-2.877506890e-05,-9.260219077e-04,7.020724766e-01,-5.696319946e-05,8.592146328e-01,7.020711168e-01,-5.073903956e-05,8.592167986e-01,7.028582362e-01,-1.475582915e-04,8.293998809e-01
+20,1.226666667e+01,DOWN_FORCE_DETACH,1792754057637320201,1.206206120e-04,-3.374078099e-05,-1.000116409e-03,1.216362907e-04,-3.439869621e-05,-9.903915133e-04,1.190199691e-04,-3.475579746e-05,-9.901573360e-04,7.020762534e-01,-5.601151602e-05,8.591429708e-01,7.020772691e-01,-5.666943123e-05,8.591526957e-01,7.028640361e-01,-1.535390200e-04,8.293357454e-01
+21,1.283333333e+01,DOWN_FORCE_DETACH,1792754058193953285,1.278826521e-04,-3.733534130e-05,-1.066040721e-03,1.257069896e-04,-3.642824460e-05,-1.056119344e-03,1.226645354e-04,-3.681646547e-05,-1.055891651e-03,7.020835155e-01,-5.960607632e-05,8.590770465e-01,7.020813398e-01,-5.869897962e-05,8.590869679e-01,7.028676807e-01,-1.555996880e-04,8.292700111e-01
+22,1.350000000e+01,DOWN_FORCE_DETACH,1792754058865761825,1.373995031e-04,-4.010869272e-05,-1.139184678e-03,1.359555818e-04,-3.953553258e-05,-1.141077989e-03,1.326667245e-04,-3.996759315e-05,-1.140766692e-03,7.020930323e-01,-6.237942775e-05,8.590039026e-01,7.020915884e-01,-6.180626760e-05,8.590020093e-01,7.028776829e-01,-1.587508157e-04,8.291851361e-01
+23,1.413333333e+01,DOWN_FORCE_DETACH,1792754059504691512,1.414958558e-04,-4.781857178e-05,-1.220778075e-03,1.374574656e-04,-3.937757883e-05,-1.206705608e-03,1.334699733e-04,-3.978043645e-05,-1.206478466e-03,7.020971287e-01,-7.008930680e-05,8.589223092e-01,7.020930903e-01,-6.164831385e-05,8.589363816e-01,7.028784861e-01,-1.585636590e-04,8.291194243e-01
+24,1.476666667e+01,DOWN_FORCE_DETACH,1792754060143087018,1.480260731e-04,-4.618428455e-05,-1.301588455e-03,1.486039751e-04,-4.237047164e-05,-1.290106555e-03,1.444832056e-04,-4.281800139e-05,-1.289832374e-03,7.021036589e-01,-6.845501957e-05,8.588414988e-01,7.021042368e-01,-6.464120666e-05,8.588529807e-01,7.028894993e-01,-1.616012239e-04,8.290360704e-01
+25,1.538333333e+01,DOWN_FORCE_DETACH,1792754060748637046,1.574407700e-04,-4.760767364e-05,-1.377952259e-03,1.564380093e-04,-4.867346605e-05,-1.374424383e-03,1.519297444e-04,-4.917483104e-05,-1.374163373e-03,7.021130736e-01,-6.987840866e-05,8.587651350e-01,7.021120708e-01,-7.094420107e-05,8.587686629e-01,7.028969459e-01,-1.679580536e-04,8.289517394e-01
+26,1.591666667e+01,DOWN_FORCE_DETACH,1792754061321799875,1.627693920e-04,-5.206727542e-05,-1.452109660e-03,1.601387641e-04,-5.041671798e-05,-1.436695358e-03,1.551411746e-04,-5.095496767e-05,-1.436456560e-03,7.021184022e-01,-7.433801045e-05,8.586909776e-01,7.021157716e-01,-7.268745301e-05,8.587063919e-01,7.029001573e-01,-1.697381902e-04,8.288894462e-01
+27,1.656666667e+01,DOWN_FORCE_DETACH,1792754061993635979,1.688925162e-04,-5.716244261e-05,-1.545213011e-03,1.688507017e-04,-5.729102352e-05,-1.545294553e-03,1.631640780e-04,-5.787904060e-05,-1.544999901e-03,7.021245253e-01,-7.943317763e-05,8.585978742e-01,7.021244835e-01,-7.956175854e-05,8.585977927e-01,7.029081802e-01,-1.766622631e-04,8.287809029e-01
+28,1.715000000e+01,DOWN_FORCE_DETACH,1792754062582997555,1.810454677e-04,-5.706684869e-05,-1.619977682e-03,1.763059355e-04,-5.674937202e-05,-1.612429637e-03,1.704332071e-04,-5.735132857e-05,-1.612157420e-03,7.021366783e-01,-7.933758371e-05,8.585231096e-01,7.021319388e-01,-7.902010704e-05,8.585306576e-01,7.029154493e-01,-1.761345511e-04,8.287137454e-01
+29,1.776666667e+01,DOWN_FORCE_DETACH,1792754063189258379,1.909055637e-04,-5.902574961e-05,-1.703194789e-03,1.892667523e-04,-5.893867169e-05,-1.694562529e-03,1.834077294e-04,-5.955386368e-05,-1.694316043e-03,7.021465384e-01,-8.129648464e-05,8.584398925e-01,7.021448996e-01,-8.120940671e-05,8.584485247e-01,7.029284239e-01,-1.783370862e-04,8.286315867e-01
+30,1.830000000e+01,DOWN_FORCE_DETACH,1792754063714965161,1.952734610e-04,-6.288829803e-05,-1.788844919e-03,1.943490422e-04,-6.117784734e-05,-1.780273414e-03,1.878336205e-04,-6.182506871e-05,-1.780011937e-03,7.021509063e-01,-8.515903306e-05,8.583542423e-01,7.021499819e-01,-8.344858237e-05,8.583628138e-01,7.029328498e-01,-1.806082913e-04,8.285458908e-01
+31,1.880000000e+01,DOWN_FORCE_DETACH,1792754064204465739,1.998556187e-04,-6.531162624e-05,-1.869721196e-03,1.999309209e-04,-6.649462067e-05,-1.867112937e-03,1.927434707e-04,-6.720608613e-05,-1.866832275e-03,7.021554884e-01,-8.758236126e-05,8.582733660e-01,7.021555637e-01,-8.876535569e-05,8.582759743e-01,7.029377596e-01,-1.859893087e-04,8.284590705e-01
+32,1.938333333e+01,DOWN_FORCE_DETACH,1792754064796739270,2.118668378e-04,-7.185641259e-05,-1.957537583e-03,2.105123385e-04,-6.908389970e-05,-1.951948233e-03,2.031473676e-04,-6.979944135e-05,-1.951668627e-03,7.021674997e-01,-9.412714761e-05,8.581855497e-01,7.021661452e-01,-9.135463472e-05,8.581911390e-01,7.029481635e-01,-1.885826639e-04,8.283742341e-01
+33,1.985000000e+01,DOWN_FORCE_DETACH,1792754065270093005,2.185193537e-04,-7.321476738e-05,-2.030529965e-03,2.139376683e-04,-7.189511746e-05,-2.019827531e-03,2.060314887e-04,-7.265804741e-05,-2.019534579e-03,7.021741522e-01,-9.548550240e-05,8.581125573e-01,7.021695705e-01,-9.416585248e-05,8.581232597e-01,7.029510476e-01,-1.914412700e-04,8.283063682e-01
+34,2.036666667e+01,DOWN_FORCE_DETACH,1792754065777493989,2.225521072e-04,-7.995368688e-05,-2.121074088e-03,2.197761145e-04,-7.753124912e-05,-2.101893422e-03,2.113441214e-04,-7.836365366e-05,-2.101638931e-03,7.021781849e-01,-1.022244219e-04,8.580220132e-01,7.021754089e-01,-9.980198415e-05,8.580411938e-01,7.029563603e-01,-1.971468762e-04,8.282242638e-01
+35,2.085000000e+01,DOWN_FORCE_DETACH,1792754066416415279,2.278407243e-04,-7.796085806e-05,-2.232767974e-03,2.277813842e-04,-8.543899743e-05,-2.222132183e-03,2.185210232e-04,-8.632820429e-05,-2.221818152e-03,7.021834735e-01,-1.002315931e-04,8.579103193e-01,7.021834142e-01,-1.077097325e-04,8.579209551e-01,7.029635372e-01,-2.051114268e-04,8.281040846e-01
+36,2.138333333e+01,DOWN_FORCE_DETACH,1792754066941114668,2.386343729e-04,-8.720771659e-05,-2.318420483e-03,2.362628559e-04,-8.497477675e-05,-2.313067775e-03,2.265737517e-04,-8.584761553e-05,-2.312808006e-03,7.021942672e-01,-1.094784516e-04,8.578246668e-01,7.021918957e-01,-1.072455118e-04,8.578300195e-01,7.029715899e-01,-2.046308381e-04,8.280130948e-01
+37,2.193333333e+01,DOWN_FORCE_DETACH,1792754067500850640,2.433403424e-04,-8.424399004e-05,-2.423772602e-03,2.405649504e-04,-8.423226256e-05,-2.419787451e-03,2.299400709e-04,-8.508961463e-05,-2.419545978e-03,7.021989732e-01,-1.065147251e-04,8.577193146e-01,7.021961978e-01,-1.065029976e-04,8.577232998e-01,7.029749562e-01,-2.038728372e-04,8.279063568e-01
+38,2.235000000e+01,DOWN_FORCE_DETACH,1792754067922701331,2.475793253e-04,-8.069331454e-05,-2.514440359e-03,2.493792708e-04,-8.206820600e-05,-2.508275206e-03,2.383292970e-04,-8.292774183e-05,-2.508012016e-03,7.022032121e-01,-1.029640496e-04,8.576286469e-01,7.022050121e-01,-1.043389410e-04,8.576348120e-01,7.029833454e-01,-2.017109644e-04,8.278178908e-01
+39,2.285000000e+01,DOWN_FORCE_DETACH,1792754068413987113,2.524692651e-04,-8.294264775e-05,-2.617156834e-03,2.527973722e-04,-8.613367016e-05,-2.598650240e-03,2.409185435e-04,-8.699670164e-05,-2.598410220e-03,7.022081021e-01,-1.052133828e-04,8.575259304e-01,7.022084302e-01,-1.084044052e-04,8.575444370e-01,7.029859347e-01,-2.057799242e-04,8.277274926e-01
+40,2.333333333e+01,DOWN_FORCE_DETACH,1792754068907141878,2.606823092e-04,-8.211959484e-05,-2.726236778e-03,2.579836016e-04,-8.231875909e-05,-2.714552193e-03,2.451438288e-04,-8.317406307e-05,-2.714314702e-03,7.022163151e-01,-1.043903299e-04,8.574168505e-01,7.022136164e-01,-1.045894941e-04,8.574285350e-01,7.029901600e-01,-2.019572856e-04,8.276115881e-01
+41,2.378333333e+01,DOWN_FORCE_DETACH,1792754069380292462,2.611847894e-04,-8.944229778e-05,-2.849310683e-03,2.611416770e-04,-8.975329200e-05,-2.849084590e-03,2.468879246e-04,-9.067550462e-05,-2.848790126e-03,7.022168176e-01,-1.117130328e-04,8.572937766e-01,7.022167745e-01,-1.120240270e-04,8.572940026e-01,7.029919041e-01,-2.094587272e-04,8.274771126e-01
+42,2.420000000e+01,DOWN_FORCE_DETACH,1792754069790301717,2.678383688e-04,-9.415382469e-05,-2.954441382e-03,2.655153322e-04,-9.060081944e-05,-2.938737915e-03,2.505179862e-04,-9.153783796e-05,-2.938451210e-03,7.022234712e-01,-1.164245597e-04,8.571886459e-01,7.022211481e-01,-1.128715545e-04,8.572043493e-01,7.029955341e-01,-2.103210605e-04,8.273874516e-01
+43,2.460000000e+01,DOWN_FORCE_DETACH,1792754070183172631,2.661513613e-04,-9.286304633e-05,-3.070677707e-03,2.661747409e-04,-9.286949305e-05,-3.070543585e-03,2.496220457e-04,-9.379987262e-05,-3.070263285e-03,7.022217842e-01,-1.151337814e-04,8.570724095e-01,7.022218076e-01,-1.151402281e-04,8.570725437e-01,7.029946382e-01,-2.125830952e-04,8.272556395e-01
+44,2.500000000e+01,DOWN_FORCE_DETACH,1792754070576549988,2.720653963e-04,-9.883642903e-05,-3.186495528e-03,2.698475263e-04,-9.945123998e-05,-3.168255152e-03,2.524848671e-04,-1.004592084e-04,-3.167999439e-03,7.022276982e-01,-1.211071641e-04,8.569565917e-01,7.022254803e-01,-1.217219750e-04,8.569748321e-01,7.029975010e-01,-2.192424310e-04,8.271579033e-01
+45,2.540000000e+01,DOWN_FORCE_DETACH,1792754071005426654,2.818215750e-04,-1.062563557e-04,-3.318958212e-03,2.821645395e-04,-1.044906860e-04,-3.308091690e-03,2.641132647e-04,-1.055927006e-04,-3.307822692e-03,7.022374544e-01,-1.285270907e-04,8.568241290e-01,7.022377974e-01,-1.267614210e-04,8.568349955e-01,7.030091294e-01,-2.243759232e-04,8.270180801e-01
+46,2.578333333e+01,DOWN_FORCE_DETACH,1792754071378821737,2.788186904e-04,-1.117053420e-04,-3.451073880e-03,2.785128510e-04,-1.078240698e-04,-3.435451532e-03,2.585860871e-04,-1.089362283e-04,-3.435192663e-03,7.022344515e-01,-1.339760770e-04,8.566920134e-01,7.022341457e-01,-1.300948048e-04,8.567076357e-01,7.030036022e-01,-2.277194508e-04,8.268907101e-01
+47,2.615000000e+01,DOWN_FORCE_DETACH,1792754071748264574,2.777343175e-04,-1.178558908e-04,-3.585350814e-03,2.770494945e-04,-1.149551090e-04,-3.572043915e-03,2.554132882e-04,-1.161701626e-04,-3.571774138e-03,7.022333671e-01,-1.401266258e-04,8.565577364e-01,7.022326823e-01,-1.372258440e-04,8.565710433e-01,7.030004294e-01,-2.349533851e-04,8.267541286e-01
+48,2.650000000e+01,DOWN_FORCE_DETACH,1792754072099225810,2.772533111e-04,-1.235608099e-04,-3.720835521e-03,2.775320921e-04,-1.236228024e-04,-3.706891049e-03,2.542673616e-04,-1.249369932e-04,-3.706579555e-03,7.022328861e-01,-1.458315449e-04,8.564222517e-01,7.022331649e-01,-1.458935374e-04,8.564361962e-01,7.029992835e-01,-2.437202157e-04,8.266193232e-01
+49,2.683333333e+01,DOWN_FORCE_DETACH,1792754072427112202,2.783027448e-04,-1.227598268e-04,-3.854387763e-03,2.755100064e-04,-1.276357603e-04,-3.843128815e-03,2.504438926e-04,-1.289767862e-04,-3.842847386e-03,7.022339356e-01,-1.450305619e-04,8.562886995e-01,7.022311428e-01,-1.499064953e-04,8.562999584e-01,7.029954600e-01,-2.477600088e-04,8.264830554e-01
+50,2.715000000e+01,DOWN_FORCE_DETACH,1792754072754410345,2.861056481e-04,-1.285887657e-04,-3.987328544e-03,2.847470989e-04,-1.258954788e-04,-3.983702544e-03,2.587356418e-04,-1.272047309e-04,-3.983442986e-03,7.022417385e-01,-1.508595007e-04,8.561557587e-01,7.022403799e-01,-1.481662138e-04,8.561593847e-01,7.030037518e-01,-2.459879534e-04,8.263424598e-01
+51,2.743333333e+01,DOWN_FORCE_DETACH,1792754073051464926,2.849724402e-04,-1.322444245e-04,-4.126459693e-03,2.848417458e-04,-1.323032555e-04,-4.126605475e-03,2.571288279e-04,-1.336924397e-04,-4.126313905e-03,7.022406053e-01,-1.545151595e-04,8.560166275e-01,7.022404746e-01,-1.545739905e-04,8.560164818e-01,7.030021450e-01,-2.524756623e-04,8.261995889e-01
+52,2.773333333e+01,DOWN_FORCE_DETACH,1792754073347422251,2.806995752e-04,-1.357057504e-04,-4.260672975e-03,2.848287771e-04,-1.363745475e-04,-4.250475729e-03,2.556264467e-04,-1.378198901e-04,-4.250229650e-03,7.022363324e-01,-1.579764855e-04,8.558824143e-01,7.022404616e-01,-1.586452825e-04,8.558926115e-01,7.030006426e-01,-2.566031127e-04,8.260756731e-01
+53,2.800000000e+01,DOWN_FORCE_DETACH,1792754073606878734,2.747044386e-04,-1.449406529e-04,-4.397378924e-03,2.745417083e-04,-1.450474440e-04,-4.397091374e-03,2.428275418e-04,-1.465409618e-04,-4.396822077e-03,7.022303373e-01,-1.672113879e-04,8.557457083e-01,7.022301745e-01,-1.673181790e-04,8.557459959e-01,7.029878437e-01,-2.653241844e-04,8.259290807e-01
+54,2.828333333e+01,DOWN_FORCE_DETACH,1792754073885496444,2.686681978e-04,-1.461451946e-04,-4.543216131e-03,2.686770599e-04,-1.461071122e-04,-4.543078415e-03,2.347323213e-04,-1.476326210e-04,-4.542845059e-03,7.022243010e-01,-1.684159296e-04,8.555998711e-01,7.022243099e-01,-1.683778472e-04,8.556000088e-01,7.029797485e-01,-2.664158436e-04,8.257830577e-01
+55,2.855000000e+01,DOWN_FORCE_DETACH,1792754074179719320,2.746742805e-04,-1.410046765e-04,-4.687686866e-03,2.745438611e-04,-1.411783490e-04,-4.687550420e-03,2.393751012e-04,-1.426948743e-04,-4.687277008e-03,7.022303071e-01,-1.632754115e-04,8.554554004e-01,7.022301767e-01,-1.634490840e-04,8.554555368e-01,7.029843912e-01,-2.614780969e-04,8.256386258e-01
+56,2.881666667e+01,DOWN_FORCE_DETACH,1792754074441423903,2.648163527e-04,-1.511324284e-04,-4.829619804e-03,2.645530381e-04,-1.509764808e-04,-4.829805664e-03,2.268761094e-04,-1.525881458e-04,-4.829573559e-03,7.022204492e-01,-1.734031635e-04,8.553134674e-01,7.022201859e-01,-1.732472159e-04,8.553132816e-01,7.029718923e-01,-2.713713684e-04,8.254963292e-01
+57,2.906666667e+01,DOWN_FORCE_DETACH,1792754074706421815,2.629921046e-04,-1.553675861e-04,-4.976856303e-03,2.629274381e-04,-1.555143938e-04,-4.976835337e-03,2.234124926e-04,-1.571691011e-04,-4.976651903e-03,7.022186249e-01,-1.776383211e-04,8.551662309e-01,7.022185603e-01,-1.777851288e-04,8.551662519e-01,7.029684286e-01,-2.759523236e-04,8.253492509e-01
+58,2.940000000e+01,DOWN_SETTLE,1792754075064223941,2.504225337e-04,-1.534176291e-04,-5.100241597e-03,2.502378405e-04,-1.537039593e-04,-5.099776592e-03,2.081903098e-04,-1.553305320e-04,-5.099768014e-03,7.022060554e-01,-1.756883641e-04,8.550428456e-01,7.022058707e-01,-1.759746943e-04,8.550433106e-01,7.029532065e-01,-2.741137545e-04,8.252261348e-01
+59,3.001666667e+01,DOWN_PEAK_HOLD,1792754075671084485,2.359499188e-04,-1.475346551e-04,-5.141851486e-03,2.354330288e-04,-1.484726266e-04,-5.141824075e-03,1.917865522e-04,-1.500392257e-04,-5.142217836e-03,7.021915827e-01,-1.698053901e-04,8.550012358e-01,7.021910658e-01,-1.707433616e-04,8.550012632e-01,7.029368027e-01,-2.688224483e-04,8.251836849e-01

Fixed/digit/ball_0050_10/press_depth_05/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.0623e-02,3.5149e-02,2.4556e+00,-3.9189e-02,3.8231e-02,3.4646e-05,1.7320e-04,-2.4587e-07,2.3842e-06,4.9919e-07,1.2312e-05,-3.7361e-07,1.7322e-04,1.2328e-05
+1,6.5000e-01,DOWN_FORCE_DETACH,1.5124e-04,2.6252e-02,3.5110e-02,2.4559e+00,-3.9170e-02,3.8630e-02,2.4495e-05,5.8023e-03,-3.9581e-05,2.3222e-04,1.9044e-05,4.1128e-04,-1.0525e-05,5.8071e-03,4.1185e-04
+2,1.3000e+00,DOWN_FORCE_DETACH,3.0485e-04,3.0074e-02,3.5065e-02,2.4561e+00,-3.9157e-02,3.8900e-02,1.9505e-05,9.6241e-03,-8.3905e-05,4.8041e-04,3.2704e-05,6.8118e-04,-1.5515e-05,9.6364e-03,6.8215e-04
+3,1.8500e+00,DOWN_FORCE_DETACH,4.5491e-04,3.2289e-02,3.5037e-02,2.4563e+00,-3.9149e-02,3.9056e-02,1.7234e-05,1.1839e-02,-1.1190e-04,6.4230e-04,4.0557e-05,8.3745e-04,-1.7786e-05,1.1857e-02,8.3862e-04
+4,2.5167e+00,DOWN_FORCE_DETACH,6.0433e-04,3.2893e-02,3.1103e-02,2.4708e+00,-3.8868e-02,3.9086e-02,1.5628e-05,1.2443e-02,-4.0466e-03,1.5188e-02,3.2153e-04,8.6709e-04,-1.9392e-05,2.0047e-02,9.2499e-04
+5,3.2167e+00,DOWN_FORCE_DETACH,7.5692e-04,2.9545e-02,4.2477e-02,2.4787e+00,-3.9658e-02,3.8842e-02,1.8853e-05,9.0948e-03,7.3281e-03,2.3035e-02,-4.6814e-04,6.2329e-04,-1.6167e-05,2.5827e-02,7.7968e-04
+6,3.7833e+00,DOWN_FORCE_DETACH,9.1129e-04,2.6885e-02,3.8549e-02,2.4893e+00,-3.9377e-02,3.8644e-02,1.7850e-05,6.4350e-03,3.3999e-03,3.3660e-02,-1.8743e-04,4.2573e-04,-1.7170e-05,3.4438e-02,4.6548e-04
+7,4.3833e+00,DOWN_FORCE_DETACH,1.0596e-03,2.7429e-02,3.3960e-02,2.4957e+00,-3.9054e-02,3.8676e-02,1.5601e-05,6.9783e-03,-1.1895e-03,4.0071e-02,1.3596e-04,4.5693e-04,-1.9419e-05,4.0692e-02,4.7712e-04
+8,5.0500e+00,DOWN_FORCE_DETACH,1.2123e-03,2.8190e-02,3.2095e-02,2.5056e+00,-3.8923e-02,3.8719e-02,9.1010e-06,7.7400e-03,-3.0546e-03,4.9953e-02,2.6608e-04,5.0084e-04,-2.5919e-05,5.0641e-02,5.6772e-04
+9,5.6000e+00,DOWN_FORCE_DETACH,1.3660e-03,2.9914e-02,3.9521e-02,2.5147e+00,-3.9444e-02,3.8833e-02,1.2661e-06,9.4636e-03,4.3719e-03,5.9052e-02,-2.5445e-04,6.1438e-04,-3.3754e-05,5.9966e-02,6.6585e-04
+10,6.2333e+00,DOWN_FORCE_DETACH,1.5129e-03,3.0836e-02,4.2840e-02,2.5248e+00,-3.9674e-02,3.8891e-02,-1.7111e-05,1.0386e-02,7.6911e-03,6.9193e-02,-4.8485e-04,6.7226e-04,-5.2131e-05,7.0390e-02,8.3050e-04
+11,6.8167e+00,DOWN_FORCE_DETACH,1.6669e-03,3.0439e-02,5.3161e-02,2.5149e+00,-4.0390e-02,3.8876e-02,-3.4812e-05,9.9885e-03,1.8011e-02,5.9304e-02,-1.2007e-03,6.5694e-04,-6.9832e-05,6.2779e-02,1.3704e-03
+12,7.4000e+00,DOWN_FORCE_DETACH,1.8200e-03,2.9966e-02,5.1803e-02,2.5117e+00,-4.0287e-02,3.8849e-02,-5.2655e-05,9.5162e-03,1.6654e-02,5.6018e-02,-1.0975e-03,6.3070e-04,-8.7674e-05,5.9211e-02,1.2688e-03
+13,8.0500e+00,DOWN_FORCE_DETACH,1.9701e-03,3.0319e-02,5.6531e-02,2.5074e+00,-4.0614e-02,3.8879e-02,-5.6007e-05,9.8688e-03,2.1382e-02,5.1770e-02,-1.4246e-03,6.6007e-04,-9.1027e-05,5.6874e-02,1.5728e-03
+14,8.7000e+00,DOWN_FORCE_DETACH,2.1209e-03,2.8489e-02,6.0682e-02,2.5063e+00,-4.0916e-02,3.8746e-02,-4.0116e-05,8.0385e-03,2.5533e-02,5.0672e-02,-1.7270e-03,5.2736e-04,-7.5136e-05,5.7308e-02,1.8072e-03
+15,9.3500e+00,DOWN_FORCE_DETACH,2.2775e-03,2.8560e-02,6.4510e-02,2.5070e+00,-4.1210e-02,3.8745e-02,-1.1085e-05,8.1102e-03,2.9361e-02,5.1346e-02,-2.0205e-03,5.2629e-04,-4.6105e-05,5.9701e-02,2.0884e-03
+16,9.9167e+00,DOWN_FORCE_DETACH,2.4283e-03,2.8498e-02,6.6758e-02,2.5110e+00,-4.1394e-02,3.8734e-02,2.0618e-05,8.0479e-03,3.1609e-02,5.5341e-02,-2.2048e-03,5.1495e-04,-1.4402e-05,6.4238e-02,2.2641e-03
+17,1.0467e+01,DOWN_FORCE_DETACH,2.5743e-03,2.7731e-02,6.2655e-02,2.5147e+00,-4.1132e-02,3.8676e-02,5.0772e-05,7.2805e-03,2.7506e-02,5.9102e-02,-1.9425e-03,4.5759e-04,1.5752e-05,6.5594e-02,1.9957e-03
+18,1.1083e+01,DOWN_FORCE_DETACH,2.7311e-03,2.9098e-02,6.1477e-02,2.5128e+00,-4.1069e-02,3.8778e-02,7.7146e-05,8.6476e-03,2.6328e-02,5.7187e-02,-1.8797e-03,5.5908e-04,4.2126e-05,6.3548e-02,1.9615e-03
+19,1.1683e+01,DOWN_FORCE_DETACH,2.8790e-03,3.0174e-02,6.3380e-02,2.5202e+00,-4.1202e-02,3.8852e-02,8.9140e-05,9.7236e-03,2.8231e-02,6.4602e-02,-2.0122e-03,6.3318e-04,5.4120e-05,7.1169e-02,2.1101e-03
+20,1.2267e+01,DOWN_FORCE_DETACH,3.0290e-03,3.1951e-02,6.9069e-02,2.5181e+00,-4.1575e-02,3.8981e-02,8.3323e-05,1.1501e-02,3.3920e-02,6.2478e-02,-2.3851e-03,7.6225e-04,4.8303e-05,7.2016e-02,2.5044e-03
+21,1.2833e+01,DOWN_FORCE_DETACH,3.1839e-03,3.4438e-02,7.1392e-02,2.5200e+00,-4.1703e-02,3.9152e-02,6.0003e-05,1.3988e-02,3.6243e-02,6.4390e-02,-2.5137e-03,9.3297e-04,2.4983e-05,7.5202e-02,2.6814e-03
+22,1.3500e+01,DOWN_FORCE_DETACH,3.3340e-03,3.4020e-02,7.4832e-02,2.5293e+00,-4.1911e-02,3.9108e-02,1.7300e-05,1.3570e-02,3.9683e-02,7.3666e-02,-2.7218e-03,8.8935e-04,-1.7720e-05,8.4768e-02,2.8635e-03
+23,1.4133e+01,DOWN_FORCE_DETACH,3.4847e-03,3.7041e-02,7.5049e-02,2.5263e+00,-4.1906e-02,3.9324e-02,-3.1479e-05,1.6591e-02,3.9900e-02,7.0706e-02,-2.7170e-03,1.1050e-03,-6.6499e-05,8.2865e-02,2.9339e-03
+24,1.4767e+01,DOWN_FORCE_DETACH,3.6374e-03,3.5039e-02,7.8884e-02,2.5289e+00,-4.2156e-02,3.9184e-02,-6.9950e-05,1.4589e-02,4.3735e-02,7.3265e-02,-2.9665e-03,9.6511e-04,-1.0497e-04,8.6564e-02,3.1213e-03
+25,1.5383e+01,DOWN_FORCE_DETACH,3.7892e-03,3.4313e-02,8.6426e-02,2.5310e+00,-4.2671e-02,3.9138e-02,-8.4654e-05,1.3863e-02,5.1276e-02,7.5316e-02,-3.4818e-03,9.1919e-04,-1.1967e-04,9.2163e-02,3.6031e-03
+26,1.5917e+01,DOWN_FORCE_DETACH,3.9407e-03,3.5305e-02,8.8192e-02,2.5237e+00,-4.2796e-02,3.9217e-02,-7.7447e-05,1.4855e-02,5.3043e-02,6.8030e-02,-3.6069e-03,9.9845e-04,-1.1247e-04,8.7535e-02,3.7443e-03
+27,1.6567e+01,DOWN_FORCE_DETACH,4.0951e-03,3.4304e-02,8.8994e-02,2.5226e+00,-4.2867e-02,3.9145e-02,-4.6698e-05,1.3854e-02,5.3844e-02,6.6923e-02,-3.6777e-03,9.2600e-04,-8.1718e-05,8.7005e-02,3.7934e-03
+28,1.7150e+01,DOWN_FORCE_DETACH,4.2449e-03,3.3801e-02,9.3761e-02,2.5313e+00,-4.3207e-02,3.9095e-02,-8.8030e-06,1.3350e-02,5.8611e-02,7.5660e-02,-4.0173e-03,8.7646e-04,-4.3823e-05,9.6633e-02,4.1120e-03
+29,1.7767e+01,DOWN_FORCE_DETACH,4.3982e-03,3.0303e-02,9.5388e-02,2.5323e+00,-4.3319e-02,3.8845e-02,2.7855e-05,9.8524e-03,6.0239e-02,7.6661e-02,-4.1294e-03,6.2609e-04,-7.1648e-06,9.7994e-02,4.1766e-03
+30,1.8300e+01,DOWN_FORCE_DETACH,4.5494e-03,3.0105e-02,9.7560e-02,2.5374e+00,-4.3456e-02,3.8828e-02,4.5219e-05,9.6547e-03,6.2411e-02,8.1777e-02,-4.2668e-03,6.0891e-04,1.0199e-05,1.0332e-01,4.3101e-03
+31,1.8800e+01,DOWN_FORCE_DETACH,4.7008e-03,2.9986e-02,1.0333e-01,2.5442e+00,-4.3842e-02,3.8815e-02,5.1127e-05,9.5360e-03,6.8185e-02,8.8603e-02,-4.6528e-03,5.9644e-04,1.6107e-05,1.1221e-01,4.6909e-03
+32,1.9383e+01,DOWN_FORCE_DETACH,4.8511e-03,2.8320e-02,1.0561e-01,2.5427e+00,-4.3992e-02,3.8697e-02,4.7127e-05,7.8695e-03,7.0465e-02,8.7067e-02,-4.8025e-03,4.7854e-04,1.2107e-05,1.1229e-01,4.8263e-03
+33,1.9850e+01,DOWN_FORCE_DETACH,5.0042e-03,3.1208e-02,1.0865e-01,2.5421e+00,-4.4203e-02,3.8896e-02,3.9223e-05,1.0758e-02,7.3498e-02,8.6500e-02,-5.0134e-03,6.7783e-04,4.2036e-06,1.1402e-01,5.0590e-03
+34,2.0367e+01,DOWN_FORCE_DETACH,5.1549e-03,3.3923e-02,1.1492e-01,2.5437e+00,-4.4631e-02,3.9083e-02,2.7983e-05,1.3473e-02,7.9774e-02,8.8107e-02,-5.4418e-03,8.6389e-04,-7.0373e-06,1.1962e-01,5.5100e-03
+35,2.0850e+01,DOWN_FORCE_DETACH,5.3090e-03,3.6350e-02,1.2467e-01,2.5565e+00,-4.5274e-02,3.9241e-02,1.7825e-05,1.5900e-02,8.9518e-02,1.0086e-01,-6.0847e-03,1.0223e-03,-1.7195e-05,1.3579e-01,6.1700e-03
+36,2.1383e+01,DOWN_FORCE_DETACH,5.4576e-03,3.5369e-02,1.2673e-01,2.5499e+00,-4.5363e-02,3.9180e-02,6.3889e-07,1.4919e-02,9.1578e-02,9.4215e-02,-6.1735e-03,9.6118e-04,-3.4381e-05,1.3223e-01,6.2480e-03
+37,2.1933e+01,DOWN_FORCE_DETACH,5.6121e-03,3.4938e-02,1.2782e-01,2.5528e+00,-4.5409e-02,3.9146e-02,-1.4072e-05,1.4488e-02,9.2669e-02,9.7150e-02,-6.2199e-03,9.2691e-04,-4.9092e-05,1.3504e-01,6.2887e-03
+38,2.2350e+01,DOWN_FORCE_DETACH,5.7633e-03,3.0287e-02,1.2646e-01,2.5607e+00,-4.5312e-02,3.8805e-02,-9.8739e-06,9.8372e-03,9.1311e-02,1.0503e-01,-6.1226e-03,5.8676e-04,-4.4894e-05,1.3952e-01,6.1508e-03
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Fixed/digit/ball_0050_10/press_depth_05/up/camera_frames_60hz.tar

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Fixed/digit/ball_0050_10/press_depth_05/up/franka_data.csv

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Fixed/digit/ball_0050_10/press_depth_05/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+57,9.466666667e+00,UP_SETTLE,1792754039095191161,-5.378333002e-05,-1.423887363e-04,5.177906170e-04,-4.795627510e-05,-1.444436461e-04,5.174383302e-04,-4.512949970e-05,-1.459797805e-04,5.172331276e-04,7.019018495e-01,-1.646594713e-04,8.606608779e-01,7.019076765e-01,-1.667143811e-04,8.606605256e-01,7.026998866e-01,-2.647630059e-04,8.308431359e-01
+58,9.650000000e+00,UP_SETTLE,1792754039276023962,-5.215824264e-05,-1.427999860e-04,5.270299622e-04,-4.795627510e-05,-1.444436461e-04,5.174383302e-04,-4.513449408e-05,-1.459790650e-04,5.172563971e-04,7.019034746e-01,-1.650707210e-04,8.606701172e-01,7.019076765e-01,-1.667143811e-04,8.606605256e-01,7.026998816e-01,-2.647622904e-04,8.308431592e-01
+59,9.916666667e+00,UP_SETTLE,1792754039537842994,-5.336967693e-05,-1.435019768e-04,5.330737804e-04,-4.795627510e-05,-1.444436461e-04,5.174383302e-04,-4.513973286e-05,-1.459780374e-04,5.172837167e-04,7.019022631e-01,-1.657727119e-04,8.606761610e-01,7.019076765e-01,-1.667143811e-04,8.606605256e-01,7.026998764e-01,-2.647612628e-04,8.308431865e-01

Fixed/digit/ball_0050_10/press_depth_05/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.0620e-02,3.5148e-02,2.4556e+00,-3.9189e-02,3.8231e-02,3.4627e-05,1.7325e-04,-2.3469e-07,2.3842e-06,5.0291e-07,1.2316e-05,-3.7355e-07,1.7327e-04,1.2332e-05
+1,1.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,4.3478e-05,2.2112e-02,3.5143e-02,2.4557e+00,-3.9184e-02,3.8337e-02,3.1582e-05,1.6650e-03,-5.3160e-06,3.9101e-05,5.0366e-06,1.1826e-04,-3.4189e-06,1.6655e-03,1.1842e-04
+2,3.6667e-01,WAIT_W2,8.3604e-05,2.4050e-02,3.5128e-02,2.4558e+00,-3.9178e-02,3.8474e-02,2.8005e-05,3.6033e-03,-2.0202e-05,1.1563e-04,1.1552e-05,2.5570e-04,-6.9958e-06,3.6052e-03,2.5605e-04
+3,5.5000e-01,WAIT_W2,1.2703e-04,2.5516e-02,3.5116e-02,2.4558e+00,-3.9173e-02,3.8578e-02,2.5602e-05,5.0689e-03,-3.2607e-05,1.9073e-04,1.6525e-05,3.5942e-04,-9.3991e-06,5.0726e-03,3.5992e-04
+4,7.5000e-01,WAIT_W2,1.7134e-04,2.6942e-02,3.5103e-02,2.4559e+00,-3.9168e-02,3.8679e-02,2.3475e-05,6.4952e-03,-4.5802e-05,2.7370e-04,2.1424e-05,4.6025e-04,-1.1526e-05,6.5012e-03,4.6089e-04
+5,9.6667e-01,WAIT_W2,2.1473e-04,2.8303e-02,3.5087e-02,2.4560e+00,-3.9163e-02,3.8775e-02,2.1631e-05,7.8566e-03,-6.1210e-05,3.6001e-04,2.6289e-05,5.5641e-04,-1.3370e-05,7.8651e-03,5.5719e-04
+6,1.1667e+00,WAIT_W2,2.5690e-04,2.9409e-02,3.5074e-02,2.4561e+00,-3.9159e-02,3.8853e-02,2.0263e-05,8.9621e-03,-7.5076e-05,4.3440e-04,3.0294e-05,6.3446e-04,-1.4738e-05,8.9729e-03,6.3536e-04
+7,1.3000e+00,WAIT_W2,3.0160e-04,3.0073e-02,3.5065e-02,2.4561e+00,-3.9157e-02,3.8900e-02,1.9495e-05,9.6261e-03,-8.3506e-05,4.8065e-04,3.2693e-05,6.8133e-04,-1.5506e-05,9.6384e-03,6.8229e-04
+8,1.3833e+00,WAIT_W2,3.4612e-04,3.0460e-02,3.5060e-02,2.4561e+00,-3.9155e-02,3.8927e-02,1.9064e-05,1.0014e-02,-8.8435e-05,5.0807e-04,3.4090e-05,7.0867e-04,-1.5937e-05,1.0027e-02,7.0967e-04
+9,1.4000e+00,WAIT_W2,3.7512e-04,3.1705e-02,7.0661e-02,2.4567e+00,-4.1649e-02,3.9013e-02,2.9839e-05,1.1258e-02,3.5512e-02,1.0154e-03,-2.4592e-03,7.9451e-04,-5.1615e-06,3.7268e-02,2.5843e-03
+10,1.4167e+00,WAIT_W2,4.1289e-04,3.1427e-02,1.0198e-01,2.4566e+00,-4.3843e-02,3.8993e-02,3.8928e-05,1.0980e-02,6.6833e-02,9.5820e-04,-4.6539e-03,7.7412e-04,3.9275e-06,6.7735e-02,4.7178e-03
+11,1.4667e+00,WAIT_W2,4.7449e-04,3.3455e-02,1.8012e-01,2.4538e+00,-4.9326e-02,3.9138e-02,6.2707e-05,1.3009e-02,1.4497e-01,-1.8005e-03,-1.0137e-02,9.1939e-04,2.7707e-05,1.4556e-01,1.0178e-02
+12,1.5667e+00,WAIT_W2,5.1348e-04,3.5208e-02,2.0251e-01,2.4542e+00,-5.0906e-02,3.9262e-02,6.7693e-05,1.4761e-02,1.6736e-01,-1.4911e-03,-1.1716e-02,1.0441e-03,3.2692e-05,1.6801e-01,1.1763e-02
+13,1.7500e+00,WAIT_W2,5.5560e-04,3.5167e-02,2.2305e-01,2.4536e+00,-5.2355e-02,3.9261e-02,7.5863e-05,1.4720e-02,1.8790e-01,-2.0223e-03,-1.3165e-02,1.0423e-03,4.0862e-05,1.8849e-01,1.3207e-02
+14,1.9500e+00,WAIT_W2,5.9697e-04,3.6755e-02,2.2211e-01,2.4546e+00,-5.2296e-02,3.9372e-02,7.3943e-05,1.6308e-02,1.8696e-01,-1.0843e-03,-1.3106e-02,1.1540e-03,3.8942e-05,1.8767e-01,1.3157e-02
+15,2.1000e+00,WAIT_W2,6.4252e-04,3.7628e-02,2.2189e-01,2.4551e+00,-5.2284e-02,3.9434e-02,7.2596e-05,1.7181e-02,1.8674e-01,-5.1355e-04,-1.3095e-02,1.2154e-03,3.7595e-05,1.8753e-01,1.3151e-02
+16,2.3667e+00,UP_FORCE_RAMP,6.8487e-04,3.8879e-02,2.2169e-01,2.4559e+00,-5.2274e-02,3.9522e-02,6.9809e-05,1.8433e-02,1.8655e-01,3.0565e-04,-1.3085e-02,1.3034e-03,3.4808e-05,1.8745e-01,1.3150e-02
+17,2.5167e+00,UP_FORCE_RAMP,7.2403e-04,3.9469e-02,2.2162e-01,2.4563e+00,-5.2271e-02,3.9563e-02,6.8126e-05,1.9022e-02,1.8647e-01,6.7711e-04,-1.3082e-02,1.3450e-03,3.3125e-05,1.8744e-01,1.3151e-02
+18,2.7500e+00,UP_FORCE_RAMP,7.7042e-04,4.0264e-02,2.2154e-01,2.4568e+00,-5.2267e-02,3.9619e-02,6.5454e-05,1.9817e-02,1.8639e-01,1.1547e-03,-1.3078e-02,1.4011e-03,3.0454e-05,1.8744e-01,1.3153e-02
+19,2.9500e+00,UP_FORCE_RAMP,8.1009e-04,4.0849e-02,2.2148e-01,2.4571e+00,-5.2264e-02,3.9661e-02,6.3166e-05,2.0402e-02,1.8633e-01,1.4849e-03,-1.3075e-02,1.4423e-03,2.8166e-05,1.8745e-01,1.3154e-02
+20,3.2500e+00,UP_FORCE_RAMP,8.5277e-04,4.1591e-02,2.2141e-01,2.4575e+00,-5.2261e-02,3.9713e-02,5.9812e-05,2.1144e-02,1.8626e-01,1.8730e-03,-1.3071e-02,1.4947e-03,2.4812e-05,1.8746e-01,1.3157e-02
+21,3.4667e+00,UP_FORCE_RAMP,8.9854e-04,4.2043e-02,2.2136e-01,2.4577e+00,-5.2259e-02,3.9745e-02,5.7491e-05,2.1596e-02,1.8621e-01,2.0897e-03,-1.3069e-02,1.5267e-03,2.2490e-05,1.8747e-01,1.3158e-02
+22,3.6667e+00,UP_FORCE_RAMP,9.3929e-04,4.2408e-02,2.2132e-01,2.4579e+00,-5.2256e-02,3.9771e-02,5.5437e-05,2.1961e-02,1.8617e-01,2.2521e-03,-1.3067e-02,1.5526e-03,2.0436e-05,1.8748e-01,1.3159e-02
+23,3.8667e+00,UP_FORCE_RAMP,9.8147e-04,4.2731e-02,2.2129e-01,2.4580e+00,-5.2254e-02,3.9794e-02,5.3472e-05,2.2284e-02,1.8614e-01,2.3847e-03,-1.3065e-02,1.5755e-03,1.8471e-05,1.8748e-01,1.3160e-02
+24,4.0333e+00,UP_FORCE_RAMP,1.0237e-03,4.2973e-02,2.2126e-01,2.4581e+00,-5.2253e-02,3.9811e-02,5.1908e-05,2.2526e-02,1.8611e-01,2.4762e-03,-1.3063e-02,1.5926e-03,1.6907e-05,1.8749e-01,1.3160e-02
+25,4.2667e+00,UP_FORCE_RAMP,1.0688e-03,4.3273e-02,2.2123e-01,2.4582e+00,-5.2251e-02,3.9832e-02,4.9826e-05,2.2827e-02,1.8608e-01,2.5795e-03,-1.3061e-02,1.6140e-03,1.4825e-05,1.8749e-01,1.3160e-02
+26,4.5167e+00,UP_FORCE_RAMP,1.1106e-03,4.3555e-02,2.2119e-01,2.4583e+00,-5.2249e-02,3.9852e-02,4.7738e-05,2.3108e-02,1.8605e-01,2.6641e-03,-1.3059e-02,1.6340e-03,1.2737e-05,1.8749e-01,1.3161e-02
+27,4.7000e+00,UP_FORCE_RAMP,1.1550e-03,4.5035e-02,2.1845e-01,2.4490e+00,-5.2069e-02,3.9966e-02,4.3293e-05,2.4588e-02,1.8330e-01,-6.6123e-03,-1.2879e-02,1.7475e-03,8.2923e-06,1.8506e-01,1.2997e-02
+28,4.8667e+00,UP_FORCE_RAMP,1.1960e-03,4.4969e-02,2.1857e-01,2.4509e+00,-5.2079e-02,3.9960e-02,4.2095e-05,2.4522e-02,1.8343e-01,-4.7336e-03,-1.2889e-02,1.7412e-03,7.0946e-06,1.8512e-01,1.3006e-02
+29,5.0333e+00,UP_FORCE_RAMP,1.2365e-03,4.6189e-02,2.1138e-01,2.4430e+00,-5.1587e-02,4.0054e-02,3.6497e-05,2.5743e-02,1.7623e-01,-1.2622e-02,-1.2398e-02,1.8352e-03,1.4964e-06,1.7854e-01,1.2533e-02
+30,5.2333e+00,UP_FORCE_RAMP,1.2848e-03,4.6130e-02,2.1127e-01,2.4370e+00,-5.1596e-02,4.0055e-02,3.4408e-05,2.5683e-02,1.7612e-01,-1.8690e-02,-1.2407e-02,1.8371e-03,-5.9255e-07,1.7896e-01,1.2542e-02
+31,5.3500e+00,UP_FORCE_RAMP,1.3258e-03,4.8012e-02,2.1638e-01,2.4278e+00,-5.1969e-02,4.0197e-02,3.3518e-05,2.7565e-02,1.8123e-01,-2.7850e-02,-1.2780e-02,1.9788e-03,-1.4829e-06,1.8542e-01,1.2932e-02
+32,5.5000e+00,UP_FORCE_RAMP,1.3663e-03,4.8434e-02,2.0701e-01,2.4217e+00,-5.1333e-02,4.0234e-02,2.7478e-05,2.7987e-02,1.7186e-01,-3.3906e-02,-1.2143e-02,2.0152e-03,-7.5225e-06,1.7740e-01,1.2309e-02
+33,5.6667e+00,UP_FORCE_RAMP,1.4106e-03,4.7887e-02,2.0771e-01,2.4288e+00,-5.1387e-02,4.0189e-02,2.7322e-05,2.7441e-02,1.7256e-01,-2.6870e-02,-1.2198e-02,1.9705e-03,-7.6790e-06,1.7678e-01,1.2356e-02
+34,5.8333e+00,UP_FORCE_RAMP,1.4539e-03,5.2248e-02,2.0398e-01,2.4265e+00,-5.1142e-02,4.0499e-02,1.9364e-05,3.1801e-02,1.6883e-01,-2.9093e-02,-1.1952e-02,2.2809e-03,-1.5636e-05,1.7424e-01,1.2168e-02
+35,6.0167e+00,UP_FORCE_RAMP,1.4962e-03,5.2161e-02,2.0457e-01,2.4237e+00,-5.1203e-02,4.0497e-02,1.6510e-05,3.1714e-02,1.6942e-01,-3.1979e-02,-1.2014e-02,2.2784e-03,-1.8490e-05,1.7530e-01,1.2228e-02
+36,6.1833e+00,UP_FORCE_RAMP,1.5378e-03,5.1812e-02,2.0061e-01,2.4094e+00,-5.0959e-02,4.0486e-02,1.3401e-05,3.1365e-02,1.6547e-01,-4.6193e-02,-1.1769e-02,2.2679e-03,-2.1600e-05,1.7463e-01,1.1986e-02
+37,6.2500e+00,UP_FORCE_RAMP,1.5797e-03,5.0491e-02,1.9764e-01,2.4042e+00,-5.0765e-02,4.0399e-02,1.2656e-05,3.0044e-02,1.6249e-01,-5.1487e-02,-1.1575e-02,2.1802e-03,-2.2345e-05,1.7308e-01,1.1779e-02
+38,6.4167e+00,UP_FORCE_RAMP,1.6253e-03,4.7152e-02,1.9623e-01,2.4041e+00,-5.0690e-02,4.0164e-02,1.6228e-05,2.6705e-02,1.6109e-01,-5.1548e-02,-1.1500e-02,1.9458e-03,-1.8772e-05,1.7123e-01,1.1664e-02
+39,6.6000e+00,UP_FORCE_RAMP,1.6689e-03,5.1419e-02,1.9718e-01,2.4051e+00,-5.0781e-02,4.0466e-02,1.3194e-05,3.0972e-02,1.6203e-01,-5.0502e-02,-1.1591e-02,2.2474e-03,-2.1807e-05,1.7252e-01,1.1807e-02
+40,6.8000e+00,UP_FORCE_RAMP,1.7087e-03,5.3429e-02,1.9688e-01,2.4057e+00,-5.0786e-02,4.0609e-02,9.8476e-06,3.2982e-02,1.6174e-01,-4.9945e-02,-1.1597e-02,2.3904e-03,-2.5153e-05,1.7246e-01,1.1841e-02
+41,6.9333e+00,UP_FORCE_RAMP,1.7518e-03,5.1434e-02,1.9032e-01,2.4016e+00,-5.0347e-02,4.0473e-02,8.2408e-06,3.0987e-02,1.5517e-01,-5.4030e-02,-1.1158e-02,2.2548e-03,-2.6760e-05,1.6720e-01,1.1383e-02
+42,7.0667e+00,UP_FORCE_RAMP,1.7966e-03,4.9099e-02,1.8665e-01,2.4012e+00,-5.0107e-02,4.0309e-02,9.5414e-06,2.8652e-02,1.5150e-01,-5.4437e-02,-1.0918e-02,2.0908e-03,-2.5459e-05,1.6351e-01,1.1116e-02
+43,7.2333e+00,UP_FORCE_RAMP,1.8391e-03,4.8988e-02,1.8956e-01,2.4019e+00,-5.0333e-02,4.0302e-02,1.0881e-05,2.8541e-02,1.5442e-01,-5.3721e-02,-1.1144e-02,2.0834e-03,-2.4120e-05,1.6597e-01,1.1337e-02
+44,7.4333e+00,UP_FORCE_HOLD,1.8808e-03,4.9174e-02,1.8331e-01,2.4017e+00,-4.9916e-02,4.0316e-02,8.3710e-06,2.8727e-02,1.4816e-01,-5.3919e-02,-1.0727e-02,2.0979e-03,-2.6630e-05,1.6027e-01,1.0930e-02
+45,7.5500e+00,UP_FORCE_HOLD,1.9239e-03,4.8876e-02,1.8991e-01,2.3987e+00,-5.0393e-02,4.0299e-02,9.8608e-06,2.8429e-02,1.5476e-01,-5.6901e-02,-1.1204e-02,2.0805e-03,-2.5140e-05,1.6732e-01,1.1395e-02
+46,7.6667e+00,UP_SETTLE,1.9627e-03,4.8860e-02,1.8428e-01,2.3933e+00,-5.0014e-02,4.0303e-02,6.6159e-06,2.8413e-02,1.4913e-01,-6.2370e-02,-1.0824e-02,2.0850e-03,-2.8385e-05,1.6413e-01,1.1023e-02
+47,7.8167e+00,UP_SETTLE,2.0091e-03,4.7864e-02,1.8559e-01,2.3899e+00,-5.0117e-02,4.0236e-02,6.2385e-06,2.7417e-02,1.5044e-01,-6.5716e-02,-1.0927e-02,2.0180e-03,-2.8762e-05,1.6644e-01,1.1112e-02
+48,7.9667e+00,UP_SETTLE,2.0490e-03,4.7646e-02,1.8561e-01,2.3996e+00,-5.0118e-02,4.0212e-02,4.7388e-06,2.7199e-02,1.5046e-01,-5.6012e-02,-1.0929e-02,1.9938e-03,-3.0262e-05,1.6284e-01,1.1109e-02
+49,8.1333e+00,UP_SETTLE,2.0906e-03,4.8679e-02,1.8116e-01,2.3977e+00,-4.9812e-02,4.0287e-02,1.1642e-08,2.8233e-02,1.4601e-01,-5.7960e-02,-1.0622e-02,2.0690e-03,-3.4989e-05,1.5961e-01,1.0822e-02
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Fixed/digit/ball_0050_10/press_depth_06/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_0050_10/press_depth_06/down/franka_data.csv

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+3674,1792754145236926005,37548267000000,1792754145231982357,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6760188461317977,-0.004276056378045164,0.10625750925359749,0.999999977531251,-7.440106287468764e-05,-0.00010730293511745067,0.00013903569288840567,0.6761,-0.004,0.10628457133811696,1.0,0.0,0.0,0.0,-0.12954820610306983,-0.009110539734816459,0.6915514709086995,-0.00024286893545298616,0.010038281764403884,0.0006117592817176264,0.8779565939112667,0.8069425952008312,0.9016490032456228,0.06593198578233782,-0.06732956880651352,0.002163601455978361,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.7608761532879686,1.3422034742178188,0.18341933662524654,-0.021637220756092423,0.017216896463020725,0.7559615141767955,0.5641585356493397,0.6915514709086995,0.38073919902409314,0.38073919902409314,0.802499999999947,0,0,-0.0002674999481325476,-9.999999025923074e-05
+3725,1792754145661905208,37548692000000,1792754145655982241,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6760323753706684,-0.0042758973892697855,0.1061636568775643,0.9999999783005401,-9.746916064440114e-05,-8.43541279280651e-05,0.00013500343565155446,0.6761,-0.004,0.10616644808638061,1.0,0.0,0.0,0.0,-0.14146429256594484,-0.0017188174117357402,0.8186620467778728,0.0007264321036454108,0.011005556589157015,0.0005355453809404709,0.8660405074483917,0.8143343175239119,1.028759579114796,0.06690128682143621,-0.06636229398176038,0.0020873875552012058,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.7851220036807849,1.3165603215821844,-0.008608442842643992,-0.006441329338112986,0.14587512639160807,0.7517501941012046,0.5641585356493397,0.8186620467778728,0.5727669784919837,0.5727669784919837,0.86624999999994,0,0,-0.0002879369028027919,-9.999999025923074e-05
+3778,1792754146103852174,37549134000000,1792754146099982160,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760467304225669,-0.004280429351023947,0.10605725533805035,0.9999999779548945,-0.00011104743272117806,-6.153623080939509e-05,0.0001393371267159229,0.6761,-0.004,0.10603778115517166,1.0,0.0,0.0,0.0,-0.15128116849613904,-0.004611921326551971,0.9556135525043771,0.0006729940261232942,0.011989682826282252,0.00043956886616435876,0.8562236315181975,0.8114412136090957,1.1657110848413004,0.0668478487439141,-0.06537816774463515,0.0019914110404250936,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.8753699144854591,1.1951769242223838,-0.26079499685974233,0.030351898405696125,0.33161477379337356,0.6707952484056149,0.5641585356493397,0.9556135525043771,0.824953532509082,0.824953532509082,0.9325499999999327,0,0,-0.00028941864673307096,9.943043196981022e-05
+3823,1792754146478861563,37549509000000,1792754146471982398,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760523050157672,-0.00428399929959607,0.10596218416937633,0.9999999763268933,-0.00012747025757641224,-5.39700115838101e-05,0.00014009870943954824,0.6761,-0.004,0.10593216233635991,1.0,0.0,0.0,0.0,-0.16628502430402048,-0.0027054858740370724,1.0544606181867697,0.0006260791537388843,0.012981344828759567,0.00037424023658852185,0.841219775710316,0.8133476490616106,1.264558150523693,0.06680093387152969,-0.06438650574215783,0.0019260824108492567,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.8485293577681943,1.2041006091132116,-0.2931217766892661,0.03049845077517856,0.339668752979663,0.6770064592036404,0.5641585356493397,1.0544606181867697,0.8572803123386058,0.8572803123386058,0.9887999999999265,0,0,-0.00027277629966318697,9.999999025923074e-05
+3880,1792754146953852185,37549984000000,1792754146947982305,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6760609631528285,-0.004292569659859001,0.10585880693657111,0.9999999752517843,-0.00014081412758595028,-3.8330912088777756e-05,0.00014014784226896974,0.6761,-0.004,0.10580820028053219,1.0,0.0,0.0,0.0,-0.17870050791479264,0.010389386830844116,1.1770528956866222,0.0005848272682549838,0.013832373174973711,0.0002870252231447867,0.8288042920995439,0.8264425217664918,1.3871504280235454,0.06675968198604579,-0.06353547739594369,0.0018388673974055216,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.8863131670637678,1.329158290966664,-0.39688388340397124,0.0020638772942858856,0.41693789430097555,0.7611860720887034,0.5641585356493397,1.1770528956866222,0.9610424190533109,0.9610424190533109,1.060049999999963,0,0,-0.00024908542551185944,9.999999025923074e-05
+3933,1792754147395740185,37550426000000,1792754147387981773,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6760689291346167,-0.004298018702019137,0.10576555107186394,0.9999999771321213,-0.0001286496154427662,-2.3543276243693225e-05,0.0001416813742108119,0.6761,-0.004,0.1057029775715023,1.0,0.0,0.0,0.0,-0.1802350031208888,-0.004719498867630789,1.2871119893689706,0.0005545801474261813,0.013945357949627993,0.0001999668448266175,0.8272697968934477,0.8113336360680169,1.4972095217058938,0.06672943486521699,-0.0634224926212894,0.0017518090190873524,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.9624369983540036,1.2700163792295756,-0.6173162165213911,0.01981040734529168,0.5769618184076033,0.7231567796060883,0.5641585356493397,1.2871119893689706,1.1814747521707307,1.1814747521707307,1.1263500000000048,0,0,-0.00022698542981727942,9.999999025923074e-05
+3996,1792754147920698691,37550951000000,1792754147919982534,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760779361704995,-0.0042973536843882,0.10567251886761549,0.9999999778132932,-0.00012513527129689105,-6.338462004847666e-06,0.00014183534549839534,0.6761,-0.004,0.10559068771950327,1.0,0.0,0.0,0.0,-0.19174190223157928,-0.004217416525726825,1.3975219332181124,0.0005063919291510288,0.014934731251895275,0.00012508480758814666,0.8157628977827572,0.8118357184099209,1.6076194655550355,0.06668124664694183,-0.06243311931902212,0.0016769269818488815,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.937630750237782,1.3786352136158306,-0.7642484188883955,-0.009533664795001517,0.6635919708385887,0.7936827508912685,0.5641585356493397,1.3975219332181124,1.3284069545377353,1.3284069545377353,1.2051000000000545,0,0,-0.00020073543493118328,9.999999025923074e-05
+4055,1792754148411773137,37551442000000,1792754148403982186,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760828399676759,-0.004299463280977696,0.1055907829619984,0.9999999771407393,-0.00013214843317654456,2.137220490726692e-06,0.0001403339202623557,0.6761,-0.004,0.1054981413697755,1.0,0.0,0.0,0.0,-0.1998348381225531,0.00595058230298362,1.478168188086453,0.001366092027128521,0.01591308150504961,8.581647020473632e-05,0.8076699618917834,0.8220037172386313,1.6882657204233762,0.06754094674491933,-0.06145476906586779,0.0016376586444654712,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.9792260259107674,1.2628176806237734,-0.8130208162621699,0.032582758184868575,0.7049365617523036,0.7191243601791936,0.5641585356493397,1.478168188086453,1.3771793519115096,1.3771793519115096,1.2787500000001009,0,0,-0.00017618543971390099,9.999999025923074e-05
+4120,1792754148953750538,37551984000000,1792754148951982076,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760925498608996,-0.0043013135606176905,0.10552257974904551,0.9999999762650869,-0.00013615492697759344,1.764428656624899e-05,0.0001416446437421886,0.6761,-0.004,0.10540997941001719,1.0,0.0,0.0,0.0,-0.20037355051744976,0.0070920711495193745,1.558452173226262,0.001468934149499307,0.015894372706389853,6.6284701108824e-05,0.8071312494968867,0.8231452060851671,1.7685497055631851,0.06764378886729011,-0.061473477864527545,0.0016181268753695589,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.002072214656711,1.422281404825371,-0.9095296255629871,-0.015578622970823934,0.7708986615061066,0.8229017129032259,0.5641585356493397,1.558452173226262,1.4736881612123267,1.4736881612123267,1.360050000000152,0,0,-0.00014908544499339792,9.999999025923074e-05
+4205,1792754149661715202,37552692000000,1792754149659982315,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761006247853522,-0.004308160539595605,0.10544067018739237,0.9999999748805624,-0.00014301293091222047,3.133931217380132e-05,0.000142291559849724,0.6761,-0.004,0.10531694081251707,1.0,0.0,0.0,0.0,-0.21854190712709765,0.00011497251474934522,1.638649460602839,0.0014167477997760192,0.016885572952649336,0.0009973171670958376,0.7889628928872389,0.816168107450397,1.8487469929397622,0.06759160251756682,-0.06048227761826806,0.0025491593413565724,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0122774632803853,1.23492160509809,-1.0405205088938836,0.047300697308020355,0.8546956637957371,0.7005412312303658,0.5641585356493397,1.638649460602839,1.6046790445432233,1.6046790445432233,1.466250000000219,0,0,-0.00011368545188986256,9.999999025923074e-05
+4289,1792754150361681415,37553392000000,1792754150355991294,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761046434748333,-0.00430370518290733,0.1053796199098793,0.999999975395103,-0.0001367808201592664,3.5360857751044854e-05,0.00014385157117952676,0.6761,-0.004,0.10524923135705828,1.0,0.0,0.0,0.0,-0.2190131255247938,0.006211822696927327,1.689243346961635,0.0014084848036133024,0.016873997631266797,0.0007782361358270745,0.7884916744895427,0.822264957632575,1.8993408792985582,0.0675833395214041,-0.0604938529396506,0.0023300783100878093,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.9353386973414474,1.2941758354833794,-0.9184378227412805,0.03900575212542124,0.7531089300981679,0.7399123177668993,0.5641585356493397,1.689243346961635,1.4825963583906203,1.4825963583906203,1.5712500000002851,0,0,-8.093051237087335e-05,-9.996915381472177e-05
+4368,1792754151020626239,37554051000000,1792754151019991371,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761087100861265,-0.0043052064359095825,0.10534018561343947,0.9999999751056451,-0.0001381466072287196,4.209438621090627e-05,0.00014274155379634252,0.6761,-0.004,0.10520220856341092,1.0,0.0,0.0,0.0,-0.2138950495564228,-0.00476630739129591,1.7193830926321323,0.0014004900093409905,0.016868822942463065,0.0009325336423345305,0.7936097504579137,0.8112868275443518,1.9294806249690555,0.0675753447271318,-0.060499027628454334,0.0024843758165952654,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0131254009051605,1.35198287358664,-1.0512881161695122,0.019672341956440353,0.8585263517451901,0.7787599358088055,0.5641585356493397,1.7193830926321323,1.615446651818852,1.615446651818852,1.6701000000003474,0,0,-6.599048992601704e-05,4.105778870934073e-06
+4433,1792754151561584125,37554592000000,1792754151559981779,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761123645141852,-0.004309317680997965,0.10531038613198417,0.9999999747712908,-0.0001387828363692293,4.856252176890103e-05,0.0001424123869031336,0.6761,-0.004,0.1051657748548074,1.0,0.0,0.0,0.0,-0.21951937045031245,-0.0017553043286699932,1.7490017577396961,0.0013961621142965924,0.016862948524917626,0.0009079297717765587,0.7879854295640241,0.8142978306069777,1.9590992900766193,0.0675710168320874,-0.06050490204599977,0.0024597719460372936,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.023276245634308,1.295023017197864,-1.0998554001701313,0.039108316462819544,0.8941926988309561,0.739248215235825,0.5641585356493397,1.7490017577396961,1.664013935819471,1.664013935819471,1.7512500000003985,0,0,-7.399131636140333e-05,-9.999997638144293e-05
+4497,1792754152095604012,37555126000000,1792754152091991570,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761163969115208,-0.004311413159603459,0.10527722229187159,0.9999999746059102,-0.00013620204540133106,5.5913561866515436e-05,0.00014336568519616544,0.6761,-0.004,0.10512058577538745,1.0,0.0,0.0,0.0,-0.22535237113417161,0.01468616446937221,1.7782696708114418,0.001443980496907249,0.01781770469464438,0.0008980249383623033,0.7821524288801649,0.8307392994050199,1.988367203148365,0.06761883521469805,-0.05955014587627302,0.002449867112623038,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0472050829464694,1.266210563234896,-1.2268389678838139,0.05126972854182804,0.9796660762350077,0.7209458792602169,0.5641585356493397,1.7782696708114418,1.7909975035331536,1.7909975035331536,1.831350000000449,0,0,-9.444990673315867e-05,8.468787757032743e-05
+4574,1792754152736479829,37555767000000,1792754152735991371,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761229484889602,-0.00431107003455417,0.10522079946652071,0.9999999741308225,-0.0001335202228552897,6.680539388618061e-05,0.00014453583705217667,0.6761,-0.004,0.10505097695155965,1.0,0.0,0.0,0.0,-0.2292115527368821,0.007477181430898594,1.8392613467714112,0.001367953949751588,0.017855044733622684,0.0008492574722587683,0.7782932472774544,0.8235303163665463,2.0493588791083344,0.06754280866754239,-0.059512805837294715,0.002401099646519503,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0341344202076412,1.2936663301311515,-1.318824087160138,0.04580042421902255,1.0318137863515602,0.7398405189443233,0.5641585356493397,1.8392613467714112,1.8829826228094777,1.8829826228094777,1.9275000000005096,0,0,-0.00012265957687465778,7.500000206850927e-05
+4651,1792754153378480225,37556409000000,1792754153375982532,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761328001668994,-0.004311769749643062,0.10514755564544807,0.9999999716671902,-0.0001398389360877293,8.472587084435614e-05,0.0001462021946830322,0.6761,-0.004,0.10496419566107858,1.0,0.0,0.0,0.0,-0.23940585132158176,0.012774883570231932,1.9102682367132653,0.0023313974083194466,0.018834514496901614,0.0008181882651979394,0.7680989486927547,0.8288280185058796,2.1203657690501885,0.06850625212611025,-0.058533336074015785,0.0023700304394586743,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.103732513874079,1.3078131699428028,-1.2595884672766655,0.04306374408338543,1.0098566238409243,0.747582789022328,0.5641585356493397,1.9102682367132653,1.8237470029260052,1.8237470029260052,2.0238000000005703,0,0,-0.00014833441934067183,-9.999994862586731e-05
+4727,1792754154011479988,37557042000000,1792754154003982222,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761390118568927,-0.004316182160017561,0.10506413120242093,0.9999999697605205,-0.00014881199691806041,9.470219413556089e-05,0.00014425084466796397,0.6761,-0.004,0.10486541363227463,1.0,0.0,0.0,0.0,-0.2481121064524291,0.006021319710605377,2.0002636139453553,0.002313474278179503,0.01881584398685074,0.0007443640333545897,0.7593926935619074,0.8220744546462531,2.2103611462822785,0.06848832899597031,-0.05855200658406666,0.0022962062076153245,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0985319791644288,1.2481782754805497,-1.3040743477452161,0.06296007942764499,1.0358456248260433,0.7080889236958743,0.5641585356493397,2.0002636139453553,1.8682328833945558,1.8682328833945558,2.11875000000063,0,0,-0.00016469026895979256,-9.843750400773672e-05
+4782,1792754154470456970,37557501000000,1792754154463982566,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761437433794789,-0.004320335604731954,0.1049937253952767,0.9999999674054725,-0.00015915945702782636,0.0001020711434014135,0.00014450490336182255,0.6761,-0.004,0.10478850824873416,1.0,0.0,0.0,0.0,-0.24541620682951426,0.008767065824873965,2.080230759492525,0.001625312346945143,0.019807318178195726,0.0006941100229508233,0.7620885931848222,0.8248202007605216,2.2903282918294483,0.06780016706473595,-0.05756053239272167,0.002245952197211558,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.108092924336399,1.3391400926693782,-1.5278763830393562,0.04345541644599483,1.1841357258605376,0.7721808640394004,0.5641585356493397,2.080230759492525,2.0920349186886957,2.0920349186886957,2.1876000000006735,0,0,-0.00017031893769362127,9.979561207818505e-05
+4848,1792754155020464385,37558051000000,1792754155015992142,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761538426436108,-0.004326110395092588,0.10491422149284929,0.9999999637684598,-0.0001647656058198785,0.00012143169786491337,0.0001483663749108721,0.6761,-0.004,0.10469312797035336,1.0,0.0,0.0,0.0,-0.18242242036942813,-0.012203486127650875,2.1405198434879504,0.0003548744716920932,0.014769885727864515,0.0005532104516678094,0.8250823796449084,0.8038496488079968,2.3506173758248736,0.0665297291894829,-0.06259796484305288,0.0021050526259285443,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0643642202745682,1.3506198399484317,-1.5253943896627193,0.054842571457822994,1.1803976370295053,0.7815689927502335,0.5641585356493397,2.1405198434879504,2.0895529253120593,2.0895529253120593,2.2701000000007254,0,0,-0.00017982663208101902,-9.999964331453554e-05
+4914,1792754155570403894,37558601000000,1792754155563991684,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761592902601344,-0.004328481368961229,0.1048278738546024,0.9999999631010816,-0.00016154920638794074,0.00013040552343299367,0.00014878492273640335,0.6761,-0.004,0.10459372440725016,1.0,0.0,0.0,0.0,-0.19193282949046186,-0.011248806787210186,2.230511287092001,0.00031016956976220866,0.015763534136985828,0.0004949101931989756,0.8155719705238746,0.8048043281484375,2.4406088194289244,0.06648502428755301,-0.06160431643393157,0.0020467523674597104,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0955371828548752,1.283542689660892,-1.6712710030950086,0.07091635570296753,1.281567057322576,0.7384989436896571,0.5641585356493397,2.230511287092001,2.2354295387443486,2.2354295387443486,2.3526000000007774,0,0,-0.00018228086557239986,9.999417546613926e-05
+4975,1792754156078315656,37559109000000,1792754156071992028,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761678411757441,-0.004330748869444325,0.1047480322930391,0.9999999623791381,-0.00015120534133554245,0.00014244737533410654,0.0001533958168509084,0.6761,-0.004,0.10450032855776671,1.0,0.0,0.0,0.0,-0.20157251610483884,-0.016567766678831974,2.3001058158499004,0.0002919034330940151,0.015966934262776275,0.00043863882243866414,0.8059322839094977,0.7994853682568157,2.5102033481868236,0.06646675815088482,-0.061400916308141124,0.001990480996699399,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0804871527682718,1.3235543195559845,-1.7843149739567115,0.06588108838273049,1.3480298245011422,0.7673064794075531,0.5641585356493397,2.3001058158499004,2.348473509606051,2.348473509606051,2.4288000000008254,0,0,-0.00018521462879087102,9.999094194158004e-05
+5034,1792754156570352243,37559601000000,1792754156567991822,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761760919991074,-0.004337282587236659,0.10466843458583874,0.9999999601798283,-0.00014839602071636113,0.00015660807553652525,0.00015663887713828224,0.6761,-0.004,0.10440987103634139,1.0,0.0,0.0,0.0,-0.20247090893660258,-0.003373669640590604,2.3715641975919097,0.0012727028221059533,0.01672778113185923,0.00040704636973866557,0.8050338910777339,0.8126794652950571,2.581661729928833,0.06744755753989676,-0.06064006943905817,0.0019588885439994004,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0882115019526255,1.228480682751581,-1.739511558104255,0.09855819162732314,1.3185216865209002,0.7033085137157833,0.5641585356493397,2.3715641975919097,2.3036700937535945,2.3036700937535945,2.502600000000872,0,0,-0.0001816077627267695,-9.980472978477479e-05
+5099,1792754157111339739,37560142000000,1792754157107991802,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761826259175825,-0.004337229024659611,0.1045807214824364,0.9999999573236295,-0.0001572693223937215,0.00016858521311610382,0.00015375626707535398,0.6761,-0.004,0.10431121817403421,1.0,0.0,0.0,0.0,-0.20823501285439516,-0.0005319932876851619,2.4462241241203047,0.0012623445530471344,0.01671082351847091,0.0003440925917631134,0.7992697871599413,0.8155211416479625,2.656321656457228,0.06743719927083794,-0.06065702705244649,0.0018959347660238482,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1364148286219353,1.301576318453987,-1.949399281087972,0.08078446597444158,1.4642554474686342,0.7517327622395986,0.5641585356493397,2.4462241241203047,2.5135578167373116,2.5135578167373116,2.583750000000923,0,0,-0.0001832915218949197,9.960937216580418e-05
+5168,1792754157686347411,37560717000000,1792754157679991734,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761904742960472,-0.00433741249467325,0.10449646617255155,0.9999999532182292,-0.00017107510272515537,0.0001857510904976064,0.0001457266112821972,0.6761,-0.004,0.10420507511692889,1.0,0.0,0.0,0.0,-0.21152176294286829,0.004524730541271782,2.512365426542856,0.0022594634618195164,0.01708092080694531,0.0003070691014594759,0.7959830370714682,0.8205778654769195,2.7224629588797793,0.06843431817961032,-0.06028692976397209,0.0018589112757202108,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1147836427818856,1.3126166001306268,-1.869947872974744,0.08220679962592292,1.4086490411789556,0.7596656705272392,0.5641585356493397,2.512365426542856,2.434106408624084,2.434106408624084,2.6700000000009774,0,0,-0.00018820367382185588,-9.999999025923074e-05
+5235,1792754158245216202,37561276000000,1792754158239982047,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762006520200667,-0.004340951839682948,0.10440086007063518,0.9999999495524488,-0.00016933295107402142,0.00020091766567841165,0.00015263160750830923,0.6761,-0.004,0.10409742239759341,1.0,0.0,0.0,0.0,-0.21297535663134826,0.007421769732254835,2.591818359473894,0.0022283569229989697,0.017674277278277285,0.0002550862593742164,0.7945294433829883,0.8234749046679025,2.8019158918108173,0.06840321164078977,-0.05969357329264011,0.0018069284336349513,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1079992469340807,1.2819546094117198,-2.0991110538490942,0.09097906775821446,1.550021618732917,0.7390692526141124,0.5641585356493397,2.591818359473894,2.6632695894984337,2.6632695894984337,2.75385000000103,0,0,-0.0001972500318122864,8.971474538122521e-05
+5290,1792754158703283753,37561734000000,1792754158699991709,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.676204908224939,-0.00433789664046608,0.10432149831809791,0.9999999486061397,-0.00016211574717013777,0.00020758507178236012,0.00015766262896684902,0.6761,-0.004,0.1040064941984394,1.0,0.0,0.0,0.0,-0.20510254632078195,0.025570175676079998,2.6432154520542444,0.0031612326655415107,0.017642910504319244,0.00022554320882148477,0.8024022536935546,0.8416233106117277,2.8533129843911675,0.06933608738333231,-0.059724940066598155,0.0017773853830822196,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.144368579625325,1.4625297473582017,-1.9495709614657972,0.03957694647561874,1.463751755371496,0.8557919352288941,0.5641585356493397,2.6432154520542444,2.513729497115137,2.513729497115137,2.8225500000010735,0,0,-0.0002020539655825645,-9.999999025923074e-05
+5352,1792754159220191908,37562251000000,1792754159219991258,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762159824650849,-0.004336112342088888,0.10424303529596,0.9999999453006111,-0.0001460811447879207,0.0002295105927452402,0.00016378896823195018,0.6761,-0.004,0.10389959351165035,1.0,0.0,0.0,0.0,-0.1967057132134482,0.041967067849240314,2.6939002893029755,0.0042803635953134744,0.016598513694102056,0.0002123863490713729,0.8107990868008883,0.858020202784888,2.9039978216398987,0.07045521831310428,-0.06076933687681534,0.0017642285233321077,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1674197355726914,1.3251667858299485,-2.243091076625671,0.0859958379203874,1.6556732609878086,0.7690354377715422,0.5641585356493397,2.6939002893029755,2.807249612275011,2.807249612275011,2.9001000000011223,0,0,-0.00021227897345901946,9.949429754930179e-05
+5408,1792754159686214451,37562717000000,1792754159679992039,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762192880738592,-0.004337392306775188,0.10414357939034365,0.9999999458587893,-0.00013264973310709395,0.00023206749284644386,0.00016814877302571092,0.6761,-0.004,0.10380002662447337,1.0,0.0,0.0,0.0,-0.18774448108998798,0.038966069073718135,2.774598896676682,0.004255454433090569,0.016575865379802886,0.00114507301108013,0.8197603189243485,0.8550192040093658,2.984696429013605,0.07043030915088137,-0.06079198519111451,0.002696915185340865,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1222382191806206,1.381425699052859,-2.191446152098356,0.0780800380803948,1.612666503203977,0.8078700521996477,0.5641585356493397,2.774598896676682,2.755604687747696,2.755604687747696,2.9700000000011664,0,0,-0.00021564026358586309,-9.999999025923074e-05
+5466,1792754160170189194,37563201000000,1792754160163992097,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762240034507713,-0.004335415080547004,0.10404587865060559,0.9999999430754405,-0.00015246998339869136,0.00024265477815255183,0.0001521957385880897,0.6761,-0.004,0.10369345539019702,1.0,0.0,0.0,0.0,-0.18692713318868703,0.0539778410122963,2.835281342909761,0.005293285096285155,0.01552967628381098,0.0010919670759849968,0.8205776668256495,0.870030975947944,3.0453788752466844,0.07146813981407596,-0.06183817428710642,0.0026438092502457317,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.18099641390351,1.3614231103069565,-2.315169065571084,0.09654461149443981,1.7067754744794459,0.793198599200356,0.5641585356493397,2.835281342909761,2.8793276012204236,2.8793276012204236,3.042600000001212,0,0,-0.00022226174312548063,9.688362198468354e-05
+5524,1792754160653175696,37563684000000,1792754160651991017,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762248324912792,-0.004339855010927056,0.10394142005131506,0.9999999420293118,-0.00015775897251575977,0.000241782534953772,0.00015504047774518386,0.6761,-0.004,0.10358421008987834,1.0,0.0,0.0,0.0,-0.1778978484520447,0.04991562573907837,2.9041608956408593,0.005277171918606535,0.015579001835029874,0.0010379710384416996,0.8296069515622918,0.8659687606747261,3.1142584279777825,0.07145202663639734,-0.061788848735887525,0.0025898132127024345,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1650050258027054,1.3500467773539506,-2.3564602527588305,0.09767261951423944,1.725691562944049,0.7847120337759002,0.5641585356493397,2.9041608956408593,2.92061878840817,2.92061878840817,3.1150500000012578,0,0,-0.0002303406192650976,-3.006903683442074e-05
+5581,1792754161128137871,37564159000000,1792754161123982138,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762314924310292,-0.004342028457573041,0.10383756318403871,0.9999999380584954,-0.00015535235921479223,0.0002534511942574188,0.00016417675312257863,0.6761,-0.004,0.10347173260468132,1.0,0.0,0.0,0.0,-0.17821027752895402,0.05218427212096677,2.955546641820018,0.005243914947239858,0.0164333315271774,0.001010315317932502,0.8292945224853825,0.8682374070566145,3.165644174156941,0.07141876966503066,-0.06093451904374,0.002562157492193237,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1147181703797517,1.3906493043242356,-2.321178460174657,0.09918132688891637,1.6918245025986447,0.8162250143802894,0.5641585356493397,2.955546641820018,2.8853369958239963,2.8853369958239963,3.1863000000013026,0,0,-0.00024281577860471438,-9.999999025923074e-05
+5630,1792754161536121466,37564567000000,1792754161535983221,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762357352271419,-0.004349907584974787,0.10374203962259862,0.9999999354987502,-0.00015756838577488263,0.0002588111724974692,0.0001692168444101875,0.6761,-0.004,0.10337023145837752,1.0,0.0,0.0,0.0,-0.17822977587184208,0.057938655534068295,3.00552375101788,0.0052397760437236235,0.016281458546332533,0.0009677275221230601,0.8292750241424944,0.873991790469716,3.2156212833548032,0.07141463076151443,-0.061086392024584865,0.002519569696383795,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1671015091964179,1.3780339588072819,-2.4446720703183753,0.10247825657292901,1.7847511340814008,0.8067382023989615,0.5641585356493397,3.00552375101788,3.008830605967715,3.008830605967715,3.247500000001341,0,0,-0.00025510856066088126,-9.999999025923074e-05
+5685,1792754161995101109,37565026000000,1792754161991982753,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762424466668241,-0.004355416222000406,0.10363493481534308,0.9999999315652985,-0.00015629902918377922,0.00027248722144370557,0.00017214409691968836,0.6761,-0.004,0.10325026155848437,1.0,0.0,0.0,0.0,-0.16892627888542266,0.06170288858435957,3.0497032162224587,0.005253328335018889,0.01548244923253208,0.0009209391809718835,0.8385785211289138,0.8777560235200073,3.259800748559382,0.0714281830528097,-0.06188540133838532,0.0024727813552326183,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1853857915605162,1.3880253046078082,-2.514950317415213,0.1075217670727076,1.8330379474770249,0.8158982794903153,0.5641585356493397,3.0497032162224587,3.079108853064553,3.079108853064553,3.3163500000013846,0,0,-0.00026836245061864626,-9.999999025923074e-05
+5731,1792754162378119566,37565409000000,1792754162371982770,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762443176878354,-0.004356551155222377,0.10353171793871652,0.9999999301137434,-0.0001589060828647417,0.00027662831543531606,0.0001715838118580568,0.6761,-0.004,0.1031455043044466,1.0,0.0,0.0,0.0,-0.15917111238551496,0.06507556547547122,3.106252081661149,0.005243099562730225,0.015467653966762217,0.0008764150359881495,0.8483336876288216,0.8811287004111189,3.316349613998072,0.07141795428052103,-0.06190019660415518,0.0024282572102488843,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1627204396542035,1.3487611247319105,-2.4953561814119802,0.12893052632610558,1.8136960623605938,0.7949189016159832,0.5641585356493397,3.106252081661149,3.0595147170613197,3.0595147170613197,3.3738000000014208,0,0,-0.0002800239679537616,-9.999999025923074e-05
+5787,1792754162845043162,37565876000000,1792754162843982350,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762523897837626,-0.004360763178834045,0.10340681353205848,0.9999999272867794,-0.0001652965480233419,0.0002828027409446062,0.00017195627618681955,0.6761,-0.004,0.10301126286254603,1.0,0.0,0.0,0.0,-0.14804248109047713,0.06766136982241877,3.136818280455511,0.0062844249863652085,0.014430887211518154,0.0008489020198065294,0.8594623189238594,0.8837145047580665,3.3469158127924343,0.07245927970415601,-0.06293696335939925,0.0024007441940672642,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.178664262123135,1.416586815306308,-2.5945226303987265,0.11054058453538354,1.8792801200141267,0.8378460862191139,0.5641585356493397,3.136818280455511,3.1586811660480665,3.1586811660480665,3.443850000001465,0,0,-0.00029588429861368413,-9.999999025923074e-05
+5834,1792754163236080118,37566267000000,1792754163235982287,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762578138601988,-0.004364333166147454,0.10329918122209243,0.9999999245664336,-0.000165590025031175,0.0002903125784400976,0.000174952969765999,0.6761,-0.004,0.10289241474029437,1.0,0.0,0.0,0.0,-0.14546444640802658,0.07914040340726303,3.17649329800846,0.006278829337941966,0.014421466239447928,0.0008169093765444393,0.8620403536063099,0.8951935383429107,3.386590830345383,0.07245368405573277,-0.06294638433146947,0.002368751550805174,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.162021806992805,1.3566089292351686,-2.635401709141578,0.14332025882638877,1.8997747053338394,0.8048566780032519,0.5641585356493397,3.17649329800846,3.1995602447909173,3.1995602447909173,3.502500000001502,0,0,-0.00031247400147513114,-9.999999025923074e-05
+5879,1792754163611696994,37566642000000,1792754163603993647,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762607983424405,-0.004368855180722513,0.10318272145649042,0.9999999219861573,-0.0001686768217883943,0.0002965343894005373,0.00017631230618780236,0.6761,-0.004,0.10277193906604541,1.0,0.0,0.0,0.0,-0.1326404171033101,0.08024387235478658,3.206323837706402,0.0062744648699591815,0.014407967281148557,0.0007932143190025975,0.8748643829110264,0.8962970072904343,3.416421370043325,0.07244931958774999,-0.06295988328976884,0.0023450564932633324,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1485346237199512,1.5064355154345044,-2.630578110852131,0.10224945730108002,1.8924173163622957,0.9044278560981537,0.5641585356493397,3.206323837706402,3.194736646501471,3.194736646501471,3.5587500000015373,0,0,-0.0003305138112322511,-9.999999025923074e-05
+5924,1792754163986058342,37567017000000,1792754163983982363,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762648113589358,-0.004372908626926672,0.1030644411924021,0.9999999199925041,-0.00016720973651651345,0.0003038844085814312,0.00017650218045657596,0.6761,-0.004,0.10264457784067017,1.0,0.0,0.0,0.0,-0.1322448236780056,0.07925707017673633,3.2272562083414194,0.006296297215170249,0.01339688795809156,0.000762068074837425,0.8752599763363309,0.895310205112384,3.4373537406783425,0.07247115193296105,-0.06397096261282584,0.00231391024909816,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1800640372476492,1.3460265548843675,-2.615302174119626,0.1590900387072971,1.891068796729013,0.8034639909079453,0.5641585356493397,3.2272562083414194,3.179460709768966,3.179460709768966,3.6150000000015727,0,0,-0.0003489696327977062,-9.999999025923074e-05
+5968,1792754164353040498,37567384000000,1792754164347981844,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.676264690420246,-0.004375619612121891,0.1029289829954202,0.9999999189410826,-0.00016933793966684654,0.0003053144136400114,0.00017795635226134694,0.6761,-0.004,0.10251365461180348,1.0,0.0,0.0,0.0,-0.11376723425025614,0.08230878238675121,3.2652583550429872,0.006316725826486333,0.012375727128028077,0.0007179037150261372,0.8937375657640804,0.8983619173223989,3.4753558873799104,0.07249158054427714,-0.06499212344288932,0.002269745889286872,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1330651019321925,1.3844601149138152,-2.6396938285655867,0.15499318441413973,1.8998453661910268,0.829106398126167,0.5641585356493397,3.2652583550429872,3.203852364214926,3.203852364214926,3.6700500000016074,0,0,-0.0003653877100149013,-9.999999025923074e-05
+6009,1792754164695044028,37567726000000,1792754164687982330,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762628477718499,-0.0043824227258428316,0.10280082586905745,0.9999999178947279,-0.0001758765629191747,0.0003048961195831748,0.00017821109017425584,0.6761,-0.004,0.10238577646554971,1.0,0.0,0.0,0.0,-0.10375073031322712,0.08010167550333291,3.2778603686202237,0.005333260849808133,0.011377152561152196,0.000681786037744593,0.9037540697011094,0.8961548104389806,3.487957900957147,0.07150811556759894,-0.0659906980097652,0.002233628212005328,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.103358050920172,1.522486003715807,-2.665910073549344,0.11246423080753301,1.908021279953796,0.9178319697050793,0.5641585356493397,3.2778603686202237,3.2300686091986837,3.2300686091986837,3.7213500000016397,0,0,-0.00038248770668355823,-9.999999025923074e-05
+6047,1792754165011002810,37568042000000,1792754165003982197,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762607664433672,-0.004388306370123285,0.10267362412646455,0.9999999175012481,-0.00017102889325437535,0.0003019572026201312,0.00018976650594647359,0.6761,-0.004,0.10226242185072558,1.0,0.0,0.0,0.0,-0.08548111841825778,0.07087155663768818,3.2971353388543814,0.005317384822264293,0.011373270375045125,0.0006682586672176383,0.9220236815960787,0.8869246915733359,3.5072328711913046,0.0714922395400551,-0.06599458019587227,0.002220100841478373,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1318268527086905,1.5026160051805226,-2.7137875461535836,0.12765829411317448,1.9497991780257755,0.9114882513684397,0.5641585356493397,3.2971353388543814,3.2779460818029236,3.2779460818029236,3.7687500000016696,0,0,-0.00039828770360547514,-9.999999025923074e-05
+6080,1792754165285987872,37568317000000,1792754165283981862,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762570038183844,-0.0043915313244626926,0.10255576724391574,0.9999999183509738,-0.00017657172214874102,0.00029535485674840253,0.00019060127347825,0.6761,-0.004,0.10215100898260374,1.0,0.0,0.0,0.0,-0.07190494600261421,0.06776038525223504,3.2967531387515328,0.004324993535268912,0.010378663075196887,0.0006429388882465482,0.9355998540117223,0.8838135201878827,3.506850671088456,0.07049984825305972,-0.06698918749572051,0.002194781062507283,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.093514319306054,1.446813569607137,-2.6809767782074605,0.16046111562798787,1.9202913745057835,0.8773757951073133,0.5641585356493397,3.2967531387515328,3.2451353138568004,3.2451353138568004,3.8100000000016956,0,0,-0.0004120377009267636,-9.999999025923074e-05
+6119,1792754165610986175,37568642000000,1792754165603983015,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762584800170597,-0.004396149186210076,0.10241338074301469,0.99999991750848,-0.00019103608184776054,0.00029501747463538987,0.00018137200003703882,0.6761,-0.004,0.10201446423031856,1.0,0.0,0.0,0.0,-0.05754091226031799,0.07609253530261917,3.287433553342723,0.005373494211020388,0.00934847019038379,0.0006481584668304185,0.9499638877540185,0.8921456702382669,3.497531085679646,0.07154834892881119,-0.06801938038053361,0.0022000006410911534,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0816438875996741,1.4329275963129722,-2.746936674086322,0.16260047918267667,1.9635673143270227,0.873487113150654,0.5641585356493397,3.287433553342723,3.3110952097356616,3.3110952097356616,3.8587500000017263,0,0,-0.0004282876977610136,-9.999999025923074e-05
+6150,1792754165869885093,37568901000000,1792754165863993086,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762549891907282,-0.004402736152144699,0.10229632501906731,0.9999999217811969,-0.00016498921131895115,0.00028735515975605934,0.00019515644084759846,0.6761,-0.004,0.10190186716692642,1.0,0.0,0.0,0.0,-0.05453058618119999,0.06121705638148223,3.296515461643636,0.003360882398015269,0.009384611563986955,0.0006179034051954607,0.9529742138331365,0.8772701913171299,3.5066129939805593,0.06953573711580607,-0.06798323900693044,0.0021697455794561955,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0635726820365543,1.3545608630097814,-2.660683872349785,0.18745891152356742,1.9083641260134117,0.8226296378323412,0.5641585356493397,3.296515461643636,3.224842407999125,3.224842407999125,3.8976000000017508,0,0,-0.00044123769523815435,-9.999999025923074e-05
+6184,1792754166152901475,37569184000000,1792754166151991931,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762542736418687,-0.0044057417422870325,0.10216532449029725,0.9999999181661737,-0.00018100923960626106,0.00029141776880497203,0.00019344727730848232,0.6761,-0.004,0.10177500174956547,1.0,0.0,0.0,0.0,-0.04652437111625374,0.05328807990835793,3.282470359309584,0.003359561762781821,0.008382500961291547,0.0006144176857068643,0.9609804288980828,0.8693412148440056,3.492567891646507,0.06953441648057263,-0.06898534960962585,0.002166259859967599,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.1657667666610954,1.3270126303062406,-2.683019271111968,0.22077502651803216,1.9522221009277816,0.8043671300096775,0.5641585356493397,3.282470359309584,3.2471778067613073,3.2471778067613073,3.9400500000017775,0,0,-0.00045538769248151665,-9.999999025923074e-05
+6216,1792754166419892289,37569451000000,1792754166419981863,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762564759799274,-0.004403971853253158,0.10204602415357628,0.9999999170647429,-0.00019938610409946523,0.00028944155635401666,0.0001837991799341451,0.6761,-0.004,0.10165163768602141,1.0,0.0,0.0,0.0,-0.03333687686024478,0.07571428994134133,3.237242523083179,0.004400000960777514,0.00736890427968169,0.0006487694618596662,0.9741679231540917,0.891767424876989,3.4473400554201024,0.07057485567856832,-0.06999894629123571,0.002200611636120401,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0611953504101568,1.476760084642568,-2.627257127859564,0.16684485971577312,1.8911045055544269,0.9079205929427874,0.5641585356493397,3.237242523083179,3.191415663508904,3.191415663508904,3.9801000000018028,0,0,-0.00046873768988073126,-9.999999025923074e-05
+6249,1792754166694826603,37569726000000,1792754166691982080,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762579077610671,-0.0044075177291441085,0.10190750088952774,0.999999916051604,-0.00018947688574152014,0.0002920990353106343,0.00019523399398457857,0.6761,-0.004,0.10152085107167387,1.0,0.0,0.0,0.0,-0.03693209593791014,0.0588219583545726,3.216159074613318,0.002355727166157992,0.008407021651633581,0.0006580002718218432,0.9705727040764264,0.8748750932902203,3.426256606950241,0.0685305818839488,-0.06896082891928382,0.002209842446082578,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0707001667182379,1.4039389335900927,-2.5887090430123627,0.1917223255947388,1.8694910322746496,0.8633752130438412,0.5641585356493397,3.216159074613318,3.152867578661702,3.152867578661702,4.021350000001766,0,0,-0.0004824876872020197,-9.999999025923074e-05
+6276,1792754166919922465,37569951000000,1792754166919982164,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762498005844861,-0.0044145375377214946,0.10178860385627404,0.9999999188388181,-0.00019494360987424737,0.00027770483087221406,0.00019657628847660484,0.6761,-0.004,0.10141103134230108,1.0,0.0,0.0,0.0,-0.017994130836286426,0.04060780504698602,3.19576512098966,0.0013638626908214213,0.0074203303091761735,0.0006495612951877788,0.9895106691780501,0.8566609399826337,3.405862653326583,0.06753871740861223,-0.06994752026174123,0.0022014034694485137,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,1.0753266617483586,1.346402965618899,-2.5021358047621955,0.21852562212138846,1.8220502634751552,0.8267901290876899,0.5641585356493397,3.19576512098966,3.0662943404115355,3.0662943404115355,4.055100000001687,0,0,-0.0004937376850103467,-9.999999025923074e-05
+6326,1792754167329905185,37570361000000,1792754167327981496,DOWN_SETTLE,6,0.053,0.053002193570137024,0.6762367795656903,-0.004413969812378359,0.10166707195248888,0.999999925903063,-0.00019651159150631159,0.00025247196779307066,0.00019307468149149873,0.6761,-0.004,0.10132575387673061,1.0,0.0,0.0,0.0,-0.01611341074948458,0.02760928868329382,3.0450605805511475,0.0003981624843890641,0.006456812313251611,0.0007442688282455659,0.9913913892648519,0.8436624236189415,3.2551581128880707,0.06657301720217987,-0.07091103825766579,0.0022961110025063007,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.9705830383943925,1.3861042761590965,-2.30674012662587,0.19534355668831654,1.6780976005151724,0.8516729201575657,0.5641585356493397,3.0450605805511475,2.8708986622752093,0.0,0.0,0,0,-1.767906121002789e-05,0.00017857637585886758
+6391,1792754167871873372,37570903000000,1792754167871981479,DOWN_PEAK_HOLD,6,0.053,0.053002193570137024,0.6762266011372782,-0.004408557795379418,0.10163301746363528,0.9999999316580287,-0.0001944127995406624,0.00023210045221426514,0.00019094461359894847,0.6761,-0.004,0.10132497683745315,1.0,0.0,0.0,0.0,0.0016176722612017969,0.01747168772106744,2.82427963156308,-0.0005445587661853657,0.0055155939518262975,-0.00012952716955799085,1.0091224722755383,0.8335248226567151,3.034377163900003,0.06563029595160544,-0.0718522566190911,0.001422315004702744,1.0075048000143365,0.8160531349356477,0.21009753233692327,0.0661748547177908,-0.0773678505709174,0.0015518421742607349,1,0.7993898886940726,1.506460930846155,-2.046863105340001,0.1431796830634356,1.4665855449317116,0.9266915600153756,0.5641585356493397,2.82427963156308,2.6110216409893408,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_0050_10/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,1792754139700355432,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.783094335e-10,-3.752781766e-11,4.707012558e-12,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450245e-01,-1.187827934e-04,8.303259008e-01
+1,6.666666667e-01,DOWN_FORCE_DETACH,1792754140437260739,1.652000978e-06,-1.804773584e-06,1.588680841e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.418503958e-08,1.120987166e-10,2.099514007e-09,7.019572848e-01,-2.407550861e-05,8.601446759e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450577e-01,-1.187826438e-04,8.303259029e-01
+2,1.266666667e+00,DOWN_FORCE_DETACH,1792754141063247687,5.545208177e-06,-3.669153925e-06,-1.637487467e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.721523577e-08,-1.042470385e-09,3.270530069e-09,7.019611780e-01,-2.593988895e-05,8.601414498e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450808e-01,-1.187837984e-04,8.303259041e-01
+3,1.933333333e+00,DOWN_FORCE_DETACH,1792754141747968128,6.938550401e-06,-3.515024779e-06,-3.783326996e-05,3.947988627e-06,-6.745226142e-06,-1.978192439e-05,4.059685437e-06,-6.803189824e-06,-1.977050970e-05,7.019625714e-01,-2.578575980e-05,8.601052540e-01,7.019595808e-01,-2.901596117e-05,8.601233053e-01,7.027490832e-01,-1.255859457e-04,8.303061303e-01
+4,2.500000000e+00,DOWN_FORCE_DETACH,1792754142304001164,1.431124001e-05,-1.012114272e-05,-8.464224862e-05,1.430651789e-05,-1.005494111e-05,-8.493006463e-05,1.438224254e-05,-1.013996511e-05,-8.474891770e-05,7.019699441e-01,-3.239187774e-05,8.600584450e-01,7.019699393e-01,-3.232567614e-05,8.600581572e-01,7.027594058e-01,-1.289227210e-04,8.302411519e-01
+5,3.066666667e+00,DOWN_FORCE_DETACH,1792754142861050122,2.628806830e-05,-1.303847145e-05,-1.304140257e-04,2.426398850e-05,-1.255229209e-05,-1.260898942e-04,2.462343096e-05,-1.267661420e-05,-1.258802244e-04,7.019819209e-01,-3.530920647e-05,8.600126732e-01,7.019798968e-01,-3.482302711e-05,8.600169973e-01,7.027696470e-01,-1.314593701e-04,8.302000206e-01
+6,3.566666667e+00,DOWN_FORCE_DETACH,1792754143369146351,3.420216035e-05,-1.745762036e-05,-1.900482419e-04,3.413349866e-05,-1.747536721e-05,-1.898674161e-04,3.451430023e-05,-1.766823966e-05,-1.895301411e-04,7.019898350e-01,-3.972835539e-05,8.599530390e-01,7.019897663e-01,-3.974610223e-05,8.599532198e-01,7.027795378e-01,-1.364509956e-04,8.301363707e-01
+7,4.066666667e+00,DOWN_FORCE_DETACH,1792754143860334273,4.194674794e-05,-1.714879817e-05,-2.667194726e-04,4.030218844e-05,-2.053165042e-05,-2.547464056e-04,4.031320946e-05,-2.073892720e-05,-2.544007931e-04,7.019975796e-01,-3.941953319e-05,8.598763678e-01,7.019959350e-01,-4.280238544e-05,8.598883408e-01,7.027853368e-01,-1.395216831e-04,8.300715000e-01
+8,4.466666667e+00,DOWN_FORCE_DETACH,1792754144253634790,4.827902780e-05,-1.923902253e-05,-3.521486155e-04,4.790622250e-05,-2.242714302e-05,-3.379349385e-04,4.756510952e-05,-2.266670444e-05,-3.374612576e-04,7.020039118e-01,-4.150975755e-05,8.597909386e-01,7.020035390e-01,-4.469787805e-05,8.598051523e-01,7.027925887e-01,-1.414494604e-04,8.299884396e-01
+9,5.000000000e+00,DOWN_FORCE_DETACH,1792754144777588923,6.551147952e-05,-2.107581075e-05,-4.230061792e-04,6.394318432e-05,-2.579456389e-05,-4.175397707e-04,6.380344302e-05,-2.608383073e-05,-4.170681814e-04,7.020211443e-01,-4.334654577e-05,8.597200811e-01,7.020195760e-01,-4.806529891e-05,8.597255475e-01,7.028088270e-01,-1.448665866e-04,8.299088326e-01
+10,5.466666667e+00,DOWN_FORCE_DETACH,1792754145236510871,8.378458251e-05,-2.648737707e-05,-5.120116185e-04,8.182141047e-05,-2.831868993e-05,-5.004731843e-04,8.205295704e-05,-2.863556666e-05,-4.999196035e-04,7.020394174e-01,-4.875811209e-05,8.596310756e-01,7.020374542e-01,-5.058942495e-05,8.596426141e-01,7.028270765e-01,-1.474183226e-04,8.298259812e-01
+11,5.900000000e+00,DOWN_FORCE_DETACH,1792754145661872307,9.664300932e-05,-2.683994851e-05,-6.058060133e-04,9.349805373e-05,-3.044572567e-05,-5.885235587e-04,9.360994328e-05,-3.078706825e-05,-5.879662105e-04,7.020522758e-01,-4.911068353e-05,8.595372812e-01,7.020491309e-01,-5.271646069e-05,8.595545637e-01,7.028386335e-01,-1.495698242e-04,8.297379346e-01
+12,6.350000000e+00,DOWN_FORCE_DETACH,1792754146104726732,1.108368553e-04,-3.148466749e-05,-7.113968147e-04,1.043310555e-04,-3.246343140e-05,-6.978845630e-04,1.039728963e-04,-3.278911599e-05,-6.972891833e-04,7.020664697e-01,-5.375540252e-05,8.594316904e-01,7.020599639e-01,-5.473416642e-05,8.594452027e-01,7.028489964e-01,-1.515718719e-04,8.296286116e-01
+13,6.733333333e+00,DOWN_FORCE_DETACH,1792754146480684133,1.142853174e-04,-3.776034276e-05,-8.076345633e-04,1.142742371e-04,-3.778389472e-05,-8.075497218e-04,1.133338234e-04,-3.814319035e-05,-8.068721500e-04,7.020699181e-01,-6.003107778e-05,8.593354527e-01,7.020699071e-01,-6.005462975e-05,8.593355375e-01,7.028583574e-01,-1.569259463e-04,8.295190287e-01
+14,7.216666667e+00,DOWN_FORCE_DETACH,1792754146957209085,1.269927072e-04,-3.859134068e-05,-9.094126859e-04,1.235075336e-04,-4.297498936e-05,-8.962149377e-04,1.221519103e-04,-4.341067092e-05,-8.955572683e-04,7.020826255e-01,-6.086207570e-05,8.592336746e-01,7.020791404e-01,-6.524572439e-05,8.592468723e-01,7.028671755e-01,-1.621934268e-04,8.294303436e-01
+15,7.666666667e+00,DOWN_FORCE_DETACH,1792754147398209754,1.338697195e-04,-4.049520350e-05,-1.001485813e-03,1.313045216e-04,-4.536820810e-05,-9.841149501e-04,1.295433760e-04,-4.583730964e-05,-9.834887171e-04,7.020895025e-01,-6.276593852e-05,8.591416014e-01,7.020869373e-01,-6.763894312e-05,8.591589723e-01,7.028745669e-01,-1.646200656e-04,8.293424121e-01
+16,8.200000000e+00,DOWN_FORCE_DETACH,1792754147922409636,1.442895858e-04,-4.654320382e-05,-1.093526822e-03,1.399078654e-04,-4.442003796e-05,-1.094205962e-03,1.375012895e-04,-4.489644210e-05,-1.093600064e-03,7.020999224e-01,-6.881393884e-05,8.590495604e-01,7.020955407e-01,-6.669077298e-05,8.590488813e-01,7.028825248e-01,-1.636791980e-04,8.292323008e-01
+17,8.666666667e+00,DOWN_FORCE_DETACH,1792754148409671775,1.473651056e-04,-5.259016365e-05,-1.176008486e-03,1.489699865e-04,-5.276165643e-05,-1.159599869e-03,1.464459085e-04,-5.336670881e-05,-1.159021867e-03,7.021029979e-01,-7.486089867e-05,8.589670788e-01,7.021046028e-01,-7.503239146e-05,8.589834874e-01,7.028914695e-01,-1.721494647e-04,8.291668790e-01
+18,9.200000000e+00,DOWN_FORCE_DETACH,1792754148955594607,1.549686503e-04,-5.124895510e-05,-1.248509273e-03,1.542865260e-04,-5.624043756e-05,-1.249367336e-03,1.510854535e-04,-5.686365704e-05,-1.248819639e-03,7.021106015e-01,-7.351969013e-05,8.588945780e-01,7.021099193e-01,-7.851117258e-05,8.588937199e-01,7.028961090e-01,-1.756464130e-04,8.290770812e-01
+19,9.900000000e+00,DOWN_FORCE_DETACH,1792754149658432207,1.650097120e-04,-5.715582442e-05,-1.324857156e-03,1.608107628e-04,-5.317523076e-05,-1.314660478e-03,1.573752770e-04,-5.376770614e-05,-1.314242075e-03,7.021206425e-01,-7.942655944e-05,8.588182301e-01,7.021164436e-01,-7.544596578e-05,8.588284268e-01,7.029023988e-01,-1.725504621e-04,8.290116588e-01
+20,1.048333333e+01,DOWN_FORCE_DETACH,1792754150362805191,1.687499075e-04,-5.476049938e-05,-1.389032243e-03,1.673968523e-04,-5.575732478e-05,-1.374940345e-03,1.637570143e-04,-5.637985982e-05,-1.374548582e-03,7.021243827e-01,-7.703123440e-05,8.587540550e-01,7.021230297e-01,-7.802805980e-05,8.587681469e-01,7.029087806e-01,-1.751626157e-04,8.289513522e-01
+21,1.115000000e+01,DOWN_FORCE_DETACH,1792754151018870691,1.723155493e-04,-6.274898645e-05,-1.429430130e-03,1.701330930e-04,-5.900578076e-05,-1.418301252e-03,1.661762269e-04,-5.966205125e-05,-1.418068023e-03,7.021279484e-01,-8.501972148e-05,8.587136571e-01,7.021257659e-01,-8.127651578e-05,8.587247860e-01,7.029111998e-01,-1.784448072e-04,8.289078328e-01
+22,1.170000000e+01,DOWN_FORCE_DETACH,1792754151558853605,1.777767683e-04,-5.534561152e-05,-1.454445685e-03,1.735389942e-04,-6.188650758e-05,-1.442145979e-03,1.695247028e-04,-6.257809059e-05,-1.441986687e-03,7.021334096e-01,-7.761634654e-05,8.586886416e-01,7.021291718e-01,-8.415724260e-05,8.587009413e-01,7.029145482e-01,-1.813608465e-04,8.288839141e-01
+23,1.221666667e+01,DOWN_FORCE_DETACH,1792754152099052171,1.816454962e-04,-6.234400920e-05,-1.493323412e-03,1.788765120e-04,-6.775487076e-05,-1.482385969e-03,1.747875337e-04,-6.852026463e-05,-1.482196679e-03,7.021372783e-01,-8.461474423e-05,8.586497638e-01,7.021345093e-01,-9.002560579e-05,8.586607013e-01,7.029198111e-01,-1.873030205e-04,8.288437041e-01
+24,1.285000000e+01,DOWN_FORCE_DETACH,1792754152738074341,1.859809284e-04,-6.058351698e-05,-1.549463418e-03,1.854627194e-04,-6.221427969e-05,-1.547439085e-03,1.811126654e-04,-6.289843934e-05,-1.547258750e-03,7.021416137e-01,-8.285425200e-05,8.585936238e-01,7.021410955e-01,-8.448501471e-05,8.585956482e-01,7.029261362e-01,-1.816811953e-04,8.287786421e-01
+25,1.348333333e+01,DOWN_FORCE_DETACH,1792754153376831614,1.969065996e-04,-6.282506611e-05,-1.621096507e-03,1.955402347e-04,-6.180577567e-05,-1.610259157e-03,1.912224566e-04,-6.249957221e-05,-1.610030335e-03,7.021525394e-01,-8.509580114e-05,8.585219907e-01,7.021511731e-01,-8.407651069e-05,8.585328281e-01,7.029362460e-01,-1.812823281e-04,8.287158705e-01
+26,1.413333333e+01,DOWN_FORCE_DETACH,1792754154015513103,2.036014754e-04,-6.468488120e-05,-1.704006714e-03,2.014296809e-04,-6.556015579e-05,-1.694115246e-03,1.965601149e-04,-6.630183555e-05,-1.693915925e-03,7.021592343e-01,-8.695561622e-05,8.584390805e-01,7.021570625e-01,-8.783089081e-05,8.584489720e-01,7.029415837e-01,-1.850845915e-04,8.286319849e-01
+27,1.460000000e+01,DOWN_FORCE_DETACH,1792754154474317317,2.071599787e-04,-7.476600649e-05,-1.776445630e-03,2.044915428e-04,-6.968370643e-05,-1.758895366e-03,1.990958327e-04,-7.044975583e-05,-1.758629270e-03,7.021627928e-01,-9.703674151e-05,8.583666416e-01,7.021601244e-01,-9.195444145e-05,8.583841919e-01,7.029441194e-01,-1.892325117e-04,8.285672716e-01
+28,1.508333333e+01,DOWN_FORCE_DETACH,1792754155016103086,2.177851452e-04,-8.004436888e-05,-1.851893917e-03,2.166201604e-04,-7.556318327e-05,-1.842645258e-03,2.111131297e-04,-7.642894549e-05,-1.842353134e-03,7.021734180e-01,-1.023151039e-04,8.582911933e-01,7.021722530e-01,-9.783391829e-05,8.583004420e-01,7.029561367e-01,-1.952117014e-04,8.284835477e-01
+29,1.565000000e+01,DOWN_FORCE_DETACH,1792754155572299670,2.233966928e-04,-7.953668543e-05,-1.940778298e-03,2.209957977e-04,-8.002599880e-05,-1.930271060e-03,2.147161675e-04,-8.091886930e-05,-1.929945409e-03,7.021790295e-01,-1.018074205e-04,8.582023089e-01,7.021766286e-01,-1.022967338e-04,8.582128162e-01,7.029597397e-01,-1.997016252e-04,8.283959554e-01
+30,1.610000000e+01,DOWN_FORCE_DETACH,1792754156079113914,2.317477535e-04,-8.187767974e-05,-2.022344214e-03,2.283916461e-04,-8.589640771e-05,-2.017456587e-03,2.216494422e-04,-8.686486189e-05,-2.017146480e-03,7.021873806e-01,-1.041484148e-04,8.581207430e-01,7.021840245e-01,-1.081671427e-04,8.581256307e-01,7.029666730e-01,-2.056476178e-04,8.283087543e-01
+31,1.660000000e+01,DOWN_FORCE_DETACH,1792754156570544106,2.410207393e-04,-8.810081074e-05,-2.099742779e-03,2.372279151e-04,-8.686489018e-05,-2.086371665e-03,2.303576449e-04,-8.786583193e-05,-2.086042327e-03,7.021966536e-01,-1.103715458e-04,8.580433445e-01,7.021928607e-01,-1.091356252e-04,8.580567156e-01,7.029753812e-01,-2.066485878e-04,8.282398585e-01
+32,1.711666667e+01,DOWN_FORCE_DETACH,1792754157111010994,2.455088396e-04,-8.868772940e-05,-2.189840511e-03,2.472547196e-04,-9.045431723e-05,-2.176163974e-03,2.401135469e-04,-9.150796574e-05,-2.175779950e-03,7.022011417e-01,-1.109584644e-04,8.579532467e-01,7.022028875e-01,-1.127250522e-04,8.579669233e-01,7.029851371e-01,-2.102907217e-04,8.281501209e-01
+33,1.768333333e+01,DOWN_FORCE_DETACH,1792754157685600458,2.554754252e-04,-9.143909572e-05,-2.271304771e-03,2.535246140e-04,-9.126374153e-05,-2.264789311e-03,2.457983420e-04,-9.224778440e-05,-2.264532741e-03,7.022111082e-01,-1.137098307e-04,8.578717825e-01,7.022091574e-01,-1.135344766e-04,8.578782979e-01,7.029908219e-01,-2.110305403e-04,8.280613681e-01
+34,1.825000000e+01,DOWN_FORCE_DETACH,1792754158241582481,2.653938320e-04,-8.991727742e-05,-2.366598828e-03,2.621127969e-04,-9.218631715e-05,-2.352025106e-03,2.540008605e-04,-9.320486604e-05,-2.351807696e-03,7.022210266e-01,-1.121880124e-04,8.577764884e-01,7.022177456e-01,-1.144570522e-04,8.577910621e-01,7.029990244e-01,-2.119876220e-04,8.279740931e-01
+35,1.870000000e+01,DOWN_FORCE_DETACH,1792754158700524890,2.679870851e-04,-8.610035918e-05,-2.449920774e-03,2.697309877e-04,-9.212825105e-05,-2.436165023e-03,2.612211457e-04,-9.314255545e-05,-2.435901801e-03,7.022236199e-01,-1.083710942e-04,8.576931665e-01,7.022253638e-01,-1.143989861e-04,8.577069222e-01,7.030062447e-01,-2.119253114e-04,8.278899990e-01
+36,1.923333333e+01,DOWN_FORCE_DETACH,1792754159224072413,2.802274940e-04,-8.939061405e-05,-2.525868518e-03,2.801316777e-04,-8.931020413e-05,-2.526013480e-03,2.713190657e-04,-9.027183668e-05,-2.525682215e-03,7.022358603e-01,-1.116613491e-04,8.576172187e-01,7.022357645e-01,-1.115809392e-04,8.576170738e-01,7.030163426e-01,-2.090545926e-04,8.278002186e-01
+37,1.970000000e+01,DOWN_FORCE_DETACH,1792754159682896951,2.812935921e-04,-8.855506051e-05,-2.626276512e-03,2.801510728e-04,-8.723261846e-05,-2.615877387e-03,2.702406633e-04,-8.820210637e-05,-2.615599012e-03,7.022369264e-01,-1.108257955e-04,8.575168107e-01,7.022357839e-01,-1.095033535e-04,8.575272099e-01,7.030152642e-01,-2.069848623e-04,8.277103018e-01
+38,2.020000000e+01,DOWN_FORCE_DETACH,1792754160173897984,2.919760692e-04,-8.510838038e-05,-2.718952108e-03,2.860944851e-04,-8.694193488e-05,-2.705698505e-03,2.755803464e-04,-8.789407050e-05,-2.705421289e-03,7.022476089e-01,-1.073791154e-04,8.574241351e-01,7.022417273e-01,-1.092126699e-04,8.574373887e-01,7.030206039e-01,-2.066768264e-04,8.276204795e-01
+39,2.061666667e+01,DOWN_FORCE_DETACH,1792754160649663127,2.891234609e-04,-9.236053062e-05,-2.827285751e-03,2.884359076e-04,-8.899216201e-05,-2.808910482e-03,2.768565605e-04,-8.999990662e-05,-2.808587339e-03,7.022447563e-01,-1.146312656e-04,8.573158015e-01,7.022440687e-01,-1.112628970e-04,8.573341768e-01,7.030218801e-01,-2.087826625e-04,8.275173135e-01
+40,2.110000000e+01,DOWN_FORCE_DETACH,1792754161124169133,2.969490554e-04,-9.795036083e-05,-2.928351713e-03,2.977071982e-04,-9.729326985e-05,-2.919889626e-03,2.855198439e-04,-9.840331268e-05,-2.919572135e-03,7.022525819e-01,-1.202210959e-04,8.572147355e-01,7.022533400e-01,-1.195640049e-04,8.572231976e-01,7.030305434e-01,-2.171860686e-04,8.274063287e-01
+41,2.151666667e+01,DOWN_FORCE_DETACH,1792754161533876478,2.992046476e-04,-1.005009649e-04,-3.027328548e-03,2.961293506e-04,-9.871269810e-05,-3.008927544e-03,2.827695210e-04,-9.983197960e-05,-3.008569768e-03,7.022548375e-01,-1.227716999e-04,8.571157587e-01,7.022517622e-01,-1.209834331e-04,8.571341597e-01,7.030277931e-01,-2.186147355e-04,8.273173311e-01
+42,2.198333333e+01,DOWN_FORCE_DETACH,1792754161992268880,3.044948236e-04,-1.023640050e-04,-3.135206925e-03,3.027866212e-04,-1.005963560e-04,-3.118373805e-03,2.886570053e-04,-1.017351334e-04,-3.118075674e-03,7.022601276e-01,-1.246347400e-04,8.570078803e-01,7.022584194e-01,-1.228670910e-04,8.570247134e-01,7.030336806e-01,-2.205178893e-04,8.272078252e-01
+43,2.236666667e+01,DOWN_FORCE_DETACH,1792754162380659587,3.082364887e-04,-1.073589298e-04,-3.236894121e-03,3.081698079e-04,-1.051057167e-04,-3.235586142e-03,2.930333491e-04,-1.062593259e-04,-3.235224249e-03,7.022638693e-01,-1.296296648e-04,8.569061931e-01,7.022638026e-01,-1.273764517e-04,8.569075011e-01,7.030380569e-01,-2.250420818e-04,8.270906766e-01
+44,2.275000000e+01,DOWN_FORCE_DETACH,1792754162844276642,3.183539839e-04,-1.089906263e-04,-3.359458481e-03,3.149153988e-04,-1.116413347e-04,-3.346999873e-03,2.989675801e-04,-1.128428607e-04,-3.346653465e-03,7.022739868e-01,-1.312613613e-04,8.567836288e-01,7.022705482e-01,-1.339120698e-04,8.567960874e-01,7.030439911e-01,-2.316256166e-04,8.269792474e-01
+45,2.313333333e+01,DOWN_FORCE_DETACH,1792754163237157349,3.213526057e-04,-1.106404008e-04,-3.472267737e-03,3.225465245e-04,-1.120975379e-04,-3.456498834e-03,3.058938516e-04,-1.133749445e-04,-3.456157492e-03,7.022769854e-01,-1.329111358e-04,8.566708195e-01,7.022781793e-01,-1.343682729e-04,8.566865884e-01,7.030509174e-01,-2.321577004e-04,8.268697433e-01
+46,2.351666667e+01,DOWN_FORCE_DETACH,1792754163613740983,3.273122060e-04,-1.171375491e-04,-3.581793246e-03,3.233823368e-04,-1.184775709e-04,-3.583706888e-03,3.052079720e-04,-1.198109637e-04,-3.583268817e-03,7.022829450e-01,-1.394082841e-04,8.565612940e-01,7.022790152e-01,-1.407483059e-04,8.565593804e-01,7.030502315e-01,-2.385937196e-04,8.267426320e-01
+47,2.390000000e+01,DOWN_FORCE_DETACH,1792754163990315441,3.285536391e-04,-1.201633269e-04,-3.704949915e-03,3.299594838e-04,-1.219792477e-04,-3.691838815e-03,3.110129310e-04,-1.233410361e-04,-3.691483998e-03,7.022841865e-01,-1.424340619e-04,8.564381373e-01,7.022855923e-01,-1.442499827e-04,8.564512484e-01,7.030560365e-01,-2.421237920e-04,8.266344168e-01
+48,2.425000000e+01,DOWN_FORCE_DETACH,1792754164351237041,3.261769565e-04,-1.288885194e-04,-3.843151534e-03,3.309905083e-04,-1.240679380e-04,-3.824833967e-03,3.105370584e-04,-1.254636677e-04,-3.824469253e-03,7.022818098e-01,-1.511592544e-04,8.562999357e-01,7.022866233e-01,-1.463386730e-04,8.563182533e-01,7.030555606e-01,-2.442464236e-04,8.265014316e-01
+49,2.458333333e+01,DOWN_FORCE_DETACH,1792754164695321057,3.272617886e-04,-1.321608901e-04,-3.966590972e-03,3.273820130e-04,-1.304795047e-04,-3.960367149e-03,3.050219759e-04,-1.319525771e-04,-3.959971480e-03,7.022828946e-01,-1.544316251e-04,8.561764963e-01,7.022830148e-01,-1.527502398e-04,8.561827201e-01,7.030500455e-01,-2.507353330e-04,8.263659293e-01
+50,2.490000000e+01,DOWN_FORCE_DETACH,1792754165007990139,3.250890795e-04,-1.396931341e-04,-4.089861510e-03,3.241819287e-04,-1.374854105e-04,-4.080381530e-03,3.002080426e-04,-1.389989805e-04,-4.079998618e-03,7.022807219e-01,-1.619638691e-04,8.560532257e-01,7.022798147e-01,-1.597561455e-04,8.560627057e-01,7.030452316e-01,-2.577817364e-04,8.262459022e-01
+51,2.516666667e+01,DOWN_FORCE_DETACH,1792754165287074451,3.208160841e-04,-1.465932860e-04,-4.213217796e-03,3.208361037e-04,-1.466503936e-04,-4.213047598e-03,2.949955977e-04,-1.482662388e-04,-4.212702326e-03,7.022764489e-01,-1.688640210e-04,8.559298694e-01,7.022764689e-01,-1.689211286e-04,8.559300396e-01,7.030400191e-01,-2.670489947e-04,8.261131985e-01
+52,2.543333333e+01,DOWN_FORCE_DETACH,1792754165612971066,3.254479475e-04,-1.461174590e-04,-4.351952837e-03,3.255085631e-04,-1.460603086e-04,-4.345954430e-03,2.984354889e-04,-1.476988269e-04,-4.345500502e-03,7.022810808e-01,-1.683881940e-04,8.557911344e-01,7.022811414e-01,-1.683310436e-04,8.557971328e-01,7.030434590e-01,-2.664815828e-04,8.259804003e-01
+53,2.570000000e+01,DOWN_FORCE_DETACH,1792754165873762364,3.205593081e-04,-1.550687464e-04,-4.473192354e-03,3.187288236e-04,-1.518424616e-04,-4.469932266e-03,2.897028660e-04,-1.534931352e-04,-4.469550357e-03,7.022761921e-01,-1.773394815e-04,8.556698949e-01,7.022743616e-01,-1.741131966e-04,8.556731550e-01,7.030347264e-01,-2.722758911e-04,8.258563505e-01
+54,2.598333333e+01,DOWN_FORCE_DETACH,1792754166152888330,3.182101556e-04,-1.563994777e-04,-4.603254988e-03,3.151198198e-04,-1.575838528e-04,-4.593111730e-03,2.842905167e-04,-1.592624821e-04,-4.592768079e-03,7.022738430e-01,-1.786702127e-04,8.555398323e-01,7.022707526e-01,-1.798545878e-04,8.555499755e-01,7.030293141e-01,-2.780452380e-04,8.257331327e-01
+55,2.625000000e+01,DOWN_FORCE_DETACH,1792754166415459636,3.224755307e-04,-1.562455704e-04,-4.715446646e-03,3.215571501e-04,-1.567322504e-04,-4.708044160e-03,2.898711146e-04,-1.584273772e-04,-4.707679639e-03,7.022781083e-01,-1.785163055e-04,8.554276406e-01,7.022771900e-01,-1.790029854e-04,8.554350431e-01,7.030348947e-01,-2.772101331e-04,8.256182212e-01
+56,2.651666667e+01,DOWN_FORCE_DETACH,1792754166693012947,3.218550502e-04,-1.611399332e-04,-4.859234654e-03,3.214853564e-04,-1.594942875e-04,-4.844921129e-03,2.881693375e-04,-1.612015694e-04,-4.844583206e-03,7.022774879e-01,-1.834106682e-04,8.552838526e-01,7.022771182e-01,-1.817650226e-04,8.552981661e-01,7.030331929e-01,-2.799843254e-04,8.254813176e-01
+57,2.675000000e+01,DOWN_FORCE_DETACH,1792754166922893169,3.136995509e-04,-1.612699406e-04,-4.983318300e-03,3.148823168e-04,-1.612023754e-04,-4.971998589e-03,2.795437569e-04,-1.629216402e-04,-4.971734985e-03,7.022693324e-01,-1.835406756e-04,8.551597689e-01,7.022705151e-01,-1.834731105e-04,8.551710886e-01,7.030245673e-01,-2.817043961e-04,8.253541658e-01
+58,2.716666667e+01,DOWN_SETTLE,1792754167333307543,3.011396744e-04,-1.669456063e-04,-5.100836915e-03,3.055951692e-04,-1.647388105e-04,-5.086862634e-03,2.681301088e-04,-1.665086402e-04,-5.086760047e-03,7.022567725e-01,-1.892163414e-04,8.550422503e-01,7.022612280e-01,-1.870095456e-04,8.550562246e-01,7.030131537e-01,-2.852913961e-04,8.252391408e-01
+59,2.770000000e+01,DOWN_PEAK_HOLD,1792754167873339418,2.923024281e-04,-1.632104559e-04,-5.131368298e-03,2.929582696e-04,-1.625904992e-04,-5.127165313e-03,2.540566486e-04,-1.643674699e-04,-5.127434674e-03,7.022479352e-01,-1.854811909e-04,8.550117189e-01,7.022485911e-01,-1.848612342e-04,8.550159219e-01,7.029990802e-01,-2.831502258e-04,8.251984662e-01

Fixed/digit/ball_0050_10/press_depth_06/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.2955e-02,3.5351e-02,2.4563e+00,-3.9205e-02,3.8394e-02,3.6181e-05,1.6870e-04,1.4082e-06,4.7684e-07,3.6880e-07,1.2014e-05,-4.2914e-07,1.6870e-04,1.2027e-05
+1,6.6667e-01,DOWN_FORCE_DETACH,1.4477e-04,2.8717e-02,3.5553e-02,2.4567e+00,-3.9204e-02,3.8802e-02,2.4414e-05,5.9316e-03,2.0318e-04,3.4308e-04,1.5683e-06,4.2062e-04,-1.2196e-05,5.9450e-03,4.2080e-04
+2,1.2667e+00,DOWN_FORCE_DETACH,2.8646e-04,3.2728e-02,3.5480e-02,2.4569e+00,-3.9188e-02,3.9086e-02,2.0084e-05,9.9426e-03,1.3002e-04,5.4264e-04,1.7311e-05,7.0435e-04,-1.6527e-05,9.9582e-03,7.0475e-04
+3,1.9333e+00,DOWN_FORCE_DETACH,4.3004e-04,3.4710e-02,4.3021e-02,2.4641e+00,-3.9708e-02,3.9220e-02,2.0324e-05,1.1924e-02,7.6715e-03,7.8015e-03,-5.0319e-04,8.3783e-04,-1.6287e-05,1.6183e-02,9.7746e-04
+4,2.5000e+00,DOWN_FORCE_DETACH,5.7443e-04,3.5439e-02,4.4739e-02,2.4774e+00,-3.9821e-02,3.9259e-02,2.0041e-05,1.2653e-02,9.3891e-03,2.1066e-02,-6.1605e-04,8.7702e-04,-1.6569e-05,2.6306e-02,1.0719e-03
+5,3.0667e+00,DOWN_FORCE_DETACH,7.1356e-04,3.1727e-02,4.9951e-02,2.4956e+00,-4.0178e-02,3.8980e-02,2.1040e-05,8.9407e-03,1.4601e-02,3.9276e-02,-9.7298e-04,5.9802e-04,-1.5571e-05,4.2845e-02,1.1422e-03
+6,3.5667e+00,DOWN_FORCE_DETACH,8.5858e-04,3.2660e-02,5.4576e-02,2.5021e+00,-4.0495e-02,3.9039e-02,2.1628e-05,9.8737e-03,1.9227e-02,4.5776e-02,-1.2904e-03,6.5687e-04,-1.4982e-05,5.0622e-02,1.4480e-03
+7,4.0667e+00,DOWN_FORCE_DETACH,1.0029e-03,3.1483e-02,5.9536e-02,2.5238e+00,-4.0837e-02,3.8935e-02,2.0084e-05,8.6973e-03,2.4187e-02,6.7480e-02,-1.6317e-03,5.5354e-04,-1.6527e-05,7.2209e-02,1.7232e-03
+8,4.4667e+00,DOWN_FORCE_DETACH,1.1468e-03,3.1552e-02,6.2255e-02,2.5450e+00,-4.1022e-02,3.8921e-02,1.5705e-05,8.7661e-03,2.6905e-02,8.8666e-02,-1.8172e-03,5.3879e-04,-2.0905e-05,9.3072e-02,1.8955e-03
+9,5.0000e+00,DOWN_FORCE_DETACH,1.2910e-03,2.7348e-02,6.6102e-02,2.5513e+00,-4.1277e-02,3.8620e-02,6.2278e-06,4.5616e-03,3.0753e-02,9.5010e-02,-2.0722e-03,2.3792e-04,-3.0383e-05,9.9967e-02,2.0860e-03
+10,5.4667e+00,DOWN_FORCE_DETACH,1.4306e-03,2.3595e-02,6.9558e-02,2.5571e+00,-4.1504e-02,3.8353e-02,-7.2272e-06,8.0951e-04,3.4208e-02,1.0081e-01,-2.2986e-03,-2.9039e-05,-4.3838e-05,1.0646e-01,2.2992e-03
+11,5.9000e+00,DOWN_FORCE_DETACH,1.5731e-03,2.3514e-02,7.3146e-02,2.5622e+00,-4.1734e-02,3.8347e-02,-2.0381e-05,7.2781e-04,3.7796e-02,1.0586e-01,-2.5292e-03,-3.4817e-05,-5.6991e-05,1.1240e-01,2.5301e-03
+12,6.3500e+00,DOWN_FORCE_DETACH,1.7211e-03,2.4516e-02,7.6483e-02,2.5725e+00,-4.1949e-02,3.8409e-02,-2.5501e-05,1.7297e-03,4.1134e-02,1.1618e-01,-2.7435e-03,2.7563e-05,-6.2112e-05,1.2326e-01,2.7444e-03
+13,6.7333e+00,DOWN_FORCE_DETACH,1.8619e-03,2.6260e-02,8.6010e-02,2.5775e+00,-4.2608e-02,3.8524e-02,-1.4078e-05,3.4746e-03,5.0661e-02,1.2121e-01,-3.4030e-03,1.4206e-04,-5.0688e-05,1.3142e-01,3.4063e-03
+14,7.2167e+00,DOWN_FORCE_DETACH,2.0053e-03,2.6700e-02,8.7908e-02,2.5850e+00,-4.2750e-02,3.8540e-02,1.5097e-05,3.9140e-03,5.2559e-02,1.2868e-01,-3.5445e-03,1.5832e-04,-2.1514e-05,1.3906e-01,3.5481e-03
+15,7.6667e+00,DOWN_FORCE_DETACH,2.1509e-03,2.7849e-02,8.8206e-02,2.5822e+00,-4.2785e-02,3.8624e-02,5.0026e-05,5.0627e-03,5.2857e-02,1.2592e-01,-3.5797e-03,2.4224e-04,1.3416e-05,1.3666e-01,3.5879e-03
+16,8.2000e+00,DOWN_FORCE_DETACH,2.2899e-03,2.9116e-02,8.3848e-02,2.5813e+00,-4.2483e-02,3.8721e-02,7.6943e-05,6.3303e-03,4.8498e-02,1.2493e-01,-3.2779e-03,3.3940e-04,4.0333e-05,1.3417e-01,3.2956e-03
+17,8.6667e+00,DOWN_FORCE_DETACH,2.4324e-03,2.9858e-02,9.2750e-02,2.5701e+00,-4.3101e-02,3.8783e-02,7.5408e-05,7.0721e-03,5.7400e-02,1.1380e-01,-3.8960e-03,4.0133e-04,3.8798e-05,1.2766e-01,3.9168e-03
+18,9.2000e+00,DOWN_FORCE_DETACH,2.5785e-03,3.2459e-02,9.7494e-02,2.5729e+00,-4.3414e-02,3.8958e-02,4.2359e-05,9.6732e-03,6.2144e-02,1.1655e-01,-4.2085e-03,5.7629e-04,5.7481e-06,1.3244e-01,4.2478e-03
+19,9.9000e+00,DOWN_FORCE_DETACH,2.7204e-03,3.6505e-02,9.4868e-02,2.5530e+00,-4.3205e-02,3.9261e-02,-1.5405e-05,1.3719e-02,5.9519e-02,9.6662e-02,-4.0004e-03,8.7945e-04,-5.2015e-05,1.1434e-01,4.0963e-03
+20,1.0483e+01,DOWN_FORCE_DETACH,2.8649e-03,3.8083e-02,9.9133e-02,2.5420e+00,-4.3488e-02,3.9389e-02,-4.6181e-05,1.5297e-02,6.3783e-02,8.5650e-02,-4.2830e-03,1.0072e-03,-8.2791e-05,1.0788e-01,4.4006e-03
+21,1.1150e+01,DOWN_FORCE_DETACH,3.0101e-03,4.0535e-02,1.0285e-01,2.5225e+00,-4.3763e-02,3.9586e-02,-5.2072e-05,1.7749e-02,6.7498e-02,6.6189e-02,-4.5580e-03,1.2038e-03,-8.8683e-05,9.6188e-02,4.7151e-03
+22,1.1700e+01,DOWN_FORCE_DETACH,3.1523e-03,4.1153e-02,1.0517e-01,2.5091e+00,-4.3958e-02,3.9641e-02,-4.0256e-05,1.8367e-02,6.9816e-02,5.2785e-02,-4.7530e-03,1.2590e-03,-7.6866e-05,8.9431e-02,4.9175e-03
+23,1.2217e+01,DOWN_FORCE_DETACH,3.2918e-03,4.0666e-02,1.1142e-01,2.5086e+00,-4.4424e-02,3.9604e-02,-2.1283e-05,1.7880e-02,7.6075e-02,5.2286e-02,-5.2193e-03,1.2219e-03,-5.7894e-05,9.4026e-02,5.3607e-03
+24,1.2850e+01,DOWN_FORCE_DETACH,3.4378e-03,3.9290e-02,1.0451e-01,2.5170e+00,-4.3965e-02,3.9494e-02,1.3853e-06,1.6504e-02,6.9157e-02,6.0683e-02,-4.7601e-03,1.1125e-03,-3.5225e-05,9.3474e-02,4.8885e-03
+25,1.3483e+01,DOWN_FORCE_DETACH,3.5813e-03,3.5942e-02,1.0320e-01,2.5206e+00,-4.3888e-02,3.9252e-02,2.3883e-05,1.3156e-02,6.7846e-02,6.4251e-02,-4.6831e-03,8.7034e-04,-1.2728e-05,9.4363e-02,4.7633e-03
+26,1.4133e+01,DOWN_FORCE_DETACH,3.7254e-03,3.5303e-02,1.0682e-01,2.5286e+00,-4.4142e-02,3.9200e-02,4.1782e-05,1.2517e-02,7.1471e-02,7.2240e-02,-4.9374e-03,8.1816e-04,5.1713e-06,1.0239e-01,5.0047e-03
+27,1.4600e+01,DOWN_FORCE_DETACH,3.8685e-03,3.5352e-02,1.1092e-01,2.5329e+00,-4.4421e-02,3.9202e-02,4.8655e-05,1.2566e-02,7.5568e-02,7.6613e-02,-5.2164e-03,8.1998e-04,1.2045e-05,1.0834e-01,5.2805e-03
+28,1.5083e+01,DOWN_FORCE_DETACH,4.0078e-03,3.2031e-02,1.1739e-01,2.5428e+00,-4.4854e-02,3.8961e-02,5.3146e-05,9.2447e-03,8.2043e-02,8.6456e-02,-5.6492e-03,5.7911e-04,1.6535e-05,1.1955e-01,5.6788e-03
+29,1.5650e+01,DOWN_FORCE_DETACH,4.1546e-03,3.4284e-02,1.2248e-01,2.5456e+00,-4.5189e-02,3.9118e-02,5.0386e-05,1.1499e-02,8.7130e-02,8.9237e-02,-5.9843e-03,7.3582e-04,1.3776e-05,1.2525e-01,6.0294e-03
+30,1.6100e+01,DOWN_FORCE_DETACH,4.2989e-03,3.5247e-02,1.2925e-01,2.5571e+00,-4.5645e-02,3.9170e-02,4.7701e-05,1.2461e-02,9.3901e-02,1.0079e-01,-6.4399e-03,7.8866e-04,1.1090e-05,1.3831e-01,6.4881e-03
+31,1.6600e+01,DOWN_FORCE_DETACH,4.4382e-03,3.6363e-02,1.3020e-01,2.5541e+00,-4.5702e-02,3.9246e-02,4.3876e-05,1.3577e-02,9.4853e-02,9.7739e-02,-6.4970e-03,8.6417e-04,7.2656e-06,1.3687e-01,6.5542e-03
+32,1.7117e+01,DOWN_FORCE_DETACH,4.5829e-03,3.7998e-02,1.3492e-01,2.5574e+00,-4.6009e-02,3.9354e-02,4.0216e-05,1.5212e-02,9.9573e-02,1.0103e-01,-6.8042e-03,9.7198e-04,3.6060e-06,1.4266e-01,6.8733e-03
+33,1.7683e+01,DOWN_FORCE_DETACH,4.7245e-03,4.0707e-02,1.3776e-01,2.5533e+00,-4.6166e-02,3.9549e-02,3.2581e-05,1.7921e-02,1.0241e-01,9.6927e-02,-6.9611e-03,1.1676e-03,-4.0293e-06,1.4214e-01,7.0584e-03
+34,1.8250e+01,DOWN_FORCE_DETACH,4.8697e-03,3.9876e-02,1.4110e-01,2.5494e+00,-4.6362e-02,3.9497e-02,2.0941e-05,1.7090e-02,1.0575e-01,9.3106e-02,-7.1568e-03,1.1156e-03,-1.5669e-05,1.4193e-01,7.2433e-03
+35,1.8700e+01,DOWN_FORCE_DETACH,5.0173e-03,3.7102e-02,1.4243e-01,2.5560e+00,-4.6436e-02,3.9293e-02,1.1846e-05,1.4316e-02,1.0708e-01,9.9634e-02,-7.2313e-03,9.1156e-04,-2.4764e-05,1.4696e-01,7.2886e-03
+36,1.9233e+01,DOWN_FORCE_DETACH,5.1556e-03,3.3477e-02,1.3559e-01,2.5505e+00,-4.5963e-02,3.9037e-02,7.0408e-06,1.0691e-02,1.0024e-01,9.4206e-02,-6.7577e-03,6.5472e-04,-2.9570e-05,1.3797e-01,6.7894e-03
+37,1.9700e+01,DOWN_FORCE_DETACH,5.2980e-03,3.3172e-02,1.3664e-01,2.5635e+00,-4.6034e-02,3.8999e-02,1.3347e-05,1.0386e-02,1.0129e-01,1.0715e-01,-6.8293e-03,6.1712e-04,-2.3264e-05,1.4781e-01,6.8571e-03
+38,2.0200e+01,DOWN_FORCE_DETACH,5.4422e-03,3.1443e-02,1.3294e-01,2.5608e+00,-4.5791e-02,3.8880e-02,2.6260e-05,8.6570e-03,9.7588e-02,1.0446e-01,-6.5857e-03,4.9825e-04,-1.0350e-05,1.4322e-01,6.6045e-03
+39,2.0617e+01,DOWN_FORCE_DETACH,5.5865e-03,3.2327e-02,1.3293e-01,2.5698e+00,-4.5804e-02,3.8938e-02,3.4384e-05,9.5408e-03,9.7576e-02,1.1345e-01,-6.5986e-03,5.5576e-04,-2.2264e-06,1.4994e-01,6.6220e-03
+40,2.1100e+01,DOWN_FORCE_DETACH,5.7308e-03,3.2547e-02,1.4116e-01,2.5767e+00,-4.6374e-02,3.8950e-02,3.8402e-05,9.7611e-03,1.0581e-01,1.2036e-01,-7.1694e-03,5.6826e-04,1.7920e-06,1.6055e-01,7.1918e-03
+41,2.1517e+01,DOWN_FORCE_DETACH,5.8700e-03,3.8800e-02,1.4390e-01,2.5788e+00,-4.6535e-02,3.9388e-02,3.1483e-05,1.6014e-02,1.0855e-01,1.2245e-01,-7.3298e-03,1.0061e-03,-5.1270e-06,1.6442e-01,7.3985e-03
+42,2.1983e+01,DOWN_FORCE_DETACH,6.0155e-03,4.1302e-02,1.4901e-01,2.5808e+00,-4.6826e-02,3.9564e-02,2.5269e-05,1.8516e-02,1.1366e-01,1.2447e-01,-7.6213e-03,1.1823e-03,-1.1341e-05,1.6957e-01,7.7124e-03
+43,2.2367e+01,DOWN_FORCE_DETACH,6.1572e-03,4.2707e-02,1.5630e-01,2.5937e+00,-4.7292e-02,3.9652e-02,2.0746e-05,1.9921e-02,1.2095e-01,1.3733e-01,-8.0871e-03,1.2697e-03,-1.5864e-05,1.8407e-01,8.1862e-03
+44,2.2750e+01,DOWN_FORCE_DETACH,6.3012e-03,4.1627e-02,1.6256e-01,2.5980e+00,-4.7716e-02,3.9571e-02,1.2631e-05,1.8841e-02,1.2721e-01,1.4167e-01,-8.5106e-03,1.1893e-03,-2.3980e-05,1.9133e-01,8.5933e-03
+45,2.3133e+01,DOWN_FORCE_DETACH,6.4478e-03,3.8602e-02,1.6129e-01,2.6048e+00,-4.7620e-02,3.9352e-02,3.9767e-07,1.5816e-02,1.2594e-01,1.4846e-01,-8.4154e-03,9.7033e-04,-3.6213e-05,1.9532e-01,8.4712e-03
+46,2.3517e+01,DOWN_FORCE_DETACH,6.5838e-03,3.8181e-02,1.6762e-01,2.6166e+00,-4.8024e-02,3.9312e-02,-6.4510e-06,1.5395e-02,1.3227e-01,1.6027e-01,-8.8189e-03,9.2983e-04,-4.3061e-05,2.0837e-01,8.8679e-03
+47,2.3900e+01,DOWN_FORCE_DETACH,6.7301e-03,3.5519e-02,1.7156e-01,2.6139e+00,-4.8253e-02,3.9123e-02,1.2014e-06,1.2733e-02,1.3621e-01,1.5762e-01,-9.0479e-03,7.4140e-04,-3.5409e-05,2.0871e-01,9.0783e-03
+48,2.4250e+01,DOWN_FORCE_DETACH,6.8763e-03,3.7795e-02,1.7420e-01,2.6253e+00,-4.8409e-02,3.9269e-02,1.5914e-05,1.5009e-02,1.3885e-01,1.6902e-01,-9.2043e-03,8.8764e-04,-2.0697e-05,2.1925e-01,9.2471e-03
+49,2.4583e+01,DOWN_FORCE_DETACH,7.0195e-03,4.4042e-02,1.8170e-01,2.6383e+00,-4.8902e-02,3.9695e-02,2.9075e-05,2.1256e-02,1.4635e-01,1.8196e-01,-9.6965e-03,1.3133e-03,-7.5352e-06,2.3448e-01,9.7850e-03
+50,2.4900e+01,DOWN_FORCE_DETACH,7.1575e-03,4.8996e-02,1.9075e-01,2.6403e+00,-4.9465e-02,4.0037e-02,3.2806e-05,2.6210e-02,1.5540e-01,1.8394e-01,-1.0260e-02,1.6547e-03,-3.8048e-06,2.4222e-01,1.0393e-02
+51,2.5167e+01,DOWN_FORCE_DETACH,7.2974e-03,5.1138e-02,1.9432e-01,2.6442e+00,-4.9656e-02,4.0181e-02,1.6684e-05,2.8352e-02,1.5897e-01,1.8791e-01,-1.0451e-02,1.7996e-03,-1.9927e-05,2.4776e-01,1.0605e-02
+52,2.5433e+01,DOWN_FORCE_DETACH,7.4461e-03,4.9446e-02,2.0316e-01,2.6672e+00,-5.0211e-02,4.0041e-02,-8.2043e-06,2.6660e-02,1.6781e-01,2.1090e-01,-1.1006e-02,1.6593e-03,-4.4815e-05,2.7083e-01,1.1131e-02
+53,2.5700e+01,DOWN_FORCE_DETACH,7.5861e-03,5.1711e-02,2.1134e-01,2.6722e+00,-5.0725e-02,4.0196e-02,-3.6323e-05,2.8925e-02,1.7599e-01,2.1587e-01,-1.1520e-02,1.8146e-03,-7.2933e-05,2.8002e-01,1.1662e-02
+54,2.5983e+01,DOWN_FORCE_DETACH,7.7318e-03,5.1124e-02,2.1752e-01,2.6724e+00,-5.1086e-02,4.0151e-02,-4.5510e-05,2.8338e-02,1.8217e-01,2.1604e-01,-1.1881e-02,1.7692e-03,-8.2120e-05,2.8401e-01,1.2012e-02
+55,2.6250e+01,DOWN_FORCE_DETACH,7.8716e-03,4.6609e-02,2.1415e-01,2.6743e+00,-5.0818e-02,3.9827e-02,-2.8006e-05,2.3823e-02,1.7880e-01,2.1802e-01,-1.1613e-02,1.4455e-03,-6.4616e-05,2.8296e-01,1.1703e-02
+56,2.6517e+01,DOWN_FORCE_DETACH,8.0238e-03,4.5488e-02,2.1491e-01,2.6790e+00,-5.0821e-02,3.9737e-02,-1.6969e-06,2.2702e-02,1.7956e-01,2.2268e-01,-1.1616e-02,1.3554e-03,-3.8307e-05,2.8696e-01,1.1695e-02
+57,2.6750e+01,DOWN_FORCE_DETACH,8.1606e-03,4.8295e-02,2.1870e-01,2.6831e+00,-5.1013e-02,3.9930e-02,1.3930e-05,2.5510e-02,1.8335e-01,2.2674e-01,-1.1808e-02,1.5478e-03,-2.2680e-05,2.9271e-01,1.1909e-02
+58,2.7167e+01,DOWN_SETTLE,8.3043e-03,5.0515e-02,2.2374e-01,2.6538e+00,-5.1343e-02,4.0114e-02,-9.3123e-06,2.7729e-02,1.8839e-01,1.9744e-01,-1.2138e-02,1.7321e-03,-4.5923e-05,2.7431e-01,1.2261e-02
+59,2.7700e+01,DOWN_PEAK_HOLD,8.4502e-03,5.2825e-02,2.2005e-01,2.6004e+00,-5.1196e-02,4.0336e-02,-7.1468e-05,3.0039e-02,1.8470e-01,1.4411e-01,-1.1991e-02,1.9541e-03,-1.0808e-04,2.3619e-01,1.2149e-02

Fixed/digit/ball_0050_10/press_depth_06/up/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_0050_10/press_depth_06/up/franka_data.csv

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Fixed/digit/ball_0050_10/press_depth_06/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,1792754124630766314,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.783422961e-10,-3.746722464e-11,4.444000723e-12,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450245e-01,-1.187827988e-04,8.303259009e-01
+1,2.333333333e-01,WAIT_W2,1792754124877125113,-1.911408332e-07,-3.804792951e-07,2.855772595e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.420222351e-08,-6.502024865e-10,2.818931755e-10,7.019554417e-01,-2.265121432e-05,8.601433728e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450378e-01,-1.187834116e-04,8.303259011e-01
+2,4.000000000e-01,WAIT_W2,1792754125041169867,-3.729745827e-07,-5.220493962e-07,-8.156556071e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.295445389e-08,-9.914119144e-10,8.908556115e-10,7.019552598e-01,-2.279278442e-05,8.601422716e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450465e-01,-1.187837528e-04,8.303259017e-01
+3,5.833333333e-01,WAIT_W2,1792754125220976200,-4.143419408e-08,3.327512842e-06,3.125064474e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.053061970e-08,1.829148716e-10,1.851870657e-09,7.019555914e-01,-1.894322218e-05,8.601433997e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450541e-01,-1.187825785e-04,8.303259027e-01
+4,7.333333333e-01,WAIT_W2,1792754125370605762,-2.468650487e-06,-2.233094406e-06,-8.447159559e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.697629702e-08,-1.710338468e-11,2.241927755e-09,7.019531642e-01,-2.450382943e-05,8.601422425e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450605e-01,-1.187827785e-04,8.303259031e-01
+5,9.333333333e-01,WAIT_W2,1792754125614491833,-1.841616158e-06,1.636414707e-07,-2.755340443e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.533462450e-08,-4.016972779e-10,2.664708787e-09,7.019537912e-01,-2.210709355e-05,8.601403319e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450689e-01,-1.187831631e-04,8.303259035e-01
+6,1.100000000e+00,WAIT_W2,1792754125793734661,-2.307654719e-06,-1.643678188e-06,-3.971535247e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.151871907e-08,-7.400954034e-10,2.965411139e-09,7.019533252e-01,-2.391441321e-05,8.601391157e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450751e-01,-1.187835015e-04,8.303259038e-01
+7,1.283333333e+00,WAIT_W2,1792754125973883042,-2.134122262e-06,2.593739380e-06,-2.546625535e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.775779988e-08,-1.067808415e-09,3.281755534e-09,7.019534987e-01,-1.967699564e-05,8.601405406e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450813e-01,-1.187838292e-04,8.303259041e-01
+8,1.416666667e+00,WAIT_W2,1792754126105864183,-7.690291181e-07,-2.356523382e-05,1.623432646e-07,-8.347389399e-07,-2.343522811e-05,5.917879741e-07,-8.617048488e-07,-2.362734416e-05,5.636274236e-07,7.019548638e-01,-4.583596884e-05,8.601432496e-01,7.019547981e-01,-4.570596314e-05,8.601436790e-01,7.027441618e-01,-1.424101055e-04,8.303264645e-01
+9,1.433333333e+00,WAIT_W2,1792754126122295366,-1.657415004e-06,-7.046742209e-05,1.364980931e-07,-1.684373243e-06,-7.044173914e-05,1.092530187e-07,-1.804755221e-06,-7.115813062e-05,8.826018094e-08,7.019539754e-01,-9.273815712e-05,8.601432237e-01,7.019539484e-01,-9.271247416e-05,8.601431965e-01,7.027432188e-01,-1.899408920e-04,8.303259891e-01
+10,1.450000000e+00,WAIT_W2,1792754126138110838,1.363856132e-06,-1.039840134e-04,7.312371548e-06,1.440645088e-06,-1.039127050e-04,7.174005652e-06,1.704570470e-06,-1.049423946e-04,7.152052499e-06,7.019569967e-01,-1.262547484e-04,8.601503996e-01,7.019570735e-01,-1.261834400e-04,8.601502612e-01,7.027467281e-01,-2.237251560e-04,8.303330529e-01
+11,1.466666667e+00,WAIT_W2,1792754126154422091,2.837121704e-06,-1.500645395e-04,1.031507682e-05,2.845099478e-06,-1.499246729e-04,1.010925912e-05,3.275560458e-06,-1.514286412e-04,1.010851833e-05,7.019584699e-01,-1.723352745e-04,8.601534023e-01,7.019584779e-01,-1.721954079e-04,8.601531965e-01,7.027482991e-01,-2.702114025e-04,8.303360094e-01
+12,1.483333333e+00,WAIT_W2,1792754126170627439,1.024069078e-06,-1.794676445e-04,9.352646308e-06,9.067622484e-07,-1.794071661e-04,9.439340345e-06,1.175269074e-06,-1.812359661e-04,9.452307965e-06,7.019566569e-01,-2.017383796e-04,8.601524399e-01,7.019565396e-01,-2.016779012e-04,8.601525266e-01,7.027461988e-01,-3.000187274e-04,8.303353532e-01
+13,1.583333333e+00,WAIT_W2,1792754126268978554,3.062712802e-06,-1.901182941e-04,1.363534571e-05,9.067622484e-07,-1.794071661e-04,9.439340345e-06,1.174340359e-06,-1.812624160e-04,9.454120982e-06,7.019586955e-01,-2.123890291e-04,8.601567226e-01,7.019565396e-01,-2.016779012e-04,8.601525266e-01,7.027461979e-01,-3.000451774e-04,8.303353550e-01
+14,1.783333333e+00,WAIT_W2,1792754126465466912,9.517954812e-06,-2.003848159e-04,1.909523973e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.852316856e-06,-2.002092313e-04,1.812294980e-05,7.019651508e-01,-2.226555509e-04,8.601621825e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027538759e-01,-3.189919926e-04,8.303440238e-01
+15,1.933333333e+00,WAIT_W2,1792754126613552186,8.460215226e-06,-2.048916025e-04,1.934268238e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.860675447e-06,-2.002133803e-04,1.812856400e-05,7.019640930e-01,-2.271623375e-04,8.601624299e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027538842e-01,-3.189961416e-04,8.303440294e-01
+16,2.100000000e+00,WAIT_W2,1792754126777445759,7.499149262e-06,-2.032698634e-04,1.875900624e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.867662434e-06,-2.002155189e-04,1.813350831e-05,7.019631320e-01,-2.255405984e-04,8.601618462e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027538912e-01,-3.189982803e-04,8.303440344e-01
+17,2.316666667e+00,UP_FORCE_RAMP,1792754126989390589,9.263681317e-06,-2.035600362e-04,2.276043702e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.874955978e-06,-2.002171261e-04,1.813887008e-05,7.019648965e-01,-2.258307712e-04,8.601658477e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027538985e-01,-3.189998875e-04,8.303440397e-01
+18,2.483333333e+00,UP_FORCE_RAMP,1792754127154164168,9.191353785e-06,-2.030389343e-04,1.970426771e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.879701808e-06,-2.002179903e-04,1.814235842e-05,7.019648242e-01,-2.253096693e-04,8.601627915e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027539033e-01,-3.190007516e-04,8.303440432e-01
+19,2.700000000e+00,UP_FORCE_RAMP,1792754127367998281,9.739102146e-06,-2.008390354e-04,2.167987355e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.885012187e-06,-2.002188747e-04,1.814619603e-05,7.019653719e-01,-2.231097705e-04,8.601647671e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027539086e-01,-3.190016360e-04,8.303440471e-01
+20,2.883333333e+00,UP_FORCE_RAMP,1792754127558677820,8.586131890e-06,-2.061340761e-04,1.995936431e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.888983214e-06,-2.002194529e-04,1.814893640e-05,7.019642189e-01,-2.284048111e-04,8.601630466e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027539125e-01,-3.190022143e-04,8.303440498e-01
+21,3.066666667e+00,UP_FORCE_RAMP,1792754127743543017,8.625021531e-06,-2.069760878e-04,2.079670402e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.892521979e-06,-2.002199359e-04,1.815127735e-05,7.019642578e-01,-2.292468228e-04,8.601638839e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027539161e-01,-3.190026973e-04,8.303440521e-01
+22,3.283333333e+00,UP_FORCE_RAMP,1792754127955978811,1.085826400e-05,-2.045938831e-04,2.995637725e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.896226810e-06,-2.002204181e-04,1.815360449e-05,7.019664911e-01,-2.268646181e-04,8.601730436e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027539198e-01,-3.190031795e-04,8.303440545e-01
+23,3.416666667e+00,UP_FORCE_RAMP,1792754128087341299,9.602448387e-06,-2.046833005e-04,3.224853724e-05,7.962679071e-06,-1.981503689e-04,1.814466103e-05,8.898278318e-06,-2.002206777e-04,1.815483222e-05,7.019652353e-01,-2.269540355e-04,8.601753358e-01,7.019635955e-01,-2.204211039e-04,8.601612319e-01,7.027539218e-01,-3.190034391e-04,8.303440557e-01
+24,3.566666667e+00,UP_FORCE_RAMP,1792754128234513353,1.095243801e-05,-1.988721062e-04,3.943979143e-05,1.104200831e-05,-1.990467570e-04,3.935121920e-05,1.250166513e-05,-2.011744976e-04,3.928429258e-05,7.019665853e-01,-2.211428413e-04,8.601825270e-01,7.019666748e-01,-2.213174920e-04,8.601824385e-01,7.027575252e-01,-3.199572590e-04,8.303651852e-01
+25,3.716666667e+00,UP_FORCE_RAMP,1792754128384608837,9.975081985e-06,-2.040362574e-04,4.663784836e-05,1.104200831e-05,-1.990467570e-04,3.935121920e-05,1.250620450e-05,-2.011736875e-04,3.930275284e-05,7.019656079e-01,-2.263069924e-04,8.601897251e-01,7.019666748e-01,-2.213174920e-04,8.601824385e-01,7.027575298e-01,-3.199564488e-04,8.303652036e-01
+26,3.916666667e+00,UP_FORCE_RAMP,1792754128581411054,9.965171660e-06,-1.997837936e-04,5.608511741e-05,1.104200831e-05,-1.990467570e-04,3.935121920e-05,1.251063277e-05,-2.011736829e-04,3.931273995e-05,7.019655980e-01,-2.220545287e-04,8.601991724e-01,7.019666748e-01,-2.213174920e-04,8.601824385e-01,7.027575342e-01,-3.199564443e-04,8.303652136e-01
+27,4.150000000e+00,UP_FORCE_RAMP,1792754128807523536,7.771557328e-06,-1.950242832e-04,7.043198020e-05,9.633767977e-06,-2.006466143e-04,5.945123808e-05,1.123138322e-05,-2.027265395e-04,5.937280716e-05,7.019634044e-01,-2.172950182e-04,8.602135192e-01,7.019652666e-01,-2.229173493e-04,8.602025385e-01,7.027562549e-01,-3.215093009e-04,8.303852737e-01
+28,4.316666667e+00,UP_FORCE_RAMP,1792754128976621509,6.201068065e-06,-2.004161977e-04,8.029160425e-05,8.796711284e-06,-1.986447762e-04,8.033014460e-05,1.056926436e-05,-2.007347530e-04,8.022937817e-05,7.019618339e-01,-2.226869328e-04,8.602233788e-01,7.019644295e-01,-2.209155112e-04,8.602234174e-01,7.027555928e-01,-3.195175144e-04,8.304061302e-01
+29,4.450000000e+00,UP_FORCE_RAMP,1792754129119121657,7.770371263e-06,-1.957953147e-04,9.420503175e-05,8.796711284e-06,-1.986447762e-04,8.033014460e-05,1.057097920e-05,-2.007336261e-04,8.024788507e-05,7.019634032e-01,-2.180660497e-04,8.602372923e-01,7.019644295e-01,-2.209155112e-04,8.602234174e-01,7.027555945e-01,-3.195163875e-04,8.304061487e-01
+30,4.666666667e+00,UP_FORCE_RAMP,1792754129331968532,4.356149600e-06,-1.920241697e-04,1.109456839e-04,7.462343768e-06,-1.958876666e-04,1.018625354e-04,9.386375038e-06,-1.979264913e-04,1.017742976e-04,7.019599890e-01,-2.142949048e-04,8.602540329e-01,7.019630952e-01,-2.181584016e-04,8.602449498e-01,7.027544099e-01,-3.167092527e-04,8.304276752e-01
+31,4.816666667e+00,UP_FORCE_RAMP,1792754129480748227,3.454796754e-06,-1.945198191e-04,1.295293197e-04,6.325573795e-06,-1.940945121e-04,1.222033819e-04,8.473156307e-06,-1.961330801e-04,1.220780295e-04,7.019590876e-01,-2.167905541e-04,8.602726166e-01,7.019619584e-01,-2.163652471e-04,8.602652906e-01,7.027534967e-01,-3.149158415e-04,8.304479789e-01
+32,4.966666667e+00,UP_FORCE_RAMP,1792754129627238727,1.773892882e-06,-1.903927014e-04,1.453321303e-04,2.110385192e-06,-1.904330740e-04,1.456816252e-04,4.188532501e-06,-1.924329206e-04,1.455079342e-04,7.019574067e-01,-2.126634364e-04,8.602884194e-01,7.019577432e-01,-2.127038090e-04,8.602887689e-01,7.027492121e-01,-3.112156820e-04,8.304714088e-01
+33,5.150000000e+00,UP_FORCE_RAMP,1792754129823216922,-2.259174591e-06,-1.862551469e-04,1.628808251e-04,2.110385192e-06,-1.904330740e-04,1.456816252e-04,4.186454855e-06,-1.924319443e-04,1.455501185e-04,7.019533736e-01,-2.085258820e-04,8.603059681e-01,7.019577432e-01,-2.127038090e-04,8.602887689e-01,7.027492100e-01,-3.112147057e-04,8.304714510e-01
+34,5.333333333e+00,UP_FORCE_RAMP,1792754130003754531,-2.525960391e-06,-1.868867142e-04,1.879033917e-04,-2.249475292e-06,-1.868833641e-04,1.880776168e-04,7.675403646e-09,-1.888353279e-04,1.878508090e-04,7.019531069e-01,-2.091574492e-04,8.603309906e-01,7.019533833e-01,-2.091540991e-04,8.603311649e-01,7.027450312e-01,-3.076180893e-04,8.305137517e-01
+35,5.500000000e+00,UP_FORCE_RAMP,1792754130167832881,-8.661281777e-06,-1.841585184e-04,2.028705736e-04,-2.249475292e-06,-1.868833641e-04,1.880776168e-04,9.161234216e-09,-1.888328168e-04,1.878972231e-04,7.019469715e-01,-2.064292534e-04,8.603459578e-01,7.019533833e-01,-2.091540991e-04,8.603311649e-01,7.027450327e-01,-3.076155782e-04,8.305137981e-01
+36,5.583333333e+00,UP_FORCE_RAMP,1792754130249266409,-4.168504670e-06,-1.845906922e-04,2.209644650e-04,-4.009321247e-06,-1.878267328e-04,2.105023876e-04,-1.528384261e-06,-1.897889891e-04,2.102777311e-04,7.019514643e-01,-2.068614272e-04,8.603640517e-01,7.019516235e-01,-2.100974678e-04,8.603535896e-01,7.027434952e-01,-3.085717505e-04,8.305361786e-01
+37,5.700000000e+00,UP_FORCE_RAMP,1792754130363497982,-8.406422435e-06,-1.870826097e-04,2.296003090e-04,-4.009321247e-06,-1.878267328e-04,2.105023876e-04,-1.527830980e-06,-1.897880871e-04,2.103053700e-04,7.019472264e-01,-2.093533447e-04,8.603726875e-01,7.019516235e-01,-2.100974678e-04,8.603535896e-01,7.027434957e-01,-3.085708484e-04,8.305362062e-01
+38,5.850000000e+00,UP_FORCE_RAMP,1792754130511205486,-1.085843011e-05,-1.865550611e-04,2.508856164e-04,-8.690891642e-06,-1.847710250e-04,2.340985420e-04,-6.328798876e-06,-1.866989533e-04,2.339080525e-04,7.019447744e-01,-2.088257961e-04,8.603939729e-01,7.019469419e-01,-2.070417600e-04,8.603771858e-01,7.027386948e-01,-3.054817147e-04,8.305598089e-01
+39,5.983333333e+00,UP_FORCE_RAMP,1792754130658915486,-9.896218321e-06,-1.796724736e-04,2.742945710e-04,-8.212874690e-06,-1.852738039e-04,2.574936675e-04,-5.488390882e-06,-1.871673914e-04,2.572988777e-04,7.019457366e-01,-2.019432086e-04,8.604173818e-01,7.019474199e-01,-2.075445390e-04,8.604005809e-01,7.027395352e-01,-3.059501528e-04,8.305831997e-01
+40,6.150000000e+00,UP_FORCE_RAMP,1792754130822431753,-1.162807263e-05,-1.786351123e-04,2.942919644e-04,-1.120341740e-05,-1.849993369e-04,2.777605555e-04,-8.517103845e-06,-1.869022558e-04,2.775593160e-04,7.019440047e-01,-2.009058474e-04,8.604373792e-01,7.019444294e-01,-2.072700720e-04,8.604208478e-01,7.027365064e-01,-3.056850172e-04,8.306034602e-01
+41,6.283333333e+00,UP_FORCE_RAMP,1792754130954249606,-1.149456595e-05,-1.781810680e-04,3.133955925e-04,-1.141960091e-05,-1.749956956e-04,2.982274541e-04,-8.428817052e-06,-1.768275521e-04,2.980031366e-04,7.019441383e-01,-2.004518031e-04,8.604564828e-01,7.019442132e-01,-1.972664307e-04,8.604413147e-01,7.027365947e-01,-2.956103134e-04,8.306239040e-01
+42,6.466666667e+00,UP_FORCE_RAMP,1792754131140314788,-1.022983108e-05,-1.772858748e-04,3.384903267e-04,-1.010599339e-05,-1.774739208e-04,3.384565438e-04,-6.540980125e-06,-1.793104624e-04,3.381253810e-04,7.019454030e-01,-1.995566098e-04,8.604815776e-01,7.019455268e-01,-1.997446559e-04,8.604815438e-01,7.027384826e-01,-2.980932238e-04,8.306640262e-01
+43,6.600000000e+00,UP_FORCE_RAMP,1792754131280914492,-1.551707183e-05,-1.759394914e-04,3.534150082e-04,-1.010599339e-05,-1.774739208e-04,3.384565438e-04,-6.539081097e-06,-1.793076428e-04,3.381757080e-04,7.019401157e-01,-1.982102264e-04,8.604965022e-01,7.019455268e-01,-1.997446559e-04,8.604815438e-01,7.027384845e-01,-2.980904042e-04,8.306640766e-01
+44,6.783333333e+00,UP_FORCE_RAMP,1792754131493929670,-1.772667256e-05,-1.764394271e-04,3.710633529e-04,-1.361043809e-05,-1.743904131e-04,3.648663968e-04,-1.000199109e-05,-1.761726320e-04,3.646299880e-04,7.019379061e-01,-1.987101622e-04,8.605141506e-01,7.019420224e-01,-1.966611481e-04,8.605079536e-01,7.027350216e-01,-2.949553934e-04,8.306905308e-01
+45,6.900000000e+00,UP_FORCE_HOLD,1792754131608917189,-1.976802269e-05,-1.790966374e-04,3.824927968e-04,-1.361043809e-05,-1.743904131e-04,3.648663968e-04,-1.000310539e-05,-1.761721317e-04,3.646614760e-04,7.019358648e-01,-2.013673725e-04,8.605255800e-01,7.019420224e-01,-1.966611481e-04,8.605079536e-01,7.027350204e-01,-2.949548931e-04,8.306905623e-01
+46,7.050000000e+00,UP_FORCE_HOLD,1792754131756653846,-1.944021994e-05,-1.760943399e-04,4.008800970e-04,-1.885719478e-05,-1.689857888e-04,3.841622780e-04,-1.534165475e-05,-1.707635868e-04,3.839208517e-04,7.019361926e-01,-1.983650749e-04,8.605439673e-01,7.019367756e-01,-1.912565239e-04,8.605272495e-01,7.027296819e-01,-2.895463482e-04,8.307098217e-01
+47,7.266666667e+00,UP_SETTLE,1792754131969203198,-2.134262327e-05,-1.756416356e-04,4.240494475e-04,-2.128314415e-05,-1.757138905e-04,4.240073686e-04,-1.744252578e-05,-1.775399968e-04,4.236966688e-04,7.019342902e-01,-1.979123706e-04,8.605671367e-01,7.019343497e-01,-1.979846256e-04,8.605670946e-01,7.027275810e-01,-2.963227581e-04,8.307495975e-01
+48,7.466666667e+00,UP_SETTLE,1792754132165682936,-2.359442827e-05,-1.711392002e-04,4.387721762e-04,-2.128314415e-05,-1.757138905e-04,4.240073686e-04,-1.744696274e-05,-1.775404164e-04,4.237605592e-04,7.019320384e-01,-1.934099352e-04,8.605818594e-01,7.019343497e-01,-1.979846256e-04,8.605670946e-01,7.027275766e-01,-2.963231778e-04,8.307496614e-01
+49,7.633333333e+00,UP_SETTLE,1792754132329125788,-2.517145413e-05,-1.744907936e-04,4.500473272e-04,-2.134335910e-05,-1.743262520e-04,4.454291699e-04,-1.734359609e-05,-1.761609065e-04,4.452198964e-04,7.019304614e-01,-1.967615287e-04,8.605931346e-01,7.019342895e-01,-1.965969870e-04,8.605885164e-01,7.027276800e-01,-2.949436679e-04,8.307711208e-01
+50,7.783333333e+00,UP_SETTLE,1792754132478257206,-2.317957419e-05,-1.781257231e-04,4.606553121e-04,-2.134335910e-05,-1.743262520e-04,4.454291699e-04,-1.734683344e-05,-1.761609086e-04,4.452515873e-04,7.019324532e-01,-2.003964581e-04,8.606037426e-01,7.019342895e-01,-1.965969870e-04,8.605885164e-01,7.027276767e-01,-2.949436700e-04,8.307711524e-01
+51,7.933333333e+00,UP_SETTLE,1792754132624093629,-2.601639757e-05,-1.727939727e-04,4.617521249e-04,-2.246386648e-05,-1.751217914e-04,4.658285659e-04,-1.829637416e-05,-1.769510406e-04,4.655579286e-04,7.019296164e-01,-1.950647078e-04,8.606048394e-01,7.019331690e-01,-1.973925264e-04,8.606089158e-01,7.027267272e-01,-2.957338020e-04,8.307914588e-01
+52,8.066666667e+00,UP_SETTLE,1792754132771812161,-2.696159154e-05,-1.734633347e-04,4.684628714e-04,-2.246386648e-05,-1.751217914e-04,4.658285659e-04,-1.829974164e-05,-1.769513062e-04,4.655885761e-04,7.019286712e-01,-1.957340697e-04,8.606115501e-01,7.019331690e-01,-1.973925264e-04,8.606089158e-01,7.027267238e-01,-2.957340676e-04,8.307914894e-01
+53,8.250000000e+00,UP_SETTLE,1792754132951422527,-2.726561865e-05,-1.742682557e-04,4.754914714e-04,-2.246386648e-05,-1.751217914e-04,4.658285659e-04,-1.830329064e-05,-1.769514434e-04,4.656197041e-04,7.019283672e-01,-1.965389908e-04,8.606185787e-01,7.019331690e-01,-1.973925264e-04,8.606089158e-01,7.027267203e-01,-2.957342048e-04,8.307915206e-01
+54,8.416666667e+00,UP_SETTLE,1792754133115369262,-2.573419148e-05,-1.782816398e-04,4.798830868e-04,-2.246386648e-05,-1.751217914e-04,4.658285659e-04,-1.830584066e-05,-1.769512250e-04,4.656429228e-04,7.019298986e-01,-2.005523748e-04,8.606229703e-01,7.019331690e-01,-1.973925264e-04,8.606089158e-01,7.027267177e-01,-2.957339864e-04,8.307915438e-01
+55,8.566666667e+00,UP_SETTLE,1792754133263275857,-2.481129301e-05,-1.733321898e-04,4.868346469e-04,-2.319625025e-05,-1.746823138e-04,4.877236219e-04,-1.879824046e-05,-1.765052618e-04,4.875261326e-04,7.019308215e-01,-1.956029248e-04,8.606299219e-01,7.019324366e-01,-1.969530488e-04,8.606308109e-01,7.027262253e-01,-2.952880232e-04,8.308134270e-01
+56,8.733333333e+00,UP_SETTLE,1792754133426657877,-2.509844795e-05,-1.726625520e-04,4.919589867e-04,-2.319625025e-05,-1.746823138e-04,4.877236219e-04,-1.880061910e-05,-1.765049268e-04,4.875535644e-04,7.019305344e-01,-1.949332870e-04,8.606350462e-01,7.019324366e-01,-1.969530488e-04,8.606308109e-01,7.027262229e-01,-2.952876881e-04,8.308134544e-01
+57,8.916666667e+00,UP_SETTLE,1792754133606700658,-2.146916860e-05,-1.714539224e-04,5.068937235e-04,-2.319625025e-05,-1.746823138e-04,4.877236219e-04,-1.880277871e-05,-1.765045712e-04,4.875771894e-04,7.019341636e-01,-1.937246574e-04,8.606499810e-01,7.019324366e-01,-1.969530488e-04,8.606308109e-01,7.027262208e-01,-2.952873326e-04,8.308134780e-01
+58,9.000000000e+00,UP_SETTLE,1792754133689522991,-1.165874404e-05,-1.702383163e-04,5.435891015e-04,-1.157330000e-05,-1.700584278e-04,5.435450765e-04,-5.636437269e-06,-1.718334518e-04,5.433557612e-04,7.019439741e-01,-1.925090514e-04,8.606866763e-01,7.019440595e-01,-1.923291628e-04,8.606866323e-01,7.027393871e-01,-2.906162132e-04,8.308692566e-01
+59,9.133333333e+00,UP_SETTLE,1792754133820585288,-1.034437869e-05,-1.743687593e-04,5.541204459e-04,-1.157330000e-05,-1.700584278e-04,5.435450765e-04,-5.630481072e-06,-1.718321988e-04,5.434038882e-04,7.019452884e-01,-1.966394943e-04,8.606972077e-01,7.019440595e-01,-1.923291628e-04,8.606866323e-01,7.027393931e-01,-2.906149602e-04,8.308693047e-01

Fixed/digit/ball_0050_10/press_depth_06/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.2955e-02,3.5350e-02,2.4563e+00,-3.9205e-02,3.8394e-02,3.6142e-05,1.6871e-04,1.4231e-06,4.7684e-07,3.6880e-07,1.2007e-05,-4.2905e-07,1.6871e-04,1.2020e-05
+1,2.3333e-01,WAIT_W2,4.2161e-05,2.5247e-02,3.5338e-02,2.4564e+00,-3.9198e-02,3.8557e-02,3.1186e-05,2.4602e-03,-1.1351e-05,4.3392e-05,7.5027e-06,1.7482e-04,-5.3850e-06,2.4606e-03,1.7507e-04
+2,4.0000e-01,WAIT_W2,8.0824e-05,2.6749e-02,3.5326e-02,2.4565e+00,-3.9193e-02,3.8663e-02,2.8414e-05,3.9621e-03,-2.3011e-05,1.2255e-04,1.2252e-05,2.8143e-04,-8.1566e-06,3.9640e-03,2.8182e-04
+3,5.8333e-01,WAIT_W2,1.1891e-04,2.8096e-02,3.5543e-02,2.4566e+00,-3.9205e-02,3.8758e-02,2.5462e-05,5.3095e-03,1.9412e-04,2.9993e-04,5.3272e-07,3.7649e-04,-1.1108e-05,5.3215e-03,3.7666e-04
+4,7.3333e-01,WAIT_W2,1.6144e-04,2.9219e-02,3.5548e-02,2.4567e+00,-3.9202e-02,3.8838e-02,2.3680e-05,6.4321e-03,1.9923e-04,3.6907e-04,3.1888e-06,4.5608e-04,-1.2891e-05,6.4457e-03,4.5628e-04
+5,9.3333e-01,WAIT_W2,2.0087e-04,3.0651e-02,3.5523e-02,2.4568e+00,-3.9196e-02,3.8939e-02,2.2036e-05,7.8641e-03,1.7429e-04,4.3917e-04,8.7284e-06,5.5747e-04,-1.4535e-05,7.8783e-03,5.5773e-04
+6,1.1000e+00,WAIT_W2,2.3954e-04,3.1738e-02,3.5500e-02,2.4568e+00,-3.9192e-02,3.9016e-02,2.0968e-05,8.9518e-03,1.5112e-04,4.9114e-04,1.3243e-05,6.3438e-04,-1.5603e-05,8.9666e-03,6.3471e-04
+7,1.2833e+00,WAIT_W2,2.8054e-04,3.2820e-02,3.5476e-02,2.4569e+00,-3.9187e-02,3.9093e-02,1.9968e-05,1.0034e-02,1.2751e-04,5.4455e-04,1.7770e-05,7.1081e-04,-1.6603e-05,1.0049e-02,7.1123e-04
+8,1.4167e+00,WAIT_W2,3.2650e-04,3.3537e-02,3.5461e-02,2.4569e+00,-3.9184e-02,3.9143e-02,1.9324e-05,1.0750e-02,1.1183e-04,5.8150e-04,2.0765e-05,7.6139e-04,-1.7247e-05,1.0766e-02,7.6187e-04
+9,1.4333e+00,WAIT_W2,3.7342e-04,3.4931e-02,6.2948e-02,2.4570e+00,-4.1109e-02,3.9240e-02,2.7607e-05,1.2144e-02,2.7599e-02,6.1798e-04,-1.9036e-03,8.5824e-04,-8.9641e-06,3.0159e-02,2.0882e-03
+10,1.4500e+00,WAIT_W2,4.0782e-04,3.6973e-02,1.1746e-01,2.4579e+00,-4.4926e-02,3.9382e-02,4.3931e-05,1.4187e-02,8.2107e-02,1.5202e-03,-5.7205e-03,9.9976e-04,7.3603e-06,8.3338e-02,5.8072e-03
+11,1.4667e+00,WAIT_W2,4.5403e-04,3.6090e-02,1.5560e-01,2.4542e+00,-4.7600e-02,3.9322e-02,5.6246e-05,1.3304e-02,1.2025e-01,-2.1687e-03,-8.3953e-03,9.4028e-04,1.9675e-05,1.2100e-01,8.4478e-03
+12,1.4833e+00,WAIT_W2,4.8350e-04,3.7231e-02,2.0777e-01,2.4535e+00,-5.1257e-02,3.9402e-02,7.1897e-05,1.4444e-02,1.7242e-01,-2.8796e-03,-1.2052e-02,1.0203e-03,3.5326e-05,1.7305e-01,1.2095e-02
+13,1.5833e+00,WAIT_W2,5.2445e-04,4.0433e-02,2.3781e-01,2.4551e+00,-5.3374e-02,3.9629e-02,7.7879e-05,1.7646e-02,2.0246e-01,-1.2579e-03,-1.4169e-02,1.2471e-03,4.1308e-05,2.0323e-01,1.4224e-02
+14,1.7833e+00,WAIT_W2,5.6299e-04,3.9210e-02,2.5724e-01,2.4518e+00,-5.4752e-02,3.9547e-02,8.7404e-05,1.6423e-02,2.2189e-01,-4.4894e-03,-1.5547e-02,1.1648e-03,5.0833e-05,2.2254e-01,1.5590e-02
+15,1.9333e+00,WAIT_W2,6.0597e-04,4.0688e-02,2.5656e-01,2.4529e+00,-5.4710e-02,3.9650e-02,8.6784e-05,1.7902e-02,2.2121e-01,-3.4552e-03,-1.5505e-02,1.2685e-03,5.0213e-05,2.2196e-01,1.5557e-02
+16,2.1000e+00,WAIT_W2,6.4558e-04,4.1912e-02,2.5624e-01,2.4538e+00,-5.4692e-02,3.9736e-02,8.5867e-05,1.9126e-02,2.2089e-01,-2.5635e-03,-1.5487e-02,1.3542e-03,4.9297e-05,2.2173e-01,1.5547e-02
+17,2.3167e+00,UP_FORCE_RAMP,6.8829e-04,4.3184e-02,2.5602e-01,2.4547e+00,-5.4682e-02,3.9825e-02,8.4152e-05,2.0398e-02,2.2067e-01,-1.5979e-03,-1.5477e-02,1.4436e-03,4.7581e-05,2.2162e-01,1.5544e-02
+18,2.4833e+00,UP_FORCE_RAMP,7.2589e-04,4.4011e-02,2.5591e-01,2.4554e+00,-5.4676e-02,3.9884e-02,8.2607e-05,2.1224e-02,2.2056e-01,-9.7036e-04,-1.5471e-02,1.5018e-03,4.6036e-05,2.2158e-01,1.5544e-02
+19,2.7000e+00,UP_FORCE_RAMP,7.6387e-04,4.4940e-02,2.5579e-01,2.4561e+00,-5.4672e-02,3.9949e-02,8.0449e-05,2.2154e-02,2.2044e-01,-2.7895e-04,-1.5467e-02,1.5673e-03,4.3878e-05,2.2155e-01,1.5546e-02
+20,2.8833e+00,UP_FORCE_RAMP,8.0607e-04,4.5631e-02,2.5572e-01,2.4565e+00,-5.4668e-02,3.9998e-02,7.8578e-05,2.2844e-02,2.2037e-01,2.1362e-04,-1.5463e-02,1.6160e-03,4.2007e-05,2.2155e-01,1.5548e-02
+21,3.0667e+00,UP_FORCE_RAMP,8.4609e-04,4.6246e-02,2.5565e-01,2.4570e+00,-5.4666e-02,4.0041e-02,7.6692e-05,2.3460e-02,2.2030e-01,6.3419e-04,-1.5461e-02,1.6594e-03,4.0121e-05,2.2155e-01,1.5550e-02
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Fixed/digit/ball_0050_10/press_depth_07/down/camera_frames_60hz.tar

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Fixed/digit/ball_0050_10/press_depth_07/down/franka_data.csv

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+3380,1792754227746163475,37630780000000,1792754227744049150,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.675959234420248,-0.004256560939750186,0.10673094473038454,0.9999999622250436,-8.029945835549716e-05,-0.00021251193185469863,0.00012403004313128534,0.6761,-0.004,0.10689218624460245,1.0,0.0,0.0,0.0,-0.03590972079911747,-0.02341826966427485,0.06472187424287523,-0.0015778843111153573,0.0026972198940481418,-3.1943436681970954e-05,1.0100339551293234,0.7938138646837586,0.32356755640936596,0.06530413882340469,-0.07731487421310769,0.001451914322285454,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.43277249582354016,1.297749407260586,0.868063464802883,-0.026967288399991123,-0.4779720195432683,0.736411413223012,1.0576281348759038,0.06472187424287523,0.1895646700730208,0.1895646700730208,0.31260000000000093,0,0,-0.0001020538648824606,-9.999999025923074e-05
+3458,1792754228396186816,37631430000000,1792754228396049092,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6759662646580388,-0.0042567681371410366,0.10667960048725082,0.9999999638727547,-8.30099674471877e-05,-0.0001997307473784845,0.00013005509466563602,0.6761,-0.004,0.10681698447847009,1.0,0.0,0.0,0.0,-0.04558112707124362,-0.02051522337177325,0.14582747551988007,-0.0016204000636309557,0.003692964236179694,-8.292735406507479e-05,1.0003625488571972,0.7967169109762602,0.4046731576863708,0.06526162307088909,-0.07631912987097614,0.0014009304049023502,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.4978632566591375,1.297004724419193,0.6920862592405623,-0.009633461668728107,-0.3541557723565262,0.7278792103988266,1.0576281348759038,0.14582747551988007,0.36554187563534146,0.36554187563534146,0.4100999999999902,0,0,-0.0001273780206076117,9.996177083160802e-05
+3519,1792754228904086711,37631938000000,1792754228904048632,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6759720874339988,-0.004262296373357619,0.10663082792503698,0.9999999654989961,-9.356661696057148e-05,-0.00018446537247455337,0.0001329010374776266,0.6761,-0.004,0.10675042978046971,1.0,0.0,0.0,0.0,-0.0632986277385591,-0.01803036929728119,0.22289267903401766,-0.0016626635643534476,0.0046896615983572365,-0.0001323308978512666,0.9826450481898817,0.7992017650507522,0.4817383612005084,0.0652193595701666,-0.0753224325087986,0.0013515268611161584,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.5505970375500586,1.2898777201973097,0.6862618424790642,-0.006769392480985124,-0.3385617886278893,0.7210912877882597,1.0576281348759038,0.22289267903401766,0.3713662923968396,0.3713662923968396,0.4862999999999818,0,0,-0.00013398106637203664,-3.9791744967010076e-05
+3592,1792754229512030785,37632546000000,1792754229504048819,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6759797077401059,-0.004263594105742824,0.10656716232462292,0.9999999667031139,-0.0001036306329126644,-0.00017025346448679607,0.00013531845910547404,0.6761,-0.004,0.10666817910055873,1.0,0.0,0.0,0.0,-0.06491753430616987,-0.015435437219891046,0.30316914981487764,-0.0017059056869418998,0.005682238567918857,-0.00018107462417976021,0.981026141622271,0.8017966971281424,0.5620148319813684,0.06517611744757815,-0.07432985553923697,0.0013027831347876648,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.5705063808031599,1.3693324881602158,0.6081547709800393,-0.0308821913880027,-0.28565680651369507,0.7714717205135029,1.0576281348759038,0.30316914981487764,0.44947336389586445,0.44947336389586445,0.5774999999999718,0,0,-0.00013444597719433483,-1.515533558321638e-06
+3667,1792754230137105540,37633171000000,1792754230136058903,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6759967103412705,-0.004267192724881243,0.10650797043336692,0.9999999688334595,-0.00011293194601395792,-0.00014788298139093827,0.00013839416078302968,0.6761,-0.004,0.10658742815108162,1.0,0.0,0.0,0.0,-0.08823136992238878,-0.00947696479639204,0.38592397457245387,-0.0007271566403278806,0.006662338842501503,-0.00022341847431040082,0.9577123060060521,0.8077551695516414,0.6447696567389446,0.06615486649419217,-0.07334975526465433,0.0012604392846570242,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.6115978949276439,1.4310745117434238,0.43798457929521023,-0.04836036615936432,-0.16914221419923992,0.8121081171392895,1.0576281348759038,0.38592397457245387,0.6196435555806936,0.6196435555806936,0.6712499999999615,0,0,-0.00012487517867390695,9.999999025923074e-05
+3745,1792754230787084193,37633821000000,1792754230780049002,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6760041799813138,-0.004270922704506727,0.10643839008406968,0.9999999689538783,-0.00012315398722276093,-0.00013663037742737023,0.00014035790703103052,0.6761,-0.004,0.10650654229973594,1.0,0.0,0.0,0.0,-0.09413522707084909,-0.014321666870860006,0.47609033152317115,-0.0007727618557716448,0.007656798937781012,-0.00028126936681452516,0.9518084488575917,0.8029104674771734,0.7349360136896619,0.0661092612787484,-0.07235529516937482,0.0012025883921528999,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.621137192996034,1.442450064595405,0.47361932266723883,-0.04578510976204789,-0.19275740486071075,0.8170372804292783,1.0576281348759038,0.47609033152317115,0.584008812208665,0.584008812208665,0.7687499999999508,0,0,-0.00012014435387816403,-9.995116820172285e-05
+3828,1792754231480001098,37634513000000,1792754231476049889,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6760095010079087,-0.004273701121302754,0.10637271646990064,0.9999999716912563,-0.00011397609218644448,-0.00012476123297172758,0.00013965828266159974,0.6761,-0.004,0.1064245159747518,1.0,0.0,0.0,0.0,-0.11295773634851047,-0.01322104828081938,0.556703037933734,-0.0008248354868185259,0.008646621978554953,0.000690738714410365,0.9329859395799304,0.804011086067214,0.8155487201002247,0.06605718764770152,-0.07136547212860088,0.00217459647337779,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.6408705979177408,1.377927714362261,0.3377786120733329,-0.027862612311690713,-0.10589490546668275,0.7761858777570306,1.0576281348759038,0.556703037933734,0.719849522802571,0.719849522802571,0.8725499999999393,0,0,-0.00011720806434720033,-9.999999025923074e-05
+3910,1792754232162040410,37635196000000,1792754232160058388,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6760158304660187,-0.004271857211316786,0.10631175270783,0.9999999748844813,-9.985797892507974e-05,-0.0001112320324201017,0.0001390313635632388,0.6761,-0.004,0.10634881870760411,1.0,0.0,0.0,0.0,-0.1132131319169728,-0.017415466107465027,0.646576713998238,-0.0008330736095253366,0.008633741845145357,-0.0003751714755062048,0.932730544011468,0.7998166682405684,0.9054223961647287,0.06604894952499471,-0.07137835226201047,0.0011086862834612202,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.6529131758529371,1.3469208183142607,0.15883401347837395,-0.017431783854914455,0.012638277872538317,0.7563444532129281,1.0576281348759038,0.646576713998238,0.8987941213975299,0.8987941213975299,0.974999999999928,0,0,-0.00010553708166130692,9.530320563134182e-05
+3993,1792754232853964498,37635888000000,1792754232852049671,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6760178731757405,-0.004276935670699403,0.10625189528114524,0.9999999752947694,-0.00010034407989426673,-0.0001047015587321945,0.00014079053307421225,0.6761,-0.004,0.10627797636505128,1.0,0.0,0.0,0.0,-0.1228459450064242,-0.008016277527204352,0.7271796209427687,-0.0008844955748388561,0.009624024443760357,0.0005710583298023065,0.9230977309220166,0.8092158568208291,0.9860253031092594,0.06599752755968119,-0.07038806966339547,0.0020549160887697315,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.7595465158759593,1.3784999998128058,-0.016879687974069527,-0.02130576851525384,0.15854599089465235,0.778896694636866,1.0576281348759038,0.7271796209427687,1.0745078228499734,1.0745078228499734,1.078799999999975,0,0,-0.00010099059060267456,9.999987923692828e-05
+4073,1792754233520914296,37636555000000,1792754233516058580,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.67602629052794,-0.004276880290475138,0.10619984623515658,0.9999999767424341,-0.00010078437945853991,-9.01779862970106e-05,0.00014024419901360378,0.6761,-0.004,0.1062100946453617,1.0,0.0,0.0,0.0,-0.12726339595103608,-0.008039662459855212,0.8068637286506312,-0.0009155697979391919,0.010249628305045763,0.0005210114155086299,0.9186802799774048,0.8091924718881782,1.065709410817122,0.06596645333658085,-0.06976246580211007,0.002004869174476055,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.7382589841107496,1.2439188877129312,0.050494634920390885,0.01786613669762077,0.10551172686406793,0.6890565628806987,1.0576281348759038,0.8068637286506312,1.0071334999555128,1.0071334999555128,1.178850000000038,0,0,-0.0001038764605679462,-9.851768986569027e-05
+4152,1792754234178876880,37637213000000,1792754234172058617,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.67603651235019,-0.004281390979049066,0.10614442992255377,0.9999999772684898,-0.00010389920357503083,-7.63915708405536e-05,0.0001423908974538502,0.6761,-0.004,0.10613979438087923,1.0,0.0,0.0,0.0,-0.14622204109933967,-0.0164012781185382,0.877018612929435,-0.00026752831312956693,0.010593574900928604,0.00047219856118148914,0.8997216348291012,0.8008308562294952,1.1358642950959257,0.06661449482139048,-0.06941851920622723,0.001956056320148914,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.7905296715589633,1.398477419179227,-0.0965102447599892,-0.024407997797523576,0.21231429510488697,0.7935505153087405,1.0576281348759038,0.877018612929435,1.154138379635893,1.154138379635893,1.2775500000001,0,0,-0.00010980008880864667,-9.999999025923074e-05
+4225,1792754234786920456,37637821000000,1792754234780059634,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6760436531223616,-0.004286053012625254,0.10608594233285046,0.9999999773060698,-0.00010559740197030688,-6.589578359171066e-05,0.00014607415444358723,0.6761,-0.004,0.1060698545576563,1.0,0.0,0.0,0.0,-0.1520656711567796,-0.01078910907056696,0.9280515026413861,4.2890416807078724e-05,0.011589222759023049,0.0004481679333356741,0.8938780047716612,0.8064430252774665,1.1868971848078769,0.06692491355132713,-0.06842287134813278,0.0019320256923030992,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.7888830350921497,1.2777236326295853,-0.23127910237316593,0.01697006980136156,0.29498300067936134,0.7160825696387212,1.0576281348759038,0.9280515026413861,1.2889072372490697,1.2889072372490697,1.3687500000001576,0,0,-0.00012322952243762485,7.500001594629708e-05
+4306,1792754235461898917,37638496000000,1792754235456058867,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6760529027102408,-0.0042867904548767955,0.10601741829656063,0.9999999780717979,-0.00010721811784652548,-5.016889388789768e-05,0.0001458993674429219,0.6761,-0.004,0.10598507571651,1.0,0.0,0.0,0.0,-0.16363448972315875,-0.006034757630423715,1.018270380079116,-8.629967536283312e-07,0.012582866287660255,0.00038959227714663617,0.8823091862052821,0.8111973767176097,1.2771160622456068,0.06688116013776642,-0.06742922781949558,0.0018734500361140612,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.8211619268409034,1.3250557229224853,-0.3147347975588953,0.005629934871315441,0.35689643463103304,0.7449202177922355,1.0576281348759038,1.018270380079116,1.372362932434799,1.372362932434799,1.4700000000002214,0,0,-0.00012736630735224607,3.3959345084549855e-05
+4402,1792754236261842599,37639296000000,1792754236260058693,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6760626537431885,-0.004288759752073427,0.10593432596925594,0.9999999788678374,-0.00010941998204357644,-3.376809891501199e-05,0.00014350669731306813,0.6761,-0.004,0.10588323591350417,1.0,0.0,0.0,0.0,-0.17155042698153267,0.00047252648941187303,1.128628501339378,8.78247565673923e-05,0.013569475009369517,0.0003167405084094901,0.8743932489469082,0.8177046608374453,1.3874741835058688,0.06696984789108744,-0.06644261909778632,0.0018005982673769151,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.8886056958793578,1.3345788208691565,-0.5248758301727819,0.006473849139483158,0.5073091535999038,0.7566572118024725,1.0576281348759038,1.128628501339378,1.5825039650486858,1.5825039650486858,1.590000000000297,0,0,-0.00012698220823861994,9.999782532433272e-05
+4504,1792754237111777831,37640146000000,1792754237108057997,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6760697764222513,-0.0042897143513602005,0.10584141499493804,0.9999999789626194,-0.00010987222118460417,-2.1864662760688398e-05,0.0001448021292027795,0.6761,-0.004,0.10577708476091197,1.0,0.0,0.0,0.0,-0.18741280559366646,0.00503922667561274,1.2453200462156966,0.0009217592817588327,0.014540582788925963,0.0002470775002847332,0.8585308703347744,0.8222713610236462,1.5041657283821872,0.06780378241627888,-0.06547151131822987,0.0017309352592521582,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.9168126860777286,1.3234981587963734,-0.5286119061867318,0.010700946916647766,0.5182624795969302,0.7467771204395288,1.0576281348759038,1.2453200462156966,1.5862400410626356,1.5862400410626356,1.7175000000003773,0,0,-0.0001208645664483018,-7.500000206850927e-05
+4586,1792754237795777500,37640830000000,1792754237792058277,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6760811340459975,-0.004290734951391941,0.10577801565139006,0.9999999790964624,-0.00011170592227972854,-3.219037339661703e-06,0.00014408804274492469,0.6761,-0.004,0.10569444464698872,1.0,0.0,0.0,0.0,-0.1911988295616307,-0.00023470118595703138,1.3194902627678573,0.0009071980095520238,0.014525964098032362,0.00018599756008767505,0.8547448463668101,0.8169974331620764,1.578335944934348,0.06778922114407207,-0.06548613000912347,0.0016698553190551,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.9069829407180263,1.3508123235355325,-0.6511281195638515,0.00864072057980986,0.5921120278195303,0.7653492117247129,1.0576281348759038,1.3194902627678573,1.7087562544397552,1.7087562544397552,1.820100000000442,0,0,-0.000120825930742556,-9.687500387845489e-05
+4663,1792754238436709747,37641471000000,1792754238436058678,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6760873042200674,-0.004298285082529276,0.10570946574558616,0.999999977824975,-0.00012108136698824557,8.889167422075678e-06,0.0001450972063540716,0.6761,-0.004,0.10561509328113455,1.0,0.0,0.0,0.0,-0.2008642882390156,0.00272913362519156,1.406168983488477,0.0008618144514945802,0.015518880451983727,0.0006717053471546476,0.8450793876894253,0.819961267973225,1.6650146656549678,0.06774383758601463,-0.0644932136551721,0.0021555631061220726,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.9360047983512881,1.246386030523698,-0.720421914600592,0.04153636145147447,0.6444673660167471,0.6977812044170032,1.0576281348759038,1.406168983488477,1.7780500494764957,1.7780500494764957,1.9162500000005025,0,0,-0.00012786547550910766,-9.999990699250389e-05
+4738,1792754239061655266,37642096000000,1792754239056058954,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6760924270504634,-0.004296143437746598,0.10564314361975424,0.9999999778547903,-0.00011975793951717605,1.725699462390312e-05,0.00014523606724737727,0.6761,-0.004,0.10553338015027304,1.0,0.0,0.0,0.0,-0.20976002382586267,0.004727211745683357,1.480111612555548,0.0008179710082479308,0.016464891963624495,0.0007361156282851228,0.8361836521025782,0.8219593460937168,1.7389572947220386,0.06769999414276798,-0.06354720214353134,0.002219973387252548,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.9367301695727889,1.2674499527122918,-0.7603246627319828,0.03796409962619675,0.6684708303911392,0.7125413492121313,1.0576281348759038,1.480111612555548,1.8179527976078866,1.8179527976078866,2.0100000000005616,0,0,-0.00013297897414751703,-9.971141553955504e-05
+4810,1792754239661628532,37642696000000,1792754239660058960,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6761010135682566,-0.0042966238830250275,0.10557850553040789,0.9999999771710384,-0.0001239770698603549,3.2403913432322146e-05,0.00014380702185801496,0.6761,-0.004,0.1054521102392063,1.0,0.0,0.0,0.0,-0.2107068899869018,0.009128921397126177,1.566109167088292,0.0008002489751022523,0.016487804449457105,0.0006747882686220536,0.835236785941539,0.8263610557451596,1.8249548492547827,0.0676822721096223,-0.06352428965769873,0.0021586460275894786,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.9819383602641144,1.348254589494532,-0.9117555727401087,0.015256681911314981,0.7753429427961689,0.7600973063804485,1.0576281348759038,1.566109167088292,1.9693837076160126,1.9693837076160126,2.1000000000006183,0,0,-0.00013800451676845705,-9.437485101593807e-05
+4887,1792754240303677901,37643338000000,1792754240300058561,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.676108132756317,-0.004299030194660174,0.10550119406133437,0.9999999760302171,-0.00012661820628465914,4.5463196357532395e-05,0.00014588816632603205,0.6761,-0.004,0.10536229247732193,1.0,0.0,0.0,0.0,-0.219971210370974,0.0028628179372427454,1.6507513078029152,0.0007714305987987502,0.017488971461313146,0.0009893057658829434,0.8259724655574668,0.8200949522852762,1.9095969899694059,0.0676534537333188,-0.06252312264584269,0.0024731635248503685,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.9893717772572576,1.3200735632900542,-0.979936854388243,0.029489801394544976,0.8183855097986228,0.7490801317704098,1.0576281348759038,1.6507513078029152,2.0375649892641468,2.0375649892641468,2.196300000000679,0,0,-0.00014164195385610168,-9.998831903968437e-05
+4966,1792754240961606881,37643996000000,1792754240960049781,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6761163222785487,-0.004302822014288815,0.10542321431391367,0.999999975931096,-0.00012350687836999475,5.7709230004657985e-05,0.00014490123318061982,0.6761,-0.004,0.10526952124241404,1.0,0.0,0.0,0.0,-0.22991640277206637,0.007529220657061186,1.75099479635609,0.0017530752568343244,0.017448868348144977,0.0009182462855737599,0.8160272731563745,0.8247613550050946,2.0098404785225807,0.06863509839135437,-0.06256322575901085,0.002402104044541185,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.9987020676215501,1.2999239438283885,-1.1015747713272581,0.04315535568369665,0.9016448415161237,0.7356451820944021,1.0576281348759038,1.75099479635609,2.159202906203162,2.159202906203162,2.295000000000741,0,0,-0.00014079753910964244,-5.000145716771982e-05
+5033,1792754241520615395,37644555000000,1792754241520058830,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6761235268205739,-0.004304573838081853,0.10536065448692894,0.9999999750690162,-0.00012308044305425644,7.029059753633306e-05,0.0001456546177889522,0.6761,-0.004,0.1051914940029487,1.0,0.0,0.0,0.0,-0.2395793105156231,0.009747126479664026,1.8115775178305942,0.001715823953042997,0.018449100534637074,0.0008840222106722979,0.8063643654128178,0.8269792608276975,2.070423199997085,0.06859784708756304,-0.06156299357251876,0.002367879969639723,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.0605334162354407,1.294146445193624,-1.1475910136657237,0.04784715213982797,0.9443739487332619,0.7336687972902083,1.0576281348759038,1.8115775178305942,2.2052191485416275,2.2052191485416275,2.378850000000794,0,0,-0.0001406190139011373,-9.991203284010481e-05
+5119,1792754242236547552,37645271000000,1792754242236059413,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6761331380471491,-0.004310240840845033,0.10527831678744606,0.9999999729958655,-0.00012738390102703029,8.535483701384967e-05,0.00014811828434936952,0.6761,-0.004,0.10508962859023975,1.0,0.0,0.0,0.0,-0.2317236611621507,0.012670923868255746,1.8918999317376755,0.0017007697971746227,0.01843132018171046,0.000819877752138459,0.8142200147662901,0.8299030582162892,2.1507456139041663,0.06858279293169467,-0.06158077392544537,0.002303735511105884,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.0282257521434226,1.2965570287741568,-1.1972489646822941,0.04689633464629023,0.9673545200835316,0.7344257029761727,1.0576281348759038,1.8918999317376755,2.2548770995581977,2.2548770995581977,2.4862500000008616,0,0,-0.0001457169417726486,-9.999999025923074e-05
+5198,1792754242895618307,37645930000000,1792754242888059437,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6761452784361183,-0.004313747219721056,0.1051956831471114,0.9999999695747844,-0.00013854410027187332,0.00010511246061693784,0.0001484930890285355,0.6761,-0.004,0.10499077132591166,1.0,0.0,0.0,0.0,-0.24944508345904481,0.01594610386016604,1.982115287189269,0.0016568163972819627,0.01942530619885921,0.0007607625983769904,0.796498592469396,0.8331782382081995,2.24096096935576,0.06853883953180201,-0.06058678790829662,0.0022446203573444155,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.0655839968415453,1.2140969405669144,-1.3558675778646463,0.078068284287937,1.0738699337615971,0.6801682897440202,1.0576281348759038,1.982115287189269,2.4134957127405503,2.4134957127405503,2.585100000000924,0,0,-0.00015254694861052543,-9.999924085868912e-05
+5274,1792754243528505651,37646563000000,1792754243528058788,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6761527912848048,-0.00431759585257701,0.10511310481715568,0.9999999673853309,-0.00014305324526080713,0.00011906362354786477,0.00014843120893970015,0.6761,-0.004,0.10489394311117473,1.0,0.0,0.0,0.0,-0.24991698326791223,0.009570661858920193,2.0724410851677653,0.0017661030768995195,0.019404052425986425,0.0006891642623127368,0.7960266926605286,0.8268027962069536,2.331286767334256,0.06864812621141957,-0.06060804168116941,0.002173022021280162,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.061152546290809,1.2671554839462214,-1.4885008626577447,0.06345491162993233,1.1601394618541006,0.7166301733702433,1.0576281348759038,2.0724410851677653,2.5461289975336485,2.5461289975336485,2.6800500000009837,0,0,-0.00015239458729251887,-9.740769260256025e-12
+5357,1792754244220475109,37647255000000,1792754244220049686,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6761605661097418,-0.004315992210861412,0.10502348173281219,0.9999999658533677,-0.00014345733741168496,0.00013138403918510136,0.00014796740973629043,0.6761,-0.004,0.10478948511650402,1.0,0.0,0.0,0.0,-0.24124180529029204,0.0034669950626592394,2.181945707494789,0.0016176583482761103,0.0193839246118458,0.0006030941559095869,0.8047018706381488,0.8206991294106927,2.44079138966128,0.06849968148279616,-0.06062816949531003,0.002086951914877012,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1041471484796062,1.3158291478990252,-1.599857397910237,0.060331060305808155,1.239265920623768,0.7519413942519655,1.0576281348759038,2.181945707494789,2.657485532786141,2.657485532786141,2.783850000001049,0,0,-0.0001515682755265742,-6.978296092493771e-07
+5441,1792754244920465644,37647955000000,1792754244920049237,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6761673575231338,-0.004318987787291328,0.10493047547220517,0.9999999637951825,-0.0001436878506771914,0.0001438234380933139,0.00015007037761961822,0.6761,-0.004,0.10468462648009091,1.0,0.0,0.0,0.0,-0.25960204670357456,0.014533527078403496,2.262991667587316,0.001957327089120234,0.02001195865626631,0.0005480586058223479,0.7863416292248663,0.8317656614264369,2.521837349753807,0.06883935022364028,-0.06000013545088952,0.002031916364789773,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.0724559620531566,1.2873160318982928,-1.7586348928075926,0.06671110537725057,1.3310028647383583,0.7343491786098439,1.0576281348759038,2.262991667587316,2.8162630276834966,2.8162630276834966,2.8888500000011152,0,0,-0.00015140894036172613,8.750000310276391e-05
+5516,1792754245545384600,37648580000000,1792754245540049347,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6761734392951345,-0.0043276768424953165,0.10484869420899731,0.9999999626732979,-0.00014025745656406354,0.00015237943372912072,0.00015233063114185034,0.6761,-0.004,0.10459005177891224,1.0,0.0,0.0,0.0,-0.2534425207358382,0.010482140302753629,2.343601350788001,0.0023536982847698618,0.02034513306310974,0.0010591828498301879,0.7925011551926027,0.8277142746507871,2.6024470329544918,0.06923572141928991,-0.05966696104404609,0.002543040608797613,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1422498133584107,1.3271319306185203,-1.7478204234780843,0.06053787311945227,1.3445586732827004,0.7616239603759878,1.0576281348759038,2.343601350788001,2.805448558353988,2.805448558353988,2.9826000000011743,0,0,-0.00015169904165754223,-9.999962943674773e-05
+5591,1792754246170426275,37649205000000,1792754246168048973,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6761834765075793,-0.004326169358438508,0.10477054006747659,0.9999999597204098,-0.00013853441694042609,0.00017021998481712598,0.00015438722501267518,0.6761,-0.004,0.1044934495971386,1.0,0.0,0.0,0.0,-0.25673533911529034,0.0038294062193432454,2.4238261415891444,0.002482268733032353,0.020326204457127843,0.00045269974686524585,0.7892083368131505,0.8210615405673767,2.6826718237556353,0.0693642918675524,-0.05968588965002799,0.0019365575058326709,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1244978925417757,1.3663514041139002,-1.876310110380091,0.05216958036321756,1.4193885848794237,0.7859082225467846,1.0576281348759038,2.4238261415891444,2.9339382452559946,2.9339382452559946,3.0763500000012334,0,0,-0.00015875693717556783,-8.866708342403768e-05
+5671,1792754246836319106,37649871000000,1792754246832049457,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6761917211608961,-0.0043280416933279215,0.10467218472765684,0.9999999560377403,-0.0001458406357156564,0.00018496777179812367,0.00015454712605838579,0.6761,-0.004,0.10438735164586,1.0,0.0,0.0,0.0,-0.25995937886112064,0.008219521525249074,2.522963032417178,0.0025431747676206845,0.020303395239519496,0.00042802643766980965,0.7859842970673202,0.8254516558732825,2.781808714583669,0.06942519790214073,-0.059708698867636335,0.0019118841966372347,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1433503101389297,1.230973352948968,-2.0119579623498485,0.10470828025657831,1.511071950087111,0.7006081173640641,1.0576281348759038,2.522963032417178,3.069586097225752,3.069586097225752,3.1762500000012963,0,0,-0.00015833146028013256,9.843750400773672e-05
+5750,1792754247495331648,37650530000000,1792754247492048898,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6762020080435398,-0.004328633944275383,0.10459101575549436,0.9999999516430047,-0.0001600145923604946,0.00020253919015357123,0.00014673124765437212,0.6761,-0.004,0.10428165295632695,1.0,0.0,0.0,0.0,-0.2572537595799428,0.010505178373654722,2.5955977621339374,0.0025226659405354207,0.02028311860759458,0.0013183884380989746,0.788689916348498,0.8277373127216882,2.8544434443004283,0.06940468907505547,-0.05972897549956125,0.0028022461970663996,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1059449007107662,1.289393219750076,-2.0580676718781095,0.09765128664468103,1.5246277716632968,0.7419023369075095,1.0576281348759038,2.5955977621339374,3.1156958067540135,3.1156958067540135,3.2751000000013586,0,0,-0.0001636396227647482,-9.952351029263724e-05
+5825,1792754248120308839,37651155000000,1792754248116048917,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6762125801435948,-0.004331429199955139,0.1045039216856973,0.9999999471370384,-0.00015975496468451187,0.0002197910841446962,0.00015277112025727615,0.6761,-0.004,0.10417754986222544,1.0,0.0,0.0,0.0,-0.2611815007949746,0.025594177974890386,2.675283553755319,0.0035179356675270057,0.020653934086741932,0.0012669900748430286,0.7847621751334662,0.8428263123229238,2.9341292359218096,0.07039995880204705,-0.0593581600204139,0.0027508478338104537,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2031546418792525,1.284769257700094,-2.180570118731501,0.10444296960123095,1.6324222166243936,0.7404704508060721,1.0576281348759038,2.675283553755319,3.238198253607405,3.238198253607405,3.3688500000014177,0,0,-0.00016973333221284725,8.166551743039036e-05
+5903,1792754248770243235,37651805000000,1792754248768061254,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6762222390175261,-0.004325322205282161,0.10440937337271215,0.9999999445426564,-0.00015030749355030286,0.00023615152020189082,0.00015491179824301578,0.6761,-0.004,0.1040648016427732,1.0,0.0,0.0,0.0,-0.25433731823448347,0.02600327172369432,2.765829638105242,0.003484846397403929,0.02123714753058034,0.0011988058786482102,0.7916063576939574,0.8432354060717278,3.024675320271733,0.07036686953192398,-0.05877494657657549,0.0026826636376156353,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2162627742427683,1.2581691377784237,-2.2749769066690075,0.11167700879795607,1.6959194800085984,0.7246902878431967,1.0576281348759038,2.765829638105242,3.3326050415449116,3.3326050415449116,3.466350000001479,0,0,-0.00017681084434476168,9.884746773736736e-05
+5970,1792754249328295564,37652363000000,1792754249324049228,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.676228516041043,-0.0043331940910538436,0.10432146770564016,0.9999999420593395,-0.00014132917587181878,0.0002477166367224494,0.00016120395132879648,0.6761,-0.004,0.10396274128173377,1.0,0.0,0.0,0.0,-0.2535501004151117,0.030063429208280645,2.8338531554333612,0.004087813104937124,0.021221202314688117,0.001152797842567334,0.7923935755133291,0.8472955635563141,3.092698837599852,0.07096983623945717,-0.058790891792467714,0.002636655601534759,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2153419921858764,1.33054601803106,-2.433497989380548,0.09418846387510159,1.7908677796320802,0.7770529270416924,1.0576281348759038,2.8338531554333612,3.4911261242564517,3.4911261242564517,3.550050000001532,0,0,-0.00018791580796009987,9.999996250365512e-05
+6039,1792754249903236655,37652938000000,1792754249900049120,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6762379556987737,-0.004337841119763555,0.10422893213830309,0.999999938871717,-0.00013437575189047997,0.00026164279844546743,0.00016488065343346847,0.6761,-0.004,0.1038552971927211,1.0,0.0,0.0,0.0,-0.23893676526708407,0.026748413152971495,2.926033716023213,0.0041285102983831395,0.020179520656183482,0.0010725038358688212,0.8070069106613568,0.8439805475010049,3.184879398189704,0.07101053343290319,-0.05983257345097235,0.0025563615948362463,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2396723311626983,1.2574803207977772,-2.473769993468245,0.12029503549604793,1.8274080539728175,0.7251559954464694,1.0576281348759038,2.926033716023213,3.531398128344149,3.531398128344149,3.636300000001586,0,0,-0.00018674728835957476,9.754932558803659e-05
+6110,1792754250495241272,37653530000000,1792754250492049078,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6762444399343305,-0.0043354590533144916,0.10413041136005702,0.9999999348820087,-0.0001551484845798954,0.00027481179156311185,0.00014861449960179305,0.6761,-0.004,0.10374263487893319,1.0,0.0,0.0,0.0,-0.2415814176658101,0.03766139046868355,2.997132354169281,0.004488084587008764,0.02015579867423061,0.0010161081239174186,0.8043622582626307,0.854893524816717,3.255978036335772,0.07137010772152881,-0.05985629543292522,0.0024999658828848436,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2248686443455834,1.383719873711391,-2.560805651110356,0.08830248005727917,1.8738637910795022,0.8063275924676098,1.0576281348759038,2.997132354169281,3.6184337859862596,3.6184337859862596,3.725100000001642,0,0,-0.00019192116586655571,9.994586688678026e-05
+6184,1792754251111176972,37654146000000,1792754251104050405,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6762520216019632,-0.0043451684800769165,0.10402528738871175,0.9999999303980163,-0.0001578858803761877,0.0002856473224234408,0.0001553205808073889,0.6761,-0.004,0.10362415927871328,1.0,0.0,0.0,0.0,-0.24504148966024264,0.035423963313099605,3.0772795177634156,0.004473149869248336,0.02013973726497808,0.0009540752496202184,0.8009021862681982,0.852656097661133,3.3361251999299064,0.07135517300376838,-0.05987235684217775,0.0024379330085876434,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1617459333463378,1.3415684387075149,-2.577174314462453,0.10911501957311343,1.8676004714057826,0.7837212142204797,1.0576281348759038,3.0772795177634156,3.6348024493383564,3.6348024493383564,3.8175000000017003,0,0,-0.00019508525516828546,-8.110087187785382e-05
+6251,1792754251670121377,37654705000000,1792754251668058605,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6762572832801577,-0.004348952788025341,0.10392321685578772,0.9999999256558432,-0.00016135336110502122,0.0002972902201420274,0.0001603583186090575,0.6761,-0.004,0.10351301118814242,1.0,0.0,0.0,0.0,-0.24541999057698238,0.04496054401016114,3.157480799216404,0.004435484434180043,0.020999133617487176,0.0009028459079819995,0.8005236853514585,0.8621926783581946,3.4163264813828946,0.07131750756870009,-0.059012960489668656,0.0023867036669494245,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1853415287351805,1.2929281091343088,-2.6494286227599537,0.13326944539038288,1.9142117609672722,0.7538945434747886,1.0576281348759038,3.157480799216404,3.7070567576358577,3.7070567576358577,3.901350000001753,0,0,-0.0002005052161899431,-9.998779168374767e-05
+6315,1792754252203112749,37655238000000,1792754252196049199,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6762595343848192,-0.004351768485265837,0.10382014156563059,0.9999999248722147,-0.0001586822976505222,0.000299836475972646,0.00016314547255884835,0.6761,-0.004,0.10340485074929655,1.0,0.0,0.0,0.0,-0.24561767592329464,0.04001099416641751,3.2272377610897065,0.004418936889131531,0.021070685593616273,0.0008479537394791559,0.8003260000051462,0.857243128514451,3.4860834432561973,0.07130096002365158,-0.05894140851353956,0.002331811498446581,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1635404460088372,1.239868248502589,-2.755211431007543,0.1531841212977731,1.979372960057282,0.7207781734571287,1.0576281348759038,3.2272377610897065,3.812839565883447,3.812839565883447,3.9813000000018035,0,0,-0.00020739935359833988,5.299830965971899e-05
+6385,1792754252786078732,37655821000000,1792754252784049131,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.676265250138819,-0.004354511941709813,0.10370834329288432,0.9999999218882982,-0.00015637285720457422,0.0003105718615414445,0.00016358150920600407,0.6761,-0.004,0.10328207541714464,1.0,0.0,0.0,0.0,-0.23998203889827618,0.03155958346904619,3.300883893221533,0.004431150870362249,0.02009117513631245,0.000773787360603243,0.8059616370301647,0.8487917178170796,3.559729575388024,0.0713131740048823,-0.05992091897084338,0.002257645119570668,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1786467639772,1.24007872075563,-2.7680566176033015,0.15733888801647355,1.9903583888012202,0.7194678469732433,1.0576281348759038,3.300883893221533,3.825684752479205,3.825684752479205,4.068750000001655,0,0,-0.00021475431318948435,-9.922880159075049e-05
+6450,1792754253328133513,37656363000000,1792754253328049849,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6762832058637536,-0.004356594192583727,0.10361016894633358,0.9999999132613543,-0.00016096315779174373,0.00033547693199877934,0.00016268447412868585,0.6761,-0.004,0.10316313108328305,1.0,0.0,0.0,0.0,-0.24623970557399233,0.047581460844058565,3.367736097562271,0.005010178568218726,0.021088035313248828,0.0007372232234886644,0.7997039703544485,0.864813595192092,3.626581779728762,0.07189220170273877,-0.058924058793907004,0.0022210809824560894,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1952078811139228,1.3423491606541518,-2.881399489458043,0.13840751681010424,2.0625727496276194,0.7930541431441492,1.0576281348759038,3.367736097562271,3.9390276243339466,3.9390276243339466,4.150050000001466,0,0,-0.00022607678126371068,-9.999999025923074e-05
+6519,1792754253903035336,37656938000000,1792754253900048891,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.676292830263696,-0.004361147496923356,0.10348793285286566,0.9999999083667109,-0.00016524901179792244,0.00034702227103184947,0.0001642490226013953,0.6761,-0.004,0.1030285316073583,1.0,0.0,0.0,0.0,-0.24144940154294814,0.055326913874961914,3.438308071359284,0.004398234046051025,0.021073018903113007,0.0006832236119064191,0.8044942743854927,0.8725590482229953,3.697153753525775,0.07128025718057107,-0.058939075204042825,0.002167081370873844,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2091740934427857,1.375909585967763,-2.9663631917634072,0.129664876683324,2.1238765707840876,0.8146193572237276,1.0576281348759038,3.438308071359284,4.023991326639311,4.023991326639311,4.236300000001265,0,0,-0.00024091242621235154,-9.365484362889304e-05
+6585,1792754254453046896,37657488000000,1792754254448049704,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6762940124484448,-0.004365974432491786,0.10336302861593799,0.9999999061452258,-0.00016721244625153957,0.0003512870988495008,0.0001667026565787519,0.6761,-0.004,0.10289176621685109,1.0,0.0,0.0,0.0,-0.22800726706868268,0.057205423800977484,3.498986709499192,0.00504241161539512,0.020082134818038132,0.0006235238771982114,0.8179364088597582,0.8744375581490109,3.757832391665683,0.07192443474991517,-0.0599299592891177,0.0021073816361656364,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2057354769503195,1.295064648661137,-3.030585802455483,0.16144395915517937,2.1602252226305114,0.766346290089366,1.0576281348759038,3.498986709499192,4.088213937331386,4.088213937331386,4.3188000000010724,0,0,-0.0002584284600579397,-9.98083102540292e-05
+6642,1792754254927975041,37657963000000,1792754254924048884,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.676301599856867,-0.004368342911460269,0.10324996500098685,0.9999999012621049,-0.000167546453985868,0.00036427796688003,0.00016777482916579634,0.6761,-0.004,0.10276622519527594,1.0,0.0,0.0,0.0,-0.22783637714635863,0.05038620022329732,3.548864229687382,0.004361558764403528,0.020678813417638213,0.0005947487668246803,0.8181072987820822,0.8676183345713308,3.807709911853873,0.07124358189892357,-0.05933328068951762,0.0020786065257921054,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2248354107164268,1.2931045683433748,-3.0032070415621255,0.17050594914855954,2.1478937049957763,0.7685068622998523,1.0576281348759038,3.548864229687382,4.0608351764380295,4.0608351764380295,4.390050000000906,0,0,-0.00027121547843264447,-9.999999025923074e-05
+6690,1792754255328044426,37658363000000,1792754255320049237,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6763016851106883,-0.004370862172389618,0.10314129153244485,0.9999998997553369,-0.0001716788077461819,0.000365876399654608,0.00016909472982645522,0.6761,-0.004,0.10265629453128747,1.0,0.0,0.0,0.0,-0.225986775009559,0.041845705697931446,3.6129076965165186,0.003752989638570292,0.02064317038298942,0.0005403775386615582,0.8199569009188818,0.8590778400459649,3.8717533786830094,0.07063501277309034,-0.05936892372416641,0.002024235297628983,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2951820698033163,1.2343363804632885,-3.233990016118477,0.2196332941350256,2.317942655885863,0.7389444330526177,1.0576281348759038,3.6129076965165186,4.291618150994381,4.291618150994381,4.450050000000767,0,0,-0.0002777025183461638,9.980196810500103e-05
+6742,1792754255761017996,37658796000000,1792754255760049140,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6763053718254401,-0.004372549727136176,0.10302468868585328,0.9999998963685713,-0.00018230790822973132,0.0003724105011665633,0.00016364582454799702,0.6761,-0.004,0.10253390677256852,1.0,0.0,0.0,0.0,-0.1983591278813872,0.061810510189807655,3.649863202910245,0.005027110784658964,0.018719828101614863,0.0015093931686111573,0.8475845480470536,0.8790426445378411,3.9087088850767358,0.07190913391917901,-0.06129226600554097,0.0029932509275785823,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2844603379620791,1.281925411818309,-3.1827685411983735,0.20052211500007813,2.2835846869775573,0.7691796129310858,1.0576281348759038,3.649863202910245,4.240396676074277,4.240396676074277,4.515000000000615,0,0,-0.0002888340362536531,-9.529247810136638e-05
+6788,1792754256144960259,37659180000000,1792754256144058568,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6763023480482797,-0.00437694952724466,0.10290769539428728,0.9999998968970784,-0.00017803857842408675,0.0003690895239942519,0.00017240616261047028,0.6761,-0.004,0.10242006087646027,1.0,0.0,0.0,0.0,-0.213333370570841,0.04271391600601804,3.679026860249236,0.0034315562644725156,0.01993694850453951,0.00047807409183440596,0.8326103053575998,0.8599460503540515,3.937872542415727,0.07031357939899256,-0.06007514560261632,0.001961931850801831,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.2150158543192626,1.2179753408586569,-3.250117205863726,0.22796060064026752,2.307080740205141,0.7315233497517905,1.0576281348759038,3.679026860249236,4.30774534073963,4.30774534073963,4.572600000000481,0,0,-0.00030430418000301627,-9.999999025923074e-05
+6835,1792754256535993016,37659571000000,1792754256528049181,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6763059653909229,-0.00438962520211101,0.1027906279431126,0.9999998942659895,-0.0001693421858228556,0.00037592170284566473,0.00018143034928896592,0.6761,-0.004,0.10229807350612394,1.0,0.0,0.0,0.0,-0.19413483164881484,0.04591350846007336,3.709627496399053,0.003985471012061967,0.018629118143960052,0.0004433604194060434,0.851808844279626,0.8631456428081068,3.968473178565544,0.07086749414658201,-0.06138297596319578,0.0019272181783734684,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.146097817171693,1.1571639965241425,-3.1724223869908554,0.24786334584729935,2.2436652241281063,0.6975274860362108,1.0576281348759038,3.709627496399053,4.230050521866759,4.230050521866759,4.631250000000344,0,0,-0.0003198563936588058,-9.999997638144293e-05
+6881,1792754256919973030,37659955000000,1792754256916049326,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.676305290976331,-0.004389591088761256,0.10266254724373435,0.9999998939583284,-0.00018899286862482194,0.00037524110067975615,0.00016432287737205639,0.6761,-0.004,0.1021717834717496,1.0,0.0,0.0,0.0,-0.16325213186586807,0.05618883783024331,3.7403579353303917,0.004429797048039766,0.01630755829208959,0.0013987030047833908,0.8826915440625728,0.8734209721782767,3.9992036174968826,0.07131182018255981,-0.06370453581506624,0.002882560763750816,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1478323514666913,1.2261730282893846,-3.3147577981226064,0.22933539392373467,2.3381560613816736,0.737998546304722,1.0576281348759038,3.7403579353303917,4.37238593299851,4.37238593299851,4.68885000000021,0,0,-0.00033743832794227844,-7.499651874376951e-05
+6926,1792754257294930282,37660330000000,1792754257292058107,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6763040807419913,-0.0043944947307927446,0.1025311762468998,0.9999998931600267,-0.0001864258048998113,0.0003735313708203112,0.0001756204255727744,0.6761,-0.004,0.10204180252834859,1.0,0.0,0.0,0.0,-0.16092012490767615,0.0320942788567834,3.765562057506686,0.002451097689937537,0.016447957331418392,0.0003698570971074058,0.8850235510207647,0.8493264132048168,4.024407739673177,0.06933312082445758,-0.06356413677573744,0.0018537148560748308,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.193223005532797,1.2982563064175208,-3.297225265229096,0.20219312546550142,2.3477854688837287,0.790694095490433,1.0576281348759038,3.765562057506686,4.354853400105,4.354853400105,4.745100000000079,0,0,-0.0003556560880205436,-9.999999025923074e-05
+6973,1792754257685916240,37660721000000,1792754257684051031,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6763055008842592,-0.004399134088901557,0.10238168031559562,0.9999998926521916,-0.00018119513597471422,0.0003715422195304687,0.00018778490682295083,0.6761,-0.004,0.10189892874867905,1.0,0.0,0.0,0.0,-0.14339730051019683,0.05489954976608946,3.7689696624982347,0.0034249907726162654,0.015946792153405165,0.0013605304578644167,0.902546375418244,0.8721316841141229,4.027815344664726,0.07030701390713631,-0.06406530195375067,0.0028443882168318418,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.197069155028526,1.2892055556947861,-3.224573476918538,0.2101244130762669,2.306807691297592,0.78425588493492,1.0576281348759038,3.7689696624982347,4.2822016117944415,4.2822016117944415,4.803749999999942,0,0,-0.0003752060842119028,-9.999999025923074e-05
+7016,1792754258044931947,37661080000000,1792754258040058953,DOWN_FORCE_DETACH,7,0.0525,0.05250246822834015,0.6763111186829988,-0.004402458129296304,0.10224803602573708,0.9999998850859986,-0.00020724200838329333,0.0003844804139435479,0.00017463222791616096,0.6761,-0.004,0.10176101671507642,1.0,0.0,0.0,0.0,-0.1161620508815262,0.06801972818841862,3.7667984617159838,0.00450915786256903,0.013904256125780584,0.0009381397425428327,0.9297816250469146,0.885251862536452,4.025644143882475,0.07139118099708908,-0.06610783798137525,0.0024219975015102578,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1377782722759116,1.2888103159939739,-3.258513801464648,0.20858232446811387,2.3132594028243894,0.7837429200754784,1.0576281348759038,3.7667984617159838,4.316141936340552,4.316141936340552,4.857599999999817,0,0,-0.00039315608071496664,-9.999999025923074e-05
+7057,1792754258385910072,37661421000000,1792754258380058444,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6763106042078233,-0.004408826709925324,0.10211354539779208,0.9999998896057045,-0.0001786055209734404,0.00038099247871038495,0.0001875533048780055,0.6761,-0.004,0.10162405199212061,1.0,0.0,0.0,0.0,-0.1135325272275548,0.06382648674551572,3.7614920158911427,0.0034849612474114194,0.013857396192399202,0.0013389126531367695,0.932411148700886,0.8810586210935492,4.0203376980576335,0.07036698438193147,-0.06615469791475663,0.0028227704121041946,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1476204800389809,1.2167512422188238,-3.212330111163461,0.2491525284371598,2.290114592778204,0.7481066665801026,1.0576281348759038,3.7614920158911427,4.269958246039365,4.269958246039365,4.9087499999996975,0,0,-0.0004102060773933643,-9.999999025923074e-05
+7100,1792754258744891440,37661780000000,1792754258744059016,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6763188868323086,-0.0044040292322961565,0.10196363902252362,0.9999998831813779,-0.00020519487911283747,0.0003930909096842551,0.00016868518935242443,0.6761,-0.004,0.10147357496096585,1.0,0.0,0.0,0.0,-0.09170142312665586,0.07529156402804205,3.741065662742877,0.004527857642396202,0.012892272690751605,0.0013458672941753242,0.954242252801785,0.8925236983760755,3.9999113449093677,0.07140988077691625,-0.06711982141640423,0.0028297250531427493,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.154708192105974,1.4203511679878356,-3.2239774926232116,0.20296567531673446,2.300637165489815,0.8792425250228815,1.0576281348759038,3.741065662742877,4.281605627499116,4.281605627499116,4.962599999999572,0,0,-0.00042815607389642816,-9.999999025923074e-05
+7138,1792754259060815867,37662096000000,1792754259060059102,DOWN_FORCE_DETACH,7,0.0525,0.05250181257724762,0.6763136878905006,-0.004414407110368787,0.10182084108050249,0.999999886237972,-0.00020244311026963447,0.000380231662546111,0.00018277739809044303,0.6761,-0.004,0.10133578914210245,1.0,0.0,0.0,0.0,-0.08430354103648274,0.05958316436968181,3.739613245874832,0.0025605474774039044,0.011922275543680735,0.0003390998536840651,0.9616401348919581,0.8768152987177152,3.9984589280413227,0.06944257061192395,-0.0680898185634751,0.0018229576126514901,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.1199313264810362,1.3205343843794912,-3.18906491232458,0.21798917139989826,2.2791654675361968,0.8186037839903519,1.0576281348759038,3.739613245874832,4.246693047200484,4.246693047200484,5.0099999999994616,0,0,-0.0004439560708183451,-9.999999025923074e-05
+7187,1792754259469840669,37662505000000,1792754259464058769,DOWN_SETTLE,7,0.0525,0.05250246822834015,0.676305180476382,-0.0044152455854361795,0.10169493180928044,0.9999998924822536,-0.0001981152054880508,0.00036417067839758635,0.00018603340469358637,0.6761,-0.004,0.10123579590931583,1.0,0.0,0.0,0.0,-0.06102057762976365,0.03899935421509504,3.630233352243519,0.0026031992083171,0.009921118584954633,0.000347457812869466,0.9849230982986772,0.8562314885631285,3.8890790344100097,0.06948522234283715,-0.0700909755222012,0.001831315571836891,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,1.0461942609714392,1.4216819958028415,-2.939997906698745,0.18951813764822245,2.105574968346819,0.8841035916577409,1.0576281348759038,3.630233352243519,3.997626041574649,0.0,0.0,0,0,-2.76816419996816e-05,0.0002796125454513293
+7258,1792754260056841238,37663092000000,1792754260052058439,DOWN_PEAK_HOLD,7,0.0525,0.05250181257724762,0.6762913863310313,-0.0044104549648687295,0.10165557084811888,0.9999999028161579,-0.00019291819286779214,0.0003381792301856788,0.00018500788637454326,0.6761,-0.004,0.10123401981367201,1.0,0.0,0.0,0.0,-0.031334587603822905,0.05466352146115494,3.398782813830262,0.0023299263222367056,0.007998488031622522,0.0005069368627438327,1.014609088324618,0.8718956558091884,3.657628495996753,0.06921194945675675,-0.07201360607553331,0.0019907946217112577,1.0459436759284408,0.8172321343480334,0.25884568216649073,0.06688202313452005,-0.08001209410715583,0.001483857758967425,1,0.9220225722777298,1.3868016579226172,-2.7538045418346933,0.19401579592439594,1.9582380778108108,0.8568320015265307,1.0576281348759038,3.398782813830262,3.811432676710597,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_0050_10/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,1792754225464951072,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.041071225e-10,3.313117662e-11,6.082911952e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450027e-01,-1.187811423e-04,8.303258984e-01
+1,7.166666667e-01,DOWN_FORCE_DETACH,1792754226332823635,2.573848646e-06,3.764611032e-06,-1.412531070e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.887864186e-08,-1.956759892e-09,1.113412029e-09,7.019582067e-01,-1.850612399e-05,8.601429460e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450406e-01,-1.187831322e-04,8.303258995e-01
+2,1.383333333e+00,DOWN_FORCE_DETACH,1792754227020857841,7.412573586e-06,-5.082268813e-06,-6.679978130e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.459430046e-08,-3.415062156e-09,2.186926862e-09,7.019630454e-01,-2.735300384e-05,8.601364073e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450663e-01,-1.187845905e-04,8.303259006e-01
+3,2.100000000e+00,DOWN_FORCE_DETACH,1792754227742227233,1.249462934e-05,-9.376575627e-07,-4.538724837e-05,8.358279482e-06,-4.218563901e-06,-3.908442070e-05,8.613982963e-06,-4.249479475e-06,-3.900243767e-05,7.019681274e-01,-2.320839259e-05,8.600977000e-01,7.019639911e-01,-2.648929892e-05,8.601040028e-01,7.027536157e-01,-1.230306549e-04,8.302868959e-01
+4,2.766666667e+00,DOWN_FORCE_DETACH,1792754228397427151,1.678778382e-05,-7.407389012e-06,-1.006363805e-04,1.210045154e-05,-8.346865678e-06,-1.017137402e-04,1.188247169e-05,-8.416366221e-06,-1.015297114e-04,7.019724206e-01,-2.967812403e-05,8.600424509e-01,7.019677333e-01,-3.061760070e-05,8.600413735e-01,7.027568842e-01,-1.271975416e-04,8.302243687e-01
+5,3.283333333e+00,DOWN_FORCE_DETACH,1792754228907424731,2.369536143e-05,-1.003025127e-05,-1.478711537e-04,1.998588572e-05,-1.260274916e-05,-1.398459580e-04,1.993123189e-05,-1.268850494e-05,-1.396319992e-04,7.019793282e-01,-3.230098629e-05,8.599952161e-01,7.019756187e-01,-3.487348418e-05,8.600032413e-01,7.027649330e-01,-1.314696803e-04,8.301862664e-01
+6,3.883333333e+00,DOWN_FORCE_DETACH,1792754229510306859,3.373354777e-05,-1.186795363e-05,-2.081599890e-04,2.971808780e-05,-1.291887472e-05,-2.035048479e-04,2.966782573e-05,-1.305798891e-05,-2.032402897e-04,7.019893664e-01,-3.413868865e-05,8.599349273e-01,7.019853509e-01,-3.518960974e-05,8.599395824e-01,7.027746696e-01,-1.318391643e-04,8.301226581e-01
+7,4.400000000e+00,DOWN_FORCE_DETACH,1792754230135200340,4.875554576e-05,-1.604816007e-05,-2.729227911e-04,4.007279771e-05,-1.490391656e-05,-2.679958822e-04,3.996962939e-05,-1.505004611e-05,-2.676254226e-04,7.020043884e-01,-3.831889509e-05,8.598701644e-01,7.019957056e-01,-3.717465159e-05,8.598750914e-01,7.027849714e-01,-1.338312215e-04,8.300582730e-01
+8,5.066666667e+00,DOWN_FORCE_DETACH,1792754230789008027,5.585042709e-05,-1.860632348e-05,-3.405621191e-04,5.657749144e-05,-1.704996848e-05,-3.234295305e-04,5.707235196e-05,-1.719751953e-05,-3.230681573e-04,7.020114832e-01,-4.087705850e-05,8.598025251e-01,7.020122103e-01,-3.932070351e-05,8.598196577e-01,7.028020741e-01,-1.359786949e-04,8.300028302e-01
+9,5.766666667e+00,DOWN_FORCE_DETACH,1792754231476134053,6.449885113e-05,-2.269252291e-05,-4.004453499e-04,6.193882714e-05,-2.078041894e-05,-3.890309445e-04,6.207785062e-05,-2.096219151e-05,-3.886183602e-04,7.020201317e-01,-4.496325793e-05,8.597426419e-01,7.020175716e-01,-4.305115396e-05,8.597540563e-01,7.028070796e-01,-1.397433669e-04,8.299372800e-01
+10,6.466666667e+00,DOWN_FORCE_DETACH,1792754232164019236,6.493400739e-05,-2.659023229e-05,-4.726407837e-04,6.497852758e-05,-2.672773899e-05,-4.723114502e-04,6.434202310e-05,-2.696907199e-05,-4.719175661e-04,7.020205668e-01,-4.886096731e-05,8.596704465e-01,7.020206113e-01,-4.899847401e-05,8.596707758e-01,7.028093438e-01,-1.457502474e-04,8.298539808e-01
+11,7.150000000e+00,DOWN_FORCE_DETACH,1792754232851923598,7.094455330e-05,-2.745792975e-05,-5.239181192e-04,6.935861550e-05,-2.785902715e-05,-5.142880912e-04,6.855473701e-05,-2.814343369e-05,-5.139752693e-04,7.020265774e-01,-4.972866478e-05,8.596191691e-01,7.020249914e-01,-5.012976217e-05,8.596287991e-01,7.028135565e-01,-1.469246091e-04,8.298119231e-01
+12,7.816666667e+00,DOWN_FORCE_DETACH,1792754233523338132,7.827205557e-05,-2.597937394e-05,-5.786787401e-04,7.792755046e-05,-2.590652339e-05,-5.747339223e-04,7.706294047e-05,-2.614035041e-05,-5.744266403e-04,7.020339049e-01,-4.825010897e-05,8.595644085e-01,7.020335604e-01,-4.817725841e-05,8.595683533e-01,7.028220647e-01,-1.449215258e-04,8.297514717e-01
+13,8.483333333e+00,DOWN_FORCE_DETACH,1792754234178636287,8.756980710e-05,-2.928339930e-05,-6.349217160e-04,8.646165180e-05,-2.667422096e-05,-6.344041722e-04,8.553573381e-05,-2.692206904e-05,-6.340877948e-04,7.020432026e-01,-5.155413432e-05,8.595081655e-01,7.020420945e-01,-4.894495599e-05,8.595086831e-01,7.028305375e-01,-1.457032444e-04,8.296918106e-01
+14,9.100000000e+00,DOWN_FORCE_DETACH,1792754234784896356,9.700439398e-05,-3.102402057e-05,-6.902485155e-04,9.306966544e-05,-3.384371977e-05,-6.793477296e-04,9.210576997e-05,-3.414707327e-05,-6.790509801e-04,7.020526372e-01,-5.329475559e-05,8.594528387e-01,7.020487025e-01,-5.611445479e-05,8.594637395e-01,7.028371075e-01,-1.529282487e-04,8.296468474e-01
+15,9.750000000e+00,DOWN_FORCE_DETACH,1792754235459117322,1.025822891e-04,-3.138011519e-05,-7.614840025e-04,1.016178191e-04,-3.101931766e-05,-7.418818388e-04,1.005084268e-04,-3.130119656e-05,-7.415378401e-04,7.020582151e-01,-5.365085022e-05,8.593816032e-01,7.020572506e-01,-5.329005268e-05,8.594012054e-01,7.028455102e-01,-1.500823720e-04,8.295843605e-01
+16,1.043333333e+01,DOWN_FORCE_DETACH,1792754236258719655,1.139706244e-04,-3.453380302e-05,-8.446123777e-04,1.133583612e-04,-3.552561495e-05,-8.313045112e-04,1.121111079e-04,-3.589828738e-05,-8.309399259e-04,7.020696034e-01,-5.680453805e-05,8.592984749e-01,7.020689912e-01,-5.779634997e-05,8.593117827e-01,7.028571129e-01,-1.546794628e-04,8.294949585e-01
+17,1.106666667e+01,DOWN_FORCE_DETACH,1792754237110411594,1.235324438e-04,-4.034409748e-05,-9.371929359e-04,1.189116373e-04,-3.857589779e-05,-9.235771223e-04,1.169872386e-04,-3.896062227e-05,-9.232148421e-04,7.020791653e-01,-6.261483250e-05,8.592058943e-01,7.020745445e-01,-6.084663281e-05,8.592195101e-01,7.028619890e-01,-1.577417977e-04,8.294026835e-01
+18,1.173333333e+01,DOWN_FORCE_DETACH,1792754237798639765,1.309374694e-04,-3.859754388e-05,-1.002523810e-03,1.274330684e-04,-4.092772309e-05,-9.883783904e-04,1.253586360e-04,-4.135965440e-05,-9.880495614e-04,7.020865703e-01,-6.086827890e-05,8.591405634e-01,7.020830659e-01,-6.319845811e-05,8.591547088e-01,7.028703604e-01,-1.601408298e-04,8.293378488e-01
+19,1.236666667e+01,DOWN_FORCE_DETACH,1792754238437635573,1.389746658e-04,-4.596870150e-05,-1.069486458e-03,1.374013461e-04,-4.202356314e-05,-1.050126827e-03,1.353678026e-04,-4.246613920e-05,-1.049782579e-03,7.020946075e-01,-6.823943652e-05,8.590736008e-01,7.020930342e-01,-6.429429816e-05,8.590929604e-01,7.028803696e-01,-1.612473146e-04,8.292761158e-01
+20,1.300000000e+01,DOWN_FORCE_DETACH,1792754239059605188,1.446153329e-04,-4.042599909e-05,-1.136841856e-03,1.445758558e-04,-4.042600062e-05,-1.136419820e-03,1.420714612e-04,-4.085700654e-05,-1.136013878e-03,7.021002481e-01,-6.269673411e-05,8.590062454e-01,7.021002087e-01,-6.269673564e-05,8.590066674e-01,7.028870732e-01,-1.596381819e-04,8.291898845e-01
+21,1.360000000e+01,DOWN_FORCE_DETACH,1792754239665653860,1.509433673e-04,-4.689555937e-05,-1.206088390e-03,1.507425042e-04,-4.617762126e-05,-1.199507420e-03,1.479505652e-04,-4.667863987e-05,-1.199088187e-03,7.021065762e-01,-6.916629439e-05,8.589369988e-01,7.021063753e-01,-6.844835628e-05,8.589435798e-01,7.028929523e-01,-1.654598153e-04,8.291268102e-01
+22,1.423333333e+01,DOWN_FORCE_DETACH,1792754240305215835,1.589578501e-04,-5.130593176e-05,-1.277624370e-03,1.578362224e-04,-4.793641573e-05,-1.267301424e-03,1.548515285e-04,-4.841794018e-05,-1.266905348e-03,7.021145907e-01,-7.357666678e-05,8.588654629e-01,7.021134690e-01,-7.020715075e-05,8.588757858e-01,7.028998533e-01,-1.671991156e-04,8.290589930e-01
+23,1.486666667e+01,DOWN_FORCE_DETACH,1792754240959832531,1.664973968e-04,-5.313281078e-05,-1.357622589e-03,1.656184939e-04,-5.485216846e-05,-1.352814285e-03,1.621306594e-04,-5.540824102e-05,-1.352442236e-03,7.021221302e-01,-7.540354580e-05,8.587854647e-01,7.021212513e-01,-7.712290348e-05,8.587902730e-01,7.029071324e-01,-1.741894164e-04,8.289734561e-01
+24,1.543333333e+01,DOWN_FORCE_DETACH,1792754241516331851,1.736373375e-04,-5.761610216e-05,-1.419782529e-03,1.719679976e-04,-5.715935178e-05,-1.413812513e-03,1.682736221e-04,-5.773600479e-05,-1.413410418e-03,7.021292702e-01,-7.988683719e-05,8.587233047e-01,7.021276008e-01,-7.943008680e-05,8.587292747e-01,7.029132754e-01,-1.765171802e-04,8.289124880e-01
+25,1.615000000e+01,DOWN_FORCE_DETACH,1792754242237001889,1.871785315e-04,-5.600033035e-05,-1.496902629e-03,1.847474130e-04,-5.589484425e-05,-1.479119758e-03,1.811882228e-04,-5.645172621e-05,-1.478842731e-03,7.021428113e-01,-7.827106537e-05,8.586461846e-01,7.021403802e-01,-7.816557927e-05,8.586639675e-01,7.029261900e-01,-1.752329016e-04,8.288470556e-01
+26,1.681666667e+01,DOWN_FORCE_DETACH,1792754242892717491,1.979196774e-04,-5.577740990e-05,-1.580882185e-03,1.977666731e-04,-5.568233773e-05,-1.580465825e-03,1.940263842e-04,-5.624433974e-05,-1.580104616e-03,7.021535525e-01,-7.804814492e-05,8.585622051e-01,7.021533995e-01,-7.795307275e-05,8.585626214e-01,7.029390281e-01,-1.750255151e-04,8.287457938e-01
+27,1.746666667e+01,DOWN_FORCE_DETACH,1792754243531807436,2.044617306e-04,-6.527947155e-05,-1.665847386e-03,2.056557391e-04,-5.710616112e-05,-1.662457740e-03,2.015478930e-04,-5.766130219e-05,-1.662097942e-03,7.021600945e-01,-8.755020657e-05,8.584772399e-01,7.021612886e-01,-7.937689615e-05,8.584806295e-01,7.029465496e-01,-1.764424776e-04,8.286638004e-01
+28,1.806666667e+01,DOWN_FORCE_DETACH,1792754244218965868,2.125008158e-04,-6.664064641e-05,-1.755092554e-03,2.090162211e-04,-6.412339069e-05,-1.750030336e-03,2.041284870e-04,-6.476891201e-05,-1.749623639e-03,7.021681336e-01,-8.891138143e-05,8.583879947e-01,7.021646490e-01,-8.639412571e-05,8.583930569e-01,7.029491302e-01,-1.835500874e-04,8.285762747e-01
+29,1.866666667e+01,DOWN_FORCE_DETACH,1792754244923411874,2.221960819e-04,-6.599702751e-05,-1.843818826e-03,2.178446500e-04,-6.525909107e-05,-1.837026217e-03,2.125780911e-04,-6.593225642e-05,-1.836625053e-03,7.021778289e-01,-8.826776253e-05,8.582992684e-01,7.021734775e-01,-8.752982609e-05,8.583060610e-01,7.029575798e-01,-1.847134318e-04,8.284892733e-01
+30,1.926666667e+01,DOWN_FORCE_DETACH,1792754245546431149,2.274380920e-04,-7.166933035e-05,-1.929379204e-03,2.250025495e-04,-7.142825427e-05,-1.922781275e-03,2.192692899e-04,-7.214018961e-05,-1.922395866e-03,7.021830709e-01,-9.394006537e-05,8.582137080e-01,7.021806354e-01,-9.369898930e-05,8.582203060e-01,7.029642710e-01,-1.909213650e-04,8.284035025e-01
+31,1.990000000e+01,DOWN_FORCE_DETACH,1792754246168465941,2.341837688e-04,-7.459965237e-05,-2.011611360e-03,2.318720309e-04,-7.271084638e-05,-1.995470215e-03,2.257650755e-04,-7.345885844e-05,-1.995108813e-03,7.021898166e-01,-9.687038739e-05,8.581314759e-01,7.021875048e-01,-9.498158141e-05,8.581476170e-01,7.029707668e-01,-1.922400338e-04,8.283307896e-01
+32,2.056666667e+01,DOWN_FORCE_DETACH,1792754246840038681,2.444848056e-04,-7.645983189e-05,-2.105113178e-03,2.407443114e-04,-7.724113002e-05,-2.103111512e-03,2.340341115e-04,-7.802682467e-05,-2.102739149e-03,7.022001176e-01,-9.873056692e-05,8.580379741e-01,7.021963771e-01,-9.951186504e-05,8.580399757e-01,7.029790359e-01,-1.968080001e-04,8.282231592e-01
+33,2.123333333e+01,DOWN_FORCE_DETACH,1792754247495027087,2.517718870e-04,-8.105568668e-05,-2.192096025e-03,2.523388839e-04,-7.775958768e-05,-2.185970536e-03,2.455776785e-04,-7.856790576e-05,-2.185619549e-03,7.022074047e-01,-1.033264217e-04,8.579509912e-01,7.022079717e-01,-1.000303227e-04,8.579571167e-01,7.029905794e-01,-1.973490812e-04,8.281402788e-01
+34,2.183333333e+01,DOWN_FORCE_DETACH,1792754248118170828,2.640144729e-04,-8.098930938e-05,-2.273175730e-03,2.637851867e-04,-8.452041652e-05,-2.269365038e-03,2.569297634e-04,-8.540365332e-05,-2.268997129e-03,7.022196473e-01,-1.032600444e-04,8.578699115e-01,7.022194180e-01,-1.067911515e-04,8.578737222e-01,7.030019315e-01,-2.041848287e-04,8.280569012e-01
+35,2.243333333e+01,DOWN_FORCE_DETACH,1792754248773013061,2.739094633e-04,-7.300582425e-05,-2.369578830e-03,2.710661101e-04,-8.208466540e-05,-2.352077141e-03,2.637724974e-04,-8.290250060e-05,-2.351783547e-03,7.022295423e-01,-9.527655927e-05,8.577735084e-01,7.022266989e-01,-1.043554004e-04,8.577910101e-01,7.030087743e-01,-2.016836760e-04,8.279741148e-01
+36,2.300000000e+01,DOWN_FORCE_DETACH,1792754249330010025,2.798231577e-04,-8.048252357e-05,-2.457813631e-03,2.796035244e-04,-8.042535129e-05,-2.457990924e-03,2.716986863e-04,-8.119268598e-05,-2.457588393e-03,7.022354560e-01,-1.027532586e-04,8.576852736e-01,7.022352363e-01,-1.026960863e-04,8.576850963e-01,7.030167004e-01,-1.999738614e-04,8.278683100e-01
+37,2.355000000e+01,DOWN_FORCE_DETACH,1792754249902890157,2.872694817e-04,-8.650752632e-05,-2.553911214e-03,2.862291708e-04,-8.367139282e-05,-2.542793683e-03,2.777604628e-04,-8.448462165e-05,-2.542444413e-03,7.022429023e-01,-1.087782613e-04,8.575891760e-01,7.022418620e-01,-1.059421278e-04,8.576002936e-01,7.030227622e-01,-2.032657970e-04,8.277834540e-01
+38,2.415000000e+01,DOWN_FORCE_DETACH,1792754250492291034,2.970371239e-04,-8.810211487e-05,-2.647786139e-03,2.942683633e-04,-8.767767482e-05,-2.629974789e-03,2.853616858e-04,-8.853140981e-05,-2.629643802e-03,7.022526699e-01,-1.103728499e-04,8.574953011e-01,7.022499012e-01,-1.099484098e-04,8.575131125e-01,7.030303634e-01,-2.073125852e-04,8.276962546e-01
+39,2.468333333e+01,DOWN_FORCE_DETACH,1792754251114791945,3.051829923e-04,-8.911158746e-05,-2.751252415e-03,3.011085388e-04,-9.420677680e-05,-2.743237505e-03,2.913984971e-04,-9.515614272e-05,-2.742857958e-03,7.022608158e-01,-1.113823225e-04,8.573918348e-01,7.022567414e-01,-1.164775118e-04,8.573998497e-01,7.030364003e-01,-2.139373181e-04,8.275830404e-01
+40,2.525000000e+01,DOWN_FORCE_DETACH,1792754251671754367,3.111153556e-04,-9.408215871e-05,-2.853369401e-03,3.083946408e-04,-9.721328823e-05,-2.853277721e-03,2.978679425e-04,-9.822698164e-05,-2.852883881e-03,7.022667482e-01,-1.163528937e-04,8.572897178e-01,7.022640275e-01,-1.194840233e-04,8.572898095e-01,7.030428697e-01,-2.170081570e-04,8.274730145e-01
+41,2.578333333e+01,DOWN_FORCE_DETACH,1792754252202586810,3.112048306e-04,-9.945210423e-05,-2.958810638e-03,3.118062718e-04,-1.006987821e-04,-2.944010618e-03,3.005452384e-04,-1.017342963e-04,-2.943628653e-03,7.022668376e-01,-1.217228393e-04,8.571842766e-01,7.022674391e-01,-1.229695172e-04,8.571990766e-01,7.030455470e-01,-2.205154717e-04,8.273822697e-01
+42,2.635000000e+01,DOWN_FORCE_DETACH,1792754252789245971,3.172160720e-04,-1.012020581e-04,-3.070080507e-03,3.168443783e-04,-1.021329957e-04,-3.058540825e-03,3.045554192e-04,-1.031320983e-04,-3.058194294e-03,7.022728489e-01,-1.234727932e-04,8.570730067e-01,7.022724772e-01,-1.244037307e-04,8.570845464e-01,7.030495572e-01,-2.219132737e-04,8.272677041e-01
+43,2.688333333e+01,DOWN_FORCE_DETACH,1792754253329339316,3.329628530e-04,-1.090293147e-04,-3.169251235e-03,3.329909495e-04,-1.089337838e-04,-3.168933295e-03,3.206798004e-04,-1.099839526e-04,-3.168586348e-03,7.022885957e-01,-1.313000497e-04,8.569738360e-01,7.022886238e-01,-1.312045188e-04,8.569741539e-01,7.030656816e-01,-2.287651280e-04,8.271573120e-01
+44,2.723333333e+01,DOWN_FORCE_DETACH,1792754253905784695,3.418522740e-04,-1.077459709e-04,-3.294849038e-03,3.416253932e-04,-1.077478522e-04,-3.294355054e-03,3.285097629e-04,-1.087793792e-04,-3.293845653e-03,7.022974851e-01,-1.300167060e-04,8.568482382e-01,7.022972582e-01,-1.300185872e-04,8.568487322e-01,7.030735115e-01,-2.275605546e-04,8.270320527e-01
+45,2.763333333e+01,DOWN_FORCE_DETACH,1792754254456294874,3.458589510e-04,-1.131166876e-04,-3.415912933e-03,3.438337356e-04,-1.185452020e-04,-3.402162645e-03,3.295891928e-04,-1.197105617e-04,-3.401681007e-03,7.023014918e-01,-1.353874226e-04,8.567271743e-01,7.022994666e-01,-1.408159370e-04,8.567409246e-01,7.030745909e-01,-2.384917371e-04,8.269242174e-01
+46,2.811666667e+01,DOWN_FORCE_DETACH,1792754254931451660,3.545175578e-04,-1.157429301e-04,-3.527231440e-03,3.489127036e-04,-1.169629889e-04,-3.509113982e-03,3.337446983e-04,-1.181282338e-04,-3.508720505e-03,7.023101504e-01,-1.380136651e-04,8.566158558e-01,7.023045455e-01,-1.392337239e-04,8.566339733e-01,7.030787465e-01,-2.369094092e-04,8.268171779e-01
+47,2.848333333e+01,DOWN_FORCE_DETACH,1792754255324181144,3.544888201e-04,-1.140818391e-04,-3.636035167e-03,3.526046474e-04,-1.209820355e-04,-3.632006223e-03,3.362496107e-04,-1.221703187e-04,-3.631538154e-03,7.023101216e-01,-1.363525741e-04,8.565070521e-01,7.023082375e-01,-1.432527705e-04,8.565110810e-01,7.030812514e-01,-2.409514941e-04,8.266943602e-01
+48,2.885000000e+01,DOWN_FORCE_DETACH,1792754255762453653,3.568790063e-04,-1.216044545e-04,-3.755454851e-03,3.541694527e-04,-1.260342488e-04,-3.740652269e-03,3.366317593e-04,-1.272986297e-04,-3.740196310e-03,7.023125118e-01,-1.438751895e-04,8.563876324e-01,7.023098023e-01,-1.483049839e-04,8.564024350e-01,7.030816335e-01,-2.460798051e-04,8.265857021e-01
+49,2.920000000e+01,DOWN_FORCE_DETACH,1792754256145380484,3.541134975e-04,-1.252377483e-04,-3.872386865e-03,3.538940266e-04,-1.251978665e-04,-3.872104046e-03,3.348388371e-04,-1.264437526e-04,-3.871639237e-03,7.023097463e-01,-1.475084833e-04,8.562707004e-01,7.023095268e-01,-1.474686015e-04,8.562709832e-01,7.030798406e-01,-2.452249280e-04,8.264542591e-01
+50,2.960000000e+01,DOWN_FORCE_DETACH,1792754256536571011,3.592194792e-04,-1.333084583e-04,-3.984281158e-03,3.581672784e-04,-1.331714602e-04,-3.983535044e-03,3.381219524e-04,-1.344894022e-04,-3.983075212e-03,7.023148523e-01,-1.555791933e-04,8.561588061e-01,7.023138001e-01,-1.554421952e-04,8.561595522e-01,7.030831237e-01,-2.532705776e-04,8.263428232e-01
+51,2.998333333e+01,DOWN_FORCE_DETACH,1792754256916883874,3.574034377e-04,-1.382533087e-04,-4.113075346e-03,3.586720028e-04,-1.361675390e-04,-4.098750623e-03,3.372994054e-04,-1.374943076e-04,-4.098288359e-03,7.023130363e-01,-1.605240437e-04,8.560300119e-01,7.023143048e-01,-1.584382740e-04,8.560443366e-01,7.030823012e-01,-2.562754830e-04,8.262276100e-01
+52,3.035000000e+01,DOWN_FORCE_DETACH,1792754257290783407,3.543423009e-04,-1.442528675e-04,-4.250546648e-03,3.536762622e-04,-1.499788341e-04,-4.237574328e-03,3.302767117e-04,-1.514575795e-04,-4.237184261e-03,7.023099751e-01,-1.665236025e-04,8.558925406e-01,7.023093091e-01,-1.722495691e-04,8.559055129e-01,7.030752785e-01,-2.702387549e-04,8.260887141e-01
+53,3.075000000e+01,DOWN_FORCE_DETACH,1792754257682930545,3.596690209e-04,-1.457841887e-04,-4.394086169e-03,3.578647155e-04,-1.485808070e-04,-4.390950495e-03,3.329211102e-04,-1.500503228e-04,-4.390524104e-03,7.023153018e-01,-1.680549237e-04,8.557490011e-01,7.023134975e-01,-1.708515420e-04,8.557521367e-01,7.030779229e-01,-2.688314982e-04,8.259353743e-01
+54,3.111666667e+01,DOWN_FORCE_DETACH,1792754258043815559,3.623015952e-04,-1.479606310e-04,-4.529811207e-03,3.620298644e-04,-1.480819788e-04,-4.529887424e-03,3.358008995e-04,-1.495285163e-04,-4.529408758e-03,7.023179344e-01,-1.702313660e-04,8.556132760e-01,7.023176627e-01,-1.703527139e-04,8.556131998e-01,7.030808027e-01,-2.683096917e-04,8.257964896e-01
+55,3.140000000e+01,DOWN_FORCE_DETACH,1792754258388242222,3.646409358e-04,-1.496949831e-04,-4.663105406e-03,3.644812299e-04,-1.499383334e-04,-4.663347672e-03,3.367796598e-04,-1.514526176e-04,-4.662823944e-03,7.023202738e-01,-1.719657181e-04,8.554799818e-01,7.023201140e-01,-1.722090684e-04,8.554797396e-01,7.030817814e-01,-2.702337930e-04,8.256630744e-01
+56,3.176666667e+01,DOWN_FORCE_DETACH,1792754258748276081,3.712644792e-04,-1.520330994e-04,-4.815623798e-03,3.689815094e-04,-1.561388578e-04,-4.809559424e-03,3.399035517e-04,-1.577035190e-04,-4.809074820e-03,7.023268973e-01,-1.743038344e-04,8.553274634e-01,7.023246143e-01,-1.784095928e-04,8.553335278e-01,7.030849053e-01,-2.764846944e-04,8.255168236e-01
+57,3.206666667e+01,DOWN_FORCE_DETACH,1792754259059063235,3.653583363e-04,-1.620907293e-04,-4.958111123e-03,3.650730409e-04,-1.646555531e-04,-4.950759150e-03,3.340199507e-04,-1.663025548e-04,-4.950346162e-03,7.023209912e-01,-1.843614644e-04,8.551849761e-01,7.023207059e-01,-1.869262881e-04,8.551923281e-01,7.030790217e-01,-2.850837302e-04,8.253755522e-01
+58,3.248333333e+01,DOWN_SETTLE,1792754259468467106,3.531536269e-04,-1.704528727e-04,-5.088055422e-03,3.530001825e-04,-1.704350388e-04,-5.088019323e-03,3.193831794e-04,-1.721373017e-04,-5.087751414e-03,7.023087864e-01,-1.927236077e-04,8.550550318e-01,7.023086330e-01,-1.927057738e-04,8.550550679e-01,7.030643849e-01,-2.909184771e-04,8.252381470e-01
+59,3.308333333e+01,DOWN_PEAK_HOLD,1792754260057667822,3.430567768e-04,-1.581385838e-04,-5.123381355e-03,3.507691958e-04,-1.590250456e-04,-5.106530910e-03,3.167252326e-04,-1.606382317e-04,-5.106635178e-03,7.022986896e-01,-1.804093189e-04,8.550197059e-01,7.023064020e-01,-1.812957807e-04,8.550365563e-01,7.030617270e-01,-2.794194071e-04,8.252192632e-01

Fixed/digit/ball_0050_10/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+00,2.5440e-02,3.5734e-02,2.4570e+00,-3.9233e-02,3.8568e-02,3.8153e-05,1.5470e-04,1.3787e-05,1.3113e-05,-6.5193e-07,1.0997e-05,-5.0262e-07,1.5586e-04,1.1028e-05
+1,7.1667e-01,DOWN_FORCE_DETACH,1.5715e-04,3.2022e-02,3.5632e-02,2.4572e+00,-3.9209e-02,3.9035e-02,2.6235e-05,6.7368e-03,-8.8487e-05,1.9002e-04,2.3413e-05,4.7816e-04,-1.2421e-05,6.7400e-03,4.7889e-04
+2,1.3833e+00,DOWN_FORCE_DETACH,3.1707e-04,3.6474e-02,3.5526e-02,2.4573e+00,-3.9189e-02,3.9349e-02,2.0547e-05,1.1189e-02,-1.9462e-04,3.6764e-04,4.3187e-05,7.9291e-04,-1.8109e-05,1.1196e-02,7.9429e-04
+3,2.1000e+00,DOWN_FORCE_DETACH,4.7351e-04,3.7278e-02,4.0509e-02,2.4725e+00,-3.9530e-02,3.9393e-02,1.8906e-05,1.1993e-02,4.7887e-03,1.5517e-02,-2.9770e-04,8.3629e-04,-1.9750e-05,2.0187e-02,8.8792e-04
+4,2.7667e+00,DOWN_FORCE_DETACH,6.3290e-04,3.9484e-02,4.5940e-02,2.4941e+00,-3.9902e-02,3.9528e-02,1.8656e-05,1.4199e-02,1.0219e-02,3.7166e-02,-6.6928e-04,9.7191e-04,-2.0000e-05,4.1077e-02,1.1802e-03
+5,3.2833e+00,DOWN_FORCE_DETACH,7.9180e-04,3.8148e-02,5.1011e-02,2.5000e+00,-4.0252e-02,3.9429e-02,1.9424e-05,1.2863e-02,1.5290e-02,4.3021e-02,-1.0193e-03,8.7215e-04,-1.9232e-05,4.7435e-02,1.3416e-03
+6,3.8833e+00,DOWN_FORCE_DETACH,9.4756e-04,3.6831e-02,5.1730e-02,2.5142e+00,-4.0296e-02,3.9323e-02,1.7013e-05,1.1546e-02,1.6009e-02,5.7229e-02,-1.0640e-03,7.6605e-04,-2.1644e-05,6.0537e-02,1.3112e-03
+7,4.4000e+00,DOWN_FORCE_DETACH,1.1066e-03,3.4594e-02,5.4189e-02,2.5281e+00,-4.0465e-02,3.9152e-02,1.3911e-05,9.3093e-03,1.8468e-02,7.1096e-02,-1.2323e-03,5.9592e-04,-2.4745e-05,7.4043e-02,1.3690e-03
+8,5.0667e+00,DOWN_FORCE_DETACH,1.2634e-03,3.2473e-02,5.6446e-02,2.5290e+00,-4.0620e-02,3.9002e-02,6.6094e-06,7.1879e-03,2.0725e-02,7.1990e-02,-1.3876e-03,4.4548e-04,-3.2047e-05,7.5258e-02,1.4577e-03
+9,5.7667e+00,DOWN_FORCE_DETACH,1.4221e-03,3.4426e-02,6.0990e-02,2.5311e+00,-4.0935e-02,3.9140e-02,-1.0664e-05,9.1409e-03,2.5269e-02,7.4167e-02,-1.7022e-03,5.8344e-04,-4.9320e-05,7.8885e-02,1.8001e-03
+10,6.4667e+00,DOWN_FORCE_DETACH,1.5820e-03,3.7302e-02,6.2585e-02,2.5280e+00,-4.1037e-02,3.9351e-02,-3.2260e-05,1.2017e-02,2.6864e-02,7.1005e-02,-1.8044e-03,7.9466e-04,-7.0916e-05,7.6862e-02,1.9729e-03
+11,7.1500e+00,DOWN_FORCE_DETACH,1.7394e-03,3.7312e-02,7.1376e-02,2.5250e+00,-4.1639e-02,3.9359e-02,-4.5913e-05,1.2027e-02,3.5655e-02,6.8068e-02,-2.4067e-03,8.0222e-04,-8.4569e-05,7.7777e-02,2.5383e-03
+12,7.8167e+00,DOWN_FORCE_DETACH,1.8985e-03,3.5392e-02,6.9687e-02,2.5238e+00,-4.1520e-02,3.9225e-02,-4.9149e-05,1.0107e-02,3.3967e-02,6.6812e-02,-2.2878e-03,6.6831e-04,-8.7805e-05,7.5629e-02,2.3850e-03
+13,8.4833e+00,DOWN_FORCE_DETACH,2.0537e-03,3.4436e-02,7.0487e-02,2.5257e+00,-4.1588e-02,3.9152e-02,-3.5264e-05,9.1512e-03,3.4766e-02,6.8702e-02,-2.3561e-03,5.9508e-04,-7.3920e-05,7.7540e-02,2.4312e-03
+14,9.1000e+00,DOWN_FORCE_DETACH,2.2116e-03,3.5601e-02,7.9024e-02,2.5213e+00,-4.2208e-02,3.9231e-02,-9.1059e-06,1.0316e-02,4.3303e-02,6.4361e-02,-2.9757e-03,6.7482e-04,-4.7762e-05,7.8256e-02,3.0516e-03
+15,9.7500e+00,DOWN_FORCE_DETACH,2.3695e-03,3.5764e-02,7.5000e-02,2.5242e+00,-4.1955e-02,3.9234e-02,2.3127e-05,1.0479e-02,3.9279e-02,6.7197e-02,-2.7228e-03,6.7750e-04,-1.5529e-05,7.8537e-02,2.8058e-03
+16,1.0433e+01,DOWN_FORCE_DETACH,2.5299e-03,3.5343e-02,7.8239e-02,2.5326e+00,-4.2215e-02,3.9194e-02,6.2012e-05,1.0058e-02,4.2518e-02,7.5585e-02,-2.9829e-03,6.3740e-04,2.3356e-05,8.7304e-02,3.0504e-03
+17,1.1067e+01,DOWN_FORCE_DETACH,2.6881e-03,3.8121e-02,7.9272e-02,2.5398e+00,-4.2307e-02,3.9387e-02,9.0765e-05,1.2836e-02,4.3551e-02,8.2868e-02,-3.0742e-03,8.3034e-04,5.2109e-05,9.4491e-02,3.1848e-03
+18,1.1733e+01,DOWN_FORCE_DETACH,2.8449e-03,3.8971e-02,8.0943e-02,2.5331e+00,-4.2419e-02,3.9460e-02,1.0063e-04,1.3686e-02,4.5222e-02,7.6082e-02,-3.1863e-03,9.0345e-04,6.1969e-05,8.9559e-02,3.3125e-03
+19,1.2367e+01,DOWN_FORCE_DETACH,3.0021e-03,3.9447e-02,8.2465e-02,2.5305e+00,-4.2498e-02,3.9496e-02,8.8266e-05,1.4162e-02,4.6744e-02,7.3511e-02,-3.2658e-03,9.3985e-04,4.9610e-05,8.8258e-02,3.3987e-03
+20,1.3000e+01,DOWN_FORCE_DETACH,3.1606e-03,4.1629e-02,9.1663e-02,2.5313e+00,-4.3113e-02,3.9645e-02,5.9249e-05,1.6344e-02,5.5942e-02,7.4370e-02,-3.8805e-03,1.0889e-03,2.0593e-05,9.4486e-02,4.0304e-03
+21,1.3600e+01,DOWN_FORCE_DETACH,3.3200e-03,4.2560e-02,8.8476e-02,2.5459e+00,-4.2865e-02,3.9693e-02,1.8438e-05,1.7274e-02,5.2755e-02,8.8880e-02,-3.6326e-03,1.1367e-03,-2.0218e-05,1.0479e-01,3.8063e-03
+22,1.4233e+01,DOWN_FORCE_DETACH,3.4771e-03,4.3672e-02,9.1182e-02,2.5458e+00,-4.3031e-02,3.9772e-02,-2.3477e-05,1.8387e-02,5.5461e-02,8.8841e-02,-3.7985e-03,1.2156e-03,-6.2133e-05,1.0633e-01,3.9888e-03
+23,1.4867e+01,DOWN_FORCE_DETACH,3.6345e-03,4.4329e-02,1.0077e-01,2.5506e+00,-4.3674e-02,3.9821e-02,-5.3993e-05,1.9044e-02,6.5051e-02,9.3591e-02,-4.4419e-03,1.2641e-03,-9.2649e-05,1.1556e-01,4.6192e-03
+24,1.5433e+01,DOWN_FORCE_DETACH,3.7925e-03,4.4196e-02,1.0450e-01,2.5440e+00,-4.3920e-02,3.9825e-02,-6.5448e-05,1.8911e-02,6.8778e-02,8.7021e-02,-4.6878e-03,1.2684e-03,-1.0410e-04,1.1252e-01,4.8575e-03
+25,1.6150e+01,DOWN_FORCE_DETACH,3.9515e-03,4.2096e-02,1.0245e-01,2.5329e+00,-4.3780e-02,3.9689e-02,-5.3660e-05,1.6811e-02,6.6734e-02,7.5970e-02,-4.5474e-03,1.1328e-03,-9.2316e-05,1.0251e-01,4.6873e-03
+26,1.6817e+01,DOWN_FORCE_DETACH,4.1110e-03,4.3547e-02,1.0659e-01,2.5366e+00,-4.4082e-02,3.9781e-02,-2.8010e-05,1.8262e-02,7.0869e-02,7.9608e-02,-4.8500e-03,1.2250e-03,-6.6667e-05,1.0814e-01,5.0028e-03
+27,1.7467e+01,DOWN_FORCE_DETACH,4.2696e-03,3.9649e-02,1.0141e-01,2.5513e+00,-4.3729e-02,3.9486e-02,-1.7250e-06,1.4364e-02,6.5688e-02,9.4352e-02,-4.4967e-03,9.2932e-04,-4.0381e-05,1.1586e-01,4.5919e-03
+28,1.8067e+01,DOWN_FORCE_DETACH,4.4238e-03,4.0835e-02,1.0918e-01,2.5557e+00,-4.4276e-02,3.9562e-02,1.9037e-05,1.5550e-02,7.3463e-02,9.8716e-02,-5.0435e-03,1.0059e-03,-1.9619e-05,1.2403e-01,5.1428e-03
+29,1.8667e+01,DOWN_FORCE_DETACH,4.5849e-03,3.8896e-02,1.0963e-01,2.5584e+00,-4.4300e-02,3.9426e-02,2.8718e-05,1.3610e-02,7.3914e-02,1.0141e-01,-5.0674e-03,8.6926e-04,-9.9379e-06,1.2622e-01,5.1414e-03
+30,1.9267e+01,DOWN_FORCE_DETACH,4.7423e-03,3.8996e-02,1.1721e-01,2.5590e+00,-4.4817e-02,3.9436e-02,3.1559e-05,1.3711e-02,8.1488e-02,1.0199e-01,-5.5845e-03,8.7972e-04,-7.0973e-06,1.3126e-01,5.6534e-03
+31,1.9900e+01,DOWN_FORCE_DETACH,4.8982e-03,4.0371e-02,1.1864e-01,2.5527e+00,-4.4915e-02,3.9537e-02,2.9445e-05,1.5086e-02,8.2920e-02,9.5692e-02,-5.6823e-03,9.8016e-04,-9.2109e-06,1.2752e-01,5.7662e-03
+32,2.0567e+01,DOWN_FORCE_DETACH,5.0593e-03,4.3144e-02,1.2440e-01,2.5630e+00,-4.5308e-02,3.9715e-02,3.0648e-05,1.7859e-02,8.8682e-02,1.0603e-01,-6.0761e-03,1.1584e-03,-8.0081e-06,1.3937e-01,6.1856e-03
+33,2.1233e+01,DOWN_FORCE_DETACH,5.2150e-03,4.4813e-02,1.2584e-01,2.5588e+00,-4.5399e-02,3.9832e-02,3.3554e-05,1.9528e-02,9.0115e-02,1.0184e-01,-6.1667e-03,1.2758e-03,-5.1017e-06,1.3738e-01,6.2973e-03
+34,2.1833e+01,DOWN_FORCE_DETACH,5.3713e-03,4.4498e-02,1.3570e-01,2.5561e+00,-4.6057e-02,3.9815e-02,3.7267e-05,1.9213e-02,9.9974e-02,9.9112e-02,-6.8242e-03,1.2582e-03,-1.3892e-06,1.4208e-01,6.9392e-03
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+36,2.3000e+01,DOWN_FORCE_DETACH,5.6902e-03,4.0006e-02,1.3992e-01,2.5545e+00,-4.6298e-02,3.9497e-02,2.4971e-05,1.4721e-02,1.0420e-01,9.7514e-02,-7.0660e-03,9.4035e-04,-1.3685e-05,1.4347e-01,7.1283e-03
+37,2.3550e+01,DOWN_FORCE_DETACH,5.8480e-03,3.9693e-02,1.3843e-01,2.5667e+00,-4.6182e-02,3.9456e-02,1.6697e-05,1.4408e-02,1.0271e-01,1.0977e-01,-6.9493e-03,8.9973e-04,-2.1959e-05,1.5102e-01,7.0074e-03
+38,2.4150e+01,DOWN_FORCE_DETACH,6.0078e-03,3.6398e-02,1.4155e-01,2.5621e+00,-4.6410e-02,3.9225e-02,2.0531e-05,1.1112e-02,1.0583e-01,1.0511e-01,-7.1782e-03,6.6801e-04,-1.8125e-05,1.4957e-01,7.2092e-03
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+41,2.5783e+01,DOWN_FORCE_DETACH,6.4819e-03,3.9597e-02,1.5187e-01,2.5764e+00,-4.7145e-02,3.9447e-02,3.6569e-05,1.4312e-02,1.1615e-01,1.1942e-01,-7.9123e-03,8.9020e-04,-2.0868e-06,1.6720e-01,7.9622e-03
+42,2.6350e+01,DOWN_FORCE_DETACH,6.6366e-03,4.3909e-02,1.5518e-01,2.5822e+00,-4.7320e-02,3.9746e-02,3.2390e-05,1.8624e-02,1.1946e-01,1.2525e-01,-8.0874e-03,1.1896e-03,-6.2661e-06,1.7408e-01,8.1744e-03
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Fixed/digit/ball_0050_10/press_depth_07/up/camera_frames_60hz.tar

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Fixed/digit/ball_0050_10/press_depth_07/up/franka_data.csv

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Fixed/digit/ball_0050_10/press_depth_07/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+15,1.900000000e+00,WAIT_W2,1792754211722346511,1.175223525e-05,-2.280728794e-04,2.271352078e-05,1.267356513e-05,-2.209852205e-04,2.432569172e-05,1.406921840e-05,-2.231884187e-04,2.428363552e-05,7.019673851e-01,-2.503436144e-04,8.601658008e-01,7.019683064e-01,-2.432559555e-04,8.601674129e-01,7.027590709e-01,-3.419695894e-04,8.303501820e-01
+16,2.066666667e+00,WAIT_W2,1792754211886544541,1.504934139e-05,-2.204408907e-04,2.515929722e-05,1.267356513e-05,-2.209852205e-04,2.432569172e-05,1.407871677e-05,-2.231914039e-04,2.429015207e-05,7.019706822e-01,-2.427116257e-04,8.601682465e-01,7.019683064e-01,-2.432559555e-04,8.601674129e-01,7.027590804e-01,-3.419725746e-04,8.303501885e-01
+17,2.233333333e+00,UP_FORCE_RAMP,1792754212049803094,1.320363189e-05,-2.246300871e-04,2.495196870e-05,1.267356513e-05,-2.209852205e-04,2.432569172e-05,1.408647172e-05,-2.231932434e-04,2.429571689e-05,7.019688364e-01,-2.469008222e-04,8.601680392e-01,7.019683064e-01,-2.432559555e-04,8.601674129e-01,7.027590882e-01,-3.419744141e-04,8.303501940e-01
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+19,2.600000000e+00,UP_FORCE_RAMP,1792754212410532094,1.576612956e-05,-2.200114839e-04,2.738594785e-05,1.267356513e-05,-2.209852205e-04,2.432569172e-05,1.410040352e-05,-2.231955584e-04,2.430568763e-05,7.019713989e-01,-2.422822189e-04,8.601704732e-01,7.019683064e-01,-2.432559555e-04,8.601674129e-01,7.027591021e-01,-3.419767291e-04,8.303502040e-01
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+21,3.033333333e+00,UP_FORCE_RAMP,1792754212836973567,1.458430657e-05,-2.236658674e-04,2.701624737e-05,1.267356513e-05,-2.209852205e-04,2.432569172e-05,1.411295046e-05,-2.231975090e-04,2.431421505e-05,7.019702171e-01,-2.459366024e-04,8.601701035e-01,7.019683064e-01,-2.432559555e-04,8.601674129e-01,7.027591147e-01,-3.419786797e-04,8.303502125e-01
+22,3.250000000e+00,UP_FORCE_RAMP,1792754213049723207,1.375410875e-05,-2.228548026e-04,2.723281981e-05,1.267356513e-05,-2.209852205e-04,2.432569172e-05,1.411800596e-05,-2.231981737e-04,2.431750418e-05,7.019693869e-01,-2.451255376e-04,8.601703201e-01,7.019683064e-01,-2.432559555e-04,8.601674129e-01,7.027591197e-01,-3.419793444e-04,8.303502158e-01
+23,3.483333333e+00,UP_FORCE_RAMP,1792754213278457845,1.429916594e-05,-2.223819600e-04,3.028949149e-05,1.267356513e-05,-2.209852205e-04,2.432569172e-05,1.412270927e-05,-2.231987106e-04,2.432041483e-05,7.019699320e-01,-2.446526951e-04,8.601733767e-01,7.019683064e-01,-2.432559555e-04,8.601674129e-01,7.027591244e-01,-3.419798814e-04,8.303502187e-01
+24,3.733333333e+00,UP_FORCE_RAMP,1792754213541367689,1.588255535e-05,-2.233747729e-04,3.709315843e-05,1.267356513e-05,-2.209852205e-04,2.432569172e-05,1.412706835e-05,-2.231991731e-04,2.432295847e-05,7.019715154e-01,-2.456455079e-04,8.601801804e-01,7.019683064e-01,-2.432559555e-04,8.601674129e-01,7.027591288e-01,-3.419803439e-04,8.303502213e-01
+25,3.900000000e+00,UP_FORCE_RAMP,1792754213704425526,1.389272972e-05,-2.201899235e-04,4.288148272e-05,1.267356513e-05,-2.209852205e-04,2.432569172e-05,1.412964805e-05,-2.231994409e-04,2.432438898e-05,7.019695255e-01,-2.424606585e-04,8.601859687e-01,7.019683064e-01,-2.432559555e-04,8.601674129e-01,7.027591314e-01,-3.419806116e-04,8.303502227e-01
+26,4.066666667e+00,UP_FORCE_RAMP,1792754213868190074,1.672015925e-05,-2.199167233e-04,4.818124609e-05,1.542244349e-05,-2.192455564e-04,4.594696942e-05,1.735838056e-05,-2.214519079e-04,4.590769661e-05,7.019723530e-01,-2.421874583e-04,8.601912685e-01,7.019710553e-01,-2.415162914e-04,8.601890342e-01,7.027623601e-01,-3.402330786e-04,8.303718060e-01
+27,4.300000000e+00,UP_FORCE_RAMP,1792754214113593373,1.453401883e-05,-2.199876194e-04,5.803493268e-05,1.542244349e-05,-2.192455564e-04,4.594696942e-05,1.736359576e-05,-2.214512885e-04,4.592173648e-05,7.019701668e-01,-2.422583544e-04,8.602011222e-01,7.019710553e-01,-2.415162914e-04,8.601890342e-01,7.027623653e-01,-3.402324592e-04,8.303718201e-01
+28,4.500000000e+00,UP_FORCE_RAMP,1792754214310566418,1.630775236e-05,-2.218209889e-04,7.167820159e-05,1.682510632e-05,-2.217853662e-04,6.785757351e-05,1.913634266e-05,-2.240157241e-04,6.783327530e-05,7.019719406e-01,-2.440917240e-04,8.602147654e-01,7.019724579e-01,-2.440561013e-04,8.602109448e-01,7.027641381e-01,-3.427968948e-04,8.303937316e-01
+29,4.683333333e+00,UP_FORCE_RAMP,1792754214490652483,1.594768758e-05,-2.147556963e-04,8.557210742e-05,1.833482647e-05,-2.183628376e-04,8.887363583e-05,2.099618938e-05,-2.205443034e-04,8.879381228e-05,7.019715805e-01,-2.370264313e-04,8.602286593e-01,7.019739676e-01,-2.406335726e-04,8.602319609e-01,7.027659979e-01,-3.393254742e-04,8.304146921e-01
+30,4.850000000e+00,UP_FORCE_RAMP,1792754214654763718,1.705990961e-05,-2.167285827e-04,1.010441354e-04,1.833482647e-05,-2.183628376e-04,8.887363583e-05,2.100055962e-05,-2.205430093e-04,8.881703639e-05,7.019726927e-01,-2.389993177e-04,8.602441314e-01,7.019739676e-01,-2.406335726e-04,8.602319609e-01,7.027660023e-01,-3.393241800e-04,8.304147154e-01
+31,5.066666667e+00,UP_FORCE_RAMP,1792754214867567747,1.686993364e-05,-2.133040574e-04,1.235024981e-04,1.758223501e-05,-2.143500717e-04,1.092167459e-04,2.044702464e-05,-2.165211183e-04,1.091240952e-04,7.019725028e-01,-2.355747925e-04,8.602665897e-01,7.019732151e-01,-2.366208068e-04,8.602523040e-01,7.027654487e-01,-3.353022891e-04,8.304350224e-01
+32,5.250000000e+00,UP_FORCE_RAMP,1792754215047562827,1.494006542e-05,-2.067794739e-04,1.405662587e-04,1.653175255e-05,-2.112146118e-04,1.314672050e-04,1.963117699e-05,-2.133270483e-04,1.313646482e-04,7.019705729e-01,-2.290502090e-04,8.602836535e-01,7.019721646e-01,-2.334853469e-04,8.602745544e-01,7.027646329e-01,-3.321082190e-04,8.304572630e-01
+33,5.433333333e+00,UP_FORCE_RAMP,1792754215227485760,1.068104194e-05,-2.092264877e-04,1.650763885e-04,1.207405803e-05,-2.105492114e-04,1.522004249e-04,1.508222708e-05,-2.126335737e-04,1.520746520e-04,7.019663139e-01,-2.314972227e-04,8.603081636e-01,7.019677069e-01,-2.328199465e-04,8.602952877e-01,7.027600839e-01,-3.314147445e-04,8.304779730e-01
+34,5.600000000e+00,UP_FORCE_RAMP,1792754215391706054,4.376677731e-06,-2.079116562e-04,1.786178026e-04,9.249868778e-06,-2.095671039e-04,1.743790610e-04,1.232165548e-05,-2.116808269e-04,1.742517527e-04,7.019600095e-01,-2.301823912e-04,8.603217050e-01,7.019648827e-01,-2.318378389e-04,8.603174663e-01,7.027573234e-01,-3.304619976e-04,8.305001501e-01
+35,5.800000000e+00,UP_FORCE_RAMP,1792754215587750708,5.940969157e-06,-2.078658267e-04,2.075888343e-04,8.032802406e-06,-2.097835134e-04,1.946582431e-04,1.126352086e-05,-2.119030107e-04,1.945150851e-04,7.019615738e-01,-2.301365617e-04,8.603506761e-01,7.019636656e-01,-2.320542484e-04,8.603377455e-01,7.027562652e-01,-3.306841814e-04,8.305204134e-01
+36,5.966666667e+00,UP_FORCE_RAMP,1792754215754109952,1.571207102e-06,-2.038806086e-04,2.240417766e-04,6.305779821e-06,-2.101261595e-04,2.152330005e-04,9.634202358e-06,-2.122523546e-04,2.150378867e-04,7.019572040e-01,-2.261513437e-04,8.603671290e-01,7.019619386e-01,-2.323968945e-04,8.603583202e-01,7.027546359e-01,-3.310335253e-04,8.305409362e-01
+37,6.133333333e+00,UP_FORCE_RAMP,1792754215916017195,7.585437336e-07,-2.085587948e-04,2.469122889e-04,4.120670003e-06,-2.055392978e-04,2.389075379e-04,7.629097549e-06,-2.076046564e-04,2.386520882e-04,7.019563914e-01,-2.308295298e-04,8.603899995e-01,7.019597535e-01,-2.278100329e-04,8.603819948e-01,7.027526308e-01,-3.263858272e-04,8.305645504e-01
+38,6.316666667e+00,UP_FORCE_RAMP,1792754216112490144,7.769655077e-07,-1.997002241e-04,2.738114469e-04,-1.233681766e-07,-2.038201645e-04,2.610157370e-04,3.331126541e-06,-2.058776516e-04,2.608054811e-04,7.019564098e-01,-2.219709591e-04,8.604168987e-01,7.019555094e-01,-2.260908995e-04,8.604041030e-01,7.027483328e-01,-3.246588223e-04,8.305867038e-01
+39,6.500000000e+00,UP_FORCE_RAMP,1792754216309457988,-7.392793069e-07,-2.033324001e-04,3.037607033e-04,-6.464581100e-07,-2.034014455e-04,3.033797380e-04,3.236050843e-06,-2.054296555e-04,3.030852133e-04,7.019548935e-01,-2.256031351e-04,8.604468479e-01,7.019549864e-01,-2.256721806e-04,8.604464670e-01,7.027482378e-01,-3.242108263e-04,8.306289835e-01
+40,6.633333333e+00,UP_FORCE_RAMP,1792754216439952396,-2.600919745e-06,-2.021330234e-04,3.220558689e-04,-6.464581100e-07,-2.034014455e-04,3.033797380e-04,3.235400694e-06,-2.054276182e-04,3.031351681e-04,7.019530319e-01,-2.244037585e-04,8.604651431e-01,7.019549864e-01,-2.256721806e-04,8.604464670e-01,7.027482371e-01,-3.242087890e-04,8.306290335e-01
+41,6.783333333e+00,UP_FORCE_RAMP,1792754216604073956,-7.160845766e-06,-2.042923383e-04,3.384926325e-04,-3.483372890e-08,-2.008178711e-04,3.272536591e-04,4.257837981e-06,-2.028363669e-04,3.269819750e-04,7.019484720e-01,-2.265630733e-04,8.604815799e-01,7.019555980e-01,-2.230886061e-04,8.604703409e-01,7.027492596e-01,-3.216175376e-04,8.306528803e-01
+42,6.950000000e+00,UP_FORCE_RAMP,1792754216767390513,-5.616203324e-06,-1.992859333e-04,3.655956840e-04,-5.588045951e-06,-2.000976775e-04,3.463690230e-04,-1.460422546e-06,-2.021020584e-04,3.461002408e-04,7.019500166e-01,-2.215566683e-04,8.605086829e-01,7.019500448e-01,-2.223684125e-04,8.604894563e-01,7.027435413e-01,-3.208832292e-04,8.306719986e-01
+43,7.116666667e+00,UP_FORCE_RAMP,1792754216931014446,-7.575922619e-06,-2.013547754e-04,3.886770263e-04,-7.428477177e-06,-2.013767566e-04,3.885446105e-04,-2.943654731e-06,-2.033793479e-04,3.882229824e-04,7.019480569e-01,-2.236255105e-04,8.605317643e-01,7.019482043e-01,-2.236474916e-04,8.605316318e-01,7.027420581e-01,-3.221605186e-04,8.307141213e-01
+44,7.316666667e+00,UP_FORCE_RAMP,1792754217127379196,-7.883531962e-06,-1.998339983e-04,4.118415941e-04,-7.055363299e-06,-2.022834189e-04,4.103277227e-04,-2.295328913e-06,-2.043192371e-04,4.100059112e-04,7.019477493e-01,-2.221047333e-04,8.605549288e-01,7.019485775e-01,-2.245541539e-04,8.605534150e-01,7.027427064e-01,-3.231004078e-04,8.307359042e-01
+45,7.466666667e+00,UP_FORCE_HOLD,1792754217288409771,-8.808169429e-06,-1.989062680e-04,4.274296739e-04,-7.055363299e-06,-2.022834189e-04,4.103277227e-04,-2.297561752e-06,-2.043188160e-04,4.100547277e-04,7.019468246e-01,-2.211770030e-04,8.605705169e-01,7.019485775e-01,-2.245541539e-04,8.605534150e-01,7.027427042e-01,-3.230999867e-04,8.307359531e-01
+46,7.650000000e+00,UP_FORCE_HOLD,1792754217472312261,-1.029461984e-05,-2.071010578e-04,4.410193287e-04,-1.027598519e-05,-2.077668874e-04,4.298765587e-04,-5.530141369e-06,-2.098639168e-04,4.296308458e-04,7.019453382e-01,-2.293717929e-04,8.605841066e-01,7.019453568e-01,-2.300376224e-04,8.605729638e-01,7.027394716e-01,-3.286450875e-04,8.307555292e-01
+47,7.800000000e+00,UP_SETTLE,1792754217618996293,-1.178762488e-05,-2.031404304e-04,4.567879993e-04,-1.185262676e-05,-2.060353069e-04,4.505117012e-04,-6.930657076e-06,-2.081161997e-04,4.502419853e-04,7.019438452e-01,-2.254111654e-04,8.605998752e-01,7.019437802e-01,-2.283060419e-04,8.605935989e-01,7.027380711e-01,-3.268973704e-04,8.307761403e-01
+48,7.933333333e+00,UP_SETTLE,1792754217750145232,-8.829771663e-06,-2.038092969e-04,4.804081421e-04,-8.760578176e-06,-2.034886820e-04,4.714206846e-04,-3.365314454e-06,-2.055290840e-04,4.711479753e-04,7.019468030e-01,-2.260800320e-04,8.606234954e-01,7.019468722e-01,-2.257594170e-04,8.606145079e-01,7.027416364e-01,-3.243102548e-04,8.307970463e-01
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+50,8.316666667e+00,UP_SETTLE,1792754218159326326,-1.915174959e-05,-2.059460606e-04,5.078017391e-04,-7.588347729e-06,-2.065340654e-04,4.963731041e-04,-1.847168366e-06,-2.085978316e-04,4.961563683e-04,7.019364811e-01,-2.282167956e-04,8.606508890e-01,7.019480445e-01,-2.288048004e-04,8.606394603e-01,7.027431545e-01,-3.273790023e-04,8.308220547e-01
+51,8.450000000e+00,UP_SETTLE,1792754218290645215,-2.210066735e-05,-2.075191362e-04,5.136046069e-04,-1.902861655e-05,-2.113891997e-04,5.124610809e-04,-1.389696916e-05,-2.135552916e-04,5.121582814e-04,7.019335321e-01,-2.297898712e-04,8.606566918e-01,7.019366042e-01,-2.336599347e-04,8.606555483e-01,7.027311047e-01,-3.323364623e-04,8.308380566e-01
+52,8.633333333e+00,UP_SETTLE,1792754218470499137,-2.258346710e-05,-2.034699883e-04,5.214507544e-04,-1.902861655e-05,-2.113891997e-04,5.124610809e-04,-1.390654101e-05,-2.135557382e-04,5.122003046e-04,7.019330493e-01,-2.257407234e-04,8.606645380e-01,7.019366042e-01,-2.336599347e-04,8.606555483e-01,7.027310952e-01,-3.323369089e-04,8.308380986e-01
+53,8.833333333e+00,UP_SETTLE,1792754218668817528,-2.635039713e-05,-2.068323927e-04,5.275913503e-04,-2.221401564e-05,-2.063000975e-04,5.311745049e-04,-1.712528773e-05,-2.083517297e-04,5.309579039e-04,7.019292824e-01,-2.291031278e-04,8.606706786e-01,7.019334188e-01,-2.285708325e-04,8.606742617e-01,7.027278764e-01,-3.271329005e-04,8.308568562e-01
+54,8.983333333e+00,UP_SETTLE,1792754218831230858,-2.170116893e-05,-2.059802718e-04,5.570372618e-04,-2.152662524e-05,-2.099589575e-04,5.537957907e-04,-1.616990993e-05,-2.120778546e-04,5.534785238e-04,7.019339316e-01,-2.282510068e-04,8.607001245e-01,7.019341062e-01,-2.322296925e-04,8.606968830e-01,7.027288318e-01,-3.308590253e-04,8.308793768e-01
+55,9.100000000e+00,UP_SETTLE,1792754218945741308,-1.610935046e-05,-2.073253800e-04,5.823081806e-04,-1.511782241e-05,-2.060537721e-04,5.766981793e-04,-8.942519170e-06,-2.081310226e-04,5.764527003e-04,7.019395235e-01,-2.295961150e-04,8.607253954e-01,7.019405150e-01,-2.283245071e-04,8.607197854e-01,7.027360592e-01,-3.269121934e-04,8.309023510e-01
+56,9.283333333e+00,UP_SETTLE,1792754219126570362,-2.393442855e-05,-2.068219363e-04,5.801514192e-04,-1.511782241e-05,-2.060537721e-04,5.766981793e-04,-8.943770554e-06,-2.081295418e-04,5.765001635e-04,7.019316984e-01,-2.290926713e-04,8.607232387e-01,7.019405150e-01,-2.283245071e-04,8.607197854e-01,7.027360579e-01,-3.269107125e-04,8.309023985e-01
+57,9.500000000e+00,UP_SETTLE,1792754219338959109,-2.887097304e-05,-2.074779759e-04,5.790075678e-04,-1.511782241e-05,-2.060537721e-04,5.766981793e-04,-8.945369775e-06,-2.081281576e-04,5.765421233e-04,7.019267618e-01,-2.297487110e-04,8.607220948e-01,7.019405150e-01,-2.283245071e-04,8.607197854e-01,7.027360563e-01,-3.269093283e-04,8.309024404e-01
+58,9.683333333e+00,UP_SETTLE,1792754219519126207,-2.894046897e-05,-2.062629753e-04,5.818667344e-04,-1.511782241e-05,-2.060537721e-04,5.766981793e-04,-8.946681687e-06,-2.081271892e-04,5.765720252e-04,7.019266923e-01,-2.285337103e-04,8.607249540e-01,7.019405150e-01,-2.283245071e-04,8.607197854e-01,7.027360550e-01,-3.269083600e-04,8.309024704e-01
+59,9.883333333e+00,UP_SETTLE,1792754219731759144,-3.102920984e-05,-2.064594768e-04,5.824913954e-04,-1.511782241e-05,-2.060537721e-04,5.766981793e-04,-8.947941074e-06,-2.081263096e-04,5.766001430e-04,7.019246036e-01,-2.287302119e-04,8.607255786e-01,7.019405150e-01,-2.283245071e-04,8.607197854e-01,7.027360538e-01,-3.269074804e-04,8.309024985e-01

Fixed/digit/ball_0050_10/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+00,2.5433e-02,3.5735e-02,2.4570e+00,-3.9233e-02,3.8567e-02,3.8134e-05,1.5476e-04,1.3776e-05,1.2875e-05,-6.4820e-07,1.1012e-05,-5.0262e-07,1.5590e-04,1.1042e-05
+1,2.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,4.4442e-05,2.7381e-02,3.5756e-02,2.4570e+00,-3.9230e-02,3.8706e-02,3.3365e-05,2.1026e-03,3.3930e-05,8.2970e-05,2.5518e-06,1.4954e-04,-5.2720e-06,2.1045e-03,1.4965e-04
+2,4.0000e-01,WAIT_W2,8.9325e-05,2.9298e-02,3.5706e-02,2.4571e+00,-3.9221e-02,3.8842e-02,3.0083e-05,4.0194e-03,-1.6034e-05,1.2302e-04,1.0986e-05,2.8562e-04,-8.5533e-06,4.0213e-03,2.8596e-04
+3,5.6667e-01,WAIT_W2,1.3243e-04,3.0781e-02,3.5665e-02,2.4571e+00,-3.9215e-02,3.8947e-02,2.7911e-05,5.5025e-03,-5.6673e-05,1.5783e-04,1.7799e-05,3.9076e-04,-1.0726e-05,5.5051e-03,3.9132e-04
+4,7.1667e-01,WAIT_W2,1.7694e-04,3.2013e-02,3.5632e-02,2.4572e+00,-3.9209e-02,3.9034e-02,2.6206e-05,6.7348e-03,-8.9824e-05,1.9336e-04,2.3495e-05,4.7807e-04,-1.2431e-05,6.7382e-03,4.7880e-04
+5,9.1667e-01,WAIT_W2,2.2449e-04,3.3520e-02,3.5595e-02,2.4572e+00,-3.9202e-02,3.9141e-02,2.4228e-05,8.2419e-03,-1.2683e-04,2.4509e-04,3.0242e-05,5.8469e-04,-1.4409e-05,8.2465e-03,5.8565e-04
+6,1.0833e+00,WAIT_W2,2.7069e-04,3.4663e-02,3.5569e-02,2.4573e+00,-3.9197e-02,3.9221e-02,2.2784e-05,9.3844e-03,-1.5312e-04,2.9087e-04,3.5230e-05,6.6542e-04,-1.5853e-05,9.3901e-03,6.6654e-04
+7,1.2500e+00,WAIT_W2,3.1237e-04,3.5702e-02,3.5544e-02,2.4573e+00,-3.9192e-02,3.9295e-02,2.1477e-05,1.0423e-02,-1.7785e-04,3.3665e-04,3.9861e-05,7.3884e-04,-1.7160e-05,1.0430e-02,7.4011e-04
+8,1.3833e+00,WAIT_W2,3.5748e-04,3.6470e-02,3.5526e-02,2.4573e+00,-3.9189e-02,3.9349e-02,2.0531e-05,1.1192e-02,-1.9517e-04,3.7313e-04,4.3198e-05,7.9314e-04,-1.8106e-05,1.1200e-02,7.9453e-04
+9,1.4000e+00,WAIT_W2,3.9078e-04,3.7252e-02,7.1407e-02,2.4569e+00,-4.1700e-02,3.9403e-02,3.1175e-05,1.1973e-02,3.5685e-02,-9.4175e-05,-2.4681e-03,8.4725e-04,-7.4613e-06,3.7640e-02,2.6094e-03
+10,1.4167e+00,WAIT_W2,4.3556e-04,3.8152e-02,1.1265e-01,2.4568e+00,-4.4588e-02,3.9465e-02,4.3703e-05,1.2873e-02,7.6932e-02,-1.6379e-04,-5.3559e-03,9.0938e-04,5.0662e-06,7.8002e-02,5.4326e-03
+11,1.4333e+00,WAIT_W2,4.9075e-04,3.7990e-02,1.6661e-01,2.4534e+00,-4.8368e-02,3.9456e-02,6.0020e-05,1.2711e-02,1.3089e-01,-3.6085e-03,-9.1356e-03,8.9982e-04,2.1383e-05,1.3156e-01,9.1799e-03
+12,1.4500e+00,WAIT_W2,5.3210e-04,4.2341e-02,2.3335e-01,2.4552e+00,-5.3042e-02,3.9759e-02,7.9612e-05,1.7062e-02,1.9763e-01,-1.8048e-03,-1.3810e-02,1.2030e-03,4.0975e-05,1.9837e-01,1.3862e-02
+13,1.5333e+00,WAIT_W2,5.7718e-04,4.2573e-02,2.7847e-01,2.4526e+00,-5.6220e-02,3.9780e-02,9.3072e-05,1.7294e-02,2.4274e-01,-4.3678e-03,-1.6988e-02,1.2243e-03,5.4435e-05,2.4340e-01,1.7032e-02
+14,1.6667e+00,WAIT_W2,6.2496e-04,4.4038e-02,2.7687e-01,2.4532e+00,-5.6120e-02,3.9885e-02,9.1877e-05,1.8759e-02,2.4115e-01,-3.7398e-03,-1.6887e-02,1.3284e-03,5.3240e-05,2.4191e-01,1.6939e-02
+15,1.9000e+00,WAIT_W2,6.7147e-04,4.3471e-02,2.9836e-01,2.4510e+00,-5.7643e-02,3.9848e-02,1.0376e-04,1.8192e-02,2.6264e-01,-5.9896e-03,-1.8411e-02,1.2915e-03,6.5123e-05,2.6334e-01,1.8456e-02
+16,2.0667e+00,WAIT_W2,7.1633e-04,4.5130e-02,2.9792e-01,2.4521e+00,-5.7619e-02,3.9964e-02,1.0369e-04,1.9851e-02,2.6220e-01,-4.8170e-03,-1.8386e-02,1.4079e-03,6.5057e-05,2.6300e-01,1.8440e-02
+17,2.2333e+00,UP_FORCE_RAMP,7.5826e-04,4.6493e-02,2.9767e-01,2.4532e+00,-5.7606e-02,4.0060e-02,1.0324e-04,2.1214e-02,2.6195e-01,-3.8133e-03,-1.8374e-02,1.5036e-03,6.4604e-05,2.6284e-01,1.8436e-02
+18,2.4333e+00,UP_FORCE_RAMP,8.0533e-04,4.7899e-02,2.9747e-01,2.4542e+00,-5.7597e-02,4.0159e-02,1.0230e-04,2.2620e-02,2.6175e-01,-2.7723e-03,-1.8365e-02,1.6025e-03,6.3664e-05,2.6274e-01,1.8435e-02
+19,2.6000e+00,UP_FORCE_RAMP,8.4853e-04,4.8916e-02,2.9735e-01,2.4549e+00,-5.7592e-02,4.0230e-02,1.0126e-04,2.3638e-02,2.6163e-01,-2.0208e-03,-1.8360e-02,1.6741e-03,6.2626e-05,2.6270e-01,1.8436e-02
+20,2.8333e+00,UP_FORCE_RAMP,8.9491e-04,5.0165e-02,2.9721e-01,2.4558e+00,-5.7586e-02,4.0318e-02,9.9573e-05,2.4887e-02,2.6149e-01,-1.1311e-03,-1.8354e-02,1.7620e-03,6.0936e-05,2.6267e-01,1.8439e-02
+21,3.0333e+00,UP_FORCE_RAMP,9.3795e-04,5.1101e-02,2.9709e-01,2.4565e+00,-5.7581e-02,4.0384e-02,9.7819e-05,2.5823e-02,2.6137e-01,-4.8923e-04,-1.8348e-02,1.8281e-03,5.9182e-05,2.6264e-01,1.8439e-02
+22,3.2500e+00,UP_FORCE_RAMP,9.8449e-04,5.1982e-02,2.9699e-01,2.4571e+00,-5.7577e-02,4.0446e-02,9.5865e-05,2.6703e-02,2.6127e-01,1.0204e-04,-1.8344e-02,1.8904e-03,5.7228e-05,2.6263e-01,1.8442e-02
+23,3.4833e+00,UP_FORCE_RAMP,1.0279e-03,5.2802e-02,2.9692e-01,2.4576e+00,-5.7574e-02,4.0504e-02,9.3715e-05,2.7523e-02,2.6120e-01,6.2561e-04,-1.8341e-02,1.9483e-03,5.5078e-05,2.6265e-01,1.8445e-02
+24,3.7333e+00,UP_FORCE_RAMP,1.0758e-03,5.3561e-02,2.9686e-01,2.4580e+00,-5.7571e-02,4.0558e-02,9.1365e-05,2.8283e-02,2.6114e-01,1.0829e-03,-1.8339e-02,2.0020e-03,5.2728e-05,2.6267e-01,1.8448e-02
+25,3.9000e+00,UP_FORCE_RAMP,1.1212e-03,5.4010e-02,2.9682e-01,2.4583e+00,-5.7570e-02,4.0590e-02,8.9786e-05,2.8732e-02,2.6110e-01,1.3394e-03,-1.8338e-02,2.0338e-03,5.1149e-05,2.6268e-01,1.8450e-02
+26,4.0667e+00,UP_FORCE_RAMP,1.1617e-03,5.2595e-02,2.9413e-01,2.4482e+00,-5.7397e-02,4.0501e-02,8.8995e-05,2.7317e-02,2.5841e-01,-8.8117e-03,-1.8165e-02,1.9445e-03,5.0359e-05,2.6000e-01,1.8268e-02
+27,4.3000e+00,UP_FORCE_RAMP,1.2078e-03,5.3506e-02,2.9426e-01,2.4508e+00,-5.7408e-02,4.0563e-02,8.7665e-05,2.8227e-02,2.5854e-01,-6.1913e-03,-1.8175e-02,2.0067e-03,4.9029e-05,2.6015e-01,1.8286e-02
+28,4.5000e+00,UP_FORCE_RAMP,1.2515e-03,5.3242e-02,2.9680e-01,2.4420e+00,-5.7604e-02,4.0553e-02,8.8050e-05,2.7964e-02,2.6108e-01,-1.4931e-02,-1.8371e-02,1.9973e-03,4.9413e-05,2.6299e-01,1.8480e-02
+29,4.6833e+00,UP_FORCE_RAMP,1.2968e-03,5.2647e-02,2.9199e-01,2.4330e+00,-5.7283e-02,4.0521e-02,8.6473e-05,2.7369e-02,2.5626e-01,-2.3985e-02,-1.8051e-02,1.9645e-03,4.7836e-05,2.5884e-01,1.8157e-02
+30,4.8500e+00,UP_FORCE_RAMP,1.3418e-03,5.3439e-02,2.9232e-01,2.4380e+00,-5.7311e-02,4.0573e-02,8.6326e-05,2.8161e-02,2.5660e-01,-1.8998e-02,-1.8079e-02,2.0165e-03,4.7689e-05,2.5884e-01,1.8191e-02
+31,5.0667e+00,UP_FORCE_RAMP,1.3871e-03,5.4197e-02,2.8731e-01,2.4323e+00,-5.6979e-02,4.0632e-02,8.4021e-05,2.8918e-02,2.5159e-01,-2.4674e-02,-1.7747e-02,2.0763e-03,4.5384e-05,2.5445e-01,1.7868e-02
+32,5.2500e+00,UP_FORCE_RAMP,1.4281e-03,5.4873e-02,2.8335e-01,2.4262e+00,-5.6721e-02,4.0687e-02,8.1914e-05,2.9595e-02,2.4763e-01,-3.0765e-02,-1.7489e-02,2.1309e-03,4.3277e-05,2.5128e-01,1.7618e-02
+33,5.4333e+00,UP_FORCE_RAMP,1.4767e-03,5.7355e-02,2.8255e-01,2.4215e+00,-5.6685e-02,4.0867e-02,7.8821e-05,3.2077e-02,2.4683e-01,-3.5433e-02,-1.7453e-02,2.3113e-03,4.0184e-05,2.5141e-01,1.7605e-02
+34,5.6000e+00,UP_FORCE_RAMP,1.5193e-03,5.8664e-02,2.8130e-01,2.4161e+00,-5.6620e-02,4.0966e-02,7.6433e-05,3.3386e-02,2.4558e-01,-4.0821e-02,-1.7388e-02,2.4099e-03,3.7796e-05,2.5118e-01,1.7554e-02
+35,5.8000e+00,UP_FORCE_RAMP,1.5669e-03,5.9208e-02,2.8151e-01,2.4140e+00,-5.6657e-02,4.1008e-02,7.5216e-05,3.3929e-02,2.4579e-01,-4.3005e-02,-1.7425e-02,2.4517e-03,3.6579e-05,2.5182e-01,1.7597e-02
+36,5.9667e+00,UP_FORCE_RAMP,1.6091e-03,6.0037e-02,2.8180e-01,2.4107e+00,-5.6700e-02,4.1071e-02,7.3867e-05,3.4758e-02,2.4607e-01,-4.6243e-02,-1.7468e-02,2.5145e-03,3.5230e-05,2.5278e-01,1.7648e-02
+37,6.1333e+00,UP_FORCE_RAMP,1.6542e-03,6.0798e-02,2.7611e-01,2.4059e+00,-5.6326e-02,4.1130e-02,7.0985e-05,3.5519e-02,2.4039e-01,-5.1112e-02,-1.7094e-02,2.5740e-03,3.2349e-05,2.4831e-01,1.7287e-02
+38,6.3167e+00,UP_FORCE_RAMP,1.6978e-03,6.2773e-02,2.7415e-01,2.4029e+00,-5.6213e-02,4.1273e-02,6.8287e-05,3.7494e-02,2.3843e-01,-5.4035e-02,-1.6981e-02,2.7172e-03,2.9650e-05,2.4733e-01,1.7197e-02
+39,6.5000e+00,UP_FORCE_RAMP,1.7440e-03,6.1645e-02,2.7188e-01,2.4020e+00,-5.6078e-02,4.1196e-02,6.8597e-05,3.6366e-02,2.3615e-01,-5.4942e-02,-1.6846e-02,2.6397e-03,2.9960e-05,2.4517e-01,1.7051e-02
+40,6.6333e+00,UP_FORCE_RAMP,1.7902e-03,6.2425e-02,2.7360e-01,2.3989e+00,-5.6221e-02,4.1255e-02,6.8043e-05,3.7147e-02,2.3787e-01,-5.8026e-02,-1.6988e-02,2.6986e-03,2.9406e-05,2.4765e-01,1.7201e-02
+41,6.7833e+00,UP_FORCE_RAMP,1.8321e-03,6.1689e-02,2.7047e-01,2.3957e+00,-5.6026e-02,4.1207e-02,6.7274e-05,3.6410e-02,2.3475e-01,-6.1311e-02,-1.6794e-02,2.6509e-03,2.8637e-05,2.4534e-01,1.7002e-02
+42,6.9500e+00,UP_FORCE_RAMP,1.8799e-03,6.4081e-02,2.6994e-01,2.3955e+00,-5.6011e-02,4.1377e-02,6.3042e-05,3.8802e-02,2.3422e-01,-6.1424e-02,-1.6779e-02,2.8206e-03,2.4405e-05,2.4523e-01,1.7014e-02
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Fixed/digit/ball_0050_10/press_depth_08/down/camera_frames_60hz.tar

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

Fixed/digit/ball_0050_10/press_depth_08/down/franka_data.csv

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+3589,1792754347359346069,37750398000000,1792754347355811419,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6759991022479627,-0.004276489553933792,0.10650095644277603,0.9999999761833989,-4.5741974800559786e-05,-0.0001381885233287207,0.00013374479369405315,0.6761,-0.004,0.10657285448224184,1.0,0.0,0.0,0.0,-0.08433627241067987,0.007576194819056692,0.41968112072212116,2.677623634811388e-05,0.007034357853861112,-0.00023449792178809915,0.9801512692490987,0.8203562303368169,0.7237322633672977,0.06616963567326486,-0.07441183264937729,0.0011837179092671188,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.5137817097823449,1.413880989300202,0.3685427982168958,-0.07772712418671036,-0.1423413572393226,0.8068783995468132,-1.7930834650460281,0.41968112072212116,-2.161626263262924,-2.161626263262924,0.6200999999999671,0,0,-0.00020669995997732305,-9.999999025923074e-05
+3636,1792754347750357036,37750789000000,1792754347747810822,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6760043085880069,-0.0042747520307592,0.10642889667819967,0.9999999765411243,-5.5992960514519133e-05,-0.00012758412520195856,0.00013765062565576964,0.6761,-0.004,0.1064882225486372,1.0,0.0,0.0,0.0,-0.09509593627526314,-0.007667959965505622,0.5290805326192283,2.4305045455003116e-06,0.007044499327018547,-0.00024208490140589832,0.9693916053845154,0.8051120755522546,0.8331316752644048,0.06614528994146225,-0.07440169117621985,0.0011761309296493196,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.4559776409363219,1.4949040661005444,0.32231821312249187,-0.1259154802257378,-0.12923403614050372,0.8204441891786655,-1.7930834650460281,0.5290805326192283,-2.11540167816852,-2.11540167816852,0.6787499999999607,0,0,-0.00022624995616868227,-9.999999025923074e-05
+3681,1792754348125352531,37751164000000,1792754348119820832,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6760152540837541,-0.004279935093835241,0.10636227478149117,0.9999999773442438,-7.744048052510495e-05,-0.00010941350906327678,0.00013706214740174367,0.6761,-0.004,0.10639987256576067,1.0,0.0,0.0,0.0,-0.11336239744281873,-0.004151887325968717,0.6119180018715861,-6.52898097296406e-05,0.008627823892097986,0.0006613695684627486,0.9511251442169598,0.8086281481917915,0.9159691445167626,0.06607756962718711,-0.07281836661114041,0.0020795853995179666,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.5616459821084611,1.3775299025835777,0.2194656219089508,-0.06769438828414974,-0.041362030452674094,0.7633741227774685,-1.7930834650460281,0.6119180018715861,-2.012549086954979,-2.012549086954979,0.7349999999999545,0,0,-0.00024499995251589377,-9.999999025923074e-05
+3736,1792754348584291455,37751623000000,1792754348579821186,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6760313268496286,-0.004284340038638692,0.10627406463528322,0.9999999778191618,-0.00011127411798740857,-8.223727858869636e-05,0.0001290722312275811,0.6761,-0.004,0.1062821620385842,1.0,0.0,0.0,0.0,-0.12536821157131917,0.011159563281661344,0.7503979160611555,0.0008917833630891769,0.010009467071191352,0.0005785231383091296,0.9391193300884594,0.8239395987994216,1.054449058706332,0.06703464280000593,-0.07143672343204704,0.0019967389693643475,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.6213108617805966,1.4320821058038529,0.025624439571751794,-0.06697538751991548,0.09659784661997575,0.8212069097177787,-1.7930834650460281,0.7503979160611555,-1.8187079046177799,-1.8187079046177799,0.8038499999999469,0,0,-0.0002679499480448807,-9.999999025923074e-05
+3783,1792754348975273152,37752014000000,1792754348971820534,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6760439513479444,-0.004282003111707593,0.10618675168969517,0.9999999782882538,-0.00011946927124796863,-6.257166942321507e-05,0.00012914424411404192,0.6761,-0.004,0.10617358135964515,1.0,0.0,0.0,0.0,-0.14653337014942136,0.009714465232110947,0.8611353646753334,0.0018629471585747542,0.010981142799302887,0.0005139486242227485,0.9179541715103572,0.8224945007498712,1.1651865073205099,0.0680058065954915,-0.07046504770393551,0.0019321644552779665,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.7116751850019231,1.4046835253848113,-0.04843964252985824,-0.05123390900220278,0.16367798619306437,0.8026779914181302,-1.7930834650460281,0.8611353646753334,-1.7446438225161698,-1.7446438225161698,0.8624999999999404,0,0,-0.0002874999442362399,-9.999999025923074e-05
+3823,1792754349309311954,37752348000000,1792754349303820159,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6760558820729139,-0.004286218369111678,0.10611343787818577,0.9999999773149814,-0.00013311348457825683,-4.242376955596518e-05,0.00013150636943064865,0.6761,-0.004,0.1060747758288152,1.0,0.0,0.0,0.0,-0.1533157226850299,0.012334280882723814,0.9570779326396942,0.0018180739391686768,0.011973221374855555,0.00045180307856899893,0.9111718189747486,0.825114316400484,1.2611290752848707,0.06796093337608543,-0.06947296912838284,0.0018700189096242169,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.7608101024900717,1.4312820618605895,-0.27730330167040834,-0.05647657049638092,0.322160297250973,0.8209593688112364,-1.7930834650460281,0.9570779326396942,-1.5157801633756198,-1.5157801633756198,0.9125999999999349,0,0,-0.00030419994098282297,-9.999999025923074e-05
+3860,1792754349617231433,37752656000000,1792754349611821278,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6760625795850365,-0.004293909816425185,0.10602812839482315,0.9999999754574291,-0.00014336497315392395,-3.2620947393258634e-05,0.0001375149579015906,0.6761,-0.004,0.10597871834745601,1.0,0.0,0.0,0.0,-0.17143043112681922,0.016926793180397803,1.0737335966382822,0.0017686593296818015,0.012961614341578567,0.0003710378465936015,0.8930571105329593,0.829706828698158,1.3777847392834588,0.06791151876659855,-0.06848457616165983,0.0017892536776488194,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.7905429733957648,1.3878522730378449,-0.43900488426767853,-0.044440558845310424,0.43281628982349435,0.793789870979033,-1.7930834650460281,1.0737335966382822,-1.3540785807783495,-1.3540785807783495,0.9587999999999298,0,0,-0.00031959993798266604,-9.999999025923074e-05
+3899,1792754349942282191,37752981000000,1792754349939810264,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6760760110272327,-0.00429756630388667,0.10594343013108178,0.9999999756930458,-0.00014316253536438386,-1.0885899724973437e-05,0.00013943729020446518,0.6761,-0.004,0.10587221586812766,1.0,0.0,0.0,0.0,-0.1905129881560983,0.009286131665793618,1.19406384470097,0.001717355559882186,0.013950017078637925,0.0002872130996942636,0.8739745535036803,0.8220661671835539,1.4981149873461463,0.06786021499679894,-0.06749617342460047,0.0017054289307494815,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.840617972961681,1.4109056045598536,-0.5253171070887955,-0.04411163687537989,0.5000174059650301,0.8122448181993436,-1.7930834650460281,1.19406384470097,-1.2677663579572327,-1.2677663579572327,1.00754999999993,0,0,-0.00033584993481691603,-9.999999025923074e-05
+3939,1792754350275229397,37753314000000,1792754350267811363,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.676088231446872,-0.004296148594202628,0.10585367403694258,0.9999999766492275,-0.00013626829268458118,8.697152902202135e-06,0.00013964140104027412,0.6761,-0.004,0.10575761394037532,1.0,0.0,0.0,0.0,-0.2008663349241928,0.018511404244089258,1.3143350910500953,0.0026597160156239252,0.01591966656915353,0.0002281895375905907,0.8636212067355857,0.8312914397618495,1.6183862336952717,0.06880257545254068,-0.06552652393408487,0.0016464053686458086,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.9016606814122002,1.4032108817057287,-0.7626767702948309,-0.040746431884140816,0.6668597973628206,0.8048556676699952,-1.7930834650460281,1.3143350910500953,-1.0304066947511972,-1.0304066947511972,1.0574999999999615,0,0,-0.00035249993157323987,-9.999999025923074e-05
+3976,1792754350584271061,37753623000000,1792754350583810800,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6761002502301118,-0.004302858880459303,0.10576344858936272,0.9999999755442524,-0.00014052196508323935,2.9407117940364755e-05,0.00014051034768979397,0.6761,-0.004,0.10564631216198572,1.0,0.0,0.0,0.0,-0.2160965631311157,0.022249499669671602,1.4428981154519338,0.002600463348062909,0.016911386621532437,0.00014084943872407895,0.8483909785286629,0.8350295351874318,1.7469492580971102,0.06874332278497966,-0.06453480388170596,0.0015590652697792969,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.9213730965707468,1.3704120542003995,-0.8280517517947669,-0.025900981895328728,0.7107036608600272,0.785765396462093,-1.7930834650460281,1.4428981154519338,-0.9650317132512612,-0.9650317132512612,1.1038499999999907,0,0,-0.00036794992856334217,-9.999999025923074e-05
+4007,1792754350842250387,37753881000000,1792754350839810499,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6761073864460181,-0.004303445119242163,0.10568222921980641,0.9999999770635366,-0.00012647230125421345,4.2387975595368996e-05,0.00013972761765226768,0.6761,-0.004,0.10554972343074183,1.0,0.0,0.0,0.0,-0.22868131266684943,0.014572301895647288,1.5445912102230985,0.0025646991944072717,0.017685094673437457,7.701113241364286e-05,0.8358062289929291,0.8273523374134075,1.8486423528682752,0.06870755863132402,-0.06376109582980094,0.0014952269634688608,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.9227944742594563,1.389683294339557,-0.9817173743703066,-0.02932125327909847,0.8086105481649453,0.8026892102817049,-1.7930834650460281,1.5445912102230985,-0.8113660906757215,-0.8113660906757215,1.142550000000015,0,0,-0.0003808499260502237,-9.999999025923074e-05
+4045,1792754351159240831,37754198000000,1792754351155810544,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.676118012467396,-0.00430935632646818,0.10557961108557903,0.9999999754681557,-0.0001283462606400306,5.978256166458009e-05,0.00014303787977506638,0.6761,-0.004,0.10542648970467487,1.0,0.0,0.0,0.0,-0.23953338211197284,0.020873649639820524,1.6748363267599555,0.0025007515586664003,0.01888630376318136,0.0010101246932561478,0.8249541595478057,0.8336536851575808,1.978887469405132,0.06864361099558315,-0.06255988674005704,0.0024283405243113658,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.9969729900822167,1.347928500313927,-1.0561540006009376,-0.010055012546104553,0.8750707310141548,0.7740800119308646,-1.7930834650460281,1.6748363267599555,-0.7369294644450906,-0.7369294644450906,1.190100000000045,0,0,-0.00039669992296239984,-9.999999025923074e-05
+4078,1792754351434172617,37754473000000,1792754351431811124,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6761317037352026,-0.004308510604317896,0.10549647379033074,0.9999999733293633,-0.00013250201857255677,8.359557304626458e-05,0.00014226430388132637,0.6761,-0.004,0.10531551347622987,1.0,0.0,0.0,0.0,-0.24941328008390007,0.010904926923870129,1.7920538284014529,0.002463922478935024,0.019873641359736016,0.0009301456401854928,0.8150742615758785,0.8236849624416304,2.0961049710466293,0.06860678191585177,-0.06157254914350238,0.0023483614712407107,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.0005900417445666,1.282521943592986,-1.1696296341976766,0.016196531694048475,0.946187033872171,0.7290333682181729,-1.7930834650460281,1.7920538284014529,-0.6234538308483515,-0.6234538308483515,1.231350000000071,0,0,-0.0004104499202836883,-9.999999025923074e-05
+4114,1792754351734151197,37754773000000,1792754351731810603,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6761431671555416,-0.004310153909981413,0.10539288152681216,0.9999999702610788,-0.0001442979612838774,0.00010131016709672475,0.00014083697783178915,0.6761,-0.004,0.10519013600058456,1.0,0.0,0.0,0.0,-0.268769340371552,0.015880666137796706,1.9150142925113065,0.0034368173809220387,0.02019659847644232,0.0008431872941477021,0.7957182012882266,0.8286607016555569,2.219065435156483,0.06957967681783879,-0.06124959202679608,0.00226140312520292,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.0744942695380377,1.2984332798356955,-1.3485651396859073,0.01566698970280666,1.077725359545365,0.7428424131259218,-1.7930834650460281,1.9150142925113065,-0.4445183253601208,-0.4445183253601208,1.2763500000000993,0,0,-0.0004254499173614575,-9.999999025923074e-05
+4147,1792754352009201062,37755048000000,1792754352007811094,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6761580334400504,-0.0043194501972261745,0.10529914401384197,0.9999999651809367,-0.00015722643653889393,0.00012721243700032089,0.00014204870050049112,0.6761,-0.004,0.10507125352367983,1.0,0.0,0.0,0.0,-0.19234101323927977,0.00403594074476521,2.022587437960228,0.001576411225907029,0.015709344105842155,0.0006758916598700777,0.8721465284204988,0.8168159762625254,2.3266385806054046,0.06771927066282378,-0.06573684639739624,0.0020941074909252956,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.0388648718571598,1.319983640063966,-1.4645912638222391,0.02502170031394307,1.1530408311361193,0.7596105575806591,-1.7930834650460281,2.022587437960228,-0.32849220122378897,-0.32849220122378897,1.3176000000001253,0,0,-0.000439199914682746,-9.999999025923074e-05
+4178,1792754352267198801,37755306000000,1792754352259820810,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6761706911998174,-0.004321292754535822,0.10520706462661888,0.9999999618486068,-0.00015627784018700015,0.00014906488450928908,0.00014526715334096794,0.6761,-0.004,0.10495628229601713,1.0,0.0,0.0,0.0,-0.22108835530819504,0.01030939163123823,2.12646251504669,0.002443498161513319,0.017696208741466046,0.0006301521398369072,0.8433991863515835,0.8230894271489985,2.4305136576918662,0.06858635759843007,-0.06374998176177235,0.002048367970892125,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.0693622164210281,1.340686951941983,-1.5428121659525997,0.0243997545398895,1.2042404302961391,0.7713005529743568,-1.7930834650460281,2.12646251504669,-0.2502712990934284,-0.2502712990934284,1.3563000000001497,0,0,-0.0004520999121696275,-9.999999025923074e-05
+4210,1792754352534141988,37755573000000,1792754352531810801,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6761801305955942,-0.004322191758295401,0.10510009766512632,0.9999999613747922,-0.00013987371211295128,0.00016370162009244789,0.0001494336060388542,0.6761,-0.004,0.10483379606981634,1.0,0.0,0.0,0.0,-0.22969960916983412,0.01246755000045241,2.2716407788314577,0.0023873146623670377,0.018624095429334186,0.0005244493464276322,0.8347879324899444,0.8252475855182126,2.575691921476634,0.06853017409928379,-0.06282209507390421,0.0019426651774828501,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.041106009469018,1.3327135555340077,-1.795363140037273,0.0324631722513509,1.3618835109617304,0.7727760485434648,-1.7930834650460281,2.2716407788314577,0.0022796749912448178,0.0022796749912448178,1.396350000000175,0,0,-0.0004654499095688421,-9.999999025923074e-05
+4239,1792754352775179562,37755814000000,1792754352771810467,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6761916387013236,-0.004326128459647177,0.10500701834171851,0.9999999573111078,-0.0001448971299217186,0.00018400286219582535,0.00014821745910121377,0.6761,-0.004,0.1047201766418943,1.0,0.0,0.0,0.0,-0.24127578360550228,0.006638720650701924,2.387011592743589,0.002381237142865228,0.018736017173229272,0.00043481531505779004,0.8232117580542763,0.8194187561684622,2.6910627353887655,0.06852409657978198,-0.06271017333000913,0.001853031146113008,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.065829552128602,1.301374682011811,-1.8409867065701526,0.042009101802491684,1.395885494653493,0.7465956517826425,-1.7930834650460281,2.387011592743589,0.04790324152412451,0.04790324152412451,1.4325000000001977,0,0,-0.0004774999072213167,-9.999999025923074e-05
+4269,1792754353025128742,37756064000000,1792754353019811147,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6762020505239813,-0.004333932962938052,0.10490483576945207,0.9999999515775911,-0.00016629962894146373,0.00020046474091364876,0.00014298951233585782,0.6761,-0.004,0.10459924541539459,1.0,0.0,0.0,0.0,-0.2495281835601738,0.01672179975407062,2.4993326227157633,0.0033247467198921493,0.01969920592265168,0.000597508760456321,0.8149593580996047,0.8295018352718309,2.8033837653609397,0.0694676061568089,-0.061746984580586715,0.002015724591511539,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.130545017567858,1.3265816932479668,-1.971653405009168,0.04290065318686676,1.4928324417679373,0.7639579018303531,-1.7930834650460281,2.4993326227157633,0.17856993996313997,0.17856993996313997,1.4700000000002214,0,0,-0.0004899999047861245,-9.999999025923074e-05
+4300,1792754353284163236,37756323000000,1792754353283810825,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6762101170220872,-0.004337557134047695,0.10479433188793529,0.9999999482100673,-0.0001646644784144619,0.00021405525045618904,0.0001486226300348103,0.6761,-0.004,0.10447066489038295,1.0,0.0,0.0,0.0,-0.261334626650242,0.018374309879258144,2.62941566557901,0.003283971213895079,0.020686107167308038,0.0013027603041132062,0.8031529150095366,0.8311543453970184,2.9334668082241864,0.06942683065081183,-0.06076008333593036,0.002720976135168424,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1633252391564388,1.3221254096157704,-2.139257943995587,0.044507340838126214,1.6092558124929635,0.7625649771624787,-1.7930834650460281,2.62941566557901,0.3461744789495591,0.3461744789495591,1.5088500000002458,0,0,-0.0005029499022632652,-9.999999025923074e-05
+4328,1792754353517148131,37756556000000,1792754353515810760,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6762214012461343,-0.004337485703311724,0.10468916441990099,0.9999999428787687,-0.00016570291894588528,0.0002342085110702014,0.00015288636178563105,0.6761,-0.004,0.10435212616342115,1.0,0.0,0.0,0.0,-0.2716228284843588,0.024110476603528386,2.7404993484983855,0.0042448048402423805,0.021656589845653718,0.0012427605025604309,0.7928647131754197,0.8368905121212886,3.044550491143562,0.07038766427715913,-0.05978960065758468,0.002660976333615649,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1750342091310768,1.3922010423714282,-2.2698406010172754,0.03378951784082427,1.69268517592573,0.8139343254060161,-1.7930834650460281,2.7404993484983855,0.47675713597124725,0.47675713597124725,1.5438000000002678,0,0,-0.000514599899993666,-9.999999025923074e-05
+4357,1792754353759118327,37756798000000,1792754353755812109,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6762349046904519,-0.004344779411359449,0.10459318621427165,0.9999999392741831,-0.00015039036916118242,0.0002560711636786072,0.00015717757653472877,0.6761,-0.004,0.1042261349379091,1.0,0.0,0.0,0.0,-0.2813742003918478,0.028724945727718443,2.859480893499983,0.004196601473356765,0.02264382217672649,0.0011610895775323695,0.7831133412679308,0.8415049812454787,3.1635320361451593,0.07033946091027352,-0.05880236832651191,0.0025793054085875874,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1593725938920463,1.2719283264992225,-2.3229145875754833,0.07666952857435264,1.722405033437978,0.7344956258455199,-1.7930834650460281,2.859480893499983,0.5298311225294552,0.5298311225294552,1.5801000000002907,0,0,-0.0005266998976363998,-9.999999025923074e-05
+4387,1792754354009030798,37757048000000,1792754354003811274,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6762511619405223,-0.004345655464204909,0.10448467704715998,0.9999999315938444,-0.00016026274948142152,0.0002850801497291838,0.0001459463261256216,0.6761,-0.004,0.10409290371380561,1.0,0.0,0.0,0.0,-0.29168360263725035,0.04616812596936626,2.985101637538182,0.005165841740974592,0.023609456873184213,0.0010825600276505698,0.7728039390225282,0.8589481614871265,3.2891527801833584,0.07130870117789134,-0.057836733630054184,0.0025007758587057877,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2082188420145934,1.348892371635689,-2.449020917446949,0.059399533475848094,1.8147909318513276,0.7841203143831367,-1.7930834650460281,2.985101637538182,0.6559374524009209,0.6559374524009209,1.6176000000003143,0,0,-0.0005391998952012075,-9.999999025923074e-05
+4414,1792754354234089737,37757273000000,1792754354231811628,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6762610493289242,-0.00434544667446842,0.10438505682529645,0.9999999257651361,-0.0001622795327398029,0.00030330968003926706,0.00014690533624247453,0.6761,-0.004,0.103970323737633,1.0,0.0,0.0,0.0,-0.29193005471041744,0.04039275810538723,3.0915467639100127,0.005326219724162223,0.02358461881525304,0.000999668243168225,0.7725574869493611,0.8531727936231475,3.395597906555189,0.07146907916107897,-0.05786157168798536,0.002417884074223443,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2254606626110123,1.2455989286453515,-2.660243650706719,0.09189985417878423,1.9538217961824316,0.7207243814453457,-1.7930834650460281,3.0915467639100127,0.867160185660691,0.867160185660691,1.6513500000003356,0,0,-0.0005504498930095344,-9.999999025923074e-05
+4440,1792754354450029197,37757489000000,1792754354447810608,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6762688507367675,-0.004346465962769409,0.10427933806773482,0.9999999213632875,-0.00016656901203718262,0.00031337347495432905,0.00015089106130182703,0.6761,-0.004,0.10385026556097122,1.0,0.0,0.0,0.0,-0.29383707923319735,0.046253641228234166,3.187739716321232,0.00614793392659041,0.023547561236731185,0.0009306093401832084,0.7706504624265812,0.8590336767459944,3.4917908589664086,0.07229079336350716,-0.05789862926650721,0.0023488251712384263,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2590411304109717,1.3197483574142561,-2.7373131518488565,0.07504027439261221,2.0159270745597198,0.7687194674562559,-1.7930834650460281,3.187739716321232,0.9442296868028284,0.9442296868028284,1.683750000000356,0,0,-0.0005612498909055283,-9.999999025923074e-05
+4468,1792754354684046388,37757723000000,1792754354679813908,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6762808218225146,-0.004340907753160357,0.10416558858563568,0.9999999148307889,-0.00016048294619971972,0.00033479016603623913,0.00015473218150519288,0.6761,-0.004,0.10371757003676715,1.0,0.0,0.0,0.0,-0.2840348135786046,0.06359277175892308,3.312289079018315,0.007173531783737697,0.022487120697087533,0.0008296202244037528,0.7804527280811739,0.8763728072766833,3.6163402216634912,0.07331639122065445,-0.058959069806150864,0.0022478360554589708,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2309362214078718,1.402864931063296,-2.814055914512774,0.05442989096823128,2.057318519785259,0.8247816908380278,-1.7930834650460281,3.312289079018315,1.020972449466746,1.020972449466746,1.7188500000003781,0,0,-0.0005729498886261883,-9.999999025923074e-05
+4493,1792754354892084439,37757931000000,1792754354891810513,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6762861856686733,-0.004340291265847943,0.10406092821157321,0.9999999121574301,-0.00015448362379895023,0.0003450227784899727,0.00015563447096328362,0.6761,-0.004,0.10359732006014463,1.0,0.0,0.0,0.0,-0.2678095231026346,0.06664038067741507,3.417948301510078,0.007145487209653273,0.02245907249618128,0.0017425184670407312,0.7966780185571439,0.8794204161951753,3.721999444155254,0.07328834664657002,-0.05898711800705712,0.003160734298095949,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.288335501031155,1.3375456398578736,-2.9528067370898725,0.08021481550353783,2.1647695884228715,0.7831529172578131,-1.7930834650460281,3.417948301510078,1.1597232720438444,1.1597232720438444,1.7500500000003978,0,0,-0.0005833498866001083,-9.999999025923074e-05
+4518,1792754355099996189,37758139000000,1792754355099811418,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6762989813970721,-0.004345152191710091,0.10395910580190372,0.9999999033674568,-0.00015813754156892944,0.0003679255911223607,0.00015598467427458987,0.6761,-0.004,0.10347490688394353,1.0,0.0,0.0,0.0,-0.2852669392809718,0.07381838991492995,3.5132628566469375,0.008128797231208892,0.0234375768246447,0.0006947313798489881,0.7792206023788067,0.8865984254326902,3.817313999292114,0.07427165666812564,-0.058008613678593696,0.002112947210904206,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2412249806465487,1.3537502671997366,-3.034174755333867,0.08307034078676204,2.2059347463256325,0.7937621498586493,-1.7930834650460281,3.5132628566469375,1.241091290287839,1.241091290287839,1.7812500000004174,0,0,-0.0005937498845740283,-9.999999025923074e-05
+4542,1792754355300090530,37758339000000,1792754355295811053,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763079148949293,-0.004348254955205977,0.10385262236049378,0.9999998968706085,-0.00016808555747292422,0.0003801981295150619,0.0001577918382163563,0.6761,-0.004,0.10335531943341347,1.0,0.0,0.0,0.0,-0.27630006415303543,0.07674334710869657,3.61896114872706,0.008100225672656156,0.023409182654765104,0.0016353485545504383,0.7881874775067431,0.8895233826264568,3.9230122913722365,0.0742430851095729,-0.05803700784847329,0.0030535643856056563,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2574815729033786,1.3620985836029038,-3.1042491435489077,0.09326953397212098,2.2559347588498446,0.8038071395449354,-1.7930834650460281,3.61896114872706,1.3111656785028796,1.3111656785028796,1.8112500000004363,0,0,-0.0005995403705974296,-5.664799996348956e-06
+4566,1792754355500044021,37758539000000,1792754355499811171,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763200450382411,-0.004346695512382467,0.10374641909236881,0.9999998905048845,-0.00016559181184444373,0.00039715687731478816,0.00015899323889156263,0.6761,-0.004,0.10323573524289413,1.0,0.0,0.0,0.0,-0.27985632757230827,0.08018038094297852,3.714429177137443,0.008083121112680558,0.023388941073343113,0.0015599531990833596,0.7846312140874703,0.8929604164607388,4.018480319782619,0.07422598054959731,-0.058057249429895284,0.0029781690301385775,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.288355974175147,1.3951787437452476,-3.1624891053614697,0.08351717204398594,2.30484355653875,0.8277377924350391,-1.7930834650460281,3.714429177137443,1.3694056403154415,1.3694056403154415,1.8412500000004552,0,0,-0.0005956938826281747,9.999999025923074e-05
+4591,1792754355709014573,37758748000000,1792754355703811479,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763269756832199,-0.004349677835392888,0.10363749456558669,0.9999998863604744,-0.00015823975685643778,0.00041064271606042527,0.0001582865803260807,0.6761,-0.004,0.10311194805146105,1.0,0.0,0.0,0.0,-0.2772281520727745,0.08622814358518915,3.805142399524112,0.00908623611492318,0.02335024787145494,0.0014982826510698164,0.787259389587004,0.8990081791029494,4.1091935421692884,0.07522909555183993,-0.058095942631783457,0.0029164984821250343,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.233271582613501,1.3667477453331258,-3.2436788805185146,0.09798721846305464,2.342739321912749,0.8123202292312043,-1.7930834650460281,3.805142399524112,1.4505954154724865,1.4505954154724865,1.872600000000475,0,0,-0.0005882229545436671,9.999980984798924e-05
+4615,1792754355909038353,37758948000000,1792754355907811126,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763338497698945,-0.004352550346958844,0.1035323603632295,0.9999998806656855,-0.00016764294076030128,0.00042155337789679694,0.0001558848071210533,0.6761,-0.004,0.10299512996039957,1.0,0.0,0.0,0.0,-0.2661734167348435,0.08949218683366411,3.896354445817622,0.00909645419028371,0.02231696449203946,0.0014100724354056606,0.798314124924935,0.9022722223514243,4.200405588462798,0.07523931362720046,-0.05912922601119894,0.0028282882664608785,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2474118194739408,1.3650598437188242,-3.3160903328375904,0.10189639219689076,2.401030871596661,0.8106221503738695,-1.7930834650460281,3.896354445817622,1.5230068677915622,1.5230068677915622,1.902600000000494,0,0,-0.0005792229562276166,9.999999025923074e-05
+4638,1792754356100009952,37759139000000,1792754356099811104,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6763361396484907,-0.004352696830725448,0.10342924885882973,0.9999998766567023,-0.00017372846168552832,0.0004279306658085692,0.00015755383629817798,0.6761,-0.004,0.10288540562558149,1.0,0.0,0.0,0.0,-0.25952711460304356,0.09071566392115948,3.9648381884297668,0.00908383827879651,0.022301672109204217,0.00135500713456025,0.804960427056735,0.9034956994389197,4.268889331074943,0.07522669771571326,-0.05914451839403418,0.002773222965615468,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2133750286080094,1.2902887757582926,-3.3957689329255505,0.13245966132999112,2.4466444655910418,0.7622673449112475,-1.7930834650460281,3.9648381884297668,1.6026854678795224,1.6026854678795224,1.931250000000512,0,0,-0.0005696729580881036,9.999999025923074e-05
+4662,1792754356300008744,37759339000000,1792754356295810827,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6763401790252817,-0.004356798241997379,0.1033279725199306,0.9999998734725184,-0.00016824941124334887,0.00043721076644643995,0.0001582298729237807,0.6761,-0.004,0.10277246603376808,1.0,0.0,0.0,0.0,-0.26576535865958995,0.08273320792455652,4.027004551503971,0.008423282403548601,0.022299511735347582,0.0012914744947411557,0.7987221830001886,0.8955132434423168,4.331055694149148,0.07456614184046535,-0.059146678767890815,0.0027096903257963737,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2347734973546907,1.3161391725584541,-3.402204789806104,0.14007978384808661,2.4606892156594764,0.7835394961254845,-1.7930834650460281,4.027004551503971,1.6091213247600757,1.6091213247600757,1.9612500000005308,0,0,-0.0005596729600362574,9.999999025923074e-05
+4687,1792754356509030547,37759548000000,1792754356503811434,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763415330587876,-0.0043615261328343174,0.10321449149325798,0.9999998728212456,-0.00015771088174268815,0.0004404334121042602,0.00016415250268329184,0.6761,-0.004,0.10265658118490674,1.0,0.0,0.0,0.0,-0.2586451827329995,0.07436312220066299,4.10721688887728,0.00803499105529766,0.022291089073501476,0.0012292678746564478,0.805842358926779,0.8871431577184232,4.411268031522457,0.07417785049221441,-0.05915510142973692,0.0026474837057116657,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2283581514180404,1.2601819835028802,-3.475228321139338,0.148613585064044,2.507764736989115,0.7500410180390769,-1.7930834650460281,4.10721688887728,1.68214485609331,1.68214485609331,1.9926000000005506,0,0,-0.0005492229620720782,9.999999025923074e-05
+4709,1792754356692001196,37759731000000,1792754356687811254,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6763434191841531,-0.004362979835632181,0.1031139760580288,0.9999998725530285,-0.0001473738898652624,0.000443085853839296,0.00016820420326924356,0.6761,-0.004,0.10255690603268355,1.0,0.0,0.0,0.0,-0.26800388498823113,0.07707156522952985,4.173082028165313,0.008021564567437661,0.022325415002385184,0.0011753558890457057,0.7964836566715474,0.8898516007472901,4.47713317081049,0.07416442400435441,-0.059120775500853213,0.0025935717201009236,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2576283758854416,1.3587059164846484,-3.598012473502359,0.13125175446660173,2.597717300066792,0.8163572262656206,-1.7930834650460281,4.173082028165313,1.8049290084563308,1.8049290084563308,2.020050000000568,0,0,-0.000540072963854639,9.999999025923074e-05
+4739,1792754356941973375,37759981000000,1792754356939811240,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763743980051746,-0.004363438718895747,0.10301732439537788,0.999999851637903,-0.00016734469134951628,0.000484902112321631,0.0001582173567961487,0.6761,-0.004,0.10242344404141428,1.0,0.0,0.0,0.0,-0.2581054808305866,0.11286939550408337,4.208239248848893,0.010036242015667884,0.02310659871183899,0.0011842965300742885,0.806382060829192,0.9256494310218436,4.51229039149407,0.07617910145258464,-0.05833959179139941,0.0026025123611295065,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.3749217386924373,1.3579124617804355,-3.6443198308725733,0.13591080631700395,2.654905466888999,0.8183309865291823,-1.7930834650460281,4.208239248848893,1.8512363658265452,1.8512363658265452,2.0575500000005915,0,0,-0.0005275729662898313,9.999999025923074e-05
+4766,1792754357167023921,37760206000000,1792754357159811034,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763877466008404,-0.004373927784868415,0.10291703735086008,0.9999998371246512,-0.0001667350685694904,0.0005094187863584254,0.0001728740940170513,0.6761,-0.004,0.1023060001237514,1.0,0.0,0.0,0.0,-0.0586284226176319,0.0032917590136264385,4.234481023385124,0.0030726086121937307,0.008171298237936483,0.0008726145795326472,1.0058591190421466,0.8160717945313867,4.538532166030301,0.06921546804911048,-0.07327489226530191,0.002290830410587865,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1682991991993266,1.4349904895165129,-3.593197133205464,0.1451627831239407,2.610603697858612,0.8749315020145068,-1.7930834650460281,4.234481023385124,1.8001136681594359,1.8001136681594359,2.091300000000613,0,0,-0.0005163229684815044,9.999999025923074e-05
+4792,1792754357383969414,37760423000000,1792754357383810881,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6763889511658413,-0.004378527535444595,0.10281036473153438,0.9999998333011731,-0.00017889075812006536,0.0005125086326537032,0.0001737051757942535,0.6761,-0.004,0.10219512983936052,1.0,0.0,0.0,0.0,-0.06985897519777273,0.002192884264663131,4.296591993420425,0.002277749557557579,0.009190008176627282,0.0008263945899450707,0.9946285664620058,0.8149729197824234,4.600643136065602,0.06842060899447433,-0.07225618232661112,0.0022446104210002886,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1361525476227805,1.3786939732305972,-3.790176946250886,0.16202623760382737,2.724765797709873,0.836272136196067,-1.7930834650460281,4.296591993420425,1.9970934812048577,1.9970934812048577,2.1238500000006333,0,0,-0.0005054729705952513,9.999999025923074e-05
+4817,1792754357591999754,37760631000000,1792754357587812216,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6763885080512664,-0.004379881244017041,0.10270383191535169,0.9999998317779047,-0.00020194856605170984,0.0005109318789128426,0.00016140761477569958,0.6761,-0.004,0.10209106786126498,1.0,0.0,0.0,0.0,-0.059586371442802655,0.021335434366665296,4.337601198145284,0.0042886886836008276,0.008130527150395861,0.0008012720682759962,1.004901170216976,0.8341154698844255,4.641652340790461,0.07043154812051758,-0.07331566335284254,0.002219487899331214,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1621175424838366,1.4975624211135596,-3.7817126334652755,0.12867196643381423,2.726232109229809,0.9162397999695637,-1.7930834650460281,4.337601198145284,1.9886291684192474,1.9886291684192474,2.155050000000653,0,0,-0.0004950729726213313,9.999999025923074e-05
+4841,1792754357791954692,37760831000000,1792754357787811045,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6763908888455699,-0.004394775121942576,0.102608048397678,0.9999998259581686,-0.00020333230618604502,0.0005173717786606006,0.00017466800667141703,0.6761,-0.004,0.10199304826654493,1.0,0.0,0.0,0.0,-0.06309053156820177,0.016318670317898465,4.386481409512362,0.003231870450705651,0.009152626215738466,0.0007651231398233297,1.0013970100915768,0.8290987058356587,4.6905325521575385,0.0693747298876224,-0.07229356428749993,0.0021833389708785476,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1730355801328123,1.5010409329195513,-3.805364909469479,0.1208564507613885,2.7465012896983074,0.9209828353619087,-1.7930834650460281,4.386481409512362,2.0122814444234507,2.0122814444234507,2.185050000000672,0,0,-0.0004850729745694852,9.999999025923074e-05
+4866,1792754357999987235,37761039000000,1792754357999811250,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763880718435806,-0.004394593571712651,0.10250408110040035,0.9999998350361978,-0.000160655426251712,0.0005123463601622319,0.00018182816784937698,0.6761,-0.004,0.10189322948762275,1.0,0.0,0.0,0.0,-0.05940904480908138,0.01088555820561099,4.411188485808786,0.0032270928091425316,0.00915466093838159,0.0007415253728339595,1.0050784968506972,0.8236655937233712,4.715239628453963,0.06936995224605928,-0.07229152956485681,0.0021597412038891774,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1568691658659802,1.3797174339241072,-3.862008932361886,0.17544573732087534,2.777270051957577,0.8537074718296414,-1.7930834650460281,4.411188485808786,2.0689254673158577,2.0689254673158577,2.2162500000006915,0,0,-0.0004746729765955652,9.999999025923074e-05
+4894,1792754358233941695,37761273000000,1792754358231810437,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763866043931754,-0.004392692219925734,0.10239095241533022,0.9999998358897437,-0.00016543864059585082,0.0005107055637356179,0.00017740697052471446,0.6761,-0.004,0.10178351906083156,1.0,0.0,0.0,0.0,-0.04941350193097693,0.010515204039530546,4.427156328752445,0.0022280672225832715,0.00851365521500308,0.0007088374828106306,1.0150740397288016,0.8232952395572908,4.731207471397622,0.06837092665950002,-0.07293253528823532,0.0021270533138658485,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1185175649471948,1.3725215568521447,-3.7448505378085284,0.17996356416727455,2.6924560359464595,0.8429990993296134,-1.7930834650460281,4.427156328752445,1.9517670727625003,1.9517670727625003,2.2513500000007136,0,0,-0.0004629729788749052,9.999999025923074e-05
+4921,1792754358458916252,37761498000000,1792754358455810253,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763854568288332,-0.0043930256658020715,0.10229238835399652,0.9999998346869151,-0.00018795741224301397,0.0005101512883579056,0.00016274729096799547,0.6761,-0.004,0.10168061014033705,1.0,0.0,0.0,0.0,-0.031985273141377224,0.020158456516756296,4.437675984735494,0.003277794713684154,0.0071318522914642635,0.0006968471014520197,1.0325022685184013,0.8329384920345165,4.7417271273806705,0.0694206541506009,-0.07431433821177413,0.0021150629325072377,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1799107852765913,1.4368322300835141,-3.909558865179035,0.16015080690105515,2.8170196946638884,0.8856502591440467,-1.7930834650460281,4.437675984735494,2.116475400133007,2.116475400133007,2.285100000000735,0,0,-0.0004517229810665783,9.999999025923074e-05
+4951,1792754358708954571,37761748000000,1792754358707810828,DOWN_FORCE_DETACH,8,0.052,0.052001431584358215,0.6763886406744639,-0.00440338487705308,0.1021822161590753,0.9999998289594434,-0.0002021423222896672,0.0005147716446776203,0.00016635078423362943,0.6761,-0.004,0.10156923564476479,1.0,0.0,0.0,0.0,-0.023232300541562223,0.026417898672662532,4.437529853476821,0.003278869874383722,0.007113185343607734,0.0006978480696142721,1.0412552411182163,0.8391979341904228,4.741580996121998,0.06942172931130047,-0.07433300515963066,0.00211606390066949,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1724705163026035,1.4571190877800804,-3.903133662744457,0.1613270185379781,2.8074014546910955,0.9026834416361209,-1.7930834650460281,4.437529853476821,2.110050197698429,2.110050197698429,2.3226000000007585,0,0,-0.0004392229835017706,9.999999025923074e-05
+4978,1792754358934920520,37761973000000,1792754358927811063,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763971305939166,-0.004405919863785114,0.10208985252321126,0.9999998243369871,-0.0001968091908075289,0.0005220087177610952,0.0001776003949267972,0.6761,-0.004,0.10147157040386204,1.0,0.0,0.0,0.0,-0.0319946333843677,0.044323123927401564,4.417982087484416,0.004277111114077151,0.008110703320352866,0.0007397229379619019,1.0324929082754108,0.8571031594451618,4.722033230129592,0.0704199705509939,-0.07333548718288553,0.00215793876901712,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2617025686254542,1.4895872315136987,-3.861649864466292,0.15184463444939467,2.8029904534004384,0.9258554258433751,-1.7930834650460281,4.417982087484416,2.068566399420264,2.068566399420264,2.3563500000007798,0,0,-0.0004293901189930408,9.999999025923074e-05
+5010,1792754359199836638,37762239000000,1792754359191811579,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763946838433544,-0.004410565923575879,0.10197433187242956,0.9999998260383842,-0.0002009380033857784,0.0005170366651402065,0.00017794120137382894,0.6761,-0.004,0.1013578270812604,1.0,0.0,0.0,0.0,-0.021924385453022444,0.03503183259744258,4.417660917551828,0.0032835717827177646,0.007116854862004196,0.0007144088017352784,1.042563156206756,0.8478118681152028,4.721712060197005,0.06942643121963452,-0.0743293356412342,0.0021326246327904963,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.169646960410267,1.3938690469487116,-3.815365328428093,0.19008493907774154,2.7488955958755814,0.8655888580536633,-1.7930834650460281,4.417660917551828,2.022281863382065,2.022281863382065,2.396250000000805,0,0,-0.00042656282985972647,-9.64951549483672e-05
+5039,1792754359441879402,37762481000000,1792754359439809988,DOWN_FORCE_DETACH,8,0.052,0.05200209096074104,0.6763930142973612,-0.004417917352013955,0.1018696135269787,0.9999998268526691,-0.00020212976837078237,0.0005135034256719283,0.0001821957312149261,0.6761,-0.004,0.1012545519207912,1.0,0.0,0.0,0.0,-0.003421400450333012,0.03953609132934388,4.399054454481096,0.0033158383405250957,0.006106742150901359,0.0007161300853895465,1.0610661412094455,0.8523161268471041,4.703105597126273,0.06945869777744185,-0.07533944835233704,0.0021343459164447644,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.2159237349519172,1.4463398731290988,-3.7624351268630782,0.18323590490510153,2.72594403393369,0.9031591508185655,-1.7930834650460281,4.399054454481096,1.9693516618170501,1.9693516618170501,2.4325500000008278,0,0,-0.00042738143830464557,-9.972780520695607e-05
+5067,1792754359670882932,37762710000000,1792754359667811086,DOWN_SETTLE,8,0.052,0.05200209096074104,0.6763911750361568,-0.0044152082288702165,0.10176735201124995,0.999999829971383,-0.00019957640729076096,0.0005089727832095586,0.00018059909398731883,0.6761,-0.004,0.10115567227172689,1.0,0.0,0.0,0.0,-0.0031205074487450357,0.04271220045752966,4.391305531851549,0.0033175601857550058,0.006108381349773789,0.0007218519363292317,1.0613670342110335,0.8554922359752899,4.6953566744967254,0.06946041962267176,-0.07533780915346461,0.0021400677673844497,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1684129105647558,1.4887705175621115,-3.7914696811442843,0.1679906881283216,2.7303307108975745,0.9304482915712692,-1.7930834650460281,4.391305531851549,1.9983862160982562,0.0,0.0,0,0,-0.00043439723267693116,0.00035000431185498975
+5107,1792754360003810917,37763043000000,1792754359995810684,DOWN_SETTLE,8,0.052,0.05200209096074104,0.6763802795795975,-0.004416913286510894,0.1016836835557941,0.9999998384361327,-0.00020716079693101935,0.0004895740602023005,0.00017880776408391141,0.6761,-0.004,0.10110210483978643,1.0,0.0,0.0,0.0,0.024913137342815528,0.04553756847886947,4.288144215889635,0.0033923076493248827,0.004102909825276627,0.0007772321092188071,1.089400679002594,0.8583176039966297,4.592195358534812,0.06953516708624163,-0.07734328067796177,0.002195447940274025,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,1.1042071233295474,1.529920306086615,-3.7335002843952103,0.15267042965653654,2.684147908764759,0.9566755834499511,-1.7930834650460281,4.288144215889635,1.9404168193491822,0.0,0.0,0,0,-2.0714573566160403e-05,0.00020923811682990306
+5174,1792754360561790800,37763601000000,1792754360559810772,DOWN_PEAK_HOLD,8,0.052,0.05200209096074104,0.6763679278615291,-0.004419610540067985,0.10165069252388,0.9999998489654055,-0.00020956842330688096,0.00046696408095250896,0.00017758843774358382,0.6761,-0.004,0.10110102346311037,1.0,0.0,0.0,0.0,0.04532471365148072,0.035281709041612985,4.066601324854889,0.002468358696753506,0.0021431877682868555,0.0009157044282572544,1.1098122553112593,0.8480617445593732,4.370652467500066,0.06861121813367026,-0.07930300273495154,0.0023339202593124723,1.0644875416597785,0.8127800355177602,0.3040511426451765,0.06614285943691675,-0.0814461905032384,0.001418215831055218,1,0.9791217378682902,1.437996343852238,-3.401504780831285,0.16648018289100824,2.440865364596563,0.893115195137493,-1.7930834650460281,4.066601324854889,1.608421315785257,0.0,0.0,0,0,0.0,0.0