Upload Fixed (part 18)

Fixed/digit/ball_15A_20/press_depth_06/down/franka_data.csv

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+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+3010,1792841856274882055,20535804000000,1792841856273560119,XJC_ZERO_HOLD_BEFORE_DOWN,6,0.0755,0.07549828290939331,0.6759077575915348,-0.004736660356940644,0.10674683754798361,0.9999999427973928,0.00010668829724395365,-0.0002996635408663059,6.831870233525237e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.008030990382434267,-0.0004024063736907113,-0.005581967456118941,-5.327128310179258e-05,0.0004913899511550177,1.1545081567250308e-05,0.5723752917716516,0.5980804710690286,0.39294218697940564,0.044966699888241854,-0.042495385500818834,0.0006311955154748053,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.05233397712218337,0.9651323398399959,1.4066696571120454,-0.1697426610216598,-0.9422553615668944,0.5251584352134062,0.7452340179062843,0.005581967456118941,-0.6614356392057611,0.0,0.0,0,0,0.0,0.0
+3090,1792841856942906901,20536472000000,1792841856941563385,DOWN_FORCE_DETACH,6,0.0755,0.07549893856048584,0.6759101391435759,-0.004743055057404822,0.10674981325644214,0.9999999441171411,0.00010273315902577627,-0.0002962619830167086,6.98807170251653e-05,0.6761,-0.0046,0.10699434745099151,1.0,0.0,0.0,0.0,-0.00035248425307887743,0.0027406659841724412,-0.00558706390743452,-5.3434598408654e-05,0.0004913299146737937,1.2053813617152534e-05,0.580053797901007,0.6012235434268918,0.39293709052809006,0.04496653657293499,-0.04249544553730006,0.0006317042475247075,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.09527585931834141,0.936104901566262,1.4389020470226386,-0.15535619166558026,-0.952453754722398,0.5073367155666456,0.7452340179062843,0.00558706390743452,-0.6936680291163543,-0.6936680291163543,0.07139999999999942,0,0,-2.3799995609056996e-05,-9.999999025923074e-05
+3220,1792841858025852244,20537555000000,1792841858021560494,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6759173734857047,-0.004744524093971423,0.1067118350200259,0.9999999476437683,0.00010548426382745855,-0.0002798660067039929,8.187437612744928e-05,0.6761,-0.0046,0.1069392769114646,1.0,0.0,0.0,0.0,-0.030519311340192812,-0.010385769386615618,0.09451385899240111,-0.00010208010316900551,0.0014853151756140173,-5.392030069441029e-05,0.549886970813893,0.5880971080561037,0.4930380134279257,0.04491789106817464,-0.041501460276359835,0.0005657301332131447,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.29336053015042185,0.9121435499391178,1.2082417002378565,-0.12872822898299355,-0.7586643801325402,0.49064160749628627,0.7452340179062843,-0.09451385899240111,-0.4630076823315722,-0.4630076823315722,0.23385000000000664,0,0,-7.794998505980389e-05,-9.999999025923074e-05
+3295,1792841858650820152,20538180000000,1792841858649559899,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6759155773451158,-0.004750156415259557,0.10666592206152488,0.9999999448825931,0.00010758618023321366,-0.0002847886645917931,9.485939843438045e-05,0.6761,-0.0046,0.10688080817270776,1.0,0.0,0.0,0.0,-0.04029516653017562,-0.019909406229460358,0.20365506706905112,-0.0011705501184815711,0.002494109264663362,-0.00014195849121664096,0.5401111156239102,0.578573471213259,0.6021792215045757,0.043849421052862075,-0.04049266618731049,0.000477691942690914,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.4068167303538125,0.8657305753831919,1.0552817468132372,-0.07495201093878456,-0.6317993674026648,0.45553250320535243,0.7452340179062843,-0.20365506706905112,-0.31004772890695287,-0.31004772890695287,0.3275999999999993,0,0,-0.0001091999789718231,-9.999999025923074e-05
+3367,1792841859250791756,20538780000000,1792841859245559852,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6759344213040187,-0.0047583355596626225,0.10663736287315348,0.9999999540706589,0.00010664060369558808,-0.00024498340516264676,0.00010914420386088839,0.6761,-0.0046,0.10680630318708093,1.0,0.0,0.0,0.0,-0.05909812343439369,-0.026361636955938184,0.3046799796946861,-0.0012180126614189934,0.0034865131568047256,-0.00021015496778395057,0.5213081587196922,0.5721212404867811,0.7032041341302107,0.04380195850992465,-0.039500262295169127,0.0004094954661236044,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.4211718301353331,0.8804278932333514,0.9226822081361299,-0.023800023129901194,-0.5575033875406196,0.46178397508165825,0.7452340179062843,-0.3046799796946861,-0.1774481902298456,-0.1774481902298456,0.41759999999998937,0,0,-0.00013919997312736155,-9.999999025923074e-05
+3415,1792841859650740595,20539180000000,1792841859645560527,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.67592936366117,-0.004756752380149589,0.10655478661740621,0.9999999475379682,0.0001181436553568396,-0.0002580285186946311,0.00012581846267964973,0.6761,-0.0046,0.10674663319861119,1.0,0.0,0.0,0.0,-0.08833729744966501,-0.02389794237118681,0.4831170364532128,-0.0011079267904783446,0.006487561987328645,-0.0003097433979834287,0.49206898470442084,0.5745849350715325,0.8816411908887374,0.0439120443808653,-0.03649921346464521,0.0003099070359241263,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.5033040321247616,0.8778034613490298,0.7331013207303934,-0.0031218975454840167,-0.41881585004921157,0.4487811316938072,0.7452340179062843,-0.4831170364532128,0.012132697175890939,0.012132697175890939,0.47759999999998276,0,0,-0.00015919996923105385,-9.999999025923074e-05
+3479,1792841860183777403,20539713000000,1792841860181559846,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6759597623614767,-0.004762897843277734,0.10652947038983072,0.9999999564512491,0.00011794628982692853,-0.00021249429710990827,0.00013955361227272682,0.6761,-0.0046,0.10665469071639726,1.0,0.0,0.0,0.0,-0.1270420934394012,0.006652147413089726,0.5452427942236165,0.0006153342184378602,0.009343411842129307,0.0003225305459420623,0.45336418871468465,0.6051350248558091,0.9437669486591411,0.04563530538978151,-0.033643363609844545,0.0009421809798496173,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.6283481589018208,0.8372545595013886,0.5665719458406593,0.023946415980967493,-0.29031961306274906,0.4227317236836551,0.7452340179062843,-0.5452427942236165,0.178662072065625,0.178662072065625,0.557549999999974,0,0,-0.00018584996403922383,-9.999999025923074e-05
+3534,1792841860642738224,20540172000000,1792841860641560543,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760005034483125,-0.004739110091602359,0.1064869963270898,0.9999999838325804,-8.106539792829272e-08,-0.00014965617367929807,3.715813146133878e-05,0.6761,-0.0046,0.10656413003393159,1.0,0.0,0.0,0.0,-0.13105766630335935,0.10252294096248982,0.6457125165817293,0.007763750741618586,0.009615231943744647,0.0007442593226113587,0.4493486158507265,0.7010058184052091,1.044236671017254,0.05278372191296223,-0.033371543508229205,0.0013639097565189137,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.7861392720498986,0.9874363202184947,0.5218671591172737,-0.1540507149733438,-0.20095852984313411,0.554587486656705,0.7452340179062843,-0.6457125165817293,0.22336685878901064,0.22336685878901064,0.6263999999999664,0,0,-0.00020879995956821074,-9.999999025923074e-05
+3597,1792841861167724333,20540697000000,1792841861165560324,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760090994765048,-0.004748110159640225,0.10640178008687208,0.9999999849135799,6.769692482578758e-06,-0.00013195276896717857,6.448521214894013e-05,0.6761,-0.0046,0.10644795596883734,1.0,0.0,0.0,0.0,-0.1595465538900917,0.08483011116386496,0.8336278741769457,0.0076621013910039,0.011297669433101176,0.0006040908730310428,0.42085972826399415,0.6833129886065843,1.2321520286124703,0.05268207256234755,-0.031689106018872676,0.0012237413069385978,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.8682322392683314,0.8187925809531794,0.2036194338881366,-0.018532458361945454,0.005524815822960945,0.42665224450162187,0.7452340179062843,-0.8336278741769457,0.5416145840181477,0.5416145840181477,0.7051499999999578,0,0,-0.00023005440963755485,9.999994862586731e-05
+3666,1792841861742661893,20541272000000,1792841861741559872,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760230312253392,-0.004756450470464484,0.10630885302157027,0.9999999865138479,5.913845582224893e-06,-0.00010612822468859677,8.436228303812992e-05,0.6761,-0.0046,0.10632151929209406,1.0,0.0,0.0,0.0,-0.19455616009976445,0.08595540402102653,1.0695369214833819,0.007516610441200174,0.0142768250024095,0.000454841030449849,0.3858501220543214,0.6844382814637459,1.4680610759189063,0.05253658161254382,-0.028709950449564352,0.001074491464357404,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.9479570991802411,0.8857647954152698,-0.10555264363822874,0.00647308229888762,0.21736379168693878,0.4547441971637466,0.7452340179062843,-1.0695369214833819,0.850786661544513,0.850786661544513,0.7913999999999483,0,0,-0.00020626461788989114,9.999999025923074e-05
+3741,1792841862367670013,20541897000000,1792841862365559933,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6760381369294077,-0.004762619746989486,0.10622055279123192,0.9999999882783978,-1.1151165629880363e-05,-8.106221466771027e-05,9.050214160567504e-05,0.6761,-0.0046,0.10620235390400734,1.0,0.0,0.0,0.0,-0.2169716026135456,0.08469804405530645,1.2774636315108578,0.007427626169134283,0.016171877567232998,0.0003433288532033741,0.36343467954054026,0.6831809214980258,1.6759877859463825,0.05244759734047793,-0.026814897884740854,0.0009629792871109291,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,0.9897104333509988,0.8058694057647112,-0.17377468446391553,0.04692015724124395,0.2651444072564727,0.39608763176411,0.7452340179062843,-1.2774636315108578,0.9190087023701998,0.9190087023701998,0.8851499999999379,0,0,-0.00017501462397787192,9.999999025923074e-05
+3813,1792841862967540636,20542497000000,1792841862961560493,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760477771941614,-0.004766811069190936,0.10614404098561628,0.9999999894814143,-3.41879963959372e-05,-6.50040649786094e-05,8.41765299778337e-05,0.6761,-0.0046,0.10610633012786436,1.0,0.0,0.0,0.0,-0.22763077122557207,0.08770441621399994,1.4485483745140453,0.008385095805527765,0.01682159871139518,0.0012249748358353295,0.3527755109285138,0.6861872936567193,1.8470725289495697,0.05340506697687141,-0.026165176740578673,0.0018446252697428844,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.061849650802579,0.899959045488637,-0.5469388551782174,0.024151359895093392,0.5259890118344571,0.45332177801442647,0.7452340179062843,-1.4485483745140453,1.2921728730845017,1.2921728730845017,0.975149999999928,0,0,-0.00014501462982233348,9.999999025923074e-05
+3876,1792841863492618229,20543022000000,1792841863485560549,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760557376579941,-0.004763821475566151,0.10608865920314134,0.999999990049123,-4.3020357398770245e-05,-4.7938293421399354e-05,8.482798658994511e-05,0.6761,-0.0046,0.10603707494586267,1.0,0.0,0.0,0.0,-0.24551710354839157,0.09587052863768297,1.560855404240574,0.008337148784840202,0.01821043173513614,0.0011577327898326982,0.3348891786056943,0.6943534060804023,1.9593795586760985,0.05335711995618385,-0.024776343716837713,0.001777383223740253,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.0422001121990196,0.8188681584311668,-0.5532813588299226,0.05321890948403894,0.5211899570333978,0.4014293428142801,0.7452340179062843,-1.560855404240574,1.2985153767362068,1.2985153767362068,1.0538999999999592,0,0,-0.00011876463493623734,9.999999025923074e-05
+3951,1792841864117528117,20543647000000,1792841864109560690,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6760611495644099,-0.00476994835190446,0.10603355179572517,0.9999999896897805,-5.527346983751482e-05,-3.963009617719872e-05,8.62415354371894e-05,0.6761,-0.0046,0.10597259704712199,1.0,0.0,0.0,0.0,-0.24755313874383833,0.08200822081760528,1.653914848284188,0.009316279384402527,0.01820198557536766,0.0010943848751648172,0.3328531434102475,0.6804910982603246,2.0524390027197126,0.054336250555746174,-0.024784789876606192,0.0017140353090723723,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.0568854092087092,0.8229540264707944,-0.7462292472445741,0.05805609005655136,0.6489327700318226,0.4025720546775868,0.7452340179062843,-1.653914848284188,1.4914632651508584,1.4914632651508584,1.1476500000000183,0,0,-8.751464102421812e-05,9.999999025923074e-05
+4040,1792841864858543318,20544388000000,1792841864857560677,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.676068546966095,-0.004767197932976152,0.10599404816991236,0.9999999900743288,-5.996867178651988e-05,-2.820467677745011e-05,8.308105376000166e-05,0.6761,-0.0046,0.1059214571954452,1.0,0.0,0.0,0.0,-0.2656819928217066,0.09428276545788006,1.7333368729539607,0.009285350411016247,0.019169589760158853,0.001043201122696678,0.3147242893323792,0.6927656429005994,2.131861027389485,0.05430532158235989,-0.023817185691815,0.001662851556604233,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.124244836858479,0.7622165525843266,-0.7725533557115924,0.07510873418319446,0.6851994781018972,0.3636310838163212,0.7452340179062843,-1.7333368729539607,1.5177873736178769,1.5177873736178769,1.2588000000000883,0,0,-5.0464648242128145e-05,9.999999025923074e-05
+4144,1792841865725457844,20545255000000,1792841865717569432,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760703225149628,-0.004768224620031039,0.10596650064093893,0.9999999897259984,-6.602787459969097e-05,-2.5353743342338583e-05,8.359650073347387e-05,0.6761,-0.0046,0.10589646778760929,1.0,0.0,0.0,0.0,-0.2573656571626347,0.09469627486389154,1.7641808936679118,0.00927946859780978,0.019162716148045534,0.0010192987347386671,0.32304062499145114,0.6931791523066109,2.1627050481034362,0.054299439769153426,-0.023824059303928318,0.0016389491686462222,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.09830286008349,0.8075252435928308,-0.759376113060238,0.0664119982870832,0.6688284219930773,0.3910677348983429,0.7452340179062843,-1.7641808936679118,1.5046101309665223,1.5046101309665223,1.3888500000001702,0,0,-7.488019282131386e-06,7.563655840536754e-05
+4222,1792841866375464257,20545905000000,1792841866369569510,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6760700583075354,-0.004766754379181021,0.10596115323800691,0.9999999899796049,-6.437129536590602e-05,-2.639185438057159e-05,8.150742885970823e-05,0.6761,-0.0046,0.10589493560949859,1.0,0.0,0.0,0.0,-0.25732013945098164,0.0859448343381426,1.7634065147669795,0.009278256195066406,0.019163640066837292,0.0010199148162301484,0.3230861427031042,0.6844277117808619,2.161930669202504,0.05429822736641005,-0.02382313538513656,0.0016395652501377035,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.0393109702604408,0.7667846735725471,-0.8238979028764861,0.07154654469200866,0.695029649152634,0.3648471608244247,0.7452340179062843,-1.7634065147669795,1.5691319207827705,1.5691319207827705,1.4863500000002317,0,0,-6.341944019938595e-07,6.406004060544035e-06
+4307,1792841867083433849,20546613000000,1792841867081569582,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760717569314897,-0.004768491607745754,0.10595990539369599,0.999999989843638,-6.743638147360459e-05,-2.2869878087556497e-05,8.176118489724075e-05,0.6761,-0.0046,0.10589033563856742,1.0,0.0,0.0,0.0,-0.26648221305750736,0.08595927327084352,1.763391708746986,0.009277569536184034,0.019163836148740284,0.0010188028207306506,0.3139240690965785,0.6844421507135628,2.1619158631825104,0.05429754070752768,-0.023822939303233568,0.0016384532546382055,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.0192458895981338,0.9016134271551273,-0.8488128419776186,0.030673169229468694,0.7060684444687048,0.45096803703275046,0.7452340179062843,-1.763391708746986,1.5940468598839028,1.5940468598839028,1.5925500000002986,0,0,-1.5520128464315046e-05,9.301370370995982e-05
+4401,1792841867867438550,20547397000000,1792841867865560198,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760714655579441,-0.004767491754361019,0.1059425257025524,0.9999999896500161,-6.902639439922885e-05,-2.380105959773311e-05,8.253301437005608e-05,0.6761,-0.0046,0.10586707724220554,1.0,0.0,0.0,0.0,-0.26595393338362927,0.08365510339305116,1.7830853467650147,0.008258615823233534,0.01917827025165878,0.000991471565770024,0.3144523487704566,0.6821379808357705,2.181609501200539,0.05327858699457718,-0.02380850520031507,0.001611121999677579,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.1124753863961512,0.862267179020685,-0.800418124878274,0.05012662892755591,0.6991351457754914,0.4256451196761808,0.7452340179062843,-1.7830853467650147,1.5456521427845584,1.5456521427845584,1.7101500000003726,0,0,-4.4905059153081635e-05,-9.999999025923074e-05
+4496,1792841868658410923,20548188000000,1792841868657569351,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760802474047949,-0.004766052553817206,0.10591309803087887,0.9999999897822056,-7.352901759248833e-05,-6.613473071719392e-06,8.017604841530639e-05,0.6761,-0.0046,0.10581679900592161,1.0,0.0,0.0,0.0,-0.2762040229356765,0.08915808367155731,1.8528018684005296,0.009234413137899453,0.02015774576314349,0.0009611162091515553,0.3042022592184094,0.6876409611142766,2.251326022836054,0.0542543843092431,-0.02282902968883036,0.0015807666430591102,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.0956633560313513,0.8377543799776086,-0.8621001687022606,0.06371767455871802,0.7268904420664648,0.4129281567633361,0.7452340179062843,-1.8528018684005296,1.6073341866085449,1.6073341866085449,1.8288000000004474,0,0,-8.271324097450095e-05,-9.999999025923074e-05
+4576,1792841869325344276,20548855000000,1792841869317570304,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6760882592823051,-0.00476924104559832,0.10586864238877051,0.9999999891049944,-8.028660669574025e-05,4.933240585615168e-06,8.223502517938795e-05,0.6761,-0.0046,0.10575321423082375,1.0,0.0,0.0,0.0,-0.28593180390166706,0.09312001088651045,1.9438183849929764,0.00938566440778675,0.021147350837948158,0.0009045444057017563,0.2944744782524188,0.6916028883292298,2.342342539428501,0.0544056355791304,-0.021839424614025695,0.0015241948396093113,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.197245144606494,0.8153016823283273,-1.0358501298691545,0.0761041522687728,0.8651829270552609,0.39918006181226035,0.7452340179062843,-1.9438183849929764,1.7810841477754389,1.7810841477754389,1.9288500000005104,0,0,-0.00010584022387269266,-9.999971270347458e-05
+4655,1792841869983345695,20549513000000,1792841869981560374,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6761013642882522,-0.004768020151524886,0.1058160934399478,0.9999999878339746,-8.845042789378625e-05,2.9824774498968527e-05,8.403522902857907e-05,0.6761,-0.0046,0.10567942813813061,1.0,0.0,0.0,0.0,-0.3054568799929381,0.1017414526214444,2.06318348942235,0.010155257954542023,0.022333097790421183,0.0008312892761520436,0.27494940216114777,0.7002243300641637,2.4617076438578747,0.05517522912588567,-0.02065367766155267,0.0014509397100595986,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.2567591101908113,0.7988411205457518,-1.2359341879839567,0.08032027195115918,1.0070811314080297,0.3853726714404862,0.7452340179062843,-2.06318348942235,1.9811682058902411,1.9811682058902411,2.0275500000005726,0,0,-0.00011581290910026165,7.50243853416876e-05
+4735,1792841870650277104,20550180000000,1792841870645560328,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6761121495810917,-0.004774444245763214,0.10576191185069919,0.99999998642497,-9.428091200732014e-05,4.8100349422652315e-05,8.596737914095776e-05,0.6761,-0.0046,0.1056049018705686,1.0,0.0,0.0,0.0,-0.32069677564363275,0.09639150861437262,2.154713800317137,0.01009307132539232,0.023722392925596317,0.0007861420762192254,0.2597095065104531,0.694874386057092,2.5532379547526616,0.055113042496735966,-0.019264382526377535,0.0014057925101267803,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.2501712173853456,0.7919508694569554,-1.3087888752564107,0.0860152091430455,1.0519947716072675,0.38211895076481794,0.7452340179062843,-2.154713800317137,2.054022893162695,2.054022893162695,2.1276000000006356,0,0,-0.00011010570891559356,9.921936469504117e-05
+4808,1792841871258220479,20550788000000,1792841871257560301,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761166836821272,-0.004777587018488093,0.10570573496561277,0.9999999850783677,-0.00010249272890673507,5.705139280640631e-05,8.675544806055263e-05,0.6761,-0.0046,0.1055386148631281,1.0,0.0,0.0,0.0,-0.32480185044863913,0.1056230708790018,2.2454192888665814,0.010066895337296176,0.024101717494360728,0.0017396853081865457,0.2556044317054467,0.7041059483217211,2.643943443302106,0.05508686650863982,-0.018885057957613124,0.0023593357420941007,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.2643334040515994,0.8248036421460935,-1.3169984252678943,0.08048906508458947,1.059874838502928,0.4051217862941329,0.7452340179062843,-2.2454192888665814,2.0622324431741785,2.0622324431741785,2.218800000000693,0,0,-0.00010652355487558574,-9.999999025923074e-05
+4879,1792841871850216625,20551380000000,1792841871845569798,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6761205022344232,-0.004776271884399947,0.1056523739123945,0.9999999894857899,3.247976230060789e-05,6.157877184315205e-05,8.731783508143428e-05,0.6761,-0.0046,0.105475620514822,1.0,0.0,0.0,0.0,-0.3250472859241391,0.0927310342586305,2.3297177576253842,0.01005912582839432,0.02407669624606413,0.0010237750323128193,0.25535899622994673,0.6912139117013498,2.7282419120609087,0.05507909699973797,-0.018910079205909723,0.0016434254662203744,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.2457548149699509,0.7982663955948093,-1.364009068849871,0.0842440324623915,1.0822058728519006,0.3741157030410058,0.7452340179062843,-2.3297177576253842,2.1092430867561553,2.1092430867561553,2.307600000000749,0,0,-0.00010380022853337246,-9.998779168374767e-05
+4969,1792841872600191561,20552130000000,1792841872597560200,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761320632364928,-0.004770083394732813,0.10559018562140937,0.9999999886098986,1.9449601287054445e-05,7.953682143092298e-05,8.671028804824665e-05,0.6761,-0.0046,0.10539600969108619,1.0,0.0,0.0,0.0,-0.3308194915674558,0.1145929909170259,2.4162072154727783,0.011023622140266379,0.025058943702608416,0.0016281169126864175,0.24958679058663003,0.7130758683597452,2.8147313699083027,0.056043593311610025,-0.017927831749365436,0.0022477673465939726,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3745108472363756,0.9493096599925172,-1.631277405654601,0.006188862133581835,1.2953125463516555,0.41550773805011665,0.7452340179062843,-2.4162072154727783,2.3765114235608853,2.3765114235608853,2.42010000000082,0,0,-0.00011028625468837016,9.999847758035969e-05
+5056,1792841873325207568,20552855000000,1792841873321560674,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6761458694056454,-0.004772173521977189,0.10552660295935273,0.9999999866369016,-1.4603976945281528e-07,0.0001040533559587566,8.568511427563799e-05,0.6761,-0.0046,0.10531168137883092,1.0,0.0,0.0,0.0,-0.3359324243643578,0.11991733057109533,2.4869145216198874,0.01203056445277962,0.025024849848853344,0.0015819422679032033,0.24447385778972805,0.7184002080138147,2.885438676055412,0.057050535624123266,-0.01796192560312051,0.0022015927018107584,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3508329796119296,0.9043154217085739,-1.6120184083430236,0.03808437346269705,1.2694284684459534,0.4030711930225569,0.7452340179062843,-2.4869145216198874,2.3572524262493078,2.3572524262493078,2.5288500000008884,0,0,-0.00012049248305642658,-9.923596252925932e-05
+5140,1792841874025165389,20553555000000,1792841874017570095,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761507110641899,-0.00477961561054357,0.10545335185435221,0.9999999854521002,-2.222544671772796e-05,0.00011153610546056632,8.720315614454774e-05,0.6761,-0.0046,0.10522475659711507,1.0,0.0,0.0,0.0,-0.3176807003278742,0.13275074389861496,2.5772809130000143,0.012014901737365066,0.025003944548912187,0.0015111730869773977,0.26272558182621164,0.7312336213413343,2.9758050674355387,0.05703487290870871,-0.017982830903061665,0.002130823520884953,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3694262623591573,0.8792496228730572,-1.7163850748418803,0.0699432765977725,1.337406239161608,0.4120694552221608,0.7452340179062843,-2.5772809130000143,2.4616190927481645,2.4616190927481645,2.6338500000009546,0,0,-0.0001274041880841833,-9.99601471304345e-05
+5209,1792841874600125333,20554130000000,1792841874593560719,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761553246386202,-0.0047719259428190075,0.10538487363740032,0.9999999842154524,-3.496788448470942e-05,0.00012028576583917401,8.556015932875875e-05,0.6761,-0.0046,0.1051490173552871,1.0,0.0,0.0,0.0,-0.31728075796486493,0.13248166010393758,2.6174296980558944,0.012009670623976551,0.024913305934211705,0.0014775540091846178,0.2631255241892209,0.7309645375466569,3.015953852491419,0.0570296417953202,-0.018073469517762147,0.002097204443092173,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3475573031596115,0.7819017385090217,-1.8586883980407023,0.11881640704879869,1.418040711571434,0.3801982868523168,0.7452340179062843,-2.6174296980558944,2.6039224159469865,2.6039224159469865,2.720100000001009,0,0,-0.00013782510515920697,-1.6040360662827663e-05
+5280,1792841875192055574,20554722000000,1792841875185570316,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761605474591618,-0.004776365328278153,0.10530871622074678,0.9999999824626793,-4.0515412726111074e-05,0.0001296864529531014,8.9763193943289e-05,0.6761,-0.0046,0.1050608186299163,1.0,0.0,0.0,0.0,-0.3003681032837895,0.12819681920496728,2.6676658544459477,0.012024181238134535,0.023971361346377538,0.001424540029129322,0.28003817887029636,0.7266796966476866,3.066190008881472,0.05704415240947818,-0.019015414105596314,0.002044190463036877,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3959226233178357,0.7350371604758205,-1.868869064729428,0.14518376857594947,1.436776842977308,0.35550377877180067,0.7452340179062843,-2.6676658544459477,2.614103082635712,2.614103082635712,2.808900000001065,0,0,-0.00015815545105077178,-9.999999025923074e-05
+5345,1792841875733110664,20555263000000,1792841875725570340,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761669296638244,-0.004781021313134698,0.10523164332896401,0.9999999801673473,-4.805966381550203e-05,0.00014041882177429912,9.529424300518169e-05,0.6761,-0.0046,0.10497069426735929,1.0,0.0,0.0,0.0,-0.28254872526495717,0.1288454241505823,2.727171412049547,0.011989699676048647,0.023027186098377096,0.0013626239093809246,0.2978575568891287,0.7273283015933016,3.1256955664850716,0.057009670847392294,-0.019959589353596756,0.0019822743432884797,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3987360568350187,0.7491232419946453,-2.0230519316054525,0.15742618260995628,1.5343512901413139,0.3701002361133926,0.7452340179062843,-2.727171412049547,2.768285949511737,2.768285949511737,2.890050000001116,0,0,-0.00017491520711424157,7.625936967870501e-05
+5409,1792841876267053760,20555797000000,1792841876261570229,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.676174121055094,-0.004780855212222986,0.10514450546104216,0.9999999787955413,-4.141705725799018e-05,0.00015258099964994516,9.410338668572369e-05,0.6761,-0.0046,0.10487374879481351,1.0,0.0,0.0,0.0,-0.2710264711003338,0.12046727269646051,2.7777973542876073,0.011233247014075,0.022949679550080076,0.0013144081988234555,0.30937981105375206,0.7189501501391798,3.176321508723132,0.056253218185418646,-0.020037095901893776,0.0019340586327310106,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.4014128654120865,0.7505326060005119,-2.0128405077992153,0.1670566335974964,1.5281335176091877,0.37675853761095895,0.7452340179062843,-2.7777973542876073,2.7580745257054997,2.7580745257054997,2.9701500000011665,0,0,-0.0001887201766623533,-9.990804991500397e-05
+5474,1792841876808038802,20556338000000,1792841876805560552,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.676171355257126,-0.004782564706751638,0.10503913705224363,0.9999999790663749,-5.202902442312484e-05,0.00014865698819887656,9.221819034643191e-05,0.6761,-0.0046,0.10476763086764303,1.0,0.0,0.0,0.0,-0.2609781053824104,0.11705304214745782,2.8376399202439413,0.010006126418092134,0.02194539139694511,0.001237978860720241,0.31942817677167545,0.7155359195901771,3.2361640746794658,0.05502609758943578,-0.021041384055028742,0.0018576292946277959,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3896895056841994,0.786316215411183,-2.084168138952078,0.16647425842585437,1.575665610211105,0.3984636366839811,0.7452340179062843,-2.8376399202439413,2.8294021568583623,2.8294021568583623,3.0513000000012176,0,0,-0.00020203047713526624,-9.999961555895993e-05
+5539,1792841877350009925,20556880000000,1792841877345560410,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761796188600737,-0.004786643674353092,0.1049308552735237,0.9999999761177958,-5.3532126050930336e-05,0.00016079316461201226,0.00010240674752951975,0.6761,-0.0046,0.10465195771324297,1.0,0.0,0.0,0.0,-0.26032941203998006,0.10540052060569627,2.8686614622203455,0.008979173321129748,0.021958261832051896,0.0012010529809660512,0.3200768701141058,0.7038833980484156,3.26718561665587,0.053999144492473394,-0.021028513619921956,0.001820703414873606,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.4305897796657616,0.838228800739327,-2.158344545193393,0.15239418372787292,1.634311403494897,0.4345009935670746,0.7452340179062843,-2.8686614622203455,2.9035785630996775,2.9035785630996775,3.132600000001269,0,0,-0.00022230009696508202,-7.500166740304621e-05
+5604,1792841877891975586,20557422000000,1792841877889570070,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761871736919263,-0.004790703049618604,0.10481633496397197,0.9999999731240559,-7.08628435834872e-05,0.0001726934885186919,0.00010173577704402022,0.6761,-0.0046,0.1045253583897208,1.0,0.0,0.0,0.0,-0.24129123571693722,0.094172103235039,2.891187429761125,0.00797887904864028,0.02103888236962963,0.0011587330651538583,0.3391150464371486,0.6926549806777583,3.2897115841966493,0.05299885021998393,-0.02194789308234422,0.0017783834990614132,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.4543098025850794,0.8275199864360888,-2.33507808298667,0.16997899318186832,1.754400540193205,0.4312405198542582,0.7452340179062843,-2.891187429761125,3.0803121008929546,3.0803121008929546,3.21390000000132,0,0,-0.000243932678366228,9.287503685418414e-05
+5667,1792841878416973264,20557947000000,1792841878409569562,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6761941729446794,-0.004795424352641175,0.10469556061518182,0.9999999696072421,-8.528577843762886e-05,0.0001869677911783718,9.998880142289652e-05,0.6761,-0.0046,0.10439100326281112,1.0,0.0,0.0,0.0,-0.22770509833625435,0.1043783565498726,2.9172659111991965,0.007982400548321812,0.02075849837963677,0.001135081176062174,0.3527011838178315,0.7028612339925919,3.315790065634721,0.05300237171966546,-0.022228277072337082,0.0017547316099697288,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.4938627934945976,0.8204694351979774,-2.1535812611105434,0.19055670504332733,1.6467488437655196,0.42783416190195267,0.7452340179062843,-2.9172659111991965,2.898815279016828,2.898815279016828,3.2926500000013696,0,0,-0.0002678021497990165,-9.999999025923074e-05
+5722,1792841878874943180,20558405000000,1792841878873560230,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761999507271331,-0.004802106623141716,0.10457789177437748,0.9999999667473126,-7.396587428843236e-05,0.0001983502574270809,0.00011460568498505166,0.6761,-0.0046,0.10426327965998543,1.0,0.0,0.0,0.0,-0.2205266737101998,0.0706133773283032,2.946610926803854,0.0059554126880451905,0.019972815064371548,0.0010769244011987196,0.35987960844388606,0.6690962547710225,3.3451350812393783,0.05097538385938884,-0.023013960387602304,0.0016965748351062747,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3918306077616553,0.7775915533012958,-2.2379106005060563,0.20570601647562312,1.6740220448206844,0.4054756313784124,0.7452340179062843,-2.946610926803854,2.9831446184123407,2.9831446184123407,3.361350000001413,0,0,-0.00028969201996550806,-9.999999025923074e-05
+5775,1792841879316948739,20558847000000,1792841879313560171,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.676196798789361,-0.004802812203151444,0.1044488099976834,0.999999968483214,3.901033571956091e-05,0.00019095886301360475,0.0001284108323044573,0.6761,-0.0046,0.1041307348733521,1.0,0.0,0.0,0.0,-0.21745637868885193,0.04593881383379694,2.96556814109719,0.003909128994085777,0.020008028487790337,0.0010387349209707171,0.3629499034652339,0.6444216912765163,3.3640922955327146,0.04892910016542942,-0.022978746964183516,0.001658385354878272,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.4169697425493575,0.7581937649020504,-2.244377734359245,0.1796431825087773,1.6966998928116075,0.34850603742041286,0.7452340179062843,-2.96556814109719,2.9896117522655294,2.9896117522655294,3.4276500000014547,0,0,-0.0003107918285325236,-9.999999025923074e-05
+5820,1792841879691933677,20559222000000,1792841879689560541,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6762050452784583,-0.004797203871323774,0.10433547120945878,0.9999999698061395,-5.515386036868249e-05,0.00021008612398508262,6.820891983109235e-05,0.6761,-0.0046,0.10401068168833913,1.0,0.0,0.0,0.0,-0.21026335170004568,0.02894791602086233,2.974936119856618,0.0018686806822450289,0.02002688623008912,0.0010089485191691534,0.3701429304540402,0.6274307934635817,3.3734602742921425,0.046888651853588675,-0.022959889221884733,0.0016285989530767085,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.4156720213647462,0.695658844257927,-2.3442439824613888,0.2364716159811735,1.7555361805437057,0.33996878887547444,0.7452340179062843,-2.974936119856618,3.089478000367673,3.089478000367673,3.48390000000149,0,0,-0.00032954182487973514,-9.999999025923074e-05
+5868,1792841880091897920,20559622000000,1792841880089570117,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6762046734686772,-0.004803391093429781,0.10420133720575649,0.9999999677901271,-4.625210066063687e-05,0.000210520288704001,9.697711269315615e-05,0.6761,-0.0046,0.10387487495916845,1.0,0.0,0.0,0.0,-0.19121639117421063,0.029032009102767042,2.9653685862436663,0.001923172078049519,0.018001318393843814,0.000987663113169467,0.3891898909798752,0.6275148865454864,3.3638927406791908,0.046943143249393166,-0.024985457058130038,0.0016073135470770221,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.4159022281390277,0.736670807070443,-2.289073145702109,0.2211485828764622,1.722172351712543,0.38789723005261084,0.7452340179062843,-2.9653685862436663,3.0343071636083936,3.0343071636083936,3.543900000001528,0,0,-0.00034954182098342743,-9.999999025923074e-05
+5913,1792841880466910212,20559997000000,1792841880465559631,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6762045457665494,-0.004806708051629324,0.10407242806563449,0.9999999658725885,-4.0703214135405066e-05,0.00021048034212787413,0.00011721331056336951,0.6761,-0.0046,0.10374029052698638,1.0,0.0,0.0,0.0,-0.19013189330742264,0.002201895501594664,2.9443778506138076,-0.00011624431526813944,0.018063425582439875,0.0009818656578139849,0.3902743888466632,0.600684772944314,3.342902005049332,0.04490372685607551,-0.024923349869533977,0.0016015160917215397,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.414946847254827,0.6869025653495284,-2.329800620220202,0.24381150516699554,1.7488816412015087,0.3544880565412549,0.7452340179062843,-2.9443778506138076,3.0750346381264864,3.0750346381264864,3.6001500000015634,0,0,-0.00036829181733063896,-9.999999025923074e-05
+5954,1792841880807808897,20560338000000,1792841880805560230,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6762007264530402,-0.0048138416286029025,0.10393521559126379,0.9999999659922676,-4.388627576532014e-05,0.00020058159437762933,0.00013152698180172035,0.6761,-0.0046,0.10361180451784463,1.0,0.0,0.0,0.0,-0.1792644979020735,-0.04095333480777441,2.9929242252916626,-0.0029370461505920445,0.01709780020715833,0.0008957545926791883,0.40114178425201236,0.5575295426349449,3.391448379727187,0.0420829250207516,-0.025888975244815524,0.0015154050265867433,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3400904044861384,0.721207821951038,-2.2318117410206035,0.24903255215970763,1.66985102942058,0.3798824062228375,0.7452340179062843,-2.9929242252916626,2.977045758926888,2.977045758926888,3.6513000000015956,0,0,-0.00038534181400903664,-9.999999025923074e-05
+5999,1792841881182879213,20560713000000,1792841881177560745,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6762164591315902,-0.004813548195273606,0.10379516824568823,0.9999999622487261,-8.407945141731362e-05,0.00021893476282665831,0.00010928689915021404,0.6761,-0.0046,0.10346379508827797,1.0,0.0,0.0,0.0,-0.1609876855038248,-0.02628785079921525,2.963816427226746,-0.0019111079604918688,0.016074637552732442,0.0009156281801578062,0.41941859665026104,0.5721950266435041,3.3623405816622705,0.04310886321085178,-0.02691213789924141,0.0015352786140653612,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.4047462217939621,0.7102687242490917,-2.2951768303550866,0.26439121895473816,1.7261235079779131,0.3765381664920303,0.7452340179062843,-2.963816427226746,3.040410848261371,3.040410848261371,3.707550000001631,0,0,-0.0004040918103562482,-9.999999025923074e-05
+6039,1792841881516826792,20561047000000,1792841881513560078,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6762138951843553,-0.004818817620277083,0.1036610293116998,0.999999961670979,-7.420644798338772e-05,0.0002142512727361017,0.00012919249233384904,0.6761,-0.0046,0.10332604787416393,1.0,0.0,0.0,0.0,-0.16823579329927957,-0.06895657798777555,2.9526400927781986,-0.005140226577470396,0.016133250064021463,0.0008889067531336387,0.4121704888548063,0.5295262994549438,3.351164247213723,0.03987974459387325,-0.02685352538795239,0.0015085571870411937,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3738308022703933,0.7619193745965372,-2.3230033152693204,0.24677123257322914,1.7392345690285786,0.41397259913003587,0.7452340179062843,-2.9526400927781986,3.0682373331756048,3.0682373331756048,3.7576500000016626,0,0,-0.00042079180710283124,-9.999999025923074e-05
+6074,1792841881807756062,20561338000000,1792841881805559702,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6762145842698708,-0.004819724985031952,0.10352867127113237,0.9999999603898873,-6.532756448030738e-05,0.00021579351837454746,0.00014081390230645787,0.6761,-0.0046,0.10320148770871085,1.0,0.0,0.0,0.0,-0.16738149008948705,-0.0942079881340866,2.945719611354964,-0.007163067134188197,0.016172682821699397,0.0008715635754335901,0.4130247920645988,0.5042748893086327,3.3442437657904884,0.03785690403715545,-0.026814092630274455,0.001491214009341145,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3769912889528635,0.6696960324231566,-2.212869582990646,0.28437133003711057,1.6704644498158847,0.3539394068217824,0.7452340179062843,-2.945719611354964,2.9581036008969304,2.9581036008969304,3.80130000000169,0,0,-0.0004353418042682674,-9.999999025923074e-05
+6107,1792841882082845214,20561613000000,1792841882081559924,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6762133001523476,-0.0048184837888657316,0.10340734584320618,0.9999999599074644,-0.0001109100707580725,0.00022068723856711017,0.00010307295033640459,0.6761,-0.0046,0.10307988496290674,1.0,0.0,0.0,0.0,-0.12967689462957271,-0.07579515136944448,2.9421902187722626,-0.006497134315254928,0.013764006090773252,0.0008489836277215766,0.45072938752451314,0.5226877260732748,3.340714373207787,0.03852283685608872,-0.0292227693612006,0.0014686340616291316,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.349337037653562,0.580090620411179,-2.208228257187268,0.3307943178002697,1.6613515076202077,0.3012185221092794,0.7452340179062843,-2.9421902187722626,2.9534622750935524,2.9534622750935524,3.842550000001716,0,0,-0.00044909180158955584,-9.999999025923074e-05
+6143,1792841882382804748,20561913000000,1792841882381560293,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6762023189373865,-0.004827038983954706,0.10326040737964243,0.9999999684126687,-1.811056889080557e-05,0.00019891358524509514,0.00012133803624322875,0.6761,-0.0046,0.10294291492286967,1.0,0.0,0.0,0.0,-0.12805879667099657,-0.12046792428942416,2.9407575428523876,-0.010179913509393942,0.01319271506312111,0.0007985894173665964,0.4523474854830893,0.4780149531532952,3.339281697287912,0.034840057661949704,-0.029794060388852742,0.0014182398512741514,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3019386643149797,0.6479722375025261,-2.286658603187055,0.2915713517918426,1.7072291655466312,0.34157458529953033,0.7452340179062843,-2.9407575428523876,3.0318926210933395,3.0318926210933395,3.8875500000017444,0,0,-0.00046409179866732506,-9.999999025923074e-05
+6176,1792841882657822055,20562188000000,1792841882657560333,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761969830797877,-0.004830689820708498,0.10312779395767034,0.99999996759324,-2.189860937087405e-05,0.0001930461212820171,0.00013605156867356268,0.6761,-0.0046,0.10281340592860581,1.0,0.0,0.0,0.0,-0.12499631675691447,-0.15800650505324454,2.9156197725056088,-0.01222375678924214,0.013240964582040732,-0.0002275520773347206,0.4554099653971714,0.4404763723894748,3.3141439269411332,0.03279621438210151,-0.02974581086993312,0.00039209835657283437,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.2597210462941468,0.6432678182986283,-2.1962602736393535,0.30795634802940164,1.6373628886463278,0.3457851878658581,0.7452340179062843,-2.9156197725056088,2.941494291545638,2.941494291545638,3.9288000000017704,0,0,-0.0004778417959886135,-9.999999025923074e-05
+6210,1792841882941780150,20562472000000,1792841882941560605,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6761937646615286,-0.004827205528076403,0.10298208246447192,0.9999999687504761,-6.77566346102561e-05,0.00019307932236746145,0.00010986958132776284,0.6761,-0.0046,0.10267568955893926,1.0,0.0,0.0,0.0,-0.11688903376090998,-0.17552690146168942,2.889437220205303,-0.013223465005099723,0.01225205187503189,0.0007606351924419017,0.4635172483931759,0.4229559759810299,3.2879613746408274,0.031796506166243924,-0.03073472357694196,0.0013802856263494567,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.2956475076900005,0.5666833338175652,-2.2548849950268424,0.34990262597891675,1.686790601516693,0.29572268711731153,0.7452340179062843,-2.889437220205303,3.0001190129331268,3.0001190129331268,3.9714000000017973,0,0,-0.0004920417932222351,-9.999999025923074e-05
+6243,1792841883216707589,20562747000000,1792841883209560249,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.676187769606336,-0.004832394336438877,0.10283611206927602,0.9999999687414621,-7.310923148356091e-05,0.0001818456297531555,0.00012468819709010744,0.6761,-0.0046,0.1025384943161728,1.0,0.0,0.0,0.0,-0.10081619477192971,-0.2018873341525525,2.8686072310708877,-0.015231529134795072,0.011281113681066851,0.0007567215500801438,0.47959008738215614,0.39659554329016683,3.267131385506412,0.029788442036548575,-0.031705661770907,0.0013763719839876988,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.2552576181012571,0.718605670867113,-2.175480433857873,0.2874334640546793,1.6311510441587613,0.3974384619376477,0.7452340179062843,-2.8686072310708877,2.9207144517641574,2.9207144517641574,4.012650000001786,0,0,-0.0005057917905435236,-9.999999025923074e-05
+6274,1792841883474690563,20563005000000,1792841883469560182,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6762050771529104,-0.004831837718476599,0.10271060121849254,0.9999999644533922,-7.833857920767453e-05,0.00019559524011482075,0.0001346909344967873,0.6761,-0.0046,0.10240634238453802,1.0,0.0,0.0,0.0,-0.12928056905477786,-0.1912601883624953,2.787520428413847,-0.01464457573749495,0.01331871292302107,-0.00015403928071682762,0.451125713099308,0.407222689080224,3.1860445828493713,0.030375395433848696,-0.029668062528952783,0.00046561115319072735,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3366721566667397,0.5801886725793511,-2.160674396246701,0.33023843252559276,1.6392207113196466,0.3053417822943748,0.7452340179062843,-2.787520428413847,2.9059084141529854,2.9059084141529854,4.051350000001696,0,0,-0.0005186917880304051,-9.999999025923074e-05
+6306,1792841883741678673,20563272000000,1792841883741559584,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6762004805811233,-0.004835554275893348,0.10256155456313885,0.9999999636993651,-0.00010061800469202379,0.00018944259924245818,0.00013428198548658,0.6761,-0.0046,0.10226607612748241,1.0,0.0,0.0,0.0,-0.11451515715908223,-0.21992031193341777,2.7877775130606506,-0.017144617218259252,0.012352165401411437,0.0007463123156302675,0.4658911249950036,0.37856256550930156,3.186301667496175,0.027875353953084395,-0.030634610050562415,0.0013659627495378225,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3045030780708908,0.6088491632417171,-2.134863254174002,0.32981121310942085,1.6205876162282233,0.32776859522902807,0.7452340179062843,-2.7877775130606506,2.8800972720802864,2.8800972720802864,4.091400000001602,0,0,-0.0005320417854296197,-9.999999025923074e-05
+6335,1792841883982691541,20563513000000,1792841883981559814,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6761958433042013,-0.004831263502003063,0.10241827233486832,0.999999963051132,-0.00013609991760131157,0.00018333245183261044,0.00011492007441523128,0.6761,-0.0046,0.10213640805747792,1.0,0.0,0.0,0.0,-0.09598956267512748,-0.2310419209435441,2.75706782035355,-0.017247741403801947,0.010355035680622703,-0.00016080481051809016,0.48441671947895837,0.36744095649917524,3.1555919747890746,0.0277722297675417,-0.03263173977135115,0.0004588456233894648,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3107169070495477,0.5146404899329183,-2.097269925012832,0.3645782885394887,1.5985033930784416,0.2669793096734455,0.7452340179062843,-2.75706782035355,2.8425039429191163,2.8425039429191163,4.127550000001518,0,0,-0.0005440917830820943,-9.999999025923074e-05
+6365,1792841884232766680,20563763000000,1792841884225560560,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.6761902882352913,-0.004833923271551055,0.10227760400604438,0.9999999636533323,-0.00012587587259781978,0.00017499625531925084,0.00013292017795593864,0.6761,-0.0046,0.10199882886201302,1.0,0.0,0.0,0.0,-0.09754563717173131,-0.24845650328188695,2.7097699883854554,-0.019250401822224088,0.010385823066743197,-0.00018925593966877952,0.48286064498235454,0.3500263741608324,3.10829414282098,0.02576956934911956,-0.032600952385230655,0.00043039449423877546,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.277091574465735,0.5791715905637538,-2.087525249526042,0.33081936598600714,1.591127901126453,0.31571942386822677,0.7452340179062843,-2.7097699883854554,2.8327592674323263,2.8327592674323263,4.165050000001431,0,0,-0.000556591780646902,-9.999999025923074e-05
+6394,1792841884474725862,20564005000000,1792841884473560463,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761832171260832,-0.0048329575894883545,0.10212875552112037,0.9999999652696114,-0.00011310786170408986,0.00016475525620528273,0.0001447962618901621,0.6761,-0.0046,0.10186267560138287,1.0,0.0,0.0,0.0,-0.08569517457783987,-0.2753602689722454,2.666579928777267,-0.021273921221787236,0.010032730504679205,-0.00018898508063762258,0.494711107576246,0.3231226084704739,3.0651040832127916,0.02374604994955641,-0.03295404494729465,0.0004306653532699324,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.2182832926932134,0.6021650968518997,-1.9952996730180053,0.3277721086595212,1.515923328163774,0.33355280337842447,0.7452340179062843,-2.666579928777267,2.7405336909242894,2.7405336909242894,4.201350000001346,0,0,-0.0005686917782896358,-9.999999025923074e-05
+6416,1792841884657740088,20564188000000,1792841884653560339,DOWN_FORCE_DETACH,6,0.0755,0.07550221681594849,0.676182547146611,-0.004785653870701735,0.1020183613246138,0.9999999680630638,-7.022101070378771e-05,0.00016326591639214164,0.00015404540257883068,0.6761,-0.0046,0.10175777235611987,1.0,0.0,0.0,0.0,0.061989892442010475,-0.14262117516747708,2.620922682633102,-0.012252198693849962,0.0004497591859775607,-0.00017357361691890778,0.6423961745960963,0.45586170227524225,3.0194468370686263,0.032767772477493684,-0.04253701626599629,0.0004460768169886472,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.221018975250561,0.7200980311097184,-1.8525556313010447,0.316597575068122,1.4326888128304676,0.4150709031108112,0.7452340179062843,-2.620922682633102,2.597789649207329,2.597789649207329,4.228800000001282,0,0,-0.0005778417765070751,-9.999999025923074e-05
+6443,1792841884882631002,20564413000000,1792841884877560421,DOWN_FORCE_DETACH,6,0.0755,0.07550156116485596,0.6761725933536876,-0.004782325067374072,0.10187664638960801,0.9999999772008863,1.731967852217938e-05,0.00014350014526322172,0.00012707804083163213,0.6761,-0.0046,0.10162649795665343,1.0,0.0,0.0,0.0,0.054214666523644595,-0.1804276504455552,2.5805421374742536,-0.014862880261661247,0.00019858937992385528,-0.00017740558743812175,0.6346209486777304,0.41805522699716413,2.979066291909778,0.0301570909096824,-0.04278818607205,0.00044224484646943323,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.2382233388001536,0.9210846680763536,-1.795677733097715,0.21620241008016886,1.4179649720340768,0.47592985496277884,0.7452340179062843,-2.5805421374742536,2.5409117510039994,2.5409117510039994,4.2625500000012035,0,0,-0.000589091774315402,-9.999999025923074e-05
+6469,1792841885098676098,20564629000000,1792841885097560109,DOWN_SETTLE,6,0.0755,0.07550156116485596,0.6761783479155056,-0.0047963804865241684,0.10174216826841499,0.9999999721554471,-8.980639863971059e-08,0.00015627945785540983,0.0001506940362011105,0.6761,-0.0046,0.10149809800862952,1.0,0.0,0.0,0.0,0.029499225610415958,-0.18499145765548658,2.527808370018416,-0.015133695845256898,0.002278003946179552,-0.00010873220042091636,0.6099055077645018,0.41349141978723275,2.9263325244539407,0.029886275326086748,-0.0407087715057943,0.0005109182334866386,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.3085068654891574,0.7920121537522541,-1.7667230752974907,0.2630648827140889,1.4130952836723987,0.41862539057345366,0.7452340179062843,-2.527808370018416,2.511957093203775,0.0,0.0,0,0,-0.0005980917722113959,0.00035000000974076933
+6510,1792841885440696566,20564971000000,1792841885437560362,DOWN_SETTLE,6,0.0755,0.07550156116485596,0.6761603134499745,-0.004792151953048067,0.10162282496183674,0.9999999786200121,-3.6804280094453526e-05,0.00012320290240617384,0.0001329260303509712,0.6761,-0.0046,0.10141799298261546,1.0,0.0,0.0,0.0,0.038174833197283764,-0.2139369966491652,2.3384353862542424,-0.017903995026464944,0.0012433955615391568,-2.7235236742313056e-06,0.6185811153513696,0.3845458807935541,2.736959540689767,0.027115976144878703,-0.041743379890434695,0.0006169269102333237,0.5804062821540859,0.5984828774427193,0.3985241544355246,0.045019971171343647,-0.04298677545197385,0.000619650433907555,1,1.1225578369882738,0.7372745601604244,-1.5878754372880208,0.30462865145770135,1.246843576519484,0.41993670969457947,0.7452340179062843,-2.3384353862542424,2.3331094551943052,0.0,0.0,0,0,-2.9349464097870157e-05,0.00029645923331181974
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Fixed/digit/ball_15A_20/press_depth_06/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792841856274183588,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.554766065e-09,-7.084938712e-11,-4.043279045e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027451908e-01,-1.148928033e-04,8.303262066e-01
+1,6.833333333e-01,DOWN_FORCE_DETACH,1792841856946702847,-1.254701162e-07,-1.814065396e-06,-3.626197413e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.676752628e-08,-2.414557356e-09,-1.360193980e-08,7.019555442e-01,-2.390197680e-05,8.601430832e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027452750e-01,-1.148951471e-04,8.303261934e-01
+2,1.450000000e+00,DOWN_FORCE_DETACH,1792841858024803912,7.935210610e-06,-5.239351470e-06,-3.717065312e-05,-9.259867852e-07,-6.631035770e-06,-2.530779212e-05,-1.169135373e-06,-6.612283376e-06,-2.521489632e-05,7.019636048e-01,-2.732726288e-05,8.601062752e-01,7.019547436e-01,-2.871894718e-05,8.601181381e-01,7.027440191e-01,-1.215050159e-04,8.303009921e-01
+3,2.066666667e+00,DOWN_FORCE_DETACH,1792841858647203966,5.821573318e-06,-1.146042725e-05,-8.393890566e-05,7.623509398e-06,-4.842882874e-06,-6.552448873e-05,7.488357610e-06,-4.856580366e-06,-6.522627551e-05,7.019614912e-01,-3.354833865e-05,8.600595069e-01,7.019632931e-01,-2.693079428e-05,8.600779214e-01,7.027526766e-01,-1.197493129e-04,8.302609807e-01
+4,2.650000000e+00,DOWN_FORCE_DETACH,1792841859253998697,2.498302892e-05,-1.905081716e-05,-1.116428000e-04,2.469311487e-05,-1.905649012e-05,-1.117654067e-04,2.527637426e-05,-1.909961388e-05,-1.112810216e-04,7.019806527e-01,-4.113872857e-05,8.600318030e-01,7.019803627e-01,-4.114440153e-05,8.600316804e-01,7.027704646e-01,-1.339923464e-04,8.302149260e-01
+5,3.050000000e+00,DOWN_FORCE_DETACH,1792841859650605796,1.805259069e-05,-1.737934131e-05,-1.957533476e-04,1.962207404e-05,-2.155584816e-05,-1.924207113e-04,1.892319493e-05,-2.155331620e-05,-1.914741398e-04,7.019737222e-01,-3.946725271e-05,8.599476925e-01,7.019752917e-01,-4.364375957e-05,8.599510251e-01,7.027641115e-01,-1.364460487e-04,8.301347329e-01
+6,3.550000000e+00,DOWN_FORCE_DETACH,1792841860186627156,5.012479389e-05,-2.204852382e-05,-2.216787020e-04,5.002728125e-05,-2.187740089e-05,-2.216758385e-04,5.125687249e-05,-2.191084445e-05,-2.207437370e-04,7.020057944e-01,-4.413643522e-05,8.599217671e-01,7.020056969e-01,-4.396531229e-05,8.599217700e-01,7.027964451e-01,-1.368035769e-04,8.301054633e-01
+7,4.000000000e+00,DOWN_FORCE_DETACH,1792841860645691958,9.086526333e-05,3.905035072e-07,-2.625838483e-04,9.118864032e-05,4.074268066e-06,-2.494204979e-04,9.502208456e-05,4.063968386e-06,-2.484612581e-04,7.020465349e-01,-2.169740790e-05,8.598808620e-01,7.020468583e-01,-1.801364334e-05,8.598940253e-01,7.028402103e-01,-1.108287641e-04,8.300777457e-01
+8,4.533333333e+00,DOWN_FORCE_DETACH,1792841861169474930,9.936226558e-05,-8.958369263e-06,-3.474958777e-04,9.514050943e-05,-8.243224512e-06,-3.297110408e-04,9.846838646e-05,-8.270025778e-06,-3.285350640e-04,7.020550319e-01,-3.104628067e-05,8.597959500e-01,7.020508101e-01,-3.033113592e-05,8.598137348e-01,7.028436566e-01,-1.231627583e-04,8.299976719e-01
+9,5.116666667e+00,DOWN_FORCE_DETACH,1792841861742436367,1.135139690e-04,-1.674787677e-05,-4.403799931e-04,1.138189808e-04,-1.648457667e-05,-4.380588521e-04,1.172608948e-04,-1.650984026e-05,-4.365122183e-04,7.020691836e-01,-3.883578818e-05,8.597030659e-01,7.020694886e-01,-3.857248807e-05,8.597053870e-01,7.028624491e-01,-1.314025728e-04,8.298896948e-01
+10,5.733333333e+00,DOWN_FORCE_DETACH,1792841862365071573,1.274444287e-04,-2.434199057e-05,-5.285803186e-04,1.252506798e-04,-2.185101562e-05,-5.199057607e-04,1.286279605e-04,-2.187756236e-05,-5.183441390e-04,7.020831141e-01,-4.642990197e-05,8.596148655e-01,7.020809203e-01,-4.393892703e-05,8.596235401e-01,7.028738162e-01,-1.367702949e-04,8.298078629e-01
+11,6.350000000e+00,DOWN_FORCE_DETACH,1792841862971345580,1.346118467e-04,-2.312594535e-05,-6.087900544e-04,1.331609283e-04,-1.952728710e-05,-6.047617214e-04,1.361586570e-04,-1.949577236e-05,-6.032573992e-04,7.020902815e-01,-4.521385675e-05,8.595346558e-01,7.020888306e-01,-4.161519851e-05,8.595386841e-01,7.028813469e-01,-1.343885049e-04,8.297229496e-01
+12,6.866666667e+00,DOWN_FORCE_DETACH,1792841863495126432,1.476081975e-04,-2.697718540e-05,-6.561583933e-04,1.408187576e-04,-2.331327533e-05,-6.450457063e-04,1.439658760e-04,-2.323873941e-05,-6.437323611e-04,7.021032778e-01,-4.906509680e-05,8.594872875e-01,7.020964884e-01,-4.540118674e-05,8.594984001e-01,7.028891541e-01,-1.381314719e-04,8.296824746e-01
+13,7.383333333e+00,DOWN_FORCE_DETACH,1792841864118979603,1.520600840e-04,-3.102928160e-05,-7.148429809e-04,1.498686428e-04,-2.604971675e-05,-7.072763251e-04,1.529974017e-04,-2.600260605e-05,-7.059750477e-04,7.021077297e-01,-5.311719300e-05,8.594286029e-01,7.021055383e-01,-4.813762815e-05,8.594361695e-01,7.028981857e-01,-1.408953385e-04,8.296202320e-01
+14,8.133333333e+00,DOWN_FORCE_DETACH,1792841864854581114,1.580932051e-04,-2.889146721e-05,-7.558002272e-04,1.546905732e-04,-2.897974678e-05,-7.469230246e-04,1.578004442e-04,-2.898154937e-05,-7.459150034e-04,7.021137628e-01,-5.097937861e-05,8.593876456e-01,7.021103602e-01,-5.106765818e-05,8.593965228e-01,7.029029887e-01,-1.438742819e-04,8.295802920e-01
+15,8.966666667e+00,DOWN_FORCE_DETACH,1792841865722753429,1.615497470e-04,-2.521101830e-05,-7.802584100e-04,1.574816567e-04,-3.037775408e-05,-7.674304252e-04,1.606799691e-04,-3.042322313e-05,-7.666967147e-04,7.021172194e-01,-4.729892971e-05,8.593631874e-01,7.021131513e-01,-5.246566549e-05,8.593760154e-01,7.029058682e-01,-1.453159556e-04,8.295595103e-01
+16,9.616666667e+00,DOWN_FORCE_DETACH,1792841866377901049,1.599896280e-04,-2.543853265e-05,-7.896210429e-04,1.611710150e-04,-2.808170912e-05,-7.872146342e-04,1.644556378e-04,-2.811858542e-05,-7.866323756e-04,7.021156593e-01,-4.752644405e-05,8.593538248e-01,7.021168406e-01,-5.016962053e-05,8.593562312e-01,7.029096439e-01,-1.430113179e-04,8.295395746e-01
+17,1.031666667e+01,DOWN_FORCE_DETACH,1792841867082502001,1.637684192e-04,-3.173924300e-05,-7.883891709e-04,1.611710150e-04,-2.808170912e-05,-7.872146342e-04,1.644983066e-04,-2.812680612e-05,-7.868620961e-04,7.021194380e-01,-5.382715441e-05,8.593550567e-01,7.021168406e-01,-5.016962053e-05,8.593562312e-01,7.029096866e-01,-1.430195386e-04,8.295393449e-01
+18,1.110000000e+01,DOWN_FORCE_DETACH,1792841867869248627,1.617992649e-04,-2.548481258e-05,-8.056089236e-04,1.611710150e-04,-2.808170912e-05,-7.872146342e-04,1.645244339e-04,-2.813123814e-05,-7.870082180e-04,7.021174689e-01,-4.757272398e-05,8.593378369e-01,7.021168406e-01,-5.016962053e-05,8.593562312e-01,7.029097127e-01,-1.430239706e-04,8.295391988e-01
+19,1.185000000e+01,DOWN_FORCE_DETACH,1792841868654689442,1.720379790e-04,-2.824485963e-05,-8.331312175e-04,1.710870409e-04,-2.894488859e-05,-8.267049851e-04,1.746590873e-04,-2.902860502e-05,-8.263538917e-04,7.021277076e-01,-5.033277103e-05,8.593103146e-01,7.021267567e-01,-5.103280000e-05,8.593167409e-01,7.029198473e-01,-1.439213375e-04,8.294998531e-01
+20,1.253333333e+01,DOWN_FORCE_DETACH,1792841869326160050,1.788210072e-04,-2.995630310e-05,-8.803632844e-04,1.766486084e-04,-2.708493647e-05,-8.664059915e-04,1.801519547e-04,-2.713639664e-05,-8.659119465e-04,7.021344906e-01,-5.204421450e-05,8.592630826e-01,7.021323182e-01,-4.917284787e-05,8.592770399e-01,7.029253402e-01,-1.420291291e-04,8.294602951e-01
+21,1.320000000e+01,DOWN_FORCE_DETACH,1792841869981461361,1.910551827e-04,-3.169976237e-05,-9.357810039e-04,1.907372178e-04,-3.355492568e-05,-9.294948943e-04,1.944923154e-04,-3.360388296e-05,-9.287495231e-04,7.021467248e-01,-5.378767378e-05,8.592076648e-01,7.021464068e-01,-5.564283708e-05,8.592139510e-01,7.029396806e-01,-1.484966155e-04,8.293974575e-01
+22,1.388333333e+01,DOWN_FORCE_DETACH,1792841870652797470,2.010144649e-04,-2.970122579e-05,-9.894071308e-04,1.931759486e-04,-3.485398415e-05,-9.739337576e-04,1.966599238e-04,-3.488997259e-05,-9.732077503e-04,7.021566841e-01,-5.178913720e-05,8.591540387e-01,7.021488456e-01,-5.694189556e-05,8.591695121e-01,7.029418482e-01,-1.497827051e-04,8.293529992e-01
+23,1.448333333e+01,DOWN_FORCE_DETACH,1792841871258878492,2.055340964e-04,-3.101958918e-05,-1.044130067e-03,2.058546156e-04,-3.394934385e-05,-1.034884436e-03,2.095388412e-04,-3.399474688e-05,-1.033966014e-03,7.021612037e-01,-5.310750058e-05,8.590993158e-01,7.021615242e-01,-5.603725526e-05,8.591085614e-01,7.029547271e-01,-1.488874794e-04,8.292922410e-01
+24,1.506666667e+01,DOWN_FORCE_DETACH,1792841871848592481,2.124991690e-04,-3.422938844e-05,-1.095943618e-03,2.087041370e-04,-3.346231357e-05,-1.078603476e-03,2.121032157e-04,-3.350332351e-05,-1.077699438e-03,7.021681688e-01,-5.631729984e-05,8.590475022e-01,7.021643738e-01,-5.555022497e-05,8.590648424e-01,7.029572915e-01,-1.483960560e-04,8.292485076e-01
+25,1.570000000e+01,DOWN_FORCE_DETACH,1792841872601979718,2.211997288e-04,-3.584579165e-05,-1.157619740e-03,2.166440406e-04,-3.219432526e-05,-1.141381135e-03,2.198625450e-04,-3.223717720e-05,-1.140336224e-03,7.021768694e-01,-5.793370306e-05,8.589858261e-01,7.021723137e-01,-5.428223666e-05,8.590020647e-01,7.029650508e-01,-1.471299097e-04,8.291858708e-01
+26,1.643333333e+01,DOWN_FORCE_DETACH,1792841873322576938,2.375919918e-04,-3.318979013e-05,-1.221345752e-03,2.312793280e-04,-3.345694310e-05,-1.204407102e-03,2.347733267e-04,-3.350538587e-05,-1.203406369e-03,7.021932616e-01,-5.527770154e-05,8.589221001e-01,7.021869490e-01,-5.554485451e-05,8.589390387e-01,7.029799616e-01,-1.483981184e-04,8.291228006e-01
+27,1.711666667e+01,DOWN_FORCE_DETACH,1792841874027080701,2.416529112e-04,-3.348657452e-05,-1.298251867e-03,2.392367462e-04,-3.003433872e-05,-1.290217043e-03,2.423180107e-04,-3.007245843e-05,-1.289115800e-03,7.021973225e-01,-5.557448593e-05,8.588451940e-01,7.021949064e-01,-5.212225013e-05,8.588532288e-01,7.029875063e-01,-1.449651909e-04,8.290370912e-01
+28,1.768333333e+01,DOWN_FORCE_DETACH,1792841874600234975,2.468434042e-04,-3.183779617e-05,-1.361253013e-03,2.425223729e-04,-3.485126099e-05,-1.357801082e-03,2.451296366e-04,-3.486838353e-05,-1.356618159e-03,7.022025130e-01,-5.392570757e-05,8.587821928e-01,7.021981920e-01,-5.693917239e-05,8.587856448e-01,7.029903179e-01,-1.497611160e-04,8.289695888e-01
+29,1.821666667e+01,DOWN_FORCE_DETACH,1792841875189672940,2.494027593e-04,-3.615016267e-05,-1.443093692e-03,2.493121053e-04,-3.617314819e-05,-1.442964078e-03,2.513676453e-04,-3.620511361e-05,-1.441610048e-03,7.022050724e-01,-5.823807408e-05,8.587003522e-01,7.022049817e-01,-5.826105960e-05,8.587004818e-01,7.029965559e-01,-1.510978461e-04,8.288845970e-01
+30,1.876666667e+01,DOWN_FORCE_DETACH,1792841875730377143,2.539784006e-04,-4.020786822e-05,-1.522297455e-03,2.547904914e-04,-3.989882156e-05,-1.505279466e-03,2.565920004e-04,-3.991633641e-05,-1.504033815e-03,7.022096480e-01,-6.229577962e-05,8.586211484e-01,7.022104601e-01,-6.198673296e-05,8.586381664e-01,7.030017803e-01,-1.548090689e-04,8.288221732e-01
+31,1.931666667e+01,DOWN_FORCE_DETACH,1792841876270692440,2.623759845e-04,-4.562001433e-05,-1.606579637e-03,2.628814836e-04,-4.350349143e-05,-1.589835534e-03,2.642323652e-04,-4.352548736e-05,-1.588540730e-03,7.022180456e-01,-6.770792573e-05,8.585368662e-01,7.022185511e-01,-6.559140284e-05,8.585536103e-01,7.030094206e-01,-1.584182199e-04,8.287376663e-01
+32,1.983333333e+01,DOWN_FORCE_DETACH,1792841876811738093,2.655425638e-04,-5.084102059e-05,-1.707651483e-03,2.648531375e-04,-4.657825706e-05,-1.697350287e-03,2.651054930e-04,-4.660657617e-05,-1.695876111e-03,7.022212122e-01,-7.292893199e-05,8.584357944e-01,7.022205228e-01,-6.866616847e-05,8.584460956e-01,7.030102937e-01,-1.614993087e-04,8.286303309e-01
+33,2.038333333e+01,DOWN_FORCE_DETACH,1792841877351951485,2.717545836e-04,-4.668181909e-05,-1.816113708e-03,2.711466288e-04,-5.078151089e-05,-1.807815931e-03,2.704860292e-04,-5.081923045e-05,-1.806118276e-03,7.022274242e-01,-6.876973050e-05,8.583273321e-01,7.022268163e-01,-7.286942230e-05,8.583356299e-01,7.030156743e-01,-1.657119629e-04,8.285200887e-01
+34,2.088333333e+01,DOWN_FORCE_DETACH,1792841877890788266,2.783856298e-04,-5.381543034e-05,-1.930530419e-03,2.735871368e-04,-5.211476186e-05,-1.916161979e-03,2.717728759e-04,-5.218251318e-05,-1.914433917e-03,7.022340553e-01,-7.590334175e-05,8.582129154e-01,7.022292568e-01,-7.420267327e-05,8.582272839e-01,7.030169611e-01,-1.670752457e-04,8.284117731e-01
+35,2.130000000e+01,DOWN_FORCE_DETACH,1792841878417103244,2.859274982e-04,-5.447455761e-05,-2.050658491e-03,2.843874900e-04,-5.435256585e-05,-2.038647760e-03,2.819369979e-04,-5.443264903e-05,-2.036688405e-03,7.022415971e-01,-7.656246902e-05,8.580927874e-01,7.022400571e-01,-7.644047726e-05,8.581047981e-01,7.030271253e-01,-1.693253815e-04,8.282895186e-01
+36,2.176666667e+01,DOWN_FORCE_DETACH,1792841878874984857,2.905124520e-04,-6.282188064e-05,-2.171113899e-03,2.891808323e-04,-6.031017181e-05,-2.151390908e-03,2.857201951e-04,-6.039186636e-05,-2.149336344e-03,7.022461821e-01,-8.490979205e-05,8.579723319e-01,7.022448505e-01,-8.239808322e-05,8.579920549e-01,7.030309085e-01,-1.752845989e-04,8.281768707e-01
+37,2.221666667e+01,DOWN_FORCE_DETACH,1792841879317785091,2.873605143e-04,-6.352746065e-05,-2.300195675e-03,2.875659309e-04,-6.458694921e-05,-2.291808564e-03,2.823672448e-04,-6.463360863e-05,-2.289521941e-03,7.022430301e-01,-8.561537206e-05,8.578432502e-01,7.022432356e-01,-8.667486062e-05,8.578516373e-01,7.030275555e-01,-1.795263411e-04,8.280366851e-01
+38,2.260000000e+01,DOWN_FORCE_DETACH,1792841879693961837,2.937023456e-04,-5.578424749e-05,-2.417716895e-03,2.929556161e-04,-4.998599579e-05,-2.411947488e-03,2.867226654e-04,-5.000093011e-05,-2.409579895e-03,7.022493720e-01,-7.787215889e-05,8.577257290e-01,7.022486252e-01,-7.207390720e-05,8.577314984e-01,7.030319109e-01,-1.648936626e-04,8.279166271e-01
+39,2.298333333e+01,DOWN_FORCE_DETACH,1792841880088013316,2.927198457e-04,-6.286799768e-05,-2.548404263e-03,2.941979969e-04,-6.324855896e-05,-2.530444223e-03,2.866755062e-04,-6.323274992e-05,-2.528058320e-03,7.022483895e-01,-8.495590909e-05,8.575950416e-01,7.022498676e-01,-8.533647036e-05,8.576130016e-01,7.030318638e-01,-1.781254824e-04,8.277981487e-01
+40,2.336666667e+01,DOWN_FORCE_DETACH,1792841880463802792,2.964970569e-04,-7.308807215e-05,-2.671205670e-03,2.952606116e-04,-6.929628758e-05,-2.666842617e-03,2.861560828e-04,-6.931310756e-05,-2.664293323e-03,7.022521667e-01,-9.517598355e-05,8.574722402e-01,7.022509302e-01,-9.138419899e-05,8.574766032e-01,7.030313443e-01,-1.842058401e-04,8.276619137e-01
+41,2.371666667e+01,DOWN_FORCE_DETACH,1792841880808672609,2.912881779e-04,-7.455688610e-05,-2.813790082e-03,2.911472278e-04,-7.427034555e-05,-2.813721072e-03,2.799580086e-04,-7.426217309e-05,-2.811009262e-03,7.022469578e-01,-9.664479751e-05,8.573296558e-01,7.022468169e-01,-9.635825695e-05,8.573297248e-01,7.030251463e-01,-1.891549056e-04,8.275151977e-01
+42,2.410000000e+01,DOWN_FORCE_DETACH,1792841881184748490,3.084907083e-04,-7.224338473e-05,-2.953455375e-03,3.082169913e-04,-7.135928738e-05,-2.946961821e-03,2.966382799e-04,-7.134947868e-05,-2.944206094e-03,7.022641603e-01,-9.433129613e-05,8.571899905e-01,7.022638866e-01,-9.344719879e-05,8.571964840e-01,7.030418265e-01,-1.862422112e-04,8.273820009e-01
+43,2.443333333e+01,DOWN_FORCE_DETACH,1792841881512381845,3.031773553e-04,-7.704992613e-05,-3.090519291e-03,3.042056474e-04,-7.844274923e-05,-3.076534593e-03,2.907838012e-04,-7.841627399e-05,-3.073718199e-03,7.022588470e-01,-9.913783753e-05,8.570529266e-01,7.022598753e-01,-1.005306606e-04,8.570669113e-01,7.030359721e-01,-1.933090065e-04,8.272524888e-01
+44,2.473333333e+01,DOWN_FORCE_DETACH,1792841881807339744,3.049309311e-04,-8.087166854e-05,-3.220162607e-03,3.048367392e-04,-8.091396680e-05,-3.220334155e-03,2.897054814e-04,-8.084142427e-05,-3.217374943e-03,7.022606006e-01,-1.029595799e-04,8.569232832e-01,7.022605064e-01,-1.030018782e-04,8.569231117e-01,7.030348937e-01,-1.957341568e-04,8.271088321e-01
+45,2.501666667e+01,DOWN_FORCE_DETACH,1792841882085518113,3.040805474e-04,-7.919287110e-05,-3.340447068e-03,3.042769188e-04,-8.335024654e-05,-3.334604386e-03,2.877548588e-04,-8.322510854e-05,-3.331673424e-03,7.022597502e-01,-1.012807825e-04,8.568029988e-01,7.022599465e-01,-1.054381579e-04,8.568088415e-01,7.030329431e-01,-1.981178410e-04,8.269945336e-01
+46,2.531666667e+01,DOWN_FORCE_DETACH,1792841882380538409,2.953519253e-04,-8.792584001e-05,-3.480788057e-03,2.952271923e-04,-8.279079058e-05,-3.462720786e-03,2.765478070e-04,-8.263368259e-05,-3.459792623e-03,7.022510216e-01,-1.100137514e-04,8.566626578e-01,7.022508968e-01,-1.048787020e-04,8.566807251e-01,7.030217361e-01,-1.975264151e-04,8.268664144e-01
+47,2.558333333e+01,DOWN_FORCE_DETACH,1792841882659281757,2.895197371e-04,-9.207770779e-05,-3.619394556e-03,2.907758005e-04,-8.703417050e-05,-3.603272153e-03,2.700673591e-04,-8.685760684e-05,-3.600266862e-03,7.022451894e-01,-1.141656192e-04,8.565240513e-01,7.022464454e-01,-1.091220819e-04,8.565401737e-01,7.030152556e-01,-2.017503393e-04,8.267259401e-01
+48,2.586666667e+01,DOWN_FORCE_DETACH,1792841882938009937,2.858224189e-04,-9.199889072e-05,-3.765313208e-03,2.856037954e-04,-9.065223853e-05,-3.747587447e-03,2.628048568e-04,-9.054251637e-05,-3.744463491e-03,7.022414920e-01,-1.140868021e-04,8.563781326e-01,7.022412734e-01,-1.127401499e-04,8.563958584e-01,7.030079931e-01,-2.054352489e-04,8.265817435e-01
+49,2.615000000e+01,DOWN_FORCE_DETACH,1792841883215555414,2.777852829e-04,-9.439740158e-05,-3.911856632e-03,2.793883331e-04,-9.445544728e-05,-3.902769330e-03,2.542571108e-04,-9.436192848e-05,-3.899575323e-03,7.022334549e-01,-1.164853130e-04,8.562315892e-01,7.022350580e-01,-1.165433587e-04,8.562406765e-01,7.029994454e-01,-2.092546610e-04,8.264266317e-01
+50,2.641666667e+01,DOWN_FORCE_DETACH,1792841883477901354,2.945658584e-04,-9.212081874e-05,-4.043333372e-03,2.943953591e-04,-9.204670344e-05,-4.043360220e-03,2.686365076e-04,-9.193597712e-05,-4.040053433e-03,7.022502355e-01,-1.142087301e-04,8.561001125e-01,7.022500650e-01,-1.141346148e-04,8.561000856e-01,7.030138248e-01,-2.068287096e-04,8.262861536e-01
+51,2.668333333e+01,DOWN_FORCE_DETACH,1792841883739864598,2.890806695e-04,-9.911570344e-05,-4.189717772e-03,2.889661934e-04,-9.908113832e-05,-4.189825010e-03,2.610580260e-04,-9.895471585e-05,-4.186491006e-03,7.022447503e-01,-1.212036148e-04,8.559537281e-01,7.022446358e-01,-1.211690497e-04,8.559536208e-01,7.030062463e-01,-2.138474483e-04,8.261397160e-01
+52,2.693333333e+01,DOWN_FORCE_DETACH,1792841883985677628,2.868013688e-04,-9.573475992e-05,-4.330305064e-03,2.873447392e-04,-9.128144385e-05,-4.312750867e-03,2.578728143e-04,-9.111007973e-05,-4.309607162e-03,7.022424710e-01,-1.178226713e-04,8.558131408e-01,7.022430144e-01,-1.133693553e-04,8.558306950e-01,7.030030611e-01,-2.060028122e-04,8.260165998e-01
+53,2.716666667e+01,DOWN_FORCE_DETACH,1792841884231232440,2.791881264e-04,-9.634995545e-05,-4.473394045e-03,2.799367174e-04,-1.001741063e-04,-4.465133972e-03,2.481182586e-04,-9.999945641e-05,-4.461761350e-03,7.022348578e-01,-1.184378669e-04,8.556700518e-01,7.022356063e-01,-1.222620177e-04,8.556783119e-01,7.029933065e-01,-2.148921889e-04,8.258644456e-01
+54,2.741666667e+01,DOWN_FORCE_DETACH,1792841884477075125,2.737685833e-04,-9.376892633e-05,-4.622154155e-03,2.737683345e-04,-9.349086781e-05,-4.621982863e-03,2.395692793e-04,-9.323819473e-05,-4.618568304e-03,7.022294382e-01,-1.158568377e-04,8.555212917e-01,7.022294380e-01,-1.155787792e-04,8.555214630e-01,7.029847575e-01,-2.081309272e-04,8.257076387e-01
+55,2.760000000e+01,DOWN_FORCE_DETACH,1792841884657361259,2.729074832e-04,-4.630489913e-05,-4.730607678e-03,2.726051968e-04,-4.622418663e-05,-4.730526094e-03,2.370165249e-04,-4.590058700e-05,-4.727168712e-03,7.022285771e-01,-6.839281054e-05,8.554128382e-01,7.022282748e-01,-6.831209803e-05,8.554129198e-01,7.029822048e-01,-1.607933195e-04,8.255990383e-01
+56,2.783333333e+01,DOWN_FORCE_DETACH,1792841884887064088,2.626784251e-04,-4.575918574e-05,-4.877701688e-03,2.623966548e-04,-4.577947242e-05,-4.877497130e-03,2.243430027e-04,-4.543452214e-05,-4.874167938e-03,7.022183480e-01,-6.784709715e-05,8.552657442e-01,7.022180663e-01,-6.786738383e-05,8.552659487e-01,7.029695313e-01,-1.603272546e-04,8.254520391e-01
+57,2.805000000e+01,DOWN_SETTLE,1792841885099904403,2.672275631e-04,-5.451625139e-05,-5.009141530e-03,2.669765389e-04,-5.475704912e-05,-5.009386500e-03,2.276009195e-04,-5.449505934e-05,-5.006058459e-03,7.022228972e-01,-7.660416280e-05,8.551343043e-01,7.022226462e-01,-7.684496053e-05,8.551340593e-01,7.029727892e-01,-1.693877918e-04,8.253201485e-01
+58,2.840000000e+01,DOWN_SETTLE,1792841885443318522,2.499795409e-04,-4.541135008e-05,-5.126555284e-03,2.519210869e-04,-4.986778938e-05,-5.119755274e-03,2.100836326e-04,-4.959205807e-05,-5.117128403e-03,7.022056492e-01,-6.749926149e-05,8.550168906e-01,7.022075907e-01,-7.195570079e-05,8.550236906e-01,7.029552719e-01,-1.644847906e-04,8.252090786e-01
+59,2.900000000e+01,DOWN_PEAK_HOLD,1792841886033193715,2.330731567e-04,-4.873684134e-05,-5.178844143e-03,2.318588118e-04,-4.795664306e-05,-5.179560626e-03,1.877274606e-04,-4.774060354e-05,-5.178224716e-03,7.021887428e-01,-7.082475275e-05,8.549646017e-01,7.021875284e-01,-7.004455447e-05,8.549638852e-01,7.029329157e-01,-1.626333360e-04,8.251479823e-01

Fixed/digit/ball_15A_20/press_depth_06/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.0710e-02,1.2669e-01,2.4611e+00,-4.5467e-02,4.0403e-02,1.1557e-04,4.4485e-04,-5.5581e-06,-7.2002e-05,2.0601e-06,3.2015e-05,-1.2369e-06,4.5068e-04,3.2105e-05
+1,6.8333e-01,DOWN_FORCE_DETACH,1.5215e-04,6.5374e-02,1.2663e-01,2.4587e+00,-4.5397e-02,4.1452e-02,6.8340e-05,1.5109e-02,-6.8769e-05,-2.4610e-03,7.2010e-05,1.0813e-03,-4.8472e-05,1.5308e-02,1.0848e-03
+2,1.4500e+00,DOWN_FORCE_DETACH,3.0876e-04,7.8320e-02,1.4523e-01,2.4870e+00,-4.6600e-02,4.2331e-02,2.5832e-05,2.8055e-02,1.8532e-02,2.5859e-02,-1.1306e-03,1.9597e-03,-9.0980e-05,4.2417e-02,2.2643e-03
+3,2.0667e+00,DOWN_FORCE_DETACH,4.6002e-04,7.5375e-02,1.4039e-01,2.5193e+00,-4.6208e-02,4.2076e-02,-3.7457e-06,2.5110e-02,1.3686e-02,5.8122e-02,-7.3871e-04,1.7051e-03,-1.2056e-04,6.4776e-02,1.8622e-03
+4,2.6500e+00,DOWN_FORCE_DETACH,6.2015e-04,8.7258e-02,1.6907e-01,2.5434e+00,-4.8114e-02,4.2874e-02,-1.9110e-05,3.6993e-02,4.2367e-02,8.2209e-02,-2.6453e-03,2.5030e-03,-1.3592e-04,9.9608e-02,3.6443e-03
+5,3.0500e+00,DOWN_FORCE_DETACH,7.6951e-04,7.9561e-02,1.8764e-01,2.6464e+00,-4.9300e-02,4.2195e-02,-1.8794e-05,2.9295e-02,6.0937e-02,1.8524e-01,-3.8307e-03,1.8239e-03,-1.3561e-04,1.9719e-01,4.2449e-03
+6,3.5500e+00,DOWN_FORCE_DETACH,9.2402e-04,4.7901e-02,1.9320e-01,2.5988e+00,-4.9665e-02,3.9996e-02,-3.1712e-07,-2.3646e-03,6.6502e-02,1.3766e-01,-4.1963e-03,-3.7527e-04,-1.1713e-04,1.5290e-01,4.2147e-03
+7,4.0000e+00,DOWN_FORCE_DETACH,1.0770e-03,6.1936e-03,1.1471e-01,2.6204e+00,-4.4254e-02,3.7010e-02,2.2727e-06,-4.4072e-02,-1.1991e-02,1.5922e-01,1.2146e-03,-3.3613e-03,-1.1454e-04,1.6564e-01,3.5758e-03
+8,4.5333e+00,DOWN_FORCE_DETACH,1.2295e-03,3.2498e-02,1.5053e-01,2.6668e+00,-4.6642e-02,3.8786e-02,2.3721e-05,-1.7767e-02,2.3830e-02,2.0560e-01,-1.1733e-03,-1.5852e-03,-9.3091e-05,2.0774e-01,1.9744e-03
+9,5.1167e+00,DOWN_FORCE_DETACH,1.3854e-03,2.9852e-02,1.7538e-01,2.7308e+00,-4.8262e-02,3.8500e-02,4.0680e-05,-2.0413e-02,4.8684e-02,2.6965e-01,-2.7932e-03,-1.8706e-03,-7.6132e-05,2.7477e-01,3.3626e-03
+10,5.7333e+00,DOWN_FORCE_DETACH,1.5357e-03,3.7626e-02,1.9415e-01,2.7265e+00,-4.9496e-02,3.9032e-02,3.8766e-05,-1.2640e-02,6.7452e-02,2.6536e-01,-4.0271e-03,-1.3388e-03,-7.8046e-05,2.7409e-01,4.2445e-03
+11,6.3500e+00,DOWN_FORCE_DETACH,1.6913e-03,4.7080e-02,1.9136e-01,2.7254e+00,-4.9293e-02,3.9710e-02,1.9764e-05,-3.1855e-03,6.4659e-02,2.6423e-01,-3.8241e-03,-6.6064e-04,-9.7048e-05,2.7204e-01,3.8820e-03
+12,6.8667e+00,DOWN_FORCE_DETACH,1.8433e-03,5.1785e-02,2.0071e-01,2.6850e+00,-5.0024e-02,4.0108e-02,1.8346e-05,1.5197e-03,7.4010e-02,2.2383e-01,-4.5552e-03,-2.6273e-04,-9.8466e-05,2.3576e-01,4.5639e-03
+13,7.3833e+00,DOWN_FORCE_DETACH,1.9999e-03,5.8226e-02,2.0584e-01,2.6886e+00,-5.0490e-02,4.0570e-02,3.4677e-05,7.9605e-03,7.9139e-02,2.2740e-01,-5.0210e-03,1.9947e-04,-8.2135e-05,2.4091e-01,5.0257e-03
+14,8.1333e+00,DOWN_FORCE_DETACH,2.1534e-03,7.4809e-02,2.0853e-01,2.6354e+00,-5.0897e-02,4.1817e-02,7.7249e-05,2.4544e-02,8.1827e-02,1.7419e-01,-5.4284e-03,1.4463e-03,-3.9563e-05,1.9401e-01,5.6179e-03
+15,8.9667e+00,DOWN_FORCE_DETACH,2.3062e-03,8.8165e-02,2.0675e-01,2.5752e+00,-5.0982e-02,4.2840e-02,1.3665e-04,3.7900e-02,8.0046e-02,1.1405e-01,-5.5129e-03,2.4690e-03,1.9838e-05,1.4440e-01,6.0406e-03
+16,9.6167e+00,DOWN_FORCE_DETACH,2.4606e-03,9.1540e-02,1.9764e-01,2.5592e+00,-5.0457e-02,4.3101e-02,1.7195e-04,4.1275e-02,7.0941e-02,9.8025e-02,-4.9876e-03,2.7297e-03,5.5135e-05,1.2785e-01,5.6860e-03
+17,1.0317e+01,DOWN_FORCE_DETACH,2.6148e-03,9.9013e-02,1.9591e-01,2.5176e+00,-5.0405e-02,4.3688e-02,1.9945e-04,4.8747e-02,6.9211e-02,5.6422e-02,-4.9365e-03,3.3175e-03,8.2636e-05,1.0173e-01,5.9482e-03
+18,1.1100e+01,DOWN_FORCE_DETACH,2.7684e-03,1.0355e-01,1.9500e-01,2.4912e+00,-5.0385e-02,4.4050e-02,2.1423e-04,5.3287e-02,6.8296e-02,3.0048e-02,-4.9160e-03,3.6791e-03,9.7422e-05,9.1688e-02,6.1410e-03
+19,1.1850e+01,DOWN_FORCE_DETACH,2.9230e-03,9.2697e-02,1.9744e-01,2.5187e+00,-5.0523e-02,4.3247e-02,2.2347e-04,4.2431e-02,7.0738e-02,5.7482e-02,-5.0543e-03,2.8761e-03,1.0666e-04,1.0054e-01,5.8163e-03
+20,1.2533e+01,DOWN_FORCE_DETACH,3.0761e-03,9.3989e-02,1.9267e-01,2.5388e+00,-5.0141e-02,4.3309e-02,2.2611e-04,4.3724e-02,6.5973e-02,7.7666e-02,-4.6720e-03,2.9375e-03,1.0930e-04,1.1089e-01,5.5198e-03
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+24,1.5067e+01,DOWN_FORCE_DETACH,3.6955e-03,8.2298e-02,2.1345e-01,2.6122e+00,-5.1289e-02,4.2334e-02,1.5739e-04,3.2032e-02,8.6751e-02,1.5105e-01,-5.8203e-03,1.9630e-03,4.0576e-05,1.7711e-01,6.1425e-03
+25,1.5700e+01,DOWN_FORCE_DETACH,3.8445e-03,7.7351e-02,2.0918e-01,2.6318e+00,-5.0982e-02,4.1944e-02,1.0119e-04,2.7086e-02,8.2479e-02,1.7060e-01,-5.5134e-03,1.5730e-03,-1.5622e-05,1.9142e-01,5.7334e-03
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+37,2.2217e+01,DOWN_FORCE_DETACH,5.6948e-03,8.3330e-02,3.1159e-01,2.9030e+00,-5.7021e-02,4.1972e-02,1.9961e-04,3.3064e-02,1.8489e-01,4.4183e-01,-1.1552e-02,1.6007e-03,8.2799e-05,4.8010e-01,1.1662e-02
+38,2.2600e+01,DOWN_FORCE_DETACH,5.8483e-03,8.3730e-02,2.7747e-01,2.9300e+00,-5.4438e-02,4.1982e-02,1.6824e-04,3.3464e-02,1.5077e-01,4.6887e-01,-8.9687e-03,1.6113e-03,5.1430e-05,4.9365e-01,9.1124e-03
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+41,2.3717e+01,DOWN_FORCE_DETACH,6.3046e-03,9.8233e-02,3.5750e-01,2.9905e+00,-5.9439e-02,4.2904e-02,6.2561e-05,4.7968e-02,2.3080e-01,5.2932e-01,-1.3970e-02,2.5328e-03,-5.4251e-05,5.7944e-01,1.4198e-02
+42,2.4100e+01,DOWN_FORCE_DETACH,6.4647e-03,7.5629e-02,3.4110e-01,3.0229e+00,-5.8173e-02,4.1245e-02,6.7641e-05,2.5364e-02,2.1440e-01,5.6175e-01,-1.2704e-02,8.7443e-04,-4.9170e-05,6.0181e-01,1.2734e-02
+43,2.4433e+01,DOWN_FORCE_DETACH,6.6190e-03,8.5438e-02,3.6360e-01,3.0397e+00,-5.9534e-02,4.1884e-02,7.0275e-05,3.5172e-02,2.3690e-01,5.7853e-01,-1.4065e-02,1.5129e-03,-4.6537e-05,6.2614e-01,1.4146e-02
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+45,2.5017e+01,DOWN_FORCE_DETACH,6.9242e-03,9.1691e-02,3.9661e-01,3.0855e+00,-6.1232e-02,4.2277e-02,5.9769e-05,4.1426e-02,2.6991e-01,6.2428e-01,-1.5763e-02,1.9057e-03,-5.7043e-05,6.8139e-01,1.5878e-02
+46,2.5317e+01,DOWN_FORCE_DETACH,7.0771e-03,1.0857e-01,3.9825e-01,3.0941e+00,-6.1132e-02,4.3420e-02,4.2607e-05,5.8306e-02,2.7155e-01,6.3288e-01,-1.5663e-02,3.0485e-03,-7.4205e-05,6.9114e-01,1.5957e-02
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+48,2.5867e+01,DOWN_FORCE_DETACH,7.3880e-03,1.1958e-01,4.1559e-01,3.1502e+00,-6.2043e-02,4.4108e-02,-1.0987e-05,6.9310e-02,2.8889e-01,6.8898e-01,-1.6574e-02,3.7368e-03,-1.2780e-04,7.5031e-01,1.6990e-02
+49,2.6150e+01,DOWN_FORCE_DETACH,7.5428e-03,1.2468e-01,4.2578e-01,3.1737e+00,-6.2547e-02,4.4442e-02,-2.6104e-05,7.4417e-02,2.9908e-01,7.1251e-01,-1.7078e-02,4.0709e-03,-1.4292e-04,7.7631e-01,1.7557e-02
+50,2.6417e+01,DOWN_FORCE_DETACH,7.6918e-03,9.1232e-02,4.3458e-01,3.1528e+00,-6.3014e-02,4.2107e-02,6.7027e-06,4.0967e-02,3.0788e-01,6.9160e-01,-1.7545e-02,1.7356e-03,-1.1011e-04,7.5815e-01,1.7631e-02
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Fixed/digit/ball_15A_20/press_depth_06/up/camera_frames_60hz.tar

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Fixed/digit/ball_15A_20/press_depth_06/up/franka_data.csv

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Fixed/digit/ball_15A_20/press_depth_06/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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Fixed/digit/ball_15A_20/press_depth_06/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+1,2.6667e-01,WAIT_W2,4.8068e-05,5.7203e-02,1.2664e-01,2.4600e+00,-4.5436e-02,4.0869e-02,9.6354e-05,6.9380e-03,-5.9500e-05,-1.1406e-03,3.2544e-05,4.9799e-04,-2.0476e-05,7.0314e-03,4.9947e-04
+2,4.1667e-01,WAIT_W2,1.0501e-04,6.0394e-02,1.2663e-01,2.4595e+00,-4.5421e-02,4.1097e-02,8.5983e-05,1.0129e-02,-7.1242e-05,-1.6661e-03,4.7855e-05,7.2619e-04,-3.0847e-05,1.0266e-02,7.2842e-04
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+7,1.1000e+00,UP_FORCE_RAMP,3.2687e-04,7.6922e-02,3.6047e-01,2.4572e+00,-6.1549e-02,4.2265e-02,1.0001e-04,2.6658e-02,2.3377e-01,-3.9349e-03,-1.6080e-02,1.8939e-03,-1.6819e-05,2.3532e-01,1.6191e-02
+8,1.3167e+00,UP_FORCE_RAMP,3.7718e-04,7.9776e-02,3.5991e-01,2.4577e+00,-6.1531e-02,4.2468e-02,8.4063e-05,2.9511e-02,2.3321e-01,-3.4566e-03,-1.6062e-02,2.0966e-03,-3.2767e-05,2.3510e-01,1.6199e-02
+9,1.5333e+00,UP_FORCE_RAMP,4.2235e-04,8.2258e-02,3.5944e-01,2.4582e+00,-6.1516e-02,4.2644e-02,6.8490e-05,3.1993e-02,2.3274e-01,-3.0179e-03,-1.6047e-02,2.2727e-03,-4.8339e-05,2.3495e-01,1.6207e-02
+10,1.7833e+00,UP_FORCE_RAMP,4.6780e-04,8.4719e-02,3.5898e-01,2.4586e+00,-6.1501e-02,4.2818e-02,5.1021e-05,3.4454e-02,2.3228e-01,-2.5654e-03,-1.6032e-02,2.4471e-03,-6.5809e-05,2.3484e-01,1.6218e-02
+11,2.0500e+00,UP_FORCE_RAMP,5.1591e-04,8.6929e-02,3.5856e-01,2.4590e+00,-6.1487e-02,4.2975e-02,3.3030e-05,3.6664e-02,2.3186e-01,-2.1420e-03,-1.6018e-02,2.6038e-03,-8.3800e-05,2.3475e-01,1.6228e-02
+12,2.2667e+00,UP_FORCE_RAMP,5.6315e-04,8.8454e-02,3.5827e-01,2.4593e+00,-6.1476e-02,4.3083e-02,1.8932e-05,3.8190e-02,2.3157e-01,-1.8382e-03,-1.6007e-02,2.7118e-03,-9.7898e-05,2.3470e-01,1.6235e-02
+13,2.4667e+00,UP_FORCE_RAMP,6.0950e-04,8.9674e-02,3.5803e-01,2.4596e+00,-6.1467e-02,4.3169e-02,6.3456e-06,3.9410e-02,2.3133e-01,-1.5860e-03,-1.5998e-02,2.7982e-03,-1.1048e-04,2.3467e-01,1.6241e-02
+14,2.7000e+00,UP_FORCE_RAMP,6.5775e-04,9.7049e-02,3.8384e-01,2.4332e+00,-6.3284e-02,4.3723e-02,-4.9477e-06,4.6784e-02,2.5714e-01,-2.7935e-02,-1.7815e-02,3.3523e-03,-1.2178e-04,2.6285e-01,1.8128e-02
+15,2.9500e+00,UP_FORCE_RAMP,7.0298e-04,9.6845e-02,3.8335e-01,2.4394e+00,-6.3271e-02,4.3704e-02,-2.0981e-05,4.6580e-02,2.5665e-01,-2.1779e-02,-1.7802e-02,3.3332e-03,-1.3781e-04,2.6175e-01,1.8112e-02
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+17,3.3333e+00,UP_FORCE_RAMP,7.9850e-04,1.0256e-01,3.7836e-01,2.4219e+00,-6.2999e-02,4.4134e-02,-5.1255e-05,5.2294e-02,2.5166e-01,-3.9234e-02,-1.7530e-02,3.7631e-03,-1.6809e-04,2.6001e-01,1.7930e-02
+18,3.5000e+00,UP_FORCE_RAMP,8.4629e-04,9.4048e-02,3.5138e-01,2.3673e+00,-6.1241e-02,4.3605e-02,-6.4505e-05,4.3783e-02,2.2468e-01,-9.3824e-02,-1.5772e-02,3.2344e-03,-1.8134e-04,2.4738e-01,1.6101e-02
+19,3.6667e+00,UP_FORCE_RAMP,8.8983e-04,9.4550e-02,3.5116e-01,2.3821e+00,-6.1238e-02,4.3625e-02,-7.2998e-05,4.4285e-02,2.2446e-01,-7.9067e-02,-1.5769e-02,3.2545e-03,-1.8983e-04,2.4207e-01,1.6102e-02
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+21,4.1000e+00,UP_FORCE_RAMP,9.8378e-04,9.6418e-02,3.4602e-01,2.3516e+00,-6.1017e-02,4.3801e-02,-9.2972e-05,4.6153e-02,2.1932e-01,-1.0955e-01,-1.5548e-02,3.4305e-03,-2.0980e-04,2.4947e-01,1.5924e-02
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Fixed/digit/ball_15A_20/press_depth_07/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_15A_20/press_depth_07/down/franka_data.csv

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+3122,1792841953524995032,20633058000000,1792841953522642638,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6759114939436571,-0.004756900023065363,0.10663857516459452,0.9999999392179929,0.00010953354244159466,-0.0002937046429762087,0.00012143665293729216,0.6761,-0.0046,0.10684481067964796,1.0,0.0,0.0,0.0,-0.03165389141913044,-0.030786629238272023,0.28721446067943984,-0.0022683569489916552,0.0023481025664541175,-0.00022394416860886158,0.5308253882450595,0.5685612326587904,0.6891264268558349,0.042784493267676804,-0.03947853829556964,0.00041051901520219695,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,0.3188253506177488,0.8650981424737485,1.0004171728849767,-0.010444700626412477,-0.6347315450171928,0.4583053662522346,-0.2244846479208554,-0.28721446067943984,-1.224901820805832,-1.224901820805832,0.3737999999999942,0,0,-0.00012459997597166617,-9.999999025923074e-05
+3179,1792841953999908140,20633533000000,1792841953998643234,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6759364063067074,-0.0047655412308109405,0.10660444650493003,0.999999953088415,0.0001077562353846328,-0.00023364479903924512,0.00013807510169802707,0.6761,-0.0046,0.10677999694216261,1.0,0.0,0.0,0.0,-0.09287957375857098,-0.01819921555969284,0.3715422628059368,-0.0003532121135956384,0.00634606253025119,-0.00021363496311861777,0.469599705905619,0.5811486463373696,0.7734542289823318,0.04469963810307282,-0.035480578331772566,0.00042082822069244077,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,0.4243242465343219,0.8243720215750598,0.7789657373104204,0.008020952926335785,-0.4765001932712774,0.4319597443164467,-0.2244846479208554,-0.3715422628059368,-1.0034503852312757,-1.0034503852312757,0.44504999999998635,0,0,-0.00014834997134480078,-9.999999025923074e-05
+3252,1792841954608955768,20634142000000,1792841954606643567,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6759341233931836,-0.004767397302288231,0.10653228436472277,0.9999999485079163,0.00011102364848964796,-0.00024343640755929396,0.00015112741039851186,0.6761,-0.0046,0.10668039501142293,1.0,0.0,0.0,0.0,-0.09833787105578812,-0.040075730037644974,0.5601046490567716,-0.0018294611381422937,0.006332574003032242,0.00041323489755585327,0.46414140860840186,0.5592721318594175,0.9620166152331667,0.043223389078526166,-0.035494066858991515,0.0010476980813669118,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,0.523964195643402,0.8211507432754162,0.6270985441778254,0.007718887686914968,-0.3519842195657106,0.4269822703425056,-0.2244846479208554,-0.5601046490567716,-0.8515831920986808,-0.8515831920986808,0.5363999999999763,0,0,-0.0001787999654126723,-9.999999025923074e-05
+3303,1792841955033937224,20634567000000,1792841955026652621,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6759709300477129,-0.004771072124438176,0.10648914701306511,0.9999999539919544,0.00011700085955312429,-0.0002026384305458383,0.00016943263764935298,0.6761,-0.0046,0.10659990002700433,1.0,0.0,0.0,0.0,-0.12704998194638922,-0.0339285105150704,0.6921224131643413,-0.0015224286615744057,0.009284553056532446,0.0005823242186420798,0.43542929771780076,0.5654193513819921,1.0940343793407363,0.043530421555094054,-0.03254208780549131,0.0012167874024531383,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,0.5614976407772032,0.8263186263675799,0.4254326823848458,0.0034209965169638887,-0.21482340101827016,0.4315034817204233,-0.2244846479208554,-0.6921224131643413,-0.6499173303057012,-0.6499173303057012,0.6001499999999693,0,0,-0.00020004996127284536,-9.999999025923074e-05
+3338,1792841955324915779,20634858000000,1792841955318652592,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6759925168283808,-0.00476721991501295,0.10646116406808682,0.9999999579359705,0.00012036405334731586,-0.0001699568463803319,0.0001794382526640044,0.6761,-0.0046,0.10653957573868778,1.0,0.0,0.0,0.0,-0.18573109951645722,0.01524372143689301,0.7140392688487376,0.0034634864230485216,0.013261211992502082,0.0006812708243046718,0.37674818014773276,0.6145915833339555,1.1159512350251326,0.04851633663971698,-0.028565428869521674,0.0013157340081157304,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,0.7203330263568656,0.6955732365346984,0.36895975609880927,0.04733783000766,-0.14981224469071394,0.34701989445053594,-0.2244846479208554,-0.7140392688487376,-0.5934444040196647,-0.5934444040196647,0.6437999999999645,0,0,-0.0002145999584382815,-9.999999025923074e-05
+3411,1792841955933878139,20635467000000,1792841955930643435,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6760163061280939,-0.00472806604253235,0.10635021807839821,0.9999999877220537,-6.147309342712557e-05,-0.0001089160079220893,1.889758804201498e-05,0.6761,-0.0046,0.10639962756580816,1.0,0.0,0.0,0.0,-0.21975294935681555,-0.0017626815298518173,0.9880431955285265,0.002333823394918534,0.015272372329684068,0.0004733395966855493,0.3427263303073744,0.5975851803672106,1.3899551617049215,0.047386673611586994,-0.02655426853233969,0.0011078027804966078,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,0.85355137208176,0.8740609596234503,0.022113292061332914,-0.008391961952638917,0.11000778373313919,0.4613197722839327,-0.2244846479208554,-0.9880431955285265,-0.24659793998218832,-0.24659793998218832,0.7351499999999545,0,0,-0.000245049952506153,-9.999999025923074e-05
+3449,1792841956249798823,20635783000000,1792841956242652635,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.67601914792852,-0.004749845091515965,0.10630344919319519,0.9999999873277646,-6.97572368346594e-05,-0.00010261987411377239,3.7288396302435746e-05,0.6761,-0.0046,0.10631970328130409,1.0,0.0,0.0,0.0,-0.15523618140126866,0.10252686560477053,1.127428462460278,0.009569805149762002,0.011048706809249704,0.00038501085758452594,0.4072430982629213,0.701874727501833,1.529340428636673,0.05462265536643046,-0.030777934052774052,0.0010194740413955845,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,0.9052721431353351,0.8957634834969458,-0.03744381150620939,-0.16504229755999122,0.18895799764855015,0.5162046039258683,-0.2244846479208554,-1.127428462460278,-0.18704083641464603,-0.18704083641464603,0.7825499999999492,0,0,-0.0002608499494280699,-9.999999025923074e-05
+3498,1792841956658892756,20636192000000,1792841956658643435,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6760283195669529,-0.004759159229767166,0.10622071605251365,0.9999999880743081,-5.99071212996958e-05,-8.748985869595247e-05,6.364675543071052e-05,0.6761,-0.0046,0.10620884385280473,1.0,0.0,0.0,0.0,-0.18137309822412678,0.09076660963519856,1.3277038212596235,0.00841814980752599,0.014041672097435093,0.0012757851007796825,0.3811061814400632,0.690114471532261,1.7296157874360185,0.05347100002419445,-0.027784968764588663,0.0019102482845907412,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,0.9174006072687457,0.800597963789334,-0.2666801250044676,-0.03015494813230609,0.3182631630957186,0.4288510007377541,-0.2244846479208554,-1.3277038212596235,0.04219547708361218,0.04219547708361218,0.8438999999999425,0,0,-0.0002812999454440953,-9.999999025923074e-05
+3555,1792841957133827726,20636667000000,1792841957130643395,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6760511918649506,-0.0047609565777063075,0.10612572146481179,0.9999999894716217,-5.687575526881441e-05,-5.57611088562512e-05,7.845679195431062e-05,0.6761,-0.0046,0.10606959762981998,1.0,0.0,0.0,0.0,-0.2293987484565076,0.09122029107277807,1.5572032672025855,0.009302132940136001,0.017032861244534136,0.0011530176015859296,0.3330805312076824,0.6905681529698405,1.9591152333789805,0.05435498315680446,-0.02479377961748962,0.001787480785396988,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.0542794701068703,0.7685548545733758,-0.6125270888834717,0.06658379879640038,0.5589139270600914,0.3910803683243045,-0.2244846479208554,-1.5572032672025855,0.3880424409626163,0.3880424409626163,0.9151499999999346,0,0,-0.0003050499408172299,-9.999999025923074e-05
+3602,1792841957524845810,20637058000000,1792841957522652890,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6760726235670669,-0.004766135623501842,0.10603120138208126,0.9999999893063239,-7.681374586540118e-05,-2.0699099337274097e-05,8.063133357401488e-05,0.6761,-0.0046,0.10594651085370693,1.0,0.0,0.0,0.0,-0.27732855936647693,0.1196102488381221,1.7255879705856616,0.011240763363247544,0.019997264509297025,0.0010827842263750717,0.28515072029771305,0.7189581107351846,2.1274999367620566,0.056293613579916,-0.02182937635272673,0.0017172474101861304,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.152893709436291,0.7651883733082687,-0.775325462426838,0.07462148453673108,0.6805798870098514,0.38829847751489127,-0.2244846479208554,-1.7255879705856616,0.5508408145059825,0.5508408145059825,0.9737999999999282,0,0,-0.0003245999370085891,-9.999999025923074e-05
+3645,1792841957883795181,20637417000000,1792841957882642743,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.676095185093837,-0.00477059802411326,0.10594818641748521,0.9999999877287608,-9.365042373610346e-05,1.9595145198672575e-05,8.264968836530698e-05,0.6761,-0.0046,0.10582986719256623,1.0,0.0,0.0,0.0,-0.2970340281228769,0.12991439495671098,1.935388286116742,0.012167361842503173,0.021960291376658732,0.0009538469203207882,0.2654452515413131,0.7292622568537734,2.337300252293137,0.05722021205917163,-0.019866349485365024,0.0015883101041318467,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.2281247505731248,0.7881961720414494,-1.183416792412304,0.06851509639895775,0.9583400159500225,0.39882928156660813,-0.2244846479208554,-1.935388286116742,0.9589321444914486,0.9589321444914486,1.0276499999999427,0,0,-0.00032073204202645735,9.999985148135266e-05
+3695,1792841958299783470,20637833000000,1792841958298643194,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.676110217147994,-0.004768331060545396,0.10585645827647161,0.9999999856567995,-0.00011043404869048343,4.27643755885714e-05,7.813318289858963e-05,0.6761,-0.0046,0.10570049510228183,1.0,0.0,0.0,0.0,-0.3003235028588762,0.1302466459308983,2.1516890032926823,0.013114519021029787,0.02290625575468741,0.0012549496852272495,0.26215577680531377,0.7295945078279608,2.5536009694690773,0.058167369237698247,-0.018920385107336346,0.001889412869038308,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.2857079684596429,0.6955803282720423,-1.2810251221039728,0.10498863251220279,1.0350545259244819,0.3383510573814382,-0.2244846479208554,-2.1516890032926823,1.0565404741831175,1.0565404741831175,1.090049999999982,0,0,-0.00030083506271230833,9.999999025923074e-05
+3751,1792841958766693907,20638300000000,1792841958766643173,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6761266560146879,-0.004773889983724342,0.10575480159657838,0.999999981972815,-0.0001247240994965711,7.133775569896174e-05,8.27771576193369e-05,0.6761,-0.0046,0.10556544567693073,1.0,0.0,0.0,0.0,-0.3259348349015537,0.13685185571205039,2.343377740261493,0.013018857549952474,0.024888297875553772,0.001706488113915223,0.23654444476263628,0.7361997176091128,2.745289706437888,0.058071707766620934,-0.016938342986469984,0.0023409512977262815,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.3740224208386842,0.7688151101980634,-1.5140516431922688,0.08282103019783865,1.2060841438201093,0.3865632847023499,-0.2244846479208554,-2.343377740261493,1.2895669952714135,1.2895669952714135,1.160100000000026,0,0,-0.0002774850672612476,9.999999025923074e-05
+3802,1792841959191788113,20638725000000,1792841959190642917,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6761370765445088,-0.004776415427399085,0.10566473686019577,0.9999999785778823,-0.00014032138135751065,8.882448644412068e-05,8.189761807737966e-05,0.6761,-0.0046,0.10545201952246291,1.0,0.0,0.0,0.0,-0.33858602943392374,0.13783165868335534,2.511548978782997,0.013978684488726766,0.025846713809548783,0.0015961262567012729,0.22389325023026624,0.7371795205804178,2.9134609449593922,0.059031534705395225,-0.015979927052474974,0.0022305894405123313,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4378938875269298,0.8132017487208323,-1.773832779531659,0.07928934607936007,1.3899901867285689,0.4145662671065964,-0.2244846479208554,-2.511548978782997,1.5493481316108038,1.5493481316108038,1.2238500000000663,0,0,-0.0002562350714010745,9.999999025923074e-05
+3853,1792841959616662961,20639150000000,1792841959610643384,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6761527790781241,-0.004774760403181552,0.10558257617415777,0.9999999751063666,-0.00014675404711913794,0.00011452898793921072,8.109556757000095e-05,0.6761,-0.0046,0.10534762461623567,1.0,0.0,0.0,0.0,-0.3486926480932795,0.15280795592572438,2.6313216792357337,0.014950471251579299,0.026814684402284968,0.0015257034564940698,0.21378663157091052,0.7521558178227868,3.0332336454121287,0.06000332146824776,-0.015011956459738789,0.002160166640305128,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4781560379445293,0.6912225184477783,-1.9462139453115535,0.122627800891867,1.5050133633665004,0.337759781679464,-0.2244846479208554,-2.6313216792357337,1.7217292973906981,1.7217292973906981,1.2876000000001064,0,0,-0.00023498507554090142,9.999999025923074e-05
+3908,1792841960074676545,20639608000000,1792841960074643674,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6761641068748235,-0.004774094158413052,0.1055009838773381,0.9999999825771188,4.1088637366942336e-05,0.00013418682763793625,8.120496350290108e-05,0.6761,-0.0046,0.10524523410061408,1.0,0.0,0.0,0.0,-0.34945634812391035,0.15777502957880896,2.7549171206587344,0.014938455946045093,0.026787459419470333,0.0014258495802091853,0.21302293154027965,0.7571228914758714,3.1568290868351294,0.05999130616271355,-0.015039181442553421,0.0020603127640202437,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4625430370922976,0.9510427539364884,-1.9063800531146033,-0.004013959835534863,1.4847950873707914,0.42787685771080847,-0.2244846479208554,-2.7549171206587344,1.681895405193748,1.681895405193748,1.3563000000001497,0,0,-0.00021208508000217374,9.999999025923074e-05
+3963,1792841960533722978,20640067000000,1792841960530643340,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6761691685521063,-0.004773776254194525,0.10541883890571942,0.9999999817983762,2.5469844196356916e-05,0.00014214907633791304,8.361243305666456e-05,0.6761,-0.0046,0.10515314259786475,1.0,0.0,0.0,0.0,-0.34892865818896224,0.16097908653445392,2.855569700165861,0.014909077765479312,0.026765677170702905,0.0013445271031678019,0.21355062147522771,0.7603269484315164,3.257481666342256,0.05996192798214777,-0.01506096369132085,0.0019789902869788603,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.414640308303066,0.8429873579601184,-2.0179925578421534,0.045784891338756926,1.5404238985075915,0.36974297812141965,-0.2244846479208554,-2.855569700165861,1.793507909921298,1.793507909921298,1.425150000000193,0,0,-0.00018913508447318683,9.999999025923074e-05
+4026,1792841961058687055,20640592000000,1792841961058643314,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6761831159770317,-0.00477918284693181,0.1053501435561019,0.9999999779185575,6.559566051877452e-06,0.00016732576979099496,8.697590306682056e-05,0.6761,-0.0046,0.10506072417717137,1.0,0.0,0.0,0.0,-0.34002919459203446,0.16279816492448085,2.9059372599312,0.014899610914696715,0.026754483824531744,0.001304945531528534,0.22245008507215552,0.7621460268215433,3.307849226107595,0.059952461131365174,-0.015072157037492014,0.0019394087153395926,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4424667869907024,0.7851909738420433,-2.161362902174129,0.08965732889894516,1.6371844347072888,0.3586256318669536,-0.2244846479208554,-2.9059372599312,1.9368782542532739,1.9368782542532739,1.5039000000002427,0,0,-0.00016288508958709069,9.999999025923074e-05
+4093,1792841961616695698,20641150000000,1792841961614642916,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6761852741601325,-0.004776997990723084,0.10526925576247459,0.9999999776696248,-8.312998327448004e-06,0.00016774535110529484,8.885947160891332e-05,0.6761,-0.0046,0.10497760444566259,1.0,0.0,0.0,0.0,-0.3211918935209248,0.15546675300243218,2.9460233676731966,0.014918133343172359,0.02573285747775287,0.0012591520920857261,0.24128738614326517,0.7548146148994946,3.3479353338495916,0.05997098355984082,-0.016093783384270886,0.0018936152758967848,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4981031856642615,0.7417752644861474,-2.058934949438552,0.13053366644358497,1.5868722244565445,0.3617742293122294,-0.2244846479208554,-2.9460233676731966,1.8344503015176967,1.8344503015176967,1.5876000000002954,0,0,-0.00013498509502243993,9.999999025923074e-05
+4160,1792841962174655105,20641708000000,1792841962170643315,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6761885651236262,-0.0047801977579342465,0.10520443822327019,0.9999999762594337,-2.5140305161211746e-05,0.00017480170197459405,8.7956389901688e-05,0.6761,-0.0046,0.10491005291112089,1.0,0.0,0.0,0.0,-0.3097093265048173,0.16460491764729224,2.9562874435891064,0.014945114490191591,0.024716350974701738,0.0012365055548805809,0.2527699531593727,0.7639527795443547,3.3581994097655015,0.05999796470686005,-0.01711028988732202,0.0018709687386916395,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4200117219500799,0.8216400447878095,-2.214357380960184,0.13340488808711412,1.6604600587350857,0.43398960029901745,-0.2244846479208554,-2.9562874435891064,1.9898727330393287,1.9898727330393287,1.6713000000003482,0,0,-0.00010708510045778918,9.999999025923074e-05
+4245,1792841962883593505,20642417000000,1792841962882643931,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6761903020272068,-0.004786276949294937,0.10514330440278291,0.9999999751185872,-4.2508260854637844e-05,0.00017729133519974952,8.925536198306707e-05,0.6761,-0.0046,0.10484667887244462,1.0,0.0,0.0,0.0,-0.29246523932476226,0.15613564221302767,2.9655515777209644,0.013950257579471895,0.023723325203734914,0.001203911345764858,0.2700140403394277,0.7554835041100901,3.3674635438973595,0.059003107796140354,-0.018103315658288842,0.0018383745295759164,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4769240868391633,0.7833075545269138,-2.217605294820976,0.14459829219021292,1.6825542739492463,0.415399629030674,-0.2244846479208554,-2.9655515777209644,1.9931206469001206,1.9931206469001206,1.7776500000004152,0,0,-7.163510736399458e-05,9.999999025923074e-05
+4327,1792841963566509381,20643100000000,1792841963566643217,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6761881829096886,-0.0047828268176909544,0.10509713578994913,0.9999999760200828,-4.300116559999602e-05,0.0001710995050894579,9.09865772630624e-05,0.6761,-0.0046,0.1048093972418397,1.0,0.0,0.0,0.0,-0.28272237642588094,0.148997940012484,2.9556142079679106,0.012931174489014513,0.023741179261753186,0.0012015897722956735,0.27975690323830904,0.7483458019095465,3.3575261741443057,0.05798402470568297,-0.01808546160027057,0.001836052956106732,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4061297582819012,0.7536307002146267,-2.184114939699155,0.1657649313724837,1.6433085584669995,0.39943296543544543,-0.2244846479208554,-2.9556142079679106,1.9596302917782997,1.9596302917782997,1.8801000000004797,0,0,-3.7485114016939984e-05,9.999999025923074e-05
+4402,1792841964191586309,20643725000000,1792841964190643548,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6761881438979475,-0.004789188418797564,0.10507632393334611,0.9999999756430326,-5.087404619924887e-05,0.00017029114734109499,9.257189332240611e-05,0.6761,-0.0046,0.10479227641911042,1.0,0.0,0.0,0.0,-0.26888092360356414,0.13471677953617567,2.915230537917822,0.011944618389897702,0.02275604132348384,0.0012090795508882283,0.29359835606062584,0.7340646414332381,3.317142504094217,0.05699746860656616,-0.019070599538539915,0.0018435427346992867,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4206245347728759,0.8068987899661251,-2.2083995780602774,0.14791219708496728,1.6656385207977449,0.4342185805777945,-0.2244846479208554,-2.915230537917822,1.983914930139422,1.983914930139422,1.9738500000005388,0,0,-2.567128679489971e-05,9.687533694536227e-05
+4479,1792841964833565892,20644367000000,1792841964830642512,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6761859685762917,-0.004787554721800246,0.10504900280569261,0.9999999760390317,-4.754908144777033e-05,0.00016737027072158417,9.534714323142305e-05,0.6761,-0.0046,0.10476759149864498,1.0,0.0,0.0,0.0,-0.2714271455795033,0.1215416993501458,2.8947443036038694,0.01095447501893887,0.021784643108250828,0.0011979166161493401,0.29105213408468666,0.7208895612472083,3.2966562697802644,0.05600732523560733,-0.02004199775377293,0.0018323797999603986,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4037145286935515,0.8518049564573492,-2.17919197985138,0.13521099024827052,1.6444696407275774,0.46365385617369187,-0.2244846479208554,-2.8947443036038694,1.9547073319305246,1.9547073319305246,2.0701500000005995,0,0,-5.3188688907439226e-05,-9.999999025923074e-05
+4555,1792841965466548101,20645000000000,1792841965466643387,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6761865073550108,-0.004789166486704871,0.10501061435186332,0.9999999751555851,-5.499381675509052e-05,0.00016891731355619163,9.784842769622889e-05,0.6761,-0.0046,0.104723924361467,1.0,0.0,0.0,0.0,-0.2627064419648956,0.12022170604663562,2.9047314820030685,0.01092858593597433,0.022646336342119978,0.0012043107027988596,0.29977283769929436,0.7195695679436981,3.3066434481794635,0.05598143615264279,-0.01918030451990378,0.0018387738866099182,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.3557592183308682,0.7134538403766689,-2.180447522086263,0.17898985126383185,1.627668033045777,0.3718526061124587,-0.2244846479208554,-2.9047314820030685,1.9559628741654078,1.9559628741654078,2.1651000000006593,0,0,-8.48335282674625e-05,-9.999999025923074e-05
+4616,1792841965974480413,20645508000000,1792841965966643367,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6761930020367417,-0.004791430449933203,0.10497624863797397,0.9999999728151441,-5.8941185773229066e-05,0.00017918753516680448,0.00010114514055728381,0.6761,-0.0046,0.10467439003036648,1.0,0.0,0.0,0.0,-0.2711353921129959,0.11969792420843106,2.93835276492875,0.009898670675012378,0.02278994582653084,0.0011666644040801782,0.29134388755119406,0.7190457861054935,3.340264731105145,0.05495152089168084,-0.019036695035492917,0.0018011275878912368,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.444420749134938,0.7570251506075443,-2.2307778049099145,0.17711741025624061,1.6861753259768553,0.40202159233505996,-0.2244846479208554,-2.93835276492875,2.006293156989059,2.006293156989059,2.2413000000007073,0,0,-0.00011023352331915171,-9.999999025923074e-05
+4689,1792841966583449052,20646117000000,1792841966582643404,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6761975843525451,-0.004793228176358234,0.1049079489080013,0.999999970484702,-7.256269809419798e-05,0.00018784139771267145,9.961788843814302e-05,0.6761,-0.0046,0.10459800101647442,1.0,0.0,0.0,0.0,-0.2806101572443157,0.10224172260769548,2.996793412070875,0.009885751514923283,0.02277867766957415,0.0011182769666770362,0.2818691224198743,0.701589584504758,3.39870537824727,0.05493860173159174,-0.019047963192449606,0.0017527401504880949,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4219487184943032,0.7752870383946443,-2.297783052209686,0.17507785104719453,1.7181008041466606,0.4153292232509334,-0.2244846479208554,-2.996793412070875,2.0732984042888303,2.0732984042888303,2.332650000000765,0,0,-0.00014068351738702323,-9.999999025923074e-05
+4756,1792841967141464863,20646675000000,1792841967134643463,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762058479741075,-0.004794718334083614,0.10482992820599131,0.9999999663678385,-8.031321641046136e-05,0.00020508079814460342,0.00010098930584117258,0.6761,-0.0046,0.10451172946529164,1.0,0.0,0.0,0.0,-0.28126619374821693,0.11455126771029267,3.0645954610121247,0.009846943140044202,0.0237762495388619,0.0010791496072948413,0.28121308591597305,0.7138991296073551,3.4665074271885197,0.05489979335671266,-0.018050391323161857,0.0017136127911059,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4679705043845446,0.7589689291904248,-2.394016229710123,0.18625933356827365,1.7890113604403999,0.402069147011841,-0.2244846479208554,-3.0645954610121247,2.1695315817892675,2.1695315817892675,2.4163500000008176,0,0,-0.000168583511951674,-9.999999025923074e-05
+4822,1792841967691352834,20647225000000,1792841967690652781,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762102285539374,-0.004796930060188629,0.10474273676628117,0.9999999632578159,-9.010848457768927e-05,0.0002144227261595475,0.00010407010515509527,0.6761,-0.0046,0.10441161591164125,1.0,0.0,0.0,0.0,-0.2775216976356263,0.09709146238846367,3.1146879648718677,0.009863328813844274,0.022753071170934242,0.0010234200034257806,0.2849575820285637,0.6964393242855261,3.5165999310482627,0.054916179030512734,-0.019073569691089514,0.0016578831872368393,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4328663094387828,0.7523683767469184,-2.5452495183881987,0.19548469171041694,1.8802348324413585,0.40167104482944616,-0.2244846479208554,-3.1146879648718677,2.320764870467343,2.320764870467343,2.4988500000008695,0,0,-0.00019556128938033458,-9.999999025923074e-05
+4881,1792841968183355091,20647717000000,1792841968178644780,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762112039326769,-0.004798947349843569,0.1046533173837112,0.9999999634704251,-8.067324800553345e-05,0.00021387590875388395,0.0001106839450989889,0.6761,-0.0046,0.10430943280191826,1.0,0.0,0.0,0.0,-0.25270993275753617,0.09389733400199385,3.1545827936702118,0.00850747639404726,0.021756733879633026,0.0009660687293351384,0.3097693469066538,0.6932451958990563,3.556494759846607,0.05356032661071572,-0.02006990698239073,0.001600531913146197,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.474731697652597,0.7273292882467655,-2.5327425800196037,0.2102549624454495,1.8843428317508255,0.38797016486249203,-0.2244846479208554,-3.1545827936702118,2.308257932098748,2.308257932098748,2.572650000000916,0,0,-0.00021978287153698173,-9.999999025923074e-05
+4935,1792841968633417729,20648167000000,1792841968626643465,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762200715820879,-0.004803542803692479,0.10456253813502579,0.9999999605913235,1.3740735680674165e-05,0.00023287830694292472,0.00012585349634419016,0.6761,-0.0046,0.10420547926071506,1.0,0.0,0.0,0.0,-0.26228223793510236,0.07443535020646408,3.1982785421279445,0.007401175195864092,0.022781808394833188,0.0009301918918102227,0.3001970417290876,0.6737832121035265,3.6001905083043395,0.05245402541253255,-0.01904483246719057,0.0015646550756212812,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4906576406195997,0.8218617742647203,-2.5797242732454735,0.17979838174084187,1.9202825698099129,0.4453107185732592,-0.2244846479208554,-3.1982785421279445,2.355239625324618,2.355239625324618,2.6401500000009586,0,0,-0.00024228286715363557,-9.999999025923074e-05
+4982,1792841969024420576,20648558000000,1792841969022643262,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762203513872228,-0.0048023680161758285,0.10446365438206393,0.9999999614521707,-1.6366103847414085e-06,0.00022947542639343164,0.0001260034597810584,0.6761,-0.0046,0.10410693441040449,1.0,0.0,0.0,0.0,-0.2604652852251491,0.05947954575478509,3.23381076506087,0.005783854909046038,0.02179186128332649,0.0008674513840851082,0.30201399443904087,0.6588274076518476,3.635722731237265,0.0508367051257145,-0.020034779578697266,0.0015019145678961668,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4329893574986379,0.7626108686190025,-2.5724097520999516,0.220834652421834,1.9012123742835147,0.4153258807092281,-0.2244846479208554,-3.23381076506087,2.347925104179096,2.347925104179096,2.6988000000009955,0,0,-0.00026183286334499476,-9.999999025923074e-05
+5019,1792841969333380998,20648867000000,1792841969326643502,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762245339249536,-0.004798286411675969,0.10438907941626854,0.9999999609925584,-6.55668151306611e-05,0.00024361591556295992,7.622351742002624e-05,0.6761,-0.0046,0.10402364875609742,1.0,0.0,0.0,0.0,-0.23306915550491564,0.08512984262616952,3.2348755445149338,0.00788177096944976,0.019724808061427086,0.0008619936491835206,0.32941012415927434,0.684477704523232,3.6367875106913288,0.05293462118611822,-0.02210183280059667,0.001496456832994579,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.448239534155709,0.7740672356051125,-2.5585508480366737,0.1972612761034766,1.9027265437084886,0.4325914219707009,-0.2244846479208554,-3.2348755445149338,2.334066200115818,2.334066200115818,2.7451500000010247,0,0,-0.00027728286033509706,-9.999999025923074e-05
+5070,1792841969758361911,20649292000000,1792841969750652891,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762286704323611,-0.00480088832187944,0.10426887252918655,0.9999999586520859,-5.504038404771702e-05,0.00024790618187524186,9.824343193192314e-05,0.6761,-0.0046,0.10390129854133678,1.0,0.0,0.0,0.0,-0.2168197768230935,0.05783784192813868,3.273775509251219,0.004947019654566502,0.01977252799623445,0.0007992697367565589,0.3456595028410965,0.6571857038252011,3.675687475427614,0.04999986987123496,-0.022054112865789306,0.0014337329205676174,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4680868441976673,0.7053768655051982,-2.645725253613673,0.24026828012656645,1.9611255249504198,0.3833707512977287,-0.2244846479208554,-3.273775509251219,2.4212406056928173,2.4212406056928173,2.808900000001065,0,0,-0.0002985328561952701,-9.999999025923074e-05
+5121,1792841970183310028,20649717000000,1792841970182643687,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.676231561999328,-0.004807786756697532,0.10415222535096184,0.9999999556207283,-4.959156580375351e-05,0.000253797444243604,0.00011545102797736885,0.6761,-0.0046,0.10376991707833558,1.0,0.0,0.0,0.0,-0.22222080330383392,0.03872286787896351,3.2634278906124945,0.0037738144663602355,0.020439502761094634,0.0008029602401350388,0.34025847636035605,0.638070729776026,3.6653398567888895,0.048826664683028695,-0.021387138100929123,0.0014374234239460974,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4498616507168949,0.684096195066591,-2.6363355951976573,0.25890495116479856,1.9500664045970078,0.3707257590060446,-0.2244846479208554,-3.2634278906124945,2.4118509472768017,2.4118509472768017,2.872650000001105,0,0,-0.0003197828520554432,-9.999999025923074e-05
+5165,1792841970549348405,20650083000000,1792841970546643358,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762392714033859,-0.0048108423178362565,0.10402758006850751,0.9999999532985099,-5.5700735302129763e-05,0.00025720185822997936,0.00012486182218800367,0.6761,-0.0046,0.10364953680513748,1.0,0.0,0.0,0.0,-0.23026268576007664,0.020544054342991114,3.293035017716959,0.002711439232798152,0.020603074699776007,0.0007683612353702644,0.33221659390411334,0.6198919162400536,3.694946983893354,0.04776428944946661,-0.02122356616224775,0.001402824419181323,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4667757138255957,0.6574478240064634,-2.617707937654292,0.27847458631853367,1.9467872025604545,0.3501103895968349,-0.2244846479208554,-3.293035017716959,2.3932232897334367,2.3932232897334367,2.9275500000011396,0,0,-0.00033808284849032164,-9.999999025923074e-05
+5212,1792841970941287126,20650475000000,1792841970934644315,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762433268012313,-0.004813024473940962,0.10389243455134259,0.9999999497385657,-9.606150116090825e-05,0.0002672446977960197,0.00010638698354008795,0.6761,-0.0046,0.10351317652927959,1.0,0.0,0.0,0.0,-0.20234468259368604,0.020774607324216765,3.300856009526887,0.0017680694017493184,0.018814354346863547,0.0007271236300120297,0.36013459707050394,0.6201224692212792,3.702767975703282,0.04682091961841778,-0.02301228651516021,0.0013615868138230883,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.443942853777248,0.6940463467894672,-2.589446723805819,0.27123403890084113,1.9258706785158255,0.3733038927821748,-0.2244846479208554,-3.300856009526887,2.3649620758849634,2.3649620758849634,2.9863500000011767,0,0,-0.0003576828446719401,-9.999999025923074e-05
+5252,1792841971274210401,20650808000000,1792841971266643342,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762374331293883,-0.004817824751603082,0.10376562525817856,0.9999999509603652,-8.832548790990493e-05,0.0002567517112780746,0.00012569526059107036,0.6761,-0.0046,0.10339130424254553,1.0,0.0,0.0,0.0,-0.2006339100981927,-0.021192938861810284,3.3116349155358344,-0.0012799940265340731,0.018259794575223285,0.0006777612745395373,0.3618453695659973,0.5781549230352522,3.7135468817122295,0.043772856190134386,-0.02356684628680047,0.0013122244583505958,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.391098811232483,0.5844059375231291,-2.6045847131982973,0.30924709027820774,1.9188129060830712,0.30564501502059754,-0.2244846479208554,-3.3116349155358344,2.380100065277442,2.380100065277442,3.036300000001208,0,0,-0.00037433284142826393,-9.999999025923074e-05
+5292,1792841971608306435,20651142000000,1792841971602653222,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762377729731858,-0.0048226013222948385,0.10363840251240837,0.9999999497182588,-8.247029806343399e-05,0.00025696230759229003,0.00013847514894356697,0.6761,-0.0046,0.10326349652405344,1.0,0.0,0.0,0.0,-0.19037200051426295,-0.05113838474081622,3.3003420777516896,-0.0033108543472854662,0.01789962903379914,0.0006555001100955969,0.37210727914992703,0.5482094771562462,3.7022540439280847,0.04174199586938299,-0.023927011828224615,0.0012899632939066554,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.3564928054403476,0.689676770967847,-2.642101935832287,0.28493716293112,1.935879130024077,0.37707147308802685,-0.2244846479208554,-3.3003420777516896,2.4176172879114315,2.4176172879114315,3.0864000000012397,0,0,-0.000391032838174847,-9.999999025923074e-05
+5328,1792841971908251153,20651442000000,1792841971902652891,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762374694833643,-0.004819941573132738,0.10352452265480212,0.9999999503080603,-0.00011205922020344191,0.00026084663823453485,0.00010113606574481701,0.6761,-0.0046,0.10314394417304078,1.0,0.0,0.0,0.0,-0.1622117284175989,-0.05337699369613458,3.300236188080107,-0.0032545793974331216,0.015872998354887816,0.0006273433219288095,0.4002675512465911,0.5459708682009279,3.702148154256502,0.04179827081923534,-0.02595364250713594,0.001261806505739868,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.382285004093073,0.6761850212637455,-2.612666880544254,0.30555919553342736,1.9279303207803262,0.36864079643173603,-0.2244846479208554,-3.300236188080107,2.3881822326233983,2.3881822326233983,3.131400000001268,0,0,-0.0004060328352526162,-9.999999025923074e-05
+5359,1792841972166279928,20651700000000,1792841972162643911,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762344533947254,-0.004824085954514557,0.10341148346678306,0.9999999555870251,-1.7094945901252886e-05,0.0002580346160574339,0.00011573552545040949,0.6761,-0.0046,0.10303753005187105,1.0,0.0,0.0,0.0,-0.16933324111281656,-0.0800579479583462,3.2705887018970516,-0.0052932828522429184,0.0159187574800559,0.0006277459596172674,0.3931460385513734,0.5192899139387163,3.6725006680734467,0.03975956736442554,-0.025907883381967856,0.0012622091434283259,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.3926218103875512,0.679254472300151,-2.6337243764689258,0.29652046753453626,1.9464667702736038,0.3636250377532209,-0.2244846479208554,-3.2705887018970516,2.4092397285480702,2.4092397285480702,3.1701000000012924,0,0,-0.00041893283273949775,-9.999999025923074e-05
+5393,1792841972449236113,20651983000000,1792841972446643093,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762290531869769,-0.004827714029797344,0.1032852669259977,0.9999999564834439,-2.430562500573147e-05,0.00024720151281076353,0.0001295246053949382,0.6761,-0.0046,0.10291697691059722,1.0,0.0,0.0,0.0,-0.1540953842250194,-0.10813799290949716,3.279009324998201,-0.008329210888026024,0.014961400400216252,0.0005725627450144229,0.4083838954391706,0.4912098689875653,3.680921291174596,0.036723639328642435,-0.026865240461807504,0.0012070259288254814,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.2773436722114078,0.7024740418516087,-2.5070903679488024,0.29456385484926617,1.8379136845216855,0.3856499694181179,-0.2244846479208554,-3.279009324998201,2.282605720027947,2.282605720027947,3.212550000001319,0,0,-0.00043308282998286005,-9.999999025923074e-05
+5428,1792841972741262744,20652275000000,1792841972734652964,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762273609030848,-0.0048320478423752875,0.10315783589629593,0.9999999565394742,-3.917316411603072e-05,0.00024300591974524058,0.00013333229244677803,0.6761,-0.0046,0.10278839242465891,1.0,0.0,0.0,0.0,-0.15776010652585076,-0.1417139248812555,3.2581310560042014,-0.010344500377178552,0.014023689926649926,0.0005505009126739064,0.4047191731383392,0.45763393701580696,3.6600430221805964,0.03470834983948991,-0.02780295093537383,0.001184964096484965,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.312118164560842,0.6047517619275725,-2.5383530715136606,0.33595180036642225,1.8734262730165465,0.3252663871965732,-0.2244846479208554,-3.2581310560042014,2.313868423592805,2.313868423592805,3.256350000001347,0,0,-0.00044768282713855543,-9.999999025923074e-05
+5463,1792841973033248020,20652567000000,1792841973026643870,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762448092127112,-0.004830474247958272,0.10303608353997046,0.9999999512741906,-7.460539443331581e-05,0.0002644080181428433,0.0001158314115288544,0.6761,-0.0046,0.10265554473955114,1.0,0.0,0.0,0.0,-0.1458930609556035,-0.1316635310410893,3.2010039028688464,-0.008663895499109509,0.013970699135002266,0.0006181334756196728,0.4165862187085865,0.46768433085597316,3.6029158690452414,0.03638895471755895,-0.02785594172702149,0.0012525966594307313,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.4177966874912973,0.6238927989358954,-2.4969311201420354,0.3422679025224077,1.8703980789824262,0.34200350026460935,-0.2244846479208554,-3.2010039028688464,2.27244647222118,2.27244647222118,3.3001500000013744,0,0,-0.0004622828242942508,-9.999999025923074e-05
+5495,1792841973299212265,20652833000000,1792841973298644085,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762402431119298,-0.004833126469333794,0.10290317712580153,0.9999999513701703,-7.737929522868481e-05,0.0002566519667366724,0.00012978726404955994,0.6761,-0.0046,0.10253081525863478,1.0,0.0,0.0,0.0,-0.14771225547398054,-0.15892917770329928,3.213719542872033,-0.011355768001186678,0.01402211296434857,0.0005757771470213236,0.41476702419020944,0.4404186841937632,3.615631509048428,0.03369708221548178,-0.027804527897675187,0.0012102403308323821,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.3386396829642737,0.5471700291302493,-2.54251326389112,0.35324146977360776,1.8827279680037252,0.28918648246283707,-0.2244846479208554,-3.213719542872033,2.3180286159702645,2.3180286159702645,3.3400500000013995,0,0,-0.0004755828217032062,-9.999999025923074e-05
+5526,1792841973558200193,20653092000000,1792841973550653642,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762345695635444,-0.004831644553344877,0.1027677774287617,0.9999999522258913,-9.242480780842818e-05,0.0002480168668269611,0.00013013980272920083,0.6761,-0.0046,0.10240596875814162,1.0,0.0,0.0,0.0,-0.14691718991332475,-0.17350827753164189,3.167058948922688,-0.012357689151014609,0.013652741733606564,0.000599462890621401,0.4155620897508652,0.4258395843654206,3.568970915099083,0.03269516106565385,-0.028173899128417192,0.0012339260744324595,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.3774750868173367,0.6099083070765421,-2.5376217532155203,0.3457389351972609,1.8917065358133152,0.3327330949009681,-0.2244846479208554,-3.167058948922688,2.3131371052946648,2.3131371052946648,3.378900000001424,0,0,-0.000488532819180347,-9.999999025923074e-05
+5556,1792841973808218712,20653342000000,1792841973806643181,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762326289374344,-0.004833069217455049,0.1026353880227463,0.9999999516397877,-0.00010523958017203583,0.00024307701947161498,0.00013416959391810454,0.6761,-0.0046,0.10228227930365215,1.0,0.0,0.0,0.0,-0.13634463632496352,-0.20012501588223236,3.136436824823342,-0.014372222882833647,0.012866854152520046,0.0005859806475069213,0.42613464333922646,0.3992228460148301,3.538348790999737,0.030680627333834812,-0.02895978670950371,0.0012204438313179798,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.3148322283711933,0.5325178261603848,-2.5518747979685266,0.36288450410289813,1.8857912184348982,0.28147164032486316,-0.2244846479208554,-3.136436824823342,2.327390150047671,2.327390150047671,3.4164000000014476,0,0,-0.0005010328167451547,-9.999999025923074e-05
+5583,1792841974033227131,20653567000000,1792841974030643678,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762300114832323,-0.004828487892875053,0.10251694999050533,0.9999999496861259,-0.00014170531635178616,0.00024294542721327094,0.00011387595288236428,0.6761,-0.0046,0.10216828692013215,1.0,0.0,0.0,0.0,-0.10812334988711192,-0.19136175595286636,3.102471873885809,-0.014315236989207045,0.011064520655257176,0.0005907339746224165,0.45435592977707806,0.4079861059441961,3.504383840062204,0.030737613227461415,-0.03076212020676658,0.001225197158433475,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.317368868885375,0.6984640641489872,-2.515837126981369,0.3200961424375237,1.8704288251446546,0.3925535315299974,-0.2244846479208554,-3.102471873885809,2.2913524790605133,2.2913524790605133,3.450150000001469,0,0,-0.0005122828145534816,-9.999999025923074e-05
+5611,1792841974266199788,20653800000000,1792841974258643990,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762259887885727,-0.00482591465214246,0.10238382725231475,0.9999999526490284,-0.00012010569612109064,0.0002328136402624102,0.00013235269481723684,0.6761,-0.0046,0.10204757362460673,1.0,0.0,0.0,0.0,-0.09752786751180809,-0.21767344631588909,3.0791881553992333,-0.016276620088786675,0.010094104203965122,0.0005704506429173207,0.4649514121523819,0.3816744155811734,3.4811001215756283,0.028776230127881785,-0.031732536658058634,0.0012049138267283793,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.3041214026830623,0.6447187050401145,-2.4154525529698336,0.3272381128573766,1.80692944412,0.36153035843248005,-0.2244846479208554,-3.0791881553992333,2.190967905048978,2.190967905048978,3.485100000001491,0,0,-0.0005239328122838824,-9.999999025923074e-05
+5632,1792841974441116988,20653975000000,1792841974438643919,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762180382741838,-0.004788594445086628,0.10228378135543793,0.9999999605194336,1.8985446233108135e-05,0.0002194458994484075,0.00014794271139954417,0.6761,-0.0046,0.10195512413260706,1.0,0.0,0.0,0.0,0.05644577695036379,-0.10156371765746375,3.0253467067807085,-0.00898173931296261,0.0009354863642407826,0.0005774398306285048,0.6189250566145538,0.4977841442395987,3.4272586729571035,0.03607111090370585,-0.040891154497782974,0.0012119030144395633,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.2311248100447265,0.7802512681243577,-2.3516445299635995,0.29392832867126584,1.751105094614496,0.43898278948424596,-0.2244846479208554,-3.0253467067807085,2.127159882042744,2.127159882042744,3.5113500000015074,0,0,-0.0005326828105792477,-9.999999025923074e-05
+5660,1792841974674091709,20654208000000,1792841974670643599,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762153838650771,-0.0047881031086886286,0.10215060716219933,0.9999999603329013,-5.441453894741614e-06,0.0002198560370365837,0.00014970228390357555,0.6761,-0.0046,0.10182965763800764,1.0,0.0,0.0,0.0,0.020844182061965588,-0.15319226855737011,3.008427981741954,-0.012016741425247716,0.0022865744881763253,0.0005686667734260655,0.5833234617261556,0.44615559333969235,3.410339947918349,0.03303610879142074,-0.03954006637384743,0.001203129957237124,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.2243520830274635,0.7710662461342354,-2.2961987099380305,0.31855150709945734,1.7124763922380892,0.44210021184717085,-0.2244846479208554,-3.008427981741954,2.071714062017175,2.071714062017175,3.5463000000015295,0,0,-0.0005443328083096485,-9.999999025923074e-05
+5687,1792841974899178779,20654433000000,1792841974898643981,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762130421030171,-0.00479308448241959,0.10202238898490092,0.9999999615456755,-4.0984164039985086e-05,0.00021753460173450507,0.000139106100225958,0.6761,-0.0046,0.10170592275638562,1.0,0.0,0.0,0.0,0.033679557338747834,-0.1627040336864078,2.9585299764097934,-0.012636520476910724,0.001575765349593132,0.0005924842766799947,0.5961588370029378,0.43664382821065467,3.3604419425861884,0.032416329739757735,-0.040250875512430624,0.0012269474604910532,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.2840618160528159,0.8465618620591819,-2.196097933367796,0.3000898881746366,1.6727229296745678,0.4983463952900857,-0.2244846479208554,-2.9585299764097934,1.9716132854469406,1.9716132854469406,3.5800500000015507,0,0,-0.0005555828061179754,-9.999999025923074e-05
+5713,1792841975116166771,20654650000000,1792841975114644278,DOWN_FORCE_DETACH,7,0.0753,0.07530193775892258,0.6762041906928528,-0.004793315079746275,0.10188724191633265,0.999999964114278,-3.9424327334724377e-05,0.00019611780058097694,0.00015230836459627416,0.6761,-0.0046,0.10158418948768842,1.0,0.0,0.0,0.0,0.026812206211363376,-0.18980190854425322,2.925486410907535,-0.015027011000942236,0.0009851948816902295,0.0005650445598822917,0.5892914858755534,0.40954595335280924,3.32739837708393,0.030025839215726224,-0.04084144598033353,0.0011995077436933502,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.3201817328356882,0.7318201071477557,-2.231811950923962,0.32864074784217906,1.7148706103437223,0.4229884618752293,-0.2244846479208554,-2.925486410907535,2.0073273030031062,2.0073273030031062,3.612600000001571,0,0,-0.0005664328040042285,-9.999999025923074e-05
+5736,1792841975308168578,20654842000000,1792841975306643691,DOWN_FORCE_DETACH,7,0.0753,0.0753025934100151,0.6762076618382179,-0.004792951174834986,0.10176979981768842,0.9999999635169975,-7.175869816722106e-05,0.00020666483030809063,0.00012864371467467134,0.6761,-0.0046,0.10147451758950009,1.0,0.0,0.0,0.0,0.029572780282324573,-0.16924708860605442,2.868226395181731,-0.014019058315245789,0.0017921494526528248,-0.0003694799457689241,0.5920520599465146,0.43010077329100804,3.270138361358126,0.03103379190142267,-0.04003449140937093,0.00026498323804213445,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.293358106040895,0.6506599352848016,-2.1781623789159767,0.359292928929701,1.6658969425444679,0.37809997319536814,-0.2244846479208554,-2.868226395181731,1.9536777309951214,1.9536777309951214,3.6414000000015894,0,0,-0.0005760328021340008,-9.999999025923074e-05
+5776,1792841975640148265,20655174000000,1792841975638652731,DOWN_SETTLE,7,0.0753,0.0753025934100151,0.6761920006181124,-0.004800094580419442,0.10164244294388698,0.9999999690575713,-2.8936532242506726e-05,0.00017890857945746116,0.00014311575150271358,0.6761,-0.0046,0.10137682976752337,1.0,0.0,0.0,0.0,0.03894153274925216,-0.2186716754979085,2.706888060564117,-0.017020135667332372,0.001077028941377789,-0.00029594026256669,0.6014208124134421,0.38067618639915396,3.108800026740512,0.028032714549336087,-0.04074961192064597,0.00033852292124436856,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.1460426420518648,0.7164179382960294,-1.9099786950418163,0.3287980736935756,1.4640046216175406,0.4221718781454366,-0.2244846479208554,-2.706888060564117,1.685494047120961,0.0,0.0,0,0,-4.6019988995335796e-05,0.00046484837369026056
+5853,1792841976277128456,20655811000000,1792841976270653474,DOWN_PEAK_HOLD,7,0.0753,0.07530193775892258,0.676171232791514,-0.0047922540704761155,0.1015821752684615,0.9999999755608504,-2.322200240698843e-05,0.0001384793734607252,0.00014354568908230768,0.6761,-0.0046,0.10137323468633043,1.0,0.0,0.0,0.0,0.040498031080573926,-0.2565835492212723,2.403168019453166,-0.020792229918341162,0.00019352296961528542,-0.00010757592165371054,0.6029773107447639,0.34276431267579016,2.805079985629561,0.024260620298327297,-0.04163311789240847,0.000526887262157348,0.56247927966419,0.5993478618970625,0.4019119661763951,0.04505285021666846,-0.041826640862023756,0.0006344631838110585,1,1.0621166441593262,0.7325946294515286,-1.6380219232888047,0.30370400245051565,1.2743885030884468,0.42654567587920855,-0.2244846479208554,-2.403168019453166,1.4135372753679494,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_20/press_depth_07/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792841950840708984,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.722954751e-09,-8.839814297e-11,-4.216960114e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027452099e-01,-1.148484028e-04,8.303262056e-01
+1,7.666666667e-01,DOWN_FORCE_DETACH,1792841951594795491,-5.487457835e-07,7.100741691e-06,6.948203759e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.037231656e-07,-2.985023504e-09,-1.607356492e-08,7.019551209e-01,-1.498716971e-05,8.601441407e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027453109e-01,-1.148512994e-04,8.303261899e-01
+2,1.416666667e+00,DOWN_FORCE_DETACH,1792841952249752923,2.516259589e-06,5.685010734e-06,-1.112208752e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.612465550e-07,-4.343250265e-09,-2.399810783e-08,7.019581859e-01,-1.640290067e-05,8.601323238e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027453684e-01,-1.148526576e-04,8.303261820e-01
+3,2.133333333e+00,DOWN_FORCE_DETACH,1792841952987254325,7.415958765e-06,-3.916352431e-06,-5.981438145e-05,7.185795579e-06,-3.855028144e-06,-5.991906946e-05,7.148089115e-06,-3.863416560e-06,-5.954196858e-05,7.019630856e-01,-2.600426384e-05,8.600836315e-01,7.019628554e-01,-2.594293955e-05,8.600835268e-01,7.027523553e-01,-1.187117310e-04,8.302666640e-01
+4,2.666666667e+00,DOWN_FORCE_DETACH,1792841953527209802,3.146808465e-06,-8.409644786e-06,-1.060567133e-04,2.125985795e-06,-4.360835393e-06,-1.033381603e-04,1.216597465e-06,-4.357510484e-06,-1.027792877e-04,7.019588164e-01,-3.049755619e-05,8.600373891e-01,7.019577956e-01,-2.644874680e-05,8.600401077e-01,7.027464238e-01,-1.192058249e-04,8.302234267e-01
+5,3.116666667e+00,DOWN_FORCE_DETACH,1792841954001945683,3.074042355e-05,-1.342468098e-05,-1.372896334e-04,3.119746557e-05,-1.251342994e-05,-1.272325394e-04,3.208051253e-05,-1.252813016e-05,-1.266379334e-04,7.019864100e-01,-3.551259239e-05,8.600061562e-01,7.019868671e-01,-3.460134135e-05,8.600162133e-01,7.027772877e-01,-1.273764446e-04,8.301995681e-01
+6,3.733333333e+00,DOWN_FORCE_DETACH,1792841954608130303,2.516115214e-05,-1.644400248e-05,-2.104976077e-04,2.474301223e-05,-1.697781700e-05,-1.989474914e-04,2.439733262e-05,-1.693908800e-05,-1.980842981e-04,7.019808308e-01,-3.853191388e-05,8.599329482e-01,7.019804126e-01,-3.906572841e-05,8.599444984e-01,7.027696045e-01,-1.317874024e-04,8.301281217e-01
+7,4.150000000e+00,DOWN_FORCE_DETACH,1792841955034728626,5.627968649e-05,-2.382268706e-05,-2.563271783e-04,5.615439621e-05,-2.388754449e-05,-2.560632371e-04,5.734275651e-05,-2.390649604e-05,-2.549501346e-04,7.020119493e-01,-4.591059846e-05,8.598871187e-01,7.020118240e-01,-4.597545589e-05,8.598873826e-01,7.028025499e-01,-1.387548104e-04,8.300712559e-01
+8,4.333333333e+00,DOWN_FORCE_DETACH,1792841955328822954,8.337561712e-05,-1.775852378e-05,-2.841926313e-04,8.299217277e-05,-1.897183937e-05,-2.811079861e-04,8.583673324e-05,-1.898702404e-05,-2.798246568e-04,7.020390452e-01,-3.984643518e-05,8.598592532e-01,7.020386618e-01,-4.105975077e-05,8.598623379e-01,7.028310439e-01,-1.338353384e-04,8.300463813e-01
+9,4.566666667e+00,DOWN_FORCE_DETACH,1792841955934942114,1.081833354e-04,2.055236334e-05,-3.952462322e-04,1.077622021e-04,2.049640298e-05,-3.948424355e-04,1.109714285e-04,2.046798308e-05,-3.929037571e-04,7.020638530e-01,-1.535548061e-06,8.597481996e-01,7.020634318e-01,-1.591508429e-06,8.597486034e-01,7.028561786e-01,-9.438033132e-05,8.299333022e-01
+10,4.883333333e+00,DOWN_FORCE_DETACH,1792841956246140316,1.097653947e-04,-3.995075203e-06,-4.405081379e-04,1.053795974e-04,1.830587826e-06,-4.338256599e-04,1.081285928e-04,1.819379098e-06,-4.319862736e-04,7.020654350e-01,-2.608298661e-05,8.597029377e-01,7.020610492e-01,-2.025732358e-05,8.597096202e-01,7.028533358e-01,-1.130289353e-04,8.298942197e-01
+11,5.300000000e+00,DOWN_FORCE_DETACH,1792841956655723152,1.198986096e-04,-9.347877913e-06,-5.233369307e-04,1.197481943e-04,-9.244042107e-06,-5.226926917e-04,1.225215803e-04,-9.228522952e-06,-5.206452749e-04,7.020755682e-01,-3.143578932e-05,8.596201089e-01,7.020754178e-01,-3.133195351e-05,8.596207532e-01,7.028677287e-01,-1.240768374e-04,8.298055607e-01
+12,5.766666667e+00,DOWN_FORCE_DETACH,1792841957130878579,1.399680047e-04,-1.208847785e-05,-6.243808013e-04,1.366916534e-04,-1.717730975e-05,-6.120769072e-04,1.397304698e-04,-1.715910491e-05,-6.099437038e-04,7.020956376e-01,-3.417638925e-05,8.595190650e-01,7.020923613e-01,-3.926522115e-05,8.595313689e-01,7.028849376e-01,-1.320074193e-04,8.297162623e-01
+13,6.166666667e+00,DOWN_FORCE_DETACH,1792841957525776028,1.643037254e-04,-1.784043532e-05,-7.099023155e-04,1.638109837e-04,-1.887924154e-05,-7.010891417e-04,1.678089918e-04,-1.877941944e-05,-6.987489340e-04,7.021199734e-01,-3.992834673e-05,8.594335435e-01,7.021194806e-01,-4.096715294e-05,8.594423567e-01,7.029130162e-01,-1.336277338e-04,8.296274571e-01
+14,6.533333333e+00,DOWN_FORCE_DETACH,1792841957883863628,1.860438826e-04,-2.113663288e-05,-7.971702819e-04,1.833989664e-04,-1.955140986e-05,-7.798315017e-04,1.879596920e-04,-1.950345227e-05,-7.775433285e-04,7.021417135e-01,-4.322454428e-05,8.593462756e-01,7.021390686e-01,-4.163932127e-05,8.593636143e-01,7.029331669e-01,-1.343517667e-04,8.295486627e-01
+15,6.933333333e+00,DOWN_FORCE_DETACH,1792841958300417411,1.996644792e-04,-2.036629587e-05,-8.899188497e-04,2.000121611e-04,-1.936883193e-05,-8.803786533e-04,2.046850930e-04,-1.932553450e-05,-8.778829406e-04,7.021553341e-01,-4.245420728e-05,8.592535270e-01,7.021556818e-01,-4.145674333e-05,8.592630672e-01,7.029498923e-01,-1.341738489e-04,8.294483231e-01
+16,7.400000000e+00,DOWN_FORCE_DETACH,1792841958768836333,2.175031532e-04,-2.666222383e-05,-9.914433558e-04,2.179464782e-04,-2.365511646e-05,-9.846129535e-04,2.227864110e-04,-2.368049245e-05,-9.821204945e-04,7.021731728e-01,-4.875013524e-05,8.591520025e-01,7.021736161e-01,-4.574302787e-05,8.591588329e-01,7.029679936e-01,-1.385288068e-04,8.293440855e-01
+17,7.816666667e+00,DOWN_FORCE_DETACH,1792841959194534896,2.303230153e-04,-2.266326095e-05,-1.079430194e-03,2.266574646e-04,-3.011459488e-05,-1.072089130e-03,2.312512560e-04,-3.013770995e-05,-1.069586881e-03,7.021859926e-01,-4.475117235e-05,8.590640157e-01,7.021823271e-01,-5.220250629e-05,8.590713567e-01,7.029764584e-01,-1.449860243e-04,8.292566191e-01
+18,8.250000000e+00,DOWN_FORCE_DETACH,1792841959620086354,2.456406077e-04,-2.467304391e-05,-1.161422911e-03,2.447149818e-04,-2.086227591e-05,-1.157406735e-03,2.496455332e-04,-2.088474536e-05,-1.154944917e-03,7.022013102e-01,-4.676095532e-05,8.589820229e-01,7.022003846e-01,-4.295018731e-05,8.589860391e-01,7.029948527e-01,-1.357330598e-04,8.291712611e-01
+19,8.700000000e+00,DOWN_FORCE_DETACH,1792841960078910745,2.572210199e-04,-2.662454731e-05,-1.242910780e-03,2.571476359e-04,-2.664697772e-05,-1.242706281e-03,2.620933080e-04,-2.667158874e-05,-1.240212735e-03,7.022128906e-01,-4.871245871e-05,8.589005351e-01,7.022128173e-01,-4.873488913e-05,8.589007396e-01,7.030073005e-01,-1.415199031e-04,8.290859933e-01
+20,9.166666667e+00,DOWN_FORCE_DETACH,1792841960537332875,2.642198481e-04,-2.347256888e-05,-1.321415797e-03,2.611632944e-04,-2.366266507e-05,-1.304080210e-03,2.656512338e-04,-2.365472644e-05,-1.301872945e-03,7.022198895e-01,-4.556048028e-05,8.588220300e-01,7.022168329e-01,-4.575057647e-05,8.588393656e-01,7.030108584e-01,-1.385030408e-04,8.290243331e-01
+21,9.700000000e+00,DOWN_FORCE_DETACH,1792841961061841020,2.712835561e-04,-2.730589693e-05,-1.400008118e-03,2.718983780e-04,-2.858880246e-05,-1.390346910e-03,2.762732140e-04,-2.861251043e-05,-1.388161734e-03,7.022269532e-01,-4.939380834e-05,8.587434377e-01,7.022275680e-01,-5.067671387e-05,8.587530989e-01,7.030214804e-01,-1.434608248e-04,8.289380443e-01
+22,1.026666667e+01,DOWN_FORCE_DETACH,1792841961618602139,2.779210445e-04,-2.935798609e-05,-1.471881472e-03,2.742883771e-04,-2.685433536e-05,-1.457281874e-03,2.780921350e-04,-2.684502502e-05,-1.455440938e-03,7.022335907e-01,-5.144589750e-05,8.586715644e-01,7.022299580e-01,-4.894224677e-05,8.586861640e-01,7.030232993e-01,-1.416933394e-04,8.288707651e-01
+23,1.081666667e+01,DOWN_FORCE_DETACH,1792841962175765235,2.779445411e-04,-3.191072852e-05,-1.543268980e-03,2.778603733e-04,-3.190426829e-05,-1.543124273e-03,2.809205338e-04,-3.185835481e-05,-1.541275644e-03,7.022336142e-01,-5.399863993e-05,8.586001769e-01,7.022335300e-01,-5.399217969e-05,8.586003216e-01,7.030261277e-01,-1.467066692e-04,8.287849304e-01
+24,1.151666667e+01,DOWN_FORCE_DETACH,1792841962881696691,2.805238639e-04,-3.528570005e-05,-1.605170354e-03,2.802150005e-04,-3.525803240e-05,-1.605046857e-03,2.828436581e-04,-3.523394727e-05,-1.603487141e-03,7.022361935e-01,-5.737361146e-05,8.585382755e-01,7.022358846e-01,-5.734594380e-05,8.585383990e-01,7.030280508e-01,-1.500822617e-04,8.287227189e-01
+25,1.213333333e+01,DOWN_FORCE_DETACH,1792841963567806016,2.782673283e-04,-3.693852909e-05,-1.650438780e-03,2.791603765e-04,-3.616010829e-05,-1.649748762e-03,2.811099880e-04,-3.617769765e-05,-1.648372335e-03,7.022339370e-01,-5.902644049e-05,8.584930071e-01,7.022348300e-01,-5.824801970e-05,8.584936971e-01,7.030263172e-01,-1.510260120e-04,8.286778337e-01
+26,1.276666667e+01,DOWN_FORCE_DETACH,1792841964190492118,2.768485469e-04,-3.562242816e-05,-1.673402464e-03,2.745787732e-04,-3.567107284e-05,-1.669951832e-03,2.759547768e-04,-3.570430052e-05,-1.668936301e-03,7.022325182e-01,-5.771033956e-05,8.584700434e-01,7.022302484e-01,-5.775898425e-05,8.584734940e-01,7.030211619e-01,-1.505526149e-04,8.286572697e-01
+27,1.341666667e+01,DOWN_FORCE_DETACH,1792841964830099469,2.758595228e-04,-4.104599303e-05,-1.696439753e-03,2.736134067e-04,-3.582015883e-05,-1.689948139e-03,2.746945926e-04,-3.588736000e-05,-1.689219596e-03,7.022315291e-01,-6.313390443e-05,8.584470061e-01,7.022292830e-01,-5.790807024e-05,8.584534977e-01,7.030199018e-01,-1.507356744e-04,8.286369864e-01
+28,1.403333333e+01,DOWN_FORCE_DETACH,1792841965468517368,2.773661438e-04,-3.970509547e-05,-1.734742348e-03,2.746230183e-04,-3.511896732e-05,-1.716613639e-03,2.754042016e-04,-3.516825318e-05,-1.715992049e-03,7.022330358e-01,-6.179300687e-05,8.584087035e-01,7.022302926e-01,-5.720687872e-05,8.584268322e-01,7.030206114e-01,-1.500165676e-04,8.286102139e-01
+29,1.453333333e+01,DOWN_FORCE_DETACH,1792841965975391345,2.838608255e-04,-4.196905870e-05,-1.769108061e-03,2.772668812e-04,-3.762573191e-05,-1.760930850e-03,2.776306773e-04,-3.769477848e-05,-1.760253521e-03,7.022395305e-01,-6.405697010e-05,8.583743378e-01,7.022329365e-01,-5.971364332e-05,8.583825150e-01,7.030228378e-01,-1.525430929e-04,8.285659525e-01
+30,1.513333333e+01,DOWN_FORCE_DETACH,1792841966582111712,2.855508557e-04,-4.028221063e-05,-1.841311278e-03,2.845334925e-04,-3.530645324e-05,-1.828844397e-03,2.846443514e-04,-3.538844184e-05,-1.827992326e-03,7.022412205e-01,-6.237012203e-05,8.583021346e-01,7.022402031e-01,-5.739436465e-05,8.583146014e-01,7.030298515e-01,-1.502367562e-04,8.284982137e-01
+31,1.570000000e+01,DOWN_FORCE_DETACH,1792841967138736934,2.968089903e-04,-4.109997694e-05,-1.915754548e-03,2.966702709e-04,-4.093600820e-05,-1.915279509e-03,2.966615431e-04,-4.101978540e-05,-1.914075089e-03,7.022524786e-01,-6.318788834e-05,8.582276913e-01,7.022523399e-01,-6.302391961e-05,8.582281663e-01,7.030418687e-01,-1.558680998e-04,8.284121309e-01
+32,1.626666667e+01,DOWN_FORCE_DETACH,1792841967695315614,3.031198121e-04,-4.398574300e-05,-1.999341064e-03,2.988650517e-04,-4.388850865e-05,-1.981199632e-03,2.982301758e-04,-4.395739625e-05,-1.980025372e-03,7.022587894e-01,-6.607365441e-05,8.581441048e-01,7.022545347e-01,-6.597642005e-05,8.581622462e-01,7.030434373e-01,-1.588057106e-04,8.283461806e-01
+33,1.676666667e+01,DOWN_FORCE_DETACH,1792841968187263831,3.020627214e-04,-4.948595861e-05,-2.092039316e-03,3.026449945e-04,-4.737380650e-05,-2.090490702e-03,3.010442060e-04,-4.743187559e-05,-2.088910645e-03,7.022577323e-01,-7.157387001e-05,8.580514065e-01,7.022583146e-01,-6.946171791e-05,8.580529551e-01,7.030462514e-01,-1.622801900e-04,8.282372954e-01
+34,1.720000000e+01,DOWN_FORCE_DETACH,1792841968629179109,3.105307159e-04,-5.395792410e-05,-2.182804676e-03,3.103475148e-04,-5.373332040e-05,-2.182626583e-03,3.082297872e-04,-5.381448178e-05,-2.180865231e-03,7.022662003e-01,-7.604583551e-05,8.579606412e-01,7.022660171e-01,-7.582123181e-05,8.579608193e-01,7.030534370e-01,-1.686627962e-04,8.281453408e-01
+35,1.760000000e+01,DOWN_FORCE_DETACH,1792841969021985568,3.089823816e-04,-5.583867375e-05,-2.282385980e-03,3.103769596e-04,-6.029901870e-05,-2.269567116e-03,3.072559243e-04,-6.031883472e-05,-2.267656862e-03,7.022646520e-01,-7.792658515e-05,8.578610599e-01,7.022660466e-01,-8.238693011e-05,8.578738787e-01,7.030524631e-01,-1.751671491e-04,8.280585491e-01
+36,1.791666667e+01,DOWN_FORCE_DETACH,1792841969333728741,3.144855539e-04,-5.087346720e-05,-2.357602278e-03,3.145080901e-04,-4.959489171e-05,-2.352599352e-03,3.107451155e-04,-4.958882841e-05,-2.350615913e-03,7.022701552e-01,-7.296137861e-05,8.577858436e-01,7.022701777e-01,-7.168280312e-05,8.577908465e-01,7.030559523e-01,-1.644371428e-04,8.279755901e-01
+37,1.831666667e+01,DOWN_FORCE_DETACH,1792841969759107999,3.195292211e-04,-5.142693064e-05,-2.476484170e-03,3.168973974e-04,-5.669252275e-05,-2.467687763e-03,3.119271469e-04,-5.668974262e-05,-2.465441222e-03,7.022751988e-01,-7.351484205e-05,8.576669617e-01,7.022725670e-01,-7.878043415e-05,8.576757581e-01,7.030571343e-01,-1.715380570e-04,8.278607648e-01
+38,1.875000000e+01,DOWN_FORCE_DETACH,1792841970185170555,3.224207881e-04,-5.832536546e-05,-2.593131348e-03,3.188157264e-04,-6.083276738e-05,-2.575916717e-03,3.126911031e-04,-6.084803406e-05,-2.573656554e-03,7.022780904e-01,-8.041327687e-05,8.575503145e-01,7.022744854e-01,-8.292067879e-05,8.575675291e-01,7.030578983e-01,-1.756963485e-04,8.277525494e-01
+39,1.911666667e+01,DOWN_FORCE_DETACH,1792841970545458230,3.294156121e-04,-6.688831378e-05,-2.717262849e-03,3.294598635e-04,-6.401804797e-05,-2.712185869e-03,3.224542392e-04,-6.404760473e-05,-2.709609398e-03,7.022850852e-01,-8.897622519e-05,8.574261830e-01,7.022851295e-01,-8.610595938e-05,8.574312600e-01,7.030676614e-01,-1.788959191e-04,8.276165966e-01
+40,1.936666667e+01,DOWN_FORCE_DETACH,1792841970947928604,3.341855900e-04,-6.356308271e-05,-2.852922148e-03,3.340038261e-04,-6.349114537e-05,-2.852797077e-03,3.255880424e-04,-6.347200208e-05,-2.849631963e-03,7.022898552e-01,-8.565099411e-05,8.572905237e-01,7.022896735e-01,-8.557905677e-05,8.572906488e-01,7.030707952e-01,-1.783203165e-04,8.274765740e-01
+41,1.966666667e+01,DOWN_FORCE_DETACH,1792841971272830292,3.326064299e-04,-6.734711516e-05,-2.970447359e-03,3.284050028e-04,-7.164445363e-05,-2.956782437e-03,3.183999331e-04,-7.166168655e-05,-2.953795108e-03,7.022882761e-01,-8.943502656e-05,8.571729985e-01,7.022840746e-01,-9.373236503e-05,8.571866634e-01,7.030636071e-01,-1.865100010e-04,8.273724109e-01
+42,1.993333333e+01,DOWN_FORCE_DETACH,1792841971610918670,3.293641503e-04,-7.429088500e-05,-3.105809884e-03,3.293116411e-04,-7.439757925e-05,-3.105593151e-03,3.175145466e-04,-7.438229237e-05,-3.102154574e-03,7.022850338e-01,-9.637879641e-05,8.570376360e-01,7.022849813e-01,-9.648549065e-05,8.570378527e-01,7.030627217e-01,-1.892306068e-04,8.272240514e-01
+43,2.020000000e+01,DOWN_FORCE_DETACH,1792841971904848377,3.274517901e-04,-6.926854173e-05,-3.221738420e-03,3.299457955e-04,-6.610246431e-05,-3.214424570e-03,3.169643861e-04,-6.602783883e-05,-3.210986181e-03,7.022831214e-01,-9.135645314e-05,8.569217074e-01,7.022856154e-01,-8.819037572e-05,8.569290213e-01,7.030621716e-01,-1.808761532e-04,8.271152198e-01
+44,2.046666667e+01,DOWN_FORCE_DETACH,1792841972167890754,3.276925332e-04,-7.543173787e-05,-3.331757637e-03,3.270369392e-04,-7.770138226e-05,-3.316838875e-03,3.125942407e-04,-7.761036666e-05,-3.313535533e-03,7.022833622e-01,-9.751964928e-05,8.568116882e-01,7.022827066e-01,-9.978929367e-05,8.568266070e-01,7.030578014e-01,-1.924586811e-04,8.270126705e-01
+45,2.075000000e+01,DOWN_FORCE_DETACH,1792841972445351748,3.176304988e-04,-8.112473868e-05,-3.458690428e-03,3.174465465e-04,-8.121863539e-05,-3.458681895e-03,3.006861322e-04,-8.103487612e-05,-3.455188151e-03,7.022733001e-01,-1.032126501e-04,8.566847554e-01,7.022731162e-01,-1.033065468e-04,8.566847640e-01,7.030458933e-01,-1.958831905e-04,8.268710178e-01
+46,2.105000000e+01,DOWN_FORCE_DETACH,1792841972740660572,3.182196918e-04,-8.258645114e-05,-3.587520803e-03,3.181529422e-04,-8.172285056e-05,-3.573898968e-03,3.000117225e-04,-8.154769355e-05,-3.570511884e-03,7.022738893e-01,-1.046743625e-04,8.565559250e-01,7.022738226e-01,-1.038107620e-04,8.565695469e-01,7.030452189e-01,-1.963960079e-04,8.267556941e-01
+47,2.130000000e+01,DOWN_FORCE_DETACH,1792841973034863715,3.360978957e-04,-8.149284134e-05,-3.709006072e-03,3.301760660e-04,-7.894207171e-05,-3.692494706e-03,3.114352576e-04,-7.878088201e-05,-3.689034844e-03,7.022917675e-01,-1.035807527e-04,8.564344398e-01,7.022858457e-01,-1.010299831e-04,8.564509511e-01,7.030566424e-01,-1.936291964e-04,8.266371712e-01
+48,2.156666667e+01,DOWN_FORCE_DETACH,1792841973296982777,3.298365253e-04,-7.984482683e-05,-3.843511047e-03,3.285055425e-04,-7.921276917e-05,-3.831654270e-03,3.079880889e-04,-7.906816929e-05,-3.828098452e-03,7.022855062e-01,-1.019327382e-04,8.562999348e-01,7.022841752e-01,-1.013006806e-04,8.563117916e-01,7.030531953e-01,-1.939164837e-04,8.264981075e-01
+49,2.181666667e+01,DOWN_FORCE_DETACH,1792841973559140821,3.254283523e-04,-8.218316211e-05,-3.977579271e-03,3.283097435e-04,-8.550314413e-05,-3.965730461e-03,3.062331481e-04,-8.538808890e-05,-3.962059853e-03,7.022810980e-01,-1.042710735e-04,8.561658666e-01,7.022839794e-01,-1.075910555e-04,8.561777154e-01,7.030514403e-01,-2.002364033e-04,8.263641461e-01
+50,2.206666667e+01,DOWN_FORCE_DETACH,1792841973804823220,3.232604090e-04,-8.631690219e-05,-4.106002701e-03,3.227340994e-04,-8.476705580e-05,-4.087613955e-03,2.987201654e-04,-8.461123642e-05,-4.084054536e-03,7.022789300e-01,-1.084048136e-04,8.560374431e-01,7.022784037e-01,-1.068549672e-04,8.560558319e-01,7.030439273e-01,-1.994595508e-04,8.262421515e-01
+51,2.230000000e+01,DOWN_FORCE_DETACH,1792841974034594567,3.208390858e-04,-7.934678570e-05,-4.228815500e-03,3.207494389e-04,-7.945790325e-05,-4.228683329e-03,2.949202866e-04,-7.925994551e-05,-4.224935644e-03,7.022765087e-01,-1.014346971e-04,8.559146303e-01,7.022764191e-01,-1.015458147e-04,8.559147625e-01,7.030401275e-01,-1.941082599e-04,8.261012704e-01
+52,2.253333333e+01,DOWN_FORCE_DETACH,1792841974263607229,3.173542722e-04,-7.899422476e-05,-4.355879388e-03,3.147917584e-04,-8.340707225e-05,-4.353968515e-03,2.870236822e-04,-8.317965231e-05,-4.350224861e-03,7.022730239e-01,-1.010821362e-04,8.557875665e-01,7.022704614e-01,-1.054949837e-04,8.557894773e-01,7.030322308e-01,-1.980279667e-04,8.259759811e-01
+53,2.270000000e+01,DOWN_FORCE_DETACH,1792841974444506409,3.096599739e-04,-3.903652021e-05,-4.461152295e-03,3.095945553e-04,-3.895000308e-05,-4.461049468e-03,2.801839995e-04,-3.870447524e-05,-4.457167887e-03,7.022653296e-01,-6.112443162e-05,8.556822936e-01,7.022652642e-01,-6.103791448e-05,8.556823964e-01,7.030253912e-01,-1.535527896e-04,8.258690381e-01
+54,2.291666667e+01,DOWN_FORCE_DETACH,1792841974673739609,3.062426538e-04,-3.864171745e-05,-4.594749537e-03,3.058930980e-04,-3.886034491e-05,-4.594730817e-03,2.746182287e-04,-3.856338033e-05,-4.590829898e-03,7.022619123e-01,-6.072962886e-05,8.555486963e-01,7.022615627e-01,-6.094825631e-05,8.555487150e-01,7.030198254e-01,-1.534116947e-04,8.257353761e-01
+55,2.313333333e+01,DOWN_FORCE_DETACH,1792841974902615288,3.038102273e-04,-4.161056846e-05,-4.725944586e-03,3.020462601e-04,-3.882932307e-05,-4.716479380e-03,2.690125789e-04,-3.857889489e-05,-4.712608352e-03,7.022594799e-01,-6.369847987e-05,8.554175013e-01,7.022577159e-01,-6.091723448e-05,8.554269665e-01,7.030142197e-01,-1.534272093e-04,8.256135976e-01
+56,2.333333333e+01,DOWN_FORCE_DETACH,1792841975115330376,2.939978421e-04,-4.591222175e-05,-4.856628330e-03,2.938980458e-04,-4.597186795e-05,-4.856216918e-03,2.585873262e-04,-4.571222955e-05,-4.852228987e-03,7.022496675e-01,-6.800013315e-05,8.552868175e-01,7.022495677e-01,-6.805977936e-05,8.552872289e-01,7.030037945e-01,-1.605605440e-04,8.254739770e-01
+57,2.353333333e+01,DOWN_FORCE_DETACH,1792841975311807741,2.989928296e-04,-4.283799368e-05,-4.974988075e-03,3.012352752e-04,-4.505992217e-05,-4.963446179e-03,2.651141226e-04,-4.479616500e-05,-4.959655947e-03,7.022546625e-01,-6.492590508e-05,8.551684578e-01,7.022569049e-01,-6.714783358e-05,8.551799997e-01,7.030103213e-01,-1.596444794e-04,8.253665501e-01
+58,2.378333333e+01,DOWN_SETTLE,1792841975640051366,2.840092690e-04,-5.170511646e-05,-5.103641022e-03,2.851180623e-04,-4.059976130e-05,-5.090588485e-03,2.463086085e-04,-4.024116534e-05,-5.087107199e-03,7.022396789e-01,-7.379302786e-05,8.550398048e-01,7.022407877e-01,-6.268767270e-05,8.550528574e-01,7.029915158e-01,-1.550894797e-04,8.252390988e-01
+59,2.435000000e+01,DOWN_PEAK_HOLD,1792841976277935828,2.620915803e-04,-4.279267924e-05,-5.163181431e-03,2.658773351e-04,-4.972638248e-05,-5.151463124e-03,2.247933398e-04,-4.939068352e-05,-5.149392031e-03,7.022177612e-01,-6.488059065e-05,8.549802644e-01,7.022215470e-01,-7.181429388e-05,8.549919827e-01,7.029700005e-01,-1.642389979e-04,8.251768140e-01

Fixed/digit/ball_15A_20/press_depth_07/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.6181e-02,1.3463e-01,2.4637e+00,-4.6016e-02,4.0790e-02,1.2714e-04,4.7395e-04,-9.1642e-06,-7.5102e-05,2.1718e-06,3.4157e-05,-1.2503e-06,4.7995e-04,3.4249e-05
+1,7.6667e-01,DOWN_FORCE_DETACH,1.3842e-04,7.3756e-02,1.3450e-01,2.4609e+00,-4.5938e-02,4.2049e-02,7.5123e-05,1.8049e-02,-1.3797e-04,-2.8908e-03,8.0828e-05,1.2928e-03,-5.3265e-05,1.8280e-02,1.2964e-03
+2,1.4167e+00,DOWN_FORCE_DETACH,2.7579e-04,8.3753e-02,1.3456e-01,2.4594e+00,-4.5892e-02,4.2760e-02,3.7186e-05,2.8046e-02,-7.6070e-05,-4.3280e-03,1.2612e-04,2.0036e-03,-9.1202e-05,2.8378e-02,2.0096e-03
+3,2.1333e+00,DOWN_FORCE_DETACH,4.1716e-04,8.7571e-02,1.3905e-01,2.5007e+00,-4.6132e-02,4.2972e-02,3.2857e-06,3.1864e-02,4.4142e-03,3.6922e-02,-1.1379e-04,2.2162e-03,-1.2510e-04,4.8970e-02,2.2226e-03
+4,2.6667e+00,DOWN_FORCE_DETACH,5.5768e-04,9.9468e-02,1.4838e-01,2.5709e+00,-4.6701e-02,4.3717e-02,-1.8316e-05,4.3761e-02,1.3743e-02,1.0714e-01,-6.8288e-04,2.9614e-03,-1.4670e-04,1.1655e-01,3.0427e-03
+5,3.1167e+00,DOWN_FORCE_DETACH,6.9456e-04,5.9527e-02,1.7064e-01,2.5695e+00,-4.8195e-02,4.0887e-02,-1.3018e-05,3.8203e-03,3.6004e-02,1.0570e-01,-2.1768e-03,1.3143e-04,-1.4141e-04,1.1173e-01,2.1854e-03
+6,3.7333e+00,DOWN_FORCE_DETACH,8.3570e-04,8.7543e-02,1.8480e-01,2.6221e+00,-4.9089e-02,4.2781e-02,-1.8481e-05,3.1836e-02,5.0161e-02,1.5839e-01,-3.0701e-03,2.0251e-03,-1.4687e-04,1.6917e-01,3.6808e-03
+7,4.1500e+00,DOWN_FORCE_DETACH,9.7705e-04,7.5651e-02,1.9037e-01,2.6723e+00,-4.9411e-02,4.1868e-02,-9.1596e-06,1.9945e-02,5.5732e-02,2.0851e-01,-3.3927e-03,1.1120e-03,-1.3755e-04,2.1675e-01,3.5730e-03
+8,4.3333e+00,DOWN_FORCE_DETACH,1.1024e-03,1.5896e-02,1.8962e-01,2.6776e+00,-4.9347e-02,3.7626e-02,1.7482e-05,-3.9811e-02,5.4980e-02,2.1380e-01,-3.3289e-03,-3.1304e-03,-1.1091e-04,2.2432e-01,4.5709e-03
+9,4.5667e+00,DOWN_FORCE_DETACH,1.2739e-03,2.2563e-02,2.2688e-01,2.7566e+00,-5.1797e-02,3.7972e-02,4.2059e-05,-3.3144e-02,9.2239e-02,2.9284e-01,-5.7784e-03,-2.7836e-03,-8.6329e-05,3.0881e-01,6.4145e-03
+10,4.8833e+00,DOWN_FORCE_DETACH,1.3905e-03,2.3046e-02,1.3141e-01,2.7871e+00,-4.5233e-02,3.7955e-02,3.1249e-05,-3.2660e-02,-3.2287e-03,3.2337e-01,7.8551e-04,-2.8011e-03,-9.7139e-05,3.2504e-01,2.9108e-03
+11,5.3000e+00,DOWN_FORCE_DETACH,1.5306e-03,3.1748e-02,1.6363e-01,2.7954e+00,-4.7377e-02,3.8536e-02,5.2835e-05,-2.3959e-02,2.8996e-02,3.3161e-01,-1.3587e-03,-2.2202e-03,-7.5553e-05,3.3374e-01,2.6041e-03
+12,5.7667e+00,DOWN_FORCE_DETACH,1.6705e-03,2.1029e-02,1.9505e-01,2.8419e+00,-4.9423e-02,3.7705e-02,6.9022e-05,-3.4678e-02,6.0411e-02,3.7815e-01,-3.4047e-03,-3.0507e-03,-5.9366e-05,3.8451e-01,4.5718e-03
+13,6.1667e+00,DOWN_FORCE_DETACH,1.8062e-03,4.7556e-03,2.0269e-01,2.8694e+00,-4.9909e-02,3.6532e-02,7.4585e-05,-5.0951e-02,6.8056e-02,4.0566e-01,-3.8904e-03,-4.2235e-03,-5.3803e-05,4.1448e-01,5.7425e-03
+14,6.5333e+00,DOWN_FORCE_DETACH,1.9512e-03,-1.5397e-04,2.0351e-01,2.8656e+00,-4.9987e-02,3.6168e-02,7.7365e-05,-5.5861e-02,6.8868e-02,4.0187e-01,-3.9680e-03,-4.5878e-03,-5.1023e-05,4.1154e-01,6.0659e-03
+15,6.9333e+00,DOWN_FORCE_DETACH,2.0849e-03,8.9805e-03,1.9827e-01,2.8948e+00,-4.9702e-02,3.6793e-02,8.6913e-05,-4.6726e-02,6.3636e-02,4.3106e-01,-3.6837e-03,-3.9633e-03,-4.1475e-05,4.3823e-01,5.4111e-03
+16,7.4000e+00,DOWN_FORCE_DETACH,2.2294e-03,1.8243e-02,2.0445e-01,2.9018e+00,-5.0205e-02,3.7454e-02,1.2474e-04,-3.7464e-02,6.9816e-02,4.3803e-01,-4.1866e-03,-3.3017e-03,-3.6433e-06,4.4514e-01,5.3319e-03
+17,7.8167e+00,DOWN_FORCE_DETACH,2.3645e-03,3.3886e-02,2.2044e-01,2.8949e+00,-5.1289e-02,3.8546e-02,1.7762e-04,-2.1821e-02,8.5806e-02,4.3111e-01,-5.2701e-03,-2.2098e-03,4.9229e-05,4.4010e-01,5.7149e-03
+18,8.2500e+00,DOWN_FORCE_DETACH,2.5053e-03,2.9961e-02,1.9177e-01,2.8912e+00,-4.9269e-02,3.8278e-02,2.0873e-04,-2.5746e-02,5.7129e-02,4.2743e-01,-3.2507e-03,-2.4785e-03,8.0338e-05,4.3200e-01,4.0886e-03
+19,8.7000e+00,DOWN_FORCE_DETACH,2.6422e-03,3.9300e-02,2.0070e-01,2.8521e+00,-4.9863e-02,3.8952e-02,2.1332e-04,-1.6407e-02,6.6062e-02,3.8833e-01,-3.8439e-03,-1.8041e-03,8.4936e-05,3.9425e-01,4.2471e-03
+20,9.1667e+00,DOWN_FORCE_DETACH,2.7815e-03,4.6521e-02,1.9864e-01,2.8461e+00,-4.9698e-02,3.9450e-02,1.8281e-04,-9.1855e-03,6.4005e-02,3.8238e-01,-3.6793e-03,-1.3059e-03,5.4420e-05,3.8781e-01,3.9045e-03
+21,9.7000e+00,DOWN_FORCE_DETACH,2.9231e-03,4.8245e-02,2.1464e-01,2.8312e+00,-5.0721e-02,3.9582e-02,1.3719e-04,-7.4615e-03,8.0002e-02,3.6739e-01,-4.7022e-03,-1.1736e-03,8.8071e-06,3.7608e-01,4.8465e-03
+22,1.0267e+01,DOWN_FORCE_DETACH,3.0607e-03,6.6258e-02,2.1489e-01,2.7814e+00,-5.0654e-02,4.0930e-02,9.4736e-05,1.0551e-02,8.0255e-02,3.1766e-01,-4.6351e-03,1.7355e-04,-3.3651e-05,3.2781e-01,4.6385e-03
+23,1.0817e+01,DOWN_FORCE_DETACH,3.2013e-03,7.9370e-02,2.2805e-01,2.7484e+00,-5.1535e-02,4.1907e-02,8.3910e-05,2.3663e-02,9.3412e-02,2.8466e-01,-5.5168e-03,1.1506e-03,-4.4478e-05,3.0053e-01,5.6357e-03
+24,1.1517e+01,DOWN_FORCE_DETACH,3.3400e-03,8.8500e-02,2.3170e-01,2.7051e+00,-5.1966e-02,4.2608e-02,8.6669e-05,3.2793e-02,9.7064e-02,2.4134e-01,-5.9478e-03,1.8520e-03,-4.1719e-05,2.6219e-01,6.2296e-03
+25,1.2133e+01,DOWN_FORCE_DETACH,3.4787e-03,9.4031e-02,2.3948e-01,2.7064e+00,-5.2709e-02,4.3006e-02,1.0085e-04,3.8324e-02,1.0484e-01,2.4261e-01,-6.6901e-03,2.2503e-03,-2.7543e-05,2.6706e-01,7.0584e-03
+26,1.2767e+01,DOWN_FORCE_DETACH,3.6160e-03,9.8263e-02,2.3254e-01,2.6422e+00,-5.2455e-02,4.3408e-02,1.2152e-04,4.2556e-02,9.7900e-02,1.7846e-01,-6.4360e-03,2.6518e-03,-6.8636e-06,2.0795e-01,6.9609e-03
+27,1.3417e+01,DOWN_FORCE_DETACH,3.7579e-03,9.3808e-02,2.2855e-01,2.5995e+00,-5.2359e-02,4.3179e-02,1.5297e-04,3.8101e-02,9.3912e-02,1.3578e-01,-6.3400e-03,2.4234e-03,2.4586e-05,1.6943e-01,6.7874e-03
+28,1.4033e+01,DOWN_FORCE_DETACH,3.8979e-03,8.8479e-02,2.2345e-01,2.5790e+00,-5.2109e-02,4.2853e-02,1.7862e-04,3.2772e-02,8.8814e-02,1.1521e-01,-6.0908e-03,2.0966e-03,5.0230e-05,1.4912e-01,6.4418e-03
+29,1.4533e+01,DOWN_FORCE_DETACH,4.0310e-03,8.4400e-02,2.2966e-01,2.5931e+00,-5.2538e-02,4.2555e-02,1.9854e-04,2.8693e-02,9.5022e-02,1.2936e-01,-6.5195e-03,1.7995e-03,7.0149e-05,1.6305e-01,6.7636e-03
+30,1.5133e+01,DOWN_FORCE_DETACH,4.1743e-03,7.5441e-02,2.2231e-01,2.6237e+00,-5.1979e-02,4.1883e-02,2.1571e-04,1.9734e-02,8.7671e-02,1.5997e-01,-5.9602e-03,1.1266e-03,8.7318e-05,1.8348e-01,6.0663e-03
+31,1.5700e+01,DOWN_FORCE_DETACH,4.3130e-03,7.0226e-02,2.4509e-01,2.6419e+00,-5.3459e-02,4.1477e-02,2.4065e-04,1.4520e-02,1.1046e-01,1.7813e-01,-7.4409e-03,7.2097e-04,1.1226e-04,2.1010e-01,7.4766e-03
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+38,1.8750e+01,DOWN_FORCE_DETACH,5.2879e-03,1.0725e-01,3.1600e-01,2.9107e+00,-5.7423e-02,4.3681e-02,1.7807e-04,5.1548e-02,1.8137e-01,4.4698e-01,-1.1405e-02,2.9250e-03,4.9685e-05,4.8512e-01,1.1774e-02
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+42,1.9933e+01,DOWN_FORCE_DETACH,5.8454e-03,9.8442e-02,3.6148e-01,3.1201e+00,-5.9769e-02,4.2690e-02,1.1578e-04,4.2735e-02,2.2684e-01,6.5631e-01,-1.3751e-02,1.9339e-03,-1.2610e-05,6.9572e-01,1.3886e-02
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+49,2.1817e+01,DOWN_FORCE_DETACH,6.8211e-03,1.1089e-01,4.1059e-01,3.2435e+00,-6.1749e-02,4.3359e-02,2.9819e-05,5.5182e-02,2.7595e-01,7.7979e-01,-1.5730e-02,2.6034e-03,-9.8569e-05,8.2901e-01,1.5944e-02
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Fixed/digit/ball_15A_20/press_depth_07/up/camera_frames_60hz.tar

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Fixed/digit/ball_15A_20/press_depth_07/up/franka_data.csv

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Fixed/digit/ball_15A_20/press_depth_07/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+46,7.483333333e+00,UP_FORCE_RAMP,1792841944600216117,-7.458130972e-05,-9.343216463e-05,2.909027413e-04,-7.071586992e-05,-9.641870255e-05,2.728485954e-04,-7.256535338e-05,-9.655168474e-05,2.723700477e-04,7.018810883e-01,-1.155200760e-04,8.604343486e-01,7.018849538e-01,-1.185066140e-04,8.604162944e-01,7.026726418e-01,-2.113999919e-04,8.305985761e-01
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+48,7.850000000e+00,UP_FORCE_RAMP,1792841945009915725,-7.705429210e-05,-9.266771576e-05,3.010186819e-04,-7.355014823e-05,-9.063936039e-05,2.927586987e-04,-7.543055285e-05,-9.072315739e-05,2.921876945e-04,7.018786153e-01,-1.147556272e-04,8.604444645e-01,7.018821195e-01,-1.127272718e-04,8.604362045e-01,7.026697766e-01,-2.055714645e-04,8.306183937e-01
+49,8.016666667e+00,UP_FORCE_RAMP,1792841945174520739,-7.812021334e-05,-9.322721573e-05,3.030131482e-04,-7.355014823e-05,-9.063936039e-05,2.927586987e-04,-7.544298317e-05,-9.072143288e-05,2.922362244e-04,7.018775494e-01,-1.153151271e-04,8.604464590e-01,7.018821195e-01,-1.127272718e-04,8.604362045e-01,7.026697641e-01,-2.055697400e-04,8.306184422e-01
+50,8.150000000e+00,UP_FORCE_RAMP,1792841945304641191,-7.864661501e-05,-8.979222720e-05,3.073278095e-04,-7.355014823e-05,-9.063936039e-05,2.927586987e-04,-7.545168087e-05,-9.072027109e-05,2.922704916e-04,7.018770230e-01,-1.118801386e-04,8.604507737e-01,7.018821195e-01,-1.127272718e-04,8.604362045e-01,7.026697554e-01,-2.055685782e-04,8.306184765e-01
+51,8.316666667e+00,UP_FORCE_HOLD,1792841945468480962,-7.888020431e-05,-9.046925106e-05,3.116674223e-04,-7.355014823e-05,-9.063936039e-05,2.927586987e-04,-7.546123306e-05,-9.071855017e-05,2.923089760e-04,7.018767894e-01,-1.125571625e-04,8.604551133e-01,7.018821195e-01,-1.127272718e-04,8.604362045e-01,7.026697459e-01,-2.055668573e-04,8.306185150e-01
+52,8.483333333e+00,UP_FORCE_HOLD,1792841945632046056,-7.919298572e-05,-8.907740069e-05,3.127434097e-04,-7.798530472e-05,-9.593845813e-05,3.123586701e-04,-7.997562356e-05,-9.605208937e-05,3.118179410e-04,7.018764766e-01,-1.111653121e-04,8.604561893e-01,7.018776843e-01,-1.180263695e-04,8.604558045e-01,7.026652315e-01,-2.109003965e-04,8.306380240e-01
+53,8.616666667e+00,UP_FORCE_HOLD,1792841945763323975,-7.806486727e-05,-9.269166172e-05,3.160798757e-04,-7.798530472e-05,-9.593845813e-05,3.123586701e-04,-7.998634054e-05,-9.605092340e-05,3.118624350e-04,7.018776048e-01,-1.147795731e-04,8.604595257e-01,7.018776843e-01,-1.180263695e-04,8.604558045e-01,7.026652208e-01,-2.108992305e-04,8.306380685e-01
+54,8.783333333e+00,UP_FORCE_HOLD,1792841945927073389,-7.860575836e-05,-9.647085395e-05,3.176135568e-04,-7.798530472e-05,-9.593845813e-05,3.123586701e-04,-7.999649092e-05,-9.604921641e-05,3.119067930e-04,7.018770639e-01,-1.185587654e-04,8.604610594e-01,7.018776843e-01,-1.180263695e-04,8.604558045e-01,7.026652106e-01,-2.108975235e-04,8.306381128e-01
+55,8.983333333e+00,UP_FORCE_HOLD,1792841946141043194,-7.961361366e-05,-9.679453796e-05,3.156254525e-04,-7.798530472e-05,-9.593845813e-05,3.123586701e-04,-8.000640899e-05,-9.604702413e-05,3.119521988e-04,7.018760560e-01,-1.188824494e-04,8.604590713e-01,7.018776843e-01,-1.180263695e-04,8.604558045e-01,7.026652007e-01,-2.108953312e-04,8.306381582e-01
+56,9.166666667e+00,UP_FORCE_HOLD,1792841946320304995,-7.932229276e-05,-9.608988364e-05,3.184015463e-04,-7.798530472e-05,-9.593845813e-05,3.123586701e-04,-8.001391295e-05,-9.604496619e-05,3.119881443e-04,7.018763473e-01,-1.181777950e-04,8.604618474e-01,7.018776843e-01,-1.180263695e-04,8.604558045e-01,7.026651932e-01,-2.108932733e-04,8.306381942e-01
+57,9.316666667e+00,UP_FORCE_HOLD,1792841946468662585,-7.791837361e-05,-1.094774803e-04,3.193556088e-04,-7.798530472e-05,-9.593845813e-05,3.123586701e-04,-8.001918475e-05,-9.604326046e-05,3.120144350e-04,7.018777513e-01,-1.315653917e-04,8.604628015e-01,7.018776843e-01,-1.180263695e-04,8.604558045e-01,7.026651879e-01,-2.108915676e-04,8.306382205e-01
+58,9.450000000e+00,UP_FORCE_HOLD,1792841946599177961,-8.240824922e-05,-1.025134151e-04,3.234261302e-04,-8.282928293e-05,-1.136210137e-04,3.238999416e-04,-8.499650387e-05,-1.137303880e-04,3.234895252e-04,7.018732614e-01,-1.246013265e-04,8.604668720e-01,7.018728403e-01,-1.357089251e-04,8.604673458e-01,7.026602106e-01,-2.285786952e-04,8.306496955e-01
+59,9.616666667e+00,UP_FORCE_HOLD,1792841946763178784,-8.264543040e-05,-1.127898170e-04,3.234119395e-04,-8.282928293e-05,-1.136210137e-04,3.238999416e-04,-8.500765720e-05,-1.137302469e-04,3.235299424e-04,7.018730242e-01,-1.348777284e-04,8.604668578e-01,7.018728403e-01,-1.357089251e-04,8.604673458e-01,7.026601995e-01,-2.285785540e-04,8.306497360e-01

Fixed/digit/ball_15A_20/press_depth_07/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,5.6173e-02,1.3463e-01,2.4637e+00,-4.6016e-02,4.0790e-02,1.2717e-04,4.7399e-04,-9.1791e-06,-7.5340e-05,2.1681e-06,3.4153e-05,-1.2501e-06,4.8003e-04,3.4245e-05
+1,2.5000e-01,WAIT_W2,4.1808e-05,6.2769e-02,1.3454e-01,2.4626e+00,-4.5987e-02,4.1264e-02,1.0916e-04,7.0691e-03,-1.0327e-04,-1.1358e-03,3.2067e-05,5.0814e-04,-1.9264e-05,7.1605e-03,5.0952e-04
+2,5.0000e-01,WAIT_W2,8.3553e-05,6.8485e-02,1.3450e-01,2.4617e+00,-4.5961e-02,4.1673e-02,9.2216e-05,1.2786e-02,-1.3836e-04,-2.0607e-03,5.7537e-05,9.1726e-04,-3.6208e-05,1.2951e-02,9.1978e-04
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+5,7.0000e-01,WAIT_W2,1.9639e-04,7.2953e-02,2.0554e-01,2.4550e+00,-5.0798e-02,4.1995e-02,9.8269e-05,1.7253e-02,7.0901e-02,-8.7166e-03,-4.7793e-03,1.2398e-03,-3.0156e-05,7.3488e-02,4.9376e-03
+6,8.0000e-01,WAIT_W2,2.4870e-04,7.9656e-02,4.1705e-01,2.4582e+00,-6.5308e-02,4.2456e-02,1.5036e-04,2.3957e-02,2.8241e-01,-5.5404e-03,-1.9289e-02,1.7003e-03,2.1939e-05,2.8348e-01,1.9364e-02
+7,9.6667e-01,WAIT_W2,2.8828e-04,8.2855e-02,4.1578e-01,2.4585e+00,-6.5268e-02,4.2685e-02,1.3703e-04,2.7156e-02,2.8114e-01,-5.2552e-03,-1.9250e-02,1.9295e-03,8.6080e-06,2.8250e-01,1.9346e-02
+8,1.1333e+00,WAIT_W2,3.3050e-04,8.5714e-02,4.1500e-01,2.4588e+00,-6.5247e-02,4.2889e-02,1.2479e-04,3.0014e-02,2.8036e-01,-4.9467e-03,-1.9228e-02,2.1334e-03,-3.6324e-06,2.8201e-01,1.9346e-02
+9,1.3000e+00,UP_FORCE_RAMP,3.6825e-04,8.8270e-02,4.1439e-01,2.4592e+00,-6.5230e-02,4.3071e-02,1.1283e-04,3.2571e-02,2.7975e-01,-4.6086e-03,-1.9212e-02,2.3156e-03,-1.5593e-05,2.8168e-01,1.9351e-02
+10,1.4667e+00,UP_FORCE_RAMP,4.1164e-04,9.0570e-02,4.1387e-01,2.4595e+00,-6.5217e-02,4.3235e-02,1.0103e-04,3.4870e-02,2.7923e-01,-4.2701e-03,-1.9198e-02,2.4792e-03,-2.7394e-05,2.8143e-01,1.9358e-02
+11,1.6167e+00,UP_FORCE_RAMP,4.5457e-04,9.2443e-02,4.1346e-01,2.4598e+00,-6.5206e-02,4.3368e-02,9.0546e-05,3.6743e-02,2.7882e-01,-3.9763e-03,-1.9187e-02,2.6125e-03,-3.7878e-05,2.8126e-01,1.9364e-02
+12,1.7833e+00,UP_FORCE_RAMP,4.9381e-04,9.4328e-02,4.1305e-01,2.4601e+00,-6.5195e-02,4.3502e-02,7.9065e-05,3.8629e-02,2.7841e-01,-3.6678e-03,-1.9176e-02,2.7465e-03,-4.9359e-05,2.8111e-01,1.9372e-02
+13,1.9833e+00,UP_FORCE_RAMP,5.3492e-04,9.6341e-02,4.1262e-01,2.4604e+00,-6.5183e-02,4.3645e-02,6.5578e-05,4.0642e-02,2.7798e-01,-3.3245e-03,-1.9164e-02,2.8896e-03,-6.2846e-05,2.8095e-01,1.9381e-02
+14,2.2333e+00,UP_FORCE_RAMP,5.7723e-04,9.8519e-02,4.1215e-01,2.4608e+00,-6.5169e-02,4.3800e-02,4.9205e-05,4.2820e-02,2.7751e-01,-2.9354e-03,-1.9151e-02,3.0443e-03,-7.9219e-05,2.8081e-01,1.9391e-02
+15,2.3667e+00,UP_FORCE_RAMP,6.1592e-04,9.3870e-02,4.4502e-01,2.4365e+00,-6.7472e-02,4.3502e-02,5.3804e-05,3.8170e-02,3.1038e-01,-2.7233e-02,-2.1454e-02,2.7461e-03,-7.4620e-05,3.1390e-01,2.1629e-02
+16,2.5167e+00,UP_FORCE_RAMP,6.5790e-04,9.5706e-02,4.4457e-01,2.4399e+00,-6.7460e-02,4.3629e-02,4.4694e-05,4.0006e-02,3.0993e-01,-2.3827e-02,-2.1441e-02,2.8738e-03,-8.3730e-05,3.1341e-01,2.1633e-02
+17,2.6833e+00,UP_FORCE_RAMP,6.9994e-04,9.7436e-02,4.4413e-01,2.4428e+00,-6.7447e-02,4.3750e-02,3.4960e-05,4.1737e-02,3.0949e-01,-2.0974e-02,-2.1429e-02,2.9941e-03,-9.3464e-05,3.1300e-01,2.1637e-02
+18,2.8833e+00,UP_FORCE_RAMP,7.4102e-04,1.1139e-01,4.2560e-01,2.4184e+00,-6.6232e-02,4.4769e-02,1.1689e-05,5.5691e-02,2.9096e-01,-4.5362e-02,-2.0213e-02,4.0133e-03,-1.1673e-04,2.9969e-01,2.0608e-02
+19,3.0667e+00,UP_FORCE_RAMP,7.8102e-04,1.1030e-01,4.2539e-01,2.4256e+00,-6.6231e-02,4.4685e-02,2.7008e-07,5.4604e-02,2.9075e-01,-3.8152e-02,-2.0212e-02,3.9293e-03,-1.2815e-04,2.9829e-01,2.0591e-02
+20,3.2667e+00,UP_FORCE_RAMP,8.2323e-04,1.1190e-01,4.1105e-01,2.3996e+00,-6.5305e-02,4.4833e-02,-1.7107e-05,5.6200e-02,2.7641e-01,-6.4111e-02,-1.9286e-02,4.0771e-03,-1.4553e-04,2.8926e-01,1.9713e-02
+21,3.4833e+00,UP_FORCE_RAMP,8.6322e-04,1.1114e-01,4.1075e-01,2.4103e+00,-6.5299e-02,4.4768e-02,-2.9852e-05,5.5444e-02,2.7611e-01,-5.3419e-02,-1.9280e-02,4.0127e-03,-1.5828e-04,2.8664e-01,1.9694e-02
+22,3.7167e+00,UP_FORCE_RAMP,9.0637e-04,1.0450e-01,4.0649e-01,2.3553e+00,-6.5111e-02,4.4370e-02,-3.9959e-05,4.8799e-02,2.7185e-01,-1.0851e-01,-1.9093e-02,3.6142e-03,-1.6838e-04,2.9675e-01,1.9432e-02
+23,3.8500e+00,UP_FORCE_RAMP,9.4512e-04,1.0503e-01,4.0583e-01,2.3693e+00,-6.5082e-02,4.4393e-02,-4.7219e-05,4.9333e-02,2.7119e-01,-9.4490e-02,-1.9064e-02,3.6378e-03,-1.7564e-04,2.9138e-01,1.9408e-02
+24,4.0333e+00,UP_FORCE_RAMP,9.8618e-04,9.8866e-02,4.0789e-01,2.3163e+00,-6.5342e-02,4.4027e-02,-5.0373e-05,4.3167e-02,2.7325e-01,-1.4746e-01,-1.9323e-02,3.2714e-03,-1.7880e-04,3.1349e-01,1.9599e-02
+25,4.2000e+00,UP_FORCE_RAMP,1.0292e-03,9.9940e-02,4.0722e-01,2.3369e+00,-6.5329e-02,4.4081e-02,-5.7880e-05,4.4240e-02,2.7258e-01,-1.2683e-01,-1.9311e-02,3.3255e-03,-1.8630e-04,3.0388e-01,1.9596e-02
+26,4.3833e+00,UP_FORCE_RAMP,1.0712e-03,1.0073e-01,4.0651e-01,2.3532e+00,-6.5320e-02,4.4118e-02,-6.4472e-05,4.5035e-02,2.7187e-01,-1.1053e-01,-1.9301e-02,3.3625e-03,-1.9290e-04,2.9692e-01,1.9593e-02
+27,4.5500e+00,UP_FORCE_RAMP,1.1123e-03,1.0776e-01,3.9095e-01,2.3411e+00,-6.4325e-02,4.4631e-02,-7.9004e-05,5.2056e-02,2.5631e-01,-1.2270e-01,-1.8306e-02,3.8759e-03,-2.0743e-04,2.8890e-01,1.8713e-02
+28,4.6333e+00,UP_FORCE_RAMP,1.1562e-03,1.0742e-01,3.9076e-01,2.3486e+00,-6.4329e-02,4.4598e-02,-8.1866e-05,5.1724e-02,2.5612e-01,-1.1513e-01,-1.8311e-02,3.8426e-03,-2.1029e-04,2.8553e-01,1.8711e-02
+29,4.7167e+00,UP_FORCE_RAMP,1.1937e-03,1.6071e-01,3.8805e-01,2.3473e+00,-6.4171e-02,4.8365e-02,-1.1841e-04,1.0501e-01,2.5341e-01,-1.1643e-01,-1.8153e-02,7.6100e-03,-2.4684e-04,2.9799e-01,1.9685e-02
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Fixed/digit/ball_15A_20/press_depth_08/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 624640

Fixed/digit/ball_15A_20/press_depth_08/down/franka_data.csv

@@ -0,0 +1,61 @@
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+3129,1792842028979128048,20708515000000,1792842028978694606,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6759145635018802,-0.004763134203687254,0.10665354998255124,0.9999999402388923,0.00010236905182585235,-0.0002858480596104794,0.00013702751659209054,0.6761,-0.0046,0.10685417788891033,1.0,0.0,0.0,0.0,-0.03534417685588831,-0.03157073055896498,0.2605710504806953,-0.0018746786963566922,0.0020363968310151415,-0.00020275119512236177,0.5176373716337239,0.5519697082146535,0.7124846090947977,0.042161470597672314,-0.03947066674607118,0.0003831030895053239,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.48723538834504354,0.8391320251891049,0.8536295987706423,0.001354924459162154,-0.48625642043489276,0.4279251425746342,1.6770766608074268,-0.2605710504806953,0.8234470620367845,0.8234470620367845,0.8744875017001074,0,0,-6.135197567061634e-05,9.740769260256025e-12
+3214,1792842029688149599,20709224000000,1792842029682705111,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6759268190532952,-0.004764068168216444,0.10662205382985127,0.9999999462318055,0.00010445354904024171,-0.0002571907816571553,0.00014805947552333135,0.6761,-0.0046,0.10680774942269392,1.0,0.0,0.0,0.0,-0.05926786407672929,-0.030292831049154256,0.3510297101632901,-0.0013788165424994045,0.004030698555730891,-0.00024075881029959835,0.49371368441288294,0.5532476077244642,0.8029432687773925,0.0426573327515296,-0.03747636502135543,0.00034509547432808735,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.5129122726540004,0.8365347460034063,0.7653318649644238,0.002775182516971685,-0.4328575613979812,0.4265525024265308,1.6770766608074268,-0.3510297101632901,0.9117447958430029,0.9117447958430029,0.9808375017000956,0,0,-6.89677654666917e-05,-9.756788019033564e-05
+3322,1792842030588093680,20710124000000,1792842030586704250,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6759342540941138,-0.004770706771110311,0.10658322704373942,0.9999999491946622,0.00010160508454343397,-0.00024013662948405175,0.00015831722394256346,0.6761,-0.0046,0.10674106364301557,1.0,0.0,0.0,0.0,-0.08374485402104709,-0.026876567680221397,0.4511003223305087,-0.0014044201020520647,0.006013533631315911,-0.0002960852131976635,0.46923669446856514,0.5566638710933971,0.9030138809446111,0.04263172919197694,-0.03549352994577041,0.0002897690714300222,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.5317294551456199,0.8519810315111657,0.6935567984820898,-0.0033836285549766736,-0.38296655325844525,0.43227236786031015,1.6770766608074268,-0.4511003223305087,0.983519862325337,0.983519862325337,1.1158375017001665,0,0,-8.08557911416693e-05,-5.000009714451466e-05
+3432,1792842031504056703,20711040000000,1792842031498704236,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6759318912805531,-0.004773419588487959,0.10652315343561859,0.9999999462236174,0.00010229319647600271,-0.00024488628026372584,0.0001690042558350285,0.6761,-0.0046,0.1066649089193359,1.0,0.0,0.0,0.0,-0.09668322592634332,-0.035884679153950216,0.5915326681283449,-0.0024870270812080778,0.007033667268685859,0.00039627080300350776,0.4562983225632689,0.5476557596196683,1.0434462267424474,0.04154912221282093,-0.03447339630840046,0.0009821250876311935,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.5753127053474468,0.7749261440452215,0.49466198299925157,0.023407138789410843,-0.24321582570821718,0.3832148215120299,1.6770766608074268,-0.5915326681283449,1.1824146778081752,1.1824146778081752,1.253237501700253,0,0,-7.896611981947211e-05,-3.38484338043898e-05
+3528,1792842032303986116,20711840000000,1792842032302694758,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6759405652235733,-0.004778573796864731,0.1064791716965592,0.9999999489222097,0.00010080816978027777,-0.00022599620712059683,0.00017989405150132902,0.6761,-0.0046,0.10660515905755968,1.0,0.0,0.0,0.0,-0.12496762455517546,-0.041340796774344546,0.7097490389676085,-0.0024016824206204296,0.008021050783854261,0.0005400220003449484,0.42801392393443677,0.542199641999274,1.161662597581711,0.04163446687340858,-0.03348601279323206,0.001125876284972634,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.7011207885349164,0.701324035234073,0.24798979647772368,0.03816384890424906,-0.04847582904278399,0.3329974935739966,1.6770766608074268,-0.7097490389676085,1.4290868643297032,1.4290868643297032,1.3732375017003287,0,0,-6.837733939194101e-05,9.999999025923074e-05
+3634,1792842033188017379,20712724000000,1792842033186704010,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.675959844965638,-0.004779626302599078,0.10644469780111009,0.9999999516553353,0.00010397976522707928,-0.00020403215760163423,0.00018892135549853828,0.6761,-0.0046,0.10654654230496634,1.0,0.0,0.0,0.0,-0.13615839307870703,-0.03488832538089193,0.8024173583556754,-0.001589522946647083,0.010010858931894392,0.0005098697136683583,0.4168231554109052,0.5486521133927266,1.2543309169697778,0.04244662634738192,-0.03149620464519193,0.001095723998296044,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.7138456705469163,0.7698455136793813,0.2815697718065556,0.01853776688526437,-0.06865122065496686,0.3776254896149355,1.6770766608074268,-0.8024173583556754,1.3955068890008713,1.3955068890008713,1.5058375017004122,0,0,-6.699145028574017e-05,-9.763787975203825e-05
+3672,1792842033503975968,20713040000000,1792842033498703869,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6759958788538515,-0.0047748545511293785,0.10645377326440132,0.9999999569798547,0.00011232281861247681,-0.00016459655263039577,0.00019435717808764165,0.6761,-0.0046,0.10652333738830555,1.0,0.0,0.0,0.0,-0.18586952984670307,0.03105720415470825,0.7540603451325006,0.0034182089688707465,0.013895361664673648,0.0006593700140934182,0.36711201864290915,0.6145976429283267,1.205973903746603,0.04745435826289975,-0.027611701912412672,0.001245224298721104,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.7585666067003097,0.7236747408790408,0.35763088886860467,0.03386650477682544,-0.12285578126813007,0.346664356725625,1.6770766608074268,-0.7540603451325006,1.3194457719388222,1.3194457719388222,1.553237501700442,0,0,-8.129183817348474e-05,-9.999999025923074e-05
+3760,1792842034237990491,20713774000000,1792842034230705009,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6760023076409776,-0.004781470136208103,0.10641135809826663,0.99999995944542,0.00010346729237867135,-0.00014791563420110042,0.000199918752213236,0.6761,-0.0046,0.106453028065421,1.0,0.0,0.0,0.0,-0.1954548289800327,0.03174934341566227,0.8743128088390896,0.003393454528030533,0.01395162138626431,0.000562299910104292,0.35752671950957954,0.6152897821892808,1.326226367453192,0.04742960382205954,-0.02755544219082201,0.0011481541947319777,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.8634935812915617,0.8639753741384906,0.15407418346776275,0.0023271193990960556,0.030971359502308105,0.442100290279678,1.6770766608074268,-0.8743128088390896,1.523002477339664,1.523002477339664,1.6633375017005114,0,0,-0.00010359699912784593,-9.949010645738383e-05
+3805,1792842034612967922,20714149000000,1792842034606704149,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6760090699094804,-0.004750296911960419,0.10637224190645743,0.9999999836309166,-9.342758489069017e-05,-0.0001226004752915639,2.052902005558637e-05,0.6761,-0.0046,0.10641259016924971,1.0,0.0,0.0,0.0,-0.10790414293032347,0.13420914169955833,0.9601755864458813,0.010647863235833652,0.00875636567064808,0.0005057326558165937,0.44507740555928876,0.7177495804731768,1.4120891450599837,0.05468401252986266,-0.03275069790643824,0.0010915869404442794,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.8532046003591521,0.9983301410848007,0.05568084702239472,-0.24262212450861662,0.13392509658605983,0.5642197454178974,1.6770766608074268,-0.9601755864458813,1.6213958137850322,1.6213958137850322,1.7195875017005469,0,0,-0.00011500441488984515,-1.2252278384866602e-05
+3884,1792842035270941097,20714807000000,1792842035270694971,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6760172108573963,-0.004754582458241252,0.10631436004902788,0.9999999852083832,-9.081007636791937e-05,-0.00010603804760779432,3.918622591106527e-05,0.6761,-0.0046,0.10633066167771724,1.0,0.0,0.0,0.0,-0.14349114631474053,0.12373117476689255,1.107772651131671,0.010447020646504622,0.010721144729731666,0.0006165736602433773,0.4094904021748717,0.707271613540511,1.5596862097457733,0.05448316994053363,-0.030785918847354654,0.001202427944871063,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.9673047828880736,0.9590444901555621,-0.09806353853057616,-0.1734512100496626,0.2521409856262829,0.539684554634229,1.6770766608074268,-1.107772651131671,1.775140199338003,1.775140199338003,1.818287501700609,0,0,-0.000123814739617896,9.999999025923074e-05
+3976,1792842036037864409,20715574000000,1792842036034694577,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6760268527899621,-0.004763744901159253,0.10625352839839582,0.9999999865685938,-8.097372033810926e-05,-9.111841680612198e-05,5.8705769477557946e-05,0.6761,-0.0046,0.10624473661954632,1.0,0.0,0.0,0.0,-0.1773132923325439,0.10671355941549943,1.274647378150743,0.00947238163787837,0.012732648920560152,0.0002972343755797113,0.37566825615706834,0.6902539981891179,1.7265609367648453,0.053508530931907376,-0.02877441465652617,0.000883088660207397,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,0.9678179804625039,0.854512525773909,-0.2862166223439242,-0.06274512466241712,0.35636325616434583,0.4526023085203088,1.6770766608074268,-1.274647378150743,1.963293283151351,1.963293283151351,1.9333375017006815,0,0,-9.433289425012236e-05,9.999999025923074e-05
+4087,1792842036962875375,20716499000000,1792842036962694931,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6760428506823398,-0.0047630605587991644,0.10620927388446709,0.9999999882721229,-6.851172396903175e-05,-6.750943092497712e-05,7.51481129247218e-05,0.6761,-0.0046,0.10617625661439609,1.0,0.0,0.0,0.0,-0.2001948907867957,0.11923195610601423,1.3889546422326644,0.010406844252379692,0.014711136412865065,0.0012694521139871968,0.35278665770281653,0.7027723948796327,1.8408682008467667,0.0544429935464087,-0.026795927164221255,0.0018553063986148823,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.0168254261714598,0.8922473033381749,-0.45696713445495324,-0.0033907524114076353,0.46444592057396916,0.460048094726193,1.6770766608074268,-1.3889546422326644,2.13404379526238,2.13404379526238,2.0720875017007687,0,0,-5.249927330777814e-05,9.999999025923074e-05
+4173,1792842037678813837,20717215000000,1792842037678695097,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6760462825348847,-0.00477195952585574,0.10618013555526372,0.9999999874961619,-7.047226828483058e-05,-6.473681702805125e-05,8.540107973534283e-05,0.6761,-0.0046,0.10614849023199176,1.0,0.0,0.0,0.0,-0.21871494928350566,0.11077112789500998,1.4292637681112148,0.010372034866564399,0.015716850258159814,0.0012504680318452858,0.3342665992061066,0.6943115666686285,1.8811773267253173,0.054408184160593405,-0.025790213318926506,0.0018363223164729714,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.0680569634611132,0.862604186670189,-0.42842489430834707,0.03274012838590576,0.4583659668081376,0.43613216511843034,1.6770766608074268,-1.4292637681112148,2.105501555115774,2.105501555115774,2.1794875017008364,0,0,-2.9968641744619557e-05,-7.500001594629708e-05
+4267,1792842038462788536,20717999000000,1792842038462694762,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6760497188260751,-0.0047680808313133125,0.10616124614174505,0.9999999878966095,-6.53018121791943e-05,-6.196157164328105e-05,8.686818916020011e-05,0.6761,-0.0046,0.10612280049381231,1.0,0.0,0.0,0.0,-0.21979257774828637,0.11223905229416298,1.4697393313021938,0.010337831019253202,0.016720738297844297,0.001233580590780476,0.33318897074132586,0.6957794910677815,1.9216528899162961,0.05437398031328221,-0.024786325279242023,0.0018194348754081615,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.082418764270872,0.7823786956362045,-0.4949431772261147,0.05270898747290577,0.5037808645838447,0.37910527743375666,1.6770766608074268,-1.4697393313021938,2.1720198380335414,2.1720198380335414,2.2970875017009105,0,0,-4.3024889855051935e-05,-9.999999025923074e-05
+4362,1792842039253801427,20718790000000,1792842039246694834,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6760570116276237,-0.0047686669269163175,0.10613481330473563,0.9999999882831639,-6.801870599613e-05,-4.905742831312845e-05,8.856275070809096e-05,0.6761,-0.0046,0.10607665515182586,1.0,0.0,0.0,0.0,-0.22971342585752808,0.11605549343902544,1.5297347736790057,0.010912814400262441,0.016697605504868766,0.0011898891223646431,0.32326812263208415,0.6995959322126439,1.981648332293108,0.05494896369429145,-0.024809458072217554,0.0017757434069923287,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.1316387701579393,0.8780529997543929,-0.5800675486253506,0.031602195849356064,0.5654399314414142,0.436937364112329,1.6770766608074268,-1.5297347736790057,2.257144209432777,2.257144209432777,2.4157375017009852,0,0,-7.167463219745341e-05,-9.434676237341506e-05
+4468,1792842040137677295,20719674000000,1792842040134695089,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6760692529018462,-0.004768784671020081,0.10608722870602372,0.9999999886939125,-8.079037757627402e-05,-2.69180065693798e-05,8.248257483838672e-05,0.6761,-0.0046,0.10600089310927409,1.0,0.0,0.0,0.0,-0.23950190571900704,0.1216117170114841,1.6513810938933684,0.011296052337643213,0.017679789548908836,0.0011122821474916296,0.3134796427706052,0.7051521557851026,2.1032946525074707,0.05533220163167222,-0.023827274028177484,0.0016981364321193154,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.137628642005942,0.8337996597861054,-0.7747210681027976,0.04437472390207851,0.6867701020144582,0.4103720962104978,1.6770766608074268,-1.6513810938933684,2.4517977289102246,2.4517977289102246,2.5483375017010688,0,0,-9.800120788080869e-05,-9.999443914410761e-05
+4560,1792842040903663801,20720440000000,1792842040902694939,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6760811358821096,-0.004769252348558067,0.10601810621005002,0.9999999876824961,-9.817874052902403e-05,-5.775150005284315e-06,8.003408321315796e-05,0.6761,-0.0046,0.105923177407089,1.0,0.0,0.0,0.0,-0.2593941785262016,0.13072892422732874,1.820921001577081,0.012229492363036817,0.019647481782165428,0.0010150073570541684,0.2935873699634106,0.7142693630009472,2.2728345601911832,0.056265641657065824,-0.021859581794920892,0.001600861641681854,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.267193842646923,0.8360644742812662,-0.9150521647465881,0.053528369608195785,0.8132023978372789,0.41514511560547807,1.6770766608074268,-1.820921001577081,2.592128825554015,2.592128825554015,2.663237501701141,0,0,-9.442963808528747e-05,7.30257757305452e-05
+4657,1792842041712709647,20721249000000,1792842041710694240,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6760930875891971,-0.004770101577351667,0.10596959646502414,0.9999999865841293,-0.00010923566475379003,1.541261955269467e-05,7.813210951782443e-05,0.6761,-0.0046,0.10585618278168911,1.0,0.0,0.0,0.0,-0.2880674797516804,0.14679178859897168,1.9143283720221174,0.01320625243336454,0.020621028739969474,0.0009626004375716117,0.26491406873793183,0.7303322273725902,2.3662419306362197,0.057242401727393546,-0.020886034837116846,0.0015484547221992974,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.2563275475153548,0.860524274451074,-1.074700915273242,0.04250224689164667,0.909823943808536,0.42900019082665564,1.6770766608074268,-1.9143283720221174,2.751777576080669,2.751777576080669,2.7845875017012176,0,0,-7.611483659045325e-05,8.507814871905878e-05
+4741,1792842042412681113,20721949000000,1792842042406695063,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6760988967173092,-0.004771826983265437,0.10593056485580284,0.9999999857008293,-0.00011441805968219797,2.6753539143395557e-05,7.895544050716989e-05,0.6761,-0.0046,0.1058015731851642,1.0,0.0,0.0,0.0,-0.28228359464018427,0.15220407385783252,1.9921633555582736,0.014102017999211965,0.021599263378775276,0.0012171826176486209,0.27069795384942796,0.735744512631451,2.444076914172376,0.05813816729324097,-0.019907800198311044,0.0018030369022763065,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.277825899720851,0.7678255331129481,-1.1852299315134296,0.07445953054583715,0.9864175417343117,0.3683283577031795,1.6770766608074268,-1.9921633555582736,2.8623065923208566,2.8623065923208566,2.8895875017012838,0,0,-7.939901873890853e-05,9.996575375670886e-05
+4855,1792842043363540688,20722899000000,1792842043358695627,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6761077641310795,-0.004775401916796721,0.1058738272273461,0.9999999836860772,-0.00012648663865197861,4.042918750159195e-05,8.023291588470526e-05,0.6761,-0.0046,0.10572489583646064,1.0,0.0,0.0,0.0,-0.2988176692266183,0.1568619079401462,2.1126058612414162,0.01413331532564014,0.022578439177288717,0.0009831081047143222,0.25416387926299394,0.7404023467137647,2.5645194198555186,0.058169464619669146,-0.018928624399797603,0.0015689623893420078,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.3117479043238889,0.8347583498388187,-1.328013655230741,0.05583534373803608,1.0857976102605809,0.4108036840415228,1.6770766608074268,-2.1126058612414162,3.005090316038168,3.005090316038168,3.0320875017013735,0,0,-8.42978812767584e-05,7.500000206850927e-05
+4965,1792842044278514631,20723815000000,1792842044278694443,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6761163962038321,-0.004771131774431101,0.10581223314934352,0.9999999828281829,-0.00012739457275524787,5.5675109108762706e-05,8.035796956435781e-05,0.6761,-0.0046,0.1056455107558634,1.0,0.0,0.0,0.0,-0.3067952508288924,0.16091785062329877,2.2333742361796816,0.014691341550412934,0.02356117630932219,0.0017934783324598342,0.2461862976607198,0.7444582893969173,2.685287794793784,0.05872749084444194,-0.01794588726776413,0.00237933261708752,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.3558686451121598,0.8471429606293637,-1.3419179876825011,0.06134145904710736,1.1029316237036988,0.4206965328458669,1.6770766608074268,-2.2333742361796816,3.0189946484899277,3.0189946484899277,3.16948750170146,0,0,-8.907685359746254e-05,-9.492065053263161e-05
+5061,1792842045078562408,20724615000000,1792842045078695143,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6761295616681916,-0.004771803787520522,0.10576030669317286,0.9999999805778578,-0.00013122562875618403,7.816058328712317e-05,8.341406427062121e-05,0.6761,-0.0046,0.10556995630521032,1.0,0.0,0.0,0.0,-0.3186172279769538,0.16523528949487076,2.344029533721241,0.015074488252141284,0.023543031314059736,0.0017101495426207233,0.2343643205126584,0.7487757282684893,2.795943092335343,0.05911063754617029,-0.017964032263026584,0.002296003827248409,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.335903022260045,0.8353820157666674,-1.5351661992666918,0.06122663315127579,1.2201456917186082,0.4112846449787192,1.6770766608074268,-2.344029533721241,3.2122428600741184,3.2122428600741184,3.2894875017015357,0,0,-9.983564071694572e-05,1.7854713567305682e-05
+5150,1792842045820563842,20725357000000,1792842045814695218,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6761350685077758,-0.0047726953008282984,0.10570063662814068,0.999999979071252,-0.0001362300781966614,8.789161813093256e-05,8.376627775592382e-05,0.6761,-0.0046,0.10549553479440785,1.0,0.0,0.0,0.0,-0.3196603329106776,0.17589593447203322,2.4510770642401356,0.016047461511361244,0.024495204716960595,0.0016504934133622796,0.23332121557893465,0.7594363732456517,2.902990622854238,0.06008361080539025,-0.017011858860125725,0.0022363476979899654,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.37634539517693,0.8513570516094268,-1.6503395079081804,0.055729239694341494,1.304933169316492,0.42249807189159516,1.6770766608074268,-2.4510770642401356,3.327416168715607,3.327416168715607,3.400787501701606,0,0,-9.91021334203771e-05,5.5434985794749994e-05
+5229,1792842046478535762,20726015000000,1792842046478694725,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.676144364163393,-0.004770387984749923,0.10565225033846407,0.9999999786260999,-0.00013065275157080161,0.00010034961719363687,8.396711750885955e-05,0.6761,-0.0046,0.10543045991336644,1.0,0.0,0.0,0.0,-0.32096708205932745,0.18846792362092002,2.535414577673455,0.017053439949251147,0.024457767484340795,0.0015937953653987185,0.23201446643028475,0.7720083623945385,2.9873281362875574,0.06108958924328015,-0.017049296092745525,0.0021796496500264043,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.4647966003116588,0.779514626423078,-1.740474267882778,0.07613334966687506,1.3873439458810322,0.3787956919189771,1.6770766608074268,-2.535414577673455,3.417550928690205,3.417550928690205,3.499487501701668,0,0,-9.882276532673135e-05,5.0391688179374705e-06
+5313,1792842047178414858,20726715000000,1792842047174694837,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6761596083425806,-0.004771910222073072,0.10560490224267835,0.9999999825893857,5.8074656596761946e-05,0.00012530753185543587,8.47906217680194e-05,0.6761,-0.0046,0.10535960608789298,1.0,0.0,0.0,0.0,-0.33071236298806167,0.19688842017981545,2.6259992720401795,0.018029201182937313,0.02543256585441077,0.0015465808809098222,0.22226918550155056,0.780428858953434,3.077912830654282,0.06206535047696632,-0.01607449772267555,0.002132435165537508,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.4449995917358807,1.0189619154968497,-1.7579920910942601,-0.03243444141865771,1.395519873720092,0.46058323856862055,1.6770766608074268,-2.6259992720401795,3.435068751901687,3.435068751901687,3.604487501701734,0,0,-0.00010513010023224657,-9.999999025923074e-05
+5404,1792842047937495040,20727474000000,1792842047934704208,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6761687936234678,-0.004771961051703856,0.10553735062100116,0.9999999812711946,4.1121523267915476e-05,0.00014120968240088043,8.52603113921282e-05,0.6761,-0.0046,0.10527751673007357,1.0,0.0,0.0,0.0,-0.3407871027868717,0.20617241096261585,2.735354634211781,0.019001630077461945,0.0264032356075347,0.001477062246036736,0.21219444570274054,0.7897128497362343,3.1872681928258833,0.06303777937149095,-0.01510382796955162,0.002062916530664422,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.4697204793711123,0.8927569956386368,-1.9960118857969453,0.019061349667981824,1.549424346322751,0.3958126808543101,1.6770766608074268,-2.735354634211781,3.6730885466043723,3.6730885466043723,3.718337501701806,0,0,-0.00011068111789994261,9.40932290679541e-05
+5502,1792842048753392265,20728290000000,1792842048750694755,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6761762982966237,-0.0047670473782883815,0.10546765397434046,0.9999999803670746,2.5449040644939698e-05,0.0001523930745600089,8.268864431718007e-05,0.6761,-0.0046,0.10518968689843788,1.0,0.0,0.0,0.0,-0.3498972531959797,0.20386480611795865,2.8463534034035516,0.017936824829979353,0.027411154085008313,0.0013982288387567703,0.20308429529363253,0.7874052448915771,3.298266962017654,0.06197297412400836,-0.014095909492078007,0.001984083123384456,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.4756340637721475,0.9074509348037234,-2.1121284194257273,0.032934556524172494,1.622886739857071,0.42680684758503784,1.6770766608074268,-2.8463534034035516,3.7892050802331543,3.7892050802331543,3.840737501701883,0,0,-0.00010414655879778666,9.96898494573017e-05
+5590,1792842049487428682,20729024000000,1792842049486695015,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6761836427638286,-0.004776036265315074,0.10540527442872463,0.999999977924134,2.4547227951811424e-06,0.00016847677484070508,8.487724452926112e-05,0.6761,-0.0046,0.10511338521899218,1.0,0.0,0.0,0.0,-0.35035966148856035,0.20754333497124755,2.936975547451336,0.01805275253626306,0.027389030283612815,0.001325949862024623,0.20262188700105188,0.791083773744866,3.3888891060654385,0.062088901830292066,-0.014118033293473506,0.0019118041466523086,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.4822125516336073,0.8074469906018741,-2.1650308880767923,0.085244595568313,1.6532174003737228,0.386719635569436,1.6770766608074268,-2.936975547451336,3.8421075488842193,3.8421075488842193,3.9508375017019524,0,0,-0.00010416254908193612,-9.946901221991595e-05
+5690,1792842050320390172,20729857000000,1792842050318694775,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6761933832999538,-0.004773286025761589,0.1053338424587398,0.9999999746250892,-1.0740989660895879e-05,0.0001865633147862494,8.52727749516096e-05,0.6761,-0.0046,0.10502318854031051,1.0,0.0,0.0,0.0,-0.3539814520055196,0.189754839820244,3.017635592761018,0.018496761606527107,0.027363591475792183,0.0022886846047645492,0.19900009648409261,0.7732952785938625,3.46954915137512,0.06253291090055611,-0.014143472101294137,0.002874538889392235,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5170276886242169,0.825462339358157,-2.267273269233331,0.10510563173005978,1.7236205919165553,0.42539844982282504,1.6770766608074268,-3.017635592761018,3.944349930040758,3.944349930040758,4.075787501701806,0,0,-0.00011429689602690386,-9.79499773220482e-05
+5783,1792842051095306359,20730632000000,1792842051090697574,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762001687808115,-0.004775807752830396,0.10525634713264763,0.9999999723810513,-2.8019419563943098e-05,0.00019729730165840063,8.34832198351794e-05,0.6761,-0.0046,0.10493286615116643,1.0,0.0,0.0,0.0,-0.35065121041513736,0.20242161657595525,3.1010281305791194,0.01788080707980865,0.027351601884284267,0.0021794444166627646,0.2023303380744749,0.7859620553495738,3.5529416891932217,0.06191695637383766,-0.014155461692802051,0.0027652987012904504,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5079861994420105,0.8400644327616612,-2.30282054154295,0.11089624081036588,1.7430137463082032,0.4404879292465809,1.6770766608074268,-3.1010281305791194,3.9798972023503767,3.9798972023503767,4.192037501701535,0,0,-0.00012085683158000039,-9.999999025923074e-05
+5867,1792842051795344811,20731332000000,1792842051790704207,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762057789184366,-0.004778195044138631,0.10517571777989747,0.9999999701693627,-3.7597662863210155e-05,0.00020505578592240056,8.74224150070153e-05,0.6761,-0.0046,0.10484348777086931,1.0,0.0,0.0,0.0,-0.3503016251684816,0.20414712442156713,3.1475493880808876,0.017867485403134313,0.0273410771078043,0.0021576566874987823,0.20267992332113058,0.7876875631951856,3.59946294669499,0.06190363469716332,-0.01416598646928202,0.002743510972126468,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5417152921276862,0.8042364093472134,-2.426663491357482,0.13231269582800187,1.827918931802313,0.4178820602538437,1.6770766608074268,-3.1475493880808876,4.103740152164908,4.103740152164908,4.297037501701291,0,0,-0.0001378124471582406,-9.999999025923074e-05
+5958,1792842052553306202,20732090000000,1792842052550704549,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762114726095262,-0.004785938026126539,0.10507248367518239,0.9999999671379115,-5.384887650979259e-05,0.0002130103273605949,9.430768374742637e-05,0.6761,-0.0046,0.10473087810631103,1.0,0.0,0.0,0.0,-0.3325064051969646,0.20703629329708007,3.2283527346081398,0.017852030732723442,0.02732298178604472,0.0021184277554651466,0.22047514329264764,0.7905767320706986,3.680266293222242,0.06188818002675245,-0.0141840817910416,0.0027042820400928324,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5384865768777045,0.8338887608365126,-2.506151767967524,0.1372852528012488,1.879210826249976,0.43849787198555573,1.6770766608074268,-3.2283527346081398,4.18322842877495,4.18322842877495,4.410737501701026,0,0,-0.0001573385264117252,-9.871919534465973e-05
+6048,1792842053303277087,20732840000000,1792842053302694890,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762245303842683,-0.004789932647160736,0.10496605733738927,0.9999999602901937,-7.46756174093879e-05,0.00023769114048530348,9.374939718968336e-05,0.6761,-0.0046,0.10460205516717598,1.0,0.0,0.0,0.0,-0.32371481311777306,0.21025186349125546,3.317360435422905,0.0178352521572179,0.027303329325736023,0.002040666763133924,0.22926673537183917,0.793792302264874,3.7692739940370075,0.06187140145124691,-0.014203734251350297,0.00262652104776161,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5759600446083792,0.7501860153891332,-2.7113878555836664,0.17493482962646556,2.0198854690802728,0.3853265292943697,1.6770766608074268,-3.317360435422905,4.388464516391093,4.388464516391093,4.5232375017007636,0,0,-0.00018405376483035673,8.629646583291901e-05
+6129,1792842053978264612,20733515000000,1792842053974694848,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762309422257139,-0.004791882827830985,0.10484757250284599,0.9999999559271382,-8.795887937149743e-05,0.0002502799988809582,9.597782991859056e-05,0.6761,-0.0046,0.10447263642610008,1.0,0.0,0.0,0.0,-0.3135246611839072,0.18796107692046293,3.3946850756397042,0.016422433210492443,0.026305495096849464,0.001951791611898969,0.239456887305705,0.7715015156940814,3.8465986342538065,0.06045858250452145,-0.015201568480236856,0.002537645896526655,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5987647971865107,0.7412143472026005,-2.7775696796196443,0.18370617374518067,2.06666381027165,0.3788495261635561,1.6770766608074268,-3.3946850756397042,4.454646340427071,4.454646340427071,4.624487501700528,0,0,-0.00020086306408567228,-2.9760903459351263e-05
+6207,1792842054628239708,20734165000000,1792842054626704348,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762346645919419,-0.004798022376033672,0.10472550563452888,0.9999999555875156,-6.714159701393594e-05,0.00025294481135536723,0.00010852999339792893,0.6761,-0.0046,0.1043375167349589,1.0,0.0,0.0,0.0,-0.30278092505591486,0.16523703313732407,3.4275380440831,0.013763967184695115,0.026343938473864445,0.0018994050151600952,0.25020062343369737,0.7487774719109426,3.8794516026972024,0.05780011647872412,-0.015163125103221875,0.002485259299787781,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.520759993569585,0.7683686824612338,-2.7578220751391176,0.19367672721321808,2.0349448727107826,0.4062269687858556,1.6770766608074268,-3.4275380440831,4.434898735946544,4.434898735946544,4.7219875017003,0,0,-0.00021856216636115112,-9.999997638144293e-05
+6286,1792842055287223146,20734824000000,1792842055286694768,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762458375987191,-0.004803847905159464,0.10458796693605912,0.9999999505072307,1.3913882863404674e-05,0.0002732696369957527,0.00012473375664886954,0.6761,-0.0046,0.10418545889417039,1.0,0.0,0.0,0.0,-0.31100399214141533,0.14209194216457732,3.4672148326757664,0.012726999983024734,0.026356233866933976,0.0018546700768275188,0.2419775563481969,0.7256323809381958,3.9191283912898687,0.05676314927705374,-0.015150829710152344,0.0024405243614552046,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5977667784417957,0.7545116084041201,-2.7732129979942393,0.2009035336815451,2.067580098565435,0.3933267528444277,1.6770766608074268,-3.4672148326757664,4.450289658801666,4.450289658801666,4.82083750170007,0,0,-0.0002457930644114966,-9.999999025923074e-05
+6347,1792842055795184848,20735332000000,1792842055790695083,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6762507752424426,-0.004800132570356906,0.10446470892752703,0.9999999497115906,-5.865364964041648e-05,0.0002865730008646092,8.034516456105114e-05,0.6761,-0.0046,0.10405478825008274,1.0,0.0,0.0,0.0,-0.26462993641502464,0.156723873901231,3.508031770404913,0.013823059606927666,0.023286904213691725,0.0017917975733824153,0.2883516120745876,0.7402643126748495,3.9599453290190154,0.05785920890095667,-0.018220159363394595,0.002377651858010101,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.6033641259935747,0.8304004476078783,-2.8437548704783375,0.18355837069068642,2.1126914291941885,0.4541680300741223,1.6770766608074268,-3.508031770404913,4.520831531285764,4.520831531285764,4.897037501699892,0,0,-0.0002693672922590969,-9.999999025923074e-05
+6416,1792842056370201171,20735907000000,1792842056362704674,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6762626669298425,-0.00480739435308034,0.1043218416166001,0.9999999432254311,-4.7998577955635875e-05,0.00030254966821544624,0.00010560224296631179,0.6761,-0.0046,0.10389175992151412,1.0,0.0,0.0,0.0,-0.27352759490178347,0.13990508366257304,3.5372299623784187,0.011376934417096543,0.024339428679241507,0.0017555980451941298,0.27945395358782876,0.7234455224361915,3.989143520992521,0.05541308371112555,-0.017167634897844813,0.0023414523298218156,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.581078239323483,0.7150362432719932,-2.989776718608086,0.22466153775486714,2.2018348162518393,0.37596001429521153,1.6770766608074268,-3.5372299623784187,4.666853379415513,4.666853379415513,4.983287501699691,0,0,-0.0002976144880082173,-9.999999025923074e-05
+6475,1792842056862151870,20736399000000,1792842056854705476,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762672593112988,-0.004807388423896555,0.10418107196313307,0.9999999399068489,-4.571997856281627e-05,0.000308862215036618,0.0001189242568921174,0.6761,-0.0046,0.10373952856988557,1.0,0.0,0.0,0.0,-0.26952341952045905,0.11419051511284228,3.5461322290240114,0.00873457541825147,0.02438164447508324,0.0017257365324904613,0.2834581289691532,0.6977309538864608,3.9980457876381137,0.052770724712280476,-0.01712541910200308,0.002311590817118147,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5589583359886705,0.7456144156168929,-2.981961230567115,0.23540240267574233,2.1934625123389626,0.3976576715595702,1.6770766608074268,-3.5461322290240114,4.659037891374542,4.659037891374542,5.057087501699519,0,0,-0.0003213007179994883,-9.999999025923074e-05
+6530,1792842057320117695,20736857000000,1792842057314704652,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.676267475103147,-0.0048161096384102126,0.10402324084156986,0.9999999383644614,-9.52936759623605e-05,0.0003090275824542219,0.00010067276809535434,0.6761,-0.0046,0.10358714019206566,1.0,0.0,0.0,0.0,-0.2343159531308318,0.10009955633894918,3.5861714093526857,0.00808349436525338,0.021353570043265574,0.0016528048248360787,0.3186655953587804,0.6836399951125677,4.038084967966788,0.052119643659282386,-0.020153493533820746,0.0022386591094637645,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5638196987434028,0.7270326520416645,-3.109875481251784,0.25175443122620345,2.2796172217363218,0.3831402519898121,1.6770766608074268,-3.5861714093526857,4.786952142059211,4.786952142059211,5.125787501699359,0,0,-0.000344200713538216,-9.999999025923074e-05
+6581,1792842057745131811,20737282000000,1792842057742704460,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762618058771211,-0.004818153501544307,0.10386437521300615,0.9999999396480322,-8.566052161998438e-05,0.000300104008838924,0.00012143580782013677,0.6761,-0.0046,0.1034363498896937,1.0,0.0,0.0,0.0,-0.23187405771252134,0.04043663477519899,3.604818187852597,0.0036517425949302226,0.021434364426785275,0.0015709511074729209,0.3211074907770909,0.6239770735488175,4.056731746466699,0.04768789188895923,-0.020072699150301045,0.0021568053921006067,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.4799252850276707,0.6781452608682413,-3.040111444799336,0.2700075814330014,2.216826787000214,0.3534755282577897,1.6770766608074268,-3.604818187852597,4.717188105606763,4.717188105606763,5.189537501699211,0,0,-0.00036545070939838906,-9.999999025923074e-05
+6628,1792842058137133956,20737674000000,1792842058134695164,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762617105247187,-0.004820931076699203,0.10371611586180882,0.9999999385601501,-8.992081806726204e-05,0.00030145805137940995,0.00012393486298985113,0.6761,-0.0046,0.10328926141235985,1.0,0.0,0.0,0.0,-0.21283676666950763,0.013684120120581067,3.603794601783473,0.001632654154142335,0.02046024963943452,0.0015348953076200328,0.3401447818201046,0.5972245588941996,4.055708160397575,0.04566880344817134,-0.0210468139376518,0.0021207495922477186,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.5083785695822087,0.7204457957083175,-3.0274223374426943,0.2805302895532285,2.2211873369775224,0.3848181068642038,1.6770766608074268,-3.603794601783473,4.704498998250121,4.704498998250121,5.248337501699074,0,0,-0.0003850507055800075,-9.999999025923074e-05
+6679,1792842058562068396,20738099000000,1792842058558704282,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762620773080618,-0.0048243440257855425,0.10354859320083552,0.9999999440128444,-7.74445399181268e-06,0.000302855531780809,0.0001078690080559793,0.6761,-0.0046,0.10312110986337013,1.0,0.0,0.0,0.0,-0.1832248817850738,-0.0033846461850254306,3.5832788101532365,0.0006911420588610606,0.01784819298935785,0.0004859299697359342,0.36975666670453844,0.5801557925885931,4.035192368767339,0.04472729135289007,-0.02365887058772847,0.00107178425436362,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.4420018085080304,0.6377373261985425,-2.979681191059274,0.30944425722865615,2.173865146751675,0.33266593998013017,1.6770766608074268,-3.5832788101532365,4.6567578518667005,4.6567578518667005,5.312087501698925,0,0,-0.0004063007014401806,-9.999999025923074e-05
+6730,1792842058987087863,20738524000000,1792842058986704674,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.676265328952568,-0.0048302654521707265,0.1033789806912212,0.9999999413890213,-2.4590588488069524e-05,0.00030240459924954597,0.00012888591848461082,0.6761,-0.0046,0.10294392706613983,1.0,0.0,0.0,0.0,-0.19083477774162272,-0.03674091251367273,3.5531119595669343,-0.002378834906050911,0.01851109516641074,0.0004748202697356551,0.3621467707479895,0.5467995262599458,4.005025518181037,0.041657314387978095,-0.02299596841067558,0.0010606745543633408,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.478737573752546,0.6135355110182402,-3.016210026515247,0.3146920348658878,2.212993495142662,0.31449440823119645,1.6770766608074268,-3.5531119595669343,4.693286687322674,4.693286687322674,5.3758375016987765,0,0,-0.00042755069730035365,-9.999999025923074e-05
+6775,1792842059362072145,20738899000000,1792842059354695599,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6762739701893682,-0.004821863890893538,0.1032202128281217,0.9999999392301144,-6.672969554115091e-05,0.00031188620773865076,0.000106097941299231,0.6761,-0.0046,0.10278008930533893,1.0,0.0,0.0,0.0,-0.1820525220559049,-0.03819222094566965,3.5318381639831333,-0.0023485388690194647,0.017520744594040922,0.0006860169922996746,0.37092902643370734,0.5453482178279488,3.9837517225972356,0.04168761042500954,-0.023986318983045398,0.0012718712769273603,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.449423171099863,0.6205999138466777,-2.9194213990846136,0.34313755349006464,2.142549220509025,0.3230746187471608,1.6770766608074268,-3.5318381639831333,4.59649805989204,4.59649805989204,5.432087501698645,0,0,-0.0004463006936475652,-9.999999025923074e-05
+6821,1792842059745044705,20739282000000,1792842059738694878,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762709869040376,-0.004831735857390334,0.1030414440003304,0.9999999374013997,-7.619358087622056e-05,0.00030899677989245055,0.000123917671542672,0.6761,-0.0046,0.1026054984903882,1.0,0.0,0.0,0.0,-0.1572948838148185,-0.07615122531050633,3.5214138027876847,-0.005381805696690528,0.01656712729859567,0.00043304900166694774,0.39568666467479374,0.5073892134631122,3.973327361401787,0.03865434359733848,-0.02493993627849065,0.0010189032862946334,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.4494662388311628,0.6480166565230598,-2.894905892293057,0.3263542827736856,2.135688743100518,0.34560482029475853,1.6770766608074268,-3.5214138027876847,4.571982553100484,4.571982553100484,5.4895375016985115,0,0,-0.00046545068991685055,-9.999999025923074e-05
+6864,1792842060103056564,20739640000000,1792842060098703972,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6762649718164689,-0.004831966352001464,0.10285530650786744,0.9999999379112394,-9.078902027925903e-05,0.0003009336390741171,0.00012967914364599178,0.6761,-0.0046,0.10243567199402392,1.0,0.0,0.0,0.0,-0.15830169270530692,-0.11302410844071664,3.4796950329671517,-0.007391530456798648,0.015603050239441502,0.0004422214707019981,0.3946798557843053,0.47051633033290186,3.931608591581254,0.03664461883723036,-0.02590401333764482,0.0010280757553296838,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.3774975485685792,0.6166749144428517,-2.744756026273206,0.3460493750840984,2.0249858242842724,0.3250927556117552,1.6770766608074268,-3.4796950329671517,4.421832687080633,4.421832687080633,5.543237501698386,0,0,-0.00048335068642965515,-9.999999025923074e-05
+6901,1792842060412036609,20739949000000,1792842060406704275,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762624019586674,-0.004828919783113228,0.1026950204999052,0.9999999379779271,-0.00011117300344260077,0.0002957633738607544,0.00012510634053381463,0.6761,-0.0046,0.1022839373323837,1.0,0.0,0.0,0.0,-0.13886032624389405,-0.14285221204539866,3.4486403903892255,-0.010344803814340796,0.013640192381157431,0.0011947687636605156,0.4141212222457182,0.44068822672821983,3.900553949003328,0.03369134547968821,-0.02786687119592889,0.0017806230482882012,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.374551281254356,0.6835652029497886,-2.856907792659274,0.3307916651382603,2.1042380569550683,0.37087478793357476,1.6770766608074268,-3.4486403903892255,4.533984453466701,4.533984453466701,5.589587501698278,0,0,-0.0004988006834197575,-9.999999025923074e-05
+6939,1792842060728023055,20740265000000,1792842060722694718,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6762570631171151,-0.004829134915144391,0.10252185981009172,0.999999946222126,-3.20179963057703e-05,0.0002865839858094267,0.00012586928429816836,0.6761,-0.0046,0.10212382781691093,1.0,0.0,0.0,0.0,-0.11362561972573121,-0.15371621975702177,3.4003193701970607,-0.011378214042267167,0.012657350031795321,0.0004091629503812211,0.439355928763881,0.42982421901659673,3.852232928811163,0.03265793525176184,-0.028849713545291,0.0009950172350089068,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.3757047386791863,0.6463160305309128,-2.7348336295347466,0.32151634994856293,2.03469270589792,0.3364999811439442,1.6770766608074268,-3.4003193701970607,4.411910290342173,4.411910290342173,5.636987501698168,0,0,-0.0005146006803416744,-9.999999025923074e-05
+6974,1792842061020021668,20740557000000,1792842061014704551,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6762495995476558,-0.0047850815837111715,0.1023571489218272,0.9999999477473303,-9.35249187336587e-06,0.00027464808460967127,0.00014293061898847838,0.6761,-0.0046,0.10197144011866785,1.0,0.0,0.0,0.0,-0.049010940351348786,-0.1374727636766822,3.3591365723486226,-0.010844707871971039,0.008235113292691568,0.0003834484215020149,0.5039706081382634,0.4460676750969363,3.811050130962725,0.03319144142205797,-0.03327195028439475,0.0009693027061297006,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.3283533617062993,0.7516122508822105,-2.64617121222716,0.2967372074633293,1.973963480244097,0.4136740736592399,1.6770766608074268,-3.3591365723486226,4.323247873034587,4.323247873034587,5.680787501698066,0,0,-0.0005292006774973698,-9.999999025923074e-05
+7011,1792842061328901295,20740865000000,1792842061326704030,DOWN_FORCE_DETACH,8,0.0751,0.07510165125131607,0.6762464964438761,-0.004788578983116739,0.10218573846318381,0.9999999481165276,-4.801518870974766e-05,0.0002735623331156818,0.00013441725371115024,0.6761,-0.0046,0.10180608241046218,1.0,0.0,0.0,0.0,0.02020778752513208,-0.10200662436066993,3.299919940057962,-0.008020027040094135,0.0025328020387963557,0.00039037138424604116,0.5731893360147443,0.48153381441294857,3.7518334986720645,0.03601612225393487,-0.038974261538289964,0.0009762256688737269,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.3457863235674827,0.7674982519738373,-2.6353574016983066,0.31974769022991884,1.9763990391581219,0.4303256439268452,1.6770766608074268,-3.299919940057962,4.312434062505734,4.312434062505734,5.726987501697958,0,0,-0.0005446006744972129,-9.999999025923074e-05
+7045,1792842061611950390,20741149000000,1792842061610694255,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762435272006272,-0.004789773394981254,0.10202165590501747,0.9999999484396331,-5.025179807566655e-05,0.0002615828455093737,0.00015366446327655297,0.6761,-0.0046,0.10164940651929918,1.0,0.0,0.0,0.0,0.020354979177016008,-0.13101155236602513,3.278536006073175,-0.01048722301864171,0.0035490688753012645,0.00039247007715713215,0.5733365276666282,0.45252888640759337,3.7304495646872775,0.033548926275387296,-0.037957994701785056,0.0009783243617848178,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.3096725072776514,0.8056834165487735,-2.558589810993603,0.2968003969267844,1.9251688513861163,0.45613759358058376,1.6770766608074268,-3.278536006073175,4.2356664718010295,4.2356664718010295,5.769587501697859,0,0,-0.0005588006717308344,-9.999999025923074e-05
+7080,1792842061902994454,20741440000000,1792842061902704387,DOWN_FORCE_DETACH,8,0.0751,0.0751023069024086,0.6762433617936415,-0.0047848928219895275,0.10184468456940239,0.9999999470486161,-0.0001024103904549142,0.00026847525596383716,0.00012156799821613591,0.6761,-0.0046,0.10148468577423936,1.0,0.0,0.0,0.0,0.03173673053608772,-0.13459069532425177,3.1920540140023888,-0.011014781441687348,0.0024302302853531216,0.00043984743486061913,0.5847182790257,0.4489497434493667,3.643967572616491,0.03302136785234166,-0.0390768332917332,0.0010257017194883048,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.3030771310699003,0.7573714927367392,-2.587337089362246,0.2971214690627283,1.9456662191397673,0.440009748628518,1.6770766608074268,-3.1920540140023888,4.264413750169672,4.264413750169672,5.813237501697757,0,0,-0.0005733506688962705,-9.999999025923074e-05
+7116,1792842062199982559,20741737000000,1792842062194703743,DOWN_SETTLE,8,0.0751,0.07510165125131607,0.6762279752236872,-0.004798394829559483,0.10167323800373344,0.9999999558368595,6.460744271490899e-06,0.00024030436152275492,0.000148260635649295,0.6761,-0.0046,0.10133633064063607,1.0,0.0,0.0,0.0,0.03335987383994732,-0.18591645033370274,3.11171750995922,-0.014083641095551908,0.0016286156630349255,0.0004527460577740467,0.5863414223295595,0.39762398843991575,3.563631068573322,0.0299525081984771,-0.039878447914051394,0.0010386003424017324,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.2190645650283658,0.7435595058064639,-2.4255118337769814,0.3054828714292389,1.8252795195088332,0.4093045614872579,1.6770766608074268,-3.11171750995922,4.102588494584408,0.0,0.0,0,0,-0.00020937498810776257,0.0021148988697753794
+7211,1792842062987959506,20742525000000,1792842062986694585,DOWN_PEAK_HOLD,8,0.0751,0.07510165125131607,0.6761931342053238,-0.004793990874383588,0.10156367663044041,0.9999999696896866,-2.5332029215915755e-06,0.0001733057954536473,0.0001483987005606045,0.6761,-0.0046,0.10131647923154398,1.0,0.0,0.0,0.0,0.056309107123592717,-0.24592167129769998,2.663395704804139,-0.01901380023910692,-0.0012111868140011611,-0.00031430735485002555,0.609290655613205,0.3376187674759185,3.1153092634182413,0.025022349054922087,-0.04271825039108748,0.00027154692977766014,0.5529815484896122,0.5835404387736185,0.45191355861410243,0.044036149294029006,-0.04150706357708632,0.0005858542846276857,1,1.062028710230722,0.7115601288969816,-1.868551600885504,0.31752090885535106,1.4348314975351297,0.3954786781335153,1.6770766608074268,-2.663395704804139,3.545628261692931,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_20/press_depth_08/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792842024526453597,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.882934447e-09,-1.001683771e-10,-4.633132766e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027452001e-01,-1.148131044e-04,8.303262051e-01
+1,7.500000000e-01,DOWN_FORCE_DETACH,1792842025298416033,-1.622961532e-07,6.115188804e-06,-6.332201662e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.090632902e-07,-3.235450689e-09,-1.742481348e-08,7.019555073e-01,-1.597272260e-05,8.601428126e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027453063e-01,-1.148162397e-04,8.303261882e-01
+2,1.616666667e+00,DOWN_FORCE_DETACH,1792842026165704563,3.066681765e-06,6.185763554e-06,1.708837150e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.897039268e-07,-5.027623968e-09,-2.874838678e-08,7.019587363e-01,-1.590214785e-05,8.601451547e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027453869e-01,-1.148180319e-04,8.303261769e-01
+3,2.616666667e+00,DOWN_FORCE_DETACH,1792842027196148938,-7.491440357e-09,4.765233474e-06,-3.639554945e-05,-7.325594409e-08,3.162665100e-06,-2.178137183e-05,-1.192828771e-07,3.166473001e-06,-2.171809499e-05,7.019556621e-01,-1.732267793e-05,8.601070503e-01,7.019555964e-01,-1.892524631e-05,8.601216645e-01,7.027450779e-01,-1.116465312e-04,8.303044875e-01
+4,3.450000000e+00,DOWN_FORCE_DETACH,1792842028100464606,6.431626206e-06,-1.693524132e-06,-5.507136129e-05,1.768441098e-06,-1.471967760e-06,-4.193726821e-05,1.635589192e-06,-1.486419243e-06,-4.181801412e-05,7.019621013e-01,-2.378143554e-05,8.600883745e-01,7.019574381e-01,-2.355987917e-05,8.601015086e-01,7.027468328e-01,-1.162994235e-04,8.302843876e-01
+5,4.283333333e+00,DOWN_FORCE_DETACH,1792842028982154544,2.906293459e-06,-4.809737279e-08,-9.265284372e-05,1.194140130e-06,-4.367539909e-06,-8.287586078e-05,5.694835513e-07,-4.358231487e-06,-8.259095877e-05,7.019585759e-01,-2.213600878e-05,8.600507930e-01,7.019568638e-01,-2.645545131e-05,8.600605700e-01,7.027457667e-01,-1.191712357e-04,8.302436146e-01
+6,5.000000000e+00,DOWN_FORCE_DETACH,1792842029686127981,1.416738864e-05,-9.608827497e-06,-1.240780695e-04,1.273474335e-06,-8.249798625e-06,-1.245861541e-04,1.514972947e-07,-8.246183428e-06,-1.241174918e-04,7.019698370e-01,-3.169673890e-05,8.600193678e-01,7.019569431e-01,-3.033771003e-05,8.600188597e-01,7.027453487e-01,-1.230591877e-04,8.302020881e-01
+7,5.900000000e+00,DOWN_FORCE_DETACH,1792842030586867262,1.991552701e-05,-1.174034683e-05,-1.670526622e-04,2.109840967e-05,-1.069440972e-05,-1.533234735e-04,2.109742154e-05,-1.070885803e-05,-1.527943986e-04,7.019755852e-01,-3.382825824e-05,8.599763932e-01,7.019767680e-01,-3.278232113e-05,8.599901224e-01,7.027662946e-01,-1.255218623e-04,8.301734112e-01
+8,6.733333333e+00,DOWN_FORCE_DETACH,1792842031504105303,2.159413096e-05,-1.581040975e-05,-2.208492037e-04,1.853559306e-05,-1.694540886e-05,-2.158804387e-04,1.763813085e-05,-1.694348705e-05,-2.151266048e-04,7.019772638e-01,-3.789832115e-05,8.599225966e-01,7.019742052e-01,-3.903332027e-05,8.599275654e-01,7.027628353e-01,-1.317564913e-04,8.301110790e-01
+9,7.533333333e+00,DOWN_FORCE_DETACH,1792842032306837027,2.968874690e-05,-1.972623833e-05,-2.654088815e-04,2.765458716e-05,-1.940257893e-05,-2.548978113e-04,2.696577942e-05,-1.939802160e-05,-2.541794255e-04,7.019853584e-01,-4.181414973e-05,8.598780370e-01,7.019833242e-01,-4.149049033e-05,8.598885480e-01,7.027721630e-01,-1.342110258e-04,8.300720262e-01
+10,8.266666667e+00,DOWN_FORCE_DETACH,1792842033190161884,4.904415552e-05,-1.669283071e-05,-2.994714908e-04,3.468579537e-05,-1.790514780e-05,-2.957835349e-04,3.401124651e-05,-1.790814116e-05,-2.950465914e-04,7.020047138e-01,-3.878074211e-05,8.598439744e-01,7.019903554e-01,-3.999305920e-05,8.598476623e-01,7.027792085e-01,-1.327211454e-04,8.300311590e-01
+11,8.583333333e+00,DOWN_FORCE_DETACH,1792842033502634628,8.188956014e-05,-1.291010100e-05,-2.943945106e-04,8.819536042e-05,-1.283492531e-05,-2.811888315e-04,9.152174156e-05,-1.285322784e-05,-2.804950813e-04,7.020375592e-01,-3.499801240e-05,8.598490513e-01,7.020438650e-01,-3.492283671e-05,8.598622570e-01,7.028367190e-01,-1.276662321e-04,8.300457105e-01
+12,9.300000000e+00,DOWN_FORCE_DETACH,1792842034239318086,8.943385360e-05,-1.972902504e-05,-3.390207011e-04,8.642999404e-05,-2.315698536e-05,-3.423071303e-04,8.907326264e-05,-2.314804030e-05,-3.413228766e-04,7.020451035e-01,-4.181693645e-05,8.598044251e-01,7.020420996e-01,-4.524489676e-05,8.598011387e-01,7.028342705e-01,-1.379610445e-04,8.299848827e-01
+13,9.683333333e+00,DOWN_FORCE_DETACH,1792842034616027540,9.706018041e-05,1.283996703e-05,-3.764783269e-04,9.728516587e-05,-1.974735703e-06,-3.654993365e-04,1.004993203e-04,-1.968105168e-06,-3.645470133e-04,7.020527298e-01,-9.247944380e-06,8.597669675e-01,7.020529548e-01,-2.406264711e-05,8.597779465e-01,7.028456965e-01,-1.167811094e-04,8.299616586e-01
+14,1.035000000e+01,DOWN_FORCE_DETACH,1792842035271722171,1.046172141e-04,3.903288213e-06,-4.343536557e-04,1.052743885e-04,1.626808596e-06,-4.236813956e-04,1.084524683e-04,1.629420373e-06,-4.226608615e-04,7.020602868e-01,-1.818462319e-05,8.597090922e-01,7.020609440e-01,-2.046110281e-05,8.597197644e-01,7.028536497e-01,-1.131835839e-04,8.299035447e-01
+15,1.103333333e+01,DOWN_FORCE_DETACH,1792842036041445000,1.142591467e-04,-5.259154705e-06,-4.951853064e-04,1.152753818e-04,-7.285089788e-06,-4.833410501e-04,1.184437128e-04,-7.265248010e-06,-4.822357993e-04,7.020699288e-01,-2.734706611e-05,8.596482605e-01,7.020709450e-01,-2.937300119e-05,8.596601048e-01,7.028636409e-01,-1.220782523e-04,8.298439698e-01
+16,1.195000000e+01,DOWN_FORCE_DETACH,1792842036958531984,1.272547292e-04,-2.334606925e-06,-5.441173723e-04,1.273641534e-04,-7.388317813e-06,-5.444155102e-04,1.307989628e-04,-7.359181544e-06,-5.433713072e-04,7.020829244e-01,-2.442251833e-05,8.595993285e-01,7.020830338e-01,-2.947622922e-05,8.595990303e-01,7.028759962e-01,-1.221721858e-04,8.297828343e-01
+17,1.266666667e+01,DOWN_FORCE_DETACH,1792842037679559997,1.336888916e-04,-1.347377940e-05,-5.685781495e-04,1.351426726e-04,-1.383952519e-05,-5.637528079e-04,1.389032177e-04,-1.382299409e-05,-5.629061569e-04,7.020893585e-01,-3.556169081e-05,8.595748677e-01,7.020908123e-01,-3.592743660e-05,8.595796930e-01,7.028841004e-01,-1.286359983e-04,8.297632994e-01
+18,1.346666667e+01,DOWN_FORCE_DETACH,1792842038465488769,1.392619400e-04,-8.953073400e-06,-5.850011205e-04,1.343360042e-04,-1.229870681e-05,-5.849434444e-04,1.379299644e-04,-1.227582425e-05,-5.842392854e-04,7.020949316e-01,-3.104098481e-05,8.595584447e-01,7.020900056e-01,-3.438661822e-05,8.595585024e-01,7.028831272e-01,-1.270888285e-04,8.297419663e-01
+19,1.423333333e+01,DOWN_FORCE_DETACH,1792842039251993784,1.431153870e-04,-1.073794278e-05,-6.152177161e-04,1.428766956e-04,-9.098543405e-06,-6.026624322e-04,1.469382293e-04,-9.130832797e-06,-6.020373711e-04,7.020987850e-01,-3.282585419e-05,8.595282281e-01,7.020985463e-01,-3.118645481e-05,8.595407834e-01,7.028921354e-01,-1.239438370e-04,8.297241682e-01
+20,1.510000000e+01,DOWN_FORCE_DETACH,1792842040139707699,1.559264639e-04,-1.182645204e-05,-6.621395835e-04,1.546840900e-04,-8.142229326e-06,-6.612942654e-04,1.589278314e-04,-8.154180654e-06,-6.604740746e-04,7.021115961e-01,-3.391436345e-05,8.594813063e-01,7.021103537e-01,-3.023014073e-05,8.594821516e-01,7.029041250e-01,-1.229671849e-04,8.296657315e-01
+21,1.583333333e+01,DOWN_FORCE_DETACH,1792842040905628675,1.680836608e-04,-1.341257159e-05,-7.317654744e-04,1.618039687e-04,-1.313766902e-05,-7.227632541e-04,1.658784826e-04,-1.318222485e-05,-7.218279494e-04,7.021237533e-01,-3.550048300e-05,8.594116804e-01,7.021174736e-01,-3.522558043e-05,8.594206826e-01,7.029110757e-01,-1.279952291e-04,8.296043776e-01
+22,1.661666667e+01,DOWN_FORCE_DETACH,1792842041708758089,1.825415791e-04,-1.125803290e-05,-7.741522491e-04,1.768042676e-04,-9.529500461e-06,-7.609038310e-04,1.816258832e-04,-9.605279166e-06,-7.600148261e-04,7.021382112e-01,-3.334594431e-05,8.593692936e-01,7.021324739e-01,-3.161741187e-05,8.593825420e-01,7.029268231e-01,-1.244182834e-04,8.295661908e-01
+23,1.730000000e+01,DOWN_FORCE_DETACH,1792842042414600303,1.880316503e-04,-1.315614949e-05,-8.155828227e-04,1.828222893e-04,-1.429168958e-05,-8.016749384e-04,1.875769332e-04,-1.436212980e-05,-8.008636796e-04,7.021437013e-01,-3.524406089e-05,8.593278630e-01,7.021384919e-01,-3.637960098e-05,8.593417709e-01,7.029327741e-01,-1.291751341e-04,8.295253419e-01
+24,1.823333333e+01,DOWN_FORCE_DETACH,1792842043363183157,1.967165083e-04,-1.408494730e-05,-8.713120225e-04,1.932281538e-04,-1.307355035e-05,-8.638981110e-04,1.980602410e-04,-1.317306859e-05,-8.630572655e-04,7.021523861e-01,-3.617285870e-05,8.592721338e-01,7.021488978e-01,-3.516146175e-05,8.592795477e-01,7.029432575e-01,-1.279860728e-04,8.294631483e-01
+25,1.911666667e+01,DOWN_FORCE_DETACH,1792842044280235123,2.055788324e-04,-1.817073818e-05,-9.323414866e-04,2.018465056e-04,-1.323201480e-05,-9.250578925e-04,2.066247486e-04,-1.332818559e-05,-9.241674919e-04,7.021612485e-01,-4.025864958e-05,8.592111044e-01,7.021575161e-01,-3.531992620e-05,8.592183880e-01,7.029518220e-01,-1.281411898e-04,8.294020381e-01
+26,1.991666667e+01,DOWN_FORCE_DETACH,1792842045082660948,2.142989795e-04,-1.160317687e-05,-9.912652519e-04,2.135634712e-04,-1.530625155e-05,-9.878675311e-04,2.184954279e-04,-1.538640112e-05,-9.868147649e-04,7.021699686e-01,-3.369108828e-05,8.591521806e-01,7.021692331e-01,-3.739416296e-05,8.591555783e-01,7.029636926e-01,-1.301994054e-04,8.293393908e-01
+27,2.066666667e+01,DOWN_FORCE_DETACH,1792842045819867905,2.258828019e-04,-1.120460185e-05,-1.043301354e-03,2.218090385e-04,-1.774465966e-05,-1.027070917e-03,2.269254927e-04,-1.782826498e-05,-1.026127036e-03,7.021815524e-01,-3.329251325e-05,8.591001445e-01,7.021774787e-01,-3.983257107e-05,8.591163749e-01,7.029721227e-01,-1.326412692e-04,8.293000786e-01
+28,2.133333333e+01,DOWN_FORCE_DETACH,1792842046475210492,2.314810857e-04,-1.434783463e-05,-1.097290942e-03,2.294634499e-04,-1.408937111e-05,-1.089669488e-03,2.343550665e-04,-1.416108968e-05,-1.088498408e-03,7.021871507e-01,-3.643574604e-05,8.590461549e-01,7.021851331e-01,-3.617728251e-05,8.590537764e-01,7.029795523e-01,-1.289740939e-04,8.292377072e-01
+29,2.205000000e+01,DOWN_FORCE_DETACH,1792842047179382397,2.470146993e-04,-1.342447562e-05,-1.143811462e-03,2.410154948e-04,-1.076565633e-05,-1.128969228e-03,2.463309155e-04,-1.088364490e-05,-1.127935335e-03,7.022026843e-01,-3.551238702e-05,8.589996344e-01,7.021966851e-01,-3.285356774e-05,8.590144766e-01,7.029915281e-01,-1.256966492e-04,8.291982703e-01
+30,2.280000000e+01,DOWN_FORCE_DETACH,1792842047933402941,2.584106665e-04,-1.029705411e-05,-1.206989756e-03,2.581865057e-04,-1.028265134e-05,-1.206774646e-03,2.638564836e-04,-1.042578857e-05,-1.205522401e-03,7.022140803e-01,-3.238496551e-05,8.589364561e-01,7.022138561e-01,-3.237056274e-05,8.589366712e-01,7.030090537e-01,-1.252387928e-04,8.291206832e-01
+31,2.363333333e+01,DOWN_FORCE_DETACH,1792842048751399509,2.612921913e-04,-1.038627495e-05,-1.283553947e-03,2.593435130e-04,-1.610031500e-05,-1.273122530e-03,2.643543185e-04,-1.624578723e-05,-1.271871033e-03,7.022169618e-01,-3.247418635e-05,8.588598919e-01,7.022150131e-01,-3.818822641e-05,8.588703233e-01,7.030095515e-01,-1.310587915e-04,8.290543346e-01
+32,2.431666667e+01,DOWN_FORCE_DETACH,1792842049488634673,2.719084620e-04,-1.457955315e-05,-1.342040343e-03,2.681590230e-04,-1.406913593e-05,-1.335354746e-03,2.731149011e-04,-1.419181421e-05,-1.334082110e-03,7.022275781e-01,-3.666746456e-05,8.588014055e-01,7.022238286e-01,-3.615704733e-05,8.588080911e-01,7.030183121e-01,-1.290048185e-04,8.289921235e-01
+33,2.516666667e+01,DOWN_FORCE_DETACH,1792842050324228771,2.818721692e-04,-1.398575007e-05,-1.414691390e-03,2.786554865e-04,-9.881119732e-06,-1.398352030e-03,2.836491217e-04,-9.922357864e-06,-1.397265317e-03,7.022375418e-01,-3.607366147e-05,8.587287545e-01,7.022343251e-01,-3.196903114e-05,8.587450938e-01,7.030288463e-01,-1.247353621e-04,8.289289403e-01
+34,2.593333333e+01,DOWN_FORCE_DETACH,1792842051094156933,2.848435711e-04,-1.331887985e-05,-1.497812304e-03,2.852563310e-04,-1.715860801e-05,-1.481248761e-03,2.897860966e-04,-1.719017705e-05,-1.480044314e-03,7.022405132e-01,-3.540679126e-05,8.586456335e-01,7.022409260e-01,-3.924651942e-05,8.586621971e-01,7.030349833e-01,-1.320031813e-04,8.288461613e-01
+35,2.663333333e+01,DOWN_FORCE_DETACH,1792842051798270031,2.933813970e-04,-1.303590613e-05,-1.572787759e-03,2.902749253e-04,-1.488620838e-05,-1.567018652e-03,2.942058821e-04,-1.492468697e-05,-1.565690510e-03,7.022490510e-01,-3.512381753e-05,8.585706581e-01,7.022459446e-01,-3.697411979e-05,8.585764272e-01,7.030394031e-01,-1.297376912e-04,8.287605151e-01
+36,2.735000000e+01,DOWN_FORCE_DETACH,1792842052554871637,3.008119312e-04,-2.817893921e-05,-1.673056323e-03,2.994184061e-04,-2.485795623e-05,-1.668573654e-03,3.028122290e-04,-2.487961830e-05,-1.667000288e-03,7.022564816e-01,-5.026685062e-05,8.584703895e-01,7.022550880e-01,-4.694586763e-05,8.584748722e-01,7.030480094e-01,-1.396926225e-04,8.286592053e-01
+37,2.808333333e+01,DOWN_FORCE_DETACH,1792842053304919515,3.108996153e-04,-2.629368710e-05,-1.785939404e-03,3.103477751e-04,-2.899107366e-05,-1.779602767e-03,3.132005781e-04,-2.904522631e-05,-1.777890944e-03,7.022665692e-01,-4.838159850e-05,8.583575064e-01,7.022660174e-01,-5.107898507e-05,8.583638431e-01,7.030583978e-01,-1.438582306e-04,8.285483147e-01
+38,2.870000000e+01,DOWN_FORCE_DETACH,1792842053978810872,3.179870765e-04,-3.464275935e-05,-1.903301056e-03,3.177715523e-04,-3.545821172e-05,-1.894535890e-03,3.197688432e-04,-3.551050451e-05,-1.892628621e-03,7.022736567e-01,-5.673067076e-05,8.582401448e-01,7.022734412e-01,-5.754612312e-05,8.582489100e-01,7.030649661e-01,-1.503235088e-04,8.284335770e-01
+39,2.933333333e+01,DOWN_FORCE_DETACH,1792842054631690682,3.215852434e-04,-4.174109169e-05,-2.026400629e-03,3.212277812e-04,-4.171297495e-05,-2.026324099e-03,3.219132274e-04,-4.181368360e-05,-2.024188478e-03,7.022772549e-01,-6.382900310e-05,8.581170452e-01,7.022768974e-01,-6.380088635e-05,8.581171217e-01,7.030671104e-01,-1.566266878e-04,8.283020171e-01
+40,2.998333333e+01,DOWN_FORCE_DETACH,1792842055288688096,3.329097167e-04,-4.257128013e-05,-2.158246964e-03,3.294514178e-04,-4.690461740e-05,-2.157661825e-03,3.291727225e-04,-4.698944966e-05,-2.155455364e-03,7.022885793e-01,-6.465919153e-05,8.579851989e-01,7.022851210e-01,-6.899252880e-05,8.579857840e-01,7.030743699e-01,-1.618024539e-04,8.281707502e-01
+41,3.050000000e+01,DOWN_FORCE_DETACH,1792842055794824501,3.389908953e-04,-3.903509660e-05,-2.282804697e-03,3.388711657e-04,-3.894604526e-05,-2.282425777e-03,3.378146651e-04,-3.899736273e-05,-2.279945403e-03,7.022946605e-01,-6.112300801e-05,8.578606411e-01,7.022945408e-01,-6.103395667e-05,8.578610201e-01,7.030830119e-01,-1.538103670e-04,8.280462602e-01
+42,3.106666667e+01,DOWN_FORCE_DETACH,1792842056368304463,3.477071726e-04,-5.062984513e-05,-2.430381471e-03,3.463838133e-04,-4.725792845e-05,-2.411380511e-03,3.444454846e-04,-4.727827652e-05,-2.408861649e-03,7.023033768e-01,-7.271775654e-05,8.577130644e-01,7.023020534e-01,-6.934583985e-05,8.577320653e-01,7.030896427e-01,-1.620912808e-04,8.279173439e-01
+43,3.156666667e+01,DOWN_FORCE_DETACH,1792842056859397255,3.563822007e-04,-5.372089147e-05,-2.563875704e-03,3.530873077e-04,-5.415621787e-05,-2.560330323e-03,3.498245858e-04,-5.419416914e-05,-2.557596586e-03,7.023120518e-01,-7.580880288e-05,8.575795701e-01,7.023087569e-01,-7.624412928e-05,8.575831155e-01,7.030950218e-01,-1.690071734e-04,8.277686090e-01
+44,3.203333333e+01,DOWN_FORCE_DETACH,1792842057318040713,3.544717981e-04,-5.506696201e-05,-2.724000114e-03,3.545326160e-04,-5.533161071e-05,-2.723519642e-03,3.494585867e-04,-5.536607815e-05,-2.720438538e-03,7.023101414e-01,-7.715487341e-05,8.574194457e-01,7.023102022e-01,-7.741952211e-05,8.574199262e-01,7.030946558e-01,-1.701790824e-04,8.276057671e-01
+45,3.245000000e+01,DOWN_FORCE_DETACH,1792842057744683522,3.527305574e-04,-5.631583756e-05,-2.879265645e-03,3.524950182e-04,-5.603571263e-05,-2.878976255e-03,3.453696872e-04,-5.609044658e-05,-2.875646286e-03,7.023084002e-01,-7.840374896e-05,8.572641802e-01,7.023081646e-01,-7.812362403e-05,8.572644696e-01,7.030905669e-01,-1.709034508e-04,8.274505593e-01
+46,3.283333333e+01,DOWN_FORCE_DETACH,1792842058137363090,3.491168814e-04,-6.244533024e-05,-3.032597843e-03,3.467105066e-04,-6.393607212e-05,-3.029566288e-03,3.373959924e-04,-6.394911400e-05,-3.026115903e-03,7.023047865e-01,-8.453324165e-05,8.571108480e-01,7.023023801e-01,-8.602398352e-05,8.571138796e-01,7.030825932e-01,-1.787621182e-04,8.273000897e-01
+47,3.326666667e+01,DOWN_FORCE_DETACH,1792842058562963001,3.494836648e-04,-6.585827933e-05,-3.200120504e-03,3.492657789e-04,-6.588768480e-05,-3.199965413e-03,3.380886275e-04,-6.590646659e-05,-3.196403539e-03,7.023051533e-01,-8.794619074e-05,8.569433253e-01,7.023049354e-01,-8.797559621e-05,8.569434804e-01,7.030832858e-01,-1.807194708e-04,8.271298021e-01
+48,3.370000000e+01,DOWN_FORCE_DETACH,1792842058989048149,3.548260556e-04,-6.975856589e-05,-3.368017408e-03,3.522977217e-04,-6.803526655e-05,-3.364394380e-03,3.393935043e-04,-6.796472992e-05,-3.360849860e-03,7.023104957e-01,-9.184647730e-05,8.567754284e-01,7.023079673e-01,-9.012317795e-05,8.567790515e-01,7.030845907e-01,-1.827777342e-04,8.269653557e-01
+49,3.408333333e+01,DOWN_FORCE_DETACH,1792842059365403087,3.605847134e-04,-6.093810377e-05,-3.532676416e-03,3.599056932e-04,-6.467445042e-05,-3.518644224e-03,3.456946647e-04,-6.454626569e-05,-3.515054635e-03,7.023162543e-01,-8.302601517e-05,8.566107694e-01,7.023155753e-01,-8.676236183e-05,8.566248016e-01,7.030908919e-01,-1.793592699e-04,8.268111510e-01
+50,3.446666667e+01,DOWN_FORCE_DETACH,1792842059742289378,3.556903771e-04,-7.001174520e-05,-3.707625229e-03,3.562679182e-04,-6.847797819e-05,-3.700960602e-03,3.396754265e-04,-6.835314750e-05,-3.697111330e-03,7.023113600e-01,-9.209965661e-05,8.564358206e-01,7.023119375e-01,-9.056588960e-05,8.564424852e-01,7.030848726e-01,-1.831661517e-04,8.266290943e-01
+51,3.481666667e+01,DOWN_FORCE_DETACH,1792842060103163753,3.542778647e-04,-6.978707555e-05,-3.890237235e-03,3.544731208e-04,-6.993757621e-05,-3.890303601e-03,3.353832530e-04,-6.989622574e-05,-3.886158493e-03,7.023099475e-01,-9.187498695e-05,8.562532086e-01,7.023101427e-01,-9.202548762e-05,8.562531422e-01,7.030805805e-01,-1.847092300e-04,8.264400471e-01
+52,3.511666667e+01,DOWN_FORCE_DETACH,1792842060414305947,3.498083154e-04,-7.043403666e-05,-4.053693205e-03,3.466486992e-04,-7.159128799e-05,-4.049791906e-03,3.251661221e-04,-7.152662201e-05,-4.045640800e-03,7.023054779e-01,-9.252194806e-05,8.560897526e-01,7.023023183e-01,-9.367919940e-05,8.560936539e-01,7.030703633e-01,-1.863396263e-04,8.262805648e-01
+53,3.543333333e+01,DOWN_FORCE_DETACH,1792842060725662198,3.407049968e-04,-7.209976386e-05,-4.230531273e-03,3.407704169e-04,-7.224818711e-05,-4.230450403e-03,3.166788834e-04,-7.213137752e-05,-4.226183119e-03,7.022963746e-01,-9.418767527e-05,8.559129146e-01,7.022964400e-01,-9.433609852e-05,8.559129954e-01,7.030618761e-01,-1.869443818e-04,8.261000225e-01
+54,3.570000000e+01,DOWN_FORCE_DETACH,1792842061016118988,3.398375611e-04,-3.365439900e-05,-4.384705393e-03,3.377901819e-04,-3.656720810e-05,-4.382626219e-03,3.116537677e-04,-3.638081147e-05,-4.378230329e-03,7.022955072e-01,-5.574231040e-05,8.557587405e-01,7.022934598e-01,-5.865511950e-05,8.557608196e-01,7.030568510e-01,-1.511938157e-04,8.259479753e-01
+55,3.596666667e+01,DOWN_FORCE_DETACH,1792842061331302627,3.342607613e-04,-2.658849687e-05,-4.564387668e-03,3.368824230e-04,-2.778252486e-05,-4.546062021e-03,3.087143013e-04,-2.759130612e-05,-4.541593777e-03,7.022899304e-01,-4.867640828e-05,8.555790582e-01,7.022925520e-01,-4.987043626e-05,8.555973838e-01,7.030539115e-01,-1.424043104e-04,8.257846118e-01
+56,3.625000000e+01,DOWN_FORCE_DETACH,1792842061609908562,3.300803945e-04,-3.818422432e-05,-4.725431260e-03,3.303098254e-04,-2.755289167e-05,-4.721411572e-03,2.995260238e-04,-2.739212856e-05,-4.716875069e-03,7.022857500e-01,-6.027213573e-05,8.554180146e-01,7.022859795e-01,-4.964080308e-05,8.554220343e-01,7.030447232e-01,-1.422051328e-04,8.256093305e-01
+57,3.655000000e+01,DOWN_FORCE_DETACH,1792842061905114355,3.309059705e-04,-2.742175870e-05,-4.904047882e-03,3.301296213e-04,-3.185402128e-05,-4.884662328e-03,2.973571145e-04,-3.174174272e-05,-4.880266377e-03,7.022865756e-01,-4.950967010e-05,8.552393980e-01,7.022857992e-01,-5.394193269e-05,8.552587835e-01,7.030425543e-01,-1.465547470e-04,8.254459392e-01
+58,3.683333333e+01,DOWN_SETTLE,1792842062200293384,3.186626609e-04,-4.085309160e-05,-5.071173862e-03,3.164712795e-04,-4.225940184e-05,-5.056776994e-03,2.806479437e-04,-4.210796080e-05,-5.052507258e-03,7.022743323e-01,-6.294100301e-05,8.550722720e-01,7.022721409e-01,-6.434731325e-05,8.550866689e-01,7.030258452e-01,-1.569209650e-04,8.252736983e-01
+59,3.753333333e+01,DOWN_PEAK_HOLD,1792842062985590123,2.819821326e-04,-2.978538344e-05,-5.180656967e-03,2.866962976e-04,-3.655449290e-05,-5.165695896e-03,2.472654661e-04,-3.628196849e-05,-5.163312475e-03,7.022376518e-01,-5.187329484e-05,8.549627889e-01,7.022423659e-01,-5.864240431e-05,8.549777499e-01,7.029924627e-01,-1.510949727e-04,8.251628931e-01

Fixed/digit/ball_15A_20/press_depth_08/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,6.1887e-02,1.4095e-01,2.4665e+00,-4.6458e-02,4.1191e-02,1.3862e-04,5.0084e-04,-1.3217e-05,-8.2016e-05,2.2575e-06,3.6094e-05,-1.2824e-06,5.0768e-04,3.6188e-05
+1,7.5000e-01,DOWN_FORCE_DETACH,1.8661e-04,8.0358e-02,1.4074e-01,2.4635e+00,-4.6379e-02,4.2515e-02,8.5843e-05,1.8972e-02,-2.2171e-04,-3.1209e-03,8.1468e-05,1.3601e-03,-5.4064e-05,1.9229e-02,1.3637e-03
+2,1.6167e+00,DOWN_FORCE_DETACH,3.7395e-04,9.4379e-02,1.4083e-01,2.4614e+00,-4.6320e-02,4.3513e-02,3.4518e-05,3.2993e-02,-1.3573e-04,-5.1696e-03,1.4049e-04,2.3583e-03,-1.0539e-04,3.3396e-02,2.3649e-03
+3,2.6167e+00,DOWN_FORCE_DETACH,5.6302e-04,1.0497e-01,1.3156e-01,2.4874e+00,-4.5616e-02,4.4229e-02,-1.6596e-05,4.3581e-02,-9.4090e-03,2.0738e-02,8.4395e-04,3.0742e-03,-1.5650e-04,4.9172e-02,3.1918e-03
+4,3.4500e+00,DOWN_FORCE_DETACH,7.4805e-04,1.0901e-01,1.4589e-01,2.4970e+00,-4.6555e-02,4.4498e-02,-4.2947e-05,4.7625e-02,4.9269e-03,3.0412e-02,-9.5267e-05,3.3429e-03,-1.8285e-04,5.6721e-02,3.3493e-03
+5,4.2833e+00,DOWN_FORCE_DETACH,9.3474e-04,1.1531e-01,1.5511e-01,2.5296e+00,-4.7140e-02,4.4894e-02,-6.2450e-05,5.3924e-02,1.4140e-02,6.2983e-02,-6.7933e-04,3.7392e-03,-2.0236e-04,8.4111e-02,3.8058e-03
+6,5.0000e+00,DOWN_FORCE_DETACH,1.1242e-03,1.1923e-01,1.6733e-01,2.5603e+00,-4.7940e-02,4.5123e-02,-6.9878e-05,5.7845e-02,2.6365e-02,9.3674e-02,-1.4797e-03,3.9679e-03,-2.0979e-04,1.1321e-01,4.2400e-03
+7,5.9000e+00,DOWN_FORCE_DETACH,1.3123e-03,1.0147e-01,1.7373e-01,2.5604e+00,-4.8363e-02,4.3852e-02,-5.9480e-05,4.0082e-02,3.2762e-02,9.3817e-02,-1.9024e-03,2.6978e-03,-1.9939e-04,1.0715e-01,3.3071e-03
+8,6.7333e+00,DOWN_FORCE_DETACH,1.4967e-03,1.1685e-01,1.9382e-01,2.6074e+00,-4.9698e-02,4.4863e-02,-4.4574e-05,5.5469e-02,5.2858e-02,1.4083e-01,-3.2379e-03,3.7088e-03,-1.8448e-04,1.6032e-01,4.9268e-03
+9,7.5333e+00,DOWN_FORCE_DETACH,1.6863e-03,1.0890e-01,2.0128e-01,2.6072e+00,-5.0211e-02,4.4283e-02,-2.0143e-05,4.7512e-02,6.0316e-02,1.4055e-01,-3.7511e-03,3.1279e-03,-1.6005e-04,1.6015e-01,4.8868e-03
+10,8.2667e+00,DOWN_FORCE_DETACH,1.8535e-03,1.0616e-01,1.9693e-01,2.6161e+00,-4.9926e-02,4.4063e-02,3.4284e-06,4.4770e-02,5.5966e-02,1.4953e-01,-3.4657e-03,2.9080e-03,-1.3648e-04,1.6582e-01,4.5262e-03
+11,8.5833e+00,DOWN_FORCE_DETACH,2.0599e-03,3.4476e-02,1.7858e-01,2.5745e+00,-4.8708e-02,3.9050e-02,3.3875e-05,-2.6910e-02,3.7618e-02,1.0785e-01,-2.2475e-03,-2.1050e-03,-1.0603e-04,1.1735e-01,3.0812e-03
+12,9.3000e+00,DOWN_FORCE_DETACH,2.2464e-03,6.6821e-02,2.1102e-01,2.6297e+00,-5.0934e-02,4.1258e-02,5.6622e-05,5.4346e-03,7.0059e-02,1.6306e-01,-4.4739e-03,1.0350e-04,-8.3285e-05,1.7755e-01,4.4759e-03
+13,9.6833e+00,DOWN_FORCE_DETACH,2.4352e-03,6.0753e-02,1.4638e-01,2.6251e+00,-4.6528e-02,4.0822e-02,4.9867e-05,-6.3252e-04,5.4141e-03,1.5851e-01,-6.8024e-05,-3.3247e-04,-9.0040e-05,1.5861e-01,3.5110e-04
+14,1.0350e+01,DOWN_FORCE_DETACH,2.6186e-03,6.6452e-02,1.3744e-01,2.6480e+00,-4.5910e-02,4.1189e-02,5.3027e-05,5.0664e-03,-3.5230e-03,1.8134e-01,5.4996e-04,3.3893e-05,-8.6880e-05,1.8145e-01,5.5781e-04
+15,1.1033e+01,DOWN_FORCE_DETACH,2.8095e-03,6.7505e-02,1.6741e-01,2.6580e+00,-4.7950e-02,4.1252e-02,5.6008e-05,6.1185e-03,2.6443e-02,1.9138e-01,-1.4899e-03,9.7338e-05,-8.3899e-05,1.9329e-01,1.4954e-03
+16,1.1950e+01,DOWN_FORCE_DETACH,2.9955e-03,6.8180e-02,1.6951e-01,2.6494e+00,-4.8114e-02,4.1338e-02,4.7948e-05,6.7940e-03,2.8544e-02,1.8274e-01,-1.6543e-03,1.8350e-04,-9.1959e-05,1.8508e-01,1.6670e-03
+17,1.2667e+01,DOWN_FORCE_DETACH,3.1810e-03,7.2435e-02,1.8852e-01,2.6087e+00,-4.9492e-02,4.1693e-02,5.3673e-05,1.1049e-02,4.7554e-02,1.4205e-01,-3.0321e-03,5.3802e-04,-8.6234e-05,1.5021e-01,3.0806e-03
+18,1.3467e+01,DOWN_FORCE_DETACH,3.3690e-03,9.1551e-02,1.8214e-01,2.5815e+00,-4.9179e-02,4.3093e-02,5.8701e-05,3.0165e-02,4.1174e-02,1.1491e-01,-2.7185e-03,1.9382e-03,-8.1206e-05,1.2573e-01,3.3397e-03
+19,1.4233e+01,DOWN_FORCE_DETACH,3.5580e-03,9.0705e-02,1.7015e-01,2.5643e+00,-4.8480e-02,4.3066e-02,7.2880e-05,2.9319e-02,2.9184e-02,9.7712e-02,-2.0197e-03,1.9112e-03,-6.7027e-05,1.0611e-01,2.7815e-03
+20,1.5100e+01,DOWN_FORCE_DETACH,3.7441e-03,8.9491e-02,1.6392e-01,2.6022e+00,-4.8165e-02,4.2935e-02,9.9581e-05,2.8105e-02,2.2950e-02,1.3557e-01,-1.7044e-03,1.7799e-03,-4.0327e-05,1.4034e-01,2.4647e-03
+21,1.5833e+01,DOWN_FORCE_DETACH,3.9293e-03,9.6462e-02,1.7568e-01,2.6262e+00,-4.9051e-02,4.3377e-02,1.3044e-04,3.5076e-02,3.4716e-02,1.5961e-01,-2.5910e-03,2.2227e-03,-9.4716e-06,1.6707e-01,3.4138e-03
+22,1.6617e+01,DOWN_FORCE_DETACH,4.1175e-03,9.1456e-02,1.5936e-01,2.6051e+00,-4.8034e-02,4.3049e-02,1.6165e-04,3.0070e-02,1.8398e-02,1.3844e-01,-1.5742e-03,1.8946e-03,2.1740e-05,1.4285e-01,2.4633e-03
+23,1.7300e+01,DOWN_FORCE_DETACH,4.3032e-03,9.8227e-02,1.7034e-01,2.6017e+00,-4.8826e-02,4.3528e-02,1.9009e-04,3.6841e-02,2.9378e-02,1.3512e-01,-2.3654e-03,2.3737e-03,5.0187e-05,1.4310e-01,3.3514e-03
+24,1.8233e+01,DOWN_FORCE_DETACH,4.4930e-03,9.9263e-02,1.6512e-01,2.6076e+00,-4.8420e-02,4.3592e-02,2.1296e-04,3.7877e-02,2.4151e-02,1.4097e-01,-1.9598e-03,2.4376e-03,7.3056e-05,1.4796e-01,3.1286e-03
+25,1.9117e+01,DOWN_FORCE_DETACH,4.6783e-03,1.0034e-01,1.6705e-01,2.6160e+00,-4.8429e-02,4.3653e-02,2.2150e-04,3.8957e-02,2.6083e-02,1.4940e-01,-1.9688e-03,2.4982e-03,8.1590e-05,1.5659e-01,3.1818e-03
+26,1.9917e+01,DOWN_FORCE_DETACH,4.8670e-03,9.4867e-02,1.7496e-01,2.6353e+00,-4.8844e-02,4.3226e-02,2.1744e-04,3.3481e-02,3.3996e-02,1.6866e-01,-2.3836e-03,2.0709e-03,7.7533e-05,1.7528e-01,3.1585e-03
+27,2.0667e+01,DOWN_FORCE_DETACH,5.0517e-03,9.4560e-02,1.8258e-01,2.6216e+00,-4.9305e-02,4.3205e-02,1.9730e-04,3.3174e-02,4.1617e-02,1.5500e-01,-2.8446e-03,2.0503e-03,5.7392e-05,1.6389e-01,3.5070e-03
+28,2.1333e+01,DOWN_FORCE_DETACH,5.2429e-03,9.3363e-02,1.7074e-01,2.6514e+00,-4.8470e-02,4.3062e-02,1.5827e-04,3.1977e-02,2.9770e-02,1.8477e-01,-2.0095e-03,1.9074e-03,1.8359e-05,1.8986e-01,2.7706e-03
+29,2.2050e+01,DOWN_FORCE_DETACH,5.4274e-03,8.6979e-02,1.5882e-01,2.6388e+00,-4.7674e-02,4.2612e-02,1.0684e-04,2.5593e-02,1.7857e-02,1.7221e-01,-1.2136e-03,1.4577e-03,-3.3069e-05,1.7502e-01,1.8970e-03
+30,2.2800e+01,DOWN_FORCE_DETACH,5.6142e-03,8.3952e-02,1.5013e-01,2.6464e+00,-4.7101e-02,4.2373e-02,4.3109e-05,2.2566e-02,9.1649e-03,1.7976e-01,-6.4065e-04,1.2184e-03,-9.6798e-05,1.8141e-01,1.3800e-03
+31,2.3633e+01,DOWN_FORCE_DETACH,5.8030e-03,9.0514e-02,1.7226e-01,2.6714e+00,-4.8580e-02,4.2795e-02,-3.0234e-05,2.9128e-02,3.1295e-02,2.0483e-01,-2.1199e-03,1.6408e-03,-1.7014e-04,2.0924e-01,2.6861e-03
+32,2.4317e+01,DOWN_FORCE_DETACH,5.9915e-03,8.7804e-02,1.6882e-01,2.6700e+00,-4.8238e-02,4.2613e-02,-8.4470e-05,2.6418e-02,2.7850e-02,2.0334e-01,-1.7781e-03,1.4586e-03,-2.2438e-04,2.0693e-01,2.3107e-03
+33,2.5167e+01,DOWN_FORCE_DETACH,6.1754e-03,8.7734e-02,1.6263e-01,2.6469e+00,-4.7623e-02,4.2653e-02,-1.1261e-04,2.6348e-02,2.1661e-02,1.8032e-01,-1.1632e-03,1.4979e-03,-2.5251e-04,1.8351e-01,1.9133e-03
+34,2.5933e+01,DOWN_FORCE_DETACH,6.3625e-03,9.3465e-02,1.9064e-01,2.6660e+00,-4.9433e-02,4.3030e-02,-9.2673e-05,3.2079e-02,4.9678e-02,1.9943e-01,-2.9730e-03,1.8749e-03,-2.3258e-04,2.0802e-01,3.5225e-03
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Fixed/digit/ball_15A_20/press_depth_08/up/camera_frames_60hz.tar

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Fixed/digit/ball_15A_20/press_depth_08/up/franka_data.csv

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+50,7.050000000e+00,UP_FORCE_HOLD,1792842019072124010,-5.784432289e-05,-7.944175873e-05,3.167322168e-04,-5.603208023e-05,-8.125859940e-05,3.081620335e-04,-5.618402615e-05,-8.129341137e-05,3.071769639e-04,7.018978253e-01,-1.015296701e-04,8.604601781e-01,7.018996375e-01,-1.033465108e-04,8.604516079e-01,7.026890132e-01,-1.961064032e-04,8.306333826e-01
+51,7.200000000e+00,UP_SETTLE,1792842019219381885,-5.922300516e-05,-8.270330409e-05,3.251002633e-04,-5.603208023e-05,-8.125859940e-05,3.081620335e-04,-5.620520121e-05,-8.129167302e-05,3.072691606e-04,7.018964466e-01,-1.047912155e-04,8.604685461e-01,7.018996375e-01,-1.033465108e-04,8.604516079e-01,7.026889920e-01,-1.961046649e-04,8.306334748e-01
+52,7.350000000e+00,UP_SETTLE,1792842019367189717,-5.995289293e-05,-7.520076507e-05,3.300058316e-04,-5.658160048e-05,-7.882873968e-05,3.281481160e-04,-5.661112771e-05,-7.886653763e-05,3.272024247e-04,7.018957167e-01,-9.728867648e-05,8.604734517e-01,7.018990880e-01,-1.009166511e-04,8.604715940e-01,7.026885861e-01,-1.936795295e-04,8.306534081e-01
+53,7.516666667e+00,UP_SETTLE,1792842019531107061,-5.762087126e-05,-7.611223020e-05,3.416323615e-04,-5.658160048e-05,-7.882873968e-05,3.281481160e-04,-5.662885775e-05,-7.886506170e-05,3.273016962e-04,7.018980488e-01,-9.820014160e-05,8.604850782e-01,7.018990880e-01,-1.009166511e-04,8.604715940e-01,7.026885683e-01,-1.936780535e-04,8.306535073e-01
+54,7.650000000e+00,UP_SETTLE,1792842019678884647,-5.921815617e-05,-7.806109104e-05,3.455082118e-04,-5.788286477e-05,-7.526965437e-05,3.481284516e-04,-5.780238520e-05,-7.528860215e-05,3.471618474e-04,7.018964515e-01,-1.001490024e-04,8.604889541e-01,7.018977868e-01,-9.735756578e-05,8.604915743e-01,7.026873948e-01,-1.901015940e-04,8.306733675e-01
+55,7.800000000e+00,UP_SETTLE,1792842019858540477,-5.917702791e-05,-8.075624644e-05,3.552672626e-04,-5.788286477e-05,-7.526965437e-05,3.481284516e-04,-5.781614473e-05,-7.528757499e-05,3.472632909e-04,7.018964926e-01,-1.028441578e-04,8.604987131e-01,7.018977868e-01,-9.735756578e-05,8.604915743e-01,7.026873810e-01,-1.901005668e-04,8.306734689e-01
+56,7.983333333e+00,UP_SETTLE,1792842020038694168,-5.942470368e-05,-7.787453619e-05,3.607574916e-04,-5.788286477e-05,-7.526965437e-05,3.481284516e-04,-5.783001516e-05,-7.528589145e-05,3.473578747e-04,7.018962449e-01,-9.996244759e-05,8.605042033e-01,7.018977868e-01,-9.735756578e-05,8.604915743e-01,7.026873672e-01,-1.900988833e-04,8.306735635e-01
+57,8.200000000e+00,UP_SETTLE,1792842020252658099,-5.935569872e-05,-7.895384239e-05,3.666833742e-04,-5.788286477e-05,-7.526965437e-05,3.481284516e-04,-5.784293402e-05,-7.528397520e-05,3.474516800e-04,7.018963139e-01,-1.010417538e-04,8.605101292e-01,7.018977868e-01,-9.735756578e-05,8.604915743e-01,7.026873542e-01,-1.900969670e-04,8.306736573e-01
+58,8.350000000e+00,UP_SETTLE,1792842020399143370,-6.009772454e-05,-8.050121133e-05,3.675269066e-04,-5.735730261e-05,-8.082032297e-05,3.702120008e-04,-5.695061847e-05,-8.085957341e-05,3.694014447e-04,7.018955719e-01,-1.025891227e-04,8.605109728e-01,7.018983123e-01,-1.029082344e-04,8.605136578e-01,7.026882466e-01,-1.956725652e-04,8.306956071e-01
+59,8.416666667e+00,UP_SETTLE,1792842020465093043,-6.035450428e-05,-9.602635298e-05,3.787226720e-04,-6.216256586e-05,-1.122019019e-04,3.707150518e-04,-6.206981347e-05,-1.121937389e-04,3.699224351e-04,7.018953151e-01,-1.181142644e-04,8.605221685e-01,7.018935071e-01,-1.342898133e-04,8.605141609e-01,7.026831274e-01,-2.270067308e-04,8.306961281e-01

Fixed/digit/ball_15A_20/press_depth_08/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+00,6.1881e-02,1.4095e-01,2.4665e+00,-4.6458e-02,4.1190e-02,1.3872e-04,5.0107e-04,-1.3217e-05,-8.2493e-05,2.2575e-06,3.6098e-05,-1.2829e-06,5.0798e-04,3.6191e-05
+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.8664e-05,6.6646e-02,1.4085e-01,2.4658e+00,-4.6437e-02,4.1533e-02,1.2619e-04,5.2660e-03,-1.1542e-04,-8.6975e-04,2.3380e-05,3.7895e-04,-1.3818e-05,5.3386e-03,3.7992e-04
+2,3.1667e-01,WAIT_W2,7.5619e-05,7.0584e-02,1.4080e-01,2.4651e+00,-4.6420e-02,4.1816e-02,1.1534e-04,9.2034e-03,-1.7141e-04,-1.5244e-03,4.0412e-05,6.6151e-04,-2.4671e-05,9.3304e-03,6.6321e-04
+3,4.5000e-01,WAIT_W2,1.1374e-04,7.3830e-02,1.4077e-01,2.4646e+00,-4.6406e-02,4.2048e-02,1.0599e-04,1.2450e-02,-2.0133e-04,-2.0628e-03,5.4225e-05,8.9404e-04,-3.4014e-05,1.2621e-02,8.9633e-04
+4,5.8333e-01,WAIT_W2,1.5292e-04,7.6857e-02,1.4075e-01,2.4641e+00,-4.6393e-02,4.2265e-02,9.6917e-05,1.5477e-02,-2.1745e-04,-2.5606e-03,6.6951e-05,1.1105e-03,-4.3090e-05,1.5688e-02,1.1134e-03
+5,7.5000e-01,WAIT_W2,1.9059e-04,8.0355e-02,1.4075e-01,2.4635e+00,-4.6379e-02,4.2515e-02,8.5932e-05,1.8974e-02,-2.2238e-04,-3.1247e-03,8.1483e-05,1.3603e-03,-5.4075e-05,1.9231e-02,1.3638e-03
+6,7.8333e-01,WAIT_W2,2.3814e-04,8.1019e-02,1.4075e-01,2.4634e+00,-4.6376e-02,4.2562e-02,8.3780e-05,1.9638e-02,-2.2154e-04,-3.2301e-03,8.4203e-05,1.4077e-03,-5.6227e-05,1.9904e-02,1.4113e-03
+7,8.0000e-01,WAIT_W2,2.7069e-04,8.1908e-02,3.0269e-01,2.4547e+00,-5.7432e-02,4.2631e-02,1.2498e-04,2.0528e-02,1.6172e-01,-1.1905e-02,-1.0971e-02,1.4763e-03,-1.5023e-05,1.6346e-01,1.1070e-02
+8,8.8333e-01,WAIT_W2,3.0104e-04,8.8077e-02,3.9981e-01,2.4562e+00,-6.4118e-02,4.3060e-02,1.4718e-04,2.6696e-02,2.5884e-01,-1.0385e-02,-1.7658e-02,1.9054e-03,7.1763e-06,2.6042e-01,1.7760e-02
+9,1.0333e+00,WAIT_W2,3.4385e-04,9.2010e-02,4.6156e-01,2.4574e+00,-6.8389e-02,4.3337e-02,1.5269e-04,3.0630e-02,3.2059e-01,-9.1949e-03,-2.1929e-02,2.1824e-03,1.2681e-05,3.2218e-01,2.2037e-02
+10,1.1833e+00,WAIT_W2,3.8266e-04,9.4756e-02,4.6069e-01,2.4580e+00,-6.8366e-02,4.3533e-02,1.4207e-04,3.3375e-02,3.1973e-01,-8.6088e-03,-2.1906e-02,2.3788e-03,2.0643e-06,3.2158e-01,2.2034e-02
+11,1.2833e+00,WAIT_W2,4.1919e-04,9.6445e-02,4.6025e-01,2.4584e+00,-6.8354e-02,4.3654e-02,1.3523e-04,3.5065e-02,3.1928e-01,-8.2583e-03,-2.1894e-02,2.4995e-03,-4.7744e-06,3.2131e-01,2.2036e-02
+12,1.4333e+00,UP_FORCE_RAMP,4.5597e-04,9.8790e-02,4.5967e-01,2.4589e+00,-6.8340e-02,4.3821e-02,1.2512e-04,3.7409e-02,3.1871e-01,-7.7562e-03,-2.1880e-02,2.6669e-03,-1.4890e-05,3.2099e-01,2.2042e-02
+13,1.5833e+00,UP_FORCE_RAMP,4.9235e-04,1.0093e-01,4.5918e-01,2.4593e+00,-6.8327e-02,4.3973e-02,1.1510e-04,3.9545e-02,3.1821e-01,-7.2823e-03,-2.1867e-02,2.8192e-03,-2.4908e-05,3.2074e-01,2.2048e-02
+14,1.7500e+00,UP_FORCE_RAMP,5.2836e-04,1.0308e-01,4.5869e-01,2.4598e+00,-6.8315e-02,4.4127e-02,1.0411e-04,4.1704e-02,3.1772e-01,-6.7897e-03,-2.1855e-02,2.9730e-03,-3.5896e-05,3.2052e-01,2.2056e-02
+15,1.8833e+00,UP_FORCE_RAMP,5.6936e-04,1.0466e-01,4.5834e-01,2.4602e+00,-6.8307e-02,4.4240e-02,9.5421e-05,4.3282e-02,3.1737e-01,-6.4223e-03,-2.1846e-02,3.0853e-03,-4.4587e-05,3.2037e-01,2.2063e-02
+16,2.0833e+00,UP_FORCE_RAMP,6.0463e-04,1.0680e-01,4.5787e-01,2.4607e+00,-6.8295e-02,4.4392e-02,8.2580e-05,4.5421e-02,3.1690e-01,-5.9128e-03,-2.1835e-02,3.2376e-03,-5.7427e-05,3.2019e-01,2.2074e-02
+17,2.3167e+00,UP_FORCE_RAMP,6.4591e-04,1.0900e-01,4.5739e-01,2.4612e+00,-6.8283e-02,4.4548e-02,6.7961e-05,4.7615e-02,3.1642e-01,-5.3778e-03,-2.1823e-02,3.3935e-03,-7.2046e-05,3.2003e-01,2.2085e-02
+18,2.5167e+00,UP_FORCE_RAMP,6.8165e-04,1.1064e-01,4.5702e-01,2.4617e+00,-6.8274e-02,4.4665e-02,5.5764e-05,4.9265e-02,3.1606e-01,-4.9672e-03,-2.1814e-02,3.5106e-03,-8.4243e-05,3.1991e-01,2.2095e-02
+19,2.7167e+00,UP_FORCE_RAMP,7.2156e-04,1.1210e-01,4.5670e-01,2.4620e+00,-6.8266e-02,4.4768e-02,4.3886e-05,5.0721e-02,3.1573e-01,-4.5962e-03,-2.1806e-02,3.6141e-03,-9.6121e-05,3.1981e-01,2.2103e-02
+20,2.8333e+00,UP_FORCE_RAMP,7.5946e-04,1.1287e-01,4.5653e-01,2.4622e+00,-6.8261e-02,4.4823e-02,3.7113e-05,5.1492e-02,3.1556e-01,-4.3969e-03,-2.1801e-02,3.6688e-03,-1.0289e-04,3.1976e-01,2.2108e-02
+21,2.9333e+00,UP_FORCE_RAMP,7.9429e-04,1.1349e-01,4.5639e-01,2.4624e+00,-6.8258e-02,4.4867e-02,3.1396e-05,5.2109e-02,3.1542e-01,-4.2353e-03,-2.1798e-02,3.7125e-03,-1.0861e-04,3.1972e-01,2.2112e-02
+22,3.0667e+00,UP_FORCE_RAMP,8.3870e-04,1.1425e-01,4.5621e-01,2.4626e+00,-6.8253e-02,4.4921e-02,2.3908e-05,5.2873e-02,3.1525e-01,-4.0326e-03,-2.1793e-02,3.7668e-03,-1.1610e-04,3.1968e-01,2.2117e-02
+23,3.2000e+00,UP_FORCE_RAMP,8.7010e-04,1.1496e-01,4.5605e-01,2.4628e+00,-6.8249e-02,4.4971e-02,1.6578e-05,5.3575e-02,3.1508e-01,-3.8433e-03,-2.1789e-02,3.8166e-03,-1.2343e-04,3.1963e-01,2.2121e-02
+24,3.4167e+00,UP_FORCE_RAMP,9.0857e-04,1.1598e-01,4.5581e-01,2.4631e+00,-6.8243e-02,4.5043e-02,4.9816e-06,5.4595e-02,3.1484e-01,-3.5620e-03,-2.1783e-02,3.8889e-03,-1.3503e-04,3.1956e-01,2.2128e-02
+25,3.5833e+00,UP_FORCE_RAMP,9.4876e-04,1.1667e-01,4.5564e-01,2.4633e+00,-6.8239e-02,4.5092e-02,-3.6620e-06,5.5287e-02,3.1468e-01,-3.3660e-03,-2.1778e-02,3.9379e-03,-1.4367e-04,3.1951e-01,2.2132e-02
+26,3.7333e+00,UP_FORCE_RAMP,9.8570e-04,1.1723e-01,4.5550e-01,2.4634e+00,-6.8235e-02,4.5132e-02,-1.1236e-05,5.5846e-02,3.1453e-01,-3.2024e-03,-2.1775e-02,3.9775e-03,-1.5124e-04,3.1947e-01,2.2135e-02
+27,3.9000e+00,UP_FORCE_RAMP,1.0256e-03,1.2229e-01,4.4090e-01,2.4286e+00,-6.7275e-02,4.5529e-02,-2.4416e-05,6.0907e-02,2.9993e-01,-3.8049e-02,-2.0815e-02,4.3750e-03,-1.6442e-04,3.0841e-01,2.1271e-02
+28,4.1167e+00,UP_FORCE_RAMP,1.0635e-03,1.2198e-01,4.4054e-01,2.4372e+00,-6.7261e-02,4.5503e-02,-3.6640e-05,6.0598e-02,2.9957e-01,-2.9400e-02,-2.0800e-02,4.3491e-03,-1.7665e-04,3.0705e-01,2.1251e-02
+29,4.2167e+00,UP_FORCE_RAMP,1.0970e-03,1.2189e-01,4.4047e-01,2.4392e+00,-6.7259e-02,4.5495e-02,-4.1392e-05,6.0512e-02,2.9950e-01,-2.7403e-02,-2.0799e-02,4.3412e-03,-1.8140e-04,3.0678e-01,2.1248e-02
+30,4.4167e+00,UP_FORCE_RAMP,1.1390e-03,1.2197e-01,4.4148e-01,2.4132e+00,-6.7376e-02,4.5536e-02,-5.0014e-05,6.0592e-02,3.0051e-01,-5.3407e-02,-2.0916e-02,4.3815e-03,-1.9002e-04,3.1118e-01,2.1371e-02
+31,4.5833e+00,UP_FORCE_RAMP,1.1740e-03,1.2135e-01,4.3583e-01,2.3866e+00,-6.7037e-02,4.5528e-02,-5.7735e-05,5.9970e-02,2.9486e-01,-8.0064e-02,-2.0577e-02,4.3735e-03,-1.9774e-04,3.1137e-01,2.1037e-02
+32,4.6167e+00,UP_FORCE_RAMP,1.2202e-03,1.2131e-01,4.3578e-01,2.3893e+00,-6.7036e-02,4.5522e-02,-5.9620e-05,5.9930e-02,2.9481e-01,-7.7351e-02,-2.0576e-02,4.3679e-03,-1.9963e-04,3.1062e-01,2.1035e-02
+33,4.6833e+00,UP_FORCE_RAMP,1.2493e-03,1.9744e-01,4.1569e-01,2.3964e+00,-6.5654e-02,5.0895e-02,-1.1248e-04,1.3606e-01,2.7473e-01,-7.0202e-02,-1.9194e-02,9.7412e-03,-2.5249e-04,3.1451e-01,2.1526e-02
+34,4.8000e+00,UP_FORCE_RAMP,1.2925e-03,1.7211e-01,4.0990e-01,2.3690e+00,-6.5303e-02,4.9141e-02,-1.1220e-04,1.1073e-01,2.6894e-01,-9.7604e-02,-1.8843e-02,7.9869e-03,-2.5221e-04,3.0678e-01,2.0467e-02
+35,4.9167e+00,UP_FORCE_RAMP,1.3283e-03,1.5861e-01,4.0686e-01,2.3438e+00,-6.5139e-02,4.8223e-02,-1.1555e-04,9.7231e-02,2.6589e-01,-1.2287e-01,-1.8679e-02,7.0684e-03,-2.5556e-04,3.0862e-01,1.9973e-02
+36,5.0667e+00,UP_FORCE_RAMP,1.3658e-03,1.4856e-01,4.1181e-01,2.3198e+00,-6.5525e-02,4.7539e-02,-1.2199e-04,8.7177e-02,2.7084e-01,-1.4678e-01,-1.9065e-02,6.3852e-03,-2.6200e-04,3.2015e-01,2.0108e-02
+37,5.2167e+00,UP_FORCE_RAMP,1.4045e-03,1.3717e-01,4.0639e-01,2.3087e+00,-6.5212e-02,4.6755e-02,-1.2706e-04,7.5792e-02,2.6542e-01,-1.5790e-01,-1.8752e-02,5.6010e-03,-2.6707e-04,3.1800e-01,1.9572e-02
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+39,5.5833e+00,UP_FORCE_RAMP,1.4763e-03,1.3095e-01,4.1107e-01,2.3179e+00,-6.5634e-02,4.6310e-02,-1.4489e-04,6.9569e-02,2.7010e-01,-1.4876e-01,-1.9174e-02,5.1553e-03,-2.8490e-04,3.1611e-01,1.9857e-02
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Fixed/digit/ball_15A_20/press_depth_09/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_15A_20/press_depth_09/down/franka_data.csv

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+3309,1792842113877155780,20793416000000,1792842113873625605,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6759359873739005,-0.004758068337478535,0.10659786228835558,0.9999999669531658,-2.8385461328073175e-05,-0.00023037160694536305,6.049562092374786e-05,0.6761,-0.0046,0.10676408126981651,1.0,0.0,0.0,0.0,-0.09145255569549182,-0.017620224682669994,0.4110988698113051,-0.0006715406959018067,0.005900591590682451,-0.00025603449963959373,0.5097852113284437,0.6152631042592249,0.8949951757244614,0.046786004137750366,-0.03858717157128794,0.0003033350703752622,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.5549015032697207,0.8095981896513446,0.6274998718664643,0.04026629372875272,-0.3393312645698993,0.40664001980777836,1.6280411957699448,-0.4110988698113051,1.0005413239034806,1.0005413239034806,1.0505928243878202,0,0,-6.647985902466657e-05,3.752693575188033e-05
+3423,1792842114827133806,20794366000000,1792842114825635572,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6759409923623573,-0.004760098810678425,0.1065600443257126,0.9999999680107224,-2.1890217261406764e-05,-0.00022394617615682284,6.921233288136261e-05,0.6761,-0.0046,0.10669846516032545,1.0,0.0,0.0,0.0,-0.10036388804699403,-0.02286387215963437,0.5251822299731319,-0.0017228858424704757,0.006906754143238068,-2.35604952267286e-05,0.5008738789769415,0.6100194567822605,1.0090785358862882,0.0457346589911817,-0.03758100901873232,0.0005358090747881273,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.5498892168696701,0.9018689729868997,0.5056607908262599,0.01642014939578942,-0.26329076060198653,0.4677195281947787,1.6280411957699448,-0.5251822299731319,1.122380404943685,1.122380404943685,1.19309282438791,0,0,-7.20006242502499e-05,-6.485360445752093e-05
+3496,1792842115436080040,20794975000000,1792842115433635425,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6759874299985128,-0.00475360798954102,0.10655690486370342,0.9999999769716096,-1.687820908617966e-05,-0.00017750917907988258,7.553318611060566e-05,0.6761,-0.0046,0.10665265658320686,1.0,0.0,0.0,0.0,-0.15937001017252228,0.0595236456674082,0.4749474214745412,0.00504415236551415,0.011709735748907608,0.0008636564673578583,0.4418677568514132,0.6924069746093031,0.9588437273876975,0.05250169719916632,-0.03277802741306278,0.0014230260373727143,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.4507123569410567,0.8446821804676425,0.6587069075044526,0.03620845676425097,-0.40336609675673546,0.4299323422742098,1.6280411957699448,-0.4749474214745412,0.9693342882654922,0.9693342882654922,1.2844428243879675,0,0,-7.85275815859673e-05,-9.999999025923074e-05
+3561,1792842115977064545,20795516000000,1792842115969635322,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6759923357918836,-0.004761333297036088,0.10652386300275563,0.9999999787000279,-2.0069749244019217e-05,-0.00016408965134504023,8.194266104343188e-05,0.6761,-0.0046,0.1066036744761949,1.0,0.0,0.0,0.0,-0.15232369789040934,0.044451745046548474,0.5973168536624105,0.004161698849466336,0.011837105822810126,0.0007360519844944893,0.44891406913352616,0.6773350739884434,1.0812131595755667,0.05161924368311851,-0.03265065733916026,0.0012954215545093453,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.7513640799312646,0.8956641646487788,0.4048480221609281,0.02623498404825721,-0.1619832635563202,0.4617439798799558,1.6280411957699448,-0.5973168536624105,1.2231931736090167,1.2231931736090167,1.3655928243880187,0,0,-9.91499552280547e-05,-9.99652819119234e-05
+3661,1792842116811083758,20796350000000,1792842116809635697,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6760063807040783,-0.00475833440540597,0.10646458452461824,0.9999999829741857,-5.5111112529280715e-05,-0.00013561722152038245,6.375913498167319e-05,0.6761,-0.0046,0.10651555952398271,1.0,0.0,0.0,0.0,-0.1711059876541079,0.05518288727550047,0.7743336326160208,0.005226680981589758,0.011904802041958498,0.0006333919358610112,0.4301317793698276,0.6880662162173954,1.258229938529177,0.05268422581524193,-0.03258296112001189,0.001192761505875867,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.8389593572050288,0.866804070529508,0.14425843794303136,0.019277910643702302,0.03411246748893547,0.4453589542701817,1.6280411957699448,-0.7743336326160208,1.4837827578269134,1.4837827578269134,1.4906928243880975,0,0,-0.00010291480656979412,9.99999208702917e-05
+3757,1792842117611012175,20797150000000,1792842117609625879,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6760131267114776,-0.004758751805794596,0.10640499357247435,0.999999984095633,-6.072054634081439e-05,-0.00012247967038698295,6.755252606688554e-05,0.6761,-0.0046,0.10644106037691892,1.0,0.0,0.0,0.0,-0.1903986513020542,0.050691104946502974,0.9214786015474488,0.005145965873611616,0.013775324507758854,0.0005386274490913334,0.4108391157218813,0.6835744338883979,1.405374907460605,0.05260351070726379,-0.030712438654211534,0.0010979970191061894,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.7988837590828244,0.9324675941279066,0.14499767136737376,-0.004956473642700567,0.01822629507846285,0.48399253036335277,1.6280411957699448,-0.9214786015474488,1.483043524402571,1.483043524402571,1.610692824388173,0,0,-8.204010659293293e-05,-9.99999347480795e-05
+3867,1792842118527024965,20798066000000,1792842118525625335,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6760205874974307,-0.004764071176324648,0.10636074887140742,0.9999999852915384,-6.661088470817602e-05,-0.00010612524934139965,7.18345932391581e-05,0.6761,-0.0046,0.10637848751971808,1.0,0.0,0.0,0.0,-0.20992528146896305,0.056205943679104364,1.0354510100844632,0.006106816416744244,0.014745960136287255,0.00047441696114537885,0.39131248555497244,0.6890892726209993,1.5193473159976194,0.05356436125039642,-0.029741803025683133,0.0010337865311602348,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.946104791626905,0.8120644019316978,-0.04699645940408121,0.038233822461945705,0.18015068093159092,0.4032000293741469,1.6280411957699448,-1.0354510100844632,1.675037655174026,1.675037655174026,1.7480928243882596,0,0,-5.848293739149491e-05,-9.999592406740305e-05
+3971,1792842119393981065,20798933000000,1792842119389635631,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.676024459513048,-0.004763543476275691,0.10632615534057255,0.9999999855509736,-7.068814049926169e-05,-9.961630685791933e-05,7.362537075739447e-05,0.6761,-0.0046,0.10633031276553759,1.0,0.0,0.0,0.0,-0.21963672105229354,0.05979965819694011,1.1350596366992807,0.006070788457979016,0.015737811080153773,0.00040839501260652475,0.38160104597164196,0.692682987138835,1.618955942612437,0.05352833329163119,-0.028749952081816615,0.0009677645826213807,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.8966605103788285,0.9429100843466572,-0.1798351342458366,-0.005068479572676671,0.25532133780590105,0.48936344226814776,1.6280411957699448,-1.1350596366992807,1.8078763300157814,1.8078763300157814,1.8781428243883416,0,0,-5.711077092770823e-05,-9.999604896749332e-05
+4056,1792842120101952304,20799641000000,1792842120101635507,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6760296077140171,-0.004769389427552254,0.10629405640008277,0.9999999854545675,-7.787703870165161e-05,-9.281377012046183e-05,7.651470642053136e-05,0.6761,-0.0046,0.10628631733789329,1.0,0.0,0.0,0.0,-0.22927081992334386,0.06239276915666192,1.2060407737353516,0.0060312694343132925,0.016735415338280598,0.0003658617456156754,0.37196694710059164,0.6952760980985568,1.6899370796485078,0.053488814267965465,-0.02775234782368979,0.0009252313156305314,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.9498750408289703,0.8809832502732712,-0.2553028001524152,0.019617390029435768,0.3139916514900044,0.4493735427117582,1.6280411957699448,-1.2060407737353516,1.88334399592236,1.88334399592236,1.9843428243884085,0,0,-6.595280782203806e-05,-9.613706638956216e-05
+4160,1792842120968943551,20800508000000,1792842120961625873,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6760399723963229,-0.00476699814178417,0.10624988569438341,0.9999999864929124,-7.697873823841322e-05,-7.521137064087492e-05,8.291298437696547e-05,0.6761,-0.0046,0.10622166808813874,1.0,0.0,0.0,0.0,-0.24882740886251442,0.06047266996255196,1.316662980823518,0.007000593144671705,0.017706841250511415,0.0003016533489870999,0.3524103581614211,0.6933559989044469,1.8005592867366742,0.05445813797832388,-0.026780921911458973,0.0008610229190019558,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,0.9698267092090901,0.8366180326450771,-0.3963749710039502,0.027538338920844608,0.40843321991449705,0.4178769473459941,1.6280411957699448,-1.316662980823518,2.024416166773895,2.024416166773895,2.1143928243884904,0,0,-7.872985217513418e-05,-9.185073121387716e-05
+4264,1792842121835898821,20801375000000,1792842121829635556,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6760510425959397,-0.004770091522574219,0.10619801200146323,0.9999999868004809,-7.907780472851572e-05,-5.756374671972443e-05,9.096712854943231e-05,0.6761,-0.0046,0.10615237971129246,1.0,0.0,0.0,0.0,-0.2772566854688167,0.0632079165310071,1.4413064580691206,0.0069149625172727075,0.019701315622029685,0.0012562919231168383,0.3239810815551188,0.696091245472902,1.9252027639822769,0.05437250735092488,-0.024786447539940703,0.0018156614931316942,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.0099796665249527,0.9411210656901253,-0.5289622688600173,-0.0012082009918089815,0.5005141881301298,0.4851090124910813,1.6280411957699448,-1.4413064580691206,2.157003464629962,2.157003464629962,2.2444428243885723,0,0,-8.106988394071391e-05,-9.871354708502195e-05
+4365,1792842122676886412,20802216000000,1792842122669635718,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6760630732121542,-0.0047709121780349145,0.10615327232827558,0.9999999872697002,-8.710007104939773e-05,-3.933518386189391e-05,8.81463824774241e-05,0.6761,-0.0046,0.10608667004221532,1.0,0.0,0.0,0.0,-0.28218238782254895,0.07432460582839451,1.5580241392679954,0.007885605833025541,0.020669224738722108,0.0011849897364912853,0.31905537920138655,0.7072079347702894,2.0419204451811517,0.055343150666677714,-0.02381853842324828,0.0017443593065061412,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.0758071881477267,0.885265799360781,-0.706339945164408,0.010567469052219378,0.6301479036406953,0.44591828139163714,1.6280411957699448,-1.5580241392679954,2.3343811409343527,2.3343811409343527,2.370592824388652,0,0,-7.917648416480715e-05,9.999843594699626e-05
+4457,1792842123443851812,20802983000000,1792842123441626111,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6760727807482901,-0.004771148907134763,0.10611094413009528,0.9999999865310074,-0.00010989294736050777,-1.9879981741156726e-05,7.687116399500908e-05,0.6761,-0.0046,0.10602644019683893,1.0,0.0,0.0,0.0,-0.2975416299027048,0.08033934988048874,1.6686718736255939,0.008880323455126474,0.020847626711805192,0.0011097477621766156,0.3036961371212307,0.7132226788223837,2.15256817953875,0.056337868288778646,-0.023640136450165196,0.0016691173321914715,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.1199301490554294,0.8359938142103022,-0.9150978573440034,0.02684831385660729,0.7761230129129221,0.4151089443460765,1.6280411957699448,-1.6686718736255939,2.543139053113948,2.543139053113948,2.4856428243887243,0,0,-7.872179727944217e-05,9.927576402469213e-05
+4559,1792842124293830590,20803833000000,1792842124289626136,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6760818950358768,-0.004774036004745792,0.10606160515457144,0.9999999854389875,-0.0001223039559649803,-4.532189282051139e-06,7.474015506753259e-05,0.6761,-0.0046,0.10595924803215293,1.0,0.0,0.0,0.0,-0.29962044468878357,0.10366810449534103,1.778788419951851,0.00983262366461269,0.022608923090509096,0.001062189301420784,0.3016173223351519,0.736551433437236,2.2626847258650074,0.05729016849826486,-0.021878840071461292,0.00162155887143564,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.1806948045474577,0.9364496304503621,-0.904140517467091,0.0032875968908193036,0.782380906092416,0.4810203128905336,1.6280411957699448,-1.778788419951851,2.5321817132370357,2.5321817132370357,2.6131428243888046,0,0,-7.988608035777579e-05,-9.860130353723235e-05
+4655,1792842125093719505,20804633000000,1792842125093626372,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6760925169354708,-0.004771578703056497,0.10601377934287298,0.999999984371388,-0.00013266962670363883,1.4302688917152063e-05,6.995921175717471e-05,0.6761,-0.0046,0.10589632152691839,1.0,0.0,0.0,0.0,-0.31787638311922894,0.10736819013210741,1.8897394820373408,0.009784763465693784,0.023599134446952774,0.0009860695872872121,0.28336138390470655,0.7402515190740023,2.373635787950497,0.057242308299345956,-0.020888628715017614,0.001545439157302068,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.1951893906277038,0.7556250902566983,-1.0695333032501493,0.05923319808390602,0.8914247829423074,0.3625831883007893,1.6280411957699448,-1.8897394820373408,2.697574499020094,2.697574499020094,2.7331428243888802,0,0,-7.602986109159359e-05,5.000038857805862e-05
+4779,1792842126126764253,20805666000000,1792842126121625739,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6761023098229785,-0.004774223828822907,0.10595616869307989,0.9999999827486711,-0.00014043554927978155,3.256331886588934e-05,7.185407940298837e-05,0.6761,-0.0046,0.10582012795928177,1.0,0.0,0.0,0.0,-0.33732954590272984,0.11494435577698192,2.016326158116986,0.010753940409875706,0.024566307653249075,0.0009085744326872839,0.26390822112120566,0.7478276847188768,2.5002224640301423,0.05821148524352788,-0.019921455508721313,0.0014679440027021398,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.1850542491906844,0.8247306526334081,-1.116808855265227,0.044158706331529206,0.9158048019219258,0.40896510297378796,1.6280411957699448,-2.016326158116986,2.744850051035172,2.744850051035172,2.888092824388978,0,0,-7.447950553104844e-05,-9.999999025923074e-05
+4879,1792842126960734194,20806500000000,1792842126957625929,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6761110817544653,-0.004772607266442631,0.10591252877976569,0.9999999814519158,-0.00014391197973220477,4.825874851415106e-05,7.415839392017986e-05,0.6761,-0.0046,0.1057553877852561,1.0,0.0,0.0,0.0,-0.3477167930916987,0.1212384414117843,2.115509287073,0.011720269193853432,0.025539381211703415,0.0009349006790714096,0.2535209739322368,0.7541217703536792,2.599405592986156,0.059177814027505604,-0.018948381950266973,0.0014942702490862655,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.216670660296256,0.8725655387853193,-1.2303354628260335,0.02978736901574204,0.9966522420883238,0.4363120315077361,1.6280411957699448,-2.115509287073,2.8583766585959784,2.8583766585959784,3.0131928243890567,0,0,-8.399729746064034e-05,-9.999999025923074e-05
+4986,1792842127851686048,20807391000000,1792842127849625453,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6761184476947976,-0.004775640111585924,0.10584814310180633,0.9999999801765611,-0.0001471932873148175,5.727527554741595e-05,7.837997461785413e-05,0.6761,-0.0046,0.10567691232442276,1.0,0.0,0.0,0.0,-0.3574726723822655,0.12540404507370762,2.2420986917003765,0.011668063230959376,0.026519691938117193,0.0017939747205375147,0.24376509464167,0.7582873740156025,2.7259949976135327,0.05912560806461155,-0.017968071223853195,0.0023533442905523706,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.333287749254183,0.8163816723327976,-1.5209549809410396,0.049497538302329065,1.2125019121927314,0.40436362150223504,1.6280411957699448,-2.2420986917003765,3.1489961767109844,3.1489961767109844,3.146842824389141,0,0,-9.123581227035859e-05,9.224320893086996e-05
+5092,1792842128735666342,20808275000000,1792842128729625497,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6761335383229298,-0.004775707513631542,0.10579362891910071,0.9999999767020357,-0.00015755863677368714,8.57428260440285e-05,7.656524260951544e-05,0.6761,-0.0046,0.1055964413402957,1.0,0.0,0.0,0.0,-0.3769866040383254,0.1218945739321855,2.362549527585262,0.012637446638419703,0.02748864219327414,0.0017215652760834302,0.22425116298561007,0.7547779028740804,2.8464458334984184,0.060094991472071875,-0.016999120968696248,0.002280934846098286,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.3276193309541686,0.8985751712585538,-1.5708802831570103,0.0234569806080981,1.2400875292432696,0.45566203735978034,1.6280411957699448,-2.362549527585262,3.1989214789269553,3.1989214789269553,3.2794428243892244,0,0,-8.973073432480406e-05,-5.175454095696637e-05
+5188,1792842129535622076,20809075000000,1792842129529626114,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6761452943460867,-0.0047729386426959616,0.10574225687621501,0.9999999754521022,-0.00015493064391008946,0.00010319869961727738,7.671494789179081e-05,0.6761,-0.0046,0.10552260792972368,1.0,0.0,0.0,0.0,-0.38663115584878727,0.14300465000731066,2.473237631631759,0.013610521329384208,0.028458534865723462,0.0016582080203120374,0.21460661117514823,0.7758879789492056,2.9571339375449153,0.06106806616303638,-0.016029228296246926,0.0022175775903268934,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.3228846778947945,0.8262954664456056,-1.65230311955819,0.049898768464370795,1.2856975445433505,0.40759274540343815,1.6280411957699448,-2.473237631631759,3.2803443153281346,3.2803443153281346,3.3994428243893,0,0,-9.325603160112295e-05,-9.999822778017915e-05
+5302,1792842130486604725,20810025000000,1792842130481625536,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6761561079781736,-0.004769170434212612,0.10567444948380368,0.9999999841564812,5.641999037711076e-05,0.00011892732541245942,7.617727887513689e-05,0.6761,-0.0046,0.10543279650771167,1.0,0.0,0.0,0.0,-0.3866354888713833,0.16306554838683562,2.604434801171489,0.015627101276278012,0.02839134413510834,0.0015752479086385766,0.2146022781525522,0.7959488773287305,3.0883311070846453,0.06308464610993018,-0.016096419026862048,0.0021346174786534325,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.4343187829591717,0.97916245892888,-1.7957672454471847,-0.033275070978327805,1.4164218795180896,0.4395276607337276,1.6280411957699448,-2.604434801171489,3.4238084412171297,3.4238084412171297,3.54194282438939,0,0,-9.914711751188155e-05,-9.999924085868912e-05
+5406,1792842131351574362,20810891000000,1792842131345625778,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6761672815431601,-0.004766183180019627,0.10560775725018119,0.9999999823814433,4.1907431576221534e-05,0.00013823188376337596,7.626067900523433e-05,0.6761,-0.0046,0.10534802195066437,1.0,0.0,0.0,0.0,-0.3947635047249621,0.16845897203293914,2.734850766311345,0.015576706023193353,0.029375916806728936,0.0014846319463725154,0.20647426229897342,0.801342300974834,3.218747072224501,0.06303425085684553,-0.01511184635524145,0.0020440015163873714,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.395379114169567,1.025413019839737,-1.9504619549456985,-0.02686006265421325,1.4964551901689938,0.4867335458380114,1.6280411957699448,-2.734850766311345,3.578503150715643,3.578503150715643,3.6718428243894716,0,0,-9.442751348484458e-05,-5.498792673830906e-05
+5495,1792842132093528685,20811633000000,1792842132093625074,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6761748069830968,-0.00477338669970024,0.10555252283683338,0.999999980354691,2.5346853247646485e-05,0.00015354812768602548,8.070930258988619e-05,0.6761,-0.0046,0.10527906503162375,1.0,0.0,0.0,0.0,-0.3996298646778799,0.18060277849251483,2.8347011246828937,0.01655090805498973,0.030348167108591274,0.0014306196085949435,0.20160790234605558,0.8134861074344097,3.31859743059605,0.0640084528886419,-0.014139596053379114,0.0019899891786097994,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5057623410874867,0.9375202484041717,-2.1404947263744374,0.0071641023648482405,1.6463242003700909,0.4427245091517792,1.6280411957699448,-2.8347011246828937,3.768535922144382,3.768535922144382,3.7831428243895417,0,0,-9.16717675838744e-05,9.148920096369579e-05
+5611,1792842133060539099,20812600000000,1792842133057625875,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6761853166644177,-0.00477000865326514,0.10548689617091069,0.9999999784066135,9.899431952442503e-06,0.00016836005039812257,7.865450905689891e-05,0.6761,-0.0046,0.10519094738919732,1.0,0.0,0.0,0.0,-0.4089433443859966,0.17410468701101445,2.939991565089838,0.016513788934377986,0.03032225187373149,0.0023257313118077057,0.1922944226379389,0.8069880159529094,3.4238878710029943,0.06397133376803016,-0.014165511288238895,0.002885100881822562,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.4459232723897004,0.8579462680203502,-2.205995327463063,0.053487489883085264,1.665360880255114,0.41454330522211014,1.6280411957699448,-2.939991565089838,3.834036523233008,3.834036523233008,3.928192824389633,0,0,-9.451538568047558e-05,-8.750581789585538e-05
+5707,1792842133860472884,20813400000000,1792842133857626473,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6761953933394141,-0.004771866831414055,0.10542971179372614,0.9999999750322347,-4.869412706562987e-06,0.00018666327109719444,8.069390598115728e-05,0.6761,-0.0046,0.10511305026412555,1.0,0.0,0.0,0.0,-0.41935297159903107,0.17305094285849054,3.035956949270765,0.017503563695468426,0.03130044746849901,0.0013229161296863844,0.18188479542490446,0.8059342718003855,3.5198532551839214,0.0649611085291206,-0.013187315693471377,0.0018822856997012403,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.499596295452407,0.8171621509130805,-2.3471052240868837,0.08469612512350745,1.763820392332604,0.4118767794556717,1.6280411957699448,-3.035956949270765,3.9751464198568285,3.9751464198568285,4.048192824389566,0,0,-0.00010002244255483272,9.300749610714277e-11
+5796,1792842134601408296,20814141000000,1792842134597625482,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6762042192406428,-0.004769788599685142,0.10536546838143264,0.999999971338545,-1.621623610041638e-05,0.00020500308315714977,8.047697245149974e-05,0.6761,-0.0046,0.1050361084372159,1.0,0.0,0.0,0.0,-0.43253438760067536,0.18354454741036919,3.1271051222129644,0.01745162710763134,0.032288238052935354,0.002260561767774452,0.16870337942326014,0.8164278763522641,3.6110014281261207,0.06490917194128351,-0.012199525109035034,0.0028199313377893077,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5216576089436187,0.7896766370879128,-2.423381671561081,0.11188730812638854,1.8155340264410231,0.40757355414466523,1.6280411957699448,-3.1271051222129644,4.051422867331025,4.051422867331025,4.159342824389307,0,0,-0.00010761158067004584,-9.999999025923074e-05
+5898,1792842135451400383,20814991000000,1792842135449625596,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762143973319605,-0.004771222948693999,0.10529406205032431,0.9999999680316495,-3.4201114734239186e-05,0.00021905494986315002,7.889725677906039e-05,0.6761,-0.0046,0.10494650717561657,1.0,0.0,0.0,0.0,-0.4369828514276045,0.17769734990182628,3.2373379496849415,0.017418543349866332,0.03268358521773927,0.0021777934761907473,0.16425491559633096,0.8105806788437212,3.7212342555980977,0.0648760881835185,-0.011804177944231118,0.002737163046205603,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5467004482405384,0.8529595318485049,-2.6005508136380926,0.09982104595390988,1.9339379509933385,0.4519444720753288,1.6280411957699448,-3.2373379496849415,4.228592009408038,4.228592009408038,4.2868428243890095,0,0,-0.00010486160101766539,7.500000206850927e-05
+5988,1792842136201360131,20815741000000,1792842136193626030,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6762225654606873,-0.0047743131437057995,0.10522795452812297,0.9999999642587125,-4.5227888407194306e-05,0.0002331248449042183,8.082501340887927e-05,0.6761,-0.0046,0.10486573171163786,1.0,0.0,0.0,0.0,-0.43883260752447034,0.18045542634597544,3.3168400249964725,0.017387459829656594,0.03326088673775719,0.002122223789980021,0.16240515949946516,0.8133387552878704,3.8007363309096287,0.06484500466330877,-0.011226876424213196,0.0026815933599948767,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5483206334851802,0.8287819808714791,-2.7244495324051052,0.11014252975241196,2.010105123498425,0.43468024662550175,1.6280411957699448,-3.3168400249964725,4.3524907281750504,4.3524907281750504,4.399342824388747,0,0,-0.00011093748027571492,9.999042846343115e-05
+6087,1792842137026358054,20816566000000,1792842137025625277,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762280340885494,-0.004774962837145807,0.10514165228040069,0.9999999619339361,-5.6064076452420916e-05,0.0002399991241324113,8.265730715875979e-05,0.6761,-0.0046,0.1047681834629303,1.0,0.0,0.0,0.0,-0.43908795719939425,0.1835819989659948,3.414300349941656,0.017369360840788974,0.03324110393101583,0.0020434530731091617,0.16214980982454125,0.8164653279078897,3.8981966558548122,0.06482690567444115,-0.011246659230954558,0.0026028226431240174,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5754764264396346,0.8371167191475822,-2.7625525199469907,0.1195943318933737,2.042798529305828,0.43907518061188744,1.6280411957699448,-3.414300349941656,4.3905937157169355,4.3905937157169355,4.523092824388459,0,0,-0.00012468245456506567,-9.815317589113021e-05
+6177,1792842137776330556,20817316000000,1792842137769635208,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762386045355042,-0.004779798650043223,0.10505494714340839,0.9999999555740088,-6.955568320686143e-05,0.00026073968959608267,8.643880040217538e-05,0.6761,-0.0046,0.10466825568528001,1.0,0.0,0.0,0.0,-0.4298529118373803,0.1862911337345281,3.4779597615539175,0.017357588539804923,0.03322556961445726,0.0019930118714043318,0.17138485518655522,0.819174462676423,3.9618560674670737,0.0648151333734571,-0.011262193547513127,0.0025523814414191875,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.581653316280332,0.7953926936098551,-2.8524568154643863,0.13628434656369473,2.101586855363601,0.4119207524035934,1.6280411957699448,-3.4779597615539175,4.480498011234332,4.480498011234332,4.635592824388197,0,0,-0.00014253364896274346,-9.999994862586731e-05
+6267,1792842138526321815,20818066000000,1792842138525625155,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6762439470067266,-0.0047874849480122935,0.1049525308146794,0.9999999514593179,-8.937782695192575e-05,0.0002699613289925683,8.750263492127013e-05,0.6761,-0.0046,0.10455036520568194,1.0,0.0,0.0,0.0,-0.41110128276738894,0.18861378818561148,3.563710247745583,0.016323333260848068,0.033225956023995556,0.0019164387768525026,0.19013648425654656,0.8214971171275064,4.047606553658739,0.06378087809450024,-0.011261807137974835,0.0024758083468673585,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.6721785861950713,0.8226401842412063,-2.9156713393340854,0.14576334062464052,2.167434080967313,0.43094389115997,1.6280411957699448,-3.563710247745583,4.54371253510403,4.54371253510403,4.748092824387935,0,0,-0.0001700481379554849,-9.999843594699626e-05
+6340,1792842139135274799,20818675000000,1792842139129635256,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6762553135663282,-0.004791354512930253,0.10485902249084493,0.9999999453298675,-7.975686788777669e-05,0.0002904372969214267,0.00010034014740570523,0.6761,-0.0046,0.10444161617091037,1.0,0.0,0.0,0.0,-0.4168437965750938,0.1879749813281557,3.6366167421456344,0.016306611249359275,0.0332097974566225,0.0018557664083234,0.1843939704488417,0.8208583102700506,4.120513048058791,0.06376415608301145,-0.011277965705347887,0.002415135978338256,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.6663979480896034,0.7580745907449538,-3.025526180045882,0.1679548258081761,2.2369893830366245,0.3912330206234218,1.6280411957699448,-3.6366167421456344,4.653567375815827,4.653567375815827,4.839442824387722,0,0,-0.0001858544197527997,-9.259059771527518e-05
+6432,1792842139901307556,20819441000000,1792842139897635456,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762633576366855,-0.004798776181363107,0.1047376004411414,0.9999999435598663,1.6365305990927468e-05,0.0003014288152629318,0.00011487373406811728,0.6761,-0.0046,0.10429599529272314,1.0,0.0,0.0,0.0,-0.40214214144578964,0.16171054737768387,3.7155804578872904,0.015006895388810886,0.03219987019417755,0.0017640576811896677,0.19909562557814584,0.7945938763195788,4.199476763800447,0.06246444022246306,-0.012287892967792842,0.0023234272512045236,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.6779984929765426,0.7083838652589339,-3.1197902206631354,0.19495659656962647,2.3018982395496748,0.35693975616197426,1.6280411957699448,-3.7155804578872904,4.74783141643308,4.74783141643308,4.954342824387454,0,0,-0.00020118771531660163,-9.999999025923074e-05
+6505,1792842140510273317,20820050000000,1792842140509625748,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762731220263417,-0.004792405818112923,0.10462074883063929,0.9999999397507301,-6.25891324291604e-05,0.0003224717831652005,6.35291293940409e-05,0.6761,-0.0046,0.10416865735893721,1.0,0.0,0.0,0.0,-0.3719771880478471,0.18362212050015103,3.7512135253528123,0.016367330577509505,0.030146353924636618,0.001727650819031465,0.22926057897608845,0.816505449442046,4.2351098312659685,0.06382487541116168,-0.01434140923733377,0.002287020389046321,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.7229232568179265,0.8730783825035511,-3.196935536737468,0.14661182008128334,2.369419235613559,0.48285774513066204,1.6280411957699448,-3.7512135253528123,4.824976732507412,4.824976732507412,5.045692824387241,0,0,-0.00021821344497604945,-9.999999025923074e-05
+6582,1792842141151255512,20820691000000,1792842141149625584,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6762815559375159,-0.004799560019547321,0.1044889139532504,0.9999999348312273,-5.4669022267563506e-05,0.00033332846219312506,8.765751488300778e-05,0.6761,-0.0046,0.10402097452719297,1.0,0.0,0.0,0.0,-0.37447520656708977,0.1472506512265045,3.805797474914964,0.01333889788718768,0.03120430805586501,0.0016596968308329521,0.2267625604568457,0.7801339801683994,4.28969378082812,0.06079644272083985,-0.013283455106105378,0.002219066400847808,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.6474536331244272,0.8103830942296973,-3.148192969654654,0.19705488908811924,2.3123348215275503,0.4406478427689586,1.6280411957699448,-3.805797474914964,4.776234165424599,4.776234165424599,5.141842824387017,0,0,-0.00024426432988364075,-9.999999025923074e-05
+6648,1792842141701235226,20821241000000,1792842141697625821,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762938852596971,-0.0048065004901264126,0.10436864562175424,0.9999999251716856,-5.005860366135432e-05,0.00035595255292950663,0.00010904771417325785,0.6761,-0.0046,0.10387995735428186,1.0,0.0,0.0,0.0,-0.38125137602799514,0.13546276153006076,3.827598337399977,0.012240784379943859,0.031219983426770022,0.0016275744478656828,0.21998639099594036,0.7683460904719557,4.311494643313133,0.05969832921359603,-0.013267779735200365,0.0021869440178805388,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.6533390476926202,0.8190212513508404,-3.3461059006255653,0.19353543406242021,2.438534653051729,0.44196780303072536,1.6280411957699448,-3.827598337399977,4.974147096395511,4.974147096395511,5.224342824386825,0,0,-0.00026927192829237354,-9.999999025923074e-05
+6717,1792842142276223677,20821816000000,1792842142273625636,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762932782173737,-0.004802761498552563,0.10420453714867733,0.9999999244824048,-8.86935554007441e-05,0.00035663088881650925,8.617372802357326e-05,0.6761,-0.0046,0.10371822789641616,1.0,0.0,0.0,0.0,-0.3433386055907217,0.1410893586628661,3.8876274565756934,0.01126485634448477,0.02919818081987942,0.0015407598038951066,0.2578991614332138,0.773972687604761,4.37152376248885,0.05872240117813694,-0.01528958234209097,0.0021001293739099625,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.6486504007433223,0.7020922709751539,-3.3187106176257064,0.2583773517413768,2.4215979237141068,0.36666842050630105,1.6280411957699448,-3.8876274565756934,4.946751813395651,4.946751813395651,5.310592824386624,0,0,-0.0002929986772745848,-9.92238610982909e-05
+6778,1792842142785201262,20822325000000,1792842142781625410,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762925528414555,-0.00481624038779043,0.10405225508566095,0.9999999217015483,-9.10412512909126e-05,0.0003581722770569191,0.00010706947329665305,0.6761,-0.0046,0.10356285641706683,1.0,0.0,0.0,0.0,-0.3323727960331983,0.09085031862767634,3.8966200650064287,0.008224925498849851,0.028241309047654387,0.0014813724272896023,0.2688649709907372,0.7237336475695713,4.380516370919585,0.055682470332502024,-0.016246454114316,0.002040741997304458,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.601031125283408,0.8208414191414456,-3.38636260280071,0.2239461627333932,2.4593660254857843,0.4469115691038809,1.6280411957699448,-3.8966200650064287,5.014403798570655,5.014403798570655,5.386942824386446,0,0,-0.00031779151318386676,-9.999999025923074e-05
+6829,1792842143210136536,20822750000000,1792842143209626392,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6762867619138584,-0.004821240541553332,0.10390179083781079,0.9999999251050433,-8.181588347041941e-05,0.00034451745576153324,0.00012588350147096257,0.6761,-0.0046,0.10342366598035801,1.0,0.0,0.0,0.0,-0.31236253905141403,0.04763202752265705,3.9652378353015787,0.004173751936628584,0.02729160141283361,0.001369861032936821,0.28887522797252146,0.680515356464552,4.449134141214735,0.051631296770280756,-0.01719616174913678,0.001929230602951677,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5777910480184894,0.7282929148231927,-3.398222483836856,0.25513250275677624,2.470525682674365,0.38581422146223093,1.6280411957699448,-3.9652378353015787,5.026263679606801,5.026263679606801,5.450692824386297,0,0,-0.0003375152581822346,-9.999999025923074e-05
+6888,1792842143701147681,20823241000000,1792842143693636110,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762891194367479,-0.004811266037490953,0.1037334619149342,0.9999999241678149,-9.898453041921419e-05,0.00035276508359760475,9.415990318962185e-05,0.6761,-0.0046,0.10325193123976709,1.0,0.0,0.0,0.0,-0.282699154743708,0.027981168247657617,3.9249091585265945,0.0031962835983563517,0.025290262532563446,0.001362913100652416,0.3185386122802275,0.6608644971895525,4.408805464439751,0.050653828432008524,-0.019197500629406943,0.001922282670667272,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5753832991248393,0.6352974390371741,-3.3164525219092797,0.30946313776318923,2.4229397126099537,0.33287854005116535,1.6280411957699448,-3.9249091585265945,4.944493717679224,4.944493717679224,5.5243428243861255,0,0,-0.0003620652533995169,-9.999999025923074e-05
+6943,1792842144160125546,20823700000000,1792842144157625687,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6763070469859711,-0.004822681308366578,0.10357661748614597,0.9999999203070177,-1.3478512398678441e-05,0.0003702281854058166,0.00011652571849520226,0.6761,-0.0046,0.10308048773948504,1.0,0.0,0.0,0.0,-0.2951000500215044,0.01883004101583352,3.887168716545838,0.0021791501444120356,0.025951370463910807,0.0013973745371863874,0.3061377170024311,0.6517133699577284,4.371065022458994,0.04963669497806421,-0.01853639269805958,0.0019567441072012434,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.7099424028201484,0.7194103284696959,-3.3721971325734157,0.2845941541651732,2.494818428564079,0.380410311575767,1.6280411957699448,-3.887168716545838,5.000238328343361,5.000238328343361,5.593192824385965,0,0,-0.0003850152489285038,-9.999999025923074e-05
+6994,1792842144585142125,20824125000000,1792842144581636292,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6763065346443479,-0.004828508051351204,0.10340992866780815,0.9999999183967011,-2.9216743116490017e-05,0.00037028818875828166,0.00012916073185610942,0.6761,-0.0046,0.10291235125957221,1.0,0.0,0.0,0.0,-0.2990318807856851,-0.028718937875767847,3.9032991687541387,-0.0008869456457670233,0.02537773476350865,0.0013296660832130094,0.3022058862382504,0.6041643910661271,4.387195474667295,0.04657059918788515,-0.019110028398461737,0.0018890356532278653,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5828720102710807,0.6704074692443991,-3.3763023615154495,0.3106822598266363,2.4671517379134666,0.3565756300407292,1.6280411957699448,-3.9032991687541387,5.004343557285394,5.004343557285394,5.656942824385816,0,0,-0.00040626524478867685,-9.999999025923074e-05
+7044,1792842145001125855,20824541000000,1792842144993626848,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6763072335858017,-0.00482764278890193,0.1032377156699182,0.9999999178630794,-7.315289860823542e-05,0.00037176893948424666,0.00011024158952671656,0.6761,-0.0046,0.102739028918585,1.0,0.0,0.0,0.0,-0.26761138934938516,-0.05244424887480181,3.8961424268075118,-0.0028720739802316347,0.023391549787507755,0.0012893352190144639,0.33362637767455033,0.5804390800670931,4.380038732720668,0.04458547085342054,-0.021096213374462634,0.0018487047890293198,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5957368555794864,0.7393051826438761,-3.347227596115727,0.30152603030039965,2.460729913598043,0.40476084202008744,1.6280411957699448,-3.8961424268075118,4.9752687918856715,4.9752687918856715,5.719342824385671,0,0,-0.00042706524073651684,-9.999999025923074e-05
+7095,1792842145426044662,20824966000000,1792842145425635545,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6763015646840818,-0.004833274399975912,0.10304433348559089,0.9999999187760298,-8.138326761498038e-05,0.00036277376803569477,0.00012515092985787368,0.6761,-0.0046,0.10255302119215376,1.0,0.0,0.0,0.0,-0.24922779534181383,-0.1036351812313917,3.8712996152014614,-0.0058794032384090825,0.021459855253868832,0.00124405236932324,0.35200997168212167,0.5292481477105032,4.355195921114618,0.04157814159524309,-0.023027907908101556,0.001803421939338096,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5630092032041236,0.6732705703593538,-3.3185009436439312,0.32963347737222254,2.441978920869438,0.36396168603092705,1.6280411957699448,-3.8712996152014614,4.946542139413876,4.946542139413876,5.783092824385522,0,0,-0.0004483152365966899,-9.999999025923074e-05
+7138,1792842145785065370,20825325000000,1792842145781634666,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.676296027768409,-0.004831267762909279,0.10286625415910135,0.9999999204930249,-9.25577885528425e-05,0.00035409945988474045,0.00012846570254198498,0.6761,-0.0046,0.102388862972845,1.0,0.0,0.0,0.0,-0.23803737710665945,-0.13300709168420155,3.850077364307198,-0.00890329769160876,0.020496998657785166,0.0012121012718310168,0.36320038991727605,0.49987623725769337,4.333973670220354,0.03855424714204341,-0.023990764504185223,0.0017714708418458728,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5456293154396321,0.6849089918739936,-3.264927710045378,0.33081526541145706,2.409031160327386,0.3718027971240174,1.6280411957699448,-3.850077364307198,4.892968905815323,4.892968905815323,5.836942824385397,0,0,-0.00046626523309975374,-9.999999025923074e-05
+7179,1792842146126096524,20825666000000,1792842146121635643,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762908963185794,-0.004831882685301963,0.10269259494720034,0.9999999281615581,-3.542863822685778e-05,0.0003470634951561424,0.00011580796595285267,0.6761,-0.0046,0.10222696802892597,1.0,0.0,0.0,0.0,-0.20142757757006885,-0.1598273976798817,3.819390443907324,-0.010890676362993366,0.018497906893662767,0.0011867715634112871,0.39981018945386665,0.47305593126201323,4.30328674982048,0.036566868470658806,-0.02598985626830762,0.001746141133426143,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5569185505445708,0.5649726979206389,-3.3569013091982645,0.36696192718807763,2.4839077413769344,0.30131263962653315,1.6280411957699448,-3.819390443907324,4.98494250496821,4.98494250496821,5.888092824385278,0,0,-0.0004833152297781514,-9.999999025923074e-05
+7220,1792842146467994559,20826008000000,1792842146461635953,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.6762882627441417,-0.004834645076839542,0.10251342247276743,0.9999999268087587,-4.631846006854029e-05,0.0003425891310079079,0.00013532416344009857,0.6761,-0.0046,0.10205875867091317,1.0,0.0,0.0,0.0,-0.19952237361909858,-0.19140614291144242,3.767745741851748,-0.013781085843521772,0.01755254937815724,0.00038009286956293257,0.4017153934048369,0.4414771860304525,4.251642047764904,0.0336764589901304,-0.02693521378381315,0.0009394624395777885,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.4757133528483846,0.6577687665388733,-3.237895151046382,0.3436927794745749,2.3897528265153394,0.3621979915533675,1.6280411957699448,-3.767745741851748,4.865936346816326,4.865936346816326,5.939392824385158,0,0,-0.0005004152264468084,-9.999999025923074e-05
+7258,1792842146785036792,20826325000000,1792842146777635575,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.676282178004508,-0.004827338733652253,0.10233846242173797,0.9999999284576291,-7.76250881260267e-05,0.0003355385260052827,0.0001261580139293507,0.6761,-0.0046,0.1018976227446205,1.0,0.0,0.0,0.0,-0.17456650403214335,-0.1924940407570282,3.705655657583893,-0.013878900907735602,0.016553850759894854,0.0012053223989901844,0.42667126299179214,0.4403892881848667,4.189551963497049,0.03357864392591657,-0.027933912402075534,0.0017646919690050404,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.458138604106201,0.624564103983903,-3.0615154430514395,0.35714474141847524,2.2772364718847418,0.33528596844941827,1.6280411957699448,-3.705655657583893,4.689556638821385,4.689556638821385,5.986942824385047,0,0,-0.0005162652233589845,-9.999999025923074e-05
+7295,1792842147093060114,20826633000000,1792842147089626154,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6762825215155265,-0.004787650895994191,0.1021755513227001,0.9999999261592918,-5.012303695927981e-05,0.0003374700698167784,0.00015075114790563101,0.6761,-0.0046,0.10173624915628945,1.0,0.0,0.0,0.0,-0.07027474102544684,-0.12137257052257888,3.6599084447594987,-0.009414763600510252,0.008968483185990361,0.000901837618091307,0.5309630259984887,0.511510758419316,4.143804750672655,0.03804278123314192,-0.03551927997598003,0.001461207188106163,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.5158904445672128,0.7537191290105025,-3.0494771578090023,0.32907521938068307,2.2937540968697085,0.42194621499160423,1.6280411957699448,-3.6599084447594987,4.677518353578947,4.677518353578947,6.03314282438494,0,0,-0.0005316652203588276,-9.999999025923074e-05
+7331,1792842147393009097,20826933000000,1792842147385635662,DOWN_FORCE_DETACH,9,0.0749,0.07490137219429016,0.676273458899084,-0.004791267530337731,0.10200264468255263,0.9999999315504251,-7.632697862897731e-05,0.0003165736542603255,0.00014932288292699762,0.6761,-0.0046,0.1015745070906216,1.0,0.0,0.0,0.0,-0.039266079174632984,-0.16279310396649516,3.620420815416208,-0.012565132242520136,0.0064658014268927505,0.0010782237187264524,0.5619716878493025,0.47009022497539976,4.104317121329364,0.03489241259113204,-0.03802196173507764,0.0016375932887413083,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.4442252116263297,0.7548458005843985,-3.0130382660447173,0.34746092299897235,2.259022672203508,0.42660994779951217,1.6280411957699448,-3.620420815416208,4.6410794618146625,4.6410794618146625,6.078142824384835,0,0,-0.0005466652174365968,-9.999999025923074e-05
+7362,1792842147651024640,20827191000000,1792842147645635500,DOWN_FORCE_DETACH,9,0.0749,0.07490202784538269,0.6762674974689179,-0.004792576386060173,0.101844760377014,0.9999999328093346,-0.0001034044374982291,0.0003105545252273792,0.00013670259566795641,0.6761,-0.0046,0.10143180981484841,1.0,0.0,0.0,0.0,-0.03721257602993633,-0.1623852456659401,3.568509131038304,-0.012515727242555466,0.006431881606352906,0.00017093720760428133,0.5640251909939992,0.4704980832759548,4.05240543695146,0.034941817591096706,-0.03805588155561748,0.0007303067776191373,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.4392703062428684,0.6890621482835513,-2.9441317950050836,0.3464950660143414,2.22120588543336,0.38927034713531145,1.6280411957699448,-3.568509131038304,4.572172990775028,4.572172990775028,6.116842824384745,0,0,-0.0005595652149234784,-9.999999025923074e-05
+7405,1792842148008004364,20827548000000,1792842148001635118,DOWN_SETTLE,9,0.0749,0.07490202784538269,0.6762768465717572,-0.004799785569612648,0.10167264423279938,0.9999999370321051,1.8207228283827622e-05,0.0003077504728845384,0.00014945498858929607,0.6761,-0.0046,0.10126957127013025,1.0,0.0,0.0,0.0,-0.03891724097930915,-0.1812251527752386,3.4391033616462394,-0.013546704812514805,0.006616032851886361,0.00026560186503485155,0.5623205260446263,0.4516581761666563,3.9229996675593957,0.03391084002113737,-0.03787173031008403,0.0008249714350497075,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.4926968770711717,0.824302378910942,-2.8263759913496735,0.28920641309240785,2.163127060861219,0.42729322693681343,1.6280411957699448,-3.4391033616462394,4.454417187119619,0.0,0.0,0,0,-0.0001343577078088999,0.0013571485637262617
+7495,1792842148751999254,20828292000000,1792842148745635198,DOWN_PEAK_HOLD,9,0.0749,0.07490137219429016,0.6762483422419341,-0.004797434160473056,0.1015840963079266,0.9999999527493405,8.142660045338746e-06,0.00025351438593700575,0.00014699773599916244,0.6761,-0.0046,0.1012571827011896,1.0,0.0,0.0,0.0,-0.014164364447341815,-0.2414915575347843,2.995625834452839,-0.018510019776460666,0.004643242231169131,0.0005362785681395402,0.5870734025765937,0.3913917714071106,3.479522140365995,0.028947525057191507,-0.03984452093080126,0.0010956481381543962,0.6012377670239355,0.6328833289418949,0.4838963059131563,0.04745754483365217,-0.04448776316197039,0.0005593695700148559,1,1.2356700446554088,0.8405437520555067,-2.305016732547266,0.2700378490195368,1.7694565110942764,0.4549887402840598,1.6280411957699448,-2.995625834452839,3.933057928317211,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_20/press_depth_09/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,1792842108143521013,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.966327850e-09,-1.172890084e-10,-4.837855672e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027452486e-01,-1.147864470e-04,8.303262070e-01
+1,8.166666667e-01,DOWN_FORCE_DETACH,1792842108947038624,1.180675138e-06,2.699599946e-06,-6.678068629e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.219145989e-07,-4.159877777e-09,-1.950007489e-08,7.019568503e-01,-1.938831146e-05,8.601427780e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027453675e-01,-1.147904896e-04,8.303261880e-01
+2,1.650000000e+00,DOWN_FORCE_DETACH,1792842109781908039,2.181968742e-06,5.282413281e-06,-2.816655105e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.032757528e-07,-5.944965206e-09,-3.104850066e-08,7.019578516e-01,-1.680549812e-05,8.601406292e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027454489e-01,-1.147922747e-04,8.303261765e-01
+3,2.416666667e+00,DOWN_FORCE_DETACH,1792842110584280424,-1.151219243e-06,1.824870212e-06,-2.972042955e-05,-7.578731641e-07,2.367246519e-06,-2.071238453e-05,-8.384321082e-07,2.379307958e-06,-2.063305969e-05,7.019545184e-01,-2.026304119e-05,8.601137254e-01,7.019549118e-01,-1.972066489e-05,8.601227335e-01,7.027444072e-01,-1.124070218e-04,8.303055745e-01
+4,3.283333333e+00,DOWN_FORCE_DETACH,1792842111469399720,1.249536739e-06,-3.095794826e-06,-5.090658150e-05,-8.948122344e-07,-2.825642436e-06,-4.094237333e-05,-1.220156834e-06,-2.820243360e-06,-4.078746117e-05,7.019569192e-01,-2.518370623e-05,8.600925393e-01,7.019547748e-01,-2.491355384e-05,8.601025035e-01,7.027440254e-01,-1.176065731e-04,8.302854201e-01
+5,4.100000000e+00,DOWN_FORCE_DETACH,1792842112287737682,4.812816008e-06,-3.208362141e-06,-7.814357166e-05,2.673313437e-06,-2.863523419e-06,-6.096658697e-05,2.409131484e-06,-2.862504443e-06,-6.075826797e-05,7.019604824e-01,-2.529627355e-05,8.600653023e-01,7.019583429e-01,-2.495143482e-05,8.600824793e-01,7.027476547e-01,-1.176488342e-04,8.302654493e-01
+6,4.866666667e+00,DOWN_FORCE_DETACH,1792842113041526987,7.059499861e-06,-3.257481258e-06,-1.167223427e-04,2.721833323e-06,-7.081271870e-06,-1.030949613e-04,1.999551047e-06,-7.111801563e-06,-1.027100870e-04,7.019627291e-01,-2.534539266e-05,8.600267235e-01,7.019583915e-01,-2.916918328e-05,8.600403509e-01,7.027472452e-01,-1.218981313e-04,8.302234974e-01
+7,5.650000000e+00,DOWN_FORCE_DETACH,1792842113877075000,2.001975519e-05,-1.330975109e-05,-1.501414051e-04,1.755325488e-05,-1.096681950e-05,-1.418927480e-04,1.742262483e-05,-1.097681041e-05,-1.413493338e-04,7.019756894e-01,-3.539766250e-05,8.599933044e-01,7.019732229e-01,-3.305473090e-05,8.600015531e-01,7.027626682e-01,-1.257631402e-04,8.301848582e-01
+8,6.616666667e+00,DOWN_FORCE_DETACH,1792842114826753482,2.347428603e-05,-1.151553861e-05,-1.912341179e-04,2.235069535e-05,-1.486698675e-05,-1.813016172e-04,2.215579940e-05,-1.487453570e-05,-1.806496175e-04,7.019791439e-01,-3.360345001e-05,8.599522117e-01,7.019780203e-01,-3.695489815e-05,8.599621442e-01,7.027674014e-01,-1.296608655e-04,8.301455579e-01
+9,7.216666667e+00,DOWN_FORCE_DETACH,1792842115432806660,7.497951946e-05,-8.391314262e-06,-1.880322225e-04,6.629127414e-05,-1.276993723e-05,-1.948246579e-04,6.897983968e-05,-1.278894219e-05,-1.941833598e-04,7.020306491e-01,-3.047922567e-05,8.599554136e-01,7.020219609e-01,-3.485784863e-05,8.599486212e-01,7.028142254e-01,-1.275752719e-04,8.301320242e-01
+10,7.766666667e+00,DOWN_FORCE_DETACH,1792842115974026881,7.911014420e-05,-1.236764851e-05,-2.217592400e-04,7.240958867e-05,-1.182595027e-05,-2.150090446e-04,7.546036521e-05,-1.185088098e-05,-2.142946554e-04,7.020347798e-01,-3.445555992e-05,8.599216866e-01,7.020280792e-01,-3.391386168e-05,8.599284368e-01,7.028207060e-01,-1.266372107e-04,8.301119129e-01
+11,8.616666667e+00,DOWN_FORCE_DETACH,1792842116808482883,8.762835306e-05,-1.302791476e-05,-2.882421202e-04,8.363140086e-05,-1.359181600e-05,-2.763886913e-04,8.684466763e-05,-1.358285376e-05,-2.754773434e-04,7.020432980e-01,-3.511582617e-05,8.598552037e-01,7.020393010e-01,-3.567972740e-05,8.598670572e-01,7.028320903e-01,-1.283691835e-04,8.300507302e-01
+12,9.433333333e+00,DOWN_FORCE_DETACH,1792842117610935653,9.438027286e-05,-1.847978897e-05,-3.462577157e-04,9.463545675e-05,-1.396159558e-05,-3.368769154e-04,9.797388562e-05,-1.394898066e-05,-3.357802741e-04,7.020500499e-01,-4.056770037e-05,8.597971881e-01,7.020503051e-01,-3.604950698e-05,8.598065689e-01,7.028432195e-01,-1.287353104e-04,8.299904272e-01
+13,1.033333333e+01,DOWN_FORCE_DETACH,1792842118528683346,1.066184518e-04,-1.914878131e-05,-3.864390326e-04,1.012184042e-04,-1.786314093e-05,-3.782997679e-04,1.047028929e-04,-1.781119728e-05,-3.773477793e-04,7.020622881e-01,-4.123669272e-05,8.597570068e-01,7.020568880e-01,-3.995105234e-05,8.597651461e-01,7.028499485e-01,-1.325975270e-04,8.299488597e-01
+14,1.120000000e+01,DOWN_FORCE_DETACH,1792842119396751484,1.071234939e-04,-1.963451255e-05,-4.256271155e-04,1.057981170e-04,-1.853619631e-05,-4.186054380e-04,1.091680856e-04,-1.849318563e-05,-4.177032907e-04,7.020627931e-01,-4.172242396e-05,8.597178187e-01,7.020614677e-01,-4.062410771e-05,8.597248404e-01,7.028544137e-01,-1.332795154e-04,8.299085042e-01
+15,1.191666667e+01,DOWN_FORCE_DETACH,1792842120101062687,1.126300479e-04,-2.162721849e-05,-4.574813734e-04,1.108989519e-04,-2.135154728e-05,-4.390957878e-04,1.144357000e-04,-2.130840416e-05,-4.382818599e-04,7.020682997e-01,-4.371512990e-05,8.596859645e-01,7.020665686e-01,-4.343945868e-05,8.597043501e-01,7.028596813e-01,-1.360947339e-04,8.298879257e-01
+16,1.280000000e+01,DOWN_FORCE_DETACH,1792842120968663292,1.236400014e-04,-2.083596015e-05,-5.000440365e-04,1.233906433e-04,-2.072771469e-05,-4.996906299e-04,1.271061858e-04,-2.069796966e-05,-4.987236972e-04,7.020793096e-01,-4.292387156e-05,8.596434018e-01,7.020790603e-01,-4.281562610e-05,8.596437552e-01,7.028723518e-01,-1.354842994e-04,8.298274838e-01
+17,1.360000000e+01,DOWN_FORCE_DETACH,1792842121838954959,1.335263214e-04,-2.242878520e-05,-5.514281062e-04,1.314164251e-04,-2.429761595e-05,-5.400903855e-04,1.352957853e-04,-2.423296765e-05,-5.392151927e-04,7.020891959e-01,-4.451669661e-05,8.595920177e-01,7.020870860e-01,-4.638552736e-05,8.596033555e-01,7.028805414e-01,-1.390192974e-04,8.297869923e-01
+18,1.440000000e+01,DOWN_FORCE_DETACH,1792842122673158480,1.455462487e-04,-2.668598864e-05,-5.975497996e-04,1.424731274e-04,-2.365187776e-05,-5.812431009e-04,1.466746569e-04,-2.360479372e-05,-5.803892342e-04,7.021012159e-01,-4.877390004e-05,8.595458960e-01,7.020981428e-01,-4.573978916e-05,8.595622027e-01,7.028919203e-01,-1.383911235e-04,8.297458183e-01
+19,1.518333333e+01,DOWN_FORCE_DETACH,1792842123442522260,1.553536892e-04,-2.495990615e-05,-6.385055856e-04,1.551703675e-04,-2.780740535e-05,-6.395705516e-04,1.596266879e-04,-2.778571253e-05,-6.385451280e-04,7.021110233e-01,-4.704781756e-05,8.595049403e-01,7.021108400e-01,-4.989531676e-05,8.595038753e-01,7.029048723e-01,-1.425720423e-04,8.296876624e-01
+20,1.596666667e+01,DOWN_FORCE_DETACH,1792842124293941515,1.651225607e-04,-2.816323923e-05,-6.886295608e-04,1.646217714e-04,-2.311813488e-05,-6.806151455e-04,1.693665789e-04,-2.310158981e-05,-6.796303662e-04,7.021207922e-01,-5.025115064e-05,8.594548163e-01,7.021202914e-01,-4.520604628e-05,8.594628307e-01,7.029146122e-01,-1.378879196e-04,8.296465772e-01
+21,1.675000000e+01,DOWN_FORCE_DETACH,1792842125096373238,1.760897043e-04,-3.153288129e-05,-7.363562183e-04,1.694295347e-04,-2.852941658e-05,-7.214558455e-04,1.741219719e-04,-2.856256913e-05,-7.205221239e-04,7.021317593e-01,-5.362079270e-05,8.594070896e-01,7.021250992e-01,-5.061732798e-05,8.594219900e-01,7.029193676e-01,-1.433488989e-04,8.296056854e-01
+22,1.776666667e+01,DOWN_FORCE_DETACH,1792842126128634165,1.873123545e-04,-2.600898307e-05,-7.934114532e-04,1.828071258e-04,-2.860806285e-05,-7.843126689e-04,1.878289196e-04,-2.863479478e-05,-7.833395832e-04,7.021429820e-01,-4.809689448e-05,8.593500344e-01,7.021384768e-01,-5.069597426e-05,8.593591332e-01,7.029330745e-01,-1.434211245e-04,8.295428679e-01
+23,1.861666667e+01,DOWN_FORCE_DETACH,1792842126964049803,1.941793122e-04,-2.614235192e-05,-8.402428326e-04,1.901732866e-04,-2.969919913e-05,-8.242984938e-04,1.952760501e-04,-2.976284559e-05,-8.234373266e-04,7.021498489e-01,-4.823026332e-05,8.593032030e-01,7.021458429e-01,-5.178711054e-05,8.593191474e-01,7.029405217e-01,-1.445491753e-04,8.295027702e-01
+24,1.951666667e+01,DOWN_FORCE_DETACH,1792842127848345132,2.051036060e-04,-3.054089438e-05,-8.972699152e-04,2.012268240e-04,-2.605212070e-05,-8.884261217e-04,2.063536365e-04,-2.609922532e-05,-8.874543111e-04,7.021607732e-01,-5.262880578e-05,8.592461759e-01,7.021568964e-01,-4.814003211e-05,8.592550197e-01,7.029515992e-01,-1.408855551e-04,8.294387532e-01
+25,2.031666667e+01,DOWN_FORCE_DETACH,1792842128733453915,2.156808720e-04,-3.337768523e-05,-9.571260751e-04,2.156741379e-04,-2.708406388e-05,-9.482304401e-04,2.212188508e-04,-2.713474788e-05,-9.471749700e-04,7.021713505e-01,-5.546559664e-05,8.591863198e-01,7.021713438e-01,-4.917197528e-05,8.591952154e-01,7.029664645e-01,-1.419210776e-04,8.293790326e-01
+26,2.100000000e+01,DOWN_FORCE_DETACH,1792842129535475464,2.260980647e-04,-2.615939399e-05,-1.008341677e-03,2.255236817e-04,-2.910085373e-05,-1.009621213e-03,2.310903150e-04,-2.914186672e-05,-1.008425828e-03,7.021817677e-01,-4.824730539e-05,8.591351042e-01,7.021811933e-01,-5.118876513e-05,8.591338246e-01,7.029763359e-01,-1.439281965e-04,8.293177817e-01
+27,2.186666667e+01,DOWN_FORCE_DETACH,1792842130485697205,2.370870082e-04,-2.287119292e-05,-1.077743793e-03,2.367677654e-04,-2.224906677e-05,-1.071359610e-03,2.424033164e-04,-2.229043721e-05,-1.070134431e-03,7.021927566e-01,-4.495910432e-05,8.590657021e-01,7.021924374e-01,-4.433697818e-05,8.590720862e-01,7.029876489e-01,-1.370767670e-04,8.292560731e-01
+28,2.268333333e+01,DOWN_FORCE_DETACH,1792842131353515016,2.498092034e-04,-2.290938590e-05,-1.144653810e-03,2.461220527e-04,-1.955035207e-05,-1.134365053e-03,2.517319529e-04,-1.962926151e-05,-1.133099362e-03,7.022054788e-01,-4.499729731e-05,8.589987920e-01,7.022017917e-01,-4.163826347e-05,8.590090808e-01,7.029969776e-01,-1.344155913e-04,8.291931082e-01
+29,2.340000000e+01,DOWN_FORCE_DETACH,1792842132091114114,2.596782928e-04,-2.323456755e-05,-1.194072988e-03,2.567499346e-04,-2.464993680e-05,-1.194197989e-03,2.624556388e-04,-2.472774072e-05,-1.192757135e-03,7.022153479e-01,-4.532247895e-05,8.589493729e-01,7.022124196e-01,-4.673784820e-05,8.589492479e-01,7.030077012e-01,-1.395140705e-04,8.291334504e-01
+30,2.436666667e+01,DOWN_FORCE_DETACH,1792842133057226135,2.655948222e-04,-2.396425966e-05,-1.266441767e-03,2.665659037e-04,-2.501867563e-05,-1.254036771e-03,2.723489118e-04,-2.505822690e-05,-1.252733846e-03,7.022212644e-01,-4.605217106e-05,8.588770041e-01,7.022222355e-01,-4.710658704e-05,8.588894091e-01,7.030175945e-01,-1.398445566e-04,8.290734737e-01
+31,2.516666667e+01,DOWN_FORCE_DETACH,1792842133861602856,2.780647314e-04,-2.351272537e-05,-1.320179179e-03,2.776847765e-04,-2.939249024e-05,-1.316132738e-03,2.835311026e-04,-2.946507826e-05,-1.314862155e-03,7.022337344e-01,-4.560063677e-05,8.588232667e-01,7.022333544e-01,-5.148040164e-05,8.588273131e-01,7.030287767e-01,-1.442514080e-04,8.290113454e-01
+32,2.590000000e+01,DOWN_FORCE_DETACH,1792842134598083550,2.885612614e-04,-2.926715125e-05,-1.379387691e-03,2.886210749e-04,-2.919099733e-05,-1.374770241e-03,2.946221942e-04,-2.923460005e-05,-1.373496201e-03,7.022442309e-01,-5.135506265e-05,8.587640582e-01,7.022442907e-01,-5.127890874e-05,8.587686756e-01,7.030398678e-01,-1.440209298e-04,8.289527113e-01
+33,2.671666667e+01,DOWN_FORCE_DETACH,1792842135448717715,2.976517556e-04,-2.496874904e-05,-1.454547967e-03,2.944422360e-04,-2.378702298e-05,-1.435652660e-03,3.002366708e-04,-2.378122179e-05,-1.434500370e-03,7.022533214e-01,-4.705666045e-05,8.586888979e-01,7.022501119e-01,-4.587493439e-05,8.587077932e-01,7.030454823e-01,-1.385675515e-04,8.288917072e-01
+34,2.746666667e+01,DOWN_FORCE_DETACH,1792842136202998214,3.091866355e-04,-2.700711275e-05,-1.516632238e-03,3.054840457e-04,-2.584290532e-05,-1.518038544e-03,3.111295765e-04,-2.582182073e-05,-1.516684218e-03,7.022648563e-01,-4.909502416e-05,8.586268136e-01,7.022611537e-01,-4.793081673e-05,8.586254073e-01,7.030563752e-01,-1.406081505e-04,8.288095233e-01
+35,2.826666667e+01,DOWN_FORCE_DETACH,1792842137022784967,3.133373090e-04,-2.655341547e-05,-1.607963955e-03,3.123420166e-04,-2.776499947e-05,-1.603199908e-03,3.175241517e-04,-2.775658356e-05,-1.601740450e-03,7.022690069e-01,-4.864132687e-05,8.585354819e-01,7.022680116e-01,-4.985291088e-05,8.585402459e-01,7.030627698e-01,-1.425429133e-04,8.287244671e-01
+36,2.900000000e+01,DOWN_FORCE_DETACH,1792842137774429816,3.238165523e-04,-3.434852873e-05,-1.692168686e-03,3.231799398e-04,-3.634941723e-05,-1.689107775e-03,3.280750665e-04,-3.634402827e-05,-1.687482345e-03,7.022794862e-01,-5.643644013e-05,8.584512772e-01,7.022788496e-01,-5.843732864e-05,8.584543381e-01,7.030733207e-01,-1.511303580e-04,8.286387252e-01
+37,2.976666667e+01,DOWN_FORCE_DETACH,1792842138528351062,3.294797019e-04,-4.217494862e-05,-1.797210780e-03,3.292206071e-04,-3.561212661e-05,-1.789970104e-03,3.334051469e-04,-3.559755529e-05,-1.788212024e-03,7.022851493e-01,-6.426286002e-05,8.583462351e-01,7.022848902e-01,-5.770003802e-05,8.583534757e-01,7.030786508e-01,-1.503838850e-04,8.285379955e-01
+38,3.038333333e+01,DOWN_FORCE_DETACH,1792842139133918067,3.414870514e-04,-4.129275701e-05,-1.888844404e-03,3.377735261e-04,-4.722195001e-05,-1.881084598e-03,3.414586133e-04,-4.726458510e-05,-1.879259927e-03,7.022971567e-01,-6.338066842e-05,8.582546014e-01,7.022934432e-01,-6.930986141e-05,8.582623612e-01,7.030867042e-01,-1.620509149e-04,8.284469476e-01
+39,3.116666667e+01,DOWN_FORCE_DETACH,1792842139904012856,3.504875423e-04,-5.033435825e-05,-2.009085556e-03,3.439441503e-04,-5.137544402e-05,-2.007065297e-03,3.466142878e-04,-5.137754019e-05,-2.005093465e-03,7.023061572e-01,-7.242226965e-05,8.581343603e-01,7.022996138e-01,-7.346335542e-05,8.581363805e-01,7.030918599e-01,-1.661638699e-04,8.283211141e-01
+40,3.178333333e+01,DOWN_FORCE_DETACH,1792842140509889626,3.578666885e-04,-4.580016490e-05,-2.127172363e-03,3.551554473e-04,-3.942630734e-05,-2.115287402e-03,3.573604464e-04,-3.943957321e-05,-2.113195685e-03,7.023135363e-01,-6.788807630e-05,8.580162735e-01,7.023108251e-01,-6.151421875e-05,8.580281584e-01,7.031026061e-01,-1.542259030e-04,8.282130118e-01
+41,3.243333333e+01,DOWN_FORCE_DETACH,1792842141148375609,3.659383452e-04,-5.406702753e-05,-2.260415053e-03,3.650515569e-04,-5.283864091e-05,-2.251743146e-03,3.664011918e-04,-5.279619596e-05,-2.249400959e-03,7.023216080e-01,-7.615493894e-05,8.578830308e-01,7.023207212e-01,-7.492655231e-05,8.578917027e-01,7.031116468e-01,-1.675825257e-04,8.280768066e-01
+42,3.300000000e+01,DOWN_FORCE_DETACH,1792842141705106895,3.765036530e-04,-5.999783948e-05,-2.381980051e-03,3.734784470e-04,-6.009943241e-05,-2.367504513e-03,3.741688006e-04,-6.002462347e-05,-2.365041316e-03,7.023321733e-01,-8.208575088e-05,8.577614658e-01,7.023291481e-01,-8.218734382e-05,8.577759413e-01,7.031194144e-01,-1.748109532e-04,8.279611662e-01
+43,3.358333333e+01,DOWN_FORCE_DETACH,1792842142278996432,3.765057422e-04,-5.688873304e-05,-2.545697567e-03,3.763956446e-04,-5.682032879e-05,-2.545303123e-03,3.752053163e-04,-5.674197129e-05,-2.542380014e-03,7.023321754e-01,-7.897664444e-05,8.575977483e-01,7.023320653e-01,-7.890824020e-05,8.575981427e-01,7.031204509e-01,-1.715283010e-04,8.277838275e-01
+44,3.406666667e+01,DOWN_FORCE_DETACH,1792842142786633154,3.786138480e-04,-6.869678226e-05,-2.691690296e-03,3.767369758e-04,-6.800756390e-05,-2.684632763e-03,3.739103320e-04,-6.795632988e-05,-2.681541446e-03,7.023342835e-01,-9.078469367e-05,8.574517555e-01,7.023324066e-01,-9.009547530e-05,8.574588131e-01,7.031191559e-01,-1.827426596e-04,8.276446661e-01
+45,3.450000000e+01,DOWN_FORCE_DETACH,1792842143212001460,3.688499087e-04,-7.348049732e-05,-2.850852832e-03,3.707596366e-04,-7.782308713e-05,-2.843579853e-03,3.655996420e-04,-7.775815202e-05,-2.840165375e-03,7.023245195e-01,-9.556840873e-05,8.572925930e-01,7.023264293e-01,-9.991099854e-05,8.572998660e-01,7.031108452e-01,-1.925444818e-04,8.274860421e-01
+46,3.498333333e+01,DOWN_FORCE_DETACH,1792842143703802527,3.702499342e-04,-6.984177508e-05,-3.020381833e-03,3.702330947e-04,-6.956323045e-05,-3.020387055e-03,3.629237704e-04,-6.948977942e-05,-3.016770995e-03,7.023259196e-01,-9.192968649e-05,8.571230640e-01,7.023259027e-01,-9.165114186e-05,8.571230588e-01,7.031081694e-01,-1.842761092e-04,8.273094365e-01
+47,3.543333333e+01,DOWN_FORCE_DETACH,1792842144163944929,3.930394919e-04,-7.513453290e-05,-3.171193178e-03,3.929235773e-04,-7.490365783e-05,-3.171008369e-03,3.853696282e-04,-7.482441650e-05,-3.167266833e-03,7.023487091e-01,-9.722244431e-05,8.569722527e-01,7.023485932e-01,-9.699156924e-05,8.569724375e-01,7.031306152e-01,-1.896107463e-04,8.271589407e-01
+48,3.586666667e+01,DOWN_FORCE_DETACH,1792842144588016087,3.920354357e-04,-8.229762325e-05,-3.336998396e-03,3.901293460e-04,-7.931597514e-05,-3.325157246e-03,3.806044858e-04,-7.913244435e-05,-3.321415131e-03,7.023477051e-01,-1.043855347e-04,8.568064474e-01,7.023457990e-01,-1.014038865e-04,8.568182886e-01,7.031258501e-01,-1.939187741e-04,8.270047924e-01
+49,3.625000000e+01,DOWN_FORCE_DETACH,1792842145000854432,3.899411322e-04,-7.970556834e-05,-3.512307834e-03,3.897467876e-04,-7.970191425e-05,-3.512045042e-03,3.780459071e-04,-7.944243606e-05,-3.507924818e-03,7.023456108e-01,-1.017934797e-04,8.566311380e-01,7.023454164e-01,-1.017898257e-04,8.566314008e-01,7.031232915e-01,-1.942287658e-04,8.268182827e-01
+50,3.650000000e+01,DOWN_FORCE_DETACH,1792842145423969149,3.835158009e-04,-8.655544924e-05,-3.704168173e-03,3.850153101e-04,-8.547651081e-05,-3.686372518e-03,3.708966781e-04,-8.516839600e-05,-3.681677831e-03,7.023391854e-01,-1.086433606e-04,8.564392777e-01,7.023406849e-01,-1.075644222e-04,8.564570733e-01,7.031161423e-01,-1.999547258e-04,8.266445297e-01
+51,3.685000000e+01,DOWN_FORCE_DETACH,1792842145784660770,3.783345057e-04,-8.479884529e-05,-3.882036112e-03,3.795403118e-04,-8.674106169e-05,-3.866255666e-03,3.628474958e-04,-8.646288938e-05,-3.861522179e-03,7.023340041e-01,-1.068867567e-04,8.562614097e-01,7.023352099e-01,-1.088289731e-04,8.562771902e-01,7.031080931e-01,-2.012492191e-04,8.264646853e-01
+52,3.715000000e+01,DOWN_FORCE_DETACH,1792842146128523599,3.748093667e-04,-8.413989972e-05,-4.057316668e-03,3.720165986e-04,-8.594391819e-05,-4.050208690e-03,3.525621087e-04,-8.570084883e-05,-4.045225571e-03,7.023304790e-01,-1.062278111e-04,8.560861292e-01,7.023276862e-01,-1.080318296e-04,8.560932372e-01,7.030978077e-01,-2.004871786e-04,8.262809819e-01
+53,3.750000000e+01,DOWN_FORCE_DETACH,1792842146471845932,3.687566044e-04,-8.564562167e-05,-4.239593334e-03,3.696996838e-04,-8.514593722e-05,-4.222547910e-03,3.479957498e-04,-8.481796052e-05,-4.217710571e-03,7.023244262e-01,-1.077335331e-04,8.559038525e-01,7.023253693e-01,-1.072338486e-04,8.559208979e-01,7.030932414e-01,-1.996042903e-04,8.261084969e-01
+54,3.781666667e+01,DOWN_FORCE_DETACH,1792842146783053880,3.675512209e-04,-8.266051866e-05,-4.409436966e-03,3.686298164e-04,-8.520524542e-05,-4.399231656e-03,3.447520450e-04,-8.481578570e-05,-4.394304502e-03,7.023232208e-01,-1.047484301e-04,8.557340089e-01,7.023242994e-01,-1.072931568e-04,8.557442142e-01,7.030899977e-01,-1.996021155e-04,8.259319030e-01
+55,3.813333333e+01,DOWN_FORCE_DETACH,1792842147094928063,3.686310217e-04,-4.115303732e-05,-4.570833043e-03,3.666729336e-04,-4.751288150e-05,-4.555457364e-03,3.407260715e-04,-4.715744851e-05,-4.550687525e-03,7.023243006e-01,-6.324094872e-05,8.555726128e-01,7.023223426e-01,-6.960079290e-05,8.555879885e-01,7.030859717e-01,-1.619437783e-04,8.257755200e-01
+56,3.843333333e+01,DOWN_FORCE_DETACH,1792842147389306450,3.585347560e-04,-5.035142219e-05,-4.739273553e-03,3.519933589e-04,-4.710071249e-05,-4.730446624e-03,3.228995631e-04,-4.677490825e-05,-4.725626790e-03,7.023142044e-01,-7.243933359e-05,8.554041723e-01,7.023076630e-01,-6.918862390e-05,8.554129992e-01,7.030681452e-01,-1.615612380e-04,8.256005807e-01
+57,3.870000000e+01,DOWN_FORCE_DETACH,1792842147651208240,3.507249937e-04,-4.670362055e-05,-4.905474338e-03,3.508600091e-04,-4.665726728e-05,-4.905219714e-03,3.195715293e-04,-4.634575130e-05,-4.900166924e-03,7.023063946e-01,-6.879153195e-05,8.552379715e-01,7.023065296e-01,-6.874517869e-05,8.552382261e-01,7.030648171e-01,-1.611320811e-04,8.254260406e-01
+58,3.906666667e+01,DOWN_SETTLE,1792842148011870955,3.611415310e-04,-5.086724784e-05,-5.075727480e-03,3.620123452e-04,-5.191960610e-05,-5.063140291e-03,3.296564239e-04,-5.161576074e-05,-5.058624126e-03,7.023168112e-01,-7.295515924e-05,8.550677184e-01,7.023176820e-01,-7.400751751e-05,8.550803056e-01,7.030749020e-01,-1.664020905e-04,8.252675834e-01
+59,3.981666667e+01,DOWN_PEAK_HOLD,1792842148748598676,3.330949393e-04,-5.137756969e-05,-5.163731122e-03,3.373351527e-04,-5.102747281e-05,-5.146727207e-03,3.020884990e-04,-5.066234166e-05,-5.144134465e-03,7.022887646e-01,-7.346548110e-05,8.549797147e-01,7.022930048e-01,-7.311538421e-05,8.549967186e-01,7.030473341e-01,-1.654486714e-04,8.251820731e-01

Fixed/digit/ball_15A_20/press_depth_09/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,6.7483e-02,1.4639e-01,2.4699e+00,-4.6839e-02,4.1584e-02,1.4798e-04,5.1612e-04,-1.8314e-05,-8.3923e-05,2.4177e-06,3.7238e-05,-1.3520e-06,5.2322e-04,3.7341e-05
+1,8.1667e-01,DOWN_FORCE_DETACH,1.9007e-04,8.8177e-02,1.4602e-01,2.4665e+00,-4.6749e-02,4.3069e-02,8.7652e-05,2.1211e-02,-3.8652e-04,-3.4623e-03,9.3091e-05,1.5222e-03,-6.1679e-05,2.1495e-02,1.5263e-03
+2,1.6500e+00,DOWN_FORCE_DETACH,3.7872e-04,1.0233e-01,1.4608e-01,2.4645e+00,-4.6692e-02,4.4078e-02,3.5840e-05,3.5368e-02,-3.3094e-04,-5.5518e-03,1.4968e-04,2.5311e-03,-1.1349e-04,3.5802e-02,2.5381e-03
+3,2.4167e+00,DOWN_FORCE_DETACH,5.6558e-04,1.1281e-01,1.3891e-01,2.4934e+00,-4.6145e-02,4.4784e-02,-6.8752e-06,4.5847e-02,-7.5002e-03,2.3415e-02,6.9666e-04,3.2371e-03,-1.5621e-04,5.2023e-02,3.3149e-03
+4,3.2833e+00,DOWN_FORCE_DETACH,7.5647e-04,1.2020e-01,1.5565e-01,2.5058e+00,-4.7245e-02,4.5286e-02,-3.8743e-05,5.3237e-02,9.2446e-03,3.5776e-02,-4.0310e-04,3.7395e-03,-1.8807e-04,6.4804e-02,3.7659e-03
+5,4.1000e+00,DOWN_FORCE_DETACH,9.4270e-04,1.2027e-01,1.5577e-01,2.5155e+00,-4.7221e-02,4.5275e-02,-6.2728e-05,5.3307e-02,9.3630e-03,4.5470e-02,-3.7935e-04,3.7282e-03,-2.1206e-04,7.0688e-02,3.7534e-03
+6,4.8667e+00,DOWN_FORCE_DETACH,1.1348e-03,1.2653e-01,1.6959e-01,2.5501e+00,-4.8130e-02,4.5664e-02,-7.4266e-05,5.9560e-02,2.3186e-02,8.0137e-02,-1.2884e-03,4.1171e-03,-2.2360e-04,1.0250e-01,4.3198e-03
+7,5.6500e+00,DOWN_FORCE_DETACH,1.3228e-03,1.1215e-01,1.8116e-01,2.5710e+00,-4.8895e-02,4.4607e-02,-7.0995e-05,4.5183e-02,3.4747e-02,1.0103e-01,-2.0529e-03,3.0603e-03,-2.2033e-04,1.1600e-01,3.6916e-03
+8,6.6167e+00,DOWN_FORCE_DETACH,1.5129e-03,1.1945e-01,1.9348e-01,2.5848e+00,-4.9713e-02,4.5089e-02,-5.8556e-05,5.2482e-02,4.7070e-02,1.1482e-01,-2.8713e-03,3.5423e-03,-2.0789e-04,1.3474e-01,4.5646e-03
+9,7.2167e+00,DOWN_FORCE_DETACH,1.6965e-03,4.7727e-02,1.8478e-01,2.5707e+00,-4.9124e-02,4.0032e-02,-3.6044e-05,-1.9239e-02,3.8368e-02,1.0066e-01,-2.2818e-03,-1.5146e-03,-1.8538e-04,1.0943e-01,2.7450e-03
+10,7.7667e+00,DOWN_FORCE_DETACH,1.8863e-03,6.8379e-02,1.8135e-01,2.5798e+00,-4.8880e-02,4.1467e-02,-1.8687e-05,1.4127e-03,3.4945e-02,1.0978e-01,-2.0380e-03,-7.9412e-05,-1.6802e-04,1.1521e-01,2.0464e-03
+11,8.6167e+00,DOWN_FORCE_DETACH,2.0767e-03,7.9793e-02,1.8746e-01,2.6213e+00,-4.9271e-02,4.2197e-02,4.3330e-06,1.2827e-02,4.1051e-02,1.5129e-01,-2.4291e-03,6.5044e-04,-1.4500e-04,1.5729e-01,2.5188e-03
+12,9.4333e+00,DOWN_FORCE_DETACH,2.2664e-03,8.5041e-02,1.8967e-01,2.6498e+00,-4.9412e-02,4.2511e-02,1.8737e-05,1.8074e-02,4.3265e-02,1.7982e-01,-2.5700e-03,9.6428e-04,-1.3059e-04,1.8584e-01,2.7481e-03
+13,1.0333e+01,DOWN_FORCE_DETACH,2.4528e-03,9.3310e-02,2.0364e-01,2.6344e+00,-5.0378e-02,4.3101e-02,2.4282e-05,2.6344e-02,5.7229e-02,1.6441e-01,-3.5360e-03,1.5546e-03,-1.2505e-04,1.7607e-01,3.8647e-03
+14,1.1200e+01,DOWN_FORCE_DETACH,2.6419e-03,1.0138e-01,2.0805e-01,2.6249e+00,-5.0698e-02,4.3682e-02,1.4013e-05,3.4410e-02,6.1645e-02,1.5491e-01,-3.8561e-03,2.1358e-03,-1.3532e-04,1.7024e-01,4.4101e-03
+15,1.1917e+01,DOWN_FORCE_DETACH,2.8320e-03,1.0297e-01,2.1850e-01,2.5988e+00,-5.1440e-02,4.3837e-02,4.4247e-06,3.6003e-02,7.2097e-02,1.2881e-01,-4.5986e-03,2.2901e-03,-1.4491e-04,1.5194e-01,5.1393e-03
+16,1.2800e+01,DOWN_FORCE_DETACH,3.0187e-03,1.0438e-01,2.0487e-01,2.5908e+00,-5.0541e-02,4.3960e-02,-1.1539e-05,3.7410e-02,5.8464e-02,1.2077e-01,-3.6994e-03,2.4135e-03,-1.6087e-04,1.3929e-01,4.4200e-03
+17,1.3600e+01,DOWN_FORCE_DETACH,3.2088e-03,9.7295e-02,2.2912e-01,2.6169e+00,-5.2235e-02,4.3434e-02,-6.1395e-06,3.0329e-02,8.2710e-02,1.4689e-01,-5.3928e-03,1.8873e-03,-1.5547e-04,1.7128e-01,5.7157e-03
+18,1.4400e+01,DOWN_FORCE_DETACH,3.4010e-03,9.5828e-02,2.2543e-01,2.6094e+00,-5.2073e-02,4.3348e-02,-1.8952e-07,2.8862e-02,7.9019e-02,1.3936e-01,-5.2309e-03,1.8020e-03,-1.4952e-04,1.6278e-01,5.5347e-03
+19,1.5183e+01,DOWN_FORCE_DETACH,3.5852e-03,9.2552e-02,2.3643e-01,2.6375e+00,-5.2928e-02,4.3092e-02,2.0571e-05,2.5586e-02,9.0026e-02,1.6745e-01,-6.0858e-03,1.5452e-03,-1.2876e-04,1.9183e-01,6.2803e-03
+20,1.5967e+01,DOWN_FORCE_DETACH,3.7767e-03,9.6919e-02,2.1680e-01,2.6307e+00,-5.1718e-02,4.3403e-02,4.4508e-05,2.9952e-02,7.0397e-02,1.6064e-01,-4.8763e-03,1.8567e-03,-1.0482e-04,1.7793e-01,5.2189e-03
+21,1.6750e+01,DOWN_FORCE_DETACH,3.9633e-03,1.0847e-01,2.2938e-01,2.6209e+00,-5.2708e-02,4.4231e-02,8.4332e-05,4.1505e-02,8.2972e-02,1.5093e-01,-5.8662e-03,2.6841e-03,-6.4999e-05,1.7717e-01,6.4515e-03
+22,1.7767e+01,DOWN_FORCE_DETACH,4.1536e-03,1.0876e-01,2.2296e-01,2.6244e+00,-5.2406e-02,4.4243e-02,1.3343e-04,4.1790e-02,7.6552e-02,1.5444e-01,-5.5643e-03,2.6965e-03,-1.5901e-05,1.7736e-01,6.1833e-03
+23,1.8617e+01,DOWN_FORCE_DETACH,4.3407e-03,1.1291e-01,2.2281e-01,2.6101e+00,-5.2445e-02,4.4554e-02,1.6698e-04,4.5946e-02,7.6403e-02,1.4012e-01,-5.6033e-03,3.0071e-03,1.7650e-05,1.6608e-01,6.3592e-03
+24,1.9517e+01,DOWN_FORCE_DETACH,4.5299e-03,1.1026e-01,2.1084e-01,2.6251e+00,-5.1555e-02,4.4345e-02,1.8928e-04,4.3291e-02,6.4428e-02,1.5512e-01,-4.7137e-03,2.7986e-03,3.9943e-05,1.7346e-01,5.4821e-03
+25,2.0317e+01,DOWN_FORCE_DETACH,4.7211e-03,1.0146e-01,2.1527e-01,2.6420e+00,-5.1741e-02,4.3695e-02,2.0278e-04,3.4496e-02,6.8860e-02,1.7202e-01,-4.8996e-03,2.1483e-03,5.3445e-05,1.8848e-01,5.3502e-03
+26,2.1000e+01,DOWN_FORCE_DETACH,4.9065e-03,9.8721e-02,2.2326e-01,2.6684e+00,-5.2178e-02,4.3462e-02,2.0288e-04,3.1755e-02,7.6852e-02,1.9838e-01,-5.3364e-03,1.9159e-03,5.3548e-05,2.1510e-01,5.6701e-03
+27,2.1867e+01,DOWN_FORCE_DETACH,5.0943e-03,9.6935e-02,2.0118e-01,2.6733e+00,-5.0603e-02,4.3295e-02,1.7162e-04,2.9969e-02,5.4771e-02,2.0333e-01,-3.7609e-03,1.7481e-03,2.2293e-05,2.1270e-01,4.1474e-03
+28,2.2683e+01,DOWN_FORCE_DETACH,5.2836e-03,9.7507e-02,1.9131e-01,2.6802e+00,-4.9914e-02,4.3301e-02,1.2354e-04,3.0541e-02,4.4903e-02,2.1014e-01,-3.0726e-03,1.7544e-03,-2.5792e-05,2.1705e-01,3.5382e-03
+29,2.3400e+01,DOWN_FORCE_DETACH,5.4728e-03,9.4605e-02,2.0573e-01,2.6966e+00,-5.0904e-02,4.3053e-02,7.6775e-05,2.7638e-02,5.9324e-02,2.2656e-01,-4.0626e-03,1.5068e-03,-7.2557e-05,2.3582e-01,4.3336e-03
+30,2.4367e+01,DOWN_FORCE_DETACH,5.6647e-03,9.6483e-02,2.0507e-01,2.6769e+00,-5.0867e-02,4.3198e-02,-5.2515e-06,2.9516e-02,5.8660e-02,2.0691e-01,-4.0257e-03,1.6515e-03,-1.5458e-04,2.1708e-01,4.3540e-03
+31,2.5167e+01,DOWN_FORCE_DETACH,5.8508e-03,9.3216e-02,2.2081e-01,2.6772e+00,-5.1853e-02,4.2969e-02,-6.0986e-05,2.6250e-02,7.4398e-02,2.0714e-01,-5.0116e-03,1.4228e-03,-2.1032e-04,2.2165e-01,5.2139e-03
+32,2.5900e+01,DOWN_FORCE_DETACH,6.0410e-03,9.1652e-02,2.2540e-01,2.6731e+00,-5.1998e-02,4.2873e-02,-8.9214e-05,2.4685e-02,7.8994e-02,2.0312e-01,-5.1561e-03,1.3261e-03,-2.3855e-04,2.1934e-01,5.3292e-03
+33,2.6717e+01,DOWN_FORCE_DETACH,6.2291e-03,1.0195e-01,2.1515e-01,2.6548e+00,-5.1118e-02,4.3632e-02,-9.2155e-05,3.4985e-02,6.8743e-02,1.8476e-01,-4.2761e-03,2.0859e-03,-2.4149e-04,2.0022e-01,4.7639e-03
+34,2.7467e+01,DOWN_FORCE_DETACH,6.4146e-03,1.0034e-01,2.2398e-01,2.6918e+00,-5.1680e-02,4.3467e-02,-7.1763e-05,3.3372e-02,7.7573e-02,2.2177e-01,-4.8385e-03,1.9208e-03,-2.2109e-04,2.3730e-01,5.2105e-03
+35,2.8267e+01,DOWN_FORCE_DETACH,6.6046e-03,1.0289e-01,2.2850e-01,2.7197e+00,-5.2089e-02,4.3605e-02,-4.5287e-05,3.5927e-02,8.2095e-02,2.4965e-01,-5.2470e-03,2.0588e-03,-1.9462e-04,2.6525e-01,5.6398e-03
+36,2.9000e+01,DOWN_FORCE_DETACH,6.7950e-03,9.3801e-02,2.5098e-01,2.7437e+00,-5.3758e-02,4.2939e-02,-8.7428e-06,2.6834e-02,1.0457e-01,2.7367e-01,-6.9159e-03,1.3922e-03,-1.5807e-04,2.9419e-01,7.0564e-03
+37,2.9767e+01,DOWN_FORCE_DETACH,6.9849e-03,9.1980e-02,2.4281e-01,2.7690e+00,-5.3289e-02,4.2790e-02,2.9391e-05,2.5014e-02,9.6402e-02,2.9895e-01,-6.4468e-03,1.2436e-03,-1.1994e-04,3.1510e-01,6.5667e-03
+38,3.0383e+01,DOWN_FORCE_DETACH,7.1701e-03,8.5130e-02,2.7755e-01,2.7903e+00,-5.5641e-02,4.2285e-02,8.1880e-05,1.8163e-02,1.3115e-01,3.2027e-01,-8.7989e-03,7.3813e-04,-6.7452e-05,3.4655e-01,8.8301e-03
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Fixed/digit/ball_15A_20/press_depth_09/up/camera_frames_60hz.tar

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Fixed/digit/ball_15A_20/press_depth_09/up/franka_data.csv

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Fixed/digit/ball_15A_20/press_depth_09/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+50,6.916666667e+00,UP_SETTLE,1792842102460234372,-5.589249795e-05,-8.461651195e-05,3.356379180e-04,-5.357324225e-05,-8.256100783e-05,3.339574219e-04,-5.321904192e-05,-8.256852052e-05,3.326852506e-04,7.018997771e-01,-1.067044234e-04,8.604790838e-01,7.019020964e-01,-1.046489192e-04,8.604774033e-01,7.026920265e-01,-1.973548518e-04,8.306588928e-01
+51,7.066666667e+00,UP_SETTLE,1792842102779821254,-5.721351043e-05,-8.172733821e-05,3.585147349e-04,-5.718662089e-05,-8.134855328e-05,3.587566789e-04,-5.679514402e-05,-8.135385995e-05,3.574095159e-04,7.018984561e-01,-1.038152496e-04,8.605019606e-01,7.018984830e-01,-1.034364647e-04,8.605022025e-01,7.026884504e-01,-1.961401912e-04,8.306836170e-01
+52,7.216666667e+00,UP_SETTLE,1792842102951530996,-5.858810527e-05,-7.961097832e-05,3.699828982e-04,-5.718662089e-05,-8.134855328e-05,3.587566789e-04,-5.681912062e-05,-8.135220033e-05,3.575593261e-04,7.018970815e-01,-1.016988897e-04,8.605134287e-01,7.018984830e-01,-1.034364647e-04,8.605022025e-01,7.026884265e-01,-1.961385316e-04,8.306837668e-01
+53,7.383333333e+00,UP_SETTLE,1792842103115938616,-5.603588067e-05,-7.588420084e-05,3.844288888e-04,-5.515716274e-05,-7.900748211e-05,3.814474916e-04,-5.442631352e-05,-7.901185312e-05,3.801603073e-04,7.018996337e-01,-9.797211224e-05,8.605278747e-01,7.019005125e-01,-1.010953935e-04,8.605248933e-01,7.026908193e-01,-1.937981844e-04,8.307063678e-01
+54,7.550000000e+00,UP_SETTLE,1792842103279227956,-5.791997024e-05,-7.642918013e-05,3.898266043e-04,-5.515716274e-05,-7.900748211e-05,3.814474916e-04,-5.443816972e-05,-7.901102206e-05,3.802916246e-04,7.018977497e-01,-9.851709154e-05,8.605332724e-01,7.019005125e-01,-1.010953935e-04,8.605248933e-01,7.026908074e-01,-1.937973533e-04,8.307064991e-01
+55,7.700000000e+00,UP_SETTLE,1792842103426500801,-5.852926151e-05,-7.654771018e-05,3.972630370e-04,-5.515716274e-05,-7.900748211e-05,3.814474916e-04,-5.444771278e-05,-7.901021483e-05,3.803892708e-04,7.018971404e-01,-9.863562158e-05,8.605407089e-01,7.019005125e-01,-1.010953935e-04,8.605248933e-01,7.026907979e-01,-1.937965461e-04,8.307065968e-01
+56,7.866666667e+00,UP_SETTLE,1792842103591161821,-5.797017028e-05,-8.201064493e-05,4.024241981e-04,-5.714454727e-05,-7.687821951e-05,4.011243366e-04,-5.632923367e-05,-7.688753804e-05,3.999863025e-04,7.018976995e-01,-1.040985563e-04,8.605458700e-01,7.018985251e-01,-9.896613092e-05,8.605445702e-01,7.026889163e-01,-1.916738693e-04,8.307261938e-01
+57,8.000000000e+00,UP_SETTLE,1792842103738803849,-5.698483585e-05,-7.761630327e-05,4.082765886e-04,-5.714454727e-05,-7.687821951e-05,4.011243366e-04,-5.633732382e-05,-7.688673953e-05,4.000766571e-04,7.018986848e-01,-9.970421468e-05,8.605517224e-01,7.018985251e-01,-9.896613092e-05,8.605445702e-01,7.026889083e-01,-1.916730708e-04,8.307262842e-01
+58,8.166666667e+00,UP_SETTLE,1792842103901899401,-5.853233099e-05,-8.194387462e-05,4.100269489e-04,-5.714454727e-05,-7.687821951e-05,4.011243366e-04,-5.634531805e-05,-7.688541070e-05,4.001714262e-04,7.018971373e-01,-1.040317860e-04,8.605534728e-01,7.018985251e-01,-9.896613092e-05,8.605445702e-01,7.026889003e-01,-1.916717419e-04,8.307263789e-01
+59,8.350000000e+00,UP_SETTLE,1792842104084827204,-6.056379298e-05,-7.932966560e-05,4.108818971e-04,-5.714454727e-05,-7.687821951e-05,4.011243366e-04,-5.635248123e-05,-7.688329363e-05,4.002622231e-04,7.018951058e-01,-1.014175770e-04,8.605543277e-01,7.018985251e-01,-9.896613092e-05,8.605445702e-01,7.026888931e-01,-1.916696249e-04,8.307264697e-01

Fixed/digit/ball_15A_20/press_depth_09/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+00,6.7478e-02,1.4639e-01,2.4699e+00,-4.6839e-02,4.1583e-02,1.4793e-04,5.1616e-04,-1.8328e-05,-8.3923e-05,2.4252e-06,3.7245e-05,-1.3513e-06,5.2326e-04,3.7349e-05
+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.8958e-05,7.1452e-02,1.4627e-01,2.4693e+00,-4.6821e-02,4.1870e-02,1.3733e-04,4.4897e-03,-1.4113e-04,-7.3385e-04,2.0791e-05,3.2356e-04,-1.1957e-05,4.5515e-03,3.2445e-04
+2,2.6667e-01,WAIT_W2,7.4872e-05,7.5167e-02,1.4618e-01,2.4687e+00,-4.6804e-02,4.2137e-02,1.2705e-04,8.2051e-03,-2.3077e-04,-1.3461e-03,3.7555e-05,5.9071e-04,-2.2235e-05,8.3180e-03,5.9232e-04
+3,4.1667e-01,WAIT_W2,1.1417e-04,7.9066e-02,1.4611e-01,2.4680e+00,-4.6787e-02,4.2417e-02,1.1583e-04,1.2104e-02,-3.0099e-04,-1.9882e-03,5.4646e-05,8.7050e-04,-3.3451e-05,1.2270e-02,8.7285e-04
+4,6.0000e-01,WAIT_W2,1.5091e-04,8.3459e-02,1.4605e-01,2.4673e+00,-4.6768e-02,4.2731e-02,1.0260e-04,1.6498e-02,-3.5611e-04,-2.7041e-03,7.3493e-05,1.1853e-03,-4.6684e-05,1.6722e-02,1.1885e-03
+5,7.0000e-01,WAIT_W2,2.0616e-04,8.5698e-02,1.4603e-01,2.4669e+00,-4.6759e-02,4.2891e-02,9.5606e-05,1.8736e-02,-3.7406e-04,-3.0684e-03,8.2877e-05,1.3453e-03,-5.3678e-05,1.8989e-02,1.3489e-03
+6,7.1667e-01,WAIT_W2,2.4969e-04,8.2580e-02,2.7394e-01,2.4603e+00,-5.5490e-02,4.2681e-02,1.2806e-04,1.5618e-02,1.2754e-01,-9.6879e-03,-8.6482e-03,1.1349e-03,-2.1224e-05,1.2885e-01,8.7223e-03
+7,7.3333e-01,WAIT_W2,2.7271e-04,8.6689e-02,4.1217e-01,2.4596e+00,-6.4936e-02,4.2960e-02,1.6486e-04,1.9727e-02,2.6576e-01,-1.0366e-02,-1.8095e-02,1.4142e-03,1.5572e-05,2.6670e-01,1.8150e-02
+8,8.0000e-01,WAIT_W2,3.0200e-04,8.4977e-02,4.7912e-01,2.4523e+00,-6.9559e-02,4.2846e-02,1.8429e-04,1.8015e-02,3.3272e-01,-1.7709e-02,-2.2718e-02,1.2997e-03,3.5006e-05,3.3367e-01,2.2755e-02
+9,9.8333e-01,WAIT_W2,3.4250e-04,9.0320e-02,4.7753e-01,2.4543e+00,-6.9507e-02,4.3227e-02,1.7224e-04,2.3359e-02,3.3112e-01,-1.5716e-02,-2.2666e-02,1.6804e-03,2.2955e-05,3.3232e-01,2.2728e-02
+10,1.1667e+00,WAIT_W2,3.8248e-04,9.4800e-02,4.7666e-01,2.4554e+00,-6.9483e-02,4.3546e-02,1.6105e-04,2.7838e-02,3.3025e-01,-1.4589e-02,-2.2641e-02,2.0001e-03,1.1768e-05,3.3174e-01,2.2729e-02
+11,1.3167e+00,UP_FORCE_RAMP,4.1800e-04,9.8085e-02,4.7608e-01,2.4562e+00,-6.9467e-02,4.3780e-02,1.5209e-04,3.1123e-02,3.2968e-01,-1.3793e-02,-2.2625e-02,2.2341e-03,2.8086e-06,3.3143e-01,2.2735e-02
+12,1.4667e+00,UP_FORCE_RAMP,4.5715e-04,1.0109e-01,4.7558e-01,2.4570e+00,-6.9453e-02,4.3994e-02,1.4319e-04,3.4125e-02,3.2918e-01,-1.3062e-02,-2.2611e-02,2.4477e-03,-6.0939e-06,3.3120e-01,2.2743e-02
+13,1.6167e+00,UP_FORCE_RAMP,4.9386e-04,1.0384e-01,4.7514e-01,2.4576e+00,-6.9441e-02,4.4190e-02,1.3436e-04,3.6880e-02,3.2873e-01,-1.2388e-02,-2.2599e-02,2.6437e-03,-1.4923e-05,3.3103e-01,2.2753e-02
+14,1.7667e+00,UP_FORCE_RAMP,5.3157e-04,1.0637e-01,4.7474e-01,2.4582e+00,-6.9429e-02,4.4370e-02,1.2561e-04,3.9412e-02,3.2833e-01,-1.1765e-02,-2.2588e-02,2.8236e-03,-2.3669e-05,3.3090e-01,2.2764e-02
+15,1.9333e+00,UP_FORCE_RAMP,5.7171e-04,1.0895e-01,4.7434e-01,2.4589e+00,-6.9418e-02,4.4553e-02,1.1603e-04,4.1988e-02,3.2793e-01,-1.1129e-02,-2.2577e-02,3.0066e-03,-3.3253e-05,3.3080e-01,2.2776e-02
+16,2.1000e+00,UP_FORCE_RAMP,6.0851e-04,1.1130e-01,4.7398e-01,2.4595e+00,-6.9408e-02,4.4719e-02,1.0661e-04,4.4336e-02,3.2757e-01,-1.0546e-02,-2.2567e-02,3.1732e-03,-4.2678e-05,3.3073e-01,2.2789e-02
+17,2.3500e+00,UP_FORCE_RAMP,6.4630e-04,1.1444e-01,4.7350e-01,2.4603e+00,-6.9395e-02,4.4942e-02,9.2804e-05,4.7474e-02,3.2709e-01,-9.7618e-03,-2.2553e-02,3.3958e-03,-5.6479e-05,3.3066e-01,2.2808e-02
+18,2.5667e+00,UP_FORCE_RAMP,6.8428e-04,1.1682e-01,4.7314e-01,2.4609e+00,-6.9385e-02,4.5111e-02,8.1186e-05,4.9860e-02,3.2673e-01,-9.1603e-03,-2.2543e-02,3.5651e-03,-6.8098e-05,3.3064e-01,2.2823e-02
+19,2.7167e+00,UP_FORCE_RAMP,7.2322e-04,1.1831e-01,4.7291e-01,2.4612e+00,-6.9379e-02,4.5217e-02,7.3344e-05,5.1350e-02,3.2650e-01,-8.7819e-03,-2.2537e-02,3.6706e-03,-7.5940e-05,3.3063e-01,2.2834e-02
+20,2.8333e+00,UP_FORCE_RAMP,7.6323e-04,1.1939e-01,4.7275e-01,2.4615e+00,-6.9374e-02,4.5293e-02,6.7359e-05,5.2424e-02,3.2634e-01,-8.5073e-03,-2.2532e-02,3.7468e-03,-8.1925e-05,3.3063e-01,2.2842e-02
+21,2.9833e+00,UP_FORCE_RAMP,7.9937e-04,1.2067e-01,4.7255e-01,2.4618e+00,-6.9369e-02,4.5384e-02,5.9812e-05,5.3704e-02,3.2614e-01,-8.1782e-03,-2.2527e-02,3.8375e-03,-8.9471e-05,3.3064e-01,2.2851e-02
+22,3.1500e+00,UP_FORCE_RAMP,8.3751e-04,1.2196e-01,4.7235e-01,2.4622e+00,-6.9363e-02,4.5476e-02,5.1633e-05,5.5003e-02,3.2594e-01,-7.8421e-03,-2.2521e-02,3.9294e-03,-9.7651e-05,3.3064e-01,2.2862e-02
+23,3.3333e+00,UP_FORCE_RAMP,8.7398e-04,1.2326e-01,4.7215e-01,2.4625e+00,-6.9357e-02,4.5567e-02,4.2877e-05,5.6294e-02,3.2574e-01,-7.5054e-03,-2.2516e-02,4.0208e-03,-1.0641e-04,3.3066e-01,2.2872e-02
+24,3.5000e+00,UP_FORCE_RAMP,9.1427e-04,1.2431e-01,4.7198e-01,2.4628e+00,-6.9353e-02,4.5642e-02,3.5141e-05,5.7352e-02,3.2557e-01,-7.2267e-03,-2.2511e-02,4.0958e-03,-1.1414e-04,3.3067e-01,2.2881e-02
+25,3.6667e+00,UP_FORCE_RAMP,9.4964e-04,1.2527e-01,4.7183e-01,2.4630e+00,-6.9348e-02,4.5710e-02,2.7608e-05,5.8312e-02,3.2542e-01,-6.9718e-03,-2.2507e-02,4.1637e-03,-1.2168e-04,3.3068e-01,2.2889e-02
+26,3.8833e+00,UP_FORCE_RAMP,9.9170e-04,1.4177e-01,4.7997e-01,2.4367e+00,-6.9942e-02,4.6910e-02,1.3224e-05,7.4804e-02,3.3356e-01,-3.3361e-02,-2.3101e-02,5.3638e-03,-1.3606e-04,3.4347e-01,2.3715e-02
+27,4.0500e+00,UP_FORCE_RAMP,1.0288e-03,1.4024e-01,4.7980e-01,2.4409e+00,-6.9942e-02,4.6798e-02,3.9535e-06,7.3278e-02,3.3340e-01,-2.9139e-02,-2.3100e-02,5.2514e-03,-1.4533e-04,3.4260e-01,2.3690e-02
+28,4.2333e+00,UP_FORCE_RAMP,1.0654e-03,1.3600e-01,4.6833e-01,2.4101e+00,-6.9207e-02,4.6539e-02,-5.3151e-06,6.9042e-02,3.2192e-01,-5.9882e-02,-2.2365e-02,4.9933e-03,-1.5460e-04,3.3465e-01,2.2916e-02
+29,4.3167e+00,UP_FORCE_RAMP,1.1208e-03,1.3590e-01,4.6822e-01,2.4138e+00,-6.9203e-02,4.6528e-02,-9.4445e-06,6.8938e-02,3.2182e-01,-5.6172e-02,-2.2361e-02,4.9820e-03,-1.5873e-04,3.3388e-01,2.2910e-02
+30,4.3500e+00,UP_FORCE_RAMP,1.1473e-03,2.1367e-01,4.5546e-01,2.4114e+00,-6.8326e-02,5.2029e-02,-5.2101e-05,1.4671e-01,3.0905e-01,-5.8630e-02,-2.1484e-02,1.0482e-02,-2.0139e-04,3.4709e-01,2.3906e-02
+31,4.4500e+00,UP_FORCE_RAMP,1.1786e-03,1.9861e-01,4.5608e-01,2.3779e+00,-6.8410e-02,5.1007e-02,-5.7476e-05,1.3164e-01,3.0967e-01,-9.2162e-02,-2.1568e-02,9.4612e-03,-2.0676e-04,3.4889e-01,2.3553e-02
+32,4.5500e+00,UP_FORCE_RAMP,1.2182e-03,1.9362e-01,4.5581e-01,2.3869e+00,-6.8403e-02,5.0646e-02,-6.4883e-05,1.2666e-01,3.0940e-01,-8.3075e-02,-2.1561e-02,9.0996e-03,-2.1417e-04,3.4449e-01,2.3404e-02
+33,4.7333e+00,UP_FORCE_RAMP,1.2565e-03,1.7842e-01,4.5357e-01,2.3647e+00,-6.8299e-02,4.9602e-02,-7.3454e-05,1.1146e-01,3.0716e-01,-1.0533e-01,-2.1457e-02,8.0559e-03,-2.2274e-04,3.4332e-01,2.2921e-02
+34,4.8667e+00,UP_FORCE_RAMP,1.2948e-03,1.7478e-01,4.5345e-01,2.3740e+00,-6.8301e-02,4.9334e-02,-8.3436e-05,1.0782e-01,3.0705e-01,-9.6014e-02,-2.1460e-02,7.7881e-03,-2.3272e-04,3.3930e-01,2.2830e-02
+35,4.9667e+00,UP_FORCE_RAMP,1.3276e-03,1.6975e-01,4.3090e-01,2.3493e+00,-6.6799e-02,4.9015e-02,-9.3805e-05,1.0279e-01,2.8449e-01,-1.2076e-01,-1.9957e-02,7.4690e-03,-2.4309e-04,3.2570e-01,2.1310e-02
+36,5.0167e+00,UP_FORCE_RAMP,1.3755e-03,1.5544e-01,4.3484e-01,2.3051e+00,-6.7120e-02,4.8061e-02,-8.9071e-05,8.8483e-02,2.8843e-01,-1.6491e-01,-2.0278e-02,6.5148e-03,-2.3836e-04,3.4383e-01,2.1301e-02
+37,5.1167e+00,UP_FORCE_RAMP,1.4104e-03,1.3690e-01,4.2982e-01,2.2691e+00,-6.6848e-02,4.6795e-02,-8.5259e-05,6.9939e-02,2.8341e-01,-2.0087e-01,-2.0006e-02,5.2489e-03,-2.3454e-04,3.5435e-01,2.0685e-02
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Fixed/digit/ball_15A_20/press_depth_10/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_15A_20/press_depth_10/down/franka_data.csv

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+3429,1792842233971270958,20913514000000,1792842233967747336,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6760015435619998,-0.0047780803088670115,0.10643263525244968,0.9999999765894698,-1.8284716139468998e-05,-0.00014403058503209277,0.00013109074787999014,0.6761,-0.0046,0.10648436949938382,1.0,0.0,0.0,0.0,-0.20890182897893267,0.01242355076320023,0.8475722743326473,0.0023258964730084944,0.014672187020282418,0.000580931476901084,0.37490588689484844,0.66003955892985,1.3210606350000522,0.050532492809525334,-0.028998772012652718,0.0011673947559788479,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,0.7127119960770745,0.8694506078096684,0.16324206878233763,-0.022702180001964164,-0.02053826448119353,0.4402680432879015,-1.1043031702765234,-0.8475722743326473,-1.267545239058861,-1.267545239058861,0.6812999999999604,0,0,-0.0002270999560030892,-9.999999025923074e-05
+3476,1792842234363162498,20913906000000,1792842234359737689,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6760156148284583,-0.004760233497095954,0.10636738681536556,0.999999981391306,-0.00011933415217749006,-0.00011151129449117542,4.455158155077875e-05,0.6761,-0.0046,0.10639151451738092,1.0,0.0,0.0,0.0,-0.1655707943243257,0.08655052898924387,1.0292889527521758,0.007442045394184797,0.01274913770436105,0.0004655630444916623,0.4182369215494554,0.7341665371558936,1.5027773134195808,0.05564864173070164,-0.030921821328574087,0.0010520263235694262,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,0.7854546408109427,0.923949901172104,0.07522633979605646,-0.21348282484374853,0.09274514021757756,0.5144943280425308,-1.1043031702765234,-1.0292889527521758,-1.1795295100725798,-1.1795295100725798,0.7400999999999539,0,0,-0.0002466999521847076,-9.999999025923074e-05
+3535,1792842234855111676,20914398000000,1792842234851737601,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6760320018457607,-0.004769480487369247,0.10627892817471717,0.999999983289059,-0.00011058854893557545,-8.551179124858888e-05,7.295651002595276e-05,0.6761,-0.0046,0.10626409884208739,1.0,0.0,0.0,0.0,-0.22270152032032153,0.07095635131677325,1.2748714279835212,0.007264229333837781,0.015867607903800686,0.00031959091935010236,0.3611061955534596,0.718572359483423,1.7483597886509261,0.05547082567035462,-0.02780335112913445,0.0009060541984278663,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,0.9137070932054486,0.8865960974041089,-0.2763174709305706,-0.0896137983374724,0.3230330104306166,0.46140257100376997,-1.1043031702765234,-1.2748714279835212,-0.8279856993459528,-0.8279856993459528,0.8138999999999458,0,0,-0.00027129994739224914,-9.999999025923074e-05
+3584,1792842235263193746,20914806000000,1792842235255738024,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6760479328381869,-0.004774540620765186,0.10619625247202767,0.9999999841894477,-0.00010682134068848975,-5.988382665128653e-05,8.981702147830534e-05,0.6761,-0.0046,0.10614925706436408,1.0,0.0,0.0,0.0,-0.2613488036024374,0.06575466559704102,1.4836304067535322,0.007154952205526435,0.019840862879942158,0.0012294164504866954,0.3224589122713437,0.7133706737636908,1.9571187674209372,0.055361548542043275,-0.023830096152992978,0.0018158797295644593,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,0.9911935515376008,0.8474548299643341,-0.5101514749079888,-0.009123466992066358,0.47871425902531806,0.42666195000257623,-1.1043031702765234,-1.4836304067535322,-0.5941516953685345,-0.5941516953685345,0.875099999999939,0,0,-0.0002916999434180153,-9.999999025923074e-05
+3635,1792842235688185014,20915231000000,1792842235687747153,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6760715818774968,-0.004772297660942231,0.10610810288981755,0.9999999837562235,-0.00013300013262292057,-1.7699727380560814e-05,7.699416529090226e-05,0.6761,-0.0046,0.10602077958929321,1.0,0.0,0.0,0.0,-0.29657835273271693,0.09765704779272266,1.7134213294545484,0.009638043051632177,0.021788041789873383,0.001099111524380256,0.2872293631410642,0.7452730559593724,2.1869096901219534,0.057844639388149016,-0.021882917243061753,0.00168557480345802,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.0209371768750406,0.9158879647830707,-0.8535543274378495,-0.0077887661456819135,0.694636829512812,0.4685788401638148,-1.1043031702765234,-1.7134213294545484,-0.2507488428386738,-0.2507488428386738,0.938849999999932,0,0,-0.00031294993927818835,-9.999999025923074e-05
+3684,1792842236096177032,20915639000000,1792842236095737447,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6760925473754307,-0.004774638867114779,0.10601520472297943,0.9999999831561445,-0.00013910976690208714,1.5458051439772357e-05,7.443182511949106e-05,0.6761,-0.0046,0.10588894461488044,1.0,0.0,0.0,0.0,-0.3295989760527144,0.11039653256408366,1.9495253335212928,0.01104070416447634,0.023746873798273938,0.000954217473191787,0.25420873982106673,0.7580125407307334,2.4230136941886977,0.05924730050099318,-0.019924085234661198,0.001540680752269551,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.1732333938845465,0.9354191460191252,-1.0740002301460183,-0.0004007572381508513,0.8722588350058352,0.48524993040598596,-1.1043031702765234,-1.9495253335212928,-0.03030294013050505,-0.03030294013050505,1.0000499999999253,0,0,-0.0003333499353039545,-9.999999025923074e-05
+3737,1792842236538148477,20916081000000,1792842236531747030,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6761149525178668,-0.004779180057534204,0.10590685710970474,0.9999999907476745,2.2793523348752637e-05,5.3833386556948077e-05,8.08080267017115e-05,0.6761,-0.0046,0.10573673089442974,1.0,0.0,0.0,0.0,-0.3684366096301308,0.1130076445614927,2.22781415916012,0.011917682424686556,0.02670386665446195,0.0018124552463980182,0.2153711062436503,0.7606236527281425,2.701302519827525,0.060124278761203395,-0.016967092378473186,0.002398918525475782,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.2497538611548207,1.0034304933422753,-1.4280606306338843,-0.06424440126725108,1.1247060878732937,0.4602248791093343,-1.1043031702765234,-2.22781415916012,0.32375746035736097,0.32375746035736097,1.066349999999967,0,0,-0.0003554499309985345,-9.999999025923074e-05
+3786,1792842236946157502,20916489000000,1792842236939747188,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6761377695115984,-0.004784305659332169,0.10580499799233484,0.9999999876976001,-5.226214554467668e-06,9.370782606189966e-05,8.508345312381236e-05,0.6761,-0.0046,0.10558755592339507,1.0,0.0,0.0,0.0,-0.3980230719912777,0.12372036750239024,2.462510491754671,0.012810822426255447,0.029655446055741955,0.001675997723793935,0.18578464388250343,0.77133637566904,2.935998852422076,0.06101741876277229,-0.014015512977193183,0.002262461002871699,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.3853837746415052,0.8270095052722752,-1.638706874115038,0.01502785009581212,1.2911264763533337,0.37675994141975766,-1.1043031702765234,-2.462510491754671,0.5344037038385145,0.5344037038385145,1.1275500000000056,0,0,-0.0003758499270243006,-9.999999025923074e-05
+3835,1792842237355138635,20916898000000,1792842237347747123,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6761628918551026,-0.004780519547129837,0.1056995624261697,0.9999999831769469,-5.209811077526198e-05,0.00013384878090389843,6.677769732783354e-05,0.6761,-0.0046,0.1054298856685262,1.0,0.0,0.0,0.0,-0.4183788186503263,0.14778912881141237,2.7008966538454113,0.01477987325089964,0.030597209830935723,0.0015196880644405243,0.16542889722345483,0.7954051369780621,3.1743850145128163,0.06298646958741648,-0.013073749201999413,0.002106151343518288,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.4704618226985628,0.6736385185404232,-2.047679081260338,0.09360982763047002,1.5622855800653623,0.318450484385747,-1.1043031702765234,-2.7008966538454113,0.9433759109838147,0.9433759109838147,1.1889000000000443,0,0,-0.0003928644622577541,9.995609481639462e-05
+3869,1792842237638026951,20917181000000,1792842237631737241,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6761777247117572,-0.004784306991945857,0.10558563952775431,0.9999999796504024,-6.249707875477734e-05,0.00014852798164892062,7.858506861122394e-05,0.6761,-0.0046,0.10531954540227899,1.0,0.0,0.0,0.0,-0.45998387851522693,0.16230782398616306,2.937315322524139,0.016683401084598252,0.034193406441970886,0.0013996192258841661,0.12382383735855416,0.8099238321528128,3.410803683191544,0.06488999742111509,-0.00947755259096425,0.00198608250496193,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5241195059845603,0.7422720575054628,-2.2494932112786676,0.0869633035383209,1.7013499973716406,0.37478614200375515,-1.1043031702765234,-2.937315322524139,1.1451900410021443,1.1451900410021443,1.231350000000071,0,0,-0.0003838399266528362,9.999999025923074e-05
+3922,1792842238080115885,20917623000000,1792842238079747732,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6761995717563247,-0.0047809175371755,0.10548348145861972,0.9999999703003405,-8.303899620498148e-05,0.00019529508819062248,7.620063102615423e-05,0.6761,-0.0046,0.10515476120374478,1.0,0.0,0.0,0.0,-0.4775628023343431,0.18236719208470942,3.1568065342681297,0.017610773046482738,0.03549774181923203,0.002284171236238126,0.10624491353943798,0.8299832002513592,3.6302948949355347,0.06581736938299958,-0.008173217213703106,0.00287063451531589,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.592309497844722,0.7580598915256673,-2.4980143525448164,0.0963709464640899,1.874602419720114,0.38432243723247744,-1.1043031702765234,-3.1568065342681297,1.393711182268293,1.393711182268293,1.2976500000001128,0,0,-0.0003617399309582562,9.999999025923074e-05
+3970,1792842238480022234,20918023000000,1792842238475737109,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762266341319388,-0.0047814270519501096,0.10538816222801713,0.999999959467339,-9.986384514365421e-05,0.00023804882462464364,7.660387981553557e-05,0.6761,-0.0046,0.10501405523058027,1.0,0.0,0.0,0.0,-0.49354105700911244,0.20479624461422452,3.3443535042529606,0.01958876652292032,0.03643597680251365,0.0021650929351405843,0.09026665886466864,0.8524122527808743,3.8178418649203656,0.06779536285943716,-0.007234982230421485,0.0027515562142183484,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5858338029242827,0.8213055761546831,-2.6248814248800385,0.08697583167460549,1.9490855420604218,0.42726845980211947,-1.1043031702765234,-3.3443535042529606,1.5205782546035151,1.5205782546035151,1.3576500000001506,0,0,-0.0003417399348545639,9.999999025923074e-05
+4014,1792842238846090741,20918389000000,1792842238843746805,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762373089424818,-0.004779899800974354,0.10528892401279438,0.9999999590864849,-1.734151614643568e-05,0.0002582526980041125,7.921305900288095e-05,0.6761,-0.0046,0.1048923181637693,1.0,0.0,0.0,0.0,-0.49857379423194886,0.2009565146526765,3.513332458133471,0.019529790193098077,0.037413318267061506,0.0020481084738423368,0.08523392164183226,0.8485725228193263,3.986820818800876,0.06773638652961492,-0.00625764076587363,0.002634571752920101,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.6644247618003682,0.7617159266299569,-2.8479394928549797,0.09916309667312735,2.1132662627219467,0.36809398097483836,-1.1043031702765234,-3.513332458133471,1.7436363225784564,1.7436363225784564,1.4125500000001852,0,0,-0.00032343993841968546,9.999999025923074e-05
+4067,1792842239288062058,20918831000000,1792842239287746894,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.676252235439255,-0.004781928998885625,0.10517840979508694,0.9999999516357481,-4.517758655510927e-05,0.0002822674355844472,8.034579357668435e-05,0.6761,-0.0046,0.10475423076003415,1.0,0.0,0.0,0.0,-0.5090058311069985,0.20982426942823362,3.690282577943882,0.020489616841362156,0.038360828413995886,0.0019314181098484225,0.07480188476678261,0.8574402775948834,4.163770938611287,0.068696213177879,-0.005310130618939252,0.0025178813889261864,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.7328599979788157,0.7261445114231729,-3.0057185628961256,0.13490260508815577,2.2355861251732625,0.3692550013817977,-1.1043031702765234,-3.690282577943882,1.9014153926196022,1.9014153926196022,1.478850000000227,0,0,-0.00030133994272510547,9.999999025923074e-05
+4116,1792842239696032395,20919239000000,1792842239695736726,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6762617574698166,-0.004785367653124786,0.10507082282435867,0.9999999458405241,-5.6172022183082204e-05,0.000299503977488867,8.308961809526862e-05,0.6761,-0.0046,0.10463543546258958,1.0,0.0,0.0,0.0,-0.514370327371535,0.19314246084872844,3.8202766760904066,0.01944406762313556,0.03835960885999618,0.001811304546428618,0.06943738850224607,0.8407584690153782,4.2937650367578115,0.0676506639596524,-0.005311350172938957,0.002397767825506382,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.7393984360414274,0.8305336390186673,-3.2192607494986967,0.11067764386697217,2.374240041224923,0.43903075759324195,-1.1043031702765234,-3.8202766760904066,2.1149575792221733,2.1149575792221733,1.5400500000002655,0,0,-0.0002809399466993393,9.999999025923074e-05
+4168,1792842240129983890,20919673000000,1792842240127737435,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762710943619349,-0.004790905731486103,0.10497004941941347,0.9999999397355301,-6.211505550265141e-05,0.0003151097198272802,9.391158126776985e-05,0.6761,-0.0046,0.10451820557480258,1.0,0.0,0.0,0.0,-0.5004095394080709,0.19446273862057628,3.914460078377968,0.01842750564686827,0.03834566353192326,0.00252529068210187,0.08339817646571024,0.842078746787226,4.387948439045373,0.06663410198338511,-0.005325295501011882,0.003111753961179634,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.753143554416467,0.7279505543349749,-3.2608181318746343,0.15683536260387487,2.4093490825870547,0.3745995882014024,-1.1043031702765234,-3.914460078377968,2.156514961598111,2.156514961598111,1.6051500000003065,0,0,-0.0002592399509268332,9.999999025923074e-05
+4221,1792842240571039631,20920114000000,1792842240567746806,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6762806109497412,-0.004797337335217613,0.10487241865507961,0.9999999346950185,-4.1113671970230725e-05,0.0003301237104800188,0.00010668094962188621,0.6761,-0.0046,0.1044087317554945,1.0,0.0,0.0,0.0,-0.49001960402066946,0.1933202942177743,3.950851294878672,0.018389603210358936,0.03834612560744385,0.002677255290483945,0.09378811185311164,0.8409363023844241,4.424339655546077,0.06659619954687578,-0.005324833425491287,0.003263718569561709,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.7639464313556328,0.745374022228355,-3.369266768904883,0.16220501260263384,2.4831465548035547,0.39354243045918463,-1.1043031702765234,-3.950851294878672,2.2649635986283596,2.2649635986283596,1.6713000000003482,0,0,-0.0002371899552225124,9.999999025923074e-05
+4274,1792842241013030998,20920556000000,1792842241011747298,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6762858408393814,-0.0048006818323992955,0.10478701160184391,0.9999999334260606,-1.9032030060659636e-05,0.00033421104988587283,0.0001119441596231782,0.6761,-0.0046,0.1043087668443325,1.0,0.0,0.0,0.0,-0.4711130860773614,0.18599655360936007,3.9905519481854848,0.017411891097962047,0.03670501847112487,0.0020819771892043896,0.11269462979641968,0.8336125617760098,4.46404030885289,0.06561848743447889,-0.0069659405618102705,0.0026684404682821533,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.7531007402612295,0.7536064989406551,-3.3784676136015195,0.17544429001456133,2.4888561928656383,0.4033334997724412,-1.1043031702765234,-3.9905519481854848,2.274164443324996,2.274164443324996,1.73760000000039,0,0,-0.0002150899595279324,9.999999025923074e-05
+4327,1792842241454969044,20920998000000,1792842241451737512,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762976171581058,-0.004798333999198315,0.10470778777450039,0.9999999251616617,-7.676069948385722e-05,0.0003617261539700622,6.6193051855282e-05,0.6761,-0.0046,0.10421857013126751,1.0,0.0,0.0,0.0,-0.44375565418512547,0.21932779659530344,4.021343332319169,0.019489989795064257,0.03527452170875058,0.0016612435954328454,0.14005206168865564,0.8669438047619532,4.494831692986574,0.0676965861315811,-0.008396437324184554,0.0022477068745106092,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.776974793404478,0.778542332718311,-3.4686757541083937,0.16041839340374964,2.555685883253247,0.42201611699297387,-1.1043031702765234,-4.021343332319169,2.3643725838318703,2.3643725838318703,1.8039000000004317,0,0,-0.00019298996383335242,9.999999025923074e-05
+4382,1792842241913010424,20921456000000,1792842241911747372,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762976893616232,-0.004802866863842009,0.1046275848334065,0.99999992638779,-6.945805049418163e-05,0.0003573691496351561,7.829526852929122e-05,0.6761,-0.0046,0.10413541337680797,1.0,0.0,0.0,0.0,-0.41563726182370253,0.1947759278285781,4.050790542527544,0.017469260586951772,0.03429386047265687,0.001554277275838347,0.16817045405007855,0.8423919359952279,4.524278903194949,0.06567585692346861,-0.009377098560278267,0.002140740554916111,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.7417945241260828,0.769587171352395,-3.429873116771129,0.18551822484026795,2.5223143676395874,0.4177227796055916,-1.1043031702765234,-4.050790542527544,2.3255699464946056,2.3255699464946056,1.872600000000475,0,0,-0.00017008996829462474,9.999999025923074e-05
+4439,1792842242387881633,20921931000000,1792842242383747178,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6762998885954227,-0.004806503943197307,0.10455750854667857,0.999999924063813,-6.411398954501403e-05,0.000362527991531072,8.819344865151381e-05,0.6761,-0.0046,0.10406024939076683,1.0,0.0,0.0,0.0,-0.4137308721184796,0.17917321606400083,4.049376782008611,0.015428334267319384,0.0343324364433764,0.0015327281926683569,0.17007684375530155,0.8267892242306506,4.522865142676016,0.06363493060383622,-0.00933852258955874,0.0021191914717461208,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.737261656396337,0.7439657136165643,-3.3888170247626523,0.19579459116033165,2.496734009407326,0.39885503039492554,-1.1043031702765234,-4.049376782008611,2.284513854486129,2.284513854486129,1.9438500000005199,0,0,-0.00014633997292149014,9.999999025923074e-05
+4506,1792842242945966598,20922489000000,1792842242943747294,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6762961660131875,-0.004816363596217214,0.10447695115454518,0.9999999252845105,-6.237485310642114e-05,0.0003551271232951697,0.00010424942081940501,0.6761,-0.0046,0.10398636183435746,1.0,0.0,0.0,0.0,-0.40525574603266973,0.1529203512164038,4.029255106687747,0.013642423429862834,0.03335867052063769,0.0015136614805118158,0.17855196984111138,0.8005363593830536,4.502743467355152,0.06184901976637967,-0.010312288512297447,0.0021001247595895797,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.7271691960878688,0.7262401021323704,-3.3757455850234255,0.2083405325820968,2.4868013603145194,0.3873258473736011,-1.1043031702765234,-4.029255106687747,2.271442414746902,2.271442414746902,2.0275500000005726,0,0,-0.00011843997835683939,9.999999025923074e-05
+4574,1792842243512873849,20923056000000,1792842243507737597,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6762978722213788,-0.0048135420464810634,0.10441888630678027,0.999999924262999,-5.831218026735325e-05,0.00035743916568965577,0.00010841491250464134,0.6761,-0.0046,0.10392722941506059,1.0,0.0,0.0,0.0,-0.39299268341003646,0.1384325349296408,3.998783271148488,0.012428503188469574,0.032375522594707995,0.0015100098214876087,0.19081503246374462,0.7860485430962906,4.472271631815893,0.06063509952498641,-0.011295436438227145,0.0020964731005653726,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.647515884548519,0.6868651797180683,-3.2866593867756895,0.2316794045783759,2.4110128857559867,0.36137940769178967,-1.1043031702765234,-3.998783271148488,2.182356216499166,2.182356216499166,2.112600000000626,0,0,-9.008998387985556e-05,9.999999025923074e-05
+4653,1792842244170928529,20923714000000,1792842244163746634,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.676296085183171,-0.00481220067357713,0.10436211444942756,0.999999924254065,-6.20385268314068e-05,0.00035658464624596957,0.00010923982739902286,0.6761,-0.0046,0.10387864253351493,1.0,0.0,0.0,0.0,-0.38288504046081395,0.11423374743012105,3.9484320909777235,0.011442531227955584,0.03139354175052903,0.0015246630636022438,0.20092267541296716,0.7618497555967708,4.4219204516451285,0.05964912756447242,-0.012277417282406104,0.0021111263426800077,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.6386152975822237,0.7635815015482177,-3.4128045054255636,0.21273655622460622,2.4912104660209056,0.4131322380869755,-1.1043031702765234,-3.9484320909777235,2.30850133514904,2.30850133514904,2.2113000000006884,0,0,-5.818270063376462e-05,9.999999025923074e-05
+4724,1792842244762881036,20924306000000,1792842244755747170,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6762921849059199,-0.004810600571221947,0.10431878259430875,0.9999999269379172,-7.817790144217616e-05,0.00034899831250725694,9.826198851894743e-05,0.6761,-0.0046,0.10384638353951776,1.0,0.0,0.0,0.0,-0.3572628525110969,0.09978524186162285,3.9079113469760935,0.010483462337762171,0.029397430939701617,0.0015177550197455639,0.22654486336268423,0.7474012500282726,4.3813997076434985,0.05869005867427901,-0.014273528093233517,0.0021042182988233278,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.6286054468473512,0.7571391332908292,-3.41558549510129,0.22545012743833034,2.4902683786878175,0.4022705823507788,-1.1043031702765234,-3.9079113469760935,2.3112823248247665,2.3112823248247665,2.3001000000007443,0,0,-5.950759846409947e-05,9.375000361989123e-05
+4791,1792842245320846647,20924864000000,1792842245319737410,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762906308043726,-0.004808932682823059,0.10428357328962981,0.9999999272485226,-9.194910362032095e-05,0.0003477015275169763,8.714828713224646e-05,0.6761,-0.0046,0.10380652458579981,1.0,0.0,0.0,0.0,-0.3439204955072672,0.09614017348383286,3.8774930620709274,0.009496568474094608,0.02841356147196706,0.001516572078245389,0.23988722036651391,0.7437561816504826,4.350981422738332,0.05770316481061145,-0.015257397560968075,0.002103035357323153,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5767738557444668,0.779659819697414,-3.185714294106996,0.2243325808829629,2.3282096142805173,0.4189023705072756,-1.1043031702765234,-3.8774930620709274,2.0814111238304727,2.0814111238304727,2.383800000000797,0,0,-8.525442806858597e-05,-9.999999025923074e-05
+4870,1792842245979872138,20925523000000,1792842245975746860,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762884898328336,-0.004812849739662405,0.10422040293414125,0.9999999281716634,-9.228288033379967e-05,0.0003431776498339364,9.387493322200261e-05,0.6761,-0.0046,0.10373950136982094,1.0,0.0,0.0,0.0,-0.3434376945761637,0.08138634178074033,3.8832638829452097,0.00846835513492395,0.02842490091168933,0.0015004055622153502,0.2403700212976174,0.7290023499473901,4.356752243612615,0.05667495147144079,-0.015246058121245803,0.002086868841293114,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.591587764646364,0.8005193764251884,-3.3027016212778593,0.2193254463682999,2.4059685154980146,0.4351911531195649,-1.1043031702765234,-3.8832638829452097,2.198398451001336,2.198398451001336,2.4826500000008593,0,0,-0.00011820442164941903,-9.999999025923074e-05
+4942,1792842246579866657,20926123000000,1792842246579737317,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762935103788322,-0.004814296781251835,0.10415254513957607,0.9999999233257253,-8.767196069531809e-05,0.0003559844597294064,0.00010188277427955292,0.6761,-0.0046,0.10365959371858754,1.0,0.0,0.0,0.0,-0.35238706313573154,0.07118276557289227,3.8968258570600742,0.0074224040075272155,0.02945587316020131,0.0014925429335903345,0.23142065273804954,0.718798773739542,4.370314217727479,0.055629000344044055,-0.014215085872733825,0.0020790062126680984,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.571069549856981,0.751053344404861,-3.280306806316658,0.2356517910212437,2.3791851311259617,0.40414262214427454,-1.1043031702765234,-3.8968258570600742,2.1760036360401345,2.1760036360401345,2.572650000000916,0,0,-0.00014820441580495747,-9.999999025923074e-05
+4997,1792842247037839734,20926581000000,1792842247035737185,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762927630503103,-0.004818062682811641,0.10406669693847546,0.999999924042467,-8.036439190818309e-05,0.00035172621513468607,0.00011483971005702194,0.6761,-0.0046,0.10358648344717274,1.0,0.0,0.0,0.0,-0.35877431348984234,0.03989579987160974,4.0162289348174545,0.005356846451132574,0.029469667616858028,0.0013722603875744005,0.22503340238393876,0.6875118080382595,4.489717295484859,0.053563442787649414,-0.014201291416077108,0.0019587236666521643,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.6359289847600933,0.7362931882758762,-3.3916826631876673,0.23887642047279578,2.471885444780068,0.39384604613620866,-1.1043031702765234,-4.0162289348174545,2.287379492911144,2.287379492911144,2.6413500000009593,0,0,-0.00017110441134368515,-9.999999025923074e-05
+5056,1792842247529825099,20927073000000,1792842247527738240,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762939930426051,-0.004820691267698463,0.10398673064019105,0.9999999219934319,-7.276940299938849e-05,0.000355930558837573,0.0001243947179458513,0.6761,-0.0046,0.10349626077797298,1.0,0.0,0.0,0.0,-0.3510863067992751,0.027796439019078578,4.031137012526995,0.00433173206150176,0.02948489380471722,0.0013500563669995532,0.23272140907450597,0.6754124471857283,4.5046253731944,0.0525383283980186,-0.014186065228217916,0.0019365196460773171,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.6097404509550037,0.6443775067668875,-3.4321381939365083,0.2787080843414545,2.4895266726163636,0.33752277407521747,-1.1043031702765234,-4.031137012526995,2.327835023659985,2.327835023659985,2.715150000001006,0,0,-0.00019570440655122668,-9.999999025923074e-05
+5121,1792842248070809022,20927614000000,1792842248063746938,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762987087413029,-0.004813636490794179,0.10388100898919876,0.9999999185939702,-0.00010623159817294471,0.00036643766803509697,9.323733279165556e-05,0.6761,-0.0046,0.10338308119545687,1.0,0.0,0.0,0.0,-0.31416501277189807,0.03210449718854236,4.076197264466709,0.004379223775827605,0.02742585032560366,0.0012859210046281958,0.26964270310188304,0.6797205053551921,4.549685625134114,0.052585820112344445,-0.016245108707331476,0.0018723842837059597,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5593946237829501,0.7112807623465018,-3.456790244989278,0.2872308840049929,2.4900104187741507,0.3789716382122629,-1.1043031702765234,-4.076197264466709,2.3524870747127546,2.3524870747127546,2.796300000001057,0,0,-0.0002227544012814705,-9.999999025923074e-05
+5176,1792842248529791106,20928073000000,1792842248527737719,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6763014767303612,-0.0048181359176938,0.10377525993320018,0.9999999164394758,-0.00010565396227522204,0.0003714054355050962,9.725815345945273e-05,0.6761,-0.0046,0.10327558137629701,1.0,0.0,0.0,0.0,-0.31711675563087804,0.007332092088935593,4.10194126858652,0.0033787185951631507,0.026450842125882817,0.0012395530148704781,0.26669096024290306,0.6549481002555854,4.575429629253925,0.05158531493167999,-0.01722011690705232,0.001826016293948242,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.603520438777738,0.6667721276801771,-3.518616798284328,0.30053595058648963,2.5441258948594885,0.35496335204636753,-1.1043031702765234,-4.10194126858652,2.414313628007805,2.414313628007805,2.8651500000011003,0,0,-0.0002457043968104574,-9.999999025923074e-05
+5231,1792842248987786311,20928531000000,1792842248983737374,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6763159625863455,-0.004822238528380942,0.1036742699507438,0.9999999154859707,-9.935915571392254e-07,0.0003841338120243279,0.00011362721117717228,0.6761,-0.0046,0.10315781611358169,1.0,0.0,0.0,0.0,-0.3316647551808271,0.01003326563659146,4.076610715979033,0.0033552532841412963,0.02746939982126091,0.001272297753382463,0.252142960692954,0.6576492738032412,4.550099076646438,0.051561849620658136,-0.016201559211674228,0.0018587610324602268,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.6948482929887023,0.740849540289067,-3.549394314780192,0.24974412557242956,2.5934758972500904,0.3629568667962585,-1.1043031702765234,-4.076610715979033,2.4450911445036687,2.4450911445036687,2.9338500000011436,0,0,-0.0002686043923491851,-9.999999025923074e-05
+5280,1792842249395742587,20928939000000,1792842249395737547,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6763193439904968,-0.004821923593747956,0.10356810089655347,0.9999999116440413,-1.2580970608265374e-05,0.0003904540283481607,0.00012466813906307958,0.6761,-0.0046,0.10304407412231595,1.0,0.0,0.0,0.0,-0.33129547253445457,-0.007471706632689701,4.123784290659339,0.001303048508027052,0.027633044137375457,0.0012762866411841279,0.25251224333932654,0.6401443015339601,4.597272651326744,0.04950964484454389,-0.01603791489555968,0.0018627499202618918,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.6200045590014367,0.7701260179859573,-3.534895056205186,0.27594504240225926,2.5584496111041553,0.4160086343335735,-1.1043031702765234,-4.123784290659339,2.4305918859286626,2.4305918859286626,2.995050000001182,0,0,-0.0002890043883749512,-9.999999025923074e-05
+5329,1792842249804751906,20929348000000,1792842249803737194,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.676319086778629,-0.004822284312988461,0.10344929313300771,0.9999999119720876,-4.766613531921716e-05,0.0003907898798578703,0.00011184762289497799,0.6761,-0.0046,0.10292169952828731,1.0,0.0,0.0,0.0,-0.3135108341136708,-0.03824814624559636,4.13851284929779,0.0003085582940026768,0.02650195660080634,0.0011753751019182004,0.2702968817601103,0.6093678619210534,4.612001209965195,0.048515154630519516,-0.017169002432128797,0.0017618383809959643,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.6328855359896153,0.7127592123308254,-3.630717063937866,0.31446766449248775,2.6266548908073566,0.3834083455426068,-1.1043031702765234,-4.13851284929779,2.5264138936613425,2.5264138936613425,3.056400000001221,0,0,-0.0003094543843909766,-9.999999025923074e-05
+5371,1792842250154735569,20929698000000,1792842250151737630,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.676322679257171,-0.00482396396577019,0.10333921811041251,0.9999999087482125,-6.828711018971853e-05,0.0003971487452421276,0.00010749965443000008,0.6761,-0.0046,0.1028103367443488,1.0,0.0,0.0,0.0,-0.31001687495834485,-0.04150879680225583,4.14456910932861,-0.000686588249299569,0.02550637033040036,0.001142518389425554,0.27379084091543626,0.6061072113643939,4.618057469996015,0.04752000808721727,-0.018164588702534776,0.001728981668503318,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.607968375920754,0.6968946606436792,-3.674963453072597,0.3123674492021639,2.6534627357781218,0.3743091129293976,-1.1043031702765234,-4.14456910932861,2.570660282796074,2.570660282796074,3.108900000001254,0,0,-0.00032695438098170735,-9.999999025923074e-05
+5414,1792842250512738374,20930056000000,1792842250511737368,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6763232354853523,-0.004826422639007653,0.10321767228509422,0.999999906574429,-7.505713019389018e-05,0.0003980057459397555,0.00011938111623945815,0.6761,-0.0046,0.1026900919265833,1.0,0.0,0.0,0.0,-0.3003840057777783,-0.0673629221086679,4.147126763737679,-0.0027272941172728216,0.0255450545525619,0.0011195759182812098,0.2834237100960028,0.5802530860579819,4.620615124405084,0.04547930221924402,-0.018125904480373236,0.0017060391973589737,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.6178251812369004,0.6511318369387229,-3.599537785793935,0.3335887021241424,2.6118388086043334,0.3478879673373432,-1.1043031702765234,-4.147126763737679,2.4952346155174117,2.4952346155174117,3.1626000000012877,0,0,-0.00034485437749451196,-9.999999025923074e-05
+5455,1792842250854717530,20930398000000,1792842250847737658,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.67632165065487,-0.004821971930895805,0.1030985878691207,0.9999999064112579,-8.138767260463426e-05,0.00039613361127557693,0.00012277845332772872,0.6761,-0.0046,0.1025692361800515,1.0,0.0,0.0,0.0,-0.2894953717959702,-0.08494059396012987,4.133379292836792,-0.004741146503695955,0.024572974406928783,0.0010919227251007075,0.29431234407781093,0.5626754142065199,4.606867653504197,0.043465449832820885,-0.019097984626006353,0.0016783860041784714,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5521471454784856,0.6564828137246234,-3.4564835683585162,0.3408200772772994,2.508629035457947,0.35069583537004245,-1.1043031702765234,-4.133379292836792,2.352180398081993,2.352180398081993,3.21390000000132,0,0,-0.00036195437416316887,-9.999999025923074e-05
+5492,1792842251162712157,20930706000000,1792842251155737916,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6763203219434776,-0.004830400846977463,0.10298072448729265,0.9999999057101352,-9.063262742302809e-05,0.0003942901489080887,0.00012784205220228048,0.6761,-0.0046,0.10245539033327276,1.0,0.0,0.0,0.0,-0.26999132704872425,-0.1091722316484196,4.142343336164407,-0.006756693267849251,0.023596653858846555,0.001048622637817931,0.31381638882505686,0.5384437765182302,4.615831696831812,0.04144990306866759,-0.02007430517408858,0.0016350859168956949,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5737139518257626,0.6486363627626514,-3.4497478415511753,0.35032071673062093,2.5163386809530177,0.3481652970941285,-1.1043031702765234,-4.142343336164407,2.345444671274652,2.345444671274652,3.260100000001349,0,0,-0.00037735437116301194,-9.999999025923074e-05
+5530,1792842251479656992,20931023000000,1792842251475737956,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6763223615674848,-0.004825532857764361,0.10285731566597395,0.9999999093279294,-3.9465362085340995e-05,0.00039946379364744016,0.00010797296029343994,0.6761,-0.0046,0.10233326469810505,1.0,0.0,0.0,0.0,-0.2502898369495369,-0.1095716480434833,4.1311917965746465,-0.006701232859588568,0.02157199790425823,0.001028164394137643,0.3335178789242442,0.5380443601231665,4.6046801572420515,0.04150536347692827,-0.022098961128676906,0.0016146276732154068,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.509428994906801,0.6103607410901671,-3.544198220600656,0.37369204866939354,2.564149521372914,0.3385054033491472,-1.1043031702765234,-4.1311917965746465,2.439895050324133,2.439895050324133,3.307650000001379,0,0,-0.0003932043680751881,-9.999999025923074e-05
+5563,1792842251754644143,20931298000000,1792842251751737223,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.676318524202061,-0.004829487616950157,0.10273599170760614,0.9999999110735083,-4.2983848534643894e-05,0.0003902081399158562,0.0001232308249341724,0.6761,-0.0046,0.10222324974725404,1.0,0.0,0.0,0.0,-0.23195546330006345,-0.1386428600846238,4.113126423580487,-0.008712929328699805,0.020601939648369382,0.0010073792238027765,0.35185225257371766,0.508973148082026,4.586614784247892,0.039493667007817035,-0.023069019384565754,0.0015938425028805404,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5585156419755732,0.5944294348250948,-3.5166491713791084,0.3629207218598588,2.5711986532926474,0.31789074447083104,-1.1043031702765234,-4.113126423580487,2.412346001102585,2.412346001102585,3.348900000001405,0,0,-0.00040695436539647654,-9.999999025923074e-05
+5595,1792842252020598115,20931564000000,1792842252019737008,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.676318880755274,-0.004813552641181481,0.10262707453884219,0.9999999101572509,-3.292374887372397e-05,0.00038950663087969367,0.00013538451167211817,0.6761,-0.0046,0.10211323763640448,1.0,0.0,0.0,0.0,-0.20377021236129167,-0.14487125122243005,4.081722107748314,-0.008657412049435133,0.018717853066255407,0.0010052146721150357,0.38003750351248944,0.5027447569442197,4.555210468415719,0.03954918428708171,-0.02495310596667973,0.0015916779511927995,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5122184766998923,0.7147064880019093,-3.5529768300819873,0.3299609374168621,2.5849190075026245,0.3965240402794444,-1.1043031702765234,-4.081722107748314,2.448673659805464,2.448673659805464,3.3888000000014302,0,0,-0.0004202543628054319,-9.999999025923074e-05
+5622,1792842252245655664,20931789000000,1792842252243737437,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6763136318266112,-0.004791462716033834,0.10251719248864907,0.9999999132598504,-3.648132819429262e-05,0.0003809621696811612,0.00013586792908287608,0.6761,-0.0046,0.10201742040502092,1.0,0.0,0.0,0.0,-0.10391486533064259,-0.07606748300350008,4.074436384582437,-0.004403253917537445,0.012420891248048412,0.0009672162020609772,0.4798928505431385,0.5715485251631497,4.547924745249842,0.043803342418979395,-0.031250067784886724,0.0015536794811387411,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5397893234233309,0.7840583458564117,-3.4774234839448113,0.3316682457462208,2.5519426603263407,0.43869181500437476,-1.1043031702765234,-4.074436384582437,2.373120313668288,2.373120313668288,3.4225500000014515,0,0,-0.00043150436061375883,-9.999999025923074e-05
+5658,1792842252545669652,20932089000000,1792842252539737202,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6763089982300244,-0.004788975486013242,0.10238199434381758,0.9999999147634091,-4.933178744207039e-05,0.00037564733943655135,0.00013554146999769065,0.6761,-0.0046,0.10188572659727659,1.0,0.0,0.0,0.0,-0.09624633986720754,-0.10284389506131963,4.032819901712058,-0.007052896232741114,0.011468357855296055,0.0009625934799727435,0.48756137600657357,0.5447721131053301,4.506308262379463,0.041153700103775726,-0.03220260117763908,0.0015490567590505074,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5524987475517689,0.775038105581724,-3.502296294665682,0.3286199548130307,2.584326551255652,0.4370083188189549,-1.1043031702765234,-4.032819901712058,2.3979931243891586,2.3979931243891586,3.46755000000148,0,0,-0.00044650435769152806,-9.999999025923074e-05
+5691,1792842252820610752,20932364000000,1792842252819737433,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.676309187672557,-0.004795945057057198,0.10225215267566212,0.9999999094490595,-5.4060844550558605e-05,0.00038284371985697097,0.00015183164533927668,0.6761,-0.0046,0.10176105414928108,1.0,0.0,0.0,0.0,-0.10480042777145754,-0.13252165725519582,4.001279710746018,-0.009326873418429742,0.011517701319295921,0.0009622341093378328,0.47900728810232357,0.515094350911454,4.474768071413423,0.0388797229180871,-0.032153257713639215,0.0015486973884155967,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.4955951336485713,0.8127491093818929,-3.35408992253616,0.31297530760832526,2.4765773660656163,0.46152275311428176,-1.1043031702765234,-4.001279710746018,2.2497867522596366,2.2497867522596366,3.508800000001506,0,0,-0.0004602543550128165,-9.999999025923074e-05
+5722,1792842253079643638,20932623000000,1792842253079736901,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6762998850969081,-0.00479391725912568,0.10212332593401884,0.9999999159772427,-0.00010619609116021929,0.0003667093858714807,0.00011719636716137,0.6761,-0.0046,0.10164017772166073,1.0,0.0,0.0,0.0,-0.06518527538439034,-0.1467772330039916,3.985252221157845,-0.010659475216722752,0.009746566330062545,0.0009279460435833874,0.5186224404893908,0.5008387751626582,4.45874058182525,0.03754712111979409,-0.03392439270287259,0.0015144093226611513,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.4981480125528217,0.6981608523270499,-3.3973760221796114,0.37167465605063876,2.514126181011724,0.3886026615025451,-1.1043031702765234,-3.985252221157845,2.293072851903088,2.293072851903088,3.5476500000015303,0,0,-0.00047320435248995727,-9.999999025923074e-05
+5752,1792842253329613292,20932873000000,1792842253327738956,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6762962606258286,-0.004799935882855192,0.10199098684767281,0.9999999149057142,-9.925339568132858e-05,0.0003641588681855402,0.00013845039150518364,0.6761,-0.0046,0.10152032038384386,1.0,0.0,0.0,0.0,-0.0666720397433983,-0.18136833885422282,3.940736780689103,-0.01243581553684514,0.008554796180134175,0.0009313754420445749,0.5171356761303828,0.46624766931242695,4.414225141356508,0.0357707807996717,-0.03511616285280096,0.0015178387211223388,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.4571598506639618,0.7187855572570403,-3.421405190070681,0.34683438255202176,2.520785453565074,0.4114043465587035,-1.1043031702765234,-3.940736780689103,2.3171020197941576,2.3171020197941576,3.585150000001554,0,0,-0.00048570435005476496,-9.999999025923074e-05
+5781,1792842253570632480,20933114000000,1792842253563737175,DOWN_FORCE_DETACH,10,0.0747,0.07470239698886871,0.6762898258537596,-0.0047998768647796895,0.10186424007674381,0.9999999240986999,3.408620435576391e-05,0.0003489417578932413,0.00014255959902445566,0.6761,-0.0046,0.10140181963576471,1.0,0.0,0.0,0.0,-0.07070077872201075,-0.2095991213264275,3.909951691013796,-0.014474740974527042,0.008731819178614895,0.000935203195817279,0.5131069371517704,0.4380168868402223,4.383440051681201,0.0337318553619898,-0.03493913985432024,0.0015216664748950429,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.5199201386185561,0.8976752202907445,-3.304158454354427,0.26955128842124165,2.4755283945092548,0.4770800586262428,-1.1043031702765234,-3.909951691013796,2.1998552840779038,2.1998552840779038,3.6213000000015767,0,0,-0.0004977543477072396,-9.999999025923074e-05
+5811,1792842253820633973,20933364000000,1792842253815737314,DOWN_FORCE_DETACH,10,0.0747,0.07470174133777618,0.6763065727149902,-0.004805778256715623,0.10174547123335746,0.9999999201337443,1.1754780776229898e-06,0.00036203141576481864,0.0001418000061164987,0.6761,-0.0046,0.10127582479914352,1.0,0.0,0.0,0.0,-0.08121328958393936,-0.17543437644841214,3.8400450834467366,-0.01244274657385306,0.009589402030611892,0.0010254134574219638,0.5025944262898417,0.4721816317182376,4.3135334441141415,0.03576384976266378,-0.034081557002323244,0.0016118767364997277,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.589245691626414,0.7572239556621065,-3.2910103683577043,0.3156367385981277,2.478985347772824,0.3933927565930715,-1.1043031702765234,-3.8400450834467366,2.186707198081181,2.186707198081181,3.6588000000016003,0,0,-0.0005102543452720473,-9.999999025923074e-05
+5850,1792842254144582679,20933688000000,1792842254143737832,DOWN_SETTLE,10,0.0747,0.07470174133777618,0.6762940637711975,-0.004811648909513,0.10163025172162077,0.9999999265820264,-2.0146396002617318e-05,0.00034106036758367055,0.00014680175266931005,0.6761,-0.0046,0.10119928919796377,1.0,0.0,0.0,0.0,-0.057612721759120245,-0.22206523218627677,3.6862700929077192,-0.016427976324077262,0.007759404566260487,4.699219215036272e-05,0.5261949941146609,0.425550775980373,4.159758453575124,0.03177862001243958,-0.03591155446667465,0.0006334554712281266,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.3963844606495248,0.775409804376406,-3.0921276031136173,0.33585203170456723,2.3043364213483772,0.43787724783623116,-1.1043031702765234,-3.6862700929077192,1.987824432837094,0.0,0.0,0,0,-3.5801271015054574e-05,0.0003616290001520664
+5924,1792842254756553623,20934300000000,1792842254755737690,DOWN_PEAK_HOLD,10,0.0747,0.07470239698886871,0.6762715754312596,-0.004803860667582251,0.10156964089543277,0.9999999408300624,-1.9946306717851497e-05,0.0002975680546681454,0.00014435419556822212,0.6761,-0.0046,0.10119671104249965,1.0,0.0,0.0,0.0,-0.03500469449303356,-0.26422221691907344,3.336366470349013,-0.019377899908566486,0.005786928270741426,0.0002684360702971169,0.5488030213807475,0.38339379124757633,3.809854831016418,0.028828696427950353,-0.03788403076219371,0.0008548993493748808,0.5838077158737811,0.6476160081666498,0.473488360667405,0.04820659633651684,-0.043670959032935136,0.0005864632790777639,1,1.2542240433906333,0.6642765586841576,-2.6451775868569922,0.3513639979439606,1.9924961241531567,0.3648244391773592,-1.1043031702765234,-3.336366470349013,1.5408744165804689,0.0,0.0,0,0,0.0,0.0