Upload Fixed (part 41)

Fixed/digit/cylinder_PLA_10/press_depth_10/up/franka_data.csv

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Fixed/digit/cylinder_PLA_10/press_depth_10/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+2,3.833333333e-01,WAIT_W2,1792921645709779903,-3.344559913e-06,1.574499828e-06,-8.297448485e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.657823240e-07,-3.761423856e-08,-4.381273411e-08,7.019522883e-01,-2.069623519e-05,8.601422575e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027465066e-01,-1.155441997e-04,8.303250069e-01
+3,6.000000000e-01,WAIT_W2,1792921645939570392,-1.656720917e-06,1.203450810e-06,3.071582445e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.255956316e-07,-5.601098999e-08,-6.460080682e-08,7.019539761e-01,-2.106728421e-05,8.601433944e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027466664e-01,-1.155625965e-04,8.303249861e-01
+4,8.000000000e-01,WAIT_W2,1792921646135251411,-3.021869621e-06,2.058648445e-06,-1.799669313e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.542798308e-07,-7.098802181e-08,-8.237167481e-08,7.019526109e-01,-2.021208658e-05,8.601412876e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027467951e-01,-1.155775735e-04,8.303249684e-01
+5,1.016666667e+00,WAIT_W2,1792921646348239826,-2.274799441e-06,-5.780105152e-07,7.110173189e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.762633649e-07,-8.578583653e-08,-9.997761796e-08,7.019533580e-01,-2.284874554e-05,8.601437983e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027469171e-01,-1.155923713e-04,8.303249508e-01
+6,1.100000000e+00,WAIT_W2,1792921646430461310,-1.122503164e-07,-3.801257107e-05,3.076938339e-06,1.536192973e-08,-3.786164985e-05,3.163391497e-06,9.037421138e-07,-3.437250707e-05,2.878876008e-06,7.019555206e-01,-6.028330609e-05,8.601461642e-01,7.019556482e-01,-6.013238488e-05,8.601462506e-01,7.027470445e-01,-1.498790926e-04,8.303279296e-01
+7,1.116666667e+00,WAIT_W2,1792921646447128954,-3.857266473e-07,-7.475705094e-05,4.368547973e-06,-4.393884565e-07,-7.479374375e-05,4.414897991e-06,4.749670830e-07,-6.792124762e-05,4.009142121e-06,7.019552471e-01,-9.702778597e-05,8.601474558e-01,7.019551934e-01,-9.706447878e-05,8.601475021e-01,7.027466158e-01,-1.834278331e-04,8.303290599e-01
+8,1.133333333e+00,WAIT_W2,1792921646463047902,-5.565357906e-07,-1.031112062e-04,7.282796528e-06,-5.734094787e-07,-1.028349035e-04,7.100512291e-06,4.388003043e-07,-9.344162833e-05,6.609246370e-06,7.019550763e-01,-1.253819412e-04,8.601503700e-01,7.019550594e-01,-1.251056386e-04,8.601501878e-01,7.027465796e-01,-2.089482138e-04,8.303316600e-01
+9,1.150000000e+00,WAIT_W2,1792921646479420497,-6.088929305e-08,-1.547408418e-04,8.009891518e-06,-5.650996426e-08,-1.550405640e-04,7.821242305e-06,1.053014470e-06,-1.408253535e-04,7.292987129e-06,7.019555719e-01,-1.770115768e-04,8.601510971e-01,7.019555763e-01,-1.773112990e-04,8.601509085e-01,7.027471938e-01,-2.563319389e-04,8.303323437e-01
+10,1.166666667e+00,WAIT_W2,1792921646496886431,1.385296166e-06,-1.987243697e-04,1.413370675e-05,1.423768370e-06,-1.984392552e-04,1.415755071e-05,2.609190334e-06,-1.802918771e-04,1.331369691e-05,7.019570181e-01,-2.209951047e-04,8.601572209e-01,7.019570566e-01,-2.207099902e-04,8.601572448e-01,7.027487500e-01,-2.957984626e-04,8.303383644e-01
+11,1.183333333e+00,WAIT_W2,1792921646511947504,2.589080466e-07,-2.462897542e-04,1.322175030e-05,1.709541990e-07,-2.460434936e-04,1.301684977e-05,1.456016634e-06,-2.235445205e-04,1.225801967e-05,7.019558917e-01,-2.685604892e-04,8.601563090e-01,7.019558038e-01,-2.683142287e-04,8.601561041e-01,7.027475968e-01,-3.390511060e-04,8.303373088e-01
+12,1.200000000e+00,WAIT_W2,1792921646528372349,2.008409435e-06,-2.978940794e-04,1.970838739e-05,2.043446663e-06,-2.979784375e-04,2.013247346e-05,3.467564008e-06,-2.708091255e-04,1.896714316e-05,7.019576412e-01,-3.201648145e-04,8.601627956e-01,7.019576763e-01,-3.202491726e-04,8.601632197e-01,7.027496084e-01,-3.863157110e-04,8.303440179e-01
+13,1.216666667e+00,WAIT_W2,1792921646545058880,8.779396499e-08,-3.421406594e-04,1.637058089e-05,5.933860792e-08,-3.422166352e-04,1.618211854e-05,1.471128796e-06,-3.111504631e-04,1.526246140e-05,7.019557206e-01,-3.644113944e-04,8.601594578e-01,7.019556922e-01,-3.644873702e-04,8.601592694e-01,7.027476119e-01,-4.266570486e-04,8.303403132e-01
+14,1.233333333e+00,WAIT_W2,1792921646561941158,-9.570049260e-07,-3.839140781e-04,1.591234204e-05,-6.186508331e-07,-3.839652048e-04,1.605733071e-05,8.588554069e-07,-3.491966681e-04,1.520679574e-05,7.019546758e-01,-4.061848131e-04,8.601589996e-01,7.019550142e-01,-4.062359398e-04,8.601591446e-01,7.027469996e-01,-4.647032536e-04,8.303402575e-01
+15,1.283333333e+00,WAIT_W2,1792921646610849286,6.575654751e-06,-4.350325485e-04,3.089003223e-05,6.745861560e-06,-4.351111963e-04,3.091289605e-05,8.582695790e-06,-3.959719331e-04,2.932166032e-05,7.019622085e-01,-4.573032835e-04,8.601739773e-01,7.019623787e-01,-4.573819313e-04,8.601740001e-01,7.027547235e-01,-5.114785186e-04,8.303543724e-01
+16,1.383333333e+00,WAIT_W2,1792921646708798890,2.343291017e-05,-4.407485590e-04,6.571442683e-05,1.456621932e-05,-4.403914616e-04,4.952788804e-05,1.680492708e-05,-4.009243307e-04,4.726477778e-05,7.019790657e-01,-4.630192940e-04,8.602088017e-01,7.019701990e-01,-4.626621966e-04,8.601926151e-01,7.027629457e-01,-5.164309162e-04,8.303723155e-01
+17,1.433333333e+00,WAIT_W2,1792921646757982459,3.730329729e-05,-4.366498372e-04,9.857932100e-05,3.206609048e-05,-4.359946781e-04,8.349074743e-05,3.511707178e-05,-3.969489657e-04,7.981340393e-05,7.019929361e-01,-4.589205722e-04,8.602416666e-01,7.019876989e-01,-4.582654131e-04,8.602265780e-01,7.027812579e-01,-5.124555512e-04,8.304048641e-01
+18,1.533333333e+00,WAIT_W2,1792921646856296006,5.543973427e-05,-4.251417380e-04,1.415411214e-04,5.185538018e-05,-4.339895309e-04,1.327500631e-04,5.618243207e-05,-3.951805077e-04,1.273149218e-04,7.020110726e-01,-4.474124730e-04,8.602846284e-01,7.020074882e-01,-4.562602659e-04,8.602758373e-01,7.028023232e-01,-5.106870932e-04,8.304523657e-01
+19,1.650000000e+00,WAIT_W2,1792921646987151448,6.582147374e-05,-4.271130635e-04,1.646076029e-04,6.141143027e-05,-4.297545886e-04,1.525106107e-04,6.664835344e-05,-3.913620818e-04,1.468745903e-04,7.020214543e-01,-4.493837985e-04,8.603076948e-01,7.020170442e-01,-4.520253236e-04,8.602955979e-01,7.028127891e-01,-5.068686673e-04,8.304719253e-01
+20,1.833333333e+00,WAIT_W2,1792921647167447599,6.941400305e-05,-4.251364749e-04,1.754960054e-04,6.990380498e-05,-4.259739535e-04,1.729820163e-04,7.622047186e-05,-3.879799349e-04,1.673530142e-04,7.020250468e-01,-4.474072099e-04,8.603185832e-01,7.020255366e-01,-4.482446886e-04,8.603160693e-01,7.028223613e-01,-5.034865204e-04,8.304924037e-01
+21,2.016666667e+00,UP_FORCE_RAMP,1792921647348143591,7.241391181e-05,-4.226001340e-04,1.819184319e-04,6.990380498e-05,-4.259739535e-04,1.729820163e-04,7.676537648e-05,-3.880429402e-04,1.680194837e-04,7.020280467e-01,-4.448708690e-04,8.603250057e-01,7.020255366e-01,-4.482446886e-04,8.603160693e-01,7.028229062e-01,-5.035495257e-04,8.304930702e-01
+22,2.266666667e+00,UP_FORCE_RAMP,1792921647593297624,7.404926753e-05,-4.222632169e-04,1.866093775e-04,6.990380498e-05,-4.259739535e-04,1.729820163e-04,7.732962942e-05,-3.881134249e-04,1.686739294e-04,7.020296821e-01,-4.445339520e-04,8.603296966e-01,7.020255366e-01,-4.482446886e-04,8.603160693e-01,7.028234704e-01,-5.036200104e-04,8.304937247e-01
+23,2.516666667e+00,UP_FORCE_RAMP,1792921647839359991,7.252756034e-05,-4.212538430e-04,1.843613883e-04,6.990380498e-05,-4.259739535e-04,1.729820163e-04,7.777282393e-05,-3.881750581e-04,1.691599997e-04,7.020281604e-01,-4.435245780e-04,8.603274486e-01,7.020255366e-01,-4.482446886e-04,8.603160693e-01,7.028239136e-01,-5.036816435e-04,8.304942107e-01
+24,2.750000000e+00,UP_FORCE_RAMP,1792921648069049851,7.314682788e-05,-4.201679997e-04,1.882363546e-04,6.990380498e-05,-4.259739535e-04,1.729820163e-04,7.811730273e-05,-3.882262823e-04,1.695179609e-04,7.020287796e-01,-4.424387347e-04,8.603313236e-01,7.020255366e-01,-4.482446886e-04,8.603160693e-01,7.028242581e-01,-5.037328678e-04,8.304945687e-01
+25,2.966666667e+00,UP_FORCE_RAMP,1792921648297552442,7.408395322e-05,-4.217557710e-04,1.935900992e-04,7.569374682e-05,-4.237375844e-04,1.925978300e-04,8.454899720e-05,-3.862337235e-04,1.886204748e-04,7.020297168e-01,-4.440265060e-04,8.603366773e-01,7.020313266e-01,-4.460083194e-04,8.603356851e-01,7.028306898e-01,-5.017403090e-04,8.305136712e-01
+26,3.150000000e+00,UP_FORCE_RAMP,1792921648477777296,7.355361586e-05,-4.178749794e-04,1.969362478e-04,7.569374682e-05,-4.237375844e-04,1.925978300e-04,8.482528460e-05,-3.862717081e-04,1.889592931e-04,7.020291864e-01,-4.401457144e-04,8.603400235e-01,7.020313266e-01,-4.460083194e-04,8.603356851e-01,7.028309661e-01,-5.017782936e-04,8.305140100e-01
+27,3.366666667e+00,UP_FORCE_RAMP,1792921648691845696,6.938488558e-05,-4.187126440e-04,2.018385163e-04,7.569374682e-05,-4.237375844e-04,1.925978300e-04,8.509714008e-05,-3.863146503e-04,1.892706057e-04,7.020250177e-01,-4.409833790e-04,8.603449258e-01,7.020313266e-01,-4.460083194e-04,8.603356851e-01,7.028312379e-01,-5.018212358e-04,8.305143213e-01
+28,3.533333333e+00,UP_FORCE_RAMP,1792921648854283196,6.699076415e-05,-4.193944877e-04,2.109190210e-04,7.339407459e-05,-4.171824542e-04,2.117361635e-04,8.308415860e-05,-3.803556339e-04,2.078227663e-04,7.020226236e-01,-4.416652228e-04,8.603540063e-01,7.020290269e-01,-4.394531892e-04,8.603548234e-01,7.028292250e-01,-4.958622194e-04,8.305328735e-01
+29,3.716666667e+00,UP_FORCE_RAMP,1792921649067402922,6.236205371e-05,-4.178181721e-04,2.147703730e-04,7.339407459e-05,-4.171824542e-04,2.117361635e-04,8.325266534e-05,-3.803858623e-04,2.081432580e-04,7.020179949e-01,-4.400889071e-04,8.603578576e-01,7.020290269e-01,-4.394531892e-04,8.603548234e-01,7.028293935e-01,-4.958924478e-04,8.305331940e-01
+30,3.850000000e+00,UP_FORCE_RAMP,1792921649198931054,5.895984484e-05,-4.102083070e-04,2.163447679e-04,7.339407459e-05,-4.171824542e-04,2.117361635e-04,8.336998715e-05,-3.804071280e-04,2.083361176e-04,7.020145927e-01,-4.324790421e-04,8.603594320e-01,7.020290269e-01,-4.394531892e-04,8.603548234e-01,7.028295108e-01,-4.959137135e-04,8.305333869e-01
+31,4.016666667e+00,UP_FORCE_RAMP,1792921649362190663,5.730482095e-05,-4.192418592e-04,2.266479160e-04,5.919738530e-05,-4.128351790e-04,2.252959236e-04,6.915781513e-05,-3.764407639e-04,2.215200666e-04,7.020129376e-01,-4.415125943e-04,8.603697352e-01,7.020148302e-01,-4.351059140e-04,8.603683832e-01,7.028152986e-01,-4.919473494e-04,8.305465708e-01
+32,4.233333333e+00,UP_FORCE_RAMP,1792921649575379836,5.382230054e-05,-4.175664426e-04,2.369088341e-04,5.919738530e-05,-4.128351790e-04,2.252959236e-04,6.915825870e-05,-3.764655759e-04,2.218664135e-04,7.020094551e-01,-4.398371777e-04,8.603799961e-01,7.020148302e-01,-4.351059140e-04,8.603683832e-01,7.028152991e-01,-4.919721614e-04,8.305469171e-01
+33,4.416666667e+00,UP_FORCE_RAMP,1792921649772319815,4.924188088e-05,-4.147185689e-04,2.459578403e-04,5.151961227e-05,-4.103434176e-04,2.433213251e-04,6.157245674e-05,-3.742176243e-04,2.392612634e-04,7.020048747e-01,-4.369893040e-04,8.603890451e-01,7.020071524e-01,-4.326141526e-04,8.603864086e-01,7.028077132e-01,-4.897242098e-04,8.305643120e-01
+34,4.666666667e+00,UP_FORCE_RAMP,1792921650020399702,4.376199029e-05,-4.154324294e-04,2.606873930e-04,4.673521341e-05,-4.114237748e-04,2.629181227e-04,5.693945517e-05,-3.751631973e-04,2.583353803e-04,7.019993948e-01,-4.377031644e-04,8.604037746e-01,7.020023680e-01,-4.336945098e-04,8.604060054e-01,7.028030802e-01,-4.906697828e-04,8.305833861e-01
+35,4.866666667e+00,UP_FORCE_RAMP,1792921650231016038,3.660048952e-05,-4.101516794e-04,2.735663304e-04,4.673521341e-05,-4.114237748e-04,2.629181227e-04,5.689504120e-05,-3.751833375e-04,2.588210888e-04,7.019922333e-01,-4.324224144e-04,8.604166536e-01,7.020023680e-01,-4.336945098e-04,8.604060054e-01,7.028030358e-01,-4.906899230e-04,8.305838718e-01
+36,5.066666667e+00,UP_FORCE_RAMP,1792921650426962951,2.524735591e-05,-4.070660917e-04,2.848942224e-04,3.303167211e-05,-4.111368610e-04,2.803012633e-04,4.303790481e-05,-3.749389827e-04,2.758437750e-04,7.019808802e-01,-4.293368267e-04,8.604279815e-01,7.019886645e-01,-4.334075960e-04,8.604233885e-01,7.027891787e-01,-4.904455682e-04,8.306008945e-01
+37,5.250000000e+00,UP_FORCE_RAMP,1792921650706295288,4.471601260e-06,-4.099019468e-04,3.010479705e-04,1.719187077e-05,-4.085387711e-04,2.951622444e-04,2.687993552e-05,-3.725400442e-04,2.903833555e-04,7.019601044e-01,-4.321726818e-04,8.604441352e-01,7.019728247e-01,-4.308095061e-04,8.604382495e-01,7.027730207e-01,-4.880466297e-04,8.306154341e-01
+38,5.383333333e+00,UP_FORCE_RAMP,1792921650856166348,-4.289948635e-06,-4.079782058e-04,3.111437985e-04,-7.315573884e-07,-4.082561552e-04,3.035640038e-04,8.496841530e-06,-3.722752070e-04,2.987397145e-04,7.019513429e-01,-4.302489409e-04,8.604542310e-01,7.019549013e-01,-4.305268902e-04,8.604466512e-01,7.027546376e-01,-4.877817925e-04,8.306237904e-01
+39,5.416666667e+00,UP_FORCE_RAMP,1792921650886418559,-1.494185856e-05,-4.235331256e-04,3.133759002e-04,-1.494521152e-05,-4.235656410e-04,3.131278540e-04,-5.843635950e-06,-3.862495038e-04,3.078755688e-04,7.019406910e-01,-4.458038606e-04,8.604564631e-01,7.019406876e-01,-4.458363760e-04,8.604562151e-01,7.027402972e-01,-5.017560893e-04,8.306329263e-01
+40,5.483333333e+00,UP_FORCE_RAMP,1792921650954899006,-1.659913318e-05,-4.226290029e-04,3.167417047e-04,-1.494521152e-05,-4.235656410e-04,3.131278540e-04,-6.090832657e-06,-3.861936739e-04,3.080592806e-04,7.019390337e-01,-4.448997379e-04,8.604598289e-01,7.019406876e-01,-4.458363760e-04,8.604562151e-01,7.027400500e-01,-5.017002594e-04,8.306331100e-01
+41,5.600000000e+00,UP_FORCE_RAMP,1792921651066231990,-1.823749493e-05,-4.234213580e-04,3.284310182e-04,-1.494521152e-05,-4.235656410e-04,3.131278540e-04,-6.388532846e-06,-3.861961108e-04,3.083342681e-04,7.019373953e-01,-4.456920930e-04,8.604715183e-01,7.019406876e-01,-4.458363760e-04,8.604562151e-01,7.027397523e-01,-5.017026963e-04,8.306333850e-01
+42,5.733333333e+00,UP_FORCE_RAMP,1792921651197392209,-2.397833790e-05,-4.155360255e-04,3.404214564e-04,-2.056960225e-05,-4.127020579e-04,3.293172074e-04,-1.222488569e-05,-3.762871883e-04,3.241403394e-04,7.019316545e-01,-4.378067605e-04,8.604835087e-01,7.019350632e-01,-4.349727930e-04,8.604724044e-01,7.027339159e-01,-4.917937738e-04,8.306491911e-01
+43,5.900000000e+00,UP_FORCE_RAMP,1792921651360808556,-2.886876196e-05,-4.206051607e-04,3.526703784e-04,-2.792183327e-05,-4.194992736e-04,3.464498100e-04,-1.978620896e-05,-3.824628229e-04,3.408575205e-04,7.019267641e-01,-4.428758957e-04,8.604957576e-01,7.019277110e-01,-4.417700086e-04,8.604895370e-01,7.027263546e-01,-4.979694084e-04,8.306659083e-01
+44,6.116666667e+00,UP_FORCE_RAMP,1792921651573586946,-4.042020294e-05,-4.123158106e-04,3.625541379e-04,-3.741063870e-05,-4.124896670e-04,3.631475389e-04,-2.957213956e-05,-3.760379687e-04,3.573006361e-04,7.019152126e-01,-4.345865457e-04,8.605056414e-01,7.019182222e-01,-4.347604020e-04,8.605062348e-01,7.027165687e-01,-4.915445542e-04,8.306823514e-01
+45,6.333333333e+00,UP_FORCE_HOLD,1792921651786686715,-4.876046325e-05,-4.122645526e-04,3.799507627e-04,-4.476692752e-05,-4.124567036e-04,3.815927116e-04,-3.727968772e-05,-3.759764590e-04,3.755055960e-04,7.019068724e-01,-4.345352876e-04,8.605230380e-01,7.019108659e-01,-4.347274386e-04,8.605246800e-01,7.027088611e-01,-4.914830445e-04,8.307005563e-01
+46,6.500000000e+00,UP_SETTLE,1792921651950453418,-5.617677857e-05,-4.061350556e-04,3.885358257e-04,-4.476692752e-05,-4.124567036e-04,3.815927116e-04,-3.758839653e-05,-3.759681672e-04,3.760199928e-04,7.018994560e-01,-4.284057906e-04,8.605316231e-01,7.019108659e-01,-4.347274386e-04,8.605246800e-01,7.027085524e-01,-4.914747527e-04,8.307010707e-01
+47,6.700000000e+00,UP_SETTLE,1792921652147084486,-6.154228327e-05,-4.120535280e-04,4.058409783e-04,-5.598278684e-05,-4.117905056e-04,3.994122190e-04,-4.913976602e-05,-3.753448258e-04,3.934654428e-04,7.018940905e-01,-4.343242631e-04,8.605489282e-01,7.018996500e-01,-4.340612407e-04,8.605424995e-01,7.026970010e-01,-4.908514113e-04,8.307185162e-01
+48,6.900000000e+00,UP_SETTLE,1792921652410382821,-6.887721823e-05,-4.025689763e-04,4.210589569e-04,-6.750129050e-05,-4.059702122e-04,4.161554273e-04,-6.107284673e-05,-3.700169160e-04,4.100446826e-04,7.018867556e-01,-4.248397113e-04,8.605641462e-01,7.018881315e-01,-4.282409472e-04,8.605592427e-01,7.026850679e-01,-4.855235015e-04,8.307350954e-01
+49,7.116666667e+00,UP_SETTLE,1792921652622061959,-7.671816088e-05,-4.060358727e-04,4.333545412e-04,-6.750129050e-05,-4.059702122e-04,4.161554273e-04,-6.147820058e-05,-3.699958815e-04,4.106283460e-04,7.018789147e-01,-4.283066077e-04,8.605764418e-01,7.018881315e-01,-4.282409472e-04,8.605592427e-01,7.026846626e-01,-4.855024670e-04,8.307356791e-01
+50,7.333333333e+00,UP_SETTLE,1792921652852001550,-8.800989360e-05,-4.047008902e-04,4.408020936e-04,-7.714520897e-05,-4.034935673e-04,4.354782916e-04,-7.148512882e-05,-3.676539925e-04,4.295648242e-04,7.018676229e-01,-4.269716252e-04,8.605838893e-01,7.018784876e-01,-4.257643023e-04,8.605785655e-01,7.026746557e-01,-4.831605780e-04,8.307546156e-01
+51,7.533333333e+00,UP_SETTLE,1792921653047876523,-9.880495309e-05,-4.041363676e-04,4.457917696e-04,-9.354793317e-05,-4.042496804e-04,4.468761902e-04,-8.831610591e-05,-3.683077902e-04,4.409549272e-04,7.018568279e-01,-4.264071026e-04,8.605888790e-01,7.018620849e-01,-4.265204154e-04,8.605899634e-01,7.026578247e-01,-4.838143757e-04,8.307660057e-01
+52,7.766666667e+00,UP_SETTLE,1792921653294147643,-1.038161636e-04,-4.050401084e-04,4.577577091e-04,-9.354793317e-05,-4.042496804e-04,4.468761902e-04,-8.880631333e-05,-3.682810372e-04,4.415079403e-04,7.018518167e-01,-4.273108434e-04,8.606008449e-01,7.018620849e-01,-4.265204154e-04,8.605899634e-01,7.026573345e-01,-4.837876227e-04,8.307665587e-01
+53,7.966666667e+00,UP_SETTLE,1792921653490685690,-1.050080686e-04,-4.020701345e-04,4.712241968e-04,-1.042282613e-04,-4.013585837e-04,4.653562029e-04,-9.987003504e-05,-3.656151221e-04,4.595489988e-04,7.018506247e-01,-4.243408696e-04,8.606143114e-01,7.018514046e-01,-4.236293187e-04,8.606084434e-01,7.026462708e-01,-4.811217076e-04,8.307845997e-01
+54,8.216666667e+00,UP_SETTLE,1792921653753191312,-1.102809914e-04,-4.007350233e-04,4.795176249e-04,-1.042282613e-04,-4.013585837e-04,4.653562029e-04,-1.003078754e-04,-3.655842078e-04,4.601198067e-04,7.018453518e-01,-4.230057583e-04,8.606226049e-01,7.018514046e-01,-4.236293187e-04,8.606084434e-01,7.026458329e-01,-4.810907933e-04,8.307851705e-01
+55,8.400000000e+00,UP_SETTLE,1792921653932747784,-1.128638101e-04,-4.018968899e-04,4.841932939e-04,-1.110489314e-04,-3.991112544e-04,4.857746712e-04,-1.071942342e-04,-3.634986539e-04,4.799107050e-04,7.018427690e-01,-4.241676249e-04,8.606272805e-01,7.018445839e-01,-4.213819894e-04,8.606288619e-01,7.026389466e-01,-4.790052394e-04,8.308049614e-01
+56,8.600000000e+00,UP_SETTLE,1792921654130013238,-1.150016342e-04,-3.968991290e-04,4.910705638e-04,-1.110489314e-04,-3.991112544e-04,4.857746712e-04,-1.074939345e-04,-3.634753113e-04,4.804040615e-04,7.018406312e-01,-4.191698640e-04,8.606341578e-01,7.018445839e-01,-4.213819894e-04,8.606288619e-01,7.026386469e-01,-4.789818968e-04,8.308054548e-01
+57,8.750000000e+00,UP_SETTLE,1792921654297614489,-1.158744262e-04,-4.008202992e-04,4.945817499e-04,-1.110489314e-04,-3.991112544e-04,4.857746712e-04,-1.076706915e-04,-3.634570286e-04,4.806971269e-04,7.018397584e-01,-4.230910342e-04,8.606376690e-01,7.018445839e-01,-4.213819894e-04,8.606288619e-01,7.026384701e-01,-4.789636140e-04,8.308057479e-01
+58,9.016666667e+00,UP_SETTLE,1792921654571412412,-1.196912537e-04,-3.972371512e-04,4.971994565e-04,-1.110489314e-04,-3.991112544e-04,4.857746712e-04,-1.079292445e-04,-3.634269530e-04,4.811325706e-04,7.018359416e-01,-4.195078862e-04,8.606402867e-01,7.018445839e-01,-4.213819894e-04,8.606288619e-01,7.026382115e-01,-4.789335385e-04,8.308061833e-01
+59,9.200000000e+00,UP_SETTLE,1792921654751541170,-1.201132964e-04,-3.962943977e-04,5.000829369e-04,-1.110489314e-04,-3.991112544e-04,4.857746712e-04,-1.080758799e-04,-3.634077365e-04,4.813880277e-04,7.018355195e-01,-4.185651327e-04,8.606431702e-01,7.018445839e-01,-4.213819894e-04,8.606288619e-01,7.026380649e-01,-4.789143220e-04,8.308064388e-01

Fixed/digit/cylinder_PLA_10/press_depth_10/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+00,3.7469e-01,6.6139e-01,2.4434e+00,-8.5178e-02,6.4021e-02,1.5642e-03,6.1741e-04,-1.9670e-06,-2.0862e-04,1.0207e-06,4.7192e-05,-2.4633e-06,6.5171e-04,4.7267e-05
+1,2.1667e-01,WAIT_W2,4.6226e-05,4.1111e-01,6.5767e-01,2.4390e+00,-8.4899e-02,6.6688e-02,1.3891e-03,3.7038e-02,-3.7222e-03,-4.6690e-03,2.7999e-04,2.7136e-03,-1.7751e-04,3.7516e-02,2.7338e-03
+2,3.8333e-01,WAIT_W2,9.1928e-05,4.3943e-01,6.5496e-01,2.4355e+00,-8.4697e-02,6.8759e-02,1.2466e-03,6.5356e-02,-6.4310e-03,-8.1451e-03,4.8228e-04,4.7847e-03,-3.2002e-04,6.6175e-02,4.8196e-03
+3,6.0000e-01,WAIT_W2,1.3652e-04,4.6562e-01,6.5252e-01,2.4320e+00,-8.4513e-02,7.0671e-02,1.1203e-03,9.1551e-02,-8.8693e-03,-1.1590e-02,6.6627e-04,6.6970e-03,-4.4630e-04,9.2707e-02,6.7449e-03
+4,8.0000e-01,WAIT_W2,1.8014e-04,4.8842e-01,6.5043e-01,2.4289e+00,-8.4354e-02,7.2336e-02,1.0047e-03,1.1435e-01,-1.0964e-02,-1.4735e-02,8.2564e-04,8.3622e-03,-5.6197e-04,1.1581e-01,8.4216e-03
+5,1.0167e+00,WAIT_W2,2.2664e-04,5.1231e-01,6.4822e-01,2.4250e+00,-8.4185e-02,7.4080e-02,8.7505e-04,1.3824e-01,-1.3167e-02,-1.8635e-02,9.9441e-04,1.0106e-02,-6.9159e-04,1.4011e-01,1.0178e-02
+6,1.1000e+00,WAIT_W2,2.7715e-04,5.1972e-01,6.4752e-01,2.4245e+00,-8.4132e-02,7.4620e-02,8.3582e-04,1.4565e-01,-1.3866e-02,-1.9176e-02,1.0474e-03,1.0646e-02,-7.3082e-04,1.4756e-01,1.0722e-02
+7,1.1167e+00,WAIT_W2,3.1392e-04,5.2889e-01,1.4130e+00,2.3988e+00,-1.3956e-01,7.5319e-02,1.2869e-03,1.5482e-01,7.5160e-01,-4.4806e-02,-5.4378e-02,1.1345e-02,-2.7972e-04,7.6868e-01,5.5549e-02
+8,1.1333e+00,WAIT_W2,3.4243e-04,5.4768e-01,2.1396e+00,2.3858e+00,-1.9210e-01,7.6696e-02,1.7380e-03,1.7362e-01,1.4782e+00,-5.7812e-02,-1.0692e-01,1.2721e-02,1.7139e-04,1.4895e+00,1.0767e-01
+9,1.1500e+00,WAIT_W2,3.9406e-04,5.5968e-01,2.6852e+00,2.3626e+00,-2.3154e-01,7.7579e-02,2.0868e-03,1.8561e-01,2.0238e+00,-8.1054e-02,-1.4636e-01,1.3605e-02,5.2018e-04,2.0339e+00,1.4699e-01
+10,1.1667e+00,WAIT_W2,4.3850e-04,5.7415e-01,3.7185e+00,2.3576e+00,-3.0636e-01,7.8644e-02,2.6918e-03,2.0008e-01,3.0572e+00,-8.6038e-02,-2.2118e-01,1.4670e-02,1.1252e-03,3.0649e+00,2.2166e-01
+11,1.1833e+00,WAIT_W2,4.8608e-04,5.7604e-01,4.5600e+00,2.3058e+00,-3.6730e-01,7.8829e-02,3.2679e-03,2.0197e-01,3.8986e+00,-1.3784e-01,-2.8212e-01,1.4855e-02,1.7013e-03,3.9062e+00,2.8251e-01
+12,1.2000e+00,WAIT_W2,5.3812e-04,6.1473e-01,5.4825e+00,2.3146e+00,-4.3407e-01,8.1625e-02,3.7701e-03,2.4066e-01,4.8211e+00,-1.2907e-01,-3.4889e-01,1.7651e-02,2.2034e-03,4.8288e+00,3.4935e-01
+13,1.2167e+00,WAIT_W2,5.8254e-04,6.1621e-01,6.4812e+00,2.2627e+00,-5.0650e-01,8.1797e-02,4.3553e-03,2.4215e-01,5.8198e+00,-1.8096e-01,-4.2132e-01,1.7823e-02,2.7887e-03,5.8277e+00,4.2171e-01
+14,1.2333e+00,WAIT_W2,6.2433e-04,6.5938e-01,7.2108e+00,2.2945e+00,-5.5978e-01,8.4920e-02,4.6816e-03,2.8531e-01,6.5494e+00,-1.4917e-01,-4.7460e-01,2.0946e-02,3.1150e-03,6.5573e+00,4.7508e-01
+15,1.2833e+00,WAIT_W2,6.7878e-04,6.5599e-01,8.6901e+00,2.2226e+00,-6.6654e-01,8.4712e-02,5.5597e-03,2.8192e-01,8.0287e+00,-2.2098e-01,-5.8136e-01,2.0738e-02,3.9931e-03,8.0367e+00,5.8174e-01
+16,1.3833e+00,WAIT_W2,7.2758e-04,5.8844e-01,9.0741e+00,2.0723e+00,-6.9464e-01,8.0165e-02,5.7649e-03,2.1437e-01,8.4127e+00,-3.7134e-01,-6.0946e-01,1.6191e-02,4.1982e-03,8.4236e+00,6.0969e-01
+17,1.4333e+00,WAIT_W2,7.6492e-04,3.6699e-01,8.9851e+00,1.7689e+00,-6.8998e-01,6.4244e-02,6.3393e-03,-7.0767e-03,8.3237e+00,-6.7475e-01,-6.0480e-01,2.6964e-04,4.7727e-03,8.3510e+00,6.0482e-01
+18,1.5333e+00,WAIT_W2,8.1738e-04,2.1103e-01,8.9242e+00,1.4444e+00,-6.8731e-01,5.3183e-02,6.8696e-03,-1.6304e-01,8.2628e+00,-9.9923e-01,-6.0214e-01,-1.0791e-02,5.3030e-03,8.3246e+00,6.0226e-01
+19,1.6500e+00,WAIT_W2,8.5760e-04,1.8145e-01,8.8370e+00,1.3908e+00,-6.8173e-01,5.1260e-02,6.9154e-03,-1.9261e-01,8.1757e+00,-1.0528e+00,-5.9655e-01,-1.2714e-02,5.3488e-03,8.2454e+00,5.9671e-01
+20,1.8333e+00,WAIT_W2,9.0256e-04,1.8974e-01,8.7346e+00,1.3610e+00,-6.7518e-01,5.1789e-02,7.0036e-03,-1.8433e-01,8.0732e+00,-1.0826e+00,-5.9000e-01,-1.2186e-02,5.4370e-03,8.1475e+00,5.9015e-01
+21,2.0167e+00,UP_FORCE_RAMP,9.4999e-04,2.9579e-01,8.7107e+00,1.5146e+00,-6.7362e-01,5.8943e-02,7.0256e-03,-7.8277e-02,8.0493e+00,-9.2902e-01,-5.8844e-01,-5.0307e-03,5.4589e-03,8.1031e+00,5.8849e-01
+22,2.2667e+00,UP_FORCE_RAMP,9.9636e-04,4.4029e-01,8.6911e+00,1.6869e+00,-6.7218e-01,6.9452e-02,6.8014e-03,6.6222e-02,8.0297e+00,-7.5674e-01,-5.8700e-01,5.4778e-03,5.2347e-03,8.0656e+00,5.8705e-01
+23,2.5167e+00,UP_FORCE_RAMP,1.0407e-03,4.9692e-01,8.6830e+00,1.7433e+00,-6.7150e-01,7.3705e-02,6.5236e-03,1.2285e-01,8.0216e+00,-7.0034e-01,-5.8632e-01,9.7311e-03,4.9570e-03,8.0531e+00,5.8642e-01
+24,2.7500e+00,UP_FORCE_RAMP,1.0853e-03,5.5968e-01,8.6740e+00,1.8100e+00,-6.7071e-01,7.8221e-02,6.1830e-03,1.8562e-01,8.0126e+00,-6.3366e-01,-5.8553e-01,1.4247e-02,4.6163e-03,8.0398e+00,5.8573e-01
+25,2.9667e+00,UP_FORCE_RAMP,1.1335e-03,5.4961e-01,8.6201e+00,1.7115e+00,-6.6721e-01,7.7717e-02,5.9755e-03,1.7554e-01,7.9587e+00,-7.3214e-01,-5.8203e-01,1.3743e-02,4.4089e-03,7.9942e+00,5.8221e-01
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Fixed/digit/cylinder_PLA_12.5/press_depth_01/down/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_12.5/press_depth_01/down/franka_data.csv

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+3517,1792922011953038294,1578898000000,1792922011952605503,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6760260351236375,-0.004882206010262382,0.09976743481849935,0.9999999689189847,9.566618966086759e-05,-9.678025069022531e-05,0.00018731379420398357,0.6761,-0.0046,0.09978465364416592,1.0,0.0,0.0,0.0,-0.17160826808865204,0.07608135237527147,0.4161456435323653,0.0076043774214612225,0.009762134148914928,0.0009122047280612933,0.8532480162883959,1.3239055267957167,1.2584002619978898,0.0849058625246946,-0.05258865321506154,0.0002720734941191475,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.215880689462905,1.1168112964471493,-0.31635802399035445,0.24863150527715458,0.42370257070477246,0.6418169716397094,1.3024657692685715,-0.4161456435323653,1.618823793258926,1.618823793258926,1.6090558606560639,0,0,-2.3788296392408863e-05,9.999999025923074e-05
+3645,1792922013020078350,1579965000000,1792922013012596060,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6760297502253078,-0.004883653510891158,0.09975559123084365,0.9999999696325265,9.441652765590385e-05,-8.936544621275451e-05,0.00018782211490302793,0.6761,-0.0046,0.0997639172014307,1.0,0.0,0.0,0.0,-0.190461315946862,0.0880007429754266,0.475099595578102,0.0075573588677306375,0.0114007176533443,0.0008788690951738546,0.8343949684301859,1.3358249173958718,1.3173542140436265,0.08485884397096402,-0.050950069710632165,0.00023873786123170874,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.2196839657697354,1.0376926881642645,-0.3700555542814912,0.27214167629008484,0.45660888395060517,0.5931619001296976,1.3024657692685715,-0.475099595578102,1.6725213235500627,1.6725213235500627,1.7691058606561647,0,0,-2.754593909501247e-05,-9.974923251133134e-05
+3786,1792922014195056404,1581140000000,1792922014188595844,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6760440584336821,-0.00488146113556908,0.09973463586939103,0.9999999704629675,9.458033927668306e-05,-6.390680922157309e-05,0.00019361665147211152,0.6761,-0.0046,0.09970647479724765,1.0,0.0,0.0,0.0,-0.2402518351453129,0.11364887920019906,0.6502086198167542,0.010486659790081357,0.014712357790204147,0.0014935924162741729,0.784604449231735,1.3614730536206443,1.4924632382822787,0.08778814489331474,-0.04763842957377232,0.0008534611823320271,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.355355863178489,1.0818703722986678,-0.6398728841882011,0.2731390193193997,0.6514545420409231,0.6284502903694654,1.3024657692685715,-0.6502086198167542,1.9423386534567726,1.9423386534567726,1.9453558606562757,0,0,-6.174496703229148e-05,9.718701818173798e-05
+3904,1792922015178190133,1582123000000,1792922015172605993,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6760585886474155,-0.004878973772501819,0.0997152378770094,0.9999999839734796,2.7331172923013666e-05,-3.768583822023181e-05,0.00014604345125429795,0.6761,-0.0046,0.09966123883008476,1.0,0.0,0.0,0.0,-0.22080488182552538,0.23205490672695772,0.8269655258575533,0.018621934438002585,0.013549348631424901,0.001803482643542834,0.8040514025515225,1.479879081147403,1.6692201443230779,0.09592341954123597,-0.048801438732551564,0.001163351409600688,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.4697694764751188,1.1298792829415727,-0.8428974417566323,0.2865240576232288,0.8049905490124909,0.6753316435555068,1.3024657692685715,-0.8269655258575533,2.1453632110252037,2.1453632110252037,2.0928058606563686,0,0,-2.9843490391397214e-05,9.999999025923074e-05
+4022,1792922016161191005,1583106000000,1792922016160595843,DOWN_FORCE_DETACH,1,0.061,0.06100170686841011,0.67606534247125,-0.004874853307725116,0.09969968180602341,0.9999999841217109,2.7675058180457653e-05,-3.067686708946348e-05,0.00014660308139544565,0.6761,-0.0046,0.09963988550515801,1.0,0.0,0.0,0.0,-0.26504531239491225,0.2699350790259385,0.9284480648159178,0.020489726638908384,0.016493206007272318,0.002803566262080381,0.7598109719821357,1.5177592534463837,1.7707026832814423,0.09779121174214177,-0.04585758135670415,0.002163435028138235,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.454910375864375,1.056626694039048,-0.9024428921006665,0.29692721827962454,0.8292757099412964,0.6323768357872522,1.3024657692685715,-0.9284480648159178,2.204908661369238,2.204908661369238,2.2402558606564615,0,0,-2.179694971324165e-05,-9.987438240178221e-05
+4142,1792922017161217166,1584106000000,1792922017156595773,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6760712392441007,-0.004880879955907973,0.09968418956896842,0.9999999836206221,2.480398246795957e-05,-2.0979208840848434e-05,0.00015213893388390663,0.6761,-0.0046,0.09960881027359536,1.0,0.0,0.0,0.0,-0.3045742971062638,0.27503324671124685,1.0364740823149368,0.021277531780562797,0.01947575004224255,0.0027686574476417833,0.7202819872707841,1.522857421131692,1.8787287007804614,0.09857901688379618,-0.042875037321733915,0.0021285262136996374,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.5594284924906299,1.0711249479578562,-0.9938854515801596,0.29957056675991733,0.9092954870895849,0.646992929069083,1.3024657692685715,-1.0364740823149368,2.296351220848731,2.296351220848731,2.390255860656556,0,0,-4.1880915092910815e-05,-8.852330954234872e-05
+4254,1792922018095192401,1585040000000,1792922018088596131,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6760778802619779,-0.004881417163540916,0.09965841569139007,0.9999999828351124,2.4805744292036932e-05,-8.190971359535141e-06,0.00015839893463444674,0.6761,-0.0046,0.09956200836101646,1.0,0.0,0.0,0.0,-0.35521058158653107,0.2884925101955542,1.1783498031404118,0.02343469052161662,0.022444412115982228,0.002720590924911021,0.6696457027905168,1.5363166846159995,2.0206044216059365,0.10073617562485,-0.03990637524799424,0.002080459690968875,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.618416342919693,1.0305671952305637,-1.2156036888778436,0.31099149042502344,1.0571899951132826,0.6238300283714905,1.3024657692685715,-1.1783498031404118,2.518069458146415,2.518069458146415,2.5303558606566443,0,0,-5.4010223506069426e-05,6.972125240889965e-05
+4366,1792922019028222634,1585973000000,1792922019024605117,DOWN_FORCE_DETACH,1,0.061,0.06100170686841011,0.6760918238835829,-0.004880444107228094,0.09964382327204095,0.9999999820075199,2.7325529926117256e-05,1.3925094852002823e-05,0.00016274898238795944,0.6761,-0.0046,0.09951802392075275,1.0,0.0,0.0,0.0,-0.4096474741089373,0.3195887192147382,1.3285567705938597,0.02534120809713447,0.02637712733155377,0.002677941314844809,0.6152088102681106,1.5674128936351834,2.1708113890593843,0.10264269320036785,-0.035973660032422694,0.002037810080902663,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.6640808585954032,0.9762558121523115,-1.3461705516909988,0.32543195328461794,1.1424176587549753,0.5927802103881707,1.3024657692685715,-1.3285567705938597,2.6486363209595702,2.6486363209595702,2.6703058606567325,0,0,-4.004546555883148e-05,8.522045155524011e-05
+4490,1792922020061347265,1587006000000,1792922020056605361,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6760975709052283,-0.004885567308252457,0.0996197993542122,0.999999981062333,2.339517206374924e-05,2.3976090229755903e-05,0.00016791667875486622,0.6761,-0.0046,0.09947958307044014,1.0,0.0,0.0,0.0,-0.4472015081535191,0.33878743994508076,1.4459340188380114,0.026413028257437965,0.028394681105884494,0.003654020666583128,0.5776547762235288,1.586611614365526,2.288188637303536,0.10371451336067135,-0.03395610625809197,0.003013889432640982,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.7892969896456918,1.0092921125744077,-1.546074368428274,0.3200826917009556,1.3005682739808229,0.6216573288160319,1.3024657692685715,-1.4459340188380114,2.8485401376968458,2.8485401376968458,2.82525586065683,0,0,-3.65387058428882e-05,9.998723657223536e-05
+4607,1792922021036345961,1587981000000,1792922021032595759,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.676105521817475,-0.004889135802123055,0.09960102810964805,0.9999999794340562,2.230944582104615e-05,3.8160961366245414e-05,0.0001749879465294444,0.6761,-0.0046,0.09943969568458728,1.0,0.0,0.0,0.0,-0.47991626124806186,0.3561990505044559,1.5727164138907224,0.028195389025889694,0.03137702359884206,0.0036128184909917,0.544940023128986,1.6040232249249011,2.414971032356247,0.10549687412912308,-0.030973763765134398,0.002972687257049554,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.7747384791893595,0.985946002146213,-1.6396338712636993,0.3239212077745195,1.348858352041191,0.601003447569875,1.3024657692685715,-1.5727164138907224,2.9420996405322706,2.9420996405322706,2.9715058606569222,0,0,-4.622893489261847e-05,9.997557923047679e-05
+4716,1792922021945405150,1588890000000,1792922021940595797,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6761142637373574,-0.004889413525531217,0.09957681190865073,0.999999977433492,2.6784942822345464e-05,5.17096210128236e-05,0.00018216630247982286,0.6761,-0.0046,0.09939640816602138,1.0,0.0,0.0,0.0,-0.5342811981096567,0.37067376883503433,1.7097057183907913,0.029125713380242668,0.034338856042579406,0.003552760421209898,0.49057508626739116,1.6184979432554796,2.551960336856316,0.10642719848347605,-0.02801193132139706,0.002912629187267752,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.8595229640933064,0.926430854062187,-1.829674749396407,0.3287186970757151,1.4882770729626933,0.5642249668896477,1.3024657692685715,-1.7097057183907913,3.1321405186649782,3.1321405186649782,3.107855860657008,0,0,-4.835707598652294e-05,9.991966562339911e-05
+4833,1792922022920439442,1589865000000,1792922022920595832,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6761239810766406,-0.004890203113624976,0.09955078729379861,0.9999999753506981,2.6828725703647604e-05,6.683549518593359e-05,0.00018855954963787822,0.6761,-0.0046,0.09934961453152902,1.0,0.0,0.0,0.0,-0.5643490484808722,0.3942970280109803,1.8355645336843187,0.031088411719280853,0.0363297171043364,0.0035033884946943216,0.4605072358961757,1.6421212024314256,2.6778191521498433,0.10838989682251424,-0.02602107025964007,0.0028632572607521756,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.9165410782597059,0.9974825133092843,-1.8868984806344637,0.31699429311783334,1.5330776432940516,0.6130245112940688,1.3024657692685715,-1.8355645336843187,3.1893642499030355,3.1893642499030355,3.2541058606571003,0,0,-4.630470592656278e-05,-9.999872738054023e-05
+4954,1792922023928422567,1590873000000,1792922023924605937,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6761329067659135,-0.004894300320432178,0.09952053636045373,0.9999999729043195,2.3536213658168905e-05,8.311789913945097e-05,0.0001953757564403008,0.6761,-0.0046,0.09929900456203,1.0,0.0,0.0,0.0,-0.593047728725459,0.3992804526137135,1.9543967293455515,0.03136117083087353,0.03920589378353933,0.0034503096134310975,0.431808555651589,1.6471046270341587,2.796651347811076,0.10866265593410691,-0.023144893580437136,0.0028101783794889515,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.0198333577824825,1.0253988044651103,-2.1386534679236067,0.3067070758995923,1.7199707499488048,0.6322971105702808,1.3024657692685715,-1.9543967293455515,3.4411192371921784,3.4411192371921784,3.4053058606571955,0,0,-5.5428783594908875e-05,9.9465542772964e-05
+5066,1792922024861503322,1591806000000,1792922024856605118,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6761418619711211,-0.004893425911248128,0.09948802150764174,0.9999999707808591,2.2228502282218352e-05,9.686587433961468e-05,0.0002000101032362248,0.6761,-0.0046,0.09924365042442485,1.0,0.0,0.0,0.0,-0.6220892339699405,0.4158347626393608,2.0751087301460607,0.0319464806648832,0.04132258791682833,0.0033930353524121645,0.40276705040710736,1.663658937059806,2.9173633486115853,0.10924796576811659,-0.02102819944714814,0.0027529041184700185,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.0213983539165192,0.9979354535988265,-2.1906942768231583,0.3105502724778676,1.746152886408946,0.6124304796432566,1.3024657692685715,-2.0751087301460607,3.49316004609173,3.49316004609173,3.5452558606572837,0,0,-6.16849967591523e-05,-9.740769260256025e-12
+5180,1792922025811431214,1592756000000,1792922025808596287,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6761494548829181,-0.004896719235956477,0.09944750737424267,0.9999999682372295,1.8348213618283488e-05,0.00011090765123232587,0.00020574557206293258,0.6761,-0.0046,0.09918589675428663,1.0,0.0,0.0,0.0,-0.641688293693633,0.4354075207364616,2.205926003895718,0.03289219437085869,0.04251469484290328,0.0033155973435335315,0.38316799068341484,1.6832316951569068,3.0481806223612424,0.11019367947409207,-0.019836092521073184,0.0026754661095913855,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.056359929470024,1.0048082107138392,-2.279526612180132,0.31583409562064463,1.8077328678000777,0.6212721183421027,1.3024657692685715,-2.205926003895718,3.5819923814487034,3.5819923814487034,3.6877558606573735,0,0,-5.954921406955827e-05,-7.694110212697609e-05
+5270,1792922026561557541,1593506000000,1792922026560595596,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6761599366057379,-0.004894497400431405,0.09941105350216417,0.9999999733669208,-0.00012400305164275973,0.0001411563244093909,9.699050038157286e-05,0.6761,-0.0046,0.09913892009966047,1.0,0.0,0.0,0.0,-0.5325286833133087,0.6439027278594254,2.296594885226332,0.045874774779978825,0.03731434813397918,0.0033179261195394566,0.4923276010637392,1.8917269022798706,3.1388495036918567,0.12317625988321221,-0.025036439229997286,0.0026777948855973106,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.0107991951190956,1.0548403724325695,-2.2214187603719173,0.1301017294428854,1.7872558980699593,0.6959028164866362,1.3024657692685715,-2.296594885226332,3.5238845296404886,3.5238845296404886,3.8002558606574444,0,0,-6.707534216529443e-05,-9.999999025923074e-05
+5374,1792922027428591049,1594373000000,1792922027428595828,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6761714144160405,-0.00489394174225945,0.09936766195221089,0.9999999703793159,-0.00011666176898580021,0.0001591942899121627,0.00010831177915243105,0.6761,-0.0046,0.09906367612286465,1.0,0.0,0.0,0.0,-0.6351752356579545,0.551357233920061,2.4433429267005504,0.03930970353941102,0.0437685947645778,0.0032180853008617967,0.38968104871909337,1.7991814083405062,3.285597545166075,0.1166111886426444,-0.018582192599398667,0.0025779540669196507,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.24880812145533,1.015068753515017,-2.53860219692791,0.17862191017392265,2.045610452067131,0.6726327702421001,1.3024657692685715,-2.4433429267005504,3.8410679661964817,3.8410679661964817,3.9303058606575263,0,0,-0.00010298284460893837,-4.09352094151771e-05
+5498,1792922028461593098,1595406000000,1792922028460596557,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6761888909656779,-0.0049001981508825015,0.09931051687326463,0.9999999648163141,-0.00010473694979831104,0.00018342927700748722,0.00013112629931265562,0.6761,-0.0046,0.09897030071259631,1.0,0.0,0.0,0.0,-0.676762073311794,0.555690341611015,2.629345410104553,0.03881365753406124,0.047145310799788495,0.003112623498519607,0.34809421106525384,1.8035145160314603,3.4716000285700774,0.11611514263729462,-0.015205476564187973,0.002472492264577461,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.2337058413372946,0.9518112749322114,-2.7665318198705826,0.30890188980873795,2.159400744808334,0.5978501880927469,1.3024657692685715,-2.629345410104553,4.068997589139154,4.068997589139154,4.085255860657371,0,0,-7.042288741457436e-05,9.999999025923074e-05
+5614,1792922029428664217,1596373000000,1792922029424605394,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6761957375884898,-0.004901457675784275,0.09926476542022485,0.999999962075067,-9.811731457387531e-05,0.00019362434226504537,0.0001420399082521639,0.6761,-0.0046,0.09891469689996253,1.0,0.0,0.0,0.0,-0.6646950991897516,0.5170753297029029,2.6645133409698243,0.03575172413061989,0.047200238854016675,0.002105548555942477,0.3601611851872963,1.7648995041233482,3.506767959435349,0.11305320923385327,-0.015150548509959791,0.0014654173220003312,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.243802589939355,0.9715589110410086,-2.8870709088683992,0.34080858970009303,2.238724118073703,0.5969464607986775,1.3024657692685715,-2.6645133409698243,4.189536678136971,4.189536678136971,4.230305860657033,0,0,-5.657625976454727e-05,7.02938915672135e-05
+5722,1792922030328670005,1597273000000,1792922030328595883,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6762040532761916,-0.00490214166940442,0.09921908482188771,0.9999999583197725,-0.00010627292621561775,0.00020699627700693007,0.00014374256187446433,0.6761,-0.0046,0.09885180691427617,1.0,0.0,0.0,0.0,-0.654157073969843,0.4987660671427212,2.741339236678828,0.034099183606980416,0.047211772870635105,0.0019482521130063028,0.3706992104072049,1.7465902415631664,3.5835938551443527,0.1114006687102138,-0.015139014493341362,0.0013081208790641568,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.2630361562077823,1.0246939763049863,-2.8919653677314447,0.34244510096675956,2.248355567496289,0.6335193409888604,1.3024657692685715,-2.741339236678828,4.1944311370000165,4.1944311370000165,4.3653058606567186,0,0,-8.404399865910429e-05,-9.999999025923074e-05
+5828,1792922031211639257,1598156000000,1792922031208595691,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6762195251934735,-0.004907407460247907,0.0991692104087287,0.999999951573523,-0.00012124327924060803,0.00023266132706555072,0.00013951555498568035,0.6761,-0.0046,0.09877167646853285,1.0,0.0,0.0,0.0,-0.6626775107234236,0.521543762498887,2.858650141261192,0.03568446692661177,0.04817229510376229,0.001883894658183857,0.3621787736536243,1.7693679369193323,3.7009047597267166,0.11298595202984515,-0.01417849226021418,0.0012437634242417111,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.2985542117074247,1.0103332431759176,-3.041777121302586,0.35055850474724787,2.3471165428717313,0.62322677375194,1.3024657692685715,-2.858650141261192,4.344242890571158,4.344242890571158,4.49775586065641,0,0,-9.44779518327873e-05,-9.960937216580418e-05
+5954,1792922032261712783,1599206000000,1792922032260605189,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6762329107555319,-0.004908200960260618,0.09909872531706054,0.999999945091528,-0.00013008003399434074,0.0002556642417944528,0.00013774899461669392,0.6761,-0.0046,0.09867483389061268,1.0,0.0,0.0,0.0,-0.6833030852679549,0.5094958556242943,3.022591547675014,0.03458456209256376,0.0501720839963346,0.0017625307316478543,0.341553199109093,1.7573200300447396,3.8648461661405387,0.11188604719579714,-0.012178703367641866,0.0011223994977057085,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.329300483149234,0.9358506796411338,-3.274969069977731,0.3709383312383716,2.5014222994405353,0.5751516593561513,1.3024657692685715,-3.022591547675014,4.577434839246303,4.577434839246303,4.655255860656043,0,0,-8.743041612705337e-05,-6.0149591561964706e-05
+6074,1792922033261745603,1600206000000,1792922033256605707,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6762423990911659,-0.004914046244444113,0.09903002590038582,0.999999941152935,-0.0001269135302469961,0.00027152608422793893,0.00013893715231565507,0.6761,-0.0046,0.09858956125784223,1.0,0.0,0.0,0.0,-0.6545155077041646,0.49583498414076055,3.117430849389059,0.03255807023772518,0.04881764333998153,0.001650976601977703,0.37034077667288334,1.7436591585612058,3.9596854678545834,0.10985955534095856,-0.013533144023994937,0.0010108453680355573,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.3761270300153052,1.0011249033511396,-3.4255487448515076,0.3521534412304861,2.61287440928242,0.6147337812711051,1.3024657692685715,-3.117430849389059,4.728014514120079,4.728014514120079,4.805255860655693,0,0,-9.105947103584359e-05,-1.646610916054131e-05
+6186,1792922034195737030,1601140000000,1792922034192595677,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6762554977760674,-0.0049173643336702325,0.09896150190503447,0.9999999339892035,-0.00013246047353957972,0.00029322489658190374,0.00014120140215818434,0.6761,-0.0046,0.09849688301161749,1.0,0.0,0.0,0.0,-0.654325813486814,0.4791933169992473,3.2382594796089768,0.031505248282320375,0.049180975869511596,0.001547905107557267,0.37053047089023394,1.7270174914196925,4.080514098074501,0.10880673338555376,-0.01316981149446487,0.0009077738736151212,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.3864473568589624,0.9861234642938367,-3.5376721076725204,0.3608361076019502,2.6899142040776223,0.6061361716534744,1.3024657692685715,-3.2382594796089768,4.840137876941092,4.840137876941092,4.945355860655367,0,0,-0.0001020494979867267,-7.705081991738467e-05
+6306,1792922035195794845,1602140000000,1792922035192595551,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6762711526069585,-0.004915464921790765,0.09888405790514933,0.9999999266205093,-0.0001275313316051773,0.0003177108277949513,0.00014490489918248323,0.6761,-0.0046,0.09839653528387707,1.0,0.0,0.0,0.0,-0.6615227304885712,0.45728738301034255,3.3476920085896174,0.029441482942125674,0.04919710963057774,0.0014355735960765192,0.36333355388847666,1.7051115574307878,4.189946627055142,0.10674296804535906,-0.013153677733398726,0.0007954423621343733,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.356558864386271,0.9318507880648944,-3.648163093161522,0.37669128212174363,2.751749316661919,0.5723270669652509,1.3024657692685715,-3.3476920085896174,4.950628862430094,4.950628862430094,5.095355860655017,0,0,-0.00010274569922227717,-9.980689471967281e-05
+6426,1792922036195779679,1603140000000,1792922036188605142,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6762843157827699,-0.004921381328411104,0.09879694096712308,0.9999999181317708,-0.0001358236884397409,0.0003391161328168576,0.0001474160441132992,0.6761,-0.0046,0.09828578107084474,1.0,0.0,0.0,0.0,-0.6434500733767197,0.43601211356009073,3.4673910352494373,0.02737637190066483,0.049209858773033154,0.0013180260945704772,0.38140621100032823,1.683836287980536,4.309645653714962,0.10467785700389821,-0.01314092859094331,0.0006778948606283314,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.392744850569378,1.045425201417521,-3.8441215054099613,0.3454952669715383,2.8900509048093324,0.6517982669510092,1.3024657692685715,-3.4673910352494373,5.146587274678533,5.146587274678533,5.2453558606546675,0,0,-0.0001156033764123324,-2.948410867706556e-05
+6528,1792922037045879362,1603990000000,1792922037044596312,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6762949715670808,-0.004921813290191257,0.09871947245500286,0.9999999122546609,-0.00013850652851164386,0.0003553673892175502,0.0001465042493379679,0.6761,-0.0046,0.09818967945377284,1.0,0.0,0.0,0.0,-0.6150547853592512,0.4128654682786117,3.5570142261092146,0.025344221691219165,0.048215784799387304,0.0012103030378595118,0.4098014990177967,1.660689642699057,4.399268844574739,0.10264570679445255,-0.014135002564589157,0.000570171803917366,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.4078695164250967,1.031849145359934,-3.9536078367199994,0.35599661216572837,2.9711134277196356,0.642411522090347,1.3024657692685715,-3.5570142261092146,5.256073605988571,5.256073605988571,5.37285586065437,0,0,-0.00011263784723966464,-8.316744101589108e-05
+6632,1792922037911838467,1604856000000,1792922037908605358,DOWN_FORCE_DETACH,1,0.061,0.06100170686841011,0.6763066792576745,-0.00492517555821723,0.09863413894803932,0.9999999045199571,-0.00014976116306969646,0.00037456449325823794,0.00014027107866874987,0.6761,-0.0046,0.09808728999363785,1.0,0.0,0.0,0.0,-0.6113874105287831,0.38020157981037306,3.6170511612113776,0.023316695350245872,0.047229492214883616,0.0011229894205248409,0.41346887384826486,1.6280257542308183,4.459305779676902,0.10061818045347926,-0.01512129514909285,0.00048285818658269495,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.3753653488002278,0.9992764746792658,-4.09837543637742,0.37244287887971517,3.0564949624290407,0.6210201003966704,1.3024657692685715,-3.6170511612113776,5.400841205645992,5.400841205645992,5.502755860654068,0,0,-0.00012546601306721928,3.200431371240428e-05
+6748,1792922038878886970,1605823000000,1792922038876605375,DOWN_FORCE_DETACH,1,0.061,0.06100170686841011,0.6763208530877002,-0.004932364424764596,0.0985289623607852,0.9999998948014097,-0.00014741794366450022,0.00040007443737615254,0.0001415924722758966,0.6761,-0.0046,0.09795632859249838,1.0,0.0,0.0,0.0,-0.5873351829863471,0.34837701819641453,3.742511375995857,0.02127586288012917,0.04622784961582696,0.0009862975180624455,0.4375211013907007,1.5962011926168598,4.584765994461382,0.09857734798336255,-0.016122937748149508,0.00034616628412029973,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.3969449506319696,0.9840303397381303,-4.187679337249785,0.3862242398679041,3.1255282735793144,0.6138467018731226,1.3024657692685715,-3.742511375995857,5.490145106518356,5.490145106518356,5.64780586065373,0,0,-0.00014122425478632484,-9.982866896874327e-05
+6858,1792922039795924313,1606740000000,1792922039792605720,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.676333610261795,-0.004932648916471867,0.0984163121401812,0.9999998860726216,-0.00014261016922223946,0.00042148417780410013,0.0001459829982463716,0.6761,-0.0046,0.09782016847822804,1.0,0.0,0.0,0.0,-0.585781654806951,0.31819043602457375,3.836140644111791,0.019215124646683346,0.04624805527131835,0.0008877814975097659,0.4390746295700969,1.566014610445019,4.6783952625773155,0.09651660974991673,-0.01610273209265811,0.00024765026356762007,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.4789973733611586,0.9691127315645836,-4.358363239515526,0.39255615595731536,3.2573681570767525,0.6051393869307562,1.3024657692685715,-3.836140644111791,5.660829008784098,5.660829008784098,5.785355860653409,0,0,-0.00015191973954353566,2.5126437377393353e-05
+6956,1792922040611952392,1607556000000,1792922040608605385,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6763469310360023,-0.00493386324674481,0.09831183745066442,0.9999998763044716,-0.00014052302219211423,0.00044302443603512893,0.00015105143201615907,0.6761,-0.0046,0.0976907494720619,1.0,0.0,0.0,0.0,-0.5733868732895144,0.28870428641391066,3.9150204946024925,0.01718465125701897,0.04525701218878138,0.0007866844737077904,0.4514694110875334,1.536528460834356,4.757275113068017,0.09448613636025235,-0.017093775175195083,0.00014655323976564452,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.448636840314861,0.9272241215579068,-4.377234528073709,0.41513617114799584,3.269105474609914,0.5791425648149012,1.3024657692685715,-3.9150204946024925,5.67970029734228,5.67970029734228,5.907755860653124,0,0,-0.00016566098248324413,-9.68759059346624e-05
+7057,1792922041454041954,1608398000000,1792922041452605540,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6763611710798643,-0.004937699346136466,0.09819521692699748,0.9999998649012869,-0.0001407774471269234,0.00046775332460476094,0.0001517524622695505,0.6761,-0.0046,0.09754883182176922,1.0,0.0,0.0,0.0,-0.5633167674974822,0.27200440242586055,4.024776763270363,0.015122052770311728,0.04527186708972021,0.000676322239228822,0.46153951687956574,1.5198285768463058,4.867031381735887,0.09242353787354511,-0.017078920274256254,3.6191005286676166e-05,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.449263202381676,0.8926786293616461,-4.539346001482738,0.451074778218675,3.3774053333834506,0.5617547985539599,1.3024657692685715,-4.024776763270363,5.841811770751309,5.841811770751309,6.034055860652829,0,0,-0.00017471384713560324,-9.980478529592602e-05
+7155,1792922042271052228,1609215000000,1792922042268605557,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6763782730555586,-0.004940356652749461,0.09807416243521438,0.9999998488295889,-0.00016052190823576552,0.0004981218645804401,0.0001410354162569313,0.6761,-0.0046,0.09739906870058158,1.0,0.0,0.0,0.0,-0.5360886904484488,0.24088539938095876,4.123463196766839,0.013114517412906673,0.04326334112041923,0.0005455821991267528,0.4887675939285992,1.488709573801404,4.965717815232364,0.09041600251614006,-0.019087446243557234,-9.454903481539302e-05,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.485750987605191,0.9133302356646305,-4.757368426917939,0.4509255820699272,3.5314625828119524,0.5720913063740317,1.3024657692685715,-4.123463196766839,6.05983419618651,6.05983419618651,6.156605860652544,0,0,-0.0001866033070882248,9.999999025923074e-05
+7257,1792922043121063358,1610065000000,1792922043116605792,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6763913616292521,-0.004944578360445444,0.09792760439190738,0.9999998374610621,-0.00015622517175012336,0.0005195938399070522,0.0001487839060531694,0.6761,-0.0046,0.09723145643656726,1.0,0.0,0.0,0.0,-0.5232199897798903,0.19355092255980066,4.21351871162513,0.009381612428916788,0.04331070030632046,0.00042847527096772655,0.5016362945971576,1.441375096980246,5.055773330090655,0.08668309753215017,-0.019040087057656002,-0.00021165596297441933,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.4878716798369376,0.9266962710119674,-4.825152303987568,0.4565314070416284,3.588368336681167,0.5889272256936907,1.3024657692685715,-4.21351871162513,6.127618073256139,6.127618073256139,6.284105860652247,0,0,-0.00020733227485272986,9.105966955325612e-05
+7349,1792922043887130742,1610831000000,1792922043884605320,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6764092975842844,-0.004948775044851102,0.09779241088279679,0.9999998219756221,-0.00015166418061177657,0.0005480125642975388,0.00015547280810457943,0.6761,-0.0046,0.09706679022346557,1.0,0.0,0.0,0.0,-0.5128441071914597,0.15074721449588036,4.322363740662568,0.006974049120890641,0.042325851148930324,0.00030270595844492657,0.5120121771855882,1.3985713889163256,5.1646183591280925,0.08427553422412402,-0.020024936215046137,-0.0003374252754972193,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.5417700687124642,0.8505853632193437,-4.930710622711983,0.48299602251039275,3.6835480046051368,0.5370139841187449,1.3024657692685715,-4.322363740662568,6.233176391980554,6.233176391980554,6.399005860651979,0,0,-0.00022156419023503104,9.652803142768391e-05
+7448,1792922044712081063,1611656000000,1792922044704595922,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6764206412571637,-0.004950717033215937,0.09762522753482956,0.9999998109828698,-0.00015822261618729462,0.0005671150637718636,0.0001510734821032338,0.6761,-0.0046,0.09688003225020514,1.0,0.0,0.0,0.0,-0.4739826888628311,0.12515970941130283,4.412487255864806,0.004075316815573382,0.040319038560260104,0.0011416856721438377,0.5508735955142168,1.372983883831748,5.254741874330331,0.08137680191880677,-0.022031748803716365,0.0005015544382016918,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.534044909526721,0.7378498184438589,-4.941752324900382,0.5418866867094931,3.706191496304087,0.47027278403187184,1.3024657692685715,-4.412487255864806,6.244218094168954,6.244218094168954,6.52275586065169,0,0,-0.00023285299774053326,-9.999506364455896e-05
+7536,1792922045446153268,1612390000000,1792922045440605472,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.676432563237937,-0.004957553566119683,0.09746907972532973,0.999999797944274,-0.00015314574096820114,0.0005871047735076165,0.00016555555684460865,0.6761,-0.0046,0.09670548233890348,1.0,0.0,0.0,0.0,-0.4643727868116445,0.05483428025288695,4.516986248188755,-0.00010449874719492547,0.03938096248173312,2.3424513174933616e-05,0.5604834975654034,1.3026584546733322,5.35924086665428,0.07719698635603846,-0.022969824882243344,-0.0006167067207672123,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.5236661322664546,0.774559944762174,-5.101115647611986,0.5331546838145685,3.8222535013641705,0.4964578713677912,1.3024657692685715,-4.516986248188755,6.403581416880558,6.403581416880558,6.632855860651434,0,0,-0.00024292944898337965,-9.999990699250389e-05
+7619,1792922046137172412,1613081000000,1792922046132595758,DOWN_FORCE_DETACH,1,0.061,0.06100170686841011,0.6764466788007308,-0.004959254596269395,0.09731799682772158,0.9999997823296799,-0.00015824078196997808,0.0006114315665433383,0.00016701721896507428,0.6761,-0.0046,0.09653170184642688,1.0,0.0,0.0,0.0,-0.4428381235759037,0.032683710942873034,4.54303887388189,-0.0021597584682004206,0.038459931725640176,0.0009306730825918549,0.5820181608011442,1.2805078853633183,5.385293492347414,0.07514172663503296,-0.023890855638336286,0.00029054184864970905,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.525922605305594,0.6597895134719058,-5.122244839254823,0.5813046476631539,3.8471288674014668,0.42368974985029273,1.3024657692685715,-4.54303887388189,6.4247106085233945,6.4247106085233945,6.736505860651192,0,0,-0.0002633756184353394,-9.999999025923074e-05
+7693,1792922046754170552,1613698000000,1792922046752595783,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6764589565890738,-0.004960492307379228,0.09716779254839786,0.999999766736741,-0.0001889692231018155,0.0006326205267941202,0.00014849656390136977,0.6761,-0.0046,0.0963632502736421,1.0,0.0,0.0,0.0,-0.41559821394490915,0.03953246010913869,4.655136033056438,-0.0011323435524540626,0.037309379089567773,0.0009035284072121974,0.6092580704321388,1.287356634529584,5.497390651521963,0.07616914155077932,-0.025041408274408695,0.00026339717327005153,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.5278859742520425,0.7475417308783848,-5.232255362521128,0.5789275664047444,3.924784956840126,0.48553915850805385,1.3024657692685715,-4.655136033056438,6.534721131789699,6.534721131789699,6.829055860650977,0,0,-0.0002835477691212881,-9.405588394096327e-05
+7766,1792922047362238183,1614306000000,1792922047356605384,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6764712311369446,-0.00495998364338278,0.09700891012076414,0.9999997553428184,-0.00016069457351815502,0.0006538335497054852,0.00016563849411663776,0.6761,-0.0046,0.0961839328000329,1.0,0.0,0.0,0.0,-0.36863731882479045,0.0325461060877994,4.732944063426951,-0.002088288610439387,0.03432821656986122,0.0007840198391291374,0.6562189655522574,1.2803702805082446,5.575198681892475,0.075213196492794,-0.028022570794115242,0.00014388860518699161,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.518038753439823,0.7991569163322743,-5.345518837948958,0.578402372985145,4.008488752138961,0.5281324342155347,1.3024657692685715,-4.732944063426951,6.64798460721753,6.64798460721753,6.920255860650764,0,0,-0.0003071787118655563,-9.75466888083531e-05
+7841,1792922047987228392,1614931000000,1792922047980595716,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6764858354011867,-0.00496432993232425,0.09683510733273996,0.9999997459149758,-0.00011198437886265366,0.0006768194490220131,0.00017025798267194077,0.6761,-0.0046,0.09598614015754406,1.0,0.0,0.0,0.0,-0.3219607504460643,0.03435578029877839,4.833703794098277,-0.002051021145603793,0.03225073456974021,0.0006792833705119638,0.7028955339309836,1.2821799547192236,5.675958412563801,0.07525046395762959,-0.030100052794236255,3.9152136569817955e-05,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.563740973659721,0.8613452025622199,-5.425694531684714,0.5826041904469708,4.081288283796739,0.5635225457969857,1.3024657692685715,-4.833703794098277,6.728160300953285,6.728160300953285,7.0140058606505455,0,0,-0.00031952211941163453,-3.6318166556031886e-05
+7916,1792922048612207726,1615556000000,1792922048608595872,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6764954800697678,-0.0049605062229980375,0.09664518183419535,0.9999997325811977,-0.00013651461121978566,0.0006912876928694864,0.00017252676307099592,0.6761,-0.0046,0.09578323488560903,1.0,0.0,0.0,0.0,-0.2956521393196547,-0.003310910647861487,4.9227679046144805,-0.005075221174413905,0.030263407381797724,0.000545207626714959,0.7292041450573932,1.2445132637725838,5.765022523080005,0.07222626392881948,-0.03208737998217874,-9.492360722718683e-05,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.5553948717628856,0.8322110483398223,-5.490539786364423,0.6011002429550371,4.132289480865469,0.547925961038459,1.3024657692685715,-4.9227679046144805,6.793005555632995,6.793005555632995,7.107755860650327,0,0,-0.00033096276112340304,-9.999996250365512e-05
+7982,1792922049162196460,1616106000000,1792922049160595891,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6765036212434501,-0.004964480527084877,0.09646879171460811,0.9999997209802656,-0.0001535588446020521,0.0007025381769897173,0.00017983894575518048,0.6761,-0.0046,0.09559876865132742,1.0,0.0,0.0,0.0,-0.2721869461169151,-0.04690469546665543,5.020340197588065,-0.008133080473631468,0.02928803394146743,0.0004181703296425815,0.7526693382601328,1.2009194789537898,5.86259481605359,0.06916840462960192,-0.033062753422509035,-0.00022196090429956437,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.5330670248804825,0.86701336576609,-5.647343436511674,0.5990902541612321,4.240162911001969,0.5742611358909717,1.3024657692685715,-5.020340197588065,6.949809205780245,6.949809205780245,7.190255860650135,0,0,-0.00033708183028583063,9.877705184203051e-05
+8049,1792922049721221869,1616665000000,1792922049716595580,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6765123159148828,-0.004967337109742254,0.09629025646314963,0.9999997077837011,-0.00017126031916180583,0.0007174686627132133,0.00017828067140944267,0.6761,-0.0046,0.09540719433398391,1.0,0.0,0.0,0.0,-0.23293062305173018,-0.09456967867488353,5.04132618780916,-0.011120446179871624,0.026304680758614474,0.00032451155882796213,0.7919256613253177,1.1532544957455617,5.883580806274685,0.06618103892336176,-0.03604610660536199,-0.00031561967511418374,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.482098535523816,0.7454976414105036,-5.651350418114072,0.6520819987859166,4.24336380051182,0.5021965562147428,1.3024657692685715,-5.04132618780916,6.953816187382643,6.953816187382643,7.274105860649939,0,0,-0.00035094610742056185,-9.999126113069962e-05
+8120,1792922050312256175,1617256000000,1792922050308596419,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6765271577255014,-0.004969515892383662,0.09609544099510749,0.999999691005312,-0.00017396057847979623,0.0007394417723933288,0.00017998813075779352,0.6761,-0.0046,0.09519336846805104,1.0,0.0,0.0,0.0,-0.2312333421183167,-0.10847414675381395,5.089088858202825,-0.013170782498251321,0.026331044823422356,0.0002628477526054504,0.7936229422587312,1.1393500276666313,5.931343476668349,0.06413070260498206,-0.03601974254055411,-0.00037728348133669545,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.5740336483447765,0.7644993228564431,-5.69983397794887,0.6557644686194968,4.29917550756415,0.5176674632725377,1.3024657692685715,-5.089088858202825,7.0022997472174415,7.0022997472174415,7.362755860649733,0,0,-0.0003740070380162371,-9.999999025923074e-05
+8185,1792922050854254751,1617798000000,1792922050848605290,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6765358699225783,-0.0049725329249949825,0.0958987983044627,0.9999996928601439,-8.13080131602994e-05,0.0007528091684368141,0.00017997179026276665,0.6761,-0.0046,0.09498437296900192,1.0,0.0,0.0,0.0,-0.20245170241523291,-0.1512480053701819,5.168597126951379,-0.015203330940431303,0.025340491987434287,0.000163271856283925,0.822404581961815,1.0965761690502633,6.010851745416904,0.06209815416280208,-0.03701029537654218,-0.0004768593776582209,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.5209592926134414,0.6636969856760682,-5.791741743101016,0.694026370174083,4.3554065523759835,0.4598107523024213,1.3024657692685715,-5.168597126951379,7.094207512369588,7.094207512369588,7.444055860649543,0,0,-0.0003956277476416511,-9.262999675486156e-05
+8240,1792922051312285024,1618256000000,1792922051308595821,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6765439311803711,-0.00496747872195,0.09572846894449645,0.9999996777143365,-0.00011860642415057394,0.0007688779778185294,0.00017542308504260554,0.6761,-0.0046,0.09479884856426973,1.0,0.0,0.0,0.0,-0.1722429931591356,-0.1781876367717996,5.238712487945263,-0.017175061714167564,0.023337813292160697,5.623211109083545e-05,0.8526132912179123,1.0696365376486456,6.080967106410788,0.06012642338906582,-0.03901297407181577,-0.0005838991228513104,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.508933012539964,0.8046409823909876,-5.848681635564823,0.6511449725373377,4.397477860373664,0.5442509590378994,1.3024657692685715,-5.238712487945263,7.151147404833394,7.151147404833394,7.512755860649383,0,0,-0.0004132886485639072,-9.999997638144293e-05
+8299,1792922051804360902,1618748000000,1792922051804595872,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6765502345272228,-0.004975914742505862,0.09552709328168595,0.9999996651062463,-0.00014465537032180918,0.0007780767849708686,0.00018681969909408803,0.6761,-0.0046,0.094592666040147,1.0,0.0,0.0,0.0,-0.1575070999064596,-0.21944028574875052,5.316478518772519,-0.019657438219206715,0.022582759249819062,-5.259252186353878e-05,0.8673491844705883,1.0283838886716947,6.158733137238044,0.05764404688402667,-0.0397680281141574,-0.0006927237558056847,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.4843243041543643,0.7325311018770089,-5.882557029339238,0.6749351361581459,4.425392951905146,0.5028308177952037,1.3024657692685715,-5.316478518772519,7.185022798607809,7.185022798607809,7.586555860649211,0,0,-0.0004267699613938732,-9.999999025923074e-05
+8354,1792922052262401926,1619206000000,1792922052256595826,DOWN_FORCE_DETACH,1,0.061,0.06100236251950264,0.6765596496849318,-0.004975692596595156,0.09533354031326587,0.9999996503458083,-0.00017580640148449127,0.0007917122384630279,0.0001817552367487786,0.6761,-0.0046,0.09439446176435431,1.0,0.0,0.0,0.0,-0.13861375373743468,-0.2279810487288838,5.377743963955375,-0.020251737841957766,0.021364985990076725,0.0008803999285531852,0.8862425306396132,1.0198431256915614,6.219998582420899,0.05704974726127562,-0.04098580137389974,0.00024026869461103937,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.574008789307951,0.744216456665605,-5.932184733168179,0.6725955758815069,4.4912417089759,0.5155695280159474,1.3024657692685715,-5.377743963955375,7.23465050243675,7.23465050243675,7.655255860649051,0,0,-0.00043801427488806963,-9.999999025923074e-05
+8409,1792922052721419098,1619665000000,1792922052720605308,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.676563040258391,-0.0049746099362561755,0.09513470831477251,0.9999996473434415,-0.00017151737455421733,0.000795168745878439,0.00018720126257924788,0.6761,-0.0046,0.09419094699532769,1.0,0.0,0.0,0.0,-0.09627108623118885,-0.26618805681780755,5.402165882223466,-0.02326518703356984,0.019361263785489247,0.0008273828482360033,0.928585198145859,0.9816361176026377,6.244420500688991,0.05403629806966354,-0.04298952357848722,0.0001872516142938574,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.537471320448479,0.7095135285294587,-5.990067225881062,0.6975631838278652,4.532317864998187,0.5041809749242848,1.3024657692685715,-5.402165882223466,7.292532995149633,7.292532995149633,7.724105860648891,0,0,-0.00044862325946778823,-9.94626978264634e-05
+8460,1792922053146437399,1620090000000,1792922053144595639,DOWN_FORCE_DETACH,1,0.061,0.06100105121731758,0.6765691222485997,-0.0049667319669154135,0.09494641487043665,0.9999996408318561,-0.0001698506510177031,0.000806105565365343,0.00017641881073194487,0.6761,-0.0046,0.09399638703812935,1.0,0.0,0.0,0.0,-0.05512368215112373,-0.2631094944624248,5.407824522821785,-0.02215551140905151,0.01589906368471935,0.0007836358241159206,0.9697326022259242,0.9847146799580204,6.250079141287309,0.05514597369418187,-0.046451723679257116,0.0001435045901737747,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.5377966114915553,0.6973930818358695,-6.061096198533167,0.7055615198851194,4.583784912339136,0.5018126705194116,1.3024657692685715,-5.407824522821785,7.363561967801738,7.363561967801738,7.787855860648742,0,0,-0.0004660490814892545,-9.999999025923074e-05
+8516,1792922053607405161,1620551000000,1792922053604596307,DOWN_SETTLE,1,0.061,0.06100236251950264,0.676566979779418,-0.004964927761715706,0.09474781691460689,0.9999996525159855,-9.5581141757756e-05,0.0008010027858969248,0.00018886385275231892,0.6761,-0.0046,0.09381291836622041,1.0,0.0,0.0,0.0,0.04402199852430355,-0.28973302000855794,5.367645108635847,-0.025025346373161977,0.010673417411543006,-0.0003183597582978949,1.0688782829013515,0.9580911544118873,6.209899727101372,0.052276138730071406,-0.05167736995243346,-0.0009584909922400408,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,2.476982969779269,0.7287428703656625,-5.959729517030104,0.6880551499939476,4.530720921530326,0.5193319796600163,1.3024657692685715,-5.367645108635847,7.262195286298676,0.0,0.0,0,0,-0.00010625382948610306,0.0010732710049101318
+8603,1792922054328384517,1621272000000,1792922054328595451,DOWN_PEAK_HOLD,1,0.061,0.06100236251950264,0.6765285984209457,-0.004958479432180094,0.09463149934638666,0.9999997065828186,-9.394478964302578e-05,0.0007292320175747305,0.00019409323075899907,0.6761,-0.0046,0.09380332269235855,1.0,0.0,0.0,0.0,0.3079500519753591,-0.530369540512808,4.4212006815773774,-0.040132323758736856,-0.0073443377513817965,-0.0010078107055302957,1.332806336352407,0.7174546339076372,5.263455300042902,0.03716916134449653,-0.06969512511535826,-0.0016479419394724417,1.024856284377048,1.2478241744204452,0.8422546184655245,0.07730148510323338,-0.062350787363976465,-0.0006401312339421459,1,1.9653190399937235,0.8048602916621599,-4.91562479510032,0.657883094316524,3.7830300867994238,0.5649624776459966,1.3024657692685715,-4.4212006815773774,6.218090564368891,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_12.5/press_depth_01/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,1792922004904224255,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.651238725e-09,-5.876562934e-10,2.784172892e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455041e-01,-1.167028337e-04,8.303256929e-01
+1,9.166666667e-01,DOWN_FORCE_DETACH,1792922005806815927,2.404980242e-06,5.020140526e-07,7.187628572e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.549549855e-07,-1.723883065e-08,3.853085628e-09,7.019580378e-01,-2.176872097e-05,8.601438060e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457504e-01,-1.167194849e-04,8.303256968e-01
+2,1.916666667e+00,DOWN_FORCE_DETACH,1792922006789518270,1.345414519e-05,7.696781105e-07,7.194410503e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.185721290e-07,-2.279275887e-08,9.588045025e-09,7.019690870e-01,-2.150105691e-05,8.601502816e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458140e-01,-1.167250388e-04,8.303257025e-01
+3,2.950000000e+00,DOWN_FORCE_DETACH,1792922007870948126,1.932611239e-05,-3.729343628e-08,2.251898377e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.342260945e-07,-2.453454060e-08,1.295943186e-08,7.019749589e-01,-2.230802846e-05,8.601453391e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458297e-01,-1.167267806e-04,8.303257059e-01
+4,3.983333333e+00,DOWN_FORCE_DETACH,1792922008886443279,1.829889616e-05,2.386550323e-06,-4.835155781e-06,2.101928537e-05,1.106494678e-06,2.660758646e-06,2.286587175e-05,9.981614575e-07,2.674655698e-06,7.019739317e-01,-1.988418470e-05,8.601382521e-01,7.019766521e-01,-2.116424034e-05,8.601457480e-01,7.027683613e-01,-1.157040846e-04,8.303283676e-01
+5,5.050000000e+00,DOWN_FORCE_DETACH,1792922009950817819,2.881992198e-05,2.110866105e-06,-1.736688843e-05,2.141862822e-05,-5.271856871e-06,-1.684926185e-05,2.321895883e-05,-5.110465743e-06,-1.642197380e-05,7.019844527e-01,-2.015986892e-05,8.601257204e-01,7.019770514e-01,-2.754259189e-05,8.601262380e-01,7.027687144e-01,-1.218127118e-04,8.303092709e-01
+6,6.016666667e+00,DOWN_FORCE_DETACH,1792922010917706717,5.013515879e-05,-4.702298793e-07,-3.553554962e-05,4.008978306e-05,-4.932739434e-06,-2.333686749e-05,4.304251924e-05,-4.775347741e-06,-2.308043131e-05,7.020057680e-01,-2.274096490e-05,8.601075517e-01,7.019957226e-01,-2.720347446e-05,8.601197504e-01,7.027885380e-01,-1.214775938e-04,8.303026125e-01
+7,7.050000000e+00,DOWN_FORCE_DETACH,1792922011949446425,6.356024592e-05,-1.063726507e-05,-5.594153809e-05,6.407986594e-05,-1.010774783e-05,-5.460815666e-05,6.822904056e-05,-9.755510634e-06,-5.387100033e-05,7.020191931e-01,-3.290800009e-05,8.600871457e-01,7.020197127e-01,-3.237848285e-05,8.600884791e-01,7.028137245e-01,-1.264577567e-04,8.302718219e-01
+8,8.133333333e+00,DOWN_FORCE_DETACH,1792922013018782796,7.183372054e-05,-3.807070986e-06,-6.388207038e-05,6.407986594e-05,-1.010774783e-05,-5.460815666e-05,6.877277040e-05,-9.785050955e-06,-5.433661736e-05,7.020274665e-01,-2.607780601e-05,8.600792052e-01,7.020197127e-01,-3.237848285e-05,8.600884791e-01,7.028142682e-01,-1.264872970e-04,8.302713563e-01
+9,9.266666667e+00,DOWN_FORCE_DETACH,1792922014194506099,8.841472810e-05,-2.244225552e-06,-7.994233867e-05,7.670778204e-05,-9.613927611e-06,-7.002940497e-05,8.212858573e-05,-9.347846355e-06,-6.964026101e-05,7.020440475e-01,-2.451496057e-05,8.600631449e-01,7.020323406e-01,-3.188466263e-05,8.600730578e-01,7.028276240e-01,-1.260500924e-04,8.302560527e-01
+10,1.026666667e+01,DOWN_FORCE_DETACH,1792922015176586908,9.987959311e-05,-3.507620738e-06,-1.050106495e-04,9.821160371e-05,1.502473006e-07,-1.024532892e-04,1.046419901e-04,-4.491228638e-08,-1.017464788e-04,7.020555124e-01,-2.577835576e-05,8.600380766e-01,7.020538444e-01,-2.212048772e-05,8.600406340e-01,7.028501374e-01,-1.167471583e-04,8.302239464e-01
+11,1.125000000e+01,DOWN_FORCE_DETACH,1792922016160121824,1.040396494e-04,-7.811275313e-06,-1.241698392e-04,1.014258859e-04,-4.203512504e-06,-1.224192843e-04,1.081610066e-04,-4.222690390e-06,-1.216820334e-04,7.020596725e-01,-3.008201034e-05,8.600189174e-01,7.020570587e-01,-2.647424753e-05,8.600206680e-01,7.028536565e-01,-1.209249364e-04,8.302040109e-01
+12,1.223333333e+01,DOWN_FORCE_DETACH,1792922017159011055,1.103143614e-04,-5.109934315e-06,-1.405389077e-04,1.093996076e-04,-3.522465274e-06,-1.403820748e-04,1.164135800e-04,-3.584407846e-06,-1.395923004e-04,7.020659472e-01,-2.738066934e-05,8.600025483e-01,7.020650324e-01,-2.579320030e-05,8.600027052e-01,7.028619090e-01,-1.202866539e-04,8.301861006e-01
+13,1.318333333e+01,DOWN_FORCE_DETACH,1792922018092132613,1.234250871e-04,-7.785594231e-06,-1.544106584e-04,1.205808086e-04,-6.244030885e-06,-1.567698692e-04,1.281214279e-04,-6.214712513e-06,-1.559786815e-04,7.020790579e-01,-3.005632925e-05,8.599886766e-01,7.020762136e-01,-2.851476591e-05,8.599863174e-01,7.028736169e-01,-1.229169586e-04,8.301697142e-01
+14,1.413333333e+01,DOWN_FORCE_DETACH,1792922019025724684,1.327743734e-04,-7.997061297e-06,-1.763635073e-04,1.274694391e-04,-1.105440973e-05,-1.768285372e-04,1.355418447e-04,-1.087264576e-05,-1.760817391e-04,7.020884072e-01,-3.026779632e-05,8.599667237e-01,7.020831023e-01,-3.332514475e-05,8.599662587e-01,7.028810373e-01,-1.275748918e-04,8.301496112e-01
+15,1.513333333e+01,DOWN_FORCE_DETACH,1792922020057910965,1.388014268e-04,-8.562200465e-06,-1.995323380e-04,1.370500131e-04,-1.071345544e-05,-1.944209202e-04,1.456793799e-04,-1.056062420e-05,-1.937839102e-04,7.020944342e-01,-3.083293549e-05,8.599435549e-01,7.020926828e-01,-3.298419046e-05,8.599486663e-01,7.028911748e-01,-1.272628703e-04,8.301319090e-01
+16,1.611666667e+01,DOWN_FORCE_DETACH,1792922021040619907,1.462600388e-04,-1.280405574e-05,-2.219650059e-04,1.428763963e-04,-1.557870596e-05,-2.132339626e-04,1.518985157e-04,-1.523132056e-05,-2.126156657e-04,7.021018929e-01,-3.507479076e-05,8.599211222e-01,7.020985092e-01,-3.784944098e-05,8.599298533e-01,7.028973940e-01,-1.319335666e-04,8.301130772e-01
+17,1.701666667e+01,DOWN_FORCE_DETACH,1792922021941260682,1.541303332e-04,-1.284025476e-05,-2.444080114e-04,1.497485712e-04,-1.764043176e-05,-2.323378214e-04,1.590994975e-04,-1.723084069e-05,-2.318001102e-04,7.021097632e-01,-3.511098978e-05,8.598986792e-01,7.021053814e-01,-3.991116678e-05,8.599107494e-01,7.029045949e-01,-1.339330867e-04,8.300938928e-01
+18,1.796666667e+01,DOWN_FORCE_DETACH,1792922022923993588,1.613363696e-04,-2.192474818e-05,-2.741925560e-04,1.602729793e-04,-1.687544703e-05,-2.702731644e-04,1.698395523e-04,-1.653408052e-05,-2.694094632e-04,7.021169692e-01,-4.419548320e-05,8.598688947e-01,7.021159058e-01,-3.914618205e-05,8.598728141e-01,7.029153350e-01,-1.332363266e-04,8.300562834e-01
+19,1.895000000e+01,DOWN_FORCE_DETACH,1792922023929265754,1.716228092e-04,-1.565444367e-05,-3.017520435e-04,1.657848781e-04,-2.006488859e-05,-2.893878662e-04,1.757057908e-04,-1.959693418e-05,-2.888406109e-04,7.021272556e-01,-3.792517869e-05,8.598413352e-01,7.021214177e-01,-4.233562361e-05,8.598536994e-01,7.029212012e-01,-1.362991802e-04,8.300368523e-01
+20,1.990000000e+01,DOWN_FORCE_DETACH,1792922024857631938,1.828406000e-04,-2.137445336e-05,-3.316203423e-04,1.758960426e-04,-2.019974385e-05,-3.274438655e-04,1.860839255e-04,-1.971826585e-05,-3.266033207e-04,7.021384734e-01,-4.364518838e-05,8.598114669e-01,7.021315289e-01,-4.247047888e-05,8.598156434e-01,7.029315794e-01,-1.364205119e-04,8.299990896e-01
+21,2.085000000e+01,DOWN_FORCE_DETACH,1792922025807942604,1.907873835e-04,-2.379076621e-05,-3.700875248e-04,1.884161639e-04,-2.269393923e-05,-3.678093463e-04,1.989434255e-04,-2.215830244e-05,-3.667108845e-04,7.021464202e-01,-4.606150123e-05,8.597729997e-01,7.021440490e-01,-4.496467426e-05,8.597752779e-01,7.029444389e-01,-1.388605485e-04,8.299589820e-01
+22,2.160000000e+01,DOWN_FORCE_DETACH,1792922026560747007,2.020273430e-04,-2.012994532e-05,-4.070526916e-04,2.034079261e-04,-2.416010249e-05,-4.068451417e-04,2.143530195e-04,-2.356953952e-05,-4.054993221e-04,7.021576602e-01,-4.240068034e-05,8.597360345e-01,7.021590407e-01,-4.643083751e-05,8.597362421e-01,7.029598485e-01,-1.402717856e-04,8.299201936e-01
+23,2.246666667e+01,DOWN_FORCE_DETACH,1792922027429262336,2.117502069e-04,-1.817233692e-05,-4.520588818e-04,2.118733340e-04,-2.090853670e-05,-4.441964803e-04,2.230895892e-04,-2.044464656e-05,-4.428534269e-04,7.021673830e-01,-4.044307194e-05,8.596910284e-01,7.021675062e-01,-4.317927173e-05,8.596988908e-01,7.029685850e-01,-1.371468926e-04,8.298828395e-01
+24,2.350000000e+01,DOWN_FORCE_DETACH,1792922028460099594,2.293337164e-04,-2.486442815e-05,-5.098926297e-04,2.273648823e-04,-2.341535628e-05,-5.046504569e-04,2.389973148e-04,-2.289456741e-05,-5.031525181e-04,7.021849665e-01,-4.713516317e-05,8.596331946e-01,7.021829977e-01,-4.568609130e-05,8.596384368e-01,7.029844928e-01,-1.395968135e-04,8.298225404e-01
+25,2.445000000e+01,DOWN_FORCE_DETACH,1792922029427869553,2.386405199e-04,-3.116174122e-05,-5.530329951e-04,2.364756686e-04,-2.918757974e-05,-5.448612841e-04,2.483741465e-04,-2.844613354e-05,-5.436591983e-04,7.021942733e-01,-5.343247624e-05,8.595900542e-01,7.021921085e-01,-5.145831477e-05,8.595982260e-01,7.029938696e-01,-1.451483796e-04,8.297820337e-01
+26,2.531666667e+01,DOWN_FORCE_DETACH,1792922030328601333,2.462554180e-04,-3.137334009e-05,-6.004482796e-04,2.419822529e-04,-3.002178042e-05,-5.847425735e-04,2.539807788e-04,-2.926534702e-05,-5.836395323e-04,7.022018882e-01,-5.364407511e-05,8.595426390e-01,7.021976151e-01,-5.229251544e-05,8.595583447e-01,7.029994762e-01,-1.459675931e-04,8.297420534e-01
+27,2.620000000e+01,DOWN_FORCE_DETACH,1792922031213256067,2.591774745e-04,-2.953311428e-05,-6.540659546e-04,2.545396328e-04,-3.510306860e-05,-6.443831943e-04,2.666740727e-04,-3.411716771e-05,-6.430311466e-04,7.022148103e-01,-5.180384930e-05,8.594890213e-01,7.022101724e-01,-5.737380363e-05,8.594987040e-01,7.030121695e-01,-1.508194138e-04,8.296826618e-01
+28,2.726666667e+01,DOWN_FORCE_DETACH,1792922032261195922,2.739072379e-04,-3.304522998e-05,-7.234356215e-04,2.713365325e-04,-3.394234841e-05,-7.050065664e-04,2.840540682e-04,-3.309818995e-05,-7.038020967e-04,7.022295401e-01,-5.531596500e-05,8.594196516e-01,7.022269693e-01,-5.621308343e-05,8.594380807e-01,7.030295495e-01,-1.498004360e-04,8.296218908e-01
+29,2.825000000e+01,DOWN_FORCE_DETACH,1792922033261097420,2.838332133e-04,-3.948623732e-05,-7.900068115e-04,2.833846162e-04,-3.705855336e-05,-7.901893424e-04,2.961073550e-04,-3.616685379e-05,-7.883387049e-04,7.022394660e-01,-6.175697235e-05,8.593530804e-01,7.022390174e-01,-5.932928839e-05,8.593528979e-01,7.030416028e-01,-1.528690998e-04,8.295373542e-01
+30,2.920000000e+01,DOWN_FORCE_DETACH,1792922034193866974,2.969318982e-04,-4.280432655e-05,-8.585308068e-04,2.933180108e-04,-4.372719072e-05,-8.525330262e-04,3.061281480e-04,-4.258299032e-05,-8.507810401e-04,7.022525647e-01,-6.507506157e-05,8.592845564e-01,7.022489508e-01,-6.599792575e-05,8.592905542e-01,7.030516236e-01,-1.592852364e-04,8.294749119e-01
+31,3.010000000e+01,DOWN_FORCE_DETACH,1792922035193616669,3.123248318e-04,-4.543244462e-05,-9.337072468e-04,3.121089795e-04,-4.403019648e-05,-9.322370909e-04,3.252740171e-04,-4.296525380e-05,-9.302064553e-04,7.022679576e-01,-6.770317964e-05,8.592093800e-01,7.022677418e-01,-6.630093151e-05,8.592108501e-01,7.030707695e-01,-1.596674999e-04,8.293954865e-01
+32,3.106666667e+01,DOWN_FORCE_DETACH,1792922036192436638,3.241577310e-04,-4.273444937e-05,-1.025289514e-03,3.233479276e-04,-4.587746657e-05,-1.020766694e-03,3.364957045e-04,-4.476710862e-05,-1.018529285e-03,7.022797905e-01,-6.500518439e-05,8.591177977e-01,7.022789807e-01,-6.814820159e-05,8.591223205e-01,7.030819912e-01,-1.614693547e-04,8.293071636e-01
+33,3.191666667e+01,DOWN_FORCE_DETACH,1792922037044159475,3.348967852e-04,-4.554116109e-05,-1.100257061e-03,3.348083261e-04,-4.590637775e-05,-1.099689219e-03,3.478721426e-04,-4.481902324e-05,-1.097269262e-03,7.022905296e-01,-6.781189612e-05,8.590428302e-01,7.022904411e-01,-6.817711278e-05,8.590433980e-01,7.030933676e-01,-1.615212693e-04,8.292284236e-01
+34,3.280000000e+01,DOWN_FORCE_DETACH,1792922037913082723,3.471916830e-04,-5.089562782e-05,-1.185399148e-03,3.453506700e-04,-4.758993216e-05,-1.185958144e-03,3.582803682e-04,-4.645574432e-05,-1.183558366e-03,7.023028245e-01,-7.316636284e-05,8.589576881e-01,7.023009835e-01,-6.986066718e-05,8.589571291e-01,7.031037758e-01,-1.631579904e-04,8.291421345e-01
+35,3.376666667e+01,DOWN_FORCE_DETACH,1792922038879063388,3.619645496e-04,-5.397858903e-05,-1.292351536e-03,3.602890380e-04,-5.421611348e-05,-1.290215132e-03,3.730902449e-04,-5.287021820e-05,-1.287659597e-03,7.023175974e-01,-7.624932405e-05,8.588507357e-01,7.023159219e-01,-7.648684850e-05,8.588528721e-01,7.031185857e-01,-1.695724643e-04,8.290380333e-01
+36,3.468333333e+01,DOWN_FORCE_DETACH,1792922039796688939,3.743599149e-04,-5.962978275e-05,-1.403603925e-03,3.752438850e-04,-5.915373676e-05,-1.399008094e-03,3.878202758e-04,-5.763291168e-05,-1.396318827e-03,7.023299927e-01,-8.190051777e-05,8.587394833e-01,7.023308767e-01,-8.142447178e-05,8.587440791e-01,7.031333157e-01,-1.743351577e-04,8.289293741e-01
+37,3.550000000e+01,DOWN_FORCE_DETACH,1792922040615100237,3.885810275e-04,-6.020558710e-05,-1.507223049e-03,3.859944877e-04,-6.072768435e-05,-1.505860664e-03,3.983439123e-04,-5.919790866e-05,-1.502970902e-03,7.023442138e-01,-8.247632212e-05,8.586358642e-01,7.023416273e-01,-8.299841938e-05,8.586372266e-01,7.031438394e-01,-1.759001547e-04,8.288227220e-01
+38,3.635000000e+01,DOWN_FORCE_DETACH,1792922041450635413,4.046909755e-04,-6.097876394e-05,-1.621626895e-03,4.009286760e-04,-6.735834610e-05,-1.608804864e-03,4.131348358e-04,-6.558997562e-05,-1.606231613e-03,7.023603238e-01,-8.324949897e-05,8.585214603e-01,7.023565615e-01,-8.962908112e-05,8.585342824e-01,7.031586303e-01,-1.822922217e-04,8.287194613e-01
+39,3.718333333e+01,DOWN_FORCE_DETACH,1792922042269793514,4.199550432e-04,-6.649019359e-05,-1.743828396e-03,4.156783097e-04,-6.785350546e-05,-1.732038944e-03,4.275566780e-04,-6.606070992e-05,-1.729318759e-03,7.023755879e-01,-8.876092862e-05,8.583992588e-01,7.023713111e-01,-9.012424048e-05,8.584110483e-01,7.031730521e-01,-1.827629560e-04,8.285963742e-01
+40,3.801666667e+01,DOWN_FORCE_DETACH,1792922043122459255,4.340322292e-04,-6.869274118e-05,-1.890586630e-03,4.341178772e-04,-7.176390410e-05,-1.883947731e-03,4.455901971e-04,-6.990943755e-05,-1.880522935e-03,7.023896650e-01,-9.096347620e-05,8.582525006e-01,7.023897507e-01,-9.403463912e-05,8.582591395e-01,7.031910856e-01,-1.866116836e-04,8.284451700e-01
+41,3.878333333e+01,DOWN_FORCE_DETACH,1792922043891553832,4.483810358e-04,-7.585914233e-05,-2.031865769e-03,4.483280076e-04,-7.572452263e-05,-2.031353638e-03,4.591674283e-04,-7.377816707e-05,-2.027493379e-03,7.024040139e-01,-9.812987735e-05,8.581112215e-01,7.024039608e-01,-9.799525765e-05,8.581117336e-01,7.032046629e-01,-1.904804131e-04,8.282981995e-01
+42,3.958333333e+01,DOWN_FORCE_DETACH,1792922044710404518,4.630693810e-04,-7.419154826e-05,-2.192140710e-03,4.597086603e-04,-7.339116836e-05,-2.182061039e-03,4.697437169e-04,-7.156222254e-05,-2.178398960e-03,7.024187022e-01,-9.646228328e-05,8.579509465e-01,7.024153415e-01,-9.566190338e-05,8.579610262e-01,7.032152392e-01,-1.882644686e-04,8.281472940e-01
+43,4.031666667e+01,DOWN_FORCE_DETACH,1792922045447658534,4.747530299e-04,-8.201642074e-05,-2.350284055e-03,4.738244977e-04,-8.010219314e-05,-2.334298866e-03,4.830786469e-04,-7.800797348e-05,-2.330604435e-03,7.024303858e-01,-1.042871558e-04,8.577928032e-01,7.024294573e-01,-1.023729282e-04,8.578087884e-01,7.032285741e-01,-1.947102195e-04,8.279950885e-01
+44,4.100000000e+01,DOWN_FORCE_DETACH,1792922046135410264,4.881783396e-04,-8.091044609e-05,-2.498050054e-03,4.839846333e-04,-8.417528593e-05,-2.484001393e-03,4.922753498e-04,-8.202120837e-05,-2.480329380e-03,7.024438112e-01,-1.031811811e-04,8.576450372e-01,7.024396175e-01,-1.064460210e-04,8.576590858e-01,7.032377708e-01,-1.987234544e-04,8.278453635e-01
+45,4.160000000e+01,DOWN_FORCE_DETACH,1792922046757937404,4.999746443e-04,-8.597411855e-05,-2.654382428e-03,5.003592241e-04,-8.494850567e-05,-2.648274715e-03,5.077743913e-04,-8.280183441e-05,-2.643941253e-03,7.024556075e-01,-1.082448536e-04,8.574887048e-01,7.024559920e-01,-1.072192407e-04,8.574948125e-01,7.032532698e-01,-1.995040805e-04,8.276817517e-01
+46,4.220000000e+01,DOWN_FORCE_DETACH,1792922047365092906,5.106929143e-04,-8.567343248e-05,-2.812135740e-03,5.098742706e-04,-8.388447612e-05,-2.808602398e-03,5.161229486e-04,-8.182188316e-05,-2.803992187e-03,7.024663257e-01,-1.079441675e-04,8.573309515e-01,7.024655071e-01,-1.061552111e-04,8.573344848e-01,7.032616184e-01,-1.985241292e-04,8.275217007e-01
+47,4.283333333e+01,DOWN_FORCE_DETACH,1792922047986395555,5.250137507e-04,-8.549531452e-05,-2.988434416e-03,5.253958029e-04,-8.100772041e-05,-2.970913986e-03,5.308711674e-04,-7.894838691e-05,-2.966470069e-03,7.024806466e-01,-1.077660495e-04,8.571546528e-01,7.024810286e-01,-1.032784554e-04,8.571721733e-01,7.032763666e-01,-1.956506330e-04,8.273592228e-01
+48,4.346666667e+01,DOWN_FORCE_DETACH,1792922048609023181,5.365470288e-04,-8.686615522e-05,-3.173196547e-03,5.334894708e-04,-8.856969254e-05,-3.155357709e-03,5.375493191e-04,-8.621646955e-05,-3.150820924e-03,7.024921798e-01,-1.091368902e-04,8.569698907e-01,7.024891223e-01,-1.108404276e-04,8.569877295e-01,7.032830448e-01,-2.029187156e-04,8.271748720e-01
+49,4.403333333e+01,DOWN_FORCE_DETACH,1792922049165928314,5.450553656e-04,-8.992051996e-05,-3.351240997e-03,5.469215568e-04,-9.053242272e-05,-3.334032424e-03,5.498223054e-04,-8.818038063e-05,-3.329286597e-03,7.025006882e-01,-1.121912550e-04,8.567918462e-01,7.025025544e-01,-1.128031577e-04,8.568090548e-01,7.032953178e-01,-2.048826267e-04,8.269964063e-01
+50,4.460000000e+01,DOWN_FORCE_DETACH,1792922049723379536,5.549798347e-04,-9.306458277e-05,-3.528488295e-03,5.544732379e-04,-9.135349138e-05,-3.524088258e-03,5.557239281e-04,-8.897651765e-05,-3.518900143e-03,7.025106127e-01,-1.153353178e-04,8.566145989e-01,7.025101061e-01,-1.136242264e-04,8.566189990e-01,7.033012194e-01,-2.056787637e-04,8.268067928e-01
+51,4.518333333e+01,DOWN_FORCE_DETACH,1792922050313099883,5.670770396e-04,-9.542245228e-05,-3.725598575e-03,5.679961636e-04,-9.557903416e-05,-3.707236822e-03,5.680479062e-04,-9.308019126e-05,-3.702299791e-03,7.025227099e-01,-1.176931873e-04,8.564174887e-01,7.025236290e-01,-1.178497692e-04,8.564358504e-01,7.033135434e-01,-2.097824373e-04,8.266233931e-01
+52,4.570000000e+01,DOWN_FORCE_DETACH,1792922050853690298,5.788432228e-04,-9.560253788e-05,-3.916083036e-03,5.763263574e-04,-9.581616326e-05,-3.900745952e-03,5.749195035e-04,-9.348623086e-05,-3.895432399e-03,7.025344760e-01,-1.178732729e-04,8.562270042e-01,7.025319592e-01,-1.180868983e-04,8.562423413e-01,7.033204150e-01,-2.101884769e-04,8.264302605e-01
+53,4.615000000e+01,DOWN_FORCE_DETACH,1792922051312480318,5.840733426e-04,-9.453594447e-05,-4.095041928e-03,5.841961085e-04,-1.013904369e-04,-4.086800461e-03,5.812177564e-04,-9.887646620e-05,-4.080900348e-03,7.025397062e-01,-1.168066795e-04,8.560480453e-01,7.025398289e-01,-1.236611719e-04,8.560562868e-01,7.033267132e-01,-2.155787123e-04,8.262447926e-01
+54,4.661666667e+01,DOWN_FORCE_DETACH,1792922051803054337,5.937033625e-04,-9.659197627e-05,-4.287784967e-03,5.901080305e-04,-9.731594930e-05,-4.286828789e-03,5.852769680e-04,-9.497906514e-05,-4.280698757e-03,7.025493362e-01,-1.188627113e-04,8.558553023e-01,7.025457408e-01,-1.195866843e-04,8.558562585e-01,7.033307724e-01,-2.116813112e-04,8.260449942e-01
+55,4.708333333e+01,DOWN_FORCE_DETACH,1792922052262509112,6.010838071e-04,-1.011325895e-04,-4.486492399e-03,6.008551280e-04,-1.012454427e-04,-4.486464298e-03,5.943337015e-04,-9.875100058e-05,-4.480083856e-03,7.025567166e-01,-1.234033245e-04,8.556565948e-01,7.025564879e-01,-1.235161777e-04,8.556566229e-01,7.033398292e-01,-2.154532466e-04,8.258456091e-01
+56,4.753333333e+01,DOWN_FORCE_DETACH,1792922052720471211,6.080577011e-04,-1.000182985e-04,-4.680533523e-03,6.077856098e-04,-9.966570175e-05,-4.674611643e-03,5.995024564e-04,-9.710605125e-05,-4.668342642e-03,7.025636905e-01,-1.222890335e-04,8.554625537e-01,7.025634184e-01,-1.219364368e-04,8.554684756e-01,7.033449979e-01,-2.138082973e-04,8.256573503e-01
+57,4.796666667e+01,DOWN_FORCE_DETACH,1792922053147343406,6.105563708e-04,-9.217195979e-05,-4.873617841e-03,6.112067179e-04,-9.723640487e-05,-4.866183951e-03,6.010369986e-04,-9.476008202e-05,-4.859898319e-03,7.025661892e-01,-1.144426948e-04,8.552694694e-01,7.025668395e-01,-1.195071399e-04,8.552769033e-01,7.033465324e-01,-2.114623281e-04,8.254657946e-01
+58,4.843333333e+01,DOWN_SETTLE,1792922053604919997,6.112121425e-04,-9.308213652e-05,-5.068167751e-03,6.081836216e-04,-9.424408076e-05,-5.068303836e-03,5.956802490e-04,-9.204226544e-05,-5.062259159e-03,7.025668450e-01,-1.153528715e-04,8.550749195e-01,7.025638164e-01,-1.165148158e-04,8.550747834e-01,7.033411757e-01,-2.087445115e-04,8.252634338e-01
+59,4.916666667e+01,DOWN_PEAK_HOLD,1792922054326163078,5.699834759e-04,-8.751045487e-05,-5.188815347e-03,5.755630018e-04,-8.940141577e-05,-5.172242363e-03,5.596823928e-04,-8.724830710e-05,-5.169269080e-03,7.025256163e-01,-1.097811899e-04,8.549542719e-01,7.025311958e-01,-1.116721508e-04,8.549708449e-01,7.033051778e-01,-2.039505532e-04,8.251564238e-01

Fixed/digit/cylinder_PLA_12.5/press_depth_01/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+00,1.3741e-01,4.2008e-01,2.4542e+00,-6.7450e-02,4.6666e-02,7.8870e-04,-1.5029e-03,-3.5524e-04,2.0552e-04,3.1136e-05,-4.2219e-05,-2.1874e-05,1.5580e-03,5.6836e-05
+1,9.1667e-01,DOWN_FORCE_DETACH,2.1664e-04,1.8203e-01,4.1859e-01,2.4548e+00,-6.7279e-02,4.9834e-02,6.2244e-04,4.3110e-02,-1.8415e-03,8.3399e-04,2.0257e-04,3.1255e-03,-1.8813e-04,4.3157e-02,3.1377e-03
+2,1.9167e+00,DOWN_FORCE_DETACH,4.3715e-04,1.9343e-01,4.1796e-01,2.4558e+00,-6.7203e-02,5.0659e-02,5.5370e-04,5.4515e-02,-2.4750e-03,1.8749e-03,2.7849e-04,3.9506e-03,-2.5688e-04,5.4603e-02,3.9687e-03
+3,2.9500e+00,DOWN_FORCE_DETACH,6.5972e-04,1.9619e-01,4.1779e-01,2.4564e+00,-6.7180e-02,5.0857e-02,5.3185e-04,5.7276e-02,-2.6433e-03,2.4729e-03,3.0118e-04,4.1483e-03,-2.7872e-04,5.7390e-02,4.1686e-03
+4,3.9833e+00,DOWN_FORCE_DETACH,8.7690e-04,1.6272e-01,4.0040e-01,2.4532e+00,-6.5939e-02,4.8420e-02,6.0263e-04,2.3806e-02,-2.0035e-02,-7.4339e-04,1.5420e-03,1.7110e-03,-2.0794e-04,3.1123e-02,2.3127e-03
+5,5.0500e+00,DOWN_FORCE_DETACH,1.0980e-03,1.9272e-01,4.6894e-01,2.5313e+00,-7.0766e-02,5.0513e-02,5.4644e-04,5.3805e-02,4.8508e-02,7.7353e-02,-3.2844e-03,3.8045e-03,-2.6414e-04,1.0598e-01,5.0330e-03
+6,6.0167e+00,DOWN_FORCE_DETACH,1.3149e-03,1.5273e-01,4.5944e-01,2.4926e+00,-7.0071e-02,4.7657e-02,5.8614e-04,1.3819e-02,3.9003e-02,3.8628e-02,-2.5900e-03,9.4816e-04,-2.2444e-04,5.6607e-02,2.7672e-03
+7,7.0500e+00,DOWN_FORCE_DETACH,1.5365e-03,8.2540e-02,5.0746e-01,2.5849e+00,-7.3471e-02,4.2493e-02,5.6867e-04,-5.6376e-02,8.7026e-02,1.3092e-01,-5.9898e-03,-4.2152e-03,-2.4190e-04,1.6701e-01,7.3283e-03
+8,8.1333e+00,DOWN_FORCE_DETACH,1.7523e-03,1.8818e-01,5.0527e-01,2.4858e+00,-7.3358e-02,5.0262e-02,4.6034e-04,4.9267e-02,8.4838e-02,3.1890e-02,-5.8765e-03,3.5537e-03,-3.5024e-04,1.0316e-01,6.8763e-03
+9,9.2667e+00,DOWN_FORCE_DETACH,1.9732e-03,1.7571e-01,4.9504e-01,2.4992e+00,-7.2616e-02,4.9340e-02,4.2830e-04,3.6794e-02,7.4605e-02,4.5291e-02,-5.1344e-03,2.6315e-03,-3.8228e-04,9.4715e-02,5.7822e-03
+10,1.0267e+01,DOWN_FORCE_DETACH,2.1947e-03,1.2421e-01,3.8232e-01,2.5565e+00,-6.4435e-02,4.5510e-02,3.4614e-04,-1.4710e-02,-3.8113e-02,1.0251e-01,3.0460e-03,-1.1990e-03,-4.6443e-04,1.1035e-01,3.3063e-03
+11,1.1250e+01,DOWN_FORCE_DETACH,2.4080e-03,1.7655e-01,4.2373e-01,2.5622e+00,-6.7429e-02,4.9352e-02,2.7848e-04,3.7638e-02,3.2951e-03,1.0828e-01,5.2370e-05,2.6433e-03,-5.3210e-04,1.1468e-01,2.6968e-03
+12,1.2233e+01,DOWN_FORCE_DETACH,2.6306e-03,1.5202e-01,4.1477e-01,2.5717e+00,-6.6875e-02,4.7564e-02,1.8831e-04,1.3101e-02,-5.6664e-03,1.1775e-01,6.0642e-04,8.5511e-04,-6.2226e-04,1.1862e-01,1.2191e-03
+13,1.3183e+01,DOWN_FORCE_DETACH,2.8472e-03,1.2030e-01,4.3943e-01,2.5816e+00,-6.8709e-02,4.5304e-02,1.6802e-04,-1.8615e-02,1.8998e-02,1.2770e-01,-1.2278e-03,-1.4043e-03,-6.4255e-04,1.3044e-01,1.9729e-03
+14,1.4133e+01,DOWN_FORCE_DETACH,3.0677e-03,1.6469e-01,4.8474e-01,2.5572e+00,-7.1926e-02,4.8514e-02,1.5076e-04,2.5772e-02,6.4309e-02,1.0325e-01,-4.4446e-03,1.8059e-03,-6.5981e-04,1.2434e-01,4.8426e-03
+15,1.5133e+01,DOWN_FORCE_DETACH,3.2870e-03,1.6726e-01,4.7690e-01,2.5284e+00,-7.1442e-02,4.8718e-02,8.3977e-05,2.8345e-02,5.6472e-02,7.4426e-02,-3.9606e-03,2.0094e-03,-7.2660e-04,9.7631e-02,4.5002e-03
+16,1.6117e+01,DOWN_FORCE_DETACH,3.5049e-03,1.8505e-01,5.2422e-01,2.5253e+00,-7.4844e-02,5.0023e-02,5.6311e-05,4.6134e-02,1.0379e-01,7.1382e-02,-7.3625e-03,3.3147e-03,-7.5427e-04,1.3415e-01,8.1095e-03
+17,1.7017e+01,DOWN_FORCE_DETACH,3.7264e-03,1.9129e-01,5.4272e-01,2.5119e+00,-7.6178e-02,5.0508e-02,3.4092e-05,5.2379e-02,1.2229e-01,5.7970e-02,-8.6969e-03,3.7993e-03,-7.7648e-04,1.4512e-01,9.5223e-03
+18,1.7967e+01,DOWN_FORCE_DETACH,3.9421e-03,1.7435e-01,5.2641e-01,2.5845e+00,-7.4886e-02,4.9295e-02,8.7796e-06,3.5437e-02,1.0598e-01,1.3056e-01,-7.4043e-03,2.5866e-03,-8.0180e-04,1.7185e-01,7.8840e-03
+19,1.8950e+01,DOWN_FORCE_DETACH,4.1637e-03,1.9008e-01,5.5952e-01,2.5159e+00,-7.7337e-02,5.0416e-02,3.9801e-05,5.1169e-02,1.3909e-01,6.1997e-02,-9.8554e-03,3.7075e-03,-7.7078e-04,1.6065e-01,1.0558e-02
+20,1.9900e+01,DOWN_FORCE_DETACH,4.3831e-03,1.8078e-01,5.5546e-01,2.5572e+00,-7.6929e-02,4.9706e-02,6.5731e-05,4.1866e-02,1.3503e-01,1.0329e-01,-9.4476e-03,2.9977e-03,-7.4485e-04,1.7508e-01,9.9397e-03
+21,2.0850e+01,DOWN_FORCE_DETACH,4.6005e-03,1.5537e-01,5.7982e-01,2.6228e+00,-7.8557e-02,4.7902e-02,1.3722e-04,1.6457e-02,1.5939e-01,1.6885e-01,-1.1075e-02,1.1934e-03,-6.7336e-04,2.3278e-01,1.1160e-02
+22,2.1600e+01,DOWN_FORCE_DETACH,4.8215e-03,9.2273e-02,5.9565e-01,2.6559e+00,-7.9623e-02,4.3255e-02,1.4975e-04,-4.6642e-02,1.7522e-01,2.0194e-01,-1.2142e-02,-3.4532e-03,-6.6083e-04,2.7140e-01,1.2641e-02
+23,2.2467e+01,DOWN_FORCE_DETACH,5.0382e-03,1.2398e-01,5.5216e-01,2.6461e+00,-7.6313e-02,4.5599e-02,2.6605e-04,-1.4938e-02,1.3173e-01,1.9214e-01,-8.8317e-03,-1.1094e-03,-5.4453e-04,2.3344e-01,8.9178e-03
+24,2.3500e+01,DOWN_FORCE_DETACH,5.2563e-03,1.1334e-01,5.8199e-01,2.6798e+00,-7.8340e-02,4.4834e-02,3.5872e-04,-2.5574e-02,1.6156e-01,2.2585e-01,-1.0858e-02,-1.8749e-03,-4.5186e-04,2.7886e-01,1.1028e-02
+25,2.4450e+01,DOWN_FORCE_DETACH,5.4799e-03,1.1506e-01,6.3627e-01,2.6408e+00,-8.2102e-02,4.4886e-02,4.4059e-04,-2.3861e-02,2.1584e-01,1.8682e-01,-1.4620e-02,-1.8227e-03,-3.6998e-04,2.8646e-01,1.4738e-02
+26,2.5317e+01,DOWN_FORCE_DETACH,5.6980e-03,1.3474e-01,6.4141e-01,2.6095e+00,-8.2459e-02,4.6244e-02,4.5675e-04,-4.1721e-03,2.2098e-01,1.5553e-01,-1.4977e-02,-4.6466e-04,-3.5383e-04,2.7025e-01,1.4989e-02
+27,2.6200e+01,DOWN_FORCE_DETACH,5.9167e-03,1.2173e-01,6.8869e-01,2.6361e+00,-8.5683e-02,4.5279e-02,4.6341e-04,-1.7185e-02,2.6826e-01,1.8211e-01,-1.8201e-02,-1.4295e-03,-3.4716e-04,3.2469e-01,1.8261e-02
+28,2.7267e+01,DOWN_FORCE_DETACH,6.1349e-03,1.1217e-01,6.6977e-01,2.6373e+00,-8.4436e-02,4.4597e-02,4.5016e-04,-2.6747e-02,2.4934e-01,1.8334e-01,-1.6955e-02,-2.1114e-03,-3.6042e-04,3.1064e-01,1.7090e-02
+29,2.8250e+01,DOWN_FORCE_DETACH,6.3550e-03,1.3503e-01,7.0417e-01,2.6889e+00,-8.6798e-02,4.6209e-02,3.7103e-04,-3.8816e-03,2.8374e-01,2.3497e-01,-1.9316e-02,-5.0002e-04,-4.3954e-04,3.6842e-01,1.9328e-02
+30,2.9200e+01,DOWN_FORCE_DETACH,6.5732e-03,1.4674e-01,7.4485e-01,2.7159e+00,-8.9384e-02,4.6995e-02,2.5346e-04,7.8276e-03,3.2442e-01,2.6197e-01,-2.1903e-02,2.8658e-04,-5.5712e-04,4.1706e-01,2.1912e-02
+31,3.0100e+01,DOWN_FORCE_DETACH,6.7937e-03,1.2868e-01,7.4618e-01,2.7338e+00,-8.9314e-02,4.5696e-02,2.0176e-04,-1.0239e-02,3.2575e-01,2.7982e-01,-2.1832e-02,-1.0124e-03,-6.0882e-04,4.2955e-01,2.1864e-02
+32,3.1067e+01,DOWN_FORCE_DETACH,7.0123e-03,1.4549e-01,7.6054e-01,2.7726e+00,-9.0027e-02,4.6795e-02,1.6613e-04,6.5742e-03,3.4011e-01,3.1863e-01,-2.2545e-02,8.5972e-05,-6.4444e-04,4.6609e-01,2.2554e-02
+33,3.1917e+01,DOWN_FORCE_DETACH,7.2296e-03,1.4285e-01,7.4760e-01,2.7261e+00,-8.9039e-02,4.6621e-02,1.5075e-04,3.9298e-03,3.2717e-01,2.7220e-01,-2.1558e-02,-8.7563e-05,-6.5983e-04,4.2561e-01,2.1568e-02
+34,3.2800e+01,DOWN_FORCE_DETACH,7.4493e-03,1.5666e-01,7.8654e-01,2.8107e+00,-9.1542e-02,4.7462e-02,1.5865e-04,1.7747e-02,3.6611e-01,3.5677e-01,-2.4061e-02,7.5329e-04,-6.5193e-04,5.1151e-01,2.4082e-02
+35,3.3767e+01,DOWN_FORCE_DETACH,7.6691e-03,1.5815e-01,8.1511e-01,2.8287e+00,-9.3298e-02,4.7533e-02,1.5170e-04,1.9238e-02,3.9468e-01,3.7480e-01,-2.5817e-02,8.2410e-04,-6.5888e-04,5.4463e-01,2.5838e-02
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Fixed/digit/cylinder_PLA_12.5/press_depth_01/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_12.5/press_depth_01/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/digit/cylinder_PLA_12.5/press_depth_01/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+34,3.800000000e+00,UP_FORCE_RAMP,1792921996748180456,1.711474623e-05,-4.553586389e-04,1.387111254e-04,1.916342055e-05,-4.551462372e-04,1.390733239e-04,2.413115079e-05,-4.359942220e-04,1.374091282e-04,7.019727476e-01,-4.776293739e-04,8.602817984e-01,7.019747962e-01,-4.774169723e-04,8.602821606e-01,7.027696266e-01,-5.526964681e-04,8.304631020e-01
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+38,4.416666667e+00,UP_FORCE_RAMP,1792921997354464516,4.555105331e-06,-4.547040625e-04,1.764471272e-04,4.732725561e-06,-4.550294433e-04,1.760242593e-04,9.457840036e-06,-4.358381061e-04,1.739255154e-04,7.019601879e-01,-4.769747975e-04,8.603195344e-01,7.019603655e-01,-4.773001783e-04,8.603191115e-01,7.027549533e-01,-5.525403522e-04,8.304996184e-01
+39,4.600000000e+00,UP_FORCE_RAMP,1792921997534983435,-3.080420230e-08,-4.511330802e-04,1.900042561e-04,4.732725561e-06,-4.550294433e-04,1.760242593e-04,9.402361195e-06,-4.358432264e-04,1.741911543e-04,7.019556020e-01,-4.734038153e-04,8.603330915e-01,7.019603655e-01,-4.773001783e-04,8.603191115e-01,7.027548978e-01,-5.525454725e-04,8.304998841e-01
+40,4.766666667e+00,UP_FORCE_RAMP,1792921997697999489,-5.379793895e-06,-4.484479563e-04,1.987518410e-04,2.608811663e-07,-4.505696194e-04,1.952056864e-04,4.910248301e-06,-4.315761212e-04,1.929866529e-04,7.019502530e-01,-4.707186914e-04,8.603418391e-01,7.019558937e-01,-4.728403544e-04,8.603382929e-01,7.027504057e-01,-5.482783674e-04,8.305186796e-01
+41,4.883333333e+00,UP_FORCE_RAMP,1792921997812953856,-8.898811359e-06,-4.466463055e-04,2.075470255e-04,2.608811663e-07,-4.505696194e-04,1.952056864e-04,4.886867279e-06,-4.315758139e-04,1.931324178e-04,7.019467340e-01,-4.689170406e-04,8.603506343e-01,7.019558937e-01,-4.728403544e-04,8.603382929e-01,7.027503823e-01,-5.482780601e-04,8.305188253e-01
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+55,6.466666667e+00,UP_SETTLE,1792921999402253484,-3.956057228e-05,-4.505719469e-04,2.761155126e-04,-3.678570253e-05,-4.541806962e-04,2.689894338e-04,-3.355967470e-05,-4.348931100e-04,2.667547741e-04,7.019160722e-01,-4.728426819e-04,8.604192028e-01,7.019188471e-01,-4.764514312e-04,8.604120767e-01,7.027119358e-01,-5.515953562e-04,8.305924477e-01
+56,6.650000000e+00,UP_SETTLE,1792921999582114904,-4.073261845e-05,-4.561901570e-04,2.781525578e-04,-3.678570253e-05,-4.541806962e-04,2.689894338e-04,-3.362678889e-05,-4.348864984e-04,2.669332018e-04,7.019149002e-01,-4.784608921e-04,8.604212398e-01,7.019188471e-01,-4.764514312e-04,8.604120767e-01,7.027118687e-01,-5.515887445e-04,8.305926261e-01
+57,6.833333333e+00,UP_SETTLE,1792921999761965112,-4.294898934e-05,-4.523904599e-04,2.826014387e-04,-3.678570253e-05,-4.541806962e-04,2.689894338e-04,-3.368173139e-05,-4.348801537e-04,2.670850023e-04,7.019126838e-01,-4.746611949e-04,8.604256887e-01,7.019188471e-01,-4.764514312e-04,8.604120767e-01,7.027118137e-01,-5.515823998e-04,8.305927779e-01
+58,7.016666667e+00,UP_SETTLE,1792921999942282155,-4.250143971e-05,-4.486677700e-04,2.859719086e-04,-3.678570253e-05,-4.541806962e-04,2.689894338e-04,-3.372915506e-05,-4.348749927e-04,2.672185642e-04,7.019131314e-01,-4.709385050e-04,8.604290591e-01,7.019188471e-01,-4.764514312e-04,8.604120767e-01,7.027117663e-01,-5.515772389e-04,8.305929115e-01
+59,7.183333333e+00,UP_SETTLE,1792922000106396285,-4.570482467e-05,-4.505627873e-04,2.846874863e-04,-4.269094419e-05,-4.530897998e-04,2.885786890e-04,-3.974691662e-05,-4.338012762e-04,2.863715268e-04,7.019099280e-01,-4.728335223e-04,8.604277747e-01,7.019129419e-01,-4.753605348e-04,8.604316659e-01,7.027057485e-01,-5.505035224e-04,8.306120644e-01

Fixed/digit/cylinder_PLA_12.5/press_depth_01/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+00,1.3741e-01,4.2008e-01,2.4542e+00,-6.7450e-02,4.6666e-02,7.8870e-04,-1.5029e-03,-3.5524e-04,2.0552e-04,3.1129e-05,-4.2222e-05,-2.1873e-05,1.5580e-03,5.6834e-05
+1,1.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,3.5765e-05,1.5177e-01,4.1969e-01,2.4542e+00,-6.7406e-02,4.7675e-02,7.5145e-04,1.2855e-02,-7.4568e-04,2.6703e-04,7.5199e-05,9.6603e-04,-5.9128e-05,1.2880e-02,9.7076e-04
+2,3.8333e-01,WAIT_W2,7.6926e-05,1.6341e-01,4.1938e-01,2.4542e+00,-6.7369e-02,4.8493e-02,7.0969e-04,2.4496e-02,-1.0554e-03,3.0136e-04,1.1192e-04,1.7846e-03,-1.0089e-04,2.4520e-02,1.7910e-03
+3,5.3333e-01,WAIT_W2,1.1042e-04,1.7136e-01,4.1893e-01,2.4544e+00,-6.7322e-02,4.9079e-02,6.6956e-04,3.2448e-02,-1.5035e-03,4.7970e-04,1.5971e-04,2.3707e-03,-1.4102e-04,3.2487e-02,2.3803e-03
+4,6.8333e-01,WAIT_W2,1.4631e-04,1.7591e-01,4.1873e-01,2.4545e+00,-6.7299e-02,4.9406e-02,6.4846e-04,3.6997e-02,-1.6986e-03,5.8866e-04,1.8198e-04,2.6977e-03,-1.6211e-04,3.7040e-02,2.7087e-03
+5,7.8333e-01,WAIT_W2,1.8308e-04,1.7878e-01,4.1874e-01,2.4546e+00,-6.7296e-02,4.9600e-02,6.3861e-04,3.9864e-02,-1.6920e-03,6.8760e-04,1.8504e-04,2.8914e-03,-1.7197e-04,3.9906e-02,2.9025e-03
+6,8.0000e-01,WAIT_W2,2.0663e-04,1.7959e-01,4.1858e-01,2.4547e+00,-6.7281e-02,4.9670e-02,6.3105e-04,4.0670e-02,-1.8538e-03,7.3314e-04,2.0041e-04,2.9612e-03,-1.7953e-04,4.0719e-02,2.9734e-03
+7,8.1667e-01,WAIT_W2,2.4579e-04,1.4920e-01,8.4338e-01,2.4120e+00,-9.7971e-02,4.7530e-02,1.0177e-03,1.0279e-02,4.2295e-01,-4.1954e-02,-3.0490e-02,8.2114e-04,2.0714e-04,4.2515e-01,3.0502e-02
+8,8.3333e-01,WAIT_W2,2.8893e-04,1.8663e-01,1.2729e+00,2.4374e+00,-1.2902e-01,5.0194e-02,1.1963e-03,4.7710e-02,8.5246e-01,-1.6586e-02,-6.1537e-02,3.4850e-03,3.8575e-04,8.5395e-01,6.1637e-02
+9,8.5000e-01,WAIT_W2,3.3486e-04,1.9639e-01,1.7509e+00,2.4267e+00,-1.6362e-01,5.0908e-02,1.4959e-03,5.7470e-02,1.3305e+00,-2.7215e-02,-9.6134e-02,4.1994e-03,6.8536e-04,1.3320e+00,9.6228e-02
+10,8.6667e-01,WAIT_W2,3.9161e-04,1.9553e-01,2.2503e+00,2.4256e+00,-1.9955e-01,5.0892e-02,2.2154e-03,5.6619e-02,1.8299e+00,-2.8366e-02,-1.3207e-01,4.1837e-03,1.4049e-03,1.8310e+00,1.3215e-01
+11,8.6667e-01,WAIT_W2,3.9161e-04,1.9553e-01,2.2503e+00,2.4256e+00,-1.9955e-01,5.0892e-02,2.2154e-03,5.6619e-02,1.8299e+00,-2.8366e-02,-1.3207e-01,4.1837e-03,1.4049e-03,1.8310e+00,1.3215e-01
+12,8.8333e-01,WAIT_W2,4.4892e-04,2.3002e-01,2.8731e+00,2.4235e+00,-2.4458e-01,5.3350e-02,2.4351e-03,9.1100e-02,2.4527e+00,-3.0429e-02,-1.7710e-01,6.6412e-03,1.6245e-03,2.4546e+00,1.7723e-01
+13,9.0000e-01,WAIT_W2,4.8906e-04,2.1673e-01,3.4954e+00,2.3835e+00,-2.8989e-01,5.2448e-02,2.8422e-03,7.7810e-02,3.0749e+00,-7.0426e-02,-2.2241e-01,5.7396e-03,2.0316e-03,3.0767e+00,2.2250e-01
+14,9.1667e-01,WAIT_W2,5.3674e-04,2.0753e-01,3.9207e+00,2.3872e+00,-3.2062e-01,5.1829e-02,3.4356e-03,6.8616e-02,3.5003e+00,-6.6759e-02,-2.5314e-01,5.1208e-03,2.6250e-03,3.5016e+00,2.5320e-01
+15,9.1667e-01,WAIT_W2,5.3674e-04,2.0753e-01,3.9207e+00,2.3872e+00,-3.2062e-01,5.1829e-02,3.4356e-03,6.8616e-02,3.5003e+00,-6.6759e-02,-2.5314e-01,5.1208e-03,2.6250e-03,3.5016e+00,2.5320e-01
+16,9.5000e-01,WAIT_W2,5.9624e-04,2.2604e-01,4.7679e+00,2.4171e+00,-3.8222e-01,5.3146e-02,3.5209e-03,8.7123e-02,4.3475e+00,-3.6867e-02,-3.1474e-01,6.4370e-03,2.7104e-03,4.3485e+00,3.1482e-01
+17,9.8333e-01,WAIT_W2,6.2954e-04,2.2804e-01,5.2744e+00,2.3840e+00,-4.1929e-01,5.3343e-02,4.1917e-03,8.9126e-02,4.8540e+00,-6.9923e-02,-3.5181e-01,6.6340e-03,3.3811e-03,4.8553e+00,3.5189e-01
+18,1.1000e+00,WAIT_W2,6.6324e-04,2.0755e-01,5.4227e+00,2.3043e+00,-4.3066e-01,5.1947e-02,4.3943e-03,6.8635e-02,5.0022e+00,-1.4968e-01,-3.6318e-01,5.2387e-03,3.5837e-03,5.0049e+00,3.6324e-01
+19,1.1833e+00,WAIT_W2,6.9760e-04,1.4433e-01,5.4060e+00,2.1977e+00,-4.3112e-01,4.7517e-02,5.4102e-03,5.4129e-03,4.9856e+00,-2.5625e-01,-3.6364e-01,8.0834e-04,4.5997e-03,4.9922e+00,3.6367e-01
+20,1.3333e+00,WAIT_W2,7.3660e-04,1.4642e-01,5.3721e+00,2.1135e+00,-4.2924e-01,4.7804e-02,5.2432e-03,7.4995e-03,4.9517e+00,-3.4044e-01,-3.6176e-01,1.0957e-03,4.4326e-03,4.9634e+00,3.6179e-01
+21,1.4667e+00,WAIT_W2,7.7463e-04,1.7089e-01,5.3891e+00,2.1609e+00,-4.3031e-01,4.9386e-02,5.2196e-03,3.1976e-02,4.9687e+00,-2.9303e-01,-3.6283e-01,2.6776e-03,4.4090e-03,4.9774e+00,3.6286e-01
+22,1.5833e+00,UP_FORCE_RAMP,8.0766e-04,2.0949e-01,5.3760e+00,2.2141e+00,-4.2891e-01,5.2214e-02,4.5971e-03,7.0572e-02,4.9556e+00,-2.3989e-01,-3.6143e-01,5.5054e-03,3.7865e-03,4.9619e+00,3.6149e-01
+23,1.7000e+00,UP_FORCE_RAMP,8.4585e-04,2.3380e-01,5.3747e+00,2.2225e+00,-4.2868e-01,5.3933e-02,4.4348e-03,9.4888e-02,4.9543e+00,-2.3146e-01,-3.6119e-01,7.2242e-03,3.6242e-03,4.9606e+00,3.6128e-01
+24,1.8500e+00,UP_FORCE_RAMP,8.8177e-04,2.5544e-01,5.3665e+00,2.2420e+00,-4.2783e-01,5.5520e-02,4.1152e-03,1.1653e-01,4.9461e+00,-2.1199e-01,-3.6035e-01,8.8118e-03,3.3046e-03,4.9520e+00,3.6047e-01
+25,2.0333e+00,UP_FORCE_RAMP,9.1803e-04,2.9037e-01,5.3633e+00,2.2549e+00,-4.2735e-01,5.7936e-02,3.6330e-03,1.5146e-01,4.9428e+00,-1.9906e-01,-3.5986e-01,1.1227e-02,2.8224e-03,4.9491e+00,3.6005e-01
+26,2.2500e+00,UP_FORCE_RAMP,9.5766e-04,3.1863e-01,5.3557e+00,2.2862e+00,-4.2654e-01,5.9972e-02,3.2692e-03,1.7971e-01,4.9352e+00,-1.6774e-01,-3.5906e-01,1.3264e-02,2.4586e-03,4.9414e+00,3.5931e-01
+27,2.3500e+00,UP_FORCE_RAMP,9.9294e-04,3.3360e-01,5.3571e+00,2.2955e+00,-4.2659e-01,6.0948e-02,3.1765e-03,1.9468e-01,4.9367e+00,-1.5844e-01,-3.5911e-01,1.4239e-02,2.3659e-03,4.9431e+00,3.5940e-01
+28,2.5667e+00,UP_FORCE_RAMP,1.0309e-03,3.1716e-01,5.3053e+00,2.2064e+00,-4.2395e-01,5.9827e-02,3.0976e-03,1.7824e-01,4.8848e+00,-2.4751e-01,-3.5647e-01,1.3119e-02,2.2870e-03,4.8943e+00,3.5672e-01
+29,2.8000e+00,UP_FORCE_RAMP,1.0665e-03,3.5516e-01,5.2869e+00,2.2524e+00,-4.2209e-01,6.2540e-02,2.8580e-03,2.1624e-01,4.8665e+00,-2.0158e-01,-3.5461e-01,1.5831e-02,2.0474e-03,4.8754e+00,3.5497e-01
+30,2.9833e+00,UP_FORCE_RAMP,1.1027e-03,3.7842e-01,5.2776e+00,2.2687e+00,-4.2122e-01,6.4159e-02,2.5854e-03,2.3950e-01,4.8572e+00,-1.8526e-01,-3.5374e-01,1.7451e-02,1.7748e-03,4.8666e+00,3.5418e-01
+31,3.1333e+00,UP_FORCE_RAMP,1.1394e-03,3.8284e-01,5.2828e+00,2.2842e+00,-4.2144e-01,6.4505e-02,2.4339e-03,2.4393e-01,4.8624e+00,-1.6972e-01,-3.5396e-01,1.7796e-02,1.6234e-03,4.8714e+00,3.5441e-01
+32,3.3833e+00,UP_FORCE_RAMP,1.1768e-03,4.6426e-01,5.2710e+00,2.2163e+00,-4.2151e-01,7.0489e-02,1.4010e-03,3.2534e-01,4.8505e+00,-2.3762e-01,-3.5403e-01,2.3781e-02,5.9038e-04,4.8672e+00,3.5483e-01
+33,3.5667e+00,UP_FORCE_RAMP,1.2135e-03,4.6787e-01,5.2714e+00,2.2490e+00,-4.2120e-01,7.0670e-02,1.3810e-03,3.2896e-01,4.8510e+00,-2.0499e-01,-3.5372e-01,2.3961e-02,5.7038e-04,4.8664e+00,3.5453e-01
+34,3.8000e+00,UP_FORCE_RAMP,1.2537e-03,5.1410e-01,5.2290e+00,2.1791e+00,-4.1894e-01,7.4101e-02,7.0588e-04,3.7519e-01,4.8086e+00,-2.7480e-01,-3.5146e-01,2.7392e-02,-1.0469e-04,4.8310e+00,3.5252e-01
+35,3.9667e+00,UP_FORCE_RAMP,1.2877e-03,5.1498e-01,5.2352e+00,2.2184e+00,-4.1906e-01,7.4128e-02,7.0596e-04,3.7606e-01,4.8148e+00,-2.3555e-01,-3.5158e-01,2.7419e-02,-1.0462e-04,4.8352e+00,3.5265e-01
+36,4.1667e+00,UP_FORCE_RAMP,1.3214e-03,5.6126e-01,5.2121e+00,2.1571e+00,-4.1808e-01,7.7506e-02,1.8947e-04,4.2234e-01,4.7916e+00,-2.9685e-01,-3.5060e-01,3.0797e-02,-6.2111e-04,4.8194e+00,3.5195e-01
+37,4.2833e+00,UP_FORCE_RAMP,1.3635e-03,5.5677e-01,5.2232e+00,2.1768e+00,-4.1871e-01,7.7218e-02,1.8302e-04,4.1785e-01,4.8028e+00,-2.7716e-01,-3.5123e-01,3.0510e-02,-6.2756e-04,4.8289e+00,3.5255e-01
+38,4.4167e+00,UP_FORCE_RAMP,1.3993e-03,5.5657e-01,5.2244e+00,2.2035e+00,-4.1856e-01,7.7175e-02,1.7804e-04,4.1766e-01,4.8039e+00,-2.5048e-01,-3.5108e-01,3.0467e-02,-6.3253e-04,4.8286e+00,3.5240e-01
+39,4.6000e+00,UP_FORCE_RAMP,1.4356e-03,5.9637e-01,5.2406e+00,2.1449e+00,-4.2050e-01,8.0127e-02,-2.0925e-04,4.5746e-01,4.8202e+00,-3.0908e-01,-3.5302e-01,3.3418e-02,-1.0198e-03,4.8517e+00,3.5460e-01
+40,4.7667e+00,UP_FORCE_RAMP,1.4720e-03,6.1118e-01,5.1949e+00,2.1051e+00,-4.1789e-01,8.1320e-02,-4.8767e-04,4.7227e-01,4.7745e+00,-3.4886e-01,-3.5041e-01,3.4611e-02,-1.2982e-03,4.8104e+00,3.5212e-01
+41,4.8833e+00,UP_FORCE_RAMP,1.5087e-03,6.0343e-01,5.2062e+00,2.1275e+00,-4.1826e-01,8.0730e-02,-4.8520e-04,4.6452e-01,4.7857e+00,-3.2648e-01,-3.5078e-01,3.4021e-02,-1.2958e-03,4.8193e+00,3.5243e-01
+42,5.0500e+00,UP_FORCE_RAMP,1.5425e-03,6.8322e-01,5.1514e+00,2.0720e+00,-4.1503e-01,8.6408e-02,-1.2596e-03,5.4430e-01,4.7310e+00,-3.8190e-01,-3.4754e-01,3.9699e-02,-2.0701e-03,4.7775e+00,3.4981e-01
+43,5.1667e+00,UP_FORCE_HOLD,1.5822e-03,6.5295e-01,5.1789e+00,2.1090e+00,-4.1659e-01,8.4438e-02,-1.2453e-03,5.1403e-01,4.7584e+00,-3.4497e-01,-3.4911e-01,3.7729e-02,-2.0559e-03,4.7985e+00,3.5115e-01
+44,5.3000e+00,UP_FORCE_HOLD,1.6190e-03,6.5619e-01,5.1643e+00,2.1342e+00,-4.1532e-01,8.4477e-02,-1.1875e-03,5.1727e-01,4.7438e+00,-3.1972e-01,-3.4783e-01,3.7768e-02,-1.9981e-03,4.7826e+00,3.4988e-01
+45,5.4500e+00,UP_SETTLE,1.6573e-03,6.6668e-01,5.1666e+00,2.0450e+00,-4.1637e-01,8.5383e-02,-1.2575e-03,5.2776e-01,4.7461e+00,-4.0894e-01,-3.4889e-01,3.8675e-02,-2.0680e-03,4.7929e+00,3.5103e-01
+46,5.5667e+00,UP_SETTLE,1.6952e-03,6.5993e-01,5.1749e+00,2.0865e+00,-4.1674e-01,8.4916e-02,-1.2495e-03,5.2101e-01,4.7545e+00,-3.6748e-01,-3.4926e-01,3.8207e-02,-2.0600e-03,4.7970e+00,3.5135e-01
+47,5.6500e+00,UP_SETTLE,1.7211e-03,6.5319e-01,5.1722e+00,2.1121e+00,-4.1621e-01,8.4381e-02,-1.2144e-03,5.1427e-01,4.7517e+00,-3.4183e-01,-3.4872e-01,3.7672e-02,-2.0250e-03,4.7917e+00,3.5076e-01
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+49,5.7000e+00,UP_SETTLE,1.8081e-03,7.3864e-01,5.3869e+00,2.0350e+00,-4.3261e-01,9.0621e-02,-1.9050e-03,5.9972e-01,4.9665e+00,-4.1897e-01,-3.6512e-01,4.3912e-02,-2.7156e-03,5.0201e+00,3.6777e-01
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Fixed/digit/cylinder_PLA_12.5/press_depth_02/down/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_12.5/press_depth_02/down/franka_data.csv

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+12086,1792922083305335720,1650248000000,1792922083304595432,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6761115501316046,-0.004868914380215983,0.09970509053830891,0.9999999841528812,-1.2147659457110662e-07,5.004399067748049e-05,0.00014364082322965353,0.6761,-0.0046,0.09956120326904061,1.0,0.0,0.0,0.0,-0.07675998999966482,0.08964527628060881,1.0925692327401233,0.009086384118322813,0.0023765029656581185,0.0013114115813492957,0.8240576806932322,1.287415247177684,2.125135094656851,0.08159288343137922,-0.04968516753830988,0.0006111950231509726,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,1.3620866354730152,0.9304562830095402,-1.2572782224449448,0.300262798503818,1.0765259978797126,0.5845096882114085,1.3024657692685715,-1.0925692327401233,2.5597439917135163,2.5597439917135163,2.5815332737628984,0,0,-2.7389055030267833e-05,1.254461182837655e-05
+12217,1792922084397336347,1651340000000,1792922084396595988,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6761203381596913,-0.004871437458879592,0.09969545701691594,0.9999999826091568,-1.4427293903988177e-06,6.450517828055784e-05,0.0001485313136564543,0.6761,-0.0046,0.09953776128663702,1.0,0.0,0.0,0.0,-0.1023359720932967,0.09726351648819609,1.1738607016691822,0.010036185660150632,0.0043667296648856185,0.0012860108708142109,0.7984816985996003,1.2950334873852714,2.20642656358591,0.08254268497320703,-0.04769494083908238,0.0005857943126158878,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,1.3946843658834869,1.016372702188353,-1.3528985636761295,0.2733062140866375,1.1431195288409688,0.6334102604989545,1.3024657692685715,-1.1738607016691822,2.6553643329447008,2.6553643329447008,2.7453332737630016,0,0,-2.976937931861568e-05,-9.999999025923074e-05
+12361,1792922085597370833,1652540000000,1792922085596595738,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6761309662257895,-0.00487354342834242,0.09967148265437195,0.9999999800724657,2.0887979947005208e-07,8.326404430039062e-05,0.00015609288244397397,0.6761,-0.0046,0.09948437331896466,1.0,0.0,0.0,0.0,-0.16443203981262255,0.14024268811104257,1.3584849145617657,0.012950943188426267,0.008322345591478118,0.001225785745490102,0.7363856308802744,1.3380126590081178,2.3910507764784934,0.08545744250148267,-0.04373932491248988,0.0005255691872917789,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,1.474306789172636,0.9197455976617707,-1.4696135069475111,0.3072544493645248,1.2278488767047793,0.5733690205144596,1.3024657692685715,-1.3584849145617657,2.7720792762160826,2.7720792762160826,2.925333273763115,0,0,-5.200443375516362e-05,-9.995118207951065e-05
+12499,1792922086747502649,1653690000000,1792922086744595959,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6761418620887996,-0.004878836725753767,0.0996470463394776,0.9999999771447214,1.2040463637083497e-06,9.908998622340422e-05,0.00016532739041234663,0.6761,-0.0046,0.0994359127318377,1.0,0.0,0.0,0.0,-0.2226755360245738,0.1650565656741625,1.5368207273179615,0.01586138105505469,0.012278107811292287,0.0015483677378063771,0.6781421346683232,1.3628265365712378,2.569386589234689,0.08836788036811109,-0.03978356269267571,0.000848151179608054,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,1.5952256783162584,0.9514612449453965,-1.7177909515404193,0.28962830729502737,1.4113915583663175,0.5861647149445166,1.3024657692685715,-1.5368207273179615,3.020256720808991,3.020256720808991,3.0978332737632237,0,0,-3.301176283307251e-05,-9.99995600478087e-05
+12624,1792922087788468571,1654731000000,1792922087788605394,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6761485516669649,-0.0048787295161994105,0.09962581949704552,0.9999999752718585,2.010280775358303e-06,0.00010900825552433589,0.00017032999130153198,0.6761,-0.0046,0.09939820767534123,1.0,0.0,0.0,0.0,-0.2704795682954778,0.19711152721629177,1.6651558986669177,0.017800525353608765,0.015247516217889091,0.0021603174656322794,0.6303381023974192,1.394881498113367,2.6977217605836454,0.09030702466666517,-0.036814154286078905,0.001460100907433956,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,1.6441719679575966,0.9151934399267911,-1.8976639866739815,0.2956443756734127,1.530251963763267,0.5621809553151151,1.3024657692685715,-1.6651558986669177,3.200129755942553,3.200129755942553,3.253983273763322,0,0,-4.0245568581924414e-05,-9.89910334522392e-05
+12758,1792922088905491431,1655848000000,1792922088900596301,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6761596699492985,-0.004877800314136489,0.0995986492429913,0.9999999718027232,8.398716519791111e-06,0.00012694765865193085,0.00017790775973024602,0.6761,-0.0046,0.09934737379527064,1.0,0.0,0.0,0.0,-0.3292844511655849,0.23761108892428062,1.8087095911100253,0.020730022975585974,0.0192109485441216,0.0021348141527110145,0.5715332195273121,1.4353810598213559,2.841275453026753,0.09323652228864238,-0.032850721959846396,0.0014345975945126914,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,1.7716633716230743,0.8984816477039886,-2.0735501989447993,0.30374262385794226,1.6655044540650725,0.5522367558519191,1.3024657692685715,-1.8087095911100253,3.3760159682133706,3.3760159682133706,3.4215332737634276,0,0,-4.664618988945318e-05,-8.055128051126556e-05
+12880,1792922089922565765,1656865000000,1792922089916595735,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6761698154705773,-0.004879707372426306,0.09957229315816264,0.9999999684446764,1.2485986676131282e-05,0.00014262037862076602,0.00018454549161790637,0.6761,-0.0046,0.09929860475410443,1.0,0.0,0.0,0.0,-0.3776062993237489,0.2594466475373103,1.9496902441819648,0.022663905048632804,0.022183241767159027,0.0020852218448147494,0.5232113713691481,1.4572166184343855,2.9822561060986925,0.0951704043616892,-0.02987842873680897,0.0013850052866164263,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,1.8401288567702265,0.9146491148904187,-2.2533859934461242,0.2962198659976763,1.7928646275499835,0.5631579214683505,1.3024657692685715,-1.9496902441819648,3.5558517627146955,3.5558517627146955,3.5740832737635237,0,0,-4.866909278780784e-05,9.999847758035969e-05
+13012,1792922091022640560,1657965000000,1792922091016595928,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6761799874901822,-0.004880517780951561,0.09954236407176333,0.9999999644688872,1.9352074068097108e-05,0.00015804957131809776,0.00019274573675148027,0.6761,-0.0046,0.0992425729855524,1.0,0.0,0.0,0.0,-0.4254247678916301,0.2999135539844877,2.1015170865697446,0.024570160025358043,0.026161687273088235,0.002052783940362306,0.4753929028012669,1.497683524881563,3.1340829484864723,0.09707665933841444,-0.02589998323087976,0.0013525673821639828,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,1.8487063301714326,0.8862714106172115,-2.3360507378885145,0.31110658914625045,1.8373853351544318,0.5435439276379938,1.3024657692685715,-2.1015170865697446,3.638516507157086,3.638516507157086,3.7390832737636277,0,0,-5.3212176480436864e-05,-9.988987001297573e-05
+13143,1792922092113584493,1659056000000,1792922092108605452,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.676189912347888,-0.0048815586746992785,0.09950563099178965,0.999999959976616,2.0943738709609903e-05,0.0001750062240413605,0.0002010567390285921,0.6761,-0.0046,0.09918418822791188,1.0,0.0,0.0,0.0,-0.464864110876635,0.31734505316228456,2.2524494064983904,0.026481214180614387,0.029127984557477955,0.003013218321002876,0.435953559816262,1.5151150240593598,3.285015268415118,0.09898771349367079,-0.02293368594649004,0.002313001762804553,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,1.9331025043786467,0.8597928996191871,-2.613480031045512,0.3158805391659659,2.0304528533663593,0.5224768515692054,1.3024657692685715,-2.2524494064983904,3.9159458003140832,3.9159458003140832,3.902733273763731,0,0,-5.0362866645088704e-05,9.999788083548395e-05
+13283,1792922093280678041,1660223000000,1792922093276605618,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6761992431630208,-0.004889569187407411,0.09946209146276153,0.999999954450212,2.0641870443925893e-05,0.00019026885766980895,0.00021427578861767292,0.6761,-0.0046,0.09912092558903203,1.0,0.0,0.0,0.0,-0.5039070401905485,0.331084502599047,2.396457928485687,0.02740022475119809,0.032243067615903113,0.0029547501130866233,0.3969106305023484,1.5288544734961222,3.4290237904024146,0.09990672406425449,-0.019818602888064883,0.0022545335548883,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.021102952542648,0.8917681298291267,-2.6626524198120434,0.3080810289671059,2.078089388133089,0.5435554445784644,1.3024657692685715,-2.396457928485687,3.9651181890806146,3.9651181890806146,4.077783273763611,0,0,-5.8241079968517024e-05,-9.999999025923074e-05
+13399,1792922094247747388,1661190000000,1792922094244595518,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.676210174302975,-0.004886490550027771,0.09942638740146134,0.9999999494560551,2.4613987834320883e-05,0.00020984667393059449,0.00021883618708625136,0.6761,-0.0046,0.09905989012015559,1.0,0.0,0.0,0.0,-0.5331185529174962,0.3461704113510622,2.5133091468362108,0.02824382994552277,0.03511293849521463,0.0029051989535831806,0.3676991177754007,1.5439403822481375,3.5458750087529385,0.10075032925857917,-0.01694873200875337,0.0022049823953848575,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.0950468916082796,0.8471260683542629,-2.8081792175282807,0.31391625006885626,2.1868453064557807,0.5106228212373131,1.3024657692685715,-2.5133091468362108,4.110644986796852,4.110644986796852,4.222833273763273,0,0,-7.102417170642828e-05,-9.999990699250389e-05
+13471,1792922094847661159,1661790000000,1792922094840606010,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6762237527284943,-0.0048916902452344185,0.09939760779636196,0.9999999490583465,-0.0001648107245202807,0.0002442229003398699,8.073889194434802e-05,0.6761,-0.0046,0.0990162746478286,1.0,0.0,0.0,0.0,-0.40808033269985095,0.6187658073706823,2.593241761415349,0.04456962973085797,0.02776219048062008,0.003718119018810789,0.49273733799304603,1.8165357782677576,3.6258076233320766,0.11707612904391437,-0.024299480023347916,0.003017902460612466,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.106043802127423,1.0575113305091581,-2.726637407348658,0.1417692542080425,2.1574998060044495,0.6823734622212373,1.3024657692685715,-2.593241761415349,4.029103176617229,4.029103176617229,4.312833273763063,0,0,-7.845657663404915e-05,-9.999999025923074e-05
+13568,1792922095655782062,1662598000000,1792922095652595847,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6762330712214281,-0.004888943463908067,0.09935560261932862,0.9999999453725587,-0.0001581751325803495,0.00025955075326181744,9.116895310978014e-05,0.6761,-0.0046,0.09894295982789053,1.0,0.0,0.0,0.0,-0.5325434710361605,0.4993530120887477,2.777842654766406,0.03647726386995288,0.03587608567932597,0.002809562254756118,0.3682741996567364,1.697122982985823,3.810408516683134,0.10898376318300929,-0.016185584824642028,0.002109345696557795,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.215822563330449,0.9398658851877421,-3.097206343654344,0.20079276316535588,2.411305955226488,0.6097344873545815,1.3024657692685715,-2.777842654766406,4.399672112922915,4.399672112922915,4.434033273762781,0,0,-9.313839265526346e-05,9.999994862586731e-05
+13699,1792922096747819021,1663690000000,1792922096740595951,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6762449707206836,-0.0048951346946523545,0.09929973626999894,0.9999999401716607,-0.00014671240734197058,0.0002771582525207315,0.00011295269733545994,0.6761,-0.0046,0.09886557354674853,1.0,0.0,0.0,0.0,-0.54650486789161,0.4906786256141733,2.9174959285383046,0.03531809305695309,0.03792393266751018,0.002711313522892244,0.354312802801287,1.6884485965112486,3.9500617904550324,0.10782459237000949,-0.014137737836457819,0.002011096964693921,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.218186923226926,0.9055002314498534,-3.2739779686736754,0.30063173848691854,2.510885150972484,0.5666022015559158,1.3024657692685715,-2.9174959285383046,4.576443737942247,4.576443737942247,4.597833273762399,0,0,-5.045421145180728e-05,8.750395827228914e-05
+13817,1792922097730796203,1664673000000,1792922097724595592,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6762511243881184,-0.004891586552921597,0.09925695039995422,0.9999999377914368,-0.00014142837618667459,0.0002844669056358456,0.00012221530521251998,0.6761,-0.0046,0.09881594565041697,1.0,0.0,0.0,0.0,-0.5368715884970526,0.45346760327819746,2.9464005215208,0.03224842460798716,0.037976324817815446,0.002654624573983511,0.36394608219584434,1.6512375741752727,3.9789663834375277,0.10475492392104356,-0.014085345686152549,0.0019544080157851878,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.2363917247483247,0.9111736766337862,-3.3466234642555053,0.35129283423850166,2.556289047946556,0.5592625758699776,1.3024657692685715,-2.9464005215208,4.6490892335240765,4.6490892335240765,4.745283273762055,0,0,-6.078544400742037e-05,-9.999999025923074e-05
+13937,1792922098730825780,1665673000000,1792922098724605892,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6762631507087664,-0.004894104304176552,0.09920704488290753,0.9999999312360116,-0.00014407193759563255,0.0003039892732901307,0.00012571648608230833,0.6761,-0.0046,0.09873803012989994,1.0,0.0,0.0,0.0,-0.5468083088059614,0.45750516061533997,3.048553327760153,0.03218983592664358,0.03900343328696028,0.00259361690026779,0.3540093618869356,1.6552751315124152,4.081119189676881,0.10469633523969998,-0.013058237217007716,0.001893400342069467,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.2737814201353843,0.9449497068349202,-3.4847610458129044,0.3439331744850447,2.64913520758768,0.5763202004786427,1.3024657692685715,-3.048553327760153,4.787226815081476,4.787226815081476,4.895283273761706,0,0,-9.452391877137612e-05,-9.72064054513055e-05
+14059,1792922099747808622,1666690000000,1792922099740605501,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6762770401164068,-0.004902516461756897,0.09913857625416048,0.9999999211436313,-0.00015976475646495753,0.0003272454468465456,0.0001286127341041657,0.6761,-0.0046,0.09864134560840453,1.0,0.0,0.0,0.0,-0.5880027341542664,0.48981608755886974,3.2478243611954416,0.03401520415771654,0.04293900301975156,0.0025033507832281825,0.3128149365386305,1.687586058455945,4.280390223112169,0.10652170347077294,-0.009122667484216439,0.0018031342250298596,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.395060418384605,0.8776745116226449,-3.764421545547528,0.36701967237475863,2.8510511763633377,0.5296754392302429,1.3024657692685715,-3.2478243611954416,5.0668873148161,5.0668873148161,5.04783327376135,0,0,-8.806274632147814e-05,9.999999025923074e-05
+14179,1792922100747930707,1667690000000,1792922100740596314,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6762890911130461,-0.004903689367566685,0.09907959229431267,0.9999999121178854,-0.0001719702566214444,0.00034748839524817926,0.0001299428018360999,0.6761,-0.0046,0.09856304020615148,1.0,0.0,0.0,0.0,-0.5859777565611228,0.4705615155261027,3.3378387055726058,0.032038555320275344,0.0429667284697998,0.0024112358927410255,0.31483991413177415,1.668331486423178,4.3704045674893335,0.10454505463333175,-0.009094942034168198,0.0017110193345427024,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.36905152755,0.9381675653408192,-3.8163076524068194,0.35519576263227254,2.877856126560933,0.5703817544844069,1.3024657692685715,-3.3378387055726058,5.118773421675391,5.118773421675391,5.197833273761001,0,0,-7.607083648694524e-05,-9.026441680071712e-05
+14277,1792922101563972505,1668506000000,1792922101560605274,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6762976971856586,-0.004905601427873198,0.09902490798579859,0.9999999062525945,-0.0001777780872929368,0.00036018065091410244,0.00013267447596622948,0.6761,-0.0046,0.09849221583123842,1.0,0.0,0.0,0.0,-0.5899898580124786,0.4668637063869536,3.4368943670921506,0.030978371710356598,0.043968954866774136,0.002110745125458796,0.31082781268041837,1.664633677284029,4.469460229008878,0.103484871023413,-0.008092715637193862,0.001410528567260473,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.414426743440953,0.8163197722090995,-3.9439822974516163,0.3790589311082575,2.9750635048664535,0.484050034455348,1.3024657692685715,-3.4368943670921506,5.246448066720188,5.246448066720188,5.320233273760715,0,0,-9.587351567182337e-05,7.405320427464633e-05
+14413,1792922102697919198,1669640000000,1792922102696595792,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6763152315486531,-0.004909444605128643,0.09894641725123385,0.9999998932569331,-0.00018214608405210206,0.0003908508335930168,0.00013779483583929803,0.6761,-0.0046,0.09838297833018296,1.0,0.0,0.0,0.0,-0.6048409421425507,0.468724403558342,3.6259158982357946,0.03089234509796715,0.04589629615387599,0.0011890432386906429,0.29597672855034624,1.6664943744554173,4.658481760152522,0.10339884441102355,-0.006165374350092006,0.0004888266804923198,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.4038743364259845,0.9040399501057467,-4.143945365002288,0.3641848779205699,3.0954005544808925,0.5457543601540349,1.3024657692685715,-3.6259158982357946,5.44641113427086,5.44641113427086,5.490333273760319,0,0,-9.072929022383024e-05,9.981251522373497e-05
+14529,1792922103664024799,1670606000000,1792922103660605168,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6763216485039271,-0.004914561913251233,0.0988743006470849,0.9999998906895242,-0.00017286459522880402,0.0004012776693388692,0.00013841194885167086,0.6761,-0.0046,0.09829701786069081,1.0,0.0,0.0,0.0,-0.5849149981637416,0.4422115698782263,3.695757756003037,0.02886315923006816,0.0449723680729287,0.0010946880648000441,0.31590267252915544,1.6399815407753016,4.728323617919765,0.10136965854312456,-0.007089302431039292,0.0003944715066017211,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.4486383392250537,0.9514880296946552,-4.238084940506484,0.3531805425663794,3.17027178946053,0.5826176300198969,1.3024657692685715,-3.695757756003037,5.540550709775055,5.540550709775055,5.635233273759981,0,0,-9.387662025103628e-05,-8.79634934599693e-05
+14655,1792922104713976212,1671656000000,1792922104712605085,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6763368580417778,-0.004918183448014898,0.09879053120281654,0.9999998826279145,-0.00016394477844519883,0.0004237592469717562,0.00014048925844603843,0.6761,-0.0046,0.09818932279410877,1.0,0.0,0.0,0.0,-0.5753320865412954,0.42199428439613573,3.824798898106049,0.026795218932085668,0.044981557783127235,0.0009654436109552752,0.3254855841516015,1.619764255293211,4.857364760022777,0.09930171824514207,-0.007080112720840758,0.000265227052756952,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.4169537213175705,0.867329653241251,-4.33639594365409,0.39528325658134755,3.224150736333028,0.5352126937180426,1.3024657692685715,-3.824798898106049,5.638861712922662,5.638861712922662,5.792733273759614,0,0,-0.0001104305719465667,-9.849277923657524e-05
+14786,1792922105806028827,1672748000000,1792922105800595949,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6763527744365131,-0.004919013979256071,0.09869133700955618,0.999999883572207,-6.194034696203821e-05,0.0004501975904112913,0.00013335651395384373,0.6761,-0.0046,0.09806555471632912,1.0,0.0,0.0,0.0,-0.5804107429949206,0.42248487399917733,3.9666491741811867,0.026399695109794716,0.04495501192111788,0.0008480723140511604,0.3204069276979764,1.6202548448962526,4.999215036097914,0.09890619442285112,-0.007106658582850118,0.0001478557558528373,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.542809615481158,0.8985858864819591,-4.602970449481032,0.3444321760617266,3.4418430396324133,0.47832750391285683,1.3024657692685715,-3.9666491741811867,5.905436218749603,5.905436218749603,5.9565332737592325,0,0,-0.00011338312325551302,9.999997638144293e-05
+14893,1792922106698059546,1673640000000,1792922106696605551,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6763612383147468,-0.004920646656176243,0.098603125964525,0.9999998741976853,-8.285493037689312e-05,0.0004672227980434229,0.00013373629087997478,0.6761,-0.0046,0.09795913437470051,1.0,0.0,0.0,0.0,-0.563841391209364,0.4042760579581235,4.047734573662197,0.024712017695457472,0.04494309815151334,0.0007638519735255231,0.3369762794835329,1.6020460288551988,5.080300435578925,0.09721851700851387,-0.007118572352454659,6.36354153272e-05,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.524166738530768,0.9780619656808844,-4.58084341957658,0.3467189407754223,3.4173444209521113,0.5623788025578004,1.3024657692685715,-4.047734573662197,5.883309188845152,5.883309188845152,6.090333273758921,0,0,-0.00012184833903946946,-9.960937216580418e-05
+14997,1792922107564180158,1674506000000,1792922107560595521,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6763742511588987,-0.00492682842922539,0.09851547168319665,0.9999998616052833,-0.00010738170760349748,0.00048785335134000424,0.00013674997259741607,0.6761,-0.0046,0.09784909708015385,1.0,0.0,0.0,0.0,-0.5546306864702033,0.3718100357830425,4.130362889294917,0.0226790828912916,0.04398085206460476,0.0006586852310589048,0.3461869842226937,1.5695800066801178,5.162928751211644,0.095185582204348,-0.008080818439363235,-4.153132713941837e-05,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.5246578266884834,0.8525365805131307,-4.6677359273348635,0.4155005109328505,3.4737990134962313,0.5197513670646131,1.3024657692685715,-4.130362889294917,5.970201696603435,5.970201696603435,6.220233273758618,0,0,-0.0001292460155663796,-9.847801327034773e-05
+15121,1792922108598119093,1675540000000,1792922108592605109,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6763911159690067,-0.0049261065870971725,0.09840140793781427,0.9999998450024485,-0.00012175478376352548,0.0005164164416208214,0.00014116577069642875,0.6761,-0.0046,0.09770498609307009,1.0,0.0,0.0,0.0,-0.5528969810308559,0.35230755619769294,4.245409330221049,0.020592078807306166,0.04498990584840175,0.0005592269963580506,0.34792068966204104,1.5500775270947682,5.277975192137777,0.09309857812036257,-0.007071764655566246,-0.00014098956184027252,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.5428241578953807,0.8476448013548602,-4.880934550107127,0.42986008225359384,3.6156000771692636,0.5244247971396352,1.3024657692685715,-4.245409330221049,6.183400319375698,6.183400319375698,6.375333273758256,0,0,-0.00014740153101852472,-9.973520206785764e-05
+15229,1792922109498168868,1676440000000,1792922109496595995,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6764058421368865,-0.004928807895961912,0.09829235981184938,0.9999998296564269,-0.0001415541213552316,0.0005403964734924805,0.00014164767457827327,0.6761,-0.0046,0.09756913308788218,1.0,0.0,0.0,0.0,-0.5385675783303561,0.33081267179570806,4.335405385182343,0.019575694113055375,0.04399595340979903,0.0004610799259735436,0.36225009236254097,1.5285826426927833,5.367971247099071,0.09208219342611178,-0.008065717094168968,-0.00023913663222477954,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.5886697189480077,0.884665142429796,-4.948455529118287,0.4257775304751524,3.674664312037099,0.5471537019862043,1.3024657692685715,-4.335405385182343,6.250921298386858,6.250921298386858,6.510333273757942,0,0,-0.00015622181940708047,-9.993920554863251e-05
+15335,1792922110381249187,1677323000000,1792922110380605354,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6764212120124089,-0.004935228890391454,0.09818083898489047,0.9999998117556805,-0.00016729133874886386,0.0005676182457202314,0.0001332463988729428,0.6761,-0.0046,0.09742826275398696,1.0,0.0,0.0,0.0,-0.524371085521655,0.3098047866910114,4.4564483172194755,0.017581560268465676,0.04299416003075007,0.0003274314119613171,0.376446585171242,1.5075747575880867,5.489014179136203,0.09008805958152208,-0.009067510473217926,-0.000372785146237006,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.670472254852327,0.8259303567836571,-5.144760262852956,0.4613696172887995,3.832861514446471,0.5138313435850412,1.3024657692685715,-4.4564483172194755,6.447226032121527,6.447226032121527,6.642783273757633,0,0,-0.0001610816555239466,-9.999757552415218e-05
+15439,1792922111248273068,1678190000000,1792922111240595710,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.676436783798182,-0.004934168549914882,0.09805637305556206,0.9999997972758116,-0.0001603874556764757,0.0005934213184024514,0.00013790650120555222,0.6761,-0.0046,0.09728064034085253,1.0,0.0,0.0,0.0,-0.51432645127368,0.2664913286975443,4.525472100078479,0.014832923542535376,0.0430366800514675,0.00023867954328412244,0.3864912194192169,1.4642612995946196,5.558037961995207,0.08733942285559178,-0.009024990452500497,-0.00046153701491420066,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6327489989584842,0.8278743842982187,-5.252755590238575,0.4661032345238632,3.898417957410851,0.5189532183837322,1.3024657692685715,-4.525472100078479,6.555221359507146,6.555221359507146,6.77283327375733,0,0,-0.00018234450099438438,-9.999999025923074e-05
+15533,1792922112031196223,1678973000000,1792922112024605326,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.676451996717254,-0.004941022093595545,0.09793209196320855,0.9999997811206967,-0.0001600084980707349,0.0006180154386180944,0.00014715849001708457,0.6761,-0.0046,0.09713042257074675,1.0,0.0,0.0,0.0,-0.5230482684184896,0.24551789741569774,4.654087706940224,0.013413246618065755,0.04303187298578881,0.00012063304108647134,0.37776940227440736,1.443287868312773,5.6866535688569515,0.08591974593112216,-0.009029797518179188,-0.0005795835171118518,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6633669677047713,0.771907490262387,-5.360080189576363,0.49097456241687404,3.9832328638204784,0.4852749340586803,1.3024657692685715,-4.654087706940224,6.662545958844934,6.662545958844934,6.890283273757056,0,0,-0.00019865233471669098,-9.999999025923074e-05
+15638,1792922112906252084,1679848000000,1792922112900596349,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6764653988989728,-0.004942784830803739,0.09778575969177908,0.9999997673797479,-0.00016270871320350088,0.0006407017115274256,0.000140394109150784,0.6761,-0.0046,0.0969560637057725,1.0,0.0,0.0,0.0,-0.460039079953404,0.21084349305965677,4.759883158918486,0.01041155764525803,0.040026803348404985,-3.9143837946996026e-05,0.440778590739493,1.408613463956732,5.792449020835214,0.08291805695831443,-0.012034867155563012,-0.0007393603961453191,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6734098449568124,0.7171144682938482,-5.533768288492644,0.5306173755820214,4.115671347513624,0.45174547380697766,1.3024657692685715,-4.759883158918486,6.8362340577612155,6.8362340577612155,7.02153327375675,0,0,-0.00020252620603763839,-9.999994862586731e-05
+15742,1792922113774183833,1680715000000,1792922113772596001,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6764772776649708,-0.004947856937026117,0.09762305841997151,0.9999997534831032,-0.00016227350434818593,0.0006599810918082677,0.00015022937585947905,0.6761,-0.0046,0.0967781334190536,1.0,0.0,0.0,0.0,-0.44495795281354417,0.15328019633444923,4.880589100300124,0.006321144445877239,0.0390611254689099,0.0007805257481004408,0.4558597178793528,1.3510501672315245,5.913154962216852,0.07882764375893364,-0.0130005450350581,8.030918990211766e-05,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6711539236787742,0.7898380662046013,-5.710277444080414,0.5099485270872862,4.2440126722323726,0.5038198537533946,1.3024657692685715,-4.880589100300124,7.012743213348985,7.012743213348985,7.151583273756447,0,0,-0.000211038951276861,9.375000361989123e-05
+15840,1792922114589346111,1681531000000,1792922114588595744,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6764907778570415,-0.004953419123292856,0.09746933802486185,0.9999997366200425,-0.00015033292047632663,0.0006849284716332422,0.00016271358843783965,0.6761,-0.0046,0.09659994755010107,1.0,0.0,0.0,0.0,-0.4338433138334521,0.12850663881277402,4.942688078903634,0.004303034403278561,0.03807861113556032,-0.00028145682658435155,0.4669743568594449,1.3262766097098493,5.975253940820362,0.07680953371633496,-0.01398305936840768,-0.0009816733847826747,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.7063593197319227,0.7488100371130127,-5.874038491547803,0.5358178833337226,4.371213682589757,0.4817080928700677,1.3024657692685715,-4.942688078903634,7.176504260816374,7.176504260816374,7.273983273756162,0,0,-0.0002273375696900962,9.81423095832767e-05
+15932,1792922115356329326,1682298000000,1792922115356605185,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6765070425358075,-0.004946762638008723,0.09731191077669869,0.9999997143475162,-0.00017778976616661854,0.0007153615081471938,0.00013927118157769234,0.6761,-0.0046,0.09641923071442035,1.0,0.0,0.0,0.0,-0.3385777835639425,0.16018253373355584,5.061324345608046,0.0064510276972080255,0.03293906810174038,0.000603695862301776,0.5622398871289545,1.357952504630631,6.093890207524773,0.07895752701026443,-0.019122602402227615,-9.652069589654706e-05,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.67832344050938,0.8713884592172362,-5.841294126490795,0.5344035089999221,4.3545747626232165,0.5618074872243145,1.3024657692685715,-5.061324345608046,7.143759895759366,7.143759895759366,7.389033273755894,0,0,-0.00024655874699827516,-9.999999025923074e-05
+16017,1792922116065349678,1683006000000,1792922116060596092,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6765229778939817,-0.004950034247302552,0.09715239547885167,0.9999997012735995,-0.0001394457829703571,0.0007378673714358257,0.00015812081444923804,0.6761,-0.0046,0.09623544428737377,1.0,0.0,0.0,0.0,-0.32311306824363495,0.13850749432966158,5.146568862456718,0.005442665907625835,0.031939879737633736,0.0005017547155921904,0.577704602449262,1.3362774652267368,6.179134724373446,0.07794916522068224,-0.020121790766334257,-0.00019846184260613272,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6861771777899,0.880710718629773,-5.9155599922192135,0.5548035587145016,4.4102734022402,0.5828066414820706,1.3024657692685715,-5.146568862456718,7.218025761487785,7.218025761487785,7.495233273755646,0,0,-0.0002714119750571716,-9.999999025923074e-05
+16105,1792922116798375998,1683740000000,1792922116792605744,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6765359499656685,-0.004947675675503594,0.09696793874261754,0.9999996894064836,-9.900774671472859e-05,0.0007593481348005022,0.00016191873588340848,0.6761,-0.0046,0.09602925303503683,1.0,0.0,0.0,0.0,-0.30411963303302736,0.12915623143759025,5.254231164743716,0.0037400541904767104,0.0312304717821284,0.00039554353611342827,0.5966980376598696,1.3269262023346655,6.286797026660444,0.07624655350353311,-0.020831198721839597,-0.00030467302208489483,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.7462817471909093,0.7568787931018164,-5.949458853033886,0.6107291598130961,4.4602418818651905,0.4959714262319372,1.3024657692685715,-5.254231164743716,7.251924622302457,7.251924622302457,7.60533327375539,0,0,-0.0002867982572360691,-9.999389791038311e-05
+16180,1792922117423432193,1684365000000,1792922117420595730,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6765463591745751,-0.004950073600508751,0.09680614332286842,0.999999671089305,-0.00012795257821075472,0.0007789988848512616,0.00016140948341362936,0.6761,-0.0046,0.09584818029801409,1.0,0.0,0.0,0.0,-0.2741992625591638,0.07919894443953779,5.3662526959363195,0.0005939205612949389,0.029495004965702294,0.00023002322877432527,0.6266184081337332,1.276968915336613,6.398818557853048,0.07310041987435134,-0.022566665538265702,-0.00047019332942399783,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6652297078144755,0.7471293845709183,-6.083821658529483,0.62020308408901,4.538223967390456,0.48996522085461114,1.3024657692685715,-5.3662526959363195,7.386287427798054,7.386287427798054,7.699083273755171,0,0,-0.0002905987379023519,-9.994503421951179e-05
+16257,1792922118064491532,1685006000000,1792922118064605431,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6765598590345977,-0.004960253069165982,0.09663122335910466,0.999999652092939,-0.00014946424394766695,0.0007971180093036381,0.00017181438922663847,0.6761,-0.0046,0.09566064320546241,1.0,0.0,0.0,0.0,-0.2451285771476852,0.050155775053994045,5.422420189150966,-0.001670551038282203,0.02795163758977775,0.00015231348375549254,0.6556890935452118,1.2479257459510693,6.454986051067694,0.0708359482747742,-0.024110032914190248,-0.0005479030744428306,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.723055384531448,0.7807655859144842,-6.179822227541191,0.6198300779236199,4.6273576982856826,0.5177486862591054,1.3024657692685715,-5.422420189150966,7.482287996809762,7.482287996809762,7.795233273754947,0,0,-0.0002972951908639373,-9.73893424501881e-05
+16337,1792922118731440738,1685673000000,1792922118728595899,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6765734619037627,-0.0049551144860598305,0.0964424379499713,0.9999996350792858,-0.0001678699183587834,0.0008154676797028441,0.00016767919733593384,0.6761,-0.0046,0.09545578115444181,1.0,0.0,0.0,0.0,-0.2247654968892846,0.004949082751301459,5.492483207124295,-0.004539504749277931,0.025967104224308597,3.297094718615059e-05,0.6760521738036124,1.2027190536483767,6.525049069041022,0.06796699456377847,-0.0260945662796594,-0.0006672456110121725,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.7411709368370976,0.7176392891688367,-6.325341586781385,0.6517774354556927,4.734658539161308,0.4767692843722422,1.3024657692685715,-5.492483207124295,7.627807356049956,7.627807356049956,7.895283273754714,0,0,-0.00031746947631048765,-3.5369948840621246e-05
+16420,1792922119423536349,1686365000000,1792922119420595406,DOWN_FORCE_DETACH,2,0.0608,0.0608014240860939,0.6765859732833359,-0.004962889172628395,0.09623567023511798,0.9999996163727315,-0.00016927798077866056,0.000837035918293427,0.0001715024509108652,0.6761,-0.0046,0.09522853691033799,1.0,0.0,0.0,0.0,-0.18978241876559254,-0.05529466552032636,5.58079644373257,-0.0077072435000468675,0.024028008425498747,-0.00010290949079518074,0.7110352519273044,1.142475305376749,6.613362305649298,0.06479925581300953,-0.02803366207846925,-0.0008031260489935038,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6955652520996227,0.7327972668576792,-6.418482462287737,0.6630739850318484,4.7942545159592,0.49425807169728303,1.3024657692685715,-5.58079644373257,7.720948231556308,7.720948231556308,7.999083273754472,0,0,-0.00033941135533012765,5.706368376091962e-05
+16493,1792922120031570137,1686973000000,1792922120028595750,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6765953510199244,-0.00496391671637094,0.09603934475974804,0.9999996131975946,-7.711363713560077e-05,0.0008540326375477261,0.00017242176996389743,0.6761,-0.0046,0.0950162618580854,1.0,0.0,0.0,0.0,-0.14658427124674833,-0.09610802219452919,5.6757006444578835,-0.01152713189064377,0.022008998089805873,-0.0002476623994621314,0.7542333994461486,1.101661948702546,6.708266506374612,0.06097936742241263,-0.030052672414162124,-0.0009478789576604545,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6861790242875427,0.731941052479553,-6.419740855377266,0.664754113306224,4.810619692649202,0.49482406048106453,1.3024657692685715,-5.6757006444578835,7.722206624645837,7.722206624645837,8.09028327375426,0,0,-0.00035434223602112534,-9.687548960102816e-05
+16563,1792922120614486466,1687556000000,1792922120608596454,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6766063084925482,-0.004964303312218334,0.09584239495041245,0.9999995949044008,-0.00011871369548914773,0.0008713456047503597,0.0001682194821973882,0.6761,-0.0046,0.0948056879152233,1.0,0.0,0.0,0.0,-0.11788339648545454,-0.11916718680922567,5.739726846130527,-0.012732486709469866,0.019993118761839263,-0.0003441891809314254,0.7829342742074424,1.0786027840878496,6.772292708047255,0.059774012603586536,-0.032068551742128734,-0.0010444057391297485,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.693947390525224,0.7073062209016551,-6.579071805138666,0.6863326713448401,4.924688587918452,0.48509141494888713,1.3024657692685715,-5.739726846130527,7.881537574407237,7.881537574407237,8.177733273754056,0,0,-0.00036956684554692733,9.687510102296954e-05
+16632,1792922121189473051,1688131000000,1792922121188596072,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6766165821251928,-0.004967888134965175,0.09564168888384937,0.9999995720191497,-0.0001427396935560488,0.0008918064179991706,0.00017807603585940564,0.6761,-0.0046,0.0945888027294149,1.0,0.0,0.0,0.0,-0.0876915218046258,-0.1670084200078894,5.815076622705927,-0.016405106928504068,0.018023593377088483,-0.0004733768051483052,0.8131261488882712,1.0307615508891859,6.8476424846226545,0.056101392384552334,-0.034038077126879514,-0.0011735933633466283,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6557354754990414,0.7282067993012608,-6.7004206079918704,0.6721891417196151,5.008533251587008,0.49294319027917777,1.3024657692685715,-5.815076622705927,8.002886377260442,8.002886377260442,8.263983273753855,0,0,-0.0003844157094631554,9.999996250365512e-05
+16697,1792922121731567378,1688673000000,1792922121728595846,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6766314628618721,-0.004965734676705036,0.09543561614267829,0.9999995552635791,-0.0001719725273328097,0.0009058483401040572,0.0001754415654279629,0.6761,-0.0046,0.09437636020811342,1.0,0.0,0.0,0.0,-0.047299434490501,-0.1657041200371967,5.890167554476884,-0.016745205773450192,0.015961004391517354,0.00046530128040429093,0.853518236202396,1.0320658508598786,6.922733416393612,0.05576129353960621,-0.03610066611245064,-0.00023491527779403214,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.7060283689179405,0.6893862478689939,-6.696281705962084,0.6960700500380655,5.032738052341269,0.4768747491774604,1.3024657692685715,-5.890167554476884,7.9987474752306555,7.9987474752306555,8.345283273753665,0,0,-0.0003970485309798529,-9.999999025923074e-05
+16762,1792922122273580785,1689215000000,1792922122268595776,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.6766366831917249,-0.0049600665914737675,0.09522199716438533,0.9999995437796827,-0.0001742322047519703,0.0009170556310228153,0.00018037571717898927,0.6761,-0.0046,0.0941554558628774,1.0,0.0,0.0,0.0,0.005135521574710755,-0.181301113188578,5.920182574725846,-0.0176289756391766,0.01252325302295769,0.0003864852949587772,0.9059531922676077,1.0164688577084973,6.952748436642574,0.054877523673879804,-0.03953841748101031,-0.0003137312632395459,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.673281285243576,0.7360943049416906,-6.5966689035402375,0.6951933239820698,4.971984946211413,0.5125077535400288,1.3024657692685715,-5.920182574725846,7.899134672808809,7.899134672808809,8.426583273753476,0,0,-0.0004170197768868774,-9.999925473647692e-05
+16823,1792922122781593072,1689723000000,1792922122776596091,DOWN_FORCE_DETACH,2,0.0608,0.06080207973718643,0.676644286058038,-0.004960426124253038,0.09501532849999804,0.9999995380436094,-0.0001688971276257501,0.0009239994303421279,0.00018180826428614068,0.6761,-0.0046,0.09393802389304552,1.0,0.0,0.0,0.0,0.07070119831810351,-0.18504862428976043,5.956273100657935,-0.017480987058593057,0.008096497033113305,0.0002881804786587942,0.9715188690110005,1.0127213466073148,6.988838962574662,0.055025512254463345,-0.04396517347085469,-0.0004120360795395289,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.679447319871327,0.7666364066447856,-6.757389594086746,0.6969453459635935,5.090174036454297,0.5397063211969226,1.3024657692685715,-5.956273100657935,8.059855363355318,8.059855363355318,8.502783273753298,0,0,-0.00044020622285842324,-9.999999025923074e-05
+16886,1792922123301654085,1690243000000,1792922123300596991,DOWN_SETTLE,2,0.0608,0.06080207973718643,0.67664958178755,-0.004963737613688513,0.09480016615093886,0.9999995352751128,-9.881429522933086e-05,0.0009364959106001302,0.00018467151211934348,0.6761,-0.0046,0.0937225177791699,1.0,0.0,0.0,0.0,0.10850832510872,-0.23482295886032756,5.991152798976625,-0.020538710033019388,0.005956822652574488,-0.0006889488462866141,1.009325995801617,0.9629470120367477,7.023718660893353,0.051967789280037015,-0.04610484785139351,-0.0013891654044849372,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.6546904429795712,0.8072181398489049,-6.862760542534674,0.6666672187988163,5.171546348759489,0.551911019088314,1.3024657692685715,-5.991152798976625,8.165226311803245,0.0,0.0,0,0,-0.00016360988624596634,0.0016526251135956195
+16979,1792922124073567351,1691015000000,1792922124072605649,DOWN_PEAK_HOLD,2,0.0608,0.06080207973718643,0.6766090406825277,-0.004958511068324272,0.09466852941249107,0.9999996025558385,-0.00010155805431273533,0.0008605683455499474,0.00018825279187683095,0.6761,-0.0046,0.09370721467930153,1.0,0.0,0.0,0.0,0.4058899693058342,-0.5337757432619257,5.011932095471712,-0.040122211823771466,-0.013746952380540883,-0.0015714983688837284,1.3067076399987312,0.6639942276351496,6.04449795738844,0.03238428748928494,-0.06580862288450888,-0.0022717149270820515,0.900817670692897,1.1977699708970753,1.0325658619167277,0.0725064993130564,-0.052061670503968,-0.0007002165581983231,1,2.0783237581741196,0.7775192790368847,-5.701131934296304,0.6693601587713128,4.349482647558263,0.5408937264240655,1.3024657692685715,-5.011932095471712,7.003597703564875,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_12.5/press_depth_02/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,1792922071050317200,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.011557882e-08,-7.454607608e-10,1.070412647e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455499e-01,-1.164809251e-04,8.303256356e-01
+1,1.000000000e+00,DOWN_FORCE_DETACH,1792922072082681026,1.204838117e-06,3.938363839e-06,1.322636580e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.355633491e-07,-2.380191378e-08,4.888933258e-09,7.019568377e-01,-1.833237118e-05,8.601432195e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458754e-01,-1.165039815e-04,8.303256403e-01
+2,2.083333333e+00,DOWN_FORCE_DETACH,1792922073310666883,1.604738358e-05,3.097100419e-06,6.319605666e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.281753117e-07,-3.184751397e-08,1.151848972e-08,7.019716802e-01,-1.917363460e-05,8.601494068e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459680e-01,-1.165120271e-04,8.303256470e-01
+3,3.216666667e+00,DOWN_FORCE_DETACH,1792922074441656718,1.950265169e-05,1.964772522e-06,1.716028187e-06,1.991977506e-05,2.107526393e-06,7.903662566e-06,2.186635855e-05,1.969880148e-06,7.858036574e-06,7.019751355e-01,-2.030596250e-05,8.601448033e-01,7.019755526e-01,-2.016320863e-05,8.601509909e-01,7.027674062e-01,-1.145102995e-04,8.303334935e-01
+4,4.233333333e+00,DOWN_FORCE_DETACH,1792922075440358627,2.252347200e-05,-8.141089940e-07,-4.348077494e-06,1.991977506e-05,2.107526393e-06,7.903662566e-06,2.205825366e-05,1.957889896e-06,7.922675074e-06,7.019781563e-01,-2.308484402e-05,8.601387392e-01,7.019755526e-01,-2.016320863e-05,8.601509909e-01,7.027675981e-01,-1.145222897e-04,8.303335581e-01
+5,5.283333333e+00,DOWN_FORCE_DETACH,1792922076472433727,3.586289480e-05,2.152328657e-06,-2.326094453e-05,2.588352681e-05,-3.366148880e-06,-1.078986818e-05,2.818711524e-05,-3.264127627e-06,-1.051224511e-05,7.019914957e-01,-2.011840637e-05,8.601198263e-01,7.019815163e-01,-2.563688390e-05,8.601322974e-01,7.027737269e-01,-1.197443072e-04,8.303151232e-01
+6,6.166666667e+00,DOWN_FORCE_DETACH,1792922077373565940,4.875608619e-05,-1.962630399e-06,-3.399341533e-05,3.903973192e-05,-3.655043424e-06,-2.567193732e-05,4.210875015e-05,-3.592358935e-06,-2.531071704e-05,7.020043889e-01,-2.423336542e-05,8.601090938e-01,7.019946725e-01,-2.592577845e-05,8.601174153e-01,7.027876486e-01,-1.200725385e-04,8.303003247e-01
+7,7.250000000e+00,DOWN_FORCE_DETACH,1792922078487306913,6.379043379e-05,-8.012007107e-06,-5.046800508e-05,5.301807556e-05,-3.178010961e-06,-3.941228351e-05,5.696662086e-05,-3.129153492e-06,-3.900448619e-05,7.020194233e-01,-3.028274213e-05,8.600926192e-01,7.020086509e-01,-2.544874598e-05,8.601036750e-01,7.028025064e-01,-1.196093331e-04,8.302866310e-01
+8,8.166666667e+00,DOWN_FORCE_DETACH,1792922079404696094,7.524305660e-05,-8.139237413e-06,-6.402395320e-05,6.410858634e-05,-3.968137884e-06,-5.544355799e-05,6.882260562e-05,-3.917181735e-06,-5.499064137e-05,7.020308759e-01,-3.040997244e-05,8.600790633e-01,7.020197414e-01,-2.623887291e-05,8.600876437e-01,7.028143624e-01,-1.203973613e-04,8.302706448e-01
+9,9.116666667e+00,DOWN_FORCE_DETACH,1792922080338667157,8.653964511e-05,-1.019072908e-05,-7.668911917e-05,8.026674292e-05,-1.126415334e-05,-6.612535084e-05,8.605074250e-05,-1.088015976e-05,-6.573429249e-05,7.020421725e-01,-3.246146410e-05,8.600663981e-01,7.020358996e-01,-3.353488836e-05,8.600769619e-01,7.028315905e-01,-1.273603394e-04,8.302599012e-01
+10,1.008333333e+01,DOWN_FORCE_DETACH,1792922081288713220,1.050132966e-04,-6.582496346e-06,-9.275085102e-05,8.798560356e-05,-9.289718850e-06,-8.540312077e-05,9.429267979e-05,-9.031867052e-06,-8.490760731e-05,7.020606461e-01,-2.885323137e-05,8.600503364e-01,7.020436184e-01,-3.156045387e-05,8.600576841e-01,7.028398325e-01,-1.255120467e-04,8.302407278e-01
+11,1.095000000e+01,DOWN_FORCE_DETACH,1792922082195927019,1.153431543e-04,-5.892999716e-06,-1.185126820e-04,1.104096711e-04,-1.058249353e-05,-1.104786918e-04,1.179304276e-04,-1.032630027e-05,-1.097527398e-04,7.020709760e-01,-2.816373474e-05,8.600245746e-01,7.020660425e-01,-3.285322855e-05,8.600326085e-01,7.028634702e-01,-1.268064799e-04,8.302158827e-01
+12,1.201666667e+01,DOWN_FORCE_DETACH,1792922083302996347,1.293076878e-04,-8.335720273e-06,-1.431916020e-04,1.226781247e-04,-9.289037469e-06,-1.282306753e-04,1.311823507e-04,-9.134197368e-06,-1.275921993e-04,7.020849405e-01,-3.060645530e-05,8.599998956e-01,7.020783109e-01,-3.155977249e-05,8.600148566e-01,7.028767222e-01,-1.256143770e-04,8.301980433e-01
+13,1.313333333e+01,DOWN_FORCE_DETACH,1792922084400503346,1.376714045e-04,-1.059464713e-05,-1.539739230e-04,1.327521731e-04,-8.985477020e-06,-1.457002046e-04,1.418697788e-04,-8.901448249e-06,-1.451695338e-04,7.020933042e-01,-3.286538215e-05,8.599891133e-01,7.020883850e-01,-3.125621204e-05,8.599973870e-01,7.028874096e-01,-1.253816279e-04,8.301804659e-01
+14,1.428333333e+01,DOWN_FORCE_DETACH,1792922085596931962,1.487021086e-04,-1.309327526e-05,-1.768091651e-04,1.400186046e-04,-1.192526314e-05,-1.650414717e-04,1.495477069e-04,-1.172383070e-05,-1.645141939e-04,7.021043349e-01,-3.536401028e-05,8.599662781e-01,7.020956514e-01,-3.419599817e-05,8.599780458e-01,7.028950875e-01,-1.282040103e-04,8.301611213e-01
+15,1.545000000e+01,DOWN_FORCE_DETACH,1792922086743083180,1.577147298e-04,-1.666270652e-05,-2.056735037e-04,1.574637657e-04,-1.666436246e-05,-2.056092325e-04,1.674867936e-04,-1.623889378e-05,-2.043297995e-04,7.021133475e-01,-3.893344155e-05,8.599374137e-01,7.021130966e-01,-3.893509748e-05,8.599374780e-01,7.029130266e-01,-1.327190734e-04,8.301213057e-01
+16,1.651666667e+01,DOWN_FORCE_DETACH,1792922087791920446,1.646974655e-04,-1.764380704e-05,-2.267082220e-04,1.649321758e-04,-1.735898282e-05,-2.244102421e-04,1.755108993e-04,-1.691437950e-05,-2.234145206e-04,7.021203303e-01,-3.991454206e-05,8.599163790e-01,7.021205650e-01,-3.962971784e-05,8.599186770e-01,7.029210507e-01,-1.333945591e-04,8.301022209e-01
+17,1.758333333e+01,DOWN_FORCE_DETACH,1792922088905346183,1.773574461e-04,-1.763629281e-05,-2.497890200e-04,1.727660411e-04,-1.776948605e-05,-2.427922043e-04,1.837884487e-04,-1.738681686e-05,-2.420089821e-04,7.021329903e-01,-3.990702783e-05,8.598932982e-01,7.021283989e-01,-4.004022107e-05,8.599002950e-01,7.029293283e-01,-1.338669965e-04,8.300836265e-01
+18,1.860000000e+01,DOWN_FORCE_DETACH,1792922089920768601,1.857338773e-04,-2.196623574e-05,-2.791507021e-04,1.805055310e-04,-1.503142790e-05,-2.612927691e-04,1.921020208e-04,-1.478979791e-05,-2.606834286e-04,7.021413667e-01,-4.423697076e-05,8.598639365e-01,7.021361383e-01,-3.730216292e-05,8.598817945e-01,7.029376418e-01,-1.312699775e-04,8.300649520e-01
+19,1.961666667e+01,DOWN_FORCE_DETACH,1792922091018323107,1.972705594e-04,-1.954706622e-05,-3.091852870e-04,1.921765272e-04,-1.919191368e-05,-2.982030554e-04,2.040617761e-04,-1.877052569e-05,-2.973167676e-04,7.021529034e-01,-4.181780124e-05,8.598339020e-01,7.021478093e-01,-4.146264870e-05,8.598448842e-01,7.029496016e-01,-1.352507053e-04,8.300283187e-01
+20,2.066666667e+01,DOWN_FORCE_DETACH,1792922092115717380,2.079700768e-04,-2.650538952e-05,-3.439793516e-04,2.049344197e-04,-2.088198462e-05,-3.355834299e-04,2.173406433e-04,-2.040873881e-05,-3.345132162e-04,7.021636029e-01,-4.877612455e-05,8.597991079e-01,7.021605672e-01,-4.315271965e-05,8.598075038e-01,7.029628804e-01,-1.368889184e-04,8.299911222e-01
+21,2.175000000e+01,DOWN_FORCE_DETACH,1792922093279018761,2.172289265e-04,-2.715592905e-05,-3.862556235e-04,2.141953314e-04,-3.115166663e-05,-3.740647828e-04,2.268979725e-04,-3.017329336e-05,-3.729146564e-04,7.021728617e-01,-4.942666407e-05,8.597568316e-01,7.021698281e-01,-5.342240165e-05,8.597690225e-01,7.029724378e-01,-1.466534730e-04,8.299527208e-01
+22,2.273333333e+01,DOWN_FORCE_DETACH,1792922094245949092,2.279101858e-04,-2.604039694e-05,-4.219044181e-04,2.245039310e-04,-3.157459386e-05,-4.165953333e-04,2.373909682e-04,-3.059176605e-05,-4.152321028e-04,7.021835430e-01,-4.831113197e-05,8.597211828e-01,7.021801367e-01,-5.384532888e-05,8.597264919e-01,7.029829308e-01,-1.470719457e-04,8.299104033e-01
+23,2.333333333e+01,DOWN_FORCE_DETACH,1792922094844948110,2.377883177e-04,-3.399690894e-05,-4.540069596e-04,2.426087900e-04,-1.977413781e-05,-4.465952546e-04,2.560165285e-04,-1.937492955e-05,-4.450245716e-04,7.021934211e-01,-5.626764396e-05,8.596890803e-01,7.021982416e-01,-4.204487283e-05,8.596964920e-01,7.030015563e-01,-1.358551092e-04,8.298806109e-01
+24,2.415000000e+01,DOWN_FORCE_DETACH,1792922095654016419,2.508071043e-04,-2.849331082e-05,-4.926892002e-04,2.463190288e-04,-2.398479629e-05,-4.852958463e-04,2.599282355e-04,-2.339291554e-05,-4.837114448e-04,7.022064399e-01,-5.076404585e-05,8.596503980e-01,7.022019518e-01,-4.625553131e-05,8.596577914e-01,7.030054680e-01,-1.398730951e-04,8.298419240e-01
+25,2.521666667e+01,DOWN_FORCE_DETACH,1792922096751486558,2.629933186e-04,-3.327147816e-05,-5.499168218e-04,2.597149854e-04,-3.287430876e-05,-5.437361296e-04,2.736980249e-04,-3.185148673e-05,-5.420897928e-04,7.022186261e-01,-5.554221318e-05,8.595931704e-01,7.022153478e-01,-5.514504379e-05,8.595993511e-01,7.030192378e-01,-1.483316663e-04,8.297835457e-01
+26,2.620000000e+01,DOWN_FORCE_DETACH,1792922097734584732,2.679462440e-04,-3.798389356e-05,-5.946344076e-04,2.662569114e-04,-3.973747802e-05,-5.831318416e-04,2.802532356e-04,-3.836879823e-05,-5.816485574e-04,7.022235791e-01,-6.025462858e-05,8.595484528e-01,7.022218897e-01,-6.200821304e-05,8.595599554e-01,7.030257930e-01,-1.548489778e-04,8.297439869e-01
+27,2.720000000e+01,DOWN_FORCE_DETACH,1792922098733334266,2.804509350e-04,-3.870783046e-05,-6.431039394e-04,2.739496080e-04,-3.803858522e-05,-6.255622531e-04,2.880491909e-04,-3.677865921e-05,-6.243245081e-04,7.022360838e-01,-6.097856548e-05,8.594999833e-01,7.022295824e-01,-6.030932024e-05,8.595175250e-01,7.030335890e-01,-1.532588388e-04,8.297013109e-01
+28,2.823333333e+01,DOWN_FORCE_DETACH,1792922099749042115,2.953443117e-04,-4.577356102e-05,-7.092252975e-04,2.931737860e-04,-3.857336073e-05,-7.059182576e-04,3.076082895e-04,-3.735235062e-05,-7.040164938e-04,7.022509771e-01,-6.804429604e-05,8.594338619e-01,7.022488066e-01,-6.084409575e-05,8.594371690e-01,7.030531481e-01,-1.538325302e-04,8.296216190e-01
+29,2.925000000e+01,DOWN_FORCE_DETACH,1792922100749746076,3.068269959e-04,-4.323921448e-05,-7.686995252e-04,3.035445705e-04,-4.517650964e-05,-7.682001588e-04,3.182482139e-04,-4.372440983e-05,-7.663033472e-04,7.022624598e-01,-6.550994950e-05,8.593743877e-01,7.022591774e-01,-6.744724467e-05,8.593748871e-01,7.030637880e-01,-1.602045894e-04,8.295593321e-01
+30,3.006666667e+01,DOWN_FORCE_DETACH,1792922101567190380,3.145690833e-04,-4.775876951e-05,-8.245000415e-04,3.120821863e-04,-4.536097179e-05,-8.094897223e-04,3.269897969e-04,-4.393854806e-05,-8.078251935e-04,7.022702019e-01,-7.002950453e-05,8.593185872e-01,7.022677150e-01,-6.763170682e-05,8.593335975e-01,7.030725296e-01,-1.604187277e-04,8.295178103e-01
+31,3.108333333e+01,DOWN_FORCE_DETACH,1792922102698147876,3.321118833e-04,-4.993491227e-05,-9.026871519e-04,3.272027201e-04,-5.010511026e-05,-8.949487358e-04,3.422548962e-04,-4.853574653e-05,-8.929651297e-04,7.022877447e-01,-7.220564729e-05,8.592404001e-01,7.022828355e-01,-7.237584529e-05,8.592481385e-01,7.030877947e-01,-1.650159261e-04,8.294326703e-01
+32,3.206666667e+01,DOWN_FORCE_DETACH,1792922103664010923,3.425226766e-04,-5.194529388e-05,-9.708147970e-04,3.380915312e-04,-5.163651930e-05,-9.571668289e-04,3.533511456e-04,-5.001801229e-05,-9.553439758e-04,7.022981555e-01,-7.421602890e-05,8.591722724e-01,7.022937243e-01,-7.390725432e-05,8.591859204e-01,7.030988909e-01,-1.664981919e-04,8.293702915e-01
+33,3.313333333e+01,DOWN_FORCE_DETACH,1792922104712421673,3.555305820e-04,-5.462484867e-05,-1.057066142e-03,3.510570226e-04,-5.273019330e-05,-1.048251504e-03,3.661453997e-04,-5.113051199e-05,-1.046029664e-03,7.023111634e-01,-7.689558370e-05,8.590860211e-01,7.023066898e-01,-7.500092833e-05,8.590948357e-01,7.031116852e-01,-1.676106916e-04,8.292796058e-01
+34,3.425000000e+01,DOWN_FORCE_DETACH,1792922105809679452,3.709844779e-04,-5.574368225e-05,-1.155451720e-03,3.690755552e-04,-5.645180135e-05,-1.148129030e-03,3.843170561e-04,-5.471142305e-05,-1.145649069e-03,7.023266173e-01,-7.801441728e-05,8.589876355e-01,7.023247084e-01,-7.872253638e-05,8.589949582e-01,7.031298569e-01,-1.711916027e-04,8.291799864e-01
+35,3.513333333e+01,DOWN_FORCE_DETACH,1792922106695511614,3.818531389e-04,-6.279628860e-05,-1.241822809e-03,3.773862038e-04,-5.845941377e-05,-1.234534009e-03,3.924516167e-04,-5.665969530e-05,-1.231932317e-03,7.023374860e-01,-8.506702362e-05,8.589012644e-01,7.023330190e-01,-8.073014879e-05,8.589085532e-01,7.031379914e-01,-1.731398749e-04,8.290937031e-01
+36,3.598333333e+01,DOWN_FORCE_DETACH,1792922107562432590,3.923013513e-04,-6.619348605e-05,-1.331755740e-03,3.879879280e-04,-6.302279981e-05,-1.316864209e-03,4.028838651e-04,-6.101967471e-05,-1.314360629e-03,7.023479342e-01,-8.846422107e-05,8.588113315e-01,7.023436207e-01,-8.529353483e-05,8.588262230e-01,7.031484237e-01,-1.774998543e-04,8.290112748e-01
+37,3.698333333e+01,DOWN_FORCE_DETACH,1792922108594456876,4.100157540e-04,-6.432226152e-05,-1.444853103e-03,4.085965329e-04,-7.100872629e-05,-1.439756345e-03,4.234677540e-04,-6.866081037e-05,-1.436675165e-03,7.023656486e-01,-8.659299655e-05,8.586982341e-01,7.023642293e-01,-9.327946131e-05,8.587033309e-01,7.031690076e-01,-1.851409900e-04,8.288889603e-01
+38,3.788333333e+01,DOWN_FORCE_DETACH,1792922109495460829,4.212792804e-04,-7.332793727e-05,-1.554608933e-03,4.224231486e-04,-7.072845504e-05,-1.543901776e-03,4.372325324e-04,-6.846935368e-05,-1.540840626e-03,7.023769121e-01,-9.559867229e-05,8.585884783e-01,7.023780560e-01,-9.299919006e-05,8.585991855e-01,7.031827723e-01,-1.849495333e-04,8.287847948e-01
+39,3.878333333e+01,DOWN_FORCE_DETACH,1792922110379940770,4.400091288e-04,-7.126352939e-05,-1.665745401e-03,4.360836085e-04,-6.987257700e-05,-1.658670950e-03,4.506515749e-04,-6.770877265e-05,-1.655522263e-03,7.023956419e-01,-9.353426441e-05,8.584773418e-01,7.023917164e-01,-9.214331202e-05,8.584844163e-01,7.031961914e-01,-1.841889522e-04,8.286701132e-01
+40,3.965000000e+01,DOWN_FORCE_DETACH,1792922111248493250,4.545196810e-04,-7.371839683e-05,-1.791918764e-03,4.517954159e-04,-7.999671467e-05,-1.790669766e-03,4.659725112e-04,-7.738686255e-05,-1.786845111e-03,7.024101525e-01,-9.598913185e-05,8.583511685e-01,7.024074282e-01,-1.022674497e-04,8.583524175e-01,7.032115123e-01,-1.938670422e-04,8.285387903e-01
+41,4.045000000e+01,DOWN_FORCE_DETACH,1792922112034246126,4.687270599e-04,-8.501283708e-05,-1.917126129e-03,4.651683344e-04,-7.906615069e-05,-1.901143916e-03,4.790925951e-04,-7.652553281e-05,-1.897638050e-03,7.024243599e-01,-1.072835721e-04,8.582259611e-01,7.024208012e-01,-1.013368857e-04,8.582419433e-01,7.032246324e-01,-1.930057124e-04,8.284279974e-01
+42,4.133333333e+01,DOWN_FORCE_DETACH,1792922112903254181,4.843572035e-04,-8.154730762e-05,-2.060586065e-03,4.843556384e-04,-8.146958876e-05,-2.060088493e-03,4.976869376e-04,-7.885741887e-05,-2.055822331e-03,7.024399900e-01,-1.038180426e-04,8.580825012e-01,7.024399885e-01,-1.037403238e-04,8.580829987e-01,7.032432267e-01,-1.953375985e-04,8.282698131e-01
+43,4.220000000e+01,DOWN_FORCE_DETACH,1792922113770954726,4.955059601e-04,-9.140985971e-05,-2.223983788e-03,4.945444718e-04,-8.251531213e-05,-2.210924900e-03,5.071018093e-04,-7.984758842e-05,-2.206675877e-03,7.024511388e-01,-1.136805947e-04,8.579191035e-01,7.024501773e-01,-1.047860472e-04,8.579321623e-01,7.032526416e-01,-1.963277680e-04,8.281189596e-01
+44,4.303333333e+01,DOWN_FORCE_DETACH,1792922114590646131,5.101015825e-04,-8.945071338e-05,-2.378208669e-03,5.097120201e-04,-8.976921411e-05,-2.363274729e-03,5.215915406e-04,-8.683487437e-05,-2.359100565e-03,7.024657344e-01,-1.117214484e-04,8.577648786e-01,7.024653448e-01,-1.120399491e-04,8.577798125e-01,7.032671313e-01,-2.033150540e-04,8.279665349e-01
+45,4.378333333e+01,DOWN_FORCE_DETACH,1792922115359597006,5.236300297e-04,-8.652268493e-05,-2.539958687e-03,5.235226655e-04,-8.664629713e-05,-2.540160232e-03,5.342459078e-04,-8.389455466e-05,-2.535072470e-03,7.024792628e-01,-1.087934200e-04,8.576031286e-01,7.024791555e-01,-1.089170322e-04,8.576029270e-01,7.032797857e-01,-2.003747343e-04,8.277905630e-01
+46,4.448333333e+01,DOWN_FORCE_DETACH,1792922116064481134,5.380081327e-04,-8.605971241e-05,-2.697043413e-03,5.379140135e-04,-8.532261914e-05,-2.694721884e-03,5.478846451e-04,-8.277007050e-05,-2.689646248e-03,7.024936409e-01,-1.083304474e-04,8.574460438e-01,7.024935468e-01,-1.075933542e-04,8.574483654e-01,7.032934244e-01,-1.992502501e-04,8.276359892e-01
+47,4.523333333e+01,DOWN_FORCE_DETACH,1792922116801236057,5.556110207e-04,-9.193755365e-05,-2.877827786e-03,5.545249236e-04,-9.100350616e-05,-2.873375984e-03,5.635477090e-04,-8.818127861e-05,-2.867980111e-03,7.025112438e-01,-1.142082887e-04,8.572652595e-01,7.025101577e-01,-1.132742412e-04,8.572697113e-01,7.033090875e-01,-2.046614582e-04,8.274576553e-01
+48,4.586666667e+01,DOWN_FORCE_DETACH,1792922117425321953,5.642166167e-04,-9.504888975e-05,-3.044686435e-03,5.612041628e-04,-9.519139058e-05,-3.027876173e-03,5.690803311e-04,-9.211319189e-05,-3.022650130e-03,7.025198494e-01,-1.173196248e-04,8.570984008e-01,7.025168370e-01,-1.174621256e-04,8.571152111e-01,7.033146201e-01,-2.085933715e-04,8.273029853e-01
+49,4.651666667e+01,DOWN_FORCE_DETACH,1792922118062402470,5.761562685e-04,-9.720015274e-05,-3.219207879e-03,5.731896098e-04,-9.538932518e-05,-3.203460354e-03,5.798989144e-04,-9.233574129e-05,-3.198040120e-03,7.025317891e-01,-1.194708878e-04,8.569238794e-01,7.025288224e-01,-1.176600602e-04,8.569396269e-01,7.033254387e-01,-2.088159209e-04,8.271275953e-01
+50,4.720000000e+01,DOWN_FORCE_DETACH,1792922118734395498,5.911977866e-04,-9.466433298e-05,-3.405853870e-03,5.897089275e-04,-1.005266808e-04,-3.402103216e-03,5.953953324e-04,-9.729333900e-05,-3.396157553e-03,7.025468306e-01,-1.169350680e-04,8.567372334e-01,7.025453417e-01,-1.227974158e-04,8.567409840e-01,7.033409351e-01,-2.137735186e-04,8.269294779e-01
+51,4.790000000e+01,DOWN_FORCE_DETACH,1792922119422262869,6.045957932e-04,-1.004730149e-04,-3.609795826e-03,6.019397255e-04,-1.026823551e-04,-3.602684984e-03,6.061837365e-04,-9.932109971e-05,-3.596719469e-03,7.025602286e-01,-1.227437499e-04,8.565332914e-01,7.025575725e-01,-1.249530901e-04,8.565404023e-01,7.033517235e-01,-2.158012793e-04,8.267289160e-01
+52,4.850000000e+01,DOWN_FORCE_DETACH,1792922120028238765,6.142333978e-04,-1.021900927e-04,-3.806375344e-03,6.124934720e-04,-1.022042971e-04,-3.796955046e-03,6.152742946e-04,-9.893313446e-05,-3.790679298e-03,7.025698662e-01,-1.244608278e-04,8.563367119e-01,7.025681263e-01,-1.244750321e-04,8.563461322e-01,7.033608141e-01,-2.154133141e-04,8.265349562e-01
+53,4.908333333e+01,DOWN_FORCE_DETACH,1792922120617872222,6.256936801e-04,-1.034804433e-04,-4.005640092e-03,6.254172123e-04,-1.035979744e-04,-4.005407909e-03,6.267126063e-04,-1.004135868e-04,-3.998498935e-03,7.025813265e-01,-1.257511783e-04,8.561374471e-01,7.025810500e-01,-1.258687094e-04,8.561376793e-01,7.033722524e-01,-2.168937664e-04,8.263271365e-01
+54,4.966666667e+01,DOWN_FORCE_DETACH,1792922121191663007,6.334688871e-04,-1.060067963e-04,-4.207691305e-03,6.331639702e-04,-1.059954207e-04,-4.207752521e-03,6.327236826e-04,-1.027249510e-04,-4.200699534e-03,7.025891017e-01,-1.282775313e-04,8.559353959e-01,7.025887968e-01,-1.282661557e-04,8.559353347e-01,7.033782635e-01,-2.192051306e-04,8.261249359e-01
+55,5.021666667e+01,DOWN_FORCE_DETACH,1792922121731966323,6.484589214e-04,-9.951158865e-05,-4.413843520e-03,6.448239379e-04,-1.019563847e-04,-4.408814306e-03,6.427231594e-04,-9.888175146e-05,-4.401781927e-03,7.026040917e-01,-1.217823237e-04,8.557292437e-01,7.026004568e-01,-1.242271198e-04,8.557342729e-01,7.033882630e-01,-2.153619311e-04,8.259238535e-01
+56,5.073333333e+01,DOWN_FORCE_DETACH,1792922122272838383,6.518588969e-04,-1.012305670e-04,-4.626555083e-03,6.547982326e-04,-1.034373633e-04,-4.615436631e-03,6.510686938e-04,-1.002303492e-04,-4.608076915e-03,7.026074917e-01,-1.235013021e-04,8.555165322e-01,7.026104310e-01,-1.257080983e-04,8.555276506e-01,7.033966085e-01,-2.167105288e-04,8.257175585e-01
+57,5.125000000e+01,DOWN_FORCE_DETACH,1792922122780262674,6.637615362e-04,-1.011408530e-04,-4.831254157e-03,6.594898952e-04,-9.972790570e-05,-4.819531182e-03,6.538104347e-04,-9.660558546e-05,-4.812300004e-03,7.026193944e-01,-1.234115881e-04,8.553118331e-01,7.026151227e-01,-1.219986407e-04,8.553235561e-01,7.033993502e-01,-2.130857651e-04,8.255133354e-01
+58,5.178333333e+01,DOWN_SETTLE,1792922123305189398,6.676807691e-04,-1.030701077e-04,-5.048608063e-03,6.680525288e-04,-1.052250613e-04,-5.033859967e-03,6.606129198e-04,-1.019549942e-04,-5.026906515e-03,7.026233136e-01,-1.253408427e-04,8.550944792e-01,7.026236853e-01,-1.274957963e-04,8.551092273e-01,7.034061527e-01,-2.184351738e-04,8.252987289e-01
+59,5.256666667e+01,DOWN_PEAK_HOLD,1792922124074892639,6.261416548e-04,-9.987636876e-05,-5.181317858e-03,6.255447662e-04,-1.005171101e-04,-5.180655181e-03,6.141036568e-04,-9.732572495e-05,-5.176127086e-03,7.025817745e-01,-1.221471038e-04,8.549617694e-01,7.025811776e-01,-1.227878451e-04,8.549624321e-01,7.033596435e-01,-2.138059046e-04,8.251495084e-01

Fixed/digit/cylinder_PLA_12.5/press_depth_02/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+00,1.6061e-01,4.6299e-01,2.4538e+00,-7.0568e-02,4.8330e-02,9.4754e-04,6.7592e-05,8.5831e-06,-4.7684e-06,-5.7369e-07,3.8259e-06,-1.2526e-07,6.8301e-05,3.8707e-06
+1,1.0000e+00,DOWN_FORCE_DETACH,2.3022e-04,2.1804e-01,4.6060e-01,2.4548e+00,-7.0319e-02,5.2434e-02,7.2725e-04,5.7496e-02,-2.3853e-03,9.5510e-04,2.4812e-04,4.1073e-03,-2.2042e-04,5.7553e-02,4.1207e-03
+2,2.0833e+00,DOWN_FORCE_DETACH,4.6455e-04,2.3485e-01,4.5978e-01,2.4560e+00,-7.0224e-02,5.3636e-02,6.3478e-04,7.4301e-02,-3.1962e-03,2.1536e-03,3.4368e-04,5.3094e-03,-3.1289e-04,7.4401e-02,5.3297e-03
+3,3.2167e+00,DOWN_FORCE_DETACH,6.9834e-04,2.0020e-01,4.2747e-01,2.4429e+00,-6.7918e-02,5.1136e-02,6.5937e-04,3.9655e-02,-3.5508e-02,-1.0915e-02,2.6493e-03,2.8099e-03,-2.8829e-04,5.4337e-02,3.8726e-03
+4,4.2333e+00,DOWN_FORCE_DETACH,9.2935e-04,2.3245e-01,4.2619e-01,2.4537e+00,-6.7794e-02,5.3464e-02,5.6695e-04,7.1905e-02,-3.6787e-02,-9.8467e-05,2.7729e-03,5.1372e-03,-3.8072e-04,8.0769e-02,5.8502e-03
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+11,1.0950e+01,DOWN_FORCE_DETACH,2.5530e-03,1.8884e-01,5.4059e-01,2.5424e+00,-7.5909e-02,5.0201e-02,3.9416e-04,2.8299e-02,7.7608e-02,8.8520e-02,-5.3420e-03,1.8740e-03,-5.5351e-04,1.2108e-01,5.6881e-03
+12,1.2017e+01,DOWN_FORCE_DETACH,2.7845e-03,2.1102e-01,5.1683e-01,2.5250e+00,-7.4261e-02,5.1879e-02,2.3868e-04,5.0473e-02,5.3854e-02,7.1197e-02,-3.6943e-03,3.5521e-03,-7.0899e-04,1.0255e-01,5.1738e-03
+13,1.3133e+01,DOWN_FORCE_DETACH,3.0174e-03,2.2845e-01,5.0666e-01,2.5104e+00,-7.3605e-02,5.3185e-02,9.2723e-05,6.7902e-02,4.3680e-02,5.6530e-02,-3.0383e-03,4.8589e-03,-8.5495e-04,9.8561e-02,5.7940e-03
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+20,2.0667e+01,DOWN_FORCE_DETACH,4.6423e-03,2.0330e-01,6.0965e-01,2.5961e+00,-8.0837e-02,5.1284e-02,5.3328e-05,4.2752e-02,1.4667e-01,1.4232e-01,-1.0270e-02,2.9576e-03,-8.9434e-04,2.0879e-01,1.0725e-02
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+53,4.9083e+01,DOWN_FORCE_DETACH,1.2303e-02,2.4710e-01,1.3751e+00,3.6564e+00,-1.2410e-01,5.2078e-02,2.4803e-04,8.6559e-02,9.1214e-01,1.2026e+00,-5.3535e-02,3.7519e-03,-6.9964e-04,1.5118e+00,5.3671e-02
+54,4.9667e+01,DOWN_FORCE_DETACH,1.2534e-02,2.5445e-01,1.3460e+00,3.6976e+00,-1.2125e-01,5.2540e-02,1.9393e-04,9.3907e-02,8.8300e-01,1.2438e+00,-5.0680e-02,4.2138e-03,-7.5374e-04,1.5282e+00,5.0860e-02
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Fixed/digit/cylinder_PLA_12.5/press_depth_02/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_12.5/press_depth_02/up/franka_data.csv

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+9817,1792922064415724888,1631359000000,1792922064412605660,UP_SETTLE,2,0.0608,0.06080076843500137,0.6758927390024365,-0.004867239474226118,0.09994082623043517,0.9999999266851476,6.814339136306202e-05,-0.00034632863988515167,0.00011612715206280494,0.6761,-0.0046,0.10041737489370046,1.0,0.0,0.0,0.0,1.3502286511528596,1.022296893226747,-0.6102054110748153,0.056345594233667244,-0.07902109789764035,-0.007723622536418737,1.3202701901528526,0.9497990146023519,-0.6711909247485015,0.05537924748223692,-0.08099274101337052,-0.007129709410717278,-0.029958461000006934,-0.07249787862439523,-0.06098551367368619,-0.0009663467514303256,-0.0019716431157301663,0.0005939131257014595,1,-0.980012219945255,1.3789873673238915,2.939083074256425,-0.13815655101376956,-2.0374471775895473,0.7686278687559396,1.3024657692685715,0.6102054110748153,-1.6366173049878536,0.6102054110748153,0.452,0,0,0.00010158316636890851,-9.999999025923074e-05
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+9852,1792922064707770152,1631651000000,1792922064704595767,UP_SETTLE,2,0.0608,0.06080076843500137,0.6758878635306458,-0.004865118850689523,0.09995177774376031,0.9999999235432525,6.952801055676198e-05,-0.00035628060390714174,0.00011218886190969814,0.6761,-0.0046,0.10044491287869688,1.0,0.0,0.0,0.0,1.3421203987996695,0.9653467425619648,-0.7250803490966669,0.052644925886466645,-0.07812408451956357,-0.007664435484523564,1.3121619377996625,0.8928488639375696,-0.7860658627703531,0.05167857913503632,-0.08009572763529374,-0.007070522358822105,-0.029958461000006934,-0.07249787862439523,-0.06098551367368619,-0.0009663467514303256,-0.0019716431157301663,0.0005939131257014595,1,-1.0170008408090034,1.4547130450318615,3.0844784529321907,-0.1764894970585676,-2.1337097766622906,0.8243821199129919,1.3024657692685715,0.7250803490966669,-1.7820126836636192,0.7250803490966669,0.452,0,0,8.698316921321313e-05,-9.999999025923074e-05
+9876,1792922064907790802,1631851000000,1792922064904604935,UP_SETTLE,2,0.0608,0.06080076843500137,0.6758837345635194,-0.004861578404223042,0.09995933076293921,0.9999999211874532,7.059025547276416e-05,-0.0003636629376542042,0.00010878527215224469,0.6761,-0.0046,0.10046131451273531,1.0,0.0,0.0,0.0,1.3211763820573914,0.9303252907729033,-0.7779763590761878,0.05039192609268209,-0.07782482151161471,-0.008444597729343509,1.2912179210573844,0.857827412148508,-0.838961872749874,0.04942557934125176,-0.07979646462734488,-0.00785068460364205,-0.029958461000006934,-0.07249787862439523,-0.06098551367368619,-0.0009663467514303256,-0.0019716431157301663,0.0005939131257014595,1,-0.9850382722724977,1.4158837643049398,3.0798252547835574,-0.16984630756690125,-2.12181022824559,0.8048174098287331,1.3024657692685715,0.7779763590761878,-1.777359485514986,0.7779763590761878,0.452,0,0,7.698317116136699e-05,-9.999999025923074e-05
+9894,1792922065057741717,1632001000000,1792922065052605362,UP_SETTLE,2,0.0608,0.0608014240860939,0.675877924654496,-0.004863867335703805,0.09996003389465759,0.99999991761721,6.709799964102805e-05,-0.00037464545592199254,0.00010652266687046177,0.6761,-0.0046,0.10047230323851983,1.0,0.0,0.0,0.0,1.3289227426040155,0.9599749260278247,-0.8001977569935343,0.05153455599410806,-0.07819323333453668,-0.008264621410802378,1.2989642816040086,0.8874770474034295,-0.8611832706672206,0.050568209242677735,-0.08016487645026685,-0.007670708285100919,-0.029958461000006934,-0.07249787862439523,-0.06098551367368619,-0.0009663467514303256,-0.0019716431157301663,0.0005939131257014595,1,-0.9981200089976354,1.4341606363150237,3.1312606707592243,-0.1790863619102966,-2.1587139449932042,0.81573996999828,1.3024657692685715,0.8001977569935343,-1.8287949014906528,0.8001977569935343,0.452,0,0,6.948317262248237e-05,-9.999999025923074e-05
+9915,1792922065232723078,1632176000000,1792922065232605333,UP_SETTLE,2,0.0608,0.0608014240860939,0.6758786639496955,-0.004861159974879642,0.09996860872023369,0.9999999177441559,6.852843558245558e-05,-0.0003745839265114087,0.00010461969955626504,0.6761,-0.0046,0.10048370154387877,1.0,0.0,0.0,0.0,1.3374365524355714,0.967747458514492,-0.8277485896835958,0.052406506933239824,-0.07880496487110926,-0.008591176834878962,1.3074780914355644,0.8952495798900967,-0.888734103357282,0.0514401601818095,-0.08077660798683943,-0.007997263709177502,-0.029958461000006934,-0.07249787862439523,-0.06098551367368619,-0.0009663467514303256,-0.0019716431157301663,0.0005939131257014595,1,-0.9486976683206266,1.3809638281830232,3.133297155384904,-0.16817928527876233,-2.1477081579377293,0.784536442421994,1.3024657692685715,0.8277485896835958,-1.8308313861163323,0.8277485896835958,0.452,0,0,6.0733174327116994e-05,-9.999999025923074e-05
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Fixed/digit/cylinder_PLA_12.5/press_depth_02/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,1792922058322984586,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.011545603e-08,-7.454278531e-10,1.068629629e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455499e-01,-1.164809250e-04,8.303256356e-01
+1,1.833333333e-01,XJC_ZERO_HOLD_BEFORE_UP,1792922058502878790,1.014748254e-06,-6.029956426e-07,1.368590092e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.067773936e-07,-7.231941691e-09,9.066880580e-10,7.019566476e-01,-2.287373067e-05,8.601444558e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456466e-01,-1.164874115e-04,8.303256364e-01
+2,3.500000000e-01,WAIT_W2,1792922058666569333,4.926189899e-07,2.339518944e-06,2.032213497e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.755367305e-07,-1.202839369e-08,1.526122784e-09,7.019561254e-01,-1.993121608e-05,8.601432905e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457153e-01,-1.164922080e-04,8.303256370e-01
+3,5.000000000e-01,WAIT_W2,1792922058814304942,5.945788051e-07,6.470144711e-06,8.624828456e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.255106328e-07,-1.553132619e-08,2.155286283e-09,7.019562274e-01,-1.580059031e-05,8.601439497e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457653e-01,-1.164957109e-04,8.303256376e-01
+4,6.666666667e-01,WAIT_W2,1792922058977601049,3.005933895e-06,4.469170522e-07,5.175565807e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.704317810e-07,-1.881344062e-08,2.965221069e-09,7.019586388e-01,-2.182381797e-05,8.601482628e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458102e-01,-1.164989930e-04,8.303256384e-01
+5,8.166666667e-01,WAIT_W2,1792922059125211656,-3.095372932e-07,4.058653948e-06,1.312036203e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.031748145e-07,-2.133348481e-08,3.791706726e-09,7.019553233e-01,-1.821208108e-05,8.601432184e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458430e-01,-1.165015131e-04,8.303256392e-01
+6,9.333333333e-01,WAIT_W2,1792922059239927045,2.347830471e-06,-1.232510671e-05,4.007130944e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.246624368e-07,-2.297122181e-08,4.480576354e-09,7.019579806e-01,-3.459584173e-05,8.601470944e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458645e-01,-1.165031508e-04,8.303256399e-01
+7,9.500000000e-01,WAIT_W2,1792922059256189027,-2.275500804e-06,-5.242640207e-05,2.108039809e-07,-2.255179910e-06,-5.211296817e-05,4.027861730e-07,-1.988427748e-06,-4.935714627e-05,3.644781355e-07,7.019533573e-01,-7.469713709e-05,8.601432980e-01,7.019533776e-01,-7.438370319e-05,8.601434900e-01,7.027435514e-01,-1.658373258e-04,8.303259999e-01
+8,9.666666667e-01,WAIT_W2,1792922059272785070,2.855232888e-06,-7.913085931e-05,8.212907190e-06,2.741733484e-06,-7.896959464e-05,8.078278725e-06,3.253287790e-06,-7.489233189e-05,7.747932288e-06,7.019584880e-01,-1.014015943e-04,8.601513001e-01,7.019583746e-01,-1.012403297e-04,8.601511655e-01,7.027487931e-01,-1.913725115e-04,8.303333834e-01
+9,9.833333333e-01,WAIT_W2,1792922059288922635,1.797696418e-06,-1.262301383e-04,8.665385966e-06,1.988643629e-06,-1.263701917e-04,8.729300261e-06,2.491098097e-06,-1.198749383e-04,8.395209022e-06,7.019574305e-01,-1.485008733e-04,8.601517526e-01,7.019576215e-01,-1.486409268e-04,8.601518165e-01,7.027480309e-01,-2.363551179e-04,8.303340307e-01
+10,1.000000000e+00,WAIT_W2,1792922059305507787,1.898088749e-06,-1.746939077e-04,9.900441949e-06,1.870382732e-06,-1.748078949e-04,1.010301848e-05,2.447803930e-06,-1.658487471e-04,9.723605361e-06,7.019575309e-01,-1.969646427e-04,8.601529877e-01,7.019575032e-01,-1.970786299e-04,8.601531903e-01,7.027479876e-01,-2.823289267e-04,8.303353591e-01
+11,1.016666667e+00,WAIT_W2,1792922059321795479,-5.803932249e-07,-2.403238042e-04,1.003442996e-05,-6.403726710e-07,-2.400543894e-04,9.668398390e-06,-1.038053418e-07,-2.277357026e-04,9.279678771e-06,7.019550524e-01,-2.625945392e-04,8.601531217e-01,7.019549924e-01,-2.623251244e-04,8.601527556e-01,7.027454360e-01,-3.442158822e-04,8.303349151e-01
+12,1.016666667e+00,WAIT_W2,1792922059321795479,-5.803932249e-07,-2.403238042e-04,1.003442996e-05,-6.403726710e-07,-2.400543894e-04,9.668398390e-06,-1.038053418e-07,-2.277357026e-04,9.279678771e-06,7.019550524e-01,-2.625945392e-04,8.601531217e-01,7.019549924e-01,-2.623251244e-04,8.601527556e-01,7.027454360e-01,-3.442158822e-04,8.303349151e-01
+13,1.033333333e+00,WAIT_W2,1792922059339226793,-3.526626104e-07,-2.949484609e-04,1.095929371e-05,-2.740694393e-07,-2.950115297e-04,1.086544682e-05,2.699355595e-07,-2.799831579e-04,1.041993927e-05,7.019552802e-01,-3.172191959e-04,8.601540465e-01,7.019553587e-01,-3.172822647e-04,8.601539527e-01,7.027458097e-01,-3.964633375e-04,8.303360554e-01
+14,1.050000000e+00,WAIT_W2,1792922059354724871,2.552412615e-06,-3.249253667e-04,1.891458645e-05,2.552359262e-06,-3.248733350e-04,1.882441694e-05,3.279658993e-06,-3.084038229e-04,1.814371576e-05,7.019581852e-01,-3.471961018e-04,8.601620018e-01,7.019581852e-01,-3.471440701e-04,8.601619117e-01,7.027488195e-01,-4.248840024e-04,8.303437792e-01
+15,1.066666667e+00,WAIT_W2,1792922059371663291,-6.141840504e-07,-3.651828278e-04,1.511915668e-05,-7.203592729e-07,-3.652544598e-04,1.486352047e-05,-2.142304959e-07,-3.468034242e-04,1.437817482e-05,7.019550186e-01,-3.874535629e-04,8.601582064e-01,7.019549125e-01,-3.875251949e-04,8.601579508e-01,7.027453256e-01,-4.632836038e-04,8.303400136e-01
+16,1.100000000e+00,WAIT_W2,1792922059403500921,1.745956697e-06,-4.255324792e-04,2.200121384e-05,1.806685210e-06,-4.254745665e-04,2.198432398e-05,2.344801982e-06,-4.043024723e-04,2.136931556e-05,7.019573788e-01,-4.478032142e-04,8.601650885e-01,7.019574395e-01,-4.477453015e-04,8.601650716e-01,7.027478846e-01,-5.207826519e-04,8.303470048e-01
+17,1.150000000e+00,WAIT_W2,1792922059452985698,9.137912779e-06,-4.508835946e-04,3.316758742e-05,5.747927713e-06,-4.439630242e-04,2.965246020e-05,6.665916578e-06,-4.219889489e-04,2.882679066e-05,7.019647707e-01,-4.731543296e-04,8.601762548e-01,7.019613807e-01,-4.662337592e-04,8.601727397e-01,7.027522057e-01,-5.384691285e-04,8.303544622e-01
+18,1.250000000e+00,WAIT_W2,1792922059567804515,2.540293273e-05,-4.557043087e-04,6.987407919e-05,2.545458863e-05,-4.555373501e-04,6.983831401e-05,2.779230472e-05,-4.330246724e-04,6.793287251e-05,7.019810357e-01,-4.779750437e-04,8.602129613e-01,7.019810874e-01,-4.778080851e-04,8.602129256e-01,7.027733321e-01,-5.495048519e-04,8.303935683e-01
+19,1.350000000e+00,WAIT_W2,1792922059665900316,3.436411415e-05,-4.512724312e-04,9.363132316e-05,3.326203501e-05,-4.569291824e-04,8.934867294e-05,3.637623538e-05,-4.344251607e-04,8.707946231e-05,7.019899969e-01,-4.735431662e-04,8.602367186e-01,7.019888949e-01,-4.791999174e-04,8.602324359e-01,7.027819160e-01,-5.509053402e-04,8.304127149e-01
+20,1.533333333e+00,WAIT_W2,1792922059866329220,4.110431901e-05,-4.462618018e-04,1.113496171e-04,4.062429037e-05,-4.488976032e-04,1.098117289e-04,4.466240595e-05,-4.268393255e-04,1.073900268e-04,7.019967371e-01,-4.685325368e-04,8.602544369e-01,7.019962571e-01,-4.711683382e-04,8.602528990e-01,7.027902022e-01,-5.433195051e-04,8.304330255e-01
+21,1.733333333e+00,UP_FORCE_RAMP,1792922060075525328,4.319949814e-05,-4.438035982e-04,1.180843469e-04,4.062429037e-05,-4.488976032e-04,1.098117289e-04,4.497191606e-05,-4.269122727e-04,1.077076381e-04,7.019988323e-01,-4.660743332e-04,8.602611716e-01,7.019962571e-01,-4.711683382e-04,8.602528990e-01,7.027905117e-01,-5.433924523e-04,8.304333431e-01
+22,1.950000000e+00,UP_FORCE_RAMP,1792922060288200272,4.438871790e-05,-4.414615490e-04,1.196270070e-04,4.062429037e-05,-4.488976032e-04,1.098117289e-04,4.523769472e-05,-4.269743121e-04,1.079538154e-04,7.020000215e-01,-4.637322840e-04,8.602627142e-01,7.019962571e-01,-4.711683382e-04,8.602528990e-01,7.027907775e-01,-5.434544917e-04,8.304335893e-01
+23,2.166666667e+00,UP_FORCE_RAMP,1792922060501364393,4.448870372e-05,-4.407279361e-04,1.219580124e-04,4.062429037e-05,-4.488976032e-04,1.098117289e-04,4.546603769e-05,-4.270269880e-04,1.081520975e-04,7.020001215e-01,-4.629986711e-04,8.602650453e-01,7.019962571e-01,-4.711683382e-04,8.602528990e-01,7.027910058e-01,-5.435071676e-04,8.304337876e-01
+24,2.350000000e+00,UP_FORCE_RAMP,1792922060681496165,4.295360956e-05,-4.430304221e-04,1.208134844e-04,4.062429037e-05,-4.488976032e-04,1.098117289e-04,4.563775753e-05,-4.270661596e-04,1.082956189e-04,7.019985864e-01,-4.653011572e-04,8.602639007e-01,7.019962571e-01,-4.711683382e-04,8.602528990e-01,7.027911776e-01,-5.435463392e-04,8.304339311e-01
+25,2.500000000e+00,UP_FORCE_RAMP,1792922060829014842,4.312145697e-05,-4.410543315e-04,1.219323902e-04,4.062429037e-05,-4.488976032e-04,1.098117289e-04,4.576627397e-05,-4.270961557e-04,1.084014634e-04,7.019987543e-01,-4.633250665e-04,8.602650196e-01,7.019962571e-01,-4.711683382e-04,8.602528990e-01,7.027913061e-01,-5.435763353e-04,8.304340369e-01
+26,2.700000000e+00,UP_FORCE_RAMP,1792922061026177771,4.165118970e-05,-4.372477826e-04,1.225859927e-04,4.538317550e-05,-4.417390091e-04,1.281654330e-04,5.104163559e-05,-4.202868905e-04,1.263726961e-04,7.019972840e-01,-4.595185176e-04,8.602656732e-01,7.020010160e-01,-4.640097441e-04,8.602712527e-01,7.027965814e-01,-5.367670701e-04,8.304520081e-01
+27,2.850000000e+00,UP_FORCE_RAMP,1792922061172795607,4.398337181e-05,-4.383682239e-04,1.312257087e-04,4.538317550e-05,-4.417390091e-04,1.281654330e-04,5.118140846e-05,-4.203201195e-04,1.265485054e-04,7.019996162e-01,-4.606389589e-04,8.602743129e-01,7.020010160e-01,-4.640097441e-04,8.602712527e-01,7.027967212e-01,-5.368002991e-04,8.304521840e-01
+28,3.033333333e+00,UP_FORCE_RAMP,1792922061353126978,3.872707810e-05,-4.428765088e-04,1.308005214e-04,4.538317550e-05,-4.417390091e-04,1.281654330e-04,5.131856728e-05,-4.203534696e-04,1.267039563e-04,7.019943599e-01,-4.651472438e-04,8.602738878e-01,7.020010160e-01,-4.640097441e-04,8.602712527e-01,7.027968584e-01,-5.368336492e-04,8.304523394e-01
+29,3.266666667e+00,UP_FORCE_RAMP,1792922061582396998,3.531918229e-05,-4.397424046e-04,1.364906041e-04,4.538317550e-05,-4.417390091e-04,1.281654330e-04,5.147357157e-05,-4.203901176e-04,1.268678534e-04,7.019909520e-01,-4.620131396e-04,8.602795778e-01,7.020010160e-01,-4.640097441e-04,8.602712527e-01,7.027970134e-01,-5.368702972e-04,8.304525033e-01
+30,3.500000000e+00,UP_FORCE_RAMP,1792922061811486151,3.400509628e-05,-4.364181136e-04,1.475668584e-04,3.380508684e-05,-4.401325794e-04,1.443719642e-04,3.972904737e-05,-4.188751957e-04,1.427666093e-04,7.019896379e-01,-4.586888487e-04,8.602906541e-01,7.019894379e-01,-4.624033145e-04,8.602874592e-01,7.027852688e-01,-5.353553753e-04,8.304684021e-01
+31,3.700000000e+00,UP_FORCE_RAMP,1792922062008615371,2.998187142e-05,-4.360156359e-04,1.550906568e-04,3.380508684e-05,-4.401325794e-04,1.443719642e-04,3.976918675e-05,-4.188890543e-04,1.429479311e-04,7.019856147e-01,-4.582863709e-04,8.602981779e-01,7.019894379e-01,-4.624033145e-04,8.602874592e-01,7.027853090e-01,-5.353692339e-04,8.304685834e-01
+32,3.866666667e+00,UP_FORCE_RAMP,1792922062172185951,2.584576220e-05,-4.343501905e-04,1.611879148e-04,3.380508684e-05,-4.401325794e-04,1.443719642e-04,3.981290125e-05,-4.189034824e-04,1.430676241e-04,7.019814786e-01,-4.566209255e-04,8.603042752e-01,7.019894379e-01,-4.624033145e-04,8.602874592e-01,7.027853527e-01,-5.353836620e-04,8.304687031e-01
+33,4.033333333e+00,UP_FORCE_RAMP,1792922062336279603,2.208866965e-05,-4.334221411e-04,1.706586635e-04,2.803283347e-05,-4.338627426e-04,1.670043023e-04,3.406305152e-05,-4.128882815e-04,1.652078966e-04,7.019777215e-01,-4.556928761e-04,8.603137459e-01,7.019836657e-01,-4.561334776e-04,8.603100915e-01,7.027796029e-01,-5.293684611e-04,8.304908433e-01
+34,4.166666667e+00,UP_FORCE_RAMP,1792922062487116394,1.989379024e-05,-4.352966424e-04,1.783901532e-04,2.803283347e-05,-4.338627426e-04,1.670043023e-04,3.407967366e-05,-4.128964716e-04,1.653404438e-04,7.019755266e-01,-4.575673774e-04,8.603214774e-01,7.019836657e-01,-4.561334776e-04,8.603100915e-01,7.027796195e-01,-5.293766512e-04,8.304909759e-01
+35,4.350000000e+00,UP_FORCE_RAMP,1792922062663426102,1.526876038e-05,-4.370120985e-04,1.896627323e-04,1.736175460e-05,-4.351324222e-04,1.861398856e-04,2.315195559e-05,-4.141301390e-04,1.841164389e-04,7.019709016e-01,-4.592828335e-04,8.603327500e-01,7.019729946e-01,-4.574031572e-04,8.603292271e-01,7.027686918e-01,-5.306103186e-04,8.305097519e-01
+36,4.500000000e+00,UP_FORCE_RAMP,1792922062811716321,1.084927110e-05,-4.346304683e-04,1.979904823e-04,1.736175460e-05,-4.351324222e-04,1.861398856e-04,2.313443865e-05,-4.141331687e-04,1.842871273e-04,7.019664821e-01,-4.569012034e-04,8.603410777e-01,7.019729946e-01,-4.574031572e-04,8.603292271e-01,7.027686742e-01,-5.306133483e-04,8.305099226e-01
+37,4.633333333e+00,UP_FORCE_RAMP,1792922062942159521,6.895957134e-06,-4.296308960e-04,2.065621310e-04,7.438001620e-06,-4.322427922e-04,2.071915251e-04,1.300396573e-05,-4.113303073e-04,2.048506337e-04,7.019625288e-01,-4.519016311e-04,8.603496494e-01,7.019630708e-01,-4.545135272e-04,8.603502788e-01,7.027585438e-01,-5.278104869e-04,8.305304861e-01
+38,4.783333333e+00,UP_FORCE_RAMP,1792922063089635237,1.387088177e-06,-4.350295858e-04,2.167521274e-04,7.438001620e-06,-4.322427922e-04,2.071915251e-04,1.294671787e-05,-4.113256554e-04,2.050716531e-04,7.019570199e-01,-4.573003209e-04,8.603598394e-01,7.019630708e-01,-4.545135272e-04,8.603502788e-01,7.027584865e-01,-5.278058350e-04,8.305307071e-01
+39,4.950000000e+00,UP_FORCE_RAMP,1792922063253104178,-7.820047892e-06,-4.344303639e-04,2.261818582e-04,-5.750003818e-06,-4.342229873e-04,2.220743645e-04,-6.856754904e-07,-4.131811150e-04,2.197237349e-04,7.019478128e-01,-4.567010989e-04,8.603692691e-01,7.019498828e-01,-4.564937223e-04,8.603651616e-01,7.027448541e-01,-5.296612946e-04,8.305453592e-01
+40,5.083333333e+00,UP_FORCE_RAMP,1792922063400353439,-1.550928790e-05,-4.347977357e-04,2.334604237e-04,-5.750003818e-06,-4.342229873e-04,2.220743645e-04,-7.590720981e-07,-4.131731625e-04,2.198975694e-04,7.019401235e-01,-4.570684707e-04,8.603765477e-01,7.019498828e-01,-4.564937223e-04,8.603651616e-01,7.027447807e-01,-5.296533421e-04,8.305455330e-01
+41,5.266666667e+00,UP_FORCE_RAMP,1792922063581405694,-2.514673986e-05,-4.270238134e-04,2.431423682e-04,-1.789148020e-05,-4.292336412e-04,2.379775464e-04,-1.332347444e-05,-4.083943871e-04,2.356211393e-04,7.019304861e-01,-4.492945484e-04,8.603862296e-01,7.019377413e-01,-4.515043763e-04,8.603810648e-01,7.027322163e-01,-5.248745667e-04,8.305612566e-01
+42,5.450000000e+00,UP_FORCE_RAMP,1792922063761526264,-3.480643787e-05,-4.287426228e-04,2.535678648e-04,-3.575665747e-05,-4.315582264e-04,2.485272391e-04,-3.197414076e-05,-4.105843455e-04,2.460153031e-04,7.019208264e-01,-4.510133578e-04,8.603966551e-01,7.019198762e-01,-4.538289614e-04,8.603916145e-01,7.027135657e-01,-5.270645251e-04,8.305716508e-01
+43,5.600000000e+00,UP_FORCE_RAMP,1792922063908419943,-4.164888804e-05,-4.293371421e-04,2.584152827e-04,-3.575665747e-05,-4.315582264e-04,2.485272391e-04,-3.213026388e-05,-4.105599215e-04,2.462046846e-04,7.019139839e-01,-4.516078771e-04,8.604015025e-01,7.019198762e-01,-4.538289614e-04,8.603916145e-01,7.027134095e-01,-5.270401010e-04,8.305718401e-01
+44,5.783333333e+00,UP_FORCE_HOLD,1792922064101188875,-4.871168874e-05,-4.289841857e-04,2.690794602e-04,-4.484365069e-05,-4.249046810e-04,2.655870619e-04,-4.156411879e-05,-4.041658320e-04,2.630239280e-04,7.019069211e-01,-4.512549207e-04,8.604121667e-01,7.019107892e-01,-4.471754160e-04,8.604086743e-01,7.027039757e-01,-5.206460116e-04,8.305886594e-01
+45,5.800000000e+00,UP_FORCE_HOLD,1792922064134013243,-5.552140424e-05,-4.666058601e-04,2.807740300e-04,-5.534546451e-05,-4.663610199e-04,2.807290389e-04,-5.232212083e-05,-4.435898824e-04,2.776896782e-04,7.019001114e-01,-4.888765951e-04,8.604238613e-01,7.019002874e-01,-4.886317549e-04,8.604238163e-01,7.026932177e-01,-5.600700620e-04,8.306033251e-01
+46,5.816666667e+00,UP_FORCE_HOLD,1792922064154340045,-6.345245097e-05,-4.248329149e-04,2.721980677e-04,-6.326842329e-05,-4.250257987e-04,2.724345638e-04,-6.071692805e-05,-4.043321084e-04,2.696595370e-04,7.018921804e-01,-4.471036499e-04,8.604152853e-01,7.018923644e-01,-4.472965337e-04,8.604155218e-01,7.026848229e-01,-5.208122879e-04,8.305952950e-01
+47,5.866666667e+00,UP_FORCE_HOLD,1792922064203842622,-6.169643572e-05,-4.433780214e-04,2.789668223e-04,-6.326842329e-05,-4.250257987e-04,2.724345638e-04,-6.082633962e-05,-4.042409997e-04,2.697280858e-04,7.018939364e-01,-4.656487565e-04,8.604220541e-01,7.018923644e-01,-4.472965337e-04,8.604155218e-01,7.026847135e-01,-5.207211792e-04,8.305953635e-01
+48,5.966666667e+00,UP_SETTLE,1792922064301658305,-6.401773763e-05,-4.346179251e-04,2.820432538e-04,-6.326842329e-05,-4.250257987e-04,2.724345638e-04,-6.096879328e-05,-4.042167609e-04,2.698624588e-04,7.018916151e-01,-4.568886601e-04,8.604251305e-01,7.018923644e-01,-4.472965337e-04,8.604155218e-01,7.026845710e-01,-5.206969405e-04,8.305954979e-01
+49,6.083333333e+00,UP_SETTLE,1792922064417050129,-6.685082652e-05,-4.366251957e-04,2.841905209e-04,-6.326842329e-05,-4.250257987e-04,2.724345638e-04,-6.109849727e-05,-4.041958365e-04,2.699990131e-04,7.018887820e-01,-4.588959307e-04,8.604272778e-01,7.018923644e-01,-4.472965337e-04,8.604155218e-01,7.026844413e-01,-5.206760161e-04,8.305956345e-01
+50,6.250000000e+00,UP_SETTLE,1792922064580271492,-6.901876833e-05,-4.351389836e-04,2.941679538e-04,-6.654495637e-05,-4.353355401e-04,2.910284417e-04,-6.446940104e-05,-4.139897491e-04,2.882777263e-04,7.018866140e-01,-4.574097186e-04,8.604372552e-01,7.018890879e-01,-4.576062751e-04,8.604341157e-01,7.026810704e-01,-5.304699286e-04,8.306139132e-01
+51,6.383333333e+00,UP_SETTLE,1792922064711081148,-7.017244150e-05,-4.353596415e-04,3.028556067e-04,-6.654495637e-05,-4.353355401e-04,2.910284417e-04,-6.457649574e-05,-4.139746918e-04,2.884485143e-04,7.018854604e-01,-4.576303765e-04,8.604459428e-01,7.018890879e-01,-4.576062751e-04,8.604341157e-01,7.026809633e-01,-5.304548714e-04,8.306140840e-01
+52,6.566666667e+00,UP_SETTLE,1792922064907519131,-7.360296962e-05,-4.302302785e-04,3.094855814e-04,-7.341679513e-05,-4.303455995e-04,3.094173303e-04,-7.162501368e-05,-4.091820060e-04,3.065746964e-04,7.018820298e-01,-4.525010136e-04,8.604525728e-01,7.018822160e-01,-4.526163346e-04,8.604525046e-01,7.026739148e-01,-5.256621856e-04,8.306322101e-01
+53,6.716666667e+00,UP_SETTLE,1792922065054967940,-7.794561089e-05,-4.322298210e-04,3.085021484e-04,-7.341679513e-05,-4.303455995e-04,3.094173303e-04,-7.177299804e-05,-4.091543446e-04,3.068259065e-04,7.018776872e-01,-4.545005560e-04,8.604515894e-01,7.018822160e-01,-4.526163346e-04,8.604525046e-01,7.026737668e-01,-5.256345242e-04,8.306324614e-01
+54,6.900000000e+00,UP_SETTLE,1792922065235143017,-8.171511125e-05,-4.274634915e-04,3.131828114e-04,-7.341679513e-05,-4.303455995e-04,3.094173303e-04,-7.190348918e-05,-4.091356195e-04,3.070388004e-04,7.018739177e-01,-4.497342265e-04,8.604562701e-01,7.018822160e-01,-4.526163346e-04,8.604525046e-01,7.026736363e-01,-5.256157991e-04,8.306326743e-01
+55,7.050000000e+00,UP_SETTLE,1792922065382924932,-7.989824572e-05,-4.304502086e-04,3.204379531e-04,-7.341679513e-05,-4.303455995e-04,3.094173303e-04,-7.199468643e-05,-4.091216573e-04,3.071867791e-04,7.018757346e-01,-4.527209436e-04,8.604635252e-01,7.018822160e-01,-4.526163346e-04,8.604525046e-01,7.026735451e-01,-5.256018369e-04,8.306328222e-01
+56,7.283333333e+00,UP_SETTLE,1792922065611953330,-8.482100593e-05,-4.277527566e-04,3.234005707e-04,-7.341679513e-05,-4.303455995e-04,3.094173303e-04,-7.211761217e-05,-4.091030390e-04,3.073864514e-04,7.018708118e-01,-4.500234916e-04,8.604664878e-01,7.018822160e-01,-4.526163346e-04,8.604525046e-01,7.026734222e-01,-5.255832186e-04,8.306330219e-01
+57,7.483333333e+00,UP_SETTLE,1792922065841470444,-8.549942256e-05,-4.253328036e-04,3.308924573e-04,-8.345965737e-05,-4.283119396e-04,3.273651644e-04,-8.251114688e-05,-4.071321409e-04,3.249240383e-04,7.018701334e-01,-4.476035387e-04,8.604739797e-01,7.018721732e-01,-4.505826747e-04,8.604704524e-01,7.026630287e-01,-5.236123205e-04,8.306505595e-01
+58,7.683333333e+00,UP_SETTLE,1792922066037973577,-8.738848098e-05,-4.300769567e-04,3.338465043e-04,-8.345965737e-05,-4.283119396e-04,3.273651644e-04,-8.263167952e-05,-4.071128297e-04,3.251156960e-04,7.018682443e-01,-4.523476917e-04,8.604769337e-01,7.018721732e-01,-4.505826747e-04,8.604704524e-01,7.026629081e-01,-5.235930092e-04,8.306507511e-01
+59,7.883333333e+00,UP_SETTLE,1792922066234646973,-8.828562223e-05,-4.226017816e-04,3.366333632e-04,-8.345965737e-05,-4.283119396e-04,3.273651644e-04,-8.273282659e-05,-4.070972605e-04,3.252765526e-04,7.018673472e-01,-4.448725166e-04,8.604797206e-01,7.018721732e-01,-4.505826747e-04,8.604704524e-01,7.026628070e-01,-5.235774401e-04,8.306509120e-01

Fixed/digit/cylinder_PLA_12.5/press_depth_02/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+00,1.6061e-01,4.6299e-01,2.4538e+00,-7.0568e-02,4.8330e-02,9.4754e-04,6.8292e-05,8.5533e-06,-4.7684e-06,-5.6624e-07,3.8706e-06,-1.2526e-07,6.8991e-05,3.9138e-06
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,4.0205e-05,1.7707e-01,4.6249e-01,2.4540e+00,-7.0518e-02,4.9477e-02,8.9989e-04,1.6526e-02,-4.8578e-04,1.6046e-04,4.9338e-05,1.1511e-03,-4.7774e-05,1.6534e-02,1.1531e-03
+2,3.5000e-01,WAIT_W2,8.0882e-05,1.8943e-01,4.6189e-01,2.4541e+00,-7.0457e-02,5.0377e-02,8.5062e-04,2.8884e-02,-1.0912e-03,3.0112e-04,1.0981e-04,2.0506e-03,-9.7045e-05,2.8906e-02,2.0558e-03
+3,5.0000e-01,WAIT_W2,1.2024e-04,1.9811e-01,4.6146e-01,2.4543e+00,-7.0413e-02,5.1008e-02,8.1322e-04,3.7571e-02,-1.5227e-03,4.3988e-04,1.5403e-04,2.6817e-03,-1.3445e-04,3.7605e-02,2.6895e-03
+4,6.6667e-01,WAIT_W2,1.6222e-04,2.0625e-01,4.6111e-01,2.4544e+00,-7.0376e-02,5.1590e-02,7.7979e-04,4.5710e-02,-1.8663e-03,5.9867e-04,1.9090e-04,3.2640e-03,-1.6787e-04,4.5752e-02,3.2739e-03
+5,8.1667e-01,WAIT_W2,2.0017e-04,2.1265e-01,4.6083e-01,2.4546e+00,-7.0345e-02,5.2049e-02,7.5155e-04,5.2111e-02,-2.1548e-03,7.7081e-04,2.2221e-04,3.7229e-03,-1.9611e-04,5.2162e-02,3.7347e-03
+6,9.3333e-01,WAIT_W2,2.3334e-04,2.1632e-01,4.6073e-01,2.4547e+00,-7.0333e-02,5.2305e-02,7.3825e-04,5.5778e-02,-2.2495e-03,8.7571e-04,2.3429e-04,3.9785e-03,-2.0942e-04,5.5830e-02,3.9909e-03
+7,9.5000e-01,WAIT_W2,2.7388e-04,2.1640e-01,4.6073e-01,2.4547e+00,-7.0333e-02,5.2310e-02,7.3814e-04,5.5855e-02,-2.2484e-03,8.7762e-04,2.3428e-04,3.9837e-03,-2.0952e-04,5.5907e-02,3.9960e-03
+8,9.6667e-01,WAIT_W2,3.0223e-04,2.4553e-01,1.1108e+00,2.4521e+00,-1.1736e-01,5.4420e-02,1.0133e-03,8.4990e-02,6.4780e-01,-1.7121e-03,-4.6793e-02,6.0933e-03,6.5635e-05,6.5335e-01,4.7188e-02
+9,9.8333e-01,WAIT_W2,3.4934e-04,2.0170e-01,1.4347e+00,2.3994e+00,-1.4071e-01,5.1304e-02,1.5875e-03,4.1162e-02,9.7176e-01,-5.4469e-02,-7.0145e-02,2.9773e-03,6.3983e-04,9.7416e-01,7.0211e-02
+10,1.0000e+00,WAIT_W2,3.9782e-04,2.2030e-01,2.0141e+00,2.4005e+00,-1.8267e-01,5.2651e-02,1.8449e-03,5.9761e-02,1.5511e+00,-5.3302e-02,-1.1210e-01,4.3245e-03,8.9721e-04,1.5532e+00,1.1219e-01
+11,1.0167e+00,WAIT_W2,4.6350e-04,2.3438e-01,2.6050e+00,2.3982e+00,-2.2526e-01,5.3675e-02,2.5532e-03,7.3842e-02,2.1421e+00,-5.5658e-02,-1.5470e-01,5.3484e-03,1.6055e-03,2.1441e+00,1.5480e-01
+12,1.0167e+00,WAIT_W2,4.6350e-04,2.3438e-01,2.6050e+00,2.3982e+00,-2.2526e-01,5.3675e-02,2.5532e-03,7.3842e-02,2.1421e+00,-5.5658e-02,-1.5470e-01,5.3484e-03,1.6055e-03,2.1441e+00,1.5480e-01
+13,1.0333e+00,WAIT_W2,5.1813e-04,2.7379e-01,3.4017e+00,2.4044e+00,-2.8293e-01,5.6530e-02,2.8414e-03,1.1325e-01,2.9388e+00,-4.9465e-02,-2.1236e-01,8.2039e-03,1.8937e-03,2.9414e+00,2.1253e-01
+14,1.0500e+00,WAIT_W2,5.4928e-04,2.8171e-01,4.0612e+00,2.3994e+00,-3.3078e-01,5.7110e-02,3.2383e-03,1.2116e-01,3.5982e+00,-5.4427e-02,-2.6021e-01,8.7833e-03,2.2906e-03,3.6007e+00,2.6037e-01
+15,1.0667e+00,WAIT_W2,5.8984e-04,2.5691e-01,4.4119e+00,2.3533e+00,-3.5631e-01,5.5383e-02,3.8509e-03,9.6366e-02,3.9489e+00,-1.0054e-01,-2.8575e-01,7.0562e-03,2.9032e-03,3.9513e+00,2.8585e-01
+16,1.1000e+00,WAIT_W2,6.5063e-04,2.6798e-01,5.2627e+00,2.3759e+00,-4.1816e-01,5.6201e-02,3.9278e-03,1.0744e-01,4.7997e+00,-7.7934e-02,-3.4759e-01,7.8747e-03,2.9801e-03,4.8015e+00,3.4769e-01
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Fixed/digit/cylinder_PLA_12.5/press_depth_03/down/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_12.5/press_depth_03/down/franka_data.csv

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+19475,1792922144846265495,1711787000000,1792922144844595738,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6760105417870257,-0.004854489629407733,0.09986701027313641,0.9999999710460858,-0.00010511065602448402,-0.00011688261939003935,0.00015697418613249081,0.6761,-0.0046,0.09991383039953143,1.0,0.0,0.0,0.0,-0.10848168181064821,0.040773772872144454,-0.10055735402637134,0.003970091852503563,0.006346496255707608,0.0005885334589584061,0.7455001212727536,1.2133487354111567,1.147230508650715,0.0734097221473472,-0.041200906985005815,-0.0006292916278563696,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.0949687141939628,0.9763671370485522,-0.15274874341752498,0.17956920015893868,0.29436531636969954,0.6232041529714558,1.3024657692685715,0.10055735402637134,1.4552145126860965,1.4552145126860965,1.4939202541674421,0,0,-1.8506053255122563e-05,-9.718608836995486e-05
+19618,1792922146038352046,1712979000000,1792922146036596675,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6760198230768549,-0.004857866243814113,0.09985076067665002,0.9999999711402061,-0.00010882516207994311,-0.00010403687976208167,0.00016277549874688728,0.6761,-0.0046,0.09987193351589879,1.0,0.0,0.0,0.0,-0.12802328984204792,0.05653640424156503,0.020119517252583208,0.004941576744023526,0.007314283172571927,0.0005158851600671996,0.7259585132413539,1.2291113667805773,1.2679073799296696,0.07438120703886716,-0.0402331200681415,-0.0007019399267475761,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.2875101233604467,0.8891520487695411,-0.29233473020799794,0.2287943440811395,0.43102812473438445,0.5624952335942368,1.3024657692685715,-0.020119517252583208,1.5948004994765694,1.5948004994765694,1.6727202541675548,0,0,-4.885540223350938e-05,-9.862370228675416e-05
+19764,1792922147255334820,1714196000000,1792922147248596065,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.676044581525887,-0.004858850999255493,0.09982953418289808,0.9999999731002903,-9.735136004311449e-05,-6.823669254963185e-05,0.00017637672603826722,0.6761,-0.0046,0.09980645050412182,1.0,0.0,0.0,0.0,-0.08119995720757334,0.028614453294212527,0.20016969456727352,0.0029464348301568855,0.0042742107304193505,0.00030595982402538044,0.7727818458758284,1.2011894158332248,1.44795755724436,0.07238606512500052,-0.04327319251029407,-0.0009118652627893953,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.234419594760112,0.9523149675560162,-0.5447597435666505,0.24563540081928725,0.5819592611374415,0.5968502602333446,1.3024657692685715,-0.20016969456727352,1.847225512835222,1.847225512835222,1.8552702541676698,0,0,-4.597237337059112e-05,8.42699479904951e-05
+19886,1792922148271344659,1715212000000,1792922148268596296,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6760596561400346,-0.0048612810155061826,0.09981793447075578,0.9999999732263272,-9.741241439297712e-05,-4.028539623569578e-05,0.00018406009242104954,0.6761,-0.0046,0.09977049166795814,1.0,0.0,0.0,0.0,-0.08385977866953376,-0.001057939177933287,0.3302482395098565,0.0019254352260502233,0.0032538489877190907,0.00017329629754355195,0.770122024413868,1.171517023361079,1.578036102186943,0.07136506552089386,-0.04429355425299433,-0.0010445287892712238,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.225437210422308,0.8816788247831232,-0.6479068359545954,0.28221786919095765,0.6498148505607937,0.5419349592752423,1.3024657692685715,-0.3302482395098565,1.950372605223167,1.950372605223167,2.0076702541677656,0,0,-3.134217841790766e-05,-9.999847758035969e-05
+20023,1792922149413456296,1716354000000,1792922149408605066,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6760712169404912,-0.004862242007303231,0.09980028192454837,0.9999999730922474,-9.272077837710406e-05,-2.1125668156787715e-05,0.00019030221294273893,0.6761,-0.0046,0.09973214449193864,1.0,0.0,0.0,0.0,-0.07424396404800127,-0.006948857538531472,0.4606712295993842,0.0018780496165703986,0.00221496856776085,4.8381319262216825e-05,0.7797378390354005,1.1656261050004808,1.7084590922764706,0.07131767991141404,-0.04533243467295257,-0.0011694437675525589,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.270517383816936,0.8262099971030902,-0.8925783380762723,0.31185004821918233,0.8190954864356861,0.5046562890860474,1.3024657692685715,-0.4606712295993842,2.195044107344844,2.195044107344844,2.1789702541678735,0,0,-3.717739012890219e-05,9.997607883083787e-05
+20153,1792922150496455951,1717437000000,1792922150496596211,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6760894056974075,-0.004866205773321943,0.09978557788400577,0.9999999717585172,-9.169356779968093e-05,7.301901527809927e-06,0.00019865749677490862,0.6761,-0.0046,0.09968542237099094,1.0,0.0,0.0,0.0,-0.0609703414833489,-0.018914729719013756,0.5906747734678195,0.0009096627983855021,0.0011910915176150325,-7.732819740239672e-05,0.7930114616000529,1.1536602328199985,1.838462636144906,0.07034929309322914,-0.04635631172309839,-0.0012951532842171724,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.2595682773278323,0.9491284438531022,-0.9475004484710361,0.2906606273681185,0.8592402447358174,0.5894796252833185,1.3024657692685715,-0.5906747734678195,2.2499662177396074,2.2499662177396074,2.341420254167976,0,0,-5.3359968425785394e-05,-9.999466118871254e-05
+20295,1792922151680460514,1718621000000,1792922151676596845,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6761090030650523,-0.004872939150647629,0.09976192074255114,0.999999969390305,-9.008538325144553e-05,3.882138962518333e-05,0.0002074603021273068,0.6761,-0.0046,0.099622078353804,1.0,0.0,0.0,0.0,-0.06331721671052892,-0.014710321247894953,0.8055831148944423,0.0018823586208583237,0.0011218284086097555,0.0001662851561012571,0.7906645863728728,1.1578646412911173,2.0533709775715288,0.07132198891570196,-0.04642557483210367,-0.0010515399307135186,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.2766879279166332,0.8870018275496347,-1.1969579821293859,0.3123245261402477,1.0237474128788655,0.5435119871736064,1.3024657692685715,-0.8055831148944423,2.4994237513979574,2.4994237513979574,2.5190202541680877,0,0,-4.456680563894177e-05,9.999999025923074e-05
+20418,1792922152705482222,1719646000000,1792922152704595786,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6761205913681452,-0.00486398117448447,0.09973802258213842,0.9999999686764236,-0.00018507291386516355,6.489885261124235e-05,0.00012500468594024383,0.6761,-0.0046,0.0995818595784342,1.0,0.0,0.0,0.0,-0.01136346081114814,0.11010289977703125,0.9468090600869856,0.011108192766021568,-0.0016966712608810636,0.000736492288227857,0.8426183422722536,1.2826778623160435,2.194596922764072,0.0805478230608652,-0.04924407450159449,-0.00048133279858691877,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.4065018896339083,0.9523332066257548,-1.3199231272866048,0.15496823667949663,1.162396751667821,0.6343133155068569,1.3024657692685715,-0.9468090600869856,2.6223888965551763,2.6223888965551763,2.6727702541681846,0,0,-4.467543631844618e-05,-6.981365072012408e-05
+20538,1792922153705575291,1720646000000,1792922153700606046,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6761329494344268,-0.004867735624801214,0.09971827518595018,0.999999968046025,-0.00017245041110331777,8.614686028966024e-05,0.00013487174391825588,0.6761,-0.0046,0.09953188608178086,1.0,0.0,0.0,0.0,-0.10010291891336587,0.14355288458457283,1.1439772362274438,0.012383739612640249,0.0038763114370057583,0.0006809578075137384,0.7538788841700359,1.316127847123585,2.3917650989045303,0.08182336990748389,-0.043671091803707665,-0.0005368672793010373,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.512531287087683,0.9395593928708466,-1.5261883393334235,0.19339726839936738,1.3008970133597326,0.6170234019776384,1.3024657692685715,-1.1439772362274438,2.828654108601995,2.828654108601995,2.822770254168279,0,0,-4.1899383369765946e-05,9.870627512421066e-05
+20670,1792922154805545766,1721746000000,1792922154804595848,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.676140721783297,-0.0048669632085602665,0.09970240793719183,0.9999999676944231,-0.00016310235233823735,9.725611527811138e-05,0.0001413962078492905,0.6761,-0.0046,0.09950101059836167,1.0,0.0,0.0,0.0,-0.13591256627066117,0.1648509811557457,1.2686869652447923,0.014250614586419338,0.0068539370971023444,0.0016670304452802206,0.7180692368127406,1.337425943694758,2.5164748279218787,0.08369024488126298,-0.04069346614361108,0.00044920535846544477,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.5518438910524253,0.8661441063141333,-1.673285304678487,0.22479754218492906,1.3999311776543837,0.5627975843106275,1.3024657692685715,-1.2686869652447923,2.9757510739470585,2.9757510739470585,2.987770254168383,0,0,-2.3310866285856697e-05,8.977626283098239e-05
+20798,1792922155872167054,1722812000000,1792922155864595815,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6761488599883453,-0.004868287456063312,0.09968571316960828,0.9999999665982187,-0.00015791380871283076,0.00010923929156758244,0.00014620681227130408,0.6761,-0.0046,0.09946425216287584,1.0,0.0,0.0,0.0,-0.18496835118557564,0.18624885242185218,1.380001694785244,0.016760258110721085,0.009818160973280803,0.0016497611410810796,0.6690134518978261,1.3588238149608645,2.6277895574623304,0.08619988840556472,-0.03772924226743262,0.00043193605426630386,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.62110410653161,0.887626506704944,-1.738105486280494,0.2362474643262688,1.4464089327288612,0.5643907531284887,1.3024657692685715,-1.380001694785244,3.0405712555490654,3.0405712555490654,3.147670254168484,0,0,-4.5106395142628604e-05,-9.992616042809316e-05
+20923,1792922156913674127,1723854000000,1792922156912605842,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6761608170487426,-0.004871069453441132,0.09966622671342716,0.9999999633765342,-0.00015303785126556267,0.00012980128368344555,0.00015627167760817314,0.6761,-0.0046,0.09941838904566504,1.0,0.0,0.0,0.0,-0.26162148424074994,0.2309099112434554,1.5614154552789392,0.019733411889530594,0.014650982894667978,0.0016087224157168992,0.5923603188426518,1.4034848737824677,2.8092033179560256,0.08917304218437423,-0.032896420346045445,0.0003908973289021236,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.7235519503100871,0.9540637190509343,-2.0245238282482023,0.23523987996815707,1.642366449936881,0.6079639090945639,1.3024657692685715,-1.5614154552789392,3.326989597516774,3.326989597516774,3.3039702541685823,0,0,-3.777385286921208e-05,9.998382263643463e-05
+21053,1792922157996708367,1724937000000,1792922157996596143,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6761696697869648,-0.004871723984044669,0.09964686398899701,0.9999999609163402,-0.00014986478108100997,0.00014318455104365673,0.00016324495080258873,0.6761,-0.0046,0.09938281977656307,1.0,0.0,0.0,0.0,-0.3012818641673909,0.2640182014035499,1.6726796084388647,0.022017404032397672,0.017638656753581717,0.002569864235404489,0.5526999389160109,1.4365931639425622,2.920467471115951,0.09145703432724131,-0.029908746487131706,0.0013520391485897132,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.8088764990824326,0.9034216417583036,-2.0792491320863595,0.2730389970201898,1.6884315713990732,0.5737675595106677,1.3024657692685715,-1.6726796084388647,3.381714901354931,3.381714901354931,3.4664202541686846,0,0,-3.165373908406289e-05,-9.998779168374767e-05
+21171,1792922158980699198,1725921000000,1792922158980605630,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6761760572614072,-0.004875475427718413,0.09962455251264328,0.999999958781373,-0.00014521026719981355,0.00015378433128230106,0.00017071752739371103,0.6761,-0.0046,0.09934733963750916,1.0,0.0,0.0,0.0,-0.34030574482588904,0.27195736709107377,1.8001216455137565,0.023621008112019476,0.019796051404348706,0.002561400685014075,0.5136760582575127,1.444532329630086,3.047909508190843,0.09306063840686311,-0.027751351836364718,0.0013435755981992992,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.8205391067553653,0.8731514137761092,-2.188928401944944,0.29361906098163154,1.7526264751722522,0.5468216404747761,1.3024657692685715,-1.8001216455137565,3.491394171213516,3.491394171213516,3.6140202541687776,0,0,-4.529416655216079e-05,-9.999961555895993e-05
+21311,1792922160146702451,1727087000000,1792922160144596339,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6761858155184309,-0.004878523486947248,0.09959857966136527,0.9999999546140589,-0.00014504973439460753,0.00016965006941976494,0.0001799838127952279,0.6761,-0.0046,0.09929407786500287,1.0,0.0,0.0,0.0,-0.3986908655958616,0.31549708347796734,1.9652073846282834,0.026544890492185946,0.023741839844242805,0.0025079901988463733,0.4552909374875402,1.4880720460169796,3.21299524730537,0.09598452078702958,-0.02380556339647062,0.0012901651120315973,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.925080324012098,0.8650124837144898,-2.47204603339335,0.3018002744361391,1.9504268359487547,0.540006570383934,1.3024657692685715,-1.9652073846282834,3.7745118026619213,3.7745118026619213,3.788920254168888,0,0,-4.5507028566234335e-05,9.997237346149319e-05
+21438,1792922161205750487,1728146000000,1792922161200605105,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6761920341907313,-0.004878349825991811,0.09957076455198789,0.9999999523677189,-0.00014073713225474371,0.00017980848294796384,0.00018592846295929313,0.6761,-0.0046,0.09924579577788376,1.0,0.0,0.0,0.0,-0.43755420291307306,0.3374603109689196,2.116078713809237,0.02847500090128048,0.026781316114106928,0.0024587814037484216,0.4164276001703287,1.5100352735079319,3.3638665764863234,0.09791463119612412,-0.020766087126606495,0.0012409563169336459,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,1.9995433371005442,0.8376224791171453,-2.619635341991127,0.3131779844725264,2.0579608778243363,0.5170215427082487,1.3024657692685715,-2.116078713809237,3.922101111259699,3.922101111259699,3.947770254168988,0,0,-4.406741856558127e-05,4.426181229722488e-05
+21582,1792922162405825150,1729346000000,1792922162400604995,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6762021699683973,-0.004883936825131221,0.09953903864396027,0.9999999473940148,-0.00013958498397350245,0.00019750189044148698,0.0001953557463413974,0.6761,-0.0046,0.09919217046950152,1.0,0.0,0.0,0.0,-0.5001273957595327,0.3681795798878147,2.2770325858234273,0.030305436487508122,0.030631407527410625,0.0024112488855318284,0.353854407323869,1.540754542426827,3.5248204485005137,0.09974506678235176,-0.0169159957133028,0.0011934237987170527,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.0324657651072258,0.8361422772687929,-2.715832898429654,0.3046992515425405,2.1182098047362965,0.5143092495277735,1.3024657692685715,-2.2770325858234273,4.018298667698225,4.018298667698225,4.127770254168723,0,0,-4.6910800406722804e-05,-9.997557923047679e-05
+21700,1792922163388774712,1730329000000,1792922163384605379,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6762121588868397,-0.004882521036478137,0.09951180708932064,0.9999999435539028,-0.00013221960801644648,0.00021289158963879793,0.00020378960233321034,0.6761,-0.0046,0.0991431956413141,1.0,0.0,0.0,0.0,-0.5328915049485259,0.3937736462553838,2.411353692703932,0.032296506185548815,0.0335996053268671,0.0023524347620481867,0.3210902981348759,1.566348608794396,3.6591415553810185,0.10173613648039245,-0.013947797913846325,0.001134609675233411,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.1146473438611233,0.8968501683182778,-2.9148887965387,0.290849700259818,2.2591542007030836,0.5571772599771506,1.3024657692685715,-2.411353692703932,4.2173545658072715,4.2173545658072715,4.27522025416838,0,0,-5.615082667861782e-05,-9.071248893566803e-05
+21841,1792922164563813309,1731504000000,1792922164560596099,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6762261258593737,-0.004884796571756801,0.09947775223760232,0.9999999371645176,-0.00012980064274629907,0.0002348995583653084,0.00021233891741126426,0.6761,-0.0046,0.09908183465761934,1.0,0.0,0.0,0.0,-0.5902227423596565,0.41660536463576947,2.5592551460356874,0.03359408164633067,0.03759665716322937,0.0032326934236386294,0.2637590607237452,1.5891803271747817,3.807043008712774,0.1030337119411743,-0.009950746077484049,0.002014868336823854,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.2319551275749387,0.8742981664115763,-3.060614879282779,0.29340901411740294,2.3750146622515707,0.533432484147346,1.3024657692685715,-2.5592551460356874,4.3630806485513505,4.3630806485513505,4.451470254167969,0,0,-5.1274380875902754e-05,-9.999999025923074e-05
+21989,1792922165796915699,1732737000000,1792922165796605446,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.676238084338747,-0.004892922208495285,0.09943462295996337,0.9999999289708359,-0.00013667177226846504,0.0002558771740983681,0.00022214609139176888,0.6761,-0.0046,0.09900959359056864,1.0,0.0,0.0,0.0,-0.6399319286256171,0.44844828346193344,2.730335979967845,0.035093579159252625,0.041562373131907505,0.003280266723917756,0.21404987445778462,1.6210232460009457,3.9781238426449312,0.10453320945409626,-0.005985030108805916,0.0020624416371029805,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.277842086623496,0.8703107693501383,-3.2068851665307445,0.2995280069853954,2.472112718315535,0.5322087504404416,1.3024657692685715,-2.730335979967845,4.509350935799316,4.509350935799316,4.636420254167538,0,0,-6.266408540264579e-05,-9.960937216580418e-05
+22046,1792922166271873495,1733212000000,1792922166268605658,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6762478609928626,-0.004878303160201946,0.09941351402454329,0.9999999003587252,-0.00032283341577525663,0.000285854084510254,6.922016453147754e-05,0.6761,-0.0046,0.09898029016721226,1.0,0.0,0.0,0.0,-0.6037859456379084,0.5734857324862739,2.8378652056948668,0.038410088319981175,0.04330034566161295,0.004293521810804808,0.2501958574454933,1.7460606950252862,4.085653068371953,0.10784971861482481,-0.004247057579100478,0.003075696723990032,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.274470022160696,1.0275539353110283,-3.309532755420663,0.11287161380285085,2.564379567473967,0.6712353401369268,1.3024657692685715,-2.8378652056948668,4.611998524689234,4.611998524689234,4.707670254167372,0,0,-6.711833684255731e-05,-9.999999025923074e-05
+22178,1792922167371902331,1734312000000,1792922167364596001,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6762602621929299,-0.004889604055080412,0.09935806436857535,0.9999998934998555,-0.00032144759784111536,0.00030530685032875536,8.889493922598416e-05,0.6761,-0.0046,0.09889022453008334,1.0,0.0,0.0,0.0,-0.6356678580953229,0.6142208800915689,3.005304427978141,0.04523102252896084,0.04230814975609971,0.003176320582275869,0.21831394498807885,1.7867958426305812,4.2530922906552275,0.11467065282380448,-0.005239253484613716,0.001958495495461093,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.451453814405367,0.9585960940104632,-3.475780255672578,0.18489009237458523,2.6985917112882114,0.6341040510853914,1.3024657692685715,-3.005304427978141,4.77824602494115,4.77824602494115,4.872670254166987,0,0,-8.087401152520458e-05,-9.845662759933588e-05
+22315,1792922168513997707,1735454000000,1792922168508596326,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6762707746638957,-0.004892395699456427,0.09930717028726209,0.999999890299022,-0.0003123806957814521,0.00031966053231388436,0.00010526277827084589,0.6761,-0.0046,0.09881831441977734,1.0,0.0,0.0,0.0,-0.6379933125918344,0.6007883138353791,3.132783412325655,0.04312802869316229,0.04396374543079121,0.003082667060477736,0.2159884904915673,1.7733632763743914,4.380571275002741,0.11256765898800593,-0.0035836578099222166,0.0018648419736629603,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.4172765227421893,0.8670823859229155,-3.6913095300172,0.2826518528095965,2.8169861375033625,0.5504609608460267,1.3024657692685715,-3.132783412325655,4.993775299285772,4.993775299285772,5.043970254166588,0,0,-5.122487945904831e-05,-3.291018432627908e-05
+22441,1792922169563964722,1736504000000,1792922169560595342,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6762783567102529,-0.004897841238428182,0.09926054823427492,0.9999998860866033,-0.0003092093670053207,0.00033081334863737754,0.00011925493617166258,0.6761,-0.0046,0.09875914540384291,1.0,0.0,0.0,0.0,-0.6448392742066704,0.5702389452028094,3.1876084710944217,0.0406578207434343,0.04536399107769636,0.0030373774144080287,0.20914252887673138,1.7428139077418217,4.435396333771508,0.11009745103827794,-0.002183412163017062,0.0018195523275932532,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.4830649054976197,0.7900301032465348,-3.8289601591011078,0.36580851606868997,2.9134688512492777,0.4873295083565266,1.3024657692685715,-3.1876084710944217,5.131425928369679,5.131425928369679,5.201470254166221,0,0,-6.851737288235261e-05,-9.999999025923074e-05
+22555,1792922170514092446,1737454000000,1792922170512596112,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6762924395570569,-0.004900477034018212,0.0992120563024817,0.9999998766800329,-0.00031091117831909677,0.00035426664211598294,0.00012614344300816,0.6761,-0.0046,0.09868040296037434,1.0,0.0,0.0,0.0,-0.6829240489688304,0.5687295470982832,3.3309263101874405,0.04105450103740317,0.04638854994171955,0.0029457827652798257,0.17105775411457133,1.7413045096372954,4.578714172864527,0.11049413133224681,-0.0011588532989938718,0.0017279576784650498,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.535419694952948,0.8466558252824818,-3.9375086737007807,0.37019990879474995,2.9865173178961473,0.5167072786858542,1.3024657692685715,-3.3309263101874405,5.239974442969352,5.239974442969352,5.343970254165889,0,0,-9.076015254213943e-05,-8.807189286053613e-05
+22663,1792922171414098773,1738354000000,1792922171408605596,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6763063300051035,-0.004900429108696925,0.0991605322062493,0.9999998660110194,-0.0003191861502533073,0.0003764888178609789,0.00012568682590682987,0.6761,-0.0046,0.09860398120341476,1.0,0.0,0.0,0.0,-0.7037682989493732,0.5865261906933823,3.496346134853573,0.042136249419320385,0.048358809921262104,0.0028458668449176175,0.15021350413402854,1.7591011532323946,4.74413399753066,0.11157587971416402,0.0008114066805486834,0.0016280417581028416,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.5736728135469913,0.9153896657527636,-4.105674615575537,0.3542150616274908,3.09619079721594,0.5637249950052723,1.3024657692685715,-3.496346134853573,5.408140384844108,5.408140384844108,5.478970254165574,0,0,-7.339780205425773e-05,-5e-05
+22805,1792922172597177435,1739537000000,1792922172592605201,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6763166259508646,-0.004903006245211069,0.09909676418570176,0.9999999101589369,1.128440271362921e-05,0.00039357236507993814,0.00012687962183609254,0.6761,-0.0046,0.09852503243252618,1.0,0.0,0.0,0.0,-0.6829175032668477,0.5570317586675837,3.5741068853341447,0.039897693564343695,0.04730062966646407,0.0016625337393766097,0.17106429981655402,1.729606721206596,4.821894748011231,0.10933732385918733,-0.0002467735742493529,0.00044470865256183404,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.580902349150307,1.0519692956064812,-4.141716795388256,0.24725534499926768,3.14462290699813,0.5462198758904236,1.3024657692685715,-3.5741068853341447,5.444182564656828,5.444182564656828,5.656420254165161,0,0,-8.107826030975674e-05,-9.999999025923074e-05
+22938,1792922173706155278,1740646000000,1792922173700605392,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6763339239697023,-0.004906194312321951,0.09902521491624443,0.9999998976964508,-7.4380937831013144e-06,0.0004231778125268983,0.000130058317680611,0.6761,-0.0046,0.09841740065703992,1.0,0.0,0.0,0.0,-0.7216233836340602,0.5740738947415205,3.775022613307135,0.04079042144213102,0.050353199350438624,0.001609750582505042,0.13235841944934157,1.7466488572805328,5.022810475984222,0.11023005173697466,0.0028057961097252004,0.00039192549569026634,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.6815377472165585,0.9591082244030226,-4.486349215552529,0.288651274976198,3.3814641288307765,0.5039545721733687,1.3024657692685715,-3.775022613307135,5.788814984821101,5.788814984821101,5.822770254164773,0,0,-0.0001019139131322192,9.999999025923074e-05
+23060,1792922174722112251,1741662000000,1792922174720595958,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6763469929206166,-0.004909837938777918,0.0989568429861361,0.999999887622437,-2.3207269669735317e-05,0.00044480423028382926,0.00013344885701825098,0.6761,-0.0046,0.0983278440538439,1.0,0.0,0.0,0.0,-0.7218888585528128,0.5757648489530907,3.9088830945107893,0.039718285236967146,0.05135607283274486,0.0015058772207576306,0.13209294453058892,1.748339811492103,5.156670957187876,0.10915791553181078,0.0038086695920314354,0.0002880521339428549,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.726094474232542,0.9578491517414162,-4.671761154322909,0.3075741666917604,3.5077934890512905,0.5283209377191688,1.3024657692685715,-3.9088830945107893,5.97422692359148,5.97422692359148,5.975170254164418,0,0,-7.550859150853994e-05,9.788025531610173e-05
+23190,1792922175806146104,1742746000000,1792922175804595957,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6763558042040154,-0.004904435077360463,0.09888638118313633,0.9999998818177165,-3.459258924762431e-05,0.00045735311987594323,0.00013205640503928117,0.6761,-0.0046,0.09824028868313359,1.0,0.0,0.0,0.0,-0.7103114385091243,0.5310851180449745,3.9940364447033656,0.03673261993876288,0.05085137810604647,0.0014016683611761142,0.14367036457427754,1.7036600805839868,5.241824307380452,0.10617225023360652,0.003303974865333048,0.00018384327436133838,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.634287828092715,0.8646762302787747,-4.740140624612355,0.3554599896788304,3.5272136686280215,0.48742601535616703,1.3024657692685715,-3.9940364447033656,6.042606393880926,6.042606393880926,6.137770254164039,0,0,-9.145781014049804e-05,-9.995116820172285e-05
+23314,1792922176839277685,1743779000000,1792922176836596442,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6763705758992059,-0.004915221233312105,0.0988090115667995,0.9999998683217832,-6.795805498325066e-05,0.00048264041200251885,0.00013129819546796128,0.6761,-0.0046,0.09813794008963436,1.0,0.0,0.0,0.0,-0.7020691790587158,0.5466973416912813,4.153349848317344,0.03663874301734574,0.05136104234004561,0.0012763630039862024,0.15191262402468594,1.7192723042302935,5.401137710994431,0.10607837331218938,0.003813639099332192,5.853791717142677e-05,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.6603166357701253,0.8281328948031935,-4.910530572070153,0.3965853874964037,3.6350395323443534,0.5032670301150923,1.3024657692685715,-4.153349848317344,6.212996341338724,6.212996341338724,6.292720254163678,0,0,-9.82356346922934e-05,2.5928679821705182e-05
+23443,1792922177914240612,1744854000000,1792922177912595954,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6763822707503373,-0.0049190637602768246,0.09872206455317624,0.9999998573890898,-9.203361009178372e-05,0.0005016903754522786,0.00012845717693722695,0.6761,-0.0046,0.09803281515645595,1.0,0.0,0.0,0.0,-0.6926041462060758,0.5391762828923778,4.255285793087651,0.035786794539194505,0.05135420823160673,0.0011839558962884011,0.161377656877326,1.7117512454313901,5.503073655764737,0.10522642483403814,0.0038068049908933092,-3.386919052637454e-05,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.7142281034248263,0.7636093742654344,-5.0711085436187195,0.4411631735271415,3.7552117379159617,0.48874791499042836,1.3024657692685715,-4.255285793087651,6.373574312887291,6.373574312887291,6.453970254163302,0,0,-9.74405476183322e-05,9.751697849685247e-06
+23573,1792922178997304360,1745937000000,1792922178992597058,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6763939019989539,-0.004922674161226443,0.09863001526235399,0.9999998455755406,-0.00011360729392216677,0.0005200622929285115,0.00013007826046244173,0.6761,-0.0046,0.09792058658802671,1.0,0.0,0.0,0.0,-0.6821685755985605,0.5081305755949508,4.34516908783325,0.034182302839576184,0.05035339935760974,0.0010736474122967,0.1718132274848413,1.680705538133963,5.592956950510336,0.10362193313441982,0.0028059961168963154,-0.00014417767451807556,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.759628269700174,0.8145364248133814,-5.24427834689503,0.4393493812638534,3.881944143397759,0.5310553043535333,1.3024657692685715,-4.34516908783325,6.546744116163601,6.546744116163601,6.616420254162923,0,0,-0.00011131374496178991,6.752686884515242e-05
+23697,1792922180031371527,1746971000000,1792922180028604911,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6764112355400076,-0.004921972120269664,0.09853732535887338,0.9999998286396725,-0.00012587813437411405,0.0005485609711444406,0.00013190544462269796,0.6761,-0.0046,0.09779430093735776,1.0,0.0,0.0,0.0,-0.6864171141105919,0.5009575271873552,4.4724043674643585,0.03348235398414612,0.05135165280228246,0.000977857266865911,0.16756468897280988,1.6735324897263675,5.7201922301414445,0.10292198427898976,0.003804249561569035,-0.00023996781994886464,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.8109082593893606,0.7357961373488485,-5.3534968618083525,0.46980023314409664,3.965634384386273,0.4801550653019631,1.3024657692685715,-4.4724043674643585,6.655962631076924,6.655962631076924,6.771520254162562,0,0,-0.00013176504081124243,-6.97384534497302e-05
+23823,1792922181081407159,1748021000000,1792922181080595907,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6764295326673969,-0.004928916402500083,0.09843038777890056,0.9999998083306819,-0.0001440010624319363,0.0005793496092603987,0.0001356436059662499,0.6761,-0.0046,0.09765477212932275,1.0,0.0,0.0,0.0,-0.7012173613150499,0.49547563308647735,4.620776067089867,0.03240699270971224,0.05235282456483658,0.0008687630672688454,0.1527644417683519,1.6680505956254896,5.868563929766953,0.10184662300455588,0.0048054213241231535,-0.00034906201954593033,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.8546777988792593,0.8703406720072961,-5.589906352688834,0.4363825588383947,4.1294598887961085,0.5680941162847863,1.3024657692685715,-4.620776067089867,6.892372121957405,6.892372121957405,6.929020254162195,0,0,-0.00013155160206027172,9.995116820172285e-05
+23945,1792922182097445181,1749037000000,1792922182092605336,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6764448899577581,-0.00492506893896178,0.09831964070565144,0.9999997899282124,-0.0001631321543489338,0.0006066644839565408,0.0001301249374263729,0.6761,-0.0046,0.097519097470219,1.0,0.0,0.0,0.0,-0.6627856069429913,0.4551170294138236,4.726668617046913,0.029375955247224153,0.05037583053179233,0.0007208804032696517,0.1911961961404105,1.6276919919528359,5.974456479724,0.09881558554206779,0.0028284272910789063,-0.000496944683545124,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.864474460423171,0.7217376962694185,-5.616913609486017,0.492873535645212,4.1590418699822465,0.4695586862979725,1.3024657692685715,-4.726668617046913,6.919379378754588,6.919379378754588,7.08142025416184,0,0,-0.0001388053175413725,-9.999999025923074e-05
+24059,1792922183047462224,1749987000000,1792922183044595967,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6764637700671785,-0.004930523053759601,0.09821353610326042,0.9999997684091434,-0.0001788497394130253,0.0006375075686910803,0.00012736323792210936,0.6761,-0.0046,0.09738147170010723,1.0,0.0,0.0,0.0,-0.6488753862488531,0.4331667833381012,4.839884048999368,0.027390009591956838,0.04936174027724123,0.0005917572561249144,0.20510641683454867,1.6057417458771135,6.087671911676454,0.09682963988680048,0.001814337036527809,-0.0006260678306898613,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.873084596234336,0.8062881455832505,-5.767131679768802,0.48651484967817515,4.264686650191309,0.5301459199208135,1.3024657692685715,-4.839884048999368,7.069597449037373,7.069597449037373,7.2239202541615075,0,0,-0.00015212003437045508,-9.999237135372425e-05
+24171,1792922183981461984,1750921000000,1792922183980595567,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6764784027283025,-0.004937438136869645,0.09809213979965163,0.9999997511374034,-0.00017570676873556013,0.0006627459120198508,0.00013806876253705664,0.6761,-0.0046,0.09723355738487754,1.0,0.0,0.0,0.0,-0.6264681075803517,0.39082799108541844,4.922829177224395,0.02428735824652077,0.04839031783786653,0.0004787610606526248,0.22751369550305012,1.5634029536244307,6.170617039901481,0.09372698854136441,0.0008429145971531056,-0.0007390640261621509,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.8495165559322353,0.7259167611677941,-5.8007512651361735,0.51091347514276,4.290041311585748,0.47409265749455654,1.3024657692685715,-4.922829177224395,7.103217034404745,7.103217034404745,7.364020254161181,0,0,-0.00017004506760595473,-9.999999025923074e-05
+24289,1792922184964423932,1751904000000,1792922184964605831,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6764963582656538,-0.004938477779416213,0.0979498625987046,0.9999997352740462,-0.00014349719706942238,0.0006929183633910703,0.00014201196375779326,0.6761,-0.0046,0.09705921665311934,1.0,0.0,0.0,0.0,-0.6220572244067337,0.3611816319110237,5.0825834112839665,0.02221302359762363,0.0483955455866713,0.0003269350701072234,0.23192457867666805,1.533756594450036,6.330371273961053,0.09165265389246727,0.0008481423459578759,-0.0008908900167075523,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.940785341048049,0.7080840159339522,-6.044021535911643,0.5309626093361763,4.478355911129136,0.4690020171514755,1.3024657692685715,-5.0825834112839665,7.346487305180214,7.346487305180214,7.511470254160837,0,0,-0.0001788261271243582,-9.999999025923074e-05
+24393,1792922185831479013,1752771000000,1792922185828595714,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6765104648961011,-0.0049458492107995605,0.09781708366882884,0.9999997167687198,-0.00016593776484469204,0.0007156399246267308,0.00013501666883161507,0.6761,-0.0046,0.09690263259560163,1.0,0.0,0.0,0.0,-0.5824322029456781,0.328646532660809,5.173606929426972,0.020234951736394502,0.045375019895468056,0.000189201157667612,0.2715496001377237,1.5012214951998213,6.421394792104058,0.08967458203123814,-0.0021723833452453687,-0.0010286239291471637,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.9143370768950025,0.6646443352238802,-6.216733688543106,0.5554788369548397,4.599279680760707,0.4347744481770631,1.3024657692685715,-5.173606929426972,7.519199457811677,7.519199457811677,7.641520254160534,0,0,-0.00018893265838340755,9.03934941051176e-05
+24497,1792922186697580447,1753637000000,1792922186696605362,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6765255935066001,-0.004944768829921083,0.09767050804133424,0.9999996994640648,-0.0001567466110415135,0.0007388374589995465,0.00014854074675382754,0.6761,-0.0046,0.09673786339434756,1.0,0.0,0.0,0.0,-0.5626824107697489,0.28155718896698123,5.310694600933399,0.016124536806043865,0.045423296977988435,3.662536766916875e-05,0.29129939231365287,1.4541321515059935,6.558482463610486,0.0855641671008875,-0.002124106262724991,-0.001181199719145607,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.904535447078611,0.6508400415843818,-6.288705964562894,0.5670159515980363,4.658601529097359,0.4351103301181856,1.3024657692685715,-5.310694600933399,7.591171733831465,7.591171733831465,7.7714202541602315,0,0,-0.0001948870357135465,-5.002439715096614e-05
+24595,1792922187514599129,1754454000000,1792922187508605004,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.676537327583811,-0.004939927068076389,0.09752610976838098,0.9999996855004818,-0.00014325890038072804,0.0007587902202345867,0.00015542229951567992,0.6761,-0.0046,0.09657281056871142,1.0,0.0,0.0,0.0,-0.5038450725134556,0.29368720918297897,5.435664471834926,0.01512613825152831,0.043745133956677965,-8.989540219567736e-05,0.3501367305699462,1.4662621717219912,6.683452334512012,0.08456576854637195,-0.0038022692840354606,-0.001307720489010453,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.945310702511489,0.73460884302063,-6.3990668970745475,0.5511149393188138,4.754241332490711,0.4820922112887751,1.3024657692685715,-5.435664471834926,7.701532666343119,7.701532666343119,7.893970254159946,0,0,-0.0002121766615279227,-9.782152451809906e-05
+24697,1792922188364529460,1755304000000,1792922188364595638,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6765588650779526,-0.004942593575232025,0.09737511159707168,0.9999996517911641,-0.00017554879343679636,0.0007990417577793178,0.00013629125049805012,0.6761,-0.0046,0.09638798694740232,1.0,0.0,0.0,0.0,-0.4368597008342353,0.3218868380622484,5.513266911994236,0.017238063790761704,0.04028369985857666,0.0006468849552318137,0.41712210224916646,1.4944618006012607,6.761054774671323,0.08667769408560534,-0.007263703382136765,-0.000570940131582962,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.9249546017017525,0.8392911569796233,-6.47955132291718,0.5596197739648225,4.811002681401727,0.5509252805231788,1.3024657692685715,-5.513266911994236,7.782017092185751,7.782017092185751,8.021470254159649,0,0,-0.00022407441363089665,-9.999999025923074e-05
+24798,1792922189206578992,1756146000000,1792922189200596229,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6765748022085454,-0.004944566318067412,0.09720486950803298,0.9999996420558148,-7.689448859405561e-05,0.0008233570119137738,0.00015330223478652444,0.6761,-0.0046,0.09619058216558206,1.0,0.0,0.0,0.0,-0.4243737691685767,0.28747838536495296,5.612123412506465,0.014189000957559345,0.03931064240284984,-0.00030830346389640675,0.42960803391482505,1.4600533479039652,6.859911275183551,0.08362863125240298,-0.008236760837863585,-0.0015261285507111825,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.9526278255944,0.7067479808445787,-6.667853017791786,0.6106766207055248,4.9481749826621835,0.478458501212088,1.3024657692685715,-5.612123412506465,7.970318787060357,7.970318787060357,8.147770254159354,0,0,-0.0002454237721008238,5e-05
+24896,1792922190022643946,1756962000000,1792922190016595728,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6765865087596508,-0.004950679716636585,0.09702295096471772,0.9999996188968432,-0.00011232480241708387,0.0008468433900163235,0.00015455887009693193,0.6761,-0.0046,0.09598243490809275,1.0,0.0,0.0,0.0,-0.37449601652717934,0.23367256073152798,5.7505629764630335,0.0111738599014886,0.03629982514610972,0.00030257465395378306,0.4794857865562224,1.4062475232705403,6.9983508391401195,0.08061349019633224,-0.011247578094603703,-0.0009152504328609926,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.955120088495173,0.6858931174680348,-6.796300986095761,0.6424804233148789,5.049891130879086,0.45732865830055053,1.3024657692685715,-5.7505629764630335,8.098766755364332,8.098766755364332,8.27017025415907,0,0,-0.0002593258572505545,9.986006052476454e-05
+24992,1792922190822648191,1757762000000,1792922190820595883,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.676602109827324,-0.004949960643347527,0.09683779855216408,0.9999995946730721,-0.0001388920386908376,0.0008710225101562943,0.00015532335380922865,0.6761,-0.0046,0.09577643031529627,1.0,0.0,0.0,0.0,-0.33481659060303026,0.17571921479885866,5.8408899268430385,0.007150306708513729,0.03331572833805729,0.00037239097776010064,0.5191652124803715,1.348294177337871,7.088677789520125,0.07658993700335737,-0.014231674902656132,-0.0008454341090546751,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.952647080277485,0.7363058375252279,-6.868349504342938,0.6326400937856271,5.113270272228944,0.4899003533803139,1.3024657692685715,-5.8408899268430385,8.17081527361151,8.17081527361151,8.39017025415879,0,0,-0.00026028342469732845,-2.9722747064720454e-05
+25081,1792922191564627488,1758504000000,1792922191564605126,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6766232650035547,-0.004955996583110537,0.0966593608517902,0.9999995676487266,-0.00015525730988559704,0.0008967242307335346,0.00016711087920868894,0.6761,-0.0046,0.09557568816945272,1.0,0.0,0.0,0.0,-0.3345055601370128,0.17011860709103677,5.908006387113058,0.006890685314216494,0.03396207817232659,0.00032241283209899876,0.5194762429463889,1.342693569630049,7.155794249790145,0.07633031560906013,-0.013585325068386835,-0.000895412254715777,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.9628525876284284,0.6572556700016008,-6.9039711163321185,0.6740734572904148,5.1413203371564675,0.43553300264858325,1.3024657692685715,-5.908006387113058,8.20643688560069,8.20643688560069,8.50147025415853,0,0,-0.0002807440178068373,-9.999624325652263e-05
+25165,1792922192264664962,1759204000000,1792922192264604908,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6766358946867347,-0.004953997660604379,0.09647525946635187,0.9999995462980144,-0.00016727165668811242,0.0009187204163377771,0.0001637669658989444,0.6761,-0.0046,0.09537500072394024,1.0,0.0,0.0,0.0,-0.276325043068792,0.09807818302126026,6.023992343915426,0.002089821562537994,0.030335142716598172,0.0001222757800330293,0.5776567600146097,1.2706531455602725,7.271780206592513,0.07152945185738163,-0.01721226052411525,-0.0010955493067817464,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.904246191359656,0.7491600689417155,-7.043645311054226,0.6607595997169903,5.23563050883773,0.5044610811884843,1.3024657692685715,-6.023992343915426,8.346111080322798,8.346111080322798,8.606470254158285,0,0,-0.00028983455575423554,-9.915944040728703e-05
+25250,1792922192972672928,1759912000000,1792922192968605222,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6766464467894436,-0.004956022024520202,0.09628064961883061,0.9999995281695251,-0.00016025653403357743,0.000939002287728656,0.00016642156819104967,0.6761,-0.0046,0.09516455380459028,1.0,0.0,0.0,0.0,-0.22712128011420185,0.036378511215055864,6.088226683319229,-0.00294953688843079,0.02750328276111193,-2.645214928576403e-05,0.6268605229691999,1.2089534737540681,7.336014545996316,0.06649009340641285,-0.020044120479601493,-0.0012442772361005397,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.8907970019701703,0.7192286659371808,-7.045901701716303,0.684123720845409,5.248840018871212,0.4981111834040629,1.3024657692685715,-6.088226683319229,8.348367470984874,8.348367470984874,8.712670254158038,0,0,-0.00030515980283948716,-9.990240165536619e-05
+25326,1792922193606709230,1760546000000,1792922193600605686,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6766596067692084,-0.00495467060336833,0.09609993671375384,0.9999995197387133,-9.04960626223685e-05,0.0009572638238843494,0.00016559481042001295,0.6761,-0.0046,0.09496446637205655,1.0,0.0,0.0,0.0,-0.18573553503682105,-0.005050601529448251,6.167586496821688,-0.004934274337026326,0.024732157311750026,-0.00015196224279734457,0.6682462680465807,1.167524361009564,7.415374359498774,0.06450535595781731,-0.022815245928963397,-0.0013697873296121203,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.8821133003384922,0.661279413317505,-7.199744930875292,0.6986797578809139,5.361311751201214,0.4418620049664723,1.3024657692685715,-6.167586496821688,8.502210700143864,8.502210700143864,8.807770254157816,0,0,-0.00032743483118910364,-9.999996250365512e-05
+25401,1792922194231783130,1761171000000,1792922194228595659,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6766731457495162,-0.0049597650685204685,0.09590725275869096,0.9999994931501285,-0.0001200157555522927,0.0009812649927687953,0.00016690591020079054,0.6761,-0.0046,0.09475467192510777,1.0,0.0,0.0,0.0,-0.1672532512392343,-0.02528153459433735,6.277955745899327,-0.005940525313389247,0.023346817680517346,-0.00027190090720257136,0.6867285518441675,1.147293427944675,7.525743608576414,0.06349910498145439,-0.024200585560196077,-0.001489725994017347,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.8817285015620278,0.5692132525686505,-7.2116669950947,0.7408167897099273,5.377362962187688,0.3938829266404094,1.3024657692685715,-6.277955745899327,8.514132764363271,8.514132764363271,8.901520254157598,0,0,-0.00034169676088188625,-9.999999025923074e-05
+25480,1792922194889778499,1761829000000,1792922194888605334,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6766897131648368,-0.004960712375078098,0.09570137887206696,0.9999994614035713,-0.00014681845931505046,0.0010089008111737417,0.00017087692872993381,0.6761,-0.0046,0.09452663360293398,1.0,0.0,0.0,0.0,-0.108041628367749,-0.06070215806214141,6.35597755914811,-0.00889841653351501,0.020345317736587952,-0.00041289648388111817,0.7459401747156528,1.1118728044768709,7.603765421825196,0.06054121376132863,-0.02720208550412547,-0.0016307215706958939,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.838296890161569,0.6785861600066934,-7.402137377186533,0.7109544454752937,5.50460953179481,0.46081963778666557,1.3024657692685715,-6.35597755914811,8.704603146455105,8.704603146455105,9.000220254157368,0,0,-0.0003529542461869469,-2.799176118630962e-09
+25550,1792922195472737681,1762412000000,1792922195472604898,DOWN_FORCE_DETACH,3,0.0606,0.060601796954870224,0.6766905115367091,-0.004958815317032102,0.09549076600838584,0.9999994524699352,-0.00016813075165714303,0.001013705451357273,0.00017503143264097765,0.6761,-0.0046,0.09431537649523979,1.0,0.0,0.0,0.0,-0.02596122220841124,-0.11533983369347434,6.476871384753583,-0.01188913599455197,0.015313395353224638,-0.0005043268006210237,0.8280205808749905,1.057235128845538,7.72465924743067,0.05755049430029167,-0.032234007887488786,-0.0017221518874357994,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.7971488020831945,0.8452509924158129,-7.539873773598607,0.6675081918541184,5.609069670547047,0.5767787348409726,1.3024657692685715,-6.476871384753583,8.84233954286718,8.84233954286718,9.087670254157164,0,0,-0.00036720763678802095,9.999940739214281e-05
+25621,1792922196064760571,1763004000000,1792922196064605806,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6767113319442775,-0.004954921934197091,0.09528568568291987,0.9999994271458394,-0.0001800378886836713,0.0010360619295592135,0.0001769544967512884,0.6761,-0.0046,0.09409459369101246,1.0,0.0,0.0,0.0,-0.017442121126784782,-0.07995841039203255,6.48187971108154,-0.009829138918747565,0.014357796502860107,0.00042478157428896355,0.836539681956617,1.0926165521469797,7.729667573758626,0.05961049137609607,-0.03318960673785332,-0.0007930435125258122,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.8851217675007903,0.7321493562091169,-7.5177299829945365,0.7108876423846255,5.619936881839963,0.5054702011382473,1.3024657692685715,-6.48187971108154,8.820195752263109,8.820195752263109,9.176470254156957,0,0,-0.0003847383522284905,-9.999999025923074e-05
+25694,1792922196672801237,1763612000000,1792922196668605315,DOWN_FORCE_DETACH,3,0.0606,0.06060245260596275,0.6767222518435003,-0.004952105377011831,0.09506230998576122,0.9999994258306607,-7.046317584007666e-05,0.001050730447321606,0.00017544708956709508,0.6761,-0.0046,0.09385351424754704,1.0,0.0,0.0,0.0,0.06489979059411632,-0.1257928292177577,6.5370909674527145,-0.012757661675734666,0.009247679357212005,-0.0007535630965228482,0.9188815936775181,1.0467821333212546,7.7848788301298,0.05668196861910897,-0.03829972388350142,-0.001971388183337624,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.8440395626009907,0.8327093780872644,-7.56510536444621,0.6677810554948153,5.667352479811457,0.5371382609167088,1.3024657692685715,-6.5370909674527145,8.867571133714781,8.867571133714781,9.267670254156744,0,0,-0.0004099574878138875,-9.999999025923074e-05
+25763,1792922197248787805,1764188000000,1792922197248595418,DOWN_SETTLE,3,0.0606,0.06060245260596275,0.6767299733169726,-0.004956635367891824,0.09483394635893833,0.999999401349299,-0.000129659528383102,0.001070093568784039,0.00016380497126313823,0.6761,-0.0046,0.09361807633090714,1.0,0.0,0.0,0.0,0.11069689439107744,-0.18247172944054846,6.608226264011197,-0.015759989722270454,0.006241752219368429,0.000144771435856035,0.9646786974744792,0.9901032330984638,7.856014126688283,0.053679640572573184,-0.041305651021344994,-0.0010730536509587407,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.786321330621839,0.7927192832381945,-7.704023144143893,0.693621944963829,5.758366252979883,0.5429397720949554,1.3024657692685715,-6.608226264011197,9.006488913412465,0.0,0.0,0,0,-0.00022927032279860122,0.002315861846450517
+25859,1792922198045875463,1764985000000,1792922198044596115,DOWN_PEAK_HOLD,3,0.0606,0.060601796954870224,0.6766890822579282,-0.004958248465791189,0.0946929750602676,0.9999994805856606,-0.0001376383293916713,0.000991291972041044,0.00016931387981279373,0.6761,-0.0046,0.09359624565196561,1.0,0.0,0.0,0.0,0.43552860905105095,-0.5302950847263774,5.635728650563625,-0.03832027878737323,-0.015367689915919996,-0.0016966430705210656,1.2895104121344527,0.6422798778126348,6.8835165132407115,0.03111935150747041,-0.06291509315663342,-0.0029144681573358413,0.8539818030834018,1.1725749625390123,1.2477878626770864,0.06943963029484364,-0.04754740324071342,-0.0012178250868147757,1,2.1098498168471274,0.7493377404980303,-6.53520598799273,0.6924602924770457,4.910845313174582,0.5162487238262433,1.3024657692685715,-5.635728650563625,7.837671757261301,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_12.5/press_depth_03/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,1792922141257225955,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.162869701e-08,-5.254035332e-10,1.619363532e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456272e-01,-1.162652195e-04,8.303255760e-01
+1,1.150000000e+00,DOWN_FORCE_DETACH,1792922142388280126,4.580932899e-07,1.524644125e-07,-3.079989496e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.336450442e-07,-3.280042974e-08,6.598302682e-09,7.019560909e-01,-2.211827061e-05,8.601427792e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027460493e-01,-1.162974945e-04,8.303255824e-01
+2,2.416666667e+00,DOWN_FORCE_DETACH,1792922143665349013,1.330434833e-05,-3.269312055e-06,3.406570966e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.562032275e-07,-4.387819265e-08,1.465610699e-08,7.019689372e-01,-2.554004708e-05,8.601464938e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027461718e-01,-1.163085723e-04,8.303255905e-01
+3,3.600000000e+00,DOWN_FORCE_DETACH,1792922144844880062,1.758785587e-05,-4.176775439e-06,-3.048937539e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.877971307e-07,-4.735729831e-08,1.970108432e-08,7.019732207e-01,-2.644751046e-05,8.601400383e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027462034e-01,-1.163120514e-04,8.303255955e-01
+4,4.800000000e+00,DOWN_FORCE_DETACH,1792922146040896589,2.951450048e-05,3.107672549e-07,-1.527306720e-05,1.996135697e-05,2.805677149e-08,-1.106567831e-06,2.191133097e-05,-7.697707920e-08,-1.049024013e-06,7.019851473e-01,-2.195996777e-05,8.601278142e-01,7.019755942e-01,-2.224267825e-05,8.601419807e-01,7.027675269e-01,-1.163416711e-04,8.303245268e-01
+5,5.983333333e+00,DOWN_FORCE_DETACH,1792922147251495517,5.398367725e-05,-9.413512093e-06,-3.684954976e-05,4.756355859e-05,-5.275154755e-06,-2.954719370e-05,5.105484245e-05,-5.115836961e-06,-2.901537638e-05,7.020096165e-01,-3.168424712e-05,8.601062377e-01,7.020031964e-01,-2.754588978e-05,8.601135400e-01,7.027966704e-01,-1.213805310e-04,8.302965604e-01
+6,7.000000000e+00,DOWN_FORCE_DETACH,1792922148268912000,6.650485974e-05,-7.940695104e-06,-5.126930878e-05,6.141854916e-05,-4.315209083e-06,-4.448283619e-05,6.596339487e-05,-4.259885586e-06,-4.393788314e-05,7.020221377e-01,-3.021143013e-05,8.600918179e-01,7.020170514e-01,-2.658594411e-05,8.600986044e-01,7.028115790e-01,-1.205245796e-04,8.302816379e-01
+7,8.166666667e+00,DOWN_FORCE_DETACH,1792922149414676813,7.963098396e-05,-8.442742572e-06,-6.771828374e-05,7.039886841e-05,-6.434940213e-06,-6.500409365e-05,7.555928959e-05,-6.281896722e-06,-6.431416856e-05,7.020352638e-01,-3.071347759e-05,8.600753690e-01,7.020260317e-01,-2.870567524e-05,8.600780831e-01,7.028211749e-01,-1.225465908e-04,8.302612616e-01
+8,9.250000000e+00,DOWN_FORCE_DETACH,1792922150495888144,9.618055144e-05,-1.456935479e-05,-8.616559182e-05,8.851519325e-05,-1.360478235e-05,-6.904767705e-05,9.497099752e-05,-1.308056334e-05,-6.861844685e-05,7.020518134e-01,-3.684008981e-05,8.600569216e-01,7.020441480e-01,-3.587551738e-05,8.600740396e-01,7.028405866e-01,-1.293452574e-04,8.302569574e-01
+9,1.040000000e+01,DOWN_FORCE_DETACH,1792922151677822021,1.193419322e-04,-1.323467505e-05,-1.031916212e-04,1.095565064e-04,-1.537188550e-05,-1.018912346e-04,1.172429820e-04,-1.481529606e-05,-1.010378000e-04,7.020749747e-01,-3.550541007e-05,8.600398956e-01,7.020651893e-01,-3.764262052e-05,8.600411960e-01,7.028628586e-01,-1.310799901e-04,8.302245380e-01
+10,1.136666667e+01,DOWN_FORCE_DETACH,1792922152707592163,1.293055274e-04,-7.819777316e-06,-1.303185160e-04,1.210563155e-04,-1.017018041e-05,-1.179193678e-04,1.295845890e-04,-9.949638889e-06,-1.171590428e-04,7.020849383e-01,-3.009051234e-05,8.600127687e-01,7.020766891e-01,-3.244091544e-05,8.600251679e-01,7.028752002e-01,-1.262143329e-04,8.302084168e-01
+11,1.238333333e+01,DOWN_FORCE_DETACH,1792922153706511154,1.413634779e-04,-1.393636007e-05,-1.497250223e-04,1.323241482e-04,-8.115373845e-06,-1.342452393e-04,1.416036806e-04,-8.051524695e-06,-1.335384600e-04,7.020969963e-01,-3.620709509e-05,8.599933622e-01,7.020879570e-01,-3.038610887e-05,8.600088420e-01,7.028872193e-01,-1.243162188e-04,8.301920373e-01
+12,1.350000000e+01,DOWN_FORCE_DETACH,1792922154803996329,1.491941060e-04,-1.196154372e-05,-1.653828434e-04,1.401887002e-04,-1.845771489e-05,-1.522686074e-04,1.499951429e-04,-1.787662002e-05,-1.517165887e-04,7.021048269e-01,-3.423227874e-05,8.599777044e-01,7.020958215e-01,-4.072844991e-05,8.599908186e-01,7.028956108e-01,-1.341413141e-04,8.301738592e-01
+13,1.455000000e+01,DOWN_FORCE_DETACH,1792922155869814398,1.571769285e-04,-1.577281407e-05,-1.821905468e-04,1.470261912e-04,-1.090032123e-05,-1.697626533e-04,1.572426733e-04,-1.077548205e-05,-1.692726998e-04,7.021128097e-01,-3.804354909e-05,8.599608967e-01,7.021026590e-01,-3.317105625e-05,8.599733246e-01,7.029028583e-01,-1.270401761e-04,8.301563031e-01
+14,1.556666667e+01,DOWN_FORCE_DETACH,1792922156917280203,1.660162247e-04,-1.572940215e-05,-2.072572921e-04,1.635756127e-04,-1.545437478e-05,-2.066365226e-04,1.744125236e-04,-1.508532190e-05,-2.054402676e-04,7.021216490e-01,-3.800013717e-05,8.599358299e-01,7.021192084e-01,-3.772510980e-05,8.599364507e-01,7.029200281e-01,-1.313500160e-04,8.301201355e-01
+15,1.658333333e+01,DOWN_FORCE_DETACH,1792922157998773021,1.780838304e-04,-1.792471931e-05,-2.211362193e-04,1.732648432e-04,-2.033372617e-05,-2.242273241e-04,1.845585104e-04,-1.972092926e-05,-2.231696537e-04,7.021337166e-01,-4.019545434e-05,8.599219510e-01,7.021288977e-01,-4.260446119e-05,8.599188599e-01,7.029301741e-01,-1.359856233e-04,8.301024062e-01
+16,1.755000000e+01,DOWN_FORCE_DETACH,1792922158980940720,1.816225222e-04,-1.926111297e-05,-2.453320051e-04,1.806176577e-04,-2.427648671e-05,-2.431489383e-04,1.923081179e-04,-2.351110920e-05,-2.420531908e-04,7.021372553e-01,-4.153184799e-05,8.598977552e-01,7.021362505e-01,-4.654722174e-05,8.598999383e-01,7.029379237e-01,-1.397758033e-04,8.300835226e-01
+17,1.863333333e+01,DOWN_FORCE_DETACH,1792922160144420020,1.924289521e-04,-2.384621441e-05,-2.717962596e-04,1.883797992e-04,-2.080523529e-05,-2.619485080e-04,2.006268170e-04,-2.023972444e-05,-2.611138691e-04,7.021480618e-01,-4.611694944e-05,8.598712910e-01,7.021440126e-01,-4.307597031e-05,8.598811387e-01,7.029462424e-01,-1.365044185e-04,8.300644619e-01
+18,1.970000000e+01,DOWN_FORCE_DETACH,1792922161208829924,1.994979358e-04,-2.351524057e-05,-2.989335765e-04,1.944196423e-04,-2.568109138e-05,-2.811197395e-04,2.069953496e-04,-2.484759851e-05,-2.803815537e-04,7.021551308e-01,-4.578597559e-05,8.598441537e-01,7.021500525e-01,-4.795182640e-05,8.598619675e-01,7.029526110e-01,-1.411122926e-04,8.300451943e-01
+19,2.090000000e+01,DOWN_FORCE_DETACH,1792922162405594278,2.116157568e-04,-2.785147292e-05,-3.274269351e-04,2.098615978e-04,-2.499460273e-05,-3.177043921e-04,2.229903504e-04,-2.424815131e-05,-3.166823890e-04,7.021672486e-01,-5.012220794e-05,8.598156603e-01,7.021654944e-01,-4.726533775e-05,8.598253828e-01,7.029686060e-01,-1.405128454e-04,8.300088934e-01
+20,2.188333333e+01,DOWN_FORCE_DETACH,1792922163387822268,2.207409619e-04,-2.994359707e-05,-3.548538461e-04,2.189555922e-04,-3.010942612e-05,-3.570795773e-04,2.322501301e-04,-2.909709023e-05,-3.554989736e-04,7.021763738e-01,-5.221433209e-05,8.597882334e-01,7.021745884e-01,-5.238016114e-05,8.597860077e-01,7.029778657e-01,-1.453617843e-04,8.299700768e-01
+21,2.305000000e+01,DOWN_FORCE_DETACH,1792922164566947481,2.335107761e-04,-3.310216704e-05,-3.914199359e-04,2.273055350e-04,-3.323188740e-05,-3.768892362e-04,2.410819098e-04,-3.203724518e-05,-3.758525849e-04,7.021891436e-01,-5.537290206e-05,8.597516673e-01,7.021829384e-01,-5.550262242e-05,8.597661980e-01,7.029866975e-01,-1.483019392e-04,8.299497232e-01
+22,2.426666667e+01,DOWN_FORCE_DETACH,1792922165795227336,2.455443119e-04,-3.750595152e-05,-4.338451350e-04,2.383437431e-04,-3.237839496e-05,-4.181612600e-04,2.524964419e-04,-3.129071410e-05,-4.170322580e-04,7.022011771e-01,-5.977668655e-05,8.597092421e-01,7.021939766e-01,-5.464912998e-05,8.597249260e-01,7.029981120e-01,-1.475554082e-04,8.299085435e-01
+23,2.475000000e+01,DOWN_FORCE_DETACH,1792922166270241119,2.564089148e-04,-2.338973832e-05,-4.557731017e-04,2.590911879e-04,-2.051219029e-05,-4.507074422e-04,2.738632317e-04,-2.003648276e-05,-4.490282703e-04,7.022120417e-01,-4.566047334e-05,8.596873141e-01,7.022147240e-01,-4.278292532e-05,8.596923798e-01,7.030194788e-01,-1.363011768e-04,8.298765475e-01
+24,2.583333333e+01,DOWN_FORCE_DETACH,1792922167367945023,2.688823466e-04,-3.649256963e-05,-5.064630854e-04,2.644168077e-04,-3.324491852e-05,-4.988848511e-04,2.793617936e-04,-3.208967273e-05,-4.971342266e-04,7.022245152e-01,-5.876330465e-05,8.596366242e-01,7.022200496e-01,-5.551565354e-05,8.596442024e-01,7.030249774e-01,-1.483543668e-04,8.298284416e-01
+25,2.700000000e+01,DOWN_FORCE_DETACH,1792922168514674964,2.780139223e-04,-3.994929504e-05,-5.645080119e-04,2.781600023e-04,-3.417837056e-05,-5.588140337e-04,2.934557063e-04,-3.296546750e-05,-5.568155812e-04,7.022336467e-01,-6.222003007e-05,8.595785792e-01,7.022337928e-01,-5.644910558e-05,8.595842732e-01,7.030390713e-01,-1.492301616e-04,8.297687602e-01
+26,2.806666667e+01,DOWN_FORCE_DETACH,1792922169562814700,2.880704372e-04,-3.979763187e-05,-6.070067720e-04,2.815682223e-04,-3.897577436e-05,-5.974583363e-04,2.968357119e-04,-3.751659979e-05,-5.959113823e-04,7.022437033e-01,-6.206836689e-05,8.595360805e-01,7.022372010e-01,-6.124650939e-05,8.595456289e-01,7.030424513e-01,-1.537812938e-04,8.297296644e-01
+27,2.903333333e+01,DOWN_FORCE_DETACH,1792922170512811714,2.993398098e-04,-5.131748939e-05,-6.579313926e-04,2.992032234e-04,-5.122056760e-05,-6.577154700e-04,3.147658867e-04,-4.908816024e-05,-6.554960453e-04,7.022549726e-01,-7.358822441e-05,8.594851558e-01,7.022548360e-01,-7.349130263e-05,8.594853718e-01,7.030603815e-01,-1.653528543e-04,8.296700798e-01
+28,2.991666667e+01,DOWN_FORCE_DETACH,1792922171414350355,3.158652960e-04,-5.038377732e-05,-7.051592002e-04,3.092201874e-04,-4.811935724e-05,-6.992325266e-04,3.252685592e-04,-4.625245163e-05,-6.973793971e-04,7.022714981e-01,-7.265451235e-05,8.594379280e-01,7.022648530e-01,-7.039009226e-05,8.594438547e-01,7.030708842e-01,-1.625171457e-04,8.296281964e-01
+29,3.110000000e+01,DOWN_FORCE_DETACH,1792922172594361803,3.244194941e-04,-4.568240287e-05,-7.720569436e-04,3.219442685e-04,-5.030718964e-05,-7.648983094e-04,3.383357462e-04,-4.842081547e-05,-7.629777437e-04,7.022800523e-01,-6.795313789e-05,8.593710303e-01,7.022775771e-01,-7.257792467e-05,8.593781889e-01,7.030839514e-01,-1.646855095e-04,8.295625981e-01
+30,3.213333333e+01,DOWN_FORCE_DETACH,1792922173702326887,3.422087782e-04,-5.119151801e-05,-8.436302334e-04,3.365809970e-04,-5.403304834e-05,-8.273855465e-04,3.532727759e-04,-5.199348169e-05,-8.254623504e-04,7.022978416e-01,-7.346225303e-05,8.592994570e-01,7.022922138e-01,-7.630378336e-05,8.593157017e-01,7.030988884e-01,-1.682581758e-04,8.295001135e-01
+31,3.316666667e+01,DOWN_FORCE_DETACH,1792922174723447958,3.554535651e-04,-5.634665926e-05,-9.110168666e-04,3.519499841e-04,-5.566734031e-05,-8.948807683e-04,3.690411556e-04,-5.361287093e-05,-8.930094049e-04,7.023110864e-01,-7.861739429e-05,8.592320704e-01,7.023075828e-01,-7.793807533e-05,8.592482065e-01,7.031146568e-01,-1.698775650e-04,8.294325664e-01
+32,3.423333333e+01,DOWN_FORCE_DETACH,1792922175804035352,3.665028615e-04,-5.783585666e-05,-9.814847235e-04,3.630758442e-04,-6.041804453e-05,-9.801915564e-04,3.800067664e-04,-5.818397037e-05,-9.776407364e-04,7.023221357e-01,-8.010659169e-05,8.591616025e-01,7.023187087e-01,-8.268877955e-05,8.591628957e-01,7.031256224e-01,-1.744486644e-04,8.293479351e-01
+33,3.525000000e+01,DOWN_FORCE_DETACH,1792922176835861133,3.797828875e-04,-5.775116474e-05,-1.058322885e-03,3.739278717e-04,-6.078610010e-05,-1.043423923e-03,3.910451359e-04,-5.855498312e-05,-1.041145544e-03,7.023354157e-01,-8.002189976e-05,8.590847644e-01,7.023295607e-01,-8.305683513e-05,8.590996633e-01,7.031366607e-01,-1.748196772e-04,8.292844303e-01
+34,3.635000000e+01,DOWN_FORCE_DETACH,1792922177917512136,3.906389035e-04,-6.075372739e-05,-1.146353819e-03,3.893752977e-04,-6.199792802e-05,-1.127210026e-03,4.066246309e-04,-5.975202648e-05,-1.124905881e-03,7.023462717e-01,-8.302446241e-05,8.589967334e-01,7.023450081e-01,-8.426866304e-05,8.590158772e-01,7.031522402e-01,-1.760167205e-04,8.292006699e-01
+35,3.740000000e+01,DOWN_FORCE_DETACH,1792922178998318201,4.023160424e-04,-6.887489649e-05,-1.237984946e-03,4.054109525e-04,-6.222818329e-05,-1.228893864e-03,4.225875375e-04,-6.002312144e-05,-1.225965812e-03,7.023579489e-01,-9.114563152e-05,8.589051023e-01,7.023610438e-01,-8.449891832e-05,8.589141934e-01,7.031682031e-01,-1.762878155e-04,8.290996100e-01
+36,3.843333333e+01,DOWN_FORCE_DETACH,1792922180029970905,4.206663239e-04,-6.845910626e-05,-1.329531646e-03,4.177538262e-04,-6.846909667e-05,-1.330902950e-03,4.348905620e-04,-6.599782541e-05,-1.327484384e-03,7.023762991e-01,-9.072984129e-05,8.588135556e-01,7.023733866e-01,-9.073983169e-05,8.588121843e-01,7.031805062e-01,-1.822625195e-04,8.289980914e-01
+37,3.948333333e+01,DOWN_FORCE_DETACH,1792922181078563004,4.397457978e-04,-7.678674115e-05,-1.436575231e-03,4.347237677e-04,-7.316482441e-05,-1.418853989e-03,4.522704951e-04,-7.047046299e-05,-1.415978503e-03,7.023953786e-01,-9.905747617e-05,8.587065120e-01,7.023903566e-01,-9.543555944e-05,8.587242333e-01,7.031978861e-01,-1.867351570e-04,8.289095973e-01
+38,4.050000000e+01,DOWN_FORCE_DETACH,1792922182094194608,4.540443758e-04,-7.983212948e-05,-1.546114087e-03,4.527327703e-04,-7.757467384e-05,-1.547016553e-03,4.702066893e-04,-7.472446358e-05,-1.543132464e-03,7.024096772e-01,-1.021028645e-04,8.585969732e-01,7.024083656e-01,-9.984540886e-05,8.585960707e-01,7.032158223e-01,-1.909891576e-04,8.287824433e-01
+39,4.146666667e+01,DOWN_FORCE_DETACH,1792922183044115406,4.700239891e-04,-7.938633997e-05,-1.655871395e-03,4.714770781e-04,-7.942898061e-05,-1.652736654e-03,4.888660914e-04,-7.653981068e-05,-1.648827162e-03,7.024256568e-01,-1.016570750e-04,8.584872158e-01,7.024271099e-01,-1.016997156e-04,8.584903506e-01,7.032344817e-01,-1.928045047e-04,8.286767486e-01
+40,4.241666667e+01,DOWN_FORCE_DETACH,1792922183977765477,4.858996122e-04,-8.259218253e-05,-1.777992882e-03,4.856412817e-04,-8.248643339e-05,-1.778063189e-03,5.027274421e-04,-7.944626197e-05,-1.773742786e-03,7.024415324e-01,-1.048629176e-04,8.583650944e-01,7.024412741e-01,-1.047571684e-04,8.583650241e-01,7.032483430e-01,-1.957109560e-04,8.285518330e-01
+41,4.336666667e+01,DOWN_FORCE_DETACH,1792922184960737844,5.039633146e-04,-8.581677935e-05,-1.919254288e-03,5.030812361e-04,-8.652478082e-05,-1.904201677e-03,5.199667763e-04,-8.330590976e-05,-1.899982509e-03,7.024595961e-01,-1.080875144e-04,8.582238330e-01,7.024587141e-01,-1.087955158e-04,8.582388856e-01,7.032655824e-01,-1.995706038e-04,8.284255933e-01
+42,4.423333333e+01,DOWN_FORCE_DETACH,1792922185830476795,5.192168982e-04,-8.974572353e-05,-2.051383323e-03,5.157558646e-04,-8.602228774e-05,-2.036998160e-03,5.321075247e-04,-8.285652826e-05,-2.032672502e-03,7.024748497e-01,-1.120164586e-04,8.580917039e-01,7.024713887e-01,-1.082930228e-04,8.581060891e-01,7.032777231e-01,-1.991212223e-04,8.282929033e-01
+43,4.510000000e+01,DOWN_FORCE_DETACH,1792922186694992042,5.354975730e-04,-9.048581388e-05,-2.194439779e-03,5.296844223e-04,-9.171744851e-05,-2.184465186e-03,5.455172731e-04,-8.827060666e-05,-2.179657172e-03,7.024911304e-01,-1.127565489e-04,8.579486475e-01,7.024853172e-01,-1.139881835e-04,8.579586221e-01,7.032911329e-01,-2.045353007e-04,8.281459186e-01
+44,4.593333333e+01,DOWN_FORCE_DETACH,1792922187516114210,5.473512144e-04,-9.436351713e-05,-2.340400368e-03,5.473572126e-04,-8.961966269e-05,-2.330888827e-03,5.627539083e-04,-8.631655620e-05,-2.325790585e-03,7.025029840e-01,-1.166342521e-04,8.578026869e-01,7.025029900e-01,-1.118903977e-04,8.578121984e-01,7.033083695e-01,-2.025812503e-04,8.279997852e-01
+45,4.680000000e+01,DOWN_FORCE_DETACH,1792922188367573698,5.635786886e-04,-8.778251140e-05,-2.497281535e-03,5.645120080e-04,-8.995828259e-05,-2.481255430e-03,5.793877498e-04,-8.676362753e-05,-2.476324437e-03,7.025192115e-01,-1.100532464e-04,8.576458057e-01,7.025201448e-01,-1.122290176e-04,8.576618318e-01,7.033250034e-01,-2.030283216e-04,8.278492514e-01
+46,4.760000000e+01,DOWN_FORCE_DETACH,1792922189206791569,5.831301958e-04,-8.846734548e-05,-2.662652587e-03,5.832441437e-04,-9.170658445e-05,-2.654105000e-03,5.973749147e-04,-8.856565777e-05,-2.648516438e-03,7.025387630e-01,-1.107380805e-04,8.574804347e-01,7.025388770e-01,-1.139773195e-04,8.574889822e-01,7.033429905e-01,-2.048303518e-04,8.276770594e-01
+47,4.840000000e+01,DOWN_FORCE_DETACH,1792922190022450896,5.996163398e-04,-9.338123464e-05,-2.838948224e-03,5.975091022e-04,-9.111323487e-05,-2.838445113e-03,6.106182729e-04,-8.803967353e-05,-2.832344695e-03,7.025552492e-01,-1.156519697e-04,8.573041390e-01,7.025531419e-01,-1.133839699e-04,8.573046421e-01,7.033562339e-01,-2.043043676e-04,8.274932311e-01
+48,4.920000000e+01,DOWN_FORCE_DETACH,1792922190824894140,6.096560097e-04,-9.413514164e-05,-3.029022422e-03,6.073981919e-04,-9.535895287e-05,-3.010407085e-03,6.192310435e-04,-9.205553072e-05,-3.004649386e-03,7.025652888e-01,-1.164058767e-04,8.571140648e-01,7.025630310e-01,-1.176296879e-04,8.571326802e-01,7.033648467e-01,-2.083202248e-04,8.273209264e-01
+49,4.991666667e+01,DOWN_FORCE_DETACH,1792922191562159403,6.276312594e-04,-1.002839468e-04,-3.215789003e-03,6.273431506e-04,-1.002657268e-04,-3.215886748e-03,6.382341286e-04,-9.677572571e-05,-3.208771593e-03,7.025832641e-01,-1.225546819e-04,8.569272982e-01,7.025829760e-01,-1.225364618e-04,8.569272005e-01,7.033838497e-01,-2.130404198e-04,8.271168042e-01
+50,5.063333333e+01,DOWN_FORCE_DETACH,1792922192265976432,6.420057641e-04,-9.966626813e-05,-3.397255422e-03,6.418485230e-04,-9.976970335e-05,-3.397239774e-03,6.517814788e-04,-9.630923083e-05,-3.390187338e-03,7.025976386e-01,-1.219370032e-04,8.567458318e-01,7.025974813e-01,-1.220404384e-04,8.567458475e-01,7.033973971e-01,-2.125739249e-04,8.269353885e-01
+51,5.133333333e+01,DOWN_FORCE_DETACH,1792922192970911476,6.548608329e-04,-1.022227598e-04,-3.587350589e-03,6.564622323e-04,-1.017411272e-04,-3.578174090e-03,6.654503965e-04,-9.819782360e-05,-3.571190071e-03,7.026104936e-01,-1.244934948e-04,8.565557366e-01,7.026120950e-01,-1.240118622e-04,8.565649131e-01,7.034110660e-01,-2.144625177e-04,8.267543857e-01
+52,5.198333333e+01,DOWN_FORCE_DETACH,1792922193609324767,6.690059023e-04,-1.069793189e-04,-3.767621390e-03,6.683514126e-04,-1.031390529e-04,-3.762769211e-03,6.759749483e-04,-9.954667717e-05,-3.755609285e-03,7.026246387e-01,-1.292500539e-04,8.563754658e-01,7.026239842e-01,-1.254097880e-04,8.563803180e-01,7.034215906e-01,-2.158113712e-04,8.265699665e-01
+53,5.258333333e+01,DOWN_FORCE_DETACH,1792922194232001118,6.815673368e-04,-1.036953199e-04,-3.959247226e-03,6.813691366e-04,-1.035979738e-04,-3.959109523e-03,6.877290818e-04,-1.001161276e-04,-3.951110414e-03,7.026372002e-01,-1.259660549e-04,8.561838400e-01,7.026370020e-01,-1.258687088e-04,8.561839777e-01,7.034333447e-01,-2.163808216e-04,8.263744654e-01
+54,5.325000000e+01,DOWN_FORCE_DETACH,1792922194889120800,6.973872111e-04,-1.049138003e-04,-4.165193542e-03,6.971467778e-04,-1.048010308e-04,-4.165274414e-03,7.022433482e-04,-1.013273801e-04,-4.157340533e-03,7.026530200e-01,-1.271845353e-04,8.559778937e-01,7.026527796e-01,-1.270717658e-04,8.559778128e-01,7.034478590e-01,-2.175920742e-04,8.261682353e-01
+55,5.383333333e+01,DOWN_FORCE_DETACH,1792922195476817241,7.015896240e-04,-1.063534478e-04,-4.374621773e-03,7.013162839e-04,-1.055027491e-04,-4.371524274e-03,7.044763294e-04,-1.020920563e-04,-4.363328200e-03,7.026572224e-01,-1.286241829e-04,8.557684655e-01,7.026569491e-01,-1.277734842e-04,8.557715630e-01,7.034500919e-01,-2.183567504e-04,8.259622476e-01
+56,5.443333333e+01,DOWN_FORCE_DETACH,1792922196066891019,7.193560954e-04,-1.065682921e-04,-4.583452237e-03,7.190608834e-04,-1.066551350e-04,-4.583580074e-03,7.209508361e-04,-1.030959214e-04,-4.574990890e-03,7.026749889e-01,-1.288390271e-04,8.555596350e-01,7.026746937e-01,-1.289258701e-04,8.555595072e-01,7.034665664e-01,-2.193606155e-04,8.257505849e-01
+57,5.501666667e+01,DOWN_FORCE_DETACH,1792922196673902916,7.300846275e-04,-1.041774646e-04,-4.806883590e-03,7.317440082e-04,-1.009303101e-04,-4.792988262e-03,7.319371382e-04,-9.755629680e-05,-4.784659249e-03,7.026857174e-01,-1.264481996e-04,8.553362036e-01,7.026873768e-01,-1.232010451e-04,8.553500990e-01,7.034775527e-01,-2.138209909e-04,8.255409166e-01
+58,5.556666667e+01,DOWN_SETTLE,1792922197246100440,7.405182185e-04,-1.043164669e-04,-5.030421162e-03,7.379033310e-04,-1.046364102e-04,-5.029233150e-03,7.360910032e-04,-1.011773320e-04,-5.020376109e-03,7.026961510e-01,-1.265872019e-04,8.551126661e-01,7.026935361e-01,-1.269071453e-04,8.551138541e-01,7.034817066e-01,-2.174420261e-04,8.253051997e-01
+59,5.638333333e+01,DOWN_PEAK_HOLD,1792922198049182223,6.980206346e-04,-1.021835720e-04,-5.172469521e-03,7.038635454e-04,-1.027367574e-04,-5.155741141e-03,6.989254247e-04,-9.932865804e-05,-5.150624245e-03,7.026536535e-01,-1.244543071e-04,8.549706177e-01,7.026594964e-01,-1.250074925e-04,8.549873461e-01,7.034445410e-01,-2.155933521e-04,8.251749516e-01

Fixed/digit/cylinder_PLA_12.5/press_depth_03/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+00,1.8124e-01,5.0353e-01,2.4540e+00,-7.3494e-02,4.9826e-02,1.1283e-03,8.8654e-04,-1.7285e-05,1.0490e-05,1.2219e-06,5.7243e-05,-5.8673e-07,8.8678e-04,5.7259e-05
+1,1.1500e+00,DOWN_FORCE_DETACH,2.4550e-04,2.5935e-01,4.9977e-01,2.4555e+00,-7.3131e-02,5.5404e-02,8.1336e-04,7.8990e-02,-3.7771e-03,1.4496e-03,3.6427e-04,5.6349e-03,-3.1551e-04,7.9094e-02,5.6554e-03
+2,2.4167e+00,DOWN_FORCE_DETACH,4.9227e-04,2.8049e-01,4.9869e-01,2.4569e+00,-7.3009e-02,5.6912e-02,6.9854e-04,1.0014e-01,-4.8596e-03,2.8434e-03,4.8537e-04,7.1431e-03,-4.3033e-04,1.0030e-01,7.1725e-03
+3,3.6000e+00,DOWN_FORCE_DETACH,7.4103e-04,2.8617e-01,4.9833e-01,2.4578e+00,-7.2966e-02,5.7319e-02,6.5850e-04,1.0581e-01,-5.2199e-03,3.7513e-03,5.2908e-04,7.5498e-03,-4.7037e-04,1.0601e-01,7.5829e-03
+4,4.8000e+00,DOWN_FORCE_DETACH,9.8436e-04,2.4729e-01,4.9099e-01,2.4608e+00,-7.2435e-02,5.4508e-02,6.9607e-04,6.6930e-02,-1.2561e-02,6.8092e-03,1.0599e-03,4.7394e-03,-4.3280e-04,6.8438e-02,4.8757e-03
+5,5.9833e+00,DOWN_FORCE_DETACH,1.2307e-03,1.8849e-01,5.5082e-01,2.5406e+00,-7.6647e-02,5.0113e-02,7.4616e-04,8.1299e-03,4.7277e-02,8.6604e-02,-3.1523e-03,3.4431e-04,-3.8271e-04,9.9002e-02,3.1941e-03
+6,7.0000e+00,DOWN_FORCE_DETACH,1.4756e-03,2.1978e-01,5.3031e-01,2.5335e+00,-7.5150e-02,5.2405e-02,6.4751e-04,3.9427e-02,2.6767e-02,7.9480e-02,-1.6550e-03,2.6366e-03,-4.8136e-04,9.2671e-02,3.1499e-03
+7,8.1667e+00,DOWN_FORCE_DETACH,1.7239e-03,2.4543e-01,5.5254e-01,2.5521e+00,-7.6731e-02,5.4257e-02,5.3811e-04,6.5076e-02,4.8992e-02,9.8020e-02,-3.2365e-03,4.4883e-03,-5.9076e-04,1.2745e-01,5.5650e-03
+8,9.2500e+00,DOWN_FORCE_DETACH,1.9703e-03,2.2650e-01,6.3881e-01,2.5050e+00,-8.3028e-02,5.2984e-02,5.4853e-04,4.6138e-02,1.3527e-01,5.0951e-02,-9.5329e-03,3.2154e-03,-5.8034e-04,1.5173e-01,1.0077e-02
+9,1.0400e+01,DOWN_FORCE_DETACH,2.2147e-03,2.2224e-01,6.5027e-01,2.5778e+00,-8.3801e-02,5.2613e-02,4.5374e-04,4.1879e-02,1.4672e-01,1.2373e-01,-1.0306e-02,2.8440e-03,-6.7513e-04,1.9644e-01,1.0713e-02
+10,1.1367e+01,DOWN_FORCE_DETACH,2.4638e-03,2.4759e-01,5.7308e-01,2.5463e+00,-7.8300e-02,5.4452e-02,2.6008e-04,6.7227e-02,6.9535e-02,9.2247e-02,-4.8055e-03,4.6832e-03,-8.6879e-04,1.3366e-01,6.7661e-03
+11,1.2383e+01,DOWN_FORCE_DETACH,2.7102e-03,2.5949e-01,5.3862e-01,2.5329e+00,-7.5890e-02,5.5365e-02,1.2194e-04,7.9134e-02,3.5069e-02,7.8885e-02,-2.3956e-03,5.5959e-03,-1.0069e-03,1.1711e-01,6.1699e-03
+12,1.3500e+01,DOWN_FORCE_DETACH,2.9548e-03,2.8983e-01,6.6758e-01,2.5103e+00,-8.5244e-02,5.7618e-02,2.6165e-05,1.0947e-01,1.6404e-01,5.6270e-02,-1.1749e-02,7.8494e-03,-1.1027e-03,2.0508e-01,1.4173e-02
+13,1.4550e+01,DOWN_FORCE_DETACH,3.2023e-03,2.9493e-01,5.6300e-01,2.5027e+00,-7.7768e-02,5.7986e-02,-1.0579e-04,1.1457e-01,5.9450e-02,4.8703e-02,-4.2728e-03,8.2174e-03,-1.2347e-03,1.3796e-01,9.3438e-03
+14,1.5567e+01,DOWN_FORCE_DETACH,3.4486e-03,2.4743e-01,6.2013e-01,2.6329e+00,-8.1887e-02,5.4508e-02,-7.6978e-05,6.7071e-02,1.1658e-01,1.7883e-01,-8.3920e-03,4.7395e-03,-1.2058e-03,2.2376e-01,9.7130e-03
+15,1.6583e+01,DOWN_FORCE_DETACH,3.6928e-03,2.3484e-01,6.7157e-01,2.5901e+00,-8.5531e-02,5.3485e-02,-8.2861e-05,5.4486e-02,1.6802e-01,1.3611e-01,-1.2036e-02,3.7158e-03,-1.2117e-03,2.2299e-01,1.2655e-02
+16,1.7550e+01,DOWN_FORCE_DETACH,3.9385e-03,2.4125e-01,7.1884e-01,2.6085e+00,-8.8901e-02,5.3991e-02,-7.9193e-05,6.0893e-02,2.1530e-01,1.5443e-01,-1.5406e-02,4.2219e-03,-1.2081e-03,2.7186e-01,1.6020e-02
+17,1.8633e+01,DOWN_FORCE_DETACH,4.1858e-03,2.6630e-01,6.6660e-01,2.5540e+00,-8.5124e-02,5.5855e-02,-1.0683e-04,8.5947e-02,1.6305e-01,9.9973e-02,-1.1629e-02,6.0866e-03,-1.2357e-03,2.0969e-01,1.3184e-02
+18,1.9700e+01,DOWN_FORCE_DETACH,4.4321e-03,2.8463e-01,7.2548e-01,2.5255e+00,-8.9327e-02,5.7212e-02,-6.6499e-05,1.0427e-01,2.2193e-01,7.1497e-02,-1.5832e-02,7.4436e-03,-1.1954e-03,2.5542e-01,1.7536e-02
+19,2.0900e+01,DOWN_FORCE_DETACH,4.6795e-03,2.4729e-01,7.1169e-01,2.5784e+00,-8.8215e-02,5.4444e-02,-1.1777e-05,6.6934e-02,2.0814e-01,1.2434e-01,-1.4720e-02,4.6747e-03,-1.1406e-03,2.5152e-01,1.5486e-02
+20,2.1883e+01,DOWN_FORCE_DETACH,4.9264e-03,2.3615e-01,7.7607e-01,2.6959e+00,-9.2437e-02,5.3792e-02,5.8586e-05,5.5790e-02,2.7252e-01,2.4188e-01,-1.8942e-02,4.0230e-03,-1.0703e-03,3.6863e-01,1.9394e-02
+21,2.3050e+01,DOWN_FORCE_DETACH,5.1707e-03,2.4855e-01,8.1390e-01,2.5804e+00,-9.5284e-02,5.4517e-02,2.0907e-04,6.8191e-02,3.1035e-01,1.2637e-01,-2.1789e-02,4.7486e-03,-9.1980e-04,3.4196e-01,2.2319e-02
+22,2.4267e+01,DOWN_FORCE_DETACH,5.4175e-03,2.3887e-01,8.0335e-01,2.6007e+00,-9.4359e-02,5.3762e-02,2.9542e-04,5.8510e-02,2.9980e-01,1.4662e-01,-2.0864e-02,3.9934e-03,-8.3345e-04,3.3883e-01,2.1259e-02
+23,2.4750e+01,DOWN_FORCE_DETACH,5.6618e-03,1.3975e-01,6.4567e-01,2.6716e+00,-8.2932e-02,4.6403e-02,2.6177e-04,-4.0606e-02,1.4213e-01,2.1756e-01,-9.4374e-03,-3.3658e-03,-8.6710e-04,2.6302e-01,1.0057e-02
+24,2.5833e+01,DOWN_FORCE_DETACH,5.9099e-03,1.9827e-01,8.1591e-01,2.7272e+00,-9.5018e-02,5.0764e-02,5.0384e-04,1.7915e-02,3.1236e-01,2.7321e-01,-2.1523e-02,9.9479e-04,-6.2503e-04,4.1537e-01,2.1555e-02
+25,2.7000e+01,DOWN_FORCE_DETACH,6.1549e-03,2.0303e-01,8.3097e-01,2.7534e+00,-9.6024e-02,5.1036e-02,5.7212e-04,2.2672e-02,3.2742e-01,2.9940e-01,-2.2529e-02,1.2676e-03,-5.5675e-04,4.4425e-01,2.2572e-02
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Fixed/digit/cylinder_PLA_12.5/press_depth_03/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_12.5/press_depth_03/up/franka_data.csv

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Fixed/digit/cylinder_PLA_12.5/press_depth_03/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+12,9.166666667e-01,WAIT_W2,1792922129119407766,3.756634027e-06,-3.148815856e-04,1.814984888e-05,3.808062931e-06,-3.150611733e-04,1.829568797e-05,4.674588646e-06,-2.969989011e-04,1.756519980e-05,7.019593895e-01,-3.371523206e-04,8.601612371e-01,7.019594409e-01,-3.373319083e-04,8.601613829e-01,7.027502904e-01,-4.132634638e-04,8.303431410e-01
+13,9.333333333e-01,WAIT_W2,1792922129135617265,2.241542886e-06,-3.495233515e-04,1.772478634e-05,2.062348803e-06,-3.492493810e-04,1.762800272e-05,2.839613257e-06,-3.293529268e-04,1.698365199e-05,7.019578744e-01,-3.717940865e-04,8.601608120e-01,7.019576952e-01,-3.715201160e-04,8.601607152e-01,7.027484554e-01,-4.456174895e-04,8.303425595e-01
+14,9.666666667e-01,WAIT_W2,1792922129168605235,3.996036397e-06,-4.115902357e-04,2.181354725e-05,4.063260840e-06,-4.114063272e-04,2.212022563e-05,4.928051228e-06,-3.881700365e-04,2.136280031e-05,7.019596289e-01,-4.338609707e-04,8.601649008e-01,7.019596961e-01,-4.336770622e-04,8.601652075e-01,7.027505438e-01,-5.044345992e-04,8.303469386e-01
+15,1.016666667e+00,WAIT_W2,1792922129217769590,8.864880868e-06,-4.448272562e-04,3.471894028e-05,3.794204114e-06,-4.339234761e-04,2.199937824e-05,4.553820191e-06,-4.095725483e-04,2.140271261e-05,7.019644977e-01,-4.670979912e-04,8.601778062e-01,7.019594270e-01,-4.561942111e-04,8.601650866e-01,7.027501696e-01,-5.258371110e-04,8.303469785e-01
+16,1.100000000e+00,WAIT_W2,1792922129299824799,2.259630470e-05,-4.552544793e-04,6.166922960e-05,1.870959424e-05,-4.606483796e-04,5.260404941e-05,2.057430759e-05,-4.349651707e-04,5.118731613e-05,7.019782291e-01,-4.775252143e-04,8.602047565e-01,7.019743424e-01,-4.829191146e-04,8.601956913e-01,7.027661901e-01,-5.512297334e-04,8.303767631e-01
+17,1.200000000e+00,WAIT_W2,1792922129398583885,3.640424621e-05,-4.508453415e-04,9.884704296e-05,3.672937044e-05,-4.496223569e-04,9.641694940e-05,4.006955613e-05,-4.245369560e-04,9.394218349e-05,7.019920371e-01,-4.731160765e-04,8.602419343e-01,7.019923622e-01,-4.718930920e-04,8.602395042e-01,7.027856853e-01,-5.408015187e-04,8.304195180e-01
+18,1.333333333e+00,WAIT_W2,1792922129529711433,4.689801762e-05,-4.417030813e-04,1.258362989e-04,4.441763279e-05,-4.466482060e-04,1.160464893e-04,4.861059696e-05,-4.217474199e-04,1.133467916e-04,7.020025308e-01,-4.639738163e-04,8.602689235e-01,7.020000504e-01,-4.689189410e-04,8.602591337e-01,7.027942264e-01,-5.380119826e-04,8.304389226e-01
+19,1.533333333e+00,WAIT_W2,1792922129725876653,5.470679567e-05,-4.427543584e-04,1.393598526e-04,5.233656617e-05,-4.400462658e-04,1.360945980e-04,5.744450584e-05,-4.155281930e-04,1.332109691e-04,7.020103396e-01,-4.650250935e-04,8.602824471e-01,7.020079694e-01,-4.623170009e-04,8.602791818e-01,7.028030603e-01,-5.317927557e-04,8.304587868e-01
+20,1.683333333e+00,UP_FORCE_RAMP,1792922129889661327,5.313010263e-05,-4.368272185e-04,1.391085463e-04,5.233656617e-05,-4.400462658e-04,1.360945980e-04,5.769624056e-05,-4.155887378e-04,1.334806065e-04,7.020087629e-01,-4.590979535e-04,8.602821958e-01,7.020079694e-01,-4.623170009e-04,8.602791818e-01,7.028033120e-01,-5.318533005e-04,8.304590564e-01
+21,1.866666667e+00,UP_FORCE_RAMP,1792922130069931128,5.447314842e-05,-4.405192106e-04,1.417819423e-04,5.233656617e-05,-4.400462658e-04,1.360945980e-04,5.794955714e-05,-4.156490960e-04,1.337369646e-04,7.020101060e-01,-4.627899456e-04,8.602848692e-01,7.020079694e-01,-4.623170009e-04,8.602791818e-01,7.028035653e-01,-5.319136587e-04,8.304593128e-01
+22,2.066666667e+00,UP_FORCE_RAMP,1792922130283036042,5.530684470e-05,-4.389572105e-04,1.432255656e-04,5.233656617e-05,-4.400462658e-04,1.360945980e-04,5.819058113e-05,-4.157060714e-04,1.339673930e-04,7.020109397e-01,-4.612279455e-04,8.602863128e-01,7.020079694e-01,-4.623170009e-04,8.602791818e-01,7.028038063e-01,-5.319706341e-04,8.304595432e-01
+23,2.266666667e+00,UP_FORCE_RAMP,1792922130479086418,5.482577187e-05,-4.357499518e-04,1.449704734e-04,5.233656617e-05,-4.400462658e-04,1.360945980e-04,5.840661248e-05,-4.157563670e-04,1.341650080e-04,7.020104586e-01,-4.580206869e-04,8.602880577e-01,7.020079694e-01,-4.623170009e-04,8.602791818e-01,7.028040224e-01,-5.320209297e-04,8.304597408e-01
+24,2.433333333e+00,UP_FORCE_RAMP,1792922130642694992,5.219754887e-05,-4.340258217e-04,1.440831367e-04,5.233656617e-05,-4.400462658e-04,1.360945980e-04,5.856780212e-05,-4.157945936e-04,1.343099404e-04,7.020078304e-01,-4.562965567e-04,8.602871704e-01,7.020079694e-01,-4.623170009e-04,8.602791818e-01,7.028041836e-01,-5.320591563e-04,8.304598857e-01
+25,2.600000000e+00,UP_FORCE_RAMP,1792922130806330868,5.585880209e-05,-4.318511383e-04,1.522089210e-04,5.233656617e-05,-4.400462658e-04,1.360945980e-04,5.871608309e-05,-4.158289155e-04,1.344417594e-04,7.020114916e-01,-4.541218733e-04,8.602952962e-01,7.020079694e-01,-4.623170009e-04,8.602791818e-01,7.028043318e-01,-5.320934782e-04,8.304600176e-01
+26,2.816666667e+00,UP_FORCE_RAMP,1792922131019710418,5.076609399e-05,-4.316791957e-04,1.525469534e-04,5.233656617e-05,-4.400462658e-04,1.360945980e-04,5.889220462e-05,-4.158701298e-04,1.345962882e-04,7.020063989e-01,-4.539499307e-04,8.602956342e-01,7.020079694e-01,-4.623170009e-04,8.602791818e-01,7.028045080e-01,-5.321346925e-04,8.304601721e-01
+27,3.033333333e+00,UP_FORCE_RAMP,1792922131232356149,4.742975558e-05,-4.332083953e-04,1.547657385e-04,5.237466389e-05,-4.308412181e-04,1.562639384e-04,5.933152903e-05,-4.071652545e-04,1.543744596e-04,7.020030626e-01,-4.554791303e-04,8.602978530e-01,7.020080075e-01,-4.531119531e-04,8.602993512e-01,7.028049473e-01,-5.234298172e-04,8.304799503e-01
+28,3.266666667e+00,UP_FORCE_RAMP,1792922131462323159,4.732323893e-05,-4.351018773e-04,1.666773171e-04,5.237466389e-05,-4.308412181e-04,1.562639384e-04,5.948542706e-05,-4.072041457e-04,1.545895680e-04,7.020029561e-01,-4.573726123e-04,8.603097646e-01,7.020080075e-01,-4.531119531e-04,8.602993512e-01,7.028051012e-01,-5.234687085e-04,8.304801654e-01
+29,3.433333333e+00,UP_FORCE_RAMP,1792922131625835966,4.457001870e-05,-4.301435265e-04,1.734838520e-04,5.237466389e-05,-4.308412181e-04,1.562639384e-04,5.958490707e-05,-4.072274506e-04,1.547175683e-04,7.020002028e-01,-4.524142615e-04,8.603165711e-01,7.020080075e-01,-4.531119531e-04,8.602993512e-01,7.028052007e-01,-5.234920133e-04,8.304802934e-01
+30,3.633333333e+00,UP_FORCE_RAMP,1792922131821967103,4.198170679e-05,-4.321343787e-04,1.835413805e-04,4.368038160e-05,-4.323282061e-04,1.773245017e-04,5.081375001e-05,-4.086471596e-04,1.753876186e-04,7.019976145e-01,-4.544051137e-04,8.603266286e-01,7.019993132e-01,-4.545989412e-04,8.603204117e-01,7.027964295e-01,-5.249117223e-04,8.305009634e-01
+31,3.716666667e+00,UP_FORCE_RAMP,1792922131920474743,3.894534629e-05,-4.276537507e-04,1.863622433e-04,4.368038160e-05,-4.323282061e-04,1.773245017e-04,5.083948017e-05,-4.086565121e-04,1.754749513e-04,7.019945782e-01,-4.499244858e-04,8.603294495e-01,7.019993132e-01,-4.545989412e-04,8.603204117e-01,7.027964552e-01,-5.249210748e-04,8.305010508e-01
+32,3.866666667e+00,UP_FORCE_RAMP,1792922132068083285,3.567388524e-05,-4.300763607e-04,1.914674624e-04,4.368038160e-05,-4.323282061e-04,1.773245017e-04,5.088934695e-05,-4.086709146e-04,1.756119749e-04,7.019913067e-01,-4.523470958e-04,8.603345547e-01,7.019993132e-01,-4.545989412e-04,8.603204117e-01,7.027965051e-01,-5.249354773e-04,8.305011878e-01
+33,4.050000000e+00,UP_FORCE_RAMP,1792922132247701559,2.935087264e-05,-4.288257289e-04,1.968370561e-04,3.775044223e-05,-4.286167770e-04,1.971512826e-04,4.502704182e-05,-4.051175175e-04,1.950988333e-04,7.019849837e-01,-4.510964639e-04,8.603399243e-01,7.019933833e-01,-4.508875120e-04,8.603402385e-01,7.027906428e-01,-5.213820802e-04,8.305206746e-01
+34,4.250000000e+00,UP_FORCE_RAMP,1792922132444575245,2.538061071e-05,-4.289149709e-04,2.093970832e-04,3.775044223e-05,-4.286167770e-04,1.971512826e-04,4.506531046e-05,-4.051326309e-04,1.953070071e-04,7.019810134e-01,-4.511857059e-04,8.603524843e-01,7.019933833e-01,-4.508875120e-04,8.603402385e-01,7.027906811e-01,-5.213971936e-04,8.305208828e-01
+35,4.400000000e+00,UP_FORCE_RAMP,1792922132591958874,2.331663214e-05,-4.285521085e-04,2.223275752e-04,2.939278909e-05,-4.283070438e-04,2.160058739e-04,3.654781047e-05,-4.048635647e-04,2.138252719e-04,7.019789494e-01,-4.508228435e-04,8.603654148e-01,7.019850256e-01,-4.505777788e-04,8.603590931e-01,7.027821636e-01,-5.211281274e-04,8.305394011e-01
+36,4.616666667e+00,UP_FORCE_RAMP,1792922132804749509,1.191527737e-05,-4.286021458e-04,2.289025400e-04,1.340174502e-05,-4.285737406e-04,2.279424467e-04,1.995783398e-05,-4.050746351e-04,2.255998665e-04,7.019675481e-01,-4.508728809e-04,8.603719898e-01,7.019690346e-01,-4.508444756e-04,8.603710297e-01,7.027655736e-01,-5.213391978e-04,8.305511757e-01
+37,4.716666667e+00,UP_FORCE_RAMP,1792922132903013020,7.669640547e-06,-4.282474687e-04,2.346160234e-04,1.340174502e-05,-4.285737406e-04,2.279424467e-04,1.989629697e-05,-4.050691583e-04,2.257312843e-04,7.019633025e-01,-4.505182037e-04,8.603777033e-01,7.019690346e-01,-4.508444756e-04,8.603710297e-01,7.027655121e-01,-5.213337210e-04,8.305513071e-01
+38,4.883333333e+00,UP_FORCE_RAMP,1792922133068014965,-1.914104352e-06,-4.252429146e-04,2.459332660e-04,3.107192585e-06,-4.239525688e-04,2.476195620e-04,9.403320434e-06,-4.006645875e-04,2.450358999e-04,7.019537187e-01,-4.475136496e-04,8.603890205e-01,7.019587400e-01,-4.462233038e-04,8.603907068e-01,7.027550191e-01,-5.169291502e-04,8.305706117e-01
+39,5.050000000e+00,UP_FORCE_RAMP,1792922133231276535,-1.005723734e-05,-4.218860596e-04,2.565772246e-04,3.107192585e-06,-4.239525688e-04,2.476195620e-04,9.309988858e-06,-4.006543473e-04,2.452852292e-04,7.019455756e-01,-4.441567947e-04,8.603996645e-01,7.019587400e-01,-4.462233038e-04,8.603907068e-01,7.027549258e-01,-5.169189100e-04,8.305708610e-01
+40,5.266666667e+00,UP_FORCE_RAMP,1792922133443948318,-1.882595125e-05,-4.192481783e-04,2.712732110e-04,-1.378363128e-05,-4.254743081e-04,2.609820049e-04,-8.310651106e-06,-4.020741578e-04,2.584926365e-04,7.019368069e-01,-4.415189134e-04,8.604143605e-01,7.019418492e-01,-4.477450431e-04,8.604040692e-01,7.027373051e-01,-5.183387205e-04,8.305840684e-01
+41,5.450000000e+00,UP_FORCE_RAMP,1792922133640778086,-2.552809583e-05,-4.223407442e-04,2.834351177e-04,-2.359735967e-05,-4.249169018e-04,2.782141246e-04,-1.848774268e-05,-4.015308305e-04,2.754304197e-04,7.019301047e-01,-4.446114792e-04,8.604265224e-01,7.019320355e-01,-4.471876369e-04,8.604213014e-01,7.027271280e-01,-5.177953932e-04,8.306010062e-01
+42,5.616666667e+00,UP_FORCE_HOLD,1792922133804066187,-2.880477620e-05,-4.278705154e-04,3.015017756e-04,-2.854127712e-05,-4.280781513e-04,3.012718168e-04,-2.347079848e-05,-4.044527689e-04,2.979299976e-04,7.019268280e-01,-4.501412504e-04,8.604445890e-01,7.019270915e-01,-4.503488863e-04,8.604443591e-01,7.027221450e-01,-5.207173316e-04,8.306235058e-01
+43,5.650000000e+00,UP_FORCE_HOLD,1792922133837430705,-3.657371217e-05,-4.199036825e-04,3.033837888e-04,-2.854127712e-05,-4.280781513e-04,3.012718168e-04,-2.351754596e-05,-4.044548003e-04,2.980850710e-04,7.019190591e-01,-4.421744175e-04,8.604464710e-01,7.019270915e-01,-4.503488863e-04,8.604443591e-01,7.027220982e-01,-5.207193630e-04,8.306236609e-01
+44,5.700000000e+00,UP_FORCE_HOLD,1792922133886138623,-3.868415234e-05,-4.409060632e-04,3.040288291e-04,-2.854127712e-05,-4.280781513e-04,3.012718168e-04,-2.355652050e-05,-4.044510969e-04,2.981911151e-04,7.019169487e-01,-4.631767983e-04,8.604471161e-01,7.019270915e-01,-4.503488863e-04,8.604443591e-01,7.027220592e-01,-5.207156596e-04,8.306237669e-01
+45,5.783333333e+00,UP_FORCE_HOLD,1792922133968367328,-4.167295416e-05,-4.358365919e-04,3.092099366e-04,-2.854127712e-05,-4.280781513e-04,3.012718168e-04,-2.361052147e-05,-4.044461104e-04,2.983284429e-04,7.019139599e-01,-4.581073269e-04,8.604522972e-01,7.019270915e-01,-4.503488863e-04,8.604443591e-01,7.027220052e-01,-5.207106731e-04,8.306239042e-01
+46,5.900000000e+00,UP_SETTLE,1792922134082794447,-4.465396191e-05,-4.220553264e-04,3.158952618e-04,-4.208067662e-05,-4.361135652e-04,3.159716541e-04,-3.762540748e-05,-4.120523460e-04,3.127639999e-04,7.019109789e-01,-4.443260614e-04,8.604589825e-01,7.019135521e-01,-4.583843002e-04,8.604590589e-01,7.027079904e-01,-5.283169087e-04,8.306383398e-01
+47,6.100000000e+00,UP_SETTLE,1792922134278907469,-5.193575943e-05,-4.275630718e-04,3.245833466e-04,-4.208067662e-05,-4.361135652e-04,3.159716541e-04,-3.779524248e-05,-4.120298774e-04,3.130647149e-04,7.019036971e-01,-4.498338068e-04,8.604676706e-01,7.019135521e-01,-4.583843002e-04,8.604590589e-01,7.027078205e-01,-5.282944401e-04,8.306386405e-01
+48,6.300000000e+00,UP_SETTLE,1792922134475558902,-6.107811077e-05,-4.247144449e-04,3.337968561e-04,-5.605550029e-05,-4.249851636e-04,3.272086317e-04,-5.241411468e-05,-4.014183952e-04,3.242628798e-04,7.018945547e-01,-4.469851799e-04,8.604768841e-01,7.018995773e-01,-4.472558986e-04,8.604702959e-01,7.026932016e-01,-5.176829579e-04,8.306498387e-01
+49,6.466666667e+00,UP_SETTLE,1792922134640181756,-6.758222297e-05,-4.252367331e-04,3.386408674e-04,-5.605550029e-05,-4.249851636e-04,3.272086317e-04,-5.256434972e-05,-4.013948942e-04,3.244768721e-04,7.018880506e-01,-4.475074681e-04,8.604817281e-01,7.018995773e-01,-4.472558986e-04,8.604702959e-01,7.026930514e-01,-5.176594569e-04,8.306500527e-01
+50,6.650000000e+00,UP_SETTLE,1792922134836612036,-7.775211136e-05,-4.258638052e-04,3.422745638e-04,-6.968607703e-05,-4.251697026e-04,3.439953040e-04,-6.672678270e-05,-4.015268039e-04,3.409569449e-04,7.018778807e-01,-4.481345402e-04,8.604853618e-01,7.018859467e-01,-4.474404376e-04,8.604870825e-01,7.026788890e-01,-5.177913666e-04,8.306665327e-01
+51,6.816666667e+00,UP_SETTLE,1792922134999899472,-8.525518340e-05,-4.205162956e-04,3.508010057e-04,-6.968607703e-05,-4.251697026e-04,3.439953040e-04,-6.688674836e-05,-4.015026873e-04,3.411751753e-04,7.018703776e-01,-4.427870306e-04,8.604938882e-01,7.018859467e-01,-4.474404376e-04,8.604870825e-01,7.026787290e-01,-5.177672500e-04,8.306667510e-01
+52,7.033333333e+00,UP_SETTLE,1792922135213648551,-9.208185599e-05,-4.217496199e-04,3.606267053e-04,-8.695788404e-05,-4.213747637e-04,3.535365974e-04,-8.508195405e-05,-3.978629605e-04,3.507533247e-04,7.018635510e-01,-4.440203550e-04,8.605037139e-01,7.018686749e-01,-4.436454987e-04,8.604966238e-01,7.026605338e-01,-5.141275232e-04,8.306763291e-01
+53,7.266666667e+00,UP_SETTLE,1792922135442062469,-9.387882524e-05,-4.177240149e-04,3.720795848e-04,-9.356072686e-05,-4.175662666e-04,3.718071278e-04,-9.194353150e-05,-3.942253224e-04,3.686210547e-04,7.018617540e-01,-4.399947499e-04,8.605151668e-01,7.018620721e-01,-4.398370016e-04,8.605148944e-01,7.026536722e-01,-5.104898851e-04,8.306941969e-01
+54,7.416666667e+00,UP_SETTLE,1792922135590075526,-9.828953582e-05,-4.198732813e-04,3.740508581e-04,-9.356072686e-05,-4.175662666e-04,3.718071278e-04,-9.214761621e-05,-3.941913834e-04,3.689431268e-04,7.018573433e-01,-4.421440163e-04,8.605171381e-01,7.018620721e-01,-4.398370016e-04,8.605148944e-01,7.026534681e-01,-5.104559461e-04,8.306945189e-01
+55,7.666666667e+00,UP_SETTLE,1792922135835859976,-1.037380913e-04,-4.188923527e-04,3.739691827e-04,-9.356072686e-05,-4.175662666e-04,3.718071278e-04,-9.235982070e-05,-3.941579234e-04,3.692275463e-04,7.018518947e-01,-4.411630877e-04,8.605170564e-01,7.018620721e-01,-4.398370016e-04,8.605148944e-01,7.026532559e-01,-5.104224861e-04,8.306948033e-01
+56,7.850000000e+00,UP_SETTLE,1792922136015965593,-1.066271887e-04,-4.179683094e-04,3.786510019e-04,-9.356072686e-05,-4.175662666e-04,3.718071278e-04,-9.248996927e-05,-3.941376438e-04,3.694010004e-04,7.018490056e-01,-4.402390444e-04,8.605217382e-01,7.018620721e-01,-4.398370016e-04,8.605148944e-01,7.026531258e-01,-5.104022065e-04,8.306949768e-01
+57,8.033333333e+00,UP_SETTLE,1792922136195552013,-1.099796996e-04,-4.161171062e-04,3.778690443e-04,-9.356072686e-05,-4.175662666e-04,3.718071278e-04,-9.260549025e-05,-3.941187719e-04,3.695554659e-04,7.018456531e-01,-4.383878412e-04,8.605209563e-01,7.018620721e-01,-4.398370016e-04,8.605148944e-01,7.026530103e-01,-5.103833346e-04,8.306951313e-01
+58,8.183333333e+00,UP_SETTLE,1792922136343381325,-1.084175218e-04,-4.153918831e-04,3.831325196e-04,-9.356072686e-05,-4.175662666e-04,3.718071278e-04,-9.269200066e-05,-3.941043418e-04,3.696694963e-04,7.018472153e-01,-4.376626182e-04,8.605262198e-01,7.018620721e-01,-4.398370016e-04,8.605148944e-01,7.026529238e-01,-5.103689045e-04,8.306952453e-01
+59,8.350000000e+00,UP_SETTLE,1792922136507027974,-1.086914699e-04,-4.137692858e-04,3.849970338e-04,-1.076619575e-04,-4.214135579e-04,3.854305970e-04,-1.073247628e-04,-3.977015322e-04,3.829708465e-04,7.018469413e-01,-4.360400208e-04,8.605280843e-01,7.018479709e-01,-4.436842930e-04,8.605285178e-01,7.026382910e-01,-5.139660949e-04,8.307085466e-01

Fixed/digit/cylinder_PLA_12.5/press_depth_03/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+00,1.8142e-01,5.0366e-01,2.4540e+00,-7.3507e-02,4.9800e-02,1.1303e-03,3.0646e-04,-8.5235e-06,0.0000e+00,6.9290e-07,2.0925e-05,-3.9302e-07,3.0658e-04,2.0940e-05
+1,1.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,4.4401e-05,2.0089e-01,5.0254e-01,2.4544e+00,-7.3406e-02,5.1228e-02,1.0517e-03,1.9770e-02,-1.1311e-03,3.3045e-04,1.0178e-04,1.4490e-03,-7.8977e-05,1.9805e-02,1.4548e-03
+2,3.0000e-01,WAIT_W2,8.2624e-05,2.1375e-01,5.0210e-01,2.4545e+00,-7.3364e-02,5.2120e-02,1.0150e-03,3.2639e-02,-1.5666e-03,4.8494e-04,1.4310e-04,2.3415e-03,-1.1571e-04,3.2680e-02,2.3488e-03
+3,5.0000e-01,WAIT_W2,1.2967e-04,2.2972e-01,5.0118e-01,2.4548e+00,-7.3276e-02,5.3288e-02,9.4158e-04,4.8603e-02,-2.4858e-03,7.6199e-04,2.3163e-04,3.5095e-03,-1.8914e-04,4.8673e-02,3.5222e-03
+4,7.1667e-01,WAIT_W2,1.6971e-04,2.4211e-01,5.0062e-01,2.4550e+00,-7.3219e-02,5.4169e-02,8.8885e-04,6.0996e-02,-3.0519e-03,9.6989e-04,2.8852e-04,4.3907e-03,-2.4187e-04,6.1080e-02,4.4068e-03
+5,8.1667e-01,WAIT_W2,2.2003e-04,2.4559e-01,5.0047e-01,2.4551e+00,-7.3203e-02,5.4417e-02,8.7497e-04,6.4473e-02,-3.2010e-03,1.0352e-03,3.0395e-04,4.6379e-03,-2.5575e-04,6.4561e-02,4.6549e-03
+6,8.3333e-01,WAIT_W2,2.4902e-04,2.4552e-01,9.2322e-01,2.4543e+00,-1.0373e-01,5.4392e-02,1.2194e-03,6.4400e-02,4.1955e-01,2.5702e-04,-3.0224e-02,4.6138e-03,8.8633e-05,4.2446e-01,3.0575e-02
+7,8.5000e-01,WAIT_W2,3.0641e-04,2.2407e-01,1.3072e+00,2.4034e+00,-1.3151e-01,5.2909e-02,1.5702e-03,4.2954e-02,8.0358e-01,-5.0613e-02,-5.8001e-02,3.1309e-03,4.3949e-04,8.0632e-01,5.8087e-02
+8,8.6667e-01,WAIT_W2,3.3477e-04,2.6439e-01,2.0828e+00,2.4128e+00,-1.8763e-01,5.5824e-02,1.8740e-03,8.3273e-02,1.5791e+00,-4.1259e-02,-1.1412e-01,6.0455e-03,7.4323e-04,1.5819e+00,1.1429e-01
+9,8.8333e-01,WAIT_W2,3.9593e-04,2.6967e-01,2.4585e+00,2.3828e+00,-2.1475e-01,5.6198e-02,2.4524e-03,8.8554e-02,1.9548e+00,-7.1193e-02,-1.4124e-01,6.4195e-03,1.3217e-03,1.9581e+00,1.4139e-01
+10,9.0000e-01,WAIT_W2,4.5467e-04,2.7077e-01,3.2714e+00,2.3789e+00,-2.7368e-01,5.6308e-02,2.7920e-03,8.9655e-02,2.7678e+00,-7.5115e-02,-2.0018e-01,6.5289e-03,1.6612e-03,2.7702e+00,2.0029e-01
+11,9.0000e-01,WAIT_W2,4.5467e-04,2.7077e-01,3.2714e+00,2.3789e+00,-2.7368e-01,5.6308e-02,2.7920e-03,8.9655e-02,2.7678e+00,-7.5115e-02,-2.0018e-01,6.5289e-03,1.6612e-03,2.7702e+00,2.0029e-01
+12,9.1667e-01,WAIT_W2,5.0515e-04,3.0152e-01,4.0565e+00,2.3742e+00,-3.3042e-01,5.8551e-02,3.6931e-03,1.2041e-01,3.5528e+00,-7.9842e-02,-2.5691e-01,8.7720e-03,2.5624e-03,3.5558e+00,2.5707e-01
+13,9.3333e-01,WAIT_W2,5.3983e-04,2.9348e-01,4.7106e+00,2.3433e+00,-3.7799e-01,5.8018e-02,3.9568e-03,1.1236e-01,4.2070e+00,-1.1074e-01,-3.0449e-01,8.2394e-03,2.8261e-03,4.2099e+00,3.0461e-01
+14,9.6667e-01,WAIT_W2,6.0265e-04,3.3787e-01,5.6521e+00,2.3812e+00,-4.4582e-01,6.1213e-02,4.4397e-03,1.5675e-01,5.1485e+00,-7.2813e-02,-3.7231e-01,1.1435e-02,3.3089e-03,5.1514e+00,3.7250e-01
+15,1.0167e+00,WAIT_W2,6.4580e-04,3.0664e-01,6.2149e+00,2.3702e+00,-4.8723e-01,5.9017e-02,4.6850e-03,1.2553e-01,5.7113e+00,-8.3825e-02,-4.1373e-01,9.2382e-03,3.5543e-03,5.7133e+00,4.1385e-01
+16,1.1000e+00,WAIT_W2,6.8720e-04,2.4791e-01,6.4442e+00,2.2655e+00,-5.0493e-01,5.5015e-02,5.1027e-03,6.6793e-02,5.9405e+00,-1.8852e-01,-4.3142e-01,5.2361e-03,3.9719e-03,5.9439e+00,4.3147e-01
+17,1.2000e+00,WAIT_W2,7.2867e-04,1.4955e-01,6.3532e+00,2.0715e+00,-5.0118e-01,4.8125e-02,6.3939e-03,-3.1570e-02,5.8495e+00,-3.8256e-01,-4.2768e-01,-1.6534e-03,5.2632e-03,5.8621e+00,4.2771e-01
+18,1.3333e+00,WAIT_W2,7.7115e-04,1.2806e-01,6.2944e+00,2.0019e+00,-4.9770e-01,4.6708e-02,6.4448e-03,-5.3054e-02,5.7907e+00,-4.5214e-01,-4.2419e-01,-3.0708e-03,5.3140e-03,5.8086e+00,4.2423e-01
+19,1.5333e+00,WAIT_W2,8.1520e-04,1.2979e-01,6.2161e+00,1.9583e+00,-4.9284e-01,4.6802e-02,6.4697e-03,-5.1322e-02,5.7124e+00,-4.9569e-01,-4.1934e-01,-2.9770e-03,5.3390e-03,5.7341e+00,4.1938e-01
+20,1.6833e+00,UP_FORCE_RAMP,8.5693e-04,1.5371e-01,6.2031e+00,1.9734e+00,-4.9195e-01,4.8359e-02,6.4490e-03,-2.7407e-02,5.6995e+00,-4.8067e-01,-4.1845e-01,-1.4196e-03,5.3182e-03,5.7198e+00,4.1848e-01
+21,1.8667e+00,UP_FORCE_RAMP,9.0079e-04,2.1524e-01,6.1708e+00,2.0368e+00,-4.8872e-01,5.2887e-02,5.6961e-03,3.4126e-02,5.6671e+00,-4.1723e-01,-4.1521e-01,3.1084e-03,4.5654e-03,5.6826e+00,4.1525e-01
+22,2.0667e+00,UP_FORCE_RAMP,9.4437e-04,2.4827e-01,6.1708e+00,2.0713e+00,-4.8845e-01,5.5130e-02,5.4192e-03,6.7150e-02,5.6671e+00,-3.8276e-01,-4.1494e-01,5.3518e-03,4.2885e-03,5.6805e+00,4.1500e-01
+23,2.2667e+00,UP_FORCE_RAMP,9.8540e-04,2.9434e-01,6.1609e+00,2.1140e+00,-4.8721e-01,5.8396e-02,4.7869e-03,1.1322e-01,5.6572e+00,-3.4004e-01,-4.1370e-01,8.6177e-03,3.6562e-03,5.6685e+00,4.1381e-01
+24,2.4333e+00,UP_FORCE_RAMP,1.0285e-03,3.1560e-01,6.1550e+00,2.1326e+00,-4.8654e-01,5.9934e-02,4.4454e-03,1.3448e-01,5.6513e+00,-3.2146e-01,-4.1303e-01,1.0155e-02,3.3147e-03,5.6621e+00,4.1317e-01
+25,2.6000e+00,UP_FORCE_RAMP,1.0721e-03,3.5004e-01,6.1459e+00,2.1646e+00,-4.8548e-01,6.2405e-02,3.9627e-03,1.6892e-01,5.6423e+00,-2.8942e-01,-4.1197e-01,1.2626e-02,2.8320e-03,5.6522e+00,4.1218e-01
+26,2.8167e+00,UP_FORCE_RAMP,1.1144e-03,3.8512e-01,6.1406e+00,2.1972e+00,-4.8474e-01,6.4872e-02,3.5268e-03,2.0401e-01,5.6370e+00,-2.5682e-01,-4.1124e-01,1.5094e-02,2.3961e-03,5.6465e+00,4.1152e-01
+27,3.0333e+00,UP_FORCE_RAMP,1.1575e-03,4.0399e-01,6.0300e+00,2.1274e+00,-4.7776e-01,6.6233e-02,3.2854e-03,2.2287e-01,5.5263e+00,-3.2660e-01,-4.0425e-01,1.6454e-02,2.1547e-03,5.5405e+00,4.0459e-01
+28,3.2667e+00,UP_FORCE_RAMP,1.2027e-03,4.2579e-01,6.0233e+00,2.1592e+00,-4.7684e-01,6.7787e-02,2.8924e-03,2.4467e-01,5.5196e+00,-2.9486e-01,-4.0334e-01,1.8009e-02,1.7617e-03,5.5329e+00,4.0374e-01
+29,3.4333e+00,UP_FORCE_RAMP,1.2445e-03,4.4823e-01,6.0162e+00,2.1909e+00,-4.7592e-01,6.9403e-02,2.5883e-03,2.6711e-01,5.5126e+00,-2.6317e-01,-4.0241e-01,1.9625e-02,1.4575e-03,5.5253e+00,4.0289e-01
+30,3.6333e+00,UP_FORCE_RAMP,1.2875e-03,5.1754e-01,6.0513e+00,2.1190e+00,-4.7957e-01,7.4434e-02,1.8078e-03,3.3642e-01,5.5476e+00,-3.3498e-01,-4.0607e-01,2.4656e-02,6.7712e-04,5.5679e+00,4.0681e-01
+31,3.7167e+00,UP_FORCE_RAMP,1.3274e-03,5.1872e-01,6.0510e+00,2.1218e+00,-4.7953e-01,7.4511e-02,1.8050e-03,3.3760e-01,5.5473e+00,-3.3226e-01,-4.0603e-01,2.4733e-02,6.7427e-04,5.5675e+00,4.0678e-01
+32,3.8667e+00,UP_FORCE_RAMP,1.3725e-03,5.3062e-01,6.0414e+00,2.1548e+00,-4.7825e-01,7.5324e-02,1.6712e-03,3.4951e-01,5.5377e+00,-2.9921e-01,-4.0475e-01,2.5546e-02,5.4052e-04,5.5568e+00,4.0555e-01
+33,4.0500e+00,UP_FORCE_RAMP,1.4164e-03,5.7024e-01,6.0102e+00,2.0858e+00,-4.7705e-01,7.8342e-02,1.1251e-03,3.8913e-01,5.5065e+00,-3.6818e-01,-4.0354e-01,2.8563e-02,-5.6690e-06,5.5325e+00,4.0455e-01
+34,4.2500e+00,UP_FORCE_RAMP,1.4550e-03,5.8094e-01,5.9933e+00,2.1412e+00,-4.7535e-01,7.8957e-02,1.0486e-03,3.9982e-01,5.4896e+00,-3.1278e-01,-4.0185e-01,2.9178e-02,-8.2082e-05,5.5131e+00,4.0290e-01
+35,4.4000e+00,UP_FORCE_RAMP,1.5039e-03,6.3408e-01,5.9985e+00,2.0596e+00,-4.7670e-01,8.2969e-02,3.6703e-04,4.5296e-01,5.4949e+00,-3.9447e-01,-4.0319e-01,3.3190e-02,-7.6369e-04,5.5276e+00,4.0455e-01
+36,4.6167e+00,UP_FORCE_RAMP,1.5455e-03,7.4159e-01,6.0071e+00,2.0418e+00,-4.7732e-01,9.0742e-02,-8.6881e-04,5.6048e-01,5.5034e+00,-4.1225e-01,-4.0382e-01,4.0963e-02,-1.9995e-03,5.5472e+00,4.0589e-01
+37,4.7167e+00,UP_FORCE_RAMP,1.5853e-03,7.1775e-01,6.0168e+00,2.0844e+00,-4.7783e-01,8.9153e-02,-8.5600e-04,5.3663e-01,5.5131e+00,-3.6958e-01,-4.0432e-01,3.9375e-02,-1.9867e-03,5.5515e+00,4.0624e-01
+38,4.8833e+00,UP_FORCE_RAMP,1.6307e-03,7.7870e-01,5.9776e+00,1.9994e+00,-4.7581e-01,9.3767e-02,-1.3555e-03,5.9758e-01,5.4739e+00,-4.5461e-01,-4.0230e-01,4.3989e-02,-2.4862e-03,5.5252e+00,4.0471e-01
+39,5.0500e+00,UP_FORCE_RAMP,1.6727e-03,7.6651e-01,5.9604e+00,2.0493e+00,-4.7444e-01,9.2712e-02,-1.3675e-03,5.8540e-01,5.4567e+00,-4.0475e-01,-4.0093e-01,4.2934e-02,-2.4982e-03,5.5029e+00,4.0323e-01
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Fixed/digit/cylinder_PLA_12.5/press_depth_04/down/camera_frames_60hz.tar

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

Fixed/digit/cylinder_PLA_12.5/press_depth_04/down/franka_data.csv

@@ -0,0 +1,61 @@
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+29094,1792922224978709062,1791917000000,1792922224976596330,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6761205778665167,-0.0048664814685106,0.0997883406124115,0.9999999689368495,9.40938170057105e-05,5.594399312226933e-05,0.00020392593663228224,0.6761,-0.0046,0.09963318739621739,1.0,0.0,0.0,0.0,-0.08761352922892929,0.020708596836939375,0.7533813144202939,0.003736904873221522,0.0030814929862693005,0.0005197100393003232,0.7716439863690834,1.1546242485355094,2.1473281080310214,0.06896370609219986,-0.04335593136319753,-0.001511325347333227,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,1.3574750878846824,0.772265092629825,-1.2455244271474668,0.35034859260794543,1.07521288466293,0.4551387742004032,1.3024657692685715,-0.7533813144202939,2.5479901964160385,2.5479901964160385,2.662917641235056,0,0,-4.2544388202696244e-05,-9.999944902550623e-05
+29243,1792922226219740980,1793158000000,1792922226216596232,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6761335927454788,-0.0048690268896046125,0.09976737748939359,0.9999999672459252,8.828251323472212e-05,7.999479087300875e-05,0.0002067801834075431,0.6761,-0.0046,0.09957973334010085,1.0,0.0,0.0,0.0,-0.1428723702825625,0.058939143416431694,0.956362263943165,0.007195160001054857,0.006011814541315386,0.00043097046526126,0.7163851453154502,1.1928547951150017,2.3503090575538925,0.07242196122003319,-0.04042560980815144,-0.0016000649213722903,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,1.480165604882748,0.8875577131713491,-1.5755825023674088,0.3267391094617485,1.3081508183617285,0.5383148705359436,1.3024657692685715,-0.956362263943165,2.87804827163598,2.87804827163598,2.849067641235173,0,0,-3.782451384462681e-05,9.999999025923074e-05
+29336,1792922226994737727,1793933000000,1792922226992605036,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.676142697991769,-0.004861232223921803,0.09974768839281342,0.9999999827997419,-1.593179784366318e-05,0.00010148927705750768,0.0001236506565077265,0.6761,-0.0046,0.09954305188106063,1.0,0.0,0.0,0.0,-0.14039733224475726,0.18573523299072114,1.1079925044146077,0.015065548565415532,0.006727603705677501,0.001444960939386329,0.7188601833532554,1.3196508846892911,2.501939298025335,0.08029234978439387,-0.03970982064378933,-0.0005860744472472213,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,1.5099681291298657,0.948725498875974,-1.5636910436620344,0.1431684032930799,1.32845195569168,0.6245990766770567,1.3024657692685715,-1.1079925044146077,2.8661568129306056,2.8661568129306056,2.9653176412352464,0,0,-5.6826354562249055e-05,-9.999962943674773e-05
+29469,1792922228103704090,1795042000000,1792922228100595823,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6761533894652363,-0.004862883959844559,0.09972420067918415,0.9999999797619532,-1.2609358698627149e-05,0.00011888281807144298,0.000132766099376595,0.6761,-0.0046,0.09949496574549337,1.0,0.0,0.0,0.0,-0.2018097139753121,0.22375294937039358,1.3026844136820133,0.018950494893397576,0.010761956965725065,0.0013876330852499513,0.6574478016227006,1.3576686010689636,2.6966312072927408,0.08417729611237591,-0.03567546738374176,-0.0006434023013835991,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,1.629520112040599,0.9381993842045937,-1.8469030598553506,0.16089759271659754,1.5289579065887822,0.602271901057091,1.3024657692685715,-1.3026844136820133,3.1493688291239224,3.1493688291239224,3.1316676412353512,0,0,-2.5856026213107224e-05,9.999999025923074e-05
+29611,1792922229286801511,1796225000000,1792922229284605149,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6761590585447467,-0.0048668273219782095,0.09970978737805715,0.9999999778053635,-9.964185934430768e-06,0.00012776036026827255,0.00013932028679878157,0.6761,-0.0046,0.09946588037151141,1.0,0.0,0.0,0.0,-0.24554410016665595,0.24659855022731447,1.403595406361391,0.019867961052346103,0.013750136984562754,0.0022445789884859577,0.6137134154313567,1.3805142019258845,2.7975421999721184,0.08509476227132444,-0.032687287364904075,0.00021354360185240717,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,1.670394161525863,0.9281022401844652,-1.932546992969883,0.18503040345799715,1.586467535910335,0.5920084869381443,1.3024657692685715,-1.403595406361391,3.235012762238455,3.235012762238455,3.309117641235463,0,0,-3.5434196114818246e-05,-9.999999025923074e-05
+29745,1792922230403824676,1797342000000,1792922230400595968,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6761705030928701,-0.004868930066182763,0.09968891737048897,0.9999999738851353,-5.290439176622483e-06,0.00014656864841818896,0.00014886986122754809,0.6761,-0.0046,0.09942042249002915,1.0,0.0,0.0,0.0,-0.31275025764359377,0.2802482735337437,1.5839713475862682,0.023185282204336244,0.017703860148166158,0.0023351983343849973,0.5465072579544189,1.4141639252323137,2.9779181411969957,0.08841208342331458,-0.02873356420130067,0.00030416294775144673,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,1.7213552335439959,0.9071677882034604,-2.1736470097218437,0.21530613448429364,1.7377228157977935,0.5760352168785027,1.3024657692685715,-1.5839713475862682,3.476112778990415,3.476112778990415,3.4766676412355686,0,0,-3.817015785803767e-05,9.961564492589332e-05
+29896,1792922231661823946,1798600000000,1792922231660605425,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.676179584608188,-0.0048688709308757445,0.09966760589425332,0.9999999704167767,-3.910529696533328e-07,0.00016123483119281857,0.00015688367187916718,0.6761,-0.0046,0.09937645643832345,1.0,0.0,0.0,0.0,-0.36315447477687796,0.31867556221467264,1.745225165210928,0.025706089734157264,0.021672009047182403,0.002291266310008573,0.4961030408211347,1.4525912139132426,3.1391719588216556,0.0909328909531356,-0.024765415302284426,0.00026023092337502306,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,1.8774478155798842,0.924893936766897,-2.436742426003848,0.22744319415510522,1.9328580400606716,0.5802632549078052,1.3024657692685715,-1.745225165210928,3.739208195272419,3.739208195272419,3.6653676412356875,0,0,-3.464272147338387e-05,9.999999025923074e-05
+30026,1792922232744931633,1799683000000,1792922232744605480,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.676186902283235,-0.004870293312216662,0.09964459784001442,0.9999999674206851,-2.067535442292204e-06,0.0001722411120748777,0.0001641042893629841,0.6761,-0.0046,0.09933627044989095,1.0,0.0,0.0,0.0,-0.4115701463710196,0.34842671385462176,1.8875843657806213,0.027640761812098735,0.024642706461159448,0.0022406081811879664,0.4476873692269931,1.4823423655531918,3.2815311593913488,0.09286756303107707,-0.02179471788830738,0.00020957279455441623,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,1.946947214959382,0.8168757409619127,-2.5091195180034607,0.27905625807264517,1.9908185944119963,0.5042550225819962,1.3024657692685715,-1.8875843657806213,3.811585287272032,3.811585287272032,3.82781764123579,0,0,-3.8417659072005665e-05,9.999997638144293e-05
+30169,1792922233936926992,1800875000000,1792922233932605523,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6761997339756546,-0.004875518612693196,0.09962183653069365,0.9999999616770076,2.083148355765623e-06,0.00019344086574879174,0.00017511464733195044,0.6761,-0.0046,0.09928877929925484,1.0,0.0,0.0,0.0,-0.4711076968559438,0.38566908852763904,2.0538272834603077,0.03154323642549749,0.0285784609853368,0.003230751622752502,0.3881498187420689,1.519584740226209,3.4477740770710352,0.09677003764447582,-0.017858963364130027,0.0011997162361189518,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.0189949992499026,0.8247318839536151,-2.606148094551977,0.29419295794502304,2.057023717840977,0.5061202064352085,1.3024657692685715,-2.0538272834603077,3.9086138638205483,3.9086138638205483,4.0066176412358825,0,0,-3.649236483413277e-05,-9.995487357106753e-05
+30295,1792922234986999040,1801925000000,1792922234984605561,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6762055799577281,-0.004878680726953823,0.09959854838153287,0.9999999581449524,3.593978359894076e-06,0.00020477720776068076,0.0001822260587589982,0.6761,-0.0046,0.09924640114421854,1.0,0.0,0.0,0.0,-0.5263941989641459,0.4078219409875399,2.180172341304674,0.032553699431927346,0.032213126465033715,0.003199362400463975,0.33286331663386676,1.5417375926861099,3.5741191349154016,0.09778050065090568,-0.014224297884433112,0.0011683270138304247,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.1046935824102575,0.8262346829768079,-2.799976216245329,0.295777744364251,2.1950358134545302,0.4938410056201866,1.3024657692685715,-2.180172341304674,4.1024419855139005,4.1024419855139005,4.164117641235515,0,0,-4.744635740824699e-05,-9.917539986326602e-05
+30433,1792922236137031270,1803075000000,1792922236136605156,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.676219676198926,-0.004878782165578199,0.09957223319078702,0.9999999520006245,8.035131293053019e-06,0.0002254990909532036,0.00019112092979096097,0.6761,-0.0046,0.0991922956264521,1.0,0.0,0.0,0.0,-0.586682224254764,0.45774295749643534,2.3655133729041697,0.03638912351750456,0.036520842883346866,0.003152855100339333,0.27257529134324865,1.5916586091950053,3.7594601665148972,0.1016159247364829,-0.009916581466119966,0.0011218197137057829,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.186694101294699,0.8611306957162792,-3.0765678459797137,0.29016271447269526,2.380928840252637,0.5201408011678696,1.3024657692685715,-2.3655133729041697,4.379033615248285,4.379033615248285,4.336617641235113,0,0,-4.1380160524491554e-05,9.999986535914047e-05
+30586,1792922237412008932,1804350000000,1792922237408605340,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6762293965259653,-0.00487921518606967,0.09954163813419059,0.9999999466511731,1.1662954324637021e-05,0.00024245515142981902,0.0001980403756631617,0.6761,-0.0046,0.09913827641019297,1.0,0.0,0.0,0.0,-0.6350257352638806,0.48248865242706085,2.5131853528944568,0.03833482784170508,0.03951786496006129,0.0030977692491220357,0.22423178033413205,1.6164043041256309,3.9071321465051843,0.10356162906068342,-0.00691955938940554,0.0010667338624884852,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.273756024489958,0.8251367019226166,-3.194489639552237,0.30314431455687046,2.47145904831244,0.49441773252127097,1.3024657692685715,-2.5131853528944568,4.496955408820808,4.496955408820808,4.527867641234668,0,0,-4.8834147257899356e-05,6.975378194352117e-05
+30723,1792922238554022756,1805492000000,1792922238552605325,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6762404788703762,-0.004881519730431717,0.09950767743683184,0.9999999401522248,1.3499519119018706e-05,0.0002607452262663172,0.0002072874843782233,0.6761,-0.0046,0.09907979608574279,1.0,0.0,0.0,0.0,-0.6937065712869749,0.5271362649095452,2.6845497877935984,0.04123008592685272,0.044461265580424805,0.0030667411524545234,0.16555094431103778,1.6610519166081152,4.078496581404326,0.10645688714583106,-0.0019761587690420215,0.001035705765820973,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.365456957066423,0.8288779158181032,-3.42037347016028,0.30753500963007663,2.626632289386461,0.5021391547967279,1.3024657692685715,-2.6845497877935984,4.722839239428851,4.722839239428851,4.6991676412342684,0,0,-5.124416928706387e-05,9.972165734695721e-05
+30855,1792922239654049319,1806592000000,1792922239652605708,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6762479722365609,-0.004885475262566207,0.09947255861590289,0.9999999359420401,1.4188249706975761e-05,0.0002709024095907852,0.00021440466069270241,0.6761,-0.0046,0.09902731757367209,1.0,0.0,0.0,0.0,-0.7334697313605919,0.5149426037659297,2.8335413806366545,0.04220982194633725,0.04453183413163506,0.003364562119931514,0.12578778423742076,1.6488582554644997,4.227488174247382,0.10743662316531559,-0.0019055902178317674,0.0013335267332979638,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.393119385845837,0.8302940868290535,-3.4517262858106506,0.3123919143962534,2.647542292956604,0.49862130787094994,1.3024657692685715,-2.8335413806366545,4.754192055079222,4.754192055079222,4.864167641233884,0,0,-5.17819839188346e-05,-9.999994862586731e-05
+30971,1792922240620059760,1807558000000,1792922240616605000,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6762622597504113,-0.004870705312326035,0.09944650618325714,0.9999999327530612,-0.00017149837687875034,0.00030508703903820653,5.871066918476504e-05,0.6761,-0.0046,0.09897525173886518,1.0,0.0,0.0,0.0,-0.7630671858545406,0.5929176893196499,2.9570285185443512,0.04503427062238742,0.047362411315026706,0.003956245928671818,0.09619032974347204,1.72683334101822,4.350975312155079,0.11026107184136576,0.0009249869655598762,0.001925210542038268,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.401261699465754,0.9912551302073408,-3.592912216924473,0.2911517696645418,2.737157559421491,0.6014093666422584,1.3024657692685715,-2.9570285185443512,4.895377986193044,4.895377986193044,5.009067641233546,0,0,-5.761214942198579e-05,-9.926924146442246e-05
+31075,1792922241487187627,1808425000000,1792922241484595639,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6762733886650543,-0.004887462157217563,0.09940975828528664,0.9999999233892114,-0.00017515194394310097,0.0003286821924962416,7.716377754453346e-05,0.6761,-0.0046,0.09891161539184325,1.0,0.0,0.0,0.0,-0.7402874245251965,0.7190950378258647,3.132066336760565,0.05529748892786651,0.04713531739110441,0.004960671352035874,0.11897009107281618,1.8530106895244347,4.526013130371292,0.12052429014684485,0.0006978930416375772,0.0029296359654023235,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.6129991824948466,0.7925000605965915,-3.7193665091898085,0.20423815029348139,2.8863940105879022,0.5297846463730156,1.3024657692685715,-3.132066336760565,5.02183227845838,5.02183227845838,5.139117641233243,0,0,-7.949883718968843e-05,-9.99146834975761e-05
+31207,1792922242587125132,1809525000000,1792922242580595718,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6762883448997232,-0.004889543111901464,0.09936397195215778,0.9999999173860589,-0.00016059386455880213,0.0003495446736313715,9.326774145981504e-05,0.6761,-0.0046,0.09883655929728138,1.0,0.0,0.0,0.0,-0.7962067998392777,0.7262066898986752,3.321682333551173,0.05419078950798763,0.051156326946602174,0.0038256010381248597,0.06305071575873503,1.8601223415972452,4.7156291271619,0.11941759072696596,0.004718902597135344,0.0017945656514913096,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.6591276570102966,0.8320499622947483,-4.061904872837399,0.23788389322047834,3.105572533719144,0.5285506186337736,1.3024657692685715,-3.321682333551173,5.36437064210597,5.36437064210597,5.304117641232859,0,0,-5.2782449193296326e-05,9.899891603571404e-05
+31358,1792922243845217151,1810783000000,1792922243844596305,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6762957363277322,-0.004890137606035879,0.09931361992453908,0.9999999140641684,-0.00015114305752008642,0.0003592323918438091,0.00010687555729063899,0.6761,-0.0046,0.09877518548914524,1.0,0.0,0.0,0.0,-0.7954959552839868,0.6921262479680823,3.4010149538774077,0.05196767934763541,0.052192202411298606,0.003753347249026071,0.06376156031402591,1.8260418996666523,4.794961747488135,0.11719448056661375,0.005754778061831777,0.0017223118623925205,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.616851305825205,0.8728853559144245,-4.119980403514018,0.2923454268713818,3.1212350342274533,0.5346250845727465,1.3024657692685715,-3.4010149538774077,5.422446172782589,5.422446172782589,5.492817641232419,0,0,-5.5439845973752295e-05,-9.992509183843196e-05
+31496,1792922244995257748,1811933000000,1792922244992598751,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.676307571583323,-0.00489583639263123,0.09926331373545957,0.9999999063609004,-0.00014717775536466355,0.0003780829816617615,0.00011879824145736073,0.6761,-0.0046,0.09869740247549236,1.0,0.0,0.0,0.0,-0.8255051247874489,0.695124432898734,3.523728860439562,0.05098172309099369,0.05519342011042387,0.003688453853828923,0.03375239081056378,1.829040084597304,4.9176756540502895,0.11620852430997203,0.008755995760957041,0.0016574184671953724,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.6597473929130233,0.8537559881065228,-4.193116780093885,0.3497870887945931,3.165600714570829,0.5105024558850325,1.3024657692685715,-3.523728860439562,5.495582549362457,5.495582549362457,5.665317641232017,0,0,-7.712712135207601e-05,-9.99976032797278e-05
+31645,1792922246237290740,1813175000000,1792922246232596609,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6763256033584406,-0.004898757158417696,0.09920210023077053,0.9999998927108962,-0.0001547257781640994,0.0004087367279472123,0.00012253685707490247,0.6761,-0.0046,0.09860303453611621,1.0,0.0,0.0,0.0,-0.8722229824359103,0.7205419431980473,3.730489642698663,0.05290011913019818,0.05817860695887457,0.003584159069439815,-0.012965466837897654,1.8544575948966173,5.124436436309391,0.11812692034917652,0.01174118260940774,0.0015531236828062647,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.7399248948338473,0.8649552701750683,-4.45837954038369,0.35984670414232817,3.3454175505191497,0.526509292822004,1.3024657692685715,-3.730489642698663,5.760845309652261,5.760845309652261,5.851617641231583,0,0,-6.632134395420509e-05,-9.905120754017389e-05
+31756,1792922247162275039,1814100000000,1792922247156596014,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6763323432271057,-0.004898905943545832,0.09915749318875056,0.9999998882913378,-0.00015180167715697827,0.000420434665394459,0.00012268300303155415,0.6761,-0.0046,0.09854662074056461,1.0,0.0,0.0,0.0,-0.8588110437886006,0.7185058906658306,3.812170193005525,0.0518652154033646,0.058181368673980105,0.0035085484254507495,0.000446471809412069,1.8524215423644006,5.206116986616252,0.11709201662234293,0.01174394432451328,0.001477513038817199,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.7432921615036867,0.8568309716939199,-4.664573571919332,0.36008982770483144,3.4838957030463713,0.5155562165037769,1.3024657692685715,-3.812170193005525,5.9670393411879035,5.9670393411879035,5.990367641231259,0,0,-6.26941941597473e-05,9.52951842699889e-05
+31909,1792922248437331686,1815375000000,1792922248436604987,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6763486852319402,-0.004903712370232556,0.09908839840630693,0.9999998772437715,-0.00014429940404622817,0.0004478139578950596,0.00012488253456168166,0.6761,-0.0046,0.09844681261643767,1.0,0.0,0.0,0.0,-0.8721471724518131,0.7159897370921418,3.971768545746739,0.051427896074508955,0.06013736472535311,0.00237050693735717,-0.01288965685380034,1.8499053887907118,5.365715339357466,0.11665469729348729,0.013699940375886278,0.00033947155072361953,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.8471077542533516,0.8401192767283345,-4.845114618994574,0.3689074072728801,3.624434332423198,0.5062703393820367,1.3024657692685715,-3.971768545746739,6.147580388263146,6.147580388263146,6.1816176412308135,0,0,-9.089407854570718e-05,9.834378730667054e-05
+32039,1792922249520340805,1816458000000,1792922249516605448,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6763638409227625,-0.004909401329434946,0.0990217082191162,0.9999998647151593,-0.0001473725521791684,0.0004726154374709371,0.0001301095943424787,0.6761,-0.0046,0.09835245882897636,1.0,0.0,0.0,0.0,-0.8920928977849474,0.7315585445376052,4.151718666571771,0.05170078914010659,0.062148780454266556,0.0022598096634391463,-0.032835382186934756,1.8654741962361752,5.545665460182498,0.11692759035908493,0.015711356104799727,0.0002287742768055959,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.884240886507211,0.850865297841971,-5.047436772568158,0.3829992110275512,3.7575623270211747,0.5238080560351204,1.3024657692685715,-4.151718666571771,6.349902541836729,6.349902541836729,6.344067641230435,0,0,-8.318899591822226e-05,9.999999025923074e-05
+32184,1792922250729460796,1817667000000,1792922250728596002,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6763774413956954,-0.004912287027926277,0.09895218857342979,0.9999998541839867,-0.0001501035158771913,0.0004930473236988221,0.0001320914100215947,0.6761,-0.0046,0.09826008215021713,1.0,0.0,0.0,0.0,-0.8822006919867666,0.7295793188092665,4.272439319023654,0.050657855630355034,0.06215862576002405,0.0021581179626592303,-0.022943176388754004,1.8634949705078365,5.666386112634382,0.11588465684933337,0.015721201410557224,0.00012708257602567978,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.8732857414635182,0.7996227876184381,-5.142306580866916,0.3969545643922864,3.8188037911692994,0.48502145932753365,1.3024657692685715,-4.272439319023654,6.444772350135487,6.444772350135487,6.525417641230012,0,0,-7.997918320265385e-05,-9.999999025923074e-05
+32316,1792922251829483696,1818767000000,1792922251824605192,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6763908739220068,-0.0049108586288110845,0.0988814003407949,0.9999998431903657,-0.00014708904467223996,0.0005168554938343314,0.0001276217833936902,0.6761,-0.0046,0.0981654294096885,1.0,0.0,0.0,0.0,-0.8903396688647762,0.7118864922910031,4.412639522493738,0.04960998327559009,0.062149289637022195,0.0020319382377130698,-0.03108215326676353,1.845802143989573,5.8065863161044655,0.11483678449456843,0.015711865287555367,9.028510795196532e-07,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.928193714935129,0.8867682028499612,-5.247820349651623,0.38307837601657596,3.8997496579323205,0.5462401749510803,1.3024657692685715,-4.412639522493738,6.550286118920194,6.550286118920194,6.690417641229628,0,0,-8.768169746794919e-05,-9.999994862586731e-05
+32457,1792922253004472066,1819942000000,1792922253004604982,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6764046921019109,-0.004912890805351162,0.098796984354384,0.9999998350674449,-0.00012098275032562401,0.000539490112105244,0.00012498616086626264,0.6761,-0.0046,0.09805738097771194,1.0,0.0,0.0,0.0,-0.8703075735291137,0.7170773482619146,4.5389051567128735,0.048559531722127625,0.062345646979314565,0.0019220541034277684,-0.011050057931100987,1.8509929999604846,5.932851950323601,0.11378633294110596,0.015908222629847736,-0.00010898128320578186,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.9409346298497554,0.7756673385587302,-5.478572702316561,0.41958407086077143,4.054229646305096,0.47717967064493566,1.3024657692685715,-4.5389051567128735,6.781038471585132,6.781038471585132,6.866667641229217,0,0,-9.9813148227271e-05,-2.971571056192333e-05
+32591,1792922254120534060,1821058000000,1792922254120606029,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6764238208187405,-0.004916952312504002,0.09871712127460969,0.9999998214987263,-9.238904687396574e-05,0.0005701185814412669,0.00012196084182575292,0.6761,-0.0046,0.09794470727385692,1.0,0.0,0.0,0.0,-0.8837168339711333,0.6997456898702814,4.684658507271855,0.047489310243812435,0.06314156201113233,0.0018056408781363374,-0.024459318373120605,1.8336613415688514,6.078605300882582,0.11271611146279077,0.016704137661665494,-0.00022539450849721286,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.053953301531508,0.8046070729666629,-5.736057967914454,0.4252688027412685,4.247539841265932,0.5010749779146123,1.3024657692685715,-4.684658507271855,7.038523737183025,7.038523737183025,7.034067641228827,0,0,-0.00010018444987905528,9.999999025923074e-05
+32726,1792922255245484353,1822183000000,1792922255240605529,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6764356651864064,-0.004920050113951963,0.09862221607632572,0.9999998085227781,-0.00010812296601896844,0.0005889198624711637,0.00012601623365652475,0.6761,-0.0046,0.09782987215100318,1.0,0.0,0.0,0.0,-0.8743239182356739,0.6892290885755072,4.815464685366845,0.04541433526818317,0.06415843366328795,0.0016906179410996354,-0.015066402637661245,1.8231447402740772,6.209411478977572,0.1106411364871615,0.017721009313821128,-0.00034041744553391475,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.988367166222273,0.8436871429656324,-5.728771019679534,0.415071942315722,4.226568962354822,0.5276404773329604,1.3024657692685715,-4.815464685366845,7.031236788948105,7.031236788948105,7.2028176412284335,0,0,-0.00010691625673272943,-9.687533694536227e-05
+32850,1792922256279616531,1823217000000,1792922256276605992,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.676452621076742,-0.004924261278431377,0.09853332616159781,0.9999997894772951,-0.00011975467712789045,0.0006171951079641768,0.00013121450353501216,0.6761,-0.0046,0.09771067609297797,1.0,0.0,0.0,0.0,-0.872813157780904,0.6819172448739583,4.916026490001887,0.04532573300430058,0.06414363828959899,0.0016124927373086734,-0.013555642182891299,1.8158328965725283,6.309973283612614,0.11055253422327892,0.017706213940132158,-0.00041854264932487684,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.0082674468535293,0.8459534127728677,-5.894388093262353,0.42754746379870895,4.338340586515998,0.5275780829303122,1.3024657692685715,-4.916026490001887,7.196853862530924,7.196853862530924,7.357917641228072,0,0,-0.00012678191429612985,-9.99995739255965e-05
+32970,1792922257279618939,1824217000000,1792922257276596257,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6764697012002359,-0.00492910566023859,0.0984375431454011,0.9999997689250489,-0.00013621932829774105,0.0006464779103489518,0.0001307796586122075,0.6761,-0.0046,0.09758284888927876,1.0,0.0,0.0,0.0,-0.8905493918402961,0.6696458271830237,5.09258513721994,0.04429340093473293,0.0651384733203537,0.001472102541288694,-0.031291876242283446,1.8035614788815937,6.486531930830667,0.10952020215371126,0.018701048970886876,-0.0005589328453448562,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1397244431689812,0.8737818655778151,-6.097021871842789,0.42391209657417833,4.508307215324246,0.5472692637584486,1.3024657692685715,-5.09258513721994,7.39948764111136,7.39948764111136,7.507917641227722,0,0,-0.00012329635400194783,-6.888531452208988e-05
+33112,1792922258462578969,1825400000000,1792922258460595686,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6764856009487075,-0.004928660873977438,0.09832028965019098,0.9999997495404347,-0.00015576370013935955,0.0006731624587215866,0.00012227798618180775,0.6761,-0.0046,0.0974375501241756,1.0,0.0,0.0,0.0,-0.8333670794202507,0.6309304081839007,5.181648922178548,0.041293791620150816,0.062137353527988756,0.0013239138760092967,0.02589043617776201,1.7648460598824707,6.575595715789276,0.10652059283912915,0.015699929178521924,-0.0007071215106242535,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1290703756216103,0.7543226571618902,-6.224042926941965,0.48092590948932323,4.601082113498597,0.4717938384601799,1.3024657692685715,-5.181648922178548,7.526508696210536,7.526508696210536,7.685367641227309,0,0,-0.000132654174474249,-9.999999025923074e-05
+33246,1792922259579681787,1826517000000,1792922259576606073,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6765080047172994,-0.004939140004777295,0.09819645989076035,0.9999997187049086,-0.00017036547398542644,0.0007128972702872748,0.00012956100966193107,0.6761,-0.0046,0.09727701340636963,1.0,0.0,0.0,0.0,-0.832892427003096,0.6014044318746599,5.351574574206078,0.03921876869842761,0.06214046450684264,0.0011651591355702345,0.026365088594916656,1.7353200835732299,6.745521367816805,0.10444556991740594,0.01570304015737581,-0.0008658762510633158,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1316102105906958,0.6921874157284614,-6.380029945423278,0.5026393985953634,4.707604745858737,0.43080240060160124,1.3024657692685715,-5.351574574206078,7.682495714691849,7.682495714691849,7.852917641226918,0,0,-0.00014973610884125155,-9.999695102370083e-05
+33373,1792922260637741214,1827575000000,1792922260636595694,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6765273175161827,-0.004936292339707261,0.09806488360870753,0.9999996968717016,-0.00016381094423476895,0.0007434864729188818,0.0001345109968622235,0.6761,-0.0046,0.09711335602209414,1.0,0.0,0.0,0.0,-0.812606234525348,0.5568634811618027,5.4709597953078575,0.035364563053672624,0.0611663542003406,0.0010184285655682193,0.04665128107266465,1.6907791328603727,6.8649065889185845,0.10059136427265096,0.014728929850873766,-0.001012606821065331,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1295035407787903,0.7272672676364231,-6.5431834243198645,0.5041095272793811,4.825246198908439,0.4571507365037465,1.3024657692685715,-5.4709597953078575,7.845649193588436,7.845649193588436,8.011617641226549,0,0,-0.00016386294143386072,-8.257071001794287e-05
+33490,1792922261612715782,1828550000000,1792922261612605152,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6765408895740895,-0.004939833854340139,0.09792697523268264,0.9999996793303367,-0.00016926517371186543,0.0007664812919045681,0.0001289876667588263,0.6761,-0.0046,0.09695001623017621,1.0,0.0,0.0,0.0,-0.7740316135402098,0.514143961277949,5.583050086604404,0.033126845985444714,0.05916856629187161,0.0008628673145113467,0.08522590205780291,1.648059612976519,6.976996880215132,0.09835364720442305,0.012731141942404782,-0.0011681680721222036,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.153057759836058,0.7934998324665591,-6.701797108108027,0.5057260127212929,4.950788557431301,0.505757650038802,1.3024657692685715,-5.583050086604404,8.004262877376599,8.004262877376599,8.157867641226208,0,0,-0.00016777128290376554,-3.905696185769188e-05
+33591,1792922262454686961,1829392000000,1792922262448605216,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6765588929368278,-0.004944630302011744,0.09780745306297363,0.9999996549828087,-0.00016875804620299266,0.0007963106889195426,0.00013743047769922254,0.6761,-0.0046,0.09680124110155192,1.0,0.0,0.0,0.0,-0.7448550598853179,0.47959125609270803,5.727474180048025,0.0300627241133046,0.05818256308505661,0.0007047714121099344,0.1144024557126948,1.613506907791278,7.121420973658753,0.09528952533228294,0.011745138735589779,-0.001326263974523616,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1569859464504626,0.7660264670223604,-6.840478645458216,0.517719558406792,5.05559186411641,0.48876644874185055,1.3024657692685715,-5.727474180048025,8.142944414726788,8.142944414726788,8.284167641225913,0,0,-0.00017983834524751418,9.999994862586731e-05
+33711,1792922263454747061,1830392000000,1792922263448605131,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6765748401901877,-0.004939129477621864,0.0976451638648314,0.9999996376956078,-0.00012688668019246455,0.0008227435580399016,0.00015180357531771046,0.6761,-0.0046,0.0966187207823016,1.0,0.0,0.0,0.0,-0.670708009052705,0.48519142161957185,5.8786374431445765,0.030171951631995444,0.05308129700601272,0.0005128259938410164,0.18854950654530764,1.6191070733181419,7.272584236755304,0.09539875285097378,0.006643872656545886,-0.001518209392792534,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1732388238332128,0.7379876899474889,-7.068089749933835,0.5474704250033319,5.220709980271241,0.4779645374159047,1.3024657692685715,-5.8786374431445765,8.370555519202407,8.370555519202407,8.434167641225564,0,0,-0.00018451424026591644,9.999994862586731e-05
+33831,1792922264454761790,1831392000000,1792922264452605186,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6765955988893747,-0.004940360750022381,0.0974860126342477,0.9999996037293885,-0.00016490720471838593,0.0008601449856245534,0.00013015432314697576,0.6761,-0.0046,0.0964265762784324,1.0,0.0,0.0,0.0,-0.5943261834878482,0.4795429988267499,5.939703305670497,0.02885734374601545,0.04902796178890211,0.00038477575068020286,0.26493133211016456,1.61345865052532,7.333650099281224,0.09408414496499379,0.002590537439435285,-0.0016462596359533475,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1916599147270617,0.7774774163932427,-7.181722625226825,0.5744422567456557,5.311007172404798,0.5049996557190886,1.3024657692685715,-5.939703305670497,8.484188394495396,8.484188394495396,8.584167641225214,0,0,-0.00020118319975640097,9.998779168374767e-05
+33931,1792922265287849139,1832225000000,1792922265284596557,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6766141847478733,-0.0049389861867129015,0.09733758647391118,0.9999995805167341,-0.00013903426742407253,0.000889401261470005,0.0001415771477111311,0.6761,-0.0046,0.09624768117314883,1.0,0.0,0.0,0.0,-0.5931806218226756,0.4312516006688587,6.079646753357315,0.026210809071257973,0.04805972246254054,0.00023649513939545913,0.266076893775337,1.5651672523674287,7.473593546968043,0.09143761029023631,0.0016222981130737087,-0.0017945402472380912,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.219476089619401,0.7729276635220224,-7.1776068552432735,0.5889170486686075,5.326454153781853,0.5131757092799903,1.3024657692685715,-6.079646753357315,8.480072624511845,8.480072624511845,8.709117641224923,0,0,-0.0002227504514548936,-7.510687491241725e-05
+34022,1792922266045865152,1832983000000,1792922266044605494,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.676629764198572,-0.004947847770122278,0.09719213664808071,0.9999995596468384,-8.831815069045895e-05,0.0009168980423925006,0.00015377541382927205,0.6761,-0.0046,0.09607650017491559,1.0,0.0,0.0,0.0,-0.5597386824217907,0.37792305824192485,6.168804117213474,0.02214487019730796,0.04648138276149647,9.739214413481212e-05,0.299518833176222,1.5118387099404949,7.562750910824202,0.0873716714162863,4.3958412029641934e-05,-0.0019336432424987382,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1601609009361558,0.7665276894753774,-7.3683072561325424,0.6029934158488645,5.446524538641386,0.5104254177656774,1.3024657692685715,-6.168804117213474,8.670773025401115,8.670773025401115,8.822817641224658,0,0,-0.00023477245745110042,9.37501285199815e-05
+34126,1792922266913916237,1833850000000,1792922266908604997,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6766442185673224,-0.004944855494422558,0.09701415239383224,0.9999995332279542,-0.0001242836763164037,0.0009421415832085067,0.0001480187257997934,0.6761,-0.0046,0.09587230715970455,1.0,0.0,0.0,0.0,-0.5044326709924962,0.34728225240384636,6.281225876661843,0.020095622372501107,0.04406924028981182,7.916860843162313e-05,0.3548248446055165,1.4811979041024164,7.675172670272571,0.08532242359147944,-0.002368184059655003,-0.0019518667782019272,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1509311467180847,0.806377076614079,-7.4695874893488705,0.6156704178082455,5.526663591389329,0.5347717244087621,1.3024657692685715,-6.281225876661843,8.772053258617442,8.772053258617442,8.952867641224355,0,0,-0.00023591054825325563,5.1570799046390905e-05
+34220,1792922267695956928,1834633000000,1792922267688605314,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6766669354186775,-0.004950119669226047,0.09684531083246103,0.9999995028853086,-0.00014225291984988617,0.0009699856919449832,0.00015672863225474836,0.6761,-0.0046,0.0956790833082588,1.0,0.0,0.0,0.0,-0.50787866454335,0.3328238079610095,6.387576957328308,0.019076788994924224,0.044060388297940886,0.0008825669606107201,0.3513788510546627,1.4667394596595795,7.781523750939036,0.08430359021390256,-0.0023770360515259392,-0.0011484684260228302,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.243990140998872,0.7423715764807769,-7.542708061293782,0.6428745501288652,5.603402660134627,0.48916430803506095,1.3024657692685715,-6.387576957328308,8.845173830562354,8.845173830562354,9.070317641224081,0,0,-0.00025556504712062465,-5.000109634523682e-05
+34313,1792922268470890963,1835408000000,1792922268464605319,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6766794828736049,-0.004953947933184166,0.09666460538973072,0.9999994767277752,-0.00016077898696429234,0.00099346651220577,0.00015862360055674812,0.6761,-0.0046,0.09547795967731729,1.0,0.0,0.0,0.0,-0.43823036891540934,0.26812258407069334,6.514740347507955,0.01413186925303378,0.04111744821653514,0.0006788352143994314,0.4210271466826033,1.4020382357692633,7.9086871411186825,0.07935867047201212,-0.005319976132931687,-0.001352200172234119,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.1586903882276105,0.7525011402306293,-7.6981320557118105,0.6557125208456668,5.698024171369388,0.5034329617540162,1.3024657692685715,-6.514740347507955,9.000597824980382,9.000597824980382,9.18656764122381,0,0,-0.00026060249916773506,9.869567249432549e-05
+34401,1792922269204958081,1836142000000,1792922269204595329,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6766910728898515,-0.0049538361518470025,0.09648623927419425,0.999999457115046,-0.0001716332262635035,0.0010107059568460592,0.0001619505537844208,0.6761,-0.0046,0.09528559693414777,1.0,0.0,0.0,0.0,-0.3699527236151217,0.20041140293490578,6.5629774012205,0.009019792321474152,0.03715453069267651,0.0005322722653309144,0.48930479198289095,1.3343270546334758,7.9569241948312275,0.07424659354045249,-0.009282893656790317,-0.0014987631213026359,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.067574055325929,0.7271197003645287,-7.744347797237226,0.6734920116178132,5.724728662132757,0.48840442461288214,1.3024657692685715,-6.5629774012205,9.046813566505797,9.046813566505797,9.296667641223554,0,0,-0.0002685718485343199,-9.999999025923074e-05
+34488,1792922269930008240,1836867000000,1792922269928595730,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6767079064698028,-0.004953915377093568,0.09630857725311988,0.9999994411311406,-8.357089741375018e-05,0.0010370153155836194,0.00016369304000240766,0.6761,-0.0046,0.09508368628039941,1.0,0.0,0.0,0.0,-0.31186071002412163,0.1523768046573677,6.654995142911037,0.005113019456548545,0.03414130872100096,0.00037109480119794564,0.547396805573891,1.2862924563559377,8.048941936521764,0.07033982067552688,-0.012296115628465866,-0.0016599405854356047,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.009831343588944,0.5575168424168179,-7.881591406082128,0.743063226766476,5.811642277204286,0.3964884606440831,1.3024657692685715,-6.654995142911037,9.1840571753507,9.1840571753507,9.4054176412233,0,0,-0.0002914794757821485,8.513152269096764e-05
+34576,1792922270662933818,1837600000000,1792922270660595415,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6767264656419566,-0.004953825476380104,0.09611402828017673,0.9999994063573869,-0.00010728267975936136,0.0010685717665532433,0.000159287615523036,0.6761,-0.0046,0.0948625804794919,1.0,0.0,0.0,0.0,-0.2638378440153314,0.13322824268070277,6.761513892261178,0.004041946315296099,0.031055379745060972,0.00022716745056329817,0.5954196715826813,1.2671438943792728,8.155460685871905,0.06926874753427444,-0.015382044604405856,-0.0018038679360702521,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.0875640712470083,0.7443958304763667,-7.9431988149002954,0.6981587339420929,5.88886506553883,0.5064676539344829,1.3024657692685715,-6.761513892261178,9.245664584168868,9.245664584168868,9.515367641223044,0,0,-0.00030999407890228,-9.981891288391437e-05
+34653,1792922271305014210,1838242000000,1792922271304604928,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6767406447953196,-0.0049592201214947165,0.09593279508725386,0.9999993771585542,-0.00013044719229497016,0.0010917874613909449,0.00016765749921516924,0.6761,-0.0046,0.09465936523274714,1.0,0.0,0.0,0.0,-0.22319183958124833,0.08884956843266645,6.860682929881046,0.0011702360971432707,0.02846070662379988,7.794465235603327e-05,0.6360656760167643,1.2227652201312365,8.254629723491773,0.06639703731612161,-0.01797671772566695,-0.001953090734277517,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,3.025518371932602,0.6964500370635308,-8.030394623105222,0.7158377251955568,5.942605856917244,0.47747447754469846,1.3024657692685715,-6.860682929881046,9.332860392373794,9.332860392373794,9.61166764122282,0,0,-0.00032118877000694566,-5.153026202820428e-05
+34734,1792922271980033898,1838917000000,1792922271976595220,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6767553894023947,-0.004953136801855523,0.09572870468701447,0.9999993452882104,-0.00015898607060100978,0.0011175155758834068,0.000163549324937955,0.6761,-0.0046,0.09443983146602054,1.0,0.0,0.0,0.0,-0.16753969213754039,0.0813950568758306,6.935566758848767,0.0011042665094136012,0.02503949098173384,-2.5718352271287322e-05,0.6917178234604723,1.2153107085744006,8.329513552459494,0.06633106772839194,-0.021397933367732987,-0.0020567537389048376,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.9898482841832728,0.6775717973804232,-8.131444614965526,0.7336665049681504,6.0109954205817,0.4668286879980046,1.3024657692685715,-6.935566758848767,9.433910384234098,9.433910384234098,9.712917641222583,0,0,-0.00032883932024194005,-5.163763447247334e-05
+34808,1792922272596043246,1839533000000,1792922272592605080,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6767612905061858,-0.004954673292997563,0.0955268636330327,0.9999993316908873,-0.00017526171395329486,0.0011259193570114985,0.00017219052298653474,0.6761,-0.0046,0.09423227480679906,1.0,0.0,0.0,0.0,-0.08475983190302494,0.0007280310867436857,7.063492232730084,-0.0038918217239625047,0.020049616531409496,-0.00025498643762422897,0.7744976836949877,1.1346436827853137,8.457439026340811,0.06133497949501583,-0.026387807818057333,-0.0022860218242577793,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.9140064666353873,0.7332397556264191,-8.181363775615296,0.718950024131639,6.0519100771891665,0.5046082858804058,1.3024657692685715,-7.063492232730084,9.483829544883868,9.483829544883868,9.805317641222368,0,0,-0.00034208640367214125,-9.181295587546429e-05
+34879,1792922273188097761,1840125000000,1792922273180596381,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6767835700723281,-0.004953487776972313,0.09533890979227057,0.9999993033479498,-0.00017798116604596405,0.0011502475589378319,0.00017320432108037154,0.6761,-0.0046,0.09402618180663976,1.0,0.0,0.0,0.0,-0.07784052628028182,0.02097951894090455,7.061615917165129,-0.0028530694610796603,0.01914027214672612,0.0007694265103546224,0.7814169893177308,1.1548951706394746,8.455562710775856,0.062373731757898676,-0.027297152202740708,-0.001261608876278928,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.987308824003899,0.7653904146120262,-8.219610326953855,0.7228990115258205,6.097154258251591,0.5394373168334761,1.3024657692685715,-7.061615917165129,9.522076096222428,9.522076096222428,9.894117641222161,0,0,-0.0003594836134699061,-9.999999025923074e-05
+34957,1792922273838118632,1840775000000,1792922273836595770,DOWN_FORCE_DETACH,4,0.0604,0.060401514172554016,0.6767953713742688,-0.004952466938460573,0.0951150705531292,0.9999992877050008,-9.128547413659226e-05,0.001173085736173047,0.00017767715999432963,0.6761,-0.0046,0.09378343961433726,1.0,0.0,0.0,0.0,-0.02350130736209477,-0.07605736956817544,7.146388258802226,-0.008886889297987158,0.015054560541468892,0.0004930072973882281,0.8357562082359179,1.0578582821303946,8.540335052412953,0.05633991192099118,-0.031382863807997936,-0.0015380280892453222,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.897804443227295,0.7446311973546758,-8.269116080239982,0.7308111788839429,6.1341093330974905,0.5226757461916197,1.3024657692685715,-7.146388258802226,9.571581849508554,9.571581849508554,9.991617641221934,0,0,-0.00038596248784081153,-9.999999025923074e-05
+35028,1792922274430141123,1841367000000,1792922274424605995,DOWN_FORCE_DETACH,4,0.0604,0.060402169823646545,0.6768038275058696,-0.004954642759845005,0.09488947718994513,0.9999992657188027,-0.00015539509124092905,0.0011884027247876087,0.00015347980037790492,0.6761,-0.0046,0.09354968473156923,1.0,0.0,0.0,0.0,0.05448954634526082,-0.11194168159713924,7.193816819130316,-0.01024722786501158,0.010403581035443539,0.00046726605199212635,0.9137470619432735,1.0219739701014308,8.587763612741043,0.054979573353966756,-0.03603384331402329,-0.001563769334641424,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.901976864052808,0.7389161522055776,-8.454320981783209,0.726519179298782,6.27355645211232,0.522743519532568,1.3024657692685715,-7.193816819130316,9.75678675105178,9.75678675105178,10.080417641221727,0,0,-0.0004031298727793801,9.980495182937971e-05
+35137,1792922275332132011,1842269000000,1792922275324606846,DOWN_PEAK_HOLD,4,0.0604,0.060402169823646545,0.6767769369624176,-0.004955078009640639,0.09472891196394664,0.9999993296730217,-0.00016414851145335338,0.001130882414016901,0.00016203889460373705,0.6761,-0.0046,0.09349494735368612,1.0,0.0,0.0,0.0,0.3706104123771794,-0.45980475274358157,6.2396608050383495,-0.0325086032894107,-0.01037554459864528,-0.0013740553399307323,1.229867927975192,0.6741108989549884,7.633607598649077,0.032718197929567636,-0.05681296894811211,-0.0034050907265642826,0.8592575155980127,1.13391565169857,1.3939467936107275,0.06522680121897834,-0.04643742434946683,-0.0020310353866335503,1,2.1871865977325062,0.7706612854932544,-7.244808017865931,0.7074583528885172,5.389829892353454,0.5435548792119475,1.3024657692685715,-6.2396608050383495,8.547273787134502,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_12.5/press_depth_04/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792922215690061730,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.232324820e-08,-1.104143901e-09,2.076694372e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457069e-01,-1.160440879e-04,8.303255152e-01
+1,1.000000000e+00,DOWN_FORCE_DETACH,1792922216689310532,8.949243736e-07,-3.669452714e-06,1.068150057e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.726447131e-07,-3.824948275e-08,6.649925943e-09,7.019565277e-01,-2.594018774e-05,8.601441554e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027461673e-01,-1.160812332e-04,8.303255216e-01
+2,2.000000000e+00,DOWN_FORCE_DETACH,1792922217689026743,1.683165530e-05,-3.689752845e-06,4.430954713e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.432209809e-07,-5.347940392e-08,1.343974465e-08,7.019724645e-01,-2.596048787e-05,8.601475182e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027463378e-01,-1.160964631e-04,8.303255284e-01
+3,3.183333333e+00,DOWN_FORCE_DETACH,1792922218917630344,3.609718062e-05,-7.757517569e-06,-1.120358124e-05,3.375187028e-05,-4.574361083e-06,-9.837210495e-06,3.615059802e-05,-4.380177769e-06,-9.334459688e-06,7.019917300e-01,-3.002825259e-05,8.601318837e-01,7.019893847e-01,-2.684509611e-05,8.601332500e-01,7.027818452e-01,-1.204231615e-04,8.303161805e-01
+4,4.516666667e+00,DOWN_FORCE_DETACH,1792922220342411945,4.995408738e-05,-9.449320134e-06,-3.874247512e-05,4.582499849e-05,-7.719560408e-06,-2.550221307e-05,4.947455689e-05,-7.366030090e-06,-2.505154429e-05,7.020055869e-01,-3.172005516e-05,8.601043448e-01,7.020014578e-01,-2.999029543e-05,8.601175850e-01,7.027951692e-01,-1.234090138e-04,8.303004635e-01
+5,5.666666667e+00,DOWN_FORCE_DETACH,1792922221505741010,6.752542140e-05,-1.205136026e-05,-4.373462818e-05,5.898531050e-05,-1.125473554e-05,-4.116043077e-05,6.351240207e-05,-1.075642213e-05,-4.052811345e-05,7.020231582e-01,-3.432209528e-05,8.600993526e-01,7.020146181e-01,-3.352547057e-05,8.601019268e-01,7.028092070e-01,-1.267994058e-04,8.302849869e-01
+6,6.850000000e+00,DOWN_FORCE_DETACH,1792922222684745758,8.781870497e-05,-1.677327767e-05,-6.888135724e-05,7.287887273e-05,-1.631428294e-05,-5.591442373e-05,7.837590834e-05,-1.555173834e-05,-5.534884666e-05,7.020434515e-01,-3.904401269e-05,8.600742059e-01,7.020285117e-01,-3.858501796e-05,8.600871728e-01,7.028240705e-01,-1.315947221e-04,8.302701662e-01
+7,8.000000000e+00,DOWN_FORCE_DETACH,1792922223831428343,1.014577905e-04,-1.588166597e-05,-8.747103744e-05,9.930400239e-05,-1.462665399e-05,-8.263346159e-05,1.063679016e-04,-1.401964455e-05,-8.168834913e-05,7.020570906e-01,-3.815240099e-05,8.600556162e-01,7.020549368e-01,-3.689738902e-05,8.600604538e-01,7.028520625e-01,-1.300626283e-04,8.302438266e-01
+8,9.150000000e+00,DOWN_FORCE_DETACH,1792922224978058787,1.144522839e-04,-2.009408218e-05,-1.007329136e-04,1.086727257e-04,-1.937108109e-05,-1.010031543e-04,1.164695806e-04,-1.852759353e-05,-9.999255854e-05,7.020700851e-01,-4.236481720e-05,8.600423543e-01,7.020643055e-01,-4.164181611e-05,8.600420841e-01,7.028621642e-01,-1.345705772e-04,8.302255224e-01
+9,1.040000000e+01,DOWN_FORCE_DETACH,1792922226223725085,1.295766991e-04,-1.923794017e-05,-1.222441571e-04,1.243522997e-04,-1.954636772e-05,-1.143733142e-04,1.332087363e-04,-1.874728440e-05,-1.135842856e-04,7.020852095e-01,-4.150867519e-05,8.600208431e-01,7.020799851e-01,-4.181710274e-05,8.600287139e-01,7.028789033e-01,-1.347902681e-04,8.302119307e-01
+10,1.118333333e+01,DOWN_FORCE_DETACH,1792922226992605085,1.381886417e-04,-1.476736614e-05,-1.391321654e-04,1.291448303e-04,-1.908151320e-05,-1.318820845e-04,1.384057993e-04,-1.836863435e-05,-1.310671318e-04,7.020938215e-01,-3.703810116e-05,8.600039551e-01,7.020847776e-01,-4.135224822e-05,8.600112052e-01,7.028841004e-01,-1.344116181e-04,8.301944479e-01
+11,1.230000000e+01,DOWN_FORCE_DETACH,1792922228106696988,1.495349137e-04,-1.368807691e-05,-1.635314997e-04,1.374805564e-04,-1.516792359e-05,-1.498415217e-04,1.472997393e-04,-1.470102080e-05,-1.491351080e-04,7.021051677e-01,-3.595881193e-05,8.599795557e-01,7.020931134e-01,-3.743865862e-05,8.599932457e-01,7.028929944e-01,-1.307440045e-04,8.301763799e-01
+12,1.348333333e+01,DOWN_FORCE_DETACH,1792922229286315180,1.547199883e-04,-1.280817644e-05,-1.785257801e-04,1.473196358e-04,-2.010379963e-05,-1.665971209e-04,1.576938358e-04,-1.941497400e-05,-1.660096932e-04,7.021103528e-01,-3.507891146e-05,8.599645615e-01,7.021029525e-01,-4.237453465e-05,8.599764901e-01,7.029033884e-01,-1.354579577e-04,8.301595053e-01
+13,1.460000000e+01,DOWN_FORCE_DETACH,1792922230400957378,1.675608772e-04,-2.192053504e-05,-1.974397076e-04,1.578580258e-04,-1.982748215e-05,-1.831084260e-04,1.688738549e-04,-1.921883571e-05,-1.825178335e-04,7.021231937e-01,-4.419127007e-05,8.599456475e-01,7.021134908e-01,-4.209821717e-05,8.599599788e-01,7.029145685e-01,-1.352618194e-04,8.301429972e-01
+14,1.586666667e+01,DOWN_FORCE_DETACH,1792922231661396818,1.763143491e-04,-1.966994162e-05,-2.206588654e-04,1.725495711e-04,-2.309684754e-05,-2.226227007e-04,1.840444923e-04,-2.232871145e-05,-2.214729300e-04,7.021319472e-01,-4.194067664e-05,8.599224284e-01,7.021281824e-01,-4.536758256e-05,8.599204645e-01,7.029297391e-01,-1.383716952e-04,8.301040421e-01
+15,1.696666667e+01,DOWN_FORCE_DETACH,1792922232742713608,1.847143742e-04,-2.266591404e-05,-2.424514374e-04,1.814440871e-04,-1.698411089e-05,-2.401014259e-04,1.934197684e-04,-1.665325526e-05,-2.390538114e-04,7.021403472e-01,-4.493664906e-05,8.599006358e-01,7.021370769e-01,-3.925484591e-05,8.599029858e-01,7.029391144e-01,-1.326962390e-04,8.300864612e-01
+16,1.818333333e+01,DOWN_FORCE_DETACH,1792922233939696973,1.915867372e-04,-2.994538633e-05,-2.723220903e-04,1.875827777e-04,-2.487759178e-05,-2.596871872e-04,1.999455044e-04,-2.408312745e-05,-2.588137523e-04,7.021472196e-01,-5.221612135e-05,8.598707651e-01,7.021432156e-01,-4.714832680e-05,8.598834001e-01,7.029456401e-01,-1.401261112e-04,8.300667012e-01
+17,1.923333333e+01,DOWN_FORCE_DETACH,1792922234986675150,2.022909742e-04,-2.500333947e-05,-2.896651181e-04,1.959612117e-04,-2.719282552e-05,-2.798553744e-04,2.087308294e-04,-2.627285793e-05,-2.790275073e-04,7.021579238e-01,-4.727407449e-05,8.598534221e-01,7.021515940e-01,-4.946356055e-05,8.598632319e-01,7.029544254e-01,-1.423158416e-04,8.300464875e-01
+18,2.038333333e+01,DOWN_FORCE_DETACH,1792922236133107029,2.130809677e-04,-3.097913292e-05,-3.197007204e-04,2.100734027e-04,-2.599430665e-05,-3.205676626e-04,2.232580846e-04,-2.518680077e-05,-3.190285869e-04,7.021687138e-01,-5.324986795e-05,8.598233865e-01,7.021657062e-01,-4.826504168e-05,8.598225196e-01,7.029689527e-01,-1.412297845e-04,8.300064864e-01
+19,2.158333333e+01,DOWN_FORCE_DETACH,1792922237410672635,2.255419744e-04,-3.001930313e-05,-3.460940447e-04,2.204555664e-04,-3.024296619e-05,-3.374372629e-04,2.342358108e-04,-2.917931197e-05,-3.363277518e-04,7.021811748e-01,-5.229003815e-05,8.597969932e-01,7.021760884e-01,-5.251370122e-05,8.598056500e-01,7.029799304e-01,-1.452222957e-04,8.299891872e-01
+20,2.273333333e+01,DOWN_FORCE_DETACH,1792922238557509639,2.354297352e-04,-3.013534357e-05,-3.808294325e-04,2.344874460e-04,-3.427493932e-05,-3.758817130e-04,2.487261717e-04,-3.296776917e-05,-3.744215125e-04,7.021910626e-01,-5.240607859e-05,8.597622578e-01,7.021901203e-01,-5.654567434e-05,8.597672055e-01,7.029944208e-01,-1.490107529e-04,8.299510935e-01
+21,2.383333333e+01,DOWN_FORCE_DETACH,1792922239655416386,2.442493300e-04,-3.573290906e-05,-4.151799481e-04,2.438035772e-04,-3.570225574e-05,-4.150173678e-04,2.583358385e-04,-3.432762782e-05,-4.129803625e-04,7.021998821e-01,-5.800364408e-05,8.597279073e-01,7.021994364e-01,-5.797299076e-05,8.597280699e-01,7.030040305e-01,-1.503706115e-04,8.299125346e-01
+22,2.478333333e+01,DOWN_FORCE_DETACH,1792922240621885564,2.581377044e-04,-1.978515562e-05,-4.418627633e-04,2.533623244e-04,-7.992997035e-06,-4.520045288e-04,2.682098180e-04,-8.341746052e-06,-4.497428120e-04,7.022137705e-01,-4.205589065e-05,8.597012245e-01,7.022089951e-01,-3.026373206e-05,8.596910827e-01,7.030139044e-01,-1.243847298e-04,8.298757722e-01
+23,2.561666667e+01,DOWN_FORCE_DETACH,1792922241489680347,2.695341135e-04,-3.826627428e-05,-4.779738936e-04,2.694056931e-04,-3.250655817e-05,-4.717556243e-04,2.850146063e-04,-3.133619892e-05,-4.698112535e-04,7.022251669e-01,-6.053700930e-05,8.596651133e-01,7.022250385e-01,-5.477729319e-05,8.596713316e-01,7.030307092e-01,-1.473791826e-04,8.298557037e-01
+24,2.673333333e+01,DOWN_FORCE_DETACH,1792922242587285689,2.844903481e-04,-4.034722896e-05,-5.237602268e-04,2.797429228e-04,-3.469362094e-05,-5.107653480e-04,2.958671220e-04,-3.338922252e-05,-5.090389143e-04,7.022401232e-01,-6.261796399e-05,8.596193270e-01,7.022353757e-01,-5.696435596e-05,8.596323219e-01,7.030415617e-01,-1.494322062e-04,8.298164761e-01
+25,2.796666667e+01,DOWN_FORCE_DETACH,1792922243849223688,2.912973572e-04,-4.406970566e-05,-5.747682383e-04,2.889054630e-04,-4.211245797e-05,-5.722808488e-04,3.051298052e-04,-4.036265048e-05,-5.701360021e-04,7.022469302e-01,-6.634044068e-05,8.595683190e-01,7.022445383e-01,-6.438319299e-05,8.595708064e-01,7.030508244e-01,-1.564056342e-04,8.297553790e-01
+26,2.903333333e+01,DOWN_FORCE_DETACH,1792922244995726905,3.058551302e-04,-4.810870452e-05,-6.205419033e-04,2.966212766e-04,-4.241430463e-05,-6.123231503e-04,3.130059064e-04,-4.068267848e-05,-6.105018153e-04,7.022614879e-01,-7.037943954e-05,8.595225453e-01,7.022522541e-01,-6.468503965e-05,8.595307641e-01,7.030587005e-01,-1.567256622e-04,8.297150132e-01
+27,3.020000000e+01,DOWN_FORCE_DETACH,1792922246239919310,3.216635096e-04,-5.233018150e-05,-6.855965250e-04,3.166049098e-04,-4.920198049e-05,-6.691032622e-04,3.337383737e-04,-4.713935067e-05,-6.672846822e-04,7.022772963e-01,-7.460091653e-05,8.594574907e-01,7.022722377e-01,-7.147271552e-05,8.594739840e-01,7.030794330e-01,-1.631823344e-04,8.296582303e-01
+28,3.111666667e+01,DOWN_FORCE_DETACH,1792922247158462694,3.317312543e-04,-5.430918459e-05,-7.276427449e-04,3.275817891e-04,-5.220733347e-05,-7.283966540e-04,3.449552511e-04,-5.001966056e-05,-7.261192671e-04,7.022873641e-01,-7.657991961e-05,8.594154445e-01,7.022832146e-01,-7.447806849e-05,8.594146906e-01,7.030906499e-01,-1.660626443e-04,8.295993957e-01
+29,3.238333333e+01,DOWN_FORCE_DETACH,1792922248434958725,3.459159881e-04,-5.386714111e-05,-7.972963436e-04,3.426091426e-04,-5.339690780e-05,-7.863466241e-04,3.603680749e-04,-5.122795122e-05,-7.842799854e-04,7.023015488e-01,-7.613787614e-05,8.593457909e-01,7.022982420e-01,-7.566764282e-05,8.593567406e-01,7.031060627e-01,-1.672709349e-04,8.295412350e-01
+30,3.348333333e+01,DOWN_FORCE_DETACH,1792922249516656304,3.615577985e-04,-5.581262604e-05,-8.641426082e-04,3.540612111e-04,-5.412343873e-05,-8.501716829e-04,3.721117606e-04,-5.198565432e-05,-8.480623079e-04,7.023171906e-01,-7.808336106e-05,8.592789446e-01,7.023096940e-01,-7.639417375e-05,8.592929156e-01,7.031178064e-01,-1.680286380e-04,8.294774527e-01
+31,3.463333333e+01,DOWN_FORCE_DETACH,1792922250728151250,3.747102572e-04,-6.026958839e-05,-9.331458279e-04,3.721672524e-04,-6.288927884e-05,-9.329836028e-04,3.904186132e-04,-6.022525651e-05,-9.303069651e-04,7.023303431e-01,-8.254032342e-05,8.592099414e-01,7.023278001e-01,-8.516001386e-05,8.592101036e-01,7.031361132e-01,-1.762682402e-04,8.293952080e-01
+32,3.570000000e+01,DOWN_FORCE_DETACH,1792922251825831277,3.842030392e-04,-6.744801119e-05,-1.009017759e-03,3.836833704e-04,-5.738123226e-05,-9.943020284e-04,4.021519128e-04,-5.513664097e-05,-9.918251365e-04,7.023398359e-01,-8.971874621e-05,8.591340695e-01,7.023393162e-01,-7.965196728e-05,8.591487852e-01,7.031478465e-01,-1.711796247e-04,8.293336899e-01
+33,3.688333333e+01,DOWN_FORCE_DETACH,1792922253005061985,4.005608493e-04,-6.815606102e-05,-1.088942269e-03,3.971905822e-04,-6.227969124e-05,-1.072850158e-03,4.158335692e-04,-5.979249997e-05,-1.070297593e-03,7.023561937e-01,-9.042679604e-05,8.590541450e-01,7.023528234e-01,-8.455042626e-05,8.590702371e-01,7.031615282e-01,-1.758354837e-04,8.292552174e-01
+34,3.800000000e+01,DOWN_FORCE_DETACH,1792922254118943436,4.158298726e-04,-6.605440943e-05,-1.176687446e-03,4.150403876e-04,-6.962433254e-05,-1.171954021e-03,4.337631447e-04,-6.671247209e-05,-1.168738018e-03,7.023714627e-01,-8.832514446e-05,8.589663998e-01,7.023706732e-01,-9.189506756e-05,8.589711332e-01,7.031794578e-01,-1.827554558e-04,8.291567770e-01
+35,3.911666667e+01,DOWN_FORCE_DETACH,1792922255249239458,4.315783505e-04,-7.364043516e-05,-1.264117016e-03,4.324265560e-04,-6.906234636e-05,-1.257335691e-03,4.515070438e-04,-6.626542101e-05,-1.254051671e-03,7.023872112e-01,-9.591117019e-05,8.588789702e-01,7.023880594e-01,-9.133308138e-05,8.588857515e-01,7.031972017e-01,-1.823084047e-04,8.290714633e-01
+36,4.015000000e+01,DOWN_FORCE_DETACH,1792922256281133113,4.478864532e-04,-7.964006951e-05,-1.355464603e-03,4.426925103e-04,-7.619419580e-05,-1.341398690e-03,4.619252188e-04,-7.300061481e-05,-1.338217609e-03,7.024035193e-01,-1.019108045e-04,8.587876226e-01,7.023983253e-01,-9.846493082e-05,8.588016885e-01,7.032076198e-01,-1.890435985e-04,8.289872974e-01
+37,4.115000000e+01,DOWN_FORCE_DETACH,1792922257280391267,4.658466487e-04,-7.990977730e-05,-1.450189034e-03,4.643849272e-04,-7.825078028e-05,-1.438502613e-03,4.839886511e-04,-7.504101194e-05,-1.435013626e-03,7.024214795e-01,-1.021805123e-04,8.586928982e-01,7.024200177e-01,-1.005215153e-04,8.587045846e-01,7.032296833e-01,-1.910839957e-04,8.288905014e-01
+38,4.230000000e+01,DOWN_FORCE_DETACH,1792922258459793349,4.831794104e-04,-7.950516428e-05,-1.563741197e-03,4.798184489e-04,-8.297625793e-05,-1.545381830e-03,4.996161546e-04,-7.955815982e-05,-1.541960727e-03,7.024388122e-01,-1.017758993e-04,8.585793460e-01,7.024354513e-01,-1.052469930e-04,8.585977054e-01,7.032453108e-01,-1.956011435e-04,8.287835543e-01
+39,4.335000000e+01,DOWN_FORCE_DETACH,1792922259578408611,5.041952579e-04,-9.008346247e-05,-1.691591935e-03,5.007407787e-04,-8.274734273e-05,-1.673821729e-03,5.205077498e-04,-7.942911866e-05,-1.669830059e-03,7.024598281e-01,-1.123541975e-04,8.584514953e-01,7.024563736e-01,-1.050180777e-04,8.584692655e-01,7.032662024e-01,-1.954721024e-04,8.286556849e-01
+40,4.433333333e+01,DOWN_FORCE_DETACH,1792922260633795354,5.213105340e-04,-8.603869077e-05,-1.824228203e-03,5.220525380e-04,-8.626866865e-05,-1.815623441e-03,5.416101515e-04,-8.281537841e-05,-1.810701553e-03,7.024769434e-01,-1.083094258e-04,8.583188590e-01,7.024776854e-01,-1.085394037e-04,8.583274638e-01,7.032873048e-01,-1.988583621e-04,8.285148134e-01
+41,4.528333333e+01,DOWN_FORCE_DETACH,1792922261611408470,5.370350225e-04,-9.063797140e-05,-1.960756946e-03,5.368728640e-04,-9.053707266e-05,-1.960996585e-03,5.559888678e-04,-8.683807959e-05,-1.955310933e-03,7.024926678e-01,-1.129087064e-04,8.581823303e-01,7.024925057e-01,-1.128078077e-04,8.581820907e-01,7.033016835e-01,-2.028810633e-04,8.283702041e-01
+42,4.613333333e+01,DOWN_FORCE_DETACH,1792922262456771289,5.547380238e-04,-9.690719276e-05,-2.080346925e-03,5.488859606e-04,-8.905486855e-05,-2.064559699e-03,5.678260630e-04,-8.544953774e-05,-2.059668035e-03,7.025103708e-01,-1.191779278e-04,8.580627403e-01,7.025045188e-01,-1.113256036e-04,8.580785275e-01,7.033135207e-01,-2.014925215e-04,8.282658470e-01
+43,4.713333333e+01,DOWN_FORCE_DETACH,1792922263456337685,5.723863168e-04,-8.754743776e-05,-2.241738461e-03,5.707236021e-04,-9.147021567e-05,-2.237148368e-03,5.891697634e-04,-8.775914592e-05,-2.231315385e-03,7.025280191e-01,-1.098181728e-04,8.579013488e-01,7.025263564e-01,-1.137409507e-04,8.579059389e-01,7.033348644e-01,-2.038021296e-04,8.280941996e-01
+44,4.815000000e+01,DOWN_FORCE_DETACH,1792922264455362359,5.918333530e-04,-9.147000487e-05,-2.401599621e-03,5.869673375e-04,-8.790990309e-05,-2.383106555e-03,6.050725372e-04,-8.446015110e-05,-2.377864592e-03,7.025474662e-01,-1.137407399e-04,8.577414876e-01,7.025426002e-01,-1.101806381e-04,8.577599807e-01,7.033507671e-01,-2.005031348e-04,8.279476504e-01
+45,4.898333333e+01,DOWN_FORCE_DETACH,1792922265290482046,6.122789439e-04,-9.200465194e-05,-2.547176103e-03,6.078338910e-04,-9.146938570e-05,-2.546215263e-03,6.254060915e-04,-8.796794960e-05,-2.540064735e-03,7.025679118e-01,-1.142753870e-04,8.575959111e-01,7.025634667e-01,-1.137401207e-04,8.575968720e-01,7.033711007e-01,-2.040109333e-04,8.277854503e-01
+46,4.975000000e+01,DOWN_FORCE_DETACH,1792922266044109783,6.253044577e-04,-9.493875305e-05,-2.693209733e-03,6.249887911e-04,-9.496447480e-05,-2.693179632e-03,6.421236846e-04,-9.130913060e-05,-2.686591136e-03,7.025809373e-01,-1.172094881e-04,8.574498775e-01,7.025806216e-01,-1.172352098e-04,8.574499076e-01,7.033878183e-01,-2.073521143e-04,8.276389239e-01
+47,5.063333333e+01,DOWN_FORCE_DETACH,1792922266912047822,6.423074146e-04,-1.020059112e-04,-2.872025511e-03,6.376893601e-04,-9.586075702e-05,-2.865179083e-03,6.538108398e-04,-9.223287266e-05,-2.858536879e-03,7.025979402e-01,-1.242766463e-04,8.572710617e-01,7.025933222e-01,-1.181314920e-04,8.572779082e-01,7.033995055e-01,-2.082758564e-04,8.274669781e-01
+48,5.143333333e+01,DOWN_FORCE_DETACH,1792922267698944654,6.630808671e-04,-1.009237863e-04,-3.042421346e-03,6.601502196e-04,-1.010443953e-04,-3.024276909e-03,6.758199964e-04,-9.715155534e-05,-3.017835867e-03,7.026187137e-01,-1.231945213e-04,8.571006659e-01,7.026157830e-01,-1.233151303e-04,8.571188103e-01,7.034215146e-01,-2.131945391e-04,8.273076791e-01
+49,5.221666667e+01,DOWN_FORCE_DETACH,1792922268468686035,6.751955840e-04,-1.033673867e-04,-3.221516077e-03,6.737430767e-04,-9.961512768e-05,-3.203072848e-03,6.885375026e-04,-9.587676047e-05,-3.196358078e-03,7.026308284e-01,-1.256381218e-04,8.569215712e-01,7.026293759e-01,-1.218858627e-04,8.569400144e-01,7.034342321e-01,-2.119197442e-04,8.271291569e-01
+50,5.293333333e+01,DOWN_FORCE_DETACH,1792922269206262116,6.871236001e-04,-1.041496318e-04,-3.401594968e-03,6.886261344e-04,-1.041217578e-04,-3.398564803e-03,7.022193699e-04,-1.001254908e-04,-3.390826935e-03,7.026427564e-01,-1.264203668e-04,8.567414923e-01,7.026442590e-01,-1.263924929e-04,8.567445224e-01,7.034479140e-01,-2.161684745e-04,8.269346881e-01
+51,5.365000000e+01,DOWN_FORCE_DETACH,1792922269925942532,7.039206334e-04,-1.039058646e-04,-3.575741908e-03,7.038442604e-04,-1.045245518e-04,-3.571560732e-03,7.166304424e-04,-1.005038695e-04,-3.563767414e-03,7.026595535e-01,-1.261765996e-04,8.565673453e-01,7.026594771e-01,-1.267952868e-04,8.565715265e-01,7.034623251e-01,-2.165468532e-04,8.267617476e-01
+52,5.440000000e+01,DOWN_FORCE_DETACH,1792922270664015337,7.229724234e-04,-1.040162982e-04,-3.775148232e-03,7.227414176e-04,-1.037875804e-04,-3.775077790e-03,7.344441793e-04,-9.990216474e-05,-3.766725665e-03,7.026786052e-01,-1.262870332e-04,8.563679390e-01,7.026783742e-01,-1.260583154e-04,8.563680094e-01,7.034801388e-01,-2.159451485e-04,8.265587893e-01
+53,5.503333333e+01,DOWN_FORCE_DETACH,1792922271302211317,7.381952502e-04,-1.043077461e-04,-3.951098304e-03,7.328834233e-04,-1.068208639e-04,-3.950017823e-03,7.435186800e-04,-1.028468709e-04,-3.941739870e-03,7.026938281e-01,-1.265784811e-04,8.561919889e-01,7.026885162e-01,-1.290915989e-04,8.561930694e-01,7.034892133e-01,-2.188898546e-04,8.263837751e-01
+54,5.570000000e+01,DOWN_FORCE_DETACH,1792922271975844713,7.523292125e-04,-1.034019373e-04,-4.155494755e-03,7.493926014e-04,-1.025168905e-04,-4.149375291e-03,7.588166169e-04,-9.882162914e-05,-4.140752858e-03,7.027079620e-01,-1.256726723e-04,8.559875925e-01,7.027050254e-01,-1.247876255e-04,8.559937119e-01,7.035045112e-01,-2.148646129e-04,8.261847621e-01
+55,5.631666667e+01,DOWN_FORCE_DETACH,1792922272596538374,7.574359546e-04,-1.054774101e-04,-4.360868546e-03,7.578158513e-04,-1.054371303e-04,-4.350820614e-03,7.657784104e-04,-1.016742073e-04,-4.341918624e-03,7.027130688e-01,-1.277481451e-04,8.557822187e-01,7.027134487e-01,-1.277078653e-04,8.557922666e-01,7.035114730e-01,-2.177171910e-04,8.259835964e-01
+56,5.691666667e+01,DOWN_FORCE_DETACH,1792922273185976372,7.783492274e-04,-1.041694135e-04,-4.550793335e-03,7.783298030e-04,-1.043101346e-04,-4.550923607e-03,7.852018999e-04,-1.006100161e-04,-4.541397751e-03,7.027339820e-01,-1.264401485e-04,8.555922939e-01,7.027339626e-01,-1.265808696e-04,8.555921636e-01,7.035308965e-01,-2.166529998e-04,8.257841172e-01
+57,5.756666667e+01,DOWN_FORCE_DETACH,1792922273841097822,7.901923014e-04,-1.086211682e-04,-4.775323523e-03,7.901031956e-04,-1.085186420e-04,-4.775256233e-03,7.952942767e-04,-1.044666704e-04,-4.765364524e-03,7.027458251e-01,-1.308919033e-04,8.553677637e-01,7.027457360e-01,-1.307893770e-04,8.553678310e-01,7.035409889e-01,-2.205096541e-04,8.255601505e-01
+58,5.810000000e+01,DOWN_FORCE_DETACH,1792922274431369213,8.004144876e-04,-1.063765997e-04,-4.996923892e-03,8.003883006e-04,-1.045137803e-04,-4.989692707e-03,8.038539643e-04,-1.008164891e-04,-4.979349911e-03,7.027560473e-01,-1.286473347e-04,8.551461633e-01,7.027560211e-01,-1.267845153e-04,8.551533945e-01,7.035495486e-01,-2.168594729e-04,8.253461651e-01
+59,5.900000000e+01,DOWN_PEAK_HOLD,1792922275332049303,7.702069876e-04,-1.069421432e-04,-5.162385798e-03,7.754236511e-04,-1.047085944e-04,-5.146688974e-03,7.762584662e-04,-1.010191090e-04,-5.140388186e-03,7.027258398e-01,-1.292128782e-04,8.549807014e-01,7.027310565e-01,-1.269793294e-04,8.549963983e-01,7.035219531e-01,-2.170620928e-04,8.251851268e-01

Fixed/digit/cylinder_PLA_12.5/press_depth_04/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.0893e-01,5.4634e-01,2.4550e+00,-7.6573e-02,5.1838e-02,1.2822e-03,6.5759e-05,-8.8215e-06,-4.1723e-05,5.5879e-07,4.8131e-06,-2.0023e-07,7.8376e-05,4.8495e-06
+1,1.0000e+00,DOWN_FORCE_DETACH,2.5083e-04,2.8967e-01,5.4197e-01,2.4564e+00,-7.6182e-02,5.7587e-02,9.5407e-04,8.0805e-02,-4.3864e-03,1.4071e-03,3.9174e-04,5.7531e-03,-3.2835e-04,8.0936e-02,5.7757e-03
+2,2.0000e+00,DOWN_FORCE_DETACH,5.0006e-04,3.2012e-01,5.4025e-01,2.4577e+00,-7.6010e-02,5.9764e-02,8.0383e-04,1.1125e-01,-6.0983e-03,2.6546e-03,5.6439e-04,7.9309e-03,-4.7859e-04,1.1145e-01,7.9654e-03
+3,3.1833e+00,DOWN_FORCE_DETACH,7.5220e-04,1.7354e-01,5.9336e-01,2.5376e+00,-7.9796e-02,4.8974e-02,8.6090e-04,-3.5322e-02,4.7003e-02,8.2521e-02,-3.2223e-03,-2.8598e-03,-4.2153e-04,1.0132e-01,4.3289e-03
+4,4.5167e+00,DOWN_FORCE_DETACH,1.0019e-03,2.6137e-01,6.2839e-01,2.5358e+00,-8.2248e-02,5.5378e-02,7.7669e-04,5.2506e-02,8.2035e-02,8.0747e-02,-5.6738e-03,3.5444e-03,-5.0573e-04,1.2652e-01,6.7090e-03
+5,5.6667e+00,DOWN_FORCE_DETACH,1.2502e-03,2.6862e-01,6.7254e-01,2.5470e+00,-8.5394e-02,5.5906e-02,6.9963e-04,5.9755e-02,1.2619e-01,9.1975e-02,-8.8203e-03,4.0723e-03,-5.8280e-04,1.6719e-01,9.7325e-03
+6,6.8500e+00,DOWN_FORCE_DETACH,1.5003e-03,2.8324e-01,7.3672e-01,2.5394e+00,-9.0020e-02,5.6970e-02,6.5694e-04,7.4377e-02,1.9037e-01,8.4332e-02,-1.3446e-02,5.1362e-03,-6.2548e-04,2.2109e-01,1.4407e-02
+7,8.0000e+00,DOWN_FORCE_DETACH,1.7504e-03,2.4053e-01,6.9830e-01,2.6054e+00,-8.7221e-02,5.3804e-02,5.8176e-04,3.1669e-02,1.5195e-01,1.5037e-01,-1.0647e-02,1.9709e-03,-7.0066e-04,2.1611e-01,1.0850e-02
+8,9.1500e+00,DOWN_FORCE_DETACH,2.0016e-03,2.7702e-01,7.5828e-01,2.5986e+00,-9.1580e-02,5.6426e-02,4.3583e-04,6.8152e-02,2.1193e-01,1.4358e-01,-1.5006e-02,4.5927e-03,-8.4659e-04,2.6490e-01,1.5716e-02
+9,1.0400e+01,DOWN_FORCE_DETACH,2.2539e-03,2.7412e-01,7.5037e-01,2.5595e+00,-9.1088e-02,5.6320e-02,3.0153e-04,6.5258e-02,2.0402e-01,1.0444e-01,-1.4514e-02,4.4867e-03,-9.8089e-04,2.3831e-01,1.5223e-02
+10,1.1183e+01,DOWN_FORCE_DETACH,2.5043e-03,3.1839e-01,7.3825e-01,2.5610e+00,-9.0233e-02,5.9583e-02,1.6807e-04,1.0952e-01,1.9189e-01,1.0601e-01,-1.3659e-02,7.7499e-03,-1.1144e-03,2.4507e-01,1.5744e-02
+11,1.2300e+01,DOWN_FORCE_DETACH,2.7547e-03,3.3390e-01,6.7410e-01,2.5394e+00,-8.5681e-02,6.0717e-02,1.0298e-05,1.2504e-01,1.2775e-01,8.4342e-02,-9.1068e-03,8.8833e-03,-1.2721e-03,1.9765e-01,1.2785e-02
+12,1.3483e+01,DOWN_FORCE_DETACH,3.0068e-03,3.4463e-01,7.3599e-01,2.5154e+00,-9.0218e-02,6.1539e-02,-5.9676e-05,1.3576e-01,1.8963e-01,6.0400e-02,-1.3644e-02,9.7058e-03,-1.3421e-03,2.4092e-01,1.6798e-02
+13,1.4600e+01,DOWN_FORCE_DETACH,3.2539e-03,3.3755e-01,7.2466e-01,2.5137e+00,-8.9451e-02,6.1025e-02,-1.1247e-04,1.2868e-01,1.7831e-01,5.8694e-02,-1.2877e-02,9.1911e-03,-1.3949e-03,2.2759e-01,1.5882e-02
+14,1.5867e+01,DOWN_FORCE_DETACH,3.5037e-03,3.0194e-01,7.6218e-01,2.6179e+00,-9.2070e-02,5.8295e-02,-1.2340e-04,9.3074e-02,2.1582e-01,1.6284e-01,-1.5496e-02,6.4617e-03,-1.4058e-03,2.8594e-01,1.6848e-02
+15,1.6967e+01,DOWN_FORCE_DETACH,3.7563e-03,2.9213e-01,6.7010e-01,2.5979e+00,-8.5433e-02,5.7613e-02,-1.9394e-04,8.3269e-02,1.2375e-01,1.4288e-01,-8.8590e-03,5.7796e-03,-1.4764e-03,2.0655e-01,1.0680e-02
+16,1.8183e+01,DOWN_FORCE_DETACH,4.0047e-03,3.2951e-01,7.7526e-01,2.5575e+00,-9.2969e-02,6.0374e-02,-1.1799e-04,1.2065e-01,2.2891e-01,1.0247e-01,-1.6395e-02,8.5400e-03,-1.4004e-03,2.7830e-01,1.8539e-02
+17,1.9233e+01,DOWN_FORCE_DETACH,4.2556e-03,3.2415e-01,8.0273e-01,2.5560e+00,-9.4882e-02,6.0002e-02,-9.1804e-05,1.1528e-01,2.5638e-01,1.0096e-01,-1.8308e-02,8.1686e-03,-1.3742e-03,2.9869e-01,2.0095e-02
+18,2.0383e+01,DOWN_FORCE_DETACH,4.5065e-03,2.8979e-01,7.8372e-01,2.6774e+00,-9.3374e-02,5.7508e-02,-5.3002e-05,8.0923e-02,2.3737e-01,2.2239e-01,-1.6800e-02,5.6747e-03,-1.3354e-03,3.3518e-01,1.7783e-02
+19,2.1583e+01,DOWN_FORCE_DETACH,4.7574e-03,2.9062e-01,8.3713e-01,2.5850e+00,-9.7093e-02,5.7539e-02,9.7032e-05,8.1752e-02,2.9078e-01,1.2996e-01,-2.0519e-02,5.7054e-03,-1.1854e-03,3.2883e-01,2.1330e-02
+20,2.2733e+01,DOWN_FORCE_DETACH,5.0082e-03,2.4890e-01,8.9012e-01,2.6429e+00,-1.0069e-01,5.4401e-02,2.2304e-04,4.0040e-02,3.4376e-01,1.8783e-01,-2.4115e-02,2.5672e-03,-1.0594e-03,3.9377e-01,2.4275e-02
+21,2.3833e+01,DOWN_FORCE_DETACH,5.2577e-03,2.9958e-01,9.1392e-01,2.5944e+00,-1.0231e-01,5.8129e-02,3.1814e-04,9.0712e-02,3.6757e-01,1.3939e-01,-2.5741e-02,6.2957e-03,-9.6429e-04,4.0344e-01,2.6517e-02
+22,2.4783e+01,DOWN_FORCE_DETACH,5.5045e-03,2.5149e-01,5.1062e-01,2.8110e+00,-7.2974e-02,5.4472e-02,1.5788e-04,4.2625e-02,-3.5736e-02,3.5598e-01,3.6004e-03,2.6389e-03,-1.1245e-03,3.6030e-01,4.6034e-03
+23,2.5617e+01,DOWN_FORCE_DETACH,5.7613e-03,2.1217e-01,8.6114e-01,2.7246e+00,-9.8186e-02,5.1619e-02,5.5226e-04,3.3044e-03,3.1479e-01,2.6954e-01,-2.1612e-02,-2.1438e-04,-7.3016e-04,4.1443e-01,2.1625e-02
+24,2.6733e+01,DOWN_FORCE_DETACH,6.0090e-03,2.4400e-01,8.9509e-01,2.7070e+00,-1.0054e-01,5.3913e-02,5.9801e-04,3.5136e-02,3.4874e-01,2.5197e-01,-2.3968e-02,2.0794e-03,-6.8441e-04,4.3167e-01,2.4068e-02
+25,2.7967e+01,DOWN_FORCE_DETACH,6.2600e-03,2.6704e-01,9.9782e-01,2.7974e+00,-1.0769e-01,5.5627e-02,6.3190e-04,5.8180e-02,4.5147e-01,3.4233e-01,-3.1120e-02,3.7931e-03,-6.5052e-04,5.6956e-01,3.1357e-02
+26,2.9033e+01,DOWN_FORCE_DETACH,6.5101e-03,2.7891e-01,1.0049e+00,2.7190e+00,-1.0842e-01,5.6398e-02,6.0765e-04,7.0049e-02,4.5855e-01,2.6397e-01,-3.1844e-02,4.5642e-03,-6.7478e-04,5.3372e-01,3.2176e-02
+27,3.0200e+01,DOWN_FORCE_DETACH,6.7585e-03,2.5124e-01,1.0812e+00,2.7183e+00,-1.1383e-01,5.4414e-02,6.3027e-04,4.2373e-02,5.3489e-01,2.6324e-01,-3.7252e-02,2.5804e-03,-6.5215e-04,5.9766e-01,3.7347e-02
+28,3.1117e+01,DOWN_FORCE_DETACH,7.0103e-03,2.7173e-01,1.1141e+00,2.7969e+00,-1.1618e-01,5.5939e-02,5.9548e-04,6.2864e-02,5.6776e-01,3.4182e-01,-3.9603e-02,4.1051e-03,-6.8694e-04,6.6569e-01,3.9821e-02
+29,3.2383e+01,DOWN_FORCE_DETACH,7.2607e-03,2.6050e-01,1.1174e+00,2.7586e+00,-1.1647e-01,5.5188e-02,5.3295e-04,5.1639e-02,5.7104e-01,3.0358e-01,-3.9893e-02,3.3545e-03,-7.4948e-04,6.4878e-01,4.0041e-02
+30,3.3483e+01,DOWN_FORCE_DETACH,7.5133e-03,2.7419e-01,1.1162e+00,2.7628e+00,-1.1618e-01,5.5934e-02,5.9367e-04,6.5325e-02,5.6989e-01,3.0781e-01,-3.9603e-02,4.1000e-03,-6.8875e-04,6.5099e-01,3.9821e-02
+31,3.4633e+01,DOWN_FORCE_DETACH,7.7610e-03,2.5716e-01,1.2089e+00,2.8377e+00,-1.2225e-01,5.4768e-02,7.7323e-04,4.8296e-02,6.6252e-01,3.8272e-01,-4.5674e-02,2.9341e-03,-5.0919e-04,7.6664e-01,4.5771e-02
+32,3.5700e+01,DOWN_FORCE_DETACH,8.0103e-03,2.5162e-01,1.1489e+00,2.8421e+00,-1.1806e-01,5.4221e-02,8.6939e-04,4.2753e-02,6.0254e-01,3.8710e-01,-4.1484e-02,2.3873e-03,-4.1304e-04,7.1745e-01,4.1555e-02
+33,3.6883e+01,DOWN_FORCE_DETACH,8.2610e-03,2.6296e-01,1.2044e+00,2.8494e+00,-1.2166e-01,5.4957e-02,9.4809e-04,5.4098e-02,6.5800e-01,3.9436e-01,-4.5085e-02,3.1234e-03,-3.3434e-04,7.6903e-01,4.5195e-02
+34,3.8000e+01,DOWN_FORCE_DETACH,8.5149e-03,2.5837e-01,1.2725e+00,2.9377e+00,-1.2593e-01,5.4587e-02,9.6811e-04,4.9504e-02,7.2610e-01,4.8264e-01,-4.9351e-02,2.7535e-03,-3.1431e-04,8.7328e-01,4.9429e-02
+35,3.9117e+01,DOWN_FORCE_DETACH,8.7623e-03,2.6379e-01,1.2977e+00,2.9474e+00,-1.2760e-01,5.4977e-02,9.1139e-04,5.4929e-02,7.5132e-01,4.9240e-01,-5.1023e-02,3.1434e-03,-3.7104e-04,8.9998e-01,5.1121e-02
+36,4.0150e+01,DOWN_FORCE_DETACH,9.0141e-03,3.0450e-01,1.3560e+00,2.9831e+00,-1.3125e-01,5.7734e-02,6.9802e-04,9.5639e-02,8.0963e-01,5.2805e-01,-5.4677e-02,5.9005e-03,-5.8440e-04,9.7133e-01,5.4997e-02
+37,4.1150e+01,DOWN_FORCE_DETACH,9.2623e-03,2.9776e-01,1.3771e+00,3.0077e+00,-1.3241e-01,5.7332e-02,5.8908e-04,8.8892e-02,8.3074e-01,5.5268e-01,-5.5834e-02,5.4984e-03,-6.9335e-04,1.0017e+00,5.6108e-02
+38,4.2300e+01,DOWN_FORCE_DETACH,9.5126e-03,3.2974e-01,1.4114e+00,3.0185e+00,-1.3441e-01,5.9397e-02,4.9820e-04,1.2088e-01,8.6501e-01,5.6343e-01,-5.7833e-02,7.5632e-03,-7.8423e-04,1.0394e+00,5.8331e-02
+39,4.3350e+01,DOWN_FORCE_DETACH,9.7636e-03,3.1373e-01,1.4043e+00,3.1358e+00,-1.3363e-01,5.8189e-02,4.8450e-04,1.0486e-01,8.5799e-01,6.8079e-01,-5.7060e-02,6.3552e-03,-7.9793e-04,1.1003e+00,5.7418e-02
+40,4.4333e+01,DOWN_FORCE_DETACH,1.0013e-02,2.9880e-01,1.4418e+00,3.2348e+00,-1.3569e-01,5.7003e-02,5.0907e-04,8.9935e-02,8.9540e-01,7.7979e-01,-5.9114e-02,5.1690e-03,-7.7336e-04,1.1908e+00,5.9344e-02
+41,4.5283e+01,DOWN_FORCE_DETACH,1.0266e-02,2.9709e-01,1.4783e+00,3.2631e+00,-1.3784e-01,5.6732e-02,5.3144e-04,8.8228e-02,9.3194e-01,8.0805e-01,-6.1266e-02,4.8988e-03,-7.5099e-04,1.2366e+00,6.1466e-02
+42,4.6133e+01,DOWN_FORCE_DETACH,1.0514e-02,3.1732e-01,1.4981e+00,3.3271e+00,-1.3889e-01,5.7880e-02,5.4412e-04,1.0845e-01,9.5177e-01,8.7211e-01,-6.2315e-02,6.0469e-03,-7.3831e-04,1.2955e+00,6.2612e-02
+43,4.7133e+01,DOWN_FORCE_DETACH,1.0766e-02,3.1669e-01,1.4978e+00,3.4337e+00,-1.3785e-01,5.7659e-02,5.3172e-04,1.0783e-01,9.5145e-01,9.7867e-01,-6.1273e-02,5.8253e-03,-7.5070e-04,1.3692e+00,6.1554e-02
+44,4.8150e+01,DOWN_FORCE_DETACH,1.1018e-02,3.1722e-01,1.4724e+00,3.4214e+00,-1.3605e-01,5.7689e-02,5.0289e-04,1.0836e-01,9.2604e-01,9.6637e-01,-5.9478e-02,5.8559e-03,-7.7954e-04,1.3428e+00,5.9771e-02
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Fixed/digit/cylinder_PLA_12.5/press_depth_04/up/camera_frames_60hz.tar

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

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