Upload Fixed (part 17)

Fixed/digit/ball_15A_17.5/press_depth_04/up/franka_data.csv

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Fixed/digit/ball_15A_17.5/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+31,3.066666667e+00,UP_FORCE_RAMP,1792840124952316440,6.191545549e-06,-2.834224829e-04,7.986171688e-05,7.884068891e-06,-2.842162109e-04,7.960888145e-05,9.648824255e-06,-2.851670447e-04,7.950223920e-05,7.019617894e-01,-3.054075375e-04,8.602232476e-01,7.019634819e-01,-3.062012655e-04,8.602229948e-01,7.027547195e-01,-4.028754203e-04,8.304056024e-01
+32,3.200000000e+00,UP_FORCE_RAMP,1792840125083542167,3.450695140e-06,-2.888629701e-04,8.301891485e-05,7.884068891e-06,-2.842162109e-04,7.960888145e-05,9.653161382e-06,-2.851694887e-04,7.956273725e-05,7.019590486e-01,-3.108480247e-04,8.602264048e-01,7.019634819e-01,-3.062012655e-04,8.602229948e-01,7.027547239e-01,-4.028778643e-04,8.304056629e-01
+33,3.316666667e+00,UP_FORCE_RAMP,1792840125198252281,6.271293526e-06,-2.837473269e-04,9.537342664e-05,7.884068891e-06,-2.842162109e-04,7.960888145e-05,9.656380046e-06,-2.851711917e-04,7.959783564e-05,7.019618692e-01,-3.057323815e-04,8.602387593e-01,7.019634819e-01,-3.062012655e-04,8.602229948e-01,7.027547271e-01,-4.028795672e-04,8.304056980e-01
+34,3.416666667e+00,UP_FORCE_RAMP,1792840125296478883,7.642245948e-06,-2.744553524e-04,1.021724444e-04,6.210921038e-06,-2.808996878e-04,9.946806999e-05,8.181465714e-06,-2.818472743e-04,9.939400101e-05,7.019632401e-01,-2.964404069e-04,8.602455584e-01,7.019618088e-01,-3.028847424e-04,8.602428540e-01,7.027532522e-01,-3.995556498e-04,8.304254942e-01
+35,3.516666667e+00,UP_FORCE_RAMP,1792840125394962730,7.066749235e-06,-2.781839661e-04,1.084871363e-04,6.210921038e-06,-2.808996878e-04,9.946806999e-05,8.181387198e-06,-2.818480634e-04,9.944119379e-05,7.019626646e-01,-3.001690207e-04,8.602518731e-01,7.019618088e-01,-3.028847424e-04,8.602428540e-01,7.027532521e-01,-3.995564389e-04,8.304255414e-01
+36,3.633333333e+00,UP_FORCE_RAMP,1792840125526506004,6.584556331e-06,-2.816583815e-04,1.219705072e-04,6.360542736e-06,-2.778197224e-04,1.199369112e-04,8.521711734e-06,-2.788016196e-04,1.198475096e-04,7.019621824e-01,-3.036434361e-04,8.602653564e-01,7.019619584e-01,-2.998047770e-04,8.602633228e-01,7.027535924e-01,-3.965099951e-04,8.304459477e-01
+37,3.733333333e+00,UP_FORCE_RAMP,1792840125640356160,1.064945748e-05,-2.776518976e-04,1.404182620e-04,1.068326479e-05,-2.775856692e-04,1.400186941e-04,1.339628689e-05,-2.785677541e-04,1.397771442e-04,7.019662473e-01,-2.996369522e-04,8.602838042e-01,7.019662811e-01,-2.995707237e-04,8.602834046e-01,7.027584670e-01,-3.962761296e-04,8.304658773e-01
+38,3.866666667e+00,UP_FORCE_RAMP,1792840125771485876,1.293437170e-05,-2.819676533e-04,1.565343975e-04,1.068326479e-05,-2.775856692e-04,1.400186941e-04,1.341200728e-05,-2.785667561e-04,1.398809229e-04,7.019685322e-01,-3.039527079e-04,8.602999203e-01,7.019662811e-01,-2.995707237e-04,8.602834046e-01,7.027584827e-01,-3.962751316e-04,8.304659811e-01
+39,4.033333333e+00,UP_FORCE_RAMP,1792840125938007319,6.369664104e-06,-2.750496271e-04,1.608938019e-04,7.205469844e-06,-2.800898358e-04,1.606398208e-04,1.002245635e-05,-2.810469358e-04,1.604611464e-04,7.019619675e-01,-2.970346816e-04,8.603042797e-01,7.019628033e-01,-3.020748904e-04,8.603040257e-01,7.027550931e-01,-3.987553113e-04,8.304865613e-01
+40,4.183333333e+00,UP_FORCE_RAMP,1792840126082700451,3.656554955e-06,-2.787062206e-04,1.720852355e-04,7.205469844e-06,-2.800898358e-04,1.606398208e-04,1.001992723e-05,-2.810476785e-04,1.605495213e-04,7.019592544e-01,-3.006912752e-04,8.603154712e-01,7.019628033e-01,-3.020748904e-04,8.603040257e-01,7.027550906e-01,-3.987560540e-04,8.304866497e-01
+41,4.300000000e+00,UP_FORCE_RAMP,1792840126197614780,-5.329958123e-07,-2.759003078e-04,1.802646829e-04,-4.001577170e-07,-2.754758679e-04,1.797386070e-04,2.057384382e-06,-2.764514499e-04,1.794583721e-04,7.019550649e-01,-2.978853624e-04,8.603236506e-01,7.019551977e-01,-2.974609225e-04,8.603231245e-01,7.027471281e-01,-3.941598254e-04,8.305055586e-01
+42,4.466666667e+00,UP_FORCE_RAMP,1792840126377926788,-1.154433684e-05,-2.766691660e-04,1.881840667e-04,-4.001577170e-07,-2.754758679e-04,1.797386070e-04,2.033909260e-06,-2.764526603e-04,1.795656400e-04,7.019440535e-01,-2.986542206e-04,8.603315700e-01,7.019551977e-01,-2.974609225e-04,8.603231245e-01,7.027471046e-01,-3.941610359e-04,8.305056658e-01
+43,4.600000000e+00,UP_FORCE_RAMP,1792840126509491975,-1.149142663e-05,-2.719294973e-04,2.008885568e-04,-9.709203719e-06,-2.765023885e-04,1.976915219e-04,-7.768422850e-06,-2.774776086e-04,1.974365129e-04,7.019441064e-01,-2.939145518e-04,8.603442745e-01,7.019458887e-01,-2.984874431e-04,8.603410774e-01,7.027373023e-01,-3.951859842e-04,8.305235367e-01
+44,4.750000000e+00,UP_FORCE_RAMP,1792840126656223514,-1.031785280e-05,-2.716398987e-04,2.156521772e-04,-9.709203719e-06,-2.765023885e-04,1.976915219e-04,-7.792608046e-06,-2.774767782e-04,1.975092911e-04,7.019452800e-01,-2.936249533e-04,8.603590381e-01,7.019458887e-01,-2.984874431e-04,8.603410774e-01,7.027372781e-01,-3.951851538e-04,8.305236095e-01
+45,4.900000000e+00,UP_FORCE_RAMP,1792840126804192853,-1.159821149e-05,-2.742621168e-04,2.260816516e-04,-9.280651728e-06,-2.772200359e-04,2.189991511e-04,-6.970689815e-06,-2.781912172e-04,2.188272964e-04,7.019439997e-01,-2.962471714e-04,8.603694676e-01,7.019463172e-01,-2.992050905e-04,8.603623851e-01,7.027381000e-01,-3.958995927e-04,8.305449275e-01
+46,5.050000000e+00,UP_FORCE_RAMP,1792840126951231380,-1.234278066e-05,-2.728012641e-04,2.350125488e-04,-9.280651728e-06,-2.772200359e-04,2.189991511e-04,-6.981913146e-06,-2.781911083e-04,2.188907212e-04,7.019432551e-01,-2.947863187e-04,8.603783985e-01,7.019463172e-01,-2.992050905e-04,8.603623851e-01,7.027380888e-01,-3.958994838e-04,8.305449909e-01
+47,5.200000000e+00,UP_FORCE_RAMP,1792840127098514458,-1.085409110e-05,-2.707108164e-04,2.467269088e-04,-1.076702765e-05,-2.697070556e-04,2.399329277e-04,-8.390411660e-06,-2.706543602e-04,2.397069298e-04,7.019447438e-01,-2.926958710e-04,8.603901128e-01,7.019448308e-01,-2.916921102e-04,8.603833188e-01,7.027366803e-01,-3.883627358e-04,8.305658071e-01
+48,5.333333333e+00,UP_FORCE_RAMP,1792840127248028735,-1.055417537e-05,-2.674987131e-04,2.547505726e-04,-1.076702765e-05,-2.697070556e-04,2.399329277e-04,-8.398823052e-06,-2.706539724e-04,2.397636531e-04,7.019450437e-01,-2.894837677e-04,8.603981365e-01,7.019448308e-01,-2.916921102e-04,8.603833188e-01,7.027366719e-01,-3.883623480e-04,8.305658638e-01
+49,5.483333333e+00,UP_FORCE_RAMP,1792840127483737281,-1.478109242e-05,-2.685391955e-04,2.618041851e-04,-9.816159534e-06,-2.695685414e-04,2.607664982e-04,-7.135855531e-06,-2.705303805e-04,2.604924340e-04,7.019408168e-01,-2.905242501e-04,8.604051901e-01,7.019457817e-01,-2.915535960e-04,8.604041524e-01,7.027379348e-01,-3.882387561e-04,8.305865926e-01
+50,5.633333333e+00,UP_FORCE_RAMP,1792840127639172010,-1.354314550e-05,-2.720996479e-04,2.705979618e-04,-9.816159534e-06,-2.695685414e-04,2.607664982e-04,-7.140274216e-06,-2.705305545e-04,2.605621540e-04,7.019420547e-01,-2.940847025e-04,8.604139839e-01,7.019457817e-01,-2.915535960e-04,8.604041524e-01,7.027379304e-01,-3.882389301e-04,8.305866623e-01
+51,5.833333333e+00,UP_FORCE_RAMP,1792840127851996418,-1.198676974e-05,-2.681255256e-04,2.831959978e-04,-1.173158753e-05,-2.722073317e-04,2.808014412e-04,-8.979363524e-06,-2.732122928e-04,2.805495678e-04,7.019436111e-01,-2.901105801e-04,8.604265819e-01,7.019438663e-01,-2.941923862e-04,8.604241874e-01,7.027360913e-01,-3.909206684e-04,8.306066498e-01
+52,6.000000000e+00,UP_FORCE_RAMP,1792840128016348891,-1.340456507e-05,-2.673412568e-04,2.932726816e-04,-1.173158753e-05,-2.722073317e-04,2.808014412e-04,-8.986978634e-06,-2.732132392e-04,2.806215591e-04,7.019421933e-01,-2.893263114e-04,8.604366586e-01,7.019438663e-01,-2.941923862e-04,8.604241874e-01,7.027360837e-01,-3.909216147e-04,8.306067218e-01
+53,6.133333333e+00,UP_FORCE_RAMP,1792840128162939837,-1.251019885e-05,-2.651944402e-04,3.030801257e-04,-1.277839003e-05,-2.692658190e-04,3.011430512e-04,-9.820319583e-06,-2.702091157e-04,3.008445177e-04,7.019430877e-01,-2.871794948e-04,8.604464660e-01,7.019428195e-01,-2.912508736e-04,8.604445290e-01,7.027352504e-01,-3.879174913e-04,8.306269447e-01
+54,6.250000000e+00,UP_FORCE_RAMP,1792840128277875368,-1.241075157e-05,-2.702429049e-04,3.126082961e-04,-1.277839003e-05,-2.692658190e-04,3.011430512e-04,-9.824684143e-06,-2.702092840e-04,3.009066220e-04,7.019431871e-01,-2.922279594e-04,8.604559942e-01,7.019428195e-01,-2.912508736e-04,8.604445290e-01,7.027352460e-01,-3.879176596e-04,8.306270068e-01
+55,6.400000000e+00,UP_FORCE_RAMP,1792840128425290956,-1.634018135e-05,-2.688323315e-04,3.163409847e-04,-1.277839003e-05,-2.692658190e-04,3.011430512e-04,-9.829203538e-06,-2.702096136e-04,3.009580375e-04,7.019392577e-01,-2.908173861e-04,8.604597269e-01,7.019428195e-01,-2.912508736e-04,8.604445290e-01,7.027352415e-01,-3.879179891e-04,8.306270582e-01
+56,6.533333333e+00,UP_FORCE_HOLD,1792840128557339113,-1.443197805e-05,-2.689499690e-04,3.276874933e-04,-1.499233184e-05,-2.667637794e-04,3.219526953e-04,-1.193091908e-05,-2.677354896e-04,3.216910855e-04,7.019411659e-01,-2.909350236e-04,8.604710734e-01,7.019406055e-01,-2.887488340e-04,8.604653386e-01,7.027331398e-01,-3.854438652e-04,8.306477913e-01
+57,6.666666667e+00,UP_FORCE_HOLD,1792840128687394870,-1.717401745e-05,-2.678423310e-04,3.298211310e-04,-1.499233184e-05,-2.667637794e-04,3.219526953e-04,-1.193709028e-05,-2.677357212e-04,3.217470022e-04,7.019384238e-01,-2.898273856e-04,8.604732070e-01,7.019406055e-01,-2.887488340e-04,8.604653386e-01,7.027331336e-01,-3.854440968e-04,8.306478472e-01
+58,6.800000000e+00,UP_FORCE_HOLD,1792840128818376309,-1.776820548e-05,-2.661110513e-04,3.341755771e-04,-1.499233184e-05,-2.667637794e-04,3.219526953e-04,-1.194137209e-05,-2.677355836e-04,3.217872645e-04,7.019378297e-01,-2.880961059e-04,8.604775615e-01,7.019406055e-01,-2.887488340e-04,8.604653386e-01,7.027331293e-01,-3.854439592e-04,8.306478875e-01
+59,6.966666667e+00,UP_SETTLE,1792840128982612053,-1.859772998e-05,-2.707633772e-04,3.383629064e-04,-1.499233184e-05,-2.667637794e-04,3.219526953e-04,-1.194538608e-05,-2.677349244e-04,3.218265991e-04,7.019370001e-01,-2.927484317e-04,8.604817488e-01,7.019406055e-01,-2.887488340e-04,8.604653386e-01,7.027331253e-01,-3.854433000e-04,8.306479268e-01

Fixed/digit/ball_15A_17.5/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.2576e-05,4.7676e-02,1.0829e-01,2.4563e+00,-4.4087e-02,4.0168e-02,1.4179e-04,4.4123e-03,3.2482e-04,-9.2411e-04,8.9221e-06,3.1403e-04,-4.2857e-06,4.5197e-03,3.1419e-04
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+8,7.6667e-01,WAIT_W2,2.6939e-04,5.5160e-02,3.1826e-01,2.4393e+00,-5.8488e-02,4.0708e-02,1.9734e-04,1.1897e-02,2.1029e-01,-1.7942e-02,-1.4392e-02,8.5372e-04,5.1264e-05,2.1139e-01,1.4417e-02
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Fixed/digit/ball_15A_17.5/press_depth_05/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_15A_17.5/press_depth_05/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
+24890,1792840182904051953,18862332000000,1792840182902578599,XJC_ZERO_HOLD_BEFORE_DOWN,5,0.0702,0.07020160555839539,0.67591821578565,-0.004737055708574881,0.1067415363532176,0.9999999518414062,4.299785958495957e-05,-0.00028384761302158753,7.308738865045537e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.004623724064077961,0.0029194697681644843,-0.003829348279278222,-0.00026006398841256495,0.0008223022853577136,1.2476339612215825e-05,0.6044219247700133,0.6276976772522052,0.3743084886119112,0.04811913633096053,-0.045725334861778745,0.0006350389278752225,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,-0.2401171778316901,0.8930963964587301,1.5857081002930802,-0.1435749874610271,-1.124367238127597,0.49055741359374894,1.6297903475282756,0.003829348279278222,0.04408224723519538,0.0,0.0,0,0,0.0,0.0
+24982,1792840183672152610,18863100000000,1792840183670569620,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6759183533367901,-0.004740169015079504,0.10674080570718236,0.9999999520194043,3.872265997731965e-05,-0.00028365592310451113,7.378296999521744e-05,0.6761,-0.0046,0.10699410702921117,1.0,0.0,0.0,0.0,0.004174725492840703,0.0006779947191566382,-0.0038181495292187173,-0.0002490657815339692,0.0003631857767871921,1.2470738436597779e-05,0.613220374326932,0.6254562022031973,0.3743196873619707,0.048130134537839125,-0.046184451370349267,0.0006350333266996045,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,-0.18652630391132524,0.9195810154839551,1.4657188487685506,-0.154040145912673,-1.0320480024639402,0.5073631711991029,1.6297903475282756,0.0038181495292187173,0.16407149875972493,0.16407149875972493,0.18454349233399053,0,0,-2.1776923739217607e-05,-2.8176449999001125e-05
+25075,1792840184447114414,18863875000000,1792840184446578736,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6759226587778873,-0.0047358098764858185,0.10674231720138597,0.999999954223977,4.336296306595392e-05,-0.00027474675463421696,7.502521308665992e-05,0.6761,-0.0046,0.10696750015115768,1.0,0.0,0.0,0.0,-0.005589479421595933,0.004788726155127709,-0.003502777930575518,2.474259555566849e-05,0.0009505669878671907,1.3156256278851934e-05,0.6034561694124954,0.6295669336391684,0.3746350589606139,0.04840394291492876,-0.04559707015926927,0.0006357188445418586,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.043316239128541816,0.9036023394557132,1.382520745653167,-0.13190759813315137,-0.9211659518835376,0.4975993733757982,1.6297903475282756,0.003502777930575518,0.2472696018751086,0.2472696018751086,0.30079349233398983,0,0,-3.7151412511675315e-05,-9.999997638144293e-05
+25175,1792840185280109818,18864708000000,1792840185274568978,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6759238355940891,-0.004741009498906213,0.10672618671838342,0.9999999556183947,4.114507160729923e-05,-0.00026886327584800936,7.890307422646547e-05,0.6761,-0.0046,0.10693753420176252,1.0,0.0,0.0,0.0,-0.014508243315067504,-0.001999029432819821,0.02975931257631026,-0.00029854344696813445,0.0019580403437818236,1.837292523886925e-06,0.5945374055190238,0.6227791780512208,0.40789714946749966,0.04808065687240496,-0.044589596803354635,0.0006243998807868936,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.15037132008770637,0.8529565697412924,1.2960489368529216,-0.09750160122561224,-0.839231832888927,0.46368505111597,1.6297903475282756,-0.02975931257631026,0.333741410675354,0.333741410675354,0.42574349233397607,0,0,-4.068113258345741e-05,-9.999940739214281e-05
+25267,1792840186048144550,18865475000000,1792840186046568643,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6759304366452189,-0.004741355394400175,0.10670165411877024,0.9999999581777171,4.363295578099566e-05,-0.00025586754075180093,8.783732156228448e-05,0.6761,-0.0046,0.10690652074327302,1.0,0.0,0.0,0.0,-0.03317390111218521,0.0009023826282661407,0.11632619182464515,-0.0003420773669950902,0.0029593541230251708,-5.4557151942366674e-05,0.5758717477219061,0.6256805901123068,0.49446402871583456,0.048037122952378004,-0.04358828302411129,0.00056800543632064,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.22884466081786334,0.8796416390265932,1.157882994644492,-0.0769807328504818,-0.7386165790448384,0.4793753391819795,1.6297903475282756,-0.11632619182464515,0.4719073528837836,0.4719073528837836,0.5407934923339635,0,0,-4.002231048935568e-05,-9.999745062406191e-05
+25354,1792840186772135320,18866200000000,1792840186766578229,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6759282520590453,-0.004745784016423429,0.10667309150232006,0.9999999567055109,4.428593589862318e-05,-0.00025886662166017257,9.517703966305028e-05,0.6761,-0.0046,0.10687369046126081,1.0,0.0,0.0,0.0,-0.038207496492567716,-0.007207374709806369,0.17653981060430013,-0.0003546489135035566,0.0029466184038547186,-0.00010700476988174869,0.5708381523415236,0.6175708327742343,0.5546776474954895,0.04802455140586954,-0.04360101874328174,0.000515557818381258,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.2369259230161038,0.8450122126733687,1.010683454797418,-0.04797919875936229,-0.6465285201368786,0.4551770741526191,1.6297903475282756,-0.17653981060430013,0.6191068927308576,0.6191068927308576,0.6495434923339515,0,0,-4.866607404977052e-05,9.971416334154099e-05
+25442,1792840187505096447,18866933000000,1792840187498578969,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6759271139517115,-0.00474227256044475,0.10663789086978687,0.9999999548920142,4.995243791028408e-05,-0.0002624762948695921,0.00010133993572980159,0.6761,-0.0046,0.10683219773148563,1.0,0.0,0.0,0.0,-0.05091988509694356,-0.021951833931868503,0.2662815316466305,-0.0014113507475156314,0.0036203562402583878,-0.00017901171861447546,0.5581257637371477,0.6028263735521722,0.6444193685378199,0.04696784957185746,-0.04292728090687807,0.0004435508696485312,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.3388705627165646,0.8569948145814635,0.9041829309305801,-0.018353669025386925,-0.5512661816216967,0.4586578938295386,1.6297903475282756,-0.2662815316466305,0.7256074165976955,0.7256074165976955,0.7594934923339394,0,0,-6.0282561002685024e-05,9.999968494789897e-05
+25545,1792840188363095259,18867791000000,1792840188358578076,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6759269063348594,-0.00475130849402379,0.10660029153290645,0.9999999534196362,4.714337785054595e-05,-0.00026386644399841054,0.00011294065433456942,0.6761,-0.0046,0.1067889990970402,1.0,0.0,0.0,0.0,-0.06010409483796175,-0.034663485061406596,0.3687785238023866,-0.0021079176657970294,0.003953280975970273,-0.00027309048837425676,0.5489415539961295,0.5901147224226341,0.746916360693576,0.046271282653576065,-0.042594356171166185,0.0003494720998887499,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.29323765113423905,0.8895649290140717,0.7608344659328447,-0.001332514712265417,-0.4737301741716312,0.4767810461147262,1.6297903475282756,-0.3687785238023866,0.8689558815954309,0.8689558815954309,0.8881934923339252,0,0,-4.526342451263853e-05,5e-05
+25635,1792840189113066169,18868541000000,1792840189106569571,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6759372213260431,-0.0047540131428526,0.10658742579177417,0.9999999584540457,4.8754156317753915e-05,-0.00024105681243043818,0.00011853023548180202,0.6761,-0.0046,0.10675076972721663,1.0,0.0,0.0,0.0,-0.07081812613769156,-0.0313033420549772,0.40667555911686426,-0.0014763507734214878,0.004955442154859602,-0.0002736523852632831,0.5382275226963997,0.5934748654290635,0.7848133960080537,0.04690284954595161,-0.04159219499227686,0.00034891020299972355,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.3773239049788726,0.891201644884897,0.6348582782635968,0.014598001451382708,-0.37957580853646633,0.4744881781300013,1.6297903475282756,-0.40667555911686426,0.9949320692646788,0.9949320692646788,1.0006934923339132,0,0,-6.002002728569688e-05,8.750000310276391e-05
+25735,1792840189947092504,18869375000000,1792840189946577915,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6759439236360667,-0.0047596761557247205,0.10654770175648592,0.9999999606264836,4.9186424101632617e-05,-0.00022499576773156953,0.00013094844767914745,0.6761,-0.0046,0.10669425994845723,1.0,0.0,0.0,0.0,-0.09592666490259705,-0.031727998292842674,0.5068286725966873,-0.001550430687262544,0.006951028868691728,-0.0003263338658860011,0.5131189839314942,0.593050209191198,0.8849665094878767,0.04682876963211055,-0.03959660827844473,0.0002962287223770056,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.35914535651463764,0.7358062417895384,0.6347774764600603,0.06214414247845773,-0.38728608178024715,0.36758825758839164,1.6297903475282756,-0.5068286725966873,0.9950128710682152,0.9950128710682152,1.125793492333992,0,0,-7.593632924826477e-05,-9.914896267749213e-05
+25834,1792840190772146673,18870200000000,1792840190770578370,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6759536311751532,-0.004760381392364373,0.10650729235521401,0.9999999630885158,5.251803264358343e-05,-0.00020688894560702082,0.0001403732594167071,0.6761,-0.0046,0.10662765285537093,1.0,0.0,0.0,0.0,-0.10901822266505301,-0.03441758202395229,0.6173365159735649,-0.0016083271311178454,0.00793581359380268,0.0006229134961284012,0.5000274261690383,0.5903606254600884,0.9954743528647543,0.04677087318825525,-0.03861182355333378,0.0012454760843914078,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.45444697467235606,0.7350570228213594,0.3849497446235209,0.07756460380838864,-0.20758322149515157,0.36666059597592787,1.6297903475282756,-0.6173365159735649,1.2448406029047547,1.2448406029047547,1.24954349233407,0,0,-8.188342809770243e-05,8.759764721777969e-05
+25877,1792840191130131932,18870558000000,1792840191122578634,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6759961246301776,-0.0047598618093759055,0.10651405843230621,0.9999999703388563,5.454559533576821e-05,-0.00016267976291414163,0.00014603158473388265,0.6761,-0.0046,0.10659811492837507,1.0,0.0,0.0,0.0,-0.1529217175056356,0.01949914122760843,0.6272946097563157,0.002443363463011654,0.010914703851215075,0.0007154123145292904,0.4561239313284557,0.6442773487116491,1.005432446647505,0.05082256378238475,-0.03563293329592138,0.001337974902792297,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.42011610371219754,0.7334348022903378,0.5071473750925944,0.08330494724586475,-0.30765806392677353,0.36452964927981063,1.6297903475282756,-0.6272946097563157,1.1226429724356812,1.1226429724356812,1.3032434923341039,0,0,-8.61793087545123e-05,-9.999999025923074e-05
+25959,1792840191813027855,18871241000000,1792840191806569047,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6759962878688153,-0.004762001770216229,0.10646042296100282,0.9999999699467536,5.261090168952748e-05,-0.00015683997604746625,0.00015550778591675937,0.6761,-0.0046,0.10653035507198019,1.0,0.0,0.0,0.0,-0.1686372155382896,0.02174635207942832,0.7026385534496451,0.0027265805554924083,0.012892740996790941,0.0006815512834528623,0.4404084332958017,0.646524559563469,1.0807763903408345,0.0511057808748655,-0.03365489615034552,0.001304113871715869,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.6143887938947082,0.8209980383045522,0.3546892570066092,0.07002243253908834,-0.16066144191726775,0.42177356584911313,1.6297903475282756,-0.7026385534496451,1.2751010905216664,1.2751010905216664,1.4056934923341684,0,0,-0.00010530829295671141,-9.999999025923074e-05
+26034,1792840192438126026,18871866000000,1792840192430579169,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6760102858773188,-0.004745214978766009,0.10641449381444915,0.9999999849619285,-6.518011148876959e-05,-0.00012037109277645465,5.2738602953883405e-05,0.6761,-0.0046,0.10646727273040466,1.0,0.0,0.0,0.0,-0.17815911761825248,0.02686368693422414,0.8192905522005238,0.0033044237741214275,0.012868124838064564,0.0005901487817887115,0.4308865312158388,0.6516418944182648,1.1974283890917132,0.05168362409349452,-0.033679512309071895,0.0012127113700517182,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.5199454322869592,0.8561109791777253,0.20453587259267417,0.006868873121805074,-0.08121425915060843,0.4523596804550455,1.6297903475282756,-0.8192905522005238,1.4252544749356013,1.4252544749356013,1.4994434923342275,0,0,-9.531773191987091e-05,3.663322279408261e-08
+26113,1792840193097118047,18872525000000,1792840193090578577,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6760111853968862,-0.004749800593745636,0.10636102905760192,0.9999999847946108,-6.21268939182155e-05,-0.00011644257327477686,6.659593617228465e-05,0.6761,-0.0046,0.10639716869363462,1.0,0.0,0.0,0.0,-0.1519060587428132,0.07931598948979968,0.9415581141670941,0.006393029530296558,0.01176113366631245,0.000513654747132688,0.4571395900912781,0.7040941969738403,1.3196959510582835,0.05477222984966965,-0.03478650348082401,0.0011362173353956946,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.7098915665331926,0.8238231582743065,0.05821418200460454,-0.09210344851740636,0.08562519014351898,0.45679843555911764,1.6297903475282756,-0.9415581141670941,1.571576165523671,1.571576165523671,1.5982934923342897,0,0,-0.00010920672469519476,9.998709779435728e-05
+26199,1792840193813119764,18873241000000,1792840193806578751,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6760168131969232,-0.004753954899293771,0.10630601477424814,0.9999999850118545,-5.4230580207031326e-05,-0.00010832729538823424,8.211818501395088e-05,0.6761,-0.0046,0.10632537251597811,1.0,0.0,0.0,0.0,-0.1712153564893379,0.0648202519252945,1.081391835532137,0.0063369685258210795,0.012745852528322957,0.00041387912281067626,0.4378302923447534,0.6895984594093352,1.4595296724233264,0.054716168845194174,-0.0338017846188135,0.001036441711073683,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.7363360098909225,0.7784252373771953,-0.019786975195843957,-0.024160821908210648,0.13238713488296344,0.41756055327727454,1.6297903475282756,-1.081391835532137,1.6495773227241195,1.6495773227241195,1.7056934923343574,0,0,-8.739884941180864e-05,8.654521130158627e-05
+26290,1792840194572016857,18874000000000,1792840194570568761,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6760320556931244,-0.004756229375919564,0.10627521126216372,0.9999999862979309,-4.4536609334423666e-05,-8.711393010691277e-05,9.63050173383981e-05,0.6761,-0.0046,0.10627127985180479,1.0,0.0,0.0,0.0,-0.19906535166437472,0.06712454330636164,1.142446139733175,0.006318982062033317,0.014758486116529183,0.0004324439707720718,0.40998029716971657,0.6919027507904023,1.5205839766243645,0.05469818238140641,-0.031789151030607275,0.0010550065590350785,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.8518403617872509,0.7926587912044847,-0.2084949415599839,0.014095898689173237,0.27727602395738066,0.4178177913196622,1.6297903475282756,-1.142446139733175,1.8382852890882595,1.8382852890882595,1.8195434923344291,0,0,-5.9154954813707465e-05,9.999994862586731e-05
+26390,1792840195405091392,18874833000000,1792840195402568633,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6760424254408076,-0.004756552301823698,0.10624485733893911,0.9999999869950237,-3.820956513730187e-05,-7.335136511095708e-05,0.00010301661547543894,0.6761,-0.0046,0.10622496986628724,1.0,0.0,0.0,0.0,-0.21892075699736774,0.07208541167734761,1.2025086231894309,0.007224832332268616,0.016704285591851598,0.0008923808955518122,0.39012489183672355,0.6968636191613883,1.5806464600806203,0.05560403265164171,-0.02984335155528486,0.0015149434838148189,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.8310631857584095,0.7227918660897859,-0.27887845084249663,0.07421507503111235,0.3036410898434055,0.3649018179723431,1.6297903475282756,-1.2025086231894309,1.9086687983707722,1.9086687983707722,1.9444934923345079,0,0,-5.733244729380781e-05,6.386628312172177e-05
+26472,1792840196088062991,18875516000000,1792840196086569199,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6760494384311434,-0.004756854918109837,0.10621821377899553,0.9999999868451849,-3.493175188357065e-05,-6.314769673159593e-05,0.0001120028376873777,0.6761,-0.0046,0.10618470219298817,1.0,0.0,0.0,0.0,-0.223901518750376,0.07653819747178325,1.266988735313105,0.008228294661641294,0.01672212277861052,0.000559355073386394,0.3851441300837153,0.7013164049558239,1.6451265722042945,0.05660749498101439,-0.02982551436852594,0.0011819176616494006,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.9020629299555565,0.8509010980859572,-0.34815176105125767,0.046561845094985004,0.364190167590378,0.44109062265659404,1.6297903475282756,-1.266988735313105,1.9779421085795332,1.9779421085795332,2.0469434923345724,0,0,-6.474906570216733e-05,-9.999999025923074e-05
+26559,1792840196813110836,18876241000000,1792840196810579621,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6760591125784607,-0.004749232083748567,0.10617957335302573,0.9999999867083421,-0.00012304069757969408,-3.899652617132859e-05,3.696535614091985e-05,0.6761,-0.0046,0.1061340502041301,1.0,0.0,0.0,0.0,-0.19458570619627907,0.13938139897080926,1.3550707664270238,0.012207359886613485,0.014645410305509095,0.0013189566875592075,0.4144599426378122,0.7641596064548499,1.7332086033182132,0.06058656020598658,-0.031902226841627364,0.001941519275822214,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.9025244093769195,0.7538260055061116,-0.3346641496446071,-0.0574046876687405,0.38158456452970285,0.4126367687198198,1.6297903475282756,-1.3550707664270238,1.9644544971728828,1.9644544971728828,2.155693492334641,0,0,-7.889899143328905e-05,-9.999999025923074e-05
+26655,1792840197613115260,18877041000000,1792840197610577953,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6760695175135824,-0.004753986371421888,0.10612689986729351,0.9999999873032234,-0.00011529298040379516,-2.3449725505074605e-05,5.47179716091035e-05,0.6761,-0.0046,0.10605769001740097,1.0,0.0,0.0,0.0,-0.23049103586593872,0.1224043240110686,1.4747162957276032,0.011221746475621824,0.01762534890815129,0.0012519195861991732,0.37855461296815257,0.7471825314951093,1.8528541326187926,0.05960094679499492,-0.02892228823898517,0.00187448217446218,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.9912102300226485,0.7446780732114003,-0.5810612227762034,0.013684188278152626,0.5483169799685859,0.3936811536609087,1.6297903475282756,-1.4747162957276032,2.210851570304479,2.210851570304479,2.2756934923347165,0,0,-0.00010619024844585467,9.410928566844774e-05
+26753,1792840198430006303,18877858000000,1792840198426578491,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6760809472070463,-0.004759562007765467,0.10606331379075752,0.9999999873912861,-0.00010588778191015675,-6.754468557428463e-06,7.350133878553515e-05,0.6761,-0.0046,0.10597700699545849,1.0,0.0,0.0,0.0,-0.24982698652138474,0.1139425951771238,1.6151601624170189,0.010147350494599958,0.018628132630927483,0.001140877263143937,0.35921866231270655,0.7387208026611645,1.9932979993082083,0.05852655081397305,-0.027919504516208976,0.0017634398514069438,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.0290223654992479,0.7701470689005618,-0.8096645727976809,0.07560767888960991,0.6917090613784066,0.39582890799914966,1.6297903475282756,-1.6151601624170189,2.4394549203259563,2.4394549203259563,2.3982434923347937,0,0,-8.690387998525206e-05,9.999999025923074e-05
+26856,1792840199288106822,18878716000000,1792840199282578585,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6760866833773118,-0.004761682618229136,0.10601082622320361,0.9999999872030677,-9.935373564810395e-05,4.685724006994755e-06,8.451986739900556e-05,0.6761,-0.0046,0.10591287686379988,1.0,0.0,0.0,0.0,-0.2693027279942452,0.11355756853179999,1.7057102350696547,0.011026351466183908,0.020147799856005098,0.001091097268329969,0.3397429208398461,0.7383357760158407,2.083848071960844,0.059405551785557,-0.02639983729113136,0.0017136598565929758,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.0261827910624266,0.8191934022918752,-0.8558601243575752,0.0764990365790742,0.7127093350586501,0.4208676172440615,1.6297903475282756,-1.7057102350696547,2.485650471885851,2.485650471885851,2.526943492334875,0,0,-6.63688873206184e-05,9.999999025923074e-05
+26944,1792840200022085108,18879450000000,1792840200018568899,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6760938941356955,-0.004763043170150391,0.10597410343962022,0.9999999866629586,-9.990622893437375e-05,1.5445914296454273e-05,8.886571879008352e-05,0.6761,-0.0046,0.10586450843448303,1.0,0.0,0.0,0.0,-0.2727992230840367,0.10318041269589084,1.7855269056477905,0.010085689413485983,0.02062059600644557,0.001032188515374866,0.3362464257500546,0.7279586201799315,2.16366474253898,0.05846488973285908,-0.025927041140690887,0.0016547511036378727,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.0866438228479827,0.7121319244519339,-0.9712057069385407,0.12107734199999642,0.8038959803818679,0.35509549208098534,1.6297903475282756,-1.7855269056477905,2.6009960544668163,2.6009960544668163,2.637043492334944,0,0,-6.53454234514087e-05,5.0018401946633164e-05
+27040,1792840200822089043,18880250000000,1792840200818580198,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6760978235838403,-0.004763505361903402,0.10592732653922116,0.9999999861047034,-0.00010205898126177868,2.0258735762091093e-05,9.168972361231638e-05,0.6761,-0.0046,0.10581027390031046,1.0,0.0,0.0,0.0,-0.28420793121049176,0.11387186204908417,1.8655714033650654,0.010044286879842663,0.021614783337078936,0.0009817139364397898,0.32483771762359953,0.7386500695331248,2.243709240256255,0.05842348719921576,-0.024932853810057522,0.0016042765247027964,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.0697482865207408,0.7436409602943727,-1.0142955571275674,0.1182100305048529,0.8226784644201403,0.36977362707929695,1.6297903475282756,-1.8655714033650654,2.644085904655843,2.644085904655843,2.7570434923350198,0,0,-7.618604791067985e-05,-9.999999025923074e-05
+27133,1792840201597069230,18881025000000,1792840201594578061,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6761051401569094,-0.0047644337229684275,0.105881287440785,0.9999999851231823,-0.0001164084455117706,3.4703684936138076e-05,8.025725838002654e-05,0.6761,-0.0046,0.10574461033168675,1.0,0.0,0.0,0.0,-0.2887397555257688,0.11950609115907795,1.9461186736775806,0.011021912944477609,0.021578202243919275,0.0010038813721719047,0.3203058933083225,0.7442842986431186,2.32425651056877,0.059401113263850704,-0.024969434903217184,0.0016264439604349113,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.09881900851825,0.8032127127923918,-1.111854155735595,0.11013621783239175,0.8914333027920492,0.41232073708152517,1.6297903475282756,-1.9461186736775806,2.7416445032638705,2.7416445032638705,2.873293492335093,0,0,-9.187722267297994e-05,-9.999999025923074e-05
+27223,1792840202347056533,18881775000000,1792840202342578903,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6761149606198803,-0.00476657926139094,0.1058248236575015,0.9999999839484668,-0.00011370294728343656,5.2047251943334927e-05,8.89306129623748e-05,0.6761,-0.0046,0.1056709865632515,1.0,0.0,0.0,0.0,-0.306524005172168,0.10851522491159449,2.05663496898615,0.010971428179668015,0.0225682020403392,0.0008517022971730337,0.3025216436619233,0.7332934323956352,2.4347728058773392,0.05935062849904111,-0.02397943510679726,0.0014742648854360403,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.1295366161323859,0.7809078318667243,-1.2542469523982187,0.1117823601266026,0.989739911373428,0.3971072126285885,1.6297903475282756,-2.05663496898615,2.8840372999264945,2.8840372999264945,2.985793492335164,0,0,-9.855897268737224e-05,-7.133075660548655e-05
+27306,1792840203038091044,18882466000000,1792840203034578051,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.676123546147842,-0.004768058872947948,0.10577063362185471,0.9999999847655153,-9.564831529580604e-05,6.293038975850623e-05,9.382429993970591e-05,0.6761,-0.0046,0.10560086346795626,1.0,0.0,0.0,0.0,-0.3140344695818414,0.10701721172890533,2.1472487062926415,0.010921741687093159,0.023558088480568222,0.0014649551364571858,0.2950111792522499,0.731795419212946,2.525386543183831,0.05930094200646625,-0.022989548666568237,0.0020875177247201924,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.1542487683516662,0.7061509101725945,-1.3569362949572854,0.14420677289520076,1.0585540820975454,0.3520031746101002,1.6297903475282756,-2.1472487062926415,2.9867266424855607,2.9867266424855607,3.089443492335229,0,0,-0.00010285415695118617,-7.761270379014746e-05
+27398,1792840203804996266,18883233000000,1792840203802569438,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6761332442880862,-0.004774717486912966,0.10570832790868927,0.9999999859513011,5.3107254875482595e-05,7.912061075790888e-05,0.0001022732147402294,0.6761,-0.0046,0.10552016114830882,1.0,0.0,0.0,0.0,-0.3234640916956488,0.10979510407487048,2.247372688009072,0.010872123584914503,0.02454933964092905,0.0017535822137884388,0.28558155713844247,0.7345733115589111,2.6255105249002613,0.0592513239042876,-0.02199829750620741,0.0023761448020514454,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.233827251220434,0.8279608974812966,-1.485769103619205,0.05379205978917007,1.1712935488025056,0.3552414690669068,1.6297903475282756,-2.247372688009072,3.1155594511474805,3.1155594511474805,3.2044934923353017,0,0,-0.00010703002354163178,3.1229708711750007e-06
+27492,1792840204588061090,18884016000000,1792840204582578429,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6761442601106605,-0.004768935167926917,0.10564107149227281,0.9999999885594085,-1.1771543679320912e-05,0.00010285264859609319,6.005672696696221e-05,0.6761,-0.0046,0.10543187220612399,1.0,0.0,0.0,0.0,-0.3097790841369085,0.13829693360607898,2.3287174949921785,0.012919034605302068,0.023881640266699044,0.001683406270059838,0.29926656469718277,0.7630751410901196,2.706855331883368,0.06129823492467516,-0.022665996880437415,0.0023059688583228445,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.2527379309521611,0.8092673083563067,-1.645334700331082,0.07739313832455272,1.2690938349458554,0.3643041329569646,1.6297903475282756,-2.3287174949921785,3.2751250478593574,3.2751250478593574,3.3219434923353757,0,0,-0.00011530463820266933,9.999463343313692e-05
+27579,1792840205313087595,18884741000000,1792840205310568963,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6761486839497333,-0.00477441746448735,0.1055656948081181,0.9999999867365444,-1.537090449498618e-05,0.00010939584645152399,7.593457307558548e-05,0.6761,-0.0046,0.10534664086018775,1.0,0.0,0.0,0.0,-0.3195484381625652,0.11957286906956088,2.428559241956453,0.011857414986175867,0.024533761465110816,0.001620566913825287,0.2894972106715261,0.7443510765536016,2.8066970788476424,0.06023661530554896,-0.022013875682025643,0.0022431295020882936,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.2489541150283596,0.7274234162999511,-1.6926181325619576,0.11414508442054477,1.2978413920979934,0.3347869268355186,1.6297903475282756,-2.428559241956453,3.322408480090233,3.322408480090233,3.430693492335444,0,0,-0.00011840205393495585,-9.991158875089496e-05
+27671,1792840206080086821,18885508000000,1792840206074577911,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6761596625272425,-0.004780037962760214,0.10549526151351057,0.9999999836477504,-2.2359405540089578e-05,0.00012544153664724802,8.894853125140589e-05,0.6761,-0.0046,0.10525540155954671,1.0,0.0,0.0,0.0,-0.32771327141225115,0.1219351555267485,2.508720196920059,0.011790032532607367,0.025487381154479148,0.0015694768245549727,0.28133237742184014,0.7467133630107892,2.8868580338112486,0.06016923285198046,-0.02106025599265731,0.0021920394128179792,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.3066341869823537,0.697314720730178,-1.7636258754612226,0.15228341047854407,1.354044785256548,0.34283766219083445,1.6297903475282756,-2.508720196920059,3.393416222989498,3.393416222989498,3.5457434923355167,0,0,-0.00012531774807730679,-9.999999025923074e-05
+27754,1792840206772080199,18886200000000,1792840206770578451,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.676168535470669,-0.0047843854049418166,0.10542099971833852,0.9999999807643789,-3.09210996172189e-05,0.00013956048431268877,9.736972331203013e-05,0.6761,-0.0046,0.10516797799258037,1.0,0.0,0.0,0.0,-0.3281079025911766,0.1114459884405945,2.5685553431377146,0.010783696376624088,0.025493339952017788,0.0015098812083117578,0.2809377462429147,0.7362241959246352,2.946693180028904,0.05916289669599718,-0.02105429719511867,0.0021324437965747644,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.3018974098891565,0.7023943646421722,-1.9668782737480963,0.16525695599283025,1.4781402786127062,0.36042802722733486,1.6297903475282756,-2.5685553431377146,3.596668621276372,3.596668621276372,3.649543492335582,0,0,-0.0001313011326372918,9.687500387845489e-05
+27844,1792840207522035647,18886950000000,1792840207518578399,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6761752540068444,-0.004789331366869593,0.10533178015696319,0.999999978586092,-5.39548718110938e-05,0.00015046945031096652,9.337288846410029e-05,0.6761,-0.0046,0.10506426958911325,1.0,0.0,0.0,0.0,-0.3061150332759507,0.11970382708034699,2.6174955107011093,0.010802061358041744,0.024468755846819065,0.0014561415758095873,0.3029306155581406,0.7444820345643877,2.9956333475922987,0.05918126167741484,-0.022078881300317394,0.002078704164072594,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.3323633170126583,0.7368477257313176,-1.990259668703657,0.17109728727187237,1.4980269957646104,0.3876619617770529,1.6297903475282756,-2.6174955107011093,3.6200500162319322,3.6200500162319322,3.762043492335653,0,0,-0.00014762121491459913,-9.999999025923074e-05
+27915,1792840208113075872,18887541000000,1792840208110577980,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.676181091844741,-0.0047907388372977104,0.10524956252335142,0.9999999761173204,-6.030143170462144e-05,0.000160546337193781,9.89789576940185e-05,0.6761,-0.0046,0.1049702764700167,1.0,0.0,0.0,0.0,-0.2996536502807267,0.12450662262609413,2.6694645002452684,0.01079240782384766,0.024455239485733853,0.0014128631127255696,0.3093919985533646,0.7492848301101348,3.047602337136458,0.059171608143220755,-0.022092397661402606,0.002035425700988576,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.3227795338308643,0.6254440906267085,-2.0581468053259693,0.2112445902592974,1.5383459343024397,0.31606467517004755,1.6297903475282756,-2.6694645002452684,3.6879371528542446,3.6879371528542446,3.850693492335709,0,0,-0.00017048990377385576,-9.999999025923074e-05
+28000,1792840208822077873,18888250000000,1792840208814578366,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6761878252172192,-0.004799969585019256,0.10513621017581459,0.9999999729082188,-7.676377186579851e-05,0.00017449865438293755,9.635335488596146e-05,0.6761,-0.0046,0.10484223659096736,1.0,0.0,0.0,0.0,-0.28516832894632466,0.12557282491402177,2.758975666839374,0.00975702036704286,0.024455630420103805,0.0013337927524818792,0.32387731988776663,0.7503510323980624,3.1371135037305633,0.058136220686415954,-0.022092006727032654,0.0019563553407448858,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.3183414318689164,0.7052837993026086,-2.2224189909311685,0.19878797658464384,1.640011775992437,0.37090432672132234,1.6297903475282756,-2.758975666839374,3.852209338459444,3.852209338459444,3.957043492335776,0,0,-0.00019013883967714117,9.995116820172285e-05
+28072,1792840209422049836,18888850000000,1792840209418568483,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6761907251950051,-0.004803979055506423,0.10502288887032088,0.999999971913358,-8.508912629401519e-05,0.00017885975461944204,9.157060886235495e-05,0.6761,-0.0046,0.10472271748618082,1.0,0.0,0.0,0.0,-0.2716405199425534,0.11530524003694698,2.8288937617581205,0.008750119574942143,0.02344639501157234,0.0012519772529651294,0.3374051288915379,0.7400834475209876,3.20703159864931,0.05712931989431524,-0.02310124213556412,0.001874539841228136,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.3311061271202835,0.6549115715283358,-2.2713984207905424,0.2268203253124917,1.6764724282163581,0.3392705813903672,1.6297903475282756,-2.8288937617581205,3.901188768318818,3.901188768318818,4.0470434923356935,0,0,-0.00020756130033186692,7.555065881093554e-05
+28151,1792840210080066626,18889508000000,1792840210078568906,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.676199254170772,-0.0048155560728479745,0.10489223028107957,0.9999999669136095,-9.930734957582238e-05,0.00019379618722816137,0.00010097887210812444,0.6761,-0.0046,0.10458100314791126,1.0,0.0,0.0,0.0,-0.2606993198585883,0.10359947899364796,2.8594138700136433,0.007722664616713559,0.023458913146575604,0.0012173403811055724,0.348346328975503,0.7283776864776886,3.2375517069048327,0.056101864936086654,-0.023088724000560855,0.0018399029693685791,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.3563721376189852,0.6856505921392521,-2.4215133303786507,0.2281205770056811,1.779184651595346,0.3604083583148493,1.6297903475282756,-2.8594138700136433,4.051303677906926,4.051303677906926,4.1457434923354635,0,0,-0.0002252816160605312,9.990234614421496e-05
+28212,1792840210588038137,18890016000000,1792840210586577858,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762078509903634,-0.00481497194354049,0.1047794296683014,0.9999999631070047,-0.00010256055294555303,0.00020628099761116223,0.0001102648477782082,0.6761,-0.0046,0.10446084396940535,1.0,0.0,0.0,0.0,-0.2420354880585503,0.08386081724317207,2.9084638068809427,0.006720172411929348,0.022391386214028277,0.001151538816864184,0.367010160775541,0.7086390247272127,3.286601643772132,0.05509937273130244,-0.02415625093310818,0.0017741014051271906,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.31683502838839,0.7992106698338332,-2.4186048766580943,0.2047611457193646,1.7662823381774766,0.435834817656244,1.6297903475282756,-2.9084638068809427,4.04839522418637,4.04839522418637,4.221943492335286,0,0,-0.00024708090594763456,9.201536341064127e-05
+28277,1792840211130073012,18890558000000,1792840211126578012,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6762124098660471,-0.004813462630807695,0.10465184393406722,0.9999999603348134,-0.00011612427107432248,0.0002129273039503426,0.00010931766960799017,0.6761,-0.0046,0.10431995137554008,1.0,0.0,0.0,0.0,-0.21407412954091354,0.08472492272963528,2.9361735061329632,0.005749308187771945,0.020440273280994122,0.0010906313843087284,0.39497151929317775,0.709503130213676,3.3143113430241526,0.05412850850714504,-0.026107363866142336,0.0017131939725717352,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.3015350374117132,0.675171762794767,-2.359337288625423,0.2525811476591238,1.7273307593069203,0.3500156848011282,1.6297903475282756,-2.9361735061329632,3.9891276361536985,3.9891276361536985,4.303243492335096,0,0,-0.00027317998113204754,-9.999999025923074e-05
+28338,1792840211638075434,18891066000000,1792840211634577770,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.676220059206404,-0.004820443697605624,0.10451955326964595,0.9999999552392503,-0.00012528361284323475,0.00022857189347843566,0.00011411953117929996,0.6761,-0.0046,0.1041748337530915,1.0,0.0,0.0,0.0,-0.1949064516457681,0.06837739390265396,2.948264174425635,0.004752003249418137,0.01944438558964968,0.0010560297683583856,0.4141391971883232,0.6931556013866946,3.3264020113168242,0.05313120356879123,-0.027103251557486777,0.0016785923566213922,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.3160342723455878,0.6505643524587584,-2.378134998412469,0.2718646863870821,1.7431862130684612,0.338817419409446,1.6297903475282756,-2.948264174425635,4.007925345940745,4.007925345940745,4.379443492334919,0,0,-0.00029775572380904967,-9.999999025923074e-05
+28397,1792840212130073650,18891558000000,1792840212126578280,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762222591307813,-0.0048192778135543995,0.10437183676073904,0.9999999620176346,-1.1633666896845734e-05,0.00023203543520025939,0.00011589567959716248,0.6761,-0.0046,0.10402239448550563,1.0,0.0,0.0,0.0,-0.18278211146220114,0.046430802403652494,2.9953206861565755,0.0027361923609005995,0.01846112954924537,0.00098071631969603,0.42626353737189016,0.6712090098876932,3.373458523047765,0.051115392680273694,-0.028086507597891087,0.0016032789079590368,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.305138696377331,0.7799871520504612,-2.3773449875218855,0.22024390615327422,1.7490039889670213,0.3743839604856114,1.6297903475282756,-2.9953206861565755,4.007135335050161,4.007135335050161,4.453243492334747,0,0,-0.0003220670351619922,-9.999999025923074e-05
+28457,1792840212630029719,18892058000000,1792840212622578572,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6762275057106035,-0.004827644050236165,0.10421672791161689,0.9999999580201193,-4.534969453265965e-05,0.00024225218135392475,0.00012107811455180193,0.6761,-0.0046,0.10385512346914466,1.0,0.0,0.0,0.0,-0.17096793415789718,0.031046836645143516,2.993544813364035,0.001734585081003756,0.01746761349845554,0.0009562967239236791,0.4380777146761941,0.6558250441291842,3.3716826502552246,0.05011378540037685,-0.029080023648680918,0.0015788593121866857,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.2550669214541808,0.7380442750529417,-2.3365066066286877,0.27154856364739566,1.707044077487075,0.38720581748089417,1.6297903475282756,-2.993544813364035,3.966296954156963,3.966296954156963,4.528243492334572,0,0,-0.00034706703029160755,-9.999999025923074e-05
+28509,1792840213063027161,18892491000000,1792840213062578226,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6762253651425288,-0.004830308975715324,0.10405995535632105,0.9999999572277748,-6.997893511797488e-05,0.00023849475642051938,0.0001233309079823538,0.6761,-0.0046,0.10370016704594365,1.0,0.0,0.0,0.0,-0.15062659053871075,0.0032555817519324126,2.9927400863255604,-0.0012904100347313416,0.016512378224083742,0.0009093718433323847,0.45841905829538054,0.6280337892359731,3.37087792321675,0.04708879028464175,-0.030035258923052716,0.0015319344315953914,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.2199300239046016,0.7469789621231425,-2.3719823787775898,0.2871731751457246,1.7217970903337412,0.41191953594397684,1.6297903475282756,-2.9927400863255604,4.001772726305865,4.001772726305865,4.593193492334421,0,0,-0.00036871702607385446,-9.999999025923074e-05
+28556,1792840213455028903,18892883000000,1792840213454578044,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6762255519892938,-0.0048341090874461385,0.1039117845788666,0.9999999552554693,-9.289879406098787e-05,0.00023755040037088654,0.00012598232048141345,0.6761,-0.0046,0.10355179817247301,1.0,0.0,0.0,0.0,-0.1341998338433964,-0.022317501975601783,2.9956033263398854,-0.0033164775545668074,0.015536187349185396,0.00087004749968002,0.4748458149906949,0.6024607055084389,3.3737411632310748,0.04506272276480629,-0.031011449797951063,0.0014926100879430267,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.2011764376482295,0.649085815984856,-2.4346622217154525,0.3305449858307041,1.7619579849597655,0.3486278911115244,1.6297903475282756,-2.9956033263398854,4.064452569243728,4.064452569243728,4.651993492334284,0,0,-0.0003883170222554729,-9.999999025923074e-05
+28599,1792840213813041312,18893241000000,1792840213810578265,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762214944625424,-0.004836890714302081,0.10375917527996315,0.9999999534165432,-0.00011572495437670037,0.00023441015373408338,0.00012755152052584587,0.6761,-0.0046,0.1034095855291315,1.0,0.0,0.0,0.0,-0.12363026081052558,-0.04795887447420133,2.9938649308654126,-0.005331353562935397,0.014562418424112274,0.000830802826041105,0.4854153880235657,0.5768193330098393,3.372002767756602,0.0430478467564377,-0.031985218723024185,0.0014533654143041117,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.2196095863340772,0.5767856725381971,-2.403634309965274,0.3574778116730388,1.7537654296686287,0.3036806745936411,1.6297903475282756,-2.9938649308654126,4.0334246574935495,4.0334246574935495,4.7056934923341585,0,0,-0.0004062170187682775,-9.999999025923074e-05
+28644,1792840214188062170,18893616000000,1792840214186568437,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762235577237461,-0.004841771638335082,0.10360121958232013,0.9999999494859783,-0.00012665034922246238,0.00024324149164758687,0.00013139319272074412,0.6761,-0.0046,0.10325374789778012,1.0,0.0,0.0,0.0,-0.10380930365654983,-0.07714095146308331,2.9748557302955154,-0.008362864713184058,0.013604532711390345,0.0008017830868359235,0.5052363451775415,0.5476372560209574,3.352993567186705,0.04001633560618904,-0.032943104435746114,0.0014243456750989301,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.1348445749001201,0.6321255924523741,-2.3905067600945538,0.3559037363385457,1.721623052241813,0.34288690060042254,1.6297903475282756,-2.9748557302955154,4.020297107622829,4.020297107622829,4.761943492334027,0,0,-0.00042496701511548905,-9.999999025923074e-05
+28688,1792840214554997087,18893983000000,1792840214554577927,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6762299781521969,-0.004845108786607625,0.10344392708314849,0.9999999544281909,-4.199439961272139e-05,0.00024777138543718085,0.00013939975429083193,0.6761,-0.0046,0.10309442695389051,1.0,0.0,0.0,0.0,-0.11178062740229616,-0.10151367111036957,2.9330253873405967,-0.009388766452688421,0.013611358868341514,0.0008223036925867796,0.49726502143179513,0.5232645363736711,3.311163224231786,0.03899043386668467,-0.032936278278794945,0.0014448662808497863,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.2179160907245143,0.6545825264654591,-2.2747187652371945,0.33796899875035313,1.6746055125278443,0.33332768704533433,1.6297903475282756,-2.9330253873405967,3.90450911276547,3.90450911276547,4.816993492333899,0,0,-0.00044331701154062673,-9.999999025923074e-05
+28733,1792840214930059263,18894358000000,1792840214922578600,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762374839217498,-0.004844007641295774,0.10328407675623505,0.999999951654737,-7.384760077831373e-05,0.00025345372227778386,0.00013579812445218268,0.6761,-0.0046,0.1029246768252495,1.0,0.0,0.0,0.0,-0.11044401314129593,-0.12799292724647177,2.901700413007684,-0.011363403163009059,0.013550433364618038,0.0008244396176148968,0.49860163569279536,0.4967852802375689,3.2798382498988734,0.037015797156364036,-0.03299720378251842,0.0014470022058779035,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.2415451709549512,0.575003734408931,-2.3977330491601787,0.38861515065432173,1.7604657152239604,0.3083367015367038,1.6297903475282756,-2.901700413007684,4.027523396688454,4.027523396688454,4.873243492333768,0,0,-0.00046206700788783826,-9.999999025923074e-05
+28773,1792840215263003946,18894691000000,1792840215258578104,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762341720854136,-0.0048467089476535085,0.10312257361359974,0.9999999510559796,-9.720727735957466e-05,0.0002464666283004721,0.00013833238604454007,0.6761,-0.0046,0.10276804461216454,1.0,0.0,0.0,0.0,-0.09980623300418068,-0.16178441260313553,2.8634279032127568,-0.01339549251856021,0.011714519615863617,0.0008013767276113345,0.5092394158299106,0.46299379488090514,3.241565740103946,0.034983707800812884,-0.03483311753127284,0.0014239393158743412,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.2074951161093832,0.6056813446772382,-2.3099316771473872,0.39486755062516254,1.6983280947121642,0.33423716563720907,1.6297903475282756,-2.8634279032127568,3.939722024675663,3.939722024675663,4.9231934923336516,0,0,-0.0004787170046441621,-9.999999025923074e-05
+28811,1792840215579968898,18895008000000,1792840215578577839,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762252906119832,-0.004851356868730187,0.10295606558265741,0.9999999524249601,-0.00011043233115598256,0.00023178323124219106,0.00014378517296710077,0.6761,-0.0046,0.10261378702218331,1.0,0.0,0.0,0.0,-0.09283171105485488,-0.20007881164437125,2.8297503490473566,-0.016421728582579016,0.011776021085706766,0.00043884931948011353,0.5162139377792364,0.4246993958396694,3.207888185938546,0.03195747173679408,-0.03477161606142969,0.0010614119077431202,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.205307151758482,0.501320107520467,-2.2960549766012166,0.42717298448178176,1.6967743339775485,0.2652333699996431,1.6297903475282756,-2.8297503490473566,3.925845324129492,3.925845324129492,4.970743492333541,0,0,-0.0004945670015563383,-9.999999025923074e-05
+28849,1792840215897053005,18895325000000,1792840215894578496,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6762174448121089,-0.0048507640118832475,0.1027849488437971,0.9999999596799173,-6.527845064184428e-05,0.00022070106779290138,0.0001382490173886515,0.6761,-0.0046,0.10245450498318091,1.0,0.0,0.0,0.0,-0.07828299032410047,-0.22080228958765447,2.798933690497599,-0.018453915793891388,0.01081199710128826,-0.00024293980803669188,0.5307626585099908,0.4039759178963862,3.1770715273887884,0.029925284525481707,-0.0357356400458482,0.0003796227802263148,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.1493245939954069,0.4729039492946146,-2.254426440713158,0.44888151259301895,1.6597057345094661,0.24980256956928043,1.6297903475282756,-2.798933690497599,3.8842167882414333,3.8842167882414333,5.01829349233343,0,0,-0.0005104169984685144,-9.999999025923074e-05
+28884,1792840216188059823,18895616000000,1792840216182578254,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762109629553578,-0.004860585070527942,0.1026227563060275,0.9999999584236348,-7.594753067964122e-05,0.0002135875203906164,0.00015234151377884844,0.6761,-0.0046,0.10230386388704042,1.0,0.0,0.0,0.0,-0.08816311629240303,-0.2688010986067494,2.7494918331423226,-0.02148088499821189,0.009873188899096469,-0.00025345146342152806,0.5208825325416883,0.3559771088772913,3.127629670033512,0.026898315321161204,-0.03667444824803999,0.0003691111248414786,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.091125544657231,0.5229153478989413,-2.1434947939909987,0.43107502912799106,1.5794562591481673,0.2872072210328743,1.6297903475282756,-2.7494918331423226,3.773285141519274,3.773285141519274,5.061943492333328,0,0,-0.0005249669956339506,-9.999999025923074e-05
+28916,1792840216455056313,18895883000000,1792840216450568605,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762030685390588,-0.004853649093551262,0.10246296759525518,0.9999999600702787,-0.00011703923427674907,0.00020172521985963553,0.00013004252608488152,0.6761,-0.0046,0.10216192214955466,1.0,0.0,0.0,0.0,-0.07650405857382292,-0.30158265643564885,2.702489168433721,-0.024536394713417623,0.009936919528163259,-0.0002528616960339995,0.5325415902602684,0.3231955510483918,3.0806270053249105,0.02384280560595547,-0.0366107176189732,0.0003697008922290072,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.0721996271337084,0.5247179510997128,-2.0591048491397745,0.4496939190824329,1.5230893786914206,0.28752072993119404,1.6297903475282756,-2.702489168433721,3.6888951966680503,3.6888951966680503,5.101993492333235,0,0,-0.0005383169930331652,-9.999999025923074e-05
+28949,1792840216729957474,18896158000000,1792840216722578192,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6761949594705945,-0.004860291153284128,0.10229830824516717,0.9999999597827672,-0.00012614090198620356,0.00018824749252291688,0.00014327834025305047,0.6761,-0.0046,0.1020120012268402,1.0,0.0,0.0,0.0,-0.05525161976937787,-0.32431995245611156,2.6654783100267223,-0.025507934479265155,0.008310491761763718,-0.0002467976214120475,0.5537940290647134,0.3004582550279291,3.0436161469179117,0.02287126584010794,-0.03823714538537274,0.00037576496685095916,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.1067734739110153,0.483848706659379,-2.127946267914306,0.45097168480321365,1.5850427788528294,0.26634270086465683,1.6297903475282756,-2.6654783100267223,3.7577366154425818,3.7577366154425818,5.143243492333139,0,0,-0.0005520669903544536,-9.999999025923074e-05
+28982,1792840217005054924,18896433000000,1792840216998568273,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6761867591265486,-0.004867089405080075,0.10213649216948618,0.9999999595287182,-0.00011775501379415205,0.00017294669111545384,0.00016914084378134246,0.6761,-0.0046,0.10185829905486239,1.0,0.0,0.0,0.0,-0.064763789539383,-0.36622531199920694,2.596240363308487,-0.02857620348414424,0.009026936776542253,-0.0002242343492332862,0.5442818592947083,0.25855289548483373,2.9743782001996766,0.019802996835228855,-0.037520700370594205,0.0003983282390297205,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.0277016959419558,0.3526083638717602,-1.9813727581951477,0.47815766762606393,1.4753990291278076,0.1796510157703851,1.6297903475282756,-2.596240363308487,3.6111631057234233,3.6111631057234233,5.184493492333043,0,0,-0.0005658169876757421,-9.999999025923074e-05
+29016,1792840217287956807,18896716000000,1792840217282578442,DOWN_FORCE_DETACH,5,0.0702,0.07020226120948792,0.6761965681653535,-0.00487298495533227,0.10197608262471199,0.9999999552936712,-0.00010322977373256799,0.00017644394087309428,0.00019765290177313526,0.6761,-0.0046,0.1016961776977416,1.0,0.0,0.0,0.0,-0.08823834641138262,-0.39420603899600065,2.533018687504384,-0.030633397613053264,0.010094651531791975,-0.00018327748703786075,0.5208073024227087,0.23057216848804002,2.9111565243955733,0.01774580270631983,-0.036452985615344484,0.0004392851012251459,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.1512487170325751,0.415199920157436,-1.8935797052617196,0.4707401586480969,1.454065926926354,0.23041580418554605,1.6297903475282756,-2.533018687504384,3.5233700527899954,3.5233700527899954,5.226943492332944,0,0,-0.0005799669849191044,-9.999999025923074e-05
+29047,1792840217546953910,18896975000000,1792840217542578673,DOWN_FORCE_DETACH,5,0.0702,0.07020160555839539,0.6762002314743217,-0.0048608653928894985,0.10181108153380748,0.9999999681244232,-6.824300850155373e-05,0.00019253783609372944,0.00011604348533034559,0.6761,-0.0046,0.10154429569897552,1.0,0.0,0.0,0.0,-0.07235644536957131,-0.3549489452162997,2.4634311181543147,-0.0290022365520079,0.011125496934939944,-0.00010924810714824703,0.53668920346452,0.26982926226774095,2.841568955045504,0.019376963767365196,-0.035422140212196515,0.0005133144811147596,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.0928494597997818,0.43082408665748523,-1.8378367248215548,0.37721877827669004,1.4122820846835216,0.19388857811798693,1.6297903475282756,-2.4634311181543147,3.4676270723498304,3.4676270723498304,5.265793492332853,0,0,-0.0005929169823962452,-9.999999025923074e-05
+29083,1792840217842024820,18897270000000,1792840217838578302,DOWN_SETTLE,5,0.0702,0.07020226120948792,0.6761854775740784,-0.004868772601316852,0.1016523769060948,0.9999999694155133,-5.646993282344626e-05,0.00016171117595858953,0.00015255320123451962,0.6761,-0.0046,0.10140554799234502,1.0,0.0,0.0,0.0,-0.07633385303093054,-0.3976413033086798,2.3750031381468495,-0.03057752423950336,0.0091146854276326,-7.012672870338572e-05,0.5327117958031607,0.22713690417536087,2.753140975038039,0.017801676079869735,-0.03743295171950386,0.000552435859559621,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,1.1459497290879903,0.6071559120248091,-1.724718655723587,0.3754835563137269,1.3533757495476613,0.33888285372287674,1.6297903475282756,-2.3750031381468495,3.3545090032518625,0.0,0.0,0,0,-0.0001568613393925349,0.0015844579736619688
+29173,1792840218593058527,18898021000000,1792840218586568389,DOWN_PEAK_HOLD,5,0.0702,0.07020226120948792,0.6761604173667257,-0.004864065651692636,0.10156928186719649,0.9999999749967154,-5.7543993859108565e-05,0.00011271290612631003,0.00015948016324156185,0.6761,-0.0046,0.10139092433986471,1.0,0.0,0.0,0.0,-0.060070689196817906,-0.4424919374639014,1.980521715053738,-0.03351141768328453,0.0072360238333197754,0.0001548896192957609,0.5489749596372734,0.18228627002013925,2.3586595519449274,0.014867782636088568,-0.03931161331381668,0.0007774522075587676,0.6090456488340913,0.6247782074840407,0.3781378368911894,0.048379200319373095,-0.04654763714713646,0.0006225625882630067,1,0.9117970522996005,0.42530742469760846,-1.2896956244337734,0.44478964582959923,1.0146832609674485,0.22950766344635254,1.6297903475282756,-1.980521715053738,2.919485971962049,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_17.5/press_depth_05/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792840182905524124,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.585373360e-09,1.224873657e-10,-5.112422707e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027450937e-01,-1.176754739e-04,8.303260944e-01
+1,7.666666667e-01,DOWN_FORCE_DETACH,1792840183674740200,1.185476829e-06,-2.866528372e-06,-1.058043390e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.463132267e-08,4.370813076e-09,-1.619662304e-08,7.019567833e-01,-2.485158295e-05,8.601432801e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451858e-01,-1.176712256e-04,8.303260787e-01
+2,1.533333333e+00,DOWN_FORCE_DETACH,1792840184448866091,2.099181695e-06,5.297454416e-07,-2.536596842e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.498499010e-07,6.564859467e-09,-2.197642124e-08,7.019576970e-01,-2.145530914e-05,8.601408493e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452410e-01,-1.176690315e-04,8.303260730e-01
+3,2.366666667e+00,DOWN_FORCE_DETACH,1792840185279891347,5.312777212e-06,-3.811540444e-06,-1.627419204e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.847134660e-07,7.634035655e-09,-2.353256623e-08,7.019609106e-01,-2.579659502e-05,8.601271117e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452759e-01,-1.176679623e-04,8.303260714e-01
+4,3.150000000e+00,DOWN_FORCE_DETACH,1792840186049988340,1.234401173e-05,-4.437458865e-06,-4.252873316e-05,9.480113003e-06,-3.762871679e-06,-4.050891959e-05,9.848157553e-06,-3.765494586e-06,-4.025031472e-05,7.019679419e-01,-2.642251344e-05,8.601008572e-01,7.019650780e-01,-2.574792626e-05,8.601028770e-01,7.027549393e-01,-1.214410910e-04,8.302858446e-01
+5,3.883333333e+00,DOWN_FORCE_DETACH,1792840186770443625,1.051899936e-05,-1.086216272e-05,-6.979304837e-05,9.593930447e-06,-7.974317970e-06,-6.210952144e-05,9.771614955e-06,-7.956435330e-06,-6.187400298e-05,7.019661169e-01,-3.284721730e-05,8.600735929e-01,7.019651918e-01,-2.995937255e-05,8.600812764e-01,7.027548628e-01,-1.256320317e-04,8.302642209e-01
+6,4.633333333e+00,DOWN_FORCE_DETACH,1792840187507744311,7.302311002e-06,-1.071072557e-05,-1.072408561e-04,9.102023354e-06,-1.134677532e-05,-1.026914731e-04,8.709373708e-06,-1.134328849e-05,-1.022640381e-04,7.019629002e-01,-3.269578015e-05,8.600361451e-01,7.019646999e-01,-3.333182990e-05,8.600406944e-01,7.027538005e-01,-1.290188849e-04,8.302238309e-01
+7,5.483333333e+00,DOWN_FORCE_DETACH,1792840188359790057,1.037796064e-05,-1.175947919e-05,-1.407837264e-04,4.797411855e-06,-1.510783227e-05,-1.227724921e-04,3.882511365e-06,-1.509180299e-05,-1.224370801e-04,7.019659758e-01,-3.374453377e-05,8.600026022e-01,7.019603953e-01,-3.709288685e-05,8.600206134e-01,7.027489737e-01,-1.327673994e-04,8.302036579e-01
+8,6.250000000e+00,DOWN_FORCE_DETACH,1792840189112761937,2.011498123e-05,-1.826385834e-05,-1.538330528e-04,7.321798489e-06,-1.274911079e-05,-1.456680438e-04,6.217173693e-06,-1.276316136e-05,-1.453734186e-04,7.019757128e-01,-4.024891292e-05,8.599895529e-01,7.019629197e-01,-3.473416537e-05,8.599977179e-01,7.027513083e-01,-1.304387577e-04,8.301807215e-01
+9,7.066666667e+00,DOWN_FORCE_DETACH,1792840189948657249,2.759297108e-05,-2.037234713e-05,-1.930990523e-04,2.624041419e-05,-2.305645761e-05,-1.818106563e-04,2.610323783e-05,-2.307012909e-05,-1.813904531e-04,7.019831908e-01,-4.235740171e-05,8.599502869e-01,7.019818383e-01,-4.504151219e-05,8.599615753e-01,7.027711944e-01,-1.407457255e-04,8.301447045e-01
+10,7.866666667e+00,DOWN_FORCE_DETACH,1792840190768711477,3.382338161e-05,-1.913496808e-05,-2.361201092e-04,3.006560646e-05,-2.122563730e-05,-2.237926012e-04,2.977748367e-05,-2.124146209e-05,-2.232840353e-04,7.019894212e-01,-4.112002266e-05,8.599072658e-01,7.019856635e-01,-4.321069188e-05,8.599195933e-01,7.027748686e-01,-1.389170585e-04,8.301028109e-01
+11,8.233333333e+00,DOWN_FORCE_DETACH,1792840191127528902,7.616315253e-05,-1.892262981e-05,-2.321548147e-04,7.106363763e-05,-2.486147881e-05,-2.310106575e-04,7.365412703e-05,-2.486601867e-05,-2.305036706e-04,7.020317610e-01,-4.090768439e-05,8.599112311e-01,7.020266615e-01,-4.684653339e-05,8.599123753e-01,7.028187453e-01,-1.425416150e-04,8.300955913e-01
+12,8.933333333e+00,DOWN_FORCE_DETACH,1792840191815940618,7.831089073e-05,-2.496208487e-05,-2.796243086e-04,7.666684006e-05,-2.168901894e-05,-2.713678105e-04,7.929714080e-05,-2.171642608e-05,-2.707102723e-04,7.020339088e-01,-4.694713945e-05,8.598637616e-01,7.020322647e-01,-4.367407352e-05,8.598720181e-01,7.028243883e-01,-1.393920225e-04,8.300553847e-01
+13,9.516666667e+00,DOWN_FORCE_DETACH,1792840192440951915,9.167837245e-05,-6.218488555e-06,-3.270310456e-04,8.503426046e-05,2.809498760e-06,-3.254903073e-04,8.771894674e-05,2.810973302e-06,-3.247144655e-04,7.020472762e-01,-2.820354313e-05,8.598163549e-01,7.020406321e-01,-1.917555582e-05,8.598178956e-01,7.028328101e-01,-1.148646231e-04,8.300013805e-01
+14,1.016666667e+01,DOWN_FORCE_DETACH,1792840193093358380,9.202724654e-05,-1.296333083e-05,-3.818038903e-04,9.011747573e-05,-1.075357363e-05,-3.718778265e-04,9.269152733e-05,-1.079039175e-05,-3.711365463e-04,7.020476251e-01,-3.494838541e-05,8.597615820e-01,7.020457153e-01,-3.273862821e-05,8.597715081e-01,7.028377827e-01,-1.284659881e-04,8.299549584e-01
+15,1.090000000e+01,DOWN_FORCE_DETACH,1792840193814424930,9.960231656e-05,-1.580385974e-05,-4.325677214e-04,9.571822146e-05,-1.912798512e-05,-4.139053149e-04,9.820696250e-05,-1.920863961e-05,-4.132273199e-04,7.020552002e-01,-3.778891432e-05,8.597108182e-01,7.020513161e-01,-4.111303970e-05,8.597294806e-01,7.028432981e-01,-1.368842360e-04,8.299128676e-01
+16,1.165000000e+01,DOWN_FORCE_DETACH,1792840194567874500,1.117406276e-04,-1.700585948e-05,-4.701653317e-04,1.037974756e-04,-1.889910939e-05,-4.537092801e-04,1.064850858e-04,-1.895609029e-05,-4.531435262e-04,7.020673385e-01,-3.899091406e-05,8.596732206e-01,7.020593953e-01,-4.088416397e-05,8.596896766e-01,7.028515762e-01,-1.366316867e-04,8.298729514e-01
+17,1.245000000e+01,DOWN_FORCE_DETACH,1792840195402943729,1.259880917e-04,-1.936727966e-05,-4.954746526e-04,1.224322776e-04,-2.319508815e-05,-4.869885751e-04,1.260799236e-04,-2.328504251e-05,-4.864831816e-04,7.020815860e-01,-4.135233424e-05,8.596479113e-01,7.020780301e-01,-4.518014273e-05,8.596563973e-01,7.028711711e-01,-1.409606389e-04,8.298396118e-01
+18,1.315000000e+01,DOWN_FORCE_DETACH,1792840196091495833,1.302178147e-04,-2.249917231e-05,-5.250406337e-04,1.249338390e-04,-2.382574720e-05,-5.092870712e-04,1.285801845e-04,-2.396656779e-05,-5.088567093e-04,7.020858157e-01,-4.448422689e-05,8.596183453e-01,7.020805317e-01,-4.581080178e-05,8.596340988e-01,7.028736713e-01,-1.416421642e-04,8.298172382e-01
+19,1.386666667e+01,DOWN_FORCE_DETACH,1792840196811912410,1.406099237e-04,-1.031007344e-05,-5.621139278e-04,1.411694878e-04,-9.166995810e-06,-5.587563892e-04,1.454544037e-04,-9.291950100e-06,-5.581571676e-04,7.020962078e-01,-3.229512802e-05,8.595812720e-01,7.020967674e-01,-3.115205039e-05,8.595846295e-01,7.028905456e-01,-1.269675465e-04,8.297679378e-01
+20,1.468333333e+01,DOWN_FORCE_DETACH,1792840197614123458,1.493190107e-04,-1.278606595e-05,-6.186629870e-04,1.467209767e-04,-1.619720107e-05,-6.012620605e-04,1.509413627e-04,-1.635776630e-05,-6.006545361e-04,7.021049169e-01,-3.477112053e-05,8.595247229e-01,7.021023188e-01,-3.818225564e-05,8.595421239e-01,7.028960325e-01,-1.340333627e-04,8.297254404e-01
+21,1.546666667e+01,DOWN_FORCE_DETACH,1792840198433092192,1.626172029e-04,-1.655622675e-05,-6.785216833e-04,1.571888672e-04,-1.960649709e-05,-6.628874485e-04,1.615218681e-04,-1.975837233e-05,-6.621698014e-04,7.021182151e-01,-3.854128133e-05,8.594648642e-01,7.021127867e-01,-4.159155167e-05,8.594804985e-01,7.029066130e-01,-1.374339687e-04,8.296639251e-01
+22,1.628333333e+01,DOWN_FORCE_DETACH,1792840199285048204,1.708481551e-04,-2.674072330e-05,-7.279609025e-04,1.679051695e-04,-2.385734649e-05,-7.230788678e-04,1.723496651e-04,-2.402002118e-05,-7.223753911e-04,7.021264460e-01,-4.872577788e-05,8.594154250e-01,7.021235030e-01,-4.584240107e-05,8.594203070e-01,7.029174408e-01,-1.416956176e-04,8.296037195e-01
+23,1.701666667e+01,DOWN_FORCE_DETACH,1792840200021815981,1.742480337e-04,-2.659302936e-05,-7.688512137e-04,1.742129016e-04,-2.615544134e-05,-7.636086813e-04,1.787328402e-04,-2.631637529e-05,-7.628968770e-04,7.021298459e-01,-4.857808394e-05,8.593745347e-01,7.021298108e-01,-4.814049592e-05,8.593797772e-01,7.029238240e-01,-1.439919717e-04,8.295631981e-01
+24,1.780000000e+01,DOWN_FORCE_DETACH,1792840200825410466,1.771013716e-04,-2.500417655e-05,-8.166871092e-04,1.768112987e-04,-3.012120478e-05,-8.061358967e-04,1.810070793e-04,-3.027995498e-05,-8.054876512e-04,7.021326992e-01,-4.698923113e-05,8.593266988e-01,7.021324092e-01,-5.210625936e-05,8.593372500e-01,7.029260982e-01,-1.479555514e-04,8.295206073e-01
+25,1.853333333e+01,DOWN_FORCE_DETACH,1792840201594981440,1.878140922e-04,-2.468555719e-05,-8.589026770e-04,1.829873555e-04,-3.176145124e-05,-8.487569648e-04,1.871280472e-04,-3.189386990e-05,-8.481450581e-04,7.021434120e-01,-4.667061177e-05,8.592844832e-01,7.021385852e-01,-5.374650582e-05,8.592946290e-01,7.029322192e-01,-1.495694663e-04,8.294779499e-01
+26,1.926666667e+01,DOWN_FORCE_DETACH,1792840202347925689,1.959029834e-04,-3.294090815e-05,-9.208378310e-04,1.956603825e-04,-2.911527457e-05,-9.125735674e-04,1.999926668e-04,-2.926400748e-05,-9.117968985e-04,7.021515009e-01,-5.492596273e-05,8.592225481e-01,7.021512582e-01,-5.110032915e-05,8.592308123e-01,7.029450838e-01,-1.469396039e-04,8.294142980e-01
+27,1.995000000e+01,DOWN_FORCE_DETACH,1792840203036613122,2.051916606e-04,-3.636363595e-05,-9.718563659e-04,1.998128090e-04,-3.409197768e-05,-9.585497963e-04,2.039106284e-04,-3.422119969e-05,-9.578121440e-04,7.021607895e-01,-5.834869053e-05,8.591715295e-01,7.021554107e-01,-5.607703226e-05,8.591848361e-01,7.029490018e-01,-1.518967961e-04,8.293682828e-01
+28,2.070000000e+01,DOWN_FORCE_DETACH,1792840203806724349,2.148728048e-04,-3.730386104e-05,-1.034106296e-03,2.119121038e-04,-3.131399943e-05,-1.023445048e-03,2.161925925e-04,-3.146308001e-05,-1.022633646e-03,7.021704707e-01,-5.928891562e-05,8.591092796e-01,7.021675100e-01,-5.329905401e-05,8.591199409e-01,7.029612837e-01,-1.491386764e-04,8.293034613e-01
+29,2.146666667e+01,DOWN_FORCE_DETACH,1792840204592079885,2.264975491e-04,-3.325166748e-05,-1.103042019e-03,2.263936748e-04,-3.316169366e-05,-1.103059453e-03,2.308140234e-04,-3.331508119e-05,-1.101973630e-03,7.021820954e-01,-5.523672206e-05,8.590403439e-01,7.021819915e-01,-5.514674824e-05,8.590403265e-01,7.029759052e-01,-1.509906776e-04,8.292241213e-01
+30,2.220000000e+01,DOWN_FORCE_DETACH,1792840205313414570,2.303124665e-04,-3.700383861e-05,-1.176739396e-03,2.292085078e-04,-3.616519838e-05,-1.166411501e-03,2.331178103e-04,-3.631775822e-05,-1.165365369e-03,7.021859103e-01,-5.898889319e-05,8.589666465e-01,7.021848064e-01,-5.815025296e-05,8.589769744e-01,7.029782090e-01,-1.539933546e-04,8.291607296e-01
+31,2.296666667e+01,DOWN_FORCE_DETACH,1792840206082630600,2.390477932e-04,-4.107920662e-05,-1.251354356e-03,2.380060771e-04,-4.301714363e-05,-1.249231364e-03,2.416181875e-04,-4.320096968e-05,-1.248080538e-03,7.021946457e-01,-6.306426120e-05,8.588920316e-01,7.021936039e-01,-6.500219821e-05,8.588941546e-01,7.029867093e-01,-1.608765661e-04,8.290780144e-01
+32,2.366666667e+01,DOWN_FORCE_DETACH,1792840206771005826,2.526129567e-04,-4.501117072e-05,-1.315867904e-03,2.494662745e-04,-4.645250652e-05,-1.312279899e-03,2.532258371e-04,-4.664212326e-05,-1.311259186e-03,7.022082108e-01,-6.699622530e-05,8.588275180e-01,7.022050641e-01,-6.843756110e-05,8.588311060e-01,7.029983170e-01,-1.643177196e-04,8.290148357e-01
+33,2.443333333e+01,DOWN_FORCE_DETACH,1792840207524177058,2.546486095e-04,-5.081103456e-05,-1.414427579e-03,2.550316141e-04,-4.622595146e-05,-1.401448459e-03,2.581188103e-04,-4.640174012e-05,-1.400422102e-03,7.022102465e-01,-7.279608914e-05,8.587289583e-01,7.022106295e-01,-6.821100604e-05,8.587419375e-01,7.030032100e-01,-1.640773365e-04,8.289256728e-01
+34,2.500000000e+01,DOWN_FORCE_DETACH,1792840208114571798,2.628241349e-04,-5.115130413e-05,-1.492702143e-03,2.592593821e-04,-5.454010337e-05,-1.492297470e-03,2.616220058e-04,-5.474350728e-05,-1.491142232e-03,7.022184220e-01,-7.313635871e-05,8.586506838e-01,7.022148572e-01,-7.652515795e-05,8.586510884e-01,7.030067132e-01,-1.724191037e-04,8.288349527e-01
+35,2.568333333e+01,DOWN_FORCE_DETACH,1792840208818701428,2.715928433e-04,-6.335182736e-05,-1.604170440e-03,2.691118147e-04,-6.188660401e-05,-1.598203723e-03,2.708452655e-04,-6.216101674e-05,-1.596903587e-03,7.022271907e-01,-8.533688194e-05,8.585392155e-01,7.022247097e-01,-8.387165859e-05,8.585451822e-01,7.030159364e-01,-1.798366131e-04,8.287291913e-01
+36,2.625000000e+01,DOWN_FORCE_DETACH,1792840209424279283,2.741013294e-04,-6.724930349e-05,-1.717618430e-03,2.704813939e-04,-6.611989940e-05,-1.710317707e-03,2.709401542e-04,-6.637977191e-05,-1.708935549e-03,7.022296992e-01,-8.923435807e-05,8.584257675e-01,7.022260793e-01,-8.810495398e-05,8.584330682e-01,7.030160313e-01,-1.840553683e-04,8.286171594e-01
+37,2.681666667e+01,DOWN_FORCE_DETACH,1792840210079507313,2.829786968e-04,-8.135116586e-05,-1.847530504e-03,2.827641356e-04,-8.146214375e-05,-1.847472612e-03,2.824182106e-04,-8.169059551e-05,-1.845822253e-03,7.022385766e-01,-1.033362204e-04,8.582958554e-01,7.022383620e-01,-1.034471983e-04,8.582959133e-01,7.030275094e-01,-1.993661919e-04,8.284802727e-01
+38,2.733333333e+01,DOWN_FORCE_DETACH,1792840210587119969,2.913901147e-04,-8.209474107e-05,-1.959762683e-03,2.870145537e-04,-7.685218543e-05,-1.956461327e-03,2.857303280e-04,-7.706545303e-05,-1.954884398e-03,7.022469880e-01,-1.040797957e-04,8.581836232e-01,7.022426124e-01,-9.883724001e-05,8.581869246e-01,7.030308215e-01,-1.947410494e-04,8.283712105e-01
+39,2.788333333e+01,DOWN_FORCE_DETACH,1792840211127702439,2.935930889e-04,-7.654482484e-05,-2.090031606e-03,2.934139661e-04,-7.688461415e-05,-2.089840612e-03,2.909693349e-04,-7.715978445e-05,-2.088021998e-03,7.022491910e-01,-9.852987942e-05,8.580533543e-01,7.022490118e-01,-9.886966873e-05,8.580535453e-01,7.030360605e-01,-1.948353808e-04,8.282380729e-01
+40,2.840000000e+01,DOWN_FORCE_DETACH,1792840211635484727,3.009368550e-04,-7.875893159e-05,-2.222579736e-03,3.008321304e-04,-7.866172706e-05,-2.222614105e-03,2.974658549e-04,-7.891469703e-05,-2.220717766e-03,7.022565347e-01,-1.007439862e-04,8.579208062e-01,7.022564300e-01,-1.006467816e-04,8.579207718e-01,7.030425570e-01,-1.965902934e-04,8.281053772e-01
+41,2.890000000e+01,DOWN_FORCE_DETACH,1792840212127175154,3.041660553e-04,-8.414117957e-05,-2.368162156e-03,3.024659641e-04,-8.752937068e-05,-2.366767141e-03,2.975768625e-04,-8.782075617e-05,-2.364793507e-03,7.022597639e-01,-1.061262341e-04,8.577752238e-01,7.022580638e-01,-1.095144253e-04,8.577766188e-01,7.030426680e-01,-2.054963526e-04,8.279613014e-01
+42,2.918333333e+01,DOWN_FORCE_DETACH,1792840212627952067,3.090306485e-04,-9.001821101e-05,-2.524719846e-03,3.090054757e-04,-9.001926364e-05,-2.524788657e-03,3.027249256e-04,-9.029022915e-05,-2.522324016e-03,7.022646285e-01,-1.120032656e-04,8.576186661e-01,7.022646033e-01,-1.120043182e-04,8.576185973e-01,7.030478161e-01,-2.079658255e-04,8.278037709e-01
+43,2.960000000e+01,DOWN_FORCE_DETACH,1792840213060660145,3.075851630e-04,-9.281146064e-05,-2.681564858e-03,3.071540303e-04,-9.104154042e-05,-2.670935519e-03,2.989499897e-04,-9.130103799e-05,-2.668523682e-03,7.022631830e-01,-1.147965152e-04,8.574618211e-01,7.022627519e-01,-1.130265950e-04,8.574724504e-01,7.030440411e-01,-2.089766344e-04,8.276575713e-01
+44,3.000000000e+01,DOWN_FORCE_DETACH,1792840213453756528,3.081980020e-04,-9.416139869e-05,-2.830380190e-03,3.092011529e-04,-9.463229289e-05,-2.815920770e-03,2.993596013e-04,-9.485617958e-05,-2.813518592e-03,7.022637959e-01,-1.161464533e-04,8.573130057e-01,7.022647990e-01,-1.166173475e-04,8.573274651e-01,7.030444507e-01,-2.125317760e-04,8.275125763e-01
+45,3.036666667e+01,DOWN_FORCE_DETACH,1792840213814092711,3.026029323e-04,-9.702906963e-05,-2.984790431e-03,3.052908748e-04,-1.007688072e-04,-2.969180719e-03,2.933208341e-04,-1.010227395e-04,-2.966755286e-03,7.022582008e-01,-1.190141242e-04,8.571585955e-01,7.022608887e-01,-1.227538618e-04,8.571742052e-01,7.030384120e-01,-2.186983359e-04,8.273593396e-01
+46,3.071666667e+01,DOWN_FORCE_DETACH,1792840214191460317,3.046023830e-04,-1.037985073e-04,-3.142642000e-03,3.011468365e-04,-1.041135229e-04,-3.125962969e-03,2.869296436e-04,-1.043467080e-04,-3.123388771e-03,7.022602003e-01,-1.257835619e-04,8.570007439e-01,7.022567447e-01,-1.260985775e-04,8.570174229e-01,7.030320208e-01,-2.220223044e-04,8.272027062e-01
+47,3.106666667e+01,DOWN_FORCE_DETACH,1792840214551303323,3.092942755e-04,-1.053969092e-04,-3.299525833e-03,3.090204288e-04,-1.053068366e-04,-3.299306977e-03,2.933002351e-04,-1.055218607e-04,-3.296650341e-03,7.022648921e-01,-1.273819638e-04,8.568438601e-01,7.022646183e-01,-1.272918912e-04,8.568440789e-01,7.030383914e-01,-2.231974571e-04,8.270294446e-01
+48,3.143333333e+01,DOWN_FORCE_DETACH,1792840214928023230,3.188408111e-04,-1.035006863e-04,-3.459154659e-03,3.172672846e-04,-1.092678437e-04,-3.447168195e-03,3.003641984e-04,-1.094708296e-04,-3.444549222e-03,7.022744387e-01,-1.254857409e-04,8.566842313e-01,7.022728652e-01,-1.312528983e-04,8.566962177e-01,7.030454553e-01,-2.271464260e-04,8.268815457e-01
+49,3.176666667e+01,DOWN_FORCE_DETACH,1792840215263088264,3.126775133e-04,-1.089229024e-04,-3.623318584e-03,3.125070709e-04,-1.087889892e-04,-3.623524729e-03,2.930966958e-04,-1.089591134e-04,-3.620765540e-03,7.022682754e-01,-1.309079570e-04,8.565200673e-01,7.022681049e-01,-1.307740438e-04,8.565198612e-01,7.030381878e-01,-2.266347097e-04,8.267053294e-01
+50,3.206666667e+01,DOWN_FORCE_DETACH,1792840215583322571,3.098312925e-04,-1.147496717e-04,-3.783906923e-03,3.094476797e-04,-1.147445485e-04,-3.784174402e-03,2.878825940e-04,-1.149415282e-04,-3.781366996e-03,7.022654292e-01,-1.367347263e-04,8.563594790e-01,7.022650455e-01,-1.367296031e-04,8.563592115e-01,7.030329737e-01,-2.326171246e-04,8.265447279e-01
+51,3.238333333e+01,DOWN_FORCE_DETACH,1792840215894220333,3.030692114e-04,-1.167415540e-04,-3.949931540e-03,2.996503337e-04,-1.126036241e-04,-3.936816937e-03,2.755973578e-04,-1.127722991e-04,-3.934111468e-03,7.022586671e-01,-1.387266085e-04,8.561934544e-01,7.022552482e-01,-1.345886787e-04,8.562065690e-01,7.030206885e-01,-2.304478955e-04,8.263919835e-01
+52,3.266666667e+01,DOWN_FORCE_DETACH,1792840216189835245,2.940531336e-04,-1.206950635e-04,-4.115888459e-03,2.951797152e-04,-1.232249676e-04,-4.109110565e-03,2.687241820e-04,-1.233903085e-04,-4.106334118e-03,7.022496510e-01,-1.426801181e-04,8.560274975e-01,7.022507776e-01,-1.452100222e-04,8.560342754e-01,7.030138153e-01,-2.410659049e-04,8.262197608e-01
+53,3.293333333e+01,DOWN_FORCE_DETACH,1792840216451280225,2.837534074e-04,-1.189637851e-04,-4.276647867e-03,2.837407334e-04,-1.190989462e-04,-4.276618245e-03,2.544558819e-04,-1.192344746e-04,-4.273787645e-03,7.022393513e-01,-1.409488397e-04,8.558667380e-01,7.022393386e-01,-1.410840008e-04,8.558667677e-01,7.029995470e-01,-2.369100710e-04,8.260523073e-01
+54,3.321666667e+01,DOWN_FORCE_DETACH,1792840216729904053,2.741160860e-04,-1.263655418e-04,-4.445600989e-03,2.742247433e-04,-1.242573727e-04,-4.435222082e-03,2.423061986e-04,-1.243513169e-04,-4.432461108e-03,7.022297140e-01,-1.483505964e-04,8.556977849e-01,7.022298226e-01,-1.462424273e-04,8.557081638e-01,7.029873973e-01,-2.420269133e-04,8.258936338e-01
+55,3.350000000e+01,DOWN_FORCE_DETACH,1792840217008462749,2.658507063e-04,-1.323344095e-04,-4.610048758e-03,2.662501171e-04,-1.299684658e-04,-4.594409274e-03,2.318201368e-04,-1.301146966e-04,-4.591695514e-03,7.022214486e-01,-1.543194641e-04,8.555333372e-01,7.022218480e-01,-1.519535203e-04,8.555489766e-01,7.029769113e-01,-2.477902930e-04,8.257343994e-01
+56,3.378333333e+01,DOWN_FORCE_DETACH,1792840217286673110,2.757490271e-04,-1.369842102e-04,-4.769028318e-03,2.754736165e-04,-1.370948976e-04,-4.768989829e-03,2.395948523e-04,-1.372395510e-04,-4.766285340e-03,7.022313469e-01,-1.589692648e-04,8.553743576e-01,7.022310715e-01,-1.590799522e-04,8.553743961e-01,7.029846860e-01,-2.549151474e-04,8.255598096e-01
+57,3.405000000e+01,DOWN_FORCE_DETACH,1792840217548572276,2.858143081e-04,-1.242816937e-04,-4.926436516e-03,2.807944550e-04,-1.216799000e-04,-4.916509388e-03,2.434959152e-04,-1.217931295e-04,-4.913881087e-03,7.022414122e-01,-1.462667483e-04,8.552169494e-01,7.022363923e-01,-1.436649546e-04,8.552268765e-01,7.029885871e-01,-2.394687258e-04,8.254122138e-01
+58,3.435000000e+01,DOWN_SETTLE,1792840217844300704,2.633642307e-04,-1.321053859e-04,-5.094840095e-03,2.632911115e-04,-1.320053395e-04,-5.094615109e-03,2.225837445e-04,-1.320904069e-04,-5.092109372e-03,7.022189621e-01,-1.540904405e-04,8.550485458e-01,7.022188890e-01,-1.539903941e-04,8.550487708e-01,7.029676749e-01,-2.497660033e-04,8.252339856e-01
+59,3.510000000e+01,DOWN_PEAK_HOLD,1792840218596886113,2.396506616e-04,-1.260763944e-04,-5.174303452e-03,2.480290780e-04,-1.308734962e-04,-5.158563980e-03,2.052620634e-04,-1.310455434e-04,-5.157697095e-03,7.021952485e-01,-1.480614490e-04,8.549690825e-01,7.022036269e-01,-1.528585508e-04,8.549848219e-01,7.029503532e-01,-2.487211398e-04,8.251683978e-01

Fixed/digit/ball_15A_17.5/press_depth_05/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,4.9267e-02,1.1487e-01,2.4585e+00,-4.4552e-02,4.0279e-02,1.6696e-04,4.4999e-04,3.8467e-05,-9.5129e-05,6.6310e-07,3.2097e-05,-2.4855e-07,4.6154e-04,3.2105e-05
+1,7.6667e-01,DOWN_FORCE_DETACH,1.7722e-04,6.5260e-02,1.1622e-01,2.4556e+00,-4.4526e-02,4.1414e-02,1.5322e-04,1.6444e-02,1.3922e-03,-3.0050e-03,2.6345e-05,1.1673e-03,-1.3990e-05,1.6774e-02,1.1676e-03
+2,1.5333e+00,DOWN_FORCE_DETACH,3.5352e-04,7.4844e-02,1.1698e-01,2.4546e+00,-4.4508e-02,4.2090e-02,1.3945e-04,2.6027e-02,2.1514e-03,-4.0779e-03,4.4852e-05,1.8434e-03,-2.7758e-05,2.6432e-02,1.8441e-03
+3,2.3667e+00,DOWN_FORCE_DETACH,5.2818e-04,8.0892e-02,1.1741e-01,2.4543e+00,-4.4493e-02,4.2516e-02,1.2629e-04,3.2075e-02,2.5841e-03,-4.3740e-03,5.9154e-05,2.2688e-03,-4.0915e-05,3.2475e-02,2.2699e-03
+4,3.1500e+00,DOWN_FORCE_DETACH,7.0546e-04,7.5438e-02,1.2843e-01,2.4958e+00,-4.5217e-02,4.2075e-02,1.1986e-04,2.6622e-02,1.3605e-02,3.7139e-02,-6.6407e-04,1.8285e-03,-4.7342e-05,4.7678e-02,1.9459e-03
+5,3.8833e+00,DOWN_FORCE_DETACH,8.8352e-04,8.1873e-02,1.4081e-01,2.5010e+00,-4.6055e-02,4.2516e-02,1.1107e-04,3.3056e-02,2.5981e-02,4.2311e-02,-1.5025e-03,2.2688e-03,-5.6139e-05,5.9648e-02,2.7217e-03
+6,4.6333e+00,DOWN_FORCE_DETACH,1.0568e-03,8.8051e-02,1.5113e-01,2.5342e+00,-4.6760e-02,4.2905e-02,9.2517e-05,3.9234e-02,3.6303e-02,7.5532e-02,-2.2072e-03,2.6585e-03,-7.4689e-05,9.2533e-02,3.4562e-03
+7,5.4833e+00,DOWN_FORCE_DETACH,1.2358e-03,9.0584e-02,1.6253e-01,2.5136e+00,-4.7573e-02,4.3092e-02,5.5191e-05,4.1768e-02,4.7699e-02,5.5009e-02,-3.0203e-03,2.8453e-03,-1.1202e-04,8.3939e-02,4.1510e-03
+8,6.2500e+00,DOWN_FORCE_DETACH,1.4139e-03,8.6107e-02,1.5736e-01,2.5115e+00,-4.7250e-02,4.2765e-02,1.8233e-05,3.7290e-02,4.2531e-02,5.2812e-02,-2.6972e-03,2.5185e-03,-1.4897e-04,7.7386e-02,3.6932e-03
+9,7.0667e+00,DOWN_FORCE_DETACH,1.5867e-03,6.7991e-02,1.8310e-01,2.5280e+00,-4.9071e-02,4.1452e-02,-4.4606e-06,1.9175e-02,6.8273e-02,6.9382e-02,-4.5186e-03,1.2051e-03,-1.7167e-04,9.9210e-02,4.6796e-03
+10,7.8667e+00,DOWN_FORCE_DETACH,1.7647e-03,7.0897e-02,1.7800e-01,2.5429e+00,-4.8766e-02,4.1622e-02,-4.8334e-05,2.2081e-02,6.3171e-02,8.4295e-02,-4.2140e-03,1.3752e-03,-2.1554e-04,1.0763e-01,4.4380e-03
+11,8.2333e+00,DOWN_FORCE_DETACH,1.9415e-03,1.9006e-02,1.8469e-01,2.5302e+00,-4.9270e-02,3.7970e-02,-4.9585e-05,-2.9810e-02,6.9860e-02,7.1588e-02,-4.7174e-03,-2.2772e-03,-2.1679e-04,1.0437e-01,5.2427e-03
+12,8.9333e+00,DOWN_FORCE_DETACH,2.1195e-03,4.3157e-02,1.7426e-01,2.5520e+00,-4.8607e-02,3.9644e-02,-9.9917e-05,-5.6602e-03,5.9428e-02,9.3370e-02,-4.0543e-03,-6.0248e-04,-2.6712e-04,1.1082e-01,4.1075e-03
+13,9.5167e+00,DOWN_FORCE_DETACH,2.2975e-03,4.5359e-02,1.0706e-01,2.5841e+00,-4.4005e-02,3.9761e-02,-1.8231e-04,-3.4578e-03,-7.7736e-03,1.2550e-01,5.4796e-04,-4.8609e-04,-3.4952e-04,1.2578e-01,8.1160e-04
+14,1.0167e+01,DOWN_FORCE_DETACH,2.4714e-03,5.4930e-02,1.4178e-01,2.5824e+00,-4.6419e-02,4.0437e-02,-2.3952e-04,6.1130e-03,2.6948e-02,1.2375e-01,-1.8662e-03,1.8986e-04,-4.0673e-04,1.2680e-01,1.9194e-03
+15,1.0900e+01,DOWN_FORCE_DETACH,2.6455e-03,5.9989e-02,1.6081e-01,2.5653e+00,-4.7761e-02,4.0829e-02,-3.0197e-04,1.1172e-02,4.5979e-02,1.0665e-01,-3.2084e-03,5.8224e-04,-4.6917e-04,1.1667e-01,3.2944e-03
+16,1.1650e+01,DOWN_FORCE_DETACH,2.8253e-03,5.9665e-02,1.5717e-01,2.5458e+00,-4.7555e-02,4.0851e-02,-3.3989e-04,1.0849e-02,4.2337e-02,8.7120e-02,-3.0027e-03,6.0403e-04,-5.0710e-04,9.7468e-02,3.1045e-03
+17,1.2450e+01,DOWN_FORCE_DETACH,3.0039e-03,4.8573e-02,1.6398e-01,2.5289e+00,-4.8101e-02,4.0104e-02,-3.3130e-04,-2.4349e-04,4.9154e-02,7.0227e-02,-3.5481e-03,-1.4316e-04,-4.9850e-04,8.5721e-02,3.5858e-03
+18,1.3150e+01,DOWN_FORCE_DETACH,3.1779e-03,5.7854e-02,1.6303e-01,2.5150e+00,-4.8099e-02,4.0779e-02,-3.0547e-04,9.0370e-03,4.8204e-02,5.6365e-02,-3.5467e-03,5.3240e-04,-4.7268e-04,7.4715e-02,3.6174e-03
+19,1.3867e+01,DOWN_FORCE_DETACH,3.3546e-03,4.7976e-02,1.2210e-01,2.5380e+00,-4.5320e-02,4.0051e-02,-2.6518e-04,-8.4048e-04,7.2687e-03,7.9401e-02,-7.6732e-04,-1.9584e-04,-4.3239e-04,7.9737e-02,9.0227e-04
+20,1.4683e+01,DOWN_FORCE_DETACH,3.5332e-03,5.8520e-02,1.3816e-01,2.5391e+00,-4.6461e-02,4.0784e-02,-1.6923e-04,9.7030e-03,2.3333e-02,8.0481e-02,-1.9085e-03,5.3740e-04,-3.3644e-04,8.4355e-02,2.0110e-03
+21,1.5467e+01,DOWN_FORCE_DETACH,3.7049e-03,6.2588e-02,1.4511e-01,2.5540e+00,-4.6941e-02,4.1041e-02,-5.0905e-05,1.3772e-02,3.0278e-02,9.5364e-02,-2.3887e-03,7.9375e-04,-2.1811e-04,1.0100e-01,2.5265e-03
+22,1.6283e+01,DOWN_FORCE_DETACH,3.8837e-03,6.7418e-02,1.5625e-01,2.5627e+00,-4.7691e-02,4.1367e-02,8.8338e-05,1.8601e-02,4.1421e-02,1.0406e-01,-3.1388e-03,1.1200e-03,-7.8868e-05,1.1354e-01,3.3335e-03
+23,1.7017e+01,DOWN_FORCE_DETACH,4.0590e-03,7.2836e-02,1.6349e-01,2.5592e+00,-4.8178e-02,4.1758e-02,1.8379e-04,2.4019e-02,4.8665e-02,1.0061e-01,-3.6251e-03,1.5113e-03,1.6579e-05,1.1431e-01,3.9275e-03
+24,1.7800e+01,DOWN_FORCE_DETACH,4.2387e-03,7.8828e-02,1.7618e-01,2.5516e+00,-4.9016e-02,4.2202e-02,2.4465e-04,3.0011e-02,6.1350e-02,9.2929e-02,-4.4632e-03,1.9549e-03,7.7442e-05,1.1533e-01,4.8732e-03
+25,1.8533e+01,DOWN_FORCE_DETACH,4.4154e-03,7.7534e-02,1.8291e-01,2.5502e+00,-4.9431e-02,4.2126e-02,2.7406e-04,2.8718e-02,6.8084e-02,9.1553e-02,-4.8790e-03,1.8793e-03,1.0686e-04,1.1765e-01,5.2295e-03
+26,1.9267e+01,DOWN_FORCE_DETACH,4.5915e-03,6.9077e-02,1.7860e-01,2.5703e+00,-4.9076e-02,4.1516e-02,2.8514e-04,2.0260e-02,6.3774e-02,1.1164e-01,-4.5239e-03,1.2692e-03,1.1793e-04,1.3015e-01,4.7000e-03
+27,1.9950e+01,DOWN_FORCE_DETACH,4.7692e-03,7.3355e-02,1.9200e-01,2.5673e+00,-4.9985e-02,4.1826e-02,2.8489e-04,2.4539e-02,7.7167e-02,1.0868e-01,-5.4324e-03,1.5790e-03,1.1768e-04,1.3553e-01,5.6585e-03
+28,2.0700e+01,DOWN_FORCE_DETACH,4.9424e-03,6.8892e-02,1.8344e-01,2.5865e+00,-4.9399e-02,4.1481e-02,2.7166e-04,2.0076e-02,6.8610e-02,1.2783e-01,-4.8470e-03,1.2346e-03,1.0445e-04,1.4646e-01,5.0029e-03
+29,2.1467e+01,DOWN_FORCE_DETACH,5.1210e-03,7.0477e-02,1.6600e-01,2.5960e+00,-4.8224e-02,4.1569e-02,2.4442e-04,2.1660e-02,5.1170e-02,1.3739e-01,-3.6716e-03,1.3224e-03,7.7218e-05,1.4820e-01,3.9033e-03
+30,2.2200e+01,DOWN_FORCE_DETACH,5.2965e-03,7.7137e-02,1.9209e-01,2.6276e+00,-5.0008e-02,4.1987e-02,2.2509e-04,2.8321e-02,7.7256e-02,1.6896e-01,-5.4552e-03,1.7399e-03,5.7883e-05,1.8794e-01,5.7262e-03
+31,2.2967e+01,DOWN_FORCE_DETACH,5.4712e-03,8.1097e-02,2.0949e-01,2.6462e+00,-5.1151e-02,4.2247e-02,2.0780e-04,3.2280e-02,9.4662e-02,1.8754e-01,-6.5988e-03,2.0001e-03,4.0590e-05,2.1254e-01,6.8953e-03
+32,2.3667e+01,DOWN_FORCE_DETACH,5.6466e-03,7.9577e-02,2.1936e-01,2.6282e+00,-5.1731e-02,4.2174e-02,2.0966e-04,3.0760e-02,1.0453e-01,1.6953e-01,-7.1787e-03,1.9273e-03,4.2450e-05,2.0152e-01,7.4330e-03
+33,2.4433e+01,DOWN_FORCE_DETACH,5.8246e-03,8.3003e-02,2.2216e-01,2.6262e+00,-5.1770e-02,4.2424e-02,2.3055e-04,3.4186e-02,1.0733e-01,1.6761e-01,-7.2178e-03,2.1772e-03,6.3347e-05,2.0195e-01,7.5393e-03
+34,2.5000e+01,DOWN_FORCE_DETACH,6.0006e-03,8.1643e-02,2.4409e-01,2.6577e+00,-5.3192e-02,4.2273e-02,2.4403e-04,3.2826e-02,1.2926e-01,1.9910e-01,-8.6394e-03,2.0261e-03,7.6819e-05,2.3964e-01,8.8742e-03
+35,2.5683e+01,DOWN_FORCE_DETACH,6.1802e-03,6.5879e-02,2.6099e-01,2.6758e+00,-5.4326e-02,4.1105e-02,2.3105e-04,1.7063e-02,1.4616e-01,2.1714e-01,-9.7732e-03,8.5777e-04,6.3848e-05,2.6231e-01,9.8109e-03
+36,2.6250e+01,DOWN_FORCE_DETACH,6.3529e-03,6.2413e-02,2.7360e-01,2.7067e+00,-5.5090e-02,4.0804e-02,1.9953e-04,1.3596e-02,1.5877e-01,2.4809e-01,-1.0537e-02,5.5693e-04,3.2321e-05,2.9486e-01,1.0552e-02
+37,2.6817e+01,DOWN_FORCE_DETACH,6.5322e-03,5.1423e-02,3.0077e-01,2.7118e+00,-5.6790e-02,4.0029e-02,1.7149e-04,2.6067e-03,1.8594e-01,2.5315e-01,-1.2237e-02,-2.1786e-04,4.2869e-06,3.1411e-01,1.2239e-02
+38,2.7333e+01,DOWN_FORCE_DETACH,6.7102e-03,5.1798e-02,3.0880e-01,2.7566e+00,-5.7266e-02,4.0012e-02,1.3946e-04,2.9813e-03,1.9397e-01,2.9801e-01,-1.2714e-02,-2.3516e-04,-2.7748e-05,3.5559e-01,1.2716e-02
+39,2.7883e+01,DOWN_FORCE_DETACH,6.8852e-03,6.4879e-02,3.1244e-01,2.7572e+00,-5.7503e-02,4.0921e-02,1.0688e-04,1.6063e-02,1.9761e-01,2.9855e-01,-1.2951e-02,6.7429e-04,-6.0322e-05,3.5838e-01,1.2968e-02
+40,2.8400e+01,DOWN_FORCE_DETACH,7.0589e-03,7.6654e-02,3.0995e-01,2.7799e+00,-5.7175e-02,4.1699e-02,9.6660e-05,2.7837e-02,1.9512e-01,3.2123e-01,-1.2622e-02,1.4520e-03,-7.0546e-05,3.7688e-01,1.2706e-02
+41,2.8900e+01,DOWN_FORCE_DETACH,7.2396e-03,9.1020e-02,3.3635e-01,2.8356e+00,-5.8639e-02,4.2638e-02,1.0286e-04,4.2203e-02,2.2152e-01,3.7697e-01,-1.4087e-02,2.3912e-03,-6.4350e-05,4.3927e-01,1.4289e-02
+42,2.9183e+01,DOWN_FORCE_DETACH,7.4112e-03,9.1019e-02,3.3988e-01,2.9181e+00,-5.8655e-02,4.2518e-02,8.1059e-05,4.2202e-02,2.2505e-01,4.5944e-01,-1.4103e-02,2.2715e-03,-8.6148e-05,5.1333e-01,1.4285e-02
+43,2.9600e+01,DOWN_FORCE_DETACH,7.5925e-03,9.3132e-02,3.5162e-01,2.9308e+00,-5.9176e-02,4.2628e-02,1.7365e-05,4.4316e-02,2.3679e-01,4.7214e-01,-1.4624e-02,2.3809e-03,-1.4984e-04,5.3005e-01,1.4817e-02
+44,3.0000e+01,DOWN_FORCE_DETACH,7.7706e-03,8.4876e-02,3.6927e-01,2.9332e+00,-6.0137e-02,4.2044e-02,-1.0676e-05,3.6059e-02,2.5445e-01,4.7457e-01,-1.5585e-02,1.7971e-03,-1.7788e-04,5.3968e-01,1.5689e-02
+45,3.0367e+01,DOWN_FORCE_DETACH,7.9458e-03,9.0243e-02,3.8569e-01,2.9610e+00,-6.1133e-02,4.2391e-02,4.9858e-06,4.1426e-02,2.7086e-01,5.0240e-01,-1.6581e-02,2.1437e-03,-1.6222e-04,5.7226e-01,1.6719e-02
+46,3.0717e+01,DOWN_FORCE_DETACH,8.1231e-03,9.6172e-02,3.9202e-01,2.9852e+00,-6.1414e-02,4.2783e-02,3.8496e-05,4.7356e-02,2.7719e-01,5.2654e-01,-1.6861e-02,2.5364e-03,-1.2871e-04,5.9693e-01,1.7051e-02
+47,3.1067e+01,DOWN_FORCE_DETACH,8.2985e-03,9.8641e-02,4.0386e-01,2.9840e+00,-6.1872e-02,4.2940e-02,7.1526e-05,4.9824e-02,2.8903e-01,5.2540e-01,-1.7319e-02,2.6929e-03,-9.5681e-05,6.0172e-01,1.7527e-02
+48,3.1433e+01,DOWN_FORCE_DETACH,8.4762e-03,8.0540e-02,4.1417e-01,3.0090e+00,-6.2343e-02,4.1631e-02,8.1597e-05,3.1723e-02,2.9934e-01,5.5038e-01,-1.7791e-02,1.3843e-03,-8.5609e-05,6.2732e-01,1.7844e-02
+49,3.1767e+01,DOWN_FORCE_DETACH,8.6518e-03,8.6122e-02,4.1553e-01,3.0206e+00,-6.2297e-02,4.2022e-02,1.8669e-05,3.7306e-02,3.0070e-01,5.6198e-01,-1.7745e-02,1.7748e-03,-1.4854e-04,6.3846e-01,1.7834e-02
+50,3.2067e+01,DOWN_FORCE_DETACH,8.8255e-03,8.7719e-02,4.2798e-01,3.0373e+00,-6.2976e-02,4.2093e-02,-5.7351e-06,3.8903e-02,3.1315e-01,5.7861e-01,-1.8424e-02,1.8462e-03,-1.7294e-04,6.5907e-01,1.8517e-02
+51,3.2383e+01,DOWN_FORCE_DETACH,9.0018e-03,9.6618e-02,4.2956e-01,3.0665e+00,-6.2932e-02,4.2680e-02,7.6238e-06,4.7801e-02,3.1473e-01,6.0785e-01,-1.8380e-02,2.4327e-03,-1.5958e-04,6.8617e-01,1.8541e-02
+52,3.2667e+01,DOWN_FORCE_DETACH,9.1827e-03,1.0417e-01,4.6052e-01,3.0907e+00,-6.4761e-02,4.3193e-02,2.1555e-05,5.5349e-02,3.4569e-01,6.3208e-01,-2.0209e-02,2.9459e-03,-1.4565e-04,7.2256e-01,2.0423e-02
+53,3.2933e+01,DOWN_FORCE_DETACH,9.3575e-03,1.0971e-01,4.6270e-01,3.0788e+00,-6.4582e-02,4.3552e-02,-2.8279e-05,6.0895e-02,3.4787e-01,6.2021e-01,-2.0030e-02,3.3046e-03,-1.9549e-04,7.1371e-01,2.0301e-02
+54,3.3217e+01,DOWN_FORCE_DETACH,9.5347e-03,1.2619e-01,4.7458e-01,3.1176e+00,-6.5125e-02,4.4643e-02,-1.2302e-04,7.7371e-02,3.5975e-01,6.5893e-01,-2.0572e-02,4.3961e-03,-2.9022e-04,7.5472e-01,2.1039e-02
+55,3.3500e+01,DOWN_FORCE_DETACH,9.7120e-03,1.2827e-01,4.8856e-01,3.1159e+00,-6.5901e-02,4.4797e-02,-1.9548e-04,7.9449e-02,3.7373e-01,6.5723e-01,-2.1348e-02,4.5499e-03,-3.6269e-04,7.6022e-01,2.1831e-02
+56,3.3783e+01,DOWN_FORCE_DETACH,9.8836e-03,1.2344e-01,5.0016e-01,3.1045e+00,-6.6575e-02,4.4462e-02,-2.1780e-04,7.4625e-02,3.8533e-01,6.4589e-01,-2.2023e-02,4.2148e-03,-3.8501e-04,7.5579e-01,2.2426e-02
+57,3.4050e+01,DOWN_FORCE_DETACH,1.0061e-02,9.5757e-02,4.6425e-01,3.1145e+00,-6.3850e-02,4.2529e-02,-1.9006e-04,4.6940e-02,3.4942e-01,6.5581e-01,-1.9298e-02,2.2821e-03,-3.5727e-04,7.4457e-01,1.9435e-02
+58,3.4350e+01,DOWN_SETTLE,1.0241e-02,1.0661e-01,4.8160e-01,3.0772e+00,-6.4942e-02,4.3310e-02,-1.9417e-04,5.7798e-02,3.6677e-01,6.1854e-01,-2.0389e-02,3.0629e-03,-3.6137e-04,7.2142e-01,2.0621e-02
+59,3.5100e+01,DOWN_PEAK_HOLD,1.0416e-02,1.0257e-01,4.7877e-01,2.8093e+00,-6.5818e-02,4.3426e-02,-1.5084e-04,5.3750e-02,3.6394e-01,3.5065e-01,-2.1265e-02,3.1794e-03,-3.1805e-04,5.0823e-01,2.1504e-02

Fixed/digit/ball_15A_17.5/press_depth_05/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9134c6edab548319152667cfea3dca42f721e3a92c78c3e72563e18ccc94f49
+size 614400

Fixed/digit/ball_15A_17.5/press_depth_05/up/franka_data.csv

@@ -0,0 +1,61 @@
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+24281,1792840177845063447,18857273000000,1792840177842568380,UP_FORCE_HOLD,5,0.0702,0.07020226120948792,0.6759171169576162,-0.004720586813689059,0.10693784663973786,0.9999999386363448,3.513397972596709e-05,-0.0003356707885515451,1.6152286665371383e-05,0.6761,-0.0046,0.10740685374455809,1.0,0.0,0.0,0.0,0.6964661711618995,0.6684554716941671,-0.46366675498554705,0.046620612681939115,-0.05044940377342265,-0.0008220876993986257,0.6461659896958153,0.5949728319079771,-0.33250615695682556,0.04555751007368807,-0.05045738087194542,8.140062012062389e-05,-0.0503001814660842,-0.07348263978618999,0.1311605980287215,-0.0010631026082510448,-7.977098522770014e-06,0.0009034883195192496,1,-1.2923602902823967,1.0644120767192504,3.181264204434807,-0.45950403579338067,-2.337082202002891,0.5545152081948522,1.6297903475282756,0.46366675498554705,-1.5514738569065314,0.46366675498554705,0.4666,0,0,4.9922282464838534e-05,-9.999999025923074e-05
+24299,1792840177995106038,18857423000000,1792840177990569819,UP_FORCE_HOLD,5,0.0702,0.07020160555839539,0.675913972276672,-0.004720694355784391,0.10694219547505102,0.9999999364558572,3.645423640394391e-05,-0.0003419970355959278,1.5500398771034897e-05,0.6761,-0.0046,0.10741378333703813,1.0,0.0,0.0,0.0,0.7049999473427704,0.6736600415893548,-0.4800887401275991,0.04742016566129069,-0.05048690769850727,-0.0008053880222856282,0.6546997658766862,0.6001774018031648,-0.3489281420988776,0.046357063053039646,-0.05049488479703004,9.81002972336215e-05,-0.0503001814660842,-0.07348263978618999,0.1311605980287215,-0.0010631026082510448,-7.977098522770014e-06,0.0009034883195192496,1,-1.3096783638676217,1.1230080665468472,3.2002661792231977,-0.48355871648828896,-2.3512034081734816,0.5951292157175456,1.6297903475282756,0.4800887401275991,-1.570475831694922,0.4800887401275991,0.4666,0,0,4.242228392595392e-05,-9.999999025923074e-05
+24310,1792840178086164094,18857514000000,1792840178082568376,UP_FORCE_HOLD,5,0.0702,0.07020226120948792,0.6759159852933344,-0.004717590881360875,0.10694867538273958,0.9999999371141438,3.8459686051280854e-05,-0.0003399109469165587,1.3999053351875866e-05,0.6761,-0.0046,0.10741743901491617,1.0,0.0,0.0,0.0,0.714574910280607,0.6661496709473357,-0.4881622383850031,0.04696711449916169,-0.05145950533766192,-0.0008121988254817265,0.6642747288145229,0.5926670311611457,-0.3570016403562816,0.045904011890910645,-0.051467482436184694,9.128949403752317e-05,-0.0503001814660842,-0.07348263978618999,0.1311605980287215,-0.0010631026082510448,-7.977098522770014e-06,0.0009034883195192496,1,-1.2832622080366918,1.163505406835731,3.225186919502443,-0.5003196282611582,-2.3597291038908375,0.6233597081780762,1.6297903475282756,0.4881622383850031,-1.5953965719741674,0.4881622383850031,0.4666,0,0,3.7872284812363925e-05,-9.999999025923074e-05
+24324,1792840178200161880,18857628000000,1792840178198568330,UP_SETTLE,5,0.0702,0.07020226120948792,0.6759116850096338,-0.004719695281358067,0.10694919774700094,0.9999999352754437,3.5218083850048114e-05,-0.00034567001200586545,1.2802430390947062e-05,0.6761,-0.0046,0.10742143440544863,1.0,0.0,0.0,0.0,0.7123192712286273,0.6731774184576014,-0.49049669285167696,0.047448524846739865,-0.05145946023230089,-0.0008115375275471168,0.6620190897625431,0.5996947786714114,-0.3593360948229555,0.04638542223848882,-0.051467437330823665,9.195079197213284e-05,-0.0503001814660842,-0.07348263978618999,0.1311605980287215,-0.0010631026082510448,-7.977098522770014e-06,0.0009034883195192496,1,-1.290376396049004,1.2009381514634017,3.2058052512347923,-0.5237005070065895,-2.3469052087557136,0.6434863283289066,1.6297903475282756,0.49049669285167696,-1.5760149037065168,0.49049669285167696,0.4666,0,0,3.217228592281162e-05,-9.999999025923074e-05
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Fixed/digit/ball_15A_17.5/press_depth_05/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792840171472820012,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.585007985e-09,1.224633294e-10,-5.110798451e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027450938e-01,-1.176754675e-04,8.303260944e-01
+1,1.500000000e-01,XJC_ZERO_HOLD_BEFORE_UP,1792840171619540315,3.582344289e-07,-5.744125223e-06,2.042891814e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.452717296e-08,1.155017805e-09,-4.733910375e-09,7.019559561e-01,-2.772917980e-05,8.601454288e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451157e-01,-1.176744350e-04,8.303260902e-01
+2,3.333333333e-01,WAIT_W2,1792840171799694458,-4.442126877e-07,-6.551271905e-06,9.389522839e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.845330781e-08,2.270617137e-09,-9.046142502e-09,7.019551537e-01,-2.853632648e-05,8.601443249e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451396e-01,-1.176733194e-04,8.303260859e-01
+3,5.166666667e-01,WAIT_W2,1792840171979549158,3.242466037e-07,-9.356873680e-06,1.981029845e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.961550192e-08,3.251963308e-09,-1.253627435e-08,7.019559221e-01,-3.134192826e-05,8.601453669e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451608e-01,-1.176723380e-04,8.303260824e-01
+4,6.000000000e-01,WAIT_W2,1792840172062103496,1.107611462e-06,-6.594604517e-06,4.472384992e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.841481797e-08,3.652291117e-09,-1.388505622e-08,7.019567055e-01,-2.857965910e-05,8.601478583e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451696e-01,-1.176719377e-04,8.303260810e-01
+5,7.333333333e-01,WAIT_W2,1792840172192188759,5.720911089e-08,-2.270304214e-06,1.741602073e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.152075475e-08,4.233693326e-09,-1.576954201e-08,7.019556551e-01,-2.425535879e-05,8.601451275e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451827e-01,-1.176713563e-04,8.303260792e-01
+6,7.666666667e-01,WAIT_W2,1792840172225411121,2.369017597e-06,-3.434402985e-05,6.014723122e-06,2.448711077e-06,-3.424414826e-05,6.044562312e-06,2.781485852e-06,-3.429082472e-05,5.995233744e-06,7.019579669e-01,-5.632908443e-05,8.601494006e-01,7.019580466e-01,-5.622920284e-05,8.601494305e-01,7.027478727e-01,-1.519664147e-04,8.303320902e-01
+7,7.833333333e-01,WAIT_W2,1792840172241775874,5.171672831e-06,-6.606700112e-05,1.262536593e-05,4.901389509e-06,-6.595762419e-05,1.268843793e-05,5.444091310e-06,-6.605048842e-05,1.261022078e-05,7.019607695e-01,-8.805205570e-05,8.601560113e-01,7.019604993e-01,-8.794267877e-05,8.601560744e-01,7.027505353e-01,-1.837260784e-04,8.303387051e-01
+8,8.000000000e-01,WAIT_W2,1792840172257950378,2.731898114e-06,-1.048695476e-04,1.001183438e-05,2.839852443e-06,-1.047418180e-04,1.028684969e-05,3.285343260e-06,-1.049461294e-04,1.028249113e-05,7.019583298e-01,-1.268546022e-04,8.601533978e-01,7.019584377e-01,-1.267268726e-04,8.601536728e-01,7.027483765e-01,-2.226217194e-04,8.303363774e-01
+9,8.166666667e-01,WAIT_W2,1792840172274116537,2.498548393e-06,-1.450966654e-04,1.113266721e-05,2.666389915e-06,-1.452247947e-04,1.100321755e-05,3.090811957e-06,-1.455362582e-04,1.097129651e-05,7.019580964e-01,-1.670817199e-04,8.601545186e-01,7.019582643e-01,-1.672098493e-04,8.601543891e-01,7.027481820e-01,-2.632118482e-04,8.303370662e-01
+10,8.333333333e-01,WAIT_W2,1792840172290919254,4.553699633e-06,-1.936977556e-04,1.474943360e-05,4.485719399e-06,-1.936127389e-04,1.477614306e-05,5.114146184e-06,-1.939803942e-04,1.472156164e-05,7.019601516e-01,-2.156828102e-04,8.601581353e-01,7.019600836e-01,-2.155977935e-04,8.601581621e-01,7.027502053e-01,-3.116559841e-04,8.303408165e-01
+11,8.333333333e-01,WAIT_W2,1792840172290919254,4.553699633e-06,-1.936977556e-04,1.474943360e-05,4.485719399e-06,-1.936127389e-04,1.477614306e-05,5.114146184e-06,-1.939803942e-04,1.472156164e-05,7.019601516e-01,-2.156828102e-04,8.601581353e-01,7.019600836e-01,-2.155977935e-04,8.601581621e-01,7.027502053e-01,-3.116559841e-04,8.303408165e-01
+12,8.500000000e-01,WAIT_W2,1792840172307452483,4.434359844e-06,-2.552693524e-04,1.764560015e-05,4.512857315e-06,-2.553488532e-04,1.782154427e-05,5.193782250e-06,-2.558832151e-04,1.782682800e-05,7.019600322e-01,-2.772544070e-04,8.601610315e-01,7.019601107e-01,-2.773339078e-04,8.601612075e-01,7.027502849e-01,-3.735588051e-04,8.303439218e-01
+13,8.666666667e-01,WAIT_W2,1792840172323889652,4.774007262e-06,-2.962387902e-04,1.820564324e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.504696179e-06,-2.966611097e-04,1.813155529e-05,7.019603719e-01,-3.182238448e-04,8.601615916e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027505959e-01,-4.143366997e-04,8.303442265e-01
+14,9.000000000e-01,WAIT_W2,1792840172355989392,3.995360113e-06,-3.013115642e-04,2.027474489e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.502753566e-06,-2.966854741e-04,1.816192611e-05,7.019595932e-01,-3.232966188e-04,8.601636607e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027505939e-01,-4.143610640e-04,8.303442569e-01
+15,9.833333333e-01,WAIT_W2,1792840172438038709,5.914697239e-06,-2.974109188e-04,2.293674753e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.515072359e-06,-2.967031278e-04,1.820223405e-05,7.019615126e-01,-3.193959733e-04,8.601663227e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027506062e-01,-4.143787178e-04,8.303442972e-01
+16,1.166666667e+00,WAIT_W2,1792840172635381647,9.170595954e-06,-2.944787781e-04,2.745892077e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.536062209e-06,-2.967190931e-04,1.825690919e-05,7.019647685e-01,-3.164638327e-04,8.601708448e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027506272e-01,-4.143946831e-04,8.303443518e-01
+17,1.300000000e+00,WAIT_W2,1792840172765792993,9.548133968e-06,-3.013316210e-04,2.974441019e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.549200003e-06,-2.967258894e-04,1.828418216e-05,7.019651460e-01,-3.233166756e-04,8.601731303e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027506404e-01,-4.144014794e-04,8.303443791e-01
+18,1.416666667e+00,WAIT_W2,1792840172880511893,1.049610913e-05,-2.961811086e-04,2.965633024e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.559620081e-06,-2.967304016e-04,1.830253695e-05,7.019660940e-01,-3.181661631e-04,8.601730422e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027506508e-01,-4.144059915e-04,8.303443975e-01
+19,1.566666667e+00,UP_FORCE_RAMP,1792840173028077778,9.590675682e-06,-2.939562401e-04,3.015628756e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.571549019e-06,-2.967349706e-04,1.832067505e-05,7.019651885e-01,-3.159412947e-04,8.601735422e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027506627e-01,-4.144105606e-04,8.303444156e-01
+20,1.750000000e+00,UP_FORCE_RAMP,1792840173208193261,1.002172794e-05,-2.973517179e-04,3.137762404e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.584048137e-06,-2.967393079e-04,1.833678619e-05,7.019656196e-01,-3.193367724e-04,8.601747635e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027506752e-01,-4.144148978e-04,8.303444317e-01
+21,1.866666667e+00,UP_FORCE_RAMP,1792840173322953649,6.786820541e-06,-3.013995921e-04,2.702233504e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.590959329e-06,-2.967415818e-04,1.834449265e-05,7.019623847e-01,-3.233846466e-04,8.601704083e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027506821e-01,-4.144171718e-04,8.303444394e-01
+22,2.066666667e+00,UP_FORCE_RAMP,1792840173519499448,1.047349839e-05,-2.970977683e-04,3.287569974e-05,4.788832985e-06,-2.960330431e-04,1.812330986e-05,5.601083009e-06,-2.967447902e-04,1.835437248e-05,7.019660714e-01,-3.190828228e-04,8.601762616e-01,7.019603867e-01,-3.180180977e-04,8.601615092e-01,7.027506922e-01,-4.144203802e-04,8.303444493e-01
+23,2.216666667e+00,UP_FORCE_RAMP,1792840173666741344,1.118597614e-05,-2.968385319e-04,3.573228087e-05,1.207502578e-05,-2.996160007e-04,3.703311630e-05,1.364825101e-05,-3.003693643e-04,3.718967994e-05,7.019667838e-01,-3.188235865e-04,8.601791182e-01,7.019676729e-01,-3.216010553e-04,8.601804190e-01,7.027587394e-01,-4.180449542e-04,8.303632846e-01
+24,2.416666667e+00,UP_FORCE_RAMP,1792840173881662480,1.305279036e-05,-2.978176239e-04,4.293288606e-05,1.207502578e-05,-2.996160007e-04,3.703311630e-05,1.366934409e-05,-3.003736724e-04,3.722516573e-05,7.019686507e-01,-3.198026785e-04,8.601863188e-01,7.019676729e-01,-3.216010553e-04,8.601804190e-01,7.027587605e-01,-4.180492624e-04,8.303633201e-01
+25,2.583333333e+00,UP_FORCE_RAMP,1792840174060161551,1.102553383e-05,-2.944371795e-04,4.679335179e-05,1.207502578e-05,-2.996160007e-04,3.703311630e-05,1.368268361e-05,-3.003762946e-04,3.724485332e-05,7.019666234e-01,-3.164222341e-04,8.601901793e-01,7.019676729e-01,-3.216010553e-04,8.601804190e-01,7.027587738e-01,-4.180518846e-04,8.303633398e-01
+26,2.700000000e+00,UP_FORCE_RAMP,1792840174175888979,9.522639204e-06,-2.937291312e-04,5.293965337e-05,1.335053134e-05,-2.958487466e-04,5.763045201e-05,1.531367501e-05,-2.966258401e-04,5.765050512e-05,7.019651205e-01,-3.157141857e-04,8.601963256e-01,7.019689484e-01,-3.178338012e-04,8.602010164e-01,7.027604048e-01,-4.143014301e-04,8.303837454e-01
+27,2.883333333e+00,UP_FORCE_RAMP,1792840174355050277,1.118955936e-05,-2.979556842e-04,6.847186044e-05,1.335053134e-05,-2.958487466e-04,5.763045201e-05,1.532838582e-05,-2.966280999e-04,5.770861432e-05,7.019667874e-01,-3.199407388e-04,8.602118578e-01,7.019689484e-01,-3.178338012e-04,8.602010164e-01,7.027604196e-01,-4.143036899e-04,8.303838035e-01
+28,3.050000000e+00,UP_FORCE_RAMP,1792840174518757346,1.066260001e-05,-2.893531111e-04,7.791320727e-05,1.097886418e-05,-2.894087481e-04,7.754328717e-05,1.307369185e-05,-2.902215777e-04,7.751031123e-05,7.019662605e-01,-3.113381656e-04,8.602212991e-01,7.019665767e-01,-3.113938027e-04,8.602209292e-01,7.027581649e-01,-4.078971676e-04,8.304036052e-01
+29,3.150000000e+00,UP_FORCE_RAMP,1792840174617402271,9.304587095e-06,-2.931587549e-04,8.510235765e-05,1.097886418e-05,-2.894087481e-04,7.754328717e-05,1.307590806e-05,-2.902220025e-04,7.756234248e-05,7.019649025e-01,-3.151438095e-04,8.602284883e-01,7.019665767e-01,-3.113938027e-04,8.602209292e-01,7.027581671e-01,-4.078975925e-04,8.304036573e-01
+30,3.300000000e+00,UP_FORCE_RAMP,1792840174764138697,1.061141457e-05,-2.911100801e-04,9.545552774e-05,1.097886418e-05,-2.894087481e-04,7.754328717e-05,1.307938286e-05,-2.902235831e-04,7.760648633e-05,7.019662093e-01,-3.130951347e-04,8.602388414e-01,7.019665767e-01,-3.113938027e-04,8.602209292e-01,7.027581705e-01,-4.078991730e-04,8.304037014e-01
+31,3.516666667e+00,UP_FORCE_RAMP,1792840174993429891,9.188624624e-06,-2.909481182e-04,1.076842300e-04,1.105391216e-05,-2.913042092e-04,1.004588195e-04,1.341282677e-05,-2.920951793e-04,1.003880875e-04,7.019647865e-01,-3.129331728e-04,8.602510701e-01,7.019666518e-01,-3.132892637e-04,8.602438447e-01,7.027585040e-01,-4.097707693e-04,8.304264830e-01
+32,3.650000000e+00,UP_FORCE_RAMP,1792840175124434226,8.938896769e-06,-2.912656734e-04,1.196237081e-04,1.296243917e-05,-2.918996535e-04,1.230289957e-04,1.575529242e-05,-2.926976429e-04,1.228467399e-04,7.019645368e-01,-3.132507280e-04,8.602630096e-01,7.019685603e-01,-3.138847081e-04,8.602664149e-01,7.027608465e-01,-4.103732329e-04,8.304489417e-01
+33,3.783333333e+00,UP_FORCE_RAMP,1792840175256133508,1.119887371e-05,-2.905538736e-04,1.379070042e-04,1.296243917e-05,-2.918996535e-04,1.230289957e-04,1.576276449e-05,-2.926990623e-04,1.229230267e-04,7.019667967e-01,-3.125389282e-04,8.602812929e-01,7.019685603e-01,-3.138847081e-04,8.602664149e-01,7.027608539e-01,-4.103746522e-04,8.304490180e-01
+34,3.883333333e+00,UP_FORCE_RAMP,1792840175353902115,1.286165632e-05,-2.889848964e-04,1.501407214e-04,1.421484325e-05,-2.918007190e-04,1.454155780e-04,1.733259181e-05,-2.925900484e-04,1.451912546e-04,7.019684595e-01,-3.109699510e-04,8.602935266e-01,7.019698127e-01,-3.137857735e-04,8.602888015e-01,7.027624238e-01,-4.102656383e-04,8.304712862e-01
+35,4.000000000e+00,UP_FORCE_RAMP,1792840175468732095,1.363228864e-05,-2.937327116e-04,1.618533054e-04,1.421484325e-05,-2.918007190e-04,1.454155780e-04,1.733722706e-05,-2.925913953e-04,1.452557412e-04,7.019692302e-01,-3.157177662e-04,8.603052392e-01,7.019698127e-01,-3.137857735e-04,8.602888015e-01,7.027624284e-01,-4.102669853e-04,8.304713507e-01
+36,4.150000000e+00,UP_FORCE_RAMP,1792840175632335379,1.074148300e-05,-2.848082269e-04,1.706120434e-04,1.341315363e-05,-2.877693281e-04,1.650420995e-04,1.672161761e-05,-2.885473243e-04,1.649034716e-04,7.019663394e-01,-3.067932815e-04,8.603139980e-01,7.019690110e-01,-3.097543826e-04,8.603084280e-01,7.027618128e-01,-4.062229142e-04,8.304909984e-01
+37,4.300000000e+00,UP_FORCE_RAMP,1792840175780690202,5.627102515e-06,-2.855089895e-04,1.786028366e-04,1.341315363e-05,-2.877693281e-04,1.650420995e-04,1.672348757e-05,-2.885479711e-04,1.649769922e-04,7.019612250e-01,-3.074940440e-04,8.603219888e-01,7.019690110e-01,-3.097543826e-04,8.603084280e-01,7.027618147e-01,-4.062235611e-04,8.304910719e-01
+38,4.466666667e+00,UP_FORCE_RAMP,1792840175960283584,-4.174265451e-06,-2.854154147e-04,1.913234679e-04,3.417677654e-06,-2.822044571e-04,1.819162895e-04,6.280308155e-06,-2.829971623e-04,1.817296346e-04,7.019514236e-01,-3.074004693e-04,8.603347094e-01,7.019590155e-01,-3.041895117e-04,8.603253022e-01,7.027513715e-01,-4.006727523e-04,8.305078246e-01
+39,4.633333333e+00,UP_FORCE_RAMP,1792840176124895086,-9.050270389e-06,-2.869373513e-04,2.058299006e-04,-4.587003602e-06,-2.871354908e-04,2.002958290e-04,-2.112703985e-06,-2.878976660e-04,2.000983618e-04,7.019465476e-01,-3.089224059e-04,8.603492158e-01,7.019510109e-01,-3.091205454e-04,8.603436817e-01,7.027429785e-01,-4.055732559e-04,8.305261933e-01
+40,4.783333333e+00,UP_FORCE_RAMP,1792840176273505330,-7.256019063e-06,-2.826755741e-04,2.227873861e-04,-6.720651225e-06,-2.830473354e-04,2.221208162e-04,-4.150201112e-06,-2.838459372e-04,2.217623635e-04,7.019483418e-01,-3.046606287e-04,8.603661733e-01,7.019488772e-01,-3.050323899e-04,8.603655067e-01,7.027409410e-01,-4.015215272e-04,8.305478573e-01
+41,4.983333333e+00,UP_FORCE_RAMP,1792840176468198545,-1.083164949e-05,-2.838226774e-04,2.367497300e-04,-6.720651225e-06,-2.830473354e-04,2.221208162e-04,-4.175501399e-06,-2.838451803e-04,2.218828796e-04,7.019447662e-01,-3.058077320e-04,8.603801356e-01,7.019488772e-01,-3.050323899e-04,8.603655067e-01,7.027409157e-01,-4.015207703e-04,8.305479778e-01
+42,5.100000000e+00,UP_FORCE_RAMP,1792840176583334993,-9.102040505e-06,-2.838129837e-04,2.505069760e-04,-7.521052581e-06,-2.859410543e-04,2.466414619e-04,-4.773920718e-06,-2.867175390e-04,2.463344891e-04,7.019464958e-01,-3.057980382e-04,8.603938929e-01,7.019480768e-01,-3.079261089e-04,8.603900274e-01,7.027403172e-01,-4.043931289e-04,8.305724294e-01
+43,5.233333333e+00,UP_FORCE_RAMP,1792840176713712738,-9.395813308e-06,-2.838183213e-04,2.619697896e-04,-7.521052581e-06,-2.859410543e-04,2.466414619e-04,-4.786577659e-06,-2.867183387e-04,2.464105355e-04,7.019462021e-01,-3.058033759e-04,8.604053557e-01,7.019480768e-01,-3.079261089e-04,8.603900274e-01,7.027403046e-01,-4.043939287e-04,8.305725055e-01
+44,5.400000000e+00,UP_FORCE_RAMP,1792840176893574667,-9.704045323e-06,-2.792131530e-04,2.762091842e-04,-1.012679373e-05,-2.789272710e-04,2.668508605e-04,-7.310255237e-06,-2.797357157e-04,2.665494938e-04,7.019458938e-01,-3.011982076e-04,8.604195951e-01,7.019454711e-01,-3.009123256e-04,8.604102368e-01,7.027377809e-01,-3.974113057e-04,8.305926444e-01
+45,5.500000000e+00,UP_FORCE_RAMP,1792840176992357913,-1.272312625e-05,-2.779140571e-04,2.782406970e-04,-1.012679373e-05,-2.789272710e-04,2.668508605e-04,-7.319397301e-06,-2.797358510e-04,2.665992201e-04,7.019428747e-01,-2.998991117e-04,8.604216266e-01,7.019454711e-01,-3.009123256e-04,8.604102368e-01,7.027377718e-01,-3.974114409e-04,8.305926941e-01
+46,5.650000000e+00,UP_FORCE_RAMP,1792840177139353048,-1.263776356e-05,-2.802163417e-04,2.905502219e-04,-1.288942323e-05,-2.844688542e-04,2.862251494e-04,-1.009879293e-05,-2.852906287e-04,2.859262173e-04,7.019429601e-01,-3.022013963e-04,8.604339361e-01,7.019427084e-01,-3.064539088e-04,8.604296111e-01,7.027349924e-01,-4.029662186e-04,8.306120211e-01
+47,5.816666667e+00,UP_FORCE_RAMP,1792840177303588313,-1.425213604e-05,-2.765840382e-04,3.016797318e-04,-1.288942323e-05,-2.844688542e-04,2.862251494e-04,-1.011427540e-05,-2.852922182e-04,2.860057153e-04,7.019413457e-01,-2.985690928e-04,8.604450656e-01,7.019427084e-01,-3.064539088e-04,8.604296111e-01,7.027349769e-01,-4.029678082e-04,8.306121006e-01
+48,6.000000000e+00,UP_FORCE_RAMP,1792840177483602649,-1.754950835e-05,-2.818856595e-04,3.121748476e-04,-1.336060345e-05,-2.798116312e-04,3.054964507e-04,-1.035088802e-05,-2.806157468e-04,3.052440866e-04,7.019380484e-01,-3.038707141e-04,8.604555608e-01,7.019422373e-01,-3.017966858e-04,8.604488824e-01,7.027347403e-01,-3.982913368e-04,8.306313390e-01
+49,6.100000000e+00,UP_FORCE_RAMP,1792840177581636105,-1.804044207e-05,-2.901128930e-04,3.238500574e-04,-1.841459149e-05,-2.924851307e-04,3.212733843e-04,-1.559279615e-05,-2.933290253e-04,3.208644869e-04,7.019375574e-01,-3.120979476e-04,8.604672360e-01,7.019371833e-01,-3.144701853e-04,8.604646593e-01,7.027294984e-01,-4.110046153e-04,8.306469594e-01
+50,6.233333333e+00,UP_FORCE_RAMP,1792840177713432782,-1.563419278e-05,-2.945912370e-04,3.374050782e-04,-1.841459149e-05,-2.924851307e-04,3.212733843e-04,-1.560919817e-05,-2.933326474e-04,3.209346605e-04,7.019399637e-01,-3.165762916e-04,8.604807910e-01,7.019371833e-01,-3.144701853e-04,8.604646593e-01,7.027294820e-01,-4.110082373e-04,8.306470296e-01
+51,6.366666667e+00,UP_FORCE_HOLD,1792840177843510764,-1.783453041e-05,-2.887122361e-04,3.412382853e-04,-1.749623396e-05,-2.887460106e-04,3.415084135e-04,-1.438913350e-05,-2.895972150e-04,3.410945410e-04,7.019377633e-01,-3.106972907e-04,8.604846242e-01,7.019381016e-01,-3.107310652e-04,8.604848943e-01,7.027307020e-01,-4.072728050e-04,8.306671895e-01
+52,6.516666667e+00,UP_FORCE_HOLD,1792840177991246714,-2.162139128e-05,-2.886896594e-04,3.452024471e-04,-1.749623396e-05,-2.887460106e-04,3.415084135e-04,-1.439340134e-05,-2.895978112e-04,3.411902471e-04,7.019339765e-01,-3.106747140e-04,8.604885884e-01,7.019381016e-01,-3.107310652e-04,8.604848943e-01,7.027306978e-01,-4.072734012e-04,8.306672852e-01
+53,6.616666667e+00,UP_FORCE_HOLD,1792840178089377112,-2.237021823e-05,-2.852743605e-04,3.486576058e-04,-1.749623396e-05,-2.887460106e-04,3.415084135e-04,-1.439798411e-05,-2.895982702e-04,3.412297282e-04,7.019332276e-01,-3.072594151e-04,8.604920435e-01,7.019381016e-01,-3.107310652e-04,8.604848943e-01,7.027306932e-01,-4.072738602e-04,8.306673247e-01
+54,6.733333333e+00,UP_SETTLE,1792840178204002108,-2.468562490e-05,-2.912638810e-04,3.513448855e-04,-1.749623396e-05,-2.887460106e-04,3.415084135e-04,-1.440255956e-05,-2.895984049e-04,3.412675398e-04,7.019309122e-01,-3.132489356e-04,8.604947308e-01,7.019381016e-01,-3.107310652e-04,8.604848943e-01,7.027306886e-01,-4.072739949e-04,8.306673625e-01
+55,6.833333333e+00,UP_SETTLE,1792840178302189133,-2.860565565e-05,-2.898737553e-04,3.498504394e-04,-1.749623396e-05,-2.887460106e-04,3.415084135e-04,-1.440594402e-05,-2.895982022e-04,3.412952044e-04,7.019269922e-01,-3.118588098e-04,8.604932364e-01,7.019381016e-01,-3.107310652e-04,8.604848943e-01,7.027306852e-01,-4.072737922e-04,8.306673901e-01
+56,6.966666667e+00,UP_SETTLE,1792840178433612899,-4.748925679e-05,-2.904138801e-04,3.446396727e-04,-4.720438701e-05,-2.903807599e-04,3.445129866e-04,-4.617254588e-05,-2.912325270e-04,3.442773460e-04,7.019081086e-01,-3.123989347e-04,8.604880256e-01,7.019083935e-01,-3.123658145e-04,8.604878989e-01,7.026989186e-01,-4.089081169e-04,8.306703723e-01
+57,6.983333333e+00,UP_SETTLE,1792840178449821449,-6.716710393e-05,-2.915003031e-04,3.259304478e-04,-6.705456973e-05,-2.913166481e-04,3.259891434e-04,-6.767092223e-05,-2.921430582e-04,3.258432838e-04,7.018884308e-01,-3.134853577e-04,8.604693164e-01,7.018885433e-01,-3.133017027e-04,8.604693751e-01,7.026774202e-01,-4.098186481e-04,8.306519382e-01
+58,7.033333333e+00,UP_SETTLE,1792840178498823304,-5.371456747e-05,-2.960559565e-04,3.413312255e-04,-5.389115243e-05,-2.959546223e-04,3.409440845e-04,-5.346703523e-05,-2.968171824e-04,3.406894128e-04,7.019018833e-01,-3.180410111e-04,8.604847171e-01,7.019017067e-01,-3.179396769e-04,8.604843300e-01,7.026916241e-01,-4.144927724e-04,8.306667843e-01
+59,7.166666667e+00,UP_SETTLE,1792840178629841937,-6.253489699e-05,-2.913059938e-04,3.393084945e-04,-5.389115243e-05,-2.959546223e-04,3.409440845e-04,-5.350743969e-05,-2.968150441e-04,3.407287639e-04,7.018930630e-01,-3.132910483e-04,8.604826944e-01,7.019017067e-01,-3.179396769e-04,8.604843300e-01,7.026915837e-01,-4.144906341e-04,8.306668237e-01

Fixed/digit/ball_15A_17.5/press_depth_05/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,4.9270e-02,1.1487e-01,2.4585e+00,-4.4552e-02,4.0279e-02,1.6701e-04,4.4991e-04,3.8445e-05,-9.5129e-05,6.6683e-07,3.2101e-05,-2.4843e-07,4.6147e-04,3.2109e-05
+1,1.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,3.3268e-05,5.3087e-02,1.1520e-01,2.4578e+00,-4.4546e-02,4.0551e-02,1.6458e-04,4.2665e-03,3.6403e-04,-8.8048e-04,6.4522e-06,3.0396e-04,-2.6751e-06,4.3716e-03,3.0404e-04
+2,3.3333e-01,WAIT_W2,7.0230e-05,5.7244e-02,1.1555e-01,2.4570e+00,-4.4539e-02,4.0846e-02,1.6132e-04,8.4242e-03,7.1710e-04,-1.6806e-03,1.3061e-05,5.9935e-04,-5.9316e-06,8.6201e-03,5.9952e-04
+3,5.1667e-01,WAIT_W2,1.0810e-04,6.0920e-02,1.1586e-01,2.4563e+00,-4.4533e-02,4.1107e-02,1.5794e-04,1.2100e-02,1.0289e-03,-2.3272e-03,1.8988e-05,8.5995e-04,-9.3206e-06,1.2365e-02,8.6021e-04
+4,6.0000e-01,WAIT_W2,1.4099e-04,6.2448e-02,1.1599e-01,2.4561e+00,-4.4531e-02,4.1215e-02,1.5638e-04,1.3628e-02,1.1575e-03,-2.5771e-03,2.1510e-05,9.6813e-04,-1.0878e-05,1.3918e-02,9.6843e-04
+5,7.3333e-01,WAIT_W2,1.7241e-04,6.4724e-02,1.1618e-01,2.4557e+00,-4.4527e-02,4.1376e-02,1.5388e-04,1.5904e-02,1.3471e-03,-2.9259e-03,2.5406e-05,1.1291e-03,-1.3372e-05,1.6227e-02,1.1295e-03
+6,7.6667e-01,WAIT_W2,2.0530e-04,6.5262e-02,1.1622e-01,2.4556e+00,-4.4526e-02,4.1414e-02,1.5326e-04,1.6442e-02,1.3915e-03,-3.0043e-03,2.6342e-05,1.1672e-03,-1.3994e-05,1.6772e-02,1.1675e-03
+7,7.8333e-01,WAIT_W2,2.3783e-04,6.2601e-02,2.0620e-01,2.4468e+00,-5.0729e-02,4.1233e-02,1.8066e-04,1.3780e-02,9.1364e-02,-1.1806e-02,-6.1761e-03,9.8607e-04,1.3406e-05,9.3148e-02,6.2543e-03
+8,8.0000e-01,WAIT_W2,2.7679e-04,6.0016e-02,2.8913e-01,2.4377e+00,-5.6443e-02,4.1057e-02,2.0716e-04,1.1196e-02,1.7430e-01,-2.0895e-02,-1.1891e-02,8.0973e-04,3.9902e-05,1.7590e-01,1.1918e-02
+9,8.1667e-01,WAIT_W2,3.1704e-04,6.5955e-02,3.8972e-01,2.4432e+00,-6.3377e-02,4.1463e-02,2.3784e-04,1.7135e-02,2.7489e-01,-1.5389e-02,-1.8825e-02,1.2155e-03,7.0588e-05,2.7585e-01,1.8864e-02
+10,8.3333e-01,WAIT_W2,3.6582e-04,6.8628e-02,4.9379e-01,2.4448e+00,-7.0560e-02,4.1646e-02,2.7057e-04,1.9808e-02,3.7896e-01,-1.3801e-02,-2.6008e-02,1.3990e-03,1.0331e-04,3.7973e-01,2.6046e-02
+11,8.3333e-01,WAIT_W2,3.6582e-04,6.8628e-02,4.9379e-01,2.4448e+00,-7.0560e-02,4.1646e-02,2.7057e-04,1.9808e-02,3.7896e-01,-1.3801e-02,-2.6008e-02,1.3990e-03,1.0331e-04,3.7973e-01,2.6046e-02
+12,8.5000e-01,WAIT_W2,4.2746e-04,6.8732e-02,6.1619e-01,2.4427e+00,-7.9031e-02,4.1652e-02,3.1131e-04,1.9912e-02,5.0136e-01,-1.5898e-02,-3.4478e-02,1.4050e-03,1.4405e-04,5.0200e-01,3.4507e-02
+13,8.6667e-01,WAIT_W2,4.6843e-04,7.3133e-02,7.7505e-01,2.4436e+00,-9.0006e-02,4.1954e-02,3.6434e-04,2.4313e-02,6.6022e-01,-1.5077e-02,-4.5453e-02,1.7065e-03,1.9708e-04,6.6084e-01,4.5486e-02
+14,9.0000e-01,WAIT_W2,4.8931e-04,7.7201e-02,8.7455e-01,2.4525e+00,-9.6961e-02,4.2231e-02,4.0158e-04,2.8381e-02,7.5972e-01,-6.1190e-03,-5.2409e-02,1.9835e-03,2.3433e-04,7.6027e-01,5.2447e-02
+15,9.8333e-01,WAIT_W2,5.2856e-04,7.9597e-02,8.6979e-01,2.4606e+00,-9.6763e-02,4.2397e-02,3.9871e-04,3.0777e-02,7.5496e-01,1.9357e-03,-5.2211e-02,2.1502e-03,2.3145e-04,7.5559e-01,5.2256e-02
+16,1.1667e+00,WAIT_W2,5.6479e-04,8.3312e-02,8.6650e-01,2.4708e+00,-9.6705e-02,4.2656e-02,3.9212e-04,3.4492e-02,7.5167e-01,1.2175e-02,-5.2153e-02,2.4091e-03,2.2487e-04,7.5256e-01,5.2209e-02
+17,1.3000e+00,WAIT_W2,6.0060e-04,8.5617e-02,8.6513e-01,2.4759e+00,-9.6695e-02,4.2817e-02,3.8765e-04,3.6797e-02,7.5030e-01,1.7226e-02,-5.2143e-02,2.5698e-03,2.2040e-04,7.5139e-01,5.2207e-02
+18,1.4167e+00,WAIT_W2,6.3367e-04,8.7445e-02,8.6423e-01,2.4793e+00,-9.6692e-02,4.2945e-02,3.8371e-04,3.8625e-02,7.4940e-01,2.0613e-02,-5.2139e-02,2.6975e-03,2.1645e-04,7.5067e-01,5.2210e-02
+19,1.5667e+00,UP_FORCE_RAMP,6.6944e-04,8.9535e-02,8.6333e-01,2.4826e+00,-9.6691e-02,4.3091e-02,3.7816e-04,4.0715e-02,7.4850e-01,2.3952e-02,-5.2139e-02,2.8439e-03,2.1090e-04,7.4999e-01,5.2217e-02
+20,1.7500e+00,UP_FORCE_RAMP,7.0289e-04,9.1731e-02,8.6248e-01,2.4856e+00,-9.6691e-02,4.3245e-02,3.7038e-04,4.2911e-02,7.4765e-01,2.6918e-02,-5.2139e-02,2.9979e-03,2.0312e-04,7.4936e-01,5.2225e-02
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Fixed/digit/ball_15A_17.5/press_depth_06/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_15A_17.5/press_depth_06/down/franka_data.csv

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+31510,1792840238040998908,18917469000000,1792840238038577860,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.67593223304559,-0.004747213256402543,0.10670779159960653,0.9999999586339722,3.1881204380433234e-05,-0.00025010440447207954,0.00010298686293587817,0.6761,-0.0046,0.1069059992088313,1.0,0.0,0.0,0.0,-0.030554599431319107,0.0006843498538198212,0.10905434878389259,-0.0003484679718206707,0.002145006089899211,-6.176414290592458e-05,0.5639278223348853,0.6278005793760372,0.5143787162318889,0.04780386744659962,-0.04336505971057773,0.0005508647819210389,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.23086291203814965,0.9283037381559501,1.0405351436275299,-0.022701586901685413,-0.6772696706068656,0.4955326670279694,1.6297903475282756,-0.10905434878389259,0.5892552039007457,0.5892552039007457,0.6281534215662136,0,0,-4.5984793699106003e-05,-7.000681812681028e-06
+31604,1792840238824997863,18918253000000,1792840238818568679,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6759290519177424,-0.004746916209844456,0.10667336435608828,0.9999999564494614,3.517637012860094e-05,-0.0002565103012434211,0.00010728013897279913,0.6761,-0.0046,0.1068680334191482,1.0,0.0,0.0,0.0,-0.03759506952070113,-0.00871474890655688,0.18930839478778855,-0.000388103181307331,0.0029185514746273497,-0.00011468552774613911,0.5568873522455032,0.6184014806156605,0.5946327622357849,0.04776423223711296,-0.042591514325849594,0.0004979433970808243,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.31185036371034297,0.779217412642403,0.9370693790742484,0.045147789149873954,-0.5900391973748043,0.39483893325572306,1.6297903475282756,-0.18930839478778855,0.6927209684540272,0.6927209684540272,0.7457534215662006,0,0,-5.3972079121249135e-05,-7.122720055286464e-05
+31697,1792840239600001997,18919028000000,1792840239598578547,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6759262471870425,-0.004755230852169048,0.10663260268953155,0.9999999525812883,3.7404431291415535e-05,-0.00026546423459503126,0.00012004138650158441,0.6761,-0.0046,0.10682500120377657,1.0,0.0,0.0,0.0,-0.03921042724238566,-0.027062756481735395,0.29720856548869984,-0.0013426461716238292,0.0029603910094308863,-0.0002127940304373332,0.5552719945238187,0.600053473040482,0.7025329329366962,0.04680968924679646,-0.04254967479104606,0.00039983489438963024,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.3827115656268764,0.8091540616219765,0.8549846895669885,0.05411468184049982,-0.5176264422113076,0.41350270135383516,1.6297903475282756,-0.29720856548869984,0.7748056579612871,0.7748056579612871,0.8620034215661878,0,0,-5.538163394133567e-05,-9.960937216580418e-05
+31803,1792840240482965826,18919911000000,1792840240478577714,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6759297343703681,-0.004759811950847735,0.10660436272132608,0.9999999540506359,3.514289735390357e-05,-0.0002568014485500635,0.00012712034968948087,0.6761,-0.0046,0.10678094436265184,1.0,0.0,0.0,0.0,-0.052988956602771475,-0.02706000998485647,0.3847147780826143,-0.0022685653790573135,0.003925008992900131,-0.00027560099453528017,0.5414934651634329,0.6000562195373609,0.7900391455306106,0.045883770039362975,-0.04158505680757681,0.00033702793029168326,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.35415121289221374,0.9197352524783315,0.6958719762709071,0.02540811964096547,-0.42415995673045126,0.4849393422123405,1.6297903475282756,-0.3847147780826143,0.9339183712573684,0.9339183712573684,0.9944534215661732,0,0,-5.212945909246892e-05,-9.588671109750919e-05
+31897,1792840241265992018,18920694000000,1792840241262579202,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6759392847157774,-0.004753876759533497,0.10657925948507119,0.9999999584891025,4.074504727668547e-05,-0.00023520420257727676,0.0001322251186244625,0.6761,-0.0046,0.10673361060587365,1.0,0.0,0.0,0.0,-0.07468928039862976,-0.034447379772362785,0.4410985886546422,-0.002325193018173792,0.005804173374409104,-0.00029752665488694117,0.5197931413675746,0.5926688497498546,0.8464229561026385,0.0458271424002465,-0.03970589242606784,0.00031510226994002226,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.35370045303448333,0.773035708128291,0.6589867544105771,0.07153182464557577,-0.40701256494914473,0.38845049166509715,1.6297903475282756,-0.4410985886546422,0.9708035931176985,0.9708035931176985,1.111903421566243,0,0,-7.015787823891196e-05,-9.999997638144293e-05
+31999,1792840242115955026,18921544000000,1792840242114568585,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.675946694573763,-0.004765540518414328,0.10653672477230058,0.9999999604960159,3.6695163852255305e-05,-0.00021850609824908607,0.00014614848962807056,0.6761,-0.0046,0.10666797540603025,1.0,0.0,0.0,0.0,-0.0871981687109048,-0.027992999544317665,0.559850794622468,-0.0013830574858594985,0.006909088099808967,-0.00036625049224479206,0.5072842530552996,0.5991232299778997,0.9651751620704644,0.04676927793256079,-0.03860097770066798,0.00024637843258217137,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.43895165117513074,0.7773384163689305,0.4291307499684045,0.07195670416490459,-0.23924928005404034,0.39033693175572715,1.6297903475282756,-0.559850794622468,1.200659597559871,1.200659597559871,1.2394034215663234,0,0,-8.249176572797256e-05,9.375000361989123e-05
+32090,1792840242874994837,18922303000000,1792840242874578222,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6759537929855398,-0.004767076040904093,0.10649233048801446,0.9999999622910842,3.526039901952161e-05,-0.00020350751533051946,0.0001555702097259792,0.6761,-0.0046,0.10660553851948322,1.0,0.0,0.0,0.0,-0.11275197376003665,-0.04665302379971825,0.660055278386537,-0.0023600621414967687,0.007914303397826263,0.0005718970028746163,0.4817304480061677,0.5804632057224991,1.0653796458345333,0.04579227327692352,-0.03759576240265068,0.0011845259277015797,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.4893535543031542,0.7665835165237114,0.30853608822868855,0.0732724515824508,-0.14596050288575335,0.38183517856031624,1.6297903475282756,-0.660055278386537,1.321254259299587,1.321254259299587,1.3532534215663952,0,0,-8.45335073232104e-05,9.775682627133903e-05
+32188,1792840243690994873,18923119000000,1792840243690577888,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6759660414796375,-0.004769143129791801,0.10645126322629785,0.9999999647516706,3.6287919125078144e-05,-0.00018247941323426613,0.00016529964502949986,0.6761,-0.0046,0.10654188906834285,1.0,0.0,0.0,0.0,-0.14171348453861904,-0.04019989598498297,0.7705611852510903,-0.0014981358063199737,0.009899043899130433,0.0005313017878953861,0.4527689372275853,0.5869163335372344,1.1758855526990866,0.046654199612100315,-0.03561102190134651,0.0011439307127223495,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.5685689045891404,0.7226609218668258,0.23104861812830885,0.08978122449741634,-0.07681222344328578,0.36008611066023744,1.6297903475282756,-0.7705611852510903,1.3987417293999667,1.3987417293999667,1.4756534215664723,0,0,-7.404317915324222e-05,-9.903515093968025e-05
+32235,1792840244082997942,18923511000000,1792840244078578321,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6760016131263616,-0.004768043373977225,0.10644943526984031,0.9999999690195244,4.056551065821056e-05,-0.0001500402516279606,0.0001710151369015532,0.6761,-0.0046,0.10651070280023091,1.0,0.0,0.0,0.0,-0.1815070083814015,0.011241009394116763,0.742101838221197,0.0029248516900484064,0.012860063001513322,0.0006477005517903522,0.41297541338480287,0.6383572389163341,1.1474262056691933,0.051077187108468695,-0.03265000279896362,0.0012603294766173156,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.6329542075538531,0.8057190769425321,0.27730343256257617,0.06300760904836995,-0.10675640067240123,0.4110034731990365,1.6297903475282756,-0.742101838221197,1.3524869149656995,1.3524869149656995,1.5344534215665093,0,0,-8.806845012562648e-05,-9.999999025923074e-05
+32329,1792840244865951018,18924294000000,1792840244858577978,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6760123127028216,-0.00477175990427575,0.10640144409237327,0.9999999711407161,3.507933540034744e-05,-0.00012774785831278578,0.00017779582742070388,0.6761,-0.0046,0.10643451229641475,1.0,0.0,0.0,0.0,-0.2060045342764497,0.015340042841457402,0.8822760395457865,0.0025710125657812735,0.014727234235773608,0.0005623135514015017,0.38847788748975465,0.6424562723636748,1.2876004069937828,0.05072334798420156,-0.030782831564703336,0.001174942476228465,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.780749289079129,0.6823519590335207,0.038436271545258076,0.10178063840942823,0.08702648549083437,0.32859921924072905,1.6297903475282756,-0.8822760395457865,1.5913540759830176,1.5913540759830176,1.6519034215665833,0,0,-9.891993925784248e-05,9.922484642122526e-05
+32426,1792840245674878136,18925103000000,1792840245674578692,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6760215062078273,-0.004775896167911496,0.10634717896887491,0.9999999719768485,3.176236275258442e-05,-0.0001114733209950735,0.00018453730695559733,0.6761,-0.0046,0.10635834263640946,1.0,0.0,0.0,0.0,-0.22216491842453417,0.013324380084940635,1.0290366363309271,0.002747220746998673,0.015839800630104612,0.00046084211213951647,0.3723175033416702,0.640440609607158,1.4343610037789234,0.05089955616541896,-0.029670265170372332,0.00107347103696648,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.8230200401513869,0.7590026465293525,-0.13819364910504672,0.0635465939485218,0.21588802790628212,0.377581399727134,1.6297903475282756,-1.0290366363309271,1.7679839966333222,1.7679839966333222,1.7732534215666598,0,0,-8.54761128029916e-05,9.990234614421496e-05
+32487,1792840246182978071,18925611000000,1792840246182578198,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6760335533183008,-0.004738222926466882,0.10631272907002431,0.9999999806615357,-0.00015373264433802904,-7.98929417865573e-05,1.0157970772707566e-05,0.6761,-0.0046,0.10631779301184807,1.0,0.0,0.0,0.0,-0.1432541380292483,0.12423633592570416,1.096501059516431,0.010269679233347817,0.011254478575561791,0.0004344068735581656,0.45122828373695606,0.7513525654479215,1.5018254269644273,0.058422014651768106,-0.03425558722491515,0.001047035798385129,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.6946331384562539,0.8912772324557678,-0.02244658030845458,-0.08748673940539631,0.1262080738390628,0.4746046240351246,1.6297903475282756,-1.096501059516431,1.6522369278367302,1.6522369278367302,1.8494534215667078,0,0,-7.997178967242136e-05,-9.999999025923074e-05
+32567,1792840246849974476,18926278000000,1792840246842578331,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6760432866474875,-0.004741055972827133,0.10627812404921143,0.9999999822251949,-0.00014934964500837967,-6.499546583099629e-05,2.151155687902199e-05,0.6761,-0.0046,0.10625643208918974,1.0,0.0,0.0,0.0,-0.1667958749969582,0.13036084969260564,1.1766512322333755,0.011613068801657224,0.012545928869470861,0.001207886179754401,0.42768654676924617,0.757477079214823,1.5819755996813718,0.05976540422007751,-0.03296413693100608,0.0018205151045813646,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.8784145240398736,0.8931745360742115,-0.17721935193747781,-0.07104865708014504,0.27072285803455415,0.4958165396620466,1.6297903475282756,-1.1766512322333755,1.8070096994657534,1.8070096994657534,1.9495034215667708,0,0,-0.00010132762108125271,-9.76542971750149e-05
+32670,1792840247707972682,18927136000000,1792840247702578276,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6760564509190012,-0.004749817870365048,0.10621880052842161,0.9999999827937653,-0.00014809180322124417,-4.695087660167459e-05,4.147006708076454e-05,0.6761,-0.0046,0.10616993809615424,1.0,0.0,0.0,0.0,-0.19711155355020576,0.12516102989031763,1.3254928239753223,0.011184970223135762,0.01459041412869563,0.0013294581547999033,0.3973708682159986,0.752277259412535,1.7308171914233186,0.05933730564155605,-0.030919651671781314,0.0019420870796268668,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.9591510636469236,0.8486267781195349,-0.49554024737628066,0.0018854909911498344,0.4815850536979468,0.4517765193932084,1.6297903475282756,-1.3254928239753223,2.1253305949045562,2.1253305949045562,2.078203421566852,0,0,-9.27380338535969e-05,9.994757385468062e-05
+32768,1792840248524973880,18927953000000,1792840248522568642,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.676068282471471,-0.004760544992162397,0.10616937375881139,0.9999999829119254,-0.0001463491072042549,-2.631008873314972e-05,5.9234545889085504e-05,0.6761,-0.0046,0.10610671587282358,1.0,0.0,0.0,0.0,-0.22572072649503006,0.12107972829024616,1.4380257511503436,0.011450792068587054,0.016590053988407013,0.0012689417358929633,0.3687616952711743,0.7481959578124635,1.8433501185983399,0.05960312748700734,-0.02892001181206993,0.0018815706607199266,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.9344799984987003,0.8287857242176278,-0.5204832305234565,0.06561999851549166,0.4773607585519785,0.4224916521149009,1.6297903475282756,-1.4380257511503436,2.150273578051732,2.150273578051732,2.200753421566929,0,0,-6.286439970434036e-05,2.3117045314181826e-05
+32874,1792840249407871108,18928836000000,1792840249406577793,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6760729179790258,-0.004758765597922089,0.10612971687254398,0.9999999839499575,-0.00013741381364806637,-1.896687735655415e-05,6.557934419371525e-05,0.6761,-0.0046,0.1060584297453909,1.0,0.0,0.0,0.0,-0.22657635160403866,0.1225906959638996,1.5181726684332206,0.011406561792674096,0.017586242471466035,0.001220945547015944,0.3679060701621657,0.749706925486117,1.923497035881217,0.059558897211094385,-0.02792382332901091,0.0018335744718429076,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,0.9955671958618095,0.7135834428634051,-0.6766786516270912,0.10581315668200614,0.5954327378646298,0.3468536620064066,1.6297903475282756,-1.5181726684332206,2.3064689991553666,2.3064689991553666,2.3332034215670125,0,0,-5.090538355148754e-05,9.679630294379677e-05
+32968,1792840250190972682,18929619000000,1792840250186568751,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6760754666185872,-0.00476213059746199,0.10609487505489296,0.9999999838322541,-0.00013396219840401888,-1.5907537672374104e-05,7.469561908301891e-05,0.6761,-0.0046,0.10601626058912816,1.0,0.0,0.0,0.0,-0.24140756879174724,0.11353296146002789,1.5966745939991625,0.010728102203739417,0.01758439192918412,0.0011565622608747965,0.3530748529744571,0.7406491909822452,2.0019989614471587,0.058880437622159706,-0.027925673871292824,0.00176919118570176,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.0077280570703533,0.8742244654687434,-0.7893193157363179,0.06858124995329953,0.6694935884912525,0.4551895951428683,1.6297903475282756,-1.5966745939991625,2.419109663264593,2.419109663264593,2.4506534215670865,0,0,-5.878206981305289e-05,6.812307248716393e-05
+33078,1792840251107967138,18930536000000,1792840251106578493,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6760839610328084,-0.004766251872998966,0.10605494975766322,0.9999999915603603,3.899052820071781e-05,-1.5525463868560724e-07,8.247337954209778e-05,0.6761,-0.0046,0.10595403566254441,1.0,0.0,0.0,0.0,-0.2543313735180182,0.11751605712431501,1.6785651509244826,0.011337026681829357,0.018973574567738353,0.001099852222079725,0.34015104824818615,0.7446322866465324,2.083889518372479,0.059489362100249646,-0.02653649123273859,0.0017124811469066883,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.0395341794114619,0.9289563211484864,-0.8880006165180356,0.014001853962476041,0.7439606389937472,0.42003803679971824,1.6297903475282756,-1.6785651509244826,2.517790964046311,2.517790964046311,2.588203421567173,0,0,-8.399347987368707e-05,-5.0653449631069415e-06
+33185,1792840251999900917,18931428000000,1792840251998577756,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6760954957990132,-0.004770841785315467,0.1059904902283439,0.9999999905321328,3.302471160030609e-05,2.0073902221204938e-05,9.426030814256831e-05,0.6761,-0.0046,0.10587039622437719,1.0,0.0,0.0,0.0,-0.27399443915633875,0.11466633484867639,1.828848840411239,0.011265155147337488,0.020560385256636567,0.0010101550695603531,0.3204879826098656,0.7417825643708937,2.2341732078592353,0.05941749056575778,-0.024949680543840377,0.0016227839943873165,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.0983099222461512,0.7274835327766331,-0.9511345109613585,0.08686674061151509,0.796132624089029,0.2990152686132991,1.6297903475282756,-1.828848840411239,2.580924858489634,2.580924858489634,2.7220034215672575,0,0,-9.891148825966057e-05,-9.999985148135266e-05
+33281,1792840252799938435,18932228000000,1792840252798578264,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6761058513737933,-0.004771004834967452,0.10593116189035558,0.9999999894816904,2.8669423232877773e-05,3.61443817780165e-05,0.00010174051053819836,0.6761,-0.0046,0.10579556759495429,1.0,0.0,0.0,0.0,-0.2858228956307263,0.13011640260671886,1.9494243059090604,0.012088697769798103,0.02161148625503081,0.0009387887847196287,0.30865952613547804,0.7572326321289362,2.3547486733570566,0.06024103318821839,-0.023898579545446132,0.001551417709546592,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.141637795180901,0.832276358025063,-1.0963700361775408,0.07139510921763306,0.8988448677679565,0.3894645677864461,1.6297903475282756,-1.9494243059090604,2.7261603837058166,2.7261603837058166,2.842003421567333,0,0,-8.867377995355608e-05,-9.997557923047679e-05
+33367,1792840253515930128,18932944000000,1792840253514577962,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6761142652987386,-0.004765660301314204,0.10588471269479205,0.999999990946412,1.4950944644177758e-06,5.0167103801881874e-05,8.385145686823916e-05,0.6761,-0.0046,0.1057354524010461,1.0,0.0,0.0,0.0,-0.294805044776981,0.12876745678329637,2.036312054145748,0.01286672832639637,0.021545529589266883,0.0008814143363573931,0.29967737698922337,0.7558836863055137,2.4416364215937443,0.06101906374481666,-0.02396453621121006,0.0014940432611843565,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.1873975948113602,0.6889234780065931,-1.312634766197851,0.12595604374197594,1.0468838054748244,0.30716838415046244,1.6297903475282756,-2.036312054145748,2.9424251137261264,2.9424251137261264,2.9494034215674008,0,0,-8.079176238154494e-05,9.624196858760143e-05
+33448,1792840254190968975,18933619000000,1792840254190579030,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6761220127285938,-0.004764670256624326,0.1058484263430656,0.9999999898829727,-4.417836018478237e-06,6.323687475933162e-05,8.751285262464646e-05,0.6761,-0.0046,0.10568166949467392,1.0,0.0,0.0,0.0,-0.3123853088074693,0.12618176976447937,2.1100383979282125,0.01215269652403693,0.023490687711548455,0.0009644391021102989,0.2820971129587351,0.7532979992866967,2.5153627653762087,0.06030503194245722,-0.02201937808892849,0.0015770680269372624,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.1857513241767919,0.7775155799365705,-1.3846565876316645,0.1269916972305273,1.0877014998700947,0.390893705540605,1.6297903475282756,-2.1100383979282125,3.01444693515994,3.01444693515994,3.0506534215674646,0,0,-8.025556719607063e-05,9.394350161529558e-05
+33533,1792840254899963469,18934328000000,1792840254898568602,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6761265412042906,-0.004772915050575131,0.10580044365061846,0.9999999885949519,-1.1518651910350818e-05,6.935286344481583e-05,9.649073273136996e-05,0.6761,-0.0046,0.1056235073726907,1.0,0.0,0.0,0.0,-0.3050606962081064,0.12701656007584305,2.1910495403523518,0.013064519363680097,0.023482599123509047,0.001792653212356316,0.289421725558098,0.7541327895980604,2.596373907800348,0.061216854782100386,-0.022027466676967897,0.0024052821371832794,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.1538791178687398,0.7358127632736521,-1.4428135542136953,0.14018780493158314,1.110253516248004,0.3748893587686717,1.6297903475282756,-2.1910495403523518,3.072603901741971,3.072603901741971,3.1570034215675316,0,0,-8.505242673625813e-05,-2.7633141634569827e-05
+33622,1792840255640859945,18935069000000,1792840255634578810,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6761354736681001,-0.004774782065095251,0.10574993103494087,0.9999999869457747,-1.6612073891673185e-05,8.32576839976331e-05,0.00010170305726284399,0.6761,-0.0046,0.10555799721177576,1.0,0.0,0.0,0.0,-0.32274097580416605,0.11604902346458212,2.2808361127807713,0.01208072049571799,0.024492881926574214,0.0017406751379373422,0.2717414459620383,0.7431652529867995,2.6861604802287675,0.06023305591413828,-0.02101718387390273,0.0023533040627643055,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.2140533028241207,0.6449280465955953,-1.5486820983532243,0.16812464608367916,1.1933828329997085,0.3191783549621635,1.6297903475282756,-2.2808361127807713,3.1784724458815,3.1784724458815,3.2681534215676016,0,0,-9.189107054027724e-05,-9.948061405052328e-05
+33717,1792840256432902704,18935861000000,1792840256426568388,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6761447893180403,-0.004774496453706953,0.10569493288156845,0.9999999854232473,-2.988515888649938e-05,0.00010103845493289519,9.743960967132642e-05,0.6761,-0.0046,0.10548326442801254,1.0,0.0,0.0,0.0,-0.3350152804369914,0.12847937474575366,2.371480007200564,0.013057336714451286,0.025467234863958636,0.0016932012414699435,0.25946714132921295,0.755595604267971,2.7768043746485604,0.061209672132871575,-0.02004283093651831,0.002305830166296907,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.2685847703139164,0.6729615913129343,-1.6710222472832374,0.1761839361651701,1.2821025012482816,0.34718840188058986,1.6297903475282756,-2.371480007200564,3.300812594811513,3.300812594811513,3.3869534215676764,0,0,-9.831654946698543e-05,-5.0002331468351715e-05
+33814,1792840257240923145,18936669000000,1792840257238568462,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6761574369865169,-0.004773005103621343,0.10563310800946883,0.9999999830357248,-7.191948990746175e-05,0.00012424304821098727,6.901207507273958e-05,0.6761,-0.0046,0.10539847101877248,1.0,0.0,0.0,0.0,-0.3336262139814263,0.14541812907737073,2.4822544538452713,0.014058281247497292,0.025423404702726048,0.001614949261029443,0.2608562077847781,0.7725343585995881,2.8875788212932676,0.06221061666591758,-0.020086661097750896,0.0022275781858564062,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.2497484268809085,0.7606835450709184,-1.7033309218878123,0.1454550434765328,1.2934684026050014,0.40206653243435375,1.6297903475282756,-2.4822544538452713,3.333121269416088,3.333121269416088,3.508153421567753,0,0,-0.00011012916113359162,-9.999474445543938e-05
+33904,1792840257990925301,18937419000000,1792840257990578388,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6761625832262548,-0.004775594113898222,0.10556138227955995,0.999999981676211,-6.754743166869467e-05,0.0001302546596923518,8.100314976447605e-05,0.6761,-0.0046,0.10531615745488891,1.0,0.0,0.0,0.0,-0.3507734058869515,0.1400968994559626,2.582505055746179,0.014010990153357716,0.02641582711053279,0.0015479468076596953,0.24370901587925284,0.76721312897818,2.9878294231941753,0.062163325571778005,-0.019094238689944153,0.0021605757324866586,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3092265485034214,0.7636877577470191,-1.9481737358968023,0.14297231679721772,1.4658888128104748,0.403711281166235,1.6297903475282756,-2.582505055746179,3.577964083425078,3.577964083425078,3.6206534215678237,0,0,-0.00010840936046499638,9.999999025923074e-05
+34010,1792840258874849098,18938303000000,1792840258874569982,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6761774933858796,-0.004785153900836159,0.10548970775435856,0.9999999770909965,-6.770013323245937e-05,0.00015508713245473784,9.287380750121612e-05,0.6761,-0.0046,0.10521842394201769,1.0,0.0,0.0,0.0,-0.36247428265642007,0.13296021056294305,2.6905475859051218,0.01396157980767515,0.027420721421479586,0.0014745933594241495,0.2320081391097843,0.7600764400851604,3.095871953353118,0.06211391522609544,-0.018089344378997358,0.002087222284251113,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3766856493457458,0.6121982968753078,-2.1221474050017886,0.19426909710891066,1.5933447703753023,0.30571108014638065,1.6297903475282756,-2.6905475859051218,3.751937752530064,3.751937752530064,3.753253421567907,0,0,-0.00011419685174288296,9.972881828546604e-05
+34103,1792840259649880601,18939078000000,1792840259642578634,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6761836711738525,-0.0047820056663912935,0.10541314762350987,0.999999975595927,-7.322347738095698e-05,0.0001637035336028002,8.994712513397344e-05,0.6761,-0.0046,0.10512748199241567,1.0,0.0,0.0,0.0,-0.3625837370903964,0.13541388204806326,2.779371244188191,0.013037799163907862,0.028335236884485193,0.0014020699972057665,0.231898684675808,0.7625301115702806,3.184695611636187,0.06119013458232815,-0.01717482891599175,0.0020146989220327298,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3310704090618346,0.6067190457865151,-2.1755842725812493,0.21076663094610817,1.6118344440445824,0.3047383852345267,1.6297903475282756,-2.779371244188191,3.805374620109525,3.805374620109525,3.8695034215679804,0,0,-0.00011893624083239717,9.796145425256526e-05
+34187,1792840260349956371,18939778000000,1792840260346568502,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.676194978943256,-0.004784838863408265,0.10534618473840696,0.9999999715948859,-7.4166685487177e-05,0.00018522521376975612,9.189132091421213e-05,0.6761,-0.0046,0.10503953115888828,1.0,0.0,0.0,0.0,-0.3535662092510774,0.1384165944046989,2.8428318998534934,0.013933614711355187,0.027373051848678432,0.001352798698820008,0.240916212515127,0.7655328239269162,3.2481562673014897,0.062085950129775476,-0.018137013951798512,0.0019654276236469714,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.4154311438089715,0.7312467873736669,-2.2792175157946595,0.16853337348197722,1.7011625409986064,0.38173907686565234,1.6297903475282756,-2.8428318998534934,3.909007863322935,3.909007863322935,3.9745034215680466,0,0,-0.00013148321105907611,7.731351256279879e-05
+34270,1792840261040915529,18940469000000,1792840261034578088,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6761961885864566,-0.004793766367862137,0.10525605258061953,0.9999999703894317,-8.019680105683952e-05,0.00018684033879532398,9.655651840879243e-05,0.6761,-0.0046,0.10494427666179652,1.0,0.0,0.0,0.0,-0.3439013124956521,0.13778773189377447,2.903139073589591,0.012902794648319234,0.02737858540312803,0.0012940549916003086,0.25058110927055227,0.7649039614159918,3.308463441037587,0.06105513006673952,-0.018131480397348913,0.0019066839164272721,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3768675664504788,0.5341020117836075,-2.2509437232322425,0.24462450416759707,1.6728339809402788,0.2566019527058132,1.6297903475282756,-2.903139073589591,3.880734070760518,3.880734070760518,4.0781534215678805,0,0,-0.00014321773476463762,-9.999999025923074e-05
+34350,1792840261707927346,18941136000000,1792840261706569068,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762055558359632,-0.004795974164888757,0.10516879328302167,0.9999999665668914,-8.850811622985639e-05,0.0002047859584919422,9.240186738444144e-05,0.6761,-0.0046,0.1048414826629084,1.0,0.0,0.0,0.0,-0.3180974635613112,0.14356232696058835,2.9534040507607866,0.012921187301488161,0.026353303553571517,0.0012391544736209325,0.27638495820489317,0.7706785564828057,3.358728418208783,0.06107352271990845,-0.019156762246905427,0.001851783398447896,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3763935708811736,0.6523501002814684,-2.407959578392659,0.22245537845805236,1.7685392648929823,0.3368023685129119,1.6297903475282756,-2.9534040507607866,4.037749925920934,4.037749925920934,4.178203421567647,0,0,-0.00016693194272563195,-1.628537424670269e-05
+34421,1792840262299919096,18941728000000,1792840262294578200,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762123941067544,-0.0048023740930948945,0.1050752006582242,0.9999999654146756,-8.614339042406467e-05,0.00021395516854758262,8.611628360310655e-05,0.6761,-0.0046,0.10473632664140219,1.0,0.0,0.0,0.0,-0.31418218061228576,0.15014663728710498,3.0236934649070326,0.01290848848341939,0.02633772174830415,0.0011845750451988097,0.2803002411539186,0.7772628668093223,3.429017832355029,0.06106082390183968,-0.019172344052172795,0.001797203970025773,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.4060209380793727,0.6389340374452097,-2.4310702985185833,0.2444825479205857,1.7921847629597643,0.3336780302180665,1.6297903475282756,-3.0236934649070326,4.060860646046859,4.060860646046859,4.26700342156744,0,0,-0.00018755471522666068,-9.999999025923074e-05
+34498,1792840262940938370,18942369000000,1792840262934578576,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762213879501381,-0.004807711693667034,0.10496296526014835,0.9999999606802131,-8.858215251158845e-05,0.00023044128055773905,9.556387938658438e-05,0.6761,-0.0046,0.10461079192134336,1.0,0.0,0.0,0.0,-0.31378772149097606,0.13447542085787134,3.1035389412722183,0.011871369692532316,0.026340552726573322,0.0011085868920086878,0.2806947002752283,0.7615916503800887,3.5088633087202146,0.060023705110952605,-0.019169513073903622,0.0017212158168356513,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.4021216742122218,0.6672478713260867,-2.5292457605656558,0.23184048375556102,1.8500850786353482,0.3477246853263833,1.6297903475282756,-3.1035389412722183,4.1590361080939315,4.1590361080939315,4.363153421567216,0,0,-0.0002026247044970272,-9.999999025923074e-05
+34568,1792840263524937496,18942953000000,1792840263522569037,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762280766648052,-0.004811390174703512,0.10485295288112031,0.9999999570482098,-9.078635486196877e-05,0.00024088633306997218,0.00010525234119497576,0.6761,-0.0046,0.1044883159357823,1.0,0.0,0.0,0.0,-0.2874303783429695,0.14163923553990088,3.1630330046054818,0.010868905734268644,0.025331712516206296,0.001050620803388681,0.3070520434232349,0.7687554650621182,3.568357372053478,0.05902124115268893,-0.020178353284270648,0.0016632497282156446,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.4105502763943714,0.7613524621946434,-2.707914949273888,0.2125142950919871,1.9739195496538937,0.40988146507050177,1.6297903475282756,-3.1630330046054818,4.337705296802164,4.337705296802164,4.450753421567012,0,0,-0.00021960198432338795,9.987718571491939e-05
+34635,1792840264082934861,18943511000000,1792840264082568100,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762304039088357,-0.004811567941766651,0.10473111972957361,0.9999999551047166,-0.00010242041128747871,0.00024268770932991406,0.00010884008550835861,0.6761,-0.0046,0.10436068234685376,1.0,0.0,0.0,0.0,-0.25825556209898315,0.13071508778014307,3.21316413032084,0.009943309207049014,0.02331303794119359,0.0009575842326264942,0.3362268596672212,0.7578313173023604,3.618488497768836,0.0580956446254693,-0.022197027859283354,0.0015702131574534576,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3970508916876914,0.6574902427817902,-2.6514413977926212,0.2624140244761724,1.9372568802039294,0.34423259129644856,1.6297903475282756,-3.21316413032084,4.281231745320897,4.281231745320897,4.534453421566817,0,0,-0.00023892586285409324,-9.996908442578273e-05
+34708,1792840264690888248,18944119000000,1792840264690568235,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762424410278153,-0.004816222152461839,0.10459907895674286,0.999999949165174,-0.00010572271486807049,0.0002653964262902462,0.00010723785911807173,0.6761,-0.0046,0.10420760895406256,1.0,0.0,0.0,0.0,-0.23419690312523095,0.13140821878987874,3.233622824455983,0.00991667715692248,0.022295155148085343,0.0009273046505590695,0.3602855186409734,0.7585244483120961,3.6389471919039793,0.05806901257534277,-0.0232149106523916,0.001539933575386033,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.359470977870057,0.6020859916509764,-2.733711120714717,0.29549043900921007,1.9774325564244553,0.3148517910789691,1.6297903475282756,-3.233622824455983,4.363501468242992,4.363501468242992,4.6256534215666045,0,0,-0.00026298822524836583,-9.1084663449098e-05
+34775,1792840265249875709,18944678000000,1792840265246568322,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762507049265145,-0.0048184633197784375,0.10445533647198367,0.9999999505933359,-2.465134236174877e-05,0.00027724508302901494,0.00011306487322775519,0.6761,-0.0046,0.10405295693973761,1.0,0.0,0.0,0.0,-0.2206359818794696,0.10873982736390808,3.29181486629357,0.008263867213052438,0.021305562096384366,0.0008447337806200401,0.37384643988673477,0.7358560568861254,3.697139233741566,0.05641620263147273,-0.024204503704092578,0.0014573627054470036,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.357515232226245,0.689039727414962,-2.744478640723736,0.28059330974986885,1.9880054080168312,0.35859671736582327,1.6297903475282756,-3.29181486629357,4.374268988252012,4.374268988252012,4.709503421566409,0,0,-0.00029036005728541445,-9.999999025923074e-05
+34838,1792840265774904649,18945203000000,1792840265774578114,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762564005649391,-0.004825110862899275,0.10430431282534779,0.9999999454100199,-4.902239754971965e-05,0.0002906483984418168,0.0001172311168906175,0.6761,-0.0046,0.10389368481267038,1.0,0.0,0.0,0.0,-0.21034958683831562,0.09239736826920475,3.3175653209462848,0.006897871751297115,0.020308990732666718,0.0007964292103757093,0.38413283492788874,0.7195135977914221,3.722889688394281,0.055050207169717404,-0.025201075067810226,0.0014090581352026728,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3709332475075968,0.8067816545476211,-2.79215320342607,0.2664083071726606,2.023542616260884,0.45452300757044717,1.6297903475282756,-3.3175653209462848,4.421943550954346,4.421943550954346,4.788253421566226,0,0,-0.00031652008154334075,-9.999999025923074e-05
+34895,1792840266249854427,18945678000000,1792840266242578077,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762578906844169,-0.004828602318159747,0.10415521819249596,0.9999999424415995,-7.064013257045632e-05,0.0002956099572208294,0.0001190982244222411,0.6761,-0.0046,0.10373770902503848,1.0,0.0,0.0,0.0,-0.19069897821864218,0.07225783845850298,3.3344266096245847,0.0048739468158349175,0.01933084104168697,0.0007475454898002823,0.4037834435475622,0.6993740679807203,3.739750977072581,0.053026282234255206,-0.026179224758789973,0.0013601744146272458,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.346983291284098,0.70610547452938,-2.835854326793277,0.31029024902606506,2.0475741833575842,0.38659274274313044,1.6297903475282756,-3.3344266096245847,4.4656446743215525,4.4656446743215525,4.8595034215660595,0,0,-0.00034027007691647535,-9.999999025923074e-05
+34948,1792840266690898933,18946119000000,1792840266690578719,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762547873789422,-0.004833814216031785,0.10399677465377524,0.9999999421374284,-8.82166929046941e-05,0.00028869559970752805,0.00012665176699410866,0.6761,-0.0046,0.10358279892206766,1.0,0.0,0.0,0.0,-0.16717156507125808,0.03650465304949213,3.351217143940214,0.002062667695774338,0.018234546212865032,0.0006846429919721385,0.4273108566949463,0.6636208825717095,3.7565415113882104,0.05021500311419463,-0.027275519587611912,0.001297271916799102,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3563774193906415,0.6551679660064297,-2.89725222422267,0.3303107444258572,2.1010928647291096,0.3554149403775668,1.6297903475282756,-3.351217143940214,4.527042571750946,4.527042571750946,4.925653421565905,0,0,-0.0003623200726207961,-9.999999025923074e-05
+34995,1792840267082894195,18946511000000,1792840267082578861,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762518705012411,-0.004838141161903875,0.10384226782942417,0.999999940716575,-0.00011393456426116249,0.0002848126502583449,0.00012613635540061088,0.6761,-0.0046,0.10343693765435062,1.0,0.0,0.0,0.0,-0.1412344146707784,0.008129953906246268,3.364179683526091,-0.0001565306315468168,0.01638578958894489,0.0006236941670289233,0.45324800709542595,0.6352461834284636,3.769504050974087,0.04799580478687347,-0.029124276211532053,0.0012363230918558867,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3067840000603475,0.6460504494049487,-2.832785990919542,0.3480378304285976,2.0498105965494315,0.3508757816817999,1.6297903475282756,-3.364179683526091,4.462576338447818,4.462576338447818,4.984453421565768,0,0,-0.00038192006880241456,-9.999999025923074e-05
+35048,1792840267524926352,18946953000000,1792840267522578101,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762585645001323,-0.004836006430936092,0.10367374076227676,0.9999999353510599,-0.00012618631794226014,0.000296787665250716,0.00012936319139286118,0.6761,-0.0046,0.1032632559348936,1.0,0.0,0.0,0.0,-0.12955395956103694,-0.030395846426182427,3.339315176633349,-0.0031702917851538157,0.015432307665185826,0.000594863484554708,0.4649284622051674,0.5967203830960349,3.744639544081345,0.04498204363326647,-0.030077758135291118,0.0012074924093816715,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3109532769149645,0.6453913030769595,-2.896632296765023,0.36082424156434395,2.0951630349079027,0.3515403915915227,1.6297903475282756,-3.339315176633349,4.526422644293299,4.526422644293299,5.050753421565614,0,0,-0.00040402006449699455,-9.999999025923074e-05
+35097,1792840267932878849,18947361000000,1792840267930568328,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762730977256709,-0.004841760403701992,0.10351292398824366,0.9999999367689992,-3.3268506770703716e-05,0.000313710511472004,0.00013558681164938533,0.6761,-0.0046,0.10309426434939156,1.0,0.0,0.0,0.0,-0.1565422322558903,-0.03334650549014373,3.2791517409632007,-0.0032046990224550292,0.01645858115987155,0.0006558757322386999,0.43794018951031405,0.5937697240320736,3.684476108411197,0.04494763639596526,-0.029051484640605394,0.0012685046570656633,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.322873929950439,0.697493232954358,-2.7115589789564427,0.33565922395564923,1.9818323462308893,0.3504252093693041,1.6297903475282756,-3.2791517409632007,4.3413493264847185,4.3413493264847185,5.111953421565471,0,0,-0.0004244200605227607,-9.999999025923074e-05
+35144,1792840268324923787,18947753000000,1792840268322578471,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762719765245226,-0.004849003513753167,0.10334502448908645,0.9999999355231364,-7.163910641081882e-05,0.00031133692269234197,0.00013540216612864986,0.6761,-0.0046,0.10292405988641695,1.0,0.0,0.0,0.0,-0.12236176234522644,-0.08112689539681506,3.2578932715286832,-0.0062111155560535605,0.014497009643059739,0.0006109270739258248,0.4721206594209779,0.5459893341254023,3.6632176389766795,0.04194121986236673,-0.031013056157417205,0.0012235559987527882,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.3200783249468209,0.6480992679368294,-2.735377859757261,0.38384764048780073,2.0022617881193776,0.35573125407981193,1.6297903475282756,-3.2578932715286832,4.365168207285537,4.365168207285537,5.170753421565334,0,0,-0.00044402005670437914,-9.999999025923074e-05
+35188,1792840268690925665,18948119000000,1792840268686578180,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762656709246349,-0.004848901945064684,0.10317059703120665,0.9999999359324401,-9.499299592597315e-05,0.0003024720201593234,0.00013807602224461403,0.6761,-0.0046,0.10275820879631735,1.0,0.0,0.0,0.0,-0.1108851414317244,-0.11561916386250914,3.226749471500616,-0.009241079895953623,0.013548505722666561,0.0005875135333907824,0.48359728033447996,0.5114970656597082,3.6320738389486125,0.038911255522466666,-0.03196156007781038,0.0012001424582177458,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.2746829416978314,0.5291490241922947,-2.6324964628257606,0.42921252669119814,1.927550296442402,0.2805083977320298,1.6297903475282756,-3.226749471500616,4.262286810354036,4.262286810354036,5.225653421565206,0,0,-0.0004623200531392576,-9.999999025923074e-05
+35225,1792840268999880481,18948428000000,1792840268998578158,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762590154110565,-0.004851764218945439,0.10301741470028129,0.9999999376312234,-0.00010267969793264147,0.0002921943600861426,0.00014233674573854894,0.6761,-0.0046,0.10261297260036385,1.0,0.0,0.0,0.0,-0.11193329859901968,-0.15154391845524323,3.195403039807466,-0.012287627237305199,0.013213402907794214,0.0005723783892927287,0.4825491231671847,0.4755723110669741,3.6007274072554623,0.03586470818111509,-0.03229666289268273,0.0011850073141196921,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.2475690613228432,0.5336695145268265,-2.6947189397594125,0.4304615221057455,1.9682159467311575,0.2862361043258862,1.6297903475282756,-3.195403039807466,4.324509287287688,4.324509287287688,5.272003421565098,0,0,-0.0004777700501293599,-9.999999025923074e-05
+35264,1792840269324921253,18948753000000,1792840269322578522,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762505374282534,-0.004856159447330854,0.1028456713888011,0.9999999443708016,-7.504153785724927e-05,0.00028000252852191694,0.0001366331200211303,0.6761,-0.0046,0.10245506483458783,1.0,0.0,0.0,0.0,-0.08515804214745126,-0.1856643480081826,3.154312025174754,-0.015299608914412288,0.011655801988041642,0.0005485086807056173,0.5093243796187531,0.44145188151403475,3.55963639262275,0.032852726504008,-0.0338542638124353,0.0011611376055325807,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.262281745536313,0.3601275671349455,-2.60137623080542,0.4981788338882726,1.9183729870264412,0.174856414860544,1.6297903475282756,-3.154312025174754,4.231166578333696,4.231166578333696,5.3207534215649845,0,0,-0.0004940200469636099,-9.999999025923074e-05
+35302,1792840269640919781,18949069000000,1792840269638577832,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.676240742053415,-0.004858524654303623,0.10267281777916944,0.9999999465518299,-7.915129503995125e-05,0.00026444020058654966,0.00014881416093935563,0.6761,-0.0046,0.1022964660002352,1.0,0.0,0.0,0.0,-0.09158548772250885,-0.24257075574659953,3.1186266491487316,-0.019004969959305264,0.011733986121738302,0.0005353140936863349,0.5028969340436955,0.3845454737756178,3.523951016596728,0.029147365459115025,-0.03377607967873864,0.0011479430185132983,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.2039913517385215,0.4631509153200072,-2.58804038410939,0.4537286183007551,1.900116701221341,0.24569182987235583,1.6297903475282756,-3.1186266491487316,4.217830731637665,4.217830731637665,5.368153421564874,0,0,-0.0005098200438855269,-9.999999025923074e-05
+35339,1792840269949902261,18949378000000,1792840269946577961,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762371097491262,-0.004860742884919034,0.10250107533414497,0.9999999451479258,-0.00012563051655843213,0.0002626229391728374,0.0001280358334409914,0.6761,-0.0046,0.10213655230714111,1.0,0.0,0.0,0.0,-0.0621879433309499,-0.2587927996240156,3.0743868498448834,-0.020338004350865677,0.009747047085987594,0.0005340119724257234,0.5322944784352545,0.36832342989820177,3.4797112172928797,0.027814331067554612,-0.03576301871448935,0.0011466408972526868,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.1473773362863555,0.4583301259583102,-2.4815940692021976,0.4890092373478916,1.8179851282691755,0.25554126168196556,1.6297903475282756,-3.0743868498448834,4.111384416730473,4.111384416730473,5.414503421564766,0,0,-0.0005252700408756292,-9.999999025923074e-05
+35374,1792840270240815702,18949669000000,1792840270238578410,DOWN_FORCE_DETACH,6,0.07,0.070001982152462,0.6762270158963543,-0.004863929512511509,0.10232561478022599,0.9999999472725405,-0.00012298357594912193,0.0002449586583756363,0.00014754008314741456,0.6761,-0.0046,0.10198158897566015,1.0,0.0,0.0,0.0,-0.06157787075884469,-0.2987793886919378,3.0206563475766344,-0.023391551613531975,0.009814626915292744,0.0005249682042748844,0.5329045510073597,0.32833684083027953,3.4259807150246306,0.024760783804888314,-0.0356954388851842,0.0011375971291018479,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.151783827615396,0.4403968951197962,-2.466093725861064,0.4712832798119158,1.8232281628641573,0.2399426509927479,1.6297903475282756,-3.0206563475766344,4.09588407338934,4.09588407338934,5.458153421564664,0,0,-0.0005398200380410653,-9.999999025923074e-05
+35412,1792840270557886190,18949986000000,1792840270554578603,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762403391524779,-0.004876055619098804,0.10216204185837817,0.999999940436743,-0.00011821850365599579,0.00025519199228218854,0.00017740013315048944,0.6761,-0.0046,0.1018079617240921,1.0,0.0,0.0,0.0,-0.08781705934460593,-0.3151435211148276,2.9234665609492536,-0.024421858303115905,0.01086929206370249,0.0006171696307458956,0.5066653624215984,0.3119727084073898,3.32879092839725,0.023730477115304384,-0.034640773736774454,0.001229798555572859,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.2513472389429414,0.4698129928844687,-2.364099927568155,0.4663856892451416,1.781829768958869,0.26357201443855327,1.6297903475282756,-2.9234665609492536,3.9938902750964305,3.9938902750964305,5.5057034215645535,0,0,-0.0005556700349532414,-9.999999025923074e-05
+35447,1792840270849892620,18950278000000,1792840270846578240,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762335665759923,-0.0048807954745411115,0.1019844551416085,0.9999999408433115,-9.371648952976064e-05,0.00024563350544235603,0.0002015877938311657,0.6761,-0.0046,0.10164358177430244,1.0,0.0,0.0,0.0,-0.10077510145665997,-0.3554163561786764,2.8821134428967454,-0.0275042770182516,0.011944473837850515,0.0006294698553401579,0.4937073203095444,0.27169987334354095,3.2874378103447417,0.02064805840016869,-0.03356559196262643,0.0012420987801671213,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.170499053296024,0.3737795925342488,-2.2936524542253247,0.491055767051454,1.7173959795821425,0.20400858126570098,1.6297903475282756,-2.8821134428967454,3.9234428017536,3.9234428017536,5.549503421564451,0,0,-0.0005702700321089368,-9.999999025923074e-05
+35478,1792840271107879802,18950536000000,1792840271106568553,DOWN_FORCE_DETACH,6,0.07,0.07000132650136948,0.6762366325299608,-0.004868179399363205,0.10183361580366666,0.9999999527155053,-6.530103879937232e-05,0.00025429718556491273,0.00013069264393672598,0.6761,-0.0046,0.10149479445634378,1.0,0.0,0.0,0.0,-0.06621301864877116,-0.3477518261961529,2.8309510442861083,-0.02699460647977454,0.008668744120044924,-0.0003106425359849922,0.5282694031174332,0.27936440332606444,3.2362754117341046,0.02115772893864575,-0.03684132168043202,0.00030198638884197123,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.2502726519460827,0.5771136499090294,-2.1267098321053086,0.3272588858237011,1.6557327910730049,0.299794727352183,1.6297903475282756,-2.8309510442861083,3.7565001796335844,3.7565001796335844,5.588203421564361,0,0,-0.0005831700295958184,-9.999999025923074e-05
+35512,1792840271390915193,18950819000000,1792840271390578449,DOWN_SETTLE,6,0.07,0.07000132650136948,0.6762197646599584,-0.004877882956786536,0.10165546931313268,0.9999999560377597,-6.60852468849882e-05,0.00022044730472557127,0.000162490212581376,0.6761,-0.0046,0.10135205409644128,1.0,0.0,0.0,0.0,-0.06734198068477737,-0.37464366596196175,2.7569608943775985,-0.029438898146349687,0.009205532889381078,-0.0003604920890235865,0.527140441081427,0.2524725635602556,3.1622852618255948,0.0187134372720706,-0.036304532911095866,0.00025213683580337695,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.2586151021520369,0.41005753771298403,-2.1888699043845707,0.4632158105029002,1.6881694423441813,0.22090220622078238,1.6297903475282756,-2.7569608943775985,3.8186602519128465,0.0,0.0,0,0,-0.00021404978918897406,0.0021621190827169094
+35606,1792840272172917171,18951601000000,1792840272170568528,DOWN_PEAK_HOLD,6,0.07,0.070001982152462,0.6761961078526171,-0.004868012436847862,0.10156953059689877,0.9999999660577877,-8.069759571857221e-05,0.00017484128212337722,0.00014914996448615387,0.6761,-0.0046,0.10133173949085439,1.0,0.0,0.0,0.0,-0.044607387019583,-0.4217571647923364,2.310116594064981,-0.03329354004802668,0.007079298856197375,-7.602053608053467e-05,0.5498750347466214,0.20535906472988094,2.7154409615129773,0.014858795370393607,-0.03843076694427957,0.0005366083887464288,0.5944824217662044,0.6271162295222173,0.4053243674479963,0.04815233541842029,-0.045510065800476944,0.0006126289248269634,1,1.0074625695787303,0.44047841688117134,-1.6160880715720445,0.46972598283258726,1.2565554507639018,0.23934339759461837,1.6297903475282756,-2.310116594064981,3.24587841910032,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_17.5/press_depth_06/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792840234829321232,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.633336438e-09,2.775301239e-10,-5.692317728e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451396e-01,-1.176369385e-04,8.303260882e-01
+1,8.333333333e-01,DOWN_FORCE_DETACH,1792840235648725619,4.834231463e-07,-1.494418244e-06,1.354256024e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.081970750e-07,6.406725281e-09,-1.879457934e-08,7.019560813e-01,-2.347947282e-05,8.601435213e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452452e-01,-1.176308093e-04,8.303260700e-01
+2,1.666666667e+00,DOWN_FORCE_DETACH,1792840236468122303,3.020814128e-06,-3.574079986e-06,-7.117683871e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.717577162e-07,9.269167165e-09,-2.550522460e-08,7.019586187e-01,-2.555913457e-05,8.601426741e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453087e-01,-1.176279468e-04,8.303260633e-01
+3,2.383333333e+00,DOWN_FORCE_DETACH,1792840237171999549,6.214847946e-06,-4.449833322e-06,-1.082344748e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.050787022e-07,1.020911041e-08,-2.702910651e-08,7.019618127e-01,-2.643488790e-05,8.601325625e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453421e-01,-1.176270069e-04,8.303260618e-01
+4,3.216666667e+00,DOWN_FORCE_DETACH,1792840238040017210,1.005770433e-05,-9.025084483e-07,-4.100651879e-05,7.030901100e-06,-9.518039110e-06,-4.136235021e-05,7.247298988e-06,-9.505499924e-06,-4.108760499e-05,7.019656556e-01,-2.288756303e-05,8.601023794e-01,7.019626288e-01,-3.150309369e-05,8.601020236e-01,7.027523843e-01,-1.271427159e-04,8.302850012e-01
+5,4.016666667e+00,DOWN_FORCE_DETACH,1792840238826882070,7.414591811e-06,-3.833872852e-06,-7.286411835e-05,6.279567812e-06,-4.193219468e-06,-6.225341976e-05,6.154346332e-06,-4.193406950e-06,-6.197025788e-05,7.019630125e-01,-2.581892743e-05,8.600705218e-01,7.019618774e-01,-2.617827405e-05,8.600811325e-01,7.027512913e-01,-1.218306230e-04,8.302641185e-01
+6,4.800000000e+00,DOWN_FORCE_DETACH,1792840239596274260,6.380393232e-06,-1.338736427e-05,-1.115841625e-04,4.764206444e-06,-8.082715152e-06,-1.050488812e-04,4.033587868e-06,-8.024520258e-06,-1.046440797e-04,7.019619783e-01,-3.537241885e-05,8.600318018e-01,7.019603621e-01,-3.006776973e-05,8.600383370e-01,7.027491706e-01,-1.256617363e-04,8.302214447e-01
+7,5.633333333e+00,DOWN_FORCE_DETACH,1792840240481104211,8.031002713e-06,-1.622000172e-05,-1.420258173e-04,3.950997517e-06,-1.122380192e-05,-1.254049447e-04,2.858772131e-06,-1.121258823e-05,-1.250944469e-04,7.019636289e-01,-3.820505630e-05,8.600013601e-01,7.019595489e-01,-3.320885650e-05,8.600179810e-01,7.027479958e-01,-1.288498042e-04,8.302009943e-01
+8,6.433333333e+00,DOWN_FORCE_DETACH,1792840241266952816,1.497262540e-05,-1.781596076e-05,-1.706759932e-04,1.582346511e-05,-1.490828848e-05,-1.644030790e-04,1.517804753e-05,-1.488144659e-05,-1.639005998e-04,7.019705705e-01,-3.980101534e-05,8.599727099e-01,7.019714213e-01,-3.689334306e-05,8.599789828e-01,7.027603150e-01,-1.325186626e-04,8.301621882e-01
+9,7.283333333e+00,DOWN_FORCE_DETACH,1792840242118596759,2.445142638e-05,-2.580765187e-05,-2.119608801e-04,2.337458369e-05,-1.665867597e-05,-2.054020819e-04,2.283232860e-05,-1.662493857e-05,-2.048420200e-04,7.019800493e-01,-4.779270645e-05,8.599314250e-01,7.019789725e-01,-3.864373055e-05,8.599379838e-01,7.027679693e-01,-1.342621546e-04,8.301212468e-01
+10,8.050000000e+00,DOWN_FORCE_DETACH,1792840242871885303,3.368768372e-05,-2.239112040e-05,-2.524399824e-04,2.947917886e-05,-1.998655851e-05,-2.486790546e-04,2.885216732e-05,-1.995557591e-05,-2.480573581e-04,7.019892856e-01,-4.437617497e-05,8.598909459e-01,7.019850770e-01,-4.197161309e-05,8.598947069e-01,7.027739892e-01,-1.375927919e-04,8.300780314e-01
+11,8.850000000e+00,DOWN_FORCE_DETACH,1792840243691186624,4.433811198e-05,-2.555118067e-05,-2.951253123e-04,3.646500965e-05,-2.607999707e-05,-2.880725441e-04,3.587878349e-05,-2.609347564e-05,-2.874339469e-04,7.019999360e-01,-4.753623525e-05,8.598482606e-01,7.019920629e-01,-4.806505165e-05,8.598553134e-01,7.027810158e-01,-1.437306916e-04,8.300386548e-01
+12,9.250000000e+00,DOWN_FORCE_DETACH,1792840244084615847,8.410607123e-05,-2.027239970e-05,-2.885641545e-04,8.235672957e-05,-2.543904312e-05,-2.724583298e-04,8.537829093e-05,-2.544281080e-05,-2.719326315e-04,7.020397039e-01,-4.225745428e-05,8.598548218e-01,7.020379546e-01,-4.742409770e-05,8.598709276e-01,7.028305153e-01,-1.430800268e-04,8.300541562e-01
+13,1.001666667e+01,DOWN_FORCE_DETACH,1792840244870362233,9.170096512e-05,-2.827105814e-05,-3.422516284e-04,8.537914750e-05,-3.132697555e-05,-3.330644838e-04,8.796932776e-05,-3.138754496e-05,-3.323568463e-04,7.020472988e-01,-5.025611272e-05,8.598011343e-01,7.020409770e-01,-5.331203013e-05,8.598103214e-01,7.028331063e-01,-1.490247610e-04,8.299937319e-01
+14,1.083333333e+01,DOWN_FORCE_DETACH,1792840245673328850,1.000375058e-04,-3.343739976e-05,-3.976877752e-04,9.538878978e-05,-2.534558953e-05,-3.954096089e-04,9.808546890e-05,-2.539459751e-05,-3.945962347e-04,7.020556354e-01,-5.542245434e-05,8.597456981e-01,7.020509867e-01,-4.733064411e-05,8.597479763e-01,7.028432225e-01,-1.430318135e-04,8.299314926e-01
+15,1.131666667e+01,DOWN_FORCE_DETACH,1792840246183821780,1.141425732e-04,8.337698309e-06,-4.290150183e-04,1.140778007e-04,8.313131062e-06,-4.291070481e-04,1.176855294e-04,8.323594793e-06,-4.282964852e-04,7.020697404e-01,-1.364735627e-05,8.597143709e-01,7.020696757e-01,-1.367192352e-05,8.597142789e-01,7.028628225e-01,-1.093136212e-04,8.298977923e-01
+16,1.198333333e+01,DOWN_FORCE_DETACH,1792840246852995904,1.216145285e-04,-7.115976179e-07,-4.707738202e-04,1.221074142e-04,2.931329971e-06,-4.637766794e-04,1.259944438e-04,2.909888633e-06,-4.629931549e-04,7.020772124e-01,-2.269665220e-05,8.596726121e-01,7.020777053e-01,-1.905372461e-05,8.596796092e-01,7.028711314e-01,-1.147273274e-04,8.298630956e-01
+17,1.281666667e+01,DOWN_FORCE_DETACH,1792840247709381284,1.356343313e-04,-1.231379019e-05,-5.241778737e-04,1.350941553e-04,-6.333205726e-06,-5.260993545e-04,1.392030105e-04,-6.406818136e-06,-5.252302515e-04,7.020912322e-01,-3.429884477e-05,8.596192080e-01,7.020906920e-01,-2.831826031e-05,8.596172866e-01,7.028843400e-01,-1.240440341e-04,8.298008585e-01
+18,1.365000000e+01,DOWN_FORCE_DETACH,1792840248523874501,1.464299554e-04,-1.351685402e-05,-5.774809191e-04,1.432286621e-04,-9.519551175e-06,-5.672130508e-04,1.475560735e-04,-9.596883233e-06,-5.664714415e-04,7.021020278e-01,-3.550190860e-05,8.595659050e-01,7.020988265e-01,-3.150460575e-05,8.595761729e-01,7.028926931e-01,-1.272340992e-04,8.297596173e-01
+19,1.455000000e+01,DOWN_FORCE_DETACH,1792840249408074421,1.516079720e-04,-1.569218527e-05,-6.144189175e-04,1.497974117e-04,-1.624314728e-05,-6.081013833e-04,1.542177521e-04,-1.633187764e-05,-6.074768427e-04,7.021072058e-01,-3.767723985e-05,8.595289670e-01,7.021053953e-01,-3.822820186e-05,8.595352845e-01,7.028993547e-01,-1.339690936e-04,8.297186119e-01
+20,1.535000000e+01,DOWN_FORCE_DETACH,1792840250194109938,1.539908802e-04,-1.355247138e-05,-6.516902548e-04,1.542805368e-04,-1.941817874e-05,-6.495404674e-04,1.585650906e-04,-1.952710844e-05,-6.487789832e-04,7.021095887e-01,-3.553752596e-05,8.594916957e-01,7.021098784e-01,-4.140323332e-05,8.594938454e-01,7.029037021e-01,-1.371643244e-04,8.296773098e-01
+21,1.628333333e+01,DOWN_FORCE_DETACH,1792840251110959862,1.623300512e-04,-2.014629260e-05,-6.912518735e-04,1.608040544e-04,-2.166078236e-05,-6.894732414e-04,1.651569958e-04,-2.181915868e-05,-6.887873898e-04,7.021179279e-01,-4.213134718e-05,8.594521340e-01,7.021164019e-01,-4.364583694e-05,8.594539127e-01,7.029102940e-01,-1.394563747e-04,8.296373014e-01
+22,1.718333333e+01,DOWN_FORCE_DETACH,1792840251995712452,1.752961114e-04,-2.114650243e-05,-7.545629990e-04,1.739861225e-04,-2.760151336e-05,-7.462443520e-04,1.786777806e-04,-2.774101416e-05,-7.454488338e-04,7.021308940e-01,-4.313155701e-05,8.593888229e-01,7.021295840e-01,-4.958656794e-05,8.593971416e-01,7.029238148e-01,-1.453782302e-04,8.295806400e-01
+23,1.800000000e+01,DOWN_FORCE_DETACH,1792840252799044883,1.841480061e-04,-2.741288584e-05,-8.152266482e-04,1.815502693e-04,-2.457250450e-05,-8.116499185e-04,1.860795463e-04,-2.469399000e-05,-8.108166780e-04,7.021397459e-01,-4.939794042e-05,8.593281593e-01,7.021371481e-01,-4.655755908e-05,8.593317360e-01,7.029312165e-01,-1.423312060e-04,8.295152721e-01
+24,1.861666667e+01,DOWN_FORCE_DETACH,1792840253518857970,1.907107903e-04,-2.503353956e-05,-8.620317889e-04,1.915753899e-04,-2.255233225e-05,-8.510793577e-04,1.963751891e-04,-2.263476880e-05,-8.502457380e-04,7.021463087e-01,-4.701859414e-05,8.592813541e-01,7.021471733e-01,-4.453738683e-05,8.592923066e-01,7.029415122e-01,-1.402719848e-04,8.294758431e-01
+25,1.928333333e+01,DOWN_FORCE_DETACH,1792840254190844610,2.014711157e-04,-2.592471967e-05,-8.974332578e-04,1.974392295e-04,-2.721592111e-05,-8.940599568e-04,2.021424120e-04,-2.730350389e-05,-8.932242263e-04,7.021570690e-01,-4.790977425e-05,8.592459527e-01,7.021530371e-01,-4.920097569e-05,8.592493260e-01,7.029472794e-01,-1.449407199e-04,8.294328646e-01
+26,1.990000000e+01,DOWN_FORCE_DETACH,1792840254895582721,2.057036085e-04,-3.239297593e-05,-9.438613954e-04,2.054754295e-04,-2.214237256e-05,-9.358320938e-04,2.102875468e-04,-2.223967303e-05,-9.349920827e-04,7.021613015e-01,-5.437803051e-05,8.591995245e-01,7.021610733e-01,-4.412742714e-05,8.592075538e-01,7.029554245e-01,-1.398768890e-04,8.293910967e-01
+27,2.065000000e+01,DOWN_FORCE_DETACH,1792840255640622328,2.135191461e-04,-2.897696512e-05,-9.979120241e-04,2.107582681e-04,-3.287156642e-05,-9.978530266e-04,2.152335787e-04,-3.296306083e-05,-9.969340598e-04,7.021691170e-01,-5.096201970e-05,8.591454739e-01,7.021663561e-01,-5.485662100e-05,8.591455329e-01,7.029603706e-01,-1.506002768e-04,8.293291547e-01
+28,2.145000000e+01,DOWN_FORCE_DETACH,1792840256434752697,2.203271214e-04,-2.943028122e-05,-1.055169946e-03,2.208492424e-04,-3.528971321e-05,-1.037461038e-03,2.256158821e-04,-3.538931864e-05,-1.036629419e-03,7.021759250e-01,-5.141533580e-05,8.590882160e-01,7.021764471e-01,-5.727476779e-05,8.591059249e-01,7.029707529e-01,-1.530265346e-04,8.292894594e-01
+29,2.218333333e+01,DOWN_FORCE_DETACH,1792840257238630609,2.318552022e-04,-2.689370281e-05,-1.117784277e-03,2.319301564e-04,-2.671324439e-05,-1.117400705e-03,2.366184466e-04,-2.681654963e-05,-1.116284884e-03,7.021874531e-01,-4.887875739e-05,8.590256016e-01,7.021875280e-01,-4.869829897e-05,8.590259852e-01,7.029817554e-01,-1.444537656e-04,8.292098039e-01
+30,2.291666667e+01,DOWN_FORCE_DETACH,1792840257991309414,2.438086032e-04,-3.340902494e-05,-1.180786317e-03,2.401471757e-04,-3.353190570e-05,-1.180235209e-03,2.447537766e-04,-3.364508812e-05,-1.179044272e-03,7.021994065e-01,-5.539407952e-05,8.589625996e-01,7.021957450e-01,-5.551696028e-05,8.589631507e-01,7.029898908e-01,-1.512823041e-04,8.291470445e-01
+31,2.375000000e+01,DOWN_FORCE_DETACH,1792840258876035091,2.560800937e-04,-4.131402320e-05,-1.256081023e-03,2.515582439e-04,-3.774504612e-05,-1.244238696e-03,2.562990228e-04,-3.784306001e-05,-1.243085854e-03,7.022116780e-01,-6.329907778e-05,8.588873049e-01,7.022071561e-01,-5.973010070e-05,8.588991472e-01,7.030014360e-01,-1.554802760e-04,8.290830029e-01
+32,2.453333333e+01,DOWN_FORCE_DETACH,1792840259645552252,2.636901729e-04,-3.667785835e-05,-1.331163082e-03,2.621888098e-04,-4.038343740e-05,-1.324419022e-03,2.668044914e-04,-4.050664325e-05,-1.323272249e-03,7.022192880e-01,-5.866291293e-05,8.588122228e-01,7.022177867e-01,-6.236849198e-05,8.588189669e-01,7.030119415e-01,-1.581438593e-04,8.290028165e-01
+33,2.523333333e+01,DOWN_FORCE_DETACH,1792840260349535960,2.732876077e-04,-4.149822269e-05,-1.400194983e-03,2.677803161e-04,-3.851490487e-05,-1.394135271e-03,2.720144266e-04,-3.860487596e-05,-1.393038638e-03,7.022288855e-01,-6.348327727e-05,8.587431909e-01,7.022233782e-01,-6.049995945e-05,8.587492506e-01,7.030171514e-01,-1.562420920e-04,8.289330502e-01
+34,2.593333333e+01,DOWN_FORCE_DETACH,1792840261037974332,2.777345148e-04,-4.547976174e-05,-1.486523757e-03,2.755768809e-04,-4.862186885e-05,-1.478096737e-03,2.794025156e-04,-4.876364085e-05,-1.476901407e-03,7.022333324e-01,-6.746481632e-05,8.586568622e-01,7.022311747e-01,-7.060692343e-05,8.586652892e-01,7.030245395e-01,-1.664008569e-04,8.288491874e-01
+35,2.661666667e+01,DOWN_FORCE_DETACH,1792840261708858008,2.838524683e-04,-5.238221576e-05,-1.577595256e-03,2.819952193e-04,-4.451101380e-05,-1.564215564e-03,2.851389784e-04,-4.464260563e-05,-1.562986569e-03,7.022394503e-01,-7.436727034e-05,8.585657907e-01,7.022375931e-01,-6.649606838e-05,8.585791704e-01,7.030302760e-01,-1.622798216e-04,8.287631022e-01
+36,2.721666667e+01,DOWN_FORCE_DETACH,1792840262298755315,2.914867343e-04,-5.656125531e-05,-1.669209632e-03,2.887427845e-04,-5.803245058e-05,-1.671933750e-03,2.910887855e-04,-5.822263444e-05,-1.670500025e-03,7.022470846e-01,-7.854630989e-05,8.584741763e-01,7.022443407e-01,-8.001750516e-05,8.584714522e-01,7.030362258e-01,-1.758598504e-04,8.286555888e-01
+37,2.786666667e+01,DOWN_FORCE_DETACH,1792840262937930407,2.995059538e-04,-6.253641354e-05,-1.784050159e-03,2.989340624e-04,-6.384131967e-05,-1.777239735e-03,3.007015044e-04,-6.401466809e-05,-1.775694900e-03,7.022551038e-01,-8.452146812e-05,8.583593358e-01,7.022545319e-01,-8.582637425e-05,8.583661462e-01,7.030458385e-01,-1.816518841e-04,8.285503939e-01
+38,2.845000000e+01,DOWN_FORCE_DETACH,1792840263527980956,3.057146563e-04,-6.709786039e-05,-1.894225382e-03,3.049256862e-04,-6.889640640e-05,-1.891766639e-03,3.057284332e-04,-6.905640911e-05,-1.890121989e-03,7.022613125e-01,-8.908291497e-05,8.582491605e-01,7.022605236e-01,-9.088146098e-05,8.582516193e-01,7.030508654e-01,-1.866936251e-04,8.284359668e-01
+39,2.901666667e+01,DOWN_FORCE_DETACH,1792840264084791907,3.062685155e-04,-6.831101881e-05,-2.021076970e-03,3.061666162e-04,-6.833890989e-05,-2.020945137e-03,3.056528113e-04,-6.847800374e-05,-2.019125557e-03,7.022618664e-01,-9.029607339e-05,8.581223089e-01,7.022617645e-01,-9.032396447e-05,8.581224408e-01,7.030507898e-01,-1.861152197e-04,8.283069632e-01
+40,2.960000000e+01,DOWN_FORCE_DETACH,1792840264690681789,3.219477340e-04,-7.119206759e-05,-2.146195022e-03,3.188383770e-04,-7.007326430e-05,-2.129156541e-03,3.179946742e-04,-7.026072911e-05,-2.127350361e-03,7.022775456e-01,-9.317712217e-05,8.579971909e-01,7.022744362e-01,-9.205831888e-05,8.580142294e-01,7.030631317e-01,-1.878979451e-04,8.281987384e-01
+41,3.016666667e+01,DOWN_FORCE_DETACH,1792840265247209790,3.281865026e-04,-7.808464592e-05,-2.290990756e-03,3.280966668e-04,-7.804250479e-05,-2.290858993e-03,3.260677978e-04,-7.823199012e-05,-2.288805687e-03,7.022837844e-01,-1.000697005e-04,8.578523952e-01,7.022836945e-01,-1.000275594e-04,8.578525269e-01,7.030712048e-01,-1.958692061e-04,8.280372831e-01
+42,3.070000000e+01,DOWN_FORCE_DETACH,1792840265772008717,3.352369509e-04,-7.916284649e-05,-2.439506392e-03,3.354303544e-04,-8.294096716e-05,-2.422858268e-03,3.324736798e-04,-8.310086900e-05,-2.420837240e-03,7.022908348e-01,-1.011479011e-04,8.577038795e-01,7.022910282e-01,-1.049260217e-04,8.577205276e-01,7.030776107e-01,-2.007380850e-04,8.279052516e-01
+43,3.116666667e+01,DOWN_FORCE_DETACH,1792840266246447903,3.383925655e-04,-8.590821513e-05,-2.585739938e-03,3.381336424e-04,-8.634300481e-05,-2.581622567e-03,3.334154654e-04,-8.651293932e-05,-2.579329714e-03,7.022939904e-01,-1.078932697e-04,8.575576460e-01,7.022937315e-01,-1.083280594e-04,8.575617633e-01,7.030785525e-01,-2.041501553e-04,8.277467591e-01
+44,3.160000000e+01,DOWN_FORCE_DETACH,1792840266688838093,3.337509537e-04,-9.053259232e-05,-2.746102734e-03,3.341948639e-04,-9.431343144e-05,-2.740376005e-03,3.272455760e-04,-9.443133271e-05,-2.737885696e-03,7.022893488e-01,-1.125176469e-04,8.573972832e-01,7.022897927e-01,-1.162984860e-04,8.574030099e-01,7.030723826e-01,-2.120685487e-04,8.275882031e-01
+45,3.200000000e+01,DOWN_FORCE_DETACH,1792840267081905654,3.301671336e-04,-9.454921278e-05,-2.904120709e-03,3.301756974e-04,-9.313932620e-05,-2.889997576e-03,3.211296090e-04,-9.322030003e-05,-2.887426452e-03,7.022857650e-01,-1.165342674e-04,8.572392652e-01,7.022857736e-01,-1.151243808e-04,8.572533883e-01,7.030662666e-01,-2.108575160e-04,8.274386623e-01
+46,3.240000000e+01,DOWN_FORCE_DETACH,1792840267525004950,3.374635635e-04,-1.007142573e-04,-3.070147391e-03,3.318703268e-04,-9.591168577e-05,-3.060582496e-03,3.208578873e-04,-9.601490644e-05,-3.057799509e-03,7.022930614e-01,-1.226993118e-04,8.570732385e-01,7.022874682e-01,-1.178967403e-04,8.570828034e-01,7.030659949e-01,-2.136521224e-04,8.272682893e-01
+47,3.278333333e+01,DOWN_FORCE_DETACH,1792840267933591320,3.513943580e-04,-9.816845458e-05,-3.233464550e-03,3.523665988e-04,-9.800065937e-05,-3.218261819e-03,3.409951284e-04,-9.812380348e-05,-3.215456085e-03,7.023069922e-01,-1.201535092e-04,8.569099214e-01,7.023079645e-01,-1.199857140e-04,8.569251241e-01,7.030861321e-01,-2.157610195e-04,8.271106327e-01
+48,3.318333333e+01,DOWN_FORCE_DETACH,1792840268326919064,3.498157466e-04,-1.081006089e-04,-3.400666170e-03,3.465869962e-04,-1.055086682e-04,-3.391942394e-03,3.327647605e-04,-1.056067567e-04,-3.389079101e-03,7.023054136e-01,-1.300856635e-04,8.567427197e-01,7.023021849e-01,-1.274937228e-04,8.567514435e-01,7.030779017e-01,-2.232439727e-04,8.269370097e-01
+49,3.351666667e+01,DOWN_FORCE_DETACH,1792840268687411048,3.450294428e-04,-1.020057419e-04,-3.571238715e-03,3.450533760e-04,-1.020348790e-04,-3.571021401e-03,3.289238877e-04,-1.021341097e-04,-3.567920920e-03,7.023006273e-01,-1.239907965e-04,8.565721472e-01,7.023006512e-01,-1.240199336e-04,8.565723645e-01,7.030740609e-01,-2.197713257e-04,8.267581679e-01
+50,3.383333333e+01,DOWN_FORCE_DETACH,1792840268998159881,3.390795257e-04,-1.105120581e-04,-3.725461614e-03,3.363040456e-04,-1.056705294e-04,-3.722941605e-03,3.177060381e-04,-1.057112324e-04,-3.719815468e-03,7.022946774e-01,-1.324971127e-04,8.564179243e-01,7.022919019e-01,-1.276555839e-04,8.564204443e-01,7.030628430e-01,-2.233484484e-04,8.266062733e-01
+51,3.416666667e+01,DOWN_FORCE_DETACH,1792840269326491199,3.298923883e-04,-1.126600110e-04,-3.899492797e-03,3.298975411e-04,-1.129254879e-04,-3.899248002e-03,3.086798624e-04,-1.129596533e-04,-3.896043918e-03,7.022854903e-01,-1.346450656e-04,8.562438931e-01,7.022854954e-01,-1.349105425e-04,8.562441379e-01,7.030538168e-01,-2.305968693e-04,8.264300449e-01
+52,3.446666667e+01,DOWN_FORCE_DETACH,1792840269637131118,3.197369602e-04,-1.148916634e-04,-4.069141588e-03,3.211174169e-04,-1.147277279e-04,-4.052061563e-03,2.974345604e-04,-1.147332729e-04,-4.048969538e-03,7.022753348e-01,-1.368767180e-04,8.560742443e-01,7.022767153e-01,-1.367127825e-04,8.560913244e-01,7.030425715e-01,-2.323704889e-04,8.262771193e-01
+53,3.478333333e+01,DOWN_FORCE_DETACH,1792840269947958110,3.134527378e-04,-1.166058778e-04,-4.247170280e-03,3.133574988e-04,-1.164768068e-04,-4.246932060e-03,2.868122112e-04,-1.164709486e-04,-4.243698303e-03,7.022690506e-01,-1.385909324e-04,8.558962156e-01,7.022689554e-01,-1.384618613e-04,8.558964539e-01,7.030319492e-01,-2.341081646e-04,8.260823905e-01
+54,3.506666667e+01,DOWN_FORCE_DETACH,1792840270243209950,3.089222712e-04,-1.190413032e-04,-4.418058131e-03,3.046617686e-04,-1.240560276e-04,-4.413406374e-03,2.754526672e-04,-1.240433191e-04,-4.410153646e-03,7.022645201e-01,-1.410263578e-04,8.557253278e-01,7.022602596e-01,-1.460410822e-04,8.557299795e-01,7.030205897e-01,-2.416805351e-04,8.259159351e-01
+55,3.538333333e+01,DOWN_FORCE_DETACH,1792840270554477573,3.196101556e-04,-1.283740207e-04,-4.580183221e-03,3.208484469e-04,-1.281307486e-04,-4.570516775e-03,2.909099438e-04,-1.280898477e-04,-4.567386184e-03,7.022752080e-01,-1.503590753e-04,8.555632027e-01,7.022764463e-01,-1.501158032e-04,8.555728691e-01,7.030360469e-01,-2.457270637e-04,8.257587026e-01
+56,3.556666667e+01,DOWN_FORCE_DETACH,1792840270849353555,3.121581657e-04,-1.371276669e-04,-4.761496771e-03,3.154882221e-04,-1.364800816e-04,-4.749018162e-03,2.830470534e-04,-1.364646046e-04,-4.745465478e-03,7.022677560e-01,-1.591127215e-04,8.553818891e-01,7.022710861e-01,-1.584651362e-04,8.553943678e-01,7.030281840e-01,-2.541018206e-04,8.255806233e-01
+57,3.583333333e+01,DOWN_FORCE_DETACH,1792840271111321191,3.149291623e-04,-1.245874502e-04,-4.912772735e-03,3.146036595e-04,-1.245994905e-04,-4.912393941e-03,2.801103341e-04,-1.245526264e-04,-4.908946429e-03,7.022705270e-01,-1.465725048e-04,8.552306132e-01,7.022702015e-01,-1.465845451e-04,8.552309920e-01,7.030252473e-01,-2.421898424e-04,8.254171424e-01
+58,3.611666667e+01,DOWN_SETTLE,1792840271390661756,3.000884943e-04,-1.351734150e-04,-5.087429072e-03,3.011995786e-04,-1.322196661e-04,-5.074124454e-03,2.637828559e-04,-1.321510197e-04,-5.070973302e-03,7.022556864e-01,-1.571584695e-04,8.550559568e-01,7.022567974e-01,-1.542047207e-04,8.550692615e-01,7.030089198e-01,-2.497882357e-04,8.252551155e-01
+59,3.690000000e+01,DOWN_PEAK_HOLD,1792840272176082951,2.738473949e-04,-1.213173390e-04,-5.175814837e-03,2.753188366e-04,-1.249938986e-04,-5.175022363e-03,2.346499180e-04,-1.249617650e-04,-5.173513910e-03,7.022294453e-01,-1.433023936e-04,8.549675711e-01,7.022309167e-01,-1.469789531e-04,8.549683636e-01,7.029797869e-01,-2.425989810e-04,8.251525749e-01

Fixed/digit/ball_15A_17.5/press_depth_06/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.4229e-02,1.2135e-01,2.4600e+00,-4.4985e-02,4.0629e-02,1.8669e-04,4.5760e-04,6.6981e-05,-1.0586e-04,-9.0897e-07,3.2730e-05,-1.9441e-07,4.7444e-04,3.2744e-05
+1,8.3333e-01,DOWN_FORCE_DETACH,1.8531e-04,7.2554e-02,1.2316e-01,2.4566e+00,-4.4968e-02,4.1931e-02,1.7646e-04,1.8783e-02,1.8709e-03,-3.4850e-03,1.5702e-05,1.3343e-03,-1.0424e-05,1.9195e-02,1.3345e-03
+2,1.6667e+00,DOWN_FORCE_DETACH,3.7174e-04,8.3581e-02,1.2408e-01,2.4553e+00,-4.4949e-02,4.2709e-02,1.6536e-04,2.9810e-02,2.7957e-03,-4.7264e-03,3.4444e-05,2.1124e-03,-2.1529e-05,3.0312e-02,2.1128e-03
+3,2.3833e+00,DOWN_FORCE_DETACH,5.5603e-04,8.9399e-02,1.2449e-01,2.4550e+00,-4.4935e-02,4.3117e-02,1.5632e-04,3.5627e-02,3.2040e-03,-5.0168e-03,4.8440e-05,2.5213e-03,-3.0565e-05,3.6121e-02,2.5220e-03
+4,3.2167e+00,DOWN_FORCE_DETACH,7.4127e-04,8.7311e-02,1.5141e-01,2.5046e+00,-4.6747e-02,4.2909e-02,1.5404e-04,3.3540e-02,3.0119e-02,4.4540e-02,-1.7632e-03,2.3125e-03,-3.2849e-05,6.3371e-02,2.9082e-03
+5,4.0167e+00,DOWN_FORCE_DETACH,9.2944e-04,9.3806e-02,1.3882e-01,2.5043e+00,-4.5866e-02,4.3359e-02,1.3380e-04,4.0034e-02,1.7537e-02,4.4195e-02,-8.8229e-04,2.7632e-03,-5.3086e-05,6.2157e-02,2.9011e-03
+6,4.8000e+00,DOWN_FORCE_DETACH,1.1124e-03,9.9026e-02,1.5096e-01,2.5341e+00,-4.6702e-02,4.3682e-02,1.0949e-04,4.5255e-02,2.9677e-02,7.4007e-02,-1.7180e-03,3.0859e-03,-7.7393e-05,9.1683e-02,3.5328e-03
+7,5.6333e+00,DOWN_FORCE_DETACH,1.2994e-03,9.8973e-02,1.6132e-01,2.5206e+00,-4.7443e-02,4.3677e-02,7.3191e-05,4.5202e-02,4.0029e-02,6.0555e-02,-2.4591e-03,3.0810e-03,-1.1370e-04,8.5513e-02,3.9437e-03
+8,6.4333e+00,DOWN_FORCE_DETACH,1.4838e-03,8.3231e-02,1.7168e-01,2.5415e+00,-4.8189e-02,4.2525e-02,3.9282e-05,2.9460e-02,5.0393e-02,8.1445e-02,-3.2057e-03,1.9291e-03,-1.4761e-04,1.0020e-01,3.7443e-03
+9,7.2833e+00,DOWN_FORCE_DETACH,1.6747e-03,8.1984e-02,1.7619e-01,2.5576e+00,-4.8549e-02,4.2400e-02,-3.7032e-06,2.8212e-02,5.4904e-02,9.7536e-02,-3.5649e-03,1.8042e-03,-1.9059e-04,1.1543e-01,4.0000e-03
+10,8.0500e+00,DOWN_FORCE_DETACH,1.8566e-03,8.0570e-02,1.8455e-01,2.5740e+00,-4.9178e-02,4.2262e-02,-4.9467e-05,2.6799e-02,6.3263e-02,1.1397e-01,-4.1947e-03,1.6662e-03,-2.3635e-04,1.3308e-01,4.5197e-03
+11,8.8500e+00,DOWN_FORCE_DETACH,2.0425e-03,8.0152e-02,1.9947e-01,2.5718e+00,-5.0279e-02,4.2221e-02,-9.8010e-05,2.6381e-02,7.8188e-02,1.1177e-01,-5.2953e-03,1.6245e-03,-2.8490e-04,1.3893e-01,5.5462e-03
+12,9.2500e+00,DOWN_FORCE_DETACH,2.2247e-03,3.1311e-02,1.9353e-01,2.5316e+00,-4.9937e-02,3.8823e-02,-1.0613e-04,-2.2461e-02,7.2246e-02,7.1515e-02,-4.9534e-03,-1.7732e-03,-2.9302e-04,1.0411e-01,5.2694e-03
+13,1.0017e+01,DOWN_FORCE_DETACH,2.4113e-03,5.6062e-02,2.0627e-01,2.5674e+00,-5.0867e-02,4.0524e-02,-1.7849e-04,2.2909e-03,8.4983e-02,1.0734e-01,-5.8832e-03,-7.2293e-05,-3.6538e-04,1.3693e-01,5.8949e-03
+14,1.0833e+01,DOWN_FORCE_DETACH,2.5969e-03,6.1614e-02,1.8681e-01,2.5866e+00,-4.9560e-02,4.0904e-02,-2.6913e-04,7.8428e-03,6.5525e-02,1.2658e-01,-4.5766e-03,3.0752e-04,-4.5602e-04,1.4275e-01,4.6095e-03
+15,1.1317e+01,DOWN_FORCE_DETACH,2.7825e-03,4.8672e-02,1.4767e-01,2.5920e+00,-4.6883e-02,3.9996e-02,-3.2156e-04,-5.0994e-03,2.6386e-02,1.3196e-01,-1.8996e-03,-6.0033e-04,-5.0845e-04,1.3466e-01,2.0560e-03
+16,1.1983e+01,DOWN_FORCE_DETACH,2.9712e-03,4.8620e-02,1.0443e-01,2.5763e+00,-4.3948e-02,4.0033e-02,-3.7151e-04,-5.1512e-03,-1.6860e-02,1.1622e-01,1.0353e-03,-5.6322e-04,-5.5839e-04,1.1755e-01,1.3041e-03
+17,1.2817e+01,DOWN_FORCE_DETACH,3.1579e-03,4.7788e-02,1.2541e-01,2.5885e+00,-4.5437e-02,3.9975e-02,-3.7721e-04,-5.9835e-03,4.1194e-03,1.2846e-01,-4.5284e-04,-6.2133e-04,-5.6410e-04,1.2867e-01,9.5358e-04
+18,1.3650e+01,DOWN_FORCE_DETACH,3.3416e-03,5.8227e-02,1.2928e-01,2.5652e+00,-4.5758e-02,4.0737e-02,-3.3513e-04,4.4560e-03,7.9957e-03,1.0516e-01,-7.7414e-04,1.4036e-04,-5.2202e-04,1.0556e-01,9.4419e-04
+19,1.4550e+01,DOWN_FORCE_DETACH,3.5269e-03,6.8555e-02,1.4422e-01,2.5549e+00,-4.6849e-02,4.1468e-02,-2.3463e-04,1.4784e-02,2.2931e-02,9.4876e-02,-1.8656e-03,8.7182e-04,-4.2152e-04,9.8721e-02,2.1020e-03
+20,1.5350e+01,DOWN_FORCE_DETACH,3.7086e-03,7.7674e-02,1.5176e-01,2.5640e+00,-4.7407e-02,4.2091e-02,-1.1891e-04,2.3903e-02,3.0476e-02,1.0394e-01,-2.4230e-03,1.4952e-03,-3.0580e-04,1.1092e-01,2.8636e-03
+21,1.6283e+01,DOWN_FORCE_DETACH,3.8970e-03,8.4029e-02,1.5794e-01,2.5615e+00,-4.7855e-02,4.2537e-02,2.2895e-05,3.0258e-02,3.6649e-02,1.0143e-01,-2.8710e-03,1.9406e-03,-1.6399e-04,1.1202e-01,3.4692e-03
+22,1.7183e+01,DOWN_FORCE_DETACH,4.0858e-03,8.1733e-02,1.7524e-01,2.5712e+00,-4.9028e-02,4.2360e-02,1.4557e-04,2.7962e-02,5.3956e-02,1.1112e-01,-4.0444e-03,1.7639e-03,-4.1322e-05,1.2665e-01,4.4125e-03
+23,1.8000e+01,DOWN_FORCE_DETACH,4.2694e-03,8.5519e-02,1.7019e-01,2.5880e+00,-4.8616e-02,4.2619e-02,2.1624e-04,3.1747e-02,4.8903e-02,1.2793e-01,-3.6323e-03,2.0229e-03,2.9356e-05,1.4059e-01,4.1577e-03
+24,1.8617e+01,DOWN_FORCE_DETACH,4.4551e-03,8.0479e-02,1.6672e-01,2.5840e+00,-4.8327e-02,4.2283e-02,2.4805e-04,2.6707e-02,4.5436e-02,1.2392e-01,-3.3435e-03,1.6869e-03,6.1164e-05,1.3466e-01,3.7454e-03
+25,1.9283e+01,DOWN_FORCE_DETACH,4.6395e-03,8.0898e-02,1.8195e-01,2.5784e+00,-4.9321e-02,4.2336e-02,2.6685e-04,2.7127e-02,6.0666e-02,1.1838e-01,-4.3372e-03,1.7399e-03,7.9965e-05,1.3576e-01,4.6739e-03
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Fixed/digit/ball_15A_17.5/press_depth_06/up/camera_frames_60hz.tar

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Fixed/digit/ball_15A_17.5/press_depth_06/up/franka_data.csv

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+30447,1792840229194000407,18908622000000,1792840229186578264,UP_SETTLE,6,0.07,0.07000132650136948,0.6759005718982863,-0.0047031526737550495,0.10697674662716779,0.9999999283288654,-8.674481313352145e-05,-0.000346192550591758,-8.608823274314056e-05,0.6761,-0.0046,0.10745983735995232,1.0,0.0,0.0,0.0,0.7740092708784749,0.7397870550552977,-0.5379251078265906,0.051654781890713874,-0.05558335366751129,-0.0007822947158418903,0.7192007891715554,0.6693127920644665,-0.40703942653708775,0.05059233456098652,-0.05559147228030443,0.00012101470374279497,-0.054808481706919494,-0.07047426299083123,0.13088568128950293,-0.00106244732972736,-8.11861279313527e-06,0.0009033094195846853,1,-1.3103988950678287,1.2201076427585509,3.2246207423967803,-0.5564769156851136,-2.358704108301036,0.6691278784805381,1.6297903475282756,0.5379251078265906,-1.5948303948685048,0.5379251078265906,0.4666,0,0,4.6595990667282254e-05,-9.999999025923074e-05
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Fixed/digit/ball_15A_17.5/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
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+3,6.666666667e-01,WAIT_W2,1792840223052612197,1.095298897e-06,1.759044058e-07,8.188615058e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.107029986e-08,5.548435896e-09,-1.634600522e-08,7.019566932e-01,-2.180915017e-05,8.601442048e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452281e-01,-1.176316725e-04,8.303260724e-01
+4,8.166666667e-01,WAIT_W2,1792840223201133127,-5.400982139e-07,-3.504429366e-06,5.817794380e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.065421814e-07,6.326568937e-09,-1.856200804e-08,7.019550578e-01,-2.548948395e-05,8.601434441e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452436e-01,-1.176308944e-04,8.303260702e-01
+5,8.666666667e-01,WAIT_W2,1792840223248831699,2.796364755e-06,-1.764549784e-05,5.103306059e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.113969569e-07,6.566789230e-09,-1.921683868e-08,7.019583942e-01,-3.963055242e-05,8.601484892e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452484e-01,-1.176306542e-04,8.303260696e-01
+6,8.833333333e-01,WAIT_W2,1792840223265013070,1.654501476e-06,-4.514886213e-05,3.300778205e-06,1.644893671e-06,-4.508953477e-05,3.234718216e-06,1.890896984e-06,-4.511263209e-05,3.151856975e-06,7.019572524e-01,-6.713391671e-05,8.601466867e-01,7.019572428e-01,-6.707458935e-05,8.601466206e-01,7.027470279e-01,-1.627498531e-04,8.303292406e-01
+7,9.000000000e-01,WAIT_W2,1792840223282014395,3.946859717e-07,-8.394762163e-05,3.952627788e-06,4.668403374e-07,-8.381547116e-05,4.122133817e-06,6.365557427e-07,-8.391743768e-05,4.070993210e-06,7.019559926e-01,-1.059326762e-04,8.601473385e-01,7.019560647e-01,-1.058005257e-04,8.601475080e-01,7.027457736e-01,-2.015546586e-04,8.303301598e-01
+8,9.166666667e-01,WAIT_W2,1792840223298485352,2.891978409e-06,-1.308461181e-04,1.029925253e-05,2.761249325e-06,-1.306610493e-04,1.040616527e-05,3.140410355e-06,-1.308510395e-04,1.032588953e-05,7.019584898e-01,-1.528311727e-04,8.601536852e-01,7.019583591e-01,-1.526461039e-04,8.601537921e-01,7.027482774e-01,-2.484882605e-04,8.303364147e-01
+9,9.333333333e-01,WAIT_W2,1792840223314580140,2.828062270e-06,-1.550109879e-04,1.068588367e-05,2.881951213e-06,-1.547553017e-04,1.100441931e-05,3.305546058e-06,-1.549762464e-04,1.093708780e-05,7.019584259e-01,-1.769960425e-04,8.601540718e-01,7.019584798e-01,-1.767403563e-04,8.601543903e-01,7.027484426e-01,-2.726134674e-04,8.303370259e-01
+10,9.500000000e-01,WAIT_W2,1792840223331649202,4.340749280e-06,-2.174998275e-04,1.264635321e-05,4.331100564e-06,-2.174439188e-04,1.226928584e-05,4.885853621e-06,-2.177386364e-04,1.226924140e-05,7.019599386e-01,-2.394848820e-04,8.601560323e-01,7.019599290e-01,-2.394289733e-04,8.601556552e-01,7.027500229e-01,-3.353758574e-04,8.303383580e-01
+11,9.666666667e-01,WAIT_W2,1792840223347041198,4.692744749e-06,-2.670109498e-04,1.771443575e-05,4.812538604e-06,-2.671438129e-04,1.776391053e-05,5.488932586e-06,-2.675539471e-04,1.773766351e-05,7.019602906e-01,-2.889960044e-04,8.601611004e-01,7.019604104e-01,-2.891288675e-04,8.601611498e-01,7.027506260e-01,-3.851911680e-04,8.303438264e-01
+12,9.666666667e-01,WAIT_W2,1792840223347041198,4.692744749e-06,-2.670109498e-04,1.771443575e-05,4.812538604e-06,-2.671438129e-04,1.776391053e-05,5.488932586e-06,-2.675539471e-04,1.773766351e-05,7.019602906e-01,-2.889960044e-04,8.601611004e-01,7.019604104e-01,-2.891288675e-04,8.601611498e-01,7.027506260e-01,-3.851911680e-04,8.303438264e-01
+13,9.833333333e-01,WAIT_W2,1792840223373957007,5.324652432e-06,-3.081073494e-04,1.615301732e-05,5.105115746e-06,-3.078961340e-04,1.603799873e-05,5.807185439e-06,-3.083603232e-04,1.600198613e-05,7.019609225e-01,-3.300924039e-04,8.601595389e-01,7.019607030e-01,-3.298811886e-04,8.601594239e-01,7.027509442e-01,-4.259975441e-04,8.303420908e-01
+14,1.083333333e+00,WAIT_W2,1792840223478122748,3.531426775e-06,-2.953055108e-04,1.621980402e-05,6.832227119e-06,-2.797751156e-04,1.700343371e-05,7.628122749e-06,-2.802537045e-04,1.699690620e-05,7.019591293e-01,-3.172905654e-04,8.601596057e-01,7.019624301e-01,-3.017601702e-04,8.601603893e-01,7.027527651e-01,-3.978909255e-04,8.303430857e-01
+15,1.200000000e+00,WAIT_W2,1792840223593112284,7.193376835e-06,-2.928337425e-04,2.368627606e-05,6.832227119e-06,-2.797751156e-04,1.700343371e-05,7.645855162e-06,-2.802626834e-04,1.702814585e-05,7.019627912e-01,-3.148187971e-04,8.601670722e-01,7.019624301e-01,-3.017601702e-04,8.601603893e-01,7.027527829e-01,-3.978999043e-04,8.303431169e-01
+16,1.333333333e+00,WAIT_W2,1792840223724389693,1.010981909e-05,-2.949342771e-04,2.802931164e-05,8.427841639e-06,-2.979369799e-04,2.620641037e-05,9.545910804e-06,-2.984473106e-04,2.626000807e-05,7.019657077e-01,-3.169193317e-04,8.601714152e-01,7.019640257e-01,-3.199220345e-04,8.601695923e-01,7.027546829e-01,-4.160845315e-04,8.303523488e-01
+17,1.500000000e+00,WAIT_W2,1792840223888710095,6.729205549e-06,-2.955400383e-04,2.614265203e-05,8.427841639e-06,-2.979369799e-04,2.620641037e-05,9.567489326e-06,-2.984563600e-04,2.630420064e-05,7.019623271e-01,-3.175250929e-04,8.601695286e-01,7.019640257e-01,-3.199220345e-04,8.601695923e-01,7.027547045e-01,-4.160935810e-04,8.303523930e-01
+18,1.616666667e+00,UP_FORCE_RAMP,1792840224084641285,1.029268558e-05,-2.921126837e-04,3.033946260e-05,8.427841639e-06,-2.979369799e-04,2.620641037e-05,9.580900045e-06,-2.984614370e-04,2.632829798e-05,7.019658906e-01,-3.140977383e-04,8.601737254e-01,7.019640257e-01,-3.199220345e-04,8.601695923e-01,7.027547179e-01,-4.160986579e-04,8.303524171e-01
+19,1.783333333e+00,UP_FORCE_RAMP,1792840224247985830,1.005172509e-05,-2.903576457e-04,3.175353300e-05,8.427841639e-06,-2.979369799e-04,2.620641037e-05,9.597802013e-06,-2.984671917e-04,2.635639152e-05,7.019656496e-01,-3.123427003e-04,8.601751394e-01,7.019640257e-01,-3.199220345e-04,8.601695923e-01,7.027547348e-01,-4.161044127e-04,8.303524452e-01
+20,1.900000000e+00,UP_FORCE_RAMP,1792840224362954799,9.283918914e-06,-2.897294620e-04,2.835440180e-05,8.427841639e-06,-2.979369799e-04,2.620641037e-05,9.608335831e-06,-2.984705326e-04,2.637250995e-05,7.019648818e-01,-3.117145166e-04,8.601717403e-01,7.019640257e-01,-3.199220345e-04,8.601695923e-01,7.027547454e-01,-4.161077535e-04,8.303524613e-01
+21,2.083333333e+00,UP_FORCE_RAMP,1792840224542981088,1.074925667e-05,-2.917318701e-04,3.383864192e-05,8.427841639e-06,-2.979369799e-04,2.620641037e-05,9.622977155e-06,-2.984749553e-04,2.639318907e-05,7.019663471e-01,-3.137169247e-04,8.601772246e-01,7.019640257e-01,-3.199220345e-04,8.601695923e-01,7.027547600e-01,-4.161121763e-04,8.303524820e-01
+22,2.250000000e+00,UP_FORCE_RAMP,1792840224756080597,1.340637759e-05,-2.906250236e-04,4.054422477e-05,8.427841639e-06,-2.979369799e-04,2.620641037e-05,9.634572296e-06,-2.984782672e-04,2.640796878e-05,7.019690042e-01,-3.126100782e-04,8.601839301e-01,7.019640257e-01,-3.199220345e-04,8.601695923e-01,7.027547716e-01,-4.161154881e-04,8.303524967e-01
+23,2.366666667e+00,UP_FORCE_RAMP,1792840224871420915,1.426315735e-05,-2.923788628e-04,4.482763466e-05,1.435558133e-05,-2.923523187e-04,4.516642927e-05,1.622051574e-05,-2.928622848e-04,4.521927584e-05,7.019698610e-01,-3.143639173e-04,8.601882136e-01,7.019699534e-01,-3.143373733e-04,8.601885523e-01,7.027613575e-01,-4.104995058e-04,8.303713080e-01
+24,2.566666667e+00,UP_FORCE_RAMP,1792840225083852306,1.296730217e-05,-2.872940360e-04,5.257813661e-05,1.435558133e-05,-2.923523187e-04,4.516642927e-05,1.625284249e-05,-2.928637164e-04,4.528153200e-05,7.019685652e-01,-3.092790905e-04,8.601959641e-01,7.019699534e-01,-3.143373733e-04,8.601885523e-01,7.027613899e-01,-4.105009374e-04,8.303713703e-01
+25,2.666666667e+00,UP_FORCE_RAMP,1792840225182522553,1.431085510e-05,-2.907056870e-04,6.164492026e-05,1.435558133e-05,-2.923523187e-04,4.516642927e-05,1.626265733e-05,-2.928656664e-04,4.529883860e-05,7.019699087e-01,-3.126907416e-04,8.602050308e-01,7.019699534e-01,-3.143373733e-04,8.601885523e-01,7.027613997e-01,-4.105028874e-04,8.303713876e-01
+26,2.850000000e+00,UP_FORCE_RAMP,1792840225366682936,1.364829810e-05,-2.877965649e-04,7.136583113e-05,1.513623799e-05,-2.889519178e-04,6.647381579e-05,1.737825339e-05,-2.895026826e-04,6.647311048e-05,7.019692462e-01,-3.097816195e-04,8.602147517e-01,7.019707341e-01,-3.109369724e-04,8.602098597e-01,7.027625153e-01,-4.071399035e-04,8.303925619e-01
+27,3.000000000e+00,UP_FORCE_RAMP,1792840225525805454,1.140063136e-05,-2.897951227e-04,8.235434766e-05,1.513623799e-05,-2.889519178e-04,6.647381579e-05,1.739022062e-05,-2.895055341e-04,6.651547732e-05,7.019669985e-01,-3.117801773e-04,8.602257403e-01,7.019707341e-01,-3.109369724e-04,8.602098597e-01,7.027625272e-01,-4.071427551e-04,8.303926042e-01
+28,3.183333333e+00,UP_FORCE_RAMP,1792840225706255662,1.111821100e-05,-2.927943051e-04,9.314991945e-05,1.302523319e-05,-2.848696395e-04,8.680770585e-05,1.539022458e-05,-2.854250921e-04,8.677790344e-05,7.019667161e-01,-3.147793596e-04,8.602365358e-01,7.019686231e-01,-3.068546940e-04,8.602301936e-01,7.027605273e-01,-4.030623130e-04,8.304128667e-01
+29,3.350000000e+00,UP_FORCE_RAMP,1792840225903003219,1.278305129e-05,-2.854000245e-04,1.082338928e-04,1.291751378e-05,-2.854916025e-04,1.084682494e-04,1.551146169e-05,-2.860654779e-04,1.083521384e-04,7.019683809e-01,-3.073850790e-04,8.602516198e-01,7.019685154e-01,-3.074766571e-04,8.602518542e-01,7.027606485e-01,-4.037026988e-04,8.304344409e-01
+30,3.466666667e+00,UP_FORCE_RAMP,1792840226017717720,1.132394364e-05,-2.826771458e-04,1.162686411e-04,1.291751378e-05,-2.854916025e-04,1.084682494e-04,1.551720585e-05,-2.860681982e-04,1.084251900e-04,7.019669218e-01,-3.046622004e-04,8.602596546e-01,7.019685154e-01,-3.074766571e-04,8.602518542e-01,7.027606542e-01,-4.037054191e-04,8.304345140e-01
+31,3.616666667e+00,UP_FORCE_RAMP,1792840226165001652,1.365682137e-05,-2.906245091e-04,1.348329413e-04,1.369574867e-05,-2.849083003e-04,1.306133029e-04,1.661538915e-05,-2.854714953e-04,1.304436954e-04,7.019692547e-01,-3.126095637e-04,8.602782189e-01,7.019692936e-01,-3.068933549e-04,8.602739992e-01,7.027617524e-01,-4.031087163e-04,8.304565325e-01
+32,3.716666667e+00,UP_FORCE_RAMP,1792840226263214989,1.704690297e-05,-2.843835078e-04,1.508273449e-04,1.726674687e-05,-2.846697986e-04,1.508086304e-04,2.068686677e-05,-2.852569078e-04,1.505372359e-04,7.019726448e-01,-3.063685624e-04,8.602942133e-01,7.019728646e-01,-3.066548531e-04,8.602941945e-01,7.027658239e-01,-4.028941288e-04,8.304766260e-01
+33,3.866666667e+00,UP_FORCE_RAMP,1792840226427144388,1.473972285e-05,-2.815438744e-04,1.600161627e-04,1.726674687e-05,-2.846697986e-04,1.508086304e-04,2.070247380e-05,-2.852593503e-04,1.506503075e-04,7.019703376e-01,-3.035289290e-04,8.603034021e-01,7.019728646e-01,-3.066548531e-04,8.602941945e-01,7.027658395e-01,-4.028965713e-04,8.304767391e-01
+34,4.000000000e+00,UP_FORCE_RAMP,1792840226557825155,9.428356476e-06,-2.780205950e-04,1.648538239e-04,1.726674687e-05,-2.846697986e-04,1.508086304e-04,2.070931074e-05,-2.852617796e-04,1.507173813e-04,7.019650262e-01,-3.000056496e-04,8.603082397e-01,7.019728646e-01,-3.066548531e-04,8.602941945e-01,7.027658463e-01,-4.028990006e-04,8.304768061e-01
+35,4.100000000e+00,UP_FORCE_RAMP,1792840226656004699,4.434591200e-06,-2.826187786e-04,1.701223287e-04,9.792293637e-06,-2.807345795e-04,1.694308633e-04,1.296210899e-05,-2.813211608e-04,1.691932181e-04,7.019600325e-01,-3.046038332e-04,8.603135082e-01,7.019653902e-01,-3.027196340e-04,8.603128168e-01,7.027580991e-01,-3.989583818e-04,8.304952820e-01
+36,4.183333333e+00,UP_FORCE_RAMP,1792840226738395079,-1.551325689e-05,-2.771580063e-04,1.705559134e-04,-1.531029832e-05,-2.771339190e-04,1.700234948e-04,-1.387396894e-05,-2.777136779e-04,1.698197689e-04,7.019400846e-01,-2.991430609e-04,8.603139418e-01,7.019402876e-01,-2.991189735e-04,8.603134094e-01,7.027312631e-01,-3.953508988e-04,8.304959085e-01
+37,4.366666667e+00,UP_FORCE_RAMP,1792840226918220081,-1.180469651e-05,-2.774971333e-04,1.868250564e-04,-1.531029832e-05,-2.771339190e-04,1.700234948e-04,-1.395473631e-05,-2.777160339e-04,1.699020125e-04,7.019437932e-01,-2.994821879e-04,8.603302110e-01,7.019402876e-01,-2.991189735e-04,8.603134094e-01,7.027311823e-01,-3.953532548e-04,8.304959908e-01
+38,4.500000000e+00,UP_FORCE_RAMP,1792840227049019481,-1.033632900e-05,-2.744132172e-04,2.023094055e-04,-9.179255267e-06,-2.763544682e-04,1.937574325e-04,-7.156547834e-06,-2.769743807e-04,1.935030134e-04,7.019452615e-01,-2.963982718e-04,8.603456953e-01,7.019464186e-01,-2.983395228e-04,8.603371433e-01,7.027379805e-01,-3.946116017e-04,8.305195918e-01
+39,4.650000000e+00,UP_FORCE_RAMP,1792840227196709610,-3.632556202e-06,-2.783942278e-04,2.262426399e-04,-6.627746916e-06,-2.775808373e-04,2.152591076e-04,-4.183254222e-06,-2.781875204e-04,2.149960842e-04,7.019519653e-01,-3.003792824e-04,8.603696286e-01,7.019489701e-01,-2.995658919e-04,8.603586450e-01,7.027409538e-01,-3.958247414e-04,8.305410849e-01
+40,4.850000000e+00,UP_FORCE_RAMP,1792840227393219992,-5.109439039e-06,-2.744342579e-04,2.444904684e-04,-6.122904264e-06,-2.771661578e-04,2.363271826e-04,-3.364531402e-06,-2.777928072e-04,2.359872824e-04,7.019504884e-01,-2.964193125e-04,8.603878764e-01,7.019494750e-01,-2.991512124e-04,8.603797131e-01,7.027417725e-01,-3.954300282e-04,8.305620761e-01
+41,5.000000000e+00,UP_FORCE_RAMP,1792840227540438653,-4.864538772e-06,-2.750056323e-04,2.599537912e-04,-5.022163979e-06,-2.762614266e-04,2.569231597e-04,-1.961509977e-06,-2.768757877e-04,2.565276350e-04,7.019507333e-01,-2.969906868e-04,8.604033397e-01,7.019505757e-01,-2.982464812e-04,8.604003091e-01,7.027431755e-01,-3.945130086e-04,8.305826164e-01
+42,5.150000000e+00,UP_FORCE_RAMP,1792840227687597020,-4.243248104e-06,-2.758448517e-04,2.767541951e-04,-5.022163979e-06,-2.762614266e-04,2.569231597e-04,-1.968312194e-06,-2.768772564e-04,2.566281997e-04,7.019513546e-01,-2.978299062e-04,8.604201401e-01,7.019505757e-01,-2.982464812e-04,8.604003091e-01,7.027431687e-01,-3.945144773e-04,8.305827170e-01
+43,5.333333333e+00,UP_FORCE_RAMP,1792840227868875519,-7.130488318e-06,-2.695562271e-04,2.896955032e-04,-6.385202217e-06,-2.752544303e-04,2.784564431e-04,-3.116867977e-06,-2.758595207e-04,2.781320644e-04,7.019484674e-01,-2.915412817e-04,8.604330814e-01,7.019492127e-01,-2.972394848e-04,8.604218424e-01,7.027420202e-01,-3.934967417e-04,8.306042208e-01
+44,5.466666667e+00,UP_FORCE_RAMP,1792840227998832003,-9.032211472e-06,-2.727468455e-04,2.977716202e-04,-6.385202217e-06,-2.752544303e-04,2.784564431e-04,-3.125302499e-06,-2.758605783e-04,2.782004384e-04,7.019465657e-01,-2.947319001e-04,8.604411575e-01,7.019492127e-01,-2.972394848e-04,8.604218424e-01,7.027420117e-01,-3.934977992e-04,8.306042892e-01
+45,5.616666667e+00,UP_FORCE_RAMP,1792840228146701380,-1.736976978e-05,-2.751468699e-04,3.033972361e-04,-9.318064238e-06,-2.725724776e-04,3.019450237e-04,-6.034439532e-06,-2.732007802e-04,3.015297602e-04,7.019382281e-01,-2.971319245e-04,8.604467832e-01,7.019462798e-01,-2.945575322e-04,8.604453309e-01,7.027391026e-01,-3.908380012e-04,8.306276185e-01
+46,5.733333333e+00,UP_FORCE_RAMP,1792840228261657025,-1.849785277e-05,-2.721932561e-04,3.128165077e-04,-9.318064238e-06,-2.725724776e-04,3.019450237e-04,-6.043070713e-06,-2.732011760e-04,3.015885130e-04,7.019371000e-01,-2.941783107e-04,8.604562024e-01,7.019462798e-01,-2.945575322e-04,8.604453309e-01,7.027390940e-01,-3.908383970e-04,8.306276773e-01
+47,5.916666667e+00,UP_FORCE_RAMP,1792840228441062138,-1.902788141e-05,-2.700384442e-04,3.307864207e-04,-1.899513271e-05,-2.699970936e-04,3.190598300e-04,-1.620187696e-05,-2.705964381e-04,3.186670276e-04,7.019365700e-01,-2.920234988e-04,8.604741723e-01,7.019366027e-01,-2.919821481e-04,8.604624457e-01,7.027289352e-01,-3.882336591e-04,8.306447558e-01
+48,6.050000000e+00,UP_FORCE_RAMP,1792840228572881280,-2.251395885e-05,-2.683611523e-04,3.359641081e-04,-1.899513271e-05,-2.699970936e-04,3.190598300e-04,-1.622088152e-05,-2.705965199e-04,3.187278480e-04,7.019330839e-01,-2.903462069e-04,8.604793500e-01,7.019366027e-01,-2.919821481e-04,8.604624457e-01,7.027289161e-01,-3.882337409e-04,8.306448166e-01
+49,6.233333333e+00,UP_FORCE_HOLD,1792840228786396165,-2.088276195e-05,-2.662606834e-04,3.610560726e-04,-2.075133328e-05,-2.660825714e-04,3.610570758e-04,-1.764953094e-05,-2.666901525e-04,3.605190568e-04,7.019347151e-01,-2.882457379e-04,8.605044420e-01,7.019348465e-01,-2.880676260e-04,8.605044430e-01,7.027274875e-01,-3.843273735e-04,8.306866078e-01
+50,6.416666667e+00,UP_SETTLE,1792840228966203825,-2.194697103e-05,-2.699783251e-04,3.696045452e-04,-2.075133328e-05,-2.660825714e-04,3.610570758e-04,-1.766301212e-05,-2.666902000e-04,3.606460716e-04,7.019336509e-01,-2.919633796e-04,8.605129905e-01,7.019348465e-01,-2.880676260e-04,8.605044430e-01,7.027274740e-01,-3.843274210e-04,8.306867348e-01
+51,6.550000000e+00,UP_SETTLE,1792840229096470275,-2.332131385e-05,-2.633992035e-04,3.769404812e-04,-2.075133328e-05,-2.660825714e-04,3.610570758e-04,-1.767324627e-05,-2.666905065e-04,3.607059062e-04,7.019322766e-01,-2.853842581e-04,8.605203264e-01,7.019348465e-01,-2.880676260e-04,8.605044430e-01,7.027274638e-01,-3.843277275e-04,8.306867947e-01
+52,6.650000000e+00,UP_SETTLE,1792840229194819228,-3.755258194e-05,-2.699132643e-04,3.738188647e-04,-3.738838932e-05,-2.699144922e-04,3.734663604e-04,-3.529601880e-05,-2.705194647e-04,3.730168804e-04,7.019180453e-01,-2.918983189e-04,8.605172048e-01,7.019182095e-01,-2.918995468e-04,8.605168523e-01,7.027098410e-01,-3.881566857e-04,8.306991056e-01
+53,6.683333333e+00,UP_SETTLE,1792840229227826595,-6.446501856e-05,-2.737274773e-04,3.471633842e-04,-6.458699406e-05,-2.714647872e-04,3.556646714e-04,-6.464009767e-05,-2.720884219e-04,3.552671460e-04,7.018911328e-01,-2.957125319e-04,8.604905493e-01,7.018910109e-01,-2.934498418e-04,8.604990506e-01,7.026804969e-01,-3.897256428e-04,8.306813559e-01
+54,6.733333333e+00,UP_SETTLE,1792840229276819556,-5.671539124e-05,-2.729531011e-04,3.642467734e-04,-6.458699406e-05,-2.714647872e-04,3.556646714e-04,-6.468114297e-05,-2.720884612e-04,3.552772923e-04,7.018988825e-01,-2.949381557e-04,8.605076327e-01,7.018910109e-01,-2.934498418e-04,8.604990506e-01,7.026804559e-01,-3.897256821e-04,8.306813661e-01
+55,6.800000000e+00,UP_SETTLE,1792840229342056215,-5.619382289e-05,-2.774950685e-04,3.686088875e-04,-6.458699406e-05,-2.714647872e-04,3.556646714e-04,-6.471867611e-05,-2.720877611e-04,3.552924761e-04,7.018994040e-01,-2.994801231e-04,8.605119948e-01,7.018910109e-01,-2.934498418e-04,8.604990506e-01,7.026804184e-01,-3.897249821e-04,8.306813812e-01
+56,6.900000000e+00,UP_SETTLE,1792840229440768613,-6.172527613e-05,-2.702161146e-04,3.666483002e-04,-6.458699406e-05,-2.714647872e-04,3.556646714e-04,-6.475931973e-05,-2.720864782e-04,3.553158820e-04,7.018938726e-01,-2.922011692e-04,8.605100342e-01,7.018910109e-01,-2.934498418e-04,8.604990506e-01,7.026803777e-01,-3.897236991e-04,8.306814046e-01
+57,7.050000000e+00,UP_SETTLE,1792840229588006140,-6.282893900e-05,-2.737666226e-04,3.680683300e-04,-6.458699406e-05,-2.714647872e-04,3.556646714e-04,-6.480325188e-05,-2.720844558e-04,3.553485829e-04,7.018927689e-01,-2.957516772e-04,8.605114542e-01,7.018910109e-01,-2.934498418e-04,8.604990506e-01,7.026803338e-01,-3.897216767e-04,8.306814374e-01
+58,7.166666667e+00,UP_SETTLE,1792840229702622357,-6.339183552e-05,-2.726732638e-04,3.672410659e-04,-6.458699406e-05,-2.714647872e-04,3.556646714e-04,-6.482932983e-05,-2.720828793e-04,3.553713106e-04,7.018922060e-01,-2.946583184e-04,8.605106270e-01,7.018910109e-01,-2.934498418e-04,8.604990506e-01,7.026803077e-01,-3.897201003e-04,8.306814601e-01
+59,7.350000000e+00,UP_SETTLE,1792840229915886451,-6.389260083e-05,-2.700961919e-04,3.707409594e-04,-6.458699406e-05,-2.714647872e-04,3.556646714e-04,-6.486102946e-05,-2.720803027e-04,3.554029556e-04,7.018917053e-01,-2.920812465e-04,8.605141269e-01,7.018910109e-01,-2.934498418e-04,8.604990506e-01,7.026802760e-01,-3.897175237e-04,8.306814917e-01

Fixed/digit/ball_15A_17.5/press_depth_06/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,5.4236e-02,1.2135e-01,2.4600e+00,-4.4985e-02,4.0629e-02,1.8666e-04,4.5756e-04,6.6996e-05,-1.0610e-04,-9.1270e-07,3.2719e-05,-1.9441e-07,4.7445e-04,3.2733e-05
+1,2.1667e-01,WAIT_W2,3.5779e-05,5.9898e-02,1.2200e-01,2.4588e+00,-4.4985e-02,4.1033e-02,1.8432e-04,6.1196e-03,7.1223e-04,-1.3020e-03,-1.0654e-06,4.3645e-04,-2.5387e-06,6.2970e-03,4.3646e-04
+2,3.8333e-01,WAIT_W2,7.3036e-05,6.3798e-02,1.2236e-01,2.4580e+00,-4.4980e-02,4.1310e-02,1.8232e-04,1.0019e-02,1.0794e-03,-2.0423e-03,3.5763e-06,7.1356e-04,-4.5438e-06,1.0282e-02,7.1358e-04
+3,6.6667e-01,WAIT_W2,1.0870e-04,6.9589e-02,1.2289e-01,2.4570e+00,-4.4972e-02,4.1721e-02,1.7867e-04,1.5810e-02,1.6070e-03,-3.0327e-03,1.1392e-05,1.1241e-03,-8.1889e-06,1.6179e-02,1.1241e-03
+4,8.1667e-01,WAIT_W2,1.4357e-04,7.2274e-02,1.2313e-01,2.4566e+00,-4.4968e-02,4.1911e-02,1.7667e-04,1.8496e-02,1.8462e-03,-3.4423e-03,1.5274e-05,1.3141e-03,-1.0190e-05,1.8904e-02,1.3142e-03
+5,8.6667e-01,WAIT_W2,1.7521e-04,7.3116e-02,1.2321e-01,2.4565e+00,-4.4967e-02,4.1970e-02,1.7600e-04,1.9338e-02,1.9203e-03,-3.5632e-03,1.6540e-05,1.3736e-03,-1.0863e-05,1.9757e-02,1.3737e-03
+6,8.8333e-01,WAIT_W2,2.0280e-04,7.3391e-02,1.2323e-01,2.4565e+00,-4.4967e-02,4.1990e-02,1.7577e-04,1.9613e-02,1.9446e-03,-3.6020e-03,1.6943e-05,1.3930e-03,-1.1088e-05,2.0036e-02,1.3932e-03
+7,9.0000e-01,WAIT_W2,2.4162e-04,7.2417e-02,2.4779e-01,2.4521e+00,-5.3540e-02,4.1921e-02,2.1232e-04,1.8639e-02,1.2651e-01,-7.9174e-03,-8.5560e-03,1.3244e-03,2.5463e-05,1.2812e-01,8.6579e-03
+8,9.1667e-01,WAIT_W2,2.8902e-04,7.6527e-02,3.5401e-01,2.4518e+00,-6.0857e-02,4.2204e-02,2.4305e-04,2.2749e-02,2.3273e-01,-8.3022e-03,-1.5874e-02,1.6076e-03,5.6194e-05,2.3398e-01,1.5955e-02
+9,9.3333e-01,WAIT_W2,3.1318e-04,7.4958e-02,4.8087e-01,2.4440e+00,-6.9605e-02,4.2098e-02,2.8186e-04,2.1180e-02,3.5959e-01,-1.6093e-02,-2.4621e-02,1.5016e-03,9.4999e-05,3.6057e-01,2.4667e-02
+10,9.5000e-01,WAIT_W2,3.7572e-04,7.6639e-02,5.4468e-01,2.4453e+00,-7.4021e-02,4.2212e-02,3.0105e-04,2.2860e-02,4.2339e-01,-1.4798e-02,-2.9037e-02,1.6155e-03,1.1420e-04,4.2427e-01,2.9083e-02
+11,9.6667e-01,WAIT_W2,4.2549e-04,7.8528e-02,7.1326e-01,2.4477e+00,-8.5653e-02,4.2338e-02,3.5521e-04,2.4750e-02,5.9197e-01,-1.2395e-02,-4.0670e-02,1.7411e-03,1.6835e-04,5.9262e-01,4.0707e-02
+12,9.6667e-01,WAIT_W2,4.2549e-04,7.8528e-02,7.1326e-01,2.4477e+00,-8.5653e-02,4.2338e-02,3.5521e-04,2.4750e-02,5.9197e-01,-1.2395e-02,-4.0670e-02,1.7411e-03,1.6835e-04,5.9262e-01,4.0707e-02
+13,9.8333e-01,WAIT_W2,4.6662e-04,8.2069e-02,8.4426e-01,2.4450e+00,-9.4738e-02,4.2585e-02,3.9843e-04,2.8290e-02,7.2298e-01,-1.5028e-02,-4.9754e-02,1.9884e-03,2.1157e-04,7.2369e-01,4.9794e-02
+14,1.0833e+00,WAIT_W2,5.1336e-04,8.3358e-02,8.7102e-01,2.4580e+00,-9.6744e-02,4.2666e-02,4.1230e-04,2.9580e-02,7.4974e-01,-2.0547e-03,-5.1760e-02,2.0698e-03,2.2544e-04,7.5032e-01,5.1802e-02
+15,1.2000e+00,WAIT_W2,5.4734e-04,8.6520e-02,8.6917e-01,2.4638e+00,-9.6714e-02,4.2889e-02,4.1055e-04,3.2742e-02,7.4788e-01,3.7792e-03,-5.1730e-02,2.2927e-03,2.2369e-04,7.4861e-01,5.1781e-02
+16,1.3333e+00,WAIT_W2,5.8374e-04,8.8636e-02,9.1496e-01,2.4595e+00,-1.0001e-01,4.3048e-02,4.2963e-04,3.4858e-02,7.9367e-01,-5.2691e-04,-5.5025e-02,2.4514e-03,2.4277e-04,7.9444e-01,5.5081e-02
+17,1.5000e+00,WAIT_W2,6.2442e-04,9.2507e-02,9.1303e-01,2.4677e+00,-9.9983e-02,4.3317e-02,4.2821e-04,3.8729e-02,7.9174e-01,7.6790e-03,-5.4999e-02,2.7201e-03,2.4135e-04,7.9273e-01,5.5067e-02
+18,1.6167e+00,UP_FORCE_RAMP,6.5650e-04,9.4793e-02,9.1215e-01,2.4721e+00,-9.9982e-02,4.3476e-02,4.2676e-04,4.1014e-02,7.9086e-01,1.2053e-02,-5.4998e-02,2.8796e-03,2.3990e-04,7.9201e-01,5.5074e-02
+19,1.7833e+00,UP_FORCE_RAMP,6.9522e-04,9.7753e-02,9.1102e-01,2.4772e+00,-9.9975e-02,4.3683e-02,4.2399e-04,4.3975e-02,7.8974e-01,1.7176e-02,-5.4992e-02,3.0859e-03,2.3713e-04,7.9115e-01,5.5079e-02
+20,1.9000e+00,UP_FORCE_RAMP,7.3248e-04,9.9596e-02,9.1037e-01,2.4802e+00,-9.9973e-02,4.3811e-02,4.2154e-04,4.5818e-02,7.8909e-01,2.0113e-02,-5.4989e-02,3.2146e-03,2.3468e-04,7.9067e-01,5.5083e-02
+21,2.0833e+00,UP_FORCE_RAMP,7.6836e-04,1.0215e-01,9.0954e-01,2.4839e+00,-9.9971e-02,4.3990e-02,4.1675e-04,4.8372e-02,7.8825e-01,2.3872e-02,-5.4987e-02,3.3933e-03,2.2989e-04,7.9009e-01,5.5092e-02
+22,2.2500e+00,UP_FORCE_RAMP,8.0512e-04,1.0418e-01,9.0890e-01,2.4866e+00,-9.9969e-02,4.4132e-02,4.1140e-04,5.0403e-02,7.8761e-01,2.6567e-02,-5.4986e-02,3.5354e-03,2.2454e-04,7.8967e-01,5.5100e-02
+23,2.3667e+00,UP_FORCE_RAMP,8.4071e-04,1.0544e-01,9.0851e-01,2.4882e+00,-9.9969e-02,4.4221e-02,4.0712e-04,5.1666e-02,7.8723e-01,2.8120e-02,-5.4985e-02,3.6239e-03,2.2027e-04,7.8942e-01,5.5105e-02
+24,2.5667e+00,UP_FORCE_RAMP,8.7667e-04,9.9610e-02,8.9081e-01,2.4688e+00,-9.8870e-02,4.3836e-02,4.1312e-04,4.5831e-02,7.6952e-01,8.7500e-03,-5.3887e-02,3.2390e-03,2.2626e-04,7.7094e-01,5.3984e-02
+25,2.6667e+00,UP_FORCE_RAMP,9.1539e-04,1.0127e-01,8.9052e-01,2.4720e+00,-9.8873e-02,4.3951e-02,4.1149e-04,4.7494e-02,7.6923e-01,1.1894e-02,-5.3889e-02,3.3542e-03,2.2463e-04,7.7079e-01,5.3994e-02
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Fixed/digit/ball_15A_17.5/press_depth_07/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_15A_17.5/press_depth_07/down/franka_data.csv

@@ -0,0 +1,61 @@
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+37808,1792840290507881834,18969935000000,1792840290506568510,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6759312769780212,-0.004731108098131028,0.10674356703745627,0.9999999458844643,-0.0001964932896461029,-0.00024616331714925443,-2.1631943674027646e-05,0.6761,-0.0046,0.10695025441906603,1.0,0.0,0.0,0.0,-0.019431561314724344,-0.002497061826518321,0.008444593297175229,-0.00016585008827500747,0.00127747015521891,8.600427866394867e-06,0.6303777552202158,0.6852634556009138,0.4463323859808686,0.052242303401578295,-0.04771121148975739,0.0005967813534324546,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.1450813230473199,1.0012484761848535,1.2666890757622977,-0.17063133475474088,-0.8202999655802671,0.5884662151787782,1.6297903475282756,-0.008444593297175229,0.36310127176597784,0.36310127176597784,0.4186372287770198,0,0,-1.9018226239701737e-05,-9.990237389979057e-05
+37910,1792840291356832602,18970785000000,1792840291354568509,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.675935517567645,-0.004728279888428929,0.10673129409100619,0.9999999484027657,-0.00019488764467559422,-0.00023735566683541872,-1.7844420152781816e-05,0.6761,-0.0046,0.10692398019258871,1.0,0.0,0.0,0.0,-0.025639463983363253,-0.001132542260076086,0.04850146850780723,-0.00019064217645051867,0.001913677975680754,-1.4549334012751362e-05,0.6241698525515769,0.6866279751673561,0.4863892611915006,0.052217511313402784,-0.04707500366929555,0.0005736315915533084,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.20401186588942016,0.9099837051906753,1.1171090088013513,-0.1411676215410407,-0.7101661482857418,0.5272892422168733,1.6297903475282756,-0.04850146850780723,0.5126813387269242,0.5126813387269242,0.5461372287770058,0,0,-4.345803372428175e-05,3.34440976180193e-05
+38016,1792840292239764803,18971668000000,1792840292238578159,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6759376750647024,-0.004739617820339802,0.10668955627795675,0.999999949746,-0.0001935809994500783,-0.00023338911232903778,-2.603949562701626e-06,0.6761,-0.0046,0.1068780345209588,1.0,0.0,0.0,0.0,-0.038103683382863296,-0.022482168994991336,0.15967344968478292,-0.0012685874811551034,0.0032876623370226565,-0.00010026829249093017,0.6117056331520768,0.6652783484324408,0.5975612423684763,0.0511395660086982,-0.045701019307953644,0.0004879126330751296,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.23611382073534248,0.9168061050695286,0.9818195901743829,-0.11302689800989885,-0.620691100743187,0.5287250414998599,1.6297903475282756,-0.15967344968478292,0.6479707573538926,0.6479707573538926,0.6785872287769912,0,0,-5.572362069408842e-05,9.949249343688677e-05
+38118,1792840293089869851,18972518000000,1792840293086568785,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6759337941873611,-0.004742433326721534,0.10664476530463485,0.9999999487599824,-0.00018944555032407434,-0.00024080071184707757,6.949624801468242e-06,0.6761,-0.0046,0.10682785741184843,1.0,0.0,0.0,0.0,-0.043515412286742605,-0.027792091371901306,0.27788458747018974,-0.0012956423021650426,0.0032675247101686886,-0.00019206704566208964,0.6062939042481975,0.6599684260555309,0.7157723801538831,0.05111251118768826,-0.04572115693480761,0.00039611387990397013,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.2995304130100593,0.9636689279072089,0.8591678933486909,-0.11712138081361248,-0.5220406586130272,0.5505359252126835,1.6297903475282756,-0.27788458747018974,0.7706224541795846,0.7706224541795846,0.8060872287769771,0,0,-6.017913748293668e-05,9.999999025923074e-05
+38219,1792840293931819967,18973360000000,1792840293926578198,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6759348735823429,-0.0047426568954251885,0.10660994624735506,0.9999999493072487,-0.0001876180483404124,-0.00023961116536104946,1.4639726688684176e-05,0.6761,-0.0046,0.10678569326895497,1.0,0.0,0.0,0.0,-0.0568655975189688,-0.04103154600622716,0.3885762633381967,-0.0023463676517148577,0.0036342658229700717,-0.00028796647177044526,0.5929437190159713,0.646728971421205,0.8264640560218901,0.050061785838138445,-0.04535441582200623,0.0003002144537956145,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.3425341948432682,0.9208944083929542,0.708698217853453,-0.07760536342234166,-0.41728622652101843,0.5139329693304675,1.6297903475282756,-0.3885762633381967,0.9210921296748226,0.9210921296748226,0.9323872287769632,0,0,-4.4304647815714186e-05,9.990272084448577e-05
+38299,1792840294597830198,18974026000000,1792840294590578334,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6759407929954243,-0.004743019844831138,0.10659452323882074,0.9999999532089741,-0.00018387982619434955,-0.00022527853737542287,2.151055184978404e-05,0.6761,-0.0046,0.1067545365961248,1.0,0.0,0.0,0.0,-0.07580360726910818,-0.03333783426478487,0.4189540559591193,-0.002396484561530826,0.005281839947629624,-0.00028980489481790126,0.5740057092658319,0.6544226831626473,0.8568418486428127,0.05001166892832248,-0.04370684169734668,0.0002983760307481585,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.38123236467891236,0.8993355021277455,0.6283886704646292,-0.06312088451593163,-0.3591520487279935,0.5010379417686492,1.6297903475282756,-0.4189540559591193,1.0014016770636465,1.0014016770636465,1.0322872287769762,0,0,-5.323070626364756e-05,9.999999025923074e-05
+38401,1792840295447797174,18974876000000,1792840295446568490,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.675949221477438,-0.004746776511849611,0.10656127090447427,0.9999999579336369,-0.0001786789834054128,-0.0002064081762087811,3.232760784023791e-05,0.6761,-0.0046,0.10669959426745548,1.0,0.0,0.0,0.0,-0.09169473677235995,-0.049955832255676014,0.5186105534847013,-0.0024463254955490454,0.006275909601185223,-0.00013738369311349453,0.5581145797625802,0.6378046851717561,0.9564983461683947,0.04996182799430426,-0.04271277204379108,0.00045079723245256524,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.41780500457400105,0.8748183724959121,0.5001881399679594,-0.023715000631502,-0.2747145492543321,0.4842332968756381,1.6297903475282756,-0.5186105534847013,1.1296022075603163,1.1296022075603163,1.1597872287770565,0,0,-7.09141196638966e-05,9.980468815141136e-05
+38512,1792840296372852559,18975801000000,1792840296366578295,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6759553284903129,-0.004748475057444777,0.10651825038889534,0.9999999612160385,-0.00017341838858274004,-0.00019178631580153038,4.642043903475807e-05,0.6761,-0.0046,0.10663378962128395,1.0,0.0,0.0,0.0,-0.11399417141156198,-0.0558723973712284,0.6194074281400149,-0.0025291805039472787,0.008269995216622576,0.000617615875877728,0.5358151451233781,0.6318881200562038,1.0572952208237083,0.049878972985906024,-0.040718686428353724,0.0012057968014437877,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.4372143593190583,0.7714816417467207,0.36820246912896887,0.02963268726036164,-0.19089257046193017,0.40591618841000154,1.6297903475282756,-0.6194074281400149,1.2615878783993066,1.2615878783993066,1.298537228777144,0,0,-7.150225456578762e-05,9.999999025923074e-05
+38596,1792840297072807146,18976501000000,1792840297070578049,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6759572320057288,-0.004752737104662941,0.10647782717836185,0.9999999625980792,-0.00016685087011821692,-0.0001873582567608904,5.7483695088655855e-05,0.6761,-0.0046,0.10658535130806643,1.0,0.0,0.0,0.0,-0.13086619639856933,-0.053333310705480086,0.715512123300344,-0.0025716052710076515,0.009188606536601633,0.0005561001613888321,0.5189431201363708,0.6344272067219521,1.1533999159840373,0.04983654821884565,-0.03980007510837467,0.0011442810869548919,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.48325634347950974,0.7751298101667033,0.27891469463380275,0.04452427421809617,-0.12322180752063036,0.4071630149481607,1.6297903475282756,-0.715512123300344,1.3508756528944728,1.3508756528944728,1.40353722877721,0,0,-6.578426705062076e-05,2.6165414053898567e-05
+38695,1792840297897854912,18977326000000,1792840297894568814,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6759635321201776,-0.004753680666452962,0.1064453578894145,0.9999999668858749,-0.0001512485583317741,-0.00017545175254779163,6.333774194284361e-05,0.6761,-0.0046,0.10653433267496332,1.0,0.0,0.0,0.0,-0.14202777889917584,-0.07014406501649595,0.8032277816443866,-0.003263971437737642,0.010146650098470586,0.0004877604892370873,0.5077815376357643,0.6176164524109362,1.24111557432808,0.04914418205211566,-0.038842031546505715,0.001075941414803147,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.5218651117323315,0.7977306084110725,0.16628882491665156,0.05721958325124645,-0.0422447998916174,0.42622482167407566,1.6297903475282756,-0.8032277816443866,1.463501522611624,1.463501522611624,1.527287228777288,0,0,-6.221727858887605e-05,-1.0908020346650462e-05
+38799,1792840298764821767,18978193000000,1792840298762568393,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.675968752918536,-0.004758726239444366,0.10640591731220686,0.9999999711481941,-0.00012718385943698548,-0.00016502758118260147,7.57406011844383e-05,0.6761,-0.0046,0.10647968564117032,1.0,0.0,0.0,0.0,-0.16158776248228052,-0.06633002904368235,0.9000356294834994,-0.0026664052027633653,0.011257741753706037,0.00043231351431634356,0.4882215540526596,0.6214304883837498,1.3379234221671927,0.04974174828708994,-0.037730939891270264,0.0010204944398824033,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.5447536891217197,0.7217760952341423,0.06191406356310375,0.08097077148833137,0.02662508016031266,0.36926736743901933,1.6297903475282756,-0.9000356294834994,1.5678762839651719,1.5678762839651719,1.65733722877737,0,0,-6.645892971643275e-05,-9.687500387845489e-05
+38848,1792840299172811094,18978601000000,1792840299170569283,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6760192578671229,-0.004754370652519743,0.10641409454592221,0.9999999787180396,-0.00011787201308095655,-0.00011549874918413096,8.2298312531386e-05,0.6761,-0.0046,0.10645124042636289,1.0,0.0,0.0,0.0,-0.2137682991602194,0.028838816828717695,0.8430535245858547,0.0036213911342479546,0.015563288099728526,0.0006009122697601006,0.43604101737472073,0.7165993342561499,1.280941317269548,0.05602954462410126,-0.033425393545247775,0.0011890931953261604,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.5897673225147159,0.8554869217216459,0.24958169164714145,0.04308738416665793,-0.09829396323418974,0.46115033768083397,1.6297903475282756,-0.8430535245858547,1.3802086558811342,1.3802086558811342,1.7185372287774086,0,0,-7.6849297560326e-05,-9.999999025923074e-05
+38936,1792840299906754895,18979335000000,1792840299902577970,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6760287575721072,-0.004760917459909391,0.10637728629892396,0.999999979680055,-0.00012136201220334968,-9.428699041874841e-05,9.199988712524833e-05,0.6761,-0.0046,0.10638292552678835,1.0,0.0,0.0,0.0,-0.2329857977749173,0.02287200254558941,0.976196418771179,0.0032850008223791125,0.01720280011196667,0.0005220792556220278,0.4168235187600228,0.7106325199730216,1.4140842114548724,0.055693154312232415,-0.03178588153300963,0.0011102601811880876,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.7936151043312055,0.7680312331639643,-0.12017469879338505,0.07721031993645523,0.1937083234696565,0.40111249622458434,1.6297903475282756,-0.976196418771179,1.7499650463216607,1.7499650463216607,1.828637228777478,0,0,-0.00010531867270372063,9.980468815141136e-05
+39032,1792840300706768996,18980135000000,1792840300702578626,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6760428985959659,-0.004763214114813887,0.10631792717896393,0.9999999807631275,-0.00012175448584143176,-7.179749377918658e-05,9.968738258847124e-05,0.6761,-0.0046,0.10629600790387277,1.0,0.0,0.0,0.0,-0.2596878085217476,0.02491488311125889,1.1289326653607965,0.0032010146405941353,0.019179644566033216,0.0004281753439477464,0.3901215080131925,0.712675400538691,1.5668204580444898,0.05560916813044744,-0.029809037078943085,0.0010163562695138062,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.8383902005188262,0.813837430192199,-0.3401498146720968,0.06314412547198549,0.34202099197721497,0.4337621308178552,1.6297903475282756,-1.1289326653607965,1.9699401622003725,1.9699401622003725,1.9486372287775535,0,0,-0.00010549524025596645,9.999928249205254e-05
+39143,1792840301631822878,18981060000000,1792840301630578124,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6760551779379542,-0.0047672279236004676,0.10625084300453895,0.9999999794548713,-0.00014326572469300694,-5.049037618884886e-05,9.725623505065042e-05,0.6761,-0.0046,0.10620635121192061,1.0,0.0,0.0,0.0,-0.28815225035454045,0.017186972833435066,1.2922666992958285,0.0041520923370907264,0.02015252612927025,0.0008651821273572633,0.36165706618039967,0.7049474902608672,1.730154491979522,0.05656024582694403,-0.02883615551570605,0.0014533630529233231,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.8562822972294432,0.740502705283737,-0.36614357411995374,0.09015254188460692,0.36028210950624673,0.3779596607381982,1.6297903475282756,-1.2922666992958285,1.9959339216482292,1.9959339216482292,2.087387228777641,0,0,-8.476318167779796e-05,-7.502005547189156e-05
+39223,1792840302297841955,18981726000000,1792840302294578039,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6760637837631082,-0.004754504421204708,0.10621261020297675,0.9999999737221031,-0.00020262517843961156,-3.1515807432719093e-05,4.414122810963643e-05,0.6761,-0.0046,0.10615252398847312,1.0,0.0,0.0,0.0,-0.25760508251921654,0.06857940192372258,1.385436213947858,0.007226628147407953,0.01905750555365786,0.000809297820674008,0.3922042340157236,0.7563399193511547,1.8233240066315513,0.059634781637261255,-0.02993117609131844,0.0013974787462400677,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.9263490219870307,0.8411446423703629,-0.5536424708411108,0.015478908231878804,0.5078604068990809,0.4599566478219026,1.6297903475282756,-1.385436213947858,2.1834328183693863,2.1834328183693863,2.187287228777704,0,0,-7.595526073792135e-05,9.999999025923074e-05
+39329,1792840303181810546,18982610000000,1792840303174568660,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6760736791587015,-0.004755046032950126,0.10616932632540219,0.9999999750822931,-0.00019483301445943384,-1.621636268110026e-05,5.527570376808417e-05,0.6761,-0.0046,0.10609208829334064,1.0,0.0,0.0,0.0,-0.2893920805501376,0.056939939120253746,1.4934240628883133,0.007154236957930722,0.02092832214867289,0.0012346013084744097,0.3604172359848025,0.7447004565476859,1.9313118555720066,0.059562390447784025,-0.02806035949630341,0.0018227822340404695,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.9637921345434022,0.7652185549879672,-0.7291458786247633,0.07734286829554973,0.6243172351840734,0.406643905376797,1.6297903475282756,-1.4934240628883133,2.358936226153039,2.358936226153039,2.3198872287777874,0,0,-6.396182853221776e-05,9.6319698077113e-05
+39429,1792840304015837387,18983443000000,1792840304010578014,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6760799383446618,-0.004758618943255096,0.10612789151057919,0.9999999741286963,-0.0001979784246972248,-8.677604128463347e-06,6.256767031999618e-05,0.6761,-0.0046,0.10603858772102567,1.0,0.0,0.0,0.0,-0.2972172200375357,0.06034724759305998,1.58583167123881,0.007108657211537937,0.02192142741306446,0.0011747373311256277,0.3525920964974044,0.7481077650204921,2.0237194639225033,0.05951681070139124,-0.02706725423191184,0.0017629182566916875,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.0106208664829959,0.7275762946431189,-0.8047404937159336,0.08809402577834659,0.686497173947148,0.3781918758316375,1.6297903475282756,-1.58583167123881,2.434530841244209,2.434530841244209,2.444837228777866,0,0,-6.543779912796121e-05,9.998937375155776e-05
+39534,1792840304889839709,18984318000000,1792840304882578197,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6760858917182642,-0.004764763019252095,0.10608187628788701,0.9999999739816663,-0.00019500392456187025,1.7256582461045622e-06,7.382426637864506e-05,0.6761,-0.0046,0.10597896390465912,1.0,0.0,0.0,0.0,-0.3043729846934564,0.05317227133732927,1.6774469227353723,0.00707477452400266,0.022448300811915418,0.001108239627166436,0.3454363318414837,0.7409327887647614,2.1153347154190656,0.05948292801385596,-0.026540380833060883,0.0016964205527324958,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,0.9840850812114393,0.8108282314279907,-0.8506417187400683,0.06574515574900695,0.7025423968680417,0.4279874718989288,1.6297903475282756,-1.6774469227353723,2.480432066268344,2.480432066268344,2.576087228777949,0,0,-7.348486876920658e-05,-9.999997638144293e-05
+39636,1792840305739802251,18985168000000,1792840305738568628,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.67609941477296,-0.004766187800209114,0.1060355996640329,0.9999999725683179,-0.00019686267965480765,2.6230063724956198e-05,8.284501709906263e-05,0.6761,-0.0046,0.1059116089378921,1.0,0.0,0.0,0.0,-0.33445617789874826,0.053127519817479985,1.7926104105233298,0.007010223608742157,0.024039881665320825,0.001036271212242581,0.31535313863619185,0.7408880372449121,2.230498203207023,0.05941837709859546,-0.024948799979655475,0.0016244521378086408,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.0454916452512495,0.7755287787576753,-1.0276935596265597,0.07617846228715831,0.8297260016705235,0.403211249751101,1.6297903475282756,-1.7926104105233298,2.6574839071548353,2.6574839071548353,2.703587228778029,0,0,-8.404010208987322e-05,9.687500387845489e-05
+39726,1792840306489823973,18985918000000,1792840306482577940,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6761078935403139,-0.0047666461809252915,0.10598537014422235,0.9999999711820721,-0.00019980691339330442,4.0324485229304045e-05,8.677472174589857e-05,0.6761,-0.0046,0.1058458614637251,1.0,0.0,0.0,0.0,-0.3403666613627513,0.06050542190705166,1.9056709484326766,0.007976216645449057,0.025143529109589093,0.0009741046574772085,0.30944265517218883,0.7482659393344838,2.34355874111637,0.06038437013530236,-0.023845152535387208,0.0015622855830432682,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.0864115617010421,0.769986598493117,-1.1559104836100837,0.08713065194639756,0.9192268879755089,0.4011354714246687,1.6297903475282756,-1.9056709484326766,2.7857008311383593,2.7857008311383593,2.8160872287781,0,0,-8.488098677120336e-05,8.712155582924481e-05
+39817,1792840307247804863,18986676000000,1792840307246568835,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6761145141419479,-0.004768918524880073,0.10593620945317665,0.9999999676148977,-0.00021760757816018694,5.1438305721613794e-05,7.882962749629524e-05,0.6761,-0.0046,0.10578555421165832,1.0,0.0,0.0,0.0,-0.3493219920887094,0.06376679922620943,2.0072935727058705,0.007965014120160686,0.026000466208730644,0.000904834518792535,0.3004873244462307,0.7515273166536416,2.4451813653895638,0.06037316761001399,-0.022988215436245657,0.0014930154443585947,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.1430557131890442,0.7321390039203705,-1.1784684229929043,0.1092410074585492,0.9506944938964061,0.3767341138559868,1.6297903475282756,-2.0072935727058705,2.8082587705211797,2.8082587705211797,2.9297872287781717,0,0,-7.592779411732942e-05,-7.95682228701466e-05
+39907,1792840307997801171,18987426000000,1792840307994578382,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6761214294712162,-0.004772522909865038,0.10589668416826914,0.9999999653320654,-0.00022361219797320447,6.382614359106007e-05,8.186904560036258e-05,0.6761,-0.0046,0.1057272131264734,1.0,0.0,0.0,0.0,-0.3595273418607006,0.06498094212569128,2.087583942705779,0.008912174800723156,0.02697930964771275,0.0009384961705987194,0.2902819746742395,0.7527414595531234,2.5254717353894724,0.06132032829057646,-0.02200937199726355,0.0015266770961647792,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.150112127564024,0.655685459707587,-1.274463991473778,0.13348192202856185,1.0120852264566211,0.32701466461223205,1.6297903475282756,-2.087583942705779,2.904254339002054,2.904254339002054,3.0422872287782425,0,0,-8.060515889060505e-05,-9.999999025923074e-05
+40003,1792840308797818384,18988226000000,1792840308790578321,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6761312724550984,-0.0047752573735945795,0.10584303961445488,0.9999999638667549,-0.0002227042304541234,7.814824525735571e-05,8.947083529049974e-05,0.6761,-0.0046,0.10565884346391616,1.0,0.0,0.0,0.0,-0.378112343885339,0.06353746017778583,2.198490209912118,0.008856088991937551,0.027963237347032814,0.0016075074046677752,0.27169697264960113,0.751297977605218,2.6363780025958112,0.061264242481790854,-0.021025444297943487,0.002195688330233835,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.2128472253837088,0.6460480975279346,-1.5140010727796995,0.13284431784971393,1.1798747547991244,0.31987467775983625,1.6297903475282756,-2.198490209912118,3.1437914203079753,3.1437914203079753,3.162287228778318,0,0,-8.664375453629335e-05,9.99308372425844e-05
+40110,1792840309689795917,18989118000000,1792840309686578057,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6761413722346064,-0.004773328711440251,0.10578721010401206,0.999999962319387,-0.00022071237039584466,9.589575421352956e-05,9.43087619749216e-05,0.6761,-0.0046,0.10558290949248438,1.0,0.0,0.0,0.0,-0.39545755732549404,0.06710743383142148,2.3187844883142597,0.008805223074629276,0.02895043287679844,0.0017331752182453844,0.2543517592094461,0.7548679512588536,2.756672280997953,0.06121337656448258,-0.02003824876817786,0.002321356143811444,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.2157292268184745,0.7091387098613318,-1.5306792550179498,0.12556338614035234,1.1888831048923232,0.3636673904101504,1.6297903475282756,-2.3187844883142597,3.1604696025462253,3.1604696025462253,3.2960872287784024,0,0,-8.568503099690006e-05,-9.951292154053987e-05
+40218,1792840310589825794,18990018000000,1792840310582568910,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6761502799200239,-0.0047760013340485815,0.10572874679083341,0.9999999601560178,-0.0002253277171166098,0.00010947319508073337,9.150883158462926e-05,0.6761,-0.0046,0.10550605591708498,1.0,0.0,0.0,0.0,-0.40709481170679024,0.07043582177032881,2.4090958834750316,0.00877838974409205,0.029942889927077124,0.001674768117975177,0.24271450482814988,0.758196339197761,2.846983676158725,0.06118654323394535,-0.019045791717899177,0.002262949043541237,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.239172896242812,0.632368822395357,-1.7221683965319325,0.15682601312209518,1.3113353933440965,0.3159424708607552,1.6297903475282756,-2.4090958834750316,3.351958744060208,3.351958744060208,3.4310872287784875,0,0,-8.862418038080292e-05,-6.393940688012719e-05
+40308,1792840311339762650,18990768000000,1792840311338568551,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6761616991785453,-0.0047703275872072815,0.1056781988672443,0.9999999840341915,4.966042589761884e-05,0.00013245238460005373,5.8005939331364276e-05,0.6761,-0.0046,0.1054353579152465,1.0,0.0,0.0,0.0,-0.3991885175428301,0.09932256266257877,2.5001792780234986,0.010793774083236472,0.029877992176398596,0.0016250278894777495,0.25062079899211004,0.7870830800900109,2.938067070707192,0.06320192757308978,-0.019110689468577705,0.0022132088150438093,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.2340766092377624,0.8028173522530346,-1.7296991182151398,0.06885834115218743,1.3172797639597325,0.36172506054959397,1.6297903475282756,-2.5001792780234986,3.3594894657434153,3.3594894657434153,3.5435872287785584,0,0,-9.985662034336785e-05,-9.999999025923074e-05
+40389,1792840312014802407,18991443000000,1792840312014568165,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6761687323397831,-0.004777247760066058,0.10562437354536261,0.9999999818838657,4.6223291318857574e-05,0.0001438683621773147,6.95732306571006e-05,0.6761,-0.0046,0.10536464209667283,1.0,0.0,0.0,0.0,-0.41611998740528305,0.10294300858486949,2.600467742433946,0.01074102485367829,0.03087641740074603,0.001557708769061764,0.23368932912965706,0.7907035260123016,3.0383555351176392,0.06314917834353159,-0.01811226424423027,0.002145889694627824,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.3082436724260575,0.7695073695158613,-1.9543281835190542,0.08099718000021433,1.4812332372774417,0.3560761354381915,1.6297903475282756,-2.600467742433946,3.58411853104733,3.58411853104733,3.644837228778622,0,0,-0.0001063297241962483,9.988383317527933e-05
+40495,1792840312897830650,18992326000000,1792840312894578336,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6761805927852597,-0.004778688038704067,0.10554990029561023,0.9999999788324339,4.0405233970106815e-05,0.00016019670009745715,8.051354398799008e-05,0.6761,-0.0046,0.10527230505092376,1.0,0.0,0.0,0.0,-0.42774504325343476,0.08727265429922504,2.720736001916762,0.010688428784149516,0.0318653050249387,0.0014747996892393155,0.22206427328150538,0.7750331717266572,3.158623794600455,0.06309658227400282,-0.0171233766200376,0.0020629806148053753,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.3499026775217973,0.8302038264151395,-2.1795629851959752,0.08330415599338169,1.627727701082112,0.4163389198616054,1.6297903475282756,-2.720736001916762,3.8093533327242506,3.8093533327242506,3.7772872287787056,0,0,-0.0001031505477186182,9.892802829559173e-05
+40591,1792840313697777746,18993126000000,1792840313690578120,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6761902124930335,-0.0047834910783397895,0.10548618794086158,0.9999999763901747,2.259992534685995e-05,0.0001766897322931489,8.326161354813901e-05,0.6761,-0.0046,0.10519025903638272,1.0,0.0,0.0,0.0,-0.4376544805110345,0.09613133876396995,2.8209505404298723,0.010643263355844569,0.03285639516121189,0.0014084446217235585,0.21215483602390559,0.7838918561914021,3.2588383331135655,0.06305141684569787,-0.016132286483764413,0.0019966255472896183,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.373183789322273,0.6443616035375781,-2.2756195316290633,0.16304483136340245,1.693523895087931,0.3209235341543019,1.6297903475282756,-2.8209505404298723,3.9054098791573386,3.9054098791573386,3.897287228778781,0,0,-0.0001008347727579365,9.644697126909846e-05
+40703,1792840314631813436,18994060000000,1792840314630578270,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6761981712755523,-0.004784923420394759,0.10541193150116475,0.9999999743846116,4.785932330911204e-06,0.000189112356628476,8.29894691573753e-05,0.6761,-0.0046,0.10509704751836567,1.0,0.0,0.0,0.0,-0.43181625156808356,0.09692910406220101,2.9116960084030223,0.011638673681755494,0.03281815954305927,0.001347537709045308,0.21799306496685655,0.7846896214896332,3.3495838010867156,0.0640468271716088,-0.01617052210191703,0.0019357186346113677,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.3715511091385937,0.6928330686850749,-2.3197070109367175,0.17066871630721983,1.714530110386408,0.38156457874654726,1.6297903475282756,-2.9116960084030223,3.949497358464993,3.949497358464993,4.037387228778758,0,0,-0.00010254724946564953,-5.1374132683699395e-11
+40800,1792840315439749339,18994868000000,1792840315434578422,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.676209115197139,-0.004785340777602905,0.10533817616454327,0.9999999701066462,-1.9811184251208117e-06,0.000208355242338768,8.839535774571268e-05,0.6761,-0.0046,0.10500667019340677,1.0,0.0,0.0,0.0,-0.44806221393669,0.10005280279758322,3.0021736561493024,0.011587480189617104,0.033811745035048066,0.0012882252990240118,0.2017471025982501,0.7878133202250154,3.4400614488329957,0.0639956336794704,-0.015176936609928235,0.0018764062245900715,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.4051714531450195,0.650615482277672,-2.4297294959799287,0.1923541365285859,1.7908129256617331,0.3566578435075185,1.6297903475282756,-3.0021736561493024,4.0595198435082045,4.0595198435082045,4.158587228778476,0,0,-0.00012103788882692067,1.450613266956682e-06
+40890,1792840316189778422,18995618000000,1792840316182578235,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.676217331630577,-0.004791273151598504,0.1052595663116516,0.9999999668153456,-2.6086468847498908e-05,0.0002222124901632884,8.8052697447177e-05,0.6761,-0.0046,0.10491169251356479,1.0,0.0,0.0,0.0,-0.43907386145831717,0.10353906171971505,3.0922362752776307,0.01158451449928067,0.03379205088986923,0.001216823541779536,0.21073545507662297,0.7912995791471472,3.530124067961324,0.06399266798913397,-0.015196630755107072,0.0018050044673455958,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.395676481595796,0.6328018116458514,-2.414341371200907,0.2074981816314127,1.7739511117787778,0.34047579536832095,1.6297903475282756,-3.0922362752776307,4.044131718729183,4.044131718729183,4.271087228778214,0,0,-0.0001306978736029515,-9.981480505872326e-05
+40985,1792840316981819221,18996410000000,1792840316974578948,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762273826064539,-0.004789197391589925,0.10517079836412752,0.99999996233026,-5.401119081509921e-05,0.0002409728653376178,7.613942832058076e-05,0.6761,-0.0046,0.10480310074595742,1.0,0.0,0.0,0.0,-0.41122261953954053,0.11553677980313048,3.1468040803121715,0.011601244165876788,0.03276448805062558,0.001386636424847185,0.23858669699539956,0.8032972972305626,3.584691872995865,0.06400939765573009,-0.016224193594350723,0.0019748173504132447,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.425037839684146,0.6366806455139489,-2.6319648846783665,0.21952419690173963,1.9228675740706949,0.3435914572779277,1.6297903475282756,-3.1468040803121715,4.261755232206642,4.261755232206642,4.389887228777937,0,0,-0.00014752612974103853,-6.295218327792877e-05
+41086,1792840317822792867,18997251000000,1792840317822578704,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762361109394732,-0.004798816527317574,0.10504489088103185,0.9999999571693227,-7.542998947608256e-05,0.00025359186305773124,8.4295318760884e-05,0.6761,-0.0046,0.10466845803198982,1.0,0.0,0.0,0.0,-0.3927551358366927,0.11873220801276674,3.252625845246115,0.011601955639928323,0.031723387493271055,0.0020573113490424746,0.2570541806982474,0.8064927254401989,3.6905136379298082,0.06401010912978163,-0.017265294151705246,0.0026454922746085344,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.4155643170626897,0.6472241156510311,-2.6562398582312756,0.2285811786476707,1.9332113230857615,0.35268066215632327,1.6297903475282756,-3.252625845246115,4.286030205759551,4.286030205759551,4.516037228777643,0,0,-0.00017403117486966402,-9.999968494789897e-05
+41173,1792840318547806577,18997976000000,1792840318542569325,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762449736477761,-0.004800199417894592,0.10493042778562414,0.9999999523644078,-8.308339632862414e-05,0.00026703317004893106,9.221974866809946e-05,0.6761,-0.0046,0.10453663953468098,1.0,0.0,0.0,0.0,-0.382116015120053,0.11540268081163796,3.339758704556261,0.0105931430791898,0.03070921913941482,0.0017710013229143102,0.2676933014148871,0.8031631982390701,3.7776464972399544,0.0630012965690431,-0.01827946250556148,0.00235918224848037,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.4250389764124305,0.7489713870061729,-2.7907605452163864,0.2173008193153281,2.025898538318983,0.4181815154921795,1.6297903475282756,-3.339758704556261,4.420550892744662,4.420550892744662,4.6247872287773895,0,0,-0.00019023954312832737,-9.999999025923074e-05
+41250,1792840319189806762,18998618000000,1792840319186578834,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762531239970414,-0.004802779054912396,0.10481586970701476,0.9999999458648694,-0.0001001831130272721,0.0002827203118485716,9.872027057073116e-05,0.6761,-0.0046,0.10440857169640502,1.0,0.0,0.0,0.0,-0.35530013298082075,0.11139232810150268,3.4041668403135192,0.010580743826185117,0.03064770730176263,0.0019400724465610882,0.29450918355411937,0.7991528455289348,3.8420546329972125,0.06298889731603842,-0.018340974343213672,0.002528253372127148,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.4106162236596316,0.6339072341288535,-2.891941641240245,0.2562106781269522,2.0868762889652284,0.3411143563214672,1.6297903475282756,-3.4041668403135192,4.52173198876852,4.52173198876852,4.721087228777165,0,0,-0.0002093713563175711,-9.999999025923074e-05
+41320,1792840319772779257,18999201000000,1792840319766578531,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.67626005220389,-0.004811651508804974,0.10470140893617869,0.9999999396909327,-0.0001220831940058501,0.0002959100287477611,9.794867969537274e-05,0.6761,-0.0046,0.10428266320219728,1.0,0.0,0.0,0.0,-0.332692742114999,0.11049353583478827,3.4536743193004504,0.009685613464642653,0.02867529518362628,0.001866206035526819,0.3171165744199411,0.7982540532622204,3.8915621119841437,0.062093766954495956,-0.02031338646135002,0.0024543869610928787,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.420152057117823,0.7496441908858129,-2.95844782801052,0.2385398879512556,2.1314964226534805,0.41756523924542244,1.6297903475282756,-3.4536743193004504,4.5882381755387955,4.5882381755387955,4.808537228776961,0,0,-0.00022263452840595577,-9.998788882826232e-05
+41401,1792840320447704661,18999876000000,1792840320446568872,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6762699464491261,-0.0048139273496104525,0.10456044094967795,0.9999999323221784,-0.00013574342064713688,0.0003125982579477961,0.00010322090695085394,0.6761,-0.0046,0.10412345664171252,1.0,0.0,0.0,0.0,-0.3080571059737217,0.11028679561878763,3.5102685478077813,0.009621250621891578,0.027650904266025723,0.0018031904567480921,0.3417522105612184,0.7980473130462198,3.9481563404914746,0.06202940411174488,-0.021337777378950578,0.002391371382314152,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.4207514041651668,0.680669079057105,-3.0000731079162124,0.2730366119178585,2.159256793262658,0.3732660401239584,1.6297903475282756,-3.5102685478077813,4.629863455444488,4.629863455444488,4.909787228776725,0,0,-0.00024885871131449653,-9.999999025923074e-05
+41474,1792840321056705707,19000485000000,1792840321054569324,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6762770869818249,-0.004821858764241524,0.10441444718049565,0.9999999359017426,-2.5839020586565443e-05,0.0003272055152367398,0.00010912502445667278,0.6761,-0.0046,0.1039642117546061,1.0,0.0,0.0,0.0,-0.2887189422223875,0.0984926015342501,3.553408710727849,0.007600404398468076,0.026666162414410884,0.001733164440688122,0.36109037431255264,0.7862531189616823,3.9912965034115424,0.06000855788832138,-0.022322519230565416,0.0023213453662541818,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.476824719589096,0.7889379089915899,-3.073610730920329,0.22506897183296223,2.234343395760275,0.3922516656255413,1.6297903475282756,-3.553408710727849,4.7034010784486044,4.7034010784486044,5.001137228776512,0,0,-0.000275554375896185,-9.999999025923074e-05
+41539,1792840321597807357,19001026000000,1792840321594569069,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762818416007378,-0.004826265856142676,0.1042715876851622,0.9999999326868642,-5.8226704574492263e-05,0.0003318870041843413,0.00011193658411339556,0.6761,-0.0046,0.10380815370973437,1.0,0.0,0.0,0.0,-0.26896610552750677,0.08242347539861872,3.5930892749529932,0.006265039800948946,0.025670665125439664,0.001671976166551153,0.38084321100743335,0.7701839928260509,4.0309770676366865,0.05867319329080225,-0.023318016519536636,0.0022601570921172128,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.4292675802605361,0.7087333392615206,-3.026793583045983,0.2883008886263984,2.1890114775486085,0.3770441831723478,1.6297903475282756,-3.5930892749529932,4.656583930574259,4.656583930574259,5.082287228776323,0,0,-0.00030192288986571745,-9.999999025923074e-05
+41598,1792840322089797626,19001518000000,1792840322082578372,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762814976468995,-0.0048326034590811286,0.10411345862995619,0.9999999286077441,-8.597261331144099e-05,0.0003357471874990696,0.00011878512945926485,0.6761,-0.0046,0.10365362903868192,1.0,0.0,0.0,0.0,-0.25041675078293146,0.06280929115446188,3.6282168901308,0.004576739906425417,0.024681123468692886,0.0016113149406250943,0.39939256575200865,0.750569808581894,4.066104682814493,0.05698489339627872,-0.024307558176283415,0.002199495866191154,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.4922615591134893,0.7036660129539838,-3.2169644571034577,0.30501321022202266,2.331673073750932,0.38792802965209805,1.6297903475282756,-3.6282168901308,4.8467548046317335,4.8467548046317335,5.156087228776151,0,0,-0.0003262684013336222,-9.999999025923074e-05
+41659,1792840322597770480,19002026000000,1792840322594568851,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.676281419407875,-0.00483735238195477,0.10394428680498682,0.9999999245579284,-0.00011218351451147861,0.0003394681151181819,0.00012042948021410442,0.6761,-0.0046,0.10348186420496411,1.0,0.0,0.0,0.0,-0.2288645714890814,0.025265958175697767,3.64164037852345,0.0015633688661138984,0.022792605749117897,0.0015379437289077744,0.4209447450458587,0.7130264756031299,4.079528171207143,0.0539715223559672,-0.026196075895858404,0.002126124654473834,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.4365036466416694,0.6560943025265866,-3.2185000947360285,0.3404506762521081,2.3230335717144097,0.36117173659147017,1.6297903475282756,-3.64164037852345,4.848290442264304,4.848290442264304,5.232287228775974,0,0,-0.00035074089891759384,-9.999999025923074e-05
+41717,1792840323081795703,19002510000000,1792840323078578305,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762929008519357,-0.004836930865707133,0.10377434360748969,0.9999999191992291,-0.00013059702461147918,0.0003479672973262138,0.0001220965873531214,0.6761,-0.0046,0.10330626131103127,1.0,0.0,0.0,0.0,-0.20372276345528445,-0.007708064004866677,3.6304737061574506,-0.00044017490286474975,0.02174643166137892,0.0005336981044454822,0.44608655307965567,0.6800524534225655,4.068361498841144,0.05196797858698855,-0.02724224998359738,0.001121879030011542,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.4405969054736891,0.7071715713435212,-3.1489978322170984,0.33723073637077333,2.2877967532405794,0.39793223978615644,1.6297903475282756,-3.6304737061574506,4.778788179745374,4.778788179745374,5.304887228775804,0,0,-0.0003749408942030615,-9.999999025923074e-05
+41771,1792840323531727774,19002960000000,1792840323526568960,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6763005266444432,-0.004844949767053249,0.10360299875040203,0.9999999217805785,-3.765054209241108e-05,0.00035976169233757025,0.00013052073705491115,0.6761,-0.0046,0.10313248665962833,1.0,0.0,0.0,0.0,-0.20807872898029023,-0.02688586980534835,3.609401716956413,-0.002477604177772569,0.0217879594352229,0.00047668180220222876,0.4417305875546499,0.6608746476220838,4.047289509640106,0.049930549312080734,-0.027200722209753402,0.0010648627277682885,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.447487078704431,0.7635401677614467,-3.186374714471261,0.314370961927442,2.3154166065418593,0.4078409257614424,1.6297903475282756,-3.609401716956413,4.816165061999537,4.816165061999537,5.372387228775647,0,0,-0.00039744088981971535,-9.999999025923074e-05
+41820,1792840323939802471,19003368000000,1792840323938568337,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762938113784599,-0.004842284205893542,0.10343571699395201,0.999999923917944,-7.347582165096948e-05,0.00034963646145012357,0.00012634325940036632,0.6761,-0.0046,0.10296617937739462,1.0,0.0,0.0,0.0,-0.1798569787352332,-0.07528146776893696,3.5885144731809704,-0.005458367325678351,0.018893803016199046,0.00041730904990245786,0.4699523377997069,0.6124790496584952,4.026402265864664,0.04694978616417495,-0.030094878628777254,0.0010054899754685176,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.411747968365624,0.6682169488316826,-3.0996896060335346,0.366475821656808,2.2584928621395104,0.37066786896927506,1.6297903475282756,-3.5885144731809704,4.72947995356181,4.72947995356181,5.4335872287755045,0,0,-0.0004178408858454815,-9.999999025923074e-05
+41867,1792840324331790409,19003760000000,1792840324326568616,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6762934102859235,-0.004850981621170244,0.1032651296126657,0.9999999219088593,-9.529453192426458e-05,0.00034806795540887915,0.000131881729002514,0.6761,-0.0046,0.1027985539508935,1.0,0.0,0.0,0.0,-0.1688993231158027,-0.1053306693434003,3.557343515729821,-0.00851351659428818,0.018876637022305173,0.00041821178583136736,0.4809099934191374,0.5824298480840319,3.9952313084135143,0.04389463689556512,-0.030112044622671127,0.0010063927113974271,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.3889795512925929,0.5652515983239349,-3.0416217827753194,0.41230581274319955,2.223154785570856,0.3093016816285646,1.6297903475282756,-3.557343515729821,4.671412130303595,4.671412130303595,5.4923872287753674,0,0,-0.00043744088202709994,-9.999999025923074e-05
+41914,1792840324722778365,19004151000000,1792840324722568489,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6762875605311065,-0.004852937782529915,0.10308133295873122,0.9999999222200756,-0.00011048583882300057,0.0003407279501839734,0.00013674812847990235,0.6761,-0.0046,0.1026237023167674,1.0,0.0,0.0,0.0,-0.16492674202662677,-0.15543375856177377,3.5161038059069445,-0.011543975508278292,0.017932215649613455,0.0003907705035428872,0.48488257450831335,0.5323267588656584,3.9539915985906378,0.04086417798157501,-0.031056465995362846,0.000978951429108947,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.3596790528678362,0.6453568611684,-3.1134041697192547,0.40048332252152313,2.2652413854450066,0.364286621794859,1.6297903475282756,-3.5161038059069445,4.74319451724753,4.74319451724753,5.551037228775231,0,0,-0.00045699087821845916,-9.999999025923074e-05
+41957,1792840325081791405,19004510000000,1792840325078578715,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762788504692401,-0.004851417249414967,0.10289902833454466,0.999999930107772,-7.334942726592035e-05,0.0003286801939164608,0.00013347848967891853,0.6761,-0.0046,0.10245642954211642,1.0,0.0,0.0,0.0,-0.14426463783408083,-0.1928556061981952,3.4847115653791603,-0.014547105356837828,0.01597744736360219,0.0003527457339116103,0.5055446787008593,0.49490491122923697,3.9225993580628535,0.037861048133015475,-0.03301123428137411,0.0009409266594776701,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.3262494604379886,0.5054073785765392,-3.005892463502813,0.4542372998184196,2.193533861240244,0.27863906332814103,1.6297903475282756,-3.4847115653791603,4.635682811031089,4.635682811031089,5.604887228775105,0,0,-0.000474940874721523,-9.999999025923074e-05
+42000,1792840325439746053,19004868000000,1792840325438578494,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.676271717240086,-0.0048609196749002295,0.1027159720105639,0.9999999307753664,-7.93004011222111e-05,0.00031818321772582217,0.00014954268014418838,0.6761,-0.0046,0.10228320555959207,1.0,0.0,0.0,0.0,-0.15120031113969634,-0.23911784230279465,3.4231141770935882,-0.018619373879193164,0.016062624812454414,0.0003554820509857017,0.4986090053952438,0.4486426751246375,3.8610019697772815,0.03378877961066014,-0.03292605683252189,0.0009436629765517615,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.2932839294582754,0.4521513370097571,-2.964952560723658,0.46888255074248514,2.1669277928625017,0.24473288903316737,1.6297903475282756,-3.4231141770935882,4.594742908251933,4.594742908251933,5.65858722877498,0,0,-0.0004928408712343277,-9.999999025923074e-05
+42042,1792840325789790848,19005218000000,1792840325786578589,DOWN_FORCE_DETACH,7,0.0698,0.06980235129594803,0.6762776393986228,-0.004856721508997334,0.10253867716704596,0.9999999269732158,-0.0001272753987861426,0.00032522812001451774,0.00012459562629979658,0.6761,-0.0046,0.10210765750525838,1.0,0.0,0.0,0.0,-0.13156009666716295,-0.2534310495150382,3.3725946102471185,-0.019576737661147335,0.014066314629004685,0.0003557270969608146,0.5182492198677772,0.43432946791239396,3.8104824029308118,0.03283141582870597,-0.034922367015971616,0.0009439080225268744,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.3565400099206921,0.4501228179572059,-2.8782215326878475,0.4747688159232741,2.1372127529580327,0.24200506688371598,1.6297903475282756,-3.3725946102471185,4.508011880216123,4.508011880216123,5.711087228774858,0,0,-0.0005103408678250584,-9.999999025923074e-05
+42079,1792840326097797358,19005526000000,1792840326094569300,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6762680737338435,-0.004866367754704252,0.1023578642957395,0.9999999304161209,-0.00012456757572571847,0.0003040813443335765,0.00015042630374986518,0.6761,-0.0046,0.10194810861843179,1.0,0.0,0.0,0.0,-0.12988816375256518,-0.29295888841898926,3.334881924685346,-0.022633776195137442,0.014144772244742705,0.0003518729429220984,0.5199211527823749,0.3948016290084429,3.772769717369039,0.02977437729471586,-0.034843909400233596,0.0009400538684881582,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.303042864116693,0.4942127034739696,-2.806537712257497,0.45833286764455916,2.0820944369399257,0.27485031743170574,1.6297903475282756,-3.334881924685346,4.436328059785772,4.436328059785772,5.75728722877475,0,0,-0.0005257408648249015,-9.999999025923074e-05
+42118,1792840326422735200,19005851000000,1792840326422568856,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6762612743219755,-0.004874662365670043,0.10217632652789094,0.9999999298730189,-0.00011429767560525027,0.0002947250649292345,0.0001782414067648654,0.6761,-0.0046,0.10177461033787971,1.0,0.0,0.0,0.0,-0.13716310415608757,-0.34589213397235197,3.2693741816059037,-0.026730582508419375,0.015239751827344508,0.0003735628566475807,0.5126462123788526,0.3418683834550802,3.707261974289597,0.025677570981433927,-0.03374892981763179,0.0009617437822136405,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.2733323683453641,0.4548503736968468,-2.7355421941971754,0.47102972078123917,2.0311798366799567,0.25455901491729893,1.6297903475282756,-3.2693741816059037,4.365332541725451,4.365332541725451,5.8060372287746365,0,0,-0.0005419908616591515,-9.999999025923074e-05
+42156,1792840326739793034,19006168000000,1792840326738568658,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6762670540934276,-0.00486499988450567,0.10200086490723377,0.9999999404002915,-7.883776324210074e-05,0.00030484499962637074,0.00010722131856648726,0.6761,-0.0046,0.10160029493522472,1.0,0.0,0.0,0.0,-0.09439314007549127,-0.3312335729194942,3.204308943945282,-0.025647591019842424,0.013175069517135214,0.0003967190275869176,0.5554161764594489,0.356526944507938,3.6421967366289754,0.02676056247001088,-0.03581361212784109,0.0009848999531529774,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.3041077271939814,0.5051386137563024,-2.6138227175187403,0.42759983777900884,1.9800299740718081,0.25943187932440037,1.6297903475282756,-3.204308943945282,4.243613065047016,4.243613065047016,5.853587228774526,0,0,-0.0005578408585713276,-9.999999025923074e-05
+42191,1792840327031787085,19006460000000,1792840327026578117,DOWN_FORCE_DETACH,7,0.0698,0.0698016956448555,0.6762622274653858,-0.004869154810349585,0.10182490693688977,0.9999999398908317,-7.265398314057202e-05,0.00029368003117407807,0.00014189656562747278,0.6761,-0.0046,0.10143528110493859,1.0,0.0,0.0,0.0,-0.11938087066580583,-0.37157830137628156,3.1384255707146655,-0.028079410406167144,0.013251807763144392,0.0004341690763515083,0.5304284458691343,0.3161822160511506,3.576313363398359,0.02432874308368616,-0.03573687388183191,0.001022350001917568,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.2976239361424975,0.3957224979006897,-2.575898240033621,0.49070355296247137,1.9445155744244578,0.2168685573007019,1.6297903475282756,-3.1384255707146655,4.205688587561896,4.205688587561896,5.897387228774424,0,0,-0.000572440855727023,-9.999999025923074e-05
+42232,1792840327372796379,19006801000000,1792840327370569165,DOWN_SETTLE,7,0.0698,0.0698016956448555,0.6762484808865366,-0.004873773630866429,0.10165181331052872,0.999999943964467,-9.995886651289312e-05,0.00027218064819874095,0.00013942685182263416,0.6761,-0.0046,0.10129001566027046,1.0,0.0,0.0,0.0,-0.09468103070524603,-0.4021787780147188,2.9993126121885036,-0.030664102748615318,0.01133313701904086,0.0004850125051679029,0.5551282858296941,0.28558173941271336,3.437200404872197,0.021744050741237985,-0.03765554462593544,0.0010731934307339627,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.248430240096469,0.4208039114569146,-2.4601222843002297,0.501075210915805,1.863528351558915,0.23637009931520014,1.6297903475282756,-2.9993126121885036,4.089912631828505,0.0,0.0,0,0,-0.00010732882467319184,0.0010841295421534529
+42315,1792840328061782497,19007490000000,1792840328058568715,DOWN_PEAK_HOLD,7,0.0698,0.06980235129594803,0.6762197310536328,-0.0048680124712514134,0.10156438404992449,0.9999999578334663,-9.723955176476477e-05,0.00021493245861686178,0.00014186062817378808,0.6761,-0.0046,0.10128031304007595,1.0,0.0,0.0,0.0,-0.08281773977900575,-0.46395271266999316,2.583693681862908,-0.03562009639999303,0.009489469741953735,-0.00029379624893460256,0.5669915767559344,0.22380780475743897,3.0215814745466014,0.01678805708986027,-0.039499211903022566,0.0002943846766314572,0.6498093165349401,0.6877605174274322,0.4378877926836934,0.0524081534898533,-0.0489886816449763,0.0005881809255660598,1,1.021767032164858,0.4131400918466067,-1.8605442406190005,0.47057320314161993,1.4303056613903733,0.22693820264512118,1.6297903475282756,-2.583693681862908,3.490334588147276,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_17.5/press_depth_07/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792840287853352224,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.785450426e-09,1.792306980e-10,-5.610626408e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451258e-01,-1.176079066e-04,8.303260816e-01
+1,8.666666667e-01,DOWN_FORCE_DETACH,1792840288720654876,-5.507656493e-07,-3.173187785e-06,3.751742736e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.166578247e-07,7.376453464e-09,-2.061370930e-08,7.019550471e-01,-2.515824237e-05,8.601437611e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452397e-01,-1.176007094e-04,8.303260615e-01
+2,1.750000000e+00,DOWN_FORCE_DETACH,1792840289636873829,3.504680652e-06,-9.977469496e-08,4.162060924e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.874938371e-07,1.141000165e-08,-2.851061187e-08,7.019591025e-01,-2.208482927e-05,8.601438021e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453105e-01,-1.175966758e-04,8.303260536e-01
+3,2.633333333e+00,DOWN_FORCE_DETACH,1792840290505550384,5.033953961e-06,-3.146754552e-06,-2.492168480e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.291105536e-07,1.318459798e-08,-2.860745940e-08,7.019606318e-01,-2.513180913e-05,8.601408937e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453521e-01,-1.175949012e-04,8.303260535e-01
+4,3.483333333e+00,DOWN_FORCE_DETACH,1792840291357499939,8.528711483e-06,-4.714715113e-06,-1.664364071e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.534899086e-07,1.405360666e-08,-2.725335380e-08,7.019641266e-01,-2.669976969e-05,8.601267423e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453765e-01,-1.175940322e-04,8.303260549e-01
+5,4.366666667e+00,DOWN_FORCE_DETACH,1792840292241472999,1.171311075e-05,-8.872237347e-06,-5.736055417e-05,7.206243254e-06,-6.151417828e-06,-6.224622030e-05,7.280080848e-06,-6.130194470e-06,-6.186743456e-05,7.019673110e-01,-3.085729193e-05,8.600860254e-01,7.019628041e-01,-2.813647241e-05,8.600811397e-01,7.027524031e-01,-1.237382803e-04,8.302642147e-01
+6,5.216666667e+00,DOWN_FORCE_DETACH,1792840293093785153,8.078351735e-06,-8.388923795e-06,-1.005026432e-04,9.193616860e-06,-1.167205321e-05,-8.114811696e-05,9.187529050e-06,-1.164230473e-05,-8.079057396e-05,7.019636762e-01,-3.037397837e-05,8.600428833e-01,7.019647915e-01,-3.365710779e-05,8.600622378e-01,7.027543105e-01,-1.292503906e-04,8.302452916e-01
+7,6.033333333e+00,DOWN_FORCE_DETACH,1792840293928633869,7.989654816e-06,-1.019996978e-05,-1.380284874e-04,3.640750106e-06,-1.604194806e-05,-1.251071524e-04,2.683191398e-06,-1.604104811e-05,-1.246864554e-04,7.019635875e-01,-3.218502436e-05,8.600053574e-01,7.019592386e-01,-3.802700264e-05,8.600182788e-01,7.027478062e-01,-1.336491339e-04,8.302013957e-01
+8,6.716666667e+00,DOWN_FORCE_DETACH,1792840294600437487,1.653289555e-05,-1.584642258e-05,-1.499984131e-04,1.048236542e-05,-1.254380913e-05,-1.437950548e-04,9.745182876e-06,-1.250406670e-05,-1.433641588e-04,7.019721308e-01,-3.783147716e-05,8.599933875e-01,7.019660802e-01,-3.452886370e-05,8.599995909e-01,7.027548682e-01,-1.301121525e-04,8.301827180e-01
+9,7.566666667e+00,DOWN_FORCE_DETACH,1792840295452272981,2.144278806e-05,-2.216305215e-05,-1.871372430e-04,2.161889304e-05,-1.913170563e-05,-1.835748374e-04,2.124043314e-05,-1.907624083e-05,-1.830489738e-04,7.019770407e-01,-4.414810673e-05,8.599562487e-01,7.019772168e-01,-4.111676021e-05,8.599598111e-01,7.027663634e-01,-1.366843267e-04,8.301430332e-01
+10,8.483333333e+00,DOWN_FORCE_DETACH,1792840296369453639,2.693723306e-05,-1.931916884e-05,-2.298507640e-04,2.783201268e-05,-2.579613731e-05,-2.219581365e-04,2.747380189e-05,-2.575903303e-05,-2.213545202e-04,7.019825351e-01,-4.130422342e-05,8.599135352e-01,7.019834299e-01,-4.778119189e-05,8.599214278e-01,7.027725968e-01,-1.433671189e-04,8.301047276e-01
+11,9.183333333e+00,DOWN_FORCE_DETACH,1792840297074221569,3.223197483e-05,-2.757601757e-05,-2.667327051e-04,3.131019292e-05,-2.782112846e-05,-2.629279837e-04,3.069191171e-05,-2.778113666e-05,-2.622330562e-04,7.019878298e-01,-4.956107215e-05,8.598766532e-01,7.019869081e-01,-4.980618304e-05,8.598804579e-01,7.027758149e-01,-1.453892225e-04,8.300638491e-01
+12,9.950000000e+00,DOWN_FORCE_DETACH,1792840297894364911,3.702864151e-05,-2.564118156e-05,-3.019485312e-04,3.292873205e-05,-3.314155646e-05,-3.042102895e-04,3.197061488e-05,-3.314901457e-05,-3.034449474e-04,7.019926265e-01,-4.762623614e-05,8.598414374e-01,7.019885266e-01,-5.512661104e-05,8.598391756e-01,7.027770936e-01,-1.507571004e-04,8.300226372e-01
+13,1.078333333e+01,DOWN_FORCE_DETACH,1792840298765295238,4.001158566e-05,-3.156917940e-05,-3.422665151e-04,3.627061180e-05,-3.204340547e-05,-3.238765804e-04,3.533583336e-05,-3.206387010e-05,-3.232566118e-04,7.019956095e-01,-5.355423398e-05,8.598011194e-01,7.019918685e-01,-5.402846005e-05,8.598195093e-01,7.027804588e-01,-1.496719559e-04,8.300028255e-01
+14,1.118333333e+01,DOWN_FORCE_DETACH,1792840299170924502,9.408487293e-05,-2.652769468e-05,-3.309987537e-04,9.503702263e-05,-3.022274117e-05,-3.211191760e-04,9.832905598e-05,-3.024168461e-05,-3.205807875e-04,7.020496827e-01,-4.851274926e-05,8.598123872e-01,7.020506349e-01,-5.220779575e-05,8.598222667e-01,7.028434521e-01,-1.478497704e-04,8.300055013e-01
+15,1.191666667e+01,DOWN_FORCE_DETACH,1792840299907627518,1.022540934e-04,-3.287797501e-05,-3.700201217e-04,9.901035989e-05,-3.102524118e-05,-3.610110459e-04,1.023349215e-04,-3.108752264e-05,-3.603255174e-04,7.020578520e-01,-5.486302959e-05,8.597733658e-01,7.020546082e-01,-5.301029576e-05,8.597823749e-01,7.028474579e-01,-1.486956085e-04,8.299657566e-01
+16,1.273333333e+01,DOWN_FORCE_DETACH,1792840300709967258,1.153423898e-04,-3.427371383e-05,-4.296899893e-04,1.124888610e-04,-3.045038749e-05,-4.244644378e-04,1.161227761e-04,-3.054619553e-05,-4.236499672e-04,7.020709403e-01,-5.625876841e-05,8.597136959e-01,7.020680867e-01,-5.243544207e-05,8.597189215e-01,7.028612458e-01,-1.481542814e-04,8.299024322e-01
+17,1.360000000e+01,DOWN_FORCE_DETACH,1792840301628057599,1.288475232e-04,-3.559966426e-05,-4.969548762e-04,1.282681993e-04,-3.911741266e-05,-4.864671341e-04,1.323902311e-04,-3.921220757e-05,-4.855823758e-04,7.020844454e-01,-5.758471884e-05,8.596464310e-01,7.020838661e-01,-6.110246724e-05,8.596569188e-01,7.028775132e-01,-1.568202934e-04,8.298404998e-01
+18,1.428333333e+01,DOWN_FORCE_DETACH,1792840302299198349,1.372802844e-04,-2.646493631e-05,-5.346962176e-04,1.332671302e-04,-2.966547945e-05,-5.236075702e-04,1.373615275e-04,-2.979247428e-05,-5.228064002e-04,7.020928782e-01,-4.844999089e-05,8.596086897e-01,7.020888650e-01,-5.165053403e-05,8.596197783e-01,7.028824845e-01,-1.474005601e-04,8.298032757e-01
+19,1.513333333e+01,DOWN_FORCE_DETACH,1792840303183497612,1.494579459e-04,-3.074180513e-05,-5.733952321e-04,1.416381046e-04,-2.881994171e-05,-5.631685134e-04,1.459855500e-04,-2.895445581e-05,-5.624667930e-04,7.021050558e-01,-5.272685971e-05,8.595699907e-01,7.020972360e-01,-5.080499629e-05,8.595802174e-01,7.028911086e-01,-1.465625416e-04,8.297636153e-01
+20,1.598333333e+01,DOWN_FORCE_DETACH,1792840304018477979,1.506494374e-04,-3.191307586e-05,-6.237449904e-04,1.504164280e-04,-3.199668349e-05,-6.238518808e-04,1.547082675e-04,-3.217644746e-05,-6.229581176e-04,7.021062473e-01,-5.389813044e-05,8.595196409e-01,7.021060143e-01,-5.398173807e-05,8.595195340e-01,7.028998313e-01,-1.497845333e-04,8.297031240e-01
+21,1.686666667e+01,DOWN_FORCE_DETACH,1792840304886952834,1.588357747e-04,-3.870584631e-05,-6.663636190e-04,1.594550479e-04,-3.262924024e-05,-6.631096769e-04,1.640278979e-04,-3.283633546e-05,-6.623207998e-04,7.021144336e-01,-6.069090089e-05,8.594770223e-01,7.021150529e-01,-5.461429482e-05,8.594802762e-01,7.029091509e-01,-1.504444213e-04,8.296637613e-01
+22,1.773333333e+01,DOWN_FORCE_DETACH,1792840305738832425,1.726432083e-04,-3.814615701e-05,-7.119386780e-04,1.678794037e-04,-3.673196944e-05,-7.031475059e-04,1.726734273e-04,-3.690416574e-05,-7.023831581e-04,7.021282411e-01,-6.013121159e-05,8.594314472e-01,7.021234773e-01,-5.871702402e-05,8.594402384e-01,7.029177964e-01,-1.545122516e-04,8.296236990e-01
+23,1.850000000e+01,DOWN_FORCE_DETACH,1792840306492284506,1.809577727e-04,-3.622394847e-05,-7.626123789e-04,1.777901984e-04,-4.136565432e-05,-7.637021077e-04,1.826229226e-04,-4.153634864e-05,-7.628121666e-04,7.021365556e-01,-5.820900305e-05,8.593807735e-01,7.021333881e-01,-6.335070890e-05,8.593796838e-01,7.029277459e-01,-1.591444345e-04,8.295632700e-01
+24,1.925000000e+01,DOWN_FORCE_DETACH,1792840307245970168,1.872269797e-04,-4.079713693e-05,-8.122483207e-04,1.850947573e-04,-4.282523090e-05,-8.049412521e-04,1.899864441e-04,-4.297691153e-05,-8.040468882e-04,7.021428248e-01,-6.278219151e-05,8.593311376e-01,7.021406926e-01,-6.481028548e-05,8.593384447e-01,7.029351095e-01,-1.605849974e-04,8.295220352e-01
+25,2.001666667e+01,DOWN_FORCE_DETACH,1792840307999540706,1.975231409e-04,-4.464526264e-05,-8.479282531e-04,1.938169333e-04,-3.818146697e-05,-8.470654356e-04,1.989088764e-04,-3.835455807e-05,-8.462588282e-04,7.021531210e-01,-6.663031722e-05,8.592954577e-01,7.021494148e-01,-6.016652155e-05,8.592963205e-01,7.029440319e-01,-1.559626439e-04,8.294798233e-01
+26,2.083333333e+01,DOWN_FORCE_DETACH,1792840308801794971,2.027978389e-04,-4.380033059e-05,-9.056933701e-04,2.015146996e-04,-4.105972337e-05,-9.080533927e-04,2.064644318e-04,-4.116395958e-05,-9.070843579e-04,7.021583957e-01,-6.578538517e-05,8.592376925e-01,7.021571126e-01,-6.304477795e-05,8.592353325e-01,7.029515874e-01,-1.587720454e-04,8.294189978e-01
+27,2.173333333e+01,DOWN_FORCE_DETACH,1792840309685892046,2.121887991e-04,-4.666856864e-05,-9.655601504e-04,2.089893411e-04,-4.753113159e-05,-9.466668964e-04,2.140701545e-04,-4.768210095e-05,-9.458860030e-04,7.021677867e-01,-6.865362322e-05,8.591778258e-01,7.021645872e-01,-6.951618617e-05,8.591967190e-01,7.029591932e-01,-1.652901868e-04,8.293801961e-01
+28,2.260000000e+01,DOWN_FORCE_DETACH,1792840310586798193,2.228152637e-04,-4.556050757e-05,-1.020583748e-03,2.195409302e-04,-5.468932012e-05,-1.005544973e-03,2.247040413e-04,-5.484022332e-05,-1.004665445e-03,7.021784131e-01,-6.754556215e-05,8.591228022e-01,7.021751388e-01,-7.667437470e-05,8.591378409e-01,7.029698271e-01,-1.724483092e-04,8.293214167e-01
+29,2.333333333e+01,DOWN_FORCE_DETACH,1792840311340826253,2.351956999e-04,-4.228810231e-05,-1.069107553e-03,2.315663690e-04,-4.744468318e-05,-1.063876243e-03,2.369667339e-04,-4.761421725e-05,-1.062886837e-03,7.021907936e-01,-6.427315689e-05,8.590742784e-01,7.021871642e-01,-6.942973776e-05,8.590795097e-01,7.029820897e-01,-1.652223031e-04,8.292631953e-01
+30,2.400000000e+01,DOWN_FORCE_DETACH,1792840312012063760,2.441387085e-04,-4.849019930e-05,-1.122195713e-03,2.395552837e-04,-4.407652324e-05,-1.108871402e-03,2.450184896e-04,-4.427964657e-05,-1.107821424e-03,7.021997366e-01,-7.047525388e-05,8.590211902e-01,7.021951532e-01,-6.606157782e-05,8.590345145e-01,7.029901415e-01,-1.618877324e-04,8.292182607e-01
+31,2.483333333e+01,DOWN_FORCE_DETACH,1792840312896805710,2.534217579e-04,-5.537206797e-05,-1.199116796e-03,2.508678956e-04,-5.174441362e-05,-1.192089179e-03,2.562561236e-04,-5.194916527e-05,-1.190847198e-03,7.022090196e-01,-7.735712255e-05,8.589442691e-01,7.022064658e-01,-7.372946820e-05,8.589512967e-01,7.030013791e-01,-1.695572511e-04,8.291352349e-01
+32,2.563333333e+01,DOWN_FORCE_DETACH,1792840313700188074,2.637090144e-04,-5.545159344e-05,-1.261118480e-03,2.614548401e-04,-5.456654932e-05,-1.254191412e-03,2.669009446e-04,-5.477151067e-05,-1.252995402e-03,7.022193069e-01,-7.743664802e-05,8.588822674e-01,7.022170527e-01,-7.655160390e-05,8.588891945e-01,7.030120240e-01,-1.723795965e-04,8.290730867e-01
+33,2.658333333e+01,DOWN_FORCE_DETACH,1792840314633121359,2.739497199e-04,-5.548892215e-05,-1.333781858e-03,2.701491253e-04,-5.453497557e-05,-1.316425222e-03,2.756254600e-04,-5.472581860e-05,-1.315364851e-03,7.022295476e-01,-7.747397673e-05,8.588096041e-01,7.022257470e-01,-7.652003015e-05,8.588269607e-01,7.030207485e-01,-1.723339044e-04,8.290107173e-01
+34,2.740000000e+01,DOWN_FORCE_DETACH,1792840315437668040,2.809761933e-04,-5.392085287e-05,-1.408541818e-03,2.809458741e-04,-5.588274239e-05,-1.397857618e-03,2.862641475e-04,-5.607447123e-05,-1.396735257e-03,7.022365741e-01,-7.590590745e-05,8.587348441e-01,7.022365437e-01,-7.786779697e-05,8.587455283e-01,7.030313872e-01,-1.736825571e-04,8.289293469e-01
+35,2.815000000e+01,DOWN_FORCE_DETACH,1792840316189288149,2.908281519e-04,-6.323366670e-05,-1.487740109e-03,2.907074116e-04,-6.300604590e-05,-1.487891011e-03,2.956044885e-04,-6.319182826e-05,-1.486565934e-03,7.022464260e-01,-8.521872128e-05,8.586556458e-01,7.022463053e-01,-8.499110048e-05,8.586554949e-01,7.030407275e-01,-1.807999141e-04,8.288395162e-01
+36,2.888333333e+01,DOWN_FORCE_DETACH,1792840316977595678,3.006333592e-04,-6.015282250e-05,-1.576296094e-03,2.991969797e-04,-6.714711830e-05,-1.567908235e-03,3.037853477e-04,-6.736019473e-05,-1.566594748e-03,7.022562312e-01,-8.213787708e-05,8.585670898e-01,7.022547948e-01,-8.913217288e-05,8.585754777e-01,7.030489084e-01,-1.849682806e-04,8.287594874e-01
+37,2.975000000e+01,DOWN_FORCE_DETACH,1792840317827079989,3.100026070e-04,-6.743379071e-05,-1.702871504e-03,3.082321647e-04,-6.854259516e-05,-1.695600109e-03,3.118471900e-04,-6.874736145e-05,-1.694073019e-03,7.022656005e-01,-8.941884529e-05,8.584405144e-01,7.022638300e-01,-9.052764974e-05,8.584477858e-01,7.030569702e-01,-1.863554473e-04,8.286320091e-01
+38,3.046666667e+01,DOWN_FORCE_DETACH,1792840318548064412,3.184701691e-04,-7.215993300e-05,-1.816878635e-03,3.161714449e-04,-7.309265849e-05,-1.803428261e-03,3.190045658e-04,-7.329324429e-05,-1.801870567e-03,7.022740680e-01,-9.414498758e-05,8.583265073e-01,7.022717693e-01,-9.507771307e-05,8.583399577e-01,7.030641276e-01,-1.909013301e-04,8.285242116e-01
+39,3.110000000e+01,DOWN_FORCE_DETACH,1792840319187210213,3.256007073e-04,-7.558010019e-05,-1.932193817e-03,3.272506364e-04,-7.833416672e-05,-1.914575719e-03,3.296409072e-04,-7.853885763e-05,-1.912923555e-03,7.022811986e-01,-9.756515477e-05,8.582111921e-01,7.022828485e-01,-1.003192213e-04,8.582288102e-01,7.030747639e-01,-1.961469435e-04,8.284131586e-01
+40,3.170000000e+01,DOWN_FORCE_DETACH,1792840319776450510,3.346676360e-04,-7.998541681e-05,-2.046619175e-03,3.301622742e-04,-8.184762792e-05,-2.030496822e-03,3.314430405e-04,-8.205192331e-05,-2.028782430e-03,7.022902655e-01,-1.019704714e-04,8.580967667e-01,7.022857601e-01,-1.038326825e-04,8.581128891e-01,7.030765661e-01,-1.996600091e-04,8.282972997e-01
+41,3.230000000e+01,DOWN_FORCE_DETACH,1792840320448122828,3.457950591e-04,-8.389277533e-05,-2.183088745e-03,3.431061780e-04,-8.670866063e-05,-2.171824234e-03,3.436791874e-04,-8.692800130e-05,-2.169839553e-03,7.023013929e-01,-1.058778299e-04,8.579602972e-01,7.022987040e-01,-1.086937152e-04,8.579715617e-01,7.030888022e-01,-2.045360871e-04,8.281562426e-01
+42,3.290000000e+01,DOWN_FORCE_DETACH,1792840321053697643,3.515022512e-04,-9.396830540e-05,-2.329287272e-03,3.486303833e-04,-9.307171505e-05,-2.316904523e-03,3.480448938e-04,-9.328513249e-05,-2.314820503e-03,7.023071001e-01,-1.159533600e-04,8.578140986e-01,7.023042283e-01,-1.150567696e-04,8.578264814e-01,7.030931679e-01,-2.108932183e-04,8.280112616e-01
+43,3.345000000e+01,DOWN_FORCE_DETACH,1792840321594884684,3.533864901e-04,-9.597154954e-05,-2.477465376e-03,3.510390428e-04,-9.569030091e-05,-2.466303409e-03,3.488969643e-04,-9.587613597e-05,-2.464037330e-03,7.023089844e-01,-1.179566041e-04,8.576659205e-01,7.023066369e-01,-1.176753555e-04,8.576770825e-01,7.030940200e-01,-2.134842218e-04,8.278620448e-01
+44,3.395000000e+01,DOWN_FORCE_DETACH,1792840322086012940,3.535979808e-04,-1.088996880e-04,-2.634095521e-03,3.533677118e-04,-1.088395051e-04,-2.634021332e-03,3.493511165e-04,-1.090538382e-04,-2.631408594e-03,7.023091958e-01,-1.308847426e-04,8.575092904e-01,7.023089656e-01,-1.308245596e-04,8.575093646e-01,7.030944741e-01,-2.266619240e-04,8.276946735e-01
+45,3.441666667e+01,DOWN_FORCE_DETACH,1792840322594170822,3.556469084e-04,-1.073477158e-04,-2.801508542e-03,3.555119248e-04,-1.114945113e-04,-2.796966151e-03,3.496645861e-04,-1.116245534e-04,-2.794129490e-03,7.023112448e-01,-1.293327704e-04,8.573418774e-01,7.023111098e-01,-1.334795658e-04,8.573464198e-01,7.030947876e-01,-2.292326392e-04,8.275319526e-01
+46,3.490000000e+01,DOWN_FORCE_DETACH,1792840323084671639,3.662805716e-04,-1.108037735e-04,-2.973590226e-03,3.658720079e-04,-1.109955747e-04,-2.973991938e-03,3.585785588e-04,-1.111326598e-04,-2.971042038e-03,7.023218784e-01,-1.327888281e-04,8.571697957e-01,7.023214699e-01,-1.329806293e-04,8.571693940e-01,7.031037016e-01,-2.287407457e-04,8.273550401e-01
+47,3.535000000e+01,DOWN_FORCE_DETACH,1792840323527360060,3.740165023e-04,-1.172102225e-04,-3.141199676e-03,3.731251405e-04,-1.102847385e-04,-3.135705575e-03,3.644778011e-04,-1.104161878e-04,-3.132675528e-03,7.023296144e-01,-1.391952771e-04,8.570021862e-01,7.023287230e-01,-1.322697931e-04,8.570076803e-01,7.031096008e-01,-2.280242736e-04,8.271934066e-01
+48,3.576666667e+01,DOWN_FORCE_DETACH,1792840323937381282,3.656360582e-04,-1.148839519e-04,-3.313112053e-03,3.674621967e-04,-1.143658499e-04,-3.303418844e-03,3.565139447e-04,-1.144583222e-04,-3.300277269e-03,7.023212339e-01,-1.368690065e-04,8.568302739e-01,7.023230601e-01,-1.363509045e-04,8.568399671e-01,7.031016370e-01,-2.320664081e-04,8.270258049e-01
+49,3.616666667e+01,DOWN_FORCE_DETACH,1792840324330265448,3.645505634e-04,-1.209169313e-04,-3.483035959e-03,3.644654085e-04,-1.207823727e-04,-3.482629240e-03,3.511338242e-04,-1.209167443e-04,-3.479245876e-03,7.023201484e-01,-1.429019859e-04,8.566603500e-01,7.023200633e-01,-1.427674272e-04,8.566607567e-01,7.030962568e-01,-2.385248301e-04,8.268468363e-01
+50,3.655000000e+01,DOWN_FORCE_DETACH,1792840324723078891,3.610570524e-04,-1.248982976e-04,-3.665973462e-03,3.607187424e-04,-1.248844543e-04,-3.666258399e-03,3.448695630e-04,-1.250045602e-04,-3.662748484e-03,7.023166549e-01,-1.468833522e-04,8.564774125e-01,7.023163166e-01,-1.468695089e-04,8.564771275e-01,7.030899926e-01,-2.426126461e-04,8.266633336e-01
+51,3.691666667e+01,DOWN_FORCE_DETACH,1792840325083786862,3.523469906e-04,-1.233777645e-04,-3.848278086e-03,3.527997582e-04,-1.269745776e-04,-3.838520872e-03,3.342121328e-04,-1.270488237e-04,-3.835051188e-03,7.023079449e-01,-1.453628191e-04,8.562951078e-01,7.023083976e-01,-1.489596322e-04,8.563048650e-01,7.030793351e-01,-2.446569095e-04,8.264910309e-01
+52,3.728333333e+01,DOWN_FORCE_DETACH,1792840325443544375,3.455103274e-04,-1.292522605e-04,-4.032148676e-03,3.450175647e-04,-1.290814280e-04,-4.032021211e-03,3.235742761e-04,-1.291516830e-04,-4.028455277e-03,7.023011082e-01,-1.512373151e-04,8.561112372e-01,7.023006154e-01,-1.510664826e-04,8.561113647e-01,7.030686973e-01,-2.467597688e-04,8.262976269e-01
+53,3.761666667e+01,DOWN_FORCE_DETACH,1792840325788358901,3.498678997e-04,-1.328176446e-04,-4.211368256e-03,3.464768151e-04,-1.283101322e-04,-4.192398655e-03,3.232063838e-04,-1.283526485e-04,-4.188961868e-03,7.023054658e-01,-1.548026991e-04,8.559320177e-01,7.023020747e-01,-1.502951868e-04,8.559509873e-01,7.030683294e-01,-2.459607343e-04,8.261371203e-01
+54,3.793333333e+01,DOWN_FORCE_DETACH,1792840326099153031,3.419194528e-04,-1.396371318e-04,-4.390492599e-03,3.417851892e-04,-1.396207025e-04,-4.390470186e-03,3.158631585e-04,-1.396997304e-04,-4.386849743e-03,7.022975173e-01,-1.616221863e-04,8.557528933e-01,7.022973831e-01,-1.616057571e-04,8.557529157e-01,7.030609862e-01,-2.573078162e-04,8.259392324e-01
+55,3.826666667e+01,DOWN_FORCE_DETACH,1792840326426361388,3.343255294e-04,-1.461235110e-04,-4.572965490e-03,3.339344302e-04,-1.461630632e-04,-4.572511856e-03,3.052254718e-04,-1.462284946e-04,-4.568880805e-03,7.022899234e-01,-1.681085655e-04,8.555704204e-01,7.022895323e-01,-1.681481177e-04,8.555708741e-01,7.030503485e-01,-2.638365804e-04,8.257572013e-01
+56,3.858333333e+01,DOWN_FORCE_DETACH,1792840326737898667,3.411836893e-04,-1.399824550e-04,-4.742984840e-03,3.354431309e-04,-1.436369558e-04,-4.731932881e-03,3.048896742e-04,-1.436653152e-04,-4.728384567e-03,7.022967816e-01,-1.619675096e-04,8.554004011e-01,7.022910410e-01,-1.656220103e-04,8.554114530e-01,7.030500127e-01,-2.612734010e-04,8.255976976e-01
+57,3.888333333e+01,DOWN_FORCE_DETACH,1792840327032480000,3.342923701e-04,-1.452741335e-04,-4.925426267e-03,3.343556148e-04,-1.453550722e-04,-4.925024226e-03,3.014723122e-04,-1.453879245e-04,-4.921339202e-03,7.022898902e-01,-1.672591881e-04,8.552179596e-01,7.022899535e-01,-1.673401268e-04,8.552183617e-01,7.030465953e-01,-2.629960103e-04,8.254047429e-01
+58,3.923333333e+01,DOWN_SETTLE,1792840327376473653,3.219069446e-04,-1.487032867e-04,-5.098147928e-03,3.217783975e-04,-1.487475646e-04,-5.098384439e-03,2.858792074e-04,-1.487829988e-04,-5.094979699e-03,7.022775048e-01,-1.706883413e-04,8.550452380e-01,7.022773763e-01,-1.707326192e-04,8.550450015e-01,7.030310022e-01,-2.663910846e-04,8.252311024e-01
+59,3.993333333e+01,DOWN_PEAK_HOLD,1792840328064466451,2.932275750e-04,-1.399729864e-04,-5.182922371e-03,2.933161058e-04,-1.376792309e-04,-5.178059696e-03,2.541624955e-04,-1.377268782e-04,-5.176186576e-03,7.022488254e-01,-1.619580409e-04,8.549604635e-01,7.022489140e-01,-1.596642855e-04,8.549653262e-01,7.029992855e-01,-2.553349640e-04,8.251498956e-01

Fixed/digit/ball_15A_17.5/press_depth_07/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.9270e-02,1.2685e-01,2.4614e+00,-4.5353e-02,4.0984e-02,2.0390e-04,4.8395e-04,5.0619e-05,-1.0467e-04,4.1723e-07,3.4578e-05,-7.9628e-08,4.9771e-04,3.4581e-05
+1,8.6667e-01,DOWN_FORCE_DETACH,1.9367e-04,7.9043e-02,1.2889e-01,2.4577e+00,-4.5336e-02,4.2389e-02,1.9620e-04,2.0257e-02,2.0809e-03,-3.8137e-03,1.7662e-05,1.4397e-03,-7.7822e-06,2.0717e-02,1.4399e-03
+2,1.7500e+00,DOWN_FORCE_DETACH,3.8679e-04,9.1337e-02,1.3005e-01,2.4563e+00,-4.5321e-02,4.3257e-02,1.8636e-04,3.2551e-02,3.2459e-03,-5.2700e-03,3.1944e-05,2.3077e-03,-1.7619e-05,3.3134e-02,2.3080e-03
+3,2.6333e+00,DOWN_FORCE_DETACH,5.8357e-04,9.8568e-02,1.3062e-01,2.4562e+00,-4.5303e-02,4.3767e-02,1.7679e-04,3.9783e-02,3.8169e-03,-5.3282e-03,5.0347e-05,2.8176e-03,-2.7191e-05,4.0319e-02,2.8182e-03
+4,3.4833e+00,DOWN_FORCE_DETACH,7.7903e-04,1.0280e-01,1.3094e-01,2.4564e+00,-4.5293e-02,4.4065e-02,1.6687e-04,4.4016e-02,4.1403e-03,-5.0983e-03,6.0093e-05,3.1153e-03,-3.7113e-05,4.4503e-02,3.1161e-03
+5,4.3667e+00,DOWN_FORCE_DETACH,9.6942e-04,1.0448e-01,1.5004e-01,2.5293e+00,-4.6576e-02,4.4090e-02,1.5982e-04,4.5693e-02,2.3240e-02,6.7820e-02,-1.2222e-03,3.1410e-03,-4.4160e-05,8.5015e-02,3.3707e-03
+6,5.2167e+00,DOWN_FORCE_DETACH,1.1631e-03,1.0372e-01,1.6711e-01,2.5188e+00,-4.7762e-02,4.4039e-02,1.4112e-04,4.4936e-02,4.0308e-02,5.7283e-02,-2.4083e-03,3.0896e-03,-6.2861e-05,8.3219e-02,3.9178e-03
+7,6.0333e+00,DOWN_FORCE_DETACH,1.3596e-03,1.1172e-01,1.8200e-01,2.5364e+00,-4.8806e-02,4.4565e-02,1.0265e-04,5.2938e-02,5.5198e-02,7.4902e-02,-3.4523e-03,3.6158e-03,-1.0133e-04,1.0705e-01,5.0003e-03
+8,6.7167e+00,DOWN_FORCE_DETACH,1.5530e-03,1.0228e-01,1.7234e-01,2.5344e+00,-4.8175e-02,4.3888e-02,6.5392e-05,4.3494e-02,4.5533e-02,7.2913e-02,-2.8215e-03,2.9388e-03,-1.3859e-04,9.6339e-02,4.0763e-03
+9,7.5667e+00,DOWN_FORCE_DETACH,1.7475e-03,9.0359e-02,1.9116e-01,2.5588e+00,-4.9514e-02,4.3001e-02,2.5300e-05,3.1573e-02,6.4356e-02,9.7283e-02,-4.1609e-03,2.0522e-03,-1.7868e-04,1.2084e-01,4.6429e-03
+10,8.4833e+00,DOWN_FORCE_DETACH,1.9436e-03,9.2312e-02,2.0924e-01,2.5674e+00,-5.0829e-02,4.3109e-02,-2.8302e-05,3.3526e-02,8.2432e-02,1.0591e-01,-5.4752e-03,2.1593e-03,-2.3228e-04,1.3834e-01,5.8902e-03
+11,9.1833e+00,DOWN_FORCE_DETACH,2.1383e-03,9.5007e-02,2.1414e-01,2.5887e+00,-5.1222e-02,4.3258e-02,-7.8486e-05,3.6221e-02,8.7339e-02,1.2713e-01,-5.8683e-03,2.3087e-03,-2.8247e-04,1.5843e-01,6.3125e-03
+12,9.9500e+00,DOWN_FORCE_DETACH,2.3325e-03,1.0112e-01,2.2801e-01,2.6004e+00,-5.2246e-02,4.3663e-02,-1.3687e-04,4.2335e-02,1.0120e-01,1.3885e-01,-6.8926e-03,2.7136e-03,-3.4085e-04,1.7695e-01,7.4154e-03
+13,1.0783e+01,DOWN_FORCE_DETACH,2.5279e-03,1.0077e-01,2.2267e-01,2.5680e+00,-5.1958e-02,4.3671e-02,-2.0512e-04,4.1988e-02,9.5867e-02,1.0648e-01,-6.6049e-03,2.7219e-03,-4.0910e-04,1.4931e-01,7.1555e-03
+14,1.1183e+01,DOWN_FORCE_DETACH,2.7188e-03,1.8647e-02,2.1285e-01,2.5370e+00,-5.1340e-02,3.7917e-02,-2.1317e-04,-4.0138e-02,8.6047e-02,7.5457e-02,-5.9866e-03,-3.0323e-03,-4.1715e-04,1.2128e-01,6.7237e-03
+15,1.1917e+01,DOWN_FORCE_DETACH,2.9147e-03,5.1196e-02,2.1152e-01,2.5574e+00,-5.1311e-02,4.0200e-02,-2.6393e-04,-7.5895e-03,8.4715e-02,9.5896e-02,-5.9576e-03,-7.4927e-04,-4.6791e-04,1.2818e-01,6.0227e-03
+16,1.2733e+01,DOWN_FORCE_DETACH,3.1073e-03,5.8155e-02,2.0582e-01,2.5872e+00,-5.0952e-02,4.0668e-02,-3.3034e-04,-6.3112e-04,7.9018e-02,1.2568e-01,-5.5982e-03,-2.8078e-04,-5.3432e-04,1.4846e-01,5.6307e-03
+17,1.3600e+01,DOWN_FORCE_DETACH,3.2988e-03,6.0223e-02,2.2587e-01,2.5968e+00,-5.2354e-02,4.0823e-02,-3.7288e-04,1.4366e-03,9.9066e-02,1.3530e-01,-7.0002e-03,-1.2668e-04,-5.7686e-04,1.6769e-01,7.0251e-03
+18,1.4283e+01,DOWN_FORCE_DETACH,3.4958e-03,6.9439e-02,1.9573e-01,2.5811e+00,-5.0307e-02,4.1505e-02,-3.9237e-04,1.0653e-02,6.8930e-02,1.1959e-01,-4.9541e-03,5.5569e-04,-5.9635e-04,1.3844e-01,5.0207e-03
+19,1.5133e+01,DOWN_FORCE_DETACH,3.6884e-03,7.5924e-02,1.8911e-01,2.5641e+00,-4.9907e-02,4.1984e-02,-3.6010e-04,1.7138e-02,6.2302e-02,1.0255e-01,-4.5537e-03,1.0343e-03,-5.6408e-04,1.2121e-01,4.7036e-03
+20,1.5983e+01,DOWN_FORCE_DETACH,3.8839e-03,8.2263e-02,1.9931e-01,2.5591e+00,-5.0660e-02,4.2425e-02,-2.7593e-04,2.3478e-02,7.2507e-02,9.7597e-02,-5.3070e-03,1.4754e-03,-4.7991e-04,1.2383e-01,5.5292e-03
+21,1.6867e+01,DOWN_FORCE_DETACH,4.0767e-03,8.6317e-02,1.9630e-01,2.5814e+00,-5.0475e-02,4.2669e-02,-1.5658e-04,2.7531e-02,6.9494e-02,1.1992e-01,-5.1216e-03,1.7199e-03,-3.6056e-04,1.4131e-01,5.4147e-03
+22,1.7733e+01,DOWN_FORCE_DETACH,4.2721e-03,9.2616e-02,2.0861e-01,2.5721e+00,-5.1326e-02,4.3117e-02,-1.8128e-05,3.3830e-02,8.1805e-02,1.1061e-01,-5.9722e-03,2.1677e-03,-2.2211e-04,1.4167e-01,6.3573e-03
+23,1.8500e+01,DOWN_FORCE_DETACH,4.4677e-03,9.4932e-02,2.2431e-01,2.6014e+00,-5.2367e-02,4.3245e-02,9.4634e-05,3.6147e-02,9.7506e-02,1.3987e-01,-7.0141e-03,2.2956e-03,-1.0935e-04,1.7429e-01,7.3810e-03
+24,1.9250e+01,DOWN_FORCE_DETACH,4.6615e-03,9.8307e-02,2.3117e-01,2.5910e+00,-5.2795e-02,4.3505e-02,1.7043e-04,3.9521e-02,1.0436e-01,1.2944e-01,-7.4416e-03,2.5557e-03,-3.3547e-05,1.7091e-01,7.8683e-03
+25,2.0017e+01,DOWN_FORCE_DETACH,4.8528e-03,9.5732e-02,2.2007e-01,2.5869e+00,-5.1982e-02,4.3349e-02,2.1335e-04,3.6946e-02,9.3270e-02,1.2540e-01,-6.6281e-03,2.3996e-03,9.3678e-06,1.6059e-01,7.0491e-03
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Fixed/digit/ball_15A_17.5/press_depth_07/up/camera_frames_60hz.tar

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Fixed/digit/ball_15A_17.5/press_depth_07/up/franka_data.csv

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+36848,1792840282509813223,18961938000000,1792840282506577942,UP_SETTLE,7,0.0698,0.06980235129594803,0.6759189659516942,-0.004696814893929245,0.10698210986382849,0.9999999114891521,-0.00021676404069794996,-0.00033415496030432323,-9.908766477519535e-05,0.6761,-0.0046,0.10746347124230815,1.0,0.0,0.0,0.0,0.7850829062061446,0.7557840424750673,-0.5179403765617079,0.05267265688930844,-0.055607825031811726,-0.0007855362242726922,0.7304486069358611,0.6831647213690241,-0.38654071299759607,0.051609776898959014,-0.05561581038192761,0.0001173452638762446,-0.054634299270283494,-0.07261932110604323,0.1313996635641118,-0.0010628799903494256,-7.985350115882914e-06,0.0009028814881489368,1,-1.339220217158791,1.126382792576396,3.1886042992684613,-0.44566990297877224,-2.3585586523353768,0.7085479239116815,1.6297903475282756,0.5179403765617079,-1.5588139517401858,0.5179403765617079,0.4666,0,0,6.411378235674092e-05,-9.999999025923074e-05
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Fixed/digit/ball_15A_17.5/press_depth_07/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+4,5.833333333e-01,WAIT_W2,1792840276627924415,-6.334222815e-07,3.621687333e-06,4.331053669e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.530995221e-08,5.426370379e-09,-1.575774355e-08,7.019549644e-01,-1.836336725e-05,8.601438190e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452083e-01,-1.176026569e-04,8.303260664e-01
+5,7.000000000e-01,WAIT_W2,1792840276746243417,6.298709444e-07,-3.474105048e-06,4.466442765e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.882540242e-08,6.273838282e-09,-1.793348481e-08,7.019562277e-01,-2.545915963e-05,8.601478524e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452218e-01,-1.176018095e-04,8.303260642e-01
+6,7.333333333e-01,WAIT_W2,1792840276779309330,2.194568498e-06,-3.992004067e-05,7.138904704e-06,2.000264770e-06,-3.978405852e-05,7.116722013e-06,2.297838601e-06,-3.976325317e-05,7.081544964e-06,7.019577924e-01,-6.190509525e-05,8.601505248e-01,7.019575981e-01,-6.176911310e-05,8.601505026e-01,7.027474208e-01,-1.573713365e-04,8.303331637e-01
+7,7.500000000e-01,WAIT_W2,1792840276795755684,2.603922813e-06,-7.118969376e-05,9.197861349e-06,2.731373519e-06,-7.125166594e-05,9.450313826e-06,3.150006132e-06,-7.125207814e-05,9.401346548e-06,7.019582018e-01,-9.317474834e-05,8.601525838e-01,7.019583292e-01,-9.323672052e-05,8.601528362e-01,7.027482730e-01,-1.888601614e-04,8.303354835e-01
+8,7.666666667e-01,WAIT_W2,1792840276814130649,3.738998459e-06,-1.243742037e-04,1.296858750e-05,3.745540348e-06,-1.242638127e-04,1.291968499e-05,4.295499509e-06,-1.243139244e-04,1.287569685e-05,7.019593369e-01,-1.463592583e-04,8.601563545e-01,7.019593434e-01,-1.462488673e-04,8.601563056e-01,7.027494185e-01,-2.419220077e-04,8.303389578e-01
+9,7.666666667e-01,WAIT_W2,1792840276814130649,3.738998459e-06,-1.243742037e-04,1.296858750e-05,3.745540348e-06,-1.242638127e-04,1.291968499e-05,4.295499509e-06,-1.243139244e-04,1.287569685e-05,7.019593369e-01,-1.463592583e-04,8.601563545e-01,7.019593434e-01,-1.462488673e-04,8.601563056e-01,7.027494185e-01,-2.419220077e-04,8.303389578e-01
+10,7.833333333e-01,WAIT_W2,1792840276848506991,5.536393451e-06,-2.396822579e-04,1.860721722e-05,5.651476107e-06,-2.395259089e-04,1.854600729e-05,6.400445358e-06,-2.396367337e-04,1.847233554e-05,7.019611343e-01,-2.616673124e-04,8.601619931e-01,7.019612493e-01,-2.615109634e-04,8.601619319e-01,7.027515234e-01,-3.572448170e-04,8.303445545e-01
+11,7.833333333e-01,WAIT_W2,1792840276848506991,5.536393451e-06,-2.396822579e-04,1.860721722e-05,5.651476107e-06,-2.395259089e-04,1.854600729e-05,6.400445358e-06,-2.396367337e-04,1.847233554e-05,7.019611343e-01,-2.616673124e-04,8.601619931e-01,7.019612493e-01,-2.615109634e-04,8.601619319e-01,7.027515234e-01,-3.572448170e-04,8.303445545e-01
+12,7.833333333e-01,WAIT_W2,1792840276848506991,5.536393451e-06,-2.396822579e-04,1.860721722e-05,5.651476107e-06,-2.395259089e-04,1.854600729e-05,6.400445358e-06,-2.396367337e-04,1.847233554e-05,7.019611343e-01,-2.616673124e-04,8.601619931e-01,7.019612493e-01,-2.615109634e-04,8.601619319e-01,7.027515234e-01,-3.572448170e-04,8.303445545e-01
+13,8.000000000e-01,WAIT_W2,1792840276863090166,3.782974497e-06,-2.765565086e-04,1.906722731e-05,3.833946338e-06,-2.762803707e-04,1.912967196e-05,4.512025849e-06,-2.764743968e-04,1.909803643e-05,7.019593808e-01,-2.985415632e-04,8.601624531e-01,7.019594318e-01,-2.982654253e-04,8.601625156e-01,7.027496350e-01,-3.940824801e-04,8.303451802e-01
+14,8.333333333e-01,WAIT_W2,1792840276909829143,4.991332551e-06,-3.028140286e-04,2.172498112e-05,4.948282182e-06,-3.177685931e-04,2.045277368e-05,5.701625554e-06,-3.180540413e-04,2.042770285e-05,7.019605892e-01,-3.247990832e-04,8.601651109e-01,7.019605461e-01,-3.397536477e-04,8.601638387e-01,7.027508246e-01,-4.356621246e-04,8.303465098e-01
+15,8.833333333e-01,WAIT_W2,1792840276959001311,6.923331957e-06,-2.960050418e-04,2.063740763e-05,5.691297869e-06,-2.886028274e-04,2.296234226e-05,6.537457898e-06,-2.888389111e-04,2.289929091e-05,7.019625212e-01,-3.179900963e-04,8.601640233e-01,7.019612892e-01,-3.105878820e-04,8.601663483e-01,7.027516605e-01,-4.064469944e-04,8.303489814e-01
+16,1.000000000e+00,WAIT_W2,1792840277074092736,1.073278466e-05,-3.002904039e-04,3.187385894e-05,5.691297869e-06,-2.886028274e-04,2.296234226e-05,6.558595638e-06,-2.888498499e-04,2.293769100e-05,7.019663307e-01,-3.222754585e-04,8.601752598e-01,7.019612892e-01,-3.105878820e-04,8.601663483e-01,7.027516816e-01,-4.064579332e-04,8.303490198e-01
+17,1.166666667e+00,WAIT_W2,1792840277237633799,9.800692101e-06,-3.059734356e-04,3.198662160e-05,5.691297869e-06,-2.886028274e-04,2.296234226e-05,6.583610495e-06,-2.888604491e-04,2.297841307e-05,7.019653986e-01,-3.279584902e-04,8.601753725e-01,7.019612892e-01,-3.105878820e-04,8.601663483e-01,7.027517066e-01,-4.064685324e-04,8.303490605e-01
+18,1.300000000e+00,WAIT_W2,1792840277368612166,1.149087062e-05,-3.033256436e-04,3.588959264e-05,1.248156741e-05,-3.060088184e-04,3.572332163e-05,1.406363904e-05,-3.063275052e-04,3.577519612e-05,7.019670887e-01,-3.253106982e-04,8.601792755e-01,7.019680794e-01,-3.279938730e-04,8.601791092e-01,7.027591866e-01,-4.239355885e-04,8.303618573e-01
+19,1.466666667e+00,UP_FORCE_RAMP,1792840277598325102,1.245754601e-05,-2.986599087e-04,3.909542214e-05,1.248156741e-05,-3.060088184e-04,3.572332163e-05,1.409672451e-05,-3.063385406e-04,3.582790109e-05,7.019680554e-01,-3.206449633e-04,8.601824813e-01,7.019680794e-01,-3.279938730e-04,8.601791092e-01,7.027592197e-01,-4.239466239e-04,8.303619100e-01
+20,1.633333333e+00,UP_FORCE_RAMP,1792840277779060007,1.374592052e-05,-3.043663073e-04,4.158279008e-05,1.248156741e-05,-3.060088184e-04,3.572332163e-05,1.412294553e-05,-3.063458758e-04,3.586654631e-05,7.019693438e-01,-3.263513618e-04,8.601849687e-01,7.019680794e-01,-3.279938730e-04,8.601791092e-01,7.027592459e-01,-4.239539591e-04,8.303619487e-01
+21,1.816666667e+00,UP_FORCE_RAMP,1792840277974501941,1.230246973e-05,-3.031876864e-04,3.992103171e-05,1.248156741e-05,-3.060088184e-04,3.572332163e-05,1.414768304e-05,-3.063523834e-04,3.590073264e-05,7.019679003e-01,-3.251727410e-04,8.601833069e-01,7.019680794e-01,-3.279938730e-04,8.601791092e-01,7.027592707e-01,-4.239604667e-04,8.303619829e-01
+22,1.983333333e+00,UP_FORCE_RAMP,1792840278138479827,1.467583235e-05,-3.021947967e-04,4.488927112e-05,1.248156741e-05,-3.060088184e-04,3.572332163e-05,1.416725668e-05,-3.063573255e-04,3.592604451e-05,7.019702737e-01,-3.241798513e-04,8.601882752e-01,7.019680794e-01,-3.279938730e-04,8.601791092e-01,7.027592903e-01,-4.239654088e-04,8.303620082e-01
+23,2.166666667e+00,UP_FORCE_RAMP,1792840278318967126,1.507974311e-05,-3.024956785e-04,4.960524482e-05,1.248156741e-05,-3.060088184e-04,3.572332163e-05,1.418605818e-05,-3.063619760e-04,3.594889717e-05,7.019706776e-01,-3.244807330e-04,8.601929912e-01,7.019680794e-01,-3.279938730e-04,8.601791092e-01,7.027593091e-01,-4.239700593e-04,8.303620310e-01
+24,2.366666667e+00,UP_FORCE_RAMP,1792840278531892357,1.526362588e-05,-2.966419872e-04,5.823484618e-05,1.834173052e-05,-2.999683361e-04,5.671286251e-05,2.069491137e-05,-3.003406751e-04,5.681176139e-05,7.019708615e-01,-3.186270418e-04,8.602016208e-01,7.019739396e-01,-3.219533907e-04,8.602000988e-01,7.027658179e-01,-4.179487584e-04,8.303828939e-01
+25,2.566666667e+00,UP_FORCE_RAMP,1792840278744747425,1.832129349e-05,-3.008615185e-04,7.441866599e-05,1.834173052e-05,-2.999683361e-04,5.671286251e-05,2.072064906e-05,-3.003453482e-04,5.685896655e-05,7.019739192e-01,-3.228465731e-04,8.602178046e-01,7.019739396e-01,-3.219533907e-04,8.602000988e-01,7.027658436e-01,-4.179534315e-04,8.303829411e-01
+26,2.733333333e+00,UP_FORCE_RAMP,1792840278907875301,1.919413550e-05,-3.004549077e-04,8.748920757e-05,1.695625910e-05,-2.974672111e-04,7.651380606e-05,1.950345583e-05,-2.978432222e-04,7.651567389e-05,7.019747920e-01,-3.224399623e-04,8.602308751e-01,7.019725541e-01,-3.194522657e-04,8.602198997e-01,7.027646265e-01,-4.154513055e-04,8.304025978e-01
+27,2.933333333e+00,UP_FORCE_RAMP,1792840279120771879,1.432066419e-05,-2.964009412e-04,9.536386327e-05,1.761150606e-05,-2.949720415e-04,9.799988269e-05,2.046344338e-05,-2.953389182e-04,9.793056816e-05,7.019699185e-01,-3.183859958e-04,8.602387498e-01,7.019732094e-01,-3.169570961e-04,8.602413858e-01,7.027655864e-01,-4.129470015e-04,8.304240127e-01
+28,3.083333333e+00,UP_FORCE_RAMP,1792840279268649543,1.495180733e-05,-2.968155699e-04,1.045017576e-04,1.761150606e-05,-2.949720415e-04,9.799988269e-05,2.047538977e-05,-2.953428062e-04,9.799791889e-05,7.019705497e-01,-3.188006245e-04,8.602478877e-01,7.019732094e-01,-3.169570961e-04,8.602413858e-01,7.027655984e-01,-4.129508895e-04,8.304240800e-01
+29,3.216666667e+00,UP_FORCE_RAMP,1792840279399804583,1.535420073e-05,-2.979337164e-04,1.157901630e-04,1.761150606e-05,-2.949720415e-04,9.799988269e-05,2.048385869e-05,-2.953458603e-04,9.804159878e-05,7.019709521e-01,-3.199187710e-04,8.602591761e-01,7.019732094e-01,-3.169570961e-04,8.602413858e-01,7.027656069e-01,-4.129539436e-04,8.304241237e-01
+30,3.366666667e+00,UP_FORCE_RAMP,1792840279546650475,1.668366569e-05,-2.930381724e-04,1.310870049e-04,1.667143948e-05,-2.969714278e-04,1.178048772e-04,1.974199258e-05,-2.973422221e-04,1.177424795e-04,7.019722815e-01,-3.150232270e-04,8.602744729e-01,7.019722693e-01,-3.189564824e-04,8.602611908e-01,7.027648650e-01,-4.149503054e-04,8.304438246e-01
+31,3.516666667e+00,UP_FORCE_RAMP,1792840279694421729,1.591841612e-05,-2.920692379e-04,1.434523387e-04,1.686813524e-05,-2.953171334e-04,1.377965965e-04,2.016381636e-05,-2.957327387e-04,1.376312119e-04,7.019715163e-01,-3.140542925e-04,8.602868383e-01,7.019724660e-01,-3.173021880e-04,8.602811825e-01,7.027652868e-01,-4.133408220e-04,8.304637133e-01
+32,3.616666667e+00,UP_FORCE_RAMP,1792840279792843992,2.054303338e-05,-2.940985340e-04,1.610521333e-04,2.066677184e-05,-2.939763682e-04,1.609782150e-04,2.457266698e-05,-2.944131465e-04,1.606381964e-04,7.019761409e-01,-3.160835886e-04,8.603044380e-01,7.019762646e-01,-3.159614228e-04,8.603043641e-01,7.027696957e-01,-4.120212298e-04,8.304867203e-01
+33,3.733333333e+00,UP_FORCE_RAMP,1792840279907811285,1.780494670e-05,-2.948296483e-04,1.674795798e-04,2.066677184e-05,-2.939763682e-04,1.609782150e-04,2.458653760e-05,-2.944137655e-04,1.607339104e-04,7.019734028e-01,-3.168147028e-04,8.603108655e-01,7.019762646e-01,-3.159614228e-04,8.603043641e-01,7.027697095e-01,-4.120218488e-04,8.304868160e-01
+34,3.916666667e+00,UP_FORCE_RAMP,1792840280087581234,9.056827311e-06,-2.893100914e-04,1.762466657e-04,2.066677184e-05,-2.939763682e-04,1.609782150e-04,2.459624672e-05,-2.944171739e-04,1.608296882e-04,7.019646547e-01,-3.112951459e-04,8.603196326e-01,7.019762646e-01,-3.159614228e-04,8.603043641e-01,7.027697192e-01,-4.120252572e-04,8.304869118e-01
+35,4.016666667e+00,UP_FORCE_RAMP,1792840280186076285,-1.117119492e-05,-2.860934357e-04,1.734456248e-04,4.525013050e-06,-2.932154554e-04,1.740481418e-04,7.450372591e-06,-2.936663860e-04,1.738425516e-04,7.019444267e-01,-3.080784903e-04,8.603168315e-01,7.019601229e-01,-3.152005100e-04,8.603174341e-01,7.027525734e-01,-4.112744693e-04,8.304999247e-01
+36,4.133333333e+00,UP_FORCE_RAMP,1792840280300499654,-1.026592039e-05,-2.930109758e-04,1.857470529e-04,4.525013050e-06,-2.932154554e-04,1.740481418e-04,7.435399506e-06,-2.936674056e-04,1.739000177e-04,7.019453319e-01,-3.149960304e-04,8.603291330e-01,7.019601229e-01,-3.152005100e-04,8.603174341e-01,7.027525584e-01,-4.112754889e-04,8.304999821e-01
+37,4.283333333e+00,UP_FORCE_RAMP,1792840280448081112,-5.979036664e-06,-2.857316339e-04,2.028924523e-04,-8.819832246e-06,-2.876979370e-04,1.880921871e-04,-6.696207378e-06,-2.881360926e-04,1.878954036e-04,7.019496188e-01,-3.077166884e-04,8.603462784e-01,7.019467780e-01,-3.096829916e-04,8.603314781e-01,7.027384268e-01,-4.057441759e-04,8.305139775e-01
+38,4.416666667e+00,UP_FORCE_RAMP,1792840280579314740,-6.673890804e-06,-2.887854924e-04,2.146325278e-04,-5.922678175e-06,-2.834009634e-04,2.122207538e-04,-3.348305746e-06,-2.838452838e-04,2.118405154e-04,7.019489240e-01,-3.107705470e-04,8.603580184e-01,7.019496752e-01,-3.053860180e-04,8.603556067e-01,7.027417747e-01,-4.014533671e-04,8.305379226e-01
+39,4.516666667e+00,UP_FORCE_RAMP,1792840280677253744,-3.819480461e-06,-2.877515713e-04,2.259895736e-04,-5.922678175e-06,-2.834009634e-04,2.122207538e-04,-3.359119599e-06,-2.838456360e-04,2.119073589e-04,7.019517784e-01,-3.097366259e-04,8.603693755e-01,7.019496752e-01,-3.053860180e-04,8.603556067e-01,7.027417639e-01,-4.014537193e-04,8.305379895e-01
+40,4.683333333e+00,UP_FORCE_RAMP,1792840280857245441,-3.477791527e-06,-2.841214914e-04,2.472615787e-04,-4.221885515e-06,-2.823155088e-04,2.325815537e-04,-1.261570537e-06,-2.827359575e-04,2.322234115e-04,7.019521201e-01,-3.061065460e-04,8.603906475e-01,7.019513760e-01,-3.043005634e-04,8.603759675e-01,7.027438614e-01,-4.003440408e-04,8.305583055e-01
+41,4.833333333e+00,UP_FORCE_RAMP,1792840281005295641,-2.031216605e-06,-2.796838513e-04,2.633036096e-04,-3.565304827e-06,-2.856386371e-04,2.534138013e-04,-3.090637137e-07,-2.860613615e-04,2.530347884e-04,7.019535667e-01,-3.016689059e-04,8.604066895e-01,7.019520326e-01,-3.076236917e-04,8.603967997e-01,7.027448139e-01,-4.036694448e-04,8.305791169e-01
+42,4.933333333e+00,UP_FORCE_RAMP,1792840281102870059,-1.690994224e-06,-2.804162182e-04,2.754900232e-04,-1.907509392e-06,-2.857301402e-04,2.741907472e-04,1.646161978e-06,-2.861726551e-04,2.737165014e-04,7.019539069e-01,-3.024012727e-04,8.604188759e-01,7.019536904e-01,-3.077151947e-04,8.604175767e-01,7.027467692e-01,-4.037807384e-04,8.305997986e-01
+43,5.066666667e+00,UP_FORCE_RAMP,1792840281234571559,-3.371227479e-06,-2.849939207e-04,2.861548374e-04,-1.907509392e-06,-2.857301402e-04,2.741907472e-04,1.639763142e-06,-2.861746457e-04,2.738163925e-04,7.019522266e-01,-3.069789753e-04,8.604295408e-01,7.019536904e-01,-3.077151947e-04,8.604175767e-01,7.027467628e-01,-4.037827290e-04,8.305998985e-01
+44,5.216666667e+00,UP_FORCE_RAMP,1792840281382226525,-1.899475809e-06,-2.889608517e-04,3.043106939e-04,4.282745398e-07,-2.799914799e-04,2.958105610e-04,4.417526948e-06,-2.804687494e-04,2.953158381e-04,7.019536984e-01,-3.109459062e-04,8.604476966e-01,7.019560261e-01,-3.019765345e-04,8.604391965e-01,7.027495405e-01,-3.980768327e-04,8.306213980e-01
+45,5.366666667e+00,UP_FORCE_RAMP,1792840281546209924,-8.640854473e-06,-2.791097492e-04,3.134438609e-04,4.282745398e-07,-2.799914799e-04,2.958105610e-04,4.411405006e-06,-2.804697696e-04,2.954048781e-04,7.019469570e-01,-3.010948038e-04,8.604568298e-01,7.019560261e-01,-3.019765345e-04,8.604391965e-01,7.027495344e-01,-3.980778529e-04,8.306214870e-01
+46,5.500000000e+00,UP_FORCE_RAMP,1792840281677818038,-1.252572472e-05,-2.845793649e-04,3.271331233e-04,-8.541696815e-06,-2.776802825e-04,3.155556665e-04,-4.941956187e-06,-2.781377869e-04,3.151106648e-04,7.019430721e-01,-3.065644194e-04,8.604705190e-01,7.019470562e-01,-2.996653371e-04,8.604589416e-01,7.027401810e-01,-3.957458702e-04,8.306411928e-01
+47,5.650000000e+00,UP_FORCE_RAMP,1792840281823541678,-1.774803996e-05,-2.747083703e-04,3.350524385e-04,-1.568946518e-05,-2.784415260e-04,3.348972308e-04,-1.235896713e-05,-2.789251624e-04,3.343518572e-04,7.019378498e-01,-2.966934249e-04,8.604784384e-01,7.019399084e-01,-3.004265805e-04,8.604782831e-01,7.027327640e-01,-3.965332457e-04,8.306604340e-01
+48,5.833333333e+00,UP_FORCE_RAMP,1792840282003927198,-1.936107756e-05,-2.785657393e-04,3.477120545e-04,-1.568946518e-05,-2.784415260e-04,3.348972308e-04,-1.239096248e-05,-2.789257574e-04,3.344626056e-04,7.019362368e-01,-3.005507938e-04,8.604910980e-01,7.019399084e-01,-3.004265805e-04,8.604782831e-01,7.027327320e-01,-3.965338407e-04,8.306605447e-01
+49,5.983333333e+00,UP_FORCE_RAMP,1792840282151578097,-2.183387623e-05,-2.757280847e-04,3.557468711e-04,-1.866748082e-05,-2.765649671e-04,3.550451927e-04,-1.532169847e-05,-2.770327589e-04,3.545236939e-04,7.019337640e-01,-2.977131393e-04,8.604991328e-01,7.019369304e-01,-2.985500216e-04,8.604984311e-01,7.027298013e-01,-3.946408422e-04,8.306806058e-01
+50,6.066666667e+00,UP_FORCE_HOLD,1792840282233497871,-2.002741800e-05,-2.781444738e-04,3.649867432e-04,-1.866748082e-05,-2.765649671e-04,3.550451927e-04,-1.533322762e-05,-2.770329459e-04,3.545706781e-04,7.019355704e-01,-3.001295284e-04,8.605083727e-01,7.019369304e-01,-2.985500216e-04,8.604984311e-01,7.027297898e-01,-3.946410292e-04,8.306806528e-01
+51,6.233333333e+00,UP_FORCE_HOLD,1792840282397152121,-2.019162708e-05,-2.801909249e-04,3.772229825e-04,-1.877511222e-05,-2.744079366e-04,3.763480401e-04,-1.527186127e-05,-2.748631322e-04,3.757890884e-04,7.019354062e-01,-3.021759795e-04,8.605206089e-01,7.019368228e-01,-2.963929912e-04,8.605197340e-01,7.027298511e-01,-3.924712155e-04,8.307018712e-01
+52,6.350000000e+00,UP_SETTLE,1792840282511923306,-1.987859501e-05,-2.699620729e-04,3.852653544e-04,-1.877511222e-05,-2.744079366e-04,3.763480401e-04,-1.528202081e-05,-2.748631900e-04,3.758631534e-04,7.019357193e-01,-2.919471274e-04,8.605286513e-01,7.019368228e-01,-2.963929912e-04,8.605197340e-01,7.027298410e-01,-3.924712733e-04,8.307019453e-01
+53,6.500000000e+00,UP_SETTLE,1792840282659783670,-1.839389694e-05,-2.768916493e-04,3.938058103e-04,-1.877511222e-05,-2.744079366e-04,3.763480401e-04,-1.529480643e-05,-2.748628936e-04,3.759328745e-04,7.019372040e-01,-2.988767039e-04,8.605371917e-01,7.019368228e-01,-2.963929912e-04,8.605197340e-01,7.027298282e-01,-3.924709769e-04,8.307020150e-01
+54,6.650000000e+00,UP_SETTLE,1792840282806575632,-1.698708152e-05,-2.705527036e-04,4.057701967e-04,-1.822108334e-05,-2.772277151e-04,3.977751865e-04,-1.443372346e-05,-2.777079230e-04,3.972765337e-04,7.019386108e-01,-2.925377582e-04,8.605491561e-01,7.019373768e-01,-2.992127696e-04,8.605411611e-01,7.027306893e-01,-3.953160062e-04,8.307233587e-01
+55,6.800000000e+00,UP_SETTLE,1792840282953875700,-1.933346570e-05,-2.722369264e-04,4.087756766e-04,-1.822108334e-05,-2.772277151e-04,3.977751865e-04,-1.444161668e-05,-2.777081753e-04,3.973504384e-04,7.019362644e-01,-2.942219810e-04,8.605521616e-01,7.019373768e-01,-2.992127696e-04,8.605411611e-01,7.027306814e-01,-3.953162586e-04,8.307234326e-01
+56,6.916666667e+00,UP_SETTLE,1792840283068888841,-2.239899596e-05,-2.716802727e-04,4.100947083e-04,-1.638633243e-05,-2.672887238e-04,4.153316028e-04,-1.226093158e-05,-2.677983869e-04,4.148078375e-04,7.019331989e-01,-2.936653273e-04,8.605534806e-01,7.019392115e-01,-2.892737784e-04,8.605587175e-01,7.027328621e-01,-3.854064702e-04,8.307408900e-01
+57,7.083333333e+00,UP_SETTLE,1792840283232536419,-2.153297516e-05,-2.725431811e-04,4.161825128e-04,-1.638633243e-05,-2.672887238e-04,4.153316028e-04,-1.226537548e-05,-2.677976477e-04,4.148864403e-04,7.019340649e-01,-2.945282357e-04,8.605595684e-01,7.019392115e-01,-2.892737784e-04,8.605587175e-01,7.027328576e-01,-3.854057310e-04,8.307409686e-01
+58,7.283333333e+00,UP_SETTLE,1792840283428719233,-2.022669232e-05,-2.728469972e-04,4.233746749e-04,-1.638633243e-05,-2.672887238e-04,4.153316028e-04,-1.227152699e-05,-2.677968343e-04,4.149592166e-04,7.019353712e-01,-2.948320518e-04,8.605667606e-01,7.019392115e-01,-2.892737784e-04,8.605587175e-01,7.027328515e-01,-3.854049176e-04,8.307410413e-01
+59,7.433333333e+00,UP_SETTLE,1792840283576635943,-2.143492132e-05,-2.737286653e-04,4.249277637e-04,-1.638633243e-05,-2.672887238e-04,4.153316028e-04,-1.227582288e-05,-2.677958496e-04,4.150045766e-04,7.019341629e-01,-2.957137199e-04,8.605683137e-01,7.019392115e-01,-2.892737784e-04,8.605587175e-01,7.027328472e-01,-3.854039329e-04,8.307410867e-01

Fixed/digit/ball_15A_17.5/press_depth_07/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,5.9266e-02,1.2686e-01,2.4614e+00,-4.5353e-02,4.0984e-02,2.0389e-04,4.8398e-04,5.0634e-05,-1.0443e-04,4.0978e-07,3.4586e-05,-7.9628e-08,4.9770e-04,3.4588e-05
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.4821e-05,6.4293e-02,1.2738e-01,2.4604e+00,-4.5349e-02,4.1342e-02,2.0274e-04,5.5102e-03,5.7484e-04,-1.1530e-03,4.5821e-06,3.9310e-04,-1.2231e-06,5.6588e-03,3.9313e-04
+2,3.1667e-01,WAIT_W2,7.0797e-05,6.7630e-02,1.2773e-01,2.4597e+00,-4.5346e-02,4.1580e-02,2.0166e-04,8.8473e-03,9.2132e-04,-1.8153e-03,7.3463e-06,6.3059e-04,-2.3035e-06,9.0785e-03,6.3063e-04
+3,4.6667e-01,WAIT_W2,1.0736e-04,7.1097e-02,1.2808e-01,2.4591e+00,-4.5343e-02,4.1826e-02,2.0029e-04,1.2315e-02,1.2775e-03,-2.4695e-03,1.0364e-05,8.7691e-04,-3.6730e-06,1.2625e-02,8.7698e-04
+4,5.8333e-01,WAIT_W2,1.4814e-04,7.3599e-02,1.2834e-01,2.4586e+00,-4.5341e-02,4.2003e-02,1.9915e-04,1.4817e-02,1.5318e-03,-2.9182e-03,1.2666e-05,1.0544e-03,-4.8205e-06,1.5179e-02,1.0545e-03
+5,7.0000e-01,WAIT_W2,1.7904e-04,7.5945e-02,1.2857e-01,2.4582e+00,-4.5339e-02,4.2170e-02,1.9795e-04,1.7162e-02,1.7705e-03,-3.3197e-03,1.4752e-05,1.2206e-03,-6.0132e-06,1.7570e-02,1.2207e-03
+6,7.3333e-01,WAIT_W2,2.1609e-04,7.6587e-02,1.2864e-01,2.4581e+00,-4.5338e-02,4.2215e-02,1.9760e-04,1.7804e-02,1.8353e-03,-3.4256e-03,1.5348e-05,1.2661e-03,-6.3620e-06,1.8224e-02,1.2663e-03
+7,7.5000e-01,WAIT_W2,2.4743e-04,7.4555e-02,2.4407e-01,2.4472e+00,-5.3280e-02,4.2081e-02,2.3118e-04,1.5772e-02,1.1726e-01,-1.4319e-02,-7.9261e-03,1.1323e-03,2.7217e-05,1.1918e-01,8.0066e-03
+8,7.6667e-01,WAIT_W2,3.0076e-04,7.5138e-02,3.3404e-01,2.4445e+00,-5.9476e-02,4.2120e-02,2.5722e-04,1.6356e-02,2.0724e-01,-1.7020e-02,-1.4122e-02,1.1711e-03,5.3255e-05,2.0858e-01,1.4171e-02
+9,7.6667e-01,WAIT_W2,3.0076e-04,7.5138e-02,3.3404e-01,2.4445e+00,-5.9476e-02,4.2120e-02,2.5722e-04,1.6356e-02,2.0724e-01,-1.7020e-02,-1.4122e-02,1.1711e-03,5.3255e-05,2.0858e-01,1.4171e-02
+10,7.8333e-01,WAIT_W2,4.1622e-04,7.6468e-02,4.8561e-01,2.4412e+00,-6.9916e-02,4.2211e-02,3.0112e-04,1.7685e-02,3.5880e-01,-2.0321e-02,-2.4562e-02,1.2625e-03,9.7154e-05,3.5981e-01,2.4595e-02
+11,7.8333e-01,WAIT_W2,4.1622e-04,7.6468e-02,4.8561e-01,2.4412e+00,-6.9916e-02,4.2211e-02,3.0112e-04,1.7685e-02,3.5880e-01,-2.0321e-02,-2.4562e-02,1.2625e-03,9.7154e-05,3.5981e-01,2.4595e-02
+12,7.8333e-01,WAIT_W2,4.1622e-04,7.6468e-02,4.8561e-01,2.4412e+00,-6.9916e-02,4.2211e-02,3.0112e-04,1.7685e-02,3.5880e-01,-2.0321e-02,-2.4562e-02,1.2625e-03,9.7154e-05,3.5981e-01,2.4595e-02
+13,8.0000e-01,WAIT_W2,4.5314e-04,8.0922e-02,8.1001e-01,2.4391e+00,-9.2271e-02,4.2513e-02,3.9936e-04,2.2140e-02,6.8321e-01,-2.2459e-02,-4.6917e-02,1.5639e-03,1.9539e-04,6.8393e-01,4.6944e-02
+14,8.3333e-01,WAIT_W2,5.0930e-04,9.0257e-02,1.0241e+00,2.4486e+00,-1.0713e-01,4.3155e-02,4.7089e-04,3.1474e-02,8.9731e-01,-1.2953e-02,-6.1772e-02,2.2059e-03,2.6692e-04,8.9796e-01,6.1812e-02
+15,8.8333e-01,WAIT_W2,5.4316e-04,8.8352e-02,9.3668e-01,2.4488e+00,-1.0121e-01,4.3029e-02,4.4554e-04,2.9569e-02,8.0987e-01,-1.2679e-02,-5.5855e-02,2.0804e-03,2.4157e-04,8.1051e-01,5.5895e-02
+16,1.0000e+00,WAIT_W2,5.7381e-04,9.2157e-02,9.3459e-01,2.4562e+00,-1.0118e-01,4.3296e-02,4.4641e-04,3.3375e-02,8.0779e-01,-5.3475e-03,-5.5822e-02,2.3471e-03,2.4245e-04,8.0849e-01,5.5872e-02
+17,1.1667e+00,WAIT_W2,6.1054e-04,9.6545e-02,9.3248e-01,2.4637e+00,-1.0114e-01,4.3604e-02,4.4686e-04,3.7762e-02,8.0568e-01,2.1353e-03,-5.5790e-02,2.6555e-03,2.4289e-04,8.0657e-01,5.5853e-02
+18,1.3000e+00,WAIT_W2,6.4596e-04,9.0155e-02,9.7855e-01,2.4515e+00,-1.0444e-01,4.3172e-02,4.7817e-04,3.1372e-02,8.5174e-01,-1.0026e-02,-5.9088e-02,2.2230e-03,2.7420e-04,8.5238e-01,5.9130e-02
+19,1.4667e+00,UP_FORCE_RAMP,6.8152e-04,9.6130e-02,9.7625e-01,2.4614e+00,-1.0439e-01,4.3586e-02,4.8297e-04,3.7348e-02,8.4944e-01,-1.4782e-04,-5.9033e-02,2.6370e-03,2.7901e-04,8.5026e-01,5.9093e-02
+20,1.6333e+00,UP_FORCE_RAMP,7.1459e-04,1.0073e-01,9.7484e-01,2.4684e+00,-1.0437e-01,4.3906e-02,4.8601e-04,4.1945e-02,8.4804e-01,6.8936e-03,-5.9016e-02,2.9572e-03,2.8205e-04,8.4910e-01,5.9091e-02
+21,1.8167e+00,UP_FORCE_RAMP,7.5550e-04,1.0505e-01,9.7360e-01,2.4746e+00,-1.0436e-01,4.4208e-02,4.8786e-04,4.6269e-02,8.4679e-01,1.3102e-02,-5.9003e-02,3.2588e-03,2.8390e-04,8.4816e-01,5.9094e-02
+22,1.9833e+00,UP_FORCE_RAMP,7.9354e-04,1.0847e-01,9.7266e-01,2.4792e+00,-1.0435e-01,4.4447e-02,4.8816e-04,4.9691e-02,8.4586e-01,1.7698e-02,-5.8995e-02,3.4976e-03,2.8419e-04,8.4750e-01,5.9099e-02
+23,2.1667e+00,UP_FORCE_RAMP,8.2677e-04,1.1175e-01,9.7181e-01,2.4834e+00,-1.0434e-01,4.4675e-02,4.8702e-04,5.2967e-02,8.4501e-01,2.1843e-02,-5.8989e-02,3.7264e-03,2.8306e-04,8.4695e-01,5.9107e-02
+24,2.3667e+00,UP_FORCE_RAMP,8.6359e-04,1.0549e-01,9.5176e-01,2.4585e+00,-1.0309e-01,4.4268e-02,4.9282e-04,4.6706e-02,8.2496e-01,-3.0670e-03,-5.7735e-02,3.3194e-03,2.8886e-04,8.2628e-01,5.7831e-02
+25,2.5667e+00,UP_FORCE_RAMP,8.9809e-04,1.1004e-01,9.5093e-01,2.4672e+00,-1.0308e-01,4.4581e-02,4.9329e-04,5.1253e-02,8.2413e-01,5.6357e-03,-5.7730e-02,3.6318e-03,2.8932e-04,8.2574e-01,5.7845e-02
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Fixed/digit/ball_15A_17.5/press_depth_08/down/camera_frames_60hz.tar

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Fixed/digit/ball_15A_17.5/press_depth_08/down/franka_data.csv

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+44534,1792840346511650316,19025940000000,1792840346510579289,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6759854142204907,-0.004730833369356331,0.10680292448807992,0.9999999774694556,4.004010898535345e-05,-0.00018669885643651245,-6.6542890807327e-06,0.6761,-0.0046,0.10695581301435576,1.0,0.0,0.0,0.0,-0.015402218716185634,-0.0036671239941047373,-0.0012521677771570316,0.00012738920745083288,0.0009898047297943052,1.6084314541116654e-05,0.646692997391778,0.7051834037730262,0.45725554408018776,0.05430990201112562,-0.048766131865306345,0.000597266293824202,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.2528495371892807,1.0373761782621211,1.1194284666439915,-0.11609630537795523,-0.7064143663516702,0.5686655585758998,1.6297903475282756,0.0012521677771570316,0.510361880884284,0.510361880884284,0.4425780321051538,0,0,-1.915058351201348e-05,9.999980984798924e-05
+44646,1792840347444711275,19026873000000,1792840347442568719,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6759906301793736,-0.004729269417781409,0.1067926376469096,0.9999999794817379,4.2507123706231854e-05,-0.00017512270804066104,-2.1376972453409345e-06,0.6761,-0.0046,0.10693064319672736,1.0,0.0,0.0,0.0,-0.027022731342303707,0.002074976002605755,0.02878861806892874,9.493490392422504e-05,0.0019962348252921674,6.386137485851306e-06,0.6350724847656599,0.7109255037697367,0.48729632992627353,0.054277447707599014,-0.04775970176980848,0.0005875681167689367,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.2921061682463659,1.0511276833702246,1.0619433444139446,-0.11848861397919752,-0.6604131490168464,0.5747948361067514,1.6297903475282756,-0.02878861806892874,0.567847003114331,0.567847003114331,0.5825280321051384,0,0,-4.076643889541908e-05,7.359983042321545e-05
+44754,1792840348344762639,19027773000000,1792840348338569537,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6759941079444224,-0.004735319151661474,0.10675135380994316,0.9999999806981621,4.376436956399792e-05,-0.000167437523037234,9.79263289801804e-06,0.6761,-0.0046,0.10688452388447368,1.0,0.0,0.0,0.0,-0.04761287487127652,-0.012112383059740273,0.15540816001976493,4.15232203719168e-05,0.0029837990028793726,-8.270505199707589e-05,0.6144823412366871,0.6967381447073907,0.6139158718771097,0.054224036024046705,-0.04677213759222128,0.0004984769272860095,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.3532631835373686,0.9908453629757136,0.926506339413842,-0.06571620645114651,-0.5632610591414268,0.5413431702808074,1.6297903475282756,-0.15540816001976493,0.7032840081144336,0.7032840081144336,0.7175280321051235,0,0,-5.22196202709394e-05,9.846188728091505e-05
+44856,1792840349194641040,19028623000000,1792840349194570206,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.675991587044151,-0.004738207773552147,0.10671463861178546,0.999999979715686,4.722335975747974e-05,-0.00017138805707285704,2.0188617230287342e-05,0.6761,-0.0046,0.10683747495985095,1.0,0.0,0.0,0.0,-0.055552772283193996,-0.02141354753234459,0.24522796118774398,-0.001025094822691558,0.003996805286115679,-0.0001572782793335492,0.6065424438247696,0.6874369802347864,0.7037356730450888,0.05315741798098323,-0.04575913130898497,0.00042390369994953615,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.36653022240087296,0.9460884131296486,0.8497537687008121,-0.0285003541437576,-0.5117266751611904,0.5076091170509492,1.6297903475282756,-0.24522796118774398,0.7800365788274635,0.7800365788274635,0.8450280321051095,0,0,-5.659551869793689e-05,-9.899539107761086e-05
+44974,1792840350177684053,19029606000000,1792840350174568566,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.675990609270566,-0.004741924008736111,0.10666833863620329,0.9999999788110998,4.54223598241435e-05,-0.00017572164204513426,2.96543077106033e-05,0.6761,-0.0046,0.10679020676629228,1.0,0.0,0.0,0.0,-0.06095466682594697,-0.038956262899043526,0.3852600042999051,-0.0020732351834242962,0.003985525250193744,-0.00027761939936248877,0.6011405492820167,0.6698942648680875,0.8437677161572499,0.05210927762025049,-0.045770411344906906,0.0003035625799205966,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.40073488022712644,0.9346807151453159,0.6657320123662663,-0.003802842360443402,-0.38691866479950976,0.500387573400719,1.6297903475282756,-0.3852600042999051,0.9640583351620092,0.9640583351620092,0.9924780321050932,0,0,-3.716227778422049e-05,3.0895368207269736e-05
+45072,1792840350994729375,19030423000000,1792840350990568930,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6759962248881516,-0.004747481315949024,0.1066518857392979,0.9999999811538915,4.3367275176259085e-05,-0.00016108918474364644,3.6119730738516766e-05,0.6761,-0.0046,0.10675444431302959,1.0,0.0,0.0,0.0,-0.07664285307865581,-0.03819679361392403,0.4285864051430636,-0.0021095001065262603,0.004990814688597051,0.0007044558599631031,0.5854523630293078,0.670653734153207,0.8870941170004084,0.05207301269714853,-0.0447651219065036,0.0012856378392461885,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.45309517630221036,0.8822942205808094,0.5844538849716935,0.029216299462417005,-0.32516562804489696,0.4710822328223775,1.6297903475282756,-0.4285864051430636,1.0453364625565822,1.0453364625565822,1.1150280321051649,0,0,-5.5685893392302905e-05,-8.33294364329717e-05
+45182,1792840351911732862,19031340000000,1792840351906569378,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6760074116318524,-0.004747065952512219,0.10661791535079596,0.9999999838247954,4.840926744182134e-05,-0.00013872429077204211,4.696155342553275e-05,0.6761,-0.0046,0.10669256572350191,1.0,0.0,0.0,0.0,-0.09893120004930744,-0.04449342569612791,0.5348114155397006,-0.0021855104625710248,0.006991077015008368,0.0006745022912976764,0.5631640160586562,0.6643571020710031,0.9933191273970454,0.051997002341103764,-0.04276485958009228,0.0012556842705807618,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.5233031427448175,0.8471038338278579,0.5243746719563644,0.057825969833666876,-0.2753241504793625,0.44588962372800345,1.6297903475282756,-0.5348114155397006,1.1054156755719111,1.1054156755719111,1.2525780321052515,0,0,-7.49390868068619e-05,-9.999502201119554e-05
+45273,1792840352669653777,19032098000000,1792840352666568296,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6760142169962523,-0.004750075838798873,0.10657741326907054,0.9999999852699976,4.974758418927625e-05,-0.00012294138275288088,5.756269088677773e-05,0.6761,-0.0046,0.10663142962504857,1.0,0.0,0.0,0.0,-0.1184513171208248,-0.038599711407407145,0.6293369743444628,-0.0013563456947544572,0.00804600689331874,0.0006201018895432439,0.5436438989871388,0.6702508163597238,1.0878446862018076,0.05282616710892033,-0.04170992970178191,0.0012012838688263293,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.5503818686473709,0.767526025593633,0.307624591499206,0.08304679190543875,-0.13007708198235007,0.3893116212186598,1.6297903475282756,-0.6293369743444628,1.3221657560290696,1.3221657560290696,1.3662780321053232,0,0,-8.343656596601778e-05,8.775876833422842e-05
+45375,1792840353519732489,19032948000000,1792840353514569256,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6760194571582809,-0.004754849458103403,0.10652998211550638,0.9999999858264084,5.028049241584699e-05,-0.00011150376855325663,6.948977849441539e-05,0.6761,-0.0046,0.10656568953108114,1.0,0.0,0.0,0.0,-0.1459975940670929,-0.051610599564290593,0.7599310298083715,-0.002319154520363617,0.00998343666370325,0.0005307974584654742,0.5160976220408707,0.6572399282028404,1.2184387416657163,0.05186335828331117,-0.0397724999313974,0.0011119794377485595,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.540676904520163,0.8677794052677053,0.22561622514254492,0.056517447769676106,-0.08090841860803055,0.4551191505997443,1.6297903475282756,-0.7599310298083715,1.4041741223857307,1.4041741223857307,1.4937780321054035,0,0,-7.108140992059665e-05,-9.99999208702917e-05
+45479,1792840354386729070,19033815000000,1792840354382568595,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6760274960746323,-0.004758470419364163,0.10648895837375295,0.9999999863877296,4.9629778347399156e-05,-9.911340254422618e-05,7.988005745614205e-05,0.6761,-0.0046,0.10650951803631874,1.0,0.0,0.0,0.0,-0.15574812447553532,-0.04590597367338578,0.8606694584538819,-0.0013760305823122265,0.010955561459551205,0.00047541548976947994,0.5063470916324283,0.6629445540937452,1.3191771703112267,0.05280648222136256,-0.038800375135549445,0.0010565974690525653,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.5565467360687439,0.8800613192154799,0.06195650207742297,0.05763961936109721,0.02531827781224196,0.4670754829406787,1.6297903475282756,-0.8606694584538819,1.5678338454508527,1.5678338454508527,1.6238280321054854,0,0,-6.039827133146494e-05,-6.863386519287217e-05
+45585,1792840355269700514,19034698000000,1792840355266568977,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6760350962058072,-0.004762891657266846,0.10645101627912697,0.9999999866871896,5.1546574370634846e-05,-8.511717604045292e-05,9.036870088490122e-05,0.6761,-0.0046,0.10645466521595666,1.0,0.0,0.0,0.0,-0.1761812151130539,-0.037479932521695014,0.9508334030533216,-0.0014161773342741824,0.01296291995279382,0.0004316290364581695,0.4859140009949097,0.671370595245436,1.4093411149106665,0.052766335469400606,-0.03679301664230683,0.0010128110157412548,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.6028220528237873,0.8482017801581819,-0.044038377642851144,0.062246517562289494,0.10198921979309682,0.44490118679088175,1.6297903475282756,-0.9508334030533216,1.6738287251711268,1.6738287251711268,1.7562780321055689,0,0,-6.623475612008012e-05,-9.468649061895035e-05
+45693,1792840356169618051,19035598000000,1792840356166568749,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6760471381160387,-0.004762010173779078,0.10641090820665339,0.9999999875561549,4.905474337867214e-05,-6.549606191209856e-05,9.81552466559712e-05,0.6761,-0.0046,0.10639040722504378,1.0,0.0,0.0,0.0,-0.20221327006512224,-0.04295979241515735,1.0709278056186158,-0.0014659428070138772,0.013951439233186584,0.00034767770832819396,0.4598819460428414,0.6658907353519736,1.5294355174759606,0.05271656999666091,-0.035804497361914066,0.0009288596876112793,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.6899927148420967,0.8375949788836355,-0.2178748325345539,0.06714237986511655,0.23589227972770455,0.4388407554644341,1.6297903475282756,-1.0709278056186158,1.8476651800628294,1.8476651800628294,1.891278032105654,0,0,-7.200510896279854e-05,9.182029722521463e-05
+45798,1792840357044701378,19036473000000,1792840357038569060,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6760523162498737,-0.004763657581176268,0.10635989357693083,0.999999987147219,5.059468932623308e-05,-5.54181706758802e-05,0.00010731928957347417,0.6761,-0.0046,0.10632533080503079,1.0,0.0,0.0,0.0,-0.21469677457525654,-0.03508476337913413,1.1957052960775165,-0.0005309943280702514,0.015932109766005058,0.00028726500320213006,0.4473984415327071,0.6737657643879968,1.6542130079348614,0.05365151847560454,-0.03382382682909559,0.0008684469824852154,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.7082983503334939,0.6552933991284803,-0.21292127540613995,0.12064506920369676,0.23651952081865593,0.3213948749188108,1.6297903475282756,-1.1957052960775165,1.8427116229344156,1.8427116229344156,2.0225280321057366,0,0,-7.43506231540555e-05,-9.999753389078875e-05
+45900,1792840357894705372,19037323000000,1792840357894568954,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6760621723165396,-0.00476633691479868,0.10631811863135297,0.9999999878632685,4.6020046258664904e-05,-3.9254356251272494e-05,0.00010980700354232411,0.6761,-0.0046,0.1062624316891654,1.0,0.0,0.0,0.0,-0.2336791269611878,-0.041190670080237135,1.3020013426554042,-0.0005736777523835043,0.016923207764514156,0.00021549516517337553,0.4284160891467758,0.6676598576868938,1.760509054512749,0.053608835051291284,-0.032832728830586494,0.0007966771444564609,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.7970621765394846,0.8665624666294983,-0.5514997925893191,0.05067196248157982,0.47845194634917954,0.46210471702571587,1.6297903475282756,-1.3020013426554042,2.1812901401175946,2.1812901401175946,2.150028032105817,0,0,-7.49316795736491e-05,9.954944787805004e-05
+45998,1792840358711717754,19038140000000,1792840358706578827,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6760745555288921,-0.004769539389841171,0.1062773231509775,0.9999999887566968,3.611589560764473e-05,-1.8355943150020305e-05,0.00011085202767031544,0.6761,-0.0046,0.10619822767552962,1.0,0.0,0.0,0.0,-0.25318272085234095,-0.03112281616986501,1.4117589799078325,0.00038997611621301165,0.017888352096390905,0.0011780458485307994,0.4089124952556227,0.677727711597266,1.8702666917651773,0.0545724889198878,-0.031867584498709745,0.0017592278278138846,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.7822026302766099,0.7844048522975724,-0.5693868077692374,0.06952536599840356,0.4838155266285582,0.403316957257344,1.6297903475282756,-1.4117589799078325,2.1991771552975132,2.1991771552975132,2.272578032105894,0,0,-8.17854793986036e-05,-4.183258880819381e-05
+46090,1792840359477675151,19038906000000,1792840359470569249,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6760853974889472,-0.004761015854146571,0.10622468194193734,0.9999999936000861,-5.009956078082292e-05,5.230864361036809e-06,4.129605663520505e-05,0.6761,-0.0046,0.10612825761153084,1.0,0.0,0.0,0.0,-0.22404683040033602,0.029775857441774134,1.534956941639772,0.004473601687211108,0.016771982247252404,0.0011132213753656693,0.4380483857076276,0.7386263852089051,1.9934646534971168,0.0586561144908859,-0.032983954347848246,0.0016944033546487547,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.8565430917992795,0.9050611794898827,-0.6413989098164822,-0.06038788003387388,0.5678019381383037,0.5109908524517999,1.6297903475282756,-1.534956941639772,2.2711892573447576,2.2711892573447576,2.3874780321059665,0,0,-0.0001008213110456887,-9.9868331686298e-05
+46191,1792840360319641777,19039748000000,1792840360314569085,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6760960579697305,-0.0047644505245439785,0.10616321884229231,0.9999999927173766,-4.204036255678959e-05,2.128644753278057e-05,6.154353189265117e-05,0.6761,-0.0046,0.10604621109796418,1.0,0.0,0.0,0.0,-0.265296222332159,0.012065878097675231,1.6852789674449766,0.004394926510821122,0.018764962185672644,0.0010178460963854684,0.39679899377580463,0.7209164058648062,2.1437866793023215,0.05857743931449591,-0.030990974409428006,0.0015990280756685536,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.9591112277457383,0.8973876042796972,-0.9016459763877951,0.011972580415831878,0.7509284984614473,0.48703169765216026,1.6297903475282756,-1.6852789674449766,2.5314363239160707,2.5314363239160707,2.513778032106046,0,0,-8.85804757086176e-05,9.999999025923074e-05
+46301,1792840361236674870,19040665000000,1792840361230577979,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6761083020674779,-0.0047638708562476595,0.10611126943249227,0.9999999918339317,-3.351752567878375e-05,3.931792683597851e-05,7.145402064255697e-05,0.6761,-0.0046,0.10598020531073885,1.0,0.0,0.0,0.0,-0.2905618972045011,0.014335198943590033,1.8060237548534024,0.004317237637140668,0.020765867264602972,0.0009489973368186966,0.37153331890346253,0.723185726710721,2.2645314667107472,0.05849975044081546,-0.028990069330497678,0.001530179316101782,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.9639387888566541,0.7649393629316714,-0.9763343338789404,0.07686793957268714,0.7924205163089945,0.39859256636309176,1.6297903475282756,-1.8060237548534024,2.606124681407216,2.606124681407216,2.6513280321061328,0,0,-5.7954048272830565e-05,1.2427582600454914e-05
+46397,1792840362036717136,19041465000000,1792840362030578265,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6761176168819314,-0.0047690739129282265,0.10608266447012939,0.9999999902511775,-3.549800419696437e-05,5.584313919026688e-05,8.100583298089913e-05,0.6761,-0.0046,0.10593473231760851,1.0,0.0,0.0,0.0,-0.29993200368591744,0.015205145356677718,1.8759057141785827,0.004276473495096196,0.021764140059095535,0.0009072879047389632,0.3621632124220462,0.7240556731238087,2.3344134260359275,0.058458986298770985,-0.027991796536005115,0.0014884698840220486,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,0.9457198571963208,0.7796859703098692,-1.0487810938763025,0.07638616036284035,0.828308637087957,0.40264386744791414,1.6297903475282756,-1.8759057141785827,2.678571441404578,2.678571441404578,2.7713280321062084,0,0,-5.885680066516764e-05,-9.893106753112164e-05
+46480,1792840362727722533,19042156000000,1792840362722568888,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6761200361468676,-0.004772659546201115,0.10604983503387837,0.9999999897856072,-3.5161505729751795e-05,5.951326319251432e-05,8.422285962082939e-05,0.6761,-0.0046,0.10589135667290764,1.0,0.0,0.0,0.0,-0.31321697953048366,0.01539764632570384,1.9361258258478522,0.004237441904564945,0.022764010453146483,0.0015186964454264218,0.34887823657747996,0.7242481740928348,2.394633537705197,0.058419954708239734,-0.026991926141954167,0.002099878424709507,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.041112853056921,0.7345471622231388,-1.2224814416157825,0.098096653743133,0.9678102850016095,0.3741395192910393,1.6297903475282756,-1.9361258258478522,2.852271789144058,2.852271789144058,2.8749780321062737,0,0,-6.961466389868309e-05,8.213075638885953e-05
+46580,1792840363561705315,19042990000000,1792840363558568698,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6761311070020003,-0.00477417107171782,0.10600522292664699,0.9999999882434113,-4.322563959038385e-05,7.651630286130035e-05,8.504611182199635e-05,0.6761,-0.0046,0.10582827978995986,1.0,0.0,0.0,0.0,-0.32349046227256056,0.021291105639969943,2.0469866903975635,0.005201439639786351,0.023727857497624325,0.0017055605910644557,0.33860475383540306,0.7301416334071009,2.505494402254908,0.05938395244346114,-0.026028079097476325,0.002286742570347541,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.0793623353144588,0.807867247678445,-1.2642612183425925,0.07973370835938344,1.000333267174195,0.41707830876879576,1.6297903475282756,-2.0469866903975635,2.894051565870868,2.894051565870868,3.0000780321063525,0,0,-8.097983551366562e-05,-9.999989311471608e-05
+46686,1792840364444720230,19043873000000,1792840364442568487,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6761402414461126,-0.004776663242574977,0.1059445846038348,0.9999999863674852,-5.746454421907865e-05,9.200550648922518e-05,8.331090435769814e-05,0.6761,-0.0046,0.10575293990313747,1.0,0.0,0.0,0.0,-0.3338582018257365,0.030024759698251136,2.171718456993782,0.005944078526707093,0.024700242650674928,0.0017556633745767782,0.3282370142822271,0.7388752874653821,2.630226168851127,0.06012659133038188,-0.025055693944425722,0.0023368453538598634,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.0745710804274131,0.7852241611552692,-1.4744531057017094,0.09376543549781934,1.1272867494676566,0.40663976150750114,1.6297903475282756,-2.171718456993782,3.104243453229985,3.104243453229985,3.132528032106436,0,0,-8.839924283268884e-05,9.999999025923074e-05
+46773,1792840365169708303,19044598000000,1792840365162578938,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6761537097183272,-0.004773298566361867,0.1059025327117839,0.999999984066944,-5.509243262118843e-05,0.00011374505178664919,8.564965367210357e-05,0.6761,-0.0046,0.10568847879549273,1.0,0.0,0.0,0.0,-0.35475286728357813,0.03242618572075595,2.278099630866465,0.006123232541106666,0.02568743290039903,0.0016885688736849717,0.3073423488243855,0.7412767134878869,2.7366073427238096,0.060305745344781454,-0.02406850369470162,0.002269750852968057,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.1114782798877845,0.792849897289612,-1.463642061872465,0.09429452259309683,1.1276829126796513,0.4107051720543373,1.6297903475282756,-2.278099630866465,3.093432409400741,3.093432409400741,3.2412780321065044,0,0,-8.692102250048984e-05,-9.99999347480795e-05
+46861,1792840365902710209,19045331000000,1792840365898568911,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6761580046575218,-0.004771553131426108,0.10585141276022793,0.9999999831256967,-5.102306294041471e-05,0.00011948428381077857,9.116810725840651e-05,0.6761,-0.0046,0.10562713389481451,1.0,0.0,0.0,0.0,-0.37157573139937405,0.02997611994190852,2.3783616287654183,0.00607514019477047,0.026678354913855975,0.001621249640942496,0.29051948470858957,0.7388266477090395,2.836869340622763,0.06025765299844526,-0.023077581681244675,0.0022024316202255813,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.0994790139765902,0.8769578926583252,-1.6990567508181829,0.06404220781148734,1.2765087393615746,0.4641537599704789,1.6297903475282756,-2.3783616287654183,3.3288470983464586,3.3288470983464586,3.3512280321065737,0,0,-8.238130422691536e-05,9.687500387845489e-05
+46965,1792840366769616708,19046198000000,1792840366762578474,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6761688603281079,-0.004779028690004312,0.10580377066633974,0.9999999800099916,-5.211228804110072e-05,0.00013748196549803282,9.902474112568714e-05,0.6761,-0.0046,0.10555780570313969,1.0,0.0,0.0,0.0,-0.38505519911104374,0.029906672203431794,2.4785572059446648,0.006029856869646577,0.02767167342697509,0.0015543711194631743,0.2770400169969199,0.7387571999705628,2.9370649178020094,0.060212369673321366,-0.02208426316812556,0.0021355530987462595,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.1459989999551887,0.7063724852008052,-1.7235837023074638,0.1249677068480506,1.3014593934156595,0.3539597538422855,1.6297903475282756,-2.4785572059446648,3.3533740498357396,3.3533740498357396,3.4812780321066557,0,0,-8.337106911368431e-05,-8.750000310276391e-05
+47071,1792840367652705472,19047081000000,1792840367646568876,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6761785401328168,-0.004773352618059892,0.10574928916599377,0.999999977007361,-9.701998071876198e-05,0.00015661462917564934,5.905186810801339e-05,0.6761,-0.0046,0.10548349434225811,1.0,0.0,0.0,0.0,-0.3827917187392556,0.05730935664808423,2.5796786738500916,0.007913029836051653,0.02798352601463452,0.0014967263319356728,0.279303497368708,0.7661598844152152,3.0381863857074363,0.06209554263972644,-0.02177241058046613,0.002077908311218758,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.1644197001792271,0.6838334539996396,-1.88763884132081,0.15775701310174164,1.4043127285998203,0.3358869782018148,1.6297903475282756,-2.5796786738500916,3.5174291888490856,3.5174291888490856,3.613728032106739,0,0,-8.676493205436587e-05,-9.99990465696598e-05
+47164,1792840368427712894,19047856000000,1792840368422568496,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6761883732887812,-0.004775954734102948,0.10569643071233557,0.9999999741682456,-9.452028841915893e-05,0.0001737119567620601,6.321743038192089e-05,0.6761,-0.0046,0.10541332704014886,1.0,0.0,0.0,0.0,-0.38891048946566875,0.06953534071860135,2.6843729598431403,0.009027238958903998,0.028581534075701825,0.001436219429963493,0.2731847266422949,0.7783858684857323,3.142880671700485,0.06320975176257879,-0.021174402519398824,0.0020174014092465783,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.220206895886701,0.7034876262584288,-1.9911429077373357,0.1382291190716329,1.4842891630336355,0.3554908461274725,1.6297903475282756,-2.6843729598431403,3.6209332552656113,3.6209332552656113,3.7299780321068123,0,0,-9.46679257443891e-05,-9.282461885107835e-05
+47260,1792840369227697141,19048656000000,1792840369226568805,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.676195297891598,-0.004778590586684716,0.10563225158809217,0.9999999720583872,-8.92425591904951e-05,0.00018408709977211932,7.398509560745338e-05,0.6761,-0.0046,0.10533646325356748,1.0,0.0,0.0,0.0,-0.4028139058785354,0.05953083420322858,2.7945804369262546,0.008964450074885631,0.030049513205691356,0.0013705262805460178,0.25928131022942824,0.7683813619703596,3.253088148783599,0.06314696287856042,-0.019706423389409294,0.001951708259829103,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.211484825368544,0.7328151957590152,-2.109624298820849,0.12783554404223285,1.5549284111541761,0.372891651430431,1.6297903475282756,-2.7945804369262546,3.7394146463491245,3.7394146463491245,3.849978032106888,0,0,-9.679372419832267e-05,-9.980468815141136e-05
+47372,1792840370161673497,19049590000000,1792840370158568600,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6762088393709017,-0.004781578983379014,0.10556751070030833,0.9999999675424428,-8.117857772483516e-05,0.00020636075910449714,8.475407599148393e-05,0.6761,-0.0046,0.10524513361311194,1.0,0.0,0.0,0.0,-0.4183660955853048,0.06371826574104056,2.9109088196803006,0.008883776575413178,0.03157385514711939,0.0012950546165257184,0.2437291205226588,0.7725687935081715,3.369416531537645,0.06306628937908797,-0.01818208144798126,0.0018762365958088039,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.2629910489354712,0.6549296318553828,-2.232610624222764,0.1524798800227591,1.6458166754619634,0.3201423676072751,1.6297903475282756,-2.9109088196803006,3.8624009717510397,3.8624009717510397,3.990078032106976,0,0,-9.938593671240804e-05,-9.999999025923074e-05
+47474,1792840371011699681,19050440000000,1792840371010568942,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6762185583792129,-0.004784097201597025,0.10550475849403212,0.9999999635143583,-8.983649684911636e-05,0.00022265095108897458,8.228064405666881e-05,0.6761,-0.0046,0.10516138280879858,1.0,0.0,0.0,0.0,-0.42228074277337035,0.06375726916069302,3.0313857088630782,0.008872704052535547,0.03154449761633036,0.0018220328044062798,0.23981447333459324,0.772607796927824,3.489893420720423,0.06305521685621034,-0.01821143897877029,0.002403214783689365,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.3266683323345498,0.6700346966060537,-2.5069934800129885,0.1649125955961701,1.8337832282668833,0.3352656926810183,1.6297903475282756,-3.0313857088630782,4.136783827541264,4.136783827541264,4.117578032106708,0,0,-9.563392936309955e-05,9.998401692546394e-05
+47574,1792840371844617222,19051273000000,1792840371842578172,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6762255939327763,-0.004782244213641627,0.10544073300991157,0.9999999613807106,-9.081055469828124e-05,0.00023258554595177635,7.961688725305554e-05,0.6761,-0.0046,0.10508094014880939,1.0,0.0,0.0,0.0,-0.42937865530760955,0.06964819663781097,3.1183120732166274,0.008832823475243091,0.032313695342950206,0.0021730087855857515,0.23271656080035405,0.7784987244049419,3.576819785073972,0.06301533627891788,-0.017442241252150444,0.0027541907648688368,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.3372523751153742,0.662230634197688,-2.533966065921268,0.17072479414016092,1.8562450937976591,0.3308162893528491,1.6297903475282756,-3.1183120732166274,4.163756413449543,4.163756413449543,4.242528032106417,0,0,-9.811830687237044e-05,1.2208316252329164e-08
+47683,1792840372752675451,19052181000000,1792840372750569184,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6762361021869066,-0.004787009936889373,0.10536426443745081,0.9999999558388989,-9.035751567101219e-05,0.00025311162469713515,8.680489302923264e-05,0.6761,-0.0046,0.10498655137756062,1.0,0.0,0.0,0.0,-0.43777516661567484,0.06439865168485237,3.2217901841929035,0.008804812064160637,0.03254475261714495,0.0020911358617816834,0.22432004949228881,0.7732491794519833,3.680297896050248,0.06298732486783543,-0.0172111839779557,0.0026723178410647686,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.3402182910355225,0.6814249961506569,-2.572172802165596,0.1737496860423397,1.8763397078524007,0.34685192787718844,1.6297903475282756,-3.2217901841929035,4.201963149693872,4.201963149693872,4.3787280321061,0,0,-0.00011118687609087819,-9.999999025923074e-05
+47779,1792840373552597192,19052981000000,1792840373550568922,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6762477537567166,-0.004785936985461543,0.10528859375981414,0.999999951108388,-8.836831425720372e-05,0.00027303999129014723,8.286308018480844e-05,0.6761,-0.0046,0.10488987824858824,1.0,0.0,0.0,0.0,-0.4421563866341026,0.08051451308511814,3.313212696364324,0.009782544365130229,0.03348852373386905,0.0020407455970221913,0.219938829473861,0.7893650408522491,3.7717204082216687,0.06396505716880502,-0.016267412861231602,0.0026219275763052765,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.3851569853950705,0.7351012494052722,-2.7423475547683225,0.1635541988704363,1.9954930619256586,0.3833952969690341,1.6297903475282756,-3.313212696364324,4.372137902296598,4.372137902296598,4.49872803210582,0,0,-0.00012778975802127247,-9.108581530548605e-05
+47875,1792840374352684457,19053781000000,1792840374346568730,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6762582322562471,-0.0047890236419880945,0.10519550612846225,0.9999999509147716,-2.1994715100802415e-05,0.0002887037537466119,7.602429834118302e-05,0.6761,-0.0046,0.10478218847375823,1.0,0.0,0.0,0.0,-0.4334374011741461,0.08484843767793171,3.4234725475931103,0.009787500401077544,0.03346293034591707,0.0019499659325533892,0.2286578149338175,0.7936989654450627,3.881980259450455,0.06397001320475233,-0.016293006249183582,0.0025311479118364745,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4173241224414181,0.8417783517744825,-2.8048941621323547,0.11835710563189722,2.0472321166521343,0.41117826924690354,1.6297903475282756,-3.4234725475931103,4.43468450966063,4.43468450966063,4.61872803210554,0,0,-0.0001388362117591121,-9.999847758035969e-05
+47975,1792840375186667533,19054615000000,1792840375186569367,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6762624739155942,-0.0047934002558784735,0.10508406019097546,0.9999999470208364,-4.237362934950825e-05,0.00029800481209490585,8.245481346408767e-05,0.6761,-0.0046,0.10466222409191182,1.0,0.0,0.0,0.0,-0.4148706092897327,0.0953359690437715,3.5072616020566585,0.009773409903648868,0.03243175454129402,0.0018716004565220161,0.24722460681823094,0.8041864968109025,3.965769313914003,0.06395592270732366,-0.017324182053806637,0.0024527824358051013,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4016109577843372,0.7065571285130972,-2.964788682099554,0.19238135483260999,2.142206289428908,0.3539488362643174,1.6297903475282756,-3.5072616020566585,4.5945790296278295,4.5945790296278295,4.743828032105249,0,0,-0.00015038095372707361,-9.999567426722251e-05
+48062,1792840375911618383,19055340000000,1792840375910568485,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.676267637349776,-0.004795425796195792,0.10498235771471734,0.9999999436320623,-5.646831725058404e-05,0.0003052037710447129,8.854786160963622e-05,0.6761,-0.0046,0.1045476860165221,1.0,0.0,0.0,0.0,-0.3870824724859157,0.09883367262857945,3.5740546010214764,0.009789975290768076,0.03140315305436019,0.0018053121063910027,0.2750127436220479,0.8076842003957104,4.032562312878821,0.06397248809444286,-0.018352783540740457,0.002386494085674088,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.390867408047311,0.7322299544765466,-3.082501391098663,0.2009004829957939,2.212938549263715,0.3821102823931045,1.6297903475282756,-3.5740546010214764,4.712291738626939,4.712291738626939,4.852578032104995,0,0,-0.00016538607452118892,-2.9873511641202472e-05
+48150,1792840376644680660,19056073000000,1792840376642568833,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6762813418721333,-0.004806069832047129,0.10487272469643738,0.9999999333512666,-7.316015398580047e-05,0.00033105321634985485,9.895295149902056e-05,0.6761,-0.0046,0.1044180180895292,1.0,0.0,0.0,0.0,-0.37796111245117303,0.10075740035363023,3.6542940961113937,0.009777861584093987,0.0312797904894392,0.0017399626750931917,0.2841341036567906,0.8096079281207612,4.112801807968738,0.06396037438776878,-0.01847614610566145,0.002321144654376277,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.448027864429298,0.6884647949889476,-3.165705963013944,0.2208844026528662,2.282627179325535,0.35442352063814675,1.6297903475282756,-3.6542940961113937,4.7954963105422195,4.7954963105422195,4.962528032104739,0,0,-0.0001871890806762463,-9.999800573557422e-05
+48239,1792840377386625786,19056815000000,1792840377386569019,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6762906220540248,-0.004808971171245911,0.10474381849294424,0.9999999256436233,-0.00010415899303565792,0.00034699201924193743,9.43560015157609e-05,0.6761,-0.0046,0.1042724592124204,1.0,0.0,0.0,0.0,-0.3594317058847517,0.10411082171939989,3.732594301724081,0.009787754002074232,0.03035476894639,0.00166491024291251,0.3026635102232119,0.8129613494865309,4.191102013581426,0.06397026680574902,-0.01940116764871065,0.002246092222195595,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4605779487713304,0.7343199787475672,-3.2215654590864164,0.24033716012402453,2.319489948808291,0.3871263618887268,1.6297903475282756,-3.732594301724081,4.851355806614692,4.851355806614692,5.07382803210448,0,0,-0.00020321925075647419,-9.999864411381338e-05
+48323,1792840378086614706,19057515000000,1792840378086568989,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763014502653029,-0.0048121126299994245,0.10461267061346494,0.9999999185340684,-0.00010299383085541354,0.000365364121554671,0.000101370856319689,0.6761,-0.0046,0.10412227294472391,1.0,0.0,0.0,0.0,-0.339671575174574,0.09968713515265715,3.7844664576688185,0.008382474278373318,0.029349660318189592,0.001589245661005832,0.3224236409333896,0.8085376629197881,4.242974169526163,0.0625649870820481,-0.020406276276911058,0.0021704276402889173,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4394405168450597,0.7053314218732903,-3.3327418508093474,0.26425782874905207,2.3847390367966947,0.3761684724528319,1.6297903475282756,-3.7844664576688185,4.962532198337623,4.962532198337623,5.178828032104235,0,0,-0.00022844798526075317,-9.999999025923074e-05
+48404,1792840378761607848,19058190000000,1792840378754569123,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.676310195426061,-0.004820635521053597,0.10446759217327033,0.9999999161704644,-4.1956028742166703e-05,0.00038210827588295107,0.0001064654209364763,0.6761,-0.0046,0.10396105912310204,1.0,0.0,0.0,0.0,-0.3210889021140692,0.08947212451337716,3.8444938363155066,0.007779756312107977,0.02834191319316713,0.001524680522076481,0.3410063139938944,0.7983226522805081,4.303001548172851,0.061962269115782766,-0.02141402340193352,0.0021058625013595663,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4395237407427774,0.8187196109085345,-3.2939237484632593,0.24306930592956288,2.3619700758943156,0.4532827084447084,1.6297903475282756,-3.8444938363155066,4.923714095991535,4.923714095991535,5.280078032103999,0,0,-0.0002508674690718512,-9.999999025923074e-05
+48475,1792840379352676893,19058781000000,1792840379346568771,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6763102124870823,-0.004822565985216495,0.1043180078592663,0.9999999153977239,-6.059843365024105e-05,0.0003811051971999812,0.00010832390316204446,0.6761,-0.0046,0.10380494651163025,1.0,0.0,0.0,0.0,-0.2864904383219371,0.0643891280788711,3.9040668546184003,0.0057811372104604325,0.026340789573199037,0.0014262972353943498,0.3756047777860265,0.7732396558460021,4.362574566475745,0.05996365001413522,-0.023415147021901613,0.002007479214677435,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4414134513419357,0.7914042166269084,-3.4208911571963307,0.2709980220192421,2.4489977449888833,0.4382175435647339,1.6297903475282756,-3.9040668546184003,5.050681504724606,5.050681504724606,5.3687280321037925,0,0,-0.00027699839391245727,-9.998797209498917e-05
+48538,1792840379877591333,19059306000000,1792840379874568781,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6763092619233778,-0.0048273822860496925,0.10416369044483664,0.9999999128919214,-8.194017255437555e-05,0.00038203289919282624,0.00011399862362497595,0.6761,-0.0046,0.1036530154446141,1.0,0.0,0.0,0.0,-0.26507381225761373,0.04694812106382451,3.9421772854549975,0.003789414594667695,0.025356893356849895,0.0013596625140495644,0.3970214038503499,0.7557986488309555,4.400684997312342,0.057971927398342483,-0.024399043238250755,0.0019408444933326499,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4792254177202386,0.6503944007660387,-3.458061543598152,0.32483067542339283,2.4909726865591,0.34770710534012395,1.6297903475282756,-3.9421772854549975,5.087851891126427,5.087851891126427,5.447478032103609,0,0,-0.0003020008710705443,-9.999999025923074e-05
+48601,1792840380402631772,19059831000000,1792840380398578549,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763189562856581,-0.004835295152052016,0.10401523872366963,0.9999999027400379,-0.00010658403091655215,0.00040132005309733733,0.00011638229393685538,0.6761,-0.0046,0.1034895432717037,1.0,0.0,0.0,0.0,-0.2530776540223535,0.03502695800021849,3.9785973112635276,0.0027578977921806982,0.024367199855905824,0.0013043259412100884,0.40901756208561013,0.7438774857673495,4.437105023120872,0.05694041059585549,-0.025388736739194825,0.001885507920493174,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4312432002854514,0.7857051007459777,-3.5305729716232523,0.29585629311320616,2.527532457053525,0.4337199085435993,1.6297903475282756,-3.9785973112635276,5.160363319151528,5.160363319151528,5.526228032103425,0,0,-0.0003238893020688068,-9.999999025923074e-05
+48659,1792840380886673256,19060315000000,1792840380886569099,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763323256343078,-0.004839471021992523,0.10386119961119314,0.9999998963618616,-0.00012382619833521002,0.00041161027219365685,0.00011816592998534931,0.6761,-0.0046,0.10332693655064568,1.0,0.0,0.0,0.0,-0.2506336335532851,0.03316018829661327,3.9892511996639497,0.0018731789377813626,0.024369720854379374,0.0012846665494950353,0.4114615825546785,0.7420107160637442,4.447758911521294,0.05605569174145615,-0.025386215740721276,0.0018658485287781207,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.5429353266929826,0.6829261896546861,-3.5385320711329453,0.34764398146422426,2.5676779664267473,0.3711985729949777,1.6297903475282756,-3.9892511996639497,5.168322418661221,5.168322418661221,5.598828032103256,0,0,-0.0003480892973542745,-9.999999025923074e-05
+48718,1792840381377630113,19060806000000,1792840381374569309,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763343986794604,-0.004844572222201566,0.10369145922176871,0.9999999004759191,-3.386203901014427e-05,0.0004165497695237012,0.00012581998304981272,0.6761,-0.0046,0.10315000995682128,1.0,0.0,0.0,0.0,-0.21348453563167374,-0.005788513617455804,3.991777453321691,-0.0012728326999036504,0.02240469656989379,0.0012208102041237705,0.4486106804762899,0.7030620141496752,4.450285165179036,0.05290968010377114,-0.02735124002520686,0.0018019921834068558,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.486395012933216,0.6384049931934458,-3.4676225357428017,0.35262544369878535,2.515410132017965,0.3234533574744573,1.6297903475282756,-3.991777453321691,5.097412883271077,5.097412883271077,5.6724780321030845,0,0,-0.0003726392925715568,-9.999999025923074e-05
+48772,1792840381827607111,19061256000000,1792840381826568394,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6763300249266166,-0.004848095580590023,0.10350991690088315,0.999999901652099,-6.987552438722228e-05,0.00040901793396976434,0.00012633446717888819,0.6761,-0.0046,0.10297727102615252,1.0,0.0,0.0,0.0,-0.2023215344356677,-0.04471121127258426,3.976687173742249,-0.004306070565719557,0.021452191462733614,0.0011841008586987501,0.45977368167229593,0.6641393164945467,4.435194885599594,0.04987644223795523,-0.028303745132367036,0.0017652828379818356,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4696069317885878,0.7128639790979906,-3.562150877260432,0.3616547842043245,2.578455142667205,0.3959178001364363,1.6297903475282756,-3.976687173742249,5.191941224788708,5.191941224788708,5.739978032102927,0,0,-0.0003951392881882106,-9.999999025923074e-05
+48823,1792840382252639797,19061681000000,1792840382246569245,DOWN_FORCE_DETACH,8,0.0696,0.06960207223892212,0.6763276910195573,-0.004849830386092755,0.10333695447181121,0.999999899848634,-9.124889328654169e-05,0.0004087641746619919,0.00012779309606834904,0.6761,-0.0046,0.10280483182955431,1.0,0.0,0.0,0.0,-0.18967314548886127,-0.08457744017036184,3.9456698072550207,-0.007310017057806553,0.019491227565776748,0.001145063442910405,0.47242207061910235,0.6242730875967691,4.404177519112365,0.046872495745868235,-0.0302647090293239,0.0017262454221934902,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.439564398540285,0.6311113300710639,-3.447591601664607,0.4004374440699098,2.5049253700437815,0.34848542304624536,1.6297903475282756,-3.9456698072550207,5.077381949192882,5.077381949192882,5.803728032102779,0,0,-0.0004163892840483837,-9.999999025923074e-05
+48870,1792840382644622726,19062073000000,1792840382642568307,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763227172589221,-0.004851334148246929,0.10316315386224126,0.999999900507428,-0.00010330289590948009,0.0004026606959641259,0.0001327436404584651,0.6761,-0.0046,0.10263777543095766,1.0,0.0,0.0,0.0,-0.17091723990419416,-0.14128435256755711,3.9182674365264143,-0.010949814024610156,0.018555208699640464,0.0011120347500533402,0.49117797620376946,0.5675661751995739,4.376775148383759,0.04323269877906463,-0.031200727895460186,0.0016932167293364254,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.393076317707128,0.49774400866653246,-3.37854296229612,0.45314207174757143,2.454958464797207,0.26419040878908456,1.6297903475282756,-3.9182674365264143,5.008333309824396,5.008333309824396,5.862528032102642,0,0,-0.00043598928023000214,-9.999999025923074e-05
+48913,1792840383002630277,19062431000000,1792840382998578746,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763222948904821,-0.004857243865784057,0.10299728298424525,0.9999999031129785,-8.1206680162774e-05,0.0004020667702651132,0.0001302485530631965,0.6761,-0.0046,0.10247849611926127,1.0,0.0,0.0,0.0,-0.15935761423898953,-0.17294660744304657,3.887132458015767,-0.013373303142171028,0.017595699538642075,0.0010950743586500044,0.5027376018689741,0.5359039203240844,4.3456401698731115,0.04080920966150376,-0.032160237056458575,0.0016762563379330898,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4705708858817181,0.5445138968897035,-3.4279353272367072,0.45370076685765026,2.51378636043049,0.3027679613937448,1.6297903475282756,-3.887132458015767,5.057725674764983,5.057725674764983,5.9162280321025165,0,0,-0.00045388927674280675,-9.999999025923074e-05
+48960,1792840383394678711,19062823000000,1792840383394569004,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763202313982999,-0.0048604273926665005,0.10281002806284846,0.9999999034128204,-8.323536421880605e-05,0.00039620101574930333,0.0001439230476101841,0.6761,-0.0046,0.1022967397235284,1.0,0.0,0.0,0.0,-0.15833189912988133,-0.21190934143931694,3.8161619572647707,-0.01642471526619837,0.017670227615781978,0.0011183177043633478,0.5037633169780823,0.49694118632781403,4.274669669122115,0.03775779753747642,-0.03208570897931867,0.0016994996836464332,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.4321630225652122,0.5074551528236054,-3.3282296930716546,0.460644936187018,2.445678666850205,0.2801488268120992,1.6297903475282756,-3.8161619572647707,4.95802004059993,4.95802004059993,5.975028032102379,0,0,-0.0004734892729244252,-9.999999025923074e-05
+49001,1792840383736681804,19063165000000,1792840383734568955,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763127358942737,-0.004862461104337644,0.10262527635944992,0.9999999049217922,-0.00013189517236317125,0.00038587300020209356,0.0001237132248315835,0.6761,-0.0046,0.10213189084275957,1.0,0.0,0.0,0.0,-0.1302156323919017,-0.22219315016728042,3.788791695996263,-0.01839762427245096,0.01568804097799264,0.00043165102782015006,0.5318795837160619,0.48665737759985056,4.247299407853608,0.03578488853122383,-0.03406789561710801,0.0010128330071032354,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.3651784237614575,0.5907964602844447,-3.350033297699397,0.454348711068423,2.4455744632560092,0.3334912074592589,1.6297903475282756,-3.788791695996263,4.979823645227673,4.979823645227673,6.02632803210226,0,0,-0.0004905892695930822,-9.999999025923074e-05
+49043,1792840384086623407,19063515000000,1792840384086568933,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763022266184818,-0.004868354226677052,0.1024350024481904,0.9999999101154575,-0.00012605289037106185,0.00036599206167899914,0.00014619309483279396,0.6761,-0.0046,0.10195713084900032,1.0,0.0,0.0,0.0,-0.12586452744632626,-0.3058531043079732,3.742896063020182,-0.023428047326603293,0.014782428092422376,0.0010538766703278176,0.5362306886616374,0.4029974234591578,4.201403774877527,0.030754465477071495,-0.034973508502678274,0.001635058649610903,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.3666657456440565,0.46110937970939847,-3.306788641663194,0.47188254509497646,2.4335805208421712,0.24997926767980294,1.6297903475282756,-3.742896063020182,4.93657898919147,4.93657898919147,6.0788280321021375,0,0,-0.0005080892661838129,-9.999999025923074e-05
+49082,1792840384411608434,19063840000000,1792840384406568993,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763044102337592,-0.004874230930544145,0.10226655996855219,0.9999999067966928,-0.00011478372056092596,0.0003667891931966372,0.00017360833879242126,0.6761,-0.0046,0.1017893693380066,1.0,0.0,0.0,0.0,-0.14292152589813545,-0.3418571596751963,3.671587709599721,-0.025508198338525214,0.01521589909754105,6.75874809488964e-05,0.5191736902098282,0.36699336809193467,4.1300954214570655,0.028674314465149574,-0.0345400374975596,0.0006487694602319818,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.399693854783504,0.43980055920035266,-3.1884057895373874,0.49034877918610426,2.3721827758343323,0.24471927308486965,1.6297903475282756,-3.671587709599721,4.818196137065663,4.818196137065663,6.127578032102024,0,0,-0.0005243392630180629,-9.999999025923074e-05
+49121,1792840384736566059,19064165000000,1792840384730569196,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.6763049620359681,-0.004862367443658581,0.10208324884776136,0.9999999182472936,-6.398477381093666e-05,0.00037283642818779065,0.00010884492172782016,0.6761,-0.0046,0.10161632657804175,1.0,0.0,0.0,0.0,-0.15219609673663292,-0.36468875061608846,3.6039640784295486,-0.028569123321040783,0.015929416458982625,9.001049123285372e-05,0.5098991193713307,0.3441617771510425,4.062471790286893,0.025613389482634006,-0.033826520136118025,0.0006711924705159391,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.3799164570712223,0.5513193961122461,-3.086225235751683,0.4397248722717806,2.30686980839658,0.28833377019151185,1.6297903475282756,-3.6039640784295486,4.716015583279958,4.716015583279958,6.17632803210191,0,0,-0.0005405892598523129,-9.999999025923074e-05
+49157,1792840385036637952,19064465000000,1792840385034569146,DOWN_FORCE_DETACH,8,0.0696,0.06960141658782959,0.676293825965121,-0.004876083490149221,0.101902207837511,0.9999999218780894,-6.553524858271629e-05,0.0003495994468766737,0.0001455061428544102,0.6761,-0.0046,0.10145190730052585,1.0,0.0,0.0,0.0,-0.12481149206399622,-0.3720901599130347,3.5401209665518674,-0.02891273163024831,0.013924887906768706,0.00011224826301533023,0.5372837240439674,0.3367603678540963,3.998628678409212,0.02526978117342648,-0.035831048688331944,0.0006934302422984156,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.3690364663352308,0.4410977854333073,-3.0639061494749105,0.4789245618044194,2.2914055588110216,0.2422998171356538,1.6297903475282756,-3.5401209665518674,4.693696497003186,4.693696497003186,6.221328032101805,0,0,-0.0005555892569300821,-9.999999025923074e-05
+49197,1792840385364628951,19064793000000,1792840385358568988,DOWN_SETTLE,8,0.0696,0.06960141658782959,0.6762851140255048,-0.004877510640946228,0.10172652456865428,0.9999999243976431,-0.00010823702072120535,0.0003366509800584673,0.00013265910314408326,0.6761,-0.0046,0.10129383925502738,1.0,0.0,0.0,0.0,-0.09200064401172825,-0.40461990247477103,3.4610561783237173,-0.03147852218399208,0.011965233579131998,0.0001253688380729787,0.5700945720962354,0.30423062529235995,3.919563890181062,0.022703990619682708,-0.03779070301596865,0.000706550817356064,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.3247759175048424,0.4144442162893973,-2.876418232573496,0.5095295546628881,2.1651570714148334,0.23994427925823125,1.6297903475282756,-3.4610561783237173,4.506208580101772,0.0,0.0,0,0,-0.00018545239703131585,0.001873256535669857
+49291,1792840386148626989,19065577000000,1792840386142569371,DOWN_PEAK_HOLD,8,0.0696,0.06960141658782959,0.6762518300246196,-0.004870248963118546,0.10162560226127662,0.9999999433767425,-0.00010613442000282965,0.00027378036316970074,0.00013590133882705762,0.6761,-0.0046,0.10127636743289449,1.0,0.0,0.0,0.0,-0.06922646092851759,-0.461940909311585,2.945437439347499,-0.0354087195677896,0.009116422398858522,0.00044464235788777386,0.592868755179446,0.246909618455546,3.4039451512048435,0.01877379323588519,-0.04063951419624213,0.0010258243371708592,0.6620952161079636,0.708850527767131,0.4585077118573448,0.05418251280367479,-0.04975593659510065,0.0005811819792830853,1,1.1195208705886022,0.4401402289326877,-2.3688158528917724,0.47574425591765046,1.7993629656918453,0.2537500064638293,1.6297903475282756,-2.945437439347499,3.998606200420048,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_17.5/press_depth_08/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792840344069292135,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.816306854e-09,1.932420734e-10,-5.955435034e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451426e-01,-1.175954618e-04,8.303260759e-01
+1,7.666666667e-01,DOWN_FORCE_DETACH,1792840344821319391,2.020636268e-06,4.153319325e-06,4.057334205e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.089188755e-07,7.543234553e-09,-2.048883307e-08,7.019576185e-01,-1.783173526e-05,8.601474433e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452487e-01,-1.175881118e-04,8.303260560e-01
+2,1.633333333e+00,DOWN_FORCE_DETACH,1792840345673509405,5.135790828e-06,3.130770284e-06,4.646749854e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.871009514e-07,1.230698097e-08,-3.050247188e-08,7.019607337e-01,-1.885428430e-05,8.601480327e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453269e-01,-1.175833480e-04,8.303260460e-01
+3,2.450000000e+00,DOWN_FORCE_DETACH,1792840346508662621,9.776409717e-06,9.950752327e-07,4.925236680e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.333068024e-07,1.490589946e-08,-3.174610219e-08,7.019653743e-01,-2.098997935e-05,8.601483112e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453731e-01,-1.175807491e-04,8.303260447e-01
+4,3.383333333e+00,DOWN_FORCE_DETACH,1792840347441769395,1.174071643e-05,1.684568715e-06,-1.087808533e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.662360310e-07,1.634217163e-08,-3.097187395e-08,7.019673386e-01,-2.030048586e-05,8.601325078e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027454060e-01,-1.175793128e-04,8.303260455e-01
+5,4.216666667e+00,DOWN_FORCE_DETACH,1792840348343502957,1.570628530e-05,-3.556662955e-06,-5.170014978e-05,1.343430582e-05,-7.354468160e-06,-5.277107926e-05,1.405582618e-05,-7.321175880e-06,-5.240248522e-05,7.019713042e-01,-2.554171754e-05,8.600916858e-01,7.019690322e-01,-2.933952274e-05,8.600906148e-01,7.027591956e-01,-1.249168309e-04,8.302736740e-01
+6,5.050000000e+00,DOWN_FORCE_DETACH,1792840349194806471,1.677049255e-05,-8.737997603e-06,-8.326419582e-05,1.365893705e-05,-2.842040327e-06,-7.222317048e-05,1.409223301e-05,-2.787622367e-06,-7.185141314e-05,7.019723684e-01,-3.072305218e-05,8.600601217e-01,7.019692568e-01,-2.482709491e-05,8.600711627e-01,7.027592320e-01,-1.203832774e-04,8.302542250e-01
+7,6.016666667e+00,DOWN_FORCE_DETACH,1792840350177578284,1.233460267e-05,-7.837082459e-06,-1.363768759e-04,1.217935382e-05,-7.116169885e-06,-1.344144367e-04,1.175815579e-05,-7.059127833e-06,-1.337904545e-04,7.019679325e-01,-2.982213704e-05,8.600070090e-01,7.019677772e-01,-2.910122446e-05,8.600089715e-01,7.027568980e-01,-1.246547829e-04,8.301922860e-01
+8,6.800000000e+00,DOWN_FORCE_DETACH,1792840350996646214,1.773968972e-05,-1.247447018e-05,-1.506035363e-04,1.217935382e-05,-7.116169885e-06,-1.344144367e-04,1.175943037e-05,-7.055576557e-06,-1.339919951e-04,7.019733376e-01,-3.445952476e-05,8.599927824e-01,7.019677772e-01,-2.910122446e-05,8.600089715e-01,7.027568992e-01,-1.246512316e-04,8.301920845e-01
+9,7.716666667e+00,DOWN_FORCE_DETACH,1792840351914253939,3.015722379e-05,-1.998014475e-05,-1.833709992e-04,2.706400568e-05,-1.473939592e-05,-1.734507024e-04,2.726164518e-05,-1.466071678e-05,-1.729259181e-04,7.019857551e-01,-4.196519933e-05,8.599600149e-01,7.019826619e-01,-3.672445050e-05,8.599699352e-01,7.027724014e-01,-1.322563718e-04,8.301531505e-01
+10,8.483333333e+00,DOWN_FORCE_DETACH,1792840352668055417,3.573946757e-05,-1.937696337e-05,-2.255304885e-04,3.514520653e-05,-2.033668075e-05,-2.127761099e-04,3.542359521e-05,-2.028473516e-05,-2.121215009e-04,7.019913373e-01,-4.136201795e-05,8.599178554e-01,7.019907431e-01,-4.232173533e-05,8.599306098e-01,7.027805634e-01,-1.378803902e-04,8.301139550e-01
+11,9.333333333e+00,DOWN_FORCE_DETACH,1792840353518865125,4.265487108e-05,-2.663225525e-05,-2.713744211e-04,4.078165290e-05,-1.993200929e-05,-2.759281064e-04,4.080376733e-05,-1.988707649e-05,-2.750486593e-04,7.019982527e-01,-4.861730983e-05,8.598720115e-01,7.019963795e-01,-4.191706387e-05,8.598674578e-01,7.027859436e-01,-1.374827315e-04,8.300510278e-01
+12,1.020000000e+01,DOWN_FORCE_DETACH,1792840354388270302,5.142300498e-05,-2.423278929e-05,-3.094227513e-04,4.463959683e-05,-2.292933698e-05,-2.954724949e-04,4.474492014e-05,-2.286628430e-05,-2.947820427e-04,7.020070209e-01,-4.621784387e-05,8.598339632e-01,7.020002375e-01,-4.491439156e-05,8.598479134e-01,7.027898847e-01,-1.404619393e-04,8.300312944e-01
+13,1.105000000e+01,DOWN_FORCE_DETACH,1792840355272141180,5.985584505e-05,-2.695385427e-05,-3.495542169e-04,5.544964754e-05,-2.903598647e-05,-3.365674260e-04,5.581514457e-05,-2.904510495e-05,-3.358661298e-04,7.020154537e-01,-4.893890885e-05,8.597938317e-01,7.020110475e-01,-5.102104105e-05,8.598068185e-01,7.028009549e-01,-1.466407600e-04,8.299902103e-01
+14,1.195000000e+01,DOWN_FORCE_DETACH,1792840356173098225,7.029861305e-05,-2.942624053e-05,-3.896652543e-04,6.634809806e-05,-3.391524517e-05,-3.787957017e-04,6.711935716e-05,-3.392979473e-05,-3.780755488e-04,7.020258965e-01,-5.141129511e-05,8.597537207e-01,7.020219460e-01,-5.590029975e-05,8.597645902e-01,7.028122592e-01,-1.515254497e-04,8.299480009e-01
+15,1.278333333e+01,DOWN_FORCE_DETACH,1792840357041670310,7.760738761e-05,-3.266969487e-05,-4.382778157e-04,7.772180572e-05,-3.270291548e-05,-4.382060401e-04,7.852625137e-05,-3.274448884e-05,-4.373059023e-04,7.020332053e-01,-5.465474945e-05,8.597051081e-01,7.020333197e-01,-5.468797006e-05,8.597051799e-01,7.028236660e-01,-1.503401439e-04,8.298887706e-01
+16,1.361666667e+01,DOWN_FORCE_DETACH,1792840357892476885,8.521562417e-05,-3.616777121e-05,-4.812650999e-04,8.302053395e-05,-3.859670907e-05,-4.771326533e-04,8.385436064e-05,-3.864739131e-05,-4.763200328e-04,7.020408135e-01,-5.815282579e-05,8.596621208e-01,7.020386184e-01,-6.058176365e-05,8.596662533e-01,7.028289942e-01,-1.562430463e-04,8.298497564e-01
+17,1.443333333e+01,DOWN_FORCE_DETACH,1792840358711654255,9.556311709e-05,-3.215535138e-05,-5.251932086e-04,9.263489334e-05,-3.688434017e-05,-5.172224600e-04,9.373292132e-05,-3.694180484e-05,-5.164666478e-04,7.020511610e-01,-5.414040596e-05,8.596181927e-01,7.020482328e-01,-5.886939475e-05,8.596261635e-01,7.028388727e-01,-1.545374599e-04,8.298096098e-01
+18,1.518333333e+01,DOWN_FORCE_DETACH,1792840359481685843,1.105170316e-04,-2.903874262e-05,-5.724389680e-04,1.070844439e-04,-2.140702504e-05,-5.586484834e-04,1.087631560e-04,-2.150357177e-05,-5.579130123e-04,7.020661149e-01,-5.102379720e-05,8.595709469e-01,7.020626823e-01,-4.339207962e-05,8.595847374e-01,7.028539030e-01,-1.390992268e-04,8.297681634e-01
+19,1.598333333e+01,DOWN_FORCE_DETACH,1792840360317346235,1.201118838e-04,-3.297507250e-05,-6.361049300e-04,1.186371659e-04,-3.016076424e-05,-6.191314690e-04,1.205195809e-04,-3.025308638e-05,-6.182766769e-04,7.020757098e-01,-5.496012708e-05,8.595072810e-01,7.020742350e-01,-5.214581882e-05,8.595242544e-01,7.028656594e-01,-1.478487414e-04,8.297077998e-01
+20,1.686666667e+01,DOWN_FORCE_DETACH,1792840361234205510,1.307882665e-04,-3.437998847e-05,-6.901771691e-04,1.285662699e-04,-3.614127775e-05,-6.793279374e-04,1.305022488e-04,-3.627761618e-05,-6.784298474e-04,7.020863861e-01,-5.636504305e-05,8.594532087e-01,7.020841641e-01,-5.812633233e-05,8.594640580e-01,7.028756420e-01,-1.538732712e-04,8.296476466e-01
+21,1.768333333e+01,DOWN_FORCE_DETACH,1792840362036730000,1.376900500e-04,-3.802127254e-05,-7.237574438e-04,1.390761749e-04,-3.735045131e-05,-7.191728536e-04,1.413720435e-04,-3.747929050e-05,-7.182735085e-04,7.020932879e-01,-6.000632712e-05,8.594196285e-01,7.020946740e-01,-5.933550589e-05,8.594242131e-01,7.028865118e-01,-1.550749455e-04,8.296078029e-01
+22,1.838333333e+01,DOWN_FORCE_DETACH,1792840362725222184,1.457741961e-04,-4.274855010e-05,-7.465649816e-04,1.417419214e-04,-3.550168141e-05,-7.395612909e-04,1.440991059e-04,-3.561876594e-05,-7.387924790e-04,7.021013721e-01,-6.473360468e-05,8.593968209e-01,7.020973398e-01,-5.748673599e-05,8.594038246e-01,7.028892389e-01,-1.532144210e-04,8.295872840e-01
+23,1.923333333e+01,DOWN_FORCE_DETACH,1792840363560050479,1.512215900e-04,-3.697284409e-05,-8.007681170e-04,1.511945647e-04,-3.684120449e-05,-8.009546987e-04,1.535516703e-04,-3.693002795e-05,-8.000010000e-04,7.021068195e-01,-5.895789867e-05,8.593426178e-01,7.021067924e-01,-5.882625907e-05,8.593424312e-01,7.028986915e-01,-1.545256830e-04,8.295260755e-01
+24,2.010000000e+01,DOWN_FORCE_DETACH,1792840364444696926,1.635647104e-04,-4.342831200e-05,-8.555280146e-04,1.603297201e-04,-3.820171109e-05,-8.393771064e-04,1.629401340e-04,-3.828680323e-05,-8.385631264e-04,7.021191626e-01,-6.541336658e-05,8.592878579e-01,7.021159276e-01,-6.018676567e-05,8.593040088e-01,7.029080799e-01,-1.558824583e-04,8.294875133e-01
+25,2.083333333e+01,DOWN_FORCE_DETACH,1792840365166226096,1.741352469e-04,-4.272686769e-05,-8.993562233e-04,1.738326549e-04,-4.071842761e-05,-8.994872149e-04,1.766958322e-04,-4.078953087e-05,-8.985103896e-04,7.021297331e-01,-6.471192227e-05,8.592440297e-01,7.021294305e-01,-6.270348219e-05,8.592438987e-01,7.029218356e-01,-1.583851859e-04,8.294275661e-01
+26,2.158333333e+01,DOWN_FORCE_DETACH,1792840365902558945,1.791643803e-04,-4.856807266e-05,-9.503190020e-04,1.781532524e-04,-4.495575447e-05,-9.406889908e-04,1.809031168e-04,-4.499485814e-05,-9.397842686e-04,7.021347622e-01,-7.055312724e-05,8.591930669e-01,7.021337511e-01,-6.694080905e-05,8.592026969e-01,7.029260429e-01,-1.625905132e-04,8.293862922e-01
+27,2.246666667e+01,DOWN_FORCE_DETACH,1792840366771333631,1.920208251e-04,-4.644475676e-05,-9.968027946e-04,1.870400159e-04,-4.566982513e-05,-9.807837460e-04,1.899656607e-04,-4.573265516e-05,-9.799948631e-04,7.021476187e-01,-6.842981134e-05,8.591465831e-01,7.021426379e-01,-6.765487970e-05,8.591626022e-01,7.029351055e-01,-1.633283102e-04,8.293460816e-01
+28,2.336666667e+01,DOWN_FORCE_DETACH,1792840367654676754,2.005708677e-04,-4.256837840e-05,-1.055647982e-03,1.994493941e-04,-5.036152319e-05,-1.043706840e-03,2.025597806e-04,-5.045095515e-05,-1.042725155e-03,7.021561687e-01,-6.455343298e-05,8.590877379e-01,7.021550473e-01,-7.234657777e-05,8.590996791e-01,7.029476996e-01,-1.680466102e-04,8.292833513e-01
+29,2.413333333e+01,DOWN_FORCE_DETACH,1792840368425026896,2.108148227e-04,-4.077247828e-05,-1.104526143e-03,2.092800077e-04,-3.801283601e-05,-1.098711222e-03,2.125147479e-04,-3.810070531e-05,-1.097615505e-03,7.021664127e-01,-6.275753286e-05,8.590388598e-01,7.021648779e-01,-5.999789058e-05,8.590446747e-01,7.029576545e-01,-1.556963603e-04,8.292284609e-01
+30,2.490000000e+01,DOWN_FORCE_DETACH,1792840369227824641,2.184583886e-04,-4.600665344e-05,-1.168321873e-03,2.189809503e-04,-4.741128643e-05,-1.159028137e-03,2.222571895e-04,-4.752308396e-05,-1.157780670e-03,7.021740563e-01,-6.799170802e-05,8.589750640e-01,7.021745788e-01,-6.939634101e-05,8.589843578e-01,7.029673970e-01,-1.651187390e-04,8.291682958e-01
+31,2.581666667e+01,DOWN_FORCE_DETACH,1792840370161495502,2.299043124e-04,-5.145202930e-05,-1.235817978e-03,2.279339523e-04,-4.842470620e-05,-1.225258059e-03,2.311305260e-04,-4.853508255e-05,-1.224018831e-03,7.021855022e-01,-7.343708388e-05,8.589075679e-01,7.021835318e-01,-7.040976078e-05,8.589181279e-01,7.029762703e-01,-1.661307376e-04,8.291020576e-01
+32,2.666666667e+01,DOWN_FORCE_DETACH,1792840371012856329,2.417188762e-04,-5.151326835e-05,-1.295814967e-03,2.381817631e-04,-5.199224106e-05,-1.285690842e-03,2.414824911e-04,-5.210273488e-05,-1.284530009e-03,7.021973167e-01,-7.349832293e-05,8.588475709e-01,7.021937796e-01,-7.397729564e-05,8.588576951e-01,7.029866223e-01,-1.696983899e-04,8.290415464e-01
+33,2.750000000e+01,DOWN_FORCE_DETACH,1792840371848224204,2.488566907e-04,-5.183457973e-05,-1.362875803e-03,2.439210538e-04,-5.460473260e-05,-1.348484110e-03,2.469669758e-04,-5.470945917e-05,-1.347418197e-03,7.022044546e-01,-7.381963431e-05,8.587805101e-01,7.021995189e-01,-7.658978718e-05,8.587949018e-01,7.029921068e-01,-1.723051142e-04,8.289786583e-01
+34,2.841666667e+01,DOWN_FORCE_DETACH,1792840372749205997,2.606897879e-04,-5.570587014e-05,-1.436583367e-03,2.566003708e-04,-5.413893494e-05,-1.429306875e-03,2.596204148e-04,-5.424236295e-05,-1.428194084e-03,7.022162877e-01,-7.769092472e-05,8.587068025e-01,7.022121982e-01,-7.612398952e-05,8.587140790e-01,7.030047602e-01,-1.718380180e-04,8.288978824e-01
+35,2.923333333e+01,DOWN_FORCE_DETACH,1792840373551747672,2.704990292e-04,-5.680518815e-05,-1.513007829e-03,2.671933519e-04,-5.450445562e-05,-1.493435574e-03,2.701919226e-04,-5.460424894e-05,-1.492396612e-03,7.022260969e-01,-7.879024272e-05,8.586303781e-01,7.022227912e-01,-7.648951020e-05,8.586499503e-01,7.030153317e-01,-1.721999040e-04,8.288336798e-01
+36,3.003333333e+01,DOWN_FORCE_DETACH,1792840374354147502,2.787885699e-04,-5.527874529e-05,-1.608656813e-03,2.770582253e-04,-5.399704244e-05,-1.601010624e-03,2.794703508e-04,-5.410961031e-05,-1.599689378e-03,7.022343864e-01,-7.726379987e-05,8.585347291e-01,7.022326561e-01,-7.598209702e-05,8.585423753e-01,7.030246101e-01,-1.717052653e-04,8.287263871e-01
+37,3.086666667e+01,DOWN_FORCE_DETACH,1792840375189768813,2.874443012e-04,-6.225548617e-05,-1.714296893e-03,2.877449765e-04,-6.021322511e-05,-1.708342683e-03,2.895959379e-04,-6.033262239e-05,-1.706810807e-03,7.022430422e-01,-8.424054075e-05,8.584290890e-01,7.022433428e-01,-8.219827969e-05,8.584350432e-01,7.030347357e-01,-1.779282774e-04,8.286192656e-01
+38,3.160000000e+01,DOWN_FORCE_DETACH,1792840375911227477,2.933342489e-04,-6.530135518e-05,-1.814918933e-03,2.926637180e-04,-6.439778612e-05,-1.812314846e-03,2.935549208e-04,-6.450688418e-05,-1.810717940e-03,7.022489321e-01,-8.728640976e-05,8.583284670e-01,7.022482616e-01,-8.638284070e-05,8.583310711e-01,7.030386947e-01,-1.821025392e-04,8.285153585e-01
+39,3.233333333e+01,DOWN_FORCE_DETACH,1792840376647742576,3.046426125e-04,-6.637317472e-05,-1.930592489e-03,3.023477130e-04,-6.810879337e-05,-1.920546964e-03,3.026892340e-04,-6.823978271e-05,-1.918920705e-03,7.022602405e-01,-8.835822930e-05,8.582127934e-01,7.022579456e-01,-9.009384795e-05,8.582228390e-01,7.030478290e-01,-1.858354377e-04,8.284071557e-01
+40,3.301666667e+01,DOWN_FORCE_DETACH,1792840377385149827,3.147262394e-04,-7.325096163e-05,-2.057801855e-03,3.128932941e-04,-7.198263548e-05,-2.052403834e-03,3.124576015e-04,-7.212594781e-05,-2.050561519e-03,7.022703241e-01,-9.523601621e-05,8.580855841e-01,7.022684912e-01,-9.396769006e-05,8.580909821e-01,7.030575974e-01,-1.897216028e-04,8.282755149e-01
+41,3.371666667e+01,DOWN_FORCE_DETACH,1792840378090250422,3.260679092e-04,-7.669296540e-05,-2.186866941e-03,3.233281369e-04,-7.619695723e-05,-2.178055238e-03,3.223106011e-04,-7.636791394e-05,-2.176117672e-03,7.022816658e-01,-9.867801998e-05,8.579565190e-01,7.022789260e-01,-9.818201181e-05,8.579653307e-01,7.030674504e-01,-1.939635690e-04,8.281499588e-01
+42,3.435000000e+01,DOWN_FORCE_DETACH,1792840378760505772,3.302987430e-04,-8.809301396e-05,-2.336432570e-03,3.301445714e-04,-8.788694690e-05,-2.336193829e-03,3.278326848e-04,-8.799653019e-05,-2.333927836e-03,7.022858966e-01,-1.100780685e-04,8.578069533e-01,7.022857424e-01,-1.098720015e-04,8.578071921e-01,7.030729725e-01,-2.055921852e-04,8.279921486e-01
+43,3.495000000e+01,DOWN_FORCE_DETACH,1792840379349998439,3.341644248e-04,-9.015257517e-05,-2.479210433e-03,3.313013876e-04,-8.894508830e-05,-2.469370542e-03,3.275940135e-04,-8.908070799e-05,-2.467119121e-03,7.022897623e-01,-1.121376297e-04,8.576641755e-01,7.022868993e-01,-1.109301429e-04,8.576740154e-01,7.030727338e-01,-2.066763630e-04,8.278589573e-01
+44,3.548333333e+01,DOWN_FORCE_DETACH,1792840379874315424,3.351103858e-04,-9.770971306e-05,-2.629902882e-03,3.338708111e-04,-1.019709407e-04,-2.623601750e-03,3.284299424e-04,-1.020976645e-04,-2.621041230e-03,7.022907083e-01,-1.196947676e-04,8.575134830e-01,7.022894687e-01,-1.239559953e-04,8.575197842e-01,7.030735697e-01,-2.196933195e-04,8.277050352e-01
+45,3.601666667e+01,DOWN_FORCE_DETACH,1792840380399086165,3.431262577e-04,-1.005090576e-04,-2.784702789e-03,3.414145499e-04,-1.000002887e-04,-2.766099712e-03,3.348398180e-04,-1.001114865e-04,-2.763435424e-03,7.022987241e-01,-1.224941122e-04,8.573586831e-01,7.022970124e-01,-1.219853433e-04,8.573772862e-01,7.030799796e-01,-2.177071415e-04,8.275626410e-01
+46,3.646666667e+01,DOWN_FORCE_DETACH,1792840380890454155,3.587488409e-04,-1.049729707e-04,-2.936957549e-03,3.575397883e-04,-1.051388369e-04,-2.926436624e-03,3.501810543e-04,-1.052031956e-04,-2.923507468e-03,7.023143467e-01,-1.269580252e-04,8.572064284e-01,7.023131377e-01,-1.271238915e-04,8.572169493e-01,7.030953209e-01,-2.227988506e-04,8.274025690e-01
+47,3.695000000e+01,DOWN_FORCE_DETACH,1792840381381338817,3.575591765e-04,-1.119882890e-04,-3.109114239e-03,3.532463974e-04,-1.102235898e-04,-3.091634422e-03,3.436233835e-04,-1.102426516e-04,-3.088658674e-03,7.023131570e-01,-1.339733435e-04,8.570342717e-01,7.023088443e-01,-1.322086444e-04,8.570517515e-01,7.030887632e-01,-2.278383066e-04,8.272374178e-01
+48,3.740000000e+01,DOWN_FORCE_DETACH,1792840381823894730,3.522405662e-04,-1.145696591e-04,-3.288835895e-03,3.521071270e-04,-1.114881158e-04,-3.276380581e-03,3.402753629e-04,-1.115155182e-04,-3.273138581e-03,7.023078384e-01,-1.365547137e-04,8.568545500e-01,7.023077050e-01,-1.334731703e-04,8.568670053e-01,7.030854152e-01,-2.291111732e-04,8.270529379e-01
+49,3.781666667e+01,DOWN_FORCE_DETACH,1792840382249439901,3.505818091e-04,-1.168756034e-04,-3.462350829e-03,3.503600420e-04,-1.168259233e-04,-3.462382653e-03,3.362025068e-04,-1.168267506e-04,-3.458830810e-03,7.023061797e-01,-1.388606580e-04,8.566810351e-01,7.023059579e-01,-1.388109779e-04,8.566810033e-01,7.030813423e-01,-2.344224056e-04,8.268672456e-01
+50,3.821666667e+01,DOWN_FORCE_DETACH,1792840382642542038,3.450110171e-04,-1.172929260e-04,-3.638492032e-03,3.461438458e-04,-1.238303041e-04,-3.628472087e-03,3.296241670e-04,-1.238414390e-04,-3.624886343e-03,7.023006089e-01,-1.392779806e-04,8.565048939e-01,7.023017417e-01,-1.458153586e-04,8.565149138e-01,7.030747640e-01,-2.414370940e-04,8.267011901e-01
+51,3.853333333e+01,DOWN_FORCE_DETACH,1792840383004553117,3.447732584e-04,-1.244374867e-04,-3.808117766e-03,3.443760189e-04,-1.244321553e-04,-3.807849691e-03,3.255438252e-04,-1.244140090e-04,-3.803915691e-03,7.023003711e-01,-1.464225413e-04,8.563352681e-01,7.022999739e-01,-1.464172099e-04,8.563355362e-01,7.030706836e-01,-2.420096640e-04,8.265221608e-01
+52,3.886666667e+01,DOWN_FORCE_DETACH,1792840383396011831,3.426562421e-04,-1.322411713e-04,-3.994488940e-03,3.440914020e-04,-1.298491987e-04,-3.984173085e-03,3.230781486e-04,-1.297890947e-04,-3.980171704e-03,7.022982541e-01,-1.542262258e-04,8.561488970e-01,7.022996893e-01,-1.518342533e-04,8.561592128e-01,7.030682179e-01,-2.473847497e-04,8.263459047e-01
+53,3.921666667e+01,DOWN_FORCE_DETACH,1792840383740308634,3.341330791e-04,-1.310696158e-04,-4.179100074e-03,3.381353865e-04,-1.287082773e-04,-4.165309112e-03,3.145111357e-04,-1.286053934e-04,-4.161261463e-03,7.022897309e-01,-1.530546704e-04,8.559642858e-01,7.022937333e-01,-1.506933319e-04,8.559780768e-01,7.030596509e-01,-2.462010484e-04,8.261648150e-01
+54,3.956666667e+01,DOWN_FORCE_DETACH,1792840384084230420,3.285138847e-04,-1.391963444e-04,-4.360938677e-03,3.284252890e-04,-1.392226683e-04,-4.360849847e-03,3.017759406e-04,-1.391112273e-04,-4.356808485e-03,7.022841118e-01,-1.611813990e-04,8.557824472e-01,7.022840232e-01,-1.612077229e-04,8.557825361e-01,7.030469157e-01,-2.567068823e-04,8.259692680e-01
+55,3.990000000e+01,DOWN_FORCE_DETACH,1792840384412717352,3.270417339e-04,-1.440951258e-04,-4.536810172e-03,3.261940818e-04,-1.404477009e-04,-4.518806549e-03,2.975362473e-04,-1.403251545e-04,-4.514897987e-03,7.022826396e-01,-1.660801803e-04,8.556065757e-01,7.022817919e-01,-1.624327554e-04,8.556245794e-01,7.030426760e-01,-2.579208095e-04,8.258111785e-01
+56,4.023333333e+01,DOWN_FORCE_DETACH,1792840384739234855,3.303518361e-04,-1.318084805e-04,-4.714878842e-03,3.248944374e-04,-1.451240861e-04,-4.701396626e-03,2.939176176e-04,-1.449705862e-04,-4.697457370e-03,7.022859497e-01,-1.537935350e-04,8.554285071e-01,7.022804923e-01,-1.671091407e-04,8.554419893e-01,7.030390574e-01,-2.625662412e-04,8.256286191e-01
+57,4.051666667e+01,DOWN_FORCE_DETACH,1792840385034361235,3.192314099e-04,-1.413633759e-04,-4.892461193e-03,3.211432561e-04,-1.448626366e-04,-4.880782852e-03,2.877702795e-04,-1.447005251e-04,-4.876688520e-03,7.022748293e-01,-1.633484305e-04,8.552509247e-01,7.022767411e-01,-1.668476911e-04,8.552626031e-01,7.030329101e-01,-2.622961801e-04,8.254493879e-01
+58,4.085000000e+01,DOWN_SETTLE,1792840385361762202,3.086055867e-04,-1.435704976e-04,-5.075520276e-03,3.066632672e-04,-1.417353269e-04,-5.064001782e-03,2.700694484e-04,-1.415761236e-04,-5.060144549e-03,7.022642035e-01,-1.655555521e-04,8.550678656e-01,7.022622611e-01,-1.637203814e-04,8.550793841e-01,7.030152092e-01,-2.591717786e-04,8.252659319e-01
+59,4.165000000e+01,DOWN_PEAK_HOLD,1792840386147871627,2.770672061e-04,-1.391955367e-04,-5.170723339e-03,2.777041897e-04,-1.416789273e-04,-5.168858570e-03,2.375263444e-04,-1.415397126e-04,-5.166723963e-03,7.022326651e-01,-1.611805913e-04,8.549726626e-01,7.022333021e-01,-1.636639819e-04,8.549745273e-01,7.029826661e-01,-2.591353676e-04,8.251593525e-01

Fixed/digit/ball_15A_17.5/press_depth_08/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,6.4531e-02,1.3073e-01,2.4632e+00,-4.5613e-02,4.1354e-02,2.1657e-04,4.8921e-04,5.3912e-05,-1.1110e-04,4.2468e-07,3.4995e-05,-5.8557e-08,5.0455e-04,3.4998e-05
+1,7.6667e-01,DOWN_FORCE_DETACH,1.9638e-04,8.2953e-02,1.3274e-01,2.4595e+00,-4.5598e-02,4.2665e-02,2.1107e-04,1.8912e-02,2.0622e-03,-3.7885e-03,1.4957e-05,1.3461e-03,-5.5627e-06,1.9397e-02,1.3462e-03
+2,1.6333e+00,DOWN_FORCE_DETACH,3.9315e-04,9.6540e-02,1.3410e-01,2.4577e+00,-4.5583e-02,4.3625e-02,2.0222e-04,3.2499e-02,3.4249e-03,-5.6405e-03,2.9981e-05,2.3062e-03,-1.4409e-05,3.3162e-02,2.3065e-03
+3,2.4500e+00,DOWN_FORCE_DETACH,5.8780e-04,1.0455e-01,1.3482e-01,2.4574e+00,-4.5567e-02,4.4191e-02,1.9316e-04,4.0514e-02,4.1471e-03,-5.9018e-03,4.6149e-05,2.8721e-03,-2.3463e-05,4.1151e-02,2.8726e-03
+4,3.3833e+00,DOWN_FORCE_DETACH,7.8485e-04,1.1027e-01,1.3530e-01,2.4575e+00,-4.5556e-02,4.4593e-02,1.8166e-04,4.6230e-02,4.6228e-03,-5.7788e-03,5.6718e-05,3.2741e-03,-3.4965e-05,4.6819e-02,3.2748e-03
+5,4.2167e+00,DOWN_FORCE_DETACH,9.8198e-04,1.0336e-01,1.5850e-01,2.5270e+00,-4.7119e-02,4.4016e-02,1.7982e-04,3.9315e-02,2.7821e-02,6.3717e-02,-1.5062e-03,2.6969e-03,-3.6808e-05,7.9872e-02,3.0892e-03
+6,5.0500e+00,DOWN_FORCE_DETACH,1.1737e-03,1.0889e-01,1.4588e-01,2.5199e+00,-4.6257e-02,4.4409e-02,1.5479e-04,4.4849e-02,1.5206e-02,5.6610e-02,-6.4393e-04,3.0896e-03,-6.1835e-05,7.3806e-02,3.1566e-03
+7,6.0167e+00,DOWN_FORCE_DETACH,1.3752e-03,1.1584e-01,1.6100e-01,2.5670e+00,-4.7310e-02,4.4826e-02,1.1313e-04,5.1799e-02,3.0320e-02,1.0365e-01,-1.6964e-03,3.5075e-03,-1.0350e-04,1.1978e-01,3.8975e-03
+8,6.8000e+00,DOWN_FORCE_DETACH,1.5695e-03,1.1597e-01,1.6155e-01,2.5304e+00,-4.7397e-02,4.4863e-02,6.6341e-05,5.1926e-02,3.0873e-02,6.7116e-02,-1.7838e-03,3.5442e-03,-1.5029e-04,9.0300e-02,3.9706e-03
+9,7.7167e+00,DOWN_FORCE_DETACH,1.7622e-03,1.0129e-01,1.8358e-01,2.5520e+00,-4.8969e-02,4.3785e-02,1.6285e-05,3.7247e-02,5.2901e-02,8.8665e-02,-3.3556e-03,2.4662e-03,-2.0034e-04,1.0976e-01,4.1692e-03
+10,8.4833e+00,DOWN_FORCE_DETACH,1.9585e-03,9.8534e-02,1.9944e-01,2.5707e+00,-5.0112e-02,4.3550e-02,-3.5665e-05,3.4493e-02,6.8765e-02,1.0741e-01,-4.4993e-03,2.2310e-03,-2.5229e-04,1.3212e-01,5.0284e-03
+11,9.3333e+00,DOWN_FORCE_DETACH,2.1568e-03,1.0174e-01,1.9702e-01,2.6164e+00,-5.0006e-02,4.3700e-02,-1.1036e-04,3.7696e-02,6.6338e-02,1.5305e-01,-4.3933e-03,2.3815e-03,-3.2699e-04,1.7101e-01,5.0079e-03
+12,1.0200e+01,DOWN_FORCE_DETACH,2.3499e-03,1.0605e-01,2.0358e-01,2.5815e+00,-5.0549e-02,4.4033e-02,-1.8835e-04,4.2008e-02,7.2901e-02,1.1815e-01,-4.9358e-03,2.7143e-03,-4.0498e-04,1.4505e-01,5.6474e-03
+13,1.1050e+01,DOWN_FORCE_DETACH,2.5487e-03,1.0127e-01,2.1935e-01,2.5849e+00,-5.1711e-02,4.3688e-02,-2.6277e-04,3.7226e-02,8.8672e-02,1.2155e-01,-6.0982e-03,2.3686e-03,-4.7940e-04,1.5499e-01,6.5596e-03
+14,1.1950e+01,DOWN_FORCE_DETACH,2.7432e-03,9.9488e-02,2.3084e-01,2.5847e+00,-5.2572e-02,4.3567e-02,-3.3360e-04,3.5446e-02,1.0016e-01,1.2136e-01,-6.9584e-03,2.2484e-03,-5.5022e-04,1.6130e-01,7.3334e-03
+15,1.2783e+01,DOWN_FORCE_DETACH,2.9395e-03,1.0561e-01,2.3024e-01,2.5803e+00,-5.2597e-02,4.4020e-02,-3.9221e-04,4.1568e-02,9.9560e-02,1.1694e-01,-6.9834e-03,2.7008e-03,-6.0884e-04,1.5911e-01,7.5122e-03
+16,1.3617e+01,DOWN_FORCE_DETACH,3.1347e-03,9.8795e-02,2.3893e-01,2.5966e+00,-5.3256e-02,4.3538e-02,-4.2260e-04,3.4754e-02,1.0825e-01,1.3326e-01,-7.6432e-03,2.2187e-03,-6.3923e-04,1.7517e-01,7.9844e-03
+17,1.4433e+01,DOWN_FORCE_DETACH,3.3334e-03,9.5111e-02,2.2963e-01,2.5873e+00,-5.2700e-02,4.3307e-02,-4.3166e-04,3.1070e-02,9.8952e-02,1.2397e-01,-7.0871e-03,1.9877e-03,-6.4829e-04,1.6163e-01,7.3891e-03
+18,1.5183e+01,DOWN_FORCE_DETACH,3.5296e-03,8.5338e-02,1.7949e-01,2.5866e+00,-4.9328e-02,4.2624e-02,-4.2052e-04,2.1297e-02,4.8809e-02,1.2330e-01,-3.7145e-03,1.3052e-03,-6.3714e-04,1.3431e-01,3.9884e-03
+19,1.5983e+01,DOWN_FORCE_DETACH,3.7225e-03,8.6641e-02,2.0122e-01,2.6035e+00,-5.0883e-02,4.2686e-02,-3.5590e-04,2.2600e-02,7.0539e-02,1.4023e-01,-5.2699e-03,1.3674e-03,-5.7253e-04,1.5859e-01,5.4745e-03
+20,1.6867e+01,DOWN_FORCE_DETACH,3.9207e-03,9.3470e-02,2.1702e-01,2.6115e+00,-5.2001e-02,4.3142e-02,-2.4302e-04,2.9428e-02,8.6338e-02,1.4821e-01,-6.3876e-03,1.8229e-03,-4.5965e-04,1.7403e-01,6.6586e-03
+21,1.7683e+01,DOWN_FORCE_DETACH,4.1178e-03,9.7730e-02,2.2109e-01,2.6088e+00,-5.2284e-02,4.3440e-02,-1.0950e-04,3.3688e-02,9.0416e-02,1.4545e-01,-6.6708e-03,2.1213e-03,-3.2613e-04,1.7455e-01,7.0076e-03
+22,1.8383e+01,DOWN_FORCE_DETACH,4.3107e-03,1.1159e-01,2.1777e-01,2.5845e+00,-5.2034e-02,4.4449e-02,4.1451e-06,4.7546e-02,8.7096e-02,1.2122e-01,-6.4210e-03,3.1296e-03,-2.1248e-04,1.5665e-01,7.1463e-03
+23,1.9233e+01,DOWN_FORCE_DETACH,4.5065e-03,1.1681e-01,2.2578e-01,2.5818e+00,-5.2529e-02,4.4828e-02,1.2501e-04,5.2769e-02,9.5102e-02,1.1848e-01,-6.9160e-03,3.5094e-03,-9.1617e-05,1.6083e-01,7.7559e-03
+24,2.0100e+01,DOWN_FORCE_DETACH,4.7061e-03,1.1762e-01,2.3231e-01,2.5941e+00,-5.2895e-02,4.4888e-02,2.0765e-04,5.3581e-02,1.0164e-01,1.3075e-01,-7.2816e-03,3.5687e-03,-8.9749e-06,1.7406e-01,8.1091e-03
+25,2.0833e+01,DOWN_FORCE_DETACH,4.8985e-03,1.0976e-01,2.4097e-01,2.6203e+00,-5.3422e-02,4.4322e-02,2.5210e-04,4.5721e-02,1.1029e-01,1.5698e-01,-7.8090e-03,3.0031e-03,3.5474e-05,1.9723e-01,8.3667e-03
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Fixed/digit/ball_15A_17.5/press_depth_08/up/camera_frames_60hz.tar

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Fixed/digit/ball_15A_17.5/press_depth_08/up/franka_data.csv

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