Upload Fixed (part 94)

Fixed/s2/cylinder_PLA_12.5/press_depth_04/up/franka_data.csv

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Fixed/s2/cylinder_PLA_12.5/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792700522014075141,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.340746399e-09,5.466001783e-11,1.416320061e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291820e-01,1.747499991e-06,8.295726278e-01
+1,6.666666667e-02,XJC_ZERO_HOLD_BEFORE_UP,1792700522146317464,-3.561025619e-06,2.324976353e-06,-7.118333421e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.453629376e-08,2.707035741e-10,6.811105790e-09,7.015343105e-01,3.875937675e-06,8.407338229e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292172e-01,1.747716035e-06,8.295726332e-01
+2,1.166666667e-01,XJC_ZERO_HOLD_BEFORE_UP,1792700522213804431,1.739347855e-08,-4.565127220e-08,-2.755886397e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.872824121e-08,4.165841266e-10,1.055208199e-08,7.015378889e-01,1.505310049e-06,8.407381853e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292414e-01,1.747861915e-06,8.295726370e-01
+3,1.666666667e-01,WAIT_W2,1792700522312058888,-4.141614172e-07,-3.608018860e-06,-3.710774831e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.128857004e-08,5.681381927e-10,1.409767270e-08,7.015374573e-01,-2.057057539e-06,8.407405701e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292639e-01,1.748013470e-06,8.295726405e-01
+4,2.333333333e-01,WAIT_W2,1792700522446349189,8.417850190e-07,-4.379210402e-08,-7.032035774e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.189475629e-07,7.353214218e-10,1.850431097e-08,7.015387133e-01,1.507169217e-06,8.407402380e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292916e-01,1.748180653e-06,8.295726449e-01
+5,3.166666667e-01,WAIT_W2,1792700522613810973,-2.013765682e-06,1.152128753e-06,-2.817103007e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.499934976e-07,9.950900416e-10,2.350723338e-08,7.015358577e-01,2.703090074e-06,8.407381241e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293226e-01,1.748440421e-06,8.295726499e-01
+6,3.833333333e-01,WAIT_W2,1792700522746497669,6.579445884e-07,-1.065179043e-06,-6.690288094e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.723051488e-07,1.165995285e-09,2.712131497e-08,7.015385294e-01,4.857822783e-07,8.407402722e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293449e-01,1.748611327e-06,8.295726536e-01
+7,4.500000000e-01,WAIT_W2,1792700522846294807,-2.158489251e-06,2.633301913e-06,-2.631780723e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.925789934e-07,1.318102240e-09,3.042671881e-08,7.015357130e-01,4.184263234e-06,8.407383094e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293652e-01,1.748763434e-06,8.295726569e-01
+8,5.000000000e-01,WAIT_W2,1792700522944043010,3.388000199e-07,-2.941169192e-06,8.307060190e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.065661346e-07,1.429759526e-09,3.271928273e-08,7.015382103e-01,-1.390207871e-06,8.407417719e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293792e-01,1.748875091e-06,8.295726591e-01
+9,5.666666667e-01,WAIT_W2,1792700523078078636,8.816368802e-08,-9.127946225e-07,-7.362383606e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.237301580e-07,1.569779751e-09,3.554625250e-08,7.015379596e-01,6.381666986e-07,8.407402049e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293964e-01,1.749015111e-06,8.295726620e-01
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+14,8.666666667e-01,WAIT_W2,1792700523644125006,-1.525955303e-06,-1.938106445e-05,3.265050633e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.836592474e-07,2.087012101e-09,4.554111477e-08,7.015363455e-01,-1.783010313e-05,8.407412677e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294563e-01,1.749532343e-06,8.295726720e-01
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+21,1.333333333e+00,WAIT_W2,1792700524542569472,-3.128000737e-06,-3.738159771e-06,-3.468425230e-06,7.977249450e-07,-2.170075193e-05,3.224133710e-06,1.159898330e-06,-2.160204884e-05,3.248836786e-06,7.015347435e-01,-2.187198450e-06,8.407374728e-01,7.015386692e-01,-2.014979061e-05,8.407441653e-01,7.017303325e-01,-1.985460351e-05,8.295758753e-01
+22,1.383333333e+00,WAIT_W2,1792700524641821514,-4.784112270e-07,-6.277753845e-06,-3.305021780e-07,-4.458871604e-07,-9.697936928e-07,-1.075417704e-06,-1.362525146e-07,-9.650517562e-07,-9.596175617e-07,7.015373931e-01,-4.726792523e-06,8.407406107e-01,7.015374256e-01,5.811676283e-07,8.407398658e-01,7.017290364e-01,7.823935752e-07,8.295716668e-01
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+31,1.883333333e+00,UP_FORCE_RAMP,1792700525606933085,-3.373554502e-06,-3.674397548e-05,-4.023596191e-06,-1.033109993e-06,-2.064332192e-05,8.300266311e-07,-6.765940184e-07,-2.055517173e-05,8.599112297e-07,7.015344979e-01,-3.519301416e-05,8.407369176e-01,7.015368384e-01,-1.909236060e-05,8.407417712e-01,7.017284960e-01,-1.880772640e-05,8.295734863e-01
+32,1.933333333e+00,UP_FORCE_RAMP,1792700525706689837,-4.556632660e-06,-3.937905107e-05,-4.916360513e-06,-1.033109993e-06,-2.064332192e-05,8.300266311e-07,-6.756573486e-07,-2.055615641e-05,8.606717447e-07,7.015333148e-01,-3.782808975e-05,8.407360248e-01,7.015368384e-01,-1.909236060e-05,8.407417712e-01,7.017284970e-01,-1.880871108e-05,8.295734871e-01
+33,1.983333333e+00,UP_FORCE_RAMP,1792700525805811323,-1.700385635e-06,-4.283839093e-05,-3.379222625e-07,-1.881278165e-06,-4.091056667e-05,-8.757077063e-09,-1.570679958e-06,-4.072941870e-05,4.087664462e-08,7.015361711e-01,-4.128742961e-05,8.407406033e-01,7.015359902e-01,-3.935960535e-05,8.407409324e-01,7.017276020e-01,-3.898197337e-05,8.295726673e-01
+34,2.050000000e+00,UP_FORCE_RAMP,1792700525938369637,-2.564147106e-06,-5.022790376e-05,-7.787351467e-07,-1.881278165e-06,-4.091056667e-05,-8.757077063e-09,-1.571380680e-06,-4.074128235e-05,4.031309342e-08,7.015353073e-01,-4.867694244e-05,8.407401625e-01,7.015359902e-01,-3.935960535e-05,8.407409324e-01,7.017276013e-01,-3.899383702e-05,8.295726667e-01
+35,2.116666667e+00,UP_FORCE_RAMP,1792700526070314797,-2.571837102e-06,-5.828999453e-05,-4.070860468e-07,-1.881278165e-06,-4.091056667e-05,-8.757077063e-09,-1.571589297e-06,-4.074516281e-05,3.982877661e-08,7.015352996e-01,-5.673903321e-05,8.407405341e-01,7.015359902e-01,-3.935960535e-05,8.407409324e-01,7.017276011e-01,-3.899771748e-05,8.295726663e-01
+36,2.133333333e+00,UP_FORCE_RAMP,1792700526104098859,-8.179706940e-07,-4.994538826e-05,1.939173947e-06,-1.881278165e-06,-4.091056667e-05,-8.757077063e-09,-1.571639238e-06,-4.074573755e-05,3.970924645e-08,7.015370535e-01,-4.839442694e-05,8.407428804e-01,7.015359902e-01,-3.935960535e-05,8.407409324e-01,7.017276010e-01,-3.899829222e-05,8.295726661e-01
+37,2.183333333e+00,UP_FORCE_RAMP,1792700526205833737,-3.708023718e-06,-6.508053080e-05,-1.433002283e-06,-4.969644655e-06,-6.169943070e-05,-2.349463181e-06,-4.707783612e-06,-6.144961175e-05,-2.249531966e-06,7.015341635e-01,-6.352956948e-05,8.407395082e-01,7.015329018e-01,-6.014846938e-05,8.407385917e-01,7.017244649e-01,-5.970216642e-05,8.295703769e-01
+38,2.233333333e+00,UP_FORCE_RAMP,1792700526304381192,-6.924528832e-06,-6.806602855e-05,-7.450347331e-06,-4.969644655e-06,-6.169943070e-05,-2.349463181e-06,-4.713191517e-06,-6.146041450e-05,-2.253590253e-06,7.015309470e-01,-6.651506723e-05,8.407334908e-01,7.015329018e-01,-6.014846938e-05,8.407385917e-01,7.017244594e-01,-5.971296917e-05,8.295703728e-01
+39,2.283333333e+00,UP_FORCE_RAMP,1792700526406352395,-1.865086917e-06,-6.723239976e-05,-3.391443315e-08,-4.969644655e-06,-6.169943070e-05,-2.349463181e-06,-4.717160913e-06,-6.146482449e-05,-2.256959534e-06,7.015360064e-01,-6.568143843e-05,8.407409073e-01,7.015329018e-01,-6.014846938e-05,8.407385917e-01,7.017244555e-01,-5.971737916e-05,8.295703695e-01
+40,2.366666667e+00,UP_FORCE_RAMP,1792700526572065016,-3.110209560e-06,-7.144968344e-05,3.873833498e-07,-4.969644655e-06,-6.169943070e-05,-2.349463181e-06,-4.722733496e-06,-6.146812891e-05,-2.261752320e-06,7.015347613e-01,-6.989872212e-05,8.407413286e-01,7.015329018e-01,-6.014846938e-05,8.407385917e-01,7.017244499e-01,-5.972068358e-05,8.295703647e-01
+41,2.416666667e+00,UP_FORCE_RAMP,1792700526670309891,-4.145991547e-06,-7.295441767e-05,-5.344021746e-07,-4.969644655e-06,-6.169943070e-05,-2.349463181e-06,-4.725690544e-06,-6.146921518e-05,-2.264231224e-06,7.015337255e-01,-7.140345635e-05,8.407404068e-01,7.015329018e-01,-6.014846938e-05,8.407385917e-01,7.017244470e-01,-5.972176985e-05,8.295703622e-01
+42,2.466666667e+00,UP_FORCE_RAMP,1792700526770270682,-3.434905837e-06,-7.080776065e-05,-3.856429781e-07,-4.969644655e-06,-6.169943070e-05,-2.349463181e-06,-4.728416766e-06,-6.146997142e-05,-2.266454239e-06,7.015344366e-01,-6.925679932e-05,8.407405555e-01,7.015329018e-01,-6.014846938e-05,8.407385917e-01,7.017244442e-01,-5.972252609e-05,8.295703600e-01
+43,2.516666667e+00,UP_FORCE_RAMP,1792700526870332244,-2.628601573e-06,-7.614413678e-05,2.036799654e-06,-4.969644655e-06,-6.169943070e-05,-2.349463181e-06,-4.730938354e-06,-6.147053830e-05,-2.268449293e-06,7.015352429e-01,-7.459317546e-05,8.407429780e-01,7.015329018e-01,-6.014846938e-05,8.407385917e-01,7.017244417e-01,-5.972309297e-05,8.295703580e-01
+44,2.550000000e+00,UP_FORCE_RAMP,1792700526938380914,-4.735191036e-06,-7.463871426e-05,-2.267987120e-06,-4.969644655e-06,-6.169943070e-05,-2.349463181e-06,-4.732507312e-06,-6.147084577e-05,-2.269685984e-06,7.015331363e-01,-7.308775294e-05,8.407386732e-01,7.015329018e-01,-6.014846938e-05,8.407385917e-01,7.017244401e-01,-5.972340044e-05,8.295703567e-01
+45,2.633333333e+00,UP_FORCE_RAMP,1792700527104423867,-4.791227974e-06,-8.413688125e-05,-1.026721078e-06,-4.648715710e-06,-8.411919263e-05,-9.760924854e-07,-4.427514220e-06,-8.373811884e-05,-9.280008085e-07,7.015330803e-01,-8.258591993e-05,8.407399145e-01,7.015332228e-01,-8.256823131e-05,8.407399651e-01,7.017247451e-01,-8.199067351e-05,8.295716984e-01
+46,2.700000000e+00,UP_FORCE_RAMP,1792700527236336330,-3.332360566e-06,-7.916614564e-05,1.553795852e-06,-4.648715710e-06,-8.411919263e-05,-9.760924854e-07,-4.431123842e-06,-8.377142619e-05,-9.242844891e-07,7.015345391e-01,-7.761518432e-05,8.407424950e-01,7.015332228e-01,-8.256823131e-05,8.407399651e-01,7.017247415e-01,-8.202398086e-05,8.295717021e-01
+47,2.766666667e+00,UP_FORCE_RAMP,1792700527368454195,-6.499468620e-06,-8.691725663e-05,2.528581046e-06,-4.648715710e-06,-8.411919263e-05,-9.760924854e-07,-4.432720922e-06,-8.377831588e-05,-9.223199450e-07,7.015313720e-01,-8.536629531e-05,8.407434698e-01,7.015332228e-01,-8.256823131e-05,8.407399651e-01,7.017247399e-01,-8.203087054e-05,8.295717041e-01
+48,2.816666667e+00,UP_FORCE_RAMP,1792700527469872322,-6.309658079e-06,-8.550443077e-05,4.728371262e-06,-4.648715710e-06,-8.411919263e-05,-9.760924854e-07,-4.433754449e-06,-8.378054581e-05,-9.212134431e-07,7.015315618e-01,-8.395346945e-05,8.407456696e-01,7.015332228e-01,-8.256823131e-05,8.407399651e-01,7.017247389e-01,-8.203310048e-05,8.295717052e-01
+49,2.883333333e+00,UP_FORCE_RAMP,1792700527602600576,-4.358370406e-06,-8.949101446e-05,1.094235647e-05,-4.648715710e-06,-8.411919263e-05,-9.760924854e-07,-4.435001506e-06,-8.378228503e-05,-9.199732615e-07,7.015335131e-01,-8.794005313e-05,8.407518835e-01,7.015332228e-01,-8.256823131e-05,8.407399651e-01,7.017247376e-01,-8.203483970e-05,8.295717065e-01
+50,2.950000000e+00,UP_FORCE_RAMP,1792700527734454053,-6.490683525e-06,-8.707541679e-05,1.263005199e-05,-4.648715710e-06,-8.411919263e-05,-9.760924854e-07,-4.436117149e-06,-8.378330696e-05,-9.188768970e-07,7.015313808e-01,-8.552445546e-05,8.407535712e-01,7.015332228e-01,-8.256823131e-05,8.407399651e-01,7.017247365e-01,-8.203586163e-05,8.295717076e-01
+51,2.983333333e+00,UP_FORCE_RAMP,1792700527802517441,-2.058446114e-06,-8.805054009e-05,2.127505361e-05,-1.490490711e-06,-8.495425708e-05,2.033031510e-05,-1.085596333e-06,-8.462034750e-05,1.998544288e-05,7.015358130e-01,-8.649957877e-05,8.407622162e-01,7.015363810e-01,-8.340329576e-05,8.407612715e-01,7.017280870e-01,-8.287290217e-05,8.295926119e-01
+52,3.050000000e+00,UP_FORCE_RAMP,1792700527934472579,2.480697203e-09,-9.144138978e-05,3.080752410e-05,-1.490490711e-06,-8.495425708e-05,2.033031510e-05,-1.078479965e-06,-8.462315037e-05,2.004504891e-05,7.015378740e-01,-8.989042846e-05,8.407717487e-01,7.015363810e-01,-8.340329576e-05,8.407612715e-01,7.017280942e-01,-8.287570504e-05,8.295926715e-01
+53,3.116666667e+00,UP_FORCE_RAMP,1792700528066315677,-1.388215316e-06,-8.498754298e-05,3.808348627e-05,-1.490490711e-06,-8.495425708e-05,2.033031510e-05,-1.073164139e-06,-8.462457624e-05,2.008747203e-05,7.015364833e-01,-8.343658165e-05,8.407790247e-01,7.015363810e-01,-8.340329576e-05,8.407612715e-01,7.017280995e-01,-8.287713091e-05,8.295927139e-01
+54,3.150000000e+00,UP_FORCE_RAMP,1792700528134592687,6.450571965e-07,-8.940683379e-05,4.595973288e-05,8.537257262e-07,-8.920956184e-05,4.580738514e-05,1.367543788e-06,-8.886348095e-05,4.500716674e-05,7.015385165e-01,-8.785587247e-05,8.407869009e-01,7.015387252e-01,-8.765860052e-05,8.407867486e-01,7.017305402e-01,-8.711603562e-05,8.296176336e-01
+55,3.200000000e+00,UP_FORCE_HOLD,1792700528234404869,3.789969307e-06,-8.604693073e-05,5.423090447e-05,8.537257262e-07,-8.920956184e-05,4.580738514e-05,1.378492530e-06,-8.887181588e-05,4.510706015e-05,7.015416615e-01,-8.449596941e-05,8.407951721e-01,7.015387252e-01,-8.765860052e-05,8.407867486e-01,7.017305511e-01,-8.712437054e-05,8.296177335e-01
+56,3.250000000e+00,UP_FORCE_HOLD,1792700528335081490,1.317804313e-06,-8.972386051e-05,5.589688881e-05,8.537257262e-07,-8.920956184e-05,4.580738514e-05,1.385795547e-06,-8.887479917e-05,4.517430319e-05,7.015391893e-01,-8.817289918e-05,8.407968381e-01,7.015387252e-01,-8.765860052e-05,8.407867486e-01,7.017305584e-01,-8.712735384e-05,8.296178007e-01
+57,3.300000000e+00,UP_FORCE_HOLD,1792700528434641271,2.277078454e-06,-9.193587337e-05,5.892712525e-05,8.537257262e-07,-8.920956184e-05,4.580738514e-05,1.392624168e-06,-8.887645804e-05,4.523129730e-05,7.015401486e-01,-9.038491205e-05,8.407998683e-01,7.015387252e-01,-8.765860052e-05,8.407867486e-01,7.017305653e-01,-8.712901271e-05,8.296178577e-01
+58,3.366666667e+00,UP_SETTLE,1792700528566374397,3.060820115e-06,-9.151330865e-05,6.315292644e-05,8.537257262e-07,-8.920956184e-05,4.580738514e-05,1.401240387e-06,-8.887796105e-05,4.529730831e-05,7.015409323e-01,-8.996234733e-05,8.408040941e-01,7.015387252e-01,-8.765860052e-05,8.407867486e-01,7.017305739e-01,-8.713051572e-05,8.296179237e-01
+59,3.433333333e+00,UP_SETTLE,1792700528666952371,2.471067026e-06,-9.049415700e-05,6.639305364e-05,2.869160778e-06,-8.948740123e-05,6.555882733e-05,3.540335305e-06,-8.914869991e-05,6.473996135e-05,7.015403425e-01,-8.894319568e-05,8.408073342e-01,7.015407406e-01,-8.793643991e-05,8.408065000e-01,7.017327130e-01,-8.740125458e-05,8.296373664e-01

Fixed/s2/cylinder_PLA_12.5/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-1.3750e-02,2.6073e-04,2.4498e+00,-3.6828e-02,3.5796e-02,-1.5952e-05,4.1562e-04,6.1114e-06,7.7248e-05,-7.4878e-07,2.8491e-05,-2.4890e-07,4.2278e-04,2.8502e-05
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+2,1.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,2.5068e-05,-1.0900e-02,3.0419e-04,2.4504e+00,-3.6833e-02,3.5994e-02,-1.7753e-05,3.2649e-03,4.9577e-05,6.1083e-04,-5.9009e-06,2.2639e-04,-2.0496e-06,3.3219e-03,2.2648e-04
+3,1.6667e-01,WAIT_W2,3.8920e-05,-9.7262e-03,3.2510e-04,2.4506e+00,-3.6835e-02,3.6077e-02,-1.8623e-05,4.4392e-03,7.0488e-05,8.2541e-04,-8.2143e-06,3.0979e-04,-2.9199e-06,4.5158e-03,3.0991e-04
+4,2.3333e-01,WAIT_W2,5.4845e-05,-8.3520e-03,3.5037e-04,2.4508e+00,-3.6838e-02,3.6176e-02,-1.9645e-05,5.8134e-03,9.5757e-05,1.0705e-03,-1.0837e-05,4.0787e-04,-3.9416e-06,5.9119e-03,4.0804e-04
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+6,3.8333e-01,WAIT_W2,8.0601e-05,-4.3637e-03,4.5589e-04,2.4515e+00,-3.6848e-02,3.6479e-02,-2.4885e-05,9.8016e-03,2.0127e-04,1.6990e-03,-2.1197e-05,7.1163e-04,-9.1822e-06,9.9498e-03,7.1201e-04
+7,4.5000e-01,WAIT_W2,9.5308e-05,-3.8553e-03,4.5461e-04,2.4515e+00,-3.6848e-02,3.6514e-02,-2.5266e-05,1.0310e-02,1.9999e-04,1.7533e-03,-2.1089e-05,7.4625e-04,-9.5624e-06,1.0460e-02,7.4661e-04
+8,5.0000e-01,WAIT_W2,1.0775e-04,-3.3505e-03,4.5370e-04,2.4516e+00,-3.6848e-02,3.6548e-02,-2.5538e-05,1.0815e-02,1.9908e-04,1.8382e-03,-2.1003e-05,7.8044e-04,-9.8350e-06,1.0972e-02,7.8079e-04
+9,5.6667e-01,WAIT_W2,1.1907e-04,-2.6454e-03,4.5304e-04,2.4517e+00,-3.6848e-02,3.6596e-02,-2.5887e-05,1.1520e-02,1.9843e-04,1.9708e-03,-2.0906e-05,8.2853e-04,-1.0184e-05,1.1689e-02,8.2885e-04
+10,6.1667e-01,WAIT_W2,1.3353e-04,-2.1253e-03,4.5290e-04,2.4518e+00,-3.6848e-02,3.6632e-02,-2.6138e-05,1.2040e-02,1.9828e-04,2.0723e-03,-2.0836e-05,8.6429e-04,-1.0434e-05,1.2219e-02,8.6461e-04
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+12,7.3333e-01,WAIT_W2,1.6327e-04,-8.9214e-04,4.5242e-04,2.4521e+00,-3.6848e-02,3.6719e-02,-2.6826e-05,1.3273e-02,1.9781e-04,2.3170e-03,-2.0590e-05,9.5085e-04,-1.1123e-05,1.3475e-02,9.5113e-04
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+42,2.4667e+00,UP_FORCE_RAMP,5.6153e-04,7.8708e-03,3.2386e-02,2.4549e+00,-3.9094e-02,3.7350e-02,1.9785e-05,2.2036e-02,3.2131e-02,5.1255e-03,-2.2673e-03,1.5821e-03,3.5488e-05,3.9297e-02,2.7649e-03
+43,2.5167e+00,UP_FORCE_RAMP,5.7565e-04,7.9899e-03,3.2407e-02,2.4550e+00,-3.9096e-02,3.7357e-02,1.9501e-05,2.2155e-02,3.2152e-02,5.2533e-03,-2.2689e-03,1.5896e-03,3.5205e-05,3.9398e-02,2.7706e-03
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+45,2.6333e+00,UP_FORCE_RAMP,6.0335e-04,7.8808e-03,3.2461e-02,2.4549e+00,-3.9101e-02,3.7350e-02,1.3868e-05,2.2046e-02,3.2206e-02,5.1689e-03,-2.2735e-03,1.5826e-03,2.9571e-05,3.9370e-02,2.7703e-03
+46,2.7000e+00,UP_FORCE_RAMP,6.1719e-04,7.4117e-03,4.5469e-02,2.4531e+00,-4.0030e-02,3.7317e-02,2.9132e-05,2.1577e-02,4.5214e-02,3.3648e-03,-3.2033e-03,1.5494e-03,4.4835e-05,5.0212e-02,3.5586e-03
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+49,2.8833e+00,UP_FORCE_RAMP,6.5768e-04,7.2204e-03,4.4060e-02,2.4539e+00,-3.9921e-02,3.7304e-02,3.1406e-05,2.1386e-02,4.3805e-02,4.1411e-03,-3.0937e-03,1.5361e-03,4.7109e-05,4.8922e-02,3.4544e-03
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+54,3.1500e+00,UP_FORCE_RAMP,7.2460e-04,4.8610e-03,4.4055e-02,2.4370e+00,-3.9921e-02,3.7148e-02,2.5340e-05,1.9026e-02,4.3801e-02,-1.2762e-02,-3.0938e-03,1.3807e-03,4.1043e-05,4.9430e-02,3.3882e-03
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Fixed/s2/cylinder_PLA_12.5/press_depth_05/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e686c4a83b8cda2acdc32b0e69c2d9b901c10701b292d51fbc025a83d68a5aad
+size 59566080

Fixed/s2/cylinder_PLA_12.5/press_depth_05/down/franka_data.csv

@@ -0,0 +1,61 @@
+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
+29933,1792700592333923766,8419317999999,1792700592333096579,XJC_ZERO_HOLD_BEFORE_DOWN,5,0.0397,0.03970075398683548,0.6760113943124251,-0.004545581544430995,0.0908520321679076,0.9999999792952435,6.98821293667827e-05,-0.0001670312528355266,-8.332204432712159e-06,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.06420825718784501,0.0663845541485869,0.0026458119552082993,0.005900947364760229,-0.0049152918069369465,-7.4935197718966565e-06,0.43036788695306394,0.21936338384000498,-0.14126264279796447,0.014995448580255668,-0.029497837182004327,-0.0011586210649790765,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,-0.24223114759922643,0.37527718392992154,1.7172472353741035,-0.1920542122182155,-1.038803850608208,0.19509030896512322,1.0285032327702255,0.0026458119552082993,-0.688744002603878,0.0,0.0,0,0,0.0,0.0
+30061,1792700593393975096,8420378000000,1792700593393097245,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760104286530364,-0.004550256268599441,0.09085057467455547,0.9999999791892897,6.54118114163184e-05,-0.00016950574854010983,-7.306200726097564e-06,0.6761,-0.00453,0.09098365815299539,1.0,0.0,0.0,0.0,0.1220624954990393,0.13350385683779276,0.02310229487285606,0.010207296427997174,-0.008178512481813813,-1.4486185054368717e-05,0.48822212526425823,0.28648268652921083,-0.1208061598803167,0.019301797643492612,-0.032761057856881194,-0.0011656137302615485,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,-0.14759603769676777,0.41647263822260977,1.6127606014649252,-0.1955932979295856,-0.9515802576559627,0.2271632478255181,1.0285032327702255,0.02310229487285606,-0.5842573686946997,-0.5842573686946997,0.06471999999999871,0,0,-4.0449992365380834e-05,-9.999999025923074e-05
+30201,1792700594559891780,8421544000000,1792700594557096745,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760030458813296,-0.004565429666647994,0.09080898425505901,0.9999999769848781,6.173886800953962e-05,-0.0001833445690336603,6.796251253802661e-06,0.6761,-0.00453,0.0909025337185246,1.0,0.0,0.0,0.0,0.14221308757133916,0.15220817009912851,0.1831674515919614,0.011258954628381817,-0.010260416286502577,-0.00016132651899114264,0.5083727173365581,0.3051869997905466,0.039258996838788626,0.020353455843877256,-0.03484296166156996,-0.0013124540641983224,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.0695126194508632,0.47299288923804655,1.217184873473565,-0.13882777088146767,-0.6501457772135492,0.27306503332669935,1.0285032327702255,0.1831674515919614,-0.1886816407033396,-0.1886816407033396,0.15799999999999492,0,0,-9.874998100764388e-05,-9.999999025923074e-05
+30241,1792700594893853545,8421878000000,1792700594893096998,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.676063410346466,-0.004578532162636105,0.09077294038122213,0.9999999916552427,6.788836582497636e-05,-4.146341269398187e-05,4.247745688331516e-05,0.6761,-0.00453,0.09086715783630704,1.0,0.0,0.0,0.0,0.09325758304090354,0.172946800991308,0.4349320355730009,0.010170290634637102,-0.006743748179682641,-0.0003454020810871258,0.45941721280612247,0.32592563068272606,0.29102358081982815,0.01926479185013254,-0.03132629355475002,-0.0014965296262943056,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.06245263389539147,0.3660208615789553,1.0094387167476497,-0.08296349066329248,-0.5516209129950864,0.19485365277277572,1.0285032327702255,0.4349320355730009,0.01906451602257575,0.01906451602257575,0.18471999999999383,0,0,-0.000110381558444976,-9.99999208702917e-05
+30361,1792700595893876231,8422878000000,1792700595893106449,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760471497312104,-0.004583084031042908,0.0907195417120564,0.9999999886554073,7.510664823845416e-05,-7.422220343122217e-05,5.4608657150631007e-05,0.6761,-0.00453,0.09075812356963071,1.0,0.0,0.0,0.0,0.02333955225803991,0.224184250783802,0.5879130597722976,0.017178903541388412,-0.0013483055603130782,0.0007030208004244683,0.38949918202325884,0.37716308047522007,0.4440046050191248,0.02627340475688385,-0.02593085093538046,-0.0004481067447827115,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.35136739485407165,0.3465069810106697,0.6715823047948072,0.024820596839580173,-0.2952689858645104,0.16990577011003744,1.0285032327702255,0.5879130597722976,0.3569209279754183,0.3569209279754183,0.2647199999999957,0,0,-8.848104481454377e-05,9.999999025923074e-05
+30493,1792700596993829558,8423977999999,1792700596993106662,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760462244066562,-0.004587465027958162,0.0906749533293882,0.9999999875767017,7.722513445155286e-05,-7.588893122260996e-05,6.7576693831968e-05,0.6761,-0.00453,0.09069101691443619,1.0,0.0,0.0,0.0,0.031014394169788906,0.21917072477725724,0.7584812614140535,0.017015058054505438,-0.0013854435102757141,0.000598243611117729,0.39717402393500784,0.3721495544686753,0.6145728066608807,0.026109559270000877,-0.025967988885343095,-0.0005528839340894508,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.3204949598497064,0.43410068467329066,0.3485925473189846,0.07067345801432502,-0.11045611662998955,0.21247426936187963,1.0285032327702255,0.7584812614140535,0.6799106854512409,0.6799106854512409,0.3527200000000226,0,0,-3.348105552938995e-05,9.999999025923074e-05
+30612,1792700597984748832,8424968999999,1792700597977106662,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760444672751307,-0.004591159460892839,0.09065347833092602,0.9999999868108145,7.919111176106117e-05,-7.764840406184965e-05,7.430160387530377e-05,0.6761,-0.00453,0.09067894193843025,1.0,0.0,0.0,0.0,0.022435053069540023,0.21022193325585853,0.7885556659577799,0.01700821465209357,-0.001390817247257238,0.0005729093710177834,0.38859468283475895,0.3632007629472766,0.6446472112046071,0.02610271586758901,-0.02597336262232462,-0.0005782181741893964,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.3202205189149326,0.37582058470821195,0.443805014795867,0.10131451861130476,-0.17312160345406208,0.16881487141313933,1.0285032327702255,0.7885556659577799,0.5846982179743585,0.5846982179743585,0.4320000000000469,0,0,-7.327719218908069e-07,7.401736584755625e-06
+30752,1792700599151636840,8426136000000,1792700599145106488,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760462954061828,-0.004591370736639712,0.09065447754404149,0.9999999869424304,7.993119253275924e-05,-7.491344785728651e-05,7.454517472870266e-05,0.6761,-0.00453,0.09067876815714648,1.0,0.0,0.0,0.0,0.029670147965824456,0.20932248656082808,0.7684886686391428,0.01701184799545421,-0.001386516021669934,0.0005620131423524007,0.3958297777310434,0.36230131625224615,0.62458021388597,0.026106349210949648,-0.025969061396737315,-0.0005891144028547791,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.3203440529118828,0.360802023755338,0.44140586766120005,0.10441377483568998,-0.17211767175060447,0.1537677882809005,1.0285032327702255,0.7684886686391428,0.5870973651090254,0.5870973651090254,0.5253600000000579,0,0,-1.8461436004924003e-07,1.8647915156488892e-06
+30864,1792700600084709240,8427068999999,1792700600081106806,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.676042336969537,-0.004597552837959139,0.0906471581813362,0.9999999864579131,7.761478027871046e-05,-8.149493258832827e-05,7.656082407368223e-05,0.6761,-0.00453,0.09067740814185545,1.0,0.0,0.0,0.0,0.019201539255718936,0.20307428207165312,0.7618088192404349,0.0159800217819993,-0.000720017109335773,0.0005902284120984381,0.38536116902093787,0.3560531117630712,0.617900364487262,0.025074522997494738,-0.025302562484403154,-0.0005608991331087417,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.3191256940584021,0.3127274370868223,0.4924286771538056,0.11551399046180133,-0.20545600249537738,0.12487146557121973,1.0285032327702255,0.7618088192404349,0.5360745556164199,0.5360745556164199,0.600000000000029,0,0,-4.2312518031258964e-06,-9.98235758206178e-05
+31015,1792700601343621108,8428328000000,1792700601341106719,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760443282401809,-0.004596736781297605,0.09063766053737253,0.9999999864538197,7.77011742054345e-05,-7.80189830384898e-05,8.0067413072421e-05,0.6761,-0.00453,0.09065955860629762,1.0,0.0,0.0,0.0,0.012982898032572687,0.2102604711753876,0.7862042870614203,0.016981980968496863,-0.000376315062723058,0.0004513074574717174,0.3791425277977916,0.36323930086680567,0.6422958323082475,0.026076482183992302,-0.02495886043779044,-0.0006998200877354624,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.3626837069647143,0.2683117755492605,0.4277695168710598,0.1422175680439448,-0.15993658625425655,0.09210407159419905,1.0285032327702255,0.7862042870614203,0.6007337158991657,0.6007337158991657,0.7007199999999899,0,0,-2.334429969749608e-05,-9.999788083548395e-05
+31147,1792700602443615486,8429428000000,1792700602441106347,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760468855196126,-0.004600534863672609,0.0906202466476336,0.999999986275427,8.073842067182821e-05,-6.951544809242485e-05,8.68384717662966e-05,0.6761,-0.00453,0.09063388096534845,1.0,0.0,0.0,0.0,0.0034528451374253866,0.21125678284892302,0.8485847177367112,0.01694199730481192,0.0006231379001910842,0.0005366058003120861,0.3696124749026443,0.3642356125403411,0.7046762629835385,0.026036498520307358,-0.023959407474876297,-0.0006145217448950937,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.3642231258150014,0.35310967902039314,0.315726855697342,0.13209203434869093,-0.09192636503091844,0.1433328416096658,1.0285032327702255,0.8485847177367112,0.7127763770728834,0.7127763770728834,0.7887199999999558,0,0,-2.3001486308708803e-05,-9.999357872126353e-05
+31275,1792700603509517421,8430494000000,1792700603509106470,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760524623072895,-0.00460252152574723,0.0906064710859696,0.9999999865428038,8.191222099774746e-05,-5.760384607649518e-05,9.126577533168339e-05,0.6761,-0.00453,0.09060454059927764,1.0,0.0,0.0,0.0,-0.01545495386219875,0.21208774988964585,0.8986814261842873,0.016914342283729362,0.001405522581698175,0.0005230777569349695,0.3507046759030202,0.3650665795810639,0.7547729714311144,0.0260088434992248,-0.023177022793369206,-0.0006280497882722103,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.36892107022601633,0.35554979742841575,0.25805889989363945,0.14398914056121728,-0.06280851063291917,0.14254396284527127,1.0285032327702255,0.8986814261842873,0.770444332876586,0.770444332876586,0.8739999999999227,0,0,-3.07602530627823e-05,-9.996711377991403e-05
+31387,1792700604443452119,8431428000000,1792700604441106561,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760530971390862,-0.004606457224934847,0.0905853612695528,0.9999999874478949,7.070519327796793e-05,-5.410626702089042e-05,9.284590459531005e-05,0.6761,-0.00453,0.09057429087496932,1.0,0.0,0.0,0.0,-0.023384694426905717,0.21899439219906858,0.95603463358311,0.017912889796909595,0.0015937732174587452,0.0004836968711163035,0.3427749353383132,0.37197322189048665,0.8121261788299373,0.027007391012405034,-0.022988772157608636,-0.0006674306740908763,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.38499309819708744,0.33819151521255825,0.19383274599700134,0.16319835368888608,-0.021500148318612775,0.128015718943745,1.0285032327702255,0.95603463358311,0.8346704867732242,0.8346704867732242,0.9487199999998938,0,0,-3.244143686606383e-05,-9.999999025923074e-05
+31510,1792700605468446442,8432453000000,1792700605465106510,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.676080889159052,-0.00460225897640719,0.09057213460508357,0.9999999908757443,5.3386468392301094e-05,-2.613388612728415e-05,7.847471362807222e-05,0.6761,-0.00453,0.0905414922206705,1.0,0.0,0.0,0.0,-0.08171456944828942,0.3121227839043872,0.9211000999530272,0.024551894701467902,0.006614909772347879,0.0006782529376216865,0.2844450603169295,0.46510161359580526,0.7771916451998544,0.03364639591696334,-0.017967635602719502,-0.00047287460758549334,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.5650454863721939,0.3342421101327655,0.09809772131403628,0.16292372201962835,0.07382709286514623,0.1282314565616673,1.0285032327702255,0.9211000999530272,0.9304055114561892,0.9304055114561892,1.0307199999999046,0,0,-3.6771075305501395e-05,-9.999999025923074e-05
+31638,1792700606534418581,8433519000000,1792700606533096770,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.676083175593883,-0.0046060472060462125,0.09053482684341724,0.9999999918870991,3.923293091381035e-05,-1.746610356020431e-05,7.631761655533114e-05,0.6761,-0.00453,0.09048698641893378,1.0,0.0,0.0,0.0,-0.08857683497275765,0.2771026488466248,1.0611613948426832,0.02286310252599536,0.006558562883980053,0.0005345993752134558,0.2775827947924613,0.43008147853804285,0.9172529400895104,0.0319576037414908,-0.018023982491087328,-0.000616528169993724,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.6891255413057708,0.3807359029531472,-0.048781309975542135,0.1578145374351815,0.19302750092693638,0.15845154115525428,1.0285032327702255,1.0611613948426832,1.0772845427457676,1.0772845427457676,1.1159999999999899,0,0,-5.1983955644237294e-05,9.999876901390365e-05
+31774,1792700607668387868,8434653000000,1792700607661097030,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760851574798764,-0.004607732518228872,0.09049716371391842,0.9999999924961867,2.7501516430845295e-05,-1.246737067880773e-05,7.442259436148974e-05,0.6761,-0.00453,0.09044270027458685,1.0,0.0,0.0,0.0,-0.0754077064804965,0.2802087837864526,1.1310479714201729,0.021831856309575896,0.006544839165206574,0.00046766491864987233,0.29075192328472244,0.43318761347787066,0.9871395166670001,0.030926357525071335,-0.018037706209860806,-0.0006834626265573075,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.665649934794241,0.2313050082802411,-0.12392730907749361,0.2023925827453031,0.23814248820121578,0.062085826496554544,1.0285032327702255,1.1310479714201729,1.152430541847719,1.152430541847719,1.2067200000000806,0,0,-3.444663609494659e-05,-8.610868548609147e-05
+31898,1792700608701319548,8435686000000,1792700608701096814,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760868729215231,-0.004608989209033906,0.0904609628560032,0.9999999920325561,2.8160007085388213e-05,-9.450172042344466e-06,8.059442072592714e-05,0.6761,-0.00453,0.09040395751412272,1.0,0.0,0.0,0.0,-0.0753521338995417,0.26784993622096875,1.1409766406307762,0.021651401434194282,0.0065468827661974635,0.00045763303066406334,0.2908074958656772,0.4208287659123868,0.9970681858776035,0.03074590264968972,-0.018035662608869917,-0.0006934945145431165,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.6857926891435179,0.3775613424007609,-0.16324090729601487,0.1540923333695142,0.2671888828519339,0.15902670718275203,1.0285032327702255,1.1409766406307762,1.1917441400662403,1.1917441400662403,1.2893600000001633,0,0,-4.801274545582069e-05,-9.999999025923074e-05
+32029,1792700609793299729,8436778000000,1792700609793106058,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760891511915653,-0.004610841315013971,0.09040511849217275,0.999999991145625,2.902494622597007e-05,-4.477950250648607e-06,9.104457708079932e-05,0.6761,-0.00453,0.09033796867053386,1.0,0.0,0.0,0.0,-0.09247954856848051,0.25623702902023265,1.1724601703550175,0.020781385328927916,0.00757157437034434,-0.0004614422431955963,0.2736800811967384,0.4092158587116507,1.0285517156018447,0.029875886544423354,-0.01701097100472304,-0.0016125697884027761,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.7479014579437748,0.29969962501454195,-0.2012587181023904,0.17831233791732398,0.301664952824178,0.10801397774081886,1.0285032327702255,1.1724601703550175,1.2297619508726159,1.2297619508726159,1.3767200000002506,0,0,-7.444321657309872e-05,-9.999999025923074e-05
+32149,1792700610793226431,8437778000000,1792700610793096458,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760966451802524,-0.004617942145420355,0.09034257841751096,0.9999999894780023,3.025467093551981e-05,3.77820637575582e-06,0.00010750460478883523,0.6761,-0.00453,0.0902615180162901,1.0,0.0,0.0,0.0,-0.11175920373540965,0.2483101279075675,1.2404410061595026,0.020732494322017878,0.008570414908157596,-0.000258500799867042,0.2544004260298093,0.4012889575989856,1.0965325514063298,0.029826995537513317,-0.016012130466909785,-0.0014096283450742218,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.791371116315136,0.2635380762263179,-0.36971911775996946,0.18041506595642312,0.41611056541942637,0.08588941714275437,1.0285032327702255,1.2404410061595026,1.398222350530195,1.398222350530195,1.4567200000003306,0,0,-7.640219896046385e-05,9.999999025923074e-05
+32277,1792700611859216033,8438843999999,1792700611857097112,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760967913255065,-0.004618602820802914,0.09027112258220361,0.9999999877310692,4.017580188213641e-05,3.0130668607037332e-06,0.00011982300357991177,0.6761,-0.00453,0.09018287387163904,1.0,0.0,0.0,0.0,-0.12104708375616088,0.23468191578242803,1.310056753852933,0.018653841523817775,0.009607409873151363,0.00012119346866157192,0.24511254600905805,0.3876607454738461,1.1661482990997603,0.027748342739313214,-0.014975135501916018,-0.0010299340765456079,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.7478371948959187,0.2972717889041384,-0.35760933368021514,0.1666593620293522,0.3935652836718049,0.10775474012940847,1.0285032327702255,1.310056753852933,1.3861125664504406,1.3861125664504406,1.542000000000416,0,0,-7.037145353524921e-05,-9.999702041263987e-05
+32393,1792700612826090827,8439811000000,1792700612825097131,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760945003982424,-0.004625459671453799,0.09019368585407633,0.9999999848276612,5.763347369986756e-05,-1.8215591198087925e-06,0.0001358771741000117,0.6761,-0.00453,0.09010926460557525,1.0,0.0,0.0,0.0,-0.1043637766101489,0.22975122247753754,1.279406557088589,0.01802499224681335,0.009341599478632213,-0.0006584783212487692,0.26179585315507004,0.3827300521689556,1.1354981023354163,0.02711949346230879,-0.015240945896435168,-0.001809605866455949,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.7785401968092304,0.31435678964020297,-0.4043728283895199,0.1664660721967245,0.42667858629499644,0.12833468214303267,1.0285032327702255,1.279406557088589,1.4328760611597453,1.4328760611597453,1.6193600000004933,0,0,-8.904929525296724e-05,-9.999221869805836e-05
+32504,1792700613751143175,8440736000000,1792700613749098040,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760995357133761,-0.004626947380363272,0.090111715700725,0.9999999812046242,8.062567816952625e-05,3.798149370303011e-06,0.0001500622864023629,0.6761,-0.00453,0.09001325973206314,1.0,0.0,0.0,0.0,-0.12061117394613588,0.222444537916064,1.3290654433825788,0.017632888442055714,0.009629603383078774,-0.0007239942623060505,0.24554845581908305,0.3754233676074821,1.185156988629406,0.026727389657551153,-0.014952941991988607,-0.0018751218075132303,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.8465972615428886,0.2532087589407113,-0.49040765732538355,0.18189739944841848,0.4905848665014273,0.09180972054658534,1.0285032327702255,1.3290654433825788,1.518910890095609,1.518910890095609,1.6933600000005673,0,0,-0.0001152479942964898,-9.30065566492388e-05
+32568,1792700614284116081,8441269000000,1792700614281096358,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6761111363285062,-0.004607780837227794,0.09005732926185551,0.9999999922939671,-7.304563610827997e-05,3.598691432825505e-05,1.4973558149724622e-05,0.6761,-0.00453,0.08995022246483778,1.0,0.0,0.0,0.0,-0.0656872744230314,0.3089486497401605,1.3729192652293607,0.023696436540243018,0.006682263526733824,0.00021754146549781837,0.3004723553421875,0.4619274794315786,1.2290108104761879,0.03279093775573846,-0.017900281848333557,-0.0009335860797093614,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.7908547759404081,0.42967147710429315,-0.3491506773007736,-0.016597180604687293,0.41524507722612347,0.2425183207837126,1.0285032327702255,1.3729192652293607,1.377653910070999,1.377653910070999,1.73600000000061,0,0,-0.0001258557120145928,-9.999999025923074e-05
+32660,1792700615051087123,8442036000000,1792700615049096909,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6761102112803999,-0.004616414870802341,0.08995698196907384,0.9999999922390667,6.458877672037638e-05,2.9905551806142953e-05,4.3573833445974776e-05,0.6761,-0.00453,0.08984403791337567,1.0,0.0,0.0,0.0,-0.08487674099444342,0.2625428689728208,1.3508518961418319,0.020748691123776322,0.0075362355673354794,-0.0007341245103577446,0.2812828887707755,0.4155216986642389,1.206943441388659,0.02984319233927176,-0.0170463098077319,-0.0018852520555649244,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.9050848540734964,0.3662731891994359,-0.5323467661653823,0.0403282363081504,0.5439800537201525,0.14843396706517248,1.0285032327702255,1.3508518961418319,1.5608499989356077,1.5608499989356077,1.7973600000006713,0,0,-0.00015212696046903863,-9.976555278979333e-05
+32748,1792700615784066303,8442769000000,1792700615781096682,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6761108674195945,-0.0046205878352124355,0.08985300588279446,0.9999999907590783,6.749556043089478e-05,2.81895804813118e-05,6.763434651466396e-05,0.6761,-0.00453,0.08973088238285759,1.0,0.0,0.0,0.0,-0.09605232791514973,0.23916979884952216,1.4123848160449886,0.018666115529460382,0.008575741405504607,-0.0007973836642434996,0.2701073018500692,0.39214862854094024,1.2684763612918157,0.02776061674495582,-0.016006803969562774,-0.0019485112094506794,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.860520448610707,0.3209729192540671,-0.7106494185393615,0.20174534464215518,0.6120878912615204,0.12535503046437302,1.0285032327702255,1.4123848160449886,1.739152651309587,1.739152651309587,1.85600000000073,0,0,-0.00014794021505473853,9.999999025923074e-05
+32840,1792700616550927068,8443536000000,1792700616545096730,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6761113745138949,-0.004621723442159019,0.08974153773300024,0.9999999909367105,5.5204532028104035e-05,2.8344354762509183e-05,7.562076864240954e-05,0.6761,-0.00453,0.08962060364221225,1.0,0.0,0.0,0.0,-0.08465221901874104,0.2252130111496291,1.3796954557605552,0.01766291460813732,0.008187723735815035,-0.0007826730555422258,0.2815074107464779,0.3781918408410472,1.2357870010073824,0.02675741582363276,-0.016394821639252346,-0.0019338006007494056,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.8744752013459822,0.25982176483157426,-0.6447512380869782,0.24136704426324487,0.5659797976550784,0.10855173229906473,1.0285032327702255,1.3796954557605552,1.6732544708572037,1.6732544708572037,1.9173600000007913,0,0,-0.0001463123415993125,-9.997724456501373e-05
+32919,1792700617208981251,8444193999999,1792700617201097214,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6761112338245059,-0.00462820077567818,0.08964507904203958,0.9999999908964549,4.2370868481306554e-05,2.594720245083749e-05,8.474318265363069e-05,0.6761,-0.00453,0.08952245490649105,1.0,0.0,0.0,0.0,-0.08560205187982695,0.2161205261264143,1.4197815750517395,0.017418761349519758,0.008594859185641759,-0.00027772777369752745,0.280557577885392,0.3690993558178324,1.2758731202985667,0.026513262565015197,-0.015987686189425622,-0.0014288553189047073,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.8783520674613912,0.20893179609467016,-0.7594320238178878,0.2549946458483944,0.6332249672484882,0.07677197692652359,1.0285032327702255,1.4197815750517395,1.7879352565881133,1.7879352565881133,1.970000000000844,0,0,-0.0001506226009390881,5.021016372629806e-05
+33000,1792700617883870119,8444869000000,1792700617877096881,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6761106295681392,-0.004632036009594057,0.08953813237560541,0.9999999902447689,3.3541001988827434e-05,2.3431387709359494e-05,9.632911140971777e-05,0.6761,-0.00453,0.08941478745916347,1.0,0.0,0.0,0.0,-0.0907677121996931,0.19994750096685476,1.3889471817138714,0.015635017414818698,0.007626332933854178,-0.0008230750606643342,0.27539191756552583,0.35292633065827284,1.2450387269606986,0.024729518630314137,-0.016956212441213203,-0.001974202605871514,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.8520839121191837,0.16996345744103744,-0.6912568160530869,0.26741742681265246,0.5822216031884463,0.047185972092145256,1.0285032327702255,1.3889471817138714,1.7197600488233125,1.7197600488233125,2.024000000000898,0,0,-0.00017125711702511837,-9.999999025923074e-05
+33071,1792700618475945312,8445460999999,1792700618469097155,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6761090171457635,-0.004627565130854613,0.08942932653252533,0.999999989601617,3.2596140747225226e-05,1.833130910425353e-05,0.00010412053298898788,0.6761,-0.00453,0.08930878612273735,1.0,0.0,0.0,0.0,-0.0824756301857219,0.2021945984203422,1.4591959178359832,0.015622041493961701,0.00761072409189701,-0.0008789780452734034,0.283683999579497,0.3551734281117603,1.3152874630828104,0.02471654270945714,-0.01697182128317037,-0.002030105590480583,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.9066650965817543,0.24199773822702172,-0.7265003601279911,0.25028227203574305,0.6147655984110264,0.09496255383218925,1.0285032327702255,1.4591959178359832,1.7550035928982166,1.7550035928982166,2.0713600000009453,0,0,-0.0001839808536866202,-9.930915398215773e-05
+33139,1792700619042923746,8446028000000,1792700619037096973,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6761055110592418,-0.0046324863186941664,0.08931618808769966,0.9999999896888455,1.8388099114201337e-05,1.211227735493066e-05,0.00010761200675270881,0.6761,-0.00453,0.08920034925832392,1.0,0.0,0.0,0.0,-0.07234527351979586,0.1829474819322114,1.4382494856974533,0.01462306093056719,0.006615790994814616,-0.00023670618305917475,0.29381435624542307,0.33592631162362946,1.2943410309442804,0.02371756214606263,-0.017966754380252765,-0.0013878337282663545,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.9029042973344035,0.2925734346660806,-0.8052460215674596,0.2410388770888356,0.6619559710561885,0.12971427732816804,1.0285032327702255,1.4382494856974533,1.8337492543376852,1.8337492543376852,2.1167200000009907,0,0,-0.00020186478163627809,-9.68039912382423e-05
+33207,1792700619608811644,8446593999999,1792700619605106324,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6761055505562532,-0.004633161207815516,0.0891987999018608,0.9999999911835243,-4.54377851166248e-06,1.3915583762926392e-05,9.413568118934734e-05,0.6761,-0.00453,0.08908396162894812,1.0,0.0,0.0,0.0,-0.055414223209698465,0.20322715888722287,1.4691391326476475,0.015109073526291667,0.0066126060531351595,-0.0005649712679876382,0.31074540655552046,0.35620598857864094,1.3252306778944747,0.024203574741787106,-0.01796993932193222,-0.001716098813194818,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.9370836888502346,0.28120646093205676,-0.7474462624248069,0.2699186174432757,0.627439960029031,0.12787486296464645,1.0285032327702255,1.4691391326476475,1.7759494951950323,1.7759494951950323,2.162000000001036,0,0,-0.0002076402935660956,-9.998461367033968e-05
+33275,1792700620175878368,8447161000000,1792700620169105920,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6761057746580574,-0.004632783134012191,0.08907770885254544,0.9999999907525943,1.5770447684076587e-05,1.2702395389850766e-05,9.760951803709985e-05,0.6761,-0.00453,0.08896231081880149,1.0,0.0,0.0,0.0,-0.06099101537561108,0.18958513570453822,1.4794512709673515,0.014642860672509903,0.005593847529344557,7.304901406633376e-05,0.30516861438960785,0.3425639653959563,1.3355428162141787,0.02373736188800534,-0.018988697845722824,-0.001078078531140846,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.9236782022591439,0.2516900651838851,-0.8739049996932587,0.2907121105691784,0.6984930939720633,0.11692699808072826,1.0285032327702255,1.4794512709673515,1.9024082324634843,1.9024082324634843,2.2073600000010813,0,0,-0.0002228989041772308,-9.970548972416111e-05
+33335,1792700620675859591,8447661000000,1792700620673106128,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6761007663309719,-0.004635474305031319,0.08895625175602213,0.9999999895921352,3.100022362288879e-05,4.9866418412797465e-06,0.00010617303626177959,0.6761,-0.00453,0.08884854725640844,1.0,0.0,0.0,0.0,-0.06264478495527764,0.17907632439773663,1.458776570194688,0.013606685205946791,0.006636576737587309,-0.000914947797491867,0.3035148448099413,0.3320551540891547,1.3148681154415152,0.02270118642144223,-0.017945968637480072,-0.0020660753426990468,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.9251268616337256,0.14696348980596474,-0.8201245072522705,0.3260319407885687,0.6595995767066408,0.04640299570661532,1.0285032327702255,1.458776570194688,1.848627740022496,1.848627740022496,2.2473600000011213,0,0,-0.00023360782012568494,-9.843754564110014e-05
+33399,1792700621208833748,8448193999999,1792700621201106427,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.676102305609917,-0.004634427776733812,0.08883372222559266,0.9999999897494192,2.5442568249027516e-05,7.019621443617245e-06,0.00010605388551404394,0.6761,-0.00453,0.08872040475522551,1.0,0.0,0.0,0.0,-0.06318012439327125,0.19387842049595555,1.4732575484811379,0.014625879369211222,0.006611249168740594,-0.0009118122772319242,0.3029795053719477,0.3468572501873736,1.329349093727965,0.02372038058470666,-0.017971296206326787,-0.002062939822439104,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.9663663464206621,0.2146387556677516,-0.9337129648540734,0.3202489949904279,0.7373090791404534,0.08881278965394693,1.0285032327702255,1.4732575484811379,1.9622161976242989,1.9622161976242989,2.290000000001164,0,0,-0.00024716643506480916,-6.81581832903177e-05
+33450,1792700621633792738,8448619000000,1792700621633106128,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6761002310432591,-0.004635040588211148,0.08872204862744379,0.9999999903733087,1.2845066224888525e-05,1.6158311805064809e-06,0.00010260916370827867,0.6761,-0.00453,0.08861238862032059,1.0,0.0,0.0,0.0,-0.06297715245831143,0.17822967315491384,1.4964094601095448,0.013599461027268944,0.006628346704163245,-0.0009447218657388829,0.3031824773069075,0.3312085028463319,1.352501005356372,0.022693962242764383,-0.017954198670904135,-0.0020958494109460627,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.0141335415083352,0.19214168981154656,-0.924827164109813,0.34744063847223106,0.7404937763014093,0.07598397742031524,1.0285032327702255,1.4964094601095448,1.9533303968800384,1.9533303968800384,2.324000000001198,0,0,-0.00026126105185794577,-9.999838043584503e-05
+33506,1792700622100804443,8449085999999,1792700622097106176,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760981898926232,-0.004641072643284005,0.08859561725779448,0.9999999898966916,1.1981612890050381e-05,-1.1775679598961834e-06,0.00010725919837660826,0.6761,-0.00453,0.0884876985746383,1.0,0.0,0.0,0.0,-0.07221787658132067,0.1808194827937734,1.5078898522268642,0.013570087710731645,0.007639228476226757,-0.0009257589236534819,0.29394175318389826,0.3337983124851915,1.3639813974736914,0.022664588926227084,-0.016943316898840623,-0.0020768864688606617,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,0.9974094062286589,0.161874207130954,-0.9799085755482339,0.36894526633827385,0.7651167870454758,0.06045886773867411,1.0285032327702255,1.5078898522268642,2.0084118083184594,2.0084118083184594,2.3613600000012354,0,0,-0.0002732092129989746,-6.840957941645626e-05
+33558,1792700622533764414,8449519000000,1792700622533105855,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6761026130141675,-0.004648580448129074,0.08848292119100917,0.9999999887473547,2.093209959843569e-05,5.28439550313379e-06,0.00011611234712422655,0.6761,-0.00453,0.08836731539691264,1.0,0.0,0.0,0.0,-0.090268031486409,0.19141372867934026,1.5282227570681999,0.014532847476749572,0.008623540813880295,4.44323023844988e-05,0.27589159827880994,0.34439255837075833,1.384314302315027,0.02362734869224501,-0.015959004561187085,-0.001106695242822681,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.0507603297187282,0.14066361055036372,-0.8860803071161054,0.3946373669320998,0.711721578966061,0.051703588576092134,1.0285032327702255,1.5282227570681999,1.914583539886331,1.914583539886331,2.39600000000127,0,0,-0.00028221515028656184,-9.843751788552452e-05
+33610,1792700622967725562,8449953000000,1792700622961106276,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760985221792494,-0.004648598618423244,0.0883535515423787,0.9999999886527188,2.5260392708716893e-05,-6.789932433465275e-07,0.00011618467334683806,0.6761,-0.00453,0.08824331644828359,1.0,0.0,0.0,0.0,-0.08114127674879412,0.16558903133414288,1.498057152563384,0.012523071104470911,0.008673613844933231,-0.0009290793927446725,0.2850183530164248,0.31856786102556095,1.354148697810211,0.02161757231996635,-0.01590893153013415,-0.0020802069379518523,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.0766385393923381,0.13052223160400397,-0.9273287989069101,0.4084727454191121,0.7445321324445014,0.04627694734212035,1.0285032327702255,1.498057152563384,1.9558320316771356,1.9558320316771356,2.4307200000013047,0,0,-0.0002914668233392189,-9.999994862586731e-05
+33662,1792700623400664282,8450386000000,1792700623393106653,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760980486174185,-0.004654820412382559,0.08822405492052882,0.999999988636104,1.8469470473345387e-05,-2.23423609013043e-06,0.0001175778179683058,0.6761,-0.00453,0.0881144334126874,1.0,0.0,0.0,0.0,-0.08977011239250876,0.17944093985459458,1.528551655096298,0.013538788408088313,0.008648383875657965,-0.0009410873071844191,0.27638951737271017,0.33241976954601266,1.3846432003431253,0.02263328962358375,-0.015934161499409415,-0.002092214852391599,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.05711077061457,0.08515930166756219,-0.93502031292564,0.44103014282872377,0.7369464798013341,0.020766141183495117,1.0285032327702255,1.528551655096298,1.9635235456958655,1.9635235456958655,2.4653600000013394,0,0,-0.00030351017014515334,-9.999999025923074e-05
+33706,1792700623767648608,8450753000000,1792700623765106704,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760966066038289,-0.00465764215385193,0.08810889173007402,0.9999999878941703,1.979595378958291e-05,-5.194956725722453e-06,0.00012343280083611672,0.6761,-0.00453,0.08800078412554642,1.0,0.0,0.0,0.0,-0.09985948131835781,0.16616637429611752,1.54231971211697,0.012467414128008794,0.009596526749045228,7.331944610568415e-05,0.2663001484468611,0.3191452039875356,1.3984112573637972,0.021561915343504233,-0.014986018626022153,-0.0010778080991014957,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.11622067483423,0.11349126276745972,-1.094872899030937,0.43749084400321137,0.8535826774825673,0.038860697004268654,1.0285032327702255,1.54231971211697,2.1233761318011624,2.1233761318011624,2.4947200000013687,0,0,-0.0003173586684043509,8.059127950955087e-05
+33750,1792700624133619924,8451119000000,1792700624133099380,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760924548760913,-0.004654139633967936,0.08798294181387648,0.9999999880254883,2.167490156492322e-05,-1.3027754645006916e-05,0.00012145931005246995,0.6761,-0.00453,0.08788351710764958,1.0,0.0,0.0,0.0,-0.09944320056110079,0.15623438177863064,1.5180549000344676,0.011696176260725812,0.009698227351418467,-0.0009134787488021059,0.26671642920411814,0.3092132114700487,1.3741464452812948,0.02079067747622125,-0.014884318023648913,-0.0020646062940092857,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.0834367678579804,0.10311920519466036,-1.0623959414264097,0.45774256202882646,0.8201802493901644,0.03465556624453512,1.0285032327702255,1.5180549000344676,2.090899174196635,2.090899174196635,2.524000000001398,0,0,-0.00032571993266036623,-9.999944902550623e-05
+33798,1792700624533667554,8451519000000,1792700624533106475,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760909479392825,-0.004659453115861057,0.08785014349816514,0.9999999877845822,2.1081123275602685e-05,-1.5973642893459457e-05,0.00012318331427491592,0.6761,-0.00453,0.08775063438385568,1.0,0.0,0.0,0.0,-0.10398922427008722,0.15457972198763653,1.5682678045440885,0.011457926237996567,0.009690631135953578,-0.0003667622732850995,0.2621704054951317,0.3075585516790546,1.4243593497909157,0.020552427453492006,-0.014891914239113803,-0.0015178898184922793,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.1323737557310813,0.06869863760515155,-1.0778891064243534,0.47823850328176815,0.8447145550712002,0.014539827309718686,1.0285032327702255,1.5682678045440885,2.1063923391945787,2.1063923391945787,2.55600000000143,0,0,-0.0003358473997614172,-9.932691755055174e-05
+33838,1792700624867657533,8451852999999,1792700624865106683,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.676090886808777,-0.00466448215084422,0.08773524623136475,0.9999999869098003,2.5313953854221635e-05,-1.6505505701297785e-05,0.0001292673033798912,0.6761,-0.00453,0.08763659020986864,1.0,0.0,0.0,0.0,-0.10818273523300986,0.14248225074803078,1.567370942706958,0.010440051066198074,0.009712351177719675,-0.0009956775200889601,0.25797689453220907,0.29546108043944885,1.4234624879537852,0.019534552281693512,-0.014870194197347706,-0.00214680506529614,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.1913837976314419,0.05331297546140252,-1.0893301580277035,0.492562054799921,0.8631453102640336,0.003323301154642813,1.0285032327702255,1.567370942706958,2.117833390797929,2.117833390797929,2.5827200000014567,0,0,-0.00034834502588984426,-9.999999025923074e-05
+33882,1792700625233576515,8452218999999,1792700625233106394,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760896370303144,-0.004670265013754877,0.0876109539014557,0.9999999870353622,1.6866896895951575e-05,-1.539236362706404e-05,0.0001298103342144597,0.6761,-0.00453,0.08750725469276346,1.0,0.0,0.0,0.0,-0.1180350973644324,0.15439054071669006,1.5512059597578354,0.011311939954718585,0.010712813668007574,-0.0009562692799547521,0.24812453240078652,0.30736937040810813,1.4072975050046626,0.020406441170214024,-0.013869731707059806,-0.002107396825161932,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.1953879505601874,0.0028659933761109526,-1.0757095933374756,0.5255881247823097,0.8512885648304452,-0.024278518646481274,1.0285032327702255,1.5512059597578354,2.104212826107701,2.104212826107701,2.612000000001486,0,0,-0.00035903324574068494,-9.999999025923074e-05
+33926,1792700625600631170,8452585999999,1792700625597106513,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760929207740627,-0.004670462023455646,0.08748427597033467,0.9999999872601899,1.3817346296065081e-05,-1.0189230791937573e-05,0.00012894861388239155,0.6761,-0.00453,0.08737257944394669,1.0,0.0,0.0,0.0,-0.1202017238088236,0.15103202612107364,1.568121471919222,0.01141948676498181,0.01070097521784177,3.8222491496218156e-05,0.24595790595639533,0.3040108558124917,1.4242130171660492,0.02051398798047725,-0.01388157015722561,-0.0011129050537109616,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.1894252561230165,0.0069835024725793905,-1.1166910402351629,0.5334941244706936,0.8737290611885425,-0.017327662028699255,1.0285032327702255,1.568121471919222,2.145194273005388,2.145194273005388,2.6413600000015154,0,0,-0.0003739704636754589,-8.210076648940685e-05
+33965,1792700625925551366,8452911000000,1792700625925106201,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760886038966022,-0.004674353909464823,0.08735832789695283,0.999999986463426,1.4417622350189833e-05,-1.6805061444417512e-05,0.0001342599508174107,0.6761,-0.00453,0.08724904515344373,1.0,0.0,0.0,0.0,-0.12708805460632686,0.14141441704976204,1.5481810296037508,0.01038397822650156,0.011740830564336873,-0.00041279060084134836,0.23907157515889207,0.2943932467411801,1.404272574850578,0.019478479441996998,-0.012841714810730508,-0.0015639181460485282,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.280773698236869,0.024610712736633962,-1.0218921561650511,0.5431896461332126,0.8345253444332561,0.0005427080360253002,1.0285032327702255,1.5481810296037508,2.050395388935277,2.050395388935277,2.6673600000015414,0,0,-0.0003859437602241319,-9.999978209241362e-05
+34005,1792700626258585632,8453244000000,1792700626257106138,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760883713160553,-0.004675249802548889,0.0872306787888057,0.9999999864021781,1.612618666964136e-05,-1.575501785382941e-05,0.00013464855616748204,0.6761,-0.00453,0.08711871035080723,1.0,0.0,0.0,0.0,-0.13113956554149428,0.15527140513318932,1.5676247972133144,0.011405024008162786,0.011719838218881133,-0.0009600728954004519,0.23502006422372465,0.3082502348246074,1.4237163424601416,0.020499525223658225,-0.012862707156186247,-0.0021112004406076317,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.2631540386530096,0.010588278229403737,-1.1042755823499022,0.5576542528932332,0.8815154628693411,-0.005117800291513925,1.0285032327702255,1.5676247972133144,2.132778815120128,2.132778815120128,2.694000000001568,0,0,-0.00039631139985982076,-9.999999025923074e-05
+34045,1792700626592621310,8453578000000,1792700626589106271,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760883824269017,-0.004678075221271199,0.08710049205198453,0.9999999866104504,1.1088565437376235e-05,-1.7367388226368914e-05,0.00013340682534529583,0.6761,-0.00453,0.08698389073139635,1.0,0.0,0.0,0.0,-0.14101880352153306,0.15125584204006648,1.5875290057846938,0.010347461487398027,0.012703807783894183,5.66815590297377e-05,0.22514082624368587,0.30423467173148455,1.443620551031521,0.019441962702893466,-0.011878737591173198,-0.001094445986177442,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.311188028167964,0.07822661230560275,-1.1213661567537456,0.5415105717533562,0.9048368281128611,0.03258418840634886,1.0285032327702255,1.5875290057846938,2.149869389523971,2.149869389523971,2.7207200000015948,0,0,-0.0004107997384303604,-9.999999025923074e-05
+34082,1792700626900609653,8453886000000,1792700626893106794,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760833825075117,-0.0046806679369436575,0.08696561839059488,0.999999986336629,2.041775019629278e-06,-2.095014352789069e-05,0.00013537551103881144,0.6761,-0.00453,0.08685549127376918,1.0,0.0,0.0,0.0,-0.13739107428686065,0.14247302142788026,1.5671149088405871,0.01035862278237704,0.012752950287638214,-0.0009495969905410273,0.22876855547835828,0.29545185111929834,1.4232064540874143,0.01945312399787248,-0.011829595087429166,-0.002100724535748207,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.3307064107076807,0.019313298672842857,-1.0828546210844392,0.5701041031934652,0.8853882534398441,-0.0006492645244929457,1.0285032327702255,1.5671149088405871,2.1113578538546647,2.1113578538546647,2.7453600000016194,0,0,-0.0004237077441640854,-9.999999025923074e-05
+34117,1792700627192593565,8454178000000,1792700627189106336,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.676086377369178,-0.004679270553679312,0.08684698769910124,0.9999999865990344,-7.5139105804692215e-06,-1.7659246495243936e-05,0.0001337029827081083,0.6761,-0.00453,0.0867296829572491,1.0,0.0,0.0,0.0,-0.1281628372525161,0.15218255311532874,1.5876644148516488,0.011366407267132748,0.012358503459803605,-0.0009614933626124387,0.23799679251270284,0.3051613828067468,1.443755960098476,0.020460908482628187,-0.012224041915263776,-0.0021126209078196185,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.3427328206675506,-0.04446886000958137,-1.1155509462927018,0.5939850789151473,0.9092629298105243,-0.04185224612732227,1.0285032327702255,1.5876644148516488,2.1440541790629273,2.1440541790629273,2.7687200000016428,0,0,-0.0004378066331786875,-9.999999025923074e-05
+34149,1792700627458546275,8454443999999,1792700627457106395,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760851477158777,-0.004686585268562683,0.0867287958712705,0.9999999852952084,-1.540449257948045e-05,-1.9404738661145094e-05,0.00014226245142922157,0.6761,-0.00453,0.08661154121047641,1.0,0.0,0.0,0.0,-0.15103796516425627,0.1463191403346314,1.5784726244752025,0.010327307067619786,0.013763288327166816,-0.0005736102216058981,0.21512166460096266,0.29929797002604946,1.4345641697220297,0.019421808283115224,-0.010819257047900564,-0.001724737766813078,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.4351113109459674,0.06858607578132035,-1.1963805952242543,0.5680840935600071,0.9914877895588758,0.0360137098050009,1.0285032327702255,1.5784726244752025,2.22488382799448,2.22488382799448,2.790000000001664,0,0,-0.00045051278436436656,-1.5961143852331948e-05
+34185,1792700627758546207,8454744000000,1792700627757105735,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760825058214601,-0.004687134222626471,0.08658857450384129,0.9999999833628388,-3.461868390455881e-06,-2.3700498497180007e-05,0.0001553817507829438,0.6761,-0.00453,0.08647440699427922,1.0,0.0,0.0,0.0,-0.15849987581123692,0.13441068076376272,1.6175051022423725,0.010020543010198713,0.01375619336005003,4.377821978369099e-05,0.207659753953982,0.2873895104551808,1.4735966474891997,0.019115044225694152,-0.010826352015017351,-0.0011073493254234888,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.486144184538328,-0.013860329654618515,-1.1874008989979274,0.5956305021231248,1.0018783871949892,-0.01704440527024896,1.0285032327702255,1.6175051022423725,2.215904131768153,2.215904131768153,2.814000000001688,0,0,-0.0004627182418296113,-5.028507751714813e-05
+34217,1792700628025546061,8455011000000,1792700628021106825,DOWN_FORCE_DETACH,5,0.0397,0.03970140963792801,0.6760940164653069,-0.004683308035916252,0.08647171987746255,0.9999999900768183,1.0282805177516996e-07,3.749999379168874e-06,0.00010618453153981708,0.6761,-0.00453,0.08634930740482281,1.0,0.0,0.0,0.0,-0.19195554043413304,0.1555481575194616,1.5839469825835837,0.01127663202635477,0.01575021484297992,-0.0002578255711586418,0.1742040893310859,0.3085269872108797,1.4400385278304109,0.02037113324185021,-0.008832330532087462,-0.0014089531163658216,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.5103770657664424,-0.08589636127697299,-1.0834763828549199,0.648581292506987,0.932028723245826,-0.05132959909710292,1.0285032327702255,1.5839469825835837,2.1119796156251454,2.1119796156251454,2.8353600000017094,0,0,-0.0004747458950918589,-9.999999025923074e-05
+34245,1792700628258546717,8455244000000,1792700628253106975,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760834514799103,-0.00469248128329077,0.08635616709930727,0.9999999875169009,1.519626510791783e-06,-1.9713359757752864e-05,0.00012656277784064157,0.6761,-0.00453,0.08623743409145306,1.0,0.0,0.0,0.0,-0.14624971218827096,0.1560060430719421,1.5877832841829234,0.011455970125716666,0.012729215726662966,-0.0009279154507271618,0.21990991757694797,0.3089848727633602,1.4438748294297505,0.020550471341212104,-0.011853329648404414,-0.0020790429959343416,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.5205888628294615,0.02919192590320266,-1.149388761520176,0.5897690266826656,0.9897367416695745,0.013432154499506533,1.0285032327702255,1.5877832841829234,2.177891994290402,2.177891994290402,2.854000000001728,0,0,-0.00048574922066199475,-9.998421121449325e-05
+34277,1792700628525546568,8455511000000,1792700628525106512,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760814116135127,-0.004698371342397886,0.08622950601528194,0.9999999848146026,-2.231474099469593e-06,-1.796760272862824e-05,0.000146580506250964,0.6761,-0.00453,0.08610607419983013,1.0,0.0,0.0,0.0,-0.1550687689238359,0.13285915103729312,1.6272715163707994,0.00951640591879373,0.013764516143952904,-0.000298916763421291,0.21109086084138304,0.2858379807287112,1.4833630616176265,0.01861090713428917,-0.010818029231114476,-0.0014500443086284708,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.5031797187950868,0.011535482392852944,-1.1547571639540066,0.5942236441673692,0.9949961802797537,0.004908258682691584,1.0285032327702255,1.6272715163707994,2.183260396724232,2.183260396724232,2.8753600000017494,0,0,-0.0004981992183891989,-9.999999025923074e-05
+34309,1792700628792545908,8455778000000,1792700628789106697,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760731474656966,-0.004704837751646572,0.08609003974110187,0.9999999810415955,9.385551228266085e-06,-2.7908401067226814e-05,0.00016879782423619047,0.6761,-0.00453,0.08597168604843541,1.0,0.0,0.0,0.0,-0.15396823461909018,0.10665921564399128,1.6357063231617854,0.0073361836438022646,0.013810171445997934,-0.0010219845485150499,0.21219139514612875,0.25963804533540935,1.4917978684086126,0.016430684859297703,-0.010772373929069446,-0.0021731120937222297,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.5155407545587876,-0.03914503130000826,-1.2171151655555337,0.6089481728579159,1.0381345189643325,-0.020956062273381555,1.0285032327702255,1.6357063231617854,2.2456183983257594,2.2456183983257594,2.8967200000017708,0,0,-0.0005098964704172967,-9.999999025923074e-05
+34336,1792700629017546671,8456003000000,1792700629017106556,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760648028738531,-0.004713188586727311,0.08596892371488277,0.9999999756363573,5.6529800138398145e-05,-4.065475436051015e-05,0.0001879407403334483,0.6761,-0.00453,0.08585575152407397,1.0,0.0,0.0,0.0,-0.1535613427471107,0.08488786878156943,1.635751382647598,0.00645703741171247,0.013826752963359603,-0.0010295560848113347,0.21259828701810823,0.2378666984729875,1.4918429278944252,0.015551538627207909,-0.010755792411707777,-0.0021806836300185145,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.4954748804123985,-0.04650636582302279,-1.0501274060472576,0.6188063793666232,0.9270535260070283,-0.021422186515851836,1.0285032327702255,1.635751382647598,2.078630638817483,2.078630638817483,2.9147200000017888,0,0,-0.0005205350881540546,-9.999999025923074e-05
+34361,1792700629225545962,8456210999999,1792700629221106856,DOWN_FORCE_DETACH,5,0.0397,0.03970206528902054,0.6760958701154131,-0.004711337651114855,0.08587996592436621,0.9999999736489291,6.281498899722255e-05,-2.4420134890155378e-06,0.0002004827154457932,0.6761,-0.00453,0.08574640382594965,1.0,0.0,0.0,0.0,-0.21934232977984208,0.14032673019838743,1.6064805125407953,0.01022576794443996,0.018463635265892064,-0.0006858960944934223,0.14681729998537685,0.2933055598898055,1.4625720577876224,0.0193202691599354,-0.006118910109175318,-0.001837023639700602,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.6600273225847464,-0.06087617709859941,-1.1444949940747948,0.6317294255179592,1.0145774652651809,-0.02751062038861991,1.0285032327702255,1.6064805125407953,2.1729982268450203,2.1729982268450203,2.9313600000018054,0,0,-0.0005309350861279746,-9.999999025923074e-05
+34393,1792700629487545653,8456473000000,1792700629485106708,DOWN_SETTLE,5,0.0397,0.03970206528902054,0.6760863434597602,-0.0046975307130518425,0.0857747465136493,0.9999999879728629,-4.047001341914433e-05,-1.0762916307590901e-05,0.00011723257248641952,0.6761,-0.00453,0.08565209143563209,1.0,0.0,0.0,0.0,-0.15226256046940095,0.18174060821950255,1.5556821000550263,0.012747104566711482,0.013732162395547072,-0.0007617278053552502,0.21389706929581798,0.3347194379109206,1.4117736453018535,0.02184160578220692,-0.010850382979520309,-0.00191285535056243,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.683255662932865,0.029597802485499012,-1.1052363203558595,0.5113523563700703,1.0339358491634656,0.05578648503394994,1.0285032327702255,1.5556821000550263,2.1337395531260848,0.0,0.0,0,0,-0.00010383022018034226,0.00104879010283174
+34478,1792700630188545407,8457174000000,1792700630181106674,DOWN_PEAK_HOLD,5,0.0397,0.03970140963792801,0.676070449672463,-0.00469792428085532,0.08572219258481699,0.9999999863654513,-2.4956882976205047e-05,-4.0919197630216946e-05,0.00012812000250767718,0.6761,-0.00453,0.08564274384690282,1.0,0.0,0.0,0.0,-0.12556097556316673,0.13951377118975794,1.277290408920138,0.009530893824747748,0.010806888824131323,-0.0007579273432014066,0.2405986542020522,0.292492600881176,1.1333819541669652,0.018625395040243187,-0.013775656550936058,-0.0019090548884085864,0.36615962976521893,0.15297882969141807,-0.14390845475317277,0.009094501215495439,-0.02458254537506738,-0.0011511275452071798,1,1.474828977181938,0.02193227636279178,-0.7597817257169864,0.5452649266402357,0.7637379133246914,0.026567386276645025,1.0285032327702255,1.277290408920138,1.7882849584872118,0.0,0.0,0,0,0.0,0.0

Fixed/s2/cylinder_PLA_12.5/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,1792700592333707147,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.130765737e-08,7.379135324e-11,2.863867032e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291009e-01,1.753467818e-06,8.295727037e-01
+1,5.333333333e-01,DOWN_FORCE_DETACH,1792700593397718846,4.309109425e-08,-5.099155622e-06,2.878763322e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.750416280e-07,1.876232432e-09,7.041180927e-08,7.015379146e-01,-3.548194300e-06,8.407438200e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293647e-01,1.755270259e-06,8.295727713e-01
+2,1.116666667e+00,DOWN_FORCE_DETACH,1792700594561894516,-6.601025004e-06,-1.352838991e-05,-4.042639308e-05,-7.937193542e-06,-1.559014087e-05,-3.928123985e-05,-7.790011319e-06,-1.551632945e-05,-3.850825805e-05,7.015312705e-01,-1.197742859e-05,8.407005148e-01,7.015299343e-01,-1.403917955e-05,8.407016599e-01,7.017212996e-01,-1.376293543e-05,8.295341926e-01
+3,1.283333333e+00,DOWN_FORCE_DETACH,1792700594895666927,4.818774737e-05,-3.126458384e-05,-8.409809613e-05,4.729825207e-05,-3.171112614e-05,-8.392651140e-05,4.776843778e-05,-3.152842823e-05,-8.239492558e-05,7.015860592e-01,-2.971362252e-05,8.406568431e-01,7.015851697e-01,-3.016016482e-05,8.406570147e-01,7.017768581e-01,-2.977503420e-05,8.294903059e-01
+4,1.816666667e+00,DOWN_FORCE_DETACH,1792700595891609118,3.646875735e-05,-3.582830790e-05,-1.314180984e-04,3.674471312e-05,-3.382338240e-05,-1.275744954e-04,3.746168156e-05,-3.364651952e-05,-1.260471370e-04,7.015743402e-01,-3.427734658e-05,8.406095231e-01,7.015746162e-01,-3.227242108e-05,8.406133667e-01,7.017665513e-01,-3.189312550e-05,8.294466537e-01
+5,2.383333333e+00,DOWN_FORCE_DETACH,1792700596989943741,3.359539048e-05,-4.195922041e-05,-1.795708557e-04,3.407233876e-05,-4.143461822e-05,-1.709458048e-04,3.481999908e-05,-4.121744780e-05,-1.696135849e-04,7.015714669e-01,-4.040825909e-05,8.405613703e-01,7.015719438e-01,-3.988365690e-05,8.405699954e-01,7.017639096e-01,-3.946405377e-05,8.294030873e-01
+6,2.916666667e+00,DOWN_FORCE_DETACH,1792700597987576059,3.603848620e-05,-4.569090132e-05,-1.919112304e-04,3.497085799e-05,-5.044887416e-05,-1.902051851e-04,3.569159269e-05,-5.017710726e-05,-1.892379852e-04,7.015739100e-01,-4.413994000e-05,8.405490300e-01,7.015728423e-01,-4.889791284e-05,8.405507360e-01,7.017647812e-01,-4.842371323e-05,8.293834629e-01
+7,3.533333333e+00,DOWN_FORCE_DETACH,1792700599153542883,3.589141042e-05,-4.438535779e-05,-1.947701818e-04,3.497085799e-05,-5.044887416e-05,-1.902051851e-04,3.577370946e-05,-5.017714733e-05,-1.897449640e-04,7.015737629e-01,-4.283439647e-05,8.405461710e-01,7.015728423e-01,-4.889791284e-05,8.405507360e-01,7.017648633e-01,-4.842375330e-05,8.293829559e-01
+8,4.016666667e+00,DOWN_FORCE_DETACH,1792700600083603201,3.023255767e-05,-4.940560120e-05,-2.041657796e-04,3.497085799e-05,-5.044887416e-05,-1.902051851e-04,3.581603036e-05,-5.017829168e-05,-1.899316238e-04,7.015681040e-01,-4.785463988e-05,8.405367754e-01,7.015728423e-01,-4.889791284e-05,8.405507360e-01,7.017649056e-01,-4.842489765e-05,8.293827692e-01
+9,4.650000000e+00,DOWN_FORCE_DETACH,1792700601347467639,3.449955112e-05,-5.239100129e-05,-2.104840468e-04,3.192782151e-05,-5.128834388e-05,-2.105570069e-04,3.273607883e-05,-5.100491950e-05,-2.099994606e-04,7.015723710e-01,-5.084003997e-05,8.405304571e-01,7.015697993e-01,-4.973738256e-05,8.405303842e-01,7.017618257e-01,-4.925152547e-05,8.293627014e-01
+10,5.200000000e+00,DOWN_FORCE_DETACH,1792700602445620223,3.704760164e-05,-5.317399000e-05,-2.269515132e-04,3.192782151e-05,-5.128834388e-05,-2.105570069e-04,3.274124925e-05,-5.100577420e-05,-2.102707200e-04,7.015749191e-01,-5.162302868e-05,8.405139897e-01,7.015697993e-01,-4.973738256e-05,8.405303842e-01,7.017618309e-01,-4.925238017e-05,8.293624301e-01
+11,5.750000000e+00,DOWN_FORCE_DETACH,1792700603509384921,4.206692685e-05,-5.558606304e-05,-2.431408160e-04,3.654375967e-05,-5.478153121e-05,-2.295006073e-04,3.738193852e-05,-5.446901304e-05,-2.291603952e-04,7.015799384e-01,-5.403510172e-05,8.404978004e-01,7.015744152e-01,-5.323056989e-05,8.405114406e-01,7.017664716e-01,-5.271561901e-05,8.293435405e-01
+12,6.233333333e+00,DOWN_FORCE_DETACH,1792700604441380319,4.275124179e-05,-5.990426464e-05,-2.666441384e-04,4.091100231e-05,-5.409760859e-05,-2.499961497e-04,4.182853655e-05,-5.384767579e-05,-2.496098836e-04,7.015806227e-01,-5.835330332e-05,8.404742970e-01,7.015787825e-01,-5.254664727e-05,8.404909450e-01,7.017709182e-01,-5.209428176e-05,8.293230910e-01
+13,6.783333333e+00,DOWN_FORCE_DETACH,1792700605471356628,7.157795510e-05,-5.665185506e-05,-2.778901162e-04,7.099266444e-05,-5.527531136e-05,-2.723958479e-04,7.221365134e-05,-5.498478306e-05,-2.720692640e-04,7.016094494e-01,-5.510089374e-05,8.404630511e-01,7.016088641e-01,-5.372435004e-05,8.404685453e-01,7.018013033e-01,-5.323138903e-05,8.293006316e-01
+14,7.333333333e+00,DOWN_FORCE_DETACH,1792700606537301116,7.705454378e-05,-5.424161142e-05,-3.106787967e-04,7.309747833e-05,-5.784257304e-05,-2.930218123e-04,7.465834690e-05,-5.754163310e-05,-2.927459654e-04,7.016149260e-01,-5.269065010e-05,8.404302624e-01,7.016109690e-01,-5.629161172e-05,8.404479194e-01,7.018037480e-01,-5.578823908e-05,8.292799549e-01
+15,7.933333333e+00,DOWN_FORCE_DETACH,1792700607670187587,7.798976764e-05,-5.938724044e-05,-3.484534894e-04,7.561367072e-05,-5.796900182e-05,-3.336246753e-04,7.735023005e-05,-5.770186678e-05,-3.332165843e-04,7.016158612e-01,-5.783627911e-05,8.403924877e-01,7.016134852e-01,-5.641804050e-05,8.404073165e-01,7.018064398e-01,-5.594847275e-05,8.292394843e-01
+16,8.450000000e+00,DOWN_FORCE_DETACH,1792700608699230941,7.807174065e-05,-6.637742107e-05,-3.852952693e-04,7.278889448e-05,-6.306742566e-05,-3.781301452e-04,7.448755107e-05,-6.276979585e-05,-3.776310129e-04,7.016159432e-01,-6.482645975e-05,8.403556459e-01,7.016106604e-01,-6.151646434e-05,8.403628110e-01,7.018035772e-01,-6.101640182e-05,8.291950698e-01
+17,9.000000000e+00,DOWN_FORCE_DETACH,1792700609797207195,8.014936899e-05,-6.211172292e-05,-4.436174406e-04,7.698448028e-05,-6.478234324e-05,-4.441315570e-04,7.863033729e-05,-6.449353026e-05,-4.432126870e-04,7.016180209e-01,-6.056076160e-05,8.402973237e-01,7.016148560e-01,-6.323138192e-05,8.402968096e-01,7.018077200e-01,-6.274013624e-05,8.291294882e-01
+18,9.500000000e+00,DOWN_FORCE_DETACH,1792700610793178853,8.578872301e-05,-6.340561570e-05,-5.081887730e-04,8.552638964e-05,-6.340217365e-05,-5.079051380e-04,8.714412141e-05,-6.315394637e-05,-5.066611374e-04,7.016236602e-01,-6.185465438e-05,8.402327524e-01,7.016233979e-01,-6.185121232e-05,8.402330360e-01,7.018162337e-01,-6.140055234e-05,8.290660397e-01
+19,1.003333333e+01,DOWN_FORCE_DETACH,1792700611857153900,8.664177699e-05,-7.095295731e-05,-5.783366375e-04,8.572333174e-05,-7.230372473e-05,-5.711236276e-04,8.713974925e-05,-7.200330756e-05,-5.697896684e-04,7.016245133e-01,-6.940199599e-05,8.401626046e-01,7.016235948e-01,-7.075276341e-05,8.401698176e-01,7.018162294e-01,-7.024991353e-05,8.290029112e-01
+20,1.053333333e+01,DOWN_FORCE_DETACH,1792700612825139843,8.814744278e-05,-8.026892745e-05,-6.479888204e-04,8.605951880e-05,-7.886035435e-05,-6.342811016e-04,8.740907827e-05,-7.849301629e-05,-6.328263869e-04,7.016260189e-01,-7.871796613e-05,8.400929524e-01,7.016239310e-01,-7.730939303e-05,8.401066601e-01,7.018164987e-01,-7.673962226e-05,8.289398745e-01
+21,1.103333333e+01,DOWN_FORCE_DETACH,1792700613753091409,8.935367250e-05,-8.443895516e-05,-7.356416866e-04,8.634903652e-05,-8.150382860e-05,-7.215935087e-04,8.737171457e-05,-8.109819868e-05,-7.197606283e-04,7.016272252e-01,-8.288799384e-05,8.400052995e-01,7.016242205e-01,-7.995286727e-05,8.400193477e-01,7.018164613e-01,-7.934480466e-05,8.288529402e-01
+22,1.130000000e+01,DOWN_FORCE_DETACH,1792700614285079258,1.007409481e-04,-6.084537453e-05,-7.922826401e-04,1.007535797e-04,-6.094437426e-05,-7.920786050e-04,1.017238933e-04,-6.064962299e-05,-7.895860689e-04,7.016386124e-01,-5.929441320e-05,8.399486585e-01,7.016386251e-01,-5.939341294e-05,8.399488626e-01,7.018308135e-01,-5.889622896e-05,8.287831148e-01
+23,1.171666667e+01,DOWN_FORCE_DETACH,1792700615051067352,9.981589996e-05,-6.947940810e-05,-8.926299329e-04,9.992349194e-05,-6.950449590e-05,-8.919199552e-04,1.006841891e-04,-6.914674485e-05,-8.889620746e-04,7.016376874e-01,-6.792844678e-05,8.398483113e-01,7.016377950e-01,-6.795353457e-05,8.398490212e-01,7.018297738e-01,-6.739335083e-05,8.286837388e-01
+24,1.210000000e+01,DOWN_FORCE_DETACH,1792700615784983245,1.004720392e-04,-7.365237251e-05,-9.966060192e-04,1.025146373e-04,-7.327522715e-05,-9.813681962e-04,1.030346701e-04,-7.289380823e-05,-9.785179110e-04,7.016383435e-01,-7.210141119e-05,8.397443352e-01,7.016403861e-01,-7.172426583e-05,8.397595730e-01,7.018321243e-01,-7.114041420e-05,8.285941829e-01
+25,1.250000000e+01,DOWN_FORCE_DETACH,1792700616548946635,1.010548920e-04,-8.025221061e-05,-1.106407760e-03,9.920219724e-05,-7.750964968e-05,-1.096130440e-03,9.915454465e-05,-7.712467364e-05,-1.093097806e-03,7.016389264e-01,-7.870124929e-05,8.396345334e-01,7.016370737e-01,-7.595868836e-05,8.396448107e-01,7.018282442e-01,-7.537127961e-05,8.284796030e-01
+26,1.283333333e+01,DOWN_FORCE_DETACH,1792700617212959159,1.026518047e-04,-8.232123524e-05,-1.203503873e-03,1.027246269e-04,-8.235051179e-05,-1.203286536e-03,1.022359640e-04,-8.194212347e-05,-1.199964882e-03,7.016405233e-01,-8.077027392e-05,8.395374373e-01,7.016405961e-01,-8.079955047e-05,8.395376547e-01,7.018313256e-01,-8.018872945e-05,8.283727360e-01
+27,1.316666667e+01,DOWN_FORCE_DETACH,1792700617881587809,9.991978624e-05,-8.231698039e-05,-1.315446248e-03,9.837608216e-05,-8.298088415e-05,-1.298133788e-03,9.745147636e-05,-8.263172934e-05,-1.294900447e-03,7.016377913e-01,-8.076601907e-05,8.394254949e-01,7.016362476e-01,-8.142992283e-05,8.394428074e-01,7.018265411e-01,-8.087833531e-05,8.282778004e-01
+28,1.346666667e+01,DOWN_FORCE_DETACH,1792700618477470165,9.881986158e-05,-8.012918027e-05,-1.420167783e-03,9.949828543e-05,-8.490174164e-05,-1.411026142e-03,9.811794887e-05,-8.449998471e-05,-1.407365236e-03,7.016366913e-01,-7.857821895e-05,8.393207734e-01,7.016373698e-01,-8.335078032e-05,8.393299150e-01,7.018272076e-01,-8.274659068e-05,8.281653356e-01
+29,1.375000000e+01,DOWN_FORCE_DETACH,1792700619042870788,9.511567880e-05,-8.555085599e-05,-1.533423814e-03,9.364149855e-05,-8.662535795e-05,-1.514945328e-03,9.171592432e-05,-8.624563753e-05,-1.511039921e-03,7.016329872e-01,-8.399989467e-05,8.392075174e-01,7.016315130e-01,-8.507439663e-05,8.392259959e-01,7.018208055e-01,-8.449224351e-05,8.280616609e-01
+30,1.403333333e+01,DOWN_FORCE_DETACH,1792700619608907871,9.537376820e-05,-8.076647344e-05,-1.649391611e-03,9.873812848e-05,-8.303872438e-05,-1.629905799e-03,9.642457549e-05,-8.266402352e-05,-1.625710733e-03,7.016332452e-01,-7.921551211e-05,8.390915496e-01,7.016366096e-01,-8.148776305e-05,8.391110354e-01,7.018255142e-01,-8.091062949e-05,8.279469901e-01
+31,1.433333333e+01,DOWN_FORCE_DETACH,1792700620172891648,9.459319164e-05,-8.498414222e-05,-1.770974253e-03,9.317991957e-05,-8.269332000e-05,-1.767519233e-03,9.022374184e-05,-8.226527408e-05,-1.762893643e-03,7.016324647e-01,-8.343318090e-05,8.389699669e-01,7.016310514e-01,-8.114235868e-05,8.389734220e-01,7.018193134e-01,-8.051188005e-05,8.278098072e-01
+32,1.458333333e+01,DOWN_FORCE_DETACH,1792700620673250963,9.016611558e-05,-8.590476770e-05,-1.893592147e-03,9.020488260e-05,-8.606028637e-05,-1.893728505e-03,8.672167517e-05,-8.560391589e-05,-1.888637205e-03,7.016280376e-01,-8.435380638e-05,8.388473490e-01,7.016280764e-01,-8.450932505e-05,8.388472127e-01,7.018158113e-01,-8.385052186e-05,8.276840636e-01
+33,1.486666667e+01,DOWN_FORCE_DETACH,1792700621206226277,9.252137795e-05,-8.760046177e-05,-2.013435793e-03,9.266068121e-05,-9.067411904e-05,-2.003035449e-03,8.881525668e-05,-9.020032760e-05,-1.998466823e-03,7.016303929e-01,-8.604950045e-05,8.387275054e-01,7.016305322e-01,-8.912315772e-05,8.387379057e-01,7.018179049e-01,-8.844693357e-05,8.275742340e-01
+34,1.510000000e+01,DOWN_FORCE_DETACH,1792700621637089741,9.126300734e-05,-9.033106100e-05,-2.126589795e-03,8.857123897e-05,-8.920449660e-05,-2.108376435e-03,8.440949677e-05,-8.876996731e-05,-2.103998033e-03,7.016291345e-01,-8.878009968e-05,8.386143514e-01,7.016264427e-01,-8.765353528e-05,8.386325648e-01,7.018134991e-01,-8.701657329e-05,8.274687028e-01
+35,1.535000000e+01,DOWN_FORCE_DETACH,1792700622102926212,9.056065213e-05,-8.847590466e-05,-2.250483097e-03,8.969369515e-05,-9.585212308e-05,-2.234207871e-03,8.520260288e-05,-9.539954453e-05,-2.229635146e-03,7.016284321e-01,-8.692494334e-05,8.384904581e-01,7.016275652e-01,-9.430116176e-05,8.385067333e-01,7.018142922e-01,-9.364615050e-05,8.273430657e-01
+36,1.556666667e+01,DOWN_FORCE_DETACH,1792700622538191813,9.157815900e-05,-1.034003092e-04,-2.370075615e-03,9.127271896e-05,-1.033191876e-04,-2.369997420e-03,8.635202646e-05,-1.027903314e-04,-2.364628039e-03,7.016294496e-01,-1.018493478e-04,8.383708656e-01,7.016291442e-01,-1.017682263e-04,8.383709438e-01,7.018154416e-01,-1.010369374e-04,8.272080728e-01
+37,1.580000000e+01,DOWN_FORCE_DETACH,1792700622969642530,8.723950243e-05,-1.010274575e-04,-2.497542792e-03,8.680320405e-05,-1.007203864e-04,-2.488339889e-03,8.144278584e-05,-1.001620779e-04,-2.482941337e-03,7.016251110e-01,-9.947649616e-05,8.382433984e-01,7.016246747e-01,-9.916942513e-05,8.382526013e-01,7.018105324e-01,-9.840868391e-05,8.270897595e-01
+38,1.603333333e+01,DOWN_FORCE_DETACH,1792700623401418794,8.765323698e-05,-1.078849497e-04,-2.625556981e-03,8.763414808e-05,-1.078948352e-04,-2.625325619e-03,8.174572782e-05,-1.072870920e-04,-2.619589505e-03,7.016255247e-01,-1.063339884e-04,8.381153842e-01,7.016255056e-01,-1.063438739e-04,8.381156156e-01,7.018108353e-01,-1.055336979e-04,8.269531113e-01
+39,1.621666667e+01,DOWN_FORCE_DETACH,1792700623767558852,8.621122339e-05,-1.107066911e-04,-2.740720172e-03,8.598405782e-05,-1.108577111e-04,-2.740493535e-03,7.954949531e-05,-1.102243150e-04,-2.734652940e-03,7.016240827e-01,-1.091557298e-04,8.380002210e-01,7.016238555e-01,-1.093067498e-04,8.380004477e-01,7.018086391e-01,-1.084709210e-04,8.268380479e-01
+40,1.641666667e+01,DOWN_FORCE_DETACH,1792700624133384474,8.205949565e-05,-1.072041713e-04,-2.866670088e-03,8.472849076e-05,-1.091465259e-04,-2.851425811e-03,7.779468978e-05,-1.085687235e-04,-2.845802627e-03,7.016199310e-01,-1.056532099e-04,8.378742711e-01,7.016226000e-01,-1.075955645e-04,8.378895154e-01,7.018068843e-01,-1.068153295e-04,8.267268982e-01
+41,1.663333333e+01,DOWN_FORCE_DETACH,1792700624533316195,8.055255884e-05,-1.125176532e-04,-2.999468404e-03,8.258596806e-05,-1.138515972e-04,-2.987290092e-03,7.502202190e-05,-1.132845246e-04,-2.981619769e-03,7.016184240e-01,-1.109666918e-04,8.377414728e-01,7.016204574e-01,-1.123006359e-04,8.377536511e-01,7.018041116e-01,-1.115311306e-04,8.265910811e-01
+42,1.680000000e+01,DOWN_FORCE_DETACH,1792700624865286088,8.194089049e-05,-1.150706356e-04,-3.111637649e-03,7.674795613e-05,-1.162749284e-04,-3.107784868e-03,6.866695068e-05,-1.157254127e-04,-3.101780172e-03,7.016198124e-01,-1.135196743e-04,8.376293035e-01,7.016146194e-01,-1.147239671e-04,8.376331563e-01,7.017977566e-01,-1.139720187e-04,8.264709207e-01
+43,1.698333333e+01,DOWN_FORCE_DETACH,1792700625231276185,7.920438643e-05,-1.217363591e-04,-3.237983604e-03,8.047399668e-05,-1.201652263e-04,-3.224239809e-03,7.187574800e-05,-1.195696440e-04,-3.218074127e-03,7.016170759e-01,-1.201853978e-04,8.375029576e-01,7.016183455e-01,-1.186142649e-04,8.375167014e-01,7.018009654e-01,-1.178162500e-04,8.263546267e-01
+44,1.716666667e+01,DOWN_FORCE_DETACH,1792700625597314760,7.847496364e-05,-1.230304494e-04,-3.367714676e-03,7.850962880e-05,-1.217030492e-04,-3.357120281e-03,6.930021287e-05,-1.210498426e-04,-3.350654254e-03,7.016163464e-01,-1.214794881e-04,8.373732265e-01,7.016163811e-01,-1.201520879e-04,8.373838209e-01,7.017983898e-01,-1.192964486e-04,8.262220466e-01
+45,1.733333333e+01,DOWN_FORCE_DETACH,1792700625929224484,7.718862173e-05,-1.247474122e-04,-3.495042125e-03,7.541961602e-05,-1.289094582e-04,-3.485413719e-03,6.566576279e-05,-1.281571169e-04,-3.478805876e-03,7.016150601e-01,-1.231964509e-04,8.372458991e-01,7.016132911e-01,-1.273584969e-04,8.372555275e-01,7.017947554e-01,-1.264037229e-04,8.260938950e-01
+46,1.750000000e+01,DOWN_FORCE_DETACH,1792700626261255288,7.677217041e-05,-1.285168049e-04,-3.619597255e-03,7.659945601e-05,-1.286013480e-04,-3.619174550e-03,6.646159478e-05,-1.278681230e-04,-3.612397472e-03,7.016146437e-01,-1.269658436e-04,8.371213439e-01,7.016144709e-01,-1.270503867e-04,8.371217666e-01,7.017955512e-01,-1.261147289e-04,8.259603034e-01
+47,1.766666667e+01,DOWN_FORCE_DETACH,1792700626593402662,7.798704646e-05,-1.311397586e-04,-3.749119850e-03,7.764586994e-05,-1.308191771e-04,-3.749178420e-03,6.708695011e-05,-1.300850565e-04,-3.742486125e-03,7.016158585e-01,-1.295887972e-04,8.369918213e-01,7.016155174e-01,-1.292682158e-04,8.369917628e-01,7.017961766e-01,-1.283316625e-04,8.258302147e-01
+48,1.781666667e+01,DOWN_FORCE_DETACH,1792700626897917325,7.500435084e-05,-1.348848161e-04,-3.880896735e-03,7.487231165e-05,-1.350282981e-04,-3.880749153e-03,6.392830469e-05,-1.343054657e-04,-3.873708269e-03,7.016128758e-01,-1.333338548e-04,8.368600445e-01,7.016127438e-01,-1.334773368e-04,8.368601920e-01,7.017930179e-01,-1.325520716e-04,8.256989926e-01
+49,1.796666667e+01,DOWN_FORCE_DETACH,1792700627193403229,7.598198874e-05,-1.323350910e-04,-4.002624203e-03,7.550090060e-05,-1.343109938e-04,-3.985886087e-03,6.422442207e-05,-1.335480004e-04,-3.979037860e-03,7.016138535e-01,-1.307841297e-04,8.367383170e-01,7.016133724e-01,-1.327600325e-04,8.367550551e-01,7.017933140e-01,-1.317946063e-04,8.255936630e-01
+50,1.810000000e+01,DOWN_FORCE_DETACH,1792700627460643335,7.464548372e-05,-1.416475680e-04,-4.120917287e-03,7.249087276e-05,-1.425805226e-04,-4.113819516e-03,6.077155663e-05,-1.417545014e-04,-4.106560685e-03,7.016125170e-01,-1.400966067e-04,8.366200239e-01,7.016103624e-01,-1.410295612e-04,8.366271217e-01,7.017898612e-01,-1.400011073e-04,8.254661402e-01
+51,1.825000000e+01,DOWN_FORCE_DETACH,1792700627758666233,7.211044102e-05,-1.401987599e-04,-4.261037398e-03,7.403868581e-05,-1.491578168e-04,-4.243521410e-03,6.178067335e-05,-1.482835056e-04,-4.236312594e-03,7.016099819e-01,-1.386477986e-04,8.364799038e-01,7.016119102e-01,-1.476068555e-04,8.364974198e-01,7.017908703e-01,-1.465301116e-04,8.253363883e-01
+52,1.838333333e+01,DOWN_FORCE_DETACH,1792700628025206469,8.362108487e-05,-1.363725732e-04,-4.377892025e-03,8.349211963e-05,-1.361730421e-04,-4.377541544e-03,7.078059588e-05,-1.354542701e-04,-4.370040643e-03,7.016214926e-01,-1.348216119e-04,8.363630492e-01,7.016213636e-01,-1.346220808e-04,8.363633996e-01,7.017998702e-01,-1.337008761e-04,8.252026602e-01
+53,1.850000000e+01,DOWN_FORCE_DETACH,1792700628257127749,7.202343629e-05,-1.432923840e-04,-4.491731242e-03,7.583698226e-05,-1.421150616e-04,-4.473768488e-03,6.274701213e-05,-1.413517838e-04,-4.466510691e-03,7.016098949e-01,-1.417414227e-04,8.362492099e-01,7.016137085e-01,-1.405641003e-04,8.362671727e-01,7.017918366e-01,-1.395983898e-04,8.251061902e-01
+54,1.865000000e+01,DOWN_FORCE_DETACH,1792700628522773485,6.894378294e-05,-1.526535770e-04,-4.618911884e-03,6.854240792e-05,-1.526575710e-04,-4.618955000e-03,5.476634300e-05,-1.518879629e-04,-4.611380357e-03,7.016068153e-01,-1.511026157e-04,8.361220293e-01,7.016064139e-01,-1.511066097e-04,8.361219862e-01,7.017838560e-01,-1.501345688e-04,8.249613205e-01
+55,1.878333333e+01,DOWN_FORCE_DETACH,1792700628791144651,6.339379680e-05,-1.601428696e-04,-4.756647992e-03,6.406488894e-05,-1.593676298e-04,-4.743075990e-03,4.965022500e-05,-1.585310929e-04,-4.735523029e-03,7.016012653e-01,-1.585919083e-04,8.359842932e-01,7.016019364e-01,-1.578166685e-04,8.359978652e-01,7.017787398e-01,-1.567776989e-04,8.248371778e-01
+56,1.890000000e+01,DOWN_FORCE_DETACH,1792700629020641423,5.424638449e-05,-1.654444035e-04,-4.885892079e-03,5.418718295e-05,-1.656971031e-04,-4.885648753e-03,3.906892339e-05,-1.647857633e-04,-4.877426533e-03,7.015921179e-01,-1.638934422e-04,8.358550491e-01,7.015920587e-01,-1.641461418e-04,8.358552924e-01,7.017681585e-01,-1.630323693e-04,8.246952743e-01
+57,1.901666667e+01,DOWN_FORCE_DETACH,1792700629222571137,8.480429364e-05,-1.640683322e-04,-4.967466456e-03,7.800992733e-05,-1.675032994e-04,-4.956450699e-03,6.280975200e-05,-1.665054155e-04,-4.948894048e-03,7.016226758e-01,-1.625173709e-04,8.357734747e-01,7.016158814e-01,-1.659523381e-04,8.357844905e-01,7.017918994e-01,-1.647520215e-04,8.246238068e-01
+58,1.915000000e+01,DOWN_SETTLE,1792700629488913848,7.587780103e-05,-1.528483698e-04,-5.076510311e-03,7.640277753e-05,-1.529792512e-04,-5.067379900e-03,6.098004697e-05,-1.520072979e-04,-5.060813941e-03,7.016137493e-01,-1.512974084e-04,8.356644309e-01,7.016142743e-01,-1.514282899e-04,8.356735613e-01,7.017900697e-01,-1.502539039e-04,8.245118869e-01
+59,1.951666667e+01,DOWN_PEAK_HOLD,1792700630187063061,5.866281832e-05,-1.509137531e-04,-5.127161542e-03,5.911709427e-05,-1.521306650e-04,-5.123692420e-03,4.338100496e-05,-1.512941387e-04,-5.119959960e-03,7.015965343e-01,-1.493627917e-04,8.356137796e-01,7.015969886e-01,-1.505797036e-04,8.356172488e-01,7.017724706e-01,-1.495407447e-04,8.244527409e-01

Fixed/s2/cylinder_PLA_12.5/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,-1.9998e-02,7.0513e-04,2.4524e+00,-3.6852e-02,3.5342e-02,-2.0057e-05,4.7887e-04,5.7286e-06,1.5450e-04,-6.0350e-07,3.2309e-05,-2.9319e-07,5.0320e-04,3.2316e-05
+1,5.3333e-01,DOWN_FORCE_DETACH,1.3275e-04,-7.2288e-03,8.1096e-04,2.4562e+00,-3.6861e-02,3.6240e-02,-2.9333e-05,1.3248e-02,1.1156e-04,3.9799e-03,-9.4399e-06,9.3045e-04,-9.5689e-06,1.3833e-02,9.3055e-04
+2,1.1167e+00,DOWN_FORCE_DETACH,2.6064e-04,7.6084e-03,9.0863e-03,2.4950e+00,-3.7428e-02,3.7267e-02,-2.8616e-05,2.8085e-02,8.3869e-03,4.2706e-02,-5.7671e-04,1.9581e-03,-8.8526e-06,5.1797e-02,2.0413e-03
+3,1.2833e+00,DOWN_FORCE_DETACH,3.9359e-04,1.0545e-02,1.1317e-02,2.5111e+00,-3.7579e-02,3.7471e-02,-2.6271e-05,3.1022e-02,1.0618e-02,5.8875e-02,-7.2772e-04,2.1616e-03,-6.5071e-06,6.7390e-02,2.2808e-03
+4,1.8167e+00,DOWN_FORCE_DETACH,5.2310e-04,-1.4505e-02,1.9011e-02,2.5213e+00,-3.8101e-02,3.5696e-02,-1.1828e-05,5.9718e-03,1.8312e-02,6.9078e-02,-1.2496e-03,3.8626e-04,7.9360e-06,7.1713e-02,1.3080e-03
+5,2.3833e+00,DOWN_FORCE_DETACH,6.5490e-04,-3.9535e-03,2.4627e-02,2.5212e+00,-3.8476e-02,3.6435e-02,3.3795e-06,1.6523e-02,2.3927e-02,6.8961e-02,-1.6243e-03,1.1258e-03,2.3143e-05,7.4841e-02,1.9765e-03
+6,2.9167e+00,DOWN_FORCE_DETACH,7.8785e-04,-2.6626e-04,2.9437e-02,2.5077e+00,-3.8797e-02,3.6720e-02,1.8660e-05,2.0210e-02,2.8738e-02,5.5401e-02,-1.9455e-03,1.4104e-03,3.8424e-05,6.5602e-02,2.4033e-03
+7,3.5333e+00,DOWN_FORCE_DETACH,9.1720e-04,3.8449e-03,3.0223e-02,2.4803e+00,-3.8872e-02,3.7040e-02,3.7716e-05,2.4321e-02,2.9523e-02,2.8026e-02,-2.0198e-03,1.7306e-03,5.7480e-05,4.7419e-02,2.6605e-03
+8,4.0167e+00,DOWN_FORCE_DETACH,1.0521e-03,6.0772e-03,3.0281e-02,2.4701e+00,-3.8885e-02,3.7212e-02,4.5074e-05,2.6554e-02,2.9581e-02,1.7794e-02,-2.0337e-03,1.9028e-03,6.4838e-05,4.3552e-02,2.7858e-03
+9,4.6500e+00,DOWN_FORCE_DETACH,1.1820e-03,1.0676e-02,3.0838e-02,2.4834e+00,-3.8931e-02,3.7532e-02,4.9083e-05,3.1152e-02,3.0138e-02,3.1107e-02,-2.0793e-03,2.2223e-03,6.8847e-05,5.3352e-02,3.0442e-03
+10,5.2000e+00,DOWN_FORCE_DETACH,1.3151e-03,1.0716e-02,3.0827e-02,2.4687e+00,-3.8935e-02,3.7551e-02,4.9804e-05,3.1193e-02,3.0128e-02,1.6473e-02,-2.0834e-03,2.2413e-03,6.9567e-05,4.6390e-02,3.0608e-03
+11,5.7500e+00,DOWN_FORCE_DETACH,1.4429e-03,9.4564e-03,3.2726e-02,2.4706e+00,-3.9071e-02,3.7462e-02,5.2230e-05,2.9933e-02,3.2026e-02,1.8392e-02,-2.2190e-03,2.1522e-03,7.1994e-05,4.7539e-02,3.0921e-03
+12,6.2333e+00,DOWN_FORCE_DETACH,1.5761e-03,9.4560e-03,3.2434e-02,2.4738e+00,-3.9053e-02,3.7462e-02,5.1378e-05,2.9932e-02,3.1735e-02,2.1503e-02,-2.2015e-03,2.1528e-03,7.1142e-05,4.8636e-02,3.0800e-03
+13,6.7833e+00,DOWN_FORCE_DETACH,1.7109e-03,-1.4807e-02,3.2416e-02,2.4710e+00,-3.9065e-02,3.5882e-02,5.1379e-05,5.6692e-03,3.1716e-02,1.8744e-02,-2.2132e-03,5.7249e-04,7.1143e-05,3.7274e-02,2.2871e-03
+14,7.3333e+00,DOWN_FORCE_DETACH,1.8397e-03,2.6306e-03,3.4074e-02,2.4717e+00,-3.9175e-02,3.6980e-02,5.0760e-05,2.3107e-02,3.3374e-02,1.9428e-02,-2.3237e-03,1.6711e-03,7.0524e-05,4.5003e-02,2.8630e-03
+15,7.9333e+00,DOWN_FORCE_DETACH,1.9718e-03,1.3552e-02,3.3607e-02,2.4749e+00,-3.9149e-02,3.7746e-02,4.5464e-05,3.4029e-02,3.2907e-02,2.2608e-02,-2.2968e-03,2.4365e-03,6.5228e-05,5.2459e-02,3.3490e-03
+16,8.4500e+00,DOWN_FORCE_DETACH,2.1023e-03,2.3409e-02,3.5408e-02,2.4814e+00,-3.9281e-02,3.8448e-02,3.7059e-05,4.3885e-02,3.4708e-02,2.9122e-02,-2.4291e-03,3.1386e-03,5.6823e-05,6.3077e-02,3.9692e-03
+17,9.0000e+00,DOWN_FORCE_DETACH,2.2338e-03,2.6168e-02,3.5812e-02,2.4905e+00,-3.9322e-02,3.8656e-02,2.5475e-05,4.6644e-02,3.5112e-02,3.8216e-02,-2.4700e-03,3.3468e-03,4.5239e-05,6.9778e-02,4.1598e-03
+18,9.5000e+00,DOWN_FORCE_DETACH,2.3642e-03,2.6909e-02,3.6288e-02,2.5005e+00,-3.9342e-02,3.8702e-02,1.4637e-05,4.7386e-02,3.5588e-02,4.8286e-02,-2.4903e-03,3.3926e-03,3.4401e-05,7.6443e-02,4.2086e-03
+19,1.0033e+01,DOWN_FORCE_DETACH,2.4967e-03,2.9415e-02,3.9330e-02,2.5148e+00,-3.9514e-02,3.8859e-02,5.2402e-06,4.9892e-02,3.8630e-02,6.2540e-02,-2.6618e-03,3.5494e-03,2.5004e-05,8.8841e-02,4.4367e-03
+20,1.0533e+01,DOWN_FORCE_DETACH,2.6245e-03,3.2024e-02,4.2669e-02,2.5288e+00,-3.9704e-02,3.9023e-02,-3.5155e-07,5.2500e-02,4.1970e-02,7.6577e-02,-2.8522e-03,3.7138e-03,1.9412e-05,1.0189e-01,4.6827e-03
+21,1.1033e+01,DOWN_FORCE_DETACH,2.7583e-03,3.5020e-02,4.4749e-02,2.5516e+00,-3.9809e-02,3.9210e-02,-4.5238e-06,5.5496e-02,4.4050e-02,9.9361e-02,-2.9577e-03,3.9006e-03,1.5240e-05,1.2204e-01,4.8952e-03
+22,1.1300e+01,DOWN_FORCE_DETACH,2.8905e-03,3.0439e-02,3.4808e-02,2.5612e+00,-3.9146e-02,3.8899e-02,-9.6262e-06,5.0916e-02,3.4109e-02,1.0895e-01,-2.2941e-03,3.5894e-03,1.0138e-05,1.2500e-01,4.2599e-03
+23,1.1717e+01,DOWN_FORCE_DETACH,3.0260e-03,3.2561e-02,3.7093e-02,2.5765e+00,-3.9260e-02,3.9001e-02,-1.9817e-05,5.3038e-02,3.6394e-02,1.2426e-01,-2.4085e-03,3.6918e-03,-5.2896e-08,1.3992e-01,4.4080e-03
+24,1.2100e+01,DOWN_FORCE_DETACH,3.1551e-03,3.3556e-02,4.1672e-02,2.5983e+00,-3.9561e-02,3.9044e-02,-2.7989e-05,5.4032e-02,4.0972e-02,1.4604e-01,-2.7097e-03,3.7344e-03,-8.2256e-06,1.6101e-01,4.6139e-03
+25,1.2500e+01,DOWN_FORCE_DETACH,3.2848e-03,3.4055e-02,4.3651e-02,2.6082e+00,-3.9700e-02,3.9054e-02,-3.9026e-05,5.4531e-02,4.2952e-02,1.5594e-01,-2.8485e-03,3.7446e-03,-1.9263e-05,1.7069e-01,4.7049e-03
+26,1.2833e+01,DOWN_FORCE_DETACH,3.4131e-03,2.9702e-02,4.3777e-02,2.6075e+00,-3.9710e-02,3.8753e-02,-4.6724e-05,5.0178e-02,4.3077e-02,1.5526e-01,-2.8584e-03,3.4440e-03,-2.6960e-05,1.6876e-01,4.4757e-03
+27,1.3167e+01,DOWN_FORCE_DETACH,3.5497e-03,2.7409e-02,4.5095e-02,2.6168e+00,-3.9794e-02,3.8575e-02,-4.7772e-05,4.7886e-02,4.4396e-02,1.6458e-01,-2.9427e-03,3.2662e-03,-2.8008e-05,1.7706e-01,4.3964e-03
+28,1.3467e+01,DOWN_FORCE_DETACH,3.6774e-03,2.4362e-02,4.5390e-02,2.6256e+00,-3.9805e-02,3.8354e-02,-4.4903e-05,4.4839e-02,4.4691e-02,1.7330e-01,-2.9536e-03,3.0448e-03,-2.5139e-05,1.8450e-01,4.2421e-03
+29,1.3750e+01,DOWN_FORCE_DETACH,3.8084e-03,2.7345e-02,4.6410e-02,2.6476e+00,-3.9853e-02,3.8530e-02,-4.2227e-05,4.7821e-02,4.5711e-02,1.9536e-01,-3.0009e-03,3.2207e-03,-2.2463e-05,2.0626e-01,4.4021e-03
+30,1.4033e+01,DOWN_FORCE_DETACH,3.9397e-03,2.1724e-02,4.5141e-02,2.6637e+00,-3.9740e-02,3.8145e-02,-4.1081e-05,4.2201e-02,4.4441e-02,2.1145e-01,-2.8879e-03,2.8357e-03,-2.1317e-05,2.2015e-01,4.0474e-03
+31,1.4333e+01,DOWN_FORCE_DETACH,4.0704e-03,2.0239e-02,4.6218e-02,2.6782e+00,-3.9762e-02,3.8028e-02,-3.9583e-05,4.0716e-02,4.5519e-02,2.2591e-01,-2.9098e-03,2.7187e-03,-1.9819e-05,2.3402e-01,3.9823e-03
+32,1.4583e+01,DOWN_FORCE_DETACH,4.2020e-03,1.8368e-02,4.9875e-02,2.6875e+00,-3.9968e-02,3.7901e-02,-3.4161e-05,3.8844e-02,4.9176e-02,2.3524e-01,-3.1161e-03,2.5921e-03,-1.4397e-05,2.4344e-01,4.0533e-03
+33,1.4867e+01,DOWN_FORCE_DETACH,4.3339e-03,1.8923e-02,5.2642e-02,2.6812e+00,-4.0133e-02,3.7951e-02,-2.2683e-05,3.9399e-02,5.1943e-02,2.2899e-01,-3.2812e-03,2.6415e-03,-2.9187e-06,2.3809e-01,4.2123e-03
+34,1.5100e+01,DOWN_FORCE_DETACH,4.4634e-03,2.6568e-02,5.0867e-02,2.6846e+00,-4.0020e-02,3.8465e-02,-1.3057e-05,4.7044e-02,5.0168e-02,2.3237e-01,-3.1680e-03,3.1558e-03,6.7068e-06,2.4233e-01,4.4716e-03
+35,1.5350e+01,DOWN_FORCE_DETACH,4.5977e-03,3.0334e-02,5.1431e-02,2.6871e+00,-4.0045e-02,3.8728e-02,-4.8432e-06,5.0810e-02,5.0732e-02,2.3487e-01,-3.1930e-03,3.4182e-03,1.4921e-05,2.4560e-01,4.6776e-03
+36,1.5567e+01,DOWN_FORCE_DETACH,4.7307e-03,3.3839e-02,5.3645e-02,2.6998e+00,-4.0161e-02,3.8959e-02,1.1977e-06,5.4316e-02,5.2946e-02,2.4759e-01,-3.3096e-03,3.6501e-03,2.0962e-05,2.5894e-01,4.9272e-03
+37,1.5800e+01,DOWN_FORCE_DETACH,4.8616e-03,3.8149e-02,5.7182e-02,2.7169e+00,-4.0364e-02,3.9235e-02,5.9246e-06,5.8625e-02,5.6483e-02,2.6460e-01,-3.5125e-03,3.9261e-03,2.5688e-05,2.7684e-01,5.2681e-03
+38,1.6033e+01,DOWN_FORCE_DETACH,4.9947e-03,3.7976e-02,5.9010e-02,2.7226e+00,-4.0470e-02,3.9211e-02,2.7884e-06,5.8452e-02,5.8310e-02,2.7032e-01,-3.6186e-03,3.9020e-03,2.2552e-05,2.8265e-01,5.3217e-03
+39,1.6217e+01,DOWN_FORCE_DETACH,5.1188e-03,3.9063e-02,6.0785e-02,2.7329e+00,-4.0574e-02,3.9263e-02,-4.7444e-06,5.9540e-02,6.0086e-02,2.8063e-01,-3.7226e-03,3.9534e-03,1.5019e-05,2.9310e-01,5.4302e-03
+40,1.6417e+01,DOWN_FORCE_DETACH,5.2486e-03,3.5243e-02,6.0587e-02,2.7344e+00,-4.0544e-02,3.8995e-02,-1.3846e-05,5.5719e-02,5.9888e-02,2.8214e-01,-3.6924e-03,3.6856e-03,5.9182e-06,2.9375e-01,5.2171e-03
+41,1.6633e+01,DOWN_FORCE_DETACH,5.3882e-03,3.3356e-02,6.1407e-02,2.7456e+00,-4.0577e-02,3.8850e-02,-1.9923e-05,5.3832e-02,6.0707e-02,2.9337e-01,-3.7255e-03,3.5412e-03,-1.5891e-07,3.0439e-01,5.1400e-03
+42,1.6800e+01,DOWN_FORCE_DETACH,5.5134e-03,3.2476e-02,6.0609e-02,2.7511e+00,-4.0512e-02,3.8780e-02,-2.3934e-05,5.2952e-02,5.9909e-02,2.9882e-01,-3.6606e-03,3.4711e-03,-4.1702e-06,3.0933e-01,5.0446e-03
+43,1.6983e+01,DOWN_FORCE_DETACH,5.6439e-03,2.6726e-02,6.4003e-02,2.7590e+00,-4.0701e-02,3.8395e-02,-2.7328e-05,4.7203e-02,6.3303e-02,3.0674e-01,-3.8489e-03,3.0857e-03,-7.5636e-06,3.1674e-01,4.9331e-03
+44,1.7167e+01,DOWN_FORCE_DETACH,5.7779e-03,2.4033e-02,6.7333e-02,2.7725e+00,-4.0869e-02,3.8207e-02,-3.0718e-05,4.4509e-02,6.6633e-02,3.2020e-01,-4.0173e-03,2.8975e-03,-1.0954e-05,3.3008e-01,4.9532e-03
+45,1.7333e+01,DOWN_FORCE_DETACH,5.9127e-03,2.1160e-02,7.3377e-02,2.7828e+00,-4.1218e-02,3.8016e-02,-2.9595e-05,4.1636e-02,7.2678e-02,3.3053e-01,-4.3663e-03,2.7066e-03,-9.8316e-06,3.4097e-01,5.1371e-03
+46,1.7500e+01,DOWN_FORCE_DETACH,6.0422e-03,2.2407e-02,7.4735e-02,2.7812e+00,-4.1278e-02,3.8099e-02,-2.4250e-05,4.2883e-02,7.4035e-02,3.2896e-01,-4.4260e-03,2.7901e-03,-4.4864e-06,3.3990e-01,5.2320e-03
+47,1.7667e+01,DOWN_FORCE_DETACH,6.1769e-03,2.7655e-02,7.3105e-02,2.7804e+00,-4.1152e-02,3.8445e-02,-1.6754e-05,4.8131e-02,7.2406e-02,3.2819e-01,-4.3007e-03,3.1358e-03,3.0101e-06,3.3951e-01,5.3226e-03
+48,1.7817e+01,DOWN_FORCE_DETACH,6.3114e-03,3.0822e-02,7.3378e-02,2.7871e+00,-4.1146e-02,3.8654e-02,-9.1508e-06,5.1298e-02,7.2679e-02,3.3484e-01,-4.2947e-03,3.3446e-03,1.0613e-05,3.4646e-01,5.4434e-03
+49,1.7967e+01,DOWN_FORCE_DETACH,6.4363e-03,3.6591e-02,7.4977e-02,2.7995e+00,-4.1222e-02,3.9022e-02,-2.9395e-06,5.7067e-02,7.4278e-02,3.4723e-01,-4.3702e-03,3.7131e-03,1.6824e-05,3.5964e-01,5.7347e-03
+50,1.8100e+01,DOWN_FORCE_DETACH,6.5623e-03,3.5571e-02,7.9246e-02,2.8124e+00,-4.1472e-02,3.8950e-02,2.9185e-07,5.6048e-02,7.8547e-02,3.6014e-01,-4.6204e-03,3.6403e-03,2.0056e-05,3.7285e-01,5.8822e-03
+51,1.8250e+01,DOWN_FORCE_DETACH,6.7074e-03,3.8268e-02,8.2088e-02,2.8168e+00,-4.1629e-02,3.9104e-02,-2.6982e-06,5.8744e-02,8.1389e-02,3.6458e-01,-4.7769e-03,3.7952e-03,1.7066e-05,3.7815e-01,6.1010e-03
+52,1.8383e+01,DOWN_FORCE_DETACH,6.8359e-03,3.6625e-02,8.4352e-02,2.8191e+00,-4.1743e-02,3.8980e-02,-8.6371e-06,5.7102e-02,8.3653e-02,3.6684e-01,-4.8916e-03,3.6710e-03,1.1127e-05,3.8056e-01,6.1159e-03
+53,1.8500e+01,DOWN_FORCE_DETACH,6.9559e-03,3.1519e-02,7.9024e-02,2.8201e+00,-4.1383e-02,3.8639e-02,-1.4292e-05,5.1995e-02,7.8324e-02,3.6780e-01,-4.5317e-03,3.3301e-03,5.4718e-06,3.7962e-01,5.6237e-03
+54,1.8650e+01,DOWN_FORCE_DETACH,7.0880e-03,3.0857e-02,8.0521e-02,2.8181e+00,-4.1463e-02,3.8576e-02,-1.7716e-05,5.1333e-02,7.9821e-02,3.6584e-01,-4.6111e-03,3.2672e-03,2.0480e-06,3.7795e-01,5.6513e-03
+55,1.8783e+01,DOWN_FORCE_DETACH,7.2290e-03,3.1223e-02,8.3277e-02,2.8269e+00,-4.1614e-02,3.8590e-02,-2.1501e-05,5.1699e-02,8.2577e-02,3.7464e-01,-4.7626e-03,3.2810e-03,-1.7371e-06,3.8710e-01,5.7834e-03
+56,1.8900e+01,DOWN_FORCE_DETACH,7.3608e-03,3.2156e-02,8.8556e-02,2.8423e+00,-4.1913e-02,3.8644e-02,-2.5836e-05,5.2632e-02,8.7856e-02,3.9008e-01,-5.0612e-03,3.3347e-03,-6.0723e-06,4.0330e-01,6.0610e-03
+57,1.9017e+01,DOWN_FORCE_DETACH,7.4685e-03,2.2953e-02,9.3252e-02,2.8447e+00,-4.2172e-02,3.8051e-02,-2.8908e-05,4.3430e-02,9.2553e-02,3.9240e-01,-5.3199e-03,2.7417e-03,-9.1438e-06,4.0550e-01,5.9848e-03
+58,1.9150e+01,DOWN_SETTLE,7.6228e-03,1.3484e-02,8.9716e-02,2.8102e+00,-4.1885e-02,3.7445e-02,-2.6881e-05,3.3960e-02,8.9017e-02,3.5799e-01,-5.0329e-03,2.1361e-03,-7.1175e-06,3.7045e-01,5.4675e-03
+59,1.9517e+01,DOWN_PEAK_HOLD,7.7499e-03,3.4739e-02,8.2110e-02,2.6803e+00,-4.1453e-02,3.8876e-02,-1.0937e-05,5.5216e-02,8.1411e-02,2.2803e-01,-4.6008e-03,3.5672e-03,8.8272e-06,2.4834e-01,5.8217e-03

Fixed/s2/cylinder_PLA_12.5/press_depth_05/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6bcce4ba336263cb3684def3a091e2ed81628bccc7a4a04cc032ab5cc280791
+size 10260480

Fixed/s2/cylinder_PLA_12.5/press_depth_05/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/s2/cylinder_PLA_12.5/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,1792700578696492540,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.130781102e-08,7.383268649e-11,2.863660420e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291009e-01,1.753467911e-06,8.295727037e-01
+1,6.666666667e-02,XJC_ZERO_HOLD_BEFORE_UP,1792700578828226395,1.657821578e-07,-5.368764379e-07,7.802272709e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.429954297e-08,3.447321751e-10,1.379999859e-08,7.015380373e-01,1.014084883e-06,8.407417214e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291439e-01,1.753738810e-06,8.295727147e-01
+2,1.333333333e-01,WAIT_W2,1792700578962539175,-2.158917911e-08,2.061339075e-06,4.250552244e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.390321021e-08,6.000270437e-10,2.391924059e-08,7.015378499e-01,3.612300396e-06,8.407413662e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291835e-01,1.753994105e-06,8.295727248e-01
+3,1.833333333e-01,WAIT_W2,1792700579062225415,1.328271760e-06,8.171237971e-07,3.578746887e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.215769262e-07,8.013331665e-10,3.101537882e-08,7.015391998e-01,2.368085118e-06,8.407445199e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292112e-01,1.754195411e-06,8.295727319e-01
+4,2.500000000e-01,WAIT_W2,1792700579162470841,-1.912573343e-07,-2.147538908e-06,-7.840961315e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.559732729e-07,1.031347362e-09,3.986041697e-08,7.015376802e-01,-5.965775868e-07,8.407401571e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292456e-01,1.754425426e-06,8.295727407e-01
+5,3.500000000e-01,WAIT_W2,1792700579362222233,3.069596674e-06,2.519402649e-06,4.772209864e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.026671796e-07,1.344356227e-09,5.186487495e-08,7.015409411e-01,4.070363970e-06,8.407457134e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292923e-01,1.754738434e-06,8.295727527e-01
+6,4.000000000e-01,WAIT_W2,1792700579460266895,-1.333242613e-06,-4.406399649e-06,-1.001471367e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.239974007e-07,1.498136011e-09,5.734093700e-08,7.015365382e-01,-2.855438328e-06,8.407399397e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293136e-01,1.754892214e-06,8.295727582e-01
+7,4.666666667e-01,WAIT_W2,1792700579594310831,1.837950114e-06,-9.958058790e-06,3.238280460e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.505310300e-07,1.717812590e-09,6.413435361e-08,7.015397094e-01,-8.407097469e-06,8.407441795e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293401e-01,1.755111891e-06,8.295727650e-01
+8,4.833333333e-01,WAIT_W2,1792700579626218286,2.570498850e-06,-1.782193495e-05,4.930123978e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.568558263e-07,1.734390081e-09,6.575452072e-08,7.015404420e-01,-1.627097362e-05,8.407458713e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293465e-01,1.755128468e-06,8.295727666e-01
+9,5.333333333e-01,WAIT_W2,1792700579726234441,5.892335941e-07,-1.351164712e-05,2.563654164e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.750463620e-07,1.881260508e-09,7.045541905e-08,7.015384607e-01,-1.196068579e-05,8.407435048e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293647e-01,1.755275339e-06,8.295727713e-01
+10,5.666666667e-01,WAIT_W2,1792700579776197490,1.797608780e-06,-1.486819759e-05,3.562417467e-06,-3.116339476e-07,-2.374221589e-05,2.371487485e-07,-4.247591845e-08,-2.358381613e-05,3.066062590e-07,7.015396691e-01,-1.331723627e-05,8.407445036e-01,7.015375598e-01,-2.219125457e-05,8.407411783e-01,7.017290471e-01,-2.183042205e-05,8.295730075e-01
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+13,7.500000000e-01,WAIT_W2,1792700580126174057,2.456176492e-07,-1.964336405e-05,1.954778212e-06,-3.116339476e-07,-2.374221589e-05,2.371487485e-07,1.090275148e-08,-2.361936301e-05,3.235747589e-07,7.015381171e-01,-1.809240273e-05,8.407428960e-01,7.015375598e-01,-2.219125457e-05,8.407411783e-01,7.017291005e-01,-2.186596893e-05,8.295730244e-01
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+15,9.166666667e-01,WAIT_W2,1792700580428187673,5.274748234e-07,-1.504139648e-05,1.913543975e-06,-3.116339476e-07,-2.374221589e-05,2.371487485e-07,5.148411908e-08,-2.362298617e-05,3.351303821e-07,7.015383990e-01,-1.349043516e-05,8.407428547e-01,7.015375598e-01,-2.219125457e-05,8.407411783e-01,7.017291411e-01,-2.186959210e-05,8.295730360e-01
+16,9.666666667e-01,WAIT_W2,1792700580524368810,3.265053197e-06,-1.018139071e-05,3.884395211e-06,-3.116339476e-07,-2.374221589e-05,2.371487485e-07,6.217261361e-08,-2.362345488e-05,3.381783766e-07,7.015411365e-01,-8.630429387e-06,8.407448256e-01,7.015375598e-01,-2.219125457e-05,8.407411783e-01,7.017291518e-01,-2.187006080e-05,8.295730390e-01
+17,1.000000000e+00,WAIT_W2,1792700580592418486,-1.209015108e-06,-3.005359173e-06,-1.062538497e-06,-1.378671443e-06,-2.902838266e-06,-1.139771471e-06,-9.921191978e-07,-2.907346608e-06,-1.004060268e-06,7.015366625e-01,-1.454397852e-06,8.407398786e-01,7.015364928e-01,-1.351876945e-06,8.407398014e-01,7.017280975e-01,-1.153952530e-06,8.295716968e-01
+18,1.050000000e+00,WAIT_W2,1792700580690172681,1.457157806e-06,-4.858901550e-06,3.688026208e-06,-1.378671443e-06,-2.902838266e-06,-1.139771471e-06,-9.843967704e-07,-2.874557658e-06,-1.005658373e-06,7.015393286e-01,-3.307940228e-06,8.407446292e-01,7.015364928e-01,-1.351876945e-06,8.407398014e-01,7.017281052e-01,-1.121163580e-06,8.295716952e-01
+19,1.116666667e+00,WAIT_W2,1792700580826234203,4.023806220e-07,2.293245554e-06,3.140795592e-07,-1.378671443e-06,-2.902838266e-06,-1.139771471e-06,-9.742371104e-07,-2.862741884e-06,-1.005778664e-06,7.015382739e-01,3.844206875e-06,8.407412553e-01,7.015364928e-01,-1.351876945e-06,8.407398014e-01,7.017281154e-01,-1.109347805e-06,8.295716951e-01
+20,1.200000000e+00,WAIT_W2,1792700580990164643,-1.540150858e-06,-1.060855846e-06,-2.385034687e-06,-1.378671443e-06,-2.902838266e-06,-1.139771471e-06,-9.625916532e-07,-2.857770871e-06,-1.005069087e-06,7.015363313e-01,4.901054750e-07,8.407385562e-01,7.015364928e-01,-1.351876945e-06,8.407398014e-01,7.017281270e-01,-1.104376793e-06,8.295716958e-01
+21,1.250000000e+00,WAIT_W2,1792700581058129636,7.964308302e-07,-1.536616594e-06,1.301852419e-06,-1.378671443e-06,-2.902838266e-06,-1.139771471e-06,-9.560788049e-07,-2.856362559e-06,-1.004524089e-06,7.015386679e-01,1.434472679e-08,8.407422430e-01,7.015364928e-01,-1.351876945e-06,8.407398014e-01,7.017281335e-01,-1.102968481e-06,8.295716963e-01
+22,1.283333333e+00,WAIT_W2,1792700581122124728,-1.206057189e-06,-5.086832335e-06,-2.180211971e-06,-1.378671443e-06,-2.902838266e-06,-1.139771471e-06,-9.519271463e-07,-2.855713585e-06,-1.004149399e-06,7.015366654e-01,-3.535871014e-06,8.407387610e-01,7.015364928e-01,-1.351876945e-06,8.407398014e-01,7.017281377e-01,-1.102319507e-06,8.295716967e-01
+23,1.350000000e+00,WAIT_W2,1792700581258391368,-2.385478770e-08,-8.406037850e-06,6.881838773e-07,-1.378671443e-06,-2.902838266e-06,-1.139771471e-06,-9.440744188e-07,-2.854813629e-06,-1.003409964e-06,7.015378476e-01,-6.855076529e-06,8.407416294e-01,7.015364928e-01,-1.351876945e-06,8.407398014e-01,7.017281455e-01,-1.101419551e-06,8.295716975e-01
+24,1.383333333e+00,WAIT_W2,1792700581339133570,-2.643511258e-06,-1.647043546e-05,-4.437334739e-06,-1.378671443e-06,-2.902838266e-06,-1.139771471e-06,-9.403592716e-07,-2.854492630e-06,-1.003049158e-06,7.015352280e-01,-1.491947414e-05,8.407365039e-01,7.015364928e-01,-1.351876945e-06,8.407398014e-01,7.017281492e-01,-1.101098551e-06,8.295716978e-01
+25,1.450000000e+00,WAIT_W2,1792700581458112022,7.310233696e-08,-1.611453076e-05,2.070576934e-06,-1.378671443e-06,-2.902838266e-06,-1.139771471e-06,-9.333393903e-07,-2.854008265e-06,-1.002354957e-06,7.015379446e-01,-1.456356943e-05,8.407430118e-01,7.015364928e-01,-1.351876945e-06,8.407398014e-01,7.017281563e-01,-1.100614187e-06,8.295716985e-01
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+31,1.783333333e+00,UP_FORCE_RAMP,1792700582090138213,4.033781998e-07,-4.811567739e-05,3.974190730e-06,-1.410848175e-06,-4.487414112e-05,2.199569263e-06,-9.463080667e-07,-4.465243513e-05,2.287489666e-06,7.015382749e-01,-4.656471607e-05,8.407449154e-01,7.015364606e-01,-4.332317980e-05,8.407431408e-01,7.017281433e-01,-4.289904105e-05,8.295749883e-01
+32,1.850000000e+00,UP_FORCE_RAMP,1792700582222258273,-4.942773631e-07,-5.757959645e-05,3.264348063e-06,-1.410848175e-06,-4.487414112e-05,2.199569263e-06,-9.423271107e-07,-4.466528976e-05,2.294346603e-06,7.015373772e-01,-5.602863513e-05,8.407442055e-01,7.015364606e-01,-4.332317980e-05,8.407431408e-01,7.017281473e-01,-4.291189569e-05,8.295749952e-01
+33,1.900000000e+00,UP_FORCE_RAMP,1792700582304196740,-2.670416045e-06,-6.043881804e-05,1.569334494e-06,-1.410848175e-06,-4.487414112e-05,2.199569263e-06,-9.392016327e-07,-4.466948699e-05,2.298606892e-06,7.015352011e-01,-5.888785672e-05,8.407425105e-01,7.015364606e-01,-4.332317980e-05,8.407431408e-01,7.017281504e-01,-4.291609291e-05,8.295749995e-01
+34,1.966666667e+00,UP_FORCE_RAMP,1792700582420076091,-1.865477703e-06,-6.295857259e-05,1.505805020e-06,-1.971223466e-06,-6.592748838e-05,3.483696182e-07,-1.509518200e-06,-6.560273875e-05,4.636448493e-07,7.015360060e-01,-6.140761127e-05,8.407424470e-01,7.015359003e-01,-6.437652706e-05,8.407412896e-01,7.017275801e-01,-6.384934467e-05,8.295731645e-01
+35,2.016666667e+00,UP_FORCE_RAMP,1792700582522218730,-3.487123796e-06,-6.877716107e-05,-1.910066978e-06,-1.971223466e-06,-6.592748838e-05,3.483696182e-07,-1.508796435e-06,-6.562306108e-05,4.639281171e-07,7.015343844e-01,-6.722619975e-05,8.407390311e-01,7.015359003e-01,-6.437652706e-05,8.407412896e-01,7.017275808e-01,-6.386966701e-05,8.295731648e-01
+36,2.100000000e+00,UP_FORCE_RAMP,1792700582688782114,-2.493097633e-06,-7.264338948e-05,-5.140273739e-07,-1.971223466e-06,-6.592748838e-05,3.483696182e-07,-1.505951342e-06,-6.563478795e-05,4.651665133e-07,7.015353784e-01,-7.109242815e-05,8.407404272e-01,7.015359003e-01,-6.437652706e-05,8.407412896e-01,7.017275837e-01,-6.388139387e-05,8.295731660e-01
+37,2.166666667e+00,UP_FORCE_RAMP,1792700582820068158,-4.096921326e-06,-7.348242774e-05,-4.621017190e-06,-1.971223466e-06,-6.592748838e-05,3.483696182e-07,-1.503487273e-06,-6.563876923e-05,4.662263517e-07,7.015337746e-01,-7.193146642e-05,8.407363202e-01,7.015359003e-01,-6.437652706e-05,8.407412896e-01,7.017275861e-01,-6.388537515e-05,8.295731671e-01
+38,2.183333333e+00,UP_FORCE_RAMP,1792700582854078965,-1.728694549e-06,-8.162550686e-05,1.795873182e-06,-1.971223466e-06,-6.592748838e-05,3.483696182e-07,-1.502886659e-06,-6.563945012e-05,4.664976103e-07,7.015361428e-01,-8.007454554e-05,8.407427371e-01,7.015359003e-01,-6.437652706e-05,8.407412896e-01,7.017275867e-01,-6.388605604e-05,8.295731674e-01
+39,2.250000000e+00,UP_FORCE_RAMP,1792700582954062552,-3.612456632e-06,-7.453932028e-05,-1.797999180e-06,-1.971223466e-06,-6.592748838e-05,3.483696182e-07,-1.500576851e-06,-6.564145565e-05,4.675708851e-07,7.015342590e-01,-7.298835896e-05,8.407391432e-01,7.015359003e-01,-6.437652706e-05,8.407412896e-01,7.017275890e-01,-6.388806157e-05,8.295731684e-01
+40,2.300000000e+00,UP_FORCE_RAMP,1792700583052062858,-1.504274840e-06,-7.957208415e-05,2.692786168e-06,-1.971223466e-06,-6.592748838e-05,3.483696182e-07,-1.498937756e-06,-6.564251168e-05,4.683566265e-07,7.015363672e-01,-7.802112283e-05,8.407436340e-01,7.015359003e-01,-6.437652706e-05,8.407412896e-01,7.017275907e-01,-6.388911760e-05,8.295731692e-01
+41,2.366666667e+00,UP_FORCE_RAMP,1792700583186084436,-1.892644263e-06,-8.761564829e-05,1.045591139e-06,-1.946309380e-06,-8.758740400e-05,1.183294313e-06,-1.476971680e-06,-8.716113732e-05,1.286524141e-06,7.015359788e-01,-8.606468697e-05,8.407419868e-01,7.015359252e-01,-8.603644268e-05,8.407421245e-01,7.017276126e-01,-8.540774324e-05,8.295739874e-01
+42,2.416666667e+00,UP_FORCE_RAMP,1792700583286069999,-3.878771899e-06,-8.557187025e-05,1.777500509e-06,-1.946309380e-06,-8.758740400e-05,1.183294313e-06,-1.477512833e-06,-8.719603066e-05,1.290000424e-06,7.015339927e-01,-8.402090892e-05,8.407427187e-01,7.015359252e-01,-8.603644268e-05,8.407421245e-01,7.017276121e-01,-8.544263658e-05,8.295739909e-01
+43,2.500000000e+00,UP_FORCE_RAMP,1792700583452085285,-3.355544060e-06,-8.645285280e-05,2.362210968e-06,-1.946309380e-06,-8.758740400e-05,1.183294313e-06,-1.475770602e-06,-8.721027705e-05,1.294119300e-06,7.015345159e-01,-8.490189148e-05,8.407433034e-01,7.015359252e-01,-8.603644268e-05,8.407421245e-01,7.017276138e-01,-8.545688297e-05,8.295739950e-01
+44,2.550000000e+00,UP_FORCE_RAMP,1792700583554026866,-4.565727720e-06,-8.778559273e-05,3.369113538e-06,-1.946309380e-06,-8.758740400e-05,1.183294313e-06,-1.474382857e-06,-8.721376274e-05,1.296124086e-06,7.015333058e-01,-8.623463141e-05,8.407443103e-01,7.015359252e-01,-8.603644268e-05,8.407421245e-01,7.017276152e-01,-8.546036866e-05,8.295739970e-01
+45,2.633333333e+00,UP_FORCE_RAMP,1792700583718170399,-4.554177708e-06,-8.878258556e-05,5.406204919e-06,-1.946309380e-06,-8.758740400e-05,1.183294313e-06,-1.472113099e-06,-8.721698890e-05,1.299091028e-06,7.015333173e-01,-8.723162424e-05,8.407463474e-01,7.015359252e-01,-8.603644268e-05,8.407421245e-01,7.017276175e-01,-8.546359482e-05,8.295740000e-01
+46,2.683333333e+00,UP_FORCE_RAMP,1792700583818037083,-3.905062603e-06,-9.247996454e-05,1.014919736e-05,-1.946309380e-06,-8.758740400e-05,1.183294313e-06,-1.470826974e-06,-8.721820504e-05,1.300702934e-06,7.015339664e-01,-9.092900322e-05,8.407510904e-01,7.015359252e-01,-8.603644268e-05,8.407421245e-01,7.017276188e-01,-8.546481096e-05,8.295740016e-01
+47,2.733333333e+00,UP_FORCE_RAMP,1792700583918139505,-3.628777446e-06,-9.213408035e-05,1.362233075e-05,-1.946309380e-06,-8.758740400e-05,1.183294313e-06,-1.469611081e-06,-8.721914285e-05,1.302242981e-06,7.015342427e-01,-9.058311903e-05,8.407545635e-01,7.015359252e-01,-8.603644268e-05,8.407421245e-01,7.017276200e-01,-8.546574877e-05,8.295740031e-01
+48,2.800000000e+00,UP_FORCE_RAMP,1792700584052248618,-4.515974938e-06,-9.117851114e-05,1.776222802e-05,-1.946309380e-06,-8.758740400e-05,1.183294313e-06,-1.468063529e-06,-8.722012955e-05,1.304158675e-06,7.015333555e-01,-8.962754982e-05,8.407587034e-01,7.015359252e-01,-8.603644268e-05,8.407421245e-01,7.017276215e-01,-8.546673547e-05,8.295740050e-01
+49,2.833333333e+00,UP_FORCE_RAMP,1792700584118235343,-2.501923028e-06,-8.932947146e-05,2.463472789e-05,-8.657683899e-07,-9.199354492e-05,2.492548435e-05,-3.092547768e-07,-9.159497785e-05,2.457579685e-05,7.015353696e-01,-8.777851014e-05,8.407655759e-01,7.015370057e-01,-9.044258360e-05,8.407658667e-01,7.017287804e-01,-8.984158377e-05,8.295972767e-01
+50,2.866666667e+00,UP_FORCE_RAMP,1792700584184017356,-3.311624738e-07,-9.770909998e-05,3.297790705e-05,-8.657683899e-07,-9.199354492e-05,2.492548435e-05,-3.074400523e-07,-9.159923008e-05,2.461253485e-05,7.015375403e-01,-9.615813866e-05,8.407739191e-01,7.015370057e-01,-9.044258360e-05,8.407658667e-01,7.017287822e-01,-8.984583600e-05,8.295973134e-01
+51,2.900000000e+00,UP_FORCE_RAMP,1792700584250039385,6.870174220e-07,-8.838538201e-05,4.101832619e-05,-8.657683899e-07,-9.199354492e-05,2.492548435e-05,-3.053300105e-07,-9.160185014e-05,2.464096081e-05,7.015385585e-01,-8.683442069e-05,8.407819595e-01,7.015370057e-01,-9.044258360e-05,8.407658667e-01,7.017287843e-01,-8.984845606e-05,8.295973418e-01
+52,2.933333333e+00,UP_FORCE_HOLD,1792700584316079263,4.858711039e-06,-8.909535699e-05,4.621845986e-05,4.710864782e-06,-8.906089040e-05,4.582651822e-05,5.440919518e-06,-8.869139780e-05,4.509089015e-05,7.015427302e-01,-8.754439567e-05,8.407871596e-01,7.015425823e-01,-8.750992908e-05,8.407867677e-01,7.017345305e-01,-8.693800373e-05,8.296177918e-01
+53,2.983333333e+00,UP_FORCE_HOLD,1792700584419127095,3.295472897e-06,-9.043898607e-05,5.058620467e-05,4.710864782e-06,-8.906089040e-05,4.582651822e-05,5.460893978e-06,-8.868871075e-05,4.518113671e-05,7.015411670e-01,-8.888802475e-05,8.407915274e-01,7.015425823e-01,-8.750992908e-05,8.407867677e-01,7.017345505e-01,-8.693531668e-05,8.296178820e-01
+54,3.050000000e+00,UP_FORCE_HOLD,1792700584549998965,1.454906856e-06,-9.296257768e-05,5.417013729e-05,4.710864782e-06,-8.906089040e-05,4.582651822e-05,5.476673144e-06,-8.868936925e-05,4.526397391e-05,7.015393264e-01,-9.141161635e-05,8.407951113e-01,7.015425823e-01,-8.750992908e-05,8.407867677e-01,7.017345663e-01,-8.693597517e-05,8.296179648e-01
+55,3.100000000e+00,UP_SETTLE,1792700584649993861,3.934217732e-06,-9.293221339e-05,6.288164604e-05,4.710864782e-06,-8.906089040e-05,4.582651822e-05,5.486768679e-06,-8.868996311e-05,4.531666152e-05,7.015418057e-01,-9.138125207e-05,8.408038228e-01,7.015425823e-01,-8.750992908e-05,8.407867677e-01,7.017345764e-01,-8.693656904e-05,8.296180175e-01
+56,3.133333333e+00,UP_SETTLE,1792700584715994772,8.533677497e-07,-9.976584465e-05,6.215310212e-05,4.710864782e-06,-8.906089040e-05,4.582651822e-05,5.493042522e-06,-8.869033701e-05,4.534882406e-05,7.015387248e-01,-9.821488333e-05,8.408030943e-01,7.015425823e-01,-8.750992908e-05,8.407867677e-01,7.017345827e-01,-8.693694293e-05,8.296180497e-01
+57,3.166666667e+00,UP_SETTLE,1792700584783986285,1.495649091e-06,-1.029203633e-04,6.428341380e-05,1.472152569e-06,-1.028805609e-04,6.400152978e-05,2.275677692e-06,-1.024206638e-04,6.315640543e-05,7.015393671e-01,-1.013694020e-04,8.408052246e-01,7.015393436e-01,-1.013295996e-04,8.408049427e-01,7.017313653e-01,-1.006672697e-04,8.296358573e-01
+58,3.200000000e+00,UP_SETTLE,1792700584849980905,-2.128506518e-07,-1.004047222e-04,6.328778605e-05,1.472152569e-06,-1.028805609e-04,6.400152978e-05,2.273160915e-06,-1.024417559e-04,6.322428096e-05,7.015376586e-01,-9.885376083e-05,8.408042290e-01,7.015393436e-01,-1.013295996e-04,8.408049427e-01,7.017313628e-01,-1.006883618e-04,8.296359251e-01
+59,3.266666667e+00,UP_SETTLE,1792700584982035169,1.305755493e-06,-9.783405204e-05,7.038292308e-05,1.472152569e-06,-1.028805609e-04,6.400152978e-05,2.277505537e-06,-1.024540788e-04,6.332118003e-05,7.015391772e-01,-9.628309072e-05,8.408113241e-01,7.015393436e-01,-1.013295996e-04,8.408049427e-01,7.017313671e-01,-1.007006848e-04,8.296360220e-01

Fixed/s2/cylinder_PLA_12.5/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,-1.9999e-02,7.0500e-04,2.4524e+00,-3.6852e-02,3.5342e-02,-2.0051e-05,4.7906e-04,5.7317e-06,1.5450e-04,-6.0350e-07,3.2332e-05,-2.9331e-07,5.0339e-04,3.2339e-05
+1,6.6667e-02,XJC_ZERO_HOLD_BEFORE_UP,1.3272e-05,-1.8135e-02,7.2615e-04,2.4530e+00,-3.6855e-02,3.5468e-02,-2.1189e-05,2.3429e-03,2.6877e-05,7.5102e-04,-2.7902e-06,1.5905e-04,-1.4309e-06,2.4605e-03,1.5908e-04
+2,1.3333e-01,WAIT_W2,2.8803e-05,-1.6224e-02,7.4970e-04,2.4536e+00,-3.6857e-02,3.5600e-02,-2.2434e-05,4.2536e-03,5.0434e-05,1.3652e-03,-5.0217e-06,2.9074e-04,-2.6762e-06,4.4676e-03,2.9080e-04
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+6,4.0000e-01,WAIT_W2,8.1962e-05,-9.7979e-03,8.0022e-04,2.4555e+00,-3.6861e-02,3.6055e-02,-2.7322e-05,1.0680e-02,1.0095e-04,3.2601e-03,-9.1754e-06,7.4614e-04,-7.5645e-06,1.1167e-02,7.4623e-04
+7,4.6667e-01,WAIT_W2,9.5822e-05,-8.4711e-03,8.0447e-04,2.4559e+00,-3.6861e-02,3.6150e-02,-2.8350e-05,1.2006e-02,1.0520e-04,3.6309e-03,-9.2909e-06,8.4123e-04,-8.5918e-06,1.2544e-02,8.4132e-04
+8,4.8333e-01,WAIT_W2,1.0390e-04,-8.1497e-03,8.0644e-04,2.4560e+00,-3.6861e-02,3.6174e-02,-2.8603e-05,1.2328e-02,1.0717e-04,3.7222e-03,-9.3617e-06,8.6431e-04,-8.8447e-06,1.2878e-02,8.6441e-04
+9,5.3333e-01,WAIT_W2,1.1896e-04,-7.2295e-03,8.1093e-04,2.4562e+00,-3.6861e-02,3.6240e-02,-2.9328e-05,1.3248e-02,1.1166e-04,3.9802e-03,-9.4511e-06,9.3048e-04,-9.5703e-06,1.3833e-02,9.3058e-04
+10,5.6667e-01,WAIT_W2,1.3937e-04,-4.5540e-03,4.4704e-03,2.4569e+00,-3.7102e-02,3.6447e-02,-3.2497e-05,1.5924e-02,3.7712e-03,4.6399e-03,-2.5020e-04,1.1377e-03,-1.2739e-05,1.7009e-02,1.1650e-03
+11,6.0000e-01,WAIT_W2,1.4881e-04,-4.3685e-03,1.1546e-02,2.4566e+00,-3.7617e-02,3.6463e-02,-2.3212e-05,1.6109e-02,1.0847e-02,4.3375e-03,-7.6481e-04,1.1538e-03,-3.4540e-06,1.9899e-02,1.3843e-03
+12,6.6667e-01,WAIT_W2,1.6311e-04,-3.7731e-03,1.3853e-02,2.4568e+00,-3.7784e-02,3.6506e-02,-1.6048e-05,1.6704e-02,1.3154e-02,4.5068e-03,-9.3246e-04,1.1963e-03,3.7098e-06,2.1734e-02,1.5168e-03
+13,7.5000e-01,WAIT_W2,1.7564e-04,-2.9686e-03,1.3951e-02,2.4570e+00,-3.7790e-02,3.6559e-02,-1.5135e-05,1.7509e-02,1.3252e-02,4.7817e-03,-9.3855e-04,1.2503e-03,4.6227e-06,2.2473e-02,1.5634e-03
+14,8.3333e-01,WAIT_W2,1.8683e-04,-2.0763e-03,1.3880e-02,2.4574e+00,-3.7785e-02,3.6620e-02,-1.4565e-05,1.8401e-02,1.3181e-02,5.0964e-03,-9.3341e-04,1.3109e-03,5.1933e-06,2.3202e-02,1.6093e-03
+15,9.1667e-01,WAIT_W2,2.0142e-04,-1.2147e-03,1.3822e-02,2.4577e+00,-3.7780e-02,3.6680e-02,-1.4313e-05,1.9263e-02,1.3123e-02,5.3945e-03,-9.2871e-04,1.3704e-03,5.4449e-06,2.3924e-02,1.6554e-03
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+24,1.3833e+00,WAIT_W2,3.2255e-04,3.3253e-03,2.2168e-03,2.4596e+00,-3.6953e-02,3.7005e-02,-4.3600e-05,2.3803e-02,1.5175e-03,7.3783e-03,-1.0111e-04,1.6960e-03,-2.3842e-05,2.4966e-02,1.6992e-03
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+33,1.9000e+00,UP_FORCE_RAMP,4.4425e-04,5.7097e-03,2.6020e-02,2.4575e+00,-3.8645e-02,3.7180e-02,5.8397e-06,2.6187e-02,2.5321e-02,5.2681e-03,-1.7931e-03,1.8705e-03,2.5598e-05,3.6806e-02,2.5913e-03
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+41,2.3667e+00,UP_FORCE_RAMP,5.5491e-04,7.1094e-03,3.6466e-02,2.4603e+00,-3.9364e-02,3.7276e-02,1.3712e-05,2.7587e-02,3.5767e-02,8.0724e-03,-2.5125e-03,1.9672e-03,3.3470e-05,4.5886e-02,3.1912e-03
+42,2.4167e+00,UP_FORCE_RAMP,5.6653e-04,7.1332e-03,4.6135e-02,2.4596e+00,-4.0044e-02,3.7278e-02,2.2840e-05,2.7611e-02,4.5435e-02,7.3786e-03,-3.1927e-03,1.9684e-03,4.2598e-05,5.3676e-02,3.7510e-03
+43,2.5000e+00,UP_FORCE_RAMP,5.8108e-04,7.1539e-03,4.9271e-02,2.4597e+00,-4.0278e-02,3.7279e-02,3.4041e-05,2.7632e-02,4.8572e-02,7.4232e-03,-3.4262e-03,1.9700e-03,5.3798e-05,5.6372e-02,3.9526e-03
+44,2.5500e+00,UP_FORCE_RAMP,5.9502e-04,7.1958e-03,4.8999e-02,2.4598e+00,-4.0258e-02,3.7282e-02,3.3849e-05,2.7673e-02,4.8300e-02,7.5302e-03,-3.4060e-03,1.9728e-03,5.3607e-05,5.6173e-02,3.9365e-03
+45,2.6333e+00,UP_FORCE_RAMP,6.0778e-04,7.3433e-03,4.8158e-02,2.4601e+00,-4.0187e-02,3.7292e-02,3.1310e-05,2.7821e-02,4.7458e-02,7.8464e-03,-3.3354e-03,1.9830e-03,5.1068e-05,5.5568e-02,3.8807e-03
+46,2.6833e+00,UP_FORCE_RAMP,6.2210e-04,7.3716e-03,4.8197e-02,2.4601e+00,-4.0189e-02,3.7294e-02,3.0697e-05,2.7849e-02,4.7497e-02,7.8459e-03,-3.3374e-03,1.9849e-03,5.0455e-05,5.5616e-02,3.8833e-03
+47,2.7333e+00,UP_FORCE_RAMP,6.3692e-04,7.5254e-03,4.8081e-02,2.4603e+00,-4.0176e-02,3.7305e-02,2.2447e-05,2.8003e-02,4.7382e-02,7.9942e-03,-3.3243e-03,1.9957e-03,4.2205e-05,5.5616e-02,3.8775e-03
+48,2.8000e+00,UP_FORCE_RAMP,6.4999e-04,7.5227e-03,4.8042e-02,2.4603e+00,-4.0174e-02,3.7305e-02,2.1939e-05,2.8000e-02,4.7343e-02,8.0080e-03,-3.3218e-03,1.9956e-03,4.1697e-05,5.5583e-02,3.8754e-03
+49,2.8333e+00,UP_FORCE_RAMP,6.6079e-04,7.3985e-03,4.8464e-02,2.4578e+00,-4.0202e-02,3.7297e-02,2.1705e-05,2.7876e-02,4.7765e-02,5.5549e-03,-3.3501e-03,1.9874e-03,4.1462e-05,5.5583e-02,3.8955e-03
+50,2.8667e+00,UP_FORCE_RAMP,6.7741e-04,6.2574e-03,5.0421e-02,2.4357e+00,-4.0333e-02,3.7228e-02,2.1436e-05,2.6735e-02,4.9721e-02,-1.6534e-02,-3.4810e-03,1.9184e-03,4.1194e-05,5.8825e-02,3.9748e-03
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+54,3.0500e+00,UP_FORCE_HOLD,7.3091e-04,2.6570e-03,4.8361e-02,2.4226e+00,-4.0208e-02,3.6991e-02,1.8550e-05,2.3135e-02,4.7662e-02,-2.9649e-02,-3.3566e-03,1.6821e-03,3.8307e-05,6.0712e-02,3.7547e-03
+55,3.1000e+00,UP_SETTLE,7.4427e-04,3.1100e-03,4.8343e-02,2.4252e+00,-4.0208e-02,3.7019e-02,1.7690e-05,2.3588e-02,4.7644e-02,-2.7069e-02,-3.3560e-03,1.7098e-03,3.7448e-05,5.9658e-02,3.7666e-03
+56,3.1333e+00,UP_SETTLE,7.5334e-04,3.3873e-03,4.8328e-02,2.4269e+00,-4.0207e-02,3.7036e-02,1.7072e-05,2.3865e-02,4.7629e-02,-2.5360e-02,-3.3552e-03,1.7268e-03,3.6830e-05,5.9002e-02,3.7737e-03
+57,3.1667e+00,UP_SETTLE,7.6969e-04,3.6509e-03,4.8314e-02,2.4285e+00,-4.0206e-02,3.7052e-02,1.6419e-05,2.4129e-02,4.7615e-02,-2.3708e-02,-3.3545e-03,1.7432e-03,3.6177e-05,5.8407e-02,3.7806e-03
+58,3.2000e+00,UP_SETTLE,7.8316e-04,4.9867e-03,5.2066e-02,2.4227e+00,-4.0453e-02,3.7141e-02,1.6519e-05,2.5464e-02,5.1366e-02,-2.9595e-02,-3.6013e-03,1.8319e-03,3.6277e-05,6.4520e-02,4.0406e-03
+59,3.2667e+00,UP_SETTLE,7.9705e-04,6.1160e-03,5.4202e-02,2.4193e+00,-4.0600e-02,3.7218e-02,1.6639e-05,2.6594e-02,5.3502e-02,-3.2923e-02,-3.7478e-03,1.9090e-03,3.6397e-05,6.8218e-02,4.2061e-03

Fixed/s2/cylinder_PLA_12.5/press_depth_06/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03fe05c31b4a8aaf80a89cc71563adc804824ba4fd638674a80c9c088938cd2c
+size 63191040

Fixed/s2/cylinder_PLA_12.5/press_depth_06/down/franka_data.csv

@@ -0,0 +1,61 @@
+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
+2954,1792700677213691332,8504200999999,1792700677212286705,XJC_ZERO_HOLD_BEFORE_DOWN,6,0.0395,0.039499156177043915,0.6760566171888994,-0.004563853544069573,0.09087116418425255,0.9999999918384622,6.338541293363102e-05,-5.967168898657195e-05,1.3693750697162132e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.06459846329220231,0.0756887632250185,0.01295613936309195,0.005278665883882857,-0.004710134246915382,-1.5758403809336928e-05,0.4163648070560427,0.21315687475279033,-0.1405821957896419,0.013049516510887734,-0.02757183343784657,-0.0011488298653269996,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,-0.2841504231138028,0.3943464747138862,1.6101729265037603,-0.2255026870364853,-0.9836835216551103,0.20276923256152346,1.1735798988746513,0.01295613936309195,-0.436593027629109,0.0,0.0,0,0,0.0,0.0
+3110,1792700678505597899,8505493000000,1792700678504287345,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760560371730235,-0.004575932321195506,0.09086936341460097,0.9999999919940422,6.009248207669231e-05,-5.923378888184184e-05,1.8303875119558698e-05,0.6761,-0.00453,0.09097246370511938,1.0,0.0,0.0,0.0,0.12520005406035528,0.1491502894654821,0.022921383843914594,0.011504997660680298,-0.008883968232806606,-1.026528661521157e-05,0.47696639782419564,0.2866184009932539,-0.13061695130881926,0.019275848287685176,-0.03174566742373779,-0.0011433367481328742,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,-0.20251579507476772,0.46469375714069266,1.5053540530307483,-0.21845223465618838,-0.9008247348275328,0.2510191780102476,1.1735798988746513,0.022921383843914594,-0.331774154156097,-0.331774154156097,0.08399999999999792,0,0,-5.249999001785544e-05,-9.999999025923074e-05
+3242,1792700679605600198,8506593000000,1792700679600287285,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760439460355079,-0.004588901114054345,0.0908022878356569,0.9999999897164004,5.6653032809780095e-05,-8.72147369836291e-05,3.455556668497637e-05,0.6761,-0.00453,0.09088511247820609,1.0,0.0,0.0,0.0,0.15459053520091254,0.146097224693837,0.28414017473039266,0.011507684466872132,-0.010968782276413118,-0.00025001126577835274,0.5063568789647529,0.28356533622160884,0.1306018395776588,0.01927853509387701,-0.033830481467344305,-0.0013830827272960154,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.136517411165734,0.4901591824526951,1.1408546520968248,-0.13880108084501444,-0.5873786986135578,0.27612630854230147,1.1735798988746513,0.28414017473039266,0.03272524677782651,0.03272524677782651,0.17199999999999435,0,0,-9.998828327392596e-05,-9.941916320611028e-05
+3369,1792700680664492195,8507652000000,1792700680660287180,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760474494107057,-0.004595543528961229,0.09075372583800222,0.99999998972357,5.966654297496718e-05,-7.586808208554919e-05,5.1765455474026716e-05,0.6761,-0.00453,0.09080717570511275,1.0,0.0,0.0,0.0,0.14283434841871423,0.15500298047714484,0.5149774935870186,0.012448833778945703,-0.010027789609911006,0.0006170845023568886,0.4946006921825546,0.29247109200491667,0.36143915843428476,0.02021968440595058,-0.03288948880084219,-0.0005159869591607741,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.1466394255441545,0.41702718026446584,0.7614435986711457,-0.02581527097463499,-0.37010260657773236,0.22024692760894088,1.1735798988746513,0.5149774935870186,0.41213630020350556,0.41213630020350556,0.25671999999999323,0,0,-4.709497983671073e-05,9.999999025923074e-05
+3501,1792700681764413606,8508752000000,1792700681764287102,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760489997712954,-0.004595658077563125,0.09073392312430918,0.9999999895603726,6.252275566340253e-05,-7.027737786898859e-05,5.8941618369374135e-05,0.6761,-0.00453,0.0907842989541115,1.0,0.0,0.0,0.0,0.13198390787551217,0.16313232086820528,0.5822749361733047,0.013295392030725689,-0.0090459404089192,0.0005610189593987749,0.48375025163935254,0.3006004323959771,0.4287366010205709,0.021066242657730567,-0.031907639599850386,-0.0005720525021188878,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.1315773389021208,0.4221654854998701,0.7178630280169239,-0.008979639355088538,-0.3534499640711879,0.2070023047897484,1.1735798988746513,0.5822749361733047,0.4557168708577274,0.4557168708577274,0.3447200000000202,0,0,-1.7161239579399634e-06,1.7334585433737004e-05
+3649,1792700682997378151,8509985000000,1792700682992287869,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760491379941121,-0.004599383790914259,0.09073055908178006,0.9999999894294037,6.136251003480581e-05,-7.194775980895944e-05,6.035079947168791e-05,0.6761,-0.00453,0.09078238281524299,1.0,0.0,0.0,0.0,0.12671201100495494,0.17296031747599483,0.575555802485755,0.013436130715961277,-0.009042166037873625,4.6260355215768916e-05,0.4784783547687953,0.31042842900376666,0.42201746733302115,0.021206981342966155,-0.03190386522880481,-0.0010868111063018937,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.11168582109567246,0.5262038709038374,0.6179963934702488,-0.026024627684343268,-0.29707083990809896,0.27953453636877784,1.1735798988746513,0.575555802485755,0.5555835054044025,0.5555835054044025,0.4433600000000504,0,0,-3.986387346471831e-06,4.026653885325082e-05
+3785,1792700684130370357,8511118000000,1792700684124287409,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760491733270996,-0.004601218898507696,0.09072425128404121,0.9999999891978341,6.252086148607156e-05,-7.19105531382805e-05,6.298579483954441e-05,0.6761,-0.00453,0.09076921199561536,1.0,0.0,0.0,0.0,0.1250870586647398,0.17072609625616925,0.5913980090119284,0.013435381059675407,-0.009046556224060275,0.00014478879842632687,0.47685340242858015,0.3081942077839411,0.43785967385919455,0.021206231686680285,-0.03190825541499146,-0.0009882826630913358,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.12052514143405184,0.5116635525964478,0.6232028359953615,-0.020755418795751587,-0.2986734972587271,0.2669715749543965,1.1735798988746513,0.5913980090119284,0.5503770628792898,0.5503770628792898,0.5340000000000545,0,0,-2.110777192335244e-05,9.485579963020569e-05
+3912,1792700685189354684,8512177000000,1792700685184287153,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760515456734757,-0.004598573113595705,0.09071211510777992,0.9999999887843088,7.010217790122228e-05,-6.676872286641226e-05,6.709596870464357e-05,0.6761,-0.00453,0.09074055959961845,1.0,0.0,0.0,0.0,0.12429056649076925,0.1655150258930007,0.6560197781286633,0.013396698798831642,-0.00827436893611232,0.0004054879384099713,0.4760569102546096,0.30298313742077254,0.5024814429759294,0.02116754942583652,-0.031136068127043507,-0.0007275835231076913,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.19772537443039984,0.4467218804359618,0.5940419310376991,0.020835506475991864,-0.2673933621801145,0.2238313137527717,1.1735798988746513,0.6560197781286633,0.5795379678369522,0.5795379678369522,0.6187200000000217,0,0,-3.1652749526538126e-05,3.102260566490285e-06
+4060,1792700686422350176,8513410000000,1792700686420286440,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760505407045958,-0.004605246040203965,0.09068788672787957,0.9999999884613066,6.656318772600693e-05,-6.753578971565703e-05,7.435395281209211e-05,0.6761,-0.00453,0.09071209117989443,1.0,0.0,0.0,0.0,0.11480528277353458,0.15944597968991958,0.7376233280033906,0.013373824306601025,-0.00806758382700283,0.0002676873044369037,0.46657162653737494,0.2969140912176914,0.5840849928506567,0.021144674933605903,-0.030929283017934017,-0.000865384157080759,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.21756787604654124,0.27232118283897,0.4967364892361922,0.09990142032432792,-0.2059927374101182,0.10254257515239477,1.1735798988746513,0.7376233280033906,0.6768434096384591,0.6768434096384591,0.7173599999999835,0,0,-1.9124718610179177e-05,-6.877038802167163e-05
+4220,1792700687755244627,8514743000000,1792700687748287100,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760538928435071,-0.00460678295392221,0.09067210002413117,0.9999999884489872,6.790640217990824e-05,-5.897886359342958e-05,8.034366099502515e-05,0.6761,-0.00453,0.09068087259589638,1.0,0.0,0.0,0.0,0.09594268028640002,0.16343615190877459,0.7961623644782407,0.013343236453154078,-0.007062591494539073,-0.00038301584567765985,0.4477090240502404,0.3009042634365464,0.6426240293255069,0.021114087080158956,-0.02992429068547026,-0.0015160873071953225,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.2214071374067384,0.43156055492368056,0.3595333417856503,0.07352320343539007,-0.12737688186666263,0.19794170769060437,1.1735798988746513,0.7961623644782407,0.814046557089001,0.814046557089001,0.8239999999999421,0,0,-3.0469396079786708e-05,8.670901083108191e-05
+4383,1792700689114252132,8516102000000,1792700689112286666,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760574784124783,-0.004612322285016739,0.09064270846923964,0.999999988095644,6.786885940128297e-05,-4.982309466860852e-05,9.034961657438977e-05,0.6761,-0.00453,0.0906374986883497,1.0,0.0,0.0,0.0,0.076193913403315,0.16806566630168895,0.8970665678806348,0.014281382530781213,-0.005081105006672335,0.0004022237157885694,0.42796025716715536,0.3055337778294608,0.7435282327279009,0.02205223315778609,-0.027942804197603522,-0.0007308477457290932,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.2693301849568839,0.3922567159005423,0.30259709319609074,0.11620076011557268,-0.0888291899781513,0.17188737090106299,1.1735798988746513,0.8970665678806348,0.8709828056785606,0.8709828056785606,0.9327199999999,0,0,-2.7906377690649304e-05,-9.999739511291068e-05
+4531,1792700690347125105,8517334999999,1792700690344286916,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760610038633573,-0.004615092003958174,0.0906209915469706,0.9999999883578704,6.371890340302379e-05,-4.315941370781428e-05,9.38311770750168e-05,0.6761,-0.00453,0.0906090138344575,1.0,0.0,0.0,0.0,0.06657800295711075,0.17015963012099256,0.9550713863152036,0.014243152090731098,-0.004080315182713193,0.00036993947344437486,0.4183443467209511,0.3076277416487644,0.8015330511624698,0.022014002717735976,-0.02694201437364438,-0.0007631319880732878,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.2773281172566868,0.35554071441539564,0.2127026928330681,0.14160206300544262,-0.03537179843574737,0.14398780523917676,1.1735798988746513,0.9550713863152036,0.9608772060415832,0.9608772060415832,1.0313599999999052,0,0,-2.2408952259105004e-05,-9.896968941459078e-05
+4663,1792700691447091956,8518434999999,1792700691440296588,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760671415471272,-0.004610548077508088,0.09060008339188147,0.9999999884823614,6.68500916071335e-05,-3.4498230650988456e-05,9.390995091663515e-05,0.6761,-0.00453,0.09057622509401979,1.0,0.0,0.0,0.0,0.0459722023000273,0.1845464445781631,0.9976430354543018,0.015229353209315715,-0.003095399997023209,0.00036024582327604015,0.39773854606386766,0.32201455610593493,0.8441047003015679,0.023000203836320593,-0.025957099187954396,-0.0007728256382416225,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.4058988298206296,0.36179991649819554,0.15148398163416704,0.15002665166307688,0.032350693888612676,0.15164888741400748,1.1735798988746513,0.9976430354543018,1.0220959172404842,1.0220959172404842,1.1193599999999932,0,0,-3.921673757542455e-05,-9.999999025923074e-05
+4739,1792700692080062208,8519067999999,1792700692076287526,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760934597857294,-0.004608703717826556,0.09059573637709224,0.9999999897132518,5.9360594193776756e-05,-4.790310391503897e-06,9.20311553809495e-05,0.6761,-0.00453,0.09054520632320447,1.0,0.0,0.0,0.0,0.0020621318340794947,0.25890575991983755,1.0083429957417795,0.02101958697575055,0.0008470711079964985,0.00047724724615604247,0.35382847559791986,0.3963738714476094,0.8548046605890458,0.028790437602755427,-0.022014628082934688,-0.0006558242153616202,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.5537901044377025,0.30493068550153357,0.04418737425125358,0.16311584457155986,0.1207755957306687,0.11326415646333328,1.1735798988746513,1.0083429957417795,1.1293925246233978,1.1293925246233978,1.170000000000044,0,0,-5.475285665548923e-05,9.999393954374653e-05
+4858,1792700693072111014,8520059999999,1792700693064296670,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760966312063457,-0.004609257703372443,0.09055782861958378,0.9999999896012022,5.7080964304366144e-05,3.52740093079732e-06,9.470892832804456e-05,0.6761,-0.00453,0.0904978353272983,1.0,0.0,0.0,0.0,-0.02065303287806458,0.2624850559912506,1.1196302051960292,0.02015218251908654,0.002723113987648216,0.00039842596195626724,0.3311133108857758,0.39995316751902243,0.9660918700432953,0.027923033146091417,-0.02013858520328297,-0.0007346454995613954,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.5463475263956329,0.336447186837659,-0.020883041201182995,0.14882734935605044,0.15837205540530297,0.1327543651044213,1.1735798988746513,1.1196302051960292,1.1944629400758342,1.1944629400758342,1.2493600000001233,0,0,-3.6957209395743785e-05,-7.030746003724708e-05
+5018,1792700694405059795,8521393000000,1792700694404286964,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760971887626032,-0.0046157851925021235,0.09052350903548112,0.9999999894264362,4.8308934311969784e-05,3.823355486390582e-06,0.0001012008926886168,0.6761,-0.00453,0.09045823402968918,1.0,0.0,0.0,0.0,-0.016649252175667262,0.24451753430487633,1.1697058190225538,0.0201644225642284,0.0018376062307029276,0.0003492797691954327,0.3351170915881731,0.38198564583264816,1.01616748386982,0.02793527319123328,-0.02102409296022826,-0.00078379169232223,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.5423130965623556,0.2940676178349637,-0.14021505970880466,0.15688730755108934,0.23405795350277472,0.10064511660574949,1.1735798988746513,1.1697058190225538,1.3137949585834559,1.3137949585834559,1.35600000000023,0,0,-3.18293444082922e-05,-1.954231035481872e-05
+5162,1792700695605014129,8522593000000,1792700695604286763,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761000679816395,-0.004615772077115964,0.09048734450342713,0.9999999892461527,4.5965758939763e-05,1.1239785391095784e-05,0.0001034957726754229,0.6761,-0.00453,0.09041202100475396,1.0,0.0,0.0,0.0,-0.022101972534388947,0.2558128213647144,1.20995298554993,0.020131907349854334,0.0028406900174725858,0.00033236375664915145,0.3296643712294514,0.3932809328924862,1.0564146503971963,0.027902757976859212,-0.0200210091734586,-0.0008007077048685112,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.5397960689586644,0.28426986429971723,-0.17568015537094547,0.16741026390579294,0.2524082288434696,0.09690385760004001,1.1735798988746513,1.20995298554993,1.3492600542455968,1.3492600542455968,1.452000000000326,0,0,-4.419993144685742e-05,-9.999999025923074e-05
+5314,1792700696871914777,8523860000000,1792700696868296713,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761009615819262,-0.004618639373730158,0.09042922842444409,0.9999999886003701,4.363766843027259e-05,1.1939363064512926e-05,0.00011043246597973412,0.6761,-0.00453,0.09034594276075632,1.0,0.0,0.0,0.0,-0.03147655701245283,0.24812357050331352,1.260016398543145,0.020120069879367725,0.0028802184978491477,0.0002911506537049889,0.32028978675138753,0.38559168203108535,1.1064780633904112,0.027890920506372603,-0.01998148069308204,-0.0008419208078126738,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.6317339589472923,0.42761484843977154,-0.20889598498974454,0.1283312827078577,0.29403106204944285,0.19552302838058938,1.1735798988746513,1.260016398543145,1.3824758838643958,1.3824758838643958,1.5533600000004273,0,0,-5.865599783247267e-05,-9.9505330390609e-05
+5414,1792700697704842884,8524692999999,1792700697704286875,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761040028412675,-0.004623124473162187,0.09038275359948324,0.9999999875162794,4.347542432414894e-05,1.3635565539652283e-05,0.00011972578779195474,0.6761,-0.00453,0.09029355399826816,1.0,0.0,0.0,0.0,-0.04746959276196355,0.24600742394964598,1.299612839245083,0.019042721365028204,0.004867752848554792,0.00027645544265621734,0.3042967510018768,0.3834755354774178,1.146074504092349,0.026813571992033082,-0.017993946342376395,-0.0008566160188614453,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.6702638085610031,0.29798321555121415,-0.41629740369357504,0.15386740846048283,0.4305062227297264,0.10807530273200358,1.1735798988746513,1.299612839245083,1.5898773025682265,1.5898773025682265,1.620000000000494,0,0,-6.722642136439282e-05,9.843793421915876e-05
+5541,1792700698763906793,8525752000000,1792700698760286676,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761051246723512,-0.004627432973321316,0.09031480589938112,0.9999999857998368,4.667074962316625e-05,1.603502543748472e-05,0.00013193903786344377,0.6761,-0.00453,0.09021722685739536,1.0,0.0,0.0,0.0,-0.0595898263238131,0.2375161257368626,1.349248089378973,0.019000937036312098,0.005871133440814521,0.00025064143631335504,0.29217651744002726,0.3749842372646344,1.1957097542262392,0.026771787663316976,-0.016990565750116666,-0.0008824300252043076,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.7162002830900464,0.28935876283411255,-0.4234984699576891,0.15325437222722013,0.4444695257646206,0.10364850590180948,1.1735798988746513,1.349248089378973,1.5970783688323404,1.5970783688323404,1.7047200000005787,0,0,-7.682074245759918e-05,-9.082262305971085e-05
+5661,1792700699764281669,8526752000000,1792700699756296426,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761089051218948,-0.0046320852023714115,0.09024670256325759,0.9999999821337893,7.50449137671629e-05,2.054692313035549e-05,0.00014533193271957105,0.6761,-0.00453,0.09013861613186339,1.0,0.0,0.0,0.0,-0.0764274178790263,0.23901676481892148,1.4095603399997727,0.018962394753771254,0.006883492007947339,0.00020783228510497416,0.27533892588481407,0.3764848763466933,1.256022004847039,0.026733245380776132,-0.015978207182983848,-0.0009252391764126885,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.7547104043795899,0.2695247089177725,-0.44786605243321187,0.16692598929471147,0.46109045682625155,0.10162802684517394,1.1735798988746513,1.4095603399997727,1.6214459513078632,1.6214459513078632,1.7847200000006587,0,0,-7.823385891478208e-05,-9.999980984798924e-05
+5761,1792700700596831025,8527584999999,1792700700596287058,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761106764456507,-0.004631716908244586,0.0901844371866375,0.9999999783693972,9.625345499620311e-05,2.390126805773634e-05,0.0001576961354819721,0.6761,-0.00453,0.0900720260170028,1.0,0.0,0.0,0.0,-0.07790390853863244,0.22841487805504906,1.4025739667663366,0.017951571670269343,0.0068990186308844695,-0.0008118327771401395,0.2738624352252079,0.3658829895828209,1.2490356316136026,0.02572242229727422,-0.015962680560046717,-0.0019449042386578022,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.7144579663647449,0.35891173521851605,-0.516727020753247,0.1389119210762247,0.48670369745174485,0.1601443319413871,1.1735798988746513,1.4025739667663366,1.6903069196278984,1.6903069196278984,1.8513600000007253,0,0,-8.712363466364804e-05,-9.994089863874506e-05
+5872,1792700701521813661,8528510000000,1792700701520296283,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761124197670628,-0.0046384089005232715,0.09009906604678518,0.9999999587307178,0.00021619418937101833,2.418018844393218e-05,0.00016326915723177636,0.6761,-0.00453,0.08997917754609445,1.0,0.0,0.0,0.0,-0.07794376138343717,0.22212970998057874,1.4126541024378043,0.017947587680486838,0.0068965995341498144,-0.0006922703564956282,0.2738225823804032,0.35959782150835057,1.2591157672850706,0.025718438307491716,-0.015965099656781372,-0.0018253418180132909,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.7802619847095167,0.20181835248033517,-0.47679597876535973,0.19474327713095632,0.4691134310973067,0.06697115632993456,1.1735798988746513,1.4126541024378043,1.650375877640011,1.650375877640011,1.9253600000007993,0,0,-0.00011466309695759425,-9.998512714848857e-05
+5932,1792700702021757499,8529010000000,1792700702020286907,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761223069837335,-0.004617280355672698,0.09004295966994125,0.9999999938228074,2.470072660399656e-05,5.410812372888354e-05,1.6106973288774555e-05,0.6761,-0.00453,0.08991600243351615,1.0,0.0,0.0,0.0,-0.03454062878854375,0.307208688456314,1.4622511182559554,0.024119444919041975,0.003809857219480954,0.0001900160858608809,0.3172257149752966,0.4446767999840858,1.3087127831032215,0.03189029554604685,-0.019051841971450233,-0.0009430553756567818,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.803659884827555,0.4486690467871859,-0.5103516336679003,-0.01904346157858689,0.5202294539799953,0.2323694870938635,1.1735798988746513,1.4622511182559554,1.6839315325425517,1.6839315325425517,1.9653600000008393,0,0,-0.00013883457685856383,-9.999999025923074e-05
+6024,1792700702788772843,8529777000000,1792700702788288536,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761226829694884,-0.004624768872974956,0.08994062443962815,0.9999999928628062,3.100596193143826e-05,5.2215328673870205e-05,4.5049327715263484e-05,0.6761,-0.00453,0.08980359533168854,1.0,0.0,0.0,0.0,-0.06256976300338524,0.2841897020906814,1.4808849047478185,0.02203355200789432,0.006390707671461816,-0.000703097527021902,0.2891965807604551,0.4216578136184532,1.3273465695950848,0.029804402634899196,-0.01647099151946937,-0.0018361689885395647,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.8468205468518117,0.37517525728030976,-0.6946652376400023,0.10397300990399286,0.6194185198268493,0.19381858237928373,1.1735798988746513,1.4808849047478185,1.8682451365146537,1.8682451365146537,2.0267200000009007,0,0,-0.00014422475954204016,9.642913831176542e-05
+6116,1792700703554644343,8530543000000,1792700703548287521,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761202835983198,-0.004629203854928594,0.0898301967014575,0.9999999914094346,4.137820330850012e-05,4.285258913307717e-05,7.124250953339659e-05,0.6761,-0.00453,0.0896960955662007,1.0,0.0,0.0,0.0,-0.060476433495597226,0.2635297174090468,1.5067058180556927,0.020002185168861555,0.005822634228843236,-0.0007565661617231984,0.29128991026824314,0.4009978289368186,1.3531674829029587,0.027773035795866433,-0.01703906496208795,-0.001889637623240861,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.823519218681292,0.33365698363406515,-0.7117202967085906,0.20654602689615573,0.6021609555874459,0.157435425036524,1.1735798988746513,1.5067058180556927,1.885300195583242,1.885300195583242,2.088000000000962,0,0,-0.00013568192649557188,-9.969868960813528e-05
+6200,1792700704254617459,8531243000000,1792700704252287157,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761169527312222,-0.0046273764065402016,0.08973250439181837,0.9999999907651396,4.349082334911287e-05,3.5850821706884925e-05,8.207223694575391e-05,0.6761,-0.00453,0.08960246235911715,1.0,0.0,0.0,0.0,-0.057838764838014256,0.2535322540770112,1.4800681241865297,0.019024979206315094,0.005842850892063465,-7.098429915507838e-05,0.2939275789258261,0.391000365604783,1.3265297890337957,0.026795829833319972,-0.017018848298867722,-0.001204055760672741,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.8145253790747895,0.23550862862546726,-0.7358992905392866,0.2374617624481667,0.6106900447768775,0.09010954204211219,1.1735798988746513,1.4800681241865297,1.909479189413938,1.909479189413938,2.144000000001018,0,0,-0.00013736198225674923,-9.999987923692828e-05
+6291,1792700705013662596,8532002000000,1792700705012287400,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761188403309881,-0.004633043191226487,0.08962481334682754,0.9999999900093086,3.282936983502229e-05,3.9582409199418925e-05,9.370012062129271e-05,0.6761,-0.00453,0.08948997024299368,1.0,0.0,0.0,0.0,-0.05995869372874485,0.24571675319280323,1.5106439816536712,0.01897972023398474,0.005840854265538022,-0.0008237518086611367,0.2918076500350955,0.38318486472057506,1.3571056465009372,0.026750570860989618,-0.017020844925393165,-0.0019568232701787994,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.8494090859423888,0.38932580207763373,-0.8275575782934783,0.1852437112901699,0.6723360753682849,0.18716605739162395,1.1735798988746513,1.5106439816536712,2.00113747716813,2.00113747716813,2.2047200000010787,0,0,-0.00015635020095075713,-6.581633652123228e-05
+6375,1792700705713665914,8532701999999,1792700705708287572,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761164487585636,-0.0046358851814785156,0.08950833336874109,0.9999999893484778,2.7684072514274683e-05,3.201320658781848e-05,0.00010466448929715272,0.6761,-0.00453,0.08937501040827081,1.0,0.0,0.0,0.0,-0.06577768728130745,0.21933406711353504,1.5008635644470445,0.01693988972244801,0.0058830128343196585,-0.0009213702564120384,0.2859886564825329,0.35680217864130687,1.3473252292943108,0.02471074034945289,-0.01697868635661153,-0.002054441717929701,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.8490250834751177,0.2736724707728332,-0.839574097939748,0.2266482811779045,0.6762853423853762,0.11396007347688047,1.1735798988746513,1.5008635644470445,2.0131539968143994,2.0131539968143994,2.2607200000011347,0,0,-0.00017473333318726437,-7.624671313622428e-05
+6455,1792700706379647416,8533368000000,1792700706376287328,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761191271273475,-0.004637796486739751,0.08939283831919692,0.9999999894314859,1.2954793496869558e-05,3.529638223176047e-05,0.00010567038827232415,0.6761,-0.00453,0.08925318814539476,1.0,0.0,0.0,0.0,-0.06456813807679734,0.22238250851108515,1.5578623430312102,0.016924189077480556,0.006093466350768066,-0.0008283785015636709,0.287198205687043,0.359850620038857,1.4043240078784764,0.024695039704485434,-0.01676823284016312,-0.0019614499630813335,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.9150378553194977,0.26741577624022805,-0.8856069978475206,0.24573385388120172,0.7139360286431043,0.11390241863331921,1.1735798988746513,1.5578623430312102,2.059186896722172,2.059186896722172,2.314000000001188,0,0,-0.00018546518612136265,-8.548798754859916e-05
+6523,1792700706946613177,8533934999999,1792700706940286980,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761174122604844,-0.004637563405184227,0.0892815146550144,0.9999999909701129,-1.1848594657228706e-05,3.479127122987836e-05,9.028741186157424e-05,0.6761,-0.00453,0.08914586722672782,1.0,0.0,0.0,0.0,-0.049207978297524047,0.22084393818057968,1.5457835617093574,0.01695834863375854,0.004861499766184274,-0.0009677545164005791,0.3025583654663163,0.3583120497083515,1.3922452265566236,0.024729199260763418,-0.018000199424746913,-0.002100825977918242,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.8886312698353623,0.21880890995061436,-0.8783943773223613,0.2726211476903876,0.7018984586411802,0.08288769686797254,1.1735798988746513,1.5457835617093574,2.0519742761970123,2.0519742761970123,2.3593600000012334,0,0,-0.0001950036692635867,-9.967407041256422e-05
+6587,1792700707479540133,8534468000000,1792700707476287443,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761142134251831,-0.004635816844026395,0.0891700274023251,0.9999999911344376,-3.97229012860132e-07,2.7035078685587185e-05,9.188544997540494e-05,0.6761,-0.00453,0.08903956272922123,1.0,0.0,0.0,0.0,-0.049562098036210867,0.20790337346246685,1.5595700397099659,0.015898510337729994,0.00588431071352365,-8.942748079907958e-05,0.3022042457276295,0.3453714849902387,1.4060317045572321,0.023669360964734872,-0.016977388477407537,-0.0012224989423167422,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.8874240924588352,0.2134774180150134,-0.8516481529022057,0.2886752915343521,0.6777556538976253,0.0864298831234665,1.1735798988746513,1.5595700397099659,2.025228051776857,2.025228051776857,2.402000000001276,0,0,-0.0002028474935342458,-9.999468894428815e-05
+6651,1792700708013522195,8535002000000,1792700708012287189,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761129121357565,-0.004641663711868133,0.08905371378775778,0.9999999900485127,2.5847180975667495e-05,2.2806608980167544e-05,0.00010078502340752506,0.6761,-0.00453,0.0889266933159616,1.0,0.0,0.0,0.0,-0.06133046911605805,0.19637851564304631,1.5863017157183315,0.014878314740044994,0.005903134421301113,1.2133961914473964e-05,0.2904358746477823,0.33384662717081814,1.4327633805655975,0.022649165367049872,-0.016958564769630074,-0.0011209374996031887,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.8933559916213745,0.22622079194918662,-1.0284166702956106,0.291197146843273,0.7856028257829034,0.09673741901807731,1.1735798988746513,1.5863017157183315,2.201996569170262,2.201996569170262,2.4447200000013187,0,0,-0.0002205091756315739,5e-05
+6717,1792700708563556380,8535552000000,1792700708556287709,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.676109093573511,-0.0046463409494909525,0.08892500134678462,0.9999999899279406,1.6894414815483034e-05,1.8286272558909393e-05,0.00010472427721846864,0.6761,-0.00453,0.0888032340381457,1.0,0.0,0.0,0.0,-0.06671242504351632,0.1834955570363314,1.5580061385767743,0.014090748618544164,0.005925269846781982,-0.0010006448712747728,0.28505391872032404,0.32096366856410324,1.4044678034240405,0.021861599245549042,-0.016936429344149205,-0.0021337163327924354,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.8878818045358281,0.18942727286199446,-0.940441942683327,0.31469938190151914,0.7229766111724164,0.07192849503507773,1.1735798988746513,1.5580061385767743,2.114021841557978,2.114021841557978,2.4887200000013627,0,0,-0.0002326340228190046,-9.999999025923074e-05
+6779,1792700709079549570,8536067999999,1792700709076287142,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.676111353452283,-0.004652438137397633,0.08880426114192341,0.9999999900627626,4.625942882424991e-06,2.0964201634261538e-05,0.00010419425175746768,0.6761,-0.00453,0.08867903685674552,1.0,0.0,0.0,0.0,-0.07473143836584606,0.19723755364854606,1.6177945455034175,0.014839086436250346,0.006904924136498718,-0.00035568030202264424,0.2770349053979943,0.3347056651763179,1.4642562103506838,0.022609937063255224,-0.01595677505443247,-0.001488751763540307,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.9591746236305924,0.2106170658331445,-1.0119685989031348,0.32771352826467853,0.7817584595108276,0.08722329335906473,1.1735798988746513,1.6177945455034175,2.185548497777786,2.185548497777786,2.530000000001404,0,0,-0.000246422485787627,-9.999996250365512e-05
+6830,1792700709504506516,8536493000000,1792700709500287538,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761113474707893,-0.004648745417955783,0.08869904801661939,0.9999999902757376,3.6706436594153504e-06,1.8777067653750027e-05,0.00010259306763395715,0.6761,-0.00453,0.0885721706148711,1.0,0.0,0.0,0.0,-0.0767014117897073,0.19675895849996022,1.5883468917672703,0.014853180119685866,0.006916590042322708,-0.0007077925622965143,0.27506493197413306,0.33422707002773205,1.4348085566145363,0.022624030746690744,-0.01594510914860848,-0.001840864023814177,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,0.9671516348960831,0.1763845342441268,-1.0500317774624197,0.34812732946203223,0.8045320795126306,0.06966649159603355,1.1735798988746513,1.5883468917672703,2.223611676337071,2.223611676337071,2.564000000001438,0,0,-0.00025759691690416107,-9.999999025923074e-05
+6890,1792700710004468576,8536993000000,1792700710004287269,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6761088734061205,-0.004655623532063446,0.08856618735901614,0.999999989332396,9.993872673004624e-06,1.367871623664732e-05,0.00011176353413800343,0.6761,-0.00453,0.0884405944666647,1.0,0.0,0.0,0.0,-0.0773654043333945,0.1921605976783204,1.6040126748210053,0.013816039564430678,0.0077220619449989494,-0.0010111759951750056,0.27440093943044586,0.3296287092060922,1.4504743396682713,0.021586890191435556,-0.015139637245932237,-0.0021442474566926682,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.0102210836643402,0.1606553176661941,-1.1015832637377447,0.3613999926666435,0.8449146816573699,0.058522443351057836,1.1735798988746513,1.6040126748210053,2.275163162612396,2.275163162612396,2.604000000001478,0,0,-0.00026948744626285035,6.482804395540123e-05
+6942,1792700710438489489,8537427000000,1792700710436286822,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761100626327335,-0.0046561312629595335,0.08844983387978043,0.9999999887504967,2.0038249475638044e-05,1.7770663336837215e-05,0.00011499801325532262,0.6761,-0.00453,0.0883207278847519,1.0,0.0,0.0,0.0,-0.09186649196447977,0.19604392329456966,1.6419551693951155,0.013768391476870971,0.008946016844978243,-0.0010116744607597359,0.2598998517993606,0.3335120348223415,1.4884168342423818,0.02153924210387585,-0.013915682345952944,-0.0021447459222773985,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.0369672297197823,0.16476658006404113,-1.0520332319415846,0.3832338818877964,0.8163659857177523,0.06662275649482652,1.1735798988746513,1.6419551693951155,2.225613130816236,2.225613130816236,2.6387200000015127,0,0,-0.0002816453493440215,-9.999999025923074e-05
+6998,1792700710905405344,8537893000000,1792700710900287503,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761078296851533,-0.004661862866630586,0.08831559526516389,0.999999989099944,9.045101591918938e-06,1.489306140051402e-05,0.000113751303053596,0.6761,-0.00453,0.08818776541311962,1.0,0.0,0.0,0.0,-0.08523760082583742,0.1843693087183204,1.6073258401377015,0.01379673283264277,0.007943115241754846,-0.0005582250585443769,0.26652874293800294,0.32183742024609224,1.4537875049849678,0.021567583459647648,-0.01491858394917634,-0.0016912965200620396,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.054310766028983,0.21055233911925866,-1.0850116798150902,0.38519166022265316,0.8336419976912719,0.1003595191574452,1.1735798988746513,1.6073258401377015,2.2585915786897415,2.2585915786897415,2.67600000000155,0,0,-0.0002941017288274602,-9.999999025923074e-05
+7046,1792700711304471210,8538293000000,1792700711304287168,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761051326996315,-0.004660527627350121,0.08819103861588935,0.9999999883861646,1.4365520104697737e-05,9.575181364290682e-06,0.0001198852911327067,0.6761,-0.00453,0.08806822250420206,1.0,0.0,0.0,0.0,-0.09723690901304066,0.18889694183621497,1.6285654955001454,0.013761489698393664,0.008948418439916277,1.0207332053546693e-05,0.2545294347507997,0.3263650533639868,1.4750271603474114,0.021532340325398542,-0.01391328075101491,-0.001122864129464116,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.0855030041411258,0.09851034476593958,-1.0341635200391488,0.4290532532705373,0.8068712984153875,0.026847942077964836,1.1735798988746513,1.6285654955001454,2.2077434189138003,2.2077434189138003,2.708000000001582,0,0,-0.0003045869685872323,-9.999586855625182e-05
+7094,1792700711704425164,8538692999999,1792700711704286967,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761037243454537,-0.004664060039672626,0.08806417207206144,0.9999999880796219,1.6011559127479382e-05,6.001985653599119e-06,0.00012243866490642055,0.6761,-0.00453,0.08794357338660544,1.0,0.0,0.0,0.0,-0.10322549956393498,0.1821468201661336,1.6466283886681499,0.012950585763087837,0.008960096274694416,-2.5165711881985605e-05,0.24854084419990538,0.3196149316939054,1.493090053515416,0.020721436390092714,-0.013901602916236771,-0.0011582371733996483,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.0941130472077865,0.107761226495963,-1.1272275526759377,0.43820436565633564,0.8660577693166264,0.034120667987471626,1.1735798988746513,1.6466283886681499,2.3008074515505887,2.3008074515505887,2.740000000001614,0,0,-0.00031965264978980743,-9.991650148777893e-05
+7138,1792700712071375176,8539059999999,1792700712068287531,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761039492639874,-0.004665387218468137,0.08794379783287548,0.9999999884097097,1.3572390368549626e-05,7.233083923388646e-06,0.00011994547717293225,0.6761,-0.00453,0.08782505966624808,1.0,0.0,0.0,0.0,-0.09564043724223237,0.17867611774136233,1.627459219484766,0.012742481262244303,0.008970659897084145,-0.0005911171445461586,0.256125906521608,0.31614422926913416,1.4739208843320322,0.02051333188924918,-0.013891039293847041,-0.0017241886060638213,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.1335738452246726,0.020592309574253957,-1.0876827507884055,0.4762539132239083,0.8464981910050005,-0.01781456550857148,1.1735798988746513,1.627459219484766,2.261262649663057,2.261262649663057,2.7693600000016434,0,0,-0.0003291419432102912,-9.999999025923074e-05
+7183,1792700712446341480,8539434999999,1792700712444287297,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761009774974328,-0.004671800750777645,0.08781942142520595,0.9999999875223639,1.8754316938931544e-05,5.992446540326584e-07,0.000126673016155295,0.6761,-0.00453,0.08770039906964205,1.0,0.0,0.0,0.0,-0.10980707364429151,0.18342677046266315,1.6543790682922923,0.012916497051066053,0.009973526983216291,-0.00036964255812476005,0.24195927011954885,0.320894881990435,1.5008407331395583,0.02068734767807093,-0.012888172207714895,-0.0015027140196424227,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.1307858683383547,0.10804500200907534,-1.2015271102713108,0.46879326914586156,0.9182850576794039,0.044195480482664924,1.1735798988746513,1.6543790682922923,2.375107009145962,2.375107009145962,2.7993600000016734,0,0,-0.00033835942230922095,-1.0535054296445805e-05
+7229,1792700712829340369,8539817999999,1792700712824287186,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760996599967075,-0.004668900016986894,0.08768647101045153,0.9999999874495044,1.6146049221771557e-05,-2.1326062211117606e-06,0.00012758766702159589,0.6761,-0.00453,0.087568173307707,1.0,0.0,0.0,0.0,-0.11349303229035226,0.16939788558883456,1.6666311986647488,0.012703502912161189,0.009974269155753722,-1.8784301163451587e-05,0.2382733114734881,0.3068659971166064,1.513092863512015,0.020474353539166067,-0.012887430035177465,-0.0011518557626811143,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.136117508493816,0.04924102647983127,-1.174794870307516,0.49524561449656956,0.8976791809117675,0.004491363656788795,1.1735798988746513,1.6666311986647488,2.3483747691821675,2.3483747691821675,2.830000000001704,0,0,-0.0003509939981952411,-9.999999025923074e-05
+7269,1792700713163394629,8540152000000,1792700713160286866,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760961489444509,-0.00467390785548995,0.08756738960147353,0.9999999874988913,1.286266182054079e-05,-5.450610784532699e-06,0.00012747519151796188,0.6761,-0.00453,0.08744911556344385,1.0,0.0,0.0,0.0,-0.11213254432683192,0.16001289254114343,1.637838515677526,0.011689130358327582,0.009999974266575007,-6.514040327076096e-06,0.23963379943700844,0.29748100406891526,1.4843001805247922,0.01945998098533246,-0.01286172492435618,-0.0011395855018447388,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.2397099235139226,0.06384423445500734,-1.2557369111764762,0.5090079263704833,0.9768873503071618,0.019393258405934713,1.1735798988746513,1.637838515677526,2.4293168100511275,2.4293168100511275,2.8567200000017308,0,0,-0.00036308021589684527,7.386543740406921e-05
+7314,1792700713538393855,8540527000000,1792700713536287175,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760977446704883,-0.00467942787891906,0.08743335922179023,0.9999999868980689,1.3949067482535796e-05,8.676560458595019e-08,0.00013210655722645012,0.6761,-0.00453,0.08731080122672238,1.0,0.0,0.0,0.0,-0.12691526278310858,0.163146504041916,1.6875659331252857,0.01176663974974122,0.01100038779126451,-0.00015042647423268106,0.22485108098073178,0.3006146155696878,1.534027597972552,0.019537490376746097,-0.011861311399666678,-0.0012834979357503437,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.2365664950446271,0.08208654093570995,-1.1312171298636546,0.5093738337215002,0.896119224466612,0.02861757213830822,1.1735798988746513,1.6875659331252857,2.3047970287383057,2.3047970287383057,2.8867200000017608,0,0,-0.00037521836261242134,-9.999665959015686e-05
+7353,1792700713863279556,8540852000000,1792700713856287025,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760951085603251,-0.004680705122286888,0.08731202768138646,0.9999999870351786,8.154661308659682e-06,-5.796974018339025e-06,0.00013142451799052663,0.6761,-0.00453,0.08718732782748688,1.0,0.0,0.0,0.0,-0.12243385080056188,0.1606082957845853,1.66731402342098,0.011655814102716981,0.011007001920683653,-6.185708808527498e-05,0.22933249296327848,0.29807640731235713,1.5137756882682463,0.01942666472972186,-0.011854697270247534,-0.0011949285496029376,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.3048642036863631,-0.0015678910904463716,-1.1778059341038092,0.5435725978908001,0.9432579440297986,-0.020545006556649342,1.1735798988746513,1.66731402342098,2.3513858329784605,2.3513858329784605,2.9127200000017868,0,0,-0.00038586239068802284,-9.999999025923074e-05
+7398,1792700714238330491,8541227000000,1792700714232286945,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760948796087958,-0.004683052882378832,0.08716649820493676,0.999999986965769,5.5113543130973e-06,-4.9724012424073975e-06,0.00013212201359364472,0.6761,-0.00453,0.0870402511400228,1.0,0.0,0.0,0.0,-0.1408515330110308,0.1602571092275511,1.6575565935548706,0.011630206403617893,0.012022590155743484,-8.529240725407665e-06,0.21091481075280957,0.29772522075532293,1.5040182584021367,0.01940105703062277,-0.010839109035187703,-0.0011416007022430703,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.3629544738747816,0.01962855170449739,-1.2006787058560222,0.5533483511331942,0.9690355226168021,-0.003064323768853166,1.1735798988746513,1.6575565935548706,2.3742586047306737,2.3742586047306737,2.9427200000018168,0,0,-0.0003989354848646639,-9.99951191557102e-05
+7433,1792700714529361244,8541518000000,1792700714524287483,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.676098588209512,-0.004687769787130315,0.08705450928473088,0.9999999866731212,-3.1798725498111214e-06,9.689949389056887e-07,0.00013448260697854043,0.6761,-0.00453,0.08692208333039649,1.0,0.0,0.0,0.0,-0.1512340580902258,0.17740927746206953,1.7077055790774471,0.012603733727825108,0.013008914536878524,-0.0006604461708263855,0.20053228567361456,0.31487738898984136,1.5541672439247132,0.020374584354829986,-0.009852784654052663,-0.0017935176323440481,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.2653677669349395,9.560492661737766e-05,-1.197718227987639,0.5676926290985759,0.9350633030727962,-0.01467685611107837,1.1735798988746513,1.7077055790774471,2.3712981268622904,2.3712981268622904,2.96600000000184,0,0,-0.00041232829300494176,-9.997574576393049e-05
+7469,1792700714829340328,8541817999999,1792700714824287205,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760907322849163,-0.004685625405306084,0.08692189582979186,0.9999999867290953,-9.928136081346535e-06,-1.4997954894876853e-05,0.00013289532442270163,0.6761,-0.00453,0.08679653463516242,1.0,0.0,0.0,0.0,-0.1362360494510488,0.16115491500786344,1.671175609100874,0.011643833520085481,0.011623713674947378,-0.0005821300450417231,0.21553029431279155,0.29862302653563527,1.5176372739481403,0.01941468414709036,-0.011237985515983808,-0.0017152015065593858,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.3733688257446044,0.03449963121785735,-1.2906145744995352,0.5656643185854983,1.034575495610678,0.010148386436092671,1.1735798988746513,1.671175609100874,2.4641944733741865,2.4641944733741865,2.990000000001864,0,0,-0.0004254318447846365,5.419174857418343e-06
+7507,1792700715146364036,8542135000000,1792700715144287431,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760995063638868,-0.004694314682689535,0.08679177098013892,0.9999999852013546,-1.9818904833337812e-05,6.40602505370581e-06,0.00014354904766565374,0.6761,-0.00453,0.08665946452581597,1.0,0.0,0.0,0.0,-0.1696529870444019,0.17464124387427893,1.6999932275115581,0.012589178001079223,0.014024924466231355,1.0786680761749531e-05,0.18211335671943846,0.31210935540205076,1.5464548923588242,0.0203600286280841,-0.008836774724699832,-0.0011222847807559131,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.3969662715992952,-0.0592906594303382,-1.220910541518151,0.5961049028647281,0.9921513410169475,-0.048749269950683564,1.1735798988746513,1.6999932275115581,2.3944904403928025,2.3944904403928025,3.0153600000018894,0,0,-0.00043871272024517536,-9.999999025923074e-05
+7541,1792700715429328085,8542418000000,1792700715428287368,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.67609267318118,-0.004698648675518857,0.0866649740680613,0.9999999837014929,-1.1943145062356974e-05,-8.586539435044678e-06,0.00015434866716318291,0.6761,-0.00453,0.08653334023703958,1.0,0.0,0.0,0.0,-0.15023331912292925,0.14537243968839436,1.7170470152999218,0.010569571292376428,0.013043211820753742,-4.1922103242496376e-05,0.2015330246409111,0.2828405512161662,1.563508680147188,0.018340421919381306,-0.009818487370177445,-0.001174993564760159,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.417406597788766,-0.05500333524169938,-1.2119498553937316,0.5878786770972072,0.9960814573646835,-0.04546655021897855,1.1735798988746513,1.7170470152999218,2.385529754268383,2.385529754268383,3.038000000001912,0,0,-0.00045195598144118074,-9.999932412541596e-05
+7573,1792700715696211693,8542684999999,1792700715688286975,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760947702026601,-0.0047014028994647765,0.08654747447780078,0.9999999819686475,5.725012364560036e-05,-7.178691270478572e-06,0.00015548780967740823,0.6761,-0.00453,0.08641134591368768,1.0,0.0,0.0,0.0,-0.16163048873095812,0.15563997675938623,1.6880548100676713,0.01058834749899527,0.014061127279895261,-1.285827437846063e-06,0.19013585503288224,0.29310808828715806,1.5345164749149376,0.018359198126000148,-0.008800571911035926,-0.0011343572889555087,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.4792468888163377,-0.06814151223507585,-1.2513937754289262,0.6229501265183968,1.0364588214328436,-0.035631906235972156,1.1735798988746513,1.6880548100676713,2.4249736743035775,2.4249736743035775,3.0593600000019334,0,0,-0.00046253572123375184,-9.999999025923074e-05
+7609,1792700715996308883,8542985000000,1792700715992287439,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760939197895488,-0.004701706025706098,0.08640711277506123,0.999999987623099,-8.331638495833867e-06,-1.3705554585790693e-06,0.00012698571434703777,0.6761,-0.00453,0.0862703431162343,1.0,0.0,0.0,0.0,-0.15178551566559909,0.17240343361383292,1.7373448665656608,0.012611382730128358,0.013014730785375387,-2.718710873659733e-05,0.19998082809824128,0.30987154514160475,1.583806531412927,0.020382233357133236,-0.0098469684055558,-0.00116025857025426,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.4844364062427662,-0.06281324269187907,-1.2895598061976263,0.6118546310151176,1.068855157963936,-0.04303688276215295,1.1735798988746513,1.7373448665656608,2.463139705072278,2.463139705072278,3.0833600000019574,0,0,-0.00047749993313114656,-9.998858271765271e-05
+7641,1792700716263313970,8543252000000,1792700716256287234,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760910340842464,-0.004705931470783843,0.08627985394622867,0.9999999849005164,-8.948512620444607e-06,-3.7138432503769825e-06,0.00014679224368405042,0.6761,-0.00453,0.08614110495569646,1.0,0.0,0.0,0.0,-0.15945293413877776,0.14596351783737177,1.7157189253239502,0.0105707142461909,0.013043406101971699,-3.9929155513175434e-05,0.1923134096250626,0.2834316293651436,1.5621805901712165,0.018341564873195777,-0.009818293088959488,-0.001173000617030838,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.4265843152774165,-0.01120009098348244,-1.25678596976391,0.5934992227332812,1.034393449187084,-0.010998529426641257,1.1735798988746513,1.7157189253239502,2.430365868638561,2.430365868638561,3.104720000001979,0,0,-0.0004905943978520108,-9.999999025923074e-05
+7669,1792700716496296858,8543485000000,1792700716492287065,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6760844211587839,-0.0047108991161342985,0.08615974456269473,0.99999998155871,1.3369858379246532e-06,-9.258436334258865e-06,0.0001680414767421787,0.6761,-0.00453,0.08602560791934913,1.0,0.0,0.0,0.0,-0.15614225705148724,0.13840375544786654,1.7479076757995986,0.009537853874000479,0.01342816182681852,-6.864699396660337e-05,0.19562408671235312,0.27587186697563837,1.5943693406468649,0.017308704501005356,-0.009433537364112666,-0.001201718455484266,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.4652898628305357,-0.04764885843200202,-1.3103256800252268,0.6016607858445033,1.081486506419509,-0.034039384547064226,1.1735798988746513,1.7479076757995986,2.4839055788998783,2.4839055788998783,3.1233600000019974,0,0,-0.0004991735787454862,-4.2754656785720615e-05
+7701,1792700716763182164,8543752000000,1792700716756287181,DOWN_FORCE_DETACH,6,0.0395,0.03950178250670433,0.6760765577566894,-0.004718614816499551,0.08602287549593879,0.9999999754101895,5.936227356149985e-05,-2.0890753831632545e-05,0.00019147371014150455,0.6761,-0.00453,0.08589061492827049,1.0,0.0,0.0,0.0,-0.14923372586830122,0.12546844110763328,1.7562276147493674,0.008520189353886282,0.013073663757761318,-0.0001090819098721271,0.20253261789553914,0.2629365526354051,1.6026892795966334,0.01629103998089116,-0.009788035433169869,-0.0012421533713897898,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.5395603000918021,-0.008241014526596781,-1.2855239881942022,0.5923485679844733,1.0931025157296665,0.0025355122831540663,1.1735798988746513,1.7562276147493674,2.4591038870688537,2.4591038870688537,3.144720000002019,0,0,-0.0005104064834907371,-9.375169671000378e-05
+7728,1792700716988270800,8543977000000,1792700716984287036,DOWN_FORCE_DETACH,6,0.0395,0.03950243815779686,0.6761040878611214,-0.004677330439122379,0.08591523850818376,0.9999999901632284,-4.2880879436290754e-05,1.2724173273570099e-05,9.547634901609763e-05,0.6761,-0.00453,0.08577451346656664,1.0,0.0,0.0,0.0,-0.17227745658651056,0.19395484178620742,1.6877598873562483,0.01360443400871594,0.015045383878890104,4.51610608451199e-05,0.1794888871773298,0.33142295331397925,1.5342215522035143,0.021375284635720818,-0.007816315312041083,-0.0010879104006725428,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.5580184914771742,0.04985677418620869,-1.1133992566943494,0.5917488490441222,0.9731614029400478,0.03315154541807155,1.1735798988746513,1.6877598873562483,2.286979155569001,2.286979155569001,3.162720000002037,0,0,-0.000521656481493353,-9.999999025923074e-05
+7757,1792700717228253787,8544217000000,1792700717224296652,DOWN_SETTLE,6,0.0395,0.03950243815779686,0.6760993609240172,-0.004672623500889728,0.08581284636504646,0.9999999870946151,-9.483622837829145e-06,1.170552035980308e-05,0.00013048630510655308,0.6761,-0.00453,0.08566785718735766,1.0,0.0,0.0,0.0,-0.06904688492686811,0.30828519172349117,1.733954010542322,0.02101792724327902,0.00768911935877495,-5.365912405722387e-06,0.28271945883697225,0.445753303251263,1.5804156753895882,0.0287887778702839,-0.015172579832156237,-0.001138437373923385,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.602504295098171,0.24463810793010365,-1.191724179518767,0.45200540716125187,1.0634791870740916,0.1835874104529565,1.1735798988746513,1.733954010542322,2.365304078393418,0.0,0.0,0,0,-0.000199887749955042,0.0020190681813640602
+7852,1792700718020239593,8545009000000,1792700718012287062,DOWN_PEAK_HOLD,6,0.0395,0.03950243815779686,0.6760746154929343,-0.004673513243088273,0.08573832335583259,0.9999999849063959,3.986841405139216e-06,-3.390008752453928e-05,0.00014305579943847257,0.6761,-0.00453,0.08564894372229727,1.0,0.0,0.0,0.0,-0.030252436247937387,0.23741849629345962,1.350017474558821,0.017025250686433607,0.0038868650415681827,-0.0008278414988491299,0.321513907515903,0.37488660782123145,1.196479139406087,0.024796101313438484,-0.018974834149363004,-0.0019609129603667926,0.35176634376384036,0.13746811152777183,-0.15353833515273385,0.007770850627004877,-0.022861699190931187,-0.0011330714615176627,1,1.3742511583082888,0.14397574367269408,-0.7772592589307454,0.5289912527880534,0.7440613991983602,0.09343647788847463,1.1735798988746513,1.350017474558821,1.9508391578053967,0.0,0.0,0,0,0.0,0.0

Fixed/s2/cylinder_PLA_12.5/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,1792700677210373473,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.371369640e-08,1.300762987e-10,4.611652171e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017290385e-01,1.769930725e-06,8.295727942e-01
+1,6.500000000e-01,DOWN_FORCE_DETACH,1792700678506425078,7.402866936e-07,-1.049358385e-05,-1.661282567e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.994706920e-07,3.924998120e-09,1.330913857e-07,7.015386118e-01,-8.942622525e-06,8.407392799e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294242e-01,1.773725646e-06,8.295729227e-01
+2,1.200000000e+00,DOWN_FORCE_DETACH,1792700679604354159,-1.268086992e-05,-2.483412434e-05,-7.213861590e-05,-9.673196877e-06,-2.070524583e-05,-5.694370033e-05,-9.468162762e-06,-2.056562506e-05,-5.573984834e-05,7.015251906e-01,-2.328316302e-05,8.406688026e-01,7.015281983e-01,-1.915428451e-05,8.406839975e-01,7.017195566e-01,-1.879582441e-05,8.295170498e-01
+3,1.733333333e+00,DOWN_FORCE_DETACH,1792700680668247207,-7.063668885e-06,-3.235248431e-05,-1.164074309e-04,-7.435945681e-06,-3.233409358e-05,-1.165722340e-04,-7.518192229e-06,-3.214028219e-05,-1.150273454e-04,7.015308078e-01,-3.080152299e-05,8.406245338e-01,7.015304355e-01,-3.078313226e-05,8.406243690e-01,7.017215066e-01,-3.037048154e-05,8.294577623e-01
+4,2.300000000e+00,DOWN_FORCE_DETACH,1792700681766283594,-4.206844770e-06,-3.412552113e-05,-1.329447412e-04,-7.435945681e-06,-3.233409358e-05,-1.165722340e-04,-7.448076865e-06,-3.214714623e-05,-1.157433955e-04,7.015336646e-01,-3.257455981e-05,8.406079964e-01,7.015304355e-01,-3.078313226e-05,8.406243690e-01,7.017215767e-01,-3.037734558e-05,8.294570462e-01
+5,2.950000000e+00,DOWN_FORCE_DETACH,1792700682998321695,-6.158892218e-06,-3.394505357e-05,-1.404656154e-04,-5.939525861e-06,-3.245180809e-05,-1.368438104e-04,-6.049837232e-06,-3.225514123e-05,-1.361851898e-04,7.015317126e-01,-3.239409224e-05,8.406004756e-01,7.015319320e-01,-3.090084677e-05,8.406040974e-01,7.017229749e-01,-3.048534058e-05,8.294366044e-01
+6,3.533333333e+00,DOWN_FORCE_DETACH,1792700684128282306,-3.648722138e-06,-3.427337525e-05,-1.425718891e-04,-5.939525861e-06,-3.245180809e-05,-1.368438104e-04,-6.023999721e-06,-3.225080711e-05,-1.364417492e-04,7.015342228e-01,-3.272241393e-05,8.405983693e-01,7.015319320e-01,-3.090084677e-05,8.406040974e-01,7.017230008e-01,-3.048100646e-05,8.294363479e-01
+7,4.100000000e+00,DOWN_FORCE_DETACH,1792700685192139002,-4.487045924e-06,-3.692356640e-05,-1.580173503e-04,-6.691046943e-06,-3.371927212e-05,-1.568272417e-04,-6.796904558e-06,-3.348265969e-05,-1.562456686e-04,7.015333844e-01,-3.537260508e-05,8.405829238e-01,7.015311804e-01,-3.216831080e-05,8.405841139e-01,7.017222278e-01,-3.171285904e-05,8.294165440e-01
+8,4.716666667e+00,DOWN_FORCE_DETACH,1792700686422268916,-3.672998439e-06,-3.748352499e-05,-1.836937745e-04,-6.859210150e-06,-3.820662830e-05,-1.768078313e-04,-7.040384637e-06,-3.794641582e-05,-1.762641559e-04,7.015341985e-01,-3.593256367e-05,8.405572474e-01,7.015310123e-01,-3.665566698e-05,8.405641334e-01,7.017219844e-01,-3.617661517e-05,8.293965255e-01
+9,5.383333333e+00,DOWN_FORCE_DETACH,1792700687754055578,-2.124671326e-06,-4.048989189e-05,-2.004977367e-04,-5.602041413e-07,-3.705000571e-05,-1.975918774e-04,-6.926769122e-07,-3.678536423e-05,-1.969722687e-04,7.015357468e-01,-3.893893057e-05,8.405404435e-01,7.015373113e-01,-3.549904439e-05,8.405433493e-01,7.017283321e-01,-3.501556358e-05,8.293758174e-01
+10,6.066666667e+00,DOWN_FORCE_DETACH,1792700689118025264,6.690562598e-07,-4.524795439e-05,-2.318507650e-04,-9.027121770e-07,-4.294635975e-05,-2.178118273e-04,-1.029912654e-06,-4.267033237e-05,-2.172743315e-04,7.015385405e-01,-4.369699307e-05,8.405090904e-01,7.015369688e-01,-4.139539843e-05,8.405231294e-01,7.017279948e-01,-4.090053172e-05,8.293555153e-01
+11,6.700000000e+00,DOWN_FORCE_DETACH,1792700690348015642,3.350153258e-06,-4.617262190e-05,-2.516701549e-04,1.208086930e-06,-4.615975863e-05,-2.396893593e-04,1.117955766e-06,-4.586464767e-05,-2.393210787e-04,7.015412216e-01,-4.462166058e-05,8.404892710e-01,7.015390796e-01,-4.460879731e-05,8.405012518e-01,7.017301427e-01,-4.409484702e-05,8.293334685e-01
+12,7.283333333e+00,DOWN_FORCE_DETACH,1792700691445963399,1.216931889e-05,-4.859602339e-05,-2.700367844e-04,7.365481206e-06,-4.658721269e-05,-2.589230487e-04,7.394574134e-06,-4.628794721e-05,-2.586380166e-04,7.015500408e-01,-4.704506207e-05,8.404709044e-01,7.015452370e-01,-4.503625137e-05,8.404820181e-01,7.017364193e-01,-4.451814656e-05,8.293141516e-01
+13,7.616666667e+00,DOWN_FORCE_DETACH,1792700692077955752,3.844280141e-05,-4.308890564e-05,-2.756002968e-04,2.942616580e-05,-4.494140968e-05,-2.715219434e-04,2.989917927e-05,-4.464816465e-05,-2.712097766e-04,7.015763143e-01,-4.153794432e-05,8.404653409e-01,7.015672976e-01,-4.339044836e-05,8.404694192e-01,7.017589239e-01,-4.287836400e-05,8.293015799e-01
+14,8.133333333e+00,DOWN_FORCE_DETACH,1792700693075958019,4.410388326e-05,-4.241738815e-05,-3.100341652e-04,3.908726401e-05,-4.523944571e-05,-3.124488114e-04,3.973617439e-05,-4.495900946e-05,-3.118273176e-04,7.015819754e-01,-4.086642683e-05,8.404309070e-01,7.015769587e-01,-4.368848439e-05,8.404284924e-01,7.017687609e-01,-4.318920881e-05,8.292609623e-01
+15,8.816666667e+00,DOWN_FORCE_DETACH,1792700694406008099,4.189187627e-05,-5.034645515e-05,-3.475156617e-04,4.077302601e-05,-4.659195941e-05,-3.327181854e-04,4.169860286e-05,-4.630269656e-05,-3.325054841e-04,7.015797634e-01,-4.879549383e-05,8.403934255e-01,7.015786445e-01,-4.504099809e-05,8.404082230e-01,7.017707234e-01,-4.453289591e-05,8.292402841e-01
+16,9.416666667e+00,DOWN_FORCE_DETACH,1792700695606066485,4.477109531e-05,-5.033333977e-05,-3.836801937e-04,4.316815234e-05,-4.981180786e-05,-3.786299035e-04,4.408383073e-05,-4.951149195e-05,-3.782015948e-04,7.015826426e-01,-4.878237845e-05,8.403572610e-01,7.015810396e-01,-4.826084654e-05,8.403623113e-01,7.017731086e-01,-4.774169130e-05,8.291945880e-01
+17,1.005000000e+01,DOWN_FORCE_DETACH,1792700696869818369,4.587551711e-05,-5.545810075e-05,-4.425408062e-04,4.544825287e-05,-5.259301687e-05,-4.410622245e-04,4.629938889e-05,-5.230136849e-05,-4.401913079e-04,7.015837470e-01,-5.390713943e-05,8.402984004e-01,7.015833197e-01,-5.104205555e-05,8.402998790e-01,7.017753241e-01,-5.053156784e-05,8.291325983e-01
+18,1.046666667e+01,DOWN_FORCE_DETACH,1792700697701600326,4.941138612e-05,-5.903527543e-05,-4.890312969e-04,4.540816717e-05,-5.754715374e-05,-4.866273496e-04,4.614307162e-05,-5.721850575e-05,-4.855246830e-04,7.015872829e-01,-5.748431411e-05,8.402519099e-01,7.015832796e-01,-5.599619241e-05,8.402543138e-01,7.017751678e-01,-5.544870510e-05,8.290872649e-01
+19,1.101666667e+01,DOWN_FORCE_DETACH,1792700698765770741,5.091085724e-05,-5.910909378e-05,-5.561801056e-04,4.812415039e-05,-5.825824401e-05,-5.513242838e-04,4.871187035e-05,-5.793541755e-05,-5.499045985e-04,7.015887823e-01,-5.755813246e-05,8.401847611e-01,7.015859956e-01,-5.670728269e-05,8.401896169e-01,7.017777366e-01,-5.616561690e-05,8.290228850e-01
+20,1.151666667e+01,DOWN_FORCE_DETACH,1792700699761866491,5.280191778e-05,-6.267583503e-05,-6.269574174e-04,5.154710953e-05,-5.981658854e-05,-6.207876740e-04,5.201700477e-05,-5.948699202e-05,-6.189658306e-04,7.015906734e-01,-6.112487371e-05,8.401139838e-01,7.015894186e-01,-5.826562722e-05,8.401201535e-01,7.017810418e-01,-5.771719137e-05,8.289538238e-01
+21,1.195000000e+01,DOWN_FORCE_DETACH,1792700700593744936,5.745823204e-05,-6.732176743e-05,-6.856735172e-04,5.442346364e-05,-6.967019139e-05,-6.812498917e-04,5.471649998e-05,-6.930879637e-05,-6.791459647e-04,7.015953297e-01,-6.577080611e-05,8.400552677e-01,7.015922949e-01,-6.811923007e-05,8.400596913e-01,7.017837413e-01,-6.753899572e-05,8.288936437e-01
+22,1.245000000e+01,DOWN_FORCE_DETACH,1792700701525731178,5.450709372e-05,-6.911218704e-05,-7.767019807e-04,5.466762170e-05,-6.699043576e-05,-7.629548654e-04,5.478680915e-05,-6.662597452e-05,-7.606201816e-04,7.015923786e-01,-6.756122572e-05,8.399642392e-01,7.015925391e-01,-6.543947444e-05,8.399779863e-01,7.017838116e-01,-6.485617387e-05,8.288121694e-01
+23,1.270000000e+01,DOWN_FORCE_DETACH,1792700702023740087,6.671910110e-05,-5.317497762e-05,-8.285260059e-04,6.680963520e-05,-5.308340992e-05,-8.280241643e-04,6.687620802e-05,-5.276162311e-05,-8.250723484e-04,7.016045906e-01,-5.162401630e-05,8.399124152e-01,7.016046811e-01,-5.153244860e-05,8.399129170e-01,7.017959010e-01,-5.099182246e-05,8.287477173e-01
+24,1.308333333e+01,DOWN_FORCE_DETACH,1792700702790717831,6.782263628e-05,-5.531695584e-05,-9.311685451e-04,7.023700966e-05,-5.533699441e-05,-9.178257874e-04,7.011432153e-05,-5.498909892e-05,-9.146392000e-04,7.016056941e-01,-5.376599452e-05,8.398097726e-01,7.016081085e-01,-5.378603309e-05,8.398231154e-01,7.017991391e-01,-5.321929827e-05,8.286581504e-01
+25,1.346666667e+01,DOWN_FORCE_DETACH,1792700703558290528,6.575912935e-05,-5.585485441e-05,-1.038484128e-03,6.409894196e-05,-5.851147071e-05,-1.031706189e-03,6.350111944e-05,-5.809972017e-05,-1.028247120e-03,7.016036306e-01,-5.430389308e-05,8.397024571e-01,7.016019704e-01,-5.696050939e-05,8.397092350e-01,7.017925259e-01,-5.632991953e-05,8.285445425e-01
+26,1.381666667e+01,DOWN_FORCE_DETACH,1792700704254452133,6.113947837e-05,-6.189004921e-05,-1.139106660e-03,6.385244778e-05,-6.162261136e-05,-1.125282557e-03,6.284679188e-05,-6.125345565e-05,-1.121809300e-03,7.015990110e-01,-6.033908789e-05,8.396018345e-01,7.016017239e-01,-6.007165004e-05,8.396156586e-01,7.017918715e-01,-5.948365500e-05,8.284509803e-01
+27,1.420000000e+01,DOWN_FORCE_DETACH,1792700705017623429,6.565115941e-05,-6.333139452e-05,-1.244214741e-03,6.566706255e-05,-6.392479029e-05,-1.238171144e-03,6.411577761e-05,-6.351626603e-05,-1.234585036e-03,7.016035226e-01,-6.178043319e-05,8.394967264e-01,7.016035385e-01,-6.237382897e-05,8.395027700e-01,7.017931405e-01,-6.174646538e-05,8.283382046e-01
+28,1.455000000e+01,DOWN_FORCE_DETACH,1792700705717610322,6.186543831e-05,-6.785821631e-05,-1.361629045e-03,6.150788827e-05,-7.204027458e-05,-1.349359427e-03,5.946921783e-05,-7.163448281e-05,-1.345500360e-03,7.015997369e-01,-6.630725499e-05,8.393793121e-01,7.015993794e-01,-7.048931325e-05,8.393915818e-01,7.017884940e-01,-6.986468217e-05,8.282272893e-01
+29,1.488333333e+01,DOWN_FORCE_DETACH,1792700706381576125,6.544727154e-05,-7.289386430e-05,-1.477041362e-03,6.462167316e-05,-6.907435692e-05,-1.469397501e-03,6.209918151e-05,-6.870519356e-05,-1.465169927e-03,7.016033188e-01,-7.134290298e-05,8.392638998e-01,7.016024932e-01,-6.752339559e-05,8.392715437e-01,7.017911239e-01,-6.693539291e-05,8.281076197e-01
+30,1.518333333e+01,DOWN_FORCE_DETACH,1792700706945575787,6.197074796e-05,-7.329154328e-05,-1.589768156e-03,6.182109976e-05,-7.344251538e-05,-1.589523291e-03,5.881219077e-05,-7.303025721e-05,-1.584724868e-03,7.015998422e-01,-7.174058195e-05,8.391511730e-01,7.015996926e-01,-7.189155406e-05,8.391514179e-01,7.017878369e-01,-7.126045656e-05,8.279880648e-01
+31,1.546666667e+01,DOWN_FORCE_DETACH,1792700707479568831,5.891653885e-05,-7.037810668e-05,-1.700997295e-03,5.789592415e-05,-7.483697235e-05,-1.681922595e-03,5.443551689e-05,-7.439098371e-05,-1.677173898e-03,7.015967880e-01,-6.882714536e-05,8.390399439e-01,7.015957674e-01,-7.328601103e-05,8.390590186e-01,7.017834603e-01,-7.262118306e-05,8.278956157e-01
+32,1.575000000e+01,DOWN_FORCE_DETACH,1792700708009575272,5.567467304e-05,-8.037733236e-05,-1.816289986e-03,5.560707451e-05,-8.037481987e-05,-1.816538252e-03,5.154008888e-05,-7.988153724e-05,-1.811097383e-03,7.015935462e-01,-7.882637103e-05,8.389246512e-01,7.015934786e-01,-7.882385855e-05,8.389244029e-01,7.017805648e-01,-7.811173659e-05,8.277616922e-01
+33,1.603333333e+01,DOWN_FORCE_DETACH,1792700708559574978,5.508022994e-05,-8.099567493e-05,-1.942253270e-03,5.455316974e-05,-8.506729393e-05,-1.929379394e-03,5.005928706e-05,-8.451238757e-05,-1.924174749e-03,7.015929517e-01,-7.944471361e-05,8.387986879e-01,7.015924247e-01,-8.351633261e-05,8.388115618e-01,7.017790840e-01,-8.274258692e-05,8.276486149e-01
+34,1.630000000e+01,DOWN_FORCE_DETACH,1792700709075834285,5.762323664e-05,-8.378538382e-05,-2.062279316e-03,5.717752015e-05,-8.521833120e-05,-2.044052580e-03,5.233785964e-05,-8.467665676e-05,-2.038967245e-03,7.015954947e-01,-8.223442250e-05,8.386786619e-01,7.015950490e-01,-8.366736988e-05,8.386968886e-01,7.017813626e-01,-8.290685612e-05,8.275338224e-01
+35,1.653333333e+01,DOWN_FORCE_DETACH,1792700709507519260,5.420226862e-05,-8.740835001e-05,-2.175251252e-03,5.434606926e-05,-8.600706808e-05,-2.165846783e-03,4.912706491e-05,-8.543563954e-05,-2.160555338e-03,7.015920738e-01,-8.585738869e-05,8.385656899e-01,7.015922176e-01,-8.445610676e-05,8.385750944e-01,7.017781518e-01,-8.366583889e-05,8.274122343e-01
+36,1.680000000e+01,DOWN_FORCE_DETACH,1792700710007825072,5.428558545e-05,-8.913924406e-05,-2.305120477e-03,5.392984547e-05,-8.911394701e-05,-2.305521629e-03,4.827744049e-05,-8.856926800e-05,-2.299624004e-03,7.015921571e-01,-8.758828274e-05,8.384358207e-01,7.015918013e-01,-8.756298569e-05,8.384354196e-01,7.017773022e-01,-8.679946735e-05,8.272731656e-01
+37,1.701666667e+01,DOWN_FORCE_DETACH,1792700710441506822,5.366133275e-05,-9.318983620e-05,-2.422047144e-03,5.412083368e-05,-9.556708937e-05,-2.413286960e-03,4.810181205e-05,-9.496077192e-05,-2.407245249e-03,7.015915328e-01,-9.163887488e-05,8.383188940e-01,7.015919923e-01,-9.401612805e-05,8.383276542e-01,7.017771266e-01,-9.319097128e-05,8.271655444e-01
+38,1.725000000e+01,DOWN_FORCE_DETACH,1792700710906669494,5.165972594e-05,-9.784300963e-05,-2.555968536e-03,4.874326455e-05,-9.352370518e-05,-2.540400723e-03,4.220553651e-05,-9.289540822e-05,-2.534196666e-03,7.015895312e-01,-9.629204831e-05,8.381849727e-01,7.015866147e-01,-9.197274386e-05,8.382005405e-01,7.017712303e-01,-9.112560758e-05,8.270385930e-01
+39,1.745000000e+01,DOWN_FORCE_DETACH,1792700711305487390,4.983581330e-05,-9.508889000e-05,-2.679986081e-03,4.974878977e-05,-9.510643257e-05,-2.679649998e-03,4.269790680e-05,-9.445597260e-05,-2.672783245e-03,7.015877073e-01,-9.353792868e-05,8.380609551e-01,7.015876203e-01,-9.355547125e-05,8.380612912e-01,7.017717227e-01,-9.268617196e-05,8.269000064e-01
+40,1.765000000e+01,DOWN_FORCE_DETACH,1792700711705985702,4.716692266e-05,-1.032019945e-04,-2.807458777e-03,4.686835568e-05,-1.031048021e-04,-2.807466844e-03,3.922467495e-05,-1.023563747e-04,-2.800502495e-03,7.015850384e-01,-1.016510332e-04,8.379334824e-01,7.015847398e-01,-1.015538407e-04,8.379334743e-01,7.017682494e-01,-1.005865740e-04,8.267722871e-01
+41,1.783333333e+01,DOWN_FORCE_DETACH,1792700712070345455,4.704225275e-05,-1.004823294e-04,-2.929437123e-03,4.680890470e-05,-1.005374239e-04,-2.929426360e-03,3.863645019e-05,-9.991931610e-05,-2.922299939e-03,7.015849137e-01,-9.893136803e-05,8.378115041e-01,7.015846804e-01,-9.898646254e-05,8.378115148e-01,7.017676612e-01,-9.814951545e-05,8.266504897e-01
+42,1.801666667e+01,DOWN_FORCE_DETACH,1792700712445112225,4.880764908e-05,-1.092965822e-04,-3.047719424e-03,4.868559839e-05,-1.090247335e-04,-3.047977100e-03,4.005424107e-05,-1.083512791e-04,-3.040767198e-03,7.015866791e-01,-1.077456209e-04,8.376932218e-01,7.015865571e-01,-1.074737722e-04,8.376929641e-01,7.017690790e-01,-1.065814785e-04,8.265320224e-01
+43,1.821666667e+01,DOWN_FORCE_DETACH,1792700712833425609,4.544938423e-05,-1.092336134e-04,-3.182613838e-03,4.507534875e-05,-1.095102249e-04,-3.182893273e-03,3.583510214e-05,-1.088606862e-04,-3.175445657e-03,7.015833209e-01,-1.076826521e-04,8.375583273e-01,7.015829468e-01,-1.079592636e-04,8.375580479e-01,7.017648599e-01,-1.070908856e-04,8.263973440e-01
+44,1.838333333e+01,DOWN_FORCE_DETACH,1792700713165511957,4.062204698e-05,-1.123125837e-04,-3.306554268e-03,4.056892292e-05,-1.120727717e-04,-3.306541971e-03,3.076449389e-05,-1.113602312e-04,-3.298724299e-03,7.015784935e-01,-1.107616224e-04,8.374343869e-01,7.015784404e-01,-1.105218104e-04,8.374343992e-01,7.017597892e-01,-1.095904305e-04,8.262740653e-01
+45,1.856666667e+01,DOWN_FORCE_DETACH,1792700713534013944,4.485873576e-05,-1.117072715e-04,-3.432217234e-03,4.450887045e-05,-1.119506379e-04,-3.432357658e-03,3.414306259e-05,-1.112110795e-04,-3.424459158e-03,7.015827302e-01,-1.101563102e-04,8.373087240e-01,7.015823804e-01,-1.103996765e-04,8.373085835e-01,7.017631678e-01,-1.094412788e-04,8.261483305e-01
+46,1.873333333e+01,DOWN_FORCE_DETACH,1792700713865703432,3.869699813e-05,-1.163586625e-04,-3.561844369e-03,3.879444764e-05,-1.165306487e-04,-3.561497436e-03,2.788576368e-05,-1.157164703e-04,-3.553459453e-03,7.015765685e-01,-1.148077012e-04,8.371790968e-01,7.015766659e-01,-1.149796874e-04,8.371794438e-01,7.017569105e-01,-1.139466696e-04,8.260193302e-01
+47,1.891666667e+01,DOWN_FORCE_DETACH,1792700714234075226,4.106951087e-05,-1.189185632e-04,-3.700390864e-03,4.172307007e-05,-1.180714140e-04,-3.686304314e-03,3.044811120e-05,-1.172543924e-04,-3.678726773e-03,7.015789410e-01,-1.173676019e-04,8.370405503e-01,7.015795946e-01,-1.165204527e-04,8.370546369e-01,7.017594729e-01,-1.154845918e-04,8.258940629e-01
+48,1.906666667e+01,DOWN_FORCE_DETACH,1792700714532023331,4.261998896e-05,-1.199399418e-04,-3.817579885e-03,4.248164496e-05,-1.197036491e-04,-3.817083363e-03,3.088049651e-05,-1.189504461e-04,-3.809143214e-03,7.015804915e-01,-1.183889805e-04,8.369233613e-01,7.015803531e-01,-1.181526878e-04,8.369238578e-01,7.017599052e-01,-1.171806455e-04,8.257636464e-01
+49,1.921666667e+01,DOWN_FORCE_DETACH,1792700714829371807,3.694839546e-05,-1.251084455e-04,-3.944911089e-03,3.684724611e-05,-1.216417206e-04,-3.934890521e-03,2.482401955e-05,-1.208657088e-04,-3.926844041e-03,7.015748199e-01,-1.235574841e-04,8.367960301e-01,7.015747187e-01,-1.200907593e-04,8.368060507e-01,7.017538488e-01,-1.190959082e-04,8.256459456e-01
+50,1.938333333e+01,DOWN_FORCE_DETACH,1792700715143546992,4.573013205e-05,-1.295298098e-04,-4.075861618e-03,4.555290577e-05,-1.296719557e-04,-4.075831874e-03,3.318880422e-05,-1.287866015e-04,-4.067304426e-03,7.015836016e-01,-1.279788485e-04,8.366650796e-01,7.015834244e-01,-1.281209944e-04,8.366651093e-01,7.017622136e-01,-1.270168008e-04,8.255054852e-01
+51,1.953333333e+01,DOWN_FORCE_DETACH,1792700715432018945,3.904262308e-05,-1.355705258e-04,-4.205595761e-03,3.871409516e-05,-1.357141256e-04,-4.205630667e-03,2.572242340e-05,-1.347324733e-04,-4.197052370e-03,7.015769141e-01,-1.340195645e-04,8.365353454e-01,7.015765856e-01,-1.341631642e-04,8.365353105e-01,7.017547472e-01,-1.329626727e-04,8.253757373e-01
+52,1.968333333e+01,DOWN_FORCE_DETACH,1792700715693342423,4.049179089e-05,-1.380327957e-04,-4.321742857e-03,4.025749295e-05,-1.380796738e-04,-4.321497304e-03,2.686411055e-05,-1.371075405e-04,-4.313134524e-03,7.015783633e-01,-1.364818343e-04,8.364191983e-01,7.015781290e-01,-1.365287124e-04,8.364194439e-01,7.017558889e-01,-1.353377398e-04,8.252596551e-01
+53,1.983333333e+01,DOWN_FORCE_DETACH,1792700715996254703,3.862290322e-05,-1.362672884e-04,-4.463911922e-03,3.986758759e-05,-1.387376748e-04,-4.447866879e-03,2.594651728e-05,-1.377849598e-04,-4.439528642e-03,7.015764944e-01,-1.347163270e-04,8.362770293e-01,7.015777391e-01,-1.371867135e-04,8.362930743e-01,7.017549713e-01,-1.360151591e-04,8.251332610e-01
+54,1.998333333e+01,DOWN_FORCE_DETACH,1792700716261907106,3.556007065e-05,-1.409447143e-04,-4.591409976e-03,3.471793205e-05,-1.423887444e-04,-4.574496105e-03,2.027155320e-05,-1.414809126e-04,-4.566295875e-03,7.015734316e-01,-1.393937530e-04,8.361495312e-01,7.015725894e-01,-1.408377831e-04,8.361664451e-01,7.017492963e-01,-1.397111120e-04,8.250064938e-01
+55,2.010000000e+01,DOWN_FORCE_DETACH,1792700716493938768,2.864679144e-05,-1.437571704e-04,-4.709227357e-03,2.838907794e-05,-1.437899268e-04,-4.709120257e-03,1.335263302e-05,-1.428881798e-04,-4.700113203e-03,7.015665183e-01,-1.422062090e-04,8.360317138e-01,7.015662606e-01,-1.422389655e-04,8.360318209e-01,7.017423774e-01,-1.411183792e-04,8.248726764e-01
+56,2.023333333e+01,DOWN_FORCE_DETACH,1792700716759840459,2.039759466e-05,-1.516431898e-04,-4.848248852e-03,2.011404352e-05,-1.518684869e-04,-4.847869421e-03,4.226066710e-06,-1.509084497e-04,-4.839039880e-03,7.015582691e-01,-1.500922285e-04,8.358926923e-01,7.015579855e-01,-1.503175256e-04,8.358930718e-01,7.017332508e-01,-1.491386490e-04,8.247337497e-01
+57,2.036666667e+01,DOWN_FORCE_DETACH,1792700716991883427,4.447139696e-05,-1.168183084e-04,-4.954760304e-03,4.410172800e-05,-1.168934262e-04,-4.954512139e-03,2.799745412e-05,-1.162093020e-04,-4.945695711e-03,7.015823429e-01,-1.152673471e-04,8.357861809e-01,7.015819732e-01,-1.153424649e-04,8.357864290e-01,7.017570222e-01,-1.144395013e-04,8.246270939e-01
+58,2.048333333e+01,DOWN_SETTLE,1792700717225847603,4.336003756e-05,-1.062253135e-04,-5.058589157e-03,4.398406532e-05,-1.073400135e-04,-5.051241099e-03,2.765299854e-05,-1.064944044e-04,-5.042632993e-03,7.015812315e-01,-1.046743522e-04,8.356823520e-01,7.015818555e-01,-1.057890522e-04,8.356897001e-01,7.017566778e-01,-1.047246038e-04,8.245301566e-01
+59,2.090000000e+01,DOWN_PEAK_HOLD,1792700718023897594,2.123447671e-05,-1.078427963e-04,-5.128922863e-03,2.499283079e-05,-1.070179355e-04,-5.117995541e-03,8.376887489e-06,-1.062325446e-04,-5.113427938e-03,7.015591060e-01,-1.062918350e-04,8.356120183e-01,7.015628643e-01,-1.054669742e-04,8.356229456e-01,7.017374016e-01,-1.044627439e-04,8.244593617e-01

Fixed/s2/cylinder_PLA_12.5/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,-2.6853e-02,1.5739e-03,2.4556e+00,-3.6904e-02,3.4841e-02,-2.2787e-05,5.5920e-04,7.5577e-06,2.4843e-04,-5.8860e-07,3.7082e-05,-3.2102e-07,6.1194e-04,3.7088e-05
+1,6.5000e-01,DOWN_FORCE_DETACH,1.3453e-04,-8.8485e-03,1.6608e-03,2.4628e+00,-3.6906e-02,3.6093e-02,-3.4227e-05,1.8563e-02,9.4459e-05,7.4334e-03,-2.8871e-06,1.2895e-03,-1.1761e-05,1.9997e-02,1.2896e-03
+2,1.2000e+00,DOWN_FORCE_DETACH,2.6866e-04,6.0374e-03,1.3051e-02,2.5059e+00,-3.7685e-02,3.7133e-02,-3.0105e-05,3.3449e-02,1.1485e-02,5.0544e-02,-7.8143e-04,2.3292e-03,-7.6388e-06,6.1688e-02,2.4568e-03
+3,1.7333e+00,DOWN_FORCE_DETACH,3.9908e-04,1.3292e-02,1.8253e-02,2.5204e+00,-3.8037e-02,3.7650e-02,-2.1772e-05,4.0704e-02,1.6686e-02,6.4985e-02,-1.1340e-03,2.8458e-03,6.9360e-07,7.8475e-02,3.0634e-03
+4,2.3000e+00,DOWN_FORCE_DETACH,5.3491e-04,5.2411e-03,2.1202e-02,2.5016e+00,-3.8234e-02,3.7108e-02,-1.2496e-05,3.2653e-02,1.9636e-02,4.6230e-02,-1.3305e-03,2.3041e-03,9.9702e-06,5.9908e-02,2.6607e-03
+5,2.9500e+00,DOWN_FORCE_DETACH,6.6727e-04,5.6119e-03,2.1693e-02,2.4922e+00,-3.8262e-02,3.7142e-02,-2.2133e-06,3.3024e-02,2.0127e-02,3.6838e-02,-1.3587e-03,2.3385e-03,2.0252e-05,5.3410e-02,2.7046e-03
+6,3.5333e+00,DOWN_FORCE_DETACH,8.0281e-04,6.8881e-03,2.1897e-02,2.4782e+00,-3.8277e-02,3.7247e-02,7.9958e-06,3.4300e-02,2.0331e-02,2.2771e-02,-1.3735e-03,2.4437e-03,3.0462e-05,4.5917e-02,2.8035e-03
+7,4.1000e+00,DOWN_FORCE_DETACH,9.3192e-04,8.5090e-03,2.2836e-02,2.4895e+00,-3.8341e-02,3.7362e-02,1.8143e-05,3.5921e-02,2.1270e-02,3.4073e-02,-1.4377e-03,2.5583e-03,4.0609e-05,5.3886e-02,2.9349e-03
+8,4.7167e+00,DOWN_FORCE_DETACH,1.0694e-03,9.1559e-03,2.5665e-02,2.4889e+00,-3.8537e-02,3.7411e-02,2.9897e-05,3.6568e-02,2.4098e-02,3.3462e-02,-1.6336e-03,2.6076e-03,5.2362e-05,5.5115e-02,3.0775e-03
+9,5.3833e+00,DOWN_FORCE_DETACH,1.2026e-03,5.3628e-03,2.5218e-02,2.4936e+00,-3.8512e-02,3.7170e-02,3.8432e-05,3.2775e-02,2.3651e-02,3.8159e-02,-1.6085e-03,2.3664e-03,6.0898e-05,5.5585e-02,2.8619e-03
+10,6.0667e+00,DOWN_FORCE_DETACH,1.3350e-03,9.3756e-03,2.8758e-02,2.4877e+00,-3.8754e-02,3.7439e-02,4.7501e-05,3.6787e-02,2.7191e-02,3.2267e-02,-1.8514e-03,2.6351e-03,6.9967e-05,5.5981e-02,3.2212e-03
+11,6.7000e+00,DOWN_FORCE_DETACH,1.4690e-03,1.1659e-02,3.0712e-02,2.4804e+00,-3.8898e-02,3.7612e-02,5.4498e-05,3.9071e-02,2.9146e-02,2.5015e-02,-1.9947e-03,2.8081e-03,7.6964e-05,5.4788e-02,3.4453e-03
+12,7.2833e+00,DOWN_FORCE_DETACH,1.5977e-03,1.1503e-02,3.0896e-02,2.4768e+00,-3.8920e-02,3.7617e-02,5.5141e-05,3.8915e-02,2.9330e-02,2.1390e-02,-2.0167e-03,2.8129e-03,7.7606e-05,5.3218e-02,3.4621e-03
+13,7.6167e+00,DOWN_FORCE_DETACH,1.7343e-03,4.2180e-04,2.9930e-02,2.4766e+00,-3.8856e-02,3.6827e-02,5.4496e-05,2.7834e-02,2.8364e-02,2.1213e-02,-1.9530e-03,2.0234e-03,7.6962e-05,4.5047e-02,2.8132e-03
+14,8.1333e+00,DOWN_FORCE_DETACH,1.8690e-03,5.5143e-03,2.9893e-02,2.4827e+00,-3.8860e-02,3.7193e-02,5.3356e-05,3.2926e-02,2.8327e-02,2.7296e-02,-1.9570e-03,2.3891e-03,7.5822e-05,5.1299e-02,3.0892e-03
+15,8.8167e+00,DOWN_FORCE_DETACH,2.0024e-03,1.7123e-02,3.0083e-02,2.4704e+00,-3.8891e-02,3.8025e-02,4.6540e-05,4.4535e-02,2.8516e-02,1.5037e-02,-1.9876e-03,3.2211e-03,6.9006e-05,5.4978e-02,3.7856e-03
+16,9.4167e+00,DOWN_FORCE_DETACH,2.1338e-03,2.4047e-02,3.1355e-02,2.4778e+00,-3.9000e-02,3.8532e-02,3.5808e-05,5.1459e-02,2.9788e-02,2.2398e-02,-2.0964e-03,3.7282e-03,5.8273e-05,6.3538e-02,4.2776e-03
+17,1.0050e+01,DOWN_FORCE_DETACH,2.2689e-03,2.8770e-02,3.2804e-02,2.4844e+00,-3.9114e-02,3.8864e-02,1.9811e-05,5.6181e-02,3.1238e-02,2.9026e-02,-2.2106e-03,4.0599e-03,4.2277e-05,7.0531e-02,4.6229e-03
+18,1.0467e+01,DOWN_FORCE_DETACH,2.4017e-03,3.1684e-02,3.4478e-02,2.5033e+00,-3.9225e-02,3.9058e-02,8.1217e-06,5.9095e-02,3.2912e-02,4.7914e-02,-2.3215e-03,4.2540e-03,3.0587e-05,8.2893e-02,4.8463e-03
+19,1.1017e+01,DOWN_FORCE_DETACH,2.5356e-03,3.3556e-02,3.5972e-02,2.5212e+00,-3.9314e-02,3.9179e-02,-3.8358e-06,6.0968e-02,3.4405e-02,6.5801e-02,-2.4106e-03,4.3757e-03,1.8630e-05,9.6076e-02,4.9958e-03
+20,1.1517e+01,DOWN_FORCE_DETACH,2.6684e-03,3.4088e-02,3.6820e-02,2.5406e+00,-3.9340e-02,3.9204e-02,-1.2231e-05,6.1499e-02,3.5254e-02,8.5224e-02,-2.4367e-03,4.3999e-03,1.0235e-05,1.1085e-01,5.0296e-03
+21,1.1950e+01,DOWN_FORCE_DETACH,2.7963e-03,3.5662e-02,4.0896e-02,2.5534e+00,-3.9582e-02,3.9294e-02,-1.3294e-05,6.3074e-02,3.9330e-02,9.7957e-02,-2.6789e-03,4.4902e-03,9.1716e-06,1.2297e-01,5.2286e-03
+22,1.2450e+01,DOWN_FORCE_DETACH,2.9336e-03,3.8340e-02,4.1671e-02,2.5775e+00,-3.9605e-02,3.9453e-02,-1.0953e-05,6.5752e-02,4.0105e-02,1.2207e-01,-2.7015e-03,4.6489e-03,1.1513e-05,1.4433e-01,5.3769e-03
+23,1.2700e+01,DOWN_FORCE_DETACH,3.0673e-03,3.3629e-02,3.1702e-02,2.5838e+00,-3.8921e-02,3.9120e-02,-1.5930e-05,6.1041e-02,3.0136e-02,1.2838e-01,-2.0184e-03,4.3160e-03,6.5354e-06,1.4531e-01,4.7646e-03
+24,1.3083e+01,DOWN_FORCE_DETACH,3.1996e-03,3.4510e-02,3.5422e-02,2.6093e+00,-3.9137e-02,3.9136e-02,-1.7935e-05,6.1922e-02,3.3856e-02,1.5395e-01,-2.2336e-03,4.3320e-03,4.5305e-06,1.6935e-01,4.8740e-03
+25,1.3467e+01,DOWN_FORCE_DETACH,3.3350e-03,3.8646e-02,3.6814e-02,2.6287e+00,-3.9222e-02,3.9370e-02,-2.4234e-05,6.6058e-02,3.5247e-02,1.7326e-01,-2.3194e-03,4.5662e-03,-1.7683e-06,1.8874e-01,5.1215e-03
+26,1.3817e+01,DOWN_FORCE_DETACH,3.4720e-03,3.6894e-02,3.7819e-02,2.6268e+00,-3.9296e-02,3.9233e-02,-3.4920e-05,6.4306e-02,3.6252e-02,1.7136e-01,-2.3930e-03,4.4290e-03,-1.2454e-05,1.8658e-01,5.0342e-03
+27,1.4200e+01,DOWN_FORCE_DETACH,3.6027e-03,3.2818e-02,4.0771e-02,2.6302e+00,-3.9505e-02,3.8944e-02,-4.5154e-05,6.0230e-02,3.9204e-02,1.7483e-01,-2.6021e-03,4.1406e-03,-2.2688e-05,1.8902e-01,4.8904e-03
+28,1.4550e+01,DOWN_FORCE_DETACH,3.7334e-03,3.0722e-02,4.1732e-02,2.6446e+00,-3.9579e-02,3.8784e-02,-4.8523e-05,5.8133e-02,4.0166e-02,1.8921e-01,-2.6758e-03,3.9801e-03,-2.6057e-05,2.0197e-01,4.7960e-03
+29,1.4883e+01,DOWN_FORCE_DETACH,3.8697e-03,2.8108e-02,4.2439e-02,2.6617e+00,-3.9619e-02,3.8593e-02,-4.6823e-05,5.5520e-02,4.0873e-02,2.0626e-01,-2.7163e-03,3.7894e-03,-2.4358e-05,2.1748e-01,4.6625e-03
+30,1.5183e+01,DOWN_FORCE_DETACH,4.0040e-03,3.0079e-02,4.2477e-02,2.6846e+00,-3.9607e-02,3.8699e-02,-4.4831e-05,5.7490e-02,4.0910e-02,2.2916e-01,-2.7036e-03,3.8950e-03,-2.2365e-05,2.3977e-01,4.7414e-03
+31,1.5467e+01,DOWN_FORCE_DETACH,4.1338e-03,2.6713e-02,4.4233e-02,2.7005e+00,-3.9691e-02,3.8457e-02,-4.3366e-05,5.4124e-02,4.2667e-02,2.4515e-01,-2.7879e-03,3.6529e-03,-2.0900e-05,2.5465e-01,4.5953e-03
+32,1.5750e+01,DOWN_FORCE_DETACH,4.2666e-03,2.3487e-02,4.6530e-02,2.7114e+00,-3.9798e-02,3.8231e-02,-4.1691e-05,5.0899e-02,4.4964e-02,2.5602e-01,-2.8949e-03,3.4270e-03,-1.9225e-05,2.6488e-01,4.4861e-03
+33,1.6033e+01,DOWN_FORCE_DETACH,4.4032e-03,2.2993e-02,5.1451e-02,2.7213e+00,-4.0078e-02,3.8199e-02,-3.5946e-05,5.0405e-02,4.9885e-02,2.6592e-01,-3.1753e-03,3.3953e-03,-1.3481e-05,2.7522e-01,4.6487e-03
+34,1.6300e+01,DOWN_FORCE_DETACH,4.5334e-03,2.3363e-02,5.3151e-02,2.7155e+00,-4.0170e-02,3.8245e-02,-2.6684e-05,5.0775e-02,5.1585e-02,2.6014e-01,-3.2669e-03,3.4417e-03,-4.2185e-06,2.7002e-01,4.7454e-03
+35,1.6533e+01,DOWN_FORCE_DETACH,4.6663e-03,2.9691e-02,5.1487e-02,2.7209e+00,-4.0064e-02,3.8679e-02,-1.9744e-05,5.7103e-02,4.9921e-02,2.6546e-01,-3.1605e-03,3.8755e-03,2.7214e-06,2.7608e-01,5.0008e-03
+36,1.6800e+01,DOWN_FORCE_DETACH,4.8072e-03,3.5684e-02,5.3919e-02,2.7310e+00,-4.0214e-02,3.9089e-02,-1.2140e-05,6.3096e-02,5.2353e-02,2.7563e-01,-3.3113e-03,4.2852e-03,1.0326e-05,2.8756e-01,5.4155e-03
+37,1.7017e+01,DOWN_FORCE_DETACH,4.9340e-03,3.9204e-02,5.5468e-02,2.7490e+00,-4.0292e-02,3.9324e-02,-5.7770e-06,6.6616e-02,5.3902e-02,2.9364e-01,-3.3886e-03,4.5202e-03,1.6689e-05,3.0589e-01,5.6494e-03
+38,1.7250e+01,DOWN_FORCE_DETACH,5.0740e-03,4.3799e-02,5.8250e-02,2.7699e+00,-4.0441e-02,3.9610e-02,-4.1447e-07,7.1211e-02,5.6683e-02,3.1446e-01,-3.5383e-03,4.8064e-03,2.2051e-05,3.2737e-01,5.9684e-03
+39,1.7450e+01,DOWN_FORCE_DETACH,5.2044e-03,4.3336e-02,6.1133e-02,2.7778e+00,-4.0609e-02,3.9558e-02,-4.1042e-07,7.0748e-02,5.9567e-02,3.2237e-01,-3.7056e-03,4.7542e-03,2.2055e-05,3.3537e-01,6.0278e-03
+40,1.7650e+01,DOWN_FORCE_DETACH,5.3444e-03,4.2732e-02,6.2319e-02,2.7861e+00,-4.0670e-02,3.9489e-02,-6.9477e-06,7.0144e-02,6.0753e-02,3.3073e-01,-3.7669e-03,4.6850e-03,1.5518e-05,3.4350e-01,6.0116e-03
+41,1.7833e+01,DOWN_FORCE_DETACH,5.4737e-03,4.0394e-02,6.3007e-02,2.7953e+00,-4.0702e-02,3.9312e-02,-1.4986e-05,6.7806e-02,6.1441e-02,3.3994e-01,-3.7993e-03,4.5078e-03,7.4796e-06,3.5204e-01,5.8953e-03
+42,1.8017e+01,DOWN_FORCE_DETACH,5.5991e-03,3.7557e-02,6.1737e-02,2.8029e+00,-4.0611e-02,3.9107e-02,-2.0996e-05,6.4969e-02,6.0171e-02,3.4755e-01,-3.7081e-03,4.3031e-03,1.4699e-06,3.5865e-01,5.6804e-03
+43,1.8217e+01,DOWN_FORCE_DETACH,5.7385e-03,3.5105e-02,6.2494e-02,2.8122e+00,-4.0645e-02,3.8929e-02,-2.5560e-05,6.2517e-02,6.0928e-02,3.5676e-01,-3.7414e-03,4.1256e-03,-3.0943e-06,3.6729e-01,5.5694e-03
+44,1.8383e+01,DOWN_FORCE_DETACH,5.8682e-03,3.1438e-02,6.3561e-02,2.8274e+00,-4.0685e-02,3.8676e-02,-3.0039e-05,5.8850e-02,6.1995e-02,3.7205e-01,-3.7824e-03,3.8724e-03,-7.5728e-06,3.8175e-01,5.4131e-03
+45,1.8567e+01,DOWN_FORCE_DETACH,6.0030e-03,2.7335e-02,6.9742e-02,2.8383e+00,-4.1036e-02,3.8397e-02,-3.4071e-05,5.4747e-02,6.8175e-02,3.8293e-01,-4.1329e-03,3.5929e-03,-1.1605e-05,3.9279e-01,5.4763e-03
+46,1.8733e+01,DOWN_FORCE_DETACH,6.1361e-03,2.6157e-02,7.4570e-02,2.8466e+00,-4.1302e-02,3.8316e-02,-3.4390e-05,5.3569e-02,7.3003e-02,3.9122e-01,-4.3985e-03,3.5123e-03,-1.1924e-05,4.0156e-01,5.6288e-03
+47,1.8917e+01,DOWN_FORCE_DETACH,6.2773e-03,2.7231e-02,7.5186e-02,2.8439e+00,-4.1303e-02,3.8396e-02,-2.9759e-05,5.4643e-02,7.3620e-02,3.8855e-01,-4.4003e-03,3.5927e-03,-7.2936e-06,3.9922e-01,5.6807e-03
+48,1.9067e+01,DOWN_FORCE_DETACH,6.3996e-03,3.0943e-02,7.4773e-02,2.8457e+00,-4.1261e-02,3.8647e-02,-2.3939e-05,5.8355e-02,7.3207e-02,3.9034e-01,-4.3579e-03,3.8430e-03,-1.4732e-06,4.0141e-01,5.8103e-03
+49,1.9217e+01,DOWN_FORCE_DETACH,6.5325e-03,3.6958e-02,7.4134e-02,2.8543e+00,-4.1200e-02,3.9041e-02,-1.7695e-05,6.4370e-02,7.2568e-02,3.9893e-01,-4.2971e-03,4.2371e-03,4.7709e-06,4.1055e-01,6.0347e-03
+50,1.9383e+01,DOWN_FORCE_DETACH,6.6740e-03,3.7448e-02,7.8258e-02,2.8608e+00,-4.1435e-02,3.9070e-02,-1.0374e-05,6.4860e-02,7.6692e-02,4.0537e-01,-4.5317e-03,4.2667e-03,1.2092e-05,4.1763e-01,6.2243e-03
+51,1.9533e+01,DOWN_FORCE_DETACH,6.8108e-03,4.2950e-02,8.2654e-02,2.8759e+00,-4.1686e-02,3.9408e-02,-6.3304e-06,7.0362e-02,8.1088e-02,4.2048e-01,-4.7826e-03,4.6046e-03,1.6135e-05,4.3397e-01,6.6390e-03
+52,1.9683e+01,DOWN_FORCE_DETACH,6.9320e-03,4.0381e-02,8.7149e-02,2.8714e+00,-4.1947e-02,3.9221e-02,-7.3056e-06,6.7793e-02,8.5583e-02,4.1596e-01,-5.0440e-03,4.4176e-03,1.5160e-05,4.3005e-01,6.7050e-03
+53,1.9833e+01,DOWN_FORCE_DETACH,7.0785e-03,3.6046e-02,8.4199e-02,2.8713e+00,-4.1737e-02,3.8920e-02,-1.3220e-05,6.3458e-02,8.2632e-02,4.1586e-01,-4.8341e-03,4.1162e-03,9.2458e-06,4.2871e-01,6.3492e-03
+54,1.9983e+01,DOWN_FORCE_DETACH,7.2081e-03,3.8723e-02,8.4263e-02,2.8826e+00,-4.1724e-02,3.9066e-02,-1.7386e-05,6.6135e-02,8.2696e-02,4.2722e-01,-4.8214e-03,4.2623e-03,5.0797e-06,4.4014e-01,6.4353e-03
+55,2.0100e+01,DOWN_FORCE_DETACH,7.3286e-03,3.8550e-02,8.4942e-02,2.8834e+00,-4.1757e-02,3.9044e-02,-1.9670e-05,6.5962e-02,8.3375e-02,4.2797e-01,-4.8539e-03,4.2404e-03,2.7953e-06,4.4098e-01,6.4453e-03
+56,2.0233e+01,DOWN_FORCE_DETACH,7.4700e-03,3.8250e-02,8.7386e-02,2.8844e+00,-4.1860e-02,3.9020e-02,-2.7915e-05,6.5662e-02,8.5819e-02,4.2900e-01,-4.9568e-03,4.2163e-03,-5.4493e-06,4.4240e-01,6.5074e-03
+57,2.0367e+01,DOWN_FORCE_DETACH,7.6188e-03,2.4667e-02,8.8239e-02,2.8881e+00,-4.1879e-02,3.8149e-02,-3.3122e-05,5.2078e-02,8.6673e-02,4.3270e-01,-4.9757e-03,3.3452e-03,-1.0657e-05,4.4435e-01,5.9957e-03
+58,2.0483e+01,DOWN_SETTLE,7.7364e-03,1.5677e-02,7.1023e-02,2.8941e+00,-4.0762e-02,3.7568e-02,-4.1272e-05,4.3089e-02,6.9457e-02,4.3875e-01,-3.8592e-03,2.7647e-03,-1.8806e-05,4.4630e-01,4.7474e-03
+59,2.0900e+01,DOWN_PEAK_HOLD,7.8720e-03,3.5120e-02,6.4935e-02,2.7454e+00,-4.0414e-02,3.8874e-02,-4.2669e-05,6.2532e-02,6.3368e-02,2.9001e-01,-3.5106e-03,4.0703e-03,-2.0203e-05,3.0337e-01,5.3751e-03

Fixed/s2/cylinder_PLA_12.5/press_depth_06/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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Fixed/s2/cylinder_PLA_12.5/press_depth_06/up/franka_data.csv

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Fixed/s2/cylinder_PLA_12.5/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
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792700663438914710,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.371370950e-08,1.300673440e-10,4.611624971e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017290385e-01,1.769931281e-06,8.295727942e-01
+1,5.000000000e-02,XJC_ZERO_HOLD_BEFORE_UP,1792700663538790273,1.923142114e-06,-1.649812140e-06,3.051231879e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.343580844e-08,5.031143262e-10,1.798418869e-08,7.015397946e-01,-9.885081917e-08,8.407439924e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017290782e-01,1.770304328e-06,8.295728076e-01
+2,8.333333333e-02,XJC_ZERO_HOLD_BEFORE_UP,1792700663606809714,-3.039542370e-07,3.405934472e-06,1.555349401e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.882416087e-08,7.223047525e-10,2.650630992e-08,7.015375675e-01,4.956895793e-06,8.407424965e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291036e-01,1.770523519e-06,8.295728161e-01
+3,1.333333333e-01,WAIT_W2,1792700663704801260,3.083470722e-06,1.143351190e-06,4.349167584e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.151206952e-07,1.109670612e-09,3.868932086e-08,7.015409550e-01,2.694312511e-06,8.407452904e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291399e-01,1.770910885e-06,8.295728283e-01
+4,1.666666667e-01,WAIT_W2,1792700663770792814,5.819951190e-07,1.153596544e-06,1.733557481e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.383727232e-07,1.345179215e-09,4.649647412e-08,7.015384535e-01,2.704557865e-06,8.407426747e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291631e-01,1.771146393e-06,8.295728361e-01
+5,2.333333333e-01,WAIT_W2,1792700663904792359,3.199976835e-07,-2.296952982e-06,3.232015445e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.825464171e-07,1.798368366e-09,6.129751140e-08,7.015381915e-01,-7.459916604e-07,8.407441732e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292073e-01,1.771599582e-06,8.295728509e-01
+6,2.833333333e-01,WAIT_W2,1792700664002789055,2.648462807e-07,3.053496607e-06,1.067391393e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.137324706e-07,2.105969303e-09,7.172451999e-08,7.015381363e-01,4.604457928e-06,8.407420086e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292385e-01,1.771907183e-06,8.295728614e-01
+7,3.333333333e-01,WAIT_W2,1792700664104772503,4.205805038e-07,2.696732125e-06,1.041315265e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.433529817e-07,2.391925973e-09,8.160273979e-08,7.015382921e-01,4.247693446e-06,8.407419825e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292681e-01,1.772193140e-06,8.295728712e-01
+8,3.833333333e-01,WAIT_W2,1792700664202775096,-4.125389141e-07,-2.316553231e-06,1.148208545e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.714878365e-07,2.663233942e-09,9.095751097e-08,7.015374589e-01,-7.655919096e-07,8.407420894e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292962e-01,1.772464448e-06,8.295728806e-01
+9,4.000000000e-01,WAIT_W2,1792700664236777540,-3.584333919e-07,-1.311409632e-05,-3.860875185e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.805499218e-07,2.751208487e-09,9.396424661e-08,7.015375130e-01,-1.156313500e-05,8.407405551e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293053e-01,1.772552423e-06,8.295728836e-01
+10,4.666666667e-01,WAIT_W2,1792700664370800461,1.735965838e-06,-1.118331849e-05,5.204212972e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.152654460e-07,3.078665590e-09,1.054573172e-07,7.015396074e-01,-9.632357173e-06,8.407461454e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293400e-01,1.772879880e-06,8.295728951e-01
+11,5.333333333e-01,WAIT_W2,1792700664502859117,2.722784152e-06,-1.305688507e-05,5.352625721e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.477148449e-07,3.394964537e-09,1.161462994e-07,7.015405943e-01,-1.150592375e-05,8.407462938e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293725e-01,1.773196179e-06,8.295729058e-01
+12,5.833333333e-01,WAIT_W2,1792700664602691206,1.684092621e-06,-1.755418887e-05,5.164227169e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.706515982e-07,3.631593758e-09,1.236708975e-07,7.015395556e-01,-1.600322755e-05,8.407461054e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293954e-01,1.773432808e-06,8.295729133e-01
+13,6.666666667e-01,WAIT_W2,1792700664771640954,3.218397362e-06,-1.253166071e-05,4.407687513e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.063754413e-07,3.994485229e-09,1.353419642e-07,7.015410899e-01,-1.098069939e-05,8.407453489e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294311e-01,1.773795699e-06,8.295729250e-01
+14,7.166666667e-01,WAIT_W2,1792700664870753748,1.560429962e-06,-8.021555048e-06,4.378125305e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.263993093e-07,4.202180126e-09,1.418556367e-07,7.015394319e-01,-6.470593727e-06,8.407453193e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294512e-01,1.774003394e-06,8.295729315e-01
+15,7.833333333e-01,WAIT_W2,1792700665002717920,1.006654107e-06,-8.148273457e-06,2.867975279e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.515719747e-07,4.461067226e-09,1.500172657e-07,7.015388781e-01,-6.597312136e-06,8.407438092e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294763e-01,1.774262281e-06,8.295729396e-01
+16,8.500000000e-01,WAIT_W2,1792700665103054657,-9.669293759e-07,-4.776355280e-06,-2.269531747e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.751121930e-07,4.717517753e-09,1.576250696e-07,7.015369046e-01,-3.225393959e-06,8.407386717e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294999e-01,1.774518732e-06,8.295729473e-01
+17,9.000000000e-01,WAIT_W2,1792700665201386975,-3.006604222e-07,4.903325567e-06,-8.742493499e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.917530744e-07,4.891946787e-09,1.629734245e-07,7.015375708e-01,6.454286888e-06,8.407400669e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295165e-01,1.774693161e-06,8.295729526e-01
+18,9.500000000e-01,WAIT_W2,1792700665302992001,1.249967833e-06,1.166452915e-05,3.366957937e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.075811702e-07,5.058015342e-09,1.680427580e-07,7.015391214e-01,1.321549047e-05,8.407443081e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295323e-01,1.774859229e-06,8.295729577e-01
+19,1.000000000e+00,WAIT_W2,1792700665400821054,-1.910643949e-06,1.933169241e-05,-4.109301229e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.226284576e-07,5.228478477e-09,1.728431670e-07,7.015359608e-01,2.088265373e-05,8.407368319e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295474e-01,1.775029693e-06,8.295729625e-01
+20,1.050000000e+00,WAIT_W2,1792700665502714889,-3.055578656e-07,2.595742570e-05,-2.005719840e-06,-1.656618089e-06,2.449645866e-05,-2.035499756e-06,-1.177572796e-06,2.434318452e-05,-1.810493454e-06,7.015375659e-01,2.750838702e-05,8.407389355e-01,7.015362149e-01,2.604741998e-05,8.407389057e-01,7.017278472e-01,2.611298573e-05,8.295709791e-01
+21,1.100000000e+00,WAIT_W2,1792700665600840936,-2.164651473e-06,3.119663931e-05,-3.935257332e-06,-1.656618089e-06,2.449645866e-05,-2.035499756e-06,-1.166512876e-06,2.436624547e-05,-1.811043851e-06,7.015357068e-01,3.274760063e-05,8.407370059e-01,7.015362149e-01,2.604741998e-05,8.407389057e-01,7.017278582e-01,2.613604668e-05,8.295709786e-01
+22,1.133333333e+00,WAIT_W2,1792700665666832503,1.088969312e-06,3.442715840e-05,-5.720692564e-07,-1.656618089e-06,2.449645866e-05,-2.035499756e-06,-1.159280306e-06,2.437449284e-05,-1.810845332e-06,7.015389605e-01,3.597811972e-05,8.407403691e-01,7.015362149e-01,2.604741998e-05,8.407389057e-01,7.017278655e-01,2.614429405e-05,8.295709788e-01
+23,1.183333333e+00,WAIT_W2,1792700665734912595,-8.996890852e-07,3.474123311e-05,-1.074735586e-06,-1.656618089e-06,2.449645866e-05,-2.035499756e-06,-1.148646792e-06,2.438166529e-05,-1.810164127e-06,7.015369718e-01,3.629219443e-05,8.407398665e-01,7.015362149e-01,2.604741998e-05,8.407389057e-01,7.017278761e-01,2.615146650e-05,8.295709795e-01
+24,1.250000000e+00,WAIT_W2,1792700665866767543,-3.575787424e-06,2.947305831e-05,-3.914644923e-06,-1.656618089e-06,2.449645866e-05,-2.035499756e-06,-1.135127910e-06,2.438701017e-05,-1.808808820e-06,7.015342957e-01,3.102401963e-05,8.407370265e-01,7.015362149e-01,2.604741998e-05,8.407389057e-01,7.017278896e-01,2.615681138e-05,8.295709808e-01
+25,1.300000000e+00,WAIT_W2,1792700665967932059,-7.540661218e-08,2.309469110e-05,-6.032048825e-07,-1.656618089e-06,2.449645866e-05,-2.035499756e-06,-1.125568263e-06,2.438953552e-05,-1.807699298e-06,7.015377961e-01,2.464565242e-05,8.407403380e-01,7.015362149e-01,2.604741998e-05,8.407389057e-01,7.017278992e-01,2.615933673e-05,8.295709819e-01
+26,1.366666667e+00,WAIT_W2,1792700666100785593,-5.603195175e-07,1.827387170e-05,-2.694962834e-07,-1.656618089e-06,2.449645866e-05,-2.035499756e-06,-1.113456720e-06,2.439183118e-05,-1.806179226e-06,7.015373112e-01,1.982483302e-05,8.407406717e-01,7.015362149e-01,2.604741998e-05,8.407389057e-01,7.017279113e-01,2.616163239e-05,8.295709834e-01
+27,1.433333333e+00,WAIT_W2,1792700666232735330,-1.578397495e-06,1.046805638e-05,-2.595495269e-06,-1.656618089e-06,2.449645866e-05,-2.035499756e-06,-1.102086160e-06,2.439344228e-05,-1.804694664e-06,7.015362931e-01,1.201901770e-05,8.407383457e-01,7.015362149e-01,2.604741998e-05,8.407389057e-01,7.017279227e-01,2.616324350e-05,8.295709849e-01
+28,1.500000000e+00,WAIT_W2,1792700666348670362,-1.404893725e-06,1.460263676e-06,-2.011627273e-06,-1.259462202e-06,1.355279479e-06,-2.272254896e-06,-6.830580552e-07,1.458566777e-06,-2.063845828e-06,7.015364666e-01,3.011224997e-06,8.407389296e-01,7.015366120e-01,2.906240800e-06,8.407386689e-01,7.017283417e-01,3.228367991e-06,8.295707258e-01
+29,1.550000000e+00,WAIT_W2,1792700666430619392,-2.591689392e-06,-1.169318402e-06,-4.220647181e-06,-1.259462202e-06,1.355279479e-06,-2.272254896e-06,-6.754248072e-07,1.422400542e-06,-2.063105295e-06,7.015352798e-01,3.816429189e-07,8.407367205e-01,7.015366120e-01,2.906240800e-06,8.407386689e-01,7.017283493e-01,3.192201756e-06,8.295707265e-01
+30,1.583333333e+00,WAIT_W2,1792700666498742788,-1.156033075e-06,-3.373415562e-06,5.220937052e-07,-1.259462202e-06,1.355279479e-06,-2.272254896e-06,-6.704410429e-07,1.412873104e-06,-2.062353875e-06,7.015367154e-01,-1.822454241e-06,8.407414633e-01,7.015366120e-01,2.906240800e-06,8.407386689e-01,7.017283543e-01,3.182674318e-06,8.295707273e-01
+31,1.666666667e+00,UP_FORCE_RAMP,1792700666664659853,-1.318424053e-06,-4.646758503e-06,-1.082938742e-06,-1.259462202e-06,1.355279479e-06,-2.272254896e-06,-6.584083714e-07,1.402211799e-06,-2.060653511e-06,7.015365531e-01,-3.095797182e-06,8.407398582e-01,7.015366120e-01,2.906240800e-06,8.407386689e-01,7.017283663e-01,3.172013013e-06,8.295707290e-01
+32,1.700000000e+00,UP_FORCE_RAMP,1792700666732662150,-2.838042036e-06,-9.299550276e-06,-2.801471806e-06,-1.259462202e-06,1.355279479e-06,-2.272254896e-06,-6.538609203e-07,1.400087772e-06,-2.060069828e-06,7.015350334e-01,-7.748588955e-06,8.407381397e-01,7.015366120e-01,2.906240800e-06,8.407386689e-01,7.017283709e-01,3.169888986e-06,8.295707296e-01
+33,1.750000000e+00,UP_FORCE_RAMP,1792700666830769844,-3.231858206e-06,-1.190369093e-05,-4.531930417e-06,-1.259462202e-06,1.355279479e-06,-2.272254896e-06,-6.473196392e-07,1.397940852e-06,-2.059264186e-06,7.015346396e-01,-1.035272961e-05,8.407364093e-01,7.015366120e-01,2.906240800e-06,8.407386689e-01,7.017283774e-01,3.167742066e-06,8.295707304e-01
+34,1.783333333e+00,UP_FORCE_RAMP,1792700666898783377,-2.250390305e-06,-1.457938249e-05,-1.401773431e-06,-1.259462202e-06,1.355279479e-06,-2.272254896e-06,-6.431402653e-07,1.396949664e-06,-2.058760485e-06,7.015356211e-01,-1.302842117e-05,8.407395394e-01,7.015366120e-01,2.906240800e-06,8.407386689e-01,7.017283816e-01,3.166750878e-06,8.295707309e-01
+35,1.866666667e+00,UP_FORCE_RAMP,1792700667031303018,-1.760336033e-06,-1.444575287e-05,-4.905590173e-07,-1.259462202e-06,1.355279479e-06,-2.272254896e-06,-6.332934048e-07,1.395355941e-06,-2.057575572e-06,7.015361111e-01,-1.289479155e-05,8.407404506e-01,7.015366120e-01,2.906240800e-06,8.407386689e-01,7.017283915e-01,3.165157155e-06,8.295707321e-01
+36,1.933333333e+00,UP_FORCE_RAMP,1792700667170524726,-1.279104967e-06,-1.863883954e-05,-5.437605712e-07,3.518610227e-07,-1.865045950e-05,3.102392430e-06,9.775078215e-07,-1.847380696e-05,3.234509444e-06,7.015365924e-01,-1.708787822e-05,8.407403974e-01,7.015382233e-01,-1.709949818e-05,8.407440436e-01,7.017300023e-01,-1.670400575e-05,8.295760241e-01
+37,2.000000000e+00,UP_FORCE_RAMP,1792700667297307006,-2.549378489e-06,-2.307193232e-05,-2.568679673e-06,3.518610227e-07,-1.865045950e-05,3.102392430e-06,9.868328714e-07,-1.848836344e-05,3.247217668e-06,7.015353221e-01,-2.152097100e-05,8.407383725e-01,7.015382233e-01,-1.709949818e-05,8.407440436e-01,7.017300116e-01,-1.671856222e-05,8.295760368e-01
+38,2.066666667e+00,UP_FORCE_RAMP,1792700667431026832,-1.441490859e-06,-2.964777696e-05,-1.466975925e-06,3.518610227e-07,-1.865045950e-05,3.102392430e-06,9.954569926e-07,-1.849477846e-05,3.257392870e-06,7.015364300e-01,-2.809681564e-05,8.407394742e-01,7.015382233e-01,-1.709949818e-05,8.407440436e-01,7.017300202e-01,-1.672497725e-05,8.295760470e-01
+39,2.200000000e+00,UP_FORCE_RAMP,1792700667662787569,-2.841463253e-06,-3.107777767e-05,-9.620481786e-07,3.518610227e-07,-1.865045950e-05,3.102392430e-06,1.011026274e-06,-1.850034196e-05,3.274100805e-06,7.015350300e-01,-2.952681635e-05,8.407399791e-01,7.015382233e-01,-1.709949818e-05,8.407440436e-01,7.017300358e-01,-1.673054074e-05,8.295760637e-01
+40,2.283333333e+00,UP_FORCE_RAMP,1792700667830972681,-2.986515558e-06,-3.149530856e-05,-8.953786008e-07,3.518610227e-07,-1.865045950e-05,3.102392430e-06,1.019758828e-06,-1.850201044e-05,3.282975375e-06,7.015348850e-01,-2.994434724e-05,8.407400458e-01,7.015382233e-01,-1.709949818e-05,8.407440436e-01,7.017300445e-01,-1.673220922e-05,8.295760726e-01
+41,2.350000000e+00,UP_FORCE_RAMP,1792700667962579797,-4.346478227e-06,-4.045089908e-05,-2.884163990e-06,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.614946281e-06,-3.985248648e-05,-9.496143253e-07,7.015335250e-01,-3.889993776e-05,8.407380570e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264098e-01,-3.808268526e-05,8.295718400e-01
+42,2.383333333e+00,UP_FORCE_RAMP,1792700668030644140,-2.403710254e-06,-3.533029801e-05,-6.415985847e-07,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.616939578e-06,-3.986831858e-05,-9.520713949e-07,7.015354678e-01,-3.377933669e-05,8.407402996e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264078e-01,-3.809851736e-05,8.295718376e-01
+43,2.416666667e+00,UP_FORCE_RAMP,1792700668094838142,-2.925848579e-06,-4.135218327e-05,6.316567591e-07,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.617893962e-06,-3.987774994e-05,-9.534243731e-07,7.015349456e-01,-3.980122195e-05,8.407415728e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264069e-01,-3.810794873e-05,8.295718362e-01
+44,2.500000000e+00,UP_FORCE_RAMP,1792700668244839214,-3.811238824e-06,-4.131204613e-05,1.135076158e-06,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.618438273e-06,-3.988932696e-05,-9.555564495e-07,7.015340602e-01,-3.976108481e-05,8.407420763e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264063e-01,-3.811952575e-05,8.295718341e-01
+45,2.533333333e+00,UP_FORCE_RAMP,1792700668294772402,-4.017392286e-06,-4.547397737e-05,2.189802547e-07,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.618315049e-06,-3.989182670e-05,-9.562115640e-07,7.015338541e-01,-4.392301605e-05,8.407411602e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264064e-01,-3.812202549e-05,8.295718334e-01
+46,2.583333333e+00,UP_FORCE_RAMP,1792700668394878687,-4.507266881e-06,-4.382455139e-05,2.451112746e-06,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.617972401e-06,-3.989454486e-05,-9.570867754e-07,7.015333642e-01,-4.227359007e-05,8.407433923e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264068e-01,-3.812474365e-05,8.295718325e-01
+47,2.666666667e+00,UP_FORCE_RAMP,1792700668560630802,-5.425684613e-06,-4.409147789e-05,5.677955500e-06,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.617188662e-06,-3.989746188e-05,-9.583441821e-07,7.015324458e-01,-4.254051657e-05,8.407466191e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264076e-01,-3.812766066e-05,8.295718313e-01
+48,2.716666667e+00,UP_FORCE_RAMP,1792700668662561003,-6.307604002e-06,-4.689886983e-05,5.662477024e-06,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.616674613e-06,-3.989867216e-05,-9.589959608e-07,7.015315639e-01,-4.534790851e-05,8.407466037e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264081e-01,-3.812887095e-05,8.295718306e-01
+49,2.783333333e+00,UP_FORCE_RAMP,1792700668794619732,-4.510174478e-06,-4.613623815e-05,1.290967250e-05,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.615980987e-06,-3.989988743e-05,-9.597648177e-07,7.015333613e-01,-4.458527683e-05,8.407538509e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264088e-01,-3.813008621e-05,8.295718299e-01
+50,2.816666667e+00,UP_FORCE_RAMP,1792700668862616833,-4.117190391e-06,-4.779451904e-05,1.630804290e-05,-3.237719676e-06,-4.011317740e-05,-1.208767867e-06,-2.615645366e-06,-3.990039798e-05,-9.601088456e-07,7.015337543e-01,-4.624355771e-05,8.407572492e-01,7.015346338e-01,-3.856221608e-05,8.407397324e-01,7.017264091e-01,-3.813059677e-05,8.295718295e-01
+51,2.866666667e+00,UP_FORCE_RAMP,1792700668960609327,-3.829201126e-06,-4.232568610e-05,2.156894990e-05,-1.743946182e-06,-4.631212426e-05,2.038859626e-05,-9.576347055e-07,-4.604656037e-05,2.020500446e-05,7.015340423e-01,-4.077472477e-05,8.407625101e-01,7.015361275e-01,-4.476116294e-05,8.407613298e-01,7.017280671e-01,-4.427675916e-05,8.295929946e-01
+52,2.916666667e+00,UP_FORCE_RAMP,1792700669060010788,-2.783717204e-06,-4.670164906e-05,2.876643801e-05,-1.743946182e-06,-4.631212426e-05,2.038859626e-05,-9.553341526e-07,-4.605285396e-05,2.024353548e-05,7.015350878e-01,-4.515068774e-05,8.407697076e-01,7.015361275e-01,-4.476116294e-05,8.407613298e-01,7.017280694e-01,-4.428305274e-05,8.295930332e-01
+53,2.950000000e+00,UP_FORCE_RAMP,1792700669126748235,1.867007173e-06,-4.447053233e-05,3.906070308e-05,-1.743946182e-06,-4.631212426e-05,2.038859626e-05,-9.536920811e-07,-4.605529862e-05,2.026413172e-05,7.015397385e-01,-4.291957101e-05,8.407800019e-01,7.015361275e-01,-4.476116294e-05,8.407613298e-01,7.017280711e-01,-4.428549741e-05,8.295930538e-01
+54,3.000000000e+00,UP_FORCE_HOLD,1792700669226664980,1.460776532e-06,-4.547011410e-05,4.533940389e-05,1.617682283e-06,-4.404242069e-05,4.092058646e-05,2.466253860e-06,-4.381371630e-05,4.035350057e-05,7.015393323e-01,-4.391915278e-05,8.407862806e-01,7.015394892e-01,-4.249145937e-05,8.407818618e-01,7.017314910e-01,-4.204391508e-05,8.296131431e-01
+55,3.066666667e+00,UP_FORCE_HOLD,1792700669360642348,-1.317983094e-06,-4.382702300e-05,4.627968374e-05,1.617682283e-06,-4.404242069e-05,4.092058646e-05,2.476265435e-06,-4.381485206e-05,4.043242818e-05,7.015365535e-01,-4.227606168e-05,8.407872209e-01,7.015394892e-01,-4.249145937e-05,8.407818618e-01,7.017315010e-01,-4.204505085e-05,8.296132221e-01
+56,3.083333333e+00,UP_FORCE_HOLD,1792700669394695567,2.869138947e-06,-4.383443702e-05,5.422197395e-05,1.617682283e-06,-4.404242069e-05,4.092058646e-05,2.478585368e-06,-4.381513149e-05,4.044936326e-05,7.015407406e-01,-4.228347570e-05,8.407951632e-01,7.015394892e-01,-4.249145937e-05,8.407818618e-01,7.017315033e-01,-4.204533028e-05,8.296132390e-01
+57,3.133333333e+00,UP_SETTLE,1792700669492537248,3.910547680e-06,-4.644490600e-05,5.767071851e-05,1.617682283e-06,-4.404242069e-05,4.092058646e-05,2.485291628e-06,-4.381585978e-05,4.049636549e-05,7.015417820e-01,-4.489394468e-05,8.407986119e-01,7.015394892e-01,-4.249145937e-05,8.407818618e-01,7.017315100e-01,-4.204605857e-05,8.296132860e-01
+58,3.183333333e+00,UP_SETTLE,1792700669590968658,2.064677304e-06,-4.304268023e-05,6.083945614e-05,1.617682283e-06,-4.404242069e-05,4.092058646e-05,2.491687205e-06,-4.381636730e-05,4.053898218e-05,7.015399362e-01,-4.149171891e-05,8.408017806e-01,7.015394892e-01,-4.249145937e-05,8.407818618e-01,7.017315164e-01,-4.204656609e-05,8.296133286e-01
+59,3.250000000e+00,UP_SETTLE,1792700669726583728,3.881431299e-06,-4.881687704e-05,6.264077496e-05,3.230434717e-06,-4.870650081e-05,6.216035164e-05,4.158186982e-06,-4.844417791e-05,6.143638235e-05,7.015417529e-01,-4.726591572e-05,8.408035820e-01,7.015411019e-01,-4.715553949e-05,8.408031015e-01,7.017331829e-01,-4.667437669e-05,8.296342260e-01

Fixed/s2/cylinder_PLA_12.5/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,-2.6853e-02,1.5739e-03,2.4556e+00,-3.6904e-02,3.4841e-02,-2.2783e-05,5.5919e-04,7.5577e-06,2.4819e-04,-5.8860e-07,3.7085e-05,-3.2107e-07,6.1184e-04,3.7091e-05
+1,5.0000e-02,XJC_ZERO_HOLD_BEFORE_UP,1.7233e-05,-2.5207e-02,1.5931e-03,2.4564e+00,-3.6905e-02,3.4951e-02,-2.3720e-05,2.2046e-03,2.6853e-05,9.7108e-04,-2.0601e-06,1.4693e-04,-1.2584e-06,2.4092e-03,1.4695e-04
+2,8.3333e-02,XJC_ZERO_HOLD_BEFORE_UP,2.7164e-05,-2.4132e-02,1.6050e-03,2.4568e+00,-3.6906e-02,3.5023e-02,-2.4328e-05,3.2794e-03,3.8727e-05,1.4360e-03,-2.9244e-06,2.1921e-04,-1.8659e-06,3.5802e-03,2.1924e-04
+3,1.3333e-01,WAIT_W2,4.2121e-05,-2.2562e-02,1.6209e-03,2.4575e+00,-3.6907e-02,3.5129e-02,-2.5210e-05,4.8500e-03,5.4587e-05,2.1055e-03,-4.0308e-06,3.2556e-04,-2.7477e-06,5.2876e-03,3.2559e-04
+4,1.6667e-01,WAIT_W2,5.0442e-05,-2.1415e-02,1.6322e-03,2.4580e+00,-3.6908e-02,3.5208e-02,-2.5926e-05,5.9970e-03,6.5938e-05,2.6057e-03,-4.7758e-06,4.0402e-04,-3.4641e-06,6.5389e-03,4.0406e-04
+5,2.3333e-01,WAIT_W2,6.5815e-05,-1.9362e-02,1.6499e-03,2.4589e+00,-3.6909e-02,3.5350e-02,-2.7227e-05,8.0500e-03,8.3572e-05,3.4597e-03,-5.7966e-06,5.4583e-04,-4.7648e-06,8.7623e-03,5.4588e-04
+6,2.8333e-01,WAIT_W2,7.6224e-05,-1.7864e-02,1.6607e-03,2.4595e+00,-3.6909e-02,3.5454e-02,-2.8209e-05,9.5478e-03,9.4422e-05,4.0662e-03,-6.3069e-06,6.5029e-04,-5.7466e-06,1.0378e-02,6.5035e-04
+7,3.3333e-01,WAIT_W2,9.0177e-05,-1.6451e-02,1.6682e-03,2.4600e+00,-3.6910e-02,3.5553e-02,-2.9146e-05,1.0960e-02,1.0193e-04,4.6222e-03,-6.5044e-06,7.4942e-04,-6.6843e-06,1.1896e-02,7.4948e-04
+8,3.8333e-01,WAIT_W2,1.0285e-04,-1.5106e-02,1.6731e-03,2.4605e+00,-3.6910e-02,3.5648e-02,-3.0041e-05,1.2306e-02,1.0683e-04,5.1396e-03,-6.4708e-06,8.4427e-04,-7.5790e-06,1.3337e-02,8.4433e-04
+9,4.0000e-01,WAIT_W2,1.1376e-04,-1.4671e-02,1.6743e-03,2.4607e+00,-3.6909e-02,3.5679e-02,-3.0330e-05,1.2741e-02,1.0798e-04,5.3046e-03,-6.4149e-06,8.7502e-04,-7.8681e-06,1.3802e-02,8.7508e-04
+10,4.6667e-01,WAIT_W2,1.3121e-04,-1.2989e-02,1.6749e-03,2.4613e+00,-3.6909e-02,3.5798e-02,-3.1450e-05,1.4423e-02,1.0862e-04,5.9335e-03,-5.8562e-06,9.9418e-04,-8.9876e-06,1.5596e-02,9.9424e-04
+11,5.3333e-01,WAIT_W2,1.4097e-04,-1.1395e-02,1.6702e-03,2.4619e+00,-3.6908e-02,3.5911e-02,-3.2526e-05,1.6017e-02,1.0387e-04,6.5172e-03,-4.8317e-06,1.1076e-03,-1.0064e-05,1.7292e-02,1.1077e-03
+12,5.8333e-01,WAIT_W2,1.5407e-04,-1.0268e-02,1.6653e-03,2.4623e+00,-3.6907e-02,3.5992e-02,-3.3281e-05,1.7143e-02,9.8998e-05,6.9239e-03,-3.9637e-06,1.1880e-03,-1.0818e-05,1.8489e-02,1.1881e-03
+13,6.6667e-01,WAIT_W2,1.6999e-04,-8.5107e-03,1.6598e-03,2.4630e+00,-3.6906e-02,3.6117e-02,-3.4447e-05,1.8901e-02,9.3544e-05,7.5548e-03,-2.6226e-06,1.3137e-03,-1.1985e-05,2.0355e-02,1.3138e-03
+14,7.1667e-01,WAIT_W2,1.8326e-04,-7.5238e-03,1.6561e-03,2.4633e+00,-3.6905e-02,3.6188e-02,-3.5091e-05,1.9888e-02,8.9766e-05,7.9072e-03,-1.7397e-06,1.3844e-03,-1.2629e-05,2.1402e-02,1.3845e-03
+15,7.8333e-01,WAIT_W2,1.9423e-04,-6.2701e-03,1.6516e-03,2.4637e+00,-3.6904e-02,3.6278e-02,-3.5901e-05,2.1142e-02,8.5280e-05,8.3506e-03,-6.0722e-07,1.4743e-03,-1.3439e-05,2.2731e-02,1.4744e-03
+16,8.5000e-01,WAIT_W2,2.0651e-04,-2.5374e-03,1.5858e-03,2.4652e+00,-3.6896e-02,3.6559e-02,-3.9629e-05,2.4874e-02,1.9484e-05,9.7573e-03,7.5027e-06,1.7556e-03,-1.7167e-05,2.6720e-02,1.7557e-03
+17,9.0000e-01,WAIT_W2,2.2008e-04,-2.7658e-03,1.5715e-03,2.4649e+00,-3.6895e-02,3.6547e-02,-3.9934e-05,2.4646e-02,5.1771e-06,9.5084e-03,8.4825e-06,1.7428e-03,-1.7472e-05,2.6416e-02,1.7429e-03
+18,9.5000e-01,WAIT_W2,2.3251e-04,-2.4756e-03,1.5706e-03,2.4649e+00,-3.6894e-02,3.6567e-02,-4.0218e-05,2.4936e-02,4.3316e-06,9.5236e-03,8.6986e-06,1.7631e-03,-1.7756e-05,2.6693e-02,1.7632e-03
+19,1.0000e+00,WAIT_W2,2.4479e-04,-1.9915e-03,1.5737e-03,2.4651e+00,-3.6894e-02,3.6600e-02,-4.0487e-05,2.5420e-02,7.4110e-06,9.6591e-03,8.7433e-06,1.7960e-03,-1.8025e-05,2.7193e-02,1.7961e-03
+20,1.0500e+00,WAIT_W2,2.5797e-04,-1.0838e-03,-2.4372e-03,2.4657e+00,-3.6629e-02,3.6661e-02,-4.1471e-05,2.6328e-02,-4.0035e-03,1.0263e-02,2.7398e-04,1.8573e-03,-1.9009e-05,2.8540e-02,1.8775e-03
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Fixed/s2/cylinder_PLA_12.5/press_depth_07/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c34f4981b392c621fe1306ea7bddf4ce91196dbe16c05ba81aac0f00bc20c80
+size 51568640

Fixed/s2/cylinder_PLA_12.5/press_depth_07/down/franka_data.csv

@@ -0,0 +1,61 @@
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+3397,1792700791352877422,8618343999999,1792700791348445011,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6760590590103506,-0.0045871447141019464,0.09076277222358635,0.9999999866113275,-0.00010771209999375702,-3.829940483481213e-05,-7.177372929183614e-05,0.6761,-0.00453,0.09078618249981174,1.0,0.0,0.0,0.0,0.0015690020430885743,0.21254598834185,0.6139794827845549,0.016236366390470228,4.6737112380998425e-06,-4.820426271222436e-05,0.4354662492538333,0.4210514834477587,0.4515392139362088,0.02932734395132041,-0.029035934533050943,-0.00042953741681561226,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.31682040038640663,0.4785263258023872,0.6163311436038056,-0.051123086225232574,-0.2661978861400998,0.2541349536676825,0.49631610815330435,0.6139794827845549,-0.12001503545050124,-0.12001503545050124,0.23399999999999183,0,0,-0.00014624996871467755,-9.999999025923074e-05
+3485,1792700792086803798,8619078000000,1792700792080444923,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6760582948815389,-0.004599461307123952,0.09068347923944889,0.9999999887964472,-0.0001000291552713895,-4.034181657283394e-05,-4.7081583917340646e-05,0.6761,-0.00453,0.0906745740670289,1.0,0.0,0.0,0.0,0.00022487269299120705,0.1857712482165947,0.9585784651724127,0.0151086889396192,-4.589985241116798e-05,-0.00033781324954858315,0.43412211990373595,0.3942767433225034,0.7961381963240666,0.028199666500469383,-0.02908650809670021,-0.000719146403651971,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.35323995817131854,0.5505370812245357,0.24198476475414243,0.0002146348644307499,-0.03132861912796129,0.28340788725433735,0.49631610815330435,0.9585784651724127,0.2543313433991619,0.2543313433991619,0.29272000000000425,0,0,-0.00014028065158514102,9.999999025923074e-05
+3573,1792700792819764764,8619811000000,1792700792812444436,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6760691194081596,-0.004601318224833486,0.09062178306326929,0.9999999909403484,-9.323248081135772e-05,-1.3861933490100015e-05,-2.603303312631482e-05,0.6761,-0.00453,0.09058516224679662,1.0,0.0,0.0,0.0,-0.04014175755454935,0.20666493133805963,1.1499168688922214,0.01638117881337369,0.003933782903742862,0.0005591606641077705,0.3937554896561954,0.41517042644396834,0.9874766000438754,0.029472156374223873,-0.02510682534054618,0.00017782751000438253,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.4274737982727815,0.4495598961733119,-0.03812814899338285,0.07713275725552306,0.1471054325839389,0.20625807114517147,0.49631610815330435,1.1499168688922214,0.5344442571466872,0.5344442571466872,0.3513600000000222,0,0,-0.00010363065872512488,9.999999025923074e-05
+3637,1792700793352819769,8620343999999,1792700793352444633,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761001146570963,-0.004606305275963366,0.09059731528556349,0.9999999917303771,-8.733625894001184e-05,1.4665231263804555e-05,-1.180758293360481e-05,0.6761,-0.00453,0.09053678419137051,1.0,0.0,0.0,0.0,-0.11693550888706555,0.272163008715486,1.1625737736370774,0.021963158314414415,0.00888955288434386,0.000650011389183086,0.3169617383236792,0.4806685038213947,1.0001335047887312,0.0350541358752646,-0.020151055359945182,0.000268678235079698,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.5918170266942688,0.40545936776467906,-0.07602045647902571,0.11254095776888656,0.1921638771302806,0.1772302861338162,0.49631610815330435,1.1625737736370774,0.5723365646323301,0.5723365646323301,0.39400000000003527,0,0,-7.802924189140447e-05,9.999999025923074e-05
+3761,1792700794386682481,8621378000000,1792700794384444369,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761038278948769,-0.004609594917329179,0.0905544523032486,0.9999999920260252,-8.27985262789575e-05,2.31140372994025e-05,-9.793991141898498e-07,0.6761,-0.00453,0.09048280500004256,1.0,0.0,0.0,0.0,-0.11675204642995274,0.2556841810295845,1.2316570037796242,0.020932828279586008,0.008896560007933374,0.000618441861408235,0.317145200780792,0.4641896761354932,1.069216734931278,0.03402380584043619,-0.02014404823635567,0.00023710870730484705,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.6007260233907078,0.4143348264201437,-0.18315775870167744,0.11215714745987886,0.25999328664754484,0.17984950057733767,0.49631610815330435,1.2316570037796242,0.6794738668549818,0.6794738668549818,0.4767200000000606,0,0,-2.6329251963359883e-05,9.999999025923074e-05
+3904,1792700795577745194,8622568999999,1792700795572444622,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6760994982110153,-0.004606179117071345,0.09053587487014458,0.9999999922404249,-8.19732250128714e-05,1.5550369190744174e-05,7.687943673137192e-07,0.6761,-0.00453,0.0904748303973886,1.0,0.0,0.0,0.0,-0.10379387367211329,0.24186553836682378,1.1908346192760009,0.01995048079803166,0.007917030596047883,-0.0003547124187105185,0.33010337353863145,0.4503710334727325,1.0283943504276547,0.033041458358881844,-0.02112357764824116,-0.0007360455728139064,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.6181238922557726,0.4568212326967025,-0.1418432294112757,0.09265541832669227,0.24487342495903952,0.20229675473412162,0.49631610815330435,1.1908346192760009,0.63815933756458,0.63815933756458,0.5720000000000398,0,0,-2.447839281272124e-07,2.472564930577903e-06
+4028,1792700796611618466,8623602999999,1792700796608444137,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6760978834005156,-0.004606788428978987,0.09052851445134795,0.9999999923553804,-8.114640867365094e-05,1.2101396510884915e-05,9.59282025574267e-07,0.6761,-0.00453,0.09046971408450935,1.0,0.0,0.0,0.0,-0.09701552153140613,0.24459807157094926,1.1636275137140037,0.019309311971377467,0.007932106108806673,-0.0003392749157451185,0.3368817256793386,0.45310356667685797,1.0011872448656576,0.03240028953222765,-0.02110850213548237,-0.0007206080698485064,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.565459895044376,0.4473690822080173,-0.1266319799004486,0.10343916676199899,0.21878217369998865,0.20053115565437482,0.49631610815330435,1.1636275137140037,0.622948088053753,0.622948088053753,0.6547200000000077,0,0,-1.3092357568937568e-05,-7.548801447677107e-05
+4168,1792700797777682380,8624769000000,1792700797776444573,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6760996060856356,-0.004611766021275006,0.09050839262027996,0.9999999924240791,-7.925480702037369e-05,1.526086518318649e-05,8.971495978449238e-06,0.6761,-0.00453,0.09043686092149422,1.0,0.0,0.0,0.0,-0.09762996015481767,0.23615771541418584,1.21045919992462,0.018926393010939083,0.007929336040840864,-0.0003814039910700652,0.33626728705592707,0.44466321052009455,1.0480189310762738,0.032017370571789265,-0.02111127220344818,-0.0007627371451734531,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.6716940812273265,0.3793584428269467,-0.25125016862573424,0.1316536766314998,0.3254410240490712,0.15236618513652647,0.49631610815330435,1.21045919992462,0.7475662767790385,0.7475662767790385,0.7479999999999716,0,0,-3.7790233835240154e-05,9.998904068465037e-05
+4295,1792700798836648329,8625828000000,1792700798832444050,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761030379022442,-0.004613821131930487,0.09048283329528232,0.9999999923311487,-7.792963293036297e-05,2.2530333880066812e-05,1.4139422668336062e-05,0.6761,-0.00453,0.09039643022288475,1.0,0.0,0.0,0.0,-0.11571561215570553,0.2380020712301838,1.2605371377975199,0.018889804932472998,0.008932026009527583,-0.0004083430046054027,0.3181816350550392,0.4465075663360925,1.0980968689491737,0.03198078249332318,-0.02010858223476146,-0.0007896761587087906,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.7016932526018488,0.3837457916106202,-0.37169757388205055,0.12826455574153325,0.40582792143682456,0.15594856550266578,0.49631610815330435,1.2605371377975199,0.8680136820353549,0.8680136820353549,0.8327199999999387,0,0,-3.9290095417395026e-05,9.999999025923074e-05
+4419,1792700799869513972,8626861000000,1792700799864444548,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761047628739778,-0.004612857409823901,0.09044629749035635,0.9999999924373627,-7.430233851358661e-05,2.41682071561936e-05,2.1522062727754287e-05,0.6761,-0.00453,0.09035165666116426,1.0,0.0,0.0,0.0,-0.13429050931780456,0.23641462682694742,1.3205960579984397,0.01883486159307897,0.010515784649987182,-0.00043439414026696964,0.2996067378929402,0.4449201219328561,1.1581557891500935,0.03192583915392915,-0.01852482359430186,-0.0008157272943703575,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.7381414250160927,0.3977299469196287,-0.3259388032341016,0.11620733072505014,0.3837716191476536,0.16279836938858025,0.49631610815330435,1.3205960579984397,0.822254911387406,0.822254911387406,0.9153599999999067,0,0,-4.749338767681544e-05,-9.999696490148863e-05
+4527,1792700800769493396,8627761000000,1792700800768443568,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761091663963772,-0.004619561462251582,0.09040927867391961,0.9999999923254044,-7.022819385108093e-05,2.874009881257733e-05,3.215685323437069e-05,0.6761,-0.00453,0.09030921126850322,1.0,0.0,0.0,0.0,-0.14105790744557728,0.23233716063991772,1.3806668542334553,0.018790610709792356,0.011722139941398781,-0.0004644061792987112,0.29283933976516746,0.44084265574582643,1.218226585385109,0.03188158827064254,-0.01731846830289026,-0.0008457393334020991,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.6809506712317996,0.3811774057679799,-0.3692759586064293,0.12775593886216619,0.3907179356362207,0.1568183185915961,0.49631610815330435,1.3806668542334553,0.8655920667597337,0.8655920667597337,0.9873599999998788,0,0,-4.9354495347568534e-05,-9.999588243403962e-05
+4643,1792700801736530216,8628727999999,1792700801736444186,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761113777108668,-0.004616874734821545,0.09036240068015589,0.9999999927631636,-5.709513144486675e-05,3.05546363238807e-05,4.151020796228265e-05,0.6761,-0.00453,0.09025645638261921,1.0,0.0,0.0,0.0,-0.15376704068483737,0.22763302715358025,1.4007159200723582,0.018778416450019222,0.011942362173055807,-0.0004822905697802771,0.28013020652590737,0.43613852225948896,1.238275651224012,0.031869394010869405,-0.017098246071233236,-0.000863623723883665,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.7478259444176865,0.4047846395896438,-0.44106588256539675,0.11275845547455111,0.4504662427615221,0.17593034108566605,0.49631610815330435,1.4007159200723582,0.9373819907187011,0.9373819907187011,1.0647199999999386,0,0,-6.245808414492705e-05,-9.992962987504512e-05
+4754,1792700802661503540,8629653000000,1792700802660444345,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761104588507781,-0.004625082172401651,0.09030218336944812,0.9999999935533067,-2.34118920020371e-05,2.9521864513313097e-05,5.4005498096307197e-05,0.6761,-0.00453,0.09019415216389133,1.0,0.0,0.0,0.0,-0.14622836866725536,0.22400086274036923,1.427332215145176,0.0187736535740802,0.011937230954195101,-0.0005014529918227722,0.2876688785434894,0.43250635784627794,1.2648919462968298,0.031864631134930384,-0.01710337729009394,-0.0008827861459261601,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.7653201446607205,0.3655183119919021,-0.5045085688514197,0.12520609099184435,0.49352934514559527,0.1561805091379258,0.49631610815330435,1.427332215145176,1.000824677004724,1.000824677004724,1.1387200000000126,0,0,-7.458731701301258e-05,-9.999999025923074e-05
+4868,1792700803611406687,8630602999999,1792700803604444009,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761132735775945,-0.004626741650507844,0.0902347480866258,0.9999999929913335,-1.0497829746723617e-05,3.483032660253775e-05,6.43182831728005e-05,0.6761,-0.00453,0.09011714148593236,1.0,0.0,0.0,0.0,-0.1542970929200962,0.21286540211178778,1.4705325369287938,0.017744392962551578,0.011948041722178462,-0.0005470828795583604,0.27960015429064855,0.4213708972176965,1.3080922680804477,0.03083537052340176,-0.01709256652211058,-0.0009284160336617484,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.7257833101213564,0.3115843545307806,-0.4811195771188969,0.1459205780249042,0.4569669924298957,0.13004172467834724,0.49631610815330435,1.4705325369287938,0.9774356852722013,0.9774356852722013,1.2147200000000886,0,0,-8.635927239572373e-05,-9.996224267639348e-05
+4978,1792700804527387969,8631519000000,1792700804524453725,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761179357789803,-0.004623571439134461,0.09015840311349457,0.9999999893476158,8.539059921630008e-05,4.502360871432298e-05,5.855726099397894e-05,0.6761,-0.00453,0.09003269447206391,1.0,0.0,0.0,0.0,-0.16306820260092608,0.2252392998373341,1.5170715528661733,0.01771060701317009,0.012945970663143468,-0.0005672680536730094,0.27082904460981866,0.4337447949432428,1.3546312840178272,0.030801584574020272,-0.016094637581145575,-0.0009486012077763973,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.8291893232907644,0.3439957920611836,-0.5734789041732742,0.10409251543289967,0.547163441730054,0.10612918444210945,0.49631610815330435,1.5170715528661733,1.0697950123265785,1.0697950123265785,1.288000000000162,0,0,-9.67095732621034e-05,-9.999999025923074e-05
+5078,1792700805361447800,8632352999999,1792700805356453694,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761241266662744,-0.004622721201796566,0.09008168462782644,0.9999999889503952,8.039733639460253e-05,5.134789652642337e-05,6.66463479165463e-05,0.6761,-0.00453,0.08994789254600101,1.0,0.0,0.0,0.0,-0.1468382230552739,0.2263628219935097,1.5213011510519499,0.018756032280354835,0.011917215983498819,-0.0005756661229186236,0.28705902415547085,0.4348683170994184,1.3588608822036037,0.03184700984120502,-0.017123392260790224,-0.0009569992770220115,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.81816205571343,0.4270227321703573,-0.6941809718486465,0.0992377840545602,0.6112485974443196,0.17853229776495008,0.49631610815330435,1.5213011510519499,1.1904970800019508,1.1904970800019508,1.3547200000002286,0,0,-0.00010663091194326591,-9.999999025923074e-05
+5170,1792700806127389821,8633119000000,1792700806124444446,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761219193943829,-0.004620664418103233,0.08999821252456973,0.9999999908618474,5.850887488077121e-05,4.6835649573418554e-05,6.404922325829524e-05,0.6761,-0.00453,0.089859182778228,1.0,0.0,0.0,0.0,-0.14407626772677468,0.23723248232797794,1.5415858427674107,0.017763753229554296,0.011918450430167555,-0.0005956553839694911,0.28982097948397006,0.44573797743388666,1.3791455739190646,0.03085473079040448,-0.017122157814121488,-0.000976988538072879,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.823824317941141,0.38024950426429255,-0.7170416731952561,0.14671299217701045,0.6153305467744671,0.1824749502678158,0.49631610815330435,1.5415858427674107,1.2133577813485605,1.2133577813485605,1.41600000000029,0,0,-0.00012302574286668223,-9.999999025923074e-05
+5258,1792700806861406366,8633852999999,1792700806860443499,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761235857274673,-0.004623529793019095,0.08990945878299791,0.9999999914333866,4.2091738093369275e-05,5.249712763398124e-05,6.362726178405275e-05,0.6761,-0.00453,0.08976440937941474,1.0,0.0,0.0,0.0,-0.14639148252577605,0.2264198109350598,1.5717287416813992,0.01772724444853372,0.011925233979258494,-0.000627702338531542,0.2875057646849687,0.4349253060409685,1.409288472833053,0.030818222009383903,-0.01711537426503055,-0.00100903549263493,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.863893329544868,0.4027280488153193,-0.7383462957994,0.14364436312171544,0.6343673746922868,0.19810536425483177,0.49631610815330435,1.5717287416813992,1.2346624039527043,1.2346624039527043,1.4747200000003486,0,0,-0.00013287648811396847,-9.999942126993062e-05
+5329,1792700807452322741,8634443999999,1792700807448443844,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761229709747931,-0.004625426145902409,0.08982854451489998,0.9999999915743514,3.261120469773705e-05,4.841017955176288e-05,6.990797797801675e-05,0.6761,-0.00453,0.08968470719569936,1.0,0.0,0.0,0.0,-0.13500162019843537,0.22369264833640773,1.570560159777207,0.016707645944651756,0.011943455207798798,-0.0006370435989417532,0.2988956270123094,0.43219814344231644,1.4081198909288608,0.02979862350550194,-0.017097153036490245,-0.001018376753045141,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.8465747400356528,0.32162096798866335,-0.838143550137187,0.17131350463022493,0.6910003502233739,0.14435831172202265,0.49631610815330435,1.570560159777207,1.3344596582904913,1.3344596582904913,1.522000000000396,0,0,-0.00014143991642764776,-6.26846450010376e-05
+5401,1792700808052369898,8635044000000,1792700808048453291,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.67612524902891,-0.004630487280731012,0.08974380186659087,0.999999991070304,2.6227100610855135e-05,4.9265090015468566e-05,7.865968728666968e-05,0.6761,-0.00453,0.0895985554903676,1.0,0.0,0.0,0.0,-0.15282505023312726,0.20880664798569737,1.6101696374379495,0.015659823157607753,0.012968494880979262,-0.0006670132029452629,0.2810721969776175,0.4173121430916061,1.4477293685896033,0.028750800718457935,-0.01607211336330978,-0.0010483463570486508,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.8367074740343453,0.34047546786198757,-0.8964583701006756,0.17221180737967684,0.7195542481113033,0.15955823025182136,0.49631610815330435,1.6101696374379495,1.39277447825398,1.39277447825398,1.570000000000444,0,0,-0.0001457257033642597,3.9851373404934125e-05
+5477,1792700808686357220,8635678000000,1792700808684443779,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761236854937933,-0.004635112201798828,0.08964714196625477,0.9999999904355601,1.8236731781440013e-05,4.7319653877366815e-05,8.94428104964956e-05,0.6761,-0.00453,0.08950172691422068,1.0,0.0,0.0,0.0,-0.14344547784615935,0.20007814684584885,1.6101802527268225,0.015676807773989648,0.011955964866266062,-0.0006816440763193547,0.2904517693645854,0.40858364195175756,1.4477399838784764,0.02876778533483983,-0.01708464337802298,-0.0010629772304227426,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.8603132984537241,0.329853842218803,-0.8349559952900549,0.17700616273901187,0.6820052388062589,0.1526179855411714,0.49631610815330435,1.6101802527268225,1.3312721034433592,1.3312721034433592,1.6207200000004947,0,0,-0.00015982074124817747,-9.999997638144293e-05
+5557,1792700809352335339,8636343999999,1792700809348443737,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761235054165934,-0.004633640349008361,0.08953905056169566,0.999999990431591,9.4092345956843e-06,4.574075230833432e-05,9.164568923174257e-05,0.6761,-0.00453,0.08938985901968359,1.0,0.0,0.0,0.0,-0.16160116380252432,0.1802394219513883,1.6295534895389996,0.014623442426227366,0.01298566857138567,-0.0006952905710075615,0.2722960834082204,0.388744917057297,1.4671132206906534,0.02771441998707755,-0.016054939672903373,-0.0010766237251109494,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.8837109595519219,0.3658226203087843,-0.9061349583895236,0.16623385089958906,0.7302557210715698,0.17134915234175252,0.49631610815330435,1.6295534895389996,1.402451066542828,1.402451066542828,1.674000000000548,0,0,-0.00017607245343251166,-9.99999208702917e-05
+5625,1792700809919287889,8636911000000,1792700809916443901,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.676124475751339,-0.004637681645922796,0.08943658553068025,0.9999999911939903,-1.598013330655945e-05,4.552644074563037e-05,8.201745170987827e-05,0.6761,-0.00453,0.08928526583190666,1.0,0.0,0.0,0.0,-0.1440667241079982,0.19035891122928228,1.6343351716809218,0.014650481658272575,0.011970214912647593,-0.0007164055627838457,0.28983052310274654,0.398864406335191,1.4718949028325756,0.027741459219122758,-0.01707039333164145,-0.0010977387168872336,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.8903333709488386,0.3565951003452757,-0.981306395790896,0.20056204799014193,0.7740943320809324,0.1682844264281101,0.49631610815330435,1.6343351716809218,1.4776225039442004,1.4776225039442004,1.7193600000005933,0,0,-0.00018880793315754503,-4.6283471591609395e-05
+5693,1792700810486305763,8637477999999,1792700810484453716,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761229294867342,-0.004633982444539192,0.08932113776764868,0.9999999914376139,-1.1231068784664514e-05,4.4102609837900826e-05,8.060061776538483e-05,0.6761,-0.00453,0.08917637423034719,1.0,0.0,0.0,0.0,-0.15180095780435648,0.173106811947428,1.655764799792292,0.013615614674849365,0.012469017933309578,-0.0007448985012561336,0.28209628940638826,0.3816123070533367,1.4933245309439458,0.026706592235699548,-0.016571590310979465,-0.0011262316553595215,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.9745846340273707,0.31206624967690816,-0.9638339867287032,0.22107125419239207,0.7798492413788091,0.14396237188280483,0.49631610815330435,1.655764799792292,1.4601500948820076,1.4601500948820076,1.7647200000006387,0,0,-0.00019406905282379062,-9.935284125817673e-05
+5752,1792700810977286530,8637968999999,1792700810976444057,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761212863846509,-0.004642008390490332,0.0892205165245348,0.9999999911871837,2.844641780414461e-07,3.987015838758937e-05,8.647997783557054e-05,0.6761,-0.00453,0.08907838711934207,1.0,0.0,0.0,0.0,-0.1508554695530594,0.16593619900747586,1.671903843697425,0.01260080276953483,0.01200184736717837,-0.0007662433880218342,0.28304177765768535,0.37444169411338457,1.5094635748490788,0.025691780330385012,-0.017038760877110672,-0.001147576542125222,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.9447843119196951,0.2509370080969761,-1.0536323852062295,0.2515043089098868,0.8255169810838127,0.10813436182093986,0.49631610815330435,1.671903843697425,1.5499484933595338,1.5499484933595338,1.804000000000678,0,0,-0.00020406843824896802,7.857890753309962e-06
+5808,1792700811444184229,8638436000000,1792700811436453663,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761186850447799,-0.00464538682433228,0.08912073397017765,0.9999999904552804,1.6123330223024247e-05,3.499086028351558e-05,9.512087784970975e-05,0.6761,-0.00453,0.08898143462963647,1.0,0.0,0.0,0.0,-0.151776775586686,0.14686221229893898,1.6683007810841934,0.01156699193598602,0.012634234720989245,-0.0007661901283225484,0.28212047162405873,0.3553677074048477,1.5058605122358473,0.024657969496836202,-0.016406373523299798,-0.0011475232824259363,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.9950121873193295,0.24408563384295706,-1.0267972781088448,0.2643609900078773,0.8202240981550242,0.10741637838042675,0.49631610815330435,1.6683007810841934,1.523113386262149,1.523113386262149,1.8413600000007153,0,0,-0.00021311755101924146,-9.934894159980274e-05
+5868,1792700811944256711,8638936000000,1792700811936453561,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761199443740761,-0.004646068404846823,0.0890118811168959,0.9999999906233474,6.942409401559956e-06,3.6620563294620426e-05,9.384512242053708e-05,0.6761,-0.00453,0.08887053858288599,1.0,0.0,0.0,0.0,-0.15971924821934275,0.14490174916242599,1.678749132419173,0.011550324450415775,0.013032948473783335,-0.0007693883295396185,0.274177998991402,0.3534072442683347,1.5163088635708268,0.024641302011265957,-0.01600765977050571,-0.0011507214836430065,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.959489012734416,0.2575588268544872,-1.0506485399799805,0.2670581375744664,0.8209451030646084,0.11038814508257054,0.49631610815330435,1.678749132419173,1.5469646481332848,1.5469646481332848,1.8813600000007553,0,0,-0.0002296930591519627,-9.999999025923074e-05
+5928,1792700812444154600,8639436000000,1792700812440453852,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761176742624939,-0.004648542199117423,0.08889319839791256,0.9999999908579839,-4.435655129239537e-06,3.3059579316153726e-05,9.281317716607078e-05,0.6761,-0.00453,0.08875254717429293,1.0,0.0,0.0,0.0,-0.15408808695454213,0.16121997314336373,1.667998956790085,0.011553700403220016,0.013035080374415812,-0.0007598304137825148,0.2798091602562026,0.36972546824927244,1.5055586879417389,0.0246446779640702,-0.01600552786987323,-0.0011411635678859027,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,0.9669779109151738,0.28478414850863976,-1.039002732874001,0.2843579917373979,0.8057282742478609,0.12888192775127233,0.49631610815330435,1.667998956790085,1.5353188410273053,1.5353188410273053,1.9213600000007953,0,0,-0.000243340364854154,-9.999999025923074e-05
+5980,1792700812877236788,8639869000000,1792700812876443715,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761211643587004,-0.004652669611456116,0.08878583879587731,0.9999999905873561,-1.0675581444279653e-06,3.498551859766129e-05,9.509482638502601e-05,0.6761,-0.00453,0.08864436628307654,1.0,0.0,0.0,0.0,-0.16967941734007835,0.15518799750591372,1.720163369718913,0.011514633010127794,0.014036832110817896,-0.0007883152006054138,0.2642178298706664,0.36369349261182243,1.5577231008705668,0.024605610570977977,-0.015003776133471147,-0.0011696483547088017,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.061815688323883,0.17129471372133942,-1.1070854986102008,0.33348748967410025,0.8717123090547472,0.06402301247509679,0.49631610815330435,1.720163369718913,1.603401606763505,1.603401606763505,1.95600000000083,0,0,-0.0002531762989491356,-9.768849204417335e-05
+6032,1792700813311196227,8640303000000,1792700813304454035,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761180065364824,-0.004659619290303555,0.08867250672514491,0.999999989957867,2.119950568563477e-06,2.9060689441135224e-05,0.00010333495392087919,0.6761,-0.00453,0.08853231863339428,1.0,0.0,0.0,0.0,-0.16902828235917688,0.14105520794024268,1.6895955098075233,0.010501236476532637,0.01404711879461645,-0.0007751490384158135,0.26486896485156786,0.3495607030461514,1.527155240959177,0.02359221403738282,-0.014993489449672593,-0.0011564821925192014,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.0504877454416237,0.20458340146523535,-1.0904343514455728,0.3308247089277366,0.8566086000478191,0.08432757795528936,0.49631610815330435,1.6895955098075233,1.586750459598877,1.586750459598877,1.9907200000008647,0,0,-0.0002653311708914182,-9.999999025923074e-05
+6076,1792700813677112318,8640669000000,1792700813676444167,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761192531606532,-0.004652806554620965,0.08857359675665183,0.9999999898896491,1.1296692238273893e-05,3.0549950420159744e-05,0.0001029691772997922,0.6761,-0.00453,0.08843379215415567,1.0,0.0,0.0,0.0,-0.18779804223401955,0.1419482492325162,1.72835700260073,0.010466207081835082,0.015069017198822645,-0.0007929477358129435,0.2460992049767252,0.3504537443384249,1.5659167337523838,0.023557184642685264,-0.013971591045466398,-0.0011742808899163314,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.0627694970525683,0.17317014427725852,-1.163066406216929,0.3599523972934648,0.8986665830188268,0.0722650122010213,0.49631610815330435,1.72835700260073,1.6593825143702332,1.6593825143702332,2.020000000000894,0,0,-0.00027301110462204923,-9.995935609652946e-05
+6128,1792700814111092897,8641102999999,1792700814108444202,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761163447088504,-0.0046593170217560445,0.08845298824997762,0.9999999899216289,8.090787544014452e-06,2.756768122454353e-05,0.0001037986937901969,0.6761,-0.00453,0.08831298216613398,1.0,0.0,0.0,0.0,-0.17787352449423305,0.13925425256983814,1.7208306356666523,0.01047577404707193,0.014698515960649094,-0.0007951037504499099,0.2560237227165117,0.34775974767574686,1.5583903668183061,0.023566751607922112,-0.014342092283639949,-0.0011764369045532978,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.0495811799486907,0.1219988251654367,-1.1644517539898158,0.38875805397111357,0.8945560008674772,0.03540461469994521,0.49631610815330435,1.7208306356666523,1.66076786214312,1.66076786214312,2.0547200000009287,0,0,-0.0002848619057125009,-9.601515002367051e-05
+6172,1792700814477152832,8641468999999,1792700814476453614,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761166930290274,-0.004668259047421729,0.08835084683308378,0.9999999891823709,2.325782452821245e-06,2.8614569700080646e-05,0.00011069742405725677,0.6761,-0.00453,0.08820716441672746,1.0,0.0,0.0,0.0,-0.18727370858997827,0.1321968391693072,1.7093030387823915,0.009448600518836427,0.01509262573179538,-0.0007890097208341187,0.24662353862076647,0.3407023342752159,1.5468627699340454,0.02253957807968661,-0.013947982512493663,-0.0011703428749375066,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.0823236662685158,0.19978494245209386,-1.166040752212557,0.3759702443472613,0.899969171147903,0.08719186069434472,0.49631610815330435,1.7093030387823915,1.6623568603658614,1.6623568603658614,2.084000000000958,0,0,-0.0002943283667719828,-9.999999025923074e-05
+6220,1792700814877068657,8641869000000,1792700814876444278,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761122875929789,-0.004667979868144821,0.08822417186421015,0.9999999890358446,5.072819574747152e-06,2.1122333935371822e-05,0.00011357503423069469,0.6761,-0.00453,0.08808706977853728,1.0,0.0,0.0,0.0,-0.1873816534712236,0.12061587740637836,1.7479925458559753,0.00943988119792261,0.01508514485566568,-0.0008202955907477687,0.24651559373952114,0.32912137251228707,1.5855522770076291,0.022530858758772792,-0.013955463388623362,-0.0012016287448511566,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.0634183476398706,0.15987556833876568,-1.1550618191479232,0.40575759786172694,0.8834289449096211,0.06713838578402224,0.49631610815330435,1.7479925458559753,1.6513779273012275,1.6513779273012275,2.11600000000099,0,0,-0.00030614792306401926,-9.861989977289482e-05
+6260,1792700815211131299,8642203000000,1792700815204453936,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761108540949313,-0.0046677924062975586,0.0881150790022124,0.9999999893887492,4.6793339856648634e-06,1.876797020619893e-05,0.00011086583356172369,0.6761,-0.00453,0.08798337392035377,1.0,0.0,0.0,0.0,-0.18682816392382187,0.11743244174135431,1.7374111012035787,0.008471893333256573,0.015105940193181299,-0.0008229679832699939,0.24706908328692287,0.325937936847263,1.5749708323552325,0.021562870894106755,-0.013934668051107744,-0.0012043011373733818,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.0991437843929077,0.12494857384920204,-1.138486808900606,0.4289459481965842,0.88053712564307,0.04489842457382596,0.49631610815330435,1.7374111012035787,1.6348029170539102,1.6348029170539102,2.1427200000010167,0,0,-0.0003145623729370036,-9.999999025923074e-05
+6303,1792700815569153763,8642561000000,1792700815568453954,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761110251182442,-0.004669129616408578,0.08800519072596512,0.9999999891167992,9.629503635541812e-06,2.15616149800291e-05,0.00011247948785125858,0.6761,-0.00453,0.08786928013487436,1.0,0.0,0.0,0.0,-0.1956345390631665,0.10924030460602446,1.7631895614022401,0.008388851562061931,0.016113572702745077,-0.000829005152966612,0.23826270814757824,0.3177457997119332,1.600749292553894,0.021479829122912113,-0.012927035541543966,-0.00121033830707,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.1738007084410869,0.09436809382479157,-1.2238493453343564,0.45217201487604547,0.9482533378663163,0.032258513039771314,0.49631610815330435,1.7631895614022401,1.7201654534876607,1.7201654534876607,2.1713600000010453,0,0,-0.0003224834577944798,-9.999987923692828e-05
+6343,1792700815902145633,8642894000000,1792700815896444152,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761081571604891,-0.004672835004919334,0.08788973624747665,0.9999999883951897,1.606091922306231e-05,1.3140849883931233e-05,0.00011925539745446032,0.6761,-0.00453,0.08776055856709655,1.0,0.0,0.0,0.0,-0.19616861671624022,0.11168308366551255,1.7475574690550155,0.008408342337468181,0.015507309252423052,-0.0008262873609236932,0.23772863049450452,0.32018857877142126,1.5851172002066694,0.021499319898318364,-0.013533298991865991,-0.001207620515027081,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.186986384635202,0.14607093766085416,-1.241700768887551,0.44547745602966693,0.9646966358646833,0.06511785920554773,0.49631610815330435,1.7475574690550155,1.7380168770408553,1.7380168770408553,2.198000000001072,0,0,-0.0003312455128065813,-9.993015723098182e-05
+6383,1792700816236129385,8643227999999,1792700816228444151,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761088282615513,-0.004677453577800071,0.08777802532510513,0.9999999879937037,1.2586552436385938e-05,1.2042980454043777e-05,0.000123093469185735,0.6761,-0.00453,0.08764825035080653,1.0,0.0,0.0,0.0,-0.2065561132363735,0.10712687904509854,1.807275189156526,0.00734334716242447,0.017138093484557616,-0.0008618895961403612,0.22734113397437125,0.31563237415100726,1.6448349203081798,0.020434324723274652,-0.011902514759731428,-0.001243222750243749,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.22228620221092,0.10219068658949089,-1.3194791873095628,0.4678813131082131,1.025266504157646,0.03509167016905489,0.49631610815330435,1.807275189156526,1.815795295462867,1.815795295462867,2.2247200000010987,0,0,-0.0003385017067383548,6.572691976647888e-05
+6423,1792700816569126920,8643561000000,1792700816568444644,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761081234348177,-0.004678220749563761,0.08766856109336307,0.9999999881198995,6.5020791107944e-06,1.27245341553743e-05,0.00012246989219010762,0.6761,-0.00453,0.08753353047477733,1.0,0.0,0.0,0.0,-0.1978385723964374,0.10542552894709506,1.7773913966117802,0.0073659227073130246,0.016130927306569898,-0.0008525487367215635,0.23605867481430734,0.31393102405300377,1.614951127763434,0.020456900268163207,-0.012909680937719147,-0.0012338818908249514,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.2067919078266147,0.06880250840475244,-1.3204612199930996,0.4905847698899598,1.0161180442230153,0.014643486308875159,0.49631610815330435,1.7773913966117802,1.816777328146404,1.816777328146404,2.2513600000011253,0,0,-0.0003514766604886547,2.809424501227227e-05
+6463,1792700816902111131,8643894000000,1792700816900453154,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761058906292927,-0.0046801697571647125,0.08754545367119182,0.9999999874888708,8.824778043824567e-06,8.435972451932932e-06,0.00012773441377110102,0.6761,-0.00453,0.0874146443041397,1.0,0.0,0.0,0.0,-0.20903099311741213,0.1074932101935579,1.7547097296293594,0.008152994486035462,0.01713280171960222,-0.0008095443919592034,0.2248662540933326,0.3159987052994666,1.5922694607810133,0.021243972046885645,-0.011907806524686822,-0.0011908775460625913,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.1804707161466799,0.05285283004076357,-1.1987888362207948,0.5089262679550353,0.9290336448573094,0.008956428590345275,0.49631610815330435,1.7547097296293594,1.695104944374099,1.695104944374099,2.278000000001152,0,0,-0.0003635085117873179,-9.998185199056592e-05
+6499,1792700817202119170,8644193999999,1792700817196453725,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761080454922408,-0.004682448157610851,0.08744245097099487,0.9999999875258392,4.7204683730627096e-06,1.5030624910741748e-05,0.00012705504069213672,0.6761,-0.00453,0.08730346069288061,1.0,0.0,0.0,0.0,-0.21514328231092333,0.10626027150501627,1.7858813669618023,0.008356379177578411,0.017123421346864898,-0.0008344694429361,0.2187539648998214,0.314765766610925,1.6234410981134562,0.021447356738428593,-0.011917186897424147,-0.001215802597039488,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.2918610044353784,0.001108004072920997,-1.3262531151157309,0.533365727350443,1.0370597713739986,-0.023951479621719354,0.49631610815330435,1.7858813669618023,1.8225692232690351,1.8225692232690351,2.302000000001176,0,0,-0.0003780037403521345,-5.5968495288668684e-05
+6535,1792700817502003183,8644494000000,1792700817500453476,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761021935170292,-0.004690067949303828,0.08732330771171812,0.9999999873285219,-1.975258387736954e-07,5.583542481377751e-06,0.00012943958197586154,0.6761,-0.00453,0.08718884349010764,1.0,0.0,0.0,0.0,-0.21128925390358774,0.1159030430157918,1.7578052508590054,0.00835857971395304,0.017129457569417646,-0.0008109159644794185,0.222607993307157,0.3244085381217005,1.5953649820106592,0.021449557274803223,-0.011911150674871395,-0.0011922491185828064,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.3186250720649186,-0.011117233874524813,-1.2067380106584547,0.5504056980986527,0.9668223157915361,-0.03204914406266327,0.49631610815330435,1.7578052508590054,1.703054118811759,1.703054118811759,2.3260000000012,0,0,-0.00038798928035241174,-9.999999025923074e-05
+6575,1792700817836093502,8644828000000,1792700817832443598,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761058010905826,-0.00469016705309546,0.08720137600637227,0.9999999871035182,-2.2630877991878184e-06,1.2474227400902265e-05,0.00013067172606671831,0.6761,-0.00453,0.0870566943371441,1.0,0.0,0.0,0.0,-0.23359747154138008,0.11960673812337497,1.7974644592498155,0.0083049576633849,0.019011292473401553,-0.0008165468440595719,0.20029977566936466,0.3281122332292837,1.6350241904014693,0.021395935224235083,-0.01002931577088749,-0.0011978799981629598,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.3585803300938646,0.02909458167780358,-1.3274721470324677,0.5420103073319508,1.0496454215860695,-0.005297435100584433,0.49631610815330435,1.7974644592498155,1.823788255185772,1.823788255185772,2.3527200000012267,0,0,-0.0004033521712146478,-9.999999025923074e-05
+6607,1792700818102044029,8645093999999,1792700818096453703,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761053902831077,-0.004688184908650417,0.08709086133576831,0.999999987220086,-6.340501408712332e-06,1.2092590075944482e-05,0.0001296775210822781,0.6761,-0.00453,0.08694802503598537,1.0,0.0,0.0,0.0,-0.2245982329992779,0.11923598534954788,1.7874899903762516,0.008330289145520448,0.0181358897280956,-0.0008211076906105239,0.20929901421146685,0.3277414804554566,1.6250497215279054,0.02142126670637063,-0.010904718516193445,-0.0012024408447139118,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.370402380045513,0.048145266090811115,-1.3269611695030976,0.5492874022006445,1.0523456974041263,0.010222729799765542,0.49631610815330435,1.7874899903762516,1.823277277656402,1.823277277656402,2.374000000001248,0,0,-0.00041333292847697676,-9.969809286325954e-05
+6643,1792700818402068967,8645394000000,1792700818400453769,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761014782115854,-0.004682470723958102,0.08696306954955134,0.9999999871466511,-1.2439522790595107e-05,3.958015198614815e-06,0.00013030408508129927,0.6761,-0.00453,0.08682238896118716,1.0,0.0,0.0,0.0,-0.23025894491279236,0.11032977025193019,1.813473865654605,0.008324734380882354,0.018130826495981873,-0.0008427589621491633,0.20363830229795238,0.3188352653578389,1.6510335968062588,0.021415711941732536,-0.01090978174830717,-0.0012240921162525512,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.379448583498597,-0.07565941569531398,-1.334530613774554,0.5876583664254784,1.0635691822380182,-0.07021891243133321,0.49631610815330435,1.813473865654605,1.8308467219278584,1.8308467219278584,2.398000000001272,0,0,-0.000423835009889821,-9.999999025923074e-05
+6670,1792700818626964552,8645619000000,1792700818624453712,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761113711001802,-0.004686358686983837,0.08686882483885613,0.9999999846447672,-1.0844401326230832e-05,3.138664974586362e-05,0.00014508827291785767,0.6761,-0.00453,0.08672593721317673,1.0,0.0,0.0,0.0,-0.20290882841183114,0.13160868599289216,1.7811717252254766,0.009396551321659685,0.016091543707319564,-0.0008257458031331537,0.2309884187989136,0.34011418109880087,1.6187314563771305,0.022487528882509867,-0.01294906453696948,-0.0012070789572365417,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.366367695345889,0.11667770197388377,-1.3356102158246783,0.5389110946519332,1.0542481967228967,0.05299754162425096,0.49631610815330435,1.7811717252254766,1.8319263239779826,1.8319263239779826,2.41600000000129,0,0,-0.0004340182497384034,-9.999999025923074e-05
+6703,1792700818902052115,8645894000000,1792700818896453574,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761007268521766,-0.004680672139173256,0.08674701209311983,0.9999999840304281,3.6864662238417684e-06,2.5823105731469682e-06,0.0001528455092643521,0.6761,-0.00453,0.08660486104152193,1.0,0.0,0.0,0.0,-0.1985886794576182,0.15890155956084223,1.8089291035477406,0.011363711658671491,0.0164166416275121,-0.0008267961002648392,0.23530856775312653,0.36740705466675094,1.6464888346993944,0.024454689219521673,-0.012623966616776942,-0.001208129254368227,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.4144585622053167,0.025696682848756463,-1.3135106624167197,0.5772594683895964,1.0613312044298697,0.00294276589222886,0.49631610815330435,1.8089291035477406,1.809826770570024,1.809826770570024,2.438000000001312,0,0,-0.00044664659351187206,-9.999999025923074e-05
+6735,1792700819169018343,8646161000000,1792700819164453741,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761018488534779,-0.004678901498960474,0.08662500792136377,0.9999999867794674,3.471662848975655e-05,7.0407462053528375e-06,0.00012895391811102707,0.6761,-0.00453,0.08648397214889471,1.0,0.0,0.0,0.0,-0.1980609010452549,0.1584111414755689,1.8086667600236361,0.011445136013117405,0.016045106848328702,-0.0008318280472405659,0.23583634616548985,0.3669166365814776,1.64622649117529,0.024536113573967587,-0.012995501395960342,-0.0012131612013439538,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.510904744986347,0.10281306794319785,-1.3588822519364154,0.5797726247963764,1.1148124812877762,0.05986220526585354,0.49631610815330435,1.8086667600236361,1.8551983600897197,1.8551983600897197,2.4593600000013334,0,0,-0.0004587073233988922,-9.999999025923074e-05
+6766,1792700819426976044,8646419000000,1792700819420453318,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.6761090002705601,-0.0046790601834623595,0.08651460491234936,0.9999999868260718,1.3628525199945006e-05,2.9226600657183213e-05,0.00012942484174615702,0.6761,-0.00453,0.08636414706663767,1.0,0.0,0.0,0.0,-0.19728258560476342,0.18654645379234625,1.8194306735939483,0.012466653121725235,0.016366275820858457,-0.0008159029982255514,0.23661466160598132,0.39505194889825496,1.656990404745602,0.025557630682575418,-0.012674332423430586,-0.0011972361523289394,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.5375738638523522,0.1361882982430818,-1.3921226795514208,0.5508125780978107,1.138271766221848,0.07710467428170095,0.49631610815330435,1.8194306735939483,1.888438787704725,1.888438787704725,2.480000000001354,0,0,-0.0004696046992616872,-2.396439577190819e-05
+6794,1792700819661023647,8646653000000,1792700819660454100,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6761024843056131,-0.0046788945847544535,0.0864064369653431,0.9999999856318008,1.2975523144360267e-05,1.0287562723828248e-05,0.00014108530975556424,0.6761,-0.00453,0.08625293716353825,1.0,0.0,0.0,0.0,-0.18824612909170618,0.15897483174599109,1.835682317552705,0.011457442653358022,0.01543399863098875,-0.0008653432948855635,0.24565111811903856,0.3674803268518998,1.6732420487043589,0.024548420214208205,-0.013606609613300293,-0.0012466764489889514,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.519361253118024,0.14281196134819002,-1.3465324023509253,0.5521908270035157,1.119938385498794,0.08091698735303317,0.49631610815330435,1.835682317552705,1.8428485105042296,1.8428485105042296,2.4987200000013727,0,0,-0.0004810428498550331,-9.999999025923074e-05
+6822,1792700819894048240,8646886000000,1792700819892453640,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6760932970349214,-0.004688278751929104,0.08628457634461671,0.9999999828299143,1.0505195367985167e-05,-5.731871671348653e-07,0.00016022592774950873,0.6761,-0.00453,0.0861395050407038,1.0,0.0,0.0,0.0,-0.18724107076018176,0.14332250756514053,1.8183519920130762,0.009479755243513292,0.015067368660213555,-0.0008765233895363034,0.24665617645056298,0.35182800267104924,1.65591172316473,0.022570732804363475,-0.013973239584075488,-0.0012578565436396913,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.3946733691584214,0.1363253603152482,-1.2249289713565197,0.5578200499639808,1.0096807397387844,0.08383546849547316,0.49631610815330435,1.8183519920130762,1.721245079509824,1.721245079509824,2.5173600000013914,0,0,-0.0004926827088206062,-9.999999025923074e-05
+6850,1792700820126962525,8647119000000,1792700820124453498,DOWN_FORCE_DETACH,7,0.0393,0.03930215537548065,0.6760940310089548,-0.004688560374626072,0.08617291292843716,0.9999999784394676,4.452281215065253e-05,8.263667282579725e-06,0.00018031461320350728,0.6761,-0.00453,0.08602351899370174,1.0,0.0,0.0,0.0,-0.21486405578913317,0.13969545721652743,1.8672256647082484,0.009366520132387448,0.0170665789112513,-0.0008961057252777342,0.21903319142161157,0.34820095232243614,1.7047853958599022,0.02245749769323763,-0.011974029333037744,-0.001277438879381122,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.459330213875986,0.07329977871270861,-1.2854810533983947,0.5794421395309813,1.063910144251495,0.04631717627964567,0.49631610815330435,1.8672256647082484,1.781797161551699,1.781797161551699,2.53600000000141,0,0,-0.0005029093627748324,-9.960007404797295e-05
+6878,1792700820360938335,8647352999999,1792700820360453675,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.67607867509169,-0.004696430952379145,0.08604091561938258,0.999999972564295,8.646816128233132e-05,-1.8375670109813036e-05,0.0001962138267595307,0.6761,-0.00453,0.08590476355808148,1.0,0.0,0.0,0.0,-0.17770333769618368,0.11728717972559183,1.8474825568486162,0.007381615016551997,0.015101584773434892,-0.0009225085157708799,0.25619390951456106,0.32579267483150054,1.68504228800027,0.02047259257740218,-0.01393902347085415,-0.0013038416698742678,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.5231896577971955,-0.061997545474803385,-1.332894991980376,0.6200060039830733,1.1188489447061905,-0.04450794549363114,0.49631610815330435,1.8474825568486162,1.8292111001336804,1.8292111001336804,2.5547200000014287,0,0,-0.00051296997331393,-9.999999025923074e-05
+6902,1792700820562002235,8647553000000,1792700820556453727,DOWN_FORCE_DETACH,7,0.0393,0.03930149972438812,0.676109207508738,-0.004678656044820548,0.08595759558627206,0.9999999893830605,-2.683214655626358e-05,2.0359689539697804e-05,0.00010743492084732277,0.6761,-0.00453,0.0858013165987125,1.0,0.0,0.0,0.0,-0.17849691104359633,0.2683256530074755,1.8044982877739,0.01860185343852712,0.016274997720481778,-0.000751996033628435,0.2554003361671484,0.47683114811338423,1.6420580189255538,0.0316928309993773,-0.012765610523807263,-0.001133329187731823,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.6057375648202703,0.08500752825697389,-1.2002916964307335,0.4673823669482767,1.067367018365637,0.08620261660810971,0.49631610815330435,1.8044982877739,1.6966078045840378,1.6966078045840378,2.5707200000014447,0,0,-0.0005220554462989898,-9.999999025923074e-05
+6930,1792700820792954884,8647785000000,1792700820792443895,DOWN_SETTLE,7,0.0393,0.03930149972438812,0.6761030520528044,-0.004688342461197372,0.0858394659587486,0.9999999856621359,-5.220497778271155e-06,1.8171803669777235e-05,0.00014057426657072448,0.6761,-0.00453,0.08569119955175229,1.0,0.0,0.0,0.0,-0.2184771507722396,0.20776271510604066,1.8201349241111295,0.014473857598201273,0.01735611557581289,-0.0007865193373982059,0.21542009643850515,0.4162682102119494,1.6576946552627834,0.027564835159051455,-0.011684492668476152,-0.0011678524915015938,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.641402018228856,0.16347407435896635,-1.3202770232412404,0.524208428115207,1.1402606761381173,0.12052738503660256,0.49631610815330435,1.8201349241111295,1.8165931313945447,0.0,0.0,0,0,-0.00025782809762103895,0.002604324218394333
+7026,1792700821592940058,8648584999999,1792700821588444193,DOWN_PEAK_HOLD,7,0.0393,0.03930149972438812,0.6760814440396961,-0.004685262466489224,0.08576505640768399,0.9999999840222162,1.352446697543139e-05,-2.2780110987079294e-05,0.0001506538649705625,0.6761,-0.00453,0.08566652422529929,1.0,0.0,0.0,0.0,-0.14021852832829684,0.16229640486023278,1.4377810960485453,0.010613260376718742,0.012092189069062051,-0.0005994805815433536,0.2936787188824479,0.3708018999661415,1.2753408272001991,0.023704237937568925,-0.016948419175226992,-0.0009808137356467415,0.43389724721074474,0.2085054951059087,-0.16244026884834614,0.013090977560850182,-0.029040608244289043,-0.0003813331541033879,1,1.4367401910887632,0.193439950651235,-0.905759364595504,0.5343263809763001,0.8379237003854415,0.11923346796832712,0.49631610815330435,1.4377810960485453,1.4020754727488083,0.0,0.0,0,0,0.0,0.0

Fixed/s2/cylinder_PLA_12.5/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,1792700788195580147,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.607622713e-08,8.138813234e-11,6.174153744e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017289570e-01,1.788638712e-06,8.295728994e-01
+1,5.166666667e-01,DOWN_FORCE_DETACH,1792700789227600018,9.724301391e-07,-1.093089701e-05,-1.976815383e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.113483235e-07,3.806482893e-09,1.551602355e-07,7.015388439e-01,-9.379935689e-06,8.407389644e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293523e-01,1.792363807e-06,8.295730484e-01
+2,1.033333333e+00,DOWN_FORCE_DETACH,1792700790259570630,-9.306658864e-06,-1.863171376e-05,-5.506861119e-05,-9.328055534e-06,-1.844441821e-05,-5.521232282e-05,-9.086089993e-06,-1.830962612e-05,-5.396581824e-05,7.015285648e-01,-1.708075244e-05,8.406858726e-01,7.015285434e-01,-1.689345689e-05,8.406857289e-01,7.017198548e-01,-1.652106879e-05,8.295189274e-01
+3,1.200000000e+00,DOWN_FORCE_DETACH,1792700790591658198,4.646402669e-05,-3.421519571e-05,-1.093867343e-04,4.552552969e-05,-3.413299602e-05,-1.092818318e-04,4.599102183e-05,-3.387457225e-05,-1.071284076e-04,7.015843355e-01,-3.266423439e-05,8.406315545e-01,7.015833970e-01,-3.258203470e-05,8.406316594e-01,7.017749319e-01,-3.208601492e-05,8.294657648e-01
+4,1.600000000e+00,DOWN_FORCE_DETACH,1792700791355416261,3.054244107e-05,-3.393528202e-05,-1.397038019e-04,2.909608658e-05,-3.410640430e-05,-1.214076831e-04,2.983619142e-05,-3.383196376e-05,-1.197826709e-04,7.015684139e-01,-3.238432070e-05,8.406012374e-01,7.015669676e-01,-3.255544298e-05,8.406195335e-01,7.017587771e-01,-3.204340644e-05,8.294531105e-01
+5,1.983333333e+00,DOWN_FORCE_DETACH,1792700792087671953,3.096576311e-05,-4.319388326e-05,-2.168795257e-04,2.604835680e-05,-4.325427701e-05,-2.077817864e-04,2.670586658e-05,-4.292353265e-05,-2.053369697e-04,7.015688372e-01,-4.164292194e-05,8.405240617e-01,7.015639198e-01,-4.170331568e-05,8.405331594e-01,7.017556468e-01,-4.113497532e-05,8.293675562e-01
+6,2.383333333e+00,DOWN_FORCE_DETACH,1792700792819830300,4.119186800e-05,-4.945516945e-05,-2.796282067e-04,4.338166999e-05,-5.369527376e-05,-2.728263130e-04,4.414735032e-05,-5.329911147e-05,-2.702352571e-04,7.015790633e-01,-4.790420813e-05,8.404613130e-01,7.015812532e-01,-5.214431244e-05,8.404681149e-01,7.017730883e-01,-5.151055414e-05,8.293026579e-01
+7,2.650000000e+00,DOWN_FORCE_DETACH,1792700793351413626,7.404501897e-05,-5.272110194e-05,-3.017174078e-04,7.166923922e-05,-5.432515931e-05,-2.962486423e-04,7.287876019e-05,-5.391193228e-05,-2.939836992e-04,7.016119165e-01,-5.117014062e-05,8.404392238e-01,7.016095407e-01,-5.277419798e-05,8.404446925e-01,7.018018197e-01,-5.212337495e-05,8.292789095e-01
+8,3.200000000e+00,DOWN_FORCE_DETACH,1792700794383360419,7.394787310e-05,-5.439429562e-05,-3.482422272e-04,7.496863604e-05,-5.721921019e-05,-3.397113525e-04,7.658141045e-05,-5.680472250e-05,-3.381948230e-04,7.016118194e-01,-5.284333430e-05,8.403926990e-01,7.016128401e-01,-5.566824887e-05,8.404012298e-01,7.018055223e-01,-5.501616517e-05,8.292346984e-01
+9,3.833333333e+00,DOWN_FORCE_DETACH,1792700795579360250,7.016257186e-05,-5.680238685e-05,-3.670036272e-04,7.318922967e-05,-5.535040155e-05,-3.597588839e-04,7.512814661e-05,-5.498151276e-05,-3.591873162e-04,7.016080341e-01,-5.525142553e-05,8.403739376e-01,7.016110607e-01,-5.379944023e-05,8.403811823e-01,7.018040691e-01,-5.319295543e-05,8.292137059e-01
+10,4.350000000e+00,DOWN_FORCE_DETACH,1792700796611438186,6.995586036e-05,-5.492537360e-05,-3.728968187e-04,7.318922967e-05,-5.535040155e-05,-3.597588839e-04,7.530170559e-05,-5.499039891e-05,-3.598135267e-04,7.016078273e-01,-5.337441228e-05,8.403680444e-01,7.016110607e-01,-5.379944023e-05,8.403811823e-01,7.018042426e-01,-5.320184158e-05,8.292130797e-01
+11,4.933333333e+00,DOWN_FORCE_DETACH,1792700797775254666,6.958768534e-05,-5.997483933e-05,-3.953633669e-04,6.935301765e-05,-5.766292399e-05,-3.801737677e-04,7.144635500e-05,-5.732056207e-05,-3.802971424e-04,7.016074592e-01,-5.842387801e-05,8.403455778e-01,7.016072245e-01,-5.611196267e-05,8.403607674e-01,7.018003873e-01,-5.553200475e-05,8.291925961e-01
+12,5.466666667e+00,DOWN_FORCE_DETACH,1792700798839737841,7.242920869e-05,-6.076630460e-05,-4.217943777e-04,7.245285011e-05,-6.050448400e-05,-4.197008583e-04,7.447085250e-05,-6.010160396e-05,-4.194579964e-04,7.016103007e-01,-5.921534328e-05,8.403191468e-01,7.016103243e-01,-5.895352268e-05,8.403212403e-01,7.018034118e-01,-5.831304664e-05,8.291534352e-01
+13,6.016666667e+00,DOWN_FORCE_DETACH,1792700799871285674,7.678820627e-05,-6.211734614e-05,-4.567563638e-04,7.461922174e-05,-6.552655658e-05,-4.403853592e-04,7.656602119e-05,-6.511099977e-05,-4.402008972e-04,7.016146597e-01,-6.056638482e-05,8.402841848e-01,7.016124907e-01,-6.397559526e-05,8.403005558e-01,7.018055069e-01,-6.332244245e-05,8.291326923e-01
+14,6.483333333e+00,DOWN_FORCE_DETACH,1792700800769280851,8.123885622e-05,-6.769840687e-05,-4.921325961e-04,8.024230712e-05,-5.871517619e-05,-4.831205252e-04,8.215639542e-05,-5.831805792e-05,-4.825288847e-04,7.016191103e-01,-6.614744555e-05,8.402488086e-01,7.016181138e-01,-5.716421486e-05,8.402578207e-01,7.018110973e-01,-5.652950059e-05,8.290903643e-01
+15,7.000000000e+00,DOWN_FORCE_DETACH,1792700801735465871,8.249179907e-05,-6.314817152e-05,-5.412370775e-04,7.905752649e-05,-6.336131740e-05,-5.244571266e-04,8.088965292e-05,-6.293734071e-05,-5.236040994e-04,7.016203633e-01,-6.159721020e-05,8.401997041e-01,7.016169290e-01,-6.181035608e-05,8.402164841e-01,7.018098306e-01,-6.114878339e-05,8.290492891e-01
+16,7.483333333e+00,DOWN_FORCE_DETACH,1792700802665188301,8.215141356e-05,-6.914202596e-05,-5.979068175e-04,8.224422890e-05,-7.280078292e-05,-5.886147644e-04,8.386559637e-05,-7.229635497e-05,-5.871755143e-04,7.016200229e-01,-6.759106464e-05,8.401430344e-01,7.016201157e-01,-7.124982160e-05,8.401523264e-01,7.018128065e-01,-7.050779764e-05,8.289857177e-01
+17,7.983333333e+00,DOWN_FORCE_DETACH,1792700803613698965,8.455379858e-05,-7.395605765e-05,-6.664747611e-04,8.433979884e-05,-6.984434825e-05,-6.599344635e-04,8.583991837e-05,-6.943576239e-05,-6.578847165e-04,7.016224253e-01,-7.240509632e-05,8.400744664e-01,7.016222113e-01,-6.829338693e-05,8.400810067e-01,7.018147808e-01,-6.764720506e-05,8.289150085e-01
+18,8.450000000e+00,DOWN_FORCE_DETACH,1792700804529154486,8.914827292e-05,-6.937030729e-05,-7.437769854e-04,8.928994646e-05,-6.934044198e-05,-7.434670640e-04,9.061368589e-05,-6.895119334e-05,-7.406828192e-04,7.016270198e-01,-6.781934597e-05,8.399971642e-01,7.016271614e-01,-6.778948066e-05,8.399974741e-01,7.018195546e-01,-6.716263602e-05,8.288322104e-01
+19,8.866666667e+00,DOWN_FORCE_DETACH,1792700805359125481,9.544326575e-05,-7.374091091e-05,-8.207876776e-04,9.084891200e-05,-7.007290444e-05,-8.101971413e-04,9.197464426e-05,-6.962205943e-05,-8.073080033e-04,7.016333147e-01,-7.218994959e-05,8.399201535e-01,7.016287204e-01,-6.852194312e-05,8.399307440e-01,7.018209156e-01,-6.783350210e-05,8.287655852e-01
+20,9.250000000e+00,DOWN_FORCE_DETACH,1792700806125096511,9.453939714e-05,-7.315994915e-05,-9.015224303e-04,9.357349018e-05,-7.338332235e-05,-8.943362603e-04,9.451663855e-05,-7.291033288e-05,-8.910858254e-04,7.016324109e-01,-7.160898783e-05,8.398394188e-01,7.016314450e-01,-7.183236103e-05,8.398466049e-01,7.018234576e-01,-7.112177556e-05,8.286818074e-01
+21,9.616666667e+00,DOWN_FORCE_DETACH,1792700806857061349,9.504674537e-05,-7.500246333e-05,-9.925197737e-04,9.482688564e-05,-7.535368294e-05,-9.926165633e-04,9.548455666e-05,-7.484640668e-05,-9.889043625e-04,7.016329182e-01,-7.345150201e-05,8.397484214e-01,7.016326984e-01,-7.380272162e-05,8.397483246e-01,7.018244255e-01,-7.305784936e-05,8.285839888e-01
+22,9.916666667e+00,DOWN_FORCE_DETACH,1792700807455127666,9.602581762e-05,-7.765244302e-05,-1.071296628e-03,9.505860007e-05,-7.441248318e-05,-1.058457790e-03,9.542742836e-05,-7.388881933e-05,-1.054953605e-03,7.016338973e-01,-7.610148170e-05,8.396696446e-01,7.016329301e-01,-7.286152186e-05,8.396824834e-01,7.018243684e-01,-7.210026200e-05,8.285179396e-01
+23,1.023333333e+01,DOWN_FORCE_DETACH,1792700808055337515,9.793490899e-05,-7.553790798e-05,-1.155098398e-03,9.609401143e-05,-7.254017540e-05,-1.146123915e-03,9.613310959e-05,-7.204542182e-05,-1.142431702e-03,7.016358064e-01,-7.398694666e-05,8.395858428e-01,7.016339655e-01,-7.098921408e-05,8.395948173e-01,7.018250740e-01,-7.025686450e-05,8.284304615e-01
+24,1.056666667e+01,DOWN_FORCE_DETACH,1792700808687156683,9.575795364e-05,-8.324914642e-05,-1.254269304e-03,9.569555455e-05,-8.336346318e-05,-1.254191990e-03,9.520359505e-05,-8.280079194e-05,-1.250015398e-03,7.016336294e-01,-8.169818510e-05,8.394866719e-01,7.016335670e-01,-8.181250185e-05,8.394867492e-01,7.018241445e-01,-8.101223462e-05,8.283228778e-01
+25,1.091666667e+01,DOWN_FORCE_DETACH,1792700809351009398,9.812651990e-05,-7.933103132e-05,-1.359342221e-03,9.680090455e-05,-8.411257664e-05,-1.344421770e-03,9.595419023e-05,-8.357309817e-05,-1.340384939e-03,7.016359980e-01,-7.778007000e-05,8.393815990e-01,7.016346724e-01,-8.256161532e-05,8.393965194e-01,7.018248951e-01,-8.178454085e-05,8.282325083e-01
+26,1.121666667e+01,DOWN_FORCE_DETACH,1792700809917992149,9.866732939e-05,-8.603796619e-05,-1.461417855e-03,9.546734203e-05,-8.764757141e-05,-1.453150995e-03,9.420019375e-05,-8.709680769e-05,-1.448538458e-03,7.016365388e-01,-8.448700487e-05,8.392795233e-01,7.016333388e-01,-8.609661009e-05,8.392877902e-01,7.018231411e-01,-8.530825036e-05,8.281243547e-01
+27,1.151666667e+01,DOWN_FORCE_DETACH,1792700810482971640,9.624724263e-05,-8.934021125e-05,-1.577070670e-03,9.518994904e-05,-8.884161830e-05,-1.565094971e-03,9.338703518e-05,-8.824448731e-05,-1.559940371e-03,7.016341187e-01,-8.778924993e-05,8.391638705e-01,7.016330614e-01,-8.729065698e-05,8.391758462e-01,7.018223280e-01,-8.645592999e-05,8.280129528e-01
+28,1.178333333e+01,DOWN_FORCE_DETACH,1792700810981548324,9.393630918e-05,-9.322798590e-05,-1.681276294e-03,9.387935949e-05,-9.344886625e-05,-1.680920447e-03,9.163133852e-05,-9.281286732e-05,-1.675036263e-03,7.016318078e-01,-9.167702458e-05,8.390596649e-01,7.016317508e-01,-9.189790493e-05,8.390600207e-01,7.018205723e-01,-9.102431000e-05,8.278978569e-01
+29,1.203333333e+01,DOWN_FORCE_DETACH,1792700811447089260,9.166370850e-05,-9.203694444e-05,-1.779744883e-03,9.179736901e-05,-9.765809153e-05,-1.773131242e-03,8.917159913e-05,-9.700170657e-05,-1.767215147e-03,7.016295352e-01,-9.048598312e-05,8.389611963e-01,7.016296689e-01,-9.610713021e-05,8.389678099e-01,7.018181125e-01,-9.521314924e-05,8.278056780e-01
+30,1.230000000e+01,DOWN_FORCE_DETACH,1792700811946931174,9.250476520e-05,-9.680625781e-05,-1.888792175e-03,9.133704074e-05,-9.579244024e-05,-1.880722705e-03,8.834468424e-05,-9.515484370e-05,-1.874795589e-03,7.016303762e-01,-9.525529649e-05,8.388521490e-01,7.016292085e-01,-9.424147891e-05,8.388602185e-01,7.018172856e-01,-9.336628637e-05,8.276980976e-01
+31,1.255000000e+01,DOWN_FORCE_DETACH,1792700812444914695,8.990341635e-05,-9.764055081e-05,-2.008313070e-03,8.983942365e-05,-9.774581568e-05,-2.008475722e-03,8.641988290e-05,-9.706980881e-05,-2.002165170e-03,7.016277749e-01,-9.608958949e-05,8.387326281e-01,7.016277109e-01,-9.619485436e-05,8.387324655e-01,7.018153608e-01,-9.528125148e-05,8.275707280e-01
+32,1.276666667e+01,DOWN_FORCE_DETACH,1792700812878896778,9.033175035e-05,-9.971699377e-05,-2.119841365e-03,9.029585254e-05,-9.969286861e-05,-2.119759977e-03,8.651870553e-05,-9.900973066e-05,-2.113222712e-03,7.016282032e-01,-9.816603245e-05,8.386210998e-01,7.016281673e-01,-9.814190729e-05,8.386211812e-01,7.018154596e-01,-9.722117334e-05,8.274596705e-01
+33,1.298333333e+01,DOWN_FORCE_DETACH,1792700813308957883,8.997549081e-05,-1.062372545e-04,-2.231696609e-03,9.016610352e-05,-1.005195609e-04,-2.219833305e-03,8.606265089e-05,-9.981798494e-05,-2.213417613e-03,7.016278470e-01,-1.046862932e-04,8.385092446e-01,7.016280376e-01,-9.896859960e-05,8.385211079e-01,7.018150036e-01,-9.802942762e-05,8.273594756e-01
+34,1.316666667e+01,DOWN_FORCE_DETACH,1792700813675570025,9.203007126e-05,-1.031566192e-04,-2.325656540e-03,9.134146667e-05,-1.039666234e-04,-2.309463932e-03,8.697098893e-05,-1.032244145e-04,-2.302877700e-03,7.016299016e-01,-1.016056579e-04,8.384152846e-01,7.016292129e-01,-1.024156621e-04,8.384314773e-01,7.018159119e-01,-1.014358572e-04,8.272700155e-01
+35,1.338333333e+01,DOWN_FORCE_DETACH,1792700814108881268,8.835632454e-05,-1.066558104e-04,-2.446882763e-03,8.741067858e-05,-1.094549364e-04,-2.439076660e-03,8.253226269e-05,-1.087080504e-04,-2.431863018e-03,7.016262278e-01,-1.051048490e-04,8.382940584e-01,7.016252822e-01,-1.079039751e-04,8.383018645e-01,7.018114732e-01,-1.069194931e-04,8.271410302e-01
+36,1.356666667e+01,DOWN_FORCE_DETACH,1792700814474893749,8.733153695e-05,-1.113918905e-04,-2.553807973e-03,8.787300764e-05,-1.105412028e-04,-2.541771291e-03,8.268055062e-05,-1.097639435e-04,-2.534307697e-03,7.016252030e-01,-1.098409292e-04,8.381871332e-01,7.016257445e-01,-1.089902415e-04,8.381991699e-01,7.018116215e-01,-1.079753862e-04,8.270385855e-01
+37,1.376666667e+01,DOWN_FORCE_DETACH,1792700814874856893,8.585847021e-05,-1.159925071e-04,-2.675316300e-03,8.531498222e-05,-1.148628073e-04,-2.665055604e-03,7.960759557e-05,-1.139948239e-04,-2.657388958e-03,7.016237300e-01,-1.144415458e-04,8.380656249e-01,7.016231865e-01,-1.133118460e-04,8.380758856e-01,7.018085485e-01,-1.122062666e-04,8.269155042e-01
+38,1.393333333e+01,DOWN_FORCE_DETACH,1792700815206899114,8.373683358e-05,-1.182624351e-04,-2.781522253e-03,8.464081418e-05,-1.164282216e-04,-2.761970337e-03,7.851788656e-05,-1.155208048e-04,-2.754426075e-03,7.016216083e-01,-1.167114738e-04,8.379594189e-01,7.016225123e-01,-1.148772603e-04,8.379789709e-01,7.018074588e-01,-1.137322475e-04,8.268184671e-01
+39,1.411666667e+01,DOWN_FORCE_DETACH,1792700815572989081,8.443650017e-05,-1.223941225e-04,-2.900040748e-03,8.389123425e-05,-1.224206578e-04,-2.899975280e-03,7.718077393e-05,-1.214763813e-04,-2.891788007e-03,7.016223080e-01,-1.208431612e-04,8.378409004e-01,7.016217627e-01,-1.208696964e-04,8.378409659e-01,7.018061217e-01,-1.196878240e-04,8.266811052e-01
+40,1.430000000e+01,DOWN_FORCE_DETACH,1792700815903073856,8.022962033e-05,-1.209719495e-04,-3.011675023e-03,7.853801022e-05,-1.252109620e-04,-3.005439996e-03,7.134580558e-05,-1.243162739e-04,-2.997511335e-03,7.016181011e-01,-1.194209882e-04,8.377292662e-01,7.016164095e-01,-1.236600007e-04,8.377355012e-01,7.018002867e-01,-1.225277165e-04,8.265753819e-01
+41,1.446666667e+01,DOWN_FORCE_DETACH,1792700816238871634,7.780357578e-05,-1.279038894e-04,-3.127379616e-03,8.200902990e-05,-1.275249887e-04,-3.114023617e-03,7.436549478e-05,-1.266336830e-04,-3.105860256e-03,7.016156751e-01,-1.263529281e-04,8.376135616e-01,7.016198805e-01,-1.259740274e-04,8.376269176e-01,7.018033064e-01,-1.248451256e-04,8.264670329e-01
+42,1.465000000e+01,DOWN_FORCE_DETACH,1792700816568856122,8.019589466e-05,-1.263576942e-04,-3.232850177e-03,7.639676383e-05,-1.275603359e-04,-3.227836817e-03,6.822907636e-05,-1.266382261e-04,-3.219496609e-03,7.016180674e-01,-1.248067329e-04,8.375080910e-01,7.016142682e-01,-1.260093746e-04,8.375131044e-01,7.017971700e-01,-1.248496687e-04,8.263533966e-01
+43,1.481666667e+01,DOWN_FORCE_DETACH,1792700816902848750,7.907450023e-05,-1.294278617e-04,-3.355059799e-03,7.885294692e-05,-1.293171186e-04,-3.355151596e-03,7.011806603e-05,-1.283671851e-04,-3.346180548e-03,7.016169460e-01,-1.278769003e-04,8.373858814e-01,7.016167244e-01,-1.277661573e-04,8.373857896e-01,7.017990590e-01,-1.265786278e-04,8.262267126e-01
+44,1.498333333e+01,DOWN_FORCE_DETACH,1792700817200870412,7.944477123e-05,-1.295152595e-04,-3.459779306e-03,7.927817355e-05,-1.294939560e-04,-3.459455073e-03,7.016979135e-05,-1.285289666e-04,-3.450647126e-03,7.016173163e-01,-1.279642982e-04,8.372811619e-01,7.016171497e-01,-1.279429947e-04,8.372814861e-01,7.017991107e-01,-1.267404093e-04,8.261222461e-01
+45,1.513333333e+01,DOWN_FORCE_DETACH,1792700817503251580,7.668982610e-05,-1.353694442e-04,-3.574390475e-03,7.647349384e-05,-1.353266066e-04,-3.574328847e-03,6.697363128e-05,-1.342775922e-04,-3.565285502e-03,7.016145613e-01,-1.338184829e-04,8.371665507e-01,7.016143450e-01,-1.337756452e-04,8.371666123e-01,7.017959146e-01,-1.324890349e-04,8.260076077e-01
+46,1.531666667e+01,DOWN_FORCE_DETACH,1792700817832812216,8.020887999e-05,-1.350984294e-04,-3.697055573e-03,7.980267151e-05,-1.349465711e-04,-3.697225134e-03,6.989935357e-05,-1.339454752e-04,-3.688459384e-03,7.016180804e-01,-1.335474680e-04,8.370438856e-01,7.016176742e-01,-1.333956098e-04,8.370437161e-01,7.017988403e-01,-1.321569179e-04,8.258844338e-01
+47,1.545000000e+01,DOWN_FORCE_DETACH,1792700818100944172,7.650807854e-05,-1.360580147e-04,-3.811019300e-03,7.624582050e-05,-1.362951994e-04,-3.811267570e-03,6.604231314e-05,-1.352619646e-04,-3.802182852e-03,7.016143796e-01,-1.345070534e-04,8.369299219e-01,7.016141173e-01,-1.347442381e-04,8.369296736e-01,7.017949832e-01,-1.334734073e-04,8.257707103e-01
+48,1.561666667e+01,DOWN_FORCE_DETACH,1792700818398910695,7.475555137e-05,-1.343726908e-04,-3.933131001e-03,7.300300463e-05,-1.366369754e-04,-3.920715194e-03,6.236198000e-05,-1.356370159e-04,-3.911840039e-03,7.016126270e-01,-1.328217295e-04,8.368078102e-01,7.016108745e-01,-1.350860141e-04,8.368202260e-01,7.017913029e-01,-1.338484585e-04,8.256610532e-01
+49,1.573333333e+01,DOWN_FORCE_DETACH,1792700818630841748,8.328767687e-05,-1.396096715e-04,-4.032987170e-03,8.306225463e-05,-1.395024522e-04,-4.032489397e-03,7.207202606e-05,-1.384665893e-04,-4.022870495e-03,7.016211592e-01,-1.380587102e-04,8.367079540e-01,7.016209337e-01,-1.379514909e-04,8.367084518e-01,7.018010129e-01,-1.366780319e-04,8.255500227e-01
+50,1.586666667e+01,DOWN_FORCE_DETACH,1792700818898855853,7.345066289e-05,-1.262761216e-04,-4.151079154e-03,7.328864944e-05,-1.261439607e-04,-4.151090178e-03,6.187633887e-05,-1.251742885e-04,-4.141068756e-03,7.016113221e-01,-1.247251603e-04,8.365898620e-01,7.016111601e-01,-1.245929994e-04,8.365898510e-01,7.017908173e-01,-1.233857311e-04,8.254318244e-01
+51,1.601666667e+01,DOWN_FORCE_DETACH,1792700819165446989,7.675659589e-05,-1.248355757e-04,-4.269356135e-03,7.661808181e-05,-1.248600373e-04,-4.269155020e-03,6.473461125e-05,-1.238374826e-04,-4.259262894e-03,7.016146281e-01,-1.232846144e-04,8.364715851e-01,7.016144896e-01,-1.233090760e-04,8.364717862e-01,7.017936755e-01,-1.220489253e-04,8.253136303e-01
+52,1.615000000e+01,DOWN_FORCE_DETACH,1792700819430816678,8.254234006e-05,-1.260287059e-04,-4.389515518e-03,8.226120513e-05,-1.262804255e-04,-4.388998602e-03,6.996230426e-05,-1.252312339e-04,-4.378932192e-03,7.016204138e-01,-1.244777446e-04,8.363514257e-01,7.016201327e-01,-1.247294642e-04,8.363519426e-01,7.017989032e-01,-1.234426766e-04,8.251939610e-01
+53,1.628333333e+01,DOWN_FORCE_DETACH,1792700819662920407,7.387818137e-05,-1.285552683e-04,-4.498999886e-03,7.378632179e-05,-1.284403695e-04,-4.498825539e-03,6.094803788e-05,-1.274253765e-04,-4.488905576e-03,7.016117497e-01,-1.270043069e-04,8.362419413e-01,7.016116578e-01,-1.268894082e-04,8.362421156e-01,7.017898890e-01,-1.256368192e-04,8.250839876e-01
+54,1.640000000e+01,DOWN_FORCE_DETACH,1792700819895652849,6.484017919e-05,-1.366985361e-04,-4.617491653e-03,6.797271540e-05,-1.346545391e-04,-4.599934169e-03,5.469834166e-05,-1.336416354e-04,-4.590051834e-03,7.016027117e-01,-1.351475748e-04,8.361234495e-01,7.016058442e-01,-1.331035778e-04,8.361410070e-01,7.017836393e-01,-1.318530781e-04,8.249828414e-01
+55,1.651666667e+01,DOWN_FORCE_DETACH,1792700820128806127,6.578067353e-05,-1.418985514e-04,-4.729093281e-03,6.560559926e-05,-1.419679704e-04,-4.728996358e-03,5.180874899e-05,-1.409125229e-04,-4.718429615e-03,7.016036522e-01,-1.403475901e-04,8.360118479e-01,7.016034771e-01,-1.404170091e-04,8.360119448e-01,7.017807497e-01,-1.391239656e-04,8.248544636e-01
+56,1.665000000e+01,DOWN_FORCE_DETACH,1792700820360901742,5.074755153e-05,-1.445678970e-04,-4.860495651e-03,5.040512888e-05,-1.447963731e-04,-4.860797850e-03,3.585247272e-05,-1.436880296e-04,-4.849925629e-03,7.015886190e-01,-1.430169357e-04,8.358804455e-01,7.015882766e-01,-1.432454118e-04,8.358801433e-01,7.017647934e-01,-1.418994723e-04,8.247229676e-01
+57,1.675000000e+01,DOWN_FORCE_DETACH,1792700820560854876,8.246600394e-05,-1.252484050e-04,-4.941415685e-03,8.101535938e-05,-1.228343265e-04,-4.923936886e-03,6.640881274e-05,-1.219089477e-04,-4.913661486e-03,7.016203375e-01,-1.236974437e-04,8.357995255e-01,7.016188868e-01,-1.212833652e-04,8.358170043e-01,7.017953497e-01,-1.201203904e-04,8.246592317e-01
+58,1.686666667e+01,DOWN_SETTLE,1792700820794801251,7.683214442e-05,-1.346493514e-04,-5.060165322e-03,7.927110539e-05,-1.358516571e-04,-5.046494853e-03,6.433839199e-05,-1.347465212e-04,-5.035903636e-03,7.016147036e-01,-1.330983901e-04,8.356807759e-01,7.016171426e-01,-1.343006957e-04,8.356944463e-01,7.017932793e-01,-1.329579639e-04,8.245369896e-01
+59,1.726666667e+01,DOWN_PEAK_HOLD,1792700821590903789,5.460861462e-05,-1.322117833e-04,-5.135662379e-03,5.490843973e-05,-1.308522856e-04,-5.133848159e-03,3.950173068e-05,-1.298248836e-04,-5.127434566e-03,7.015924801e-01,-1.306608220e-04,8.356052788e-01,7.015927799e-01,-1.293013243e-04,8.356070930e-01,7.017684427e-01,-1.280363263e-04,8.244454586e-01

Fixed/s2/cylinder_PLA_12.5/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,-3.3738e-02,2.3333e-03,2.4597e+00,-3.6953e-02,3.4329e-02,-2.5003e-05,6.4283e-04,3.6194e-06,3.2830e-04,-2.8685e-07,4.2219e-05,-2.9034e-07,7.2182e-04,4.2221e-05
+1,5.1667e-01,DOWN_FORCE_DETACH,1.1930e-04,-1.5999e-02,2.3963e-03,2.4680e+00,-3.6952e-02,3.5546e-02,-3.3832e-05,1.8382e-02,6.6689e-05,8.6584e-03,3.0175e-07,1.2594e-03,-9.1195e-06,2.0319e-02,1.2595e-03
+2,1.0333e+00,DOWN_FORCE_DETACH,2.3720e-04,3.9961e-03,1.3424e-02,2.5020e+00,-3.7716e-02,3.6960e-02,-2.6737e-05,3.8377e-02,1.1094e-02,4.2591e-02,-7.6372e-04,2.6731e-03,-2.0244e-06,5.8394e-02,2.7801e-03
+3,1.2000e+00,DOWN_FORCE_DETACH,3.8196e-04,1.4443e-02,1.5147e-02,2.5574e+00,-3.7828e-02,3.7653e-02,-2.5064e-05,4.8824e-02,1.2818e-02,9.8004e-02,-8.7545e-04,3.3664e-03,-3.5185e-07,1.1024e-01,3.4784e-03
+4,1.6000e+00,DOWN_FORCE_DETACH,4.7803e-04,-1.6461e-02,2.4006e-02,2.5484e+00,-3.8422e-02,3.5522e-02,-1.4142e-05,1.7921e-02,2.1676e-02,8.9034e-02,-1.4693e-03,1.2352e-03,1.0570e-05,9.3370e-02,1.9195e-03
+5,1.9833e+00,DOWN_FORCE_DETACH,5.9862e-04,-5.1968e-03,2.9301e-02,2.5876e+00,-3.8762e-02,3.6263e-02,-5.4676e-06,2.9184e-02,2.6971e-02,1.2820e-01,-1.8090e-03,1.9760e-03,1.9245e-05,1.3422e-01,2.6791e-03
+6,2.3833e+00,DOWN_FORCE_DETACH,7.1713e-04,-6.7120e-03,3.6204e-02,2.5902e+00,-3.9212e-02,3.6197e-02,6.2144e-06,2.7669e-02,3.3875e-02,1.3083e-01,-2.2590e-03,1.9103e-03,3.0927e-05,1.3795e-01,2.9586e-03
+7,2.6500e+00,DOWN_FORCE_DETACH,8.3602e-04,-2.9986e-02,3.7726e-02,2.5733e+00,-3.9320e-02,3.4652e-02,2.0429e-05,4.3955e-03,3.5396e-02,1.1396e-01,-2.3673e-03,3.6510e-04,4.5142e-05,1.1941e-01,2.3957e-03
+8,3.2000e+00,DOWN_FORCE_DETACH,9.5707e-04,-5.8062e-03,3.8428e-02,2.5455e+00,-3.9374e-02,3.6301e-02,3.1604e-05,2.8575e-02,3.6098e-02,8.6170e-02,-2.4215e-03,2.0147e-03,5.6317e-05,9.7698e-02,3.1505e-03
+9,3.8333e+00,DOWN_FORCE_DETACH,1.0748e-03,1.5348e-02,3.6760e-02,2.4970e+00,-3.9312e-02,3.7861e-02,3.1744e-05,4.9729e-02,3.4431e-02,3.7652e-02,-2.3592e-03,3.5749e-03,5.6456e-05,7.1247e-02,4.2835e-03
+10,4.3500e+00,DOWN_FORCE_DETACH,1.1941e-03,2.5432e-02,3.6467e-02,2.4615e+00,-3.9340e-02,3.8641e-02,1.7052e-05,5.9813e-02,3.4137e-02,2.1746e-03,-2.3871e-03,4.3546e-03,4.1764e-05,6.8903e-02,4.9661e-03
+11,4.9333e+00,DOWN_FORCE_DETACH,1.3170e-03,3.4289e-02,3.8140e-02,2.4584e+00,-3.9492e-02,3.9292e-02,-5.6552e-06,6.8670e-02,3.5810e-02,-9.1600e-04,-2.5392e-03,5.0051e-03,1.9057e-05,7.7452e-02,5.6124e-03
+12,5.4667e+00,DOWN_FORCE_DETACH,1.4341e-03,3.4108e-02,4.0425e-02,2.4784e+00,-3.9652e-02,3.9288e-02,-2.7677e-05,6.8489e-02,3.8095e-02,1.9037e-02,-2.6991e-03,5.0011e-03,-2.9651e-06,8.0650e-02,5.6829e-03
+13,6.0167e+00,DOWN_FORCE_DETACH,1.5538e-03,3.3868e-02,4.3508e-02,2.4742e+00,-3.9877e-02,3.9264e-02,-3.6257e-05,6.8249e-02,4.1178e-02,1.4875e-02,-2.9241e-03,4.9771e-03,-1.1544e-05,8.1085e-02,5.7725e-03
+14,6.4833e+00,DOWN_FORCE_DETACH,1.6706e-03,3.1327e-02,3.9794e-02,2.4919e+00,-3.9624e-02,3.9090e-02,-4.5182e-05,6.5708e-02,3.7465e-02,3.2544e-02,-2.6713e-03,4.8036e-03,-2.0470e-05,8.2342e-02,5.4964e-03
+15,7.0000e+00,DOWN_FORCE_DETACH,1.7926e-03,3.3893e-02,4.2188e-02,2.5061e+00,-3.9762e-02,3.9237e-02,-4.8958e-05,6.8274e-02,3.9859e-02,4.6724e-02,-2.8096e-03,4.9506e-03,-2.4246e-05,9.1832e-02,5.6923e-03
+16,7.4833e+00,DOWN_FORCE_DETACH,1.9129e-03,3.3963e-02,4.6683e-02,2.5327e+00,-4.0035e-02,3.9230e-02,-4.7021e-05,6.8344e-02,4.4354e-02,7.3315e-02,-3.0827e-03,4.9431e-03,-2.2309e-05,1.0960e-01,5.8256e-03
+17,7.9833e+00,DOWN_FORCE_DETACH,2.0329e-03,3.4862e-02,4.6098e-02,2.5609e+00,-3.9977e-02,3.9268e-02,-4.1059e-05,6.9243e-02,4.3768e-02,1.0158e-01,-3.0245e-03,4.9819e-03,-1.6347e-05,1.3050e-01,5.8281e-03
+18,8.4500e+00,DOWN_FORCE_DETACH,2.1543e-03,3.4797e-02,4.7578e-02,2.5808e+00,-4.0038e-02,3.9241e-02,-3.4907e-05,6.9178e-02,4.5248e-02,1.2147e-01,-3.0852e-03,4.9546e-03,-1.0195e-05,1.4693e-01,5.8367e-03
+19,8.8667e+00,DOWN_FORCE_DETACH,2.2733e-03,3.5899e-02,4.5812e-02,2.6053e+00,-3.9885e-02,3.9285e-02,-2.9032e-05,7.0280e-02,4.3483e-02,1.4589e-01,-2.9327e-03,4.9980e-03,-4.3198e-06,1.6768e-01,5.7949e-03
+20,9.2500e+00,DOWN_FORCE_DETACH,2.3889e-03,3.7924e-02,4.7630e-02,2.6210e+00,-3.9977e-02,3.9387e-02,-2.3883e-05,7.2305e-02,4.5300e-02,1.6162e-01,-3.0241e-03,5.1001e-03,8.2956e-07,1.8276e-01,5.9293e-03
+21,9.6167e+00,DOWN_FORCE_DETACH,2.5143e-03,3.8439e-02,4.7089e-02,2.6272e+00,-3.9928e-02,3.9389e-02,-2.4130e-05,7.2821e-02,4.4759e-02,1.6783e-01,-2.9752e-03,5.1029e-03,5.8272e-07,1.8835e-01,5.9068e-03
+22,9.9167e+00,DOWN_FORCE_DETACH,2.6311e-03,3.9460e-02,4.8595e-02,2.6390e+00,-4.0024e-02,3.9424e-02,-2.8814e-05,7.3841e-02,4.6265e-02,1.7962e-01,-3.0717e-03,5.1372e-03,-4.1021e-06,1.9964e-01,5.9855e-03
+23,1.0233e+01,DOWN_FORCE_DETACH,2.7464e-03,3.7333e-02,4.9616e-02,2.6436e+00,-4.0094e-02,3.9257e-02,-3.8625e-05,7.1714e-02,4.7286e-02,1.8426e-01,-3.1413e-03,4.9704e-03,-1.3913e-05,2.0330e-01,5.8799e-03
+24,1.0567e+01,DOWN_FORCE_DETACH,2.8674e-03,3.4423e-02,5.3316e-02,2.6516e+00,-4.0344e-02,3.9040e-02,-4.9405e-05,6.8804e-02,5.0986e-02,1.9219e-01,-3.3911e-03,4.7539e-03,-2.4693e-05,2.1041e-01,5.8394e-03
+25,1.0917e+01,DOWN_FORCE_DETACH,2.9899e-03,2.9777e-02,5.3297e-02,2.6645e+00,-4.0358e-02,3.8713e-02,-5.6503e-05,6.4158e-02,5.0968e-02,2.0513e-01,-3.4051e-03,4.4263e-03,-3.1791e-05,2.2089e-01,5.5846e-03
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+36,1.3567e+01,DOWN_FORCE_DETACH,4.3012e-03,4.4145e-02,7.1437e-02,2.8248e+00,-4.1294e-02,3.9632e-02,-2.5521e-05,7.8526e-02,6.9107e-02,3.6542e-01,-4.3415e-03,5.3456e-03,-8.0909e-07,3.8009e-01,6.8865e-03
+37,1.3767e+01,DOWN_FORCE_DETACH,4.4278e-03,4.6775e-02,7.6962e-02,2.8406e+00,-4.1620e-02,3.9779e-02,-2.1389e-05,8.1157e-02,7.4632e-02,3.8124e-01,-4.6670e-03,5.4928e-03,3.3231e-06,3.9686e-01,7.2078e-03
+38,1.3933e+01,DOWN_FORCE_DETACH,4.5381e-03,4.5123e-02,7.9069e-02,2.8479e+00,-4.1735e-02,3.9644e-02,-2.2896e-05,7.9504e-02,7.6739e-02,3.8852e-01,-4.7826e-03,5.3578e-03,1.8160e-06,4.0393e-01,7.1819e-03
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+40,1.4300e+01,DOWN_FORCE_DETACH,4.7865e-03,4.2789e-02,8.1675e-02,2.8588e+00,-4.1866e-02,3.9434e-02,-3.5014e-05,7.7170e-02,7.9345e-02,3.9939e-01,-4.9130e-03,5.1477e-03,-1.0301e-05,4.1444e-01,7.1159e-03
+41,1.4467e+01,DOWN_FORCE_DETACH,4.9074e-03,3.9944e-02,8.1334e-02,2.8630e+00,-4.1835e-02,3.9234e-02,-3.8804e-05,7.4325e-02,7.9005e-02,4.0367e-01,-4.8826e-03,4.9471e-03,-1.4092e-05,4.1799e-01,6.9508e-03
+42,1.4650e+01,DOWN_FORCE_DETACH,5.0172e-03,3.8862e-02,8.2466e-02,2.8735e+00,-4.1893e-02,3.9145e-02,-4.1318e-05,7.3243e-02,8.0136e-02,4.1410e-01,-4.9407e-03,4.8583e-03,-1.6606e-05,4.2810e-01,6.9291e-03
+43,1.4817e+01,DOWN_FORCE_DETACH,5.1484e-03,3.4024e-02,8.3941e-02,2.8830e+00,-4.1965e-02,3.8815e-02,-4.3070e-05,6.8406e-02,8.1611e-02,4.2359e-01,-5.0120e-03,4.5281e-03,-1.8358e-05,4.3677e-01,6.7546e-03
+44,1.4983e+01,DOWN_FORCE_DETACH,5.2557e-03,3.1898e-02,8.7181e-02,2.8910e+00,-4.2132e-02,3.8661e-02,-4.4560e-05,6.6279e-02,8.4851e-02,4.3160e-01,-5.1796e-03,4.3743e-03,-1.9848e-05,4.4482e-01,6.7796e-03
+45,1.5133e+01,DOWN_FORCE_DETACH,5.3747e-03,3.2308e-02,8.9334e-02,2.8943e+00,-4.2226e-02,3.8686e-02,-4.4937e-05,6.6689e-02,8.7005e-02,4.3494e-01,-5.2729e-03,4.3994e-03,-2.0225e-05,4.4854e-01,6.8673e-03
+46,1.5317e+01,DOWN_FORCE_DETACH,5.5018e-03,3.2530e-02,9.2080e-02,2.8920e+00,-4.2353e-02,3.8715e-02,-4.2780e-05,6.6911e-02,8.9750e-02,4.3265e-01,-5.3998e-03,4.4284e-03,-1.8068e-05,4.4690e-01,6.9835e-03
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+48,1.5617e+01,DOWN_FORCE_DETACH,5.7445e-03,3.9899e-02,8.9212e-02,2.9052e+00,-4.2134e-02,3.9218e-02,-3.6529e-05,7.4280e-02,8.6882e-02,4.4588e-01,-5.1812e-03,4.9318e-03,-1.1817e-05,4.6030e-01,7.1532e-03
+49,1.5733e+01,DOWN_FORCE_DETACH,5.8525e-03,4.6972e-02,8.9568e-02,2.9189e+00,-4.2138e-02,3.9678e-02,-3.3248e-05,8.1353e-02,8.7239e-02,4.5953e-01,-5.1856e-03,5.3912e-03,-8.5353e-06,4.7476e-01,7.4803e-03
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Fixed/s2/cylinder_PLA_12.5/press_depth_07/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbfca7bd55552041a97d25dc78d03568e1a8313f286ff87ee91825734cd782be
+size 10680320

Fixed/s2/cylinder_PLA_12.5/press_depth_07/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/s2/cylinder_PLA_12.5/press_depth_07/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+9,6.500000000e-01,WAIT_W2,1792700775292285178,1.123785818e-07,-1.548500303e-05,-5.861106985e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.871107415e-07,4.630722477e-09,1.825804601e-07,7.015379839e-01,-1.393404171e-05,8.407403551e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294280e-01,1.793187662e-06,8.295730758e-01
+10,7.000000000e-01,WAIT_W2,1792700775390201162,1.967823055e-06,-1.148585969e-05,3.228389205e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.132889002e-07,4.906371209e-09,1.919366994e-07,7.015398393e-01,-9.934898370e-06,8.407441696e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294542e-01,1.793463311e-06,8.295730851e-01
+11,7.666666667e-01,WAIT_W2,1792700775506523566,5.586812342e-07,-1.133181771e-05,-6.693686466e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.464392245e-07,5.275143695e-09,2.036962161e-07,7.015384302e-01,-9.780856391e-06,8.407402718e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294874e-01,1.793832083e-06,8.295730969e-01
+12,8.333333333e-01,WAIT_W2,1792700775622571878,-2.703597872e-06,-9.812597139e-06,-3.520029758e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.777023648e-07,5.629040248e-09,2.146911784e-07,7.015351679e-01,-8.261635818e-06,8.407374212e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295186e-01,1.794185980e-06,8.295731079e-01
+13,9.000000000e-01,WAIT_W2,1792700775756156536,-2.623677891e-06,-4.909427383e-06,-3.859577383e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.071782199e-07,5.976240372e-09,2.249663555e-07,7.015352478e-01,-3.358466062e-06,8.407370816e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295481e-01,1.794533180e-06,8.295731182e-01
+14,9.666666667e-01,WAIT_W2,1792700775890118689,-5.159349524e-07,-4.072061222e-06,-2.757444794e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.349797037e-07,6.306505727e-09,2.345814391e-07,7.015373555e-01,-2.521099900e-06,8.407406654e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295759e-01,1.794863445e-06,8.295731278e-01
+15,1.000000000e+00,WAIT_W2,1792700775956085966,6.673597950e-07,2.534711492e-07,1.249317342e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.482827861e-07,6.467262254e-09,2.391533034e-07,7.015385388e-01,1.804432470e-06,8.407421905e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295892e-01,1.795024202e-06,8.295731323e-01
+16,1.066666667e+00,WAIT_W2,1792700776101801224,-1.362855786e-06,9.608670005e-06,-2.673517485e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.737526412e-07,6.778914458e-09,2.478494119e-07,7.015365086e-01,1.115963133e-05,8.407382677e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296147e-01,1.795335854e-06,8.295731410e-01
+17,1.100000000e+00,WAIT_W2,1792700776158075468,-2.999303134e-06,1.693360031e-05,-5.173390422e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.859466977e-07,6.930731591e-09,2.519838678e-07,7.015348722e-01,1.848456163e-05,8.407357678e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296269e-01,1.795487671e-06,8.295731452e-01
+18,1.183333333e+00,WAIT_W2,1792700776288186002,-4.199682429e-06,1.772020059e-05,-7.605598989e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.149229178e-07,7.304727198e-09,2.617453462e-07,7.015336718e-01,1.927116192e-05,8.407333356e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296558e-01,1.795861667e-06,8.295731549e-01
+19,1.266666667e+00,WAIT_W2,1792700776453949502,-2.626000092e-06,1.845652956e-05,-4.139904166e-06,-3.362172914e-06,2.041642204e-05,-4.906343447e-06,-2.711153353e-06,2.028794938e-05,-4.584607454e-06,7.015352455e-01,2.000749088e-05,8.407368013e-01,7.015345093e-01,2.196738337e-05,8.407360348e-01,7.017262298e-01,2.207650632e-05,8.295683086e-01
+20,1.350000000e+00,WAIT_W2,1792700776619855777,1.304202674e-07,1.073061294e-05,-1.827525722e-06,-3.362172914e-06,2.041642204e-05,-4.906343447e-06,-2.692842948e-06,2.030245846e-05,-4.588118282e-06,7.015380019e-01,1.228157426e-05,8.407391137e-01,7.015345093e-01,2.196738337e-05,8.407360348e-01,7.017262481e-01,2.209101540e-05,8.295683051e-01
+21,1.416666667e+00,WAIT_W2,1792700776753127437,-1.732938515e-06,3.898557265e-06,-3.870161857e-06,-3.362172914e-06,2.041642204e-05,-4.906343447e-06,-2.678453667e-06,2.030794705e-05,-4.589631281e-06,7.015361385e-01,5.449518586e-06,8.407370710e-01,7.015345093e-01,2.196738337e-05,8.407360348e-01,7.017262625e-01,2.209650399e-05,8.295683036e-01
+22,1.450000000e+00,WAIT_W2,1792700776789116251,1.123773101e-07,-1.596783717e-06,-7.640247350e-07,1.257360895e-07,-1.549170819e-06,-7.151461341e-07,8.062237282e-07,-1.476037158e-06,-4.194649187e-07,7.015379839e-01,-4.582239561e-08,8.407401772e-01,7.015379972e-01,1.790502183e-09,8.407402260e-01,7.017297471e-01,3.125197814e-07,8.295724737e-01
+23,1.500000000e+00,WAIT_W2,1792700776886004810,-8.507721195e-07,4.206571877e-07,-1.636183462e-06,1.257360895e-07,-1.549170819e-06,-7.151461341e-07,8.246245990e-07,-1.514492986e-06,-4.090403549e-07,7.015370207e-01,1.971618509e-06,8.407393050e-01,7.015379972e-01,1.790502183e-09,8.407402260e-01,7.017297655e-01,2.740639540e-07,8.295724842e-01
+24,1.583333333e+00,WAIT_W2,1792700777052132703,-1.822153031e-06,-3.797098311e-06,-2.561108868e-06,1.257360895e-07,-1.549170819e-06,-7.151461341e-07,8.477942182e-07,-1.530549024e-06,-3.991610704e-07,7.015360493e-01,-2.246136989e-06,8.407383801e-01,7.015379972e-01,1.790502183e-09,8.407402260e-01,7.017297887e-01,2.580079158e-07,8.295724940e-01
+25,1.633333333e+00,WAIT_W2,1792700777154372504,-4.329335532e-06,-9.293806769e-06,-5.050109054e-06,1.257360895e-07,-1.549170819e-06,-7.151461341e-07,8.604294250e-07,-1.534386745e-06,-3.943548395e-07,7.015335421e-01,-7.742845448e-06,8.407358911e-01,7.015379972e-01,1.790502183e-09,8.407402260e-01,7.017298013e-01,2.541701941e-07,8.295724988e-01
+26,1.733333333e+00,UP_FORCE_RAMP,1792700777352097607,-2.530637815e-06,-1.550833136e-05,-3.108699115e-06,1.257360895e-07,-1.549170819e-06,-7.151461341e-07,8.837040986e-07,-1.538319453e-06,-3.860572725e-07,7.015353408e-01,-1.395737004e-05,8.407378325e-01,7.015379972e-01,1.790502183e-09,8.407402260e-01,7.017298246e-01,2.502374865e-07,8.295725071e-01
+27,1.800000000e+00,UP_FORCE_RAMP,1792700777452859883,-3.030696765e-06,-2.236418980e-05,-3.041585235e-06,-4.257311187e-06,-2.122304497e-05,-3.658788712e-06,-3.492901093e-06,-2.104351978e-05,-3.279972768e-06,7.015348408e-01,-2.081322848e-05,8.407378996e-01,7.015336142e-01,-1.967208365e-05,8.407372824e-01,7.017254480e-01,-1.925496284e-05,8.295696132e-01
+28,1.850000000e+00,UP_FORCE_RAMP,1792700777552160254,-3.328032603e-06,-1.990633931e-05,-4.167610100e-06,-4.257311187e-06,-2.122304497e-05,-3.658788712e-06,-3.490383356e-06,-2.105999243e-05,-3.281145248e-06,7.015345434e-01,-1.835537799e-05,8.407367736e-01,7.015336142e-01,-1.967208365e-05,8.407372824e-01,7.017254505e-01,-1.927143549e-05,8.295696120e-01
+29,1.916666667e+00,UP_FORCE_RAMP,1792700777683883860,-2.698853735e-06,-2.183719268e-05,-3.730841225e-06,-4.257311187e-06,-2.122304497e-05,-3.658788712e-06,-3.484719590e-06,-2.107019146e-05,-3.281717097e-06,7.015351726e-01,-2.028623136e-05,8.407372103e-01,7.015336142e-01,-1.967208365e-05,8.407372824e-01,7.017254562e-01,-1.928163452e-05,8.295696115e-01
+30,2.016666667e+00,UP_FORCE_RAMP,1792700777883824666,-2.276812435e-06,-2.744547914e-05,-2.158333755e-06,-4.257311187e-06,-2.122304497e-05,-3.658788712e-06,-3.475359198e-06,-2.107734880e-05,-3.282162677e-06,7.015355947e-01,-2.589451782e-05,8.407387829e-01,7.015336142e-01,-1.967208365e-05,8.407372824e-01,7.017254656e-01,-1.928879186e-05,8.295696110e-01
+31,2.100000000e+00,UP_FORCE_RAMP,1792700778035216905,-4.199039565e-06,-3.112130781e-05,-4.009822375e-06,-4.257311187e-06,-2.122304497e-05,-3.658788712e-06,-3.467662917e-06,-2.108057196e-05,-3.282396206e-06,7.015336724e-01,-2.957034649e-05,8.407369314e-01,7.015336142e-01,-1.967208365e-05,8.407372824e-01,7.017254732e-01,-1.929201502e-05,8.295696108e-01
+32,2.150000000e+00,UP_FORCE_RAMP,1792700778116752909,-4.674337273e-06,-3.181252581e-05,-5.908315554e-06,-4.257311187e-06,-2.122304497e-05,-3.658788712e-06,-3.463207521e-06,-2.108192012e-05,-3.282497935e-06,7.015331971e-01,-3.026156449e-05,8.407350329e-01,7.015336142e-01,-1.967208365e-05,8.407372824e-01,7.017254777e-01,-1.929336318e-05,8.295696107e-01
+33,2.183333333e+00,UP_FORCE_RAMP,1792700778183934632,-3.792079526e-06,-3.254737701e-05,-3.746193490e-06,-4.257311187e-06,-2.122304497e-05,-3.658788712e-06,-3.460317129e-06,-2.108265724e-05,-3.282551817e-06,7.015340794e-01,-3.099641569e-05,8.407371950e-01,7.015336142e-01,-1.967208365e-05,8.407372824e-01,7.017254806e-01,-1.929410030e-05,8.295696106e-01
+34,2.233333333e+00,UP_FORCE_RAMP,1792700778283781351,-4.949198184e-06,-3.459578061e-05,-4.825526061e-06,-4.257311187e-06,-2.122304497e-05,-3.658788712e-06,-3.456107933e-06,-2.108357954e-05,-3.282613989e-06,7.015329223e-01,-3.304481929e-05,8.407361157e-01,7.015336142e-01,-1.967208365e-05,8.407372824e-01,7.017254848e-01,-1.929502260e-05,8.295696106e-01
+35,2.266666667e+00,UP_FORCE_RAMP,1792700778349793095,-2.037564707e-06,-4.541436535e-05,-7.117968476e-07,-4.566910644e-06,-4.194924928e-05,-6.999907472e-06,-3.755849222e-06,-4.160796861e-05,-6.576035352e-06,7.015358339e-01,-4.386340403e-05,8.407402294e-01,7.015333046e-01,-4.039828796e-05,8.407339413e-01,7.017251851e-01,-3.981941167e-05,8.295663172e-01
+36,2.366666667e+00,UP_FORCE_RAMP,1792700778549867423,-4.749895031e-06,-4.309973889e-05,-2.211885023e-06,-4.566910644e-06,-4.194924928e-05,-6.999907472e-06,-3.750116113e-06,-4.164018988e-05,-6.587158010e-06,7.015331216e-01,-4.154877757e-05,8.407387293e-01,7.015333046e-01,-4.039828796e-05,8.407339413e-01,7.017251908e-01,-3.985163294e-05,8.295663060e-01
+37,2.433333333e+00,UP_FORCE_RAMP,1792700778665801019,-4.966342962e-06,-4.089612682e-05,-5.438685315e-06,-4.566910644e-06,-4.194924928e-05,-6.999907472e-06,-3.746071171e-06,-4.164795944e-05,-6.592247126e-06,7.015329051e-01,-3.934516550e-05,8.407355025e-01,7.015333046e-01,-4.039828796e-05,8.407339413e-01,7.017251948e-01,-3.985940250e-05,8.295663009e-01
+38,2.516666667e+00,UP_FORCE_RAMP,1792700778816808792,-4.509431379e-06,-4.770130418e-05,-3.477364150e-06,-4.566910644e-06,-4.194924928e-05,-6.999907472e-06,-3.741191982e-06,-4.165340632e-05,-6.597888103e-06,7.015333621e-01,-4.615034286e-05,8.407374638e-01,7.015333046e-01,-4.039828796e-05,8.407339413e-01,7.017251997e-01,-3.986484938e-05,8.295662953e-01
+39,2.583333333e+00,UP_FORCE_RAMP,1792700778948938217,-4.038043358e-06,-4.916591665e-05,-9.940257486e-07,-4.566910644e-06,-4.194924928e-05,-6.999907472e-06,-3.737494491e-06,-4.165618781e-05,-6.601977487e-06,7.015338334e-01,-4.761495533e-05,8.407399472e-01,7.015333046e-01,-4.039828796e-05,8.407339413e-01,7.017252034e-01,-3.986763087e-05,8.295662912e-01
+40,2.650000000e+00,UP_FORCE_RAMP,1792700779084563368,-8.665369701e-06,-4.891527438e-05,-5.320681817e-06,-4.566910644e-06,-4.194924928e-05,-6.999907472e-06,-3.733979119e-06,-4.165819832e-05,-6.605739816e-06,7.015292061e-01,-4.736431306e-05,8.407356205e-01,7.015333046e-01,-4.039828796e-05,8.407339413e-01,7.017252069e-01,-3.986964138e-05,8.295662875e-01
+41,2.716666667e+00,UP_FORCE_RAMP,1792700779215794474,-6.980065647e-06,-4.882030620e-05,-2.881165182e-06,-4.566910644e-06,-4.194924928e-05,-6.999907472e-06,-3.730645397e-06,-4.165970346e-05,-6.609201917e-06,7.015308914e-01,-4.726934488e-05,8.407380600e-01,7.015333046e-01,-4.039828796e-05,8.407339413e-01,7.017252103e-01,-3.987114652e-05,8.295662840e-01
+42,2.800000000e+00,UP_FORCE_RAMP,1792700779381803288,-6.928856569e-06,-4.877368959e-05,2.702656090e-07,-4.566910644e-06,-4.194924928e-05,-6.999907472e-06,-3.726739785e-06,-4.166113265e-05,-6.613137551e-06,7.015309426e-01,-4.722272827e-05,8.407412115e-01,7.015333046e-01,-4.039828796e-05,8.407339413e-01,7.017252142e-01,-3.987257571e-05,8.295662801e-01
+43,2.850000000e+00,UP_FORCE_RAMP,1792700779479840362,-3.069651319e-06,-5.117644596e-05,9.683055387e-06,-4.566910644e-06,-4.194924928e-05,-6.999907472e-06,-3.724631997e-06,-4.166158936e-05,-6.615153877e-06,7.015348018e-01,-4.962548464e-05,8.407506242e-01,7.015333046e-01,-4.039828796e-05,8.407339413e-01,7.017252163e-01,-3.987303242e-05,8.295662780e-01
+44,2.900000000e+00,UP_FORCE_RAMP,1792700779582366002,-6.192774073e-06,-5.311245774e-05,1.017784728e-05,-3.005386843e-06,-5.159544212e-05,1.173452749e-05,-2.097589879e-06,-5.125982405e-05,1.168309728e-05,7.015316787e-01,-5.156149642e-05,8.407511190e-01,7.015348661e-01,-5.004448080e-05,8.407526757e-01,7.017268433e-01,-4.947126711e-05,8.295845763e-01
+45,2.983333333e+00,UP_FORCE_RAMP,1792700779748313038,-5.910417174e-06,-5.056080995e-05,1.749414009e-05,-3.005386843e-06,-5.159544212e-05,1.173452749e-05,-2.091039203e-06,-5.127522295e-05,1.173640347e-05,7.015319611e-01,-4.900984863e-05,8.407584353e-01,7.015348661e-01,-5.004448080e-05,8.407526757e-01,7.017268499e-01,-4.948666601e-05,8.295846296e-01
+46,3.033333333e+00,UP_FORCE_RAMP,1792700779848048004,-2.619319072e-06,-5.099835610e-05,2.942685513e-05,-3.005386843e-06,-5.159544212e-05,1.173452749e-05,-2.087508228e-06,-5.127937160e-05,1.175885727e-05,7.015352522e-01,-4.944739478e-05,8.407703680e-01,7.015348661e-01,-5.004448080e-05,8.407526757e-01,7.017268534e-01,-4.949081466e-05,8.295846520e-01
+47,3.066666667e+00,UP_FORCE_HOLD,1792700779914553507,1.507040569e-06,-4.818391935e-05,4.088751324e-05,1.757364237e-06,-4.809029980e-05,4.110077563e-05,2.817869832e-06,-4.777246351e-05,4.047822504e-05,7.015393785e-01,-4.663295803e-05,8.407818287e-01,7.015396288e-01,-4.653933848e-05,8.407820420e-01,7.017317588e-01,-4.598390657e-05,8.296133714e-01
+48,3.083333333e+00,UP_FORCE_HOLD,1792700779949089002,-4.649574122e-06,-5.087821814e-05,3.555290073e-05,1.757364237e-06,-4.809029980e-05,4.110077563e-05,2.829145600e-06,-4.776879961e-05,4.052008122e-05,7.015332219e-01,-4.932725682e-05,8.407764941e-01,7.015396288e-01,-4.653933848e-05,8.407820420e-01,7.017317701e-01,-4.598024267e-05,8.296134133e-01
+49,3.150000000e+00,UP_FORCE_HOLD,1792700780079957740,-2.035617142e-06,-4.852505899e-05,4.583922141e-05,1.757364237e-06,-4.809029980e-05,4.110077563e-05,2.844285318e-06,-4.776723488e-05,4.061852357e-05,7.015358359e-01,-4.697409767e-05,8.407867804e-01,7.015396288e-01,-4.653933848e-05,8.407820420e-01,7.017317852e-01,-4.597867794e-05,8.296135117e-01
+50,3.183333333e+00,UP_FORCE_HOLD,1792700780147932391,-1.158170150e-06,-4.948110224e-05,5.050659761e-05,1.757364237e-06,-4.809029980e-05,4.110077563e-05,2.850312177e-06,-4.776748080e-05,4.065686979e-05,7.015367133e-01,-4.793014092e-05,8.407914478e-01,7.015396288e-01,-4.653933848e-05,8.407820420e-01,7.017317912e-01,-4.597892386e-05,8.296135501e-01
+51,3.233333333e+00,UP_SETTLE,1792700780245881145,3.035927628e-07,-4.675523667e-05,6.137517816e-05,5.465478270e-07,-4.704910840e-05,6.107414425e-05,1.697795221e-06,-4.677016398e-05,6.020156228e-05,7.015381751e-01,-4.520427535e-05,8.408023164e-01,7.015384180e-01,-4.549814708e-05,8.408020153e-01,7.017306387e-01,-4.498160704e-05,8.296330948e-01
+52,3.250000000e+00,UP_SETTLE,1792700780279814681,-2.256866318e-06,-5.187343610e-05,6.005855613e-05,5.465478270e-07,-4.704910840e-05,6.107414425e-05,1.700088155e-06,-4.676791792e-05,6.024307522e-05,7.015356146e-01,-5.032247478e-05,8.408009997e-01,7.015384180e-01,-4.549814708e-05,8.408020153e-01,7.017306410e-01,-4.497936098e-05,8.296331363e-01
+53,3.266666667e+00,UP_SETTLE,1792700780316260419,-5.013610950e-05,-4.689403648e-05,4.945407354e-05,-4.971234854e-05,-4.677558363e-05,4.914602197e-05,-4.887544198e-05,-4.648109127e-05,4.855741886e-05,7.014877354e-01,-4.534307516e-05,8.407903953e-01,7.014881591e-01,-4.522462231e-05,8.407900872e-01,7.016800655e-01,-4.469253433e-05,8.296214506e-01
+54,3.266666667e+00,UP_SETTLE,1792700780316260419,-5.013610950e-05,-4.689403648e-05,4.945407354e-05,-4.971234854e-05,-4.677558363e-05,4.914602197e-05,-4.887544198e-05,-4.648109127e-05,4.855741886e-05,7.014877354e-01,-4.534307516e-05,8.407903953e-01,7.014881591e-01,-4.522462231e-05,8.407900872e-01,7.016800655e-01,-4.469253433e-05,8.296214506e-01
+55,3.266666667e+00,UP_SETTLE,1792700780316260419,-5.013610950e-05,-4.689403648e-05,4.945407354e-05,-4.971234854e-05,-4.677558363e-05,4.914602197e-05,-4.887544198e-05,-4.648109127e-05,4.855741886e-05,7.014877354e-01,-4.534307516e-05,8.407903953e-01,7.014881591e-01,-4.522462231e-05,8.407900872e-01,7.016800655e-01,-4.469253433e-05,8.296214506e-01
+56,3.300000000e+00,UP_SETTLE,1792700780382267787,-3.674978122e-05,-4.331626053e-05,6.817159672e-05,-3.662651173e-05,-4.324612174e-05,6.829214912e-05,-3.579080410e-05,-4.295385151e-05,6.730512158e-05,7.015011217e-01,-4.176529921e-05,8.408091128e-01,7.015012450e-01,-4.169516041e-05,8.408092333e-01,7.016931501e-01,-4.116529457e-05,8.296401983e-01
+57,3.333333333e+00,UP_SETTLE,1792700780445889371,-4.095219125e-05,-4.949708093e-05,6.338206613e-05,-3.662651173e-05,-4.324612174e-05,6.829214912e-05,-3.581521135e-05,-4.294847625e-05,6.738036989e-05,7.014969193e-01,-4.794611961e-05,8.408043233e-01,7.015012450e-01,-4.169516041e-05,8.408092333e-01,7.016931257e-01,-4.115991931e-05,8.296402736e-01
+58,3.383333333e+00,UP_SETTLE,1792700780547860168,-4.082775307e-05,-4.494206035e-05,6.534393528e-05,-3.662651173e-05,-4.324612174e-05,6.829214912e-05,-3.585423174e-05,-4.294688125e-05,6.746375262e-05,7.014970437e-01,-4.339109903e-05,8.408062851e-01,7.015012450e-01,-4.169516041e-05,8.408092333e-01,7.016930867e-01,-4.115832431e-05,8.296403569e-01
+59,3.450000000e+00,UP_SETTLE,1792700780679730606,-4.115534381e-05,-4.635824469e-05,6.140282699e-05,-3.662651173e-05,-4.324612174e-05,6.829214912e-05,-3.589679568e-05,-4.294709453e-05,6.755808862e-05,7.014967161e-01,-4.480728337e-05,8.408023440e-01,7.015012450e-01,-4.169516041e-05,8.408092333e-01,7.016930441e-01,-4.115853759e-05,8.296404513e-01

Fixed/s2/cylinder_PLA_12.5/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,-3.3743e-02,2.3332e-03,2.4597e+00,-3.6953e-02,3.4328e-02,-2.5022e-05,6.4304e-04,3.6201e-06,3.2806e-04,-2.8685e-07,4.2237e-05,-2.9005e-07,7.2190e-04,4.2239e-05
+1,8.3333e-02,XJC_ZERO_HOLD_BEFORE_UP,1.5804e-05,-3.0481e-02,2.3511e-03,2.4614e+00,-3.6954e-02,3.4545e-02,-2.6573e-05,3.9051e-03,2.1473e-05,2.0089e-03,-1.4789e-06,2.5879e-04,-1.8412e-06,4.3916e-03,2.5880e-04
+2,1.5000e-01,WAIT_W2,3.0231e-05,-2.7945e-02,2.3602e-03,2.4626e+00,-3.6955e-02,3.4716e-02,-2.7836e-05,6.4418e-03,3.0565e-05,3.2740e-03,-1.7956e-06,4.3000e-04,-3.1047e-06,7.2261e-03,4.3001e-04
+3,2.3333e-01,WAIT_W2,4.8840e-05,-2.4959e-02,2.3865e-03,2.4641e+00,-3.6956e-02,3.4921e-02,-2.9383e-05,9.4277e-03,5.6891e-05,4.7102e-03,-2.8871e-06,6.3445e-04,-4.6517e-06,1.0539e-02,6.3447e-04
+4,2.6667e-01,WAIT_W2,6.4417e-05,-2.3815e-02,2.3927e-03,2.4646e+00,-3.6956e-02,3.5000e-02,-2.9972e-05,1.0572e-02,6.3117e-05,5.2409e-03,-2.9579e-06,7.1340e-04,-5.2400e-06,1.1800e-02,7.1343e-04
+5,3.5000e-01,WAIT_W2,7.7973e-05,-2.1056e-02,2.3975e-03,2.4659e+00,-3.6955e-02,3.5191e-02,-3.1367e-05,1.3331e-02,6.7919e-05,6.4864e-03,-2.2687e-06,9.0499e-04,-6.6352e-06,1.4825e-02,9.0502e-04
+6,4.1667e-01,WAIT_W2,9.4644e-05,-1.8958e-02,2.3960e-03,2.4668e+00,-3.6954e-02,3.5338e-02,-3.2406e-05,1.5429e-02,6.6387e-05,7.4010e-03,-1.2256e-06,1.0517e-03,-7.6746e-06,1.7112e-02,1.0517e-03
+7,5.0000e-01,WAIT_W2,1.0949e-04,-1.6480e-02,2.3971e-03,2.4678e+00,-3.6953e-02,3.5512e-02,-3.3609e-05,1.7906e-02,6.7458e-05,8.4567e-03,-1.4901e-08,1.2259e-03,-8.8777e-06,1.9803e-02,1.2260e-03
+8,5.8333e-01,WAIT_W2,1.2533e-04,-1.4145e-02,2.3923e-03,2.4688e+00,-3.6951e-02,3.5677e-02,-3.4723e-05,2.0241e-02,6.2641e-05,9.4290e-03,1.6689e-06,1.3910e-03,-9.9911e-06,2.2330e-02,1.3910e-03
+9,6.5000e-01,WAIT_W2,1.4074e-04,-1.2384e-02,2.3861e-03,2.4695e+00,-3.6950e-02,3.5802e-02,-3.5546e-05,2.2002e-02,5.6494e-05,1.0146e-02,3.2037e-06,1.5159e-03,-1.0814e-05,2.4229e-02,1.5159e-03
+10,7.0000e-01,WAIT_W2,1.5757e-04,-1.1121e-02,2.3809e-03,2.4700e+00,-3.6948e-02,3.5892e-02,-3.6126e-05,2.3266e-02,5.1306e-05,1.0654e-02,4.3958e-06,1.6058e-03,-1.1395e-05,2.5589e-02,1.6059e-03
+11,7.6667e-01,WAIT_W2,1.7540e-04,-9.5122e-03,2.3733e-03,2.4707e+00,-3.6947e-02,3.6007e-02,-3.6852e-05,2.4874e-02,4.3638e-05,1.1291e-02,6.0424e-06,1.7205e-03,-1.2121e-05,2.7317e-02,1.7205e-03
+12,8.3333e-01,WAIT_W2,1.8704e-04,-7.9883e-03,2.3648e-03,2.4712e+00,-3.6945e-02,3.6115e-02,-3.7526e-05,2.6398e-02,3.5181e-05,1.1885e-02,7.7412e-06,1.8294e-03,-1.2795e-05,2.8950e-02,1.8294e-03
+13,9.0000e-01,WAIT_W2,2.0620e-04,-6.5502e-03,2.3574e-03,2.4718e+00,-3.6943e-02,3.6218e-02,-3.8143e-05,2.7836e-02,2.7739e-05,1.2437e-02,9.3505e-06,1.9322e-03,-1.3412e-05,3.0488e-02,1.9323e-03
+14,9.6667e-01,WAIT_W2,2.2232e-04,-5.1873e-03,2.3490e-03,2.4723e+00,-3.6942e-02,3.6316e-02,-3.8710e-05,2.9199e-02,1.9376e-05,1.2955e-02,1.1001e-05,2.0299e-03,-1.3979e-05,3.1944e-02,2.0300e-03
+15,1.0000e+00,WAIT_W2,2.3469e-04,-4.5330e-03,2.3446e-03,2.4726e+00,-3.6941e-02,3.6363e-02,-3.8977e-05,2.9853e-02,1.4949e-05,1.3202e-02,1.1828e-05,2.0768e-03,-1.4245e-05,3.2642e-02,2.0769e-03
+16,1.0667e+00,WAIT_W2,2.5344e-04,-3.2772e-03,2.3356e-03,2.4730e+00,-3.6939e-02,3.6453e-02,-3.9478e-05,3.1109e-02,5.9679e-06,1.3670e-02,1.3482e-05,2.1669e-03,-1.4746e-05,3.3980e-02,2.1670e-03
+17,1.1000e+00,WAIT_W2,2.6577e-04,-2.6741e-03,2.3307e-03,2.4733e+00,-3.6938e-02,3.6496e-02,-3.9714e-05,3.1712e-02,1.0382e-06,1.3894e-02,1.4327e-05,2.2103e-03,-1.4982e-05,3.4622e-02,2.2104e-03
+18,1.1833e+00,WAIT_W2,2.8391e-04,3.5918e-04,2.2251e-03,2.4743e+00,-3.6927e-02,3.6732e-02,-4.2083e-05,3.4746e-02,-1.0456e-04,1.4946e-02,2.5623e-05,2.4460e-03,-1.7351e-05,3.7824e-02,2.4462e-03
+19,1.2667e+00,WAIT_W2,2.9706e-04,4.7604e-03,-1.2953e-02,2.4814e+00,-3.5835e-02,3.7051e-02,-6.2829e-05,3.9147e-02,-1.5283e-02,2.2057e-02,1.1175e-03,2.7649e-03,-3.8097e-05,4.7461e-02,2.9824e-03
+20,1.3500e+00,WAIT_W2,3.1684e-04,5.3484e-03,-1.2414e-02,2.4802e+00,-3.5875e-02,3.7089e-02,-6.4174e-05,3.9735e-02,-1.4744e-02,2.0870e-02,1.0779e-03,2.8031e-03,-3.9443e-05,4.7242e-02,3.0035e-03
+21,1.4167e+00,WAIT_W2,3.3320e-04,5.8831e-03,-1.1979e-02,2.4798e+00,-3.5906e-02,3.7125e-02,-6.5038e-05,4.0269e-02,-1.4309e-02,2.0454e-02,1.0463e-03,2.8389e-03,-4.0307e-05,4.7379e-02,3.0258e-03
+22,1.4500e+00,WAIT_W2,3.4480e-04,6.1533e-03,-1.1814e-02,2.4797e+00,-3.5919e-02,3.7143e-02,-6.5378e-05,4.0540e-02,-1.4143e-02,2.0340e-02,1.0341e-03,2.8572e-03,-4.0646e-05,4.7510e-02,3.0388e-03
+23,1.5000e+00,WAIT_W2,3.5999e-04,3.6084e-03,5.2419e-03,2.4730e+00,-3.7147e-02,3.6970e-02,-5.0343e-05,3.7995e-02,2.9122e-03,1.3654e-02,-1.9448e-04,2.6837e-03,-2.5611e-05,4.0479e-02,2.6909e-03
+24,1.5833e+00,WAIT_W2,3.7602e-04,4.3813e-03,4.6131e-03,2.4747e+00,-3.7102e-02,3.7021e-02,-4.8663e-05,3.8768e-02,2.2835e-03,1.5291e-02,-1.4956e-04,2.7349e-03,-2.3932e-05,4.1737e-02,2.7391e-03
+25,1.6333e+00,WAIT_W2,3.9267e-04,4.8785e-03,4.3029e-03,2.4751e+00,-3.7080e-02,3.7054e-02,-4.7780e-05,3.9265e-02,1.9732e-03,1.5776e-02,-1.2717e-04,2.7684e-03,-2.3048e-05,4.2362e-02,2.7714e-03
+26,1.7333e+00,UP_FORCE_RAMP,4.1033e-04,5.8509e-03,3.9202e-03,2.4757e+00,-3.7051e-02,3.7121e-02,-4.6342e-05,4.0237e-02,1.5906e-03,1.6375e-02,-9.8336e-05,2.8344e-03,-2.1610e-05,4.3471e-02,2.8362e-03
+27,1.8000e+00,UP_FORCE_RAMP,4.2568e-04,1.1874e-02,1.8508e-02,2.4810e+00,-3.8092e-02,3.7557e-02,-2.1147e-05,4.6260e-02,1.6178e-02,2.1669e-02,-1.1392e-03,3.2710e-03,3.5850e-06,5.3585e-02,3.4637e-03
+28,1.8500e+00,UP_FORCE_RAMP,4.4414e-04,1.1892e-02,1.8173e-02,2.4804e+00,-3.8067e-02,3.7558e-02,-2.0372e-05,4.6279e-02,1.5843e-02,2.0999e-02,-1.1142e-03,3.2716e-03,4.3600e-06,5.3232e-02,3.4562e-03
+29,1.9167e+00,UP_FORCE_RAMP,4.5924e-04,1.1995e-02,1.7577e-02,2.4798e+00,-3.8024e-02,3.7564e-02,-1.9418e-05,4.6381e-02,1.5247e-02,2.0480e-02,-1.0715e-03,3.2777e-03,5.3141e-06,5.2945e-02,3.4484e-03
+30,2.0167e+00,UP_FORCE_RAMP,4.7284e-04,1.2208e-02,1.6205e-02,2.4794e+00,-3.7908e-02,3.7575e-02,-1.2342e-05,4.6595e-02,1.3875e-02,2.0061e-02,-9.5504e-04,3.2893e-03,1.2390e-05,5.2593e-02,3.4252e-03
+31,2.1000e+00,UP_FORCE_RAMP,4.9049e-04,1.2499e-02,1.6044e-02,2.4794e+00,-3.7897e-02,3.7595e-02,-1.2367e-05,4.6885e-02,1.3714e-02,2.0054e-02,-9.4474e-04,3.3089e-03,1.2365e-05,5.2806e-02,3.4411e-03
+32,2.1500e+00,UP_FORCE_RAMP,5.0615e-04,1.2678e-02,1.5983e-02,2.4794e+00,-3.7893e-02,3.7607e-02,-1.2482e-05,4.7064e-02,1.3653e-02,2.0050e-02,-9.4055e-04,3.3211e-03,1.2250e-05,5.2947e-02,3.4517e-03
+33,2.1833e+00,UP_FORCE_RAMP,5.1883e-04,1.2798e-02,1.5950e-02,2.4794e+00,-3.7891e-02,3.7615e-02,-1.2596e-05,4.7184e-02,1.3620e-02,2.0046e-02,-9.3818e-04,3.3293e-03,1.2136e-05,5.3044e-02,3.4590e-03
+34,2.2333e+00,UP_FORCE_RAMP,5.3636e-04,1.2977e-02,1.5908e-02,2.4794e+00,-3.7888e-02,3.7628e-02,-1.2821e-05,4.7364e-02,1.3579e-02,2.0042e-02,-9.3503e-04,3.3417e-03,1.1911e-05,5.3192e-02,3.4701e-03
+35,2.2667e+00,UP_FORCE_RAMP,5.5161e-04,1.3176e-02,1.9500e-02,2.4800e+00,-3.8125e-02,3.7641e-02,-1.2414e-05,4.7562e-02,1.7170e-02,2.0675e-02,-1.1720e-03,3.3552e-03,1.2318e-05,5.4630e-02,3.5540e-03
+36,2.3667e+00,UP_FORCE_RAMP,5.6891e-04,1.3869e-02,3.0816e-02,2.4836e+00,-3.8953e-02,3.7692e-02,4.0833e-06,4.8255e-02,2.8486e-02,2.4221e-02,-2.0003e-03,3.4058e-03,2.8815e-05,6.1046e-02,3.9499e-03
+37,2.4333e+00,UP_FORCE_RAMP,5.8243e-04,1.4250e-02,2.8910e-02,2.4815e+00,-3.8812e-02,3.7718e-02,6.4539e-06,4.8636e-02,2.6581e-02,2.2144e-02,-1.8598e-03,3.4316e-03,3.1186e-05,5.9686e-02,3.9033e-03
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+42,2.8000e+00,UP_FORCE_RAMP,6.6261e-04,1.4980e-02,2.8665e-02,2.4814e+00,-3.8780e-02,3.7771e-02,1.1711e-06,4.9366e-02,2.6336e-02,2.2035e-02,-1.8270e-03,3.4854e-03,2.5903e-05,6.0134e-02,3.9353e-03
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Fixed/s2/cylinder_PLA_12.5/press_depth_08/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75d44dcf0fa6d853260572decc452452016d2dbf2edfd3fb2f27a69981698b99
+size 52961280

Fixed/s2/cylinder_PLA_12.5/press_depth_08/down/franka_data.csv

@@ -0,0 +1,61 @@
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+10145,1792700847504202819,8674496999999,1792700847496444509,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6760981925867318,-0.0046131518859653985,0.09058244000110453,0.9999999922241803,-8.317000453898387e-05,8.774119419703904e-06,5.183768273697787e-07,0.6761,-0.00453,0.09052407066845876,1.0,0.0,0.0,0.0,-0.22188876372278532,0.3060986651294211,1.188982686376478,0.024664302212008042,0.016432865858690825,0.0005851275945641409,0.24289232161013014,0.5464789670797541,1.0144010210816123,0.0396427169577718,-0.015053139894491939,0.0004574656798089696,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.7070333784538804,0.4375962262330331,-0.1175260540872711,0.09371073424920688,0.2419323616311219,0.19451936353626859,0.49631610815330435,1.188982686376478,0.6138421622405754,0.6138421622405754,0.3993600000000369,0,0,-7.817509487387386e-05,9.999999025923074e-05
+10281,1792700848637147423,8675629999999,1792700848636444116,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761019320543186,-0.004620883992685777,0.09054254654863857,0.9999999917685811,-8.609205301389917e-05,1.847711380967846e-05,1.2347338688865714e-05,0.6761,-0.00453,0.09046756217970908,1.0,0.0,0.0,0.0,-0.21277395318903974,0.2741688113224272,1.2835758959295143,0.022560339107671357,0.016327395715434536,0.00048712034571506477,0.2520071321438757,0.5145491132727602,1.1089942306346485,0.037538753853435115,-0.015158610037748228,0.00035945843095989337,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.7322070735492533,0.4444761797425542,-0.20612209800307746,0.09892377474594369,0.30373687874054567,0.20145792168254223,0.49631610815330435,1.2835758959295143,0.7024382061563819,0.7024382061563819,0.49000000000006466,0,0,-2.1525105910165425e-05,9.999999025923074e-05
+10405,1792700849671179690,8676664000000,1792700849664453847,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6760968429563985,-0.004620690888035533,0.09052455138814683,0.9999999920600584,-8.35448105630486e-05,1.0375270211701413e-05,1.534163865476018e-05,0.6761,-0.00453,0.09046195878552844,1.0,0.0,0.0,0.0,-0.20512725320526626,0.24818557032263774,1.2537964431996678,0.02097131106475844,0.015352363782917839,0.0004820476453116733,0.2596538321276492,0.4885658722729707,1.079214777904802,0.0359497258105222,-0.016133641970264925,0.0003543857305565019,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.6760400927559689,0.46874090389332324,-0.12996437075449593,0.08427664782908806,0.2436327778459311,0.21504783984635206,0.49631610815330435,1.2537964431996678,0.6262804789078003,0.6262804789078003,0.5727200000000395,0,0,-1.7814092326262632e-07,1.7994032652790537e-06
+10524,1792700850662130651,8677655000000,1792700850660444029,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6760933897098101,-0.0046208993109538,0.09051589617080037,0.9999999921632539,-8.256617035810701e-05,3.477710595146344e-06,1.694371914734402e-05,0.6761,-0.00453,0.09046070875691263,1.0,0.0,0.0,0.0,-0.19579826959005647,0.2543712809229479,1.2173007943912997,0.020980720457205844,0.015334584461772448,0.00012899694904790936,0.268982815742859,0.4947515828732809,1.042719129096434,0.0359591352029696,-0.016151421291410315,1.3350342927379607e-06,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.6703471651261389,0.43440406131234516,-0.03969608325299367,0.09400907520588878,0.18824858233431657,0.18909358389850373,0.49631610815330435,1.2173007943912997,0.536012191406298,0.536012191406298,0.6520000000000088,0,0,-6.444896015504692e-06,-9.998362834740532e-05
+10681,1792700851971020800,8678964000000,1792700851964453200,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6760958087607181,-0.004620501496475245,0.09050248640977931,0.999999992170505,-8.103452556642603e-05,7.66286971340693e-06,2.1829805617575516e-05,0.6761,-0.00453,0.09043624590930478,1.0,0.0,0.0,0.0,-0.1972793718712469,0.24342123043761846,1.24140744642648,0.019962435699998657,0.015363631564729679,-0.0005463775843359377,0.26750171346166857,0.4838015323879514,1.0668257811316142,0.034940850445762416,-0.016122374188453085,-0.0006740394990911091,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.756417913595806,0.4202152622056247,-0.23360156895767575,0.10018431646274209,0.33174566277444567,0.17605476391926533,0.49631610815330435,1.24140744642648,0.7299176771109801,0.7299176771109801,0.7567199999999682,0,0,-2.6248200672680848e-05,1.2133068187597476e-05
+10800,1792700852962001926,8679955000000,1792700852960453158,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6760973394341246,-0.004625250652581442,0.09048162395691291,0.9999999919558507,-8.118251605483406e-05,1.3120567863880059e-05,2.772026361634221e-05,0.6761,-0.00453,0.09040440718899198,1.0,0.0,0.0,0.0,-0.21416674707966982,0.24515282233625826,1.2934439491299914,0.019925414643301553,0.016379175144581967,-0.0005739838974708509,0.25061433825324564,0.48553312428659123,1.1188622838351256,0.03490382938906531,-0.015106830608600796,-0.0007016458122260223,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.7672782918301599,0.48177747354717776,-0.28000063548310034,0.08504142051927371,0.3601991303797436,0.21949930080234792,0.49631610815330435,1.2934439491299914,0.7763167436364047,0.7763167436364047,0.8359999999999375,0,0,-3.7571379087079866e-05,-9.995474867097726e-05
+10923,1792700853987034607,8680980000000,1792700853980453612,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761008004604525,-0.004625466463432579,0.09045237563091411,0.9999999920689072,-7.686606455276922e-05,1.8802889363282493e-05,3.229720372209713e-05,0.6761,-0.00453,0.09036210668737268,1.0,0.0,0.0,0.0,-0.22384553592115325,0.2359858859644509,1.3474333311008906,0.019748988546299126,0.017352152446984292,4.223749487497903e-05,0.2409355494117622,0.47636618791478386,1.1728516658060248,0.034727403292062885,-0.01413385330619847,-8.542441988019237e-05,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.8009047963701112,0.4289298383275584,-0.4152025859400022,0.09848985128106363,0.45064641879274325,0.1863997948040243,0.49631610815330435,1.3474333311008906,0.9115186940933065,0.9115186940933065,0.9179999999999057,0,0,-4.2716221411416615e-05,9.941659581536583e-05
+11047,1792700855020985912,8682013999999,1792700855016454184,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.67610320453889,-0.004628545575840162,0.09041698258004119,0.999999991704711,-7.702291693700248e-05,2.163098157051402e-05,4.041055936821317e-05,0.6761,-0.00453,0.09031800922513944,1.0,0.0,0.0,0.0,-0.2326452449920794,0.22687351203237324,1.4133964845069753,0.018853065540361057,0.017389503023386287,-0.0006688244267021926,0.23213584034083606,0.4672538139827062,1.2388148192121096,0.033831480286124815,-0.014096502729796475,-0.000796486341457364,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.8173990416521605,0.3265511942021535,-0.36965257773231713,0.1299987639781514,0.42536857587027843,0.11790019810197021,0.49631610815330435,1.4133964845069753,0.8659686858856215,0.8659686858856215,1.0007199999998746,0,0,-4.4586381971216345e-05,-9.873509928948749e-05
+11163,1792700855986940395,8682980000000,1792700855984453746,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761073459535618,-0.004630173704991478,0.09037941190464759,0.9999999917529193,-6.762401548083512e-05,2.8289165351900483e-05,5.063340213669847e-05,0.6761,-0.00453,0.09027206776219313,1.0,0.0,0.0,0.0,-0.2509441085833628,0.2266831697942889,1.4556117016234267,0.01879608621614738,0.019183065769561705,-0.0006768055149338897,0.21383697674955268,0.46706347174462187,1.281030036328561,0.03377450096191114,-0.012302939983621058,-0.0008044674296890611,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.8412856953933353,0.4042735349642518,-0.49011489063683783,0.10812294675074356,0.5064248316085379,0.17094177951840459,0.49631610815330435,1.4556117016234267,0.9864309987901422,0.9864309987901422,1.0779999999999519,0,0,-5.204722823145958e-05,-7.238242924335054e-05
+11287,1792700857020899253,8684013999999,1792700857020446171,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.676113274017425,-0.00462986467503734,0.09032711327895368,0.9999999928401163,-2.7968368888278038e-05,3.5034612402634914e-05,6.126155497702859e-05,0.6761,-0.00453,0.09021263156169498,1.0,0.0,0.0,0.0,-0.25185515257103536,0.22653852395241034,1.5135719817249436,0.018778605772692657,0.019395063746694995,-0.0007206800641084684,0.2129259327618801,0.4669188259027433,1.3389903164300778,0.033757020518456415,-0.012090942006487769,-0.0008483419788636398,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.8964908288177496,0.31351640143413406,-0.5653175363958061,0.13881251403486874,0.562754909105309,0.12464244072156719,0.49631610815330435,1.5135719817249436,1.0616336445491104,1.0616336445491104,1.1607200000000346,0,0,-6.226293812058715e-05,-9.504940864791251e-05
+11399,1792700857953906741,8684947000000,1792700857952455034,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761173536713388,-0.004633536091247354,0.09027554288752772,0.9999999921728032,-1.54846810618489e-05,4.207995892078781e-05,7.132152308143207e-05,0.6761,-0.00453,0.09015182723276322,1.0,0.0,0.0,0.0,-0.25948670158671655,0.2193736119562372,1.563360741993858,0.017799043172579902,0.01940257900012947,-0.0007728663760856174,0.2052943837461989,0.45975391390657017,1.3887790766989923,0.03277745791834366,-0.012083426753053296,-0.0009005282908407888,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.8866897237983851,0.31249076771735956,-0.6738685656224591,0.13597810195304605,0.6277951462722006,0.12425886666025242,0.49631610815330435,1.563360741993858,1.1701846737757635,1.1701846737757635,1.2353600000001093,0,0,-6.444989252421684e-05,9.999978209241362e-05
+11514,1792700858911928488,8685905000000,1792700858908444194,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761191026770497,-0.00463559684719675,0.09021382741159643,0.9999999916370677,-8.403130665868756e-06,4.603804143565737e-05,7.732150601887734e-05,0.6761,-0.00453,0.09008196509344084,1.0,0.0,0.0,0.0,-0.2514619834867274,0.22004516156287854,1.573343983852103,0.017797047083356325,0.019400189790151498,-0.000779903243146555,0.21331910184618808,0.4604254635132115,1.3987623185572373,0.032775461829120084,-0.012085815963031264,-0.0009075651579017264,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.9216791124763484,0.3096577658832447,-0.6668178078588913,0.1406798280129953,0.6252900192142644,0.12651003347261744,0.49631610815330435,1.573343983852103,1.1631339160121956,1.1631339160121956,1.312000000000186,0,0,-8.712701446009075e-05,-9.997864622158232e-05
+11618,1792700859778853941,8686772000000,1792700859776444374,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761222090964255,-0.004637540268506779,0.09013865988642185,0.9999999871149408,9.012998370885399e-05,5.2426291649426346e-05,7.963072761876901e-05,0.6761,-0.00453,0.08999896042467934,1.0,0.0,0.0,0.0,-0.2549390623862618,0.211170683935221,1.6142806467884285,0.017672498774820564,0.019394295087089345,-0.000819216698093106,0.20984202294665366,0.451550985885554,1.4396989814935628,0.03265091352058432,-0.012091710666093419,-0.0009468786128482774,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.9637413435026144,0.3229538271011873,-0.7080693328206357,0.11689598740053489,0.6648295127604972,0.10311449139224833,0.49631610815330435,1.6142806467884285,1.20438544097394,1.20438544097394,1.3813600000002553,0,0,-0.00010016995603409485,-9.072742143534924e-05
+11714,1792700860578871738,8687572000000,1792700860576443717,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761255816841748,-0.00463565305256153,0.09006241043967297,0.9999999868113439,8.493371258618187e-05,5.5351014697264245e-05,8.684875239214761e-05,0.6761,-0.00453,0.08991617888998012,1.0,0.0,0.0,0.0,-0.25108710665451883,0.20187180054720746,1.6532255039898252,0.01671000653855046,0.019404127230836378,-0.0008564575554560732,0.2136939786783966,0.44225210249754043,1.4786438386949594,0.03168842128431422,-0.012081878522346386,-0.0009841194702112446,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.9674931469425121,0.28061539512345485,-0.7880436410267747,0.15122666088977024,0.7071050781116606,0.09898340786616813,0.49631610815330435,1.6532255039898252,1.2843597491800791,1.2843597491800791,1.4453600000003193,0,0,-0.00010476769207320847,-9.999962943674773e-05
+11818,1792700861446833816,8688439000000,1792700861440444675,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761276226542806,-0.004637550297892039,0.08997334680906215,0.9999999910734001,3.489966285743337e-05,6.140286946507969e-05,6.563356882297702e-05,0.6761,-0.00453,0.08982078453559421,1.0,0.0,0.0,0.0,-0.23206064871498772,0.20975899801651907,1.6434309811450099,0.01680212575177311,0.01777719435657762,-0.0008744478364369989,0.23272043661792774,0.45013929996685204,1.468849315850144,0.03178054049753687,-0.013708811396605142,-0.0010021097511921703,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.952772882146342,0.2901929172067696,-0.9636323370849768,0.17659531069771348,0.8026507485020394,0.12743442809105598,0.49631610815330435,1.6434309811450099,1.4599484452382812,1.4599484452382812,1.5147200000003886,0,0,-0.00011831061607206627,9.939980369211838e-05
+11893,1792700862070787323,8689064000000,1792700862068444329,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761267105553725,-0.004638171137335818,0.08989621647309978,0.9999999917561936,1.739886418087349e-05,5.942723026748044e-05,6.400125941208904e-05,0.6761,-0.00453,0.08974281641970792,1.0,0.0,0.0,0.0,-0.23194670967516676,0.20084638449821582,1.682285409729756,0.015937727820212015,0.01839994266870909,-0.0009038020788961949,0.2328343756577487,0.4412266864485488,1.5077037444348902,0.030916142565975774,-0.013086063084473671,-0.0010314639936513663,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.9626169588154718,0.3651538994883056,-1.0040749825123472,0.1562114320695198,0.8292243581653242,0.17144508755139956,0.49631610815330435,1.682285409729756,1.5003910906656515,1.5003910906656515,1.5647200000004386,0,0,-0.0001323181871334692,9.999804736893764e-05
+11981,1792700862803750470,8689797000000,1792700862796444235,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761299158465295,-0.004642160807242669,0.08980287690066298,0.999999990949704,1.0894143290842351e-05,6.32297509870857e-05,7.366663108572424e-05,0.6761,-0.00453,0.08964285756529373,1.0,0.0,0.0,0.0,-0.231892634136874,0.1983760617467704,1.689112192550787,0.01571008333790106,0.01839085078329797,-0.0009105088335261725,0.23288845119604146,0.43875636369710336,1.5145305272559213,0.03068849808366482,-0.013095154969884793,-0.001038170748281344,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.9279022193856892,0.311188145346153,-0.8868708225835702,0.17247980995409126,0.739725401931562,0.13454128015906508,0.49631610815330435,1.689112192550787,1.3831869307368745,1.3831869307368745,1.6233600000004973,0,0,-0.00014128163850909837,-9.996314473260099e-05
+12065,1792700863503799185,8690496999999,1792700863500444191,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.676127627390922,-0.004641908809105029,0.08970108255600023,0.999999990174717,1.409049388795097e-05,5.524742047899975e-05,8.855851812433868e-05,0.6761,-0.00453,0.08954064360760436,1.0,0.0,0.0,0.0,-0.2377077072991772,0.1857294009776582,1.7105073816234533,0.014683450599626141,0.01841667485427375,-0.0009400097340535399,0.22707337803373825,0.42610970292799116,1.5359257163285875,0.0296618653453899,-0.013069330898909014,-0.0010676716488087113,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.9392869977316307,0.28752809427533477,-0.9022565619132615,0.1897789796283093,0.7463448976314093,0.12341187157753068,0.49631610815330435,1.7105073816234533,1.398572670066566,1.398572670066566,1.6793600000005533,0,0,-0.00015251278042835293,-9.999999025923074e-05
+12145,1792700864170753545,8691164000000,1792700864168443914,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761313176131521,-0.004646505760877017,0.08959854581181789,0.999999988892745,9.050908038044141e-06,6.0758022102787045e-05,9.941789613976274e-05,0.6761,-0.00453,0.08943560031646168,1.0,0.0,0.0,0.0,-0.2406966876515891,0.16777985706166468,1.726403251533189,0.014679840419948818,0.018414262328065204,-0.0009530664249976365,0.22408439768132635,0.40816015901199765,1.5518215862383233,0.029658255165712577,-0.01307174342511756,-0.001080728339752808,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.9571188796807147,0.2286955695937635,-0.9325562543862144,0.20923154371664737,0.7656942309934984,0.08116332512713544,0.49631610815330435,1.726403251533189,1.4288723625395188,1.4288723625395188,1.7327200000006067,0,0,-0.0001628861112199217,-9.97846763813925e-05
+12217,1792700864770731901,8691763999999,1792700864768444811,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761301014596887,-0.004648527101068637,0.08949968247494929,0.9999999888573416,-3.901492297447289e-06,5.658944030180868e-05,0.00010252119143626153,0.6761,-0.00453,0.08933371466550086,1.0,0.0,0.0,0.0,-0.22935534833055635,0.16104834053307052,1.7233231562261508,0.012647408637412094,0.01837102892008059,-0.0009718872935234272,0.2354257370023591,0.4014286424834035,1.548741490931285,0.027625823383175853,-0.013114976833102174,-0.0010995492082785986,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,0.9582670104564847,0.30127810179831077,-0.9302457807827215,0.20200998124891828,0.7634894898377662,0.13007885711904282,0.49631610815330435,1.7233231562261508,1.4265618889360259,1.4265618889360259,1.7807200000006547,0,0,-0.00017822780968709673,-9.997767477643577e-05
+12289,1792700865370672342,8692364000000,1792700865368444252,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.676131603547902,-0.00464800837338761,0.0893881346597232,0.9999999895845393,-2.249872274951693e-05,5.9570142564582515e-05,9.065865330974487e-05,0.6761,-0.00453,0.08922389989488046,1.0,0.0,0.0,0.0,-0.22149676101440038,0.16871443986847698,1.7625778562816912,0.013680618053470373,0.017411846363759982,-0.0010071840081897249,0.24328432431851507,0.40909474181880995,1.5879961909868254,0.02865903279923413,-0.014074159389422783,-0.0011348459229448963,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.0349328058510343,0.30183333137272617,-1.079602332569734,0.22076861472447312,0.8715853469269125,0.1348340530241308,0.49631610815330435,1.7625778562816912,1.5759184407230382,1.5759184407230382,1.8287200000007027,0,0,-0.00018598583117620938,-7.858871472888324e-05
+12357,1792700865936737999,8692930000000,1792700865932443910,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761304353783819,-0.004650916348186867,0.08927840189383257,0.9999999897245915,-1.0305414307914364e-05,5.622659907373615e-05,9.34133260364226e-05,0.6761,-0.00453,0.08911622461501517,1.0,0.0,0.0,0.0,-0.21116814766792047,0.14993952526038615,1.7618012904802334,0.011639662286994323,0.017449276557947695,-0.001028347313489721,0.253612937664995,0.3903198272107191,1.5872196251853676,0.02661807703275808,-0.014036729195235067,-0.0011560092282448923,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.0366596689827203,0.19837726976577824,-1.1541573265986547,0.2637407547350481,0.9187723245383873,0.07258142787351124,0.49631610815330435,1.7618012904802334,1.650473434751959,1.650473434751959,1.874000000000748,0,0,-0.00019520086830674,5.014251100299845e-05
+12424,1792700866495718713,8693489000000,1792700866488444566,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761307226415194,-0.004652090508781596,0.08916581405014995,0.9999999888113267,1.7112828465391204e-05,5.504336931937086e-05,0.0001024577450622197,0.6761,-0.00453,0.08900586673035353,1.0,0.0,0.0,0.0,-0.21069182317011143,0.13194463807827403,1.7714311402601637,0.01061498492815073,0.01746864247538944,-0.001047599848773179,0.25408926216280403,0.372324940028607,1.596849474965298,0.02559339967391449,-0.014017363277793324,-0.0011752617635283505,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.001940998290304,0.19670360208677928,-1.1482139971329626,0.2694088667038196,0.9020219208886615,0.07448096027029186,0.49631610815330435,1.7714311402601637,1.6445301052862669,1.6445301052862669,1.9187200000007927,0,0,-0.00020232617299195533,-9.964710587085363e-05
+12482,1792700866978637746,8693972000000,1792700866976445011,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761281296533155,-0.0046570664276100815,0.08906009108941357,0.9999999887667601,1.0274163699285378e-05,4.968243207448119e-05,0.00010646803023051773,0.6761,-0.00453,0.08890421936162522,1.0,0.0,0.0,0.0,-0.21043983099110575,0.12786950560102914,1.7812037075717932,0.0106401586955838,0.016453533466626584,-0.0010711746745981226,0.2543412543418097,0.3682498075513621,1.6066220422769275,0.025618573441347558,-0.015032472286556178,-0.001198836589353294,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.041720329430486,0.22518750580954758,-1.1103400036505682,0.2820266429450574,0.8840072073842189,0.09302281508896747,0.49631610815330435,1.7812037075717932,1.6066561118038725,1.6066561118038725,1.9573600000008313,0,0,-0.0002163672010127834,-9.997206815016142e-05
+12540,1792700867461642678,8694455000000,1792700867456444578,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761250429843356,-0.004658173001010829,0.08895115726416523,0.9999999892993666,-3.2692033869707614e-06,4.585754879453843e-05,0.000103588265211369,0.6761,-0.00453,0.08879684920294144,1.0,0.0,0.0,0.0,-0.21939039721006431,0.12541738827924578,1.7909836990384178,0.009590922065532703,0.01748367002657058,-0.0010759626230878547,0.24539068812285114,0.36579769022957875,1.616402033743552,0.02456933681129646,-0.014002335726612185,-0.0012036245378430261,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.0304678337152344,0.2327543780578228,-1.1925719007377542,0.3002390321687864,0.9268076134216096,0.09499053885308603,0.49631610815330435,1.7909836990384178,1.6888880088910585,1.6888880088910585,1.99600000000087,0,0,-0.00023035428397685654,-9.999999025923074e-05
+12596,1792700867928688245,8694922000000,1792700867928444472,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761278221203645,-0.00466174021749575,0.0888425041713202,0.9999999890629485,-8.416431040935831e-06,4.950019352368313e-05,0.00010390313668008637,0.6761,-0.00453,0.08868600054541888,1.0,0.0,0.0,0.0,-0.21077753405238547,0.13115010471983793,1.8200114420451743,0.010603029298290895,0.017458294144009345,-0.0010868226562605941,0.25400355128053,0.3715304066701709,1.6454297767503085,0.025581444044054654,-0.014027711609173417,-0.0012144845710157655,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.0663438497438342,0.23476758532956957,-1.2478641026142105,0.3034560048554186,0.9662418998570597,0.09946574737048602,0.49631610815330435,1.8200114420451743,1.7441802107675148,1.7441802107675148,2.0333600000009073,0,0,-0.0002452871348576372,5.013883338922938e-05
+12648,1792700868361571106,8695355000000,1792700868360444703,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761255998389696,-0.0046645693060955555,0.08873445491223561,0.9999999886457172,-1.6784715611459524e-06,4.376338362030054e-05,0.00011060460665921534,0.6761,-0.00453,0.088579269726625,1.0,0.0,0.0,0.0,-0.21943457204755523,0.11576828573551454,1.8020637758425997,0.009587422712327095,0.0174820898629149,-0.0010849326468001747,0.24534651328536022,0.3561485876858475,1.627482110547734,0.024565837458090854,-0.014003915890267863,-0.001212594561555346,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.0424688669692341,0.13673200432431618,-1.2768743820364254,0.3456898241394673,0.9733053898545952,0.037207415516751746,0.49631610815330435,1.8020637758425997,1.7731904901897297,1.7731904901897297,2.068000000000942,0,0,-0.0002503583575355365,5.489951575238197e-06
+12700,1792700868795557462,8695789000000,1792700868792443876,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761249685066351,-0.004662949922306028,0.0886236234091102,0.9999999881660174,1.1687901026091798e-05,4.176043949148726e-05,0.00011502298923646019,0.6761,-0.00453,0.08846750219053112,1.0,0.0,0.0,0.0,-0.21743178109892214,0.11781341110454388,1.8214492712086616,0.009584031864148565,0.01747774045742328,-0.0011002532548247657,0.24734930423399332,0.35819371305487685,1.6468676059137959,0.024562446609912324,-0.014008265295759484,-0.0012279151695799371,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.0926244352296954,0.18214079763292398,-1.3058112618998567,0.347357733740169,1.0030387281351523,0.07378811895171428,0.49631610815330435,1.8214492712086616,1.802127370053161,1.802127370053161,2.1027200000009767,0,0,-0.0002633538533261274,9.990234614421496e-05
+12748,1792700869195546640,8696189000000,1792700869192444285,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761244552529074,-0.004661900432867214,0.08851579669630968,0.999999988194908,9.510784146797784e-06,4.296505216128092e-05,0.00011452771471789714,0.6761,-0.00453,0.08835997169814322,1.0,0.0,0.0,0.0,-0.22018687123094058,0.1168308323679749,1.8311346053649034,0.009582057103305123,0.017475738137855596,-0.0011085022155207052,0.24459421410197488,0.35721113431830787,1.6565529400700376,0.02456047184906888,-0.014010267615327168,-0.0012361641302758766,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.1213009626693917,0.19500693008132908,-1.1688752645359126,0.3621113630939403,0.916241275704027,0.08036861544415252,0.49631610815330435,1.8311346053649034,1.665191372689217,1.665191372689217,2.1347200000010087,0,0,-0.00027334197771486233,-9.999999025923074e-05
+12799,1792700869620599703,8696614000000,1792700869620444775,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.676127553545202,-0.004663992866968406,0.08839999048306596,0.9999999876740994,7.876360823216643e-06,4.585257241361471e-05,0.00011802614192445084,0.6761,-0.00453,0.088240466527069,1.0,0.0,0.0,0.0,-0.2257455789124442,0.12458176494790804,1.8512999480585024,0.009940884555286224,0.017466437773854183,-0.0011132289918477512,0.23903550642047125,0.364962066898241,1.6767182827636367,0.024919299301049982,-0.01401956797932858,-0.0012408909066029226,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.148559999158024,0.2336002657819173,-1.290090270944098,0.36233958734427246,0.9964394685060178,0.10614314433854319,0.49631610815330435,1.8512999480585024,1.7864063790974023,1.7864063790974023,2.1687200000010427,0,0,-0.0002873744630552385,-9.999999025923074e-05
+12847,1792700870020559386,8697013999999,1792700870012445338,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761227058958243,-0.004669014574984701,0.08827828796885576,0.9999999870122851,9.047120968689735e-06,3.890521758319075e-05,0.00012578882199305763,0.6761,-0.00453,0.08812410700558894,1.0,0.0,0.0,0.0,-0.2195215941211461,0.11683269168964247,1.8311857972947525,0.009582032895722212,0.017476047844820534,-0.0011084604216730154,0.24525949121176935,0.35721299363997544,1.6566041319998868,0.02456044764148597,-0.014009957908362231,-0.0012361223364281868,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.1824817520177036,0.22795147011095032,-1.2316008611466902,0.3813456203982665,0.96611230579771,0.10639401348870475,0.49631610815330435,1.8311857972947525,1.7279169692999945,1.7279169692999945,2.2007200000010747,0,0,-0.000296219134425539,-9.999999025923074e-05
+12895,1792700870420644208,8697414000000,1792700870420444236,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761245132797779,-0.004667342433844371,0.08816069900820574,0.9999999871895885,1.0792761663875641e-05,4.2332396876268314e-05,0.0001231063431733048,0.6761,-0.00453,0.08800352918585531,1.0,0.0,0.0,0.0,-0.2282872603201195,0.11478837875875605,1.8608870825643338,0.008757450898076998,0.018374391190148782,-0.0011297452220978964,0.23649382501279595,0.355168680709089,1.686305417269468,0.023735865643840757,-0.013111614563033983,-0.0012574071368530678,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.2010864174171418,0.18684384928823958,-1.3378257479377815,0.4075452853028325,1.034810331556074,0.08215884189693098,0.49631610815330435,1.8608870825643338,1.8341418560910858,1.8341418560910858,2.2327200000011067,0,0,-0.0003088206975934967,-9.999999025923074e-05
+12939,1792700870786552980,8697780000000,1792700870780444929,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761225887038477,-0.004672009241682236,0.08804355834950761,0.9999999873225366,1.4237305571455715e-05,3.7990486175951454e-05,0.00012309270180753675,0.6761,-0.00453,0.08788927672935669,1.0,0.0,0.0,0.0,-0.22468157096275915,0.10782367068665225,1.8822787030292558,0.008551350176211003,0.017484435380358074,-0.001161493476524211,0.2400995143701563,0.3482039726369852,1.70769703773439,0.023529764921974762,-0.01400157037282469,-0.0012891553912793823,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.1929864568086028,0.12618011249296296,-1.3579056189932366,0.44049001049307185,1.0434072473658669,0.04588870202592645,0.49631610815330435,1.8822787030292558,1.8542217271465409,1.8542217271465409,2.262000000001136,0,0,-0.00031716321067330397,-9.150916778153642e-05
+12983,1792700871153572953,8698147000000,1792700871152446029,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761194863627364,-0.004678827390916556,0.08792283318206454,0.9999999864345889,1.342574364308266e-05,3.3629989904137765e-05,0.00013138668014068568,0.6761,-0.00453,0.08777141818571878,1.0,0.0,0.0,0.0,-0.24626375121769373,0.10287719772238482,1.853590996278018,0.008155993179535307,0.01850707766539978,-0.0011266343570212106,0.21851733411522173,0.3432574996727178,1.6790093309831522,0.023134407925299066,-0.012978928087782985,-0.001254296271776382,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.2452255717913925,0.06137675870835146,-1.4601287890439958,0.4639327942007878,1.1186082780143087,0.005727343217698411,0.49631610815330435,1.853590996278018,1.9564448971973,1.9564448971973,2.2913600000011654,0,0,-0.0003253388722354326,9.960937216580418e-05
+13019,1792700871453583709,8698447000000,1792700871448445380,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.676117580265997,-0.0046763038211796995,0.08781739028983168,0.9999999860427008,1.6332459521581836e-05,2.7367800502404737e-05,0.00013543159520868026,0.6761,-0.00453,0.08767206864533802,1.0,0.0,0.0,0.0,-0.23840158166606745,0.09438920242639978,1.880449487162314,0.007499637668317249,0.018644588968867656,-0.0011559362460130912,0.226379503666848,0.33476950437673275,1.7058678218674483,0.022478052414081007,-0.012841416784315107,-0.0012835981607682626,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.2305701971648726,0.16140813186251418,-1.3617238501880335,0.4501004241472221,1.0505581519212204,0.07049994010082752,0.49631610815330435,1.880449487162314,1.8580399583413378,1.8580399583413378,2.3153600000011894,0,0,-0.0003370842081532307,-9.949268772591608e-05
+13063,1792700871820546525,8698814000000,1792700871820445377,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761151529258378,-0.004682284194146211,0.08769367056437143,0.9999999864018537,1.142742581472733e-05,2.473868452352402e-05,0.00013377805606567156,0.6761,-0.00453,0.08754667109862381,1.0,0.0,0.0,0.0,-0.23812156083928787,0.09289889847980601,1.880142056308499,0.007422871664244227,0.018518880209416097,-0.001157812447610813,0.22665952449362758,0.333279200430139,1.7055603910136332,0.022401286410007985,-0.012967125543766667,-0.0012854743623659844,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.2542793331387727,0.17396004371637924,-1.3757552480742186,0.465264580957159,1.0601372288759146,0.0866831088782527,0.49631610815330435,1.880142056308499,1.8720713562275229,1.8720713562275229,2.3447200000012187,0,0,-0.00034803301887239977,-9.999999025923074e-05
+13103,1792700872153550199,8699147000000,1792700872148455962,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761140720135819,-0.004684638640164873,0.08758042970506061,0.999999985954393,1.2396490270535862e-05,2.3753117173391278e-05,0.00013717213548655545,0.6761,-0.00453,0.08742881982914973,1.0,0.0,0.0,0.0,-0.25602252600584596,0.0937857305548189,1.9004011951573816,0.00747128493211386,0.01952751008547958,-0.0011604409161844811,0.20875855932706952,0.33416603250515187,1.7258195298625159,0.02244969967787762,-0.011958495667703186,-0.0012881028309396525,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.2871840393642437,0.13379813950503894,-1.36400495859437,0.48022503983544446,1.0637405999799279,0.055639321004585164,0.49631610815330435,1.9004011951573816,1.8603210667476744,1.8603210667476744,2.3713600000012454,0,0,-0.00035888103655098833,-9.908992656815769e-05
+13143,1792700872487512913,8699480000000,1792700872484444120,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761170283823752,-0.004690669653634289,0.08746328048337874,0.9999999855789296,6.813072320307866e-06,3.115944100687014e-05,0.00013880805609332484,0.6761,-0.00453,0.0873075147708923,1.0,0.0,0.0,0.0,-0.2537303384828576,0.09192246883873242,1.8797891189193676,0.007061587244390589,0.019539730518272423,-0.0011400505187529576,0.21105074685005787,0.3323027707890654,1.7052074536245019,0.022040001990154347,-0.011946275234910342,-0.001267712433508129,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.2835748053392797,0.16996324459287,-1.3621356888410086,0.4854822986284441,1.053187733374907,0.08571948999709506,0.49631610815330435,1.8797891189193676,1.8584517969943128,1.8584517969943128,2.398000000001272,0,0,-0.00037106770557212974,-9.999999025923074e-05
+13183,1792700872820561979,8699814000000,1792700872816444146,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761154498136455,-0.004689209177767286,0.08733877100835787,0.9999999857543732,6.204623668322208e-06,2.653220455859836e-05,0.00013853397664909348,0.6761,-0.00453,0.08718128934270344,1.0,0.0,0.0,0.0,-0.26507168628228606,0.09067746347880737,1.8898954342218717,0.00641427298276253,0.021092535893893365,-0.0011397856116483855,0.19970939905062937,0.33105776542914034,1.715313768927006,0.02139268772852629,-0.010393469859289399,-0.001267447526403557,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.2830186424019336,0.04358666024089304,-1.2630780732257836,0.5346160641824523,0.9898092087383678,0.001301014963898131,0.49631610815330435,1.8898954342218717,1.7593941813790879,1.7593941813790879,2.4247200000012987,0,0,-0.0003849301133077284,-9.999999025923074e-05
+13223,1792700873153548685,8700147000000,1792700873148444539,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761164028654223,-0.0046873940570541055,0.08721336133746149,0.9999999855263181,5.532938669443541e-06,2.9065639678282044e-05,0.00013969539474448597,0.6761,-0.00453,0.08705081854240176,1.0,0.0,0.0,0.0,-0.2660063259908374,0.10489593849445258,1.9006927826609785,0.00832890186005051,0.020523553643608743,-0.001136194011256585,0.19877475934207808,0.34527624044478555,1.7261111173661128,0.02330731660581427,-0.010962452109574021,-0.0012638559260117564,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.3579925170893752,0.08007521415150828,-1.3622845758402176,0.5323065255691356,1.0686256714831497,0.029003148628836323,0.49631610815330435,1.9006927826609785,1.8586006839935219,1.8586006839935219,2.4513600000013254,0,0,-0.00039970786274853696,-9.995959201892219e-05
+13255,1792700873420546974,8700414000000,1792700873420444103,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761181182345,-0.004691632989550038,0.08710758041773155,0.9999999854249139,-7.76890305977463e-06,3.284316946417992e-05,0.00013947762143098072,0.6761,-0.00453,0.0869432240859894,1.0,0.0,0.0,0.0,-0.2669257558465121,0.09358644613719355,1.910240491758734,0.007207725744178484,0.021553806530126618,-0.0011400650307950718,0.1978553294864033,0.3339667480875265,1.7356588264638682,0.022186140489942243,-0.009932199223056144,-0.0012677269455502432,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.3816566779851391,0.0073862722275616546,-1.4329238390356425,0.5655491659467451,1.1214612478982444,-0.018859287892755754,0.49631610815330435,1.910240491758734,1.9292399471889468,1.9292399471889468,2.4727200000013467,0,0,-0.0004060108298967454,-9.999940739214281e-05
+13291,1792700873720546023,8700714000000,1792700873716444480,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761118962001846,-0.004691602437696946,0.08698079316262015,0.9999999857357821,-1.5112433551320894e-05,2.158381175643923e-05,0.00013884182882800653,0.6761,-0.00453,0.08681980792919977,1.0,0.0,0.0,0.0,-0.27449937885970727,0.07397084533601297,1.9203955281920324,0.006397401994267533,0.021569983168138875,-0.0011586127945314964,0.1902817064732082,0.31435114728634594,1.7458138628971667,0.021375816740031292,-0.009916022585043888,-0.0012862747092866678,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.4100247158293147,0.03740429392620767,-1.5013141964663197,0.5646567457528227,1.1732727695402303,0.007758330454475822,0.49631610815330435,1.9203955281920324,1.997630304619624,1.997630304619624,2.4967200000013707,0,0,-0.00041416496306537356,9.999924085868912e-05
+13326,1792700874011545927,8701004999999,1792700874004444189,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6761176895830859,-0.004702593744261433,0.08685903693084672,0.9999999828504602,-1.7451793493385625e-05,3.80395794268166e-05,0.00015488824706810325,0.6761,-0.00453,0.08669743038557892,1.0,0.0,0.0,0.0,-0.31057480102341917,0.1075984550940299,1.900485245797755,0.008379902038395105,0.023531522913145423,-0.0010923903862713174,0.1542062843094963,0.3479787570443629,1.7259035805028893,0.023358316784158863,-0.00795448284003734,-0.0012200523010264888,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.4463117999605855,0.08414620085966414,-1.3838853645056168,0.5566231891948809,1.1032256319460165,0.039324251095620266,0.49631610815330435,1.900485245797755,1.8802014726589211,1.8802014726589211,2.520000000001394,0,0,-0.00042679147433807705,-9.998733371675001e-05
+13358,1792700874278545830,8701272000000,1792700874272444050,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.676109428197985,-0.004700122440549062,0.08674192525749104,0.9999999824677689,-4.3981946586026525e-06,1.529108059781802e-05,0.00016203137122399217,0.6761,-0.00453,0.08658220166323403,1.0,0.0,0.0,0.0,-0.2937611378516757,0.09740785898404311,1.9202422418785199,0.007386237238781911,0.02256316238814729,-0.0011339117004806284,0.17101994748123978,0.3377881609343761,1.7456605765836541,0.02236465198454567,-0.008922843365035472,-0.0012615736152357998,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.5250839521505215,0.031917361003299956,-1.4704383546143267,0.5797118645286031,1.1853303578860548,0.00860038256868758,0.49631610815330435,1.9202422418785199,1.966754462767631,1.966754462767631,2.5413600000014154,0,0,-0.0004369448232774672,-9.999999025923074e-05
+13390,1792700874545545592,8701539000000,1792700874540443801,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761105026738206,-0.0046970392219493765,0.08662541866192268,0.9999999890516302,-4.867166859542529e-06,2.4098069403191045e-05,0.00011285033244535429,0.6761,-0.00453,0.08646397588380043,1.0,0.0,0.0,0.0,-0.24982813182919916,0.1316707561422992,1.9405132570923316,0.009378453185166578,0.019655345535253332,-0.0011677381908848376,0.2149529535037163,0.37205105809263217,1.7659315917974658,0.024356867930930337,-0.011830660217929433,-0.001295400105640009,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.4938009673171802,0.051705906353182826,-1.410337714182302,0.5762753248549499,1.1448050443136577,0.018773538841986945,0.49631610815330435,1.9405132570923316,1.9066538223356062,1.9066538223356062,2.5627200000014367,0,0,-0.0004492828923161315,-9.999999025923074e-05
+13422,1792700874811546248,8701805000000,1792700874808444333,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761182396736891,-0.004700580681203982,0.08651159241684714,0.9999999856331396,-3.2403453552257106e-06,4.194480359962099e-05,0.00013567136218525078,0.6761,-0.00453,0.08634288407413136,1.0,0.0,0.0,0.0,-0.30412049577496447,0.10995153994102799,1.9404437936329837,0.008455090978442503,0.02376856526533967,-0.0011224809791842618,0.16066058955795098,0.35033184189136096,1.765862128338118,0.02343350572420626,-0.007717440487843096,-0.0012501428939394332,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.503843301131257,0.06570665853246146,-1.4207115618917685,0.5714161402187975,1.1509039760201176,0.03224925109767286,0.49631610815330435,1.9404437936329837,1.9170276700450728,1.9170276700450728,2.584000000001458,0,0,-0.00046175715820026406,-9.999999025923074e-05
+13454,1792700875078548238,8702072000000,1792700875072444043,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.676108145643604,-0.004709522990770531,0.08638789269317305,0.9999999837512397,-6.236430069998838e-06,2.5338880406197626e-05,0.00015251043542137172,0.6761,-0.00453,0.08621801211617464,1.0,0.0,0.0,0.0,-0.27409308932090604,0.06559373321794179,1.9591419422474097,0.005362591945923478,0.021581078121220724,-0.0012017219320153397,0.1906879960120094,0.30597403516827476,1.784560276952544,0.020341006691687237,-0.00990492763196204,-0.001329383846770511,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.555388210876624,-0.01809081285174472,-1.5205175343889419,0.5925391352718623,1.236328583458064,-0.026125831606928603,0.49631610815330435,1.9591419422474097,2.016833642542246,2.016833642542246,2.6053600000014794,0,0,-0.0004733760055094808,8.079713313630068e-06
+13482,1792700875311557489,8702305000000,1792700875304444079,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.676098743006056,-0.004717610847258219,0.08626956043925588,0.9999999807925277,-2.111846207726428e-06,1.0046425779963179e-05,0.0001724888923648179,0.6761,-0.00453,0.08610648311384157,1.0,0.0,0.0,0.0,-0.28181930222481677,0.05625566253618339,1.9488342851461282,0.0034603320520307478,0.021620246421372113,-0.0012171353397093562,0.18296178310809866,0.29663596448651636,1.7742526198512625,0.018438746797794506,-0.009865759331810648,-0.0013447972544645276,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.5204728818413558,0.05605590253802961,-1.4057880017940632,0.5767749830731155,1.1594014990098067,0.02425999724704736,0.49631610815330435,1.9488342851461282,1.9021041099473674,1.9021041099473674,2.624000000001498,0,0,-0.0004843456268097387,-9.999935188099158e-05
+13511,1792700875553549085,8702547000000,1792700875552444281,DOWN_FORCE_DETACH,8,0.0391,0.039101872593164444,0.6760955723691956,-0.004722448832273616,0.08614889247492895,0.9999999746752454,7.217002147703607e-05,1.0803945557404795e-05,0.00019174758364112223,0.6761,-0.00453,0.08598813080078033,1.0,0.0,0.0,0.0,-0.2989399056424745,0.03546467683460072,1.9765655812322005,0.0032892404038298434,0.02263034003330698,-0.001226146746398404,0.16584117969044096,0.2758449787849337,1.8019839159373348,0.018267655149593602,-0.008855665719875781,-0.0013538086611535754,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.5620287878433268,-0.13202483167463513,-1.518599103957894,0.647644703896421,1.2415550749611703,-0.06886317257723217,0.49631610815330435,1.9765655812322005,2.0149152121111986,2.0149152121111986,2.6433600000015174,0,0,-0.0004941045178367745,-8.738699470182401e-05
+13538,1792700875778545935,8702772000000,1792700875772444485,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.676098377707983,-0.004718966813816986,0.08603559811855094,0.9999999790975312,4.234891357874019e-05,5.028938435562758e-06,0.0001772824886293934,0.6761,-0.00453,0.08587630616199708,1.0,0.0,0.0,0.0,-0.28191586769848553,0.03192149536864883,1.9586572926109445,0.002277570577967781,0.022439796665718992,-0.001224125478875206,0.18286521763442995,0.2723017973189818,1.7840756273160787,0.01725598532373154,-0.009046209087463774,-0.0013517873936303773,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.6410615819898287,0.002822946463535916,-1.522655336545178,0.6131820005174992,1.2700214784868396,-0.0007564006833920885,0.49631610815330435,1.9586572926109445,2.0189714446984826,2.0189714446984826,2.6613600000015354,0,0,-0.00050083247550156,-7.180743086110936e-05
+13566,1792700876011547343,8703004999999,1792700876008443935,DOWN_FORCE_DETACH,8,0.0391,0.03910252824425697,0.6761207410036872,-0.004711651836228012,0.08593886284670803,0.9999999862757066,-3.30617909150165e-05,4.6187636591483334e-05,0.0001251601830467632,0.6761,-0.00453,0.08575826078133485,1.0,0.0,0.0,0.0,-0.2945975528469396,0.15599138903723556,1.931835679744978,0.011424879052103033,0.023496391470741736,-0.0010817130677356396,0.17018353248597584,0.3963716909875685,1.7572540144501123,0.02640329379786679,-0.007989614282441028,-0.001209374982490811,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.710387925867297,0.03425878375625842,-1.3909024922572715,0.5272744599255386,1.1984384227950586,0.04573934372821798,0.49631610815330435,1.931835679744978,1.8872186004105758,1.8872186004105758,2.680000000001554,0,0,-0.000512482473412372,-9.999999025923074e-05
+13594,1792700876244546145,8703237999999,1792700876240444541,DOWN_SETTLE,8,0.0391,0.03910252824425697,0.6761099728451764,-0.0047197932445036195,0.0858245634526644,0.9999999840266541,-1.8546363244191238e-05,2.758236443616197e-05,0.0001492809486885228,0.6761,-0.00453,0.08565475156416252,1.0,0.0,0.0,0.0,-0.29700617153478537,0.115751641197297,1.952829762422577,0.00814923086101816,0.02360310328395083,-0.0011351502962850773,0.1677749137981301,0.35613194314762997,1.7782480971277113,0.02312764560678192,-0.007882902469231935,-0.0012628122110402487,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.6332081935798333,0.00402707124710625,-1.2829129079409813,0.5995121883033567,1.1117646067611924,0.00893723812412293,0.49631610815330435,1.952829762422577,1.7792290160942856,0.0,0.0,0,0,-0.00021145456211916588,0.0021359046678703624
+13690,1792700877041546197,8704035000000,1792700877040444409,DOWN_PEAK_HOLD,8,0.0391,0.03910252824425697,0.676090493351066,-0.004714004359004794,0.08575463494780669,0.9999999838418088,-2.007930433102133e-06,-7.804470277820079e-06,0.0001539295460027083,0.6761,-0.00453,0.08563469307353412,1.0,0.0,0.0,0.0,-0.24755419721949723,0.06287073573631793,1.5518627965561658,0.004486044335562361,0.019656747813426256,-0.0009123700323803276,0.21722688811341823,0.3032510376866509,1.3772811312613,0.01946445908132612,-0.011829257939756508,-0.001040031947135499,0.46478108533291546,0.24038030195033297,-0.17458166529486566,0.014978414745763759,-0.031486005753182764,-0.0001276619147551714,1,1.4519188236660183,0.08485989463984997,-0.9639389253674708,0.5822784152004427,0.8727538086014808,0.05300436026050171,0.49631610815330435,1.5518627965561658,1.4602550335207751,0.0,0.0,0,0,0.0,0.0

Fixed/s2/cylinder_PLA_12.5/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,1792700842287585994,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.838934760e-08,-3.342359375e-11,7.385376866e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017288373e-01,1.794205205e-06,8.295730003e-01
+1,6.166666667e-01,DOWN_FORCE_DETACH,1792700843447248797,-2.667937487e-06,-2.038245884e-05,-1.736024138e-05,-2.518475686e-06,-1.644487640e-05,-1.462382427e-05,-2.096552216e-06,-1.626161909e-05,-1.409058009e-05,7.015352035e-01,-1.883149752e-05,8.407235809e-01,7.015353530e-01,-1.489391508e-05,8.407263174e-01,7.017267224e-01,-1.446738046e-05,8.295589024e-01
+2,1.150000000e+00,DOWN_FORCE_DETACH,1792700844478871175,-1.265586480e-05,-3.185563421e-05,-8.413559718e-05,-1.427379438e-05,-3.023408746e-05,-8.237210875e-05,-1.403457500e-05,-2.998717448e-05,-8.063609363e-05,7.015252156e-01,-3.030467289e-05,8.406568056e-01,7.015235977e-01,-2.868312613e-05,8.406585691e-01,7.017147843e-01,-2.819293585e-05,8.294923568e-01
+3,1.250000000e+00,DOWN_FORCE_DETACH,1792700844642850087,3.418632603e-05,-3.997725950e-05,-1.068702728e-04,3.430942008e-05,-4.007574310e-05,-1.068905121e-04,3.489900770e-05,-3.974994078e-05,-1.047138497e-04,7.015720578e-01,-3.842629818e-05,8.406340709e-01,7.015721809e-01,-3.852478177e-05,8.406340507e-01,7.017637179e-01,-3.795570215e-05,8.294682791e-01
+4,1.650000000e+00,DOWN_FORCE_DETACH,1792700845410922823,3.692205434e-05,-4.642161664e-05,-1.431698864e-04,3.227126199e-05,-4.593522874e-05,-1.267605616e-04,3.320313050e-05,-4.559126704e-05,-1.249336168e-04,7.015747935e-01,-4.487065531e-05,8.405977713e-01,7.015701427e-01,-4.438426741e-05,8.406141806e-01,7.017620220e-01,-4.379702841e-05,8.294480593e-01
+5,1.983333333e+00,DOWN_FORCE_DETACH,1792700846074975727,5.722103232e-05,-5.318415202e-05,-1.917668702e-04,5.325586966e-05,-5.072757994e-05,-1.759232116e-04,5.457559011e-05,-5.033495057e-05,-1.736991469e-04,7.015950925e-01,-5.163319070e-05,8.405491743e-01,7.015911274e-01,-4.917661862e-05,8.405650180e-01,7.017833945e-01,-4.854071194e-05,8.293992938e-01
+6,2.400000000e+00,DOWN_FORCE_DETACH,1792700846906763378,7.072607514e-05,-7.004958002e-05,-2.677696366e-04,7.039872612e-05,-6.661995164e-05,-2.608879952e-04,7.197783096e-05,-6.612051026e-05,-2.580271681e-04,7.016085976e-01,-6.849861870e-05,8.404731716e-01,7.016082702e-01,-6.506899031e-05,8.404800532e-01,7.018007967e-01,-6.432627163e-05,8.293149658e-01
+7,2.700000000e+00,DOWN_FORCE_DETACH,1792700847506184534,1.067760882e-04,-7.032314218e-05,-2.956691585e-04,1.034949645e-04,-6.828399765e-05,-2.825568203e-04,1.055843312e-04,-6.781406456e-05,-2.802618777e-04,7.016446476e-01,-6.877218086e-05,8.404452720e-01,7.016413664e-01,-6.673303633e-05,8.404583844e-01,7.018344032e-01,-6.601982593e-05,8.292927311e-01
+8,3.266666667e+00,DOWN_FORCE_DETACH,1792700848636862594,1.084383001e-04,-8.219831316e-05,-3.376474706e-04,1.067184373e-04,-8.090014459e-05,-3.251247540e-04,1.094742909e-04,-8.035061803e-05,-3.235925591e-04,7.016463098e-01,-8.064735184e-05,8.404032937e-01,7.016445899e-01,-7.934918327e-05,8.404158164e-01,7.018382932e-01,-7.855637940e-05,8.292494004e-01
+9,3.800000000e+00,DOWN_FORCE_DETACH,1792700849666905526,1.031242738e-04,-8.103825341e-05,-3.581504588e-04,1.054732672e-04,-7.994144319e-05,-3.455876009e-04,1.086165523e-04,-7.942028986e-05,-3.448227468e-04,7.016409958e-01,-7.948729209e-05,8.403827907e-01,7.016433447e-01,-7.839048187e-05,8.403953536e-01,7.018374355e-01,-7.762605123e-05,8.292281702e-01
+10,4.333333333e+00,DOWN_FORCE_DETACH,1792700850664807899,1.046694888e-04,-7.900467386e-05,-3.593623995e-04,1.054732672e-04,-7.994144319e-05,-3.455876009e-04,1.088712312e-04,-7.941881729e-05,-3.455134034e-04,7.016425410e-01,-7.745371254e-05,8.403815788e-01,7.016433447e-01,-7.839048187e-05,8.403953536e-01,7.018376901e-01,-7.762457866e-05,8.292274795e-01
+11,5.016666667e+00,DOWN_FORCE_DETACH,1792700851966932676,1.019955675e-04,-8.214312610e-05,-3.780380575e-04,9.979595896e-05,-8.489409837e-05,-3.648197015e-04,1.031794688e-04,-8.431789142e-05,-3.649046205e-04,7.016398670e-01,-8.059216478e-05,8.403629031e-01,7.016376674e-01,-8.334313705e-05,8.403761215e-01,7.018319984e-01,-8.252365279e-05,8.292080883e-01
+12,5.550000000e+00,DOWN_FORCE_DETACH,1792700852958572505,1.040560339e-04,-8.686584648e-05,-3.996284298e-04,1.024143874e-04,-8.318290759e-05,-3.849651169e-04,1.057926598e-04,-8.263168875e-05,-3.850298374e-04,7.016419275e-01,-8.531488516e-05,8.403413128e-01,7.016402859e-01,-8.163194626e-05,8.403559761e-01,7.018346116e-01,-8.083745012e-05,8.291879631e-01
+13,6.083333333e+00,DOWN_FORCE_DETACH,1792700853990787038,1.079302269e-04,-8.508161127e-05,-4.260368424e-04,1.072874446e-04,-8.549161309e-05,-4.260935994e-04,1.105568929e-04,-8.492640029e-05,-4.256204009e-04,7.016458017e-01,-8.353064995e-05,8.403149043e-01,7.016451589e-01,-8.394065177e-05,8.403148476e-01,7.018393758e-01,-8.313216166e-05,8.291473725e-01
+14,6.600000000e+00,DOWN_FORCE_DETACH,1792700855022627873,1.099365465e-04,-8.662080131e-05,-4.640604981e-04,1.091827940e-04,-8.553696261e-05,-4.464816848e-04,1.124853218e-04,-8.495913202e-05,-4.460787372e-04,7.016478080e-01,-8.506983999e-05,8.402768807e-01,7.016470543e-01,-8.398600129e-05,8.402944595e-01,7.018413042e-01,-8.316489339e-05,8.291269142e-01
+15,7.083333333e+00,DOWN_FORCE_DETACH,1792700855986686574,1.136847268e-04,-9.061928677e-05,-5.030314153e-04,1.137972166e-04,-8.493759560e-05,-4.868366893e-04,1.169845656e-04,-8.434418070e-05,-4.861547560e-04,7.016515562e-01,-8.906832545e-05,8.402379098e-01,7.016516687e-01,-8.338663428e-05,8.402541045e-01,7.018458035e-01,-8.254994207e-05,8.290868382e-01
+16,7.600000000e+00,DOWN_FORCE_DETACH,1792700857018629582,1.162613139e-04,-9.595442301e-05,-5.569348809e-04,1.160218525e-04,-9.473466700e-05,-5.461080541e-04,1.190386879e-04,-9.407096157e-05,-5.447564730e-04,7.016541328e-01,-9.440346169e-05,8.401840063e-01,7.016538933e-01,-9.318370567e-05,8.401948331e-01,7.018478576e-01,-9.227672294e-05,8.290282365e-01
+17,8.083333333e+00,DOWN_FORCE_DETACH,1792700857950863187,1.217523010e-04,-9.671119594e-05,-6.062866650e-04,1.216971099e-04,-9.666684143e-05,-6.061985677e-04,1.246403900e-04,-9.596714722e-05,-6.042406548e-04,7.016596238e-01,-9.516023462e-05,8.401346545e-01,7.016595686e-01,-9.511588011e-05,8.401347426e-01,7.018534593e-01,-9.417290859e-05,8.289687523e-01
+18,8.600000000e+00,DOWN_FORCE_DETACH,1792700858914863941,1.239931391e-04,-9.903363850e-05,-6.697981030e-04,1.239712557e-04,-9.902890438e-05,-6.692868453e-04,1.267688739e-04,-9.833517082e-05,-6.669486936e-04,7.016618646e-01,-9.748267718e-05,8.400711431e-01,7.016618427e-01,-9.747794306e-05,8.400716543e-01,7.018555878e-01,-9.654093219e-05,8.289060442e-01
+19,9.050000000e+00,DOWN_FORCE_DETACH,1792700859778511475,1.284167029e-04,-9.886710509e-05,-7.417953433e-04,1.256945312e-04,-1.039225783e-04,-7.342271966e-04,1.283518607e-04,-1.031727134e-04,-7.315219323e-04,7.016662882e-01,-9.731614377e-05,8.399991458e-01,7.016635660e-01,-1.023716170e-04,8.400067140e-01,7.018571708e-01,-1.013784748e-04,8.288414710e-01
+20,9.483333333e+00,DOWN_FORCE_DETACH,1792700860578417584,1.316308973e-04,-9.688173070e-05,-8.181251224e-04,1.291748684e-04,-9.856395317e-05,-7.985627946e-04,1.317657485e-04,-9.792886583e-05,-7.956793012e-04,7.016695024e-01,-9.533076938e-05,8.399228161e-01,7.016670463e-01,-9.701299185e-05,8.399423784e-01,7.018605847e-01,-9.613462720e-05,8.287773136e-01
+21,9.933333333e+00,DOWN_FORCE_DETACH,1792700861442476179,1.324201656e-04,-9.632047549e-05,-9.078131523e-04,1.291995218e-04,-9.465671407e-05,-8.924364582e-04,1.315085355e-04,-9.401742491e-05,-8.891018347e-04,7.016702916e-01,-9.476951416e-05,8.398331280e-01,7.016670710e-01,-9.310575275e-05,8.398485047e-01,7.018603275e-01,-9.222318628e-05,8.286838911e-01
+22,1.026666667e+01,DOWN_FORCE_DETACH,1792700862074406171,1.350114120e-04,-9.584030283e-05,-9.826084274e-04,1.307424088e-04,-1.023457914e-04,-9.846920066e-04,1.328074771e-04,-1.016542795e-04,-9.807764356e-04,7.016728829e-01,-9.428934151e-05,8.397583328e-01,7.016686139e-01,-1.007948300e-04,8.397562492e-01,7.018616264e-01,-9.986004084e-05,8.285922165e-01
+23,1.063333333e+01,DOWN_FORCE_DETACH,1792700862806388827,1.343142002e-04,-1.057229554e-04,-1.080189117e-03,1.345790394e-04,-9.774730863e-05,-1.074432392e-03,1.363176769e-04,-9.704925823e-05,-1.070367681e-03,7.016721857e-01,-1.041719941e-04,8.396607521e-01,7.016724505e-01,-9.619634731e-05,8.396665088e-01,7.018651366e-01,-9.525501960e-05,8.285026253e-01
+24,1.098333333e+01,DOWN_FORCE_DETACH,1792700863506764916,1.352847169e-04,-1.035358198e-04,-1.181043324e-03,1.352510093e-04,-1.034211925e-04,-1.181423021e-03,1.365096879e-04,-1.026896749e-04,-1.176886999e-03,7.016731562e-01,-1.019848585e-04,8.395598979e-01,7.016731225e-01,-1.018702311e-04,8.395595182e-01,7.018653286e-01,-1.008954363e-04,8.283961059e-01
+25,1.131666667e+01,DOWN_FORCE_DETACH,1792700864170370293,1.377024175e-04,-1.059331381e-04,-1.280317764e-03,1.375690738e-04,-1.058715174e-04,-1.280056053e-03,1.384858233e-04,-1.050549182e-04,-1.275283942e-03,7.016755739e-01,-1.043821768e-04,8.394606234e-01,7.016754406e-01,-1.043205561e-04,8.394608851e-01,7.018673047e-01,-1.032606796e-04,8.282977090e-01
+26,1.161666667e+01,DOWN_FORCE_DETACH,1792700864770316068,1.375667829e-04,-1.079984801e-04,-1.380146649e-03,1.358097096e-04,-1.118518169e-04,-1.367972766e-03,1.363370422e-04,-1.110256054e-04,-1.363136164e-03,7.016754383e-01,-1.064475188e-04,8.393607945e-01,7.016736812e-01,-1.103008556e-04,8.393729684e-01,7.018651560e-01,-1.092313667e-04,8.282098568e-01
+27,1.191666667e+01,DOWN_FORCE_DETACH,1792700865366369717,1.375492673e-04,-1.066247300e-04,-1.494253718e-03,1.375303035e-04,-1.066626027e-04,-1.494043069e-03,1.375529952e-04,-1.058483987e-04,-1.488199882e-03,7.016754207e-01,-1.050737687e-04,8.392466875e-01,7.016754018e-01,-1.051116414e-04,8.392468981e-01,7.018663719e-01,-1.040541600e-04,8.280847931e-01
+28,1.221666667e+01,DOWN_FORCE_DETACH,1792700865935394162,1.387805699e-04,-1.101862998e-04,-1.597700779e-03,1.378363256e-04,-1.133850177e-04,-1.585110844e-03,1.374880368e-04,-1.125011556e-04,-1.579219049e-03,7.016766521e-01,-1.086353385e-04,8.391432404e-01,7.016757078e-01,-1.118340564e-04,8.391558303e-01,7.018663070e-01,-1.107069170e-04,8.279937739e-01
+29,1.251666667e+01,DOWN_FORCE_DETACH,1792700866498357176,1.357844375e-04,-1.129231362e-04,-1.715409589e-03,1.363322507e-04,-1.158553528e-04,-1.701295680e-03,1.354786168e-04,-1.149626628e-04,-1.694983460e-03,7.016736559e-01,-1.113721749e-04,8.390255316e-01,7.016742037e-01,-1.143043915e-04,8.390396455e-01,7.018642975e-01,-1.131684242e-04,8.278780095e-01
+30,1.276666667e+01,DOWN_FORCE_DETACH,1792700866980463308,1.329784666e-04,-1.179068864e-04,-1.819816010e-03,1.327362176e-04,-1.193624106e-04,-1.816535802e-03,1.314955272e-04,-1.184898595e-04,-1.809706531e-03,7.016708499e-01,-1.163559251e-04,8.389211252e-01,7.016706077e-01,-1.178114493e-04,8.389244054e-01,7.018603144e-01,-1.166956209e-04,8.277632864e-01
+31,1.301666667e+01,DOWN_FORCE_DETACH,1792700867462633338,1.315492301e-04,-1.194873215e-04,-1.929036755e-03,1.311952016e-04,-1.196804119e-04,-1.929499206e-03,1.296120238e-04,-1.187845285e-04,-1.922408292e-03,7.016694207e-01,-1.179363602e-04,8.388119044e-01,7.016690667e-01,-1.181294505e-04,8.388114420e-01,7.018584309e-01,-1.169902899e-04,8.276505846e-01
+32,1.326666667e+01,DOWN_FORCE_DETACH,1792700867929339184,1.335310727e-04,-1.217951030e-04,-2.038908970e-03,1.337247087e-04,-1.237242340e-04,-2.027653131e-03,1.319075609e-04,-1.228268446e-04,-2.020876022e-03,7.016714026e-01,-1.202441417e-04,8.387020322e-01,7.016715962e-01,-1.221732726e-04,8.387132881e-01,7.018607265e-01,-1.210326060e-04,8.275521169e-01
+33,1.350000000e+01,DOWN_FORCE_DETACH,1792700868360651673,1.334904677e-04,-1.268830588e-04,-2.142338756e-03,1.332235761e-04,-1.266971416e-04,-2.142280720e-03,1.310082030e-04,-1.257675983e-04,-2.135295612e-03,7.016713619e-01,-1.253320975e-04,8.385986024e-01,7.016710951e-01,-1.251461803e-04,8.385986605e-01,7.018598271e-01,-1.239733597e-04,8.274376973e-01
+34,1.371666667e+01,DOWN_FORCE_DETACH,1792700868794324020,1.326538087e-04,-1.218776556e-04,-2.253600752e-03,1.311170293e-04,-1.216121550e-04,-2.238845911e-03,1.285219485e-04,-1.207016091e-04,-2.231769351e-03,7.016705253e-01,-1.203266943e-04,8.384873404e-01,7.016689885e-01,-1.200611937e-04,8.385020953e-01,7.018573409e-01,-1.189073705e-04,8.273412236e-01
+35,1.393333333e+01,DOWN_FORCE_DETACH,1792700869192295599,1.311586523e-04,-1.243887148e-04,-2.365297145e-03,1.309139258e-04,-1.242168823e-04,-2.365221281e-03,1.279260373e-04,-1.232635278e-04,-2.357302498e-03,7.016690301e-01,-1.228377535e-04,8.383756440e-01,7.016687854e-01,-1.226659209e-04,8.383757199e-01,7.018567450e-01,-1.214692892e-04,8.272156904e-01
+36,1.416666667e+01,DOWN_FORCE_DETACH,1792700869624266963,1.343156451e-04,-1.253518881e-04,-2.479055764e-03,1.342282749e-04,-1.211453175e-04,-2.460985521e-03,1.309295853e-04,-1.201967294e-04,-2.453299033e-03,7.016721871e-01,-1.238009267e-04,8.382618854e-01,7.016720998e-01,-1.195943561e-04,8.382799557e-01,7.018597485e-01,-1.184024908e-04,8.271196939e-01
+37,1.436666667e+01,DOWN_FORCE_DETACH,1792700870024197437,1.300353010e-04,-1.292955295e-04,-2.602797870e-03,1.303305063e-04,-1.259018109e-04,-2.593103439e-03,1.265636784e-04,-1.248976907e-04,-2.584582202e-03,7.016679068e-01,-1.277445681e-04,8.381381433e-01,7.016682020e-01,-1.243508496e-04,8.381478377e-01,7.018553826e-01,-1.231034521e-04,8.269884107e-01
+38,1.458333333e+01,DOWN_FORCE_DETACH,1792700870422513762,1.290566456e-04,-1.344189550e-04,-2.722340575e-03,1.289832008e-04,-1.345128716e-04,-2.722285805e-03,1.246827588e-04,-1.333835350e-04,-2.713466035e-03,7.016669281e-01,-1.328679936e-04,8.380186006e-01,7.016668547e-01,-1.329619103e-04,8.380186554e-01,7.018535017e-01,-1.315892964e-04,8.268595269e-01
+39,1.476666667e+01,DOWN_FORCE_DETACH,1792700870790344867,1.293728870e-04,-1.339875560e-04,-2.838489777e-03,1.262602979e-04,-1.346204422e-04,-2.833940354e-03,1.214932203e-04,-1.334675307e-04,-2.825107186e-03,7.016672444e-01,-1.324365946e-04,8.379024514e-01,7.016641318e-01,-1.330694809e-04,8.379070008e-01,7.018503121e-01,-1.316732920e-04,8.267478858e-01
+40,1.495000000e+01,DOWN_FORCE_DETACH,1792700871154615280,1.259926085e-04,-1.401417114e-04,-2.957360837e-03,1.258744389e-04,-1.400813571e-04,-2.957393256e-03,1.205700253e-04,-1.388871381e-04,-2.948222369e-03,7.016638641e-01,-1.385907501e-04,8.377835804e-01,7.016637459e-01,-1.385303958e-04,8.377835479e-01,7.018493889e-01,-1.370928994e-04,8.266247706e-01
+41,1.510000000e+01,DOWN_FORCE_DETACH,1792700871454361544,1.256707340e-04,-1.385261958e-04,-3.060709144e-03,1.256501980e-04,-1.383089267e-04,-3.060567958e-03,1.198769172e-04,-1.371528211e-04,-3.051086380e-03,7.016635422e-01,-1.369752345e-04,8.376802320e-01,7.016635217e-01,-1.367579654e-04,8.376803732e-01,7.018486958e-01,-1.353585825e-04,8.265219066e-01
+42,1.528333333e+01,DOWN_FORCE_DETACH,1792700871822912822,1.234364904e-04,-1.409880428e-04,-3.185003923e-03,1.232256759e-04,-1.407942248e-04,-3.185042815e-03,1.168615329e-04,-1.396127307e-04,-3.175145742e-03,7.016613080e-01,-1.394370815e-04,8.375559373e-01,7.016610972e-01,-1.392432635e-04,8.375558984e-01,7.018456804e-01,-1.378184921e-04,8.263978472e-01
+43,1.545000000e+01,DOWN_FORCE_DETACH,1792700872155178365,1.207425789e-04,-1.466946458e-04,-3.298687226e-03,1.204269140e-04,-1.438144629e-04,-3.288884756e-03,1.135702089e-04,-1.425874457e-04,-3.278935020e-03,7.016586141e-01,-1.451436844e-04,8.374422540e-01,7.016582984e-01,-1.422635016e-04,8.374520564e-01,7.018423891e-01,-1.407932071e-04,8.262940579e-01
+44,1.561666667e+01,DOWN_FORCE_DETACH,1792700872486150491,1.230666074e-04,-1.495026087e-04,-3.416969174e-03,1.228172773e-04,-1.496909381e-04,-3.417213257e-03,1.155539699e-04,-1.483997846e-04,-3.406804727e-03,7.016609381e-01,-1.479516474e-04,8.373239720e-01,7.016606888e-01,-1.481399768e-04,8.373237279e-01,7.018443729e-01,-1.466055460e-04,8.261661882e-01
+45,1.578333333e+01,DOWN_FORCE_DETACH,1792700872818209507,1.196274654e-04,-1.458772687e-04,-3.542674782e-03,1.194410276e-04,-1.459395875e-04,-3.542348007e-03,1.116887092e-04,-1.447232617e-04,-3.531767483e-03,7.016574989e-01,-1.443263074e-04,8.371982664e-01,7.016573125e-01,-1.443886262e-04,8.371985932e-01,7.018405076e-01,-1.429290231e-04,8.260412255e-01
+46,1.595000000e+01,DOWN_FORCE_DETACH,1792700873150228425,1.241032744e-04,-1.511116408e-04,-3.665540180e-03,1.237980787e-04,-1.509779169e-04,-3.665419378e-03,1.156920330e-04,-1.497437591e-04,-3.654991920e-03,7.016619748e-01,-1.495606795e-04,8.370754010e-01,7.016616696e-01,-1.494269556e-04,8.370755218e-01,7.018445109e-01,-1.479495205e-04,8.259180010e-01
+47,1.608333333e+01,DOWN_FORCE_DETACH,1792700873418630052,1.211133290e-04,-1.492814418e-04,-3.776597081e-03,1.208594550e-04,-1.493302766e-04,-3.776834659e-03,1.123347541e-04,-1.481355406e-04,-3.766207673e-03,7.016589848e-01,-1.477304805e-04,8.369643441e-01,7.016587309e-01,-1.477793153e-04,8.369641065e-01,7.018411537e-01,-1.463413020e-04,8.258067853e-01
+48,1.623333333e+01,DOWN_FORCE_DETACH,1792700873716357137,1.183944063e-04,-1.546348004e-04,-3.893731343e-03,1.162191246e-04,-1.528930675e-04,-3.882770480e-03,1.073401297e-04,-1.516295812e-04,-3.872239252e-03,7.016562659e-01,-1.530838391e-04,8.368472098e-01,7.016540906e-01,-1.513421062e-04,8.368581707e-01,7.018361590e-01,-1.498353426e-04,8.257007537e-01
+49,1.638333333e+01,DOWN_FORCE_DETACH,1792700874014450956,1.247703180e-04,-1.619496603e-04,-4.019591828e-03,1.246043274e-04,-1.619348382e-04,-4.019658628e-03,1.152854492e-04,-1.605394672e-04,-4.008525613e-03,7.016626418e-01,-1.603986990e-04,8.367213494e-01,7.016624758e-01,-1.603838768e-04,8.367212826e-01,7.018441044e-01,-1.587452286e-04,8.255644673e-01
+50,1.653333333e+01,DOWN_FORCE_DETACH,1792700874282282659,1.178156228e-04,-1.648545985e-04,-4.136876507e-03,1.177674803e-04,-1.649833474e-04,-4.136577529e-03,1.080229691e-04,-1.635742940e-04,-4.125233007e-03,7.016556871e-01,-1.633036371e-04,8.366040647e-01,7.016556390e-01,-1.634323861e-04,8.366043637e-01,7.018368419e-01,-1.617800553e-04,8.254477599e-01
+51,1.666666667e+01,DOWN_FORCE_DETACH,1792700874548224190,1.170568898e-04,-1.583514568e-04,-4.256146208e-03,1.189776091e-04,-1.610068069e-04,-4.240398737e-03,1.088909553e-04,-1.595832060e-04,-4.229099999e-03,7.016549284e-01,-1.568004955e-04,8.364847950e-01,7.016568491e-01,-1.594558455e-04,8.365005425e-01,7.018377099e-01,-1.577889674e-04,8.253438929e-01
+52,1.681666667e+01,DOWN_FORCE_DETACH,1792700874814353876,1.252497912e-04,-1.618642809e-04,-4.366917214e-03,1.243926918e-04,-1.618053329e-04,-4.354160869e-03,1.138679883e-04,-1.603500479e-04,-4.343054611e-03,7.016631213e-01,-1.603133196e-04,8.363740240e-01,7.016622642e-01,-1.602543716e-04,8.363867803e-01,7.018426869e-01,-1.585558092e-04,8.252299383e-01
+53,1.695000000e+01,DOWN_FORCE_DETACH,1792700875082240139,1.142430206e-04,-1.715910439e-04,-4.497705883e-03,1.137091590e-04,-1.696447202e-04,-4.479802841e-03,1.025703890e-04,-1.680998073e-04,-4.468557739e-03,7.016521145e-01,-1.700400826e-04,8.362432353e-01,7.016515806e-01,-1.680937589e-04,8.362611383e-01,7.018313893e-01,-1.663055687e-04,8.251044352e-01
+54,1.708333333e+01,DOWN_FORCE_DETACH,1792700875314688879,1.059553161e-04,-1.758719237e-04,-4.608444474e-03,1.036646072e-04,-1.721460409e-04,-4.606036867e-03,9.195646473e-05,-1.706499208e-04,-4.594515156e-03,7.016438268e-01,-1.743209623e-04,8.361324967e-01,7.016415361e-01,-1.705950796e-04,8.361349043e-01,7.018207754e-01,-1.688556821e-04,8.249784778e-01
+55,1.720000000e+01,DOWN_FORCE_DETACH,1792700875552081878,1.023183884e-04,-1.832093969e-04,-4.731111668e-03,1.021791273e-04,-1.832590072e-04,-4.730862098e-03,8.988096488e-05,-1.816336049e-04,-4.718663265e-03,7.016401899e-01,-1.816584356e-04,8.360098295e-01,7.016400506e-01,-1.817080459e-04,8.360100791e-01,7.018186999e-01,-1.798393663e-04,8.248543297e-01
+56,1.731666667e+01,DOWN_FORCE_DETACH,1792700875778350873,1.040711443e-04,-1.816041839e-04,-4.844871668e-03,1.037532837e-04,-1.816175556e-04,-4.844639282e-03,9.096784173e-05,-1.800704249e-04,-4.832180750e-03,7.016419426e-01,-1.800532226e-04,8.358960695e-01,7.016416248e-01,-1.800665943e-04,8.358963019e-01,7.018197868e-01,-1.782761863e-04,8.247408122e-01
+57,1.745000000e+01,DOWN_FORCE_DETACH,1792700876010196833,1.273161690e-04,-1.753300813e-04,-4.939435585e-03,1.270259977e-04,-1.751748226e-04,-4.939357425e-03,1.139975446e-04,-1.736339965e-04,-4.927425189e-03,7.016651877e-01,-1.737791200e-04,8.358015056e-01,7.016648975e-01,-1.736238613e-04,8.358015838e-01,7.018428165e-01,-1.718397579e-04,8.246455677e-01
+58,1.756666667e+01,DOWN_SETTLE,1792700876244257533,1.164790910e-04,-1.811075650e-04,-5.055630567e-03,1.163850026e-04,-1.820350671e-04,-5.037326771e-03,1.030150283e-04,-1.804421681e-04,-5.025571857e-03,7.016543506e-01,-1.795566037e-04,8.356853106e-01,7.016542565e-01,-1.804841057e-04,8.357036144e-01,7.018318339e-01,-1.786479295e-04,8.245474211e-01
+59,1.798333333e+01,DOWN_PEAK_HOLD,1792700877042356022,9.699959686e-05,-1.753186795e-04,-5.125559071e-03,9.557134941e-05,-1.803974449e-04,-5.125738474e-03,8.176298504e-05,-1.789661953e-04,-5.118327500e-03,7.016348711e-01,-1.737677182e-04,8.356153821e-01,7.016334428e-01,-1.788464836e-04,8.356152027e-01,7.018105819e-01,-1.771719567e-04,8.244546654e-01

Fixed/s2/cylinder_PLA_12.5/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,-4.2601e-02,2.9489e-03,2.4636e+00,-3.6995e-02,3.3681e-02,-2.7009e-05,7.0741e-04,-2.6394e-06,4.0770e-04,7.8231e-08,4.5892e-05,-2.8219e-07,8.1648e-04,4.5893e-05
+1,6.1667e-01,DOWN_FORCE_DETACH,1.2307e-04,-1.8413e-02,6.2758e-03,2.4784e+00,-3.7208e-02,3.5333e-02,-3.5816e-05,2.4896e-02,3.3243e-03,1.5131e-02,-2.1324e-04,1.6979e-03,-9.0889e-06,2.9322e-02,1.7112e-03
+2,1.1500e+00,DOWN_FORCE_DETACH,2.4764e-04,5.4073e-03,2.0938e-02,2.5356e+00,-3.8227e-02,3.7014e-02,-2.1773e-05,4.8716e-02,1.7987e-02,7.2337e-02,-1.2324e-03,3.3786e-03,4.9541e-06,8.9047e-02,3.5964e-03
+3,1.2500e+00,DOWN_FORCE_DETACH,3.7326e-04,-1.4534e-02,2.5848e-02,2.5458e+00,-3.8554e-02,3.5706e-02,-1.9017e-05,2.8775e-02,2.2897e-02,8.2588e-02,-1.5588e-03,2.0707e-03,7.7096e-06,9.0405e-02,2.5918e-03
+4,1.6500e+00,DOWN_FORCE_DETACH,4.9086e-04,-2.3663e-02,3.3557e-02,2.5644e+00,-3.9101e-02,3.4900e-02,6.1544e-06,1.9645e-02,3.0605e-02,1.0120e-01,-2.1066e-03,1.2641e-03,3.2881e-05,1.0754e-01,2.4570e-03
+5,1.9833e+00,DOWN_FORCE_DETACH,6.1576e-04,-2.6461e-02,3.5927e-02,2.5782e+00,-3.9243e-02,3.4742e-02,1.2383e-05,1.6848e-02,3.2975e-02,1.1495e-01,-2.2486e-03,1.1064e-03,3.9109e-05,1.2076e-01,2.5064e-03
+6,2.4000e+00,DOWN_FORCE_DETACH,7.4070e-04,-2.1129e-02,4.4394e-02,2.6057e+00,-3.9788e-02,3.5128e-02,2.2453e-05,2.2180e-02,4.1443e-02,1.4242e-01,-2.7933e-03,1.4923e-03,4.9180e-05,1.4998e-01,3.1674e-03
+7,2.7000e+00,DOWN_FORCE_DETACH,8.6471e-04,-4.0175e-02,4.7036e-02,2.5896e+00,-3.9966e-02,3.3932e-02,3.1639e-05,3.1335e-03,4.4085e-02,1.2636e-01,-2.9715e-03,2.9664e-04,5.8366e-05,1.3386e-01,2.9868e-03
+8,3.2667e+00,DOWN_FORCE_DETACH,9.8835e-04,-1.1346e-02,5.3809e-02,2.5540e+00,-4.0433e-02,3.5883e-02,3.9788e-05,3.1963e-02,5.0858e-02,9.0725e-02,-3.4386e-03,2.2479e-03,6.6514e-05,1.0881e-01,4.1087e-03
+9,3.8000e+00,DOWN_FORCE_DETACH,1.1133e-03,1.1443e-02,5.2758e-02,2.5114e+00,-4.0404e-02,3.7555e-02,3.1275e-05,5.4751e-02,4.9806e-02,4.8143e-02,-3.4089e-03,3.9200e-03,5.8002e-05,8.8296e-02,5.1952e-03
+10,4.3333e+00,DOWN_FORCE_DETACH,1.2350e-03,2.5728e-02,5.2960e-02,2.4721e+00,-4.0463e-02,3.8646e-02,7.7826e-06,6.9036e-02,5.0008e-02,8.8978e-03,-3.4679e-03,5.0106e-03,3.4509e-05,8.5709e-02,6.0937e-03
+11,5.0167e+00,DOWN_FORCE_DETACH,1.3605e-03,3.8792e-02,5.6778e-02,2.4622e+00,-4.0766e-02,3.9607e-02,-2.2348e-05,8.2101e-02,5.3827e-02,-1.0180e-03,-3.7707e-03,5.9712e-03,4.3784e-06,9.8178e-02,7.0621e-03
+12,5.5500e+00,DOWN_FORCE_DETACH,1.4857e-03,3.9053e-02,5.6236e-02,2.4648e+00,-4.0746e-02,3.9641e-02,-4.4981e-05,8.2362e-02,5.3284e-02,1.5738e-03,-3.7508e-03,6.0059e-03,-1.8254e-05,9.8108e-02,7.0809e-03
+13,6.0833e+00,DOWN_FORCE_DETACH,1.6054e-03,3.5857e-02,5.8246e-02,2.4897e+00,-4.0891e-02,3.9435e-02,-5.8877e-05,7.9165e-02,5.5295e-02,2.6512e-02,-3.8960e-03,5.7991e-03,-3.2151e-05,1.0014e-01,6.9864e-03
+14,6.6000e+00,DOWN_FORCE_DETACH,1.7317e-03,3.5861e-02,5.8654e-02,2.4872e+00,-4.0916e-02,3.9415e-02,-6.5088e-05,7.9170e-02,5.5703e-02,2.3917e-02,-3.9210e-03,5.7797e-03,-3.8361e-05,9.9713e-02,6.9844e-03
+15,7.0833e+00,DOWN_FORCE_DETACH,1.8558e-03,3.3236e-02,5.8664e-02,2.5041e+00,-4.0913e-02,3.9229e-02,-6.6105e-05,7.6544e-02,5.5712e-02,4.0854e-02,-3.9182e-03,5.5935e-03,-3.9379e-05,1.0311e-01,6.8294e-03
+16,7.6000e+00,DOWN_FORCE_DETACH,1.9774e-03,3.3291e-02,6.5195e-02,2.5294e+00,-4.1340e-02,3.9215e-02,-5.8389e-05,7.6600e-02,6.2244e-02,6.6176e-02,-4.3450e-03,5.5795e-03,-3.1662e-05,1.1883e-01,7.0719e-03
+17,8.0833e+00,DOWN_FORCE_DETACH,2.1015e-03,3.1450e-02,6.2743e-02,2.5413e+00,-4.1164e-02,3.9073e-02,-5.0698e-05,7.4759e-02,5.9791e-02,7.8066e-02,-4.1696e-03,5.4376e-03,-2.3971e-05,1.2352e-01,6.8523e-03
+18,8.6000e+00,DOWN_FORCE_DETACH,2.2233e-03,3.0362e-02,6.7625e-02,2.5624e+00,-4.1460e-02,3.8981e-02,-3.8187e-05,7.3670e-02,6.4674e-02,9.9144e-02,-4.4656e-03,5.3460e-03,-1.1461e-05,1.3943e-01,6.9658e-03
+19,9.0500e+00,DOWN_FORCE_DETACH,2.3468e-03,3.2933e-02,6.9323e-02,2.5975e+00,-4.1545e-02,3.9127e-02,-2.5280e-05,7.6242e-02,6.6371e-02,1.3421e-01,-4.5498e-03,5.4916e-03,1.4468e-06,1.6802e-01,7.1315e-03
+20,9.4833e+00,DOWN_FORCE_DETACH,2.4721e-03,3.5034e-02,6.7162e-02,2.6151e+00,-4.1374e-02,3.9241e-02,-1.2899e-05,7.8343e-02,6.4210e-02,1.5190e-01,-4.3790e-03,5.6052e-03,1.3828e-05,1.8258e-01,7.1130e-03
+21,9.9333e+00,DOWN_FORCE_DETACH,2.5970e-03,3.9583e-02,6.4986e-02,2.6342e+00,-4.1196e-02,3.9506e-02,-2.8729e-06,8.2892e-02,6.2034e-02,1.7100e-01,-4.2012e-03,5.8706e-03,2.3854e-05,1.9990e-01,7.2191e-03
+22,1.0267e+01,DOWN_FORCE_DETACH,2.7152e-03,3.9689e-02,6.6615e-02,2.6449e+00,-4.1279e-02,3.9484e-02,3.9837e-07,8.2998e-02,6.3664e-02,1.8167e-01,-4.2843e-03,5.8490e-03,2.7125e-05,2.0964e-01,7.2502e-03
+23,1.0633e+01,DOWN_FORCE_DETACH,2.8424e-03,3.9371e-02,6.8583e-02,2.6548e+00,-4.1395e-02,3.9422e-02,-3.5542e-07,8.2679e-02,6.5632e-02,1.9155e-01,-4.4001e-03,5.7865e-03,2.6371e-05,2.1871e-01,7.2694e-03
+24,1.0983e+01,DOWN_FORCE_DETACH,2.9646e-03,3.7167e-02,7.3509e-02,2.6709e+00,-4.1706e-02,3.9236e-02,-7.3654e-06,8.0476e-02,7.0558e-02,2.0766e-01,-4.7117e-03,5.6010e-03,1.9361e-05,2.3362e-01,7.3192e-03
+25,1.1317e+01,DOWN_FORCE_DETACH,3.0934e-03,3.1492e-02,7.1882e-02,2.6813e+00,-4.1598e-02,3.8832e-02,-1.8649e-05,7.4801e-02,6.8931e-02,2.1802e-01,-4.6030e-03,5.1969e-03,8.0776e-06,2.4058e-01,6.9423e-03
+26,1.1617e+01,DOWN_FORCE_DETACH,3.2103e-03,3.1291e-02,7.5284e-02,2.7056e+00,-4.1814e-02,3.8793e-02,-2.7312e-05,7.4600e-02,7.2332e-02,2.4234e-01,-4.8195e-03,5.1572e-03,-5.8534e-07,2.6368e-01,7.0586e-03
+27,1.1917e+01,DOWN_FORCE_DETACH,3.3419e-03,2.7419e-02,7.4118e-02,2.7276e+00,-4.1737e-02,3.8522e-02,-3.1950e-05,7.0727e-02,7.1167e-02,2.6441e-01,-4.7417e-03,4.8866e-03,-5.2237e-06,2.8281e-01,6.8090e-03
+28,1.2217e+01,DOWN_FORCE_DETACH,3.4594e-03,2.4883e-02,7.7555e-02,2.7556e+00,-4.1944e-02,3.8324e-02,-3.2246e-05,6.8191e-02,7.4603e-02,2.9241e-01,-4.9492e-03,4.6891e-03,-5.5194e-06,3.0938e-01,6.8177e-03
+29,1.2517e+01,DOWN_FORCE_DETACH,3.5877e-03,2.4150e-02,8.0196e-02,2.7796e+00,-4.2089e-02,3.8241e-02,-2.8877e-05,6.7458e-02,7.7244e-02,3.1637e-01,-5.0943e-03,4.6060e-03,-2.1504e-06,3.3257e-01,6.8678e-03
+30,1.2767e+01,DOWN_FORCE_DETACH,3.7083e-03,2.8560e-02,8.2141e-02,2.7971e+00,-4.2180e-02,3.8511e-02,-2.6095e-05,7.1869e-02,7.9189e-02,3.3383e-01,-5.1852e-03,4.8754e-03,6.3190e-07,3.5054e-01,7.1173e-03
+31,1.3017e+01,DOWN_FORCE_DETACH,3.8322e-03,3.0032e-02,8.2147e-02,2.7988e+00,-4.2137e-02,3.8617e-02,-2.6043e-05,7.3341e-02,7.9195e-02,3.3554e-01,-5.1418e-03,4.9819e-03,6.8394e-07,3.5248e-01,7.1595e-03
+32,1.3267e+01,DOWN_FORCE_DETACH,3.9550e-03,3.4537e-02,8.2228e-02,2.7977e+00,-4.2099e-02,3.8946e-02,-2.8075e-05,7.7845e-02,7.9276e-02,3.3448e-01,-5.1045e-03,5.3108e-03,-1.3487e-06,3.5245e-01,7.3662e-03
+33,1.3500e+01,DOWN_FORCE_DETACH,4.0735e-03,3.9156e-02,8.2618e-02,2.8063e+00,-4.2096e-02,3.9285e-02,-3.1811e-05,8.2465e-02,7.9666e-02,3.4306e-01,-5.1016e-03,5.6497e-03,-5.0846e-06,3.6171e-01,7.6122e-03
+34,1.3717e+01,DOWN_FORCE_DETACH,4.1986e-03,4.1246e-02,8.3298e-02,2.8151e+00,-4.2123e-02,3.9450e-02,-3.5755e-05,8.4555e-02,8.0347e-02,3.5183e-01,-5.1280e-03,5.8150e-03,-9.0280e-06,3.7066e-01,7.7531e-03
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+36,1.4167e+01,DOWN_FORCE_DETACH,4.4431e-03,4.3663e-02,8.5165e-02,2.8511e+00,-4.2203e-02,3.9622e-02,-3.4148e-05,8.6971e-02,8.2214e-02,3.8786e-01,-5.2080e-03,5.9869e-03,-7.4211e-06,4.0590e-01,7.9351e-03
+37,1.4367e+01,DOWN_FORCE_DETACH,4.5736e-03,4.6998e-02,8.6869e-02,2.8740e+00,-4.2282e-02,3.9825e-02,-2.9795e-05,9.0307e-02,8.3917e-02,4.1077e-01,-5.2876e-03,6.1893e-03,-3.0685e-06,4.2887e-01,8.1404e-03
+38,1.4583e+01,DOWN_FORCE_DETACH,4.7003e-03,4.8114e-02,9.1211e-02,2.8845e+00,-4.2530e-02,3.9867e-02,-2.6519e-05,9.1423e-02,8.8260e-02,4.2130e-01,-5.5350e-03,6.2316e-03,2.0745e-07,4.4005e-01,8.3348e-03
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+41,1.5100e+01,DOWN_FORCE_DETACH,5.0597e-03,4.4398e-02,9.6885e-02,2.9140e+00,-4.2819e-02,3.9530e-02,-3.5072e-05,8.7706e-02,9.3934e-02,4.5077e-01,-5.8247e-03,5.8948e-03,-8.3458e-06,4.6873e-01,8.2871e-03
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Fixed/s2/cylinder_PLA_12.5/press_depth_08/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d0a7de57133dc0de9f15eb97fbbe825fbea3ca6c1a0154c5211b8a780202d0a
+size 11509760

Fixed/s2/cylinder_PLA_12.5/press_depth_08/up/franka_data.csv

@@ -0,0 +1,61 @@
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