Upload Fixed (part 40)

Fixed/digit/cylinder_15A_20/press_depth_09/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
+15637,1792836750876825540,15430324000000,1792836750875462191,XJC_ZERO_HOLD_BEFORE_DOWN,9,0.0718,0.07178614288568497,0.6758860623161933,-0.004874511984668597,0.09972783541920757,0.9999999124245009,-0.0002461645805641539,-0.00032359752914633776,3.579794406534389e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.0035033587522533827,0.0007171942534893727,-0.0018842175867936906,0.00023688950406831888,0.00021689843731542702,6.796226070757919e-06,0.8366166643315385,1.0248074922957697,0.5209788182338735,0.06568643086543298,-0.05408138894863832,0.0006161118426676786,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,0.16956767322867833,1.4127655232440708,1.4604194533068313,-0.17381530713940382,-0.970112776119453,0.8548729145341395,1.6356988693983474,0.0018842175867936906,0.1752794160915161,0.0,0.0,0,0,0.0,0.0
+15829,1792836752469974047,15431917000000,1792836752467452959,DOWN_FORCE_DETACH,9,0.0718,0.07179927825927734,0.6758844879528998,-0.004872087740418909,0.09970985516115438,0.9999999121492807,-0.00024340579085297502,-0.0003262662230765027,3.805610959552403e-05,0.6761,-0.0046,0.0999537222726707,1.0,0.0,0.0,0.0,-0.004864688681556539,-0.01906874673252612,0.079566631313291,-0.0007939044352082841,0.00021992252965220144,-7.061056879184428e-05,0.8282486168977286,1.0050215513097542,0.6024296671339582,0.06465563692615638,-0.05407836485630155,0.0005387050478050764,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,0.27858560810224475,1.4166141219907973,1.305551570967182,-0.16916432026443173,-0.8400201794184406,0.8525998401397537,1.6356988693983474,-0.079566631313291,0.3301472984311653,0.3301472984311653,0.466980777481802,0,0,-6.670132601391122e-05,-9.999999025923074e-05
+15966,1792836753611999093,15433059000000,1792836753611452612,DOWN_FORCE_DETACH,9,0.0718,0.07179862260818481,0.6759234724180796,-0.004884434047027801,0.0996636151992287,0.9999999366245643,-0.0002342963344614357,-0.00024279280897438873,6.59591594473061e-05,0.6761,-0.0046,0.0998596530921231,1.0,0.0,0.0,0.0,-0.013093844535784882,-0.039174384365132764,0.22972419560337998,-0.0028638437595481236,0.00022658488823164985,-0.00021447612328565606,0.8200194610435002,0.9849159136771476,0.7525872314240472,0.06258569760181654,-0.0540717024977221,0.00039483949331126463,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,0.5034461803408251,1.3963154316438506,1.1184653184961209,-0.1201925093660061,-0.662141894854924,0.8320191131951445,1.6356988693983474,-0.22972419560337998,0.5172335509022266,0.5172335509022266,0.6382807774817831,0,0,-9.766082607473437e-05,-9.999999025923074e-05
+16116,1792836754862002996,15434309000000,1792836754855453200,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6759283720237568,-0.00488606096567178,0.09959528318607432,0.9999999348690035,-0.00022235880077809583,-0.0002555213798048501,8.34879695118193e-05,0.6761,-0.0046,0.09976819336121598,1.0,0.0,0.0,0.0,-0.04252872296672039,-0.03783719749547165,0.5304996046210224,-0.0019586638766597164,0.002169870524894195,-4.596000339245087e-05,0.7905845826125647,0.9862531005468087,1.0533626404416896,0.06349087748470494,-0.052128416861059554,0.0005633556132044698,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,0.5504024358214865,1.2819383214869633,0.6728324148395491,-0.042067710874328534,-0.3695396709810485,0.7499353509111398,1.6356988693983474,-0.5304996046210224,0.9628664545587983,0.9628664545587983,0.8257807774817625,0,0,-4.251607651076383e-05,9.999999025923074e-05
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+16473,1792836757837275755,15437284000000,1792836757831453134,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6759467903280114,-0.004893657725947008,0.09953679847356045,0.9999999448050432,-0.00021680204009853069,-0.00020899466897689165,0.00010559772041905527,0.6761,-0.0046,0.09965902183013163,1.0,0.0,0.0,0.0,-0.10946577798609936,-0.035481998418484206,0.7428294548131587,-0.0011174935924257168,0.006941687482256646,0.0005163313424558103,0.7236475275931857,0.9886082996237961,1.2656924906338258,0.06433204776893894,-0.0473565999036971,0.001125646959052731,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,0.6557573779820801,1.326353551983325,0.5047695626809734,-0.005859300577348808,-0.2550983143806962,0.7701230016105103,1.6356988693983474,-0.7428294548131587,1.130929306717374,1.130929306717374,1.2720307774819146,0,0,-7.330744080799446e-05,-9.687500387845489e-05
+16650,1792836759312314131,15438759000000,1792836759311452548,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6759598011031793,-0.004900275512429394,0.09947570870163282,0.9999999520842562,-0.00020440353861583425,-0.00017793800728885492,0.00011760785852775353,0.6761,-0.0046,0.09955358817129889,1.0,0.0,0.0,0.0,-0.14805811120005297,-0.023425249285524696,1.0030758819606853,-0.00020589874514340134,0.009119476923746955,0.0003463161982546072,0.6850551943792321,1.0006650487567557,1.5259389177813525,0.06524364261622126,-0.045178810462206793,0.0009556318148515279,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,0.6807271947624001,1.3003408632430484,0.13093508889147534,0.025981014462166614,-0.01665652747496526,0.7527661592621624,1.6356988693983474,-1.0030758819606853,1.504763780506872,1.504763780506872,1.493280777482054,0,0,-5.651015270028014e-05,9.93114021837826e-05
+16811,1792836760654396393,15440101000000,1792836760651453067,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6759639579975129,-0.004898627834854291,0.0994274516472625,0.9999999554705971,-0.000199114324104736,-0.0001671048111542345,0.00011371515342128034,0.6761,-0.0046,0.09949600147682676,1.0,0.0,0.0,0.0,-0.15567344006559003,-0.019055697307212238,1.1836890079463644,-0.00023943951416452447,0.009080363198374047,0.00019948864614179778,0.6774398655136951,1.0050346007350681,1.7065520437670316,0.06521010184720014,-0.0452179241875797,0.0008088042627387185,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,0.7108221713603854,1.2841472837308514,-0.0004552146789830544,0.01627383821197278,0.08259259751179436,0.7349354648345385,1.6356988693983474,-1.1836890079463644,1.6361540840773305,1.6361540840773305,1.6945807774821808,0,0,-3.528382723080726e-05,-9.170018497173799e-05
+16990,1792836762145524487,15441592000000,1792836762143453175,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6759706826411054,-0.004897228014186892,0.09938736617391844,0.9999999569489438,-0.00020062250072597486,-0.0001540425277397954,0.00011647526103160672,0.6761,-0.0046,0.09942778405663608,1.0,0.0,0.0,0.0,-0.17070057154858564,-0.020347099450423345,1.364127041993472,-0.00030131997421750656,0.010055151038254106,6.760662915287498e-05,0.6624127340306994,1.003743198591857,1.886990077814139,0.06514822138714715,-0.04424313634769964,0.0006769222457497957,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,0.7071246327592147,1.3359290429462443,-0.1354404505283621,0.004528587942702677,0.1689670227408099,0.7689367772043625,1.6356988693983474,-1.364127041993472,1.7711393199267096,1.7711393199267096,1.9182307774823217,0,0,-5.552721833309982e-05,-9.999950453665746e-05
+17153,1792836763504506480,15442951000000,1792836763499452896,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6759840464288943,-0.004904610773700623,0.09933248328074443,0.9999999577331533,-0.00021309447644745646,-0.00012776701278144082,0.00011934358006406534,0.6761,-0.0046,0.09934374114470226,1.0,0.0,0.0,0.0,-0.18997846927815587,0.001936250539261719,1.5659305632170069,0.0016385573885042415,0.011994107665595395,0.0009839390114537079,0.6431348363011292,1.026026548581542,2.088793599037674,0.0670880987498689,-0.042304179720358354,0.0015932546280506285,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,0.8162540378944255,1.2667734883823578,-0.35011878582770717,0.03092725669544306,0.332052121123801,0.7271062648607414,1.6356988693983474,-1.5659305632170069,1.9858176552260547,1.9858176552260547,2.12208077748245,0,0,-6.000815724468834e-05,-9.999997638144293e-05
+17236,1792836764195597006,15443642000000,1792836764195452958,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6760428104976736,-0.004903621151525045,0.09933401547957059,0.9999999635359321,-0.00021017666819621203,-6.675987581407181e-05,0.00012545870121217985,0.6761,-0.0046,0.09929160413765878,1.0,0.0,0.0,0.0,-0.2684847597124995,0.14817075613798858,1.51939843197125,0.01164435570840669,0.016874802436589474,0.0012052526713099035,0.5646285458667856,1.172261054180269,2.042261467791917,0.07709389706977135,-0.037423484949364275,0.0018145682879068242,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.0660585399635003,1.2926316874678185,-0.4297885156701397,0.034968132824138264,0.4175853947536402,0.744208625398431,1.6356988693983474,-1.51939843197125,2.065487385068487,2.065487385068487,2.2257307774825152,0,0,-9.171786434089414e-05,-9.999999025923074e-05
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+17582,1792836767079803669,15446526000000,1792836767079463631,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.676080185062761,-0.004913106935221446,0.09918972073031748,0.9999999860033847,4.6608701927377886e-06,-4.614633833023383e-06,0.0001392590261100579,0.6761,-0.0046,0.09906584885041655,1.0,0.0,0.0,0.0,-0.36215602595661817,0.20054949003053268,2.086585617936291,0.015537621817735506,0.02358424063441539,0.0012432752854403528,0.4709572796226669,1.224639788072813,2.6094486537569583,0.08098716317910017,-0.030714046751538358,0.0018525909020372735,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.2247438885372408,1.2532671589195536,-0.9980897017423661,0.02251324298333201,0.8206440947990136,0.680311501744319,1.6356988693983474,-2.086585617936291,2.6337885711407134,2.6337885711407134,2.658330777482788,0,0,-2.9332568633770546e-05,-9.740769260256025e-12
+17745,1792836768437882705,15447884000000,1792836768431462920,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6760911624975722,-0.004915414581504308,0.0991518537088701,0.9999999861672467,-1.382634976957567e-05,1.2720877950699581e-05,0.00013695029104517886,0.6761,-0.0046,0.09900505999501509,1.0,0.0,0.0,0.0,-0.3860244653437701,0.23941198138097897,2.203898978444591,0.01749843729291596,0.024710285316074197,0.001860651368491215,0.447088840235515,1.2635022794232593,2.7267620142652578,0.08294797865428062,-0.029588002069879552,0.0024699669850881357,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.2546398265860739,1.4024646709905635,-1.1621398345771883,-0.004240454118976788,0.9277411317202603,0.781225270206984,1.6356988693983474,-2.203898978444591,2.7978387039755357,2.7978387039755357,2.862030777482916,0,0,-6.165921466047409e-05,-9.996236757648375e-05
+17959,1792836770220911074,15449667000000,1792836770219453295,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.676114702942525,-0.004913225151820863,0.09907399309895625,0.999999985501746,-4.6130005088468947e-05,5.333088855877388e-05,0.00012436724376371975,0.6761,-0.0046,0.0988839197029141,1.0,0.0,0.0,0.0,-0.417340066224991,0.28239410843199053,2.5140971837386132,0.02146734889185707,0.026642059255515875,0.0016833793021082404,0.4157732393542941,1.3064844064742709,3.0369602195592806,0.08691689025322173,-0.027656228130437874,0.002292694918705161,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.3735174120914322,1.3333828599484223,-1.5176271557945418,0.030904653833896775,1.177380803334676,0.7625784663273004,1.6356988693983474,-2.5140971837386132,3.1533260251928894,3.1533260251928894,3.1294807774830846,0,0,-5.9318326935094194e-05,9.987373014575524e-05
+18153,1792836771837998981,15451284000000,1792836771831452963,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6761273033785598,-0.004918650297066393,0.09901945529142181,0.9999999822248496,-5.819332679978008e-05,7.428550285362515e-05,0.00013449299506308857,0.6761,-0.0046,0.098804054489259,1.0,0.0,0.0,0.0,-0.4497281359115789,0.30154323487031,2.7071769343366245,0.022369115042895127,0.029568879335827733,0.0015826589222446203,0.3833851696677062,1.3256335329125903,3.2300399701572915,0.08781865640425979,-0.024729408050126016,0.002191974538841541,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.4633032792471297,1.2121051667342684,-1.7841522615745522,0.08022575172050948,1.369923636534938,0.7018814888341548,1.6356988693983474,-2.7071769343366245,3.4198511309728996,3.4198511309728996,3.3720307774832374,0,0,-5.064866519658017e-05,9.962319444246077e-05
+18339,1792836773388127138,15452834000000,1792836773387462639,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6761411971662256,-0.0049188749874295844,0.09895823932265892,0.9999999796098371,-7.078710054282797e-05,9.72042915296856e-05,0.0001332805379990527,0.6761,-0.0046,0.0987089429544629,1.0,0.0,0.0,0.0,-0.4825126061829886,0.33714711897578575,2.9169965021506705,0.02533289456988802,0.031488518138577073,0.002451355104461021,0.3506006993962965,1.361237417018066,3.4398595379713375,0.09078243593125268,-0.022809769247376672,0.003060670721057942,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.4655127218537776,1.1833208489819238,-1.8290499425535691,0.10385808968917017,1.3902891842000538,0.6954325974029781,1.6356988693983474,-2.9169965021506705,3.4647488119519165,3.4647488119519165,3.604530777483384,0,0,-6.888971395699184e-05,-9.999847758035969e-05
+18514,1792836774846246837,15454292000000,1792836774839462409,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6761594075363055,-0.0049224844176064386,0.09890007481232571,0.9999999746698367,-9.8653451104537e-05,0.00012853043240588014,0.00012589922515247973,0.6761,-0.0046,0.09862359138467144,1.0,0.0,0.0,0.0,-0.5193857310227673,0.3793630126578833,3.1407677450635036,0.02749461239707361,0.033423470836829824,0.0023741526812681665,0.3137275745565178,1.4034533107001637,3.6636307808841706,0.09294415375843827,-0.02087481654912392,0.002983468297865087,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.5450589220555373,1.317612947789347,-2.170792132629058,0.07187557499733173,1.624134358992142,0.789116147017867,1.6356988693983474,-3.1407677450635036,3.806491002027405,3.806491002027405,3.8232307774835217,0,0,-4.6427365567287875e-05,9.999929636984035e-05
+18720,1792836776563291656,15456009000000,1792836776555452892,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6761759571964231,-0.004922623381692565,0.0988442058078625,0.999999969271471,-0.0001094560508499598,0.00015689255121160872,0.00012768720361876787,0.6761,-0.0046,0.09853353733101854,1.0,0.0,0.0,0.0,-0.5556781520984821,0.4168370502718408,3.3263326658710843,0.030236311121943416,0.03636856687879059,0.0022952646577821217,0.277435153480803,1.4409273483141212,3.8491957016917517,0.09568585248330808,-0.017929720507163162,0.0029045802743790424,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.6755141405037008,1.202354738863989,-2.3640241586235327,0.10898056516988795,1.7764619255564538,0.7121337157898374,1.6356988693983474,-3.3263326658710843,3.9997230280218803,3.9997230280218803,4.080780777483445,0,0,-6.682516274644635e-05,-9.921908713928502e-05
+18903,1792836778088369668,15457534000000,1792836778087453241,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6761907896335378,-0.004924486854053425,0.09876458578065472,0.999999964686619,-0.00011639026834424858,0.0001775417632824158,0.00013039115220738232,0.6761,-0.0046,0.09841902500417123,1.0,0.0,0.0,0.0,-0.6025796438797063,0.4470024952615894,3.6040907809116103,0.033178505956418025,0.03840305213567687,0.002136620116048962,0.23053366169957876,1.4710927933038698,4.126953816732278,0.09862804731778269,-0.015895235250276876,0.002745935732645883,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.8160542748219253,1.2234547185073785,-2.6571767762659784,0.11525803681281664,1.995406276579509,0.7302213902443211,1.6356988693983474,-3.6040907809116103,4.292875645664326,4.292875645664326,4.3095307774829115,0,0,-6.710557142322748e-05,9.999971270347458e-05
+19068,1792836779463460919,15458909000000,1792836779459453454,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6762086259100196,-0.004926547733517746,0.09871874875440906,0.9999999573524331,-0.00012373412131123899,0.0002096848212425201,0.00013213682054280938,0.6761,-0.0046,0.09834818337346814,1.0,0.0,0.0,0.0,-0.6368788010115417,0.4886632571162739,3.762124350285145,0.03613460631304151,0.041221724800986924,0.0020859714103195186,0.19623450456774338,1.5127535551585543,4.284987386105812,0.10158414767440617,-0.013076562584966827,0.0026952870269164393,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,1.848358472633013,1.2428706340207554,-2.810019878668306,0.11450532221079422,2.0948477352501294,0.7439086703136838,1.6356988693983474,-3.762124350285145,4.445718748066653,4.445718748066653,4.515780777482431,0,0,-4.846485090611997e-05,-9.590115787461712e-05
+19267,1792836781121596684,15460567000000,1792836781119452564,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.676226714725441,-0.004932871244024626,0.09865480371259842,0.9999999498794372,-0.00013446378235666662,0.00023918312355615743,0.00012804261821312032,0.6761,-0.0046,0.0982378377128771,1.0,0.0,0.0,0.0,-0.6824438822277911,0.556454878814804,3.958183384894024,0.04009295566377345,0.044133260169034856,0.0030411234692878293,0.15066942335149403,1.5805451768570844,4.481046420714692,0.10554249702513811,-0.010165027216918893,0.00365043908588475,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.0184818192574836,1.2455464870531272,-3.1003435786497504,0.11703404935769968,2.3195544884580603,0.7425324258936792,1.6356988693983474,-3.958183384894024,4.736042448048098,4.736042448048098,4.764480777481851,0,0,-8.208539272328152e-05,9.809261322513691e-05
+19457,1792836782705649891,15462151000000,1792836782703453040,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6762514405682859,-0.004934478503011891,0.09858001804352409,0.9999999382998123,-0.00013588976480733458,0.00028277221783574297,0.0001281291556591877,0.6761,-0.0046,0.09812214028235874,1.0,0.0,0.0,0.0,-0.7244386238675322,0.6038971026951288,4.239604067252054,0.043023070276925174,0.04705872893857855,0.0028904970031253512,0.10867468171175286,1.627987400737409,4.762467103072721,0.10847261163828983,-0.007239558447375198,0.003499812619722272,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.103944469099647,1.2615116257033105,-3.360845847894336,0.12503369069490025,2.498547216150601,0.7563132936546214,1.6356988693983474,-4.239604067252054,4.996544717292683,4.996544717292683,5.002080777481297,0,0,-5.802183196815391e-05,7.616029615154502e-05
+19652,1792836784330706168,15463776000000,1792836784323453257,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6762659460816357,-0.004939177938258339,0.09851903490159884,0.9999999313108379,-0.00014189789460427286,0.0003031659969953835,0.00012952432075566758,0.6761,-0.0046,0.09803470234399415,1.0,0.0,0.0,0.0,-0.7631918696585449,0.6277739463312915,4.431334993408102,0.044974347922249136,0.04900559695998732,0.0027854468588146453,0.06992143592074013,1.6518642443735718,4.9541980292287695,0.1104238892836138,-0.0052926904259664315,0.003394762475411566,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.1335995209449217,1.181408553452683,-3.529410360195405,0.16087544907724535,2.6079819712381602,0.7072373779715748,1.6356988693983474,-4.431334993408102,5.165109229593752,5.165109229593752,5.245830777480729,0,0,-5.834003836554936e-05,-9.982840529077492e-05
+19827,1792836785788813444,15465234000000,1792836785787452996,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6762852890965602,-0.004938502071975004,0.0984678398667272,0.9999999186477087,-0.00015418965415412602,0.00033858112050733346,0.00012544247963963123,0.6761,-0.0046,0.09793981903684003,1.0,0.0,0.0,0.0,-0.7938519602900633,0.6724469425696378,4.6031391127150405,0.04792415936584801,0.05194951947510229,0.002724704219742704,0.03926134528922176,1.6965372406119181,5.126002148535708,0.11337370072721267,-0.00234876791085146,0.003334019836339625,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.225962783347473,1.256292341097515,-3.782916479377307,0.14762193967606438,2.7860089283545144,0.7533860924228754,1.6356988693983474,-4.6031391127150405,5.4186153487756545,5.4186153487756545,5.46453077748022,0,0,-7.454448386759604e-05,5.4366548789214167e-05
+19992,1792836787164919883,15466609000000,1792836787163453019,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.676300368857069,-0.004941674486096328,0.09839887503481866,0.999999907207662,-0.0001708984973556656,0.00036526660377556665,0.00012000643065113102,0.6761,-0.0046,0.097844108112411,1.0,0.0,0.0,0.0,-0.8242095979296804,0.7074441157273219,4.835130243853957,0.050880062344726806,0.05386255022634604,0.0036094332397336964,0.008903707649604728,1.7315344137696023,5.357993279674624,0.11632960370609147,-0.000435737159607706,0.004218748856330617,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.2980320661663263,1.1350839345740382,-3.905043885094152,0.18428380114481904,2.8797486888917203,0.6733262940814632,1.6356988693983474,-4.835130243853957,5.540742754492499,5.540742754492499,5.670780777479739,0,0,-5.782101508286364e-05,-9.999695102370083e-05
+20169,1792836788639337372,15468084000000,1792836788631462628,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6763159310690346,-0.0049422889141815755,0.0983409956343938,0.9999998969009786,-0.00017193152756807148,0.00039202757431202836,0.00011997844527157941,0.6761,-0.0046,0.09775482986065484,1.0,0.0,0.0,0.0,-0.8631419369345184,0.7408195477888089,5.016373404260191,0.05283450718345535,0.05581082426601826,0.0035299586036859677,-0.030028631355233263,1.7649098458310892,5.539236440080859,0.11828404854482001,0.00151253688006451,0.004139274220282888,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.3979307515672463,1.2273527358191634,-4.210846038502954,0.16478298608103348,3.095878991599193,0.7350009166220196,1.6356988693983474,-5.016373404260191,5.846544907901301,5.846544907901301,5.892030777479223,0,0,-6.83941719966955e-05,9.999924085868912e-05
+20324,1792836789930982015,15469376000000,1792836789923462651,DOWN_FORCE_DETACH,9,0.0718,0.07179862260818481,0.6763305807215094,-0.004947499906755991,0.09828031826441651,0.9999998848934812,-0.00018346738718533665,0.0004161601632675686,0.00012168124246503441,0.6761,-0.0046,0.09766479568698727,1.0,0.0,0.0,0.0,-0.9020635152473074,0.7537279955341314,5.207707319108667,0.055184989519997146,0.056742823844291614,0.003411028105739827,-0.06895020966802232,1.7778182935764117,5.730570354929334,0.1206345308813618,0.0024445364583378674,0.004020343722336748,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.4786459446639246,1.2008118275828819,-4.3545055696031,0.18522838085444882,3.2050595432553783,0.719191881447395,1.6356988693983474,-5.207707319108667,5.990204439001448,5.990204439001448,6.085830777478772,0,0,-7.057483384784036e-05,-9.961495103650293e-05
+20497,1792836791372169705,15470817000000,1792836791371452656,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6763494839548425,-0.004949131458311576,0.09821711386688388,0.9999998700034757,-0.00019041338308200048,0.00044830536800039846,0.00011916768152953019,0.6761,-0.0046,0.0975637506765245,1.0,0.0,0.0,0.0,-0.9328055784993876,0.7915624550005242,5.4136312531726025,0.05866527738612712,0.05865302778494985,0.0033153418300626895,-0.09969227292010255,1.8156527530428046,5.93649428899327,0.12411481874749178,0.0043547403989961046,0.00392465744665961,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.587887700339875,1.139208939063341,-4.603374274578842,0.20794715010743672,3.387611306855449,0.6755500516593769,1.6356988693983474,-5.4136312531726025,6.23907314397719,6.23907314397719,6.301980777478268,0,0,-7.25704986094601e-05,-2.9481430220544043e-05
+20666,1792836792781208645,15472226000000,1792836792775453244,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6763635116963057,-0.004952511375723653,0.0981452209930888,0.9999998619385271,-0.00017600077000508465,0.00047057689075995885,0.00012307278339824116,0.6761,-0.0046,0.09746460151845454,1.0,0.0,0.0,0.0,-0.9731755573232057,0.8285776805960003,5.627074050715285,0.06072368548460852,0.061605475850334504,0.0032125932137717713,-0.14006225174392056,1.8526679786382807,6.149937086535952,0.12617322684597318,0.0073071884643807535,0.003821908830368692,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.685007729530738,1.0847442553170046,-4.853695548893747,0.2424631394531082,3.568795036536357,0.6475701512287443,1.6356988693983474,-5.627074050715285,6.489394418292095,6.489394418292095,6.513330777477775,0,0,-5.9550092958134175e-05,9.999999025923074e-05
+20849,1792836794306271089,15473751000000,1792836794299460082,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6763833348392606,-0.004953822576824944,0.09808026468182968,0.9999998566156059,-9.190894954704326e-05,0.0005044231488908837,0.00012378070914722693,0.6761,-0.0046,0.09736300704540674,1.0,0.0,0.0,0.0,-1.0207097155081275,0.8690234989780161,5.812592642543397,0.06321668459987959,0.06455355464689273,0.0031279692686761776,-0.18759640992884233,1.8931137970202965,6.335455678364064,0.12866622596124425,0.010255267260938982,0.0037372848852730983,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.7341449727760336,1.2486345926770486,-5.057179785190252,0.18372205934007527,3.7084132673809656,0.7326788199184548,1.6356988693983474,-5.812592642543397,6.6928786545886,6.6928786545886,6.742080777477242,0,0,-7.563501866894728e-05,9.999928249205254e-05
+21026,1792836795781397150,15475226000000,1792836795779452772,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6763987663948102,-0.0049560023421102144,0.09800374296914066,0.9999998409821071,-0.00011774061444615962,0.000530110293548875,0.00012082569758304001,0.6761,-0.0046,0.09725642150534819,1.0,0.0,0.0,0.0,-1.0507731140248597,0.8950018575587138,6.053798962055711,0.06561224001635721,0.06648229390272627,0.00299176717280389,-0.21765980844557456,1.919092155600994,6.5766619978763785,0.13106178137772187,0.012184006516772514,0.0036010827894008106,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.801073570239427,1.2140316229330794,-5.266563495937634,0.2187040296325497,3.854197786862751,0.7314570821931323,1.6356988693983474,-6.053798962055711,6.902262365335981,6.902262365335981,6.963330777476727,0,0,-6.59072914397082e-05,-4.929062299841576e-05
+21207,1792836797289483524,15476734000000,1792836797287453118,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6764122196050495,-0.004956009521727497,0.09793285435858856,0.9999998283093933,-0.00012958027407952542,0.0005508739266391367,0.00012071005722671843,0.6761,-0.0046,0.09715802529193147,1.0,0.0,0.0,0.0,-1.0712261348105976,0.9268791427700476,6.245766221761913,0.06755544283546439,0.06842260555828711,0.003915221095348198,-0.23811282923131255,1.950969440812328,6.768629257582581,0.13300498419682905,0.014124318172333356,0.004524536711945119,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.8913807074493905,1.1342236239823849,-5.4621339654990955,0.2622629779158225,3.9978091315778213,0.683792921894873,1.6356988693983474,-6.245766221761913,7.097832834897443,7.097832834897443,7.189530777476199,0,0,-6.7132576049593e-05,-9.999929636984035e-05
+21391,1792836798822532447,15478267000000,1792836798819453108,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6764309629841863,-0.004956836391819782,0.0978615219300416,0.9999998063975389,-0.00015484294416135907,0.0005842635920245871,0.00011535799304040551,0.6761,-0.0046,0.09704882166284848,1.0,0.0,0.0,0.0,-1.101546106471761,0.9732575934548411,6.4638902781333645,0.07052359611810877,0.07037304971042473,0.0038023075390138127,-0.2684328008924759,1.9973478914971214,6.986753313954032,0.13597313747947343,0.01607476232447098,0.004411623155610733,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,2.980391315022797,1.3067142909691754,-5.725108708272137,0.21064027185351097,4.187936925946791,0.7895807505574404,1.6356988693983474,-6.4638902781333645,7.360807577670484,7.360807577670484,7.4194807774756635,0,0,-6.971139707073213e-05,-7.034774701848327e-06
+21572,1792836800331540273,15479776000000,1792836800331453226,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6764468951383136,-0.004958038092300976,0.09778190192619325,0.9999997889651865,-0.00016949692095609707,0.0006092294006109419,0.00011671665759567362,0.6761,-0.0046,0.09694119917612645,1.0,0.0,0.0,0.0,-1.1320789678903103,1.023468773544042,6.678790905173802,0.07348662072377002,0.07248913954835998,0.0036941978758537925,-0.29896566231102517,2.0475590715863223,7.201653940994469,0.13893616208513468,0.018190852162406235,0.004303513492450713,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.0170588629494675,1.1795571509563907,-5.937589393233733,0.26169133075856804,4.327983644348615,0.7082398428357994,1.6356988693983474,-6.678790905173802,7.57328826263208,7.57328826263208,7.645830777475136,0,0,-7.52046190835839e-05,-5.485608775413482e-05
+21757,1792836801872670608,15481317000000,1792836801871453029,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6764686524700549,-0.004960070462487148,0.09769960092123851,0.9999997640249617,-0.0001777294721177109,0.0006459577650978923,0.00012059720330982747,0.6761,-0.0046,0.09681592146113334,1.0,0.0,0.0,0.0,-1.1719289384870653,1.0652853503357629,6.909958634436387,0.07640514092790651,0.0762087226865355,0.003596549335334744,-0.3388156329077801,2.0893756483780432,7.432821670257054,0.14185468228927117,0.021910435300581753,0.004205864951931665,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.1977860009208663,1.147695095691379,-6.158711264703228,0.2764267932539517,4.513907750827916,0.6887943540609154,1.6356988693983474,-6.909958634436387,7.794410134101575,7.794410134101575,7.876980777474597,0,0,-8.120608479686287e-05,-9.999753389078875e-05
+21926,1792836803281699680,15482726000000,1792836803279453107,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6764831079124548,-0.004961203579334689,0.09762225379701006,0.9999997472259312,-0.00017327299306471255,0.0006718701136302706,0.00012473154482290345,0.6761,-0.0046,0.09670795537297248,1.0,0.0,0.0,0.0,-1.2120575190881644,1.0828102892035143,7.120042361736058,0.07827770287924835,0.07815407050928268,0.003474444817982349,-0.37894421350887925,2.1069005872457947,7.642905397556725,0.143727244240613,0.023855783123328932,0.00408376043457927,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.308312669574426,1.104506733770899,-6.423187107172565,0.2996177680343458,4.7105323085065836,0.6608796337171179,1.6356988693983474,-7.120042361736058,8.058885976570911,8.058885976570911,8.088330777474106,0,0,-7.3051493427985e-05,5.751634865459039e-05
+22121,1792836804906845907,15484351000000,1792836804899452888,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6765029558388963,-0.004963804770254331,0.09754170746932107,0.9999997262379081,-0.0001657540004040019,0.0007041066893437724,0.00012540476220887704,0.6761,-0.0046,0.09658620876917856,1.0,0.0,0.0,0.0,-1.240642615598825,1.1118871754790467,7.304819275424713,0.08030537716681582,0.08009980044562484,0.0033781477986076576,-0.40752931001953996,2.135977473521327,7.827682311245381,0.14575491852818048,0.0258015130596711,0.003987463415204578,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.3277017717223334,1.1613917163992318,-6.6618322019542,0.2982449783609198,4.861825726426012,0.7044231932114444,1.6356988693983474,-7.304819275424713,8.297531071352546,8.297531071352546,8.332080777473537,0,0,-8.512387754813921e-05,9.79043471557361e-05
+22278,1792836806214922358,15485659000000,1792836806211462073,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.676515198333591,-0.004964278185547733,0.0974624185706181,0.9999997126985942,-0.00017094248377599465,0.0007230073258957248,0.00011867884045207532,0.6761,-0.0046,0.09648700102255724,1.0,0.0,0.0,0.0,-1.2615980961534115,1.1440705566713691,7.515307082296462,0.08224549761517885,0.0820363622819178,0.004204066914707021,-0.42848479057412636,2.1681608547136495,8.03817011811713,0.1476950389765435,0.027738074895964054,0.004813382531303942,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.4592941701465785,1.1646767297142744,-6.888483833145938,0.3098487641690957,5.042392706976301,0.7098740300018452,1.6356988693983474,-7.515307082296462,8.524182702544286,8.524182702544286,8.52828077747308,0,0,-7.016363820913784e-05,9.656222629684236e-05
+22447,1792836807622960949,15487067000000,1792836807615462678,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6765317427959882,-0.004969125170288093,0.09738281058705918,0.9999996883195161,-0.00018086602846494504,0.0007542323226962105,0.00011499920792632788,0.6761,-0.0046,0.09637598572223496,1.0,0.0,0.0,0.0,-1.3096166811824383,1.1674355159997463,7.716049875165081,0.08416713820417843,0.08499446245945655,0.004189267935205205,-0.4765033756031532,2.1915258140420266,8.238912910985748,0.1496166795655431,0.030696175073502797,0.004798583551802125,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.492726864170133,1.1939521913343494,-7.052081097551565,0.31243108609399856,5.1528415706924156,0.7299546352204117,1.6356988693983474,-7.716049875165081,8.687779966949913,8.687779966949913,8.739480777472588,0,0,-8.460815733160742e-05,9.999969882568677e-05
+22637,1792836809207111790,15488651000000,1792836809203462629,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6765523660361586,-0.004969226363321464,0.09728442799655719,0.999999673945687,-0.00010035605965776687,0.0007871405228363762,0.00011785517624971159,0.6761,-0.0046,0.09624286133539978,1.0,0.0,0.0,0.0,-1.358194853257187,1.1922894925942331,7.957836669642615,0.08608164597322493,0.08794385632163124,0.004058383726725179,-0.5250815476779019,2.2163797906365135,8.480699705463282,0.1515311873345896,0.033645568935677495,0.0046676993433221,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.6181767394600035,0.9367030882142114,-7.315896936280356,0.38277017067144026,5.353503442809783,0.5608641030883929,1.6356988693983474,-7.957836669642615,8.951595805678703,8.951595805678703,8.977080777472034,0,0,-8.317447637987285e-05,9.811168130558485e-05
+22807,1792836810623180150,15490067000000,1792836810619453260,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6765692146777972,-0.004976426396907258,0.0972099407484013,0.999999650423023,-0.00011298925090657567,0.0008139153095431991,0.00012398384715021812,0.6761,-0.0046,0.09613929509522395,1.0,0.0,0.0,0.0,-1.395786919876001,1.220025834437267,8.117754931896242,0.08699369111953664,0.09087933860345615,0.003982304903649134,-0.5626736142967158,2.2441161324795473,8.640617967716908,0.1524432324809013,0.036581051217502394,0.004591620520246055,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.6633984662435752,1.1550079625454226,-7.50286826731274,0.3258237345838865,5.4783074876708,0.7030240998823373,1.6356988693983474,-8.117754931896242,9.138567136711087,9.138567136711087,9.18948077747154,0,0,-8.072773744341599e-05,9.400114994584925e-05
+22978,1792836812048266361,15491492000000,1792836812043462555,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6765817653805541,-0.00497433535504825,0.09711028458471226,0.9999996326845908,-0.00012832831425883056,0.0008329711702525847,0.00012555644619397101,0.6761,-0.0046,0.09601552382129507,1.0,0.0,0.0,0.0,-1.426635627038602,1.2269421520929944,8.359150869174284,0.08893270309610019,0.09286624571997701,0.0038390051933359253,-0.593522321459317,2.2510324501352748,8.88201390499495,0.15438224445746485,0.03856795833402325,0.004448320809932846,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.7562965266700545,1.1179456285491578,-7.617060242299127,0.34161516821609,5.5744404718692175,0.6771962733998018,1.6356988693983474,-8.359150869174284,9.252759111697474,9.252759111697474,9.403230777471041,0,0,-8.654978422425875e-05,-9.999391178817092e-05
+23141,1792836813407330380,15492851000000,1792836813403452679,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6765998032449188,-0.0049809049208234335,0.09702462387284973,0.9999996021505592,-0.0001542568086221264,0.0008650781604960238,0.00012241813939677367,0.6761,-0.0046,0.09590370658127553,1.0,0.0,0.0,0.0,-1.4656609065452764,1.2600078634296548,8.540391662061747,0.09087695008795904,0.09518285232112751,0.003747787985955046,-0.6325476009659914,2.284098161471935,9.063254697882414,0.1563264914493237,0.04088456493517376,0.004357103602551967,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.7752058074434123,1.1846332413873057,-7.862946749440352,0.3354110040042596,5.725102138985412,0.720414527847995,1.6356988693983474,-8.540391662061747,9.4986456188387,9.4986456188387,9.607080777470566,0,0,-8.187385406729775e-05,-9.999999025923074e-05
+23298,1792836814715393714,15494159000000,1792836814711453391,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6766085554263167,-0.004979999155283918,0.0969400799205729,0.9999995901589925,-0.00017155459336357334,0.000876132182906174,0.00011868500719298154,0.6761,-0.0046,0.09579479243175928,1.0,0.0,0.0,0.0,-1.4852714434626564,1.2760060901969084,8.708337943486661,0.09181194822164165,0.09678571451276398,0.0036510876881363694,-0.6521581378833712,2.3000963882391887,9.231200979307328,0.15726148958300631,0.04248742712681023,0.00426040330473329,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,3.93680935638804,1.0489252217589886,-8.053980001709553,0.38164492206288797,5.89595033092346,0.6318412507431548,1.6356988693983474,-8.708337943486661,9.6896788711079,9.6896788711079,9.803280777470109,0,0,-8.882748741698e-05,-9.999949065886966e-05
+23457,1792836816040472400,15495484000000,1792836816035452957,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6766279814624667,-0.0049794969330439216,0.09685063767952926,0.9999995596276008,-0.00018063308742079012,0.0009078089302284657,0.00012426625737457783,0.6761,-0.0046,0.09567548117384536,1.0,0.0,0.0,0.0,-1.5244324351599157,1.3021332389143896,8.873090374046734,0.09377792673870472,0.09873962564123136,0.0035638523288525317,-0.6913191295806306,2.32622353695667,9.395953409867401,0.15922746810006938,0.04444133825527761,0.004173167945449452,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.011561559495813,1.1275875334111531,-8.255065075250284,0.3673043002465846,6.03541417059016,0.6847227075955096,1.6356988693983474,-8.873090374046734,9.890763944648631,9.890763944648631,10.002030777469646,0,0,-9.071559196468926e-05,-9.180650270413366e-05
+23638,1792836817548549678,15496992000000,1792836817547453737,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6766501846431534,-0.004983352346738167,0.09674182764792365,0.9999995215551553,-0.00019426874788018038,0.0009461115765612808,0.00012435780258750805,0.6761,-0.0046,0.09552729484098553,1.0,0.0,0.0,0.0,-1.554378051140572,1.3262190850384776,9.094499239284378,0.0956660467976237,0.10169194232436261,0.003451193209324017,-0.721264745561287,2.350309383080758,9.617362275105044,0.16111558815898835,0.047393654938408865,0.0040605088259209375,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.0995863773386345,0.9837559710477731,-8.493588647976873,0.4129394826634732,6.200880963392205,0.5923862658250518,1.6356988693983474,-9.094499239284378,10.12928751737522,10.12928751737522,10.228230777469118,0,0,-9.804271974419988e-05,-5.000001387778781e-05
+23817,1792836819040566767,15498484000000,1792836819039453743,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6766610345664067,-0.004974924071533002,0.09662331297451998,0.9999995049472762,-0.0001962056687054859,0.000964083499595252,0.00011659506051515019,0.6761,-0.0046,0.09538094312298181,1.0,0.0,0.0,0.0,-1.5403242287640309,1.3415593642888752,9.303460494769437,0.09670559305563306,0.1006130604750152,0.0032798018715147832,-0.7072109231847459,2.3656496623311556,9.826323530590104,0.16215513441699772,0.046314773089061456,0.003889117488111704,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.0723550858942446,1.128794503261499,-8.768035017067715,0.3842446726971028,6.369998443491442,0.687532037364435,1.6356988693983474,-9.303460494769437,10.403733886466062,10.403733886466062,10.452030777468597,0,0,-9.566296717691968e-05,9.999999025923074e-05
+24000,1792836820565704060,15500009000000,1792836820563453272,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6766878308447638,-0.004973720671593699,0.09650491640177818,0.9999994659859442,-0.0001920545418252237,0.0010032755355260108,0.00012658571488454544,0.6761,-0.0046,0.09522252804185267,1.0,0.0,0.0,0.0,-1.557574703127882,1.4067630860756881,9.487419671946187,0.09968348675253463,0.10253900780296239,0.0031955476087624363,-0.724461397548597,2.4308533841179685,10.010282707766853,0.1651330281138993,0.048240720417008644,0.003804863225359357,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.171373767817338,1.1344088277329045,-8.924199342473926,0.3919174628576178,6.487144757788077,0.6921180870144051,1.6356988693983474,-9.487419671946187,10.559898211872273,10.559898211872273,10.680780777468064,0,0,-0.00011226246223880321,-5e-05
+24184,1792836822098718436,15501542000000,1792836822095452733,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6767019877824924,-0.00497441825886344,0.0963697996664851,0.9999994444924434,-0.00017979548411311232,0.001026669124393904,0.00012681388652812633,0.6761,-0.0046,0.09505520821480737,1.0,0.0,0.0,0.0,-1.5482459967332534,1.4171789917461082,9.698424522928775,0.10066384727796684,0.10247407094458863,0.0030376873811454796,-0.7151326911539683,2.4412692897883885,10.221287558749442,0.1661133886393315,0.04817578355863488,0.0036470029977424003,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.256276855171034,1.1621980934740865,-9.193873679602358,0.4015461069233488,6.682000274281556,0.7229890729965263,1.6356988693983474,-9.698424522928775,10.829572549000705,10.829572549000705,10.910730777467528,0,0,-0.0001079365446229622,8.866319764345149e-05
+24349,1792836823473831730,15502917000000,1792836823471462613,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6767201112422966,-0.004980067529452752,0.09624208550880595,0.9999994201637197,-0.00012058306731831621,0.0010587022652446387,0.00012539667519479849,0.6761,-0.0046,0.09490180928188993,1.0,0.0,0.0,0.0,-1.55035014827233,1.4234511714574887,9.878278029318572,0.1006032378039366,0.10344778442532757,0.0029074724650489073,-0.717236842693045,2.447541469499769,10.401141065139239,0.16605277916530126,0.049149497039373824,0.003516788081645828,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.295865280995135,1.1493912667313546,-9.381463413466312,0.40626746470232994,6.813144336872406,0.6957379436585602,1.6356988693983474,-9.878278029318572,11.017162282864659,11.017162282864659,11.116980777467047,0,0,-0.00011545430809748502,-4.371601439778761e-05
+24535,1792836825023910564,15504467000000,1792836825023462549,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6767333940337489,-0.004980468037055801,0.09608417483232665,0.9999993947287601,-0.00013730357526303114,0.001079416697912415,0.0001341353726407455,0.6761,-0.0046,0.09472221584797905,1.0,0.0,0.0,0.0,-1.5684956786156894,1.4107865109435171,10.065623650341955,0.10053836120306714,0.1044211103025253,0.0027700563502158063,-0.7353823730364044,2.4348768089857975,10.588486686162621,0.1659879025644318,0.050122822916571545,0.003379371966812727,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.389700420437441,1.0710096382280359,-9.540334622270098,0.4353186360503512,6.942918223780443,0.6535457213028745,1.6356988693983474,-10.065623650341955,11.176033491668445,11.176033491668445,11.349480777466505,0,0,-0.00012131565522574406,-9.948155774009421e-05
+24705,1792836826441013706,15505884000000,1792836826435462168,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6767518074453668,-0.004987258905996937,0.09593168981986344,0.999999357345261,-0.00018546183252732488,0.0011075721808424055,0.00012505879379944295,0.6761,-0.0046,0.09454485707572968,1.0,0.0,0.0,0.0,-1.5548657148210197,1.4271731297289798,10.250204522589003,0.10050461529479207,0.1043813051098495,0.0026230442415499035,-0.7217524092417346,2.45126342777126,10.77306755840967,0.16595415665615673,0.05008301772389574,0.003232359858146824,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.3586775815054715,1.1449310558542853,-9.88163635803201,0.4336898914532608,7.152288442401013,0.7065604320350631,1.6356988693983474,-10.250204522589003,11.517335227430356,11.517335227430356,11.56203077746601,0,0,-0.0001275725729263114,9.999999025923074e-05
+24870,1792836827816035094,15507259000000,1792836827811462602,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.676767527869294,-0.00499276173282799,0.09577047617291368,0.9999993244385729,-0.0002070344232868897,0.0011325337367574474,0.00013064970219061665,0.6761,-0.0046,0.09436466667674744,1.0,0.0,0.0,0.0,-1.5603850341348648,1.4174958864265128,10.419916741404988,0.0994868234297995,0.1048451674034727,0.0024797449404832007,-0.7272717285555796,2.441586184468793,10.942779777225654,0.16493636479116416,0.050546880017518954,0.0030890605570801214,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.474849716685083,1.0919999292385614,-9.908626210762524,0.44441373718155747,7.210311733971562,0.6732186175656343,1.6356988693983474,-10.419916741404988,11.54432508016087,11.54432508016087,11.76828077746553,0,0,-0.00013656803858205636,-9.460051772348094e-05
+25028,1792836829133156458,15508576000000,1792836829131462971,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6767811820296813,-0.0049956260013624566,0.09559523769285842,0.9999993018616339,-0.000192186121881223,0.001153549694061898,0.0001417981194435895,0.6761,-0.0046,0.0941693109928867,1.0,0.0,0.0,0.0,-1.5696027469313747,1.3940633223510668,10.584086475329594,0.0983677846827373,0.1054980163124459,0.002347723079087566,-0.7364894413520897,2.418153620393347,11.10694951115026,0.16381732604410196,0.051199728926492154,0.0029570386956844865,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.5585280893217295,1.0461008687943283,-10.193004452643175,0.46696210749527417,7.4236376444955985,0.6521650959883076,1.6356988693983474,-10.584086475329594,11.828703322041521,11.828703322041521,11.965830777465069,0,0,-0.0001577473767403178,-2.734541345995041e-05
+25159,1792836830224168440,15509667000000,1792836830223462485,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6767934633019581,-0.004995683391495091,0.09543955761316697,0.9999992718135541,-0.0002304363437787437,0.001175493347342159,0.000113708871532331,0.6761,-0.0046,0.0939908032589864,1.0,0.0,0.0,0.0,-1.5418796431782407,1.3987252026423458,10.721015389920519,0.09839080666395644,0.10431838520587071,0.0022208601878023425,-0.7087663375989555,2.422815500684626,11.243878425741185,0.1638403480253211,0.05002009781991696,0.0028301758043992632,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.577463627177449,1.0234227800928937,-10.366498738917379,0.481341819608774,7.543314087322598,0.6431328695983259,1.6356988693983474,-10.721015389920519,12.002197608315726,12.002197608315726,12.129480777464687,0,0,-0.00017150774455213102,6.376820879528395e-05
+25311,1792836831491169483,15510934000000,1792836831483452795,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6768106291577662,-0.00500690534028389,0.09523687546450003,0.9999992481446274,-0.00019612998789091988,0.0011984227850966038,0.00014306956383885062,0.6761,-0.0046,0.0937631314584422,1.0,0.0,0.0,0.0,-1.5600884985411918,1.3462701348081243,10.866430015266,0.09522394610098706,0.10637437533700245,0.0020979335053287855,-0.7269751929619066,2.3703604328504047,11.389293051086666,0.16067348746235172,0.0520760879510487,0.002707249121925706,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.626092525947162,1.0023125256044616,-10.531682638598436,0.48738259205204587,7.675225123637721,0.6431032442326866,1.6356988693983474,-10.866430015266,12.167381507996783,12.167381507996783,12.319530777464244,0,0,-0.0001861346490730512,3.637322414046198e-06
+25442,1792836832583331048,15512026000000,1792836832575453178,DOWN_FORCE_DETACH,9,0.0718,0.07179796695709229,0.6768198882039939,-0.005010308866270552,0.09503585422485976,0.9999992306451243,-0.00017922820425269226,0.0012136609960071744,0.00015829169675605527,0.6761,-0.0046,0.09354880118310172,1.0,0.0,0.0,0.0,-1.5769103816442893,1.2938683010010155,10.999261270866361,0.09210400090489362,0.10741867436374303,0.0021071322346933293,-0.7437970760650043,2.317958599043296,11.522124306687028,0.15755354226625828,0.053120386977789286,0.00271644785129025,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.689321277482485,0.8484087744862451,-10.713496600686664,0.5494275992469018,7.82070981076589,0.5463130543922748,1.6356988693983474,-10.999261270866361,12.34919547008501,12.34919547008501,12.483330777463863,0,0,-0.00020615697727125048,9.853362156609364e-05
+25570,1792836833649386102,15513092000000,1792836833647453243,DOWN_FORCE_DETACH,9,0.0718,0.07179730385541916,0.6768299709834565,-0.0050121492798222535,0.09481189807891949,0.9999992197408876,-0.0001547127749702324,0.001229010775279283,0.0001325026485666523,0.6761,-0.0046,0.09331276184382105,1.0,0.0,0.0,0.0,-1.5344504498822067,1.2585408026839824,11.159094351064132,0.08910334864088074,0.10439782504254023,0.0027916974398940714,-0.7013371443029215,2.2826311007262627,11.681957386884799,0.1545528900022454,0.050099537656586486,0.003401013056490992,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.728234924960893,0.9448584877438397,-10.791756201738568,0.4814231435019702,7.907317297661091,0.6002154745567095,1.6356988693983474,-11.159094351064132,12.427455071136915,12.427455071136915,12.64323077746349,0,0,-0.0002342662144230997,-9.999969882568677e-05
+25721,1792836834898395632,15514341000000,1792836834895452887,DOWN_PEAK_HOLD,9,0.0718,0.07179730385541916,0.6768365507564459,-0.00501451477049158,0.09465484300966316,0.999999210575891,-0.00015347853594841395,0.001233833884773826,0.00015616895591899632,0.6761,-0.0046,0.09318491301890403,1.0,0.0,0.0,0.0,-1.4875343001904087,1.1637319478595147,10.89225966322046,0.08317645652926908,0.10161941921183504,0.0018881319623940212,-0.6544209946111236,2.187822245901795,11.415122699041126,0.14862599789063374,0.047321131825881296,0.002497447578990942,0.8331133055792851,1.0240902980422804,0.5228630358206672,0.06544954136136466,-0.05429828738595375,0.0006093156165969207,1,4.527261667241809,0.9090994716803092,-10.458978471007242,0.4783183221924144,7.671615721513404,0.587403138202005,1.6356988693983474,-10.89225966322046,12.094677340405589,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_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,1792836750878579919,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.217959315e-09,-3.894557472e-10,-1.686652817e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027453446e-01,-1.175379878e-04,8.303262643e-01
+1,1.583333333e+00,DOWN_FORCE_DETACH,1792836752466866178,-2.389624318e-06,8.899692612e-07,-2.367186458e-05,-4.881805664e-06,4.668778752e-07,-1.996616790e-05,-5.165282842e-06,4.314011680e-07,-1.988925116e-05,7.019532800e-01,-2.119794214e-05,8.601197740e-01,7.019507878e-01,-2.162103353e-05,8.601234797e-01,7.027401751e-01,-1.171061972e-04,8.303063767e-01
+2,2.700000000e+00,DOWN_FORCE_DETACH,1792836753613359226,3.952501633e-05,-5.737102288e-06,-6.612589656e-05,3.572448681e-05,-1.397892457e-05,-6.096236559e-05,3.780617489e-05,-1.389490845e-05,-6.051476313e-05,7.019951946e-01,-2.782501369e-05,8.600773199e-01,7.019913941e-01,-3.606683597e-05,8.600824835e-01,7.027831465e-01,-1.314325068e-04,8.302657512e-01
+3,3.916666667e+00,DOWN_FORCE_DETACH,1792836754858947138,4.083412158e-05,-1.195755161e-05,-1.363688992e-04,3.909690985e-05,-1.590225659e-05,-1.385718724e-04,4.069298714e-05,-1.581430815e-05,-1.376721522e-04,7.019965037e-01,-3.404546301e-05,8.600070769e-01,7.019947665e-01,-3.799016799e-05,8.600048740e-01,7.027860333e-01,-1.333519065e-04,8.301885938e-01
+4,5.500000000e+00,DOWN_FORCE_DETACH,1792836756431449201,4.893191685e-05,-1.506255373e-05,-1.514584241e-04,3.909690985e-05,-1.590225659e-05,-1.385718724e-04,4.086360583e-05,-1.583432863e-05,-1.383044783e-04,7.020046015e-01,-3.715046514e-05,8.599919874e-01,7.019947665e-01,-3.799016799e-05,8.600048740e-01,7.027862039e-01,-1.333719270e-04,8.301879615e-01
+5,6.883333333e+00,DOWN_FORCE_DETACH,1792836757839908941,5.829423679e-05,-2.097548523e-05,-1.977206406e-04,5.819319840e-05,-2.080936701e-05,-1.978066339e-04,6.070846803e-05,-2.070290373e-05,-1.971535451e-04,7.020139639e-01,-4.306339664e-05,8.599457252e-01,7.020138628e-01,-4.289727842e-05,8.599456392e-01,7.028060488e-01,-1.382405021e-04,8.301291124e-01
+6,8.383333333e+00,DOWN_FORCE_DETACH,1792836759314027900,7.619384824e-05,-2.862005376e-05,-2.525582697e-04,6.787092566e-05,-2.505457089e-05,-2.397454834e-04,7.067498993e-05,-2.491188086e-05,-2.392029843e-04,7.020318635e-01,-5.070796516e-05,8.598908876e-01,7.020235406e-01,-4.714248230e-05,8.599037004e-01,7.028160153e-01,-1.424494792e-04,8.300870630e-01
+7,9.750000000e+00,DOWN_FORCE_DETACH,1792836760657421460,7.719955655e-05,-3.367347356e-05,-3.023935780e-04,7.802617491e-05,-2.654313686e-05,-3.019689394e-04,8.096826902e-05,-2.637988599e-05,-3.011934838e-04,7.020328692e-01,-5.576138496e-05,8.598410523e-01,7.020336958e-01,-4.863104826e-05,8.598414769e-01,7.028263086e-01,-1.439174844e-04,8.300250725e-01
+8,1.123333333e+01,DOWN_FORCE_DETACH,1792836762148531297,8.448122644e-05,-2.412789934e-05,-3.428449148e-04,8.281541625e-05,-3.353467065e-05,-3.424524604e-04,8.566251657e-05,-3.332457198e-05,-3.417062108e-04,7.020401509e-01,-4.621581075e-05,8.598006009e-01,7.020384850e-01,-5.562258206e-05,8.598009934e-01,7.028310029e-01,-1.508621703e-04,8.299845597e-01
+9,1.261666667e+01,DOWN_FORCE_DETACH,1792836763507760420,9.577981214e-05,-3.098855304e-05,-4.019659791e-04,9.563363418e-05,-3.088198065e-05,-4.021493814e-04,9.872186897e-05,-3.068833970e-05,-4.010977041e-04,7.020514494e-01,-5.307646445e-05,8.597414799e-01,7.020513033e-01,-5.296989206e-05,8.597412965e-01,7.028440622e-01,-1.482259381e-04,8.299251682e-01
+10,1.331666667e+01,DOWN_FORCE_DETACH,1792836764195983176,1.567689376e-04,-3.102845971e-05,-3.962454455e-04,1.552752231e-04,-3.115887667e-05,-3.927599163e-04,1.625860670e-04,-3.100695190e-05,-3.920054623e-04,7.021124386e-01,-5.311637112e-05,8.597472004e-01,7.021109448e-01,-5.324678808e-05,8.597506859e-01,7.029079264e-01,-1.485445503e-04,8.299342605e-01
+11,1.468333333e+01,DOWN_FORCE_DETACH,1792836765555907974,1.782133022e-04,-3.581894624e-05,-4.870680379e-04,1.753686258e-04,-3.578281018e-05,-4.747214539e-04,1.835220196e-04,-3.561183242e-05,-4.734861861e-04,7.021338829e-01,-5.790685764e-05,8.596563778e-01,7.021310383e-01,-5.787072159e-05,8.596687244e-01,7.029288624e-01,-1.531494308e-04,8.298527798e-01
+12,1.623333333e+01,DOWN_FORCE_DETACH,1792836767080560740,1.942994975e-04,-3.663457699e-05,-5.408740441e-04,1.897055445e-04,-3.791468731e-05,-5.323183948e-04,1.985234960e-04,-3.771257528e-05,-5.312637131e-04,7.021499691e-01,-5.872248840e-05,8.596025718e-01,7.021453752e-01,-6.000259872e-05,8.596111275e-01,7.029438638e-01,-1.552501736e-04,8.297950022e-01
+13,1.755000000e+01,DOWN_FORCE_DETACH,1792836768438587423,2.049610829e-04,-4.231446666e-05,-5.783573798e-04,2.000246605e-04,-3.691493155e-05,-5.751484359e-04,2.091816685e-04,-3.676642800e-05,-5.741276260e-04,7.021606307e-01,-6.440237807e-05,8.595650885e-01,7.021556943e-01,-5.900284295e-05,8.595682974e-01,7.029545220e-01,-1.543040264e-04,8.297521383e-01
+14,1.913333333e+01,DOWN_FORCE_DETACH,1792836770223702273,2.288556825e-04,-3.970975310e-05,-6.556719885e-04,2.252985694e-04,-3.906692681e-05,-6.525353947e-04,2.353730376e-04,-3.895140851e-05,-6.513187224e-04,7.021845253e-01,-6.179766451e-05,8.594877739e-01,7.021809682e-01,-6.115483822e-05,8.594909105e-01,7.029807134e-01,-1.564890069e-04,8.296749472e-01
+15,2.061666667e+01,DOWN_FORCE_DETACH,1792836771836232672,2.426225517e-04,-4.217429668e-05,-7.067481321e-04,2.383839342e-04,-4.171699059e-05,-7.130076294e-04,2.488153381e-04,-4.156408230e-05,-7.118658453e-04,7.021982922e-01,-6.426220809e-05,8.594366977e-01,7.021940536e-01,-6.380490200e-05,8.594304382e-01,7.029941557e-01,-1.591016807e-04,8.296144001e-01
+16,2.215000000e+01,DOWN_FORCE_DETACH,1792836773385162863,2.573835158e-04,-4.322454598e-05,-7.673248777e-04,2.493604789e-04,-4.533841264e-05,-7.516539685e-04,2.602399768e-04,-4.511522899e-05,-7.508120863e-04,7.022130531e-01,-6.531245739e-05,8.593761210e-01,7.022050301e-01,-6.742632404e-05,8.593917919e-01,7.030055803e-01,-1.626528274e-04,8.295754539e-01
+17,2.361666667e+01,DOWN_FORCE_DETACH,1792836774843106641,2.726907549e-04,-5.200784638e-05,-8.299924957e-04,2.698832858e-04,-4.829848881e-05,-8.322988994e-04,2.813584562e-04,-4.803289088e-05,-8.310476798e-04,7.022283604e-01,-7.409575779e-05,8.593134533e-01,7.022255529e-01,-7.038640022e-05,8.593111469e-01,7.030266988e-01,-1.655704892e-04,8.294952183e-01
+18,2.535000000e+01,DOWN_FORCE_DETACH,1792836776564061219,2.897557818e-04,-4.952326685e-05,-8.860052808e-04,2.835766763e-04,-5.187667402e-05,-8.714630767e-04,2.957209307e-04,-5.161222657e-05,-8.705145693e-04,7.022454254e-01,-7.161117825e-05,8.592574406e-01,7.022392463e-01,-7.396458543e-05,8.592719828e-01,7.030410613e-01,-1.691498249e-04,8.294557514e-01
+19,2.686666667e+01,DOWN_FORCE_DETACH,1792836778087083262,3.040828231e-04,-5.610533081e-05,-9.646565256e-04,3.005012295e-04,-5.313729171e-05,-9.525530088e-04,3.130172750e-04,-5.287921390e-05,-9.513393903e-04,7.022597524e-01,-7.819324221e-05,8.591787893e-01,7.022561709e-01,-7.522520311e-05,8.591908928e-01,7.030583576e-01,-1.704168123e-04,8.293749266e-01
+20,2.826666667e+01,DOWN_FORCE_DETACH,1792836779463105900,3.216684393e-04,-5.635657009e-05,-1.012241904e-03,3.215844325e-04,-5.641209601e-05,-1.011770258e-03,3.349478356e-04,-5.611153342e-05,-1.010570145e-03,7.022773381e-01,-7.844448150e-05,8.591312039e-01,7.022772541e-01,-7.850000741e-05,8.591316756e-01,7.030802882e-01,-1.736491318e-04,8.293156958e-01
+21,2.981666667e+01,DOWN_FORCE_DETACH,1792836781117839723,3.400660693e-04,-5.931209754e-05,-1.076455154e-03,3.407847972e-04,-5.877334639e-05,-1.070107121e-03,3.549454385e-04,-5.848655498e-05,-1.068889821e-03,7.022957357e-01,-8.140000894e-05,8.590669907e-01,7.022964544e-01,-8.086125780e-05,8.590733387e-01,7.031002858e-01,-1.760241533e-04,8.292573761e-01
+22,3.141666667e+01,DOWN_FORCE_DETACH,1792836782706724727,3.653875486e-04,-5.962185082e-05,-1.146894043e-03,3.619345816e-04,-6.285676201e-05,-1.149196420e-03,3.767499112e-04,-6.252962414e-05,-1.147865494e-03,7.023210572e-01,-8.170976222e-05,8.589965518e-01,7.023176042e-01,-8.494467341e-05,8.589942494e-01,7.031220903e-01,-1.800672225e-04,8.291784005e-01
+23,3.298333333e+01,DOWN_FORCE_DETACH,1792836784327608347,3.800581658e-04,-6.416707036e-05,-1.208898034e-03,3.772618393e-04,-7.150821173e-05,-1.203980829e-03,3.926701076e-04,-7.110019556e-05,-1.202748729e-03,7.023357278e-01,-8.625498176e-05,8.589345478e-01,7.023329315e-01,-9.359612314e-05,8.589394650e-01,7.031380104e-01,-1.886377939e-04,8.291235172e-01
+24,3.445000000e+01,DOWN_FORCE_DETACH,1792836785785931192,3.968134678e-04,-6.932018413e-05,-1.264224839e-03,3.951043961e-04,-6.510529956e-05,-1.262148205e-03,4.111904120e-04,-6.476312051e-05,-1.260880213e-03,7.023524831e-01,-9.140809553e-05,8.588792210e-01,7.023507740e-01,-8.719321096e-05,8.588812976e-01,7.031565308e-01,-1.823007189e-04,8.290653857e-01
+25,3.583333333e+01,DOWN_FORCE_DETACH,1792836787161538303,4.143949590e-04,-6.984193506e-05,-1.332211391e-03,4.081694097e-04,-6.988353685e-05,-1.321187005e-03,4.246886997e-04,-6.950518180e-05,-1.319821177e-03,7.023700646e-01,-9.192984647e-05,8.588112345e-01,7.023638390e-01,-9.197144826e-05,8.588222588e-01,7.031700290e-01,-1.870427802e-04,8.290064448e-01
+26,3.725000000e+01,DOWN_FORCE_DETACH,1792836788636076617,4.309620894e-04,-7.405181021e-05,-1.387261077e-03,4.248835217e-04,-7.070517494e-05,-1.377512709e-03,4.419892255e-04,-7.036895591e-05,-1.376260439e-03,7.023866317e-01,-9.613972162e-05,8.587561848e-01,7.023805531e-01,-9.279308635e-05,8.587659331e-01,7.031873296e-01,-1.879065543e-04,8.289500055e-01
+27,3.855000000e+01,DOWN_FORCE_DETACH,1792836789929889826,4.449227492e-04,-7.421894903e-05,-1.448855433e-03,4.402213736e-04,-7.349916880e-05,-1.437608072e-03,4.578443424e-04,-7.315719636e-05,-1.436287643e-03,7.024005924e-01,-9.630686044e-05,8.586945904e-01,7.023958910e-01,-9.558708021e-05,8.587058378e-01,7.032031847e-01,-1.906947947e-04,8.288899783e-01
+28,3.998333333e+01,DOWN_FORCE_DETACH,1792836791371791712,4.651868933e-04,-7.393096139e-05,-1.509412367e-03,4.564752656e-04,-7.602507285e-05,-1.495608591e-03,4.747121409e-04,-7.566573019e-05,-1.494474706e-03,7.024208565e-01,-9.601887280e-05,8.586340335e-01,7.024121449e-01,-9.811298425e-05,8.586478373e-01,7.032200525e-01,-1.932033285e-04,8.288317912e-01
+29,4.141666667e+01,DOWN_FORCE_DETACH,1792836792780381731,4.762376124e-04,-8.027044748e-05,-1.585324107e-03,4.765113700e-04,-7.933866558e-05,-1.575362411e-03,4.953414876e-04,-7.893865859e-05,-1.574057791e-03,7.024319072e-01,-1.023583589e-04,8.585581217e-01,7.024321810e-01,-1.014265770e-04,8.585680834e-01,7.032406818e-01,-1.964762570e-04,8.287522082e-01
+30,4.293333333e+01,DOWN_FORCE_DETACH,1792836794303943776,4.963092544e-04,-8.459034837e-05,-1.650780843e-03,4.905082344e-04,-7.907523441e-05,-1.636602352e-03,5.098291793e-04,-7.866465746e-05,-1.635319624e-03,7.024519789e-01,-1.066782598e-04,8.584926650e-01,7.024461779e-01,-1.011631458e-04,8.585068435e-01,7.032551695e-01,-1.962022558e-04,8.286909463e-01
+31,4.438333333e+01,DOWN_FORCE_DETACH,1792836795778698858,5.132441704e-04,-8.457754670e-05,-1.725695154e-03,5.102832492e-04,-8.404036459e-05,-1.719995787e-03,5.300930865e-04,-8.357270842e-05,-1.718423079e-03,7.024689138e-01,-1.066654581e-04,8.584177507e-01,7.024659529e-01,-1.061282760e-04,8.584234501e-01,7.032754334e-01,-2.011103068e-04,8.286078429e-01
+32,4.590000000e+01,DOWN_FORCE_DETACH,1792836797285812726,5.270163533e-04,-8.788522663e-05,-1.794375426e-03,5.198444356e-04,-8.574039963e-05,-1.781864705e-03,5.397162006e-04,-8.527023438e-05,-1.780439656e-03,7.024826860e-01,-1.099731380e-04,8.583490704e-01,7.024755141e-01,-1.078283110e-04,8.583615811e-01,7.032850565e-01,-2.028078327e-04,8.285458263e-01
+33,4.736666667e+01,DOWN_FORCE_DETACH,1792836798825486786,5.439789838e-04,-8.286277583e-05,-1.870910486e-03,5.389965506e-04,-8.445849178e-05,-1.857745534e-03,5.594551995e-04,-8.396211714e-05,-1.856212923e-03,7.024996486e-01,-1.049506872e-04,8.582725354e-01,7.024946662e-01,-1.065464032e-04,8.582857003e-01,7.033047955e-01,-2.014997155e-04,8.284700530e-01
+34,4.878333333e+01,DOWN_FORCE_DETACH,1792836800331923176,5.579137662e-04,-8.127342811e-05,-1.951927880e-03,5.582785074e-04,-8.409334131e-05,-1.941559924e-03,5.791545824e-04,-8.359569912e-05,-1.939962046e-03,7.025135834e-01,-1.033613395e-04,8.581915180e-01,7.025139481e-01,-1.061812527e-04,8.582018859e-01,7.033244949e-01,-2.011332975e-04,8.283863039e-01
+35,5.031666667e+01,DOWN_FORCE_DETACH,1792836801872323485,5.826892511e-04,-8.379090449e-05,-2.028877861e-03,5.782906174e-04,-8.313590941e-05,-2.023938528e-03,5.997478094e-04,-8.266612527e-05,-2.022335205e-03,7.025383589e-01,-1.058788159e-04,8.581145680e-01,7.025339602e-01,-1.052238208e-04,8.581195073e-01,7.033450882e-01,-2.002037236e-04,8.283039307e-01
+36,5.173333333e+01,DOWN_FORCE_DETACH,1792836803280671868,5.982027917e-04,-8.726785323e-05,-2.106915330e-03,5.956790005e-04,-8.980484846e-05,-2.104604620e-03,6.175294160e-04,-8.927831444e-05,-2.102833530e-03,7.025538724e-01,-1.093557646e-04,8.580365305e-01,7.025513486e-01,-1.118927599e-04,8.580388412e-01,7.033628698e-01,-2.068159128e-04,8.282234324e-01
+37,5.325000000e+01,DOWN_FORCE_DETACH,1792836804902416872,6.189233622e-04,-9.451827383e-05,-2.186313211e-03,6.159733851e-04,-9.061576602e-05,-2.181728598e-03,6.385057395e-04,-9.005077170e-05,-2.179938727e-03,7.025745930e-01,-1.166061852e-04,8.579571326e-01,7.025716430e-01,-1.127036774e-04,8.579617172e-01,7.033838461e-01,-2.075883701e-04,8.281463272e-01
+38,5.458333333e+01,DOWN_FORCE_DETACH,1792836806212997066,6.330967120e-04,-8.931889694e-05,-2.262019859e-03,6.298865047e-04,-8.961571452e-05,-2.264570270e-03,6.525011292e-04,-8.911968425e-05,-2.262648772e-03,7.025887663e-01,-1.114068083e-04,8.578814260e-01,7.025855561e-01,-1.117036259e-04,8.578788756e-01,7.033978415e-01,-2.066572826e-04,8.280636172e-01
+39,5.601666667e+01,DOWN_FORCE_DETACH,1792836807622064832,6.455413813e-04,-9.602505544e-05,-2.347400502e-03,6.473537655e-04,-9.408151855e-05,-2.343861669e-03,6.704106981e-04,-9.355373358e-05,-2.342007163e-03,7.026012110e-01,-1.181129669e-04,8.577960453e-01,7.026030234e-01,-1.161694300e-04,8.577995842e-01,7.034157510e-01,-2.110913319e-04,8.279842588e-01
+40,5.761666667e+01,DOWN_FORCE_DETACH,1792836809210832390,6.687089142e-04,-9.740681197e-05,-2.440330357e-03,6.640142773e-04,-9.850050376e-05,-2.424711753e-03,6.875397351e-04,-9.795551917e-05,-2.423026891e-03,7.026243785e-01,-1.194947234e-04,8.577031155e-01,7.026196839e-01,-1.205884152e-04,8.577187341e-01,7.034328801e-01,-2.154931175e-04,8.279032391e-01
+41,5.905000000e+01,DOWN_FORCE_DETACH,1792836810619525788,6.827941768e-04,-9.960681899e-05,-2.520233199e-03,6.791020689e-04,-9.867066204e-05,-2.507247740e-03,7.028459895e-04,-9.812167324e-05,-2.505611340e-03,7.026384638e-01,-1.216947304e-04,8.576232126e-01,7.026347717e-01,-1.207585734e-04,8.576361981e-01,7.034481863e-01,-2.156592716e-04,8.278206546e-01
+42,6.046666667e+01,DOWN_FORCE_DETACH,1792836812045250778,6.933611248e-04,-1.019852114e-04,-2.623397239e-03,6.944046866e-04,-1.012464006e-04,-2.604994840e-03,7.182228125e-04,-1.006910023e-04,-2.603125470e-03,7.026490307e-01,-1.240731228e-04,8.575200486e-01,7.026500743e-01,-1.233343121e-04,8.575384510e-01,7.034635632e-01,-2.182286006e-04,8.277231405e-01
+43,6.178333333e+01,DOWN_FORCE_DETACH,1792836813403918279,7.157910285e-04,-1.059735295e-04,-2.701067599e-03,7.080151068e-04,-1.054153118e-04,-2.687480533e-03,7.319080998e-04,-1.047734462e-04,-2.685567594e-03,7.026714607e-01,-1.280614409e-04,8.574423782e-01,7.026636847e-01,-1.275032232e-04,8.574559653e-01,7.034772484e-01,-2.223110446e-04,8.276406984e-01
+44,6.308333333e+01,DOWN_FORCE_DETACH,1792836814718256180,7.227911068e-04,-1.055897910e-04,-2.790011531e-03,7.210168616e-04,-1.083891286e-04,-2.772117220e-03,7.450187658e-04,-1.076923989e-04,-2.770201664e-03,7.026784607e-01,-1.276777024e-04,8.573534343e-01,7.026766865e-01,-1.304770400e-04,8.573713286e-01,7.034903591e-01,-2.252299973e-04,8.275560643e-01
+45,6.443333333e+01,DOWN_FORCE_DETACH,1792836816041249425,7.417800478e-04,-1.063968182e-04,-2.879573409e-03,7.410277888e-04,-1.089014484e-04,-2.874067073e-03,7.653017041e-04,-1.081486247e-04,-2.871959665e-03,7.026974497e-01,-1.284847296e-04,8.572638724e-01,7.026966974e-01,-1.309893598e-04,8.572693788e-01,7.035106420e-01,-2.256862231e-04,8.274543063e-01
+46,6.586666667e+01,DOWN_FORCE_DETACH,1792836817548414576,7.655250415e-04,-1.050415135e-04,-2.987211336e-03,7.629150422e-04,-1.130447863e-04,-2.985907138e-03,7.875869631e-04,-1.122941266e-04,-2.983609069e-03,7.027211947e-01,-1.271294249e-04,8.571562345e-01,7.027185847e-01,-1.351326977e-04,8.571575387e-01,7.035329273e-01,-2.298317250e-04,8.273426569e-01
+47,6.720000000e+01,DOWN_FORCE_DETACH,1792836819039247912,7.739018355e-04,-1.007285391e-04,-3.107842165e-03,7.716907211e-04,-1.042433939e-04,-3.095042003e-03,7.958616053e-04,-1.035866652e-04,-3.092628902e-03,7.027295715e-01,-1.228164505e-04,8.570356037e-01,7.027273603e-01,-1.263313053e-04,8.570484038e-01,7.035412019e-01,-2.211242636e-04,8.272336370e-01
+48,6.871666667e+01,DOWN_FORCE_DETACH,1792836820563805422,7.995842758e-04,-1.013847382e-04,-3.227839196e-03,7.961901583e-04,-1.040570271e-04,-3.209429240e-03,8.207671440e-04,-1.034047304e-04,-3.207066094e-03,7.027552539e-01,-1.234726496e-04,8.569156066e-01,7.027518598e-01,-1.261449385e-04,8.569340166e-01,7.035661075e-01,-2.209423288e-04,8.271191999e-01
+49,7.028333333e+01,DOWN_FORCE_DETACH,1792836822102892651,8.162496969e-04,-1.052700827e-04,-3.360270087e-03,8.136162047e-04,-1.036360056e-04,-3.361045526e-03,8.377377702e-04,-1.030407145e-04,-3.358552122e-03,7.027719193e-01,-1.273579941e-04,8.567831758e-01,7.027692858e-01,-1.257239170e-04,8.567824003e-01,7.035830781e-01,-2.205783128e-04,8.269677138e-01
+50,7.165000000e+01,DOWN_FORCE_DETACH,1792836823478295205,8.313619664e-04,-1.087455166e-04,-3.493599276e-03,8.301301066e-04,-1.036649851e-04,-3.484382062e-03,8.541286970e-04,-1.030136040e-04,-3.481870471e-03,7.027870316e-01,-1.308334280e-04,8.566498466e-01,7.027857997e-01,-1.257528965e-04,8.566590638e-01,7.035994690e-01,-2.205512024e-04,8.268443955e-01
+51,7.316666667e+01,DOWN_FORCE_DETACH,1792836825020973376,8.481854176e-04,-1.073890696e-04,-3.641965632e-03,8.475879536e-04,-1.076321071e-04,-3.633609926e-03,8.711611525e-04,-1.069611242e-04,-3.630906781e-03,7.028038550e-01,-1.294769810e-04,8.565014802e-01,7.028032576e-01,-1.297200185e-04,8.565098359e-01,7.036165015e-01,-2.244987226e-04,8.266953592e-01
+52,7.456666667e+01,DOWN_FORCE_DETACH,1792836826443265908,8.651894379e-04,-1.115462430e-04,-3.799443248e-03,8.640831695e-04,-1.143088732e-04,-3.781054675e-03,8.871388566e-04,-1.135759557e-04,-3.778359808e-03,7.028208591e-01,-1.336341544e-04,8.563440026e-01,7.028197528e-01,-1.363967846e-04,8.563623912e-01,7.036324792e-01,-2.311135540e-04,8.265479061e-01
+53,7.591666667e+01,DOWN_FORCE_DETACH,1792836827819337449,8.801247600e-04,-1.201348431e-04,-3.963121562e-03,8.799154056e-04,-1.201409389e-04,-3.946228174e-03,9.022279469e-04,-1.193271495e-04,-3.943298267e-03,7.028357944e-01,-1.422227545e-04,8.561803243e-01,7.028355850e-01,-1.422288503e-04,8.561972177e-01,7.036475683e-01,-2.368647479e-04,8.263829677e-01
+54,7.725000000e+01,DOWN_FORCE_DETACH,1792836829129839826,8.952469854e-04,-1.233834966e-04,-4.133023900e-03,8.950821528e-04,-1.228141144e-04,-4.114148578e-03,9.166526677e-04,-1.219623476e-04,-4.111093043e-03,7.028509166e-01,-1.454714080e-04,8.560104219e-01,7.028507518e-01,-1.449020258e-04,8.560292973e-01,7.036619930e-01,-2.394999459e-04,8.262151729e-01
+55,7.831666667e+01,DOWN_FORCE_DETACH,1792836830227564826,9.070242859e-04,-1.228801697e-04,-4.290740740e-03,9.074952942e-04,-1.196830910e-04,-4.282032444e-03,9.279657186e-04,-1.188651568e-04,-4.278653665e-03,7.028626939e-01,-1.449680811e-04,8.558527051e-01,7.028631649e-01,-1.417710024e-04,8.558614134e-01,7.036733061e-01,-2.364027551e-04,8.260476123e-01
+56,7.958333333e+01,DOWN_FORCE_DETACH,1792836831488323133,9.261109315e-04,-1.346106839e-04,-4.490096383e-03,9.257989597e-04,-1.287965129e-04,-4.474394304e-03,9.454989287e-04,-1.278843002e-04,-4.470875889e-03,7.028817806e-01,-1.566985953e-04,8.556533495e-01,7.028814686e-01,-1.508844243e-04,8.556690515e-01,7.036908393e-01,-2.454218985e-04,8.258553901e-01
+57,8.070000000e+01,DOWN_FORCE_DETACH,1792836832585982781,9.338394919e-04,-1.381257283e-04,-4.696614309e-03,9.340034545e-04,-1.376095291e-04,-4.693147318e-03,9.518557950e-04,-1.365735932e-04,-4.689072678e-03,7.028895091e-01,-1.602136397e-04,8.554468315e-01,7.028896731e-01,-1.596974405e-04,8.554502985e-01,7.036971961e-01,-2.541111916e-04,8.256371933e-01
+58,8.175000000e+01,DOWN_FORCE_DETACH,1792836833651042459,9.437489149e-04,-1.394029914e-04,-4.918408656e-03,9.448424944e-04,-1.408530125e-04,-4.899050885e-03,9.611814468e-04,-1.398245593e-04,-4.894834897e-03,7.028994185e-01,-1.614909028e-04,8.552250372e-01,7.029005121e-01,-1.629409239e-04,8.552443950e-01,7.037065218e-01,-2.573621577e-04,8.254314310e-01
+59,8.295000000e+01,DOWN_PEAK_HOLD,1792836834895844153,9.509538713e-04,-1.425734554e-04,-5.077138555e-03,9.507767827e-04,-1.441624559e-04,-5.072051293e-03,9.657855866e-04,-1.430561148e-04,-5.068392515e-03,7.029066235e-01,-1.646613668e-04,8.550663073e-01,7.029064464e-01,-1.662503673e-04,8.550713946e-01,7.037111259e-01,-2.605937132e-04,8.252578734e-01

Fixed/digit/cylinder_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+00,1.0706e-01,2.2192e-01,2.5037e+00,-5.2314e-02,4.4369e-02,2.8922e-04,7.3974e-04,-6.1855e-05,-3.0994e-04,3.0063e-06,5.3506e-05,1.6089e-07,8.0443e-04,5.3591e-05
+1,1.5833e+00,DOWN_FORCE_DETACH,3.3818e-04,1.6921e-01,2.1538e-01,2.5310e+00,-5.1965e-02,4.8811e-02,2.8985e-04,6.2887e-02,-6.5972e-03,2.6951e-02,3.5150e-04,4.4955e-03,7.9244e-07,6.8737e-02,4.5092e-03
+2,2.7000e+00,DOWN_FORCE_DETACH,6.8065e-04,1.0102e-01,2.7930e-01,2.5772e+00,-5.6367e-02,4.3868e-02,3.0452e-04,-5.2996e-03,5.7319e-02,7.3189e-02,-4.0500e-03,-4.4816e-04,1.5467e-05,9.3114e-02,4.0747e-03
+3,3.9167e+00,DOWN_FORCE_DETACH,1.0134e-03,1.4948e-01,2.8688e-01,2.6612e+00,-5.6898e-02,4.7239e-02,3.0686e-04,4.3160e-02,6.4895e-02,1.5721e-01,-4.5808e-03,2.9234e-03,1.7802e-05,1.7546e-01,5.4342e-03
+4,5.5000e+00,DOWN_FORCE_DETACH,1.3533e-03,1.7945e-01,2.8261e-01,2.5471e+00,-5.6711e-02,4.9574e-02,2.8506e-04,7.3126e-02,6.0630e-02,4.3077e-02,-4.3943e-03,5.2586e-03,-3.9933e-06,1.0430e-01,6.8529e-03
+5,6.8833e+00,DOWN_FORCE_DETACH,1.6944e-03,1.6370e-01,3.1137e-01,2.5561e+00,-5.8729e-02,4.8464e-02,2.6535e-04,5.7385e-02,8.9392e-02,5.2066e-02,-6.4125e-03,4.1481e-03,-2.3708e-05,1.1830e-01,7.6372e-03
+6,8.3833e+00,DOWN_FORCE_DETACH,2.0275e-03,1.7941e-01,3.2134e-01,2.5957e+00,-5.9415e-02,4.9553e-02,2.3098e-04,7.3092e-02,9.9358e-02,9.1650e-02,-7.0980e-03,5.2369e-03,-5.8078e-05,1.5367e-01,8.8210e-03
+7,9.7500e+00,DOWN_FORCE_DETACH,2.3684e-03,1.8990e-01,3.2863e-01,2.6379e+00,-5.9885e-02,5.0250e-02,1.9670e-04,8.3583e-02,1.0665e-01,1.3393e-01,-7.5684e-03,5.9342e-03,-9.2351e-05,1.9052e-01,9.6179e-03
+8,1.1233e+01,DOWN_FORCE_DETACH,2.7076e-03,2.0438e-01,3.6202e-01,2.6267e+00,-6.2130e-02,5.1290e-02,1.6541e-04,9.8059e-02,1.4003e-01,1.2266e-01,-9.8131e-03,6.9747e-03,-1.2364e-04,2.1041e-01,1.2040e-02
+9,1.2617e+01,DOWN_FORCE_DETACH,3.0369e-03,2.1231e-01,3.6024e-01,2.6206e+00,-6.1989e-02,5.1844e-02,1.3835e-04,1.0599e-01,1.3826e-01,1.1663e-01,-9.6719e-03,7.5284e-03,-1.5071e-04,2.0965e-01,1.2257e-02
+10,1.3317e+01,DOWN_FORCE_DETACH,3.3831e-03,9.1259e-02,3.4514e-01,2.6080e+00,-6.0967e-02,4.3191e-02,1.5287e-04,-1.5061e-02,1.2315e-01,1.0403e-01,-8.6507e-03,-1.1246e-03,-1.3619e-04,1.6191e-01,8.7245e-03
+11,1.4683e+01,DOWN_FORCE_DETACH,3.7189e-03,1.2985e-01,3.6397e-01,2.6859e+00,-6.2178e-02,4.5798e-02,1.4795e-04,2.3525e-02,1.4199e-01,1.8189e-01,-9.8615e-03,1.4824e-03,-1.4110e-04,2.3195e-01,9.9733e-03
+12,1.6233e+01,DOWN_FORCE_DETACH,4.0592e-03,1.6242e-01,3.7017e-01,2.6553e+00,-6.2582e-02,4.8132e-02,1.2269e-04,5.6104e-02,1.4819e-01,1.5133e-01,-1.0265e-02,3.8162e-03,-1.6636e-04,2.1911e-01,1.0953e-02
+13,1.7550e+01,DOWN_FORCE_DETACH,4.3959e-03,1.7424e-01,3.6155e-01,2.6451e+00,-6.2042e-02,4.8972e-02,9.0363e-05,6.7918e-02,1.3957e-01,1.4105e-01,-9.7248e-03,4.6564e-03,-1.9869e-04,2.0973e-01,1.0784e-02
+14,1.9133e+01,DOWN_FORCE_DETACH,4.7355e-03,1.5370e-01,3.6728e-01,2.6690e+00,-6.2449e-02,4.7460e-02,6.4325e-05,4.7382e-02,1.4530e-01,1.6500e-01,-1.0132e-02,3.1440e-03,-2.2473e-04,2.2490e-01,1.0611e-02
+15,2.0617e+01,DOWN_FORCE_DETACH,5.0747e-03,1.6075e-01,3.7916e-01,2.6692e+00,-6.3211e-02,4.7964e-02,5.1745e-05,5.4431e-02,1.5718e-01,1.6521e-01,-1.0895e-02,3.6486e-03,-2.3731e-04,2.3444e-01,1.1492e-02
+16,2.2150e+01,DOWN_FORCE_DETACH,5.4114e-03,1.7041e-01,3.9833e-01,2.6161e+00,-6.4414e-02,4.8677e-02,4.7272e-05,6.4088e-02,1.7635e-01,1.1206e-01,-1.2097e-02,4.3609e-03,-2.4178e-04,2.1855e-01,1.2861e-02
+17,2.3617e+01,DOWN_FORCE_DETACH,5.7502e-03,1.6337e-01,4.1473e-01,2.6768e+00,-6.5416e-02,4.8069e-02,6.0329e-05,5.7047e-02,1.9275e-01,1.7280e-01,-1.3100e-02,3.7534e-03,-2.2873e-04,2.6508e-01,1.3629e-02
+18,2.5350e+01,DOWN_FORCE_DETACH,6.0884e-03,1.7698e-01,4.3152e-01,2.6193e+00,-6.6553e-02,4.9102e-02,7.9681e-05,7.0658e-02,2.0954e-01,1.1525e-01,-1.4236e-02,4.7864e-03,-2.0937e-04,2.4936e-01,1.5021e-02
+19,2.6867e+01,DOWN_FORCE_DETACH,6.4266e-03,1.7907e-01,4.3690e-01,2.6682e+00,-6.6930e-02,4.9187e-02,9.5558e-05,7.2753e-02,2.1492e-01,1.6418e-01,-1.4613e-02,4.8718e-03,-1.9350e-04,2.8007e-01,1.5405e-02
+20,2.8267e+01,DOWN_FORCE_DETACH,6.7656e-03,1.7895e-01,4.3199e-01,2.6156e+00,-6.6677e-02,4.9272e-02,1.0349e-04,7.2628e-02,2.1001e-01,1.1161e-01,-1.4360e-02,4.9568e-03,-1.8556e-04,2.4867e-01,1.5193e-02
+21,2.9817e+01,DOWN_FORCE_DETACH,7.1052e-03,1.5351e-01,4.5664e-01,2.6554e+00,-6.8417e-02,4.7425e-02,1.2123e-04,4.7191e-02,2.3466e-01,1.5140e-01,-1.6100e-02,3.1092e-03,-1.6783e-04,2.8322e-01,1.6398e-02
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+23,3.2983e+01,DOWN_FORCE_DETACH,7.7788e-03,1.6173e-01,5.1470e-01,2.6530e+00,-7.2322e-02,4.7925e-02,2.0639e-04,5.5415e-02,2.9272e-01,1.4902e-01,-2.0005e-02,3.6089e-03,-8.2669e-05,3.3311e-01,2.0328e-02
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+25,3.5833e+01,DOWN_FORCE_DETACH,8.4546e-03,1.6782e-01,5.0443e-01,2.6651e+00,-7.1606e-02,4.8260e-02,2.6030e-04,6.1502e-02,2.8245e-01,1.6108e-01,-1.9289e-02,3.9441e-03,-2.8750e-05,3.3092e-01,1.9689e-02
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+41,5.9050e+01,DOWN_FORCE_DETACH,1.3865e-02,1.9988e-01,6.2271e-01,2.6854e+00,-7.9199e-02,5.0298e-02,3.3646e-04,9.3561e-02,4.0073e-01,1.8136e-01,-2.6882e-02,5.9819e-03,4.7408e-05,4.4970e-01,2.7539e-02
+42,6.0467e+01,DOWN_FORCE_DETACH,1.4204e-02,2.0416e-01,6.3913e-01,2.7269e+00,-8.0106e-02,5.0489e-02,2.7889e-04,9.7844e-02,4.1715e-01,2.2293e-01,-2.7789e-02,6.1730e-03,-1.0165e-05,4.8299e-01,2.8466e-02
+43,6.1783e+01,DOWN_FORCE_DETACH,1.4541e-02,2.0877e-01,6.6461e-01,2.7293e+00,-8.1595e-02,5.0786e-02,2.4035e-04,1.0245e-01,4.4263e-01,2.2526e-01,-2.9278e-02,6.4703e-03,-4.8702e-05,5.0711e-01,2.9985e-02
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Fixed/digit/cylinder_15A_20/press_depth_09/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 604160

Fixed/digit/cylinder_15A_20/press_depth_09/up/franka_data.csv

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Fixed/digit/cylinder_15A_20/press_depth_09/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+7,7.000000000e-01,WAIT_W2,1792836735741640602,3.548266655e-06,-1.850804597e-04,1.623245021e-05,3.485305821e-06,-1.848173614e-04,1.644045690e-05,4.125467565e-06,-1.830021545e-04,1.614298021e-05,7.019592179e-01,-2.071683711e-04,8.601596783e-01,7.019591549e-01,-2.069052728e-04,8.601598863e-01,7.027494654e-01,-3.005391514e-04,8.303424085e-01
+8,7.166666667e-01,WAIT_W2,1792836735758530833,2.090514974e-06,-2.823610691e-04,2.008964996e-05,2.331483914e-06,-2.821893602e-04,1.971608713e-05,2.944602701e-06,-2.794322475e-04,1.953104612e-05,7.019577601e-01,-3.044489805e-04,8.601635355e-01,7.019580011e-01,-3.042772716e-04,8.601631619e-01,7.027482845e-01,-3.969692444e-04,8.303457965e-01
+9,7.166666667e-01,WAIT_W2,1792836735758530833,2.090514974e-06,-2.823610691e-04,2.008964996e-05,2.331483914e-06,-2.821893602e-04,1.971608713e-05,2.944602701e-06,-2.794322475e-04,1.953104612e-05,7.019577601e-01,-3.044489805e-04,8.601635355e-01,7.019580011e-01,-3.042772716e-04,8.601631619e-01,7.027482845e-01,-3.969692444e-04,8.303457965e-01
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+16,1.416666667e+00,UP_FORCE_RAMP,1792836736462632589,2.760049208e-06,-3.333583242e-04,2.584988497e-05,1.879904984e-06,-3.437415795e-04,2.395213402e-05,2.707262800e-06,-3.407251448e-04,2.400304559e-05,7.019584297e-01,-3.554462356e-04,8.601692957e-01,7.019575495e-01,-3.658294909e-04,8.601673980e-01,7.027480472e-01,-4.582621417e-04,8.303502685e-01
+17,1.666666667e+00,UP_FORCE_RAMP,1792836736708721312,3.197140660e-06,-3.327215478e-04,2.978483953e-05,1.879904984e-06,-3.437415795e-04,2.395213402e-05,2.752573970e-06,-3.407795471e-04,2.403763192e-05,7.019588668e-01,-3.548094592e-04,8.601732307e-01,7.019575495e-01,-3.658294909e-04,8.601673980e-01,7.027480925e-01,-4.583165440e-04,8.303503031e-01
+18,1.950000000e+00,UP_FORCE_RAMP,1792836736987014889,4.614044224e-06,-3.332968902e-04,3.306647998e-05,1.879904984e-06,-3.437415795e-04,2.395213402e-05,2.797090226e-06,-3.408312399e-04,2.406158106e-05,7.019602837e-01,-3.553848016e-04,8.601765123e-01,7.019575495e-01,-3.658294909e-04,8.601673980e-01,7.027481370e-01,-4.583682368e-04,8.303503271e-01
+19,2.216666667e+00,UP_FORCE_RAMP,1792836737265666845,4.136704692e-06,-3.382119123e-04,3.616152242e-05,8.498404626e-06,-3.342110754e-04,4.214119601e-05,1.010183467e-05,-3.314351413e-04,4.203801591e-05,7.019598063e-01,-3.602998237e-04,8.601796074e-01,7.019641680e-01,-3.562989868e-04,8.601855870e-01,7.027554417e-01,-4.489721383e-04,8.303683035e-01
+20,2.500000000e+00,UP_FORCE_RAMP,1792836737693714603,7.107877098e-06,-3.360863409e-04,5.391094903e-05,8.498404626e-06,-3.342110754e-04,4.214119601e-05,1.016063688e-05,-3.314719130e-04,4.209922669e-05,7.019627775e-01,-3.581742523e-04,8.601973568e-01,7.019641680e-01,-3.562989868e-04,8.601855870e-01,7.027555005e-01,-4.490089099e-04,8.303683647e-01
+21,2.716666667e+00,UP_FORCE_RAMP,1792836737904748396,1.130894345e-06,-3.343577838e-04,6.019776768e-05,4.899234579e-06,-3.319692204e-04,6.228373817e-05,6.587560954e-06,-3.293014865e-04,6.194749112e-05,7.019568005e-01,-3.564456952e-04,8.602036436e-01,7.019605689e-01,-3.540571318e-04,8.602057296e-01,7.027519275e-01,-4.468384834e-04,8.303882130e-01
+22,2.850000000e+00,UP_FORCE_RAMP,1792836738034993751,-2.561898283e-05,-3.270624464e-04,6.725592787e-05,-2.505894954e-05,-3.270502024e-04,6.707641254e-05,-2.518017621e-05,-3.244154931e-04,6.666220943e-05,7.019300506e-01,-3.491503579e-04,8.602107018e-01,7.019306107e-01,-3.491381138e-04,8.602105223e-01,7.027201597e-01,-4.419524901e-04,8.303929277e-01
+23,3.016666667e+00,UP_FORCE_RAMP,1792836738199105885,-2.116964684e-05,-3.320736359e-04,8.646662976e-05,-1.847593476e-05,-3.281355336e-04,8.556432393e-05,-1.806183311e-05,-3.255115905e-04,8.495234450e-05,7.019345000e-01,-3.541615473e-04,8.602299125e-01,7.019371937e-01,-3.502234450e-04,8.602290102e-01,7.027272781e-01,-4.430485874e-04,8.304112178e-01
+24,3.266666667e+00,UP_FORCE_RAMP,1792836738447009097,-1.543919166e-05,-3.247441495e-04,1.033176033e-04,-1.847593476e-05,-3.281355336e-04,8.556432393e-05,-1.808011322e-05,-3.255382549e-04,8.505377184e-05,7.019402304e-01,-3.468320610e-04,8.602467634e-01,7.019371937e-01,-3.502234450e-04,8.602290102e-01,7.027272598e-01,-4.430752518e-04,8.304113193e-01
+25,3.533333333e+00,UP_FORCE_RAMP,1792836738706996938,-1.310447067e-05,-3.287886786e-04,1.217155300e-04,-1.477745225e-05,-3.243185371e-04,1.058803424e-04,-1.387894908e-05,-3.218362432e-04,1.052442195e-04,7.019425652e-01,-3.508765900e-04,8.602651614e-01,7.019408922e-01,-3.464064485e-04,8.602493262e-01,7.027314609e-01,-4.393732401e-04,8.304315097e-01
+26,3.700000000e+00,UP_FORCE_RAMP,1792836738870528284,-1.121986491e-05,-3.237248853e-04,1.338226814e-04,-1.065176530e-05,-3.264219105e-04,1.267364562e-04,-9.248626208e-06,-3.239391889e-04,1.259655783e-04,7.019444498e-01,-3.458127967e-04,8.602772685e-01,7.019450179e-01,-3.485098219e-04,8.602701823e-01,7.027360913e-01,-4.414761859e-04,8.304522311e-01
+27,3.950000000e+00,UP_FORCE_RAMP,1792836739116503855,-1.198117194e-05,-3.271853601e-04,1.528559886e-04,-1.062801408e-05,-3.238030827e-04,1.479799468e-04,-8.970133859e-06,-3.213791610e-04,1.469694278e-04,7.019436885e-01,-3.492732716e-04,8.602963018e-01,7.019450416e-01,-3.458909941e-04,8.602914258e-01,7.027363698e-01,-4.389161579e-04,8.304732349e-01
+28,4.200000000e+00,UP_FORCE_RAMP,1792836739362376703,-1.108556310e-05,-3.274163307e-04,1.759070063e-04,-9.952444935e-06,-3.261474833e-04,1.704815125e-04,-7.929358709e-06,-3.237412648e-04,1.693699637e-04,7.019445841e-01,-3.495042421e-04,8.603193529e-01,7.019457172e-01,-3.482353947e-04,8.603139274e-01,7.027374105e-01,-4.412782617e-04,8.304956354e-01
+29,4.416666667e+00,UP_FORCE_RAMP,1792836739575011297,-1.721180763e-05,-3.233956251e-04,1.886929375e-04,-9.952444935e-06,-3.261474833e-04,1.704815125e-04,-7.915530839e-06,-3.237624571e-04,1.695027319e-04,7.019384578e-01,-3.454835365e-04,8.603321388e-01,7.019457172e-01,-3.482353947e-04,8.603139274e-01,7.027374244e-01,-4.412994540e-04,8.304957682e-01
+30,4.683333333e+00,UP_FORCE_RAMP,1792836739836908054,-2.876129470e-05,-3.214186958e-04,2.038235816e-04,-1.968290882e-05,-3.225061466e-04,1.879542115e-04,-1.811966322e-05,-3.201741918e-04,1.868528925e-04,7.019269083e-01,-3.435066073e-04,8.603472694e-01,7.019359867e-01,-3.445940580e-04,8.603314001e-01,7.027272202e-01,-4.377111887e-04,8.305131184e-01
+31,4.866666667e+00,UP_FORCE_RAMP,1792836740017525406,-2.802491618e-05,-3.180307994e-04,2.196885344e-04,-2.672790728e-05,-3.218552707e-04,2.109972061e-04,-2.525387935e-05,-3.195726875e-04,2.097075143e-04,7.019276447e-01,-3.401187108e-04,8.603631344e-01,7.019289417e-01,-3.439431821e-04,8.603544431e-01,7.027200860e-01,-4.371096844e-04,8.305359730e-01
+32,5.116666667e+00,UP_FORCE_RAMP,1792836740263008372,-3.002888319e-05,-3.192216044e-04,2.330533507e-04,-3.012327017e-05,-3.188928559e-04,2.300079029e-04,-2.871007979e-05,-3.166530208e-04,2.286265616e-04,7.019256407e-01,-3.413095158e-04,8.603764992e-01,7.019255464e-01,-3.409807674e-04,8.603734537e-01,7.027166298e-01,-4.341900177e-04,8.305548920e-01
+33,5.383333333e+00,UP_FORCE_RAMP,1792836740541258542,-3.353114781e-05,-3.185344338e-04,2.428528250e-04,-3.012327017e-05,-3.188928559e-04,2.300079029e-04,-2.873162977e-05,-3.166693833e-04,2.288158909e-04,7.019221385e-01,-3.406223452e-04,8.603862987e-01,7.019255464e-01,-3.409807674e-04,8.603734537e-01,7.027166083e-01,-4.342063803e-04,8.305550814e-01
+34,5.683333333e+00,UP_FORCE_RAMP,1792836740838940046,-3.208884443e-05,-3.165844938e-04,2.554861210e-04,-3.007480510e-05,-3.189819633e-04,2.518481621e-04,-2.843590903e-05,-3.167912327e-04,2.505388323e-04,7.019235808e-01,-3.386724052e-04,8.603989320e-01,7.019255948e-01,-3.410698747e-04,8.603952940e-01,7.027169040e-01,-4.343282297e-04,8.305768043e-01
+35,5.883333333e+00,UP_FORCE_RAMP,1792836741034553598,-3.558568735e-05,-3.154350687e-04,2.573654047e-04,-3.007480510e-05,-3.189819633e-04,2.518481621e-04,-2.844330549e-05,-3.168015566e-04,2.506595402e-04,7.019200839e-01,-3.375229801e-04,8.604008113e-01,7.019255948e-01,-3.410698747e-04,8.603952940e-01,7.027168966e-01,-4.343385535e-04,8.305769250e-01
+36,6.166666667e+00,UP_FORCE_RAMP,1792836741328451314,-3.254044319e-05,-3.156006847e-04,2.687732305e-04,-2.945456074e-05,-3.129724469e-04,2.733347362e-04,-2.756200592e-05,-3.108689541e-04,2.719648998e-04,7.019231292e-01,-3.376885962e-04,8.604122191e-01,7.019262151e-01,-3.350603583e-04,8.604167806e-01,7.027177779e-01,-4.284059511e-04,8.305982304e-01
+37,6.433333333e+00,UP_FORCE_RAMP,1792836741590031354,-3.402806311e-05,-3.149016623e-04,2.721163410e-04,-2.945456074e-05,-3.129724469e-04,2.733347362e-04,-2.756549222e-05,-3.108768164e-04,2.721442203e-04,7.019216416e-01,-3.369895737e-04,8.604155622e-01,7.019262151e-01,-3.350603583e-04,8.604167806e-01,7.027177744e-01,-4.284138134e-04,8.305984097e-01
+38,6.650000000e+00,UP_FORCE_RAMP,1792836741819716568,-3.276665607e-05,-3.171967253e-04,2.772543856e-04,-2.945456074e-05,-3.129724469e-04,2.733347362e-04,-2.756957420e-05,-3.108824446e-04,2.722517387e-04,7.019229030e-01,-3.392846367e-04,8.604207002e-01,7.019262151e-01,-3.350603583e-04,8.604167806e-01,7.027177703e-01,-4.284194415e-04,8.305985172e-01
+39,6.950000000e+00,UP_FORCE_RAMP,1792836742147189753,-3.288356065e-05,-3.144125397e-04,2.806236770e-04,-2.945456074e-05,-3.129724469e-04,2.733347362e-04,-2.757563271e-05,-3.108879895e-04,2.723765916e-04,7.019227861e-01,-3.365004511e-04,8.604240695e-01,7.019262151e-01,-3.350603583e-04,8.604167806e-01,7.027177643e-01,-4.284249865e-04,8.305986421e-01
+40,7.200000000e+00,UP_FORCE_RAMP,1792836742392540512,-3.337360985e-05,-3.157199219e-04,2.807793646e-04,-2.945456074e-05,-3.129724469e-04,2.733347362e-04,-2.758080425e-05,-3.108908753e-04,2.724649144e-04,7.019222960e-01,-3.378078333e-04,8.604242252e-01,7.019262151e-01,-3.350603583e-04,8.604167806e-01,7.027177591e-01,-4.284278722e-04,8.305987304e-01
+41,7.400000000e+00,UP_FORCE_RAMP,1792836742589911855,-3.295946649e-05,-3.191755464e-04,2.853671324e-04,-2.945456074e-05,-3.129724469e-04,2.733347362e-04,-2.758497374e-05,-3.108922025e-04,2.725272196e-04,7.019227102e-01,-3.412634578e-04,8.604288130e-01,7.019262151e-01,-3.350603583e-04,8.604167806e-01,7.027177549e-01,-4.284291994e-04,8.305987927e-01
+42,7.666666667e+00,UP_FORCE_RAMP,1792836742933652922,-3.381501139e-05,-3.207014462e-04,2.885968438e-04,-2.945456074e-05,-3.129724469e-04,2.733347362e-04,-2.759042728e-05,-3.108928623e-04,2.726005141e-04,7.019218546e-01,-3.427893576e-04,8.604320427e-01,7.019262151e-01,-3.350603583e-04,8.604167806e-01,7.027177495e-01,-4.284298592e-04,8.305988660e-01
+43,7.933333333e+00,UP_FORCE_RAMP,1792836743196140570,-3.463598931e-05,-3.183426297e-04,2.954904958e-04,-3.361240168e-05,-3.178325450e-04,2.924604617e-04,-3.174096083e-05,-3.157163742e-04,2.915584944e-04,7.019210336e-01,-3.404305411e-04,8.604389363e-01,7.019220572e-01,-3.399204564e-04,8.604359063e-01,7.027135989e-01,-4.332533711e-04,8.306178240e-01
+44,8.150000000e+00,UP_FORCE_RAMP,1792836743408313341,-3.782160984e-05,-3.176198770e-04,2.989306219e-04,-3.361240168e-05,-3.178325450e-04,2.924604617e-04,-3.175209270e-05,-3.157188643e-04,2.916397368e-04,7.019178480e-01,-3.397077884e-04,8.604423765e-01,7.019220572e-01,-3.399204564e-04,8.604359063e-01,7.027135878e-01,-4.332558613e-04,8.306179052e-01
+45,8.466666667e+00,UP_FORCE_RAMP,1792836743719332235,-3.994054419e-05,-3.142029197e-04,3.127768699e-04,-3.964185989e-05,-3.141771744e-04,3.127035753e-04,-3.798162687e-05,-3.121304151e-04,3.116145212e-04,7.019157291e-01,-3.362908312e-04,8.604562227e-01,7.019160278e-01,-3.362650858e-04,8.604561494e-01,7.027073583e-01,-4.296674120e-04,8.306378800e-01
+46,8.483333333e+00,UP_FORCE_RAMP,1792836743736624184,-8.952447503e-05,-3.200496013e-04,2.821114330e-04,-8.925713160e-05,-3.199969117e-04,2.817902451e-04,-9.108553007e-05,-3.178738635e-04,2.811513029e-04,7.018661451e-01,-3.421375127e-04,8.604255573e-01,7.018664125e-01,-3.420848231e-04,8.604252361e-01,7.026542544e-01,-4.354108605e-04,8.306074168e-01
+47,8.533333333e+00,UP_FORCE_RAMP,1792836743798375359,-9.719795066e-05,-3.234596540e-04,2.777142966e-04,-9.722218021e-05,-3.234594735e-04,2.775542311e-04,-9.969694998e-05,-3.212756313e-04,2.769268422e-04,7.018584717e-01,-3.455475654e-04,8.604211601e-01,7.018584474e-01,-3.455473849e-04,8.604210001e-01,7.026456429e-01,-4.388126282e-04,8.306031923e-01
+48,8.600000000e+00,UP_FORCE_RAMP,1792836743866889402,-9.946967221e-05,-3.247460426e-04,2.814059043e-04,-9.722218021e-05,-3.234594735e-04,2.775542311e-04,-9.975395741e-05,-3.212762950e-04,2.769348399e-04,7.018562000e-01,-3.468339540e-04,8.604248517e-01,7.018584474e-01,-3.455473849e-04,8.604210001e-01,7.026455859e-01,-4.388132919e-04,8.306032003e-01
+49,8.716666667e+00,UP_FORCE_RAMP,1792836743981883630,-9.982622155e-05,-3.207574254e-04,2.877142302e-04,-9.722218021e-05,-3.234594735e-04,2.775542311e-04,-9.983637180e-05,-3.212738787e-04,2.769442936e-04,7.018558434e-01,-3.428453368e-04,8.604311601e-01,7.018584474e-01,-3.455473849e-04,8.604210001e-01,7.026455035e-01,-4.388108756e-04,8.306032098e-01
+50,8.983333333e+00,UP_FORCE_RAMP,1792836744359017648,-1.076029632e-04,-3.169250161e-04,2.921829042e-04,-9.722218021e-05,-3.234594735e-04,2.775542311e-04,-9.997460126e-05,-3.212684915e-04,2.769716573e-04,7.018480667e-01,-3.390129275e-04,8.604356287e-01,7.018584474e-01,-3.455473849e-04,8.604210001e-01,7.026453653e-01,-4.388054884e-04,8.306032371e-01
+51,9.183333333e+00,UP_FORCE_RAMP,1792836744555328371,-1.068858835e-04,-3.151079848e-04,3.041404950e-04,-1.037490392e-04,-3.222921049e-04,2.979742636e-04,-1.067939303e-04,-3.201082805e-04,2.971738323e-04,7.018487837e-01,-3.371958962e-04,8.604475863e-01,7.018519206e-01,-3.443800163e-04,8.604414201e-01,7.026385460e-01,-4.376452774e-04,8.306234393e-01
+52,9.466666667e+00,UP_FORCE_RAMP,1792836744833572187,-1.113297159e-04,-3.173958616e-04,3.167878166e-04,-1.114430731e-04,-3.173930004e-04,3.165973115e-04,-1.148770236e-04,-3.152878031e-04,3.155632616e-04,7.018443399e-01,-3.394837730e-04,8.604602337e-01,7.018442266e-01,-3.394809118e-04,8.604600432e-01,7.026304629e-01,-4.328248000e-04,8.306418287e-01
+53,9.750000000e+00,UP_FORCE_HOLD,1792836745144570646,-1.149538548e-04,-3.151533121e-04,3.358315642e-04,-1.114430731e-04,-3.173930004e-04,3.165973115e-04,-1.150026002e-04,-3.152808733e-04,3.156916003e-04,7.018407158e-01,-3.372412235e-04,8.604792774e-01,7.018442266e-01,-3.394809118e-04,8.604600432e-01,7.026303373e-01,-4.328178702e-04,8.306419571e-01
+54,9.966666667e+00,UP_FORCE_HOLD,1792836745357688722,-1.166445006e-04,-3.111798159e-04,3.486645723e-04,-1.153358108e-04,-3.160313271e-04,3.372152839e-04,-1.189659357e-04,-3.139030300e-04,3.360982413e-04,7.018390251e-01,-3.332677273e-04,8.604921104e-01,7.018403338e-01,-3.381192385e-04,8.604806611e-01,7.026263740e-01,-4.314400269e-04,8.306623637e-01
+55,1.018333333e+01,UP_SETTLE,1792836745587635362,-1.220386013e-04,-3.143072017e-04,3.560486920e-04,-1.217396013e-04,-3.142061478e-04,3.562033601e-04,-1.256082410e-04,-3.121453484e-04,3.548903061e-04,7.018336310e-01,-3.363951131e-04,8.604994945e-01,7.018339300e-01,-3.362940592e-04,8.604996492e-01,7.026197317e-01,-4.296823453e-04,8.306811558e-01
+56,1.045000000e+01,UP_SETTLE,1792836745849335280,-1.238863285e-04,-3.122647199e-04,3.677575390e-04,-1.217396013e-04,-3.142061478e-04,3.562033601e-04,-1.257082535e-04,-3.121436509e-04,3.550472589e-04,7.018317833e-01,-3.343526313e-04,8.605112034e-01,7.018339300e-01,-3.362940592e-04,8.604996492e-01,7.026196316e-01,-4.296806478e-04,8.306813127e-01
+57,1.068333333e+01,UP_SETTLE,1792836746099302269,-1.280395023e-04,-3.127734481e-04,3.702428198e-04,-1.217396013e-04,-3.142061478e-04,3.562033601e-04,-1.257749233e-04,-3.121421324e-04,3.551373741e-04,7.018276301e-01,-3.348613595e-04,8.605136887e-01,7.018339300e-01,-3.362940592e-04,8.604996492e-01,7.026195650e-01,-4.296791293e-04,8.306814029e-01
+58,1.093333333e+01,UP_SETTLE,1792836746341205018,-1.286306990e-04,-3.092189838e-04,3.779430070e-04,-1.278347726e-04,-3.084375755e-04,3.748370804e-04,-1.320958466e-04,-3.064029618e-04,3.735837409e-04,7.018270389e-01,-3.313068952e-04,8.605213889e-01,7.018278349e-01,-3.305254869e-04,8.605182829e-01,7.026132440e-01,-4.239399587e-04,8.306998492e-01
+59,1.115000000e+01,UP_SETTLE,1792836746553194679,-1.280557343e-04,-3.112448638e-04,3.829894052e-04,-1.278347726e-04,-3.084375755e-04,3.748370804e-04,-1.321544895e-04,-3.064001710e-04,3.736799828e-04,7.018276139e-01,-3.333327752e-04,8.605264353e-01,7.018278349e-01,-3.305254869e-04,8.605182829e-01,7.026131854e-01,-4.239371679e-04,8.306999455e-01

Fixed/digit/cylinder_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+00,1.0698e-01,2.2204e-01,2.5036e+00,-5.2318e-02,4.4363e-02,2.8729e-04,7.4088e-04,-6.2227e-05,-3.0994e-04,3.0138e-06,5.3588e-05,1.6508e-07,8.0550e-04,5.3673e-05
+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,5.0438e-05,1.1401e-01,2.2143e-01,2.5007e+00,-5.2288e-02,4.4872e-02,2.8867e-04,7.7682e-03,-6.7545e-04,-3.2320e-03,3.2540e-05,5.6235e-04,1.5404e-06,8.4408e-03,5.6330e-04
+2,3.6667e-01,WAIT_W2,1.0822e-04,1.2165e-01,2.2072e-01,2.4975e+00,-5.2255e-02,4.5426e-02,2.8975e-04,1.5405e-02,-1.3823e-03,-6.4111e-03,6.6157e-05,1.1161e-03,2.6219e-06,1.6743e-02,1.1180e-03
+3,5.8333e-01,WAIT_W2,1.6353e-04,1.2908e-01,2.1999e-01,2.4944e+00,-5.2220e-02,4.5966e-02,2.9037e-04,2.2844e-02,-2.1142e-03,-9.5382e-03,1.0056e-04,1.6562e-03,3.2471e-06,2.4845e-02,1.6592e-03
+4,6.6667e-01,WAIT_W2,2.0523e-04,1.3174e-01,2.1972e-01,2.4933e+00,-5.2208e-02,4.6159e-02,2.9050e-04,2.5498e-02,-2.3870e-03,-1.0665e-02,1.1329e-04,1.8491e-03,3.3705e-06,2.7742e-02,1.8525e-03
+5,6.8333e-01,WAIT_W2,2.6347e-04,1.3281e-01,3.9848e-01,2.4806e+00,-6.4332e-02,4.6235e-02,3.1936e-04,2.6575e-02,1.7638e-01,-2.3300e-02,-1.2011e-02,1.9253e-03,3.2239e-05,1.7988e-01,1.2164e-02
+6,7.0000e-01,WAIT_W2,3.5346e-04,1.2787e-01,6.7813e-01,2.4694e+00,-8.3320e-02,4.5886e-02,3.6672e-04,2.1635e-02,4.5603e-01,-3.4538e-02,-3.0999e-02,1.5759e-03,7.9595e-05,4.5785e-01,3.1039e-02
+7,7.0000e-01,WAIT_W2,3.5346e-04,1.2787e-01,6.7813e-01,2.4694e+00,-8.3320e-02,4.5886e-02,3.6672e-04,2.1635e-02,4.5603e-01,-3.4538e-02,-3.0999e-02,1.5759e-03,7.9595e-05,4.5785e-01,3.1039e-02
+8,7.1667e-01,WAIT_W2,4.5083e-04,1.3566e-01,1.1086e+00,2.4577e+00,-1.1252e-01,4.6396e-02,4.3739e-04,2.9417e-02,8.8647e-01,-4.6215e-02,-6.0195e-02,2.0862e-03,1.5026e-04,8.8816e-01,6.0231e-02
+9,7.1667e-01,WAIT_W2,4.5083e-04,1.3566e-01,1.1086e+00,2.4577e+00,-1.1252e-01,4.6396e-02,4.3739e-04,2.9417e-02,8.8647e-01,-4.6215e-02,-6.0195e-02,2.0862e-03,1.5026e-04,8.8816e-01,6.0231e-02
+10,7.5000e-01,WAIT_W2,5.4667e-04,1.5272e-01,1.9003e+00,2.4670e+00,-1.6646e-01,4.7532e-02,5.7605e-04,4.6484e-02,1.6782e+00,-3.6912e-02,-1.1413e-01,3.2223e-03,2.8892e-04,1.6792e+00,1.1418e-01
+11,7.8333e-01,WAIT_W2,6.0266e-04,1.5642e-01,1.8960e+00,2.4862e+00,-1.6644e-01,4.7795e-02,5.8220e-04,5.0183e-02,1.6738e+00,-1.7727e-02,-1.1412e-01,3.4850e-03,2.9508e-04,1.6747e+00,1.1417e-01
+12,8.3333e-01,WAIT_W2,6.4250e-04,1.5862e-01,1.7312e+00,2.4893e+00,-1.5538e-01,4.7959e-02,5.5307e-04,5.2380e-02,1.5091e+00,-1.4644e-02,-1.0306e-01,3.6492e-03,2.6595e-04,1.5100e+00,1.0312e-01
+13,9.8333e-01,WAIT_W2,7.0042e-04,1.6842e-01,1.8205e+00,2.4994e+00,-1.6179e-01,4.8651e-02,5.7341e-04,6.2175e-02,1.5984e+00,-4.4823e-03,-1.0947e-01,4.3414e-03,2.8629e-04,1.5996e+00,1.0956e-01
+14,1.1167e+00,WAIT_W2,7.5318e-04,1.7398e-01,1.8123e+00,2.5067e+00,-1.6147e-01,4.9049e-02,5.7683e-04,6.7744e-02,1.5902e+00,2.7361e-03,-1.0915e-01,4.7389e-03,2.8971e-04,1.5917e+00,1.0925e-01
+15,1.2667e+00,WAIT_W2,8.1072e-04,1.7978e-01,1.8046e+00,2.5131e+00,-1.6117e-01,4.9463e-02,5.8045e-04,7.3535e-02,1.5825e+00,9.1276e-03,-1.0885e-01,5.1529e-03,2.9333e-04,1.5843e+00,1.0897e-01
+16,1.4167e+00,UP_FORCE_RAMP,8.6445e-04,1.8503e-01,1.7979e+00,2.5182e+00,-1.6091e-01,4.9840e-02,5.8346e-04,7.8786e-02,1.5758e+00,1.4277e-02,-1.0859e-01,5.5302e-03,2.9633e-04,1.5779e+00,1.0873e-01
+17,1.6667e+00,UP_FORCE_RAMP,9.1408e-04,1.9290e-01,1.7883e+00,2.5245e+00,-1.6054e-01,5.0409e-02,5.8679e-04,8.6665e-02,1.5662e+00,2.0543e-02,-1.0822e-01,6.0992e-03,2.9966e-04,1.5687e+00,1.0839e-01
+18,1.9500e+00,UP_FORCE_RAMP,9.6749e-04,2.0070e-01,1.7789e+00,2.5290e+00,-1.6018e-01,5.0976e-02,5.8842e-04,9.4464e-02,1.5568e+00,2.5027e-02,-1.0786e-01,6.6658e-03,3.0130e-04,1.5599e+00,1.0806e-01
+19,2.2167e+00,UP_FORCE_RAMP,1.0246e-03,1.8636e-01,1.7220e+00,2.4825e+00,-1.5662e-01,5.0029e-02,5.9100e-04,8.0122e-02,1.4999e+00,-2.1400e-02,-1.0429e-01,5.7189e-03,3.0388e-04,1.5022e+00,1.0445e-01
+20,2.5000e+00,UP_FORCE_RAMP,1.0791e-03,1.9701e-01,1.7156e+00,2.4947e+00,-1.5639e-01,5.0780e-02,5.9491e-04,9.0769e-02,1.4935e+00,-9.2678e-03,-1.0407e-01,6.4703e-03,3.0778e-04,1.4963e+00,1.0427e-01
+21,2.7167e+00,UP_FORCE_RAMP,1.1318e-03,2.1043e-01,1.6979e+00,2.4459e+00,-1.5540e-01,5.1797e-02,5.8914e-04,1.0419e-01,1.4758e+00,-5.7987e-02,-1.0308e-01,7.4873e-03,3.0201e-04,1.4806e+00,1.0335e-01
+22,2.8500e+00,UP_FORCE_RAMP,1.1845e-03,2.1319e-01,1.6945e+00,2.4562e+00,-1.5526e-01,5.2003e-02,5.8822e-04,1.0695e-01,1.4724e+00,-4.7741e-02,-1.0294e-01,7.6933e-03,3.0109e-04,1.4771e+00,1.0323e-01
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Fixed/digit/cylinder_15A_20/press_depth_10/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_15A_20/press_depth_10/down/franka_data.csv

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+28996,1792836862119793630,15541561000000,1792836862119462422,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6759409525821,-0.004894106836226515,0.09956384623511254,0.999999964518807,-3.58800710969109e-05,-0.00022280837891326251,0.00010711813965189253,0.6761,-0.0046,0.09969946489947674,1.0,0.0,0.0,0.0,-0.09520614801465532,-0.021092245995520176,0.6503731474242712,-9.900719283940929e-05,0.005582401688851844,0.0005815723421704258,0.7335679667336193,0.9738092137751804,1.154072140508037,0.06435048564723005,-0.049120955437653886,0.0011871399327991084,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,0.5029569343612982,1.3119653364235608,0.6512051125062815,-0.03348395882408395,-0.38692074751478295,0.7582917181331223,1.6356988693983474,-0.6503731474242712,0.9844937568920659,0.9844937568920659,1.1242917971559834,0,0,-7.57428139750146e-05,-9.999987923692828e-05
+29179,1792836863644877367,15543086000000,1792836863639462120,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6759530761616497,-0.004899692717189855,0.0994893217296606,0.9999999682768264,-3.330733358575375e-05,-0.0001940975959619682,0.0001269092408974796,0.6761,-0.0046,0.09958410607733631,1.0,0.0,0.0,0.0,-0.14275481955667213,-0.03050564346425222,0.9315287990995854,-0.00021568531797881707,0.008553001136352663,0.0003922134407591092,0.6860192951916025,0.9643958163064483,1.4352277921833512,0.06423380752209064,-0.04615035599015307,0.0009977810313877918,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,0.6100271303389468,1.2447484073830746,0.25082634266161,0.012134072693735648,-0.10288193197992593,0.7077255495458212,1.6356988693983474,-0.9315287990995854,1.3848725267367374,1.3848725267367374,1.3530417971561275,0,0,-5.8130233714066886e-05,9.999999025923074e-05
+29364,1792836865186954613,15544628000000,1792836865179462491,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6759592717694641,-0.004902693307849313,0.09944362408897879,0.9999999697363555,-3.750663844316159e-05,-0.00017867694302417343,0.00013652089372376183,0.6761,-0.0046,0.09952417149621072,1.0,0.0,0.0,0.0,-0.1618912850680947,-0.02463839772100651,1.1117704266605317,-0.0002463637571399474,0.009526683239792721,0.0002639842865274042,0.66688282968018,0.970263062049694,1.6154694197442974,0.06420312908292951,-0.04517667388671301,0.0008695518771560868,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,0.6480131358302932,1.153502402633453,0.029981510778147154,0.04233260821040129,0.048081168492158224,0.6404117384376302,1.6356988693983474,-1.1117704266605317,1.6057173586202003,1.6057173586202003,1.5843417971562732,0,0,-3.411954856561016e-05,9.999997638144293e-05
+29558,1792836866803024011,15546244000000,1792836866799462568,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6759647960047992,-0.004900283249506104,0.09939101431023777,0.999999973199089,-6.507614325902195e-05,-0.00016425189462362217,0.00011760568226837095,0.6761,-0.0046,0.09944180511540869,1.0,0.0,0.0,0.0,-0.15408303801402823,-0.004170533982131075,1.3126695585221704,0.0007016400158504216,0.010471252523523412,0.0008290596545061441,0.6746910767342464,0.9907309257885695,1.816368551605936,0.06515113285591988,-0.04423210460298232,0.0014346272451348267,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,0.7246147535754588,1.2322309572241117,-0.068252401978402,0.02274709792456178,0.1347874049282474,0.6991572398674529,1.6356988693983474,-1.3126695585221704,1.7039512713767495,1.7039512713767495,1.826741797156426,0,0,-6.871050873688412e-05,-9.999999025923074e-05
+29733,1792836868262087394,15547703000000,1792836868259453566,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6759758280627916,-0.004903872093622009,0.09932334610612027,0.9999999758928753,-9.252530277070506e-05,-0.00013681553158465394,0.00011125507675182402,0.6761,-0.0046,0.09934814358288539,1.0,0.0,0.0,0.0,-0.1835035012776043,0.011651634249350562,1.5652764239805386,0.002667214928957176,0.011391757189927687,0.0009882213033027706,0.6452706134706704,1.006553094020051,2.0689754170643044,0.06711670776902663,-0.043311599936578044,0.0015937888939314532,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,0.7132724558735134,1.2872752564195777,-0.34604254546715035,0.019722821999757542,0.302194002324558,0.731666604899112,1.6356988693983474,-1.5652764239805386,1.9817414148654977,1.9817414148654977,2.045591797156564,0,0,-5.006363506673684e-05,-7.032041201971424e-05
+29833,1792836869095141401,15548536000000,1792836869091462262,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6760452680011474,-0.00490041444082832,0.09933867364258278,0.99999998292242,-8.892101513494723e-05,-6.419459268354713e-05,0.00011649090743647857,0.6761,-0.0046,0.09931041631349266,1.0,0.0,0.0,0.0,-0.25932787793036693,0.1439982262068128,1.5348848475424788,0.010900900426485352,0.01613719051773281,0.0012111935262858358,0.5694462368179077,1.1388996859775133,2.0385838406262446,0.07535039326655481,-0.03856616660877292,0.0018167611169145185,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,0.786883006569193,1.3334922084104706,-0.2876807835228463,-0.00312247131760654,0.26078462283490594,0.7665227752890409,1.6356988693983474,-1.5348848475424788,1.9233796529211937,1.9233796529211937,2.1705417971566425,0,0,-4.878170607322397e-05,-9.999999025923074e-05
+29993,1792836870428168459,15549869000000,1792836870427452668,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6760553896833694,-0.00490834366995953,0.09927554317443184,0.9999999820875215,-9.515206544539517e-05,-4.331810398047798e-05,0.00012781802434911872,0.6761,-0.0046,0.0992014884418012,1.0,0.0,0.0,0.0,-0.3005514576198539,0.18145807418973947,1.729399110685713,0.013655265032010436,0.019245125853752446,0.0010939013065095994,0.5282226571284208,1.17635953396044,2.233098103769479,0.07810475787207989,-0.035458231272753285,0.0016994688971382818,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.1292954889286404,1.2842202175161006,-0.6698518581501749,0.03179403072342587,0.5872531174100778,0.7356682394397154,1.6356988693983474,-1.729399110685713,2.305550727548522,2.305550727548522,2.3704917971567685,0,0,-0.00011066315025867889,9.999999025923074e-05
+30166,1792836871870257247,15551311000000,1792836871863462667,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.676080391276879,-0.004908632632310937,0.09918598137619056,0.9999999818357252,-0.00010116129636940896,-3.1217595158068943e-06,0.00013239358165195294,0.6761,-0.0046,0.09906231286362935,1.0,0.0,0.0,0.0,-0.35213535875403884,0.22745120506725403,2.061568563560795,0.01654268976366162,0.02316653754375239,0.001460112136315285,0.47663875599423583,1.2223526648379546,2.565267556644561,0.08099218260373107,-0.03153681958275334,0.0020656797269439676,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.2236928667170521,1.2246028873051793,-1.0619133292060443,0.05535401790261538,0.8597505844062246,0.6945520474755296,1.6356988693983474,-2.061568563560795,2.697612198604392,2.697612198604392,2.5867917971569048,0,0,-6.785358246522299e-05,9.999999025923074e-05
+30358,1792836873470323015,15552911000000,1792836873463462859,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6760940456005763,-0.004908185232133212,0.09913505338427844,0.9999999807054679,-0.00012611975468591205,1.5921680174833254e-05,0.00011778045535634635,0.6761,-0.0046,0.09899234641509648,1.0,0.0,0.0,0.0,-0.3729968457358279,0.2620152816685971,2.2433815634041783,0.019541506242719317,0.024080290565298354,0.001844753822714421,0.45577726901244675,1.2569167414392977,2.747080556487944,0.08399099908278877,-0.030623066561207377,0.0024503214133431038,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.247856707471977,1.3431083241420687,-1.1752749847179507,0.023182714732753504,0.9346458337036964,0.7713466080986925,1.6356988693983474,-2.2433815634041783,2.8109738541162983,2.8109738541162983,2.826791797157056,0,0,-3.82791655497997e-05,7.186195668940627e-05
+30529,1792836874895310333,15554336000000,1792836874891453121,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6761030305159954,-0.004912317532220327,0.09908717875020605,0.9999999788039109,-0.00013414462985092898,3.356812769792083e-05,0.0001212989736635797,0.6761,-0.0046,0.09891704526993093,1.0,0.0,0.0,0.0,-0.3927490545129992,0.2808204353945104,2.4043442942202162,0.020477320862377066,0.026051568113476132,0.0017553501669971194,0.4360250602352755,1.275721895165211,2.908043287303982,0.08492681370244652,-0.0286517890130296,0.002360917757625802,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.276032983285102,1.3545787960800275,-1.2908006158398329,0.019606371579927815,1.0115882181185467,0.7784044020000433,1.6356988693983474,-2.4043442942202162,2.92649948523818,2.92649948523818,3.0405417971571906,0,0,-6.949781549833579e-05,-9.99995739255965e-05
+30698,1792836876303472667,15555744000000,1792836876299452652,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6761210418523735,-0.004915458611168486,0.09902152402513904,0.999999976239576,-0.00013203210302038346,6.319133329319362e-05,0.00013243145654540992,0.6761,-0.0046,0.09881626085546792,1.0,0.0,0.0,0.0,-0.43210549394937575,0.31104136642555946,2.6555836948331857,0.022383062973781287,0.02899439705831282,0.002417633579356962,0.3966686207988989,1.30594282619626,3.1592826879169515,0.08683255581385074,-0.02570896006819291,0.0030232011699856446,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.4081227262960663,1.2385544061185187,-1.5723578171195542,0.05760544617025908,1.2248098683769444,0.7042858247478949,1.6356988693983474,-2.6555836948331857,3.2080566865179017,3.2080566865179017,3.2517417971573237,0,0,-6.500890796926206e-05,9.999999025923074e-05
+30863,1792836877678513522,15557119000000,1792836877675453151,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6761350253517892,-0.004915726851329008,0.09897207689374864,0.9999999730134865,-0.00013874743062844316,8.857838431284932e-05,0.00013534737125714535,0.6761,-0.0046,0.09873831311606815,1.0,0.0,0.0,0.0,-0.46380220716467324,0.3372661727424838,2.8267144495017478,0.024344193105434495,0.030947965223162417,0.001752323584411622,0.36497190758360143,1.3321676325131844,3.3304134425855136,0.08879368594550395,-0.023755391903343314,0.0023578911750403047,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.4763623584405532,1.309790078933908,-1.7893406251035664,0.047766038255572,1.372636105850099,0.7490762721117569,1.6356988693983474,-2.8267144495017478,3.425039494501914,3.425039494501914,3.4579917971574536,0,0,-5.3629091560621116e-05,9.960937216580418e-05
+31042,1792836879170597082,15558611000000,1792836879167452829,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6761470708157504,-0.004921571931676334,0.09890812224947937,0.9999999684295366,-0.00016207626202047092,0.00010859104755832817,0.00012854205362782588,0.6761,-0.0046,0.09864985314864454,1.0,0.0,0.0,0.0,-0.49134230825516,0.3745107620515665,3.0290246659344886,0.02730809307406716,0.03285032033508175,0.002456504448475929,0.33743180649311466,1.369412221822267,3.5327236590182545,0.09175758591413662,-0.02185303679142398,0.003062072039104612,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.6060307638325204,1.326578571418899,-2.028899504401159,0.0404477337609858,1.560705395444482,0.7592342027423353,1.6356988693983474,-3.0290246659344886,3.6645983737995067,3.6645983737995067,3.6817917971575946,0,0,-6.201660624341609e-05,9.961062116670689e-05
+31213,1792836880595688165,15560036000000,1792836880591452904,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6761630430364414,-0.004927202538803076,0.09885181059897065,0.9999999777445713,-3.88810712467562e-05,0.00013503893286236662,0.00012730463581711005,0.6761,-0.0046,0.09856649746580551,1.0,0.0,0.0,0.0,-0.5307386600730587,0.4084174473870418,3.2332596025250253,0.029258179784280552,0.03481166784523054,0.002340902311639764,0.29803545467521597,1.4033189071577423,3.736958595608791,0.09370767262435001,-0.019891689281275184,0.0029464699022684468,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.5899162867883272,1.3221367406334723,-2.1540711291773462,0.02035144819667585,1.6352408709843338,0.7089882617257433,1.6356988693983474,-3.2332596025250253,3.789769998575694,3.789769998575694,3.8955417971577293,0,0,-5.193699077340875e-05,-9.921894836140694e-05
+31349,1792836881728740133,15561169000000,1792836881727453310,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6761748094154788,-0.004924287204242907,0.09880797710167287,0.9999999745469785,-4.691036207606803e-05,0.0001540044149987161,0.00012818332529564361,0.6761,-0.0046,0.09849611270075428,1.0,0.0,0.0,0.0,-0.5511470752481019,0.42618687071444883,3.374921719931196,0.031245450569620956,0.03579974223682967,0.002263471804475999,0.27762703950017276,1.4210883304851494,3.878620713014962,0.09569494340969041,-0.01890361488967606,0.0028690393951046815,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.712701198689124,1.3307645004355113,-2.340344156921452,0.023454088669306917,1.7845451639121508,0.7238873946739479,1.6356988693983474,-3.374921719931196,3.9760430263197994,3.9760430263197994,4.065491797157643,0,0,-7.04387144959392e-05,-7.579064739549608e-05
+31514,1792836883103765781,15562544000000,1792836883103453330,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.676192566157981,-0.00492765618825872,0.0987493964784116,0.9999999682503444,-6.521148119578815e-05,0.0001835883681049271,0.00013032631449847327,0.6761,-0.0046,0.0984042547536989,1.0,0.0,0.0,0.0,-0.5909453322545525,0.46433644505958294,3.5845410361535,0.034186970651772286,0.038692673959096036,0.002170663908035653,0.23782878249372222,1.4592379048302835,4.088240029237266,0.09863646349184174,-0.01601068316740969,0.0027762314986643356,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.7134883996939356,1.1857045327919618,-2.516355852553474,0.08937000399521836,1.882423423575672,0.6577830676195926,1.6356988693983474,-3.5845410361535,4.152054721951822,4.152054721951822,4.271741797157162,0,0,-6.172790446431898e-05,-9.375236284381856e-05
+31697,1792836884628801272,15564069000000,1792836884623452853,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6762095410818615,-0.004929964598177413,0.09868827239982969,0.9999999613511844,-8.365272649031417e-05,0.00021122070927017238,0.00013087600055252977,0.6761,-0.0046,0.09831131298110302,1.0,0.0,0.0,0.0,-0.6270040385987157,0.5068828259715922,3.7751877071318174,0.03713253296877474,0.041404429847686046,0.0028919742246898182,0.20177007614955902,1.5017842857422927,4.278886700215583,0.10158202580884419,-0.013298927278819686,0.003497541815318501,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.8452968794674076,1.3465743172851163,-2.886741621303741,0.07255015495919215,2.1485178963842815,0.7867335231129305,1.6356988693983474,-3.7751877071318174,4.522440490702088,4.522440490702088,4.500491797156629,0,0,-6.454684000204024e-05,9.999990699250389e-05
+31856,1792836885953891438,15565394000000,1792836885951452870,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6762254036967382,-0.004932587767652153,0.09862891202781174,0.999999954410293,-0.00010387212896787917,0.00023719400979584828,0.0001247872553094041,0.6761,-0.0046,0.09822217395779731,1.0,0.0,0.0,0.0,-0.6688351840477844,0.561098389760894,3.9373536991347096,0.040104677819214715,0.043559402021129866,0.0030483043444259187,0.15993893070049026,1.5559998495315945,4.441052692218475,0.10455417065928417,-0.011143955105375863,0.0036538719350546014,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.9236040640453005,1.166384313001348,-2.924829447486575,0.12855371048461067,2.1842047011641665,0.6672822233886253,1.6356988693983474,-3.9373536991347096,4.560528316884922,4.560528316884922,4.699241797156166,0,0,-7.044562495425589e-05,-9.999847758035969e-05
+32019,1792836887313003085,15566753000000,1792836887311462151,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6762425531527638,-0.004934613179710173,0.09856974737301076,0.9999999459626902,-0.00011170230500926293,0.0002671802924366266,0.00012511901359312219,0.6761,-0.0046,0.09812660967248177,1.0,0.0,0.0,0.0,-0.6910319851688329,0.5955493613332571,4.1536311389909235,0.04284653953970728,0.0454975640464726,0.0029255653845939255,0.13774212957944182,1.5904508211039576,4.657330132074689,0.10729603237977674,-0.00920579308003313,0.003531132975222608,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,1.9757451670821862,1.2393748168695284,-3.125985751209574,0.109193444428398,2.322659039112174,0.7191650029959012,1.6356988693983474,-4.1536311389909235,4.761684620607921,4.761684620607921,4.903091797155691,0,0,-6.50210294731154e-05,-9.995071023472519e-05
+32188,1792836888720992218,15568161000000,1792836888715462209,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6762593455885164,-0.004938971054440934,0.0985131756091122,0.9999999366265374,-0.00012609238735780454,0.0002931571373594788,0.00012786472587247974,0.6761,-0.0046,0.09804040507582093,1.0,0.0,0.0,0.0,-0.7300860213780073,0.6196326410584593,4.339797611701684,0.044888810171159865,0.04743159828362341,0.00283847746933572,0.09868809337026736,1.6145341008291598,4.843496604785449,0.10933830301122932,-0.007271758842882324,0.0034440450599644025,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.1596561949812236,1.1718575259612078,-3.3853308775106736,0.1304181226830357,2.5334458788205296,0.6730022896994551,1.6356988693983474,-4.339797611701684,5.021029746909021,5.021029746909021,5.114291797155198,0,0,-5.750422428093949e-05,-9.921948959513144e-05
+32359,1792836890146040552,15569586000000,1792836890143453278,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6762746164329281,-0.004937652060105369,0.09845471304680296,0.9999999266961686,-0.00013747700678760888,0.00032114442642004173,0.00012655770164972502,0.6761,-0.0046,0.09794883200995891,1.0,0.0,0.0,0.0,-0.7600135723954449,0.6619858348253923,4.517087656712154,0.04695514991656245,0.050391618361303785,0.0027643498918273556,0.06876054235282975,1.6568872945960929,5.0207866497959195,0.11140464275663191,-0.004311738765201944,0.0033699174824560383,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.155733708482085,1.2686418587549797,-3.5999340738250347,0.12308832552746028,2.6591102052520506,0.7423543696281262,1.6356988693983474,-4.517087656712154,5.235632943223382,5.235632943223382,5.3280417971547,0,0,-7.819971687836181e-05,-8.025010797408356e-05
+32538,1792836891638215180,15571078000000,1792836891635463057,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6762984978177764,-0.004938973406028172,0.09838493596753492,0.9999999099932041,-0.0001609554228511371,0.0003619951959894596,0.0001204544645079438,0.6761,-0.0046,0.09783753944716349,1.0,0.0,0.0,0.0,-0.7998704060782952,0.7090412166658161,4.752872240498188,0.04995652670225839,0.053184792678352695,0.0027315313167923924,0.028903708669979513,1.7039426764365166,5.256571233581953,0.11440601954232785,-0.0015185644481530336,0.003337098907421075,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.2889786062836865,1.1699433367383252,-3.906889298603981,0.15965709078176482,2.885450448979492,0.6769006316404258,1.6356988693983474,-4.752872240498188,5.542588168002329,5.542588168002329,5.551841797154179,0,0,-6.534341151912126e-05,9.983007062531186e-05
+32713,1792836893096239709,15572536000000,1792836893095453303,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6763095264293236,-0.004943657311002376,0.0983198688833296,0.9999999023345255,-0.00016902750915976796,0.00037928734686721867,0.00011976899998872565,0.6761,-0.0046,0.09774955019785331,1.0,0.0,0.0,0.0,-0.825615094388648,0.7389655142972807,4.934595456713364,0.05286041211215982,0.05470907215630954,0.003583536305365882,0.003159020359626711,1.7338669740679813,5.438294449797129,0.11730990495222927,5.715029803809372e-06,0.004189103895994565,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.356051702406565,1.3758486680353823,-4.025355888983866,0.10530612616863848,2.9764330298590758,0.8086661897296249,1.6356988693983474,-4.934595456713364,5.661054758382214,5.661054758382214,5.770541797153669,0,0,-6.325257653347206e-05,-9.992048441287977e-05
+32872,1792836894422317516,15573861000000,1792836894419453257,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6763256486933901,-0.004950236364230742,0.09826086174364121,0.9999998899924247,-0.00018053335269916428,0.00040564811173456115,0.00011964664857708643,0.6761,-0.0046,0.09765688104911328,1.0,0.0,0.0,0.0,-0.8687339215839208,0.7596941092567441,5.116078552352548,0.054793606896844774,0.0561800971364347,0.003478478851411073,-0.039959806835646115,1.7545955690274446,5.619777545436313,0.11924309973691423,0.0014767400099289733,0.0040840464420397555,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.4050981845661252,1.2512885119157815,-4.271552124447454,0.14688220523969314,3.1403298447442274,0.7227045653073897,1.6356988693983474,-5.116078552352548,5.9072509938458015,5.9072509938458015,5.969291797153206,0,0,-7.50221397290438e-05,5.789654143017174e-06
+33041,1792836895829390453,15575269000000,1792836895827453085,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6763416358845347,-0.004951998820475166,0.09818910096560622,0.9999998770129548,-0.00018288355394344968,0.00043576193529601236,0.00011866794374729698,0.6761,-0.0046,0.0975503916359021,1.0,0.0,0.0,0.0,-0.9081205398679041,0.7816251985666193,5.327870757864228,0.05780488360602608,0.05710032886484451,0.0033533265865369304,-0.07934642511962937,1.7765266583373198,5.831569750947994,0.12225437644609553,0.00239697173833878,0.003958894177165613,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.514316260852413,1.1708714093117236,-4.454073709800243,0.18886104404912155,3.2788226672510796,0.6791354970989139,1.6356988693983474,-5.327870757864228,6.08977257919859,6.08977257919859,6.180491797152714,0,0,-7.11605578032889e-05,-9.924020913232851e-05
+33195,1792836897113339071,15576553000000,1792836897111452591,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.676356028895937,-0.004952234804847102,0.09813028906193741,0.9999998720961395,-0.0001483356576665505,0.000458509456400869,0.00012254052339875302,0.6761,-0.0046,0.09746724138825369,1.0,0.0,0.0,0.0,-0.9280233474144226,0.8110699253133394,5.508567128510965,0.05876593623341465,0.05905905962139188,0.0032479380557630636,-0.09924923266614791,1.80597138508404,6.01226612159473,0.12321542907348411,0.004355702494886152,0.0038535056463917462,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.53482796821731,1.1745739102098227,-4.5851014431362875,0.19811863551279107,3.363406241592197,0.693476364965583,1.6356988693983474,-5.508567128510965,6.220800312534635,6.220800312534635,6.373091797152265,0,0,-6.603665486245992e-05,-9.999999025923074e-05
+33346,1792836898371501892,15577811000000,1792836898371453421,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6763681854140915,-0.004951495186168614,0.0980675870136923,0.999999868634297,-9.389944105297186e-05,0.0004801697139997556,0.00012163138484578965,0.6761,-0.0046,0.09737559657473395,1.0,0.0,0.0,0.0,-0.9756565162606259,0.8429044025595024,5.679591194171892,0.06069537893468899,0.06202258575196454,0.0031789733429195706,-0.1468824015123512,1.837805862330203,6.183290187255658,0.12514487177475844,0.007319228625458807,0.0037845409335482533,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.6258717738913453,1.2062647615098634,-4.761613899036031,0.19216961075871206,3.496534069657699,0.7136735828101033,1.6356988693983474,-5.679591194171892,6.397312768434379,6.397312768434379,6.561791797151825,0,0,-7.87392280502105e-05,-9.843750400773672e-05
+33513,1792836899763578282,15579203000000,1792836899759453742,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6763853847493146,-0.00495442895822416,0.09799274379164111,0.9999998536621569,-0.00010659080255370314,0.0005076921815749745,0.0001224972600099256,0.6761,-0.0046,0.09726999428609359,1.0,0.0,0.0,0.0,-0.9975038903243016,0.8727058704543599,5.901784851946403,0.06365201435482515,0.06393813422945206,0.004084632701418125,-0.16872977557602697,1.8676073302250604,6.405483845030169,0.1281015071948946,0.009234777102946328,0.004690200292046808,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.7280248807675798,1.2134986193312163,-5.120409124934377,0.20192857824802335,3.748077653210691,0.7189745100392916,1.6356988693983474,-5.901784851946403,6.756107994332725,6.756107994332725,6.770591797151338,0,0,-6.900249720634554e-05,8.750037780303472e-05
+33680,1792836901154629511,15580594000000,1792836901147453510,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6763988399303739,-0.004961237521827774,0.09792070135479398,0.9999998403440401,-0.00012497239476667117,0.0005290006260388048,0.00012367294290732033,0.6761,-0.0046,0.09717273637079937,1.0,0.0,0.0,0.0,-1.0271932109078081,0.9044788492864796,6.083317176057952,0.06560658233261699,0.06588639225446673,0.003961495862949585,-0.19841909615953335,1.8993803090571801,6.587016169141718,0.13005607517268644,0.011183035127960995,0.0045670634535782675,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.7859719467991426,1.1226670380570125,-5.249262598691083,0.23387162328872466,3.8459235782918264,0.6588715316396341,1.6356988693983474,-6.083317176057952,6.884961468089431,6.884961468089431,6.979241797150852,0,0,-7.142834819037625e-05,-9.999925473647692e-05
+33847,1792836902546687724,15581986000000,1792836902543452903,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6764158053872635,-0.0049533441184200395,0.09784763955449766,0.9999998213386245,-0.00014561392911661216,0.0005603835104475255,0.0001163292228391441,0.6761,-0.0046,0.09706556541471607,1.0,0.0,0.0,0.0,-1.0481969932668422,0.9544883831981993,6.275055285381082,0.06858066692165696,0.06781198211523566,0.0038980422236732665,-0.2194228785185675,1.9493898429688998,6.778754278464848,0.1330301597617264,0.013108624988729934,0.004503609814301949,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.897584735087504,1.0912822730677714,-5.473457010867584,0.265471646961594,4.01146820131111,0.6413346574129762,1.6356988693983474,-6.275055285381082,7.109155880265932,7.109155880265932,7.188041797150365,0,0,-7.940959812910287e-05,-9.993021274213305e-05
+34004,1792836903854714020,15583294000000,1792836903847452785,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6764315990598676,-0.004954799589462345,0.09777652795785874,0.9999998056591368,-0.00015950265274958082,0.0005843508368442311,0.00011496763086933702,0.6761,-0.0046,0.09696989922895442,1.0,0.0,0.0,0.0,-1.0563741206893773,0.992352410381309,6.474679155749976,0.07158011027533032,0.06872371231083135,0.003780685002063843,-0.22760000594110258,1.9872538701520095,6.978378148833741,0.13602960311539977,0.014020355184325619,0.0043862525926925255,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,2.9535651433402723,1.3008144954957985,-5.585121886923913,0.2079342035801808,4.097439647001128,0.7761145014462028,1.6356988693983474,-6.474679155749976,7.220820756322261,7.220820756322261,7.384241797149908,0,0,-6.949181379919812e-05,-9.964607891455585e-05
+34166,1792836905204799110,15584644000000,1792836905199453014,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6764462894001834,-0.004948623078904758,0.09770999304547094,0.9999997904599972,-0.00015613428041000925,0.0006100912582392694,0.00011804053959355594,0.6761,-0.0046,0.09686792606833824,1.0,0.0,0.0,0.0,-1.0803823885076844,1.0358711709860602,6.628482553075493,0.07455727888005073,0.06964497129755044,0.003708976378761486,-0.25160827375940975,2.030772630756761,7.132181546159258,0.1390067717201202,0.014941614171044712,0.0043145439693901685,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.056425105029633,1.2331714033709291,-5.827147584475389,0.23616747284825926,4.279141022329855,0.7321367394452173,1.6356988693983474,-6.628482553075493,7.462846453873737,7.462846453873737,7.586741797149436,0,0,-8.774280862575002e-05,-9.999999025923074e-05
+34319,1792836906479829074,15585919000000,1792836906475453020,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6764635020298891,-0.004953283114100385,0.09762897322161257,0.9999997719497863,-0.00014903329620488483,0.0006399119129806831,0.00012587716265053677,0.6761,-0.0046,0.09675409390846966,1.0,0.0,0.0,0.0,-1.1101943003093726,1.0596897206215967,6.849039975741744,0.07653314327243102,0.0715849460433314,0.00358143967179624,-0.281420185561098,2.0545911803922974,7.352738968825509,0.14098263611250048,0.016881588916825667,0.0041870072624249225,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.1101355320829285,1.2600659759088322,-6.135253309223821,0.22991138284991214,4.485745611865285,0.7522538983387512,1.6356988693983474,-6.849039975741744,7.770952178622169,7.770952178622169,7.7779917971489905,0,0,-8.833652133802416e-05,9.940416131749003e-05
+34502,1792836908004922693,15587444000000,1792836908003453541,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6764799817231046,-0.0049511773545419906,0.09754760412310862,0.9999997540946892,-0.0001495185179578891,0.0006668109624612605,0.00012751775826548478,0.6761,-0.0046,0.09663816324178365,1.0,0.0,0.0,0.0,-1.130684138586978,1.1005704129879565,7.041008000574311,0.07848690175374581,0.0735299141815169,0.0034787762513069625,-0.30191002383870325,2.095471872758657,7.544706993658076,0.14293639459381527,0.018826557055011166,0.004084343841935645,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.1935089521376074,1.2623989629810763,-6.275305791972556,0.24161384473145298,4.597609112653552,0.7533553576181463,1.6356988693983474,-7.041008000574311,7.911004661370904,7.911004661370904,8.006741797148457,0,0,-7.391352136873331e-05,-9.687522592305981e-05
+34665,1792836909364004153,15588803000000,1792836909363453313,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6764978131863305,-0.004951572173745051,0.09746593619691532,0.9999997335628863,-0.0001599391075802442,0.000694884221497888,0.0001259857977248677,0.6761,-0.0046,0.09652612124807716,1.0,0.0,0.0,0.0,-1.1510400578707074,1.125147504341876,7.256786809608411,0.08044171124228067,0.07445405320424513,0.004231875828609504,-0.3222659431224328,2.1200489641125766,7.760485802692177,0.14489120408235012,0.019750696077739393,0.004837443419238187,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.274207077752448,1.30910054232559,-6.465128739125315,0.24364680211189504,4.73706257865423,0.7852156847789198,1.6356988693983474,-7.256786809608411,8.100827608523662,8.100827608523662,8.210591797147982,0,0,-8.080139916463581e-05,-9.999996250365512e-05
+34834,1792836910772049155,15590211000000,1792836910767462356,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6765136556500866,-0.004950651054085448,0.09737970675140176,0.9999997143165043,-0.0001658012073461636,0.0007213883604270211,0.00012214158656047706,0.6761,-0.0046,0.09641649872349045,1.0,0.0,0.0,0.0,-1.1719291900803748,1.1614220413220417,7.442479073762775,0.08342469288951271,0.07638074717700985,0.0042807099487654505,-0.34315507533210016,2.1563235010927424,7.9461780668465405,0.14787418572958216,0.021677390050504126,0.004886277539394133,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.348237127040125,1.2267713475434185,-6.673678431249645,0.2814685873216387,4.887535014703756,0.7333644546733888,1.6356988693983474,-7.442479073762775,8.309377300647991,8.309377300647991,8.42179179714749,0,0,-7.690261189938064e-05,-9.999994862586731e-05
+35005,1792836912197102064,15591636000000,1792836912195452735,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6765319398777397,-0.0049515398230785485,0.0972956118093444,0.9999996907882901,-0.00016030117896549516,0.0007539683258523333,0.00012530556319612825,0.6761,-0.0046,0.09629416240940751,1.0,0.0,0.0,0.0,-1.1928174803969893,1.2017198031680425,7.625868421120402,0.08535497529587693,0.07925873428102048,0.004199639545956275,-0.36404336564871465,2.196621262938743,8.129567414204168,0.1498044681359464,0.024555377154514748,0.0048052071365849575,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.456763915281498,1.223954110067337,-6.999902061156717,0.2900117068105604,5.121040388725668,0.734477792688135,1.6356988693983474,-7.625868421120402,8.635600930555064,8.635600930555064,8.635541797146992,0,0,-9.335765420862151e-05,9.999499425561992e-05
+35172,1792836913589184881,15593028000000,1792836913587462220,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6765465947173935,-0.004953917130814295,0.09719445136569667,0.9999996835025209,-7.988532099652798e-05,0.0007752197894418107,0.00013073001266005328,0.6761,-0.0046,0.0961682522947636,1.0,0.0,0.0,0.0,-1.2404066736369448,1.2134217279845871,7.844698797523535,0.08627722303115803,0.08130140658578835,0.004059992009234285,-0.4116325588886702,2.208323187755288,8.3483977906073,0.1507267158712275,0.02659804945928262,0.004665559599862968,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.4839899141048574,1.2981441101748057,-7.120166263325811,0.25983536654834105,5.2026570966191645,0.7638407297413287,1.6356988693983474,-7.844698797523535,8.755865132724159,8.755865132724159,8.844341797146505,0,0,-9.0065826639811e-05,-9.999389791038311e-05
+35343,1792836915014252989,15594453000000,1792836915011452549,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6765636924061568,-0.00495668506408779,0.09710085147477361,0.9999996580847765,-0.00010288471585933154,0.0008044659067790957,0.00013237271064251048,0.6761,-0.0046,0.09604312584744659,1.0,0.0,0.0,0.0,-1.2615619298386545,1.228403930154594,8.037723940723334,0.0872079469927472,0.08326715505730728,0.00394574806804167,-0.43278781509037967,2.2233053899252946,8.5414229338071,0.15165743983281665,0.028563797930801556,0.004551315658670353,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.5756093666376763,1.2934086932519422,-7.322106789315637,0.2864713539726813,5.3526937844003415,0.779993813858901,1.6356988693983474,-8.037723940723334,8.957805658713983,8.957805658713983,9.058091797146007,0,0,-8.531159636645936e-05,-9.999999025923074e-05
+35512,1792836916422313750,15595861000000,1792836916415452996,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.67657837006853,-0.004960684070819021,0.09700475683142906,0.9999996341563244,-0.00012812209862907248,0.0008305561401734944,0.00012996656273739132,0.6761,-0.0046,0.09592193857687027,1.0,0.0,0.0,0.0,-1.2897614510979583,1.2432296254632749,8.208205245162496,0.08860936682478454,0.08523020313860778,0.0038518634474482404,-0.4609873363496836,2.2381310852339755,8.711904238246262,0.153058859664854,0.03052684601210205,0.004457431038076923,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.6385528453882676,1.2218660896361153,-7.616887420876016,0.32120697081306954,5.551384206796658,0.7363881034161526,1.6356988693983474,-8.208205245162496,9.252586290274364,9.252586290274364,9.269291797145515,0,0,-9.413384597226215e-05,9.866856917473683e-05
+35701,1792836917997354878,15597436000000,1792836917995453703,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6765954377666078,-0.004967109844021952,0.09687855265071993,0.9999996096466237,-0.00015572115197506762,0.0008548444187177104,0.00013092519653552348,0.6761,-0.0046,0.09576226209338283,1.0,0.0,0.0,0.0,-1.309978520263663,1.254129982469613,8.439518315173759,0.08906436492169748,0.08719522432622209,0.0037011678892620043,-0.4812044055153883,2.2490314422403137,8.943217308257525,0.15351385776176693,0.03249186719971637,0.004306735479890687,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.7094847584537347,1.236465004092611,-7.908746261909957,0.3206445740368549,5.756745758844343,0.7433848483209775,1.6356988693983474,-8.439518315173759,9.544445131308304,9.544445131308304,9.505541797144964,0,0,-0.00010058044524055709,9.99999347480795e-05
+35860,1792836919322407403,15598761000000,1792836919319452736,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.676612719193997,-0.004970321969053487,0.09677457306221793,0.9999995858412639,-0.00017154681628917017,0.0008791623664614271,0.0001319294816416128,0.6761,-0.0046,0.09562933627924738,1.0,0.0,0.0,0.0,-1.3391859127257537,1.2782769013029869,8.600692151191858,0.09102146497516034,0.08914838582868283,0.0036218914222316883,-0.5104117979774792,2.2731783610736875,9.104391144275624,0.1554709578152298,0.0344450287021771,0.004227459012860371,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.8043195281935596,1.1825506555846792,-7.972884366463999,0.34999436384333205,5.818885450114495,0.7124418252342058,1.6356988693983474,-8.600692151191858,9.608583235862346,9.608583235862346,9.704291797144501,0,0,-0.0001068243140419906,-8.107029794540908e-05
+36022,1792836920672502583,15600111000000,1792836920671453112,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6766308632953383,-0.004972528841905286,0.09666013504602709,0.9999995528026875,-0.00018710203716292023,0.0009132075511693932,0.00012993107956500325,0.6761,-0.0046,0.0954827681411713,1.0,0.0,0.0,0.0,-1.360052711050241,1.2896682852015866,8.771537413554249,0.09156439706484318,0.09024852262818461,0.003507547762765147,-0.5312785963019664,2.2845697449722873,9.275236406638015,0.15601388990491263,0.035545165501678876,0.0041131153533938295,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.8630831144235604,1.1901802781713744,-8.234545939321501,0.3603162434917383,5.999289480320318,0.720388449982555,1.6356988693983474,-8.771537413554249,9.870244808719848,9.870244808719848,9.90679179714403,0,0,-0.0001132673402195764,9.998879088446983e-05
+36174,1792836921939563599,15601378000000,1792836921939452969,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6766434159410705,-0.004981100298138377,0.0965415148784011,0.9999995311567588,-0.00019189060052251432,0.0009359836586864916,0.00012744298748355897,0.6761,-0.0046,0.09534154421275368,1.0,0.0,0.0,0.0,-1.3715729626455424,1.2865829685809316,8.96169186675135,0.09088141564014937,0.09173973157023538,0.0033677076770283034,-0.5427988478972676,2.2814844283516322,9.465390859835116,0.15533090848021883,0.03703637444372965,0.003973275267656986,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.898509283500058,1.182632650653221,-8.380390095881582,0.36830246513202164,6.0976965608670435,0.719641607022773,1.6356988693983474,-8.96169186675135,10.016088965279929,10.016088965279929,10.096841797143586,0,0,-0.00010416146302841411,5.468890204441408e-05
+36334,1792836923272588736,15602711000000,1792836923271454662,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6766634232744337,-0.004980642690225047,0.09641665288161601,0.9999995060644127,-0.00018644490743539478,0.0009628863183363603,0.00013191675116418764,0.6761,-0.0046,0.09518650681513044,1.0,0.0,0.0,0.0,-1.3975611631723455,1.3064485522236207,9.102424710190478,0.09194879996097971,0.09407788951873011,0.003301107326736082,-0.5687870484240708,2.3013500119943213,9.606123703274244,0.15639829280104917,0.039374532392224375,0.003906674917364765,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,3.9438464434413585,1.1416925496461952,-8.522220862069167,0.39298130434335105,6.194153493878342,0.6964372194476579,1.6356988693983474,-9.102424710190478,10.157919731467514,10.157919731467514,10.29679179714312,0,0,-0.00012788664807280992,-9.936293040991302e-05
+36487,1792836924547677447,15603986000000,1792836924543462710,DOWN_FORCE_DETACH,10,0.0723,0.0723029375076294,0.6766783158365977,-0.004984537025800329,0.09627955533999077,0.9999994948077611,-9.899601716435449e-05,0.0009876157343588511,0.00012900401923671143,0.6761,-0.0046,0.09502010173982632,1.0,0.0,0.0,0.0,-1.3979487983903032,1.3027717446344642,9.293017186049827,0.09177563679179832,0.09404604683022721,0.003145547513235613,-0.5691746836420284,2.297673204405165,9.796716179133593,0.15622512963186777,0.03934268970372149,0.003751115103864296,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.052266435012909,1.1588138561831798,-8.799110795882418,0.3788912256103876,6.40498037165492,0.6888402109512022,1.6356988693983474,-9.293017186049827,10.434809665280765,10.434809665280765,10.488041797142674,0,0,-0.00012653265678699987,9.990782787039904e-05
+36656,1792836925955741079,15605394000000,1792836925951453161,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6766908985220681,-0.004985263007988306,0.09612216176616327,0.9999994733311288,-0.00013611875920819863,0.0010049257662876623,0.00012796959326103036,0.6761,-0.0046,0.09484088738725956,1.0,0.0,0.0,0.0,-1.396215609139278,1.2849382622010914,9.47283859081505,0.09004647504493832,0.09404227782498331,0.002978429038031584,-0.5674414943910033,2.279839721971792,9.976537583898816,0.15449596788500777,0.039338920698477574,0.0035839966286602665,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.052619083007446,1.258571504379936,-8.96801368651852,0.3751749602404063,6.517423105268604,0.7769344150699244,1.6356988693983474,-9.47283859081505,10.603712555916866,10.603712555916866,10.699241797142182,0,0,-0.0001317544859366374,1.3975195500417017e-09
+36798,1792836927139770889,15606578000000,1792836927139452889,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6767048931809526,-0.004995876039586526,0.09597992700411055,0.9999994452679153,-0.00015596868949665078,0.001028279271578329,0.0001386442692686331,0.6761,-0.0046,0.09468161378160127,1.0,0.0,0.0,0.0,-1.4069362920015616,1.2686474037874111,9.610838600006607,0.08964379923207877,0.09503102976135591,0.0028803449700900135,-0.5781621772532869,2.263548863558112,10.114537593090374,0.15409329207214822,0.040327672634850174,0.003485912560718696,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.13885682834858,1.0687050297258662,-9.219723155063102,0.426191169326715,6.70408294359393,0.6515981147405362,1.6356988693983474,-9.610838600006607,10.855422024461449,10.855422024461449,10.876841797141768,0,0,-0.00013981413849309542,9.99999347480795e-05
+36953,1792836928430847928,15607869000000,1792836928423453540,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6767205823617836,-0.004996295906943275,0.0958104241867323,0.999999410393477,-0.0002081290090349206,0.0010548240922327154,0.00012117760766319913,0.6761,-0.0046,0.09449192965784181,1.0,0.0,0.0,0.0,-1.3824014641349884,1.265257007921353,9.767323827813364,0.08861079025742188,0.09437033542061522,0.002733459903662671,-0.5536273493867137,2.2601584676920536,10.27102282089713,0.15306028309749134,0.03966697829410949,0.0033390274942913536,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.185942907873922,1.035829261542661,-9.323525104608706,0.4555634527630043,6.788913934720721,0.6325363458048628,1.6356988693983474,-9.767323827813364,10.959223974007053,10.959223974007053,11.070491797141317,0,0,-0.000152368308585478,9.93405316603912e-05
+37089,1792836929564855856,15609003000000,1792836929563452914,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6767276582685774,-0.005003293854707863,0.09564360902381644,0.9999994006911106,-0.0002134665640905562,0.0010613018268106065,0.00013465044443865165,0.6761,-0.0046,0.09431142265993296,1.0,0.0,0.0,0.0,-1.3874508741224076,1.2288627346480032,9.887610059132413,0.08653648189573876,0.09467114006924582,0.0026272929825645807,-0.5586767593741329,2.223764194418704,10.39130905221618,0.15098597473580821,0.039967782942740095,0.0032328605731932634,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.1871401247494555,1.1388547928797312,-9.361750296421265,0.4235650772914969,6.819864668564301,0.7089390875193127,1.6356988693983474,-9.887610059132413,10.997449165819612,10.997449165819612,11.24059179714092,0,0,-0.00016962038952158943,-9.999999025923074e-05
+37226,1792836930705903512,15610144000000,1792836930703462478,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6767430463258889,-0.005003095448919329,0.0954581541478905,0.999999376635241,-0.0002101393689858649,0.0010838003374801632,0.0001392489408729093,0.6761,-0.0046,0.09410344117741044,1.0,0.0,0.0,0.0,-1.3868645791742509,1.1991447020482493,10.012483190530633,0.08445955293157151,0.09504283008021208,0.002500690801864395,-0.5580904644259763,2.19404616181895,10.516182183614399,0.14890904577164096,0.040339472953706344,0.0031062583924930777,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.233912927929514,1.0171146262507083,-9.644932223029592,0.4705841450201104,7.024468146289441,0.6374433560491839,1.6356988693983474,-10.012483190530633,11.280631092427939,11.280631092427939,11.411741797140522,0,0,-0.00019434931533971055,9.37503228090108e-05
+37364,1792836931856002664,15611294000000,1792836931851463253,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.6767623085818605,-0.005011019554580095,0.09524589804078683,0.9999993310211318,-0.00023251878505059254,0.0011214659556730623,0.00013285058431668375,0.6761,-0.0046,0.09387003883412884,1.0,0.0,0.0,0.0,-1.3811908412982623,1.1862681227842211,10.172577059866871,0.08340764317863161,0.09502788910895865,0.0023605052966114187,-0.5524167265499875,2.1811695825549218,10.676276052950637,0.14785713601870107,0.04032453198245293,0.0029660728872401014,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.356760704380606,0.9723618008316182,-9.716285647906297,0.4791229685920691,7.114500158922658,0.6178250337528322,1.6356988693983474,-10.172577059866871,11.351984517304643,11.351984517304643,11.58424179714012,0,0,-0.00021720322795490266,-9.993991331581071e-05
+37482,1792836932839947940,15612278000000,1792836932839462176,DOWN_FORCE_DETACH,10,0.0723,0.07230228185653687,0.676771348410897,-0.005014769374025528,0.09503536189162683,0.9999993348961821,-0.00011168783371485536,0.0011326321193229599,0.00016223553272860566,0.6761,-0.0046,0.0936464816733656,1.0,0.0,0.0,0.0,-1.395028359781962,1.1278365154242067,10.279974249602555,0.07981339538576146,0.09608841588496916,0.0022546662853633838,-0.5662542450336873,2.1227379751949074,10.783673242686321,0.14426288822583092,0.04138505875846344,0.0028602338759920664,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.351300235850912,0.9667296241939747,-9.85754711610678,0.4744963954920932,7.217191850385552,0.6102619846161339,1.6356988693983474,-10.279974249602555,11.493245985505126,11.493245985505126,11.731841797139776,0,0,-0.00023635342205205324,-9.999997638144293e-05
+37594,1792836933773073803,15613211000000,1792836933771462679,DOWN_FORCE_DETACH,10,0.0723,0.07230162620544434,0.6767792348536406,-0.00501068003816658,0.09481123152586554,0.9999993096634581,-0.00018689005973956003,0.0011492505030894524,0.0001281048715439696,0.6761,-0.0046,0.09341672198170793,1.0,0.0,0.0,0.0,-1.3467116624827729,1.095196624951722,10.395245260867165,0.07766256892164689,0.09306444985819402,0.002086583828479677,-0.5179375477344982,2.0900980847224226,10.898944253950932,0.14211206176171634,0.03836109273168829,0.00269215141910836,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.383881759083361,0.9759600138944164,-10.041453217851636,0.45691726286183143,7.3638928041230995,0.6268737223108001,1.6356988693983474,-10.395245260867165,11.677152087249983,11.677152087249983,11.87179179713945,0,0,-0.0002566642833725944,9.375304285542114e-05
+37736,1792836934949116988,15614387000000,1792836934943462729,DOWN_PEAK_HOLD,10,0.0723,0.07230162620544434,0.6767654093116805,-0.005013206064101167,0.0946440581207978,0.9999993459325226,-0.0001834632581451579,0.0011151000061053614,0.0001499019691285303,0.6761,-0.0046,0.09329578766310062,1.0,0.0,0.0,0.0,-1.2567564431141758,0.9692559863773852,10.074874749472478,0.06936751651919945,0.08622276640319906,0.002148805250607693,-0.42798232836590117,1.9641574461480857,10.578573742556244,0.1338170093592689,0.03151940927669334,0.002754372841236376,0.8287741147482747,0.9949014597707005,0.5036989930837658,0.06444949284006946,-0.05470335712650573,0.0006055675906286826,1,4.089565611114355,0.9624980202534092,-9.626169376803743,0.43898994992286394,7.067789186042996,0.6163674017326708,1.6356988693983474,-10.074874749472478,11.26186824620209,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_15A_20/press_depth_10/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,1792836854880322738,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.325588887e-09,-4.845836527e-10,-1.762992974e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027454048e-01,-1.175054745e-04,8.303262716e-01
+1,1.383333333e+00,DOWN_FORCE_DETACH,1792836856256485636,2.695939892e-06,-2.041025660e-06,2.766365854e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.693127088e-07,-3.054685682e-08,-1.108823907e-07,7.019583656e-01,-2.412893707e-05,8.601462122e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027456698e-01,-1.175355368e-04,8.303261625e-01
+2,2.883333333e+00,DOWN_FORCE_DETACH,1792836857779642193,2.382727558e-06,-2.829414833e-06,-3.972311341e-05,4.654695899e-07,-1.416907098e-06,-4.045481420e-05,3.616366008e-07,-1.448534357e-06,-4.011994854e-05,7.019580524e-01,-2.491732624e-05,8.601037227e-01,7.019561351e-01,-2.350481850e-05,8.601029910e-01,7.027457621e-01,-1.189535243e-04,8.302861534e-01
+3,4.066666667e+00,DOWN_FORCE_DETACH,1792836858975385801,4.171618440e-05,-1.397378119e-05,-1.011207296e-04,4.202795437e-05,-1.248274159e-05,-9.379703738e-05,4.433345112e-05,-1.243062138e-05,-9.307275694e-05,7.019973858e-01,-3.606169260e-05,8.600423251e-01,7.019976976e-01,-3.457065299e-05,8.600496488e-01,7.027897339e-01,-1.299356113e-04,8.302332006e-01
+4,5.583333333e+00,DOWN_FORCE_DETACH,1792836860598730734,4.362468204e-05,-1.460193837e-05,-1.336361606e-04,3.884398652e-05,-1.697749397e-05,-1.338007216e-04,4.064682485e-05,-1.687835755e-05,-1.332366515e-04,7.019992943e-01,-3.668984977e-05,8.600098097e-01,7.019945136e-01,-3.906540538e-05,8.600096451e-01,7.027860473e-01,-1.343833475e-04,8.301930367e-01
+5,7.050000000e+00,DOWN_FORCE_DETACH,1792836862121217043,5.782194142e-05,-1.830000251e-05,-1.618343655e-04,5.144530146e-05,-1.536552459e-05,-1.498801964e-04,5.399109397e-05,-1.529036242e-05,-1.495209748e-04,7.020134916e-01,-4.038791392e-05,8.599816115e-01,7.020071149e-01,-3.745343600e-05,8.599935656e-01,7.027993916e-01,-1.327953523e-04,8.301767524e-01
+6,8.533333333e+00,DOWN_FORCE_DETACH,1792836863644300903,6.696989768e-05,-2.735805573e-05,-2.367655394e-04,6.713499423e-05,-2.812698071e-05,-2.318749977e-04,6.997820553e-05,-2.794943242e-05,-2.310706078e-04,7.020226395e-01,-4.944596713e-05,8.599066803e-01,7.020228046e-01,-5.021489211e-05,8.599115708e-01,7.028153787e-01,-1.454544223e-04,8.300952027e-01
+7,1.005000000e+01,DOWN_FORCE_DETACH,1792836865184897436,7.827015340e-05,-3.126362546e-05,-2.756171143e-04,7.264757420e-05,-2.915607114e-05,-2.722924824e-04,7.555280168e-05,-2.896076901e-05,-2.716721694e-04,7.020339398e-01,-5.335153687e-05,8.598678287e-01,7.020283172e-01,-5.124398255e-05,8.598711534e-01,7.028209533e-01,-1.464657589e-04,8.300546012e-01
+8,1.151666667e+01,DOWN_FORCE_DETACH,1792836866805836468,8.098172145e-05,-2.459186048e-05,-3.310090720e-04,7.515141677e-05,-3.158971633e-05,-3.133885068e-04,7.786910655e-05,-3.136824156e-05,-3.128143499e-04,7.020366513e-01,-4.667977189e-05,8.598124368e-01,7.020308210e-01,-5.367762774e-05,8.598300573e-01,7.028232696e-01,-1.488732315e-04,8.300134590e-01
+9,1.296666667e+01,DOWN_FORCE_DETACH,1792836868263437574,9.284115241e-05,-2.925353337e-05,-4.007589561e-04,9.202738090e-05,-3.048408967e-05,-3.938841386e-04,9.503928177e-05,-3.025516417e-05,-3.929003890e-04,7.020485108e-01,-5.134144478e-05,8.597426869e-01,7.020476970e-01,-5.257200107e-05,8.597495617e-01,7.028404398e-01,-1.477601541e-04,8.299333730e-01
+10,1.378333333e+01,DOWN_FORCE_DETACH,1792836869099065026,1.665259926e-04,-2.684021143e-05,-3.798228940e-04,1.663653101e-04,-2.700440906e-05,-3.799088832e-04,1.743680799e-04,-2.685223468e-05,-3.793903647e-04,7.021221956e-01,-4.892812283e-05,8.597636230e-01,7.021220349e-01,-4.909232047e-05,8.597635370e-01,7.029197686e-01,-1.443572246e-04,8.299468830e-01
+11,1.510000000e+01,DOWN_FORCE_DETACH,1792836870429096834,1.704477658e-04,-2.977076395e-05,-4.501445326e-04,1.681834934e-04,-3.165206944e-05,-4.381363196e-04,1.762055517e-04,-3.148555403e-05,-4.371911852e-04,7.021261174e-01,-5.185867536e-05,8.596933013e-01,7.021238531e-01,-5.373998084e-05,8.597053095e-01,7.029216060e-01,-1.489905440e-04,8.298890822e-01
+12,1.653333333e+01,DOWN_FORCE_DETACH,1792836871867033285,1.981609508e-04,-3.277625954e-05,-5.359903519e-04,1.942059549e-04,-3.174046252e-05,-5.381350632e-04,2.030931673e-04,-3.161675008e-05,-5.366861989e-04,7.021538306e-01,-5.486417095e-05,8.596074555e-01,7.021498756e-01,-5.382837393e-05,8.596053108e-01,7.029484937e-01,-1.491217400e-04,8.297895872e-01
+13,1.811666667e+01,DOWN_FORCE_DETACH,1792836873473048343,2.091523985e-04,-3.803205046e-05,-5.896152103e-04,2.041264555e-04,-3.428801321e-05,-5.786995334e-04,2.134804825e-04,-3.415351688e-05,-5.776346387e-04,7.021648220e-01,-6.011996186e-05,8.595538306e-01,7.021597961e-01,-5.637592461e-05,8.595647463e-01,7.029588810e-01,-1.516585068e-04,8.297486387e-01
+14,1.955000000e+01,DOWN_FORCE_DETACH,1792836874897423517,2.209392874e-04,-3.592858273e-05,-6.369529114e-04,2.135369972e-04,-3.486982555e-05,-6.182532573e-04,2.232532755e-04,-3.472059018e-05,-6.173934561e-04,7.021766089e-01,-5.801649413e-05,8.595064929e-01,7.021692066e-01,-5.695773696e-05,8.595251926e-01,7.029686538e-01,-1.522255801e-04,8.297088799e-01
+15,2.098333333e+01,DOWN_FORCE_DETACH,1792836876306642884,2.397966885e-04,-3.945393846e-05,-7.009815896e-04,2.342327291e-04,-4.252281420e-05,-6.997328064e-04,2.445422246e-04,-4.231627606e-05,-6.985443990e-04,7.021954663e-01,-6.154184986e-05,8.594424643e-01,7.021899024e-01,-6.461072561e-05,8.594437130e-01,7.029899427e-01,-1.598212660e-04,8.296277290e-01
+16,2.236666667e+01,DOWN_FORCE_DETACH,1792836877682165660,2.523195650e-04,-4.606758077e-05,-7.543137548e-04,2.468306208e-04,-4.469723428e-05,-7.399785746e-04,2.575946007e-04,-4.445328090e-05,-7.389932141e-04,7.022079892e-01,-6.815549218e-05,8.593891321e-01,7.022025002e-01,-6.678514569e-05,8.594034673e-01,7.030029951e-01,-1.619582708e-04,8.295872801e-01
+17,2.388333333e+01,DOWN_FORCE_DETACH,1792836879173171466,2.677446476e-04,-4.579019890e-05,-8.118447991e-04,2.617161804e-04,-4.344689459e-05,-8.008533819e-04,2.729978467e-04,-4.322790714e-05,-7.998117251e-04,7.022234143e-01,-6.787811031e-05,8.593316010e-01,7.022173858e-01,-6.553480600e-05,8.593425925e-01,7.030183983e-01,-1.607328971e-04,8.295264616e-01
+18,2.531666667e+01,DOWN_FORCE_DETACH,1792836880598344427,2.803034399e-04,-4.781265938e-05,-8.751142925e-04,2.781102388e-04,-4.852423983e-05,-8.617775466e-04,2.899400034e-04,-4.823459993e-05,-8.606355493e-04,7.022359731e-01,-6.990057079e-05,8.592683316e-01,7.022337799e-01,-7.061215124e-05,8.592816683e-01,7.030353405e-01,-1.657395899e-04,8.294656378e-01
+19,2.646666667e+01,DOWN_FORCE_DETACH,1792836881728462858,2.915798490e-04,-5.446566956e-05,-9.171510553e-04,2.863064039e-04,-4.806172723e-05,-9.012206038e-04,2.983343400e-04,-4.780582599e-05,-9.001483372e-04,7.022472495e-01,-7.655358096e-05,8.592262948e-01,7.022419760e-01,-7.014963864e-05,8.592422252e-01,7.030437348e-01,-1.653108159e-04,8.294261250e-01
+20,2.786666667e+01,DOWN_FORCE_DETACH,1792836883105224530,3.082573094e-04,-5.199852449e-05,-9.782087563e-04,3.007257413e-04,-4.901199587e-05,-9.629954915e-04,3.131443816e-04,-4.876739541e-05,-9.618602699e-04,7.022639269e-01,-7.408643590e-05,8.591652371e-01,7.022563954e-01,-7.109990727e-05,8.591804504e-01,7.030585449e-01,-1.662723853e-04,8.293644131e-01
+21,2.940000000e+01,DOWN_FORCE_DETACH,1792836884627639238,3.262645548e-04,-5.640027974e-05,-1.036589974e-03,3.186974543e-04,-5.709940126e-05,-1.018834741e-03,3.318374962e-04,-5.677551626e-05,-1.017749542e-03,7.022819342e-01,-7.848819114e-05,8.591068559e-01,7.022743671e-01,-7.918731266e-05,8.591246111e-01,7.030772380e-01,-1.742805062e-04,8.293085238e-01
+22,3.065000000e+01,DOWN_FORCE_DETACH,1792836885957168138,3.411835971e-04,-6.323190825e-05,-1.094898338e-03,3.360016170e-04,-5.816977451e-05,-1.077843075e-03,3.497124141e-04,-5.786092304e-05,-1.076684138e-03,7.022968532e-01,-8.531981966e-05,8.590485475e-01,7.022916712e-01,-8.025768592e-05,8.590656028e-01,7.030951129e-01,-1.753659130e-04,8.292495892e-01
+23,3.201666667e+01,DOWN_FORCE_DETACH,1792836887314696827,3.580053776e-04,-5.911813500e-05,-1.157485174e-03,3.576692574e-04,-5.903527580e-05,-1.157643413e-03,3.720206904e-04,-5.877673347e-05,-1.156159677e-03,7.023136750e-01,-8.120604640e-05,8.589859607e-01,7.023133389e-01,-8.112318721e-05,8.589858024e-01,7.031174212e-01,-1.762817234e-04,8.291701137e-01
+24,3.340000000e+01,DOWN_FORCE_DETACH,1792836888723468711,3.763586781e-04,-6.435249419e-05,-1.210929453e-03,3.689885642e-04,-6.486564665e-05,-1.195094605e-03,3.838109617e-04,-6.451933030e-05,-1.193901924e-03,7.023320283e-01,-8.644040560e-05,8.589325164e-01,7.023246582e-01,-8.695355805e-05,8.589483512e-01,7.031292115e-01,-1.820243202e-04,8.291323714e-01
+25,3.483333333e+01,DOWN_FORCE_DETACH,1792836890148007962,3.948762087e-04,-6.478368697e-05,-1.266221932e-03,3.878691264e-04,-6.485926066e-05,-1.254448454e-03,4.034468632e-04,-6.450536981e-05,-1.253216600e-03,7.023505458e-01,-8.687159838e-05,8.588772239e-01,7.023435388e-01,-8.694717207e-05,8.588889974e-01,7.031488474e-01,-1.820103597e-04,8.290730568e-01
+26,3.620000000e+01,DOWN_FORCE_DETACH,1792836891639061033,4.155109074e-04,-6.435484578e-05,-1.339169095e-03,4.087290259e-04,-6.986590564e-05,-1.335090326e-03,4.249986175e-04,-6.945096781e-05,-1.333551666e-03,7.023711805e-01,-8.644275718e-05,8.588042768e-01,7.023643987e-01,-9.195381704e-05,8.588083555e-01,7.031703991e-01,-1.869559577e-04,8.289927217e-01
+27,3.758333333e+01,DOWN_FORCE_DETACH,1792836893098065475,4.290850012e-04,-6.866102989e-05,-1.398578530e-03,4.250244609e-04,-6.679237651e-05,-1.398580012e-03,4.418210657e-04,-6.648403089e-05,-1.396997136e-03,7.023847546e-01,-9.074894130e-05,8.587448673e-01,7.023806941e-01,-8.888028792e-05,8.587448658e-01,7.031872216e-01,-1.839890208e-04,8.289292762e-01
+28,3.891666667e+01,DOWN_FORCE_DETACH,1792836894423866597,4.412029480e-04,-6.880024470e-05,-1.463625451e-03,4.411650965e-04,-7.216921115e-05,-1.460221081e-03,4.585050315e-04,-7.179998108e-05,-1.458717780e-03,7.023968726e-01,-9.088815610e-05,8.586798204e-01,7.023968347e-01,-9.425712256e-05,8.586832248e-01,7.032039055e-01,-1.893049710e-04,8.288675556e-01
+29,4.031666667e+01,DOWN_FORCE_DETACH,1792836895832265775,4.581525639e-04,-7.552801490e-05,-1.535368143e-03,4.546084116e-04,-7.403273988e-05,-1.520330627e-03,4.723723636e-04,-7.363863384e-05,-1.518945740e-03,7.024138222e-01,-9.761592631e-05,8.586080777e-01,7.024102780e-01,-9.612065129e-05,8.586231152e-01,7.032177729e-01,-1.911436238e-04,8.288073276e-01
+30,4.160000000e+01,DOWN_FORCE_DETACH,1792836897113828446,4.702075112e-04,-7.808770662e-05,-1.597199955e-03,4.675048366e-04,-7.397552691e-05,-1.578655570e-03,4.856623721e-04,-7.360838946e-05,-1.577350433e-03,7.024258771e-01,-1.001756180e-04,8.585462459e-01,7.024231745e-01,-9.606343831e-05,8.585647903e-01,7.032310629e-01,-1.911133794e-04,8.287489229e-01
+31,4.286666667e+01,DOWN_FORCE_DETACH,1792836898371174630,4.838144713e-04,-7.697214339e-05,-1.659418396e-03,4.844631561e-04,-8.139224853e-05,-1.656401532e-03,5.028867902e-04,-8.091078150e-05,-1.654771573e-03,7.024394841e-01,-9.906005480e-05,8.584840274e-01,7.024401328e-01,-1.034801599e-04,8.584870443e-01,7.032482873e-01,-1.984157714e-04,8.286715018e-01
+32,4.425000000e+01,DOWN_FORCE_DETACH,1792836899763838184,5.012193399e-04,-8.511046580e-05,-1.731516323e-03,5.000249836e-04,-8.200370647e-05,-1.715123117e-03,5.190320269e-04,-8.151105171e-05,-1.713561019e-03,7.024568890e-01,-1.071983772e-04,8.584119295e-01,7.024556946e-01,-1.040916179e-04,8.584283227e-01,7.032644325e-01,-1.990160416e-04,8.286127123e-01
+33,4.565000000e+01,DOWN_FORCE_DETACH,1792836901156935382,5.156404751e-04,-8.739232129e-05,-1.803746700e-03,5.127876386e-04,-8.104627647e-05,-1.795705187e-03,5.319023095e-04,-8.052487386e-05,-1.793947108e-03,7.024713101e-01,-1.094802327e-04,8.583396991e-01,7.024684573e-01,-1.031341879e-04,8.583477407e-01,7.032773028e-01,-1.980298638e-04,8.285323262e-01
+34,4.703333333e+01,DOWN_FORCE_DETACH,1792836902544329832,5.324124179e-04,-8.297614475e-05,-1.876814780e-03,5.312021507e-04,-8.158447383e-05,-1.872424341e-03,5.507981079e-04,-8.106984705e-05,-1.870605877e-03,7.024880820e-01,-1.050640562e-04,8.582666311e-01,7.024868718e-01,-1.036723852e-04,8.582710215e-01,7.032961986e-01,-1.985748370e-04,8.284556675e-01
+35,4.835000000e+01,DOWN_FORCE_DETACH,1792836903858841808,5.471607940e-04,-7.640083581e-05,-1.948014778e-03,5.437377809e-04,-7.594392445e-05,-1.932542437e-03,5.636259895e-04,-7.550391854e-05,-1.930973086e-03,7.025028304e-01,-9.848874722e-05,8.581954311e-01,7.024994074e-01,-9.803183586e-05,8.582109034e-01,7.033090265e-01,-1.930089085e-04,8.283953003e-01
+36,4.970000000e+01,DOWN_FORCE_DETACH,1792836905202291300,5.632772816e-04,-7.695428081e-05,-2.016294436e-03,5.594181671e-04,-7.981312031e-05,-2.013280646e-03,5.795246656e-04,-7.929975216e-05,-2.011574761e-03,7.025189469e-01,-9.904219222e-05,8.581271514e-01,7.025150878e-01,-1.019010317e-04,8.581301652e-01,7.033249252e-01,-1.968047421e-04,8.283146986e-01
+37,5.098333333e+01,DOWN_FORCE_DETACH,1792836906479605873,5.828614582e-04,-7.855854000e-05,-2.092580326e-03,5.722964889e-04,-7.681224168e-05,-2.077929011e-03,5.926332550e-04,-7.632494203e-05,-2.076271978e-03,7.025385311e-01,-1.006464514e-04,8.580508655e-01,7.025279661e-01,-9.890015308e-05,8.580655168e-01,7.033380337e-01,-1.938299320e-04,8.282500014e-01
+38,5.250000000e+01,DOWN_FORCE_DETACH,1792836908005076180,5.970452437e-04,-7.423573844e-05,-2.176990528e-03,5.919131484e-04,-7.281653339e-05,-2.157863336e-03,6.128386211e-04,-7.239042405e-05,-2.156144311e-03,7.025527149e-01,-9.632364985e-05,8.579664553e-01,7.025475828e-01,-9.490444479e-05,8.579855825e-01,7.033582391e-01,-1.898954140e-04,8.281701290e-01
+39,5.383333333e+01,DOWN_FORCE_DETACH,1792836909362612397,6.108632154e-04,-7.725448759e-05,-2.263976813e-03,6.121901583e-04,-7.718760272e-05,-2.259812470e-03,6.334753883e-04,-7.674703168e-05,-2.257701735e-03,7.025665328e-01,-9.934239899e-05,8.578794690e-01,7.025678598e-01,-9.927551413e-05,8.578836334e-01,7.033788759e-01,-1.942520216e-04,8.280685716e-01
+40,5.523333333e+01,DOWN_FORCE_DETACH,1792836910771708908,6.312896328e-04,-7.718633068e-05,-2.341289049e-03,6.275355038e-04,-7.395468018e-05,-2.338346434e-03,6.490850582e-04,-7.354937208e-05,-2.336295338e-03,7.025869593e-01,-9.927424208e-05,8.578021568e-01,7.025832051e-01,-9.604259158e-05,8.578050994e-01,7.033944855e-01,-1.910543620e-04,8.279899780e-01
+41,5.666666667e+01,DOWN_FORCE_DETACH,1792836912196965912,6.498757731e-04,-7.932918527e-05,-2.426288659e-03,6.431518855e-04,-8.060520399e-05,-2.416996871e-03,6.650622131e-04,-8.015512665e-05,-2.415084866e-03,7.026055454e-01,-1.014170967e-04,8.577171572e-01,7.025988215e-01,-1.026931154e-04,8.577264490e-01,7.034104627e-01,-1.976601166e-04,8.279111885e-01
+42,5.805000000e+01,DOWN_FORCE_DETACH,1792836913588854744,6.637620299e-04,-7.981758528e-05,-2.529179087e-03,6.609931131e-04,-7.854967049e-05,-2.518127654e-03,6.831412870e-04,-7.812044024e-05,-2.516154514e-03,7.026194317e-01,-1.019054967e-04,8.576142668e-01,7.026166627e-01,-1.006375819e-04,8.576253182e-01,7.034285418e-01,-1.956254302e-04,8.278101188e-01
+43,5.943333333e+01,DOWN_FORCE_DETACH,1792836915014352090,6.807054958e-04,-8.206650384e-05,-2.623253587e-03,6.781267936e-04,-8.333842612e-05,-2.621829160e-03,7.003910620e-04,-8.286476980e-05,-2.619586123e-03,7.026363751e-01,-1.041544152e-04,8.575201923e-01,7.026337964e-01,-1.054263375e-04,8.575216167e-01,7.034457916e-01,-2.003697597e-04,8.277066872e-01
+44,6.085000000e+01,DOWN_FORCE_DETACH,1792836916423265076,6.944274969e-04,-8.529907905e-05,-2.721641659e-03,6.912686039e-04,-8.388656010e-05,-2.704556380e-03,7.136467511e-04,-8.337181231e-05,-2.702456174e-03,7.026500971e-01,-1.073869905e-04,8.574218042e-01,7.026469382e-01,-1.059744715e-04,8.574388895e-01,7.034590472e-01,-2.008768022e-04,8.276238172e-01
+45,6.241666667e+01,DOWN_FORCE_DETACH,1792836917996000956,7.132376323e-04,-9.362707878e-05,-2.843236529e-03,7.095180120e-04,-8.989728564e-05,-2.830089830e-03,7.318002109e-04,-8.923336495e-05,-2.827835754e-03,7.026689073e-01,-1.157149902e-04,8.573002093e-01,7.026651876e-01,-1.119851970e-04,8.573133560e-01,7.034772007e-01,-2.067383549e-04,8.274984376e-01
+46,6.368333333e+01,DOWN_FORCE_DETACH,1792836919322140238,7.299249074e-04,-8.969813571e-05,-2.953330688e-03,7.299003137e-04,-8.941693576e-05,-2.953220120e-03,7.523147047e-04,-8.879678643e-05,-2.950565322e-03,7.026855945e-01,-1.117860471e-04,8.571901152e-01,7.026855699e-01,-1.115048472e-04,8.571902257e-01,7.034977152e-01,-2.063017764e-04,8.273757080e-01
+47,6.503333333e+01,DOWN_FORCE_DETACH,1792836920676233822,7.473767706e-04,-1.003672176e-04,-3.063553271e-03,7.464403643e-04,-9.813987411e-05,-3.055792218e-03,7.689862159e-04,-9.743239396e-05,-3.053165645e-03,7.027030464e-01,-1.224551290e-04,8.570798926e-01,7.027021100e-01,-1.202277855e-04,8.570876536e-01,7.035143867e-01,-2.149373839e-04,8.272731077e-01
+48,6.630000000e+01,DOWN_FORCE_DETACH,1792836921943317390,7.578325519e-04,-1.038599121e-04,-3.185641025e-03,7.554892185e-04,-1.003283875e-04,-3.166417473e-03,7.774357246e-04,-9.966064752e-05,-3.163714450e-03,7.027135022e-01,-1.259478235e-04,8.569578048e-01,7.027111588e-01,-1.224162989e-04,8.569770284e-01,7.035228362e-01,-2.171656374e-04,8.271625589e-01
+49,6.756666667e+01,DOWN_FORCE_DETACH,1792836923271374163,7.815356460e-04,-1.016412463e-04,-3.303735952e-03,7.803835928e-04,-1.085516108e-04,-3.305504271e-03,8.024934079e-04,-1.077462398e-04,-3.302528073e-03,7.027372053e-01,-1.237291577e-04,8.568397099e-01,7.027360532e-01,-1.306395222e-04,8.568379416e-01,7.035478939e-01,-2.252512297e-04,8.270237453e-01
+50,6.878333333e+01,DOWN_FORCE_DETACH,1792836924548516966,7.972921508e-04,-1.080841078e-04,-3.442322998e-03,7.934629184e-04,-1.116253626e-04,-3.429882546e-03,8.151240125e-04,-1.108190135e-04,-3.427002883e-03,7.027529618e-01,-1.301720192e-04,8.567011228e-01,7.027491325e-01,-1.337132740e-04,8.567135633e-01,7.035605245e-01,-2.283240035e-04,8.268992705e-01
+51,7.013333333e+01,DOWN_FORCE_DETACH,1792836925957322469,8.079116117e-04,-1.106444477e-04,-3.601943296e-03,8.090278102e-04,-1.161521239e-04,-3.598099772e-03,8.298907098e-04,-1.152575770e-04,-3.594828073e-03,7.027635812e-01,-1.327323591e-04,8.565415025e-01,7.027646974e-01,-1.382400353e-04,8.565453461e-01,7.035752912e-01,-2.327625669e-04,8.267314453e-01
+52,7.130000000e+01,DOWN_FORCE_DETACH,1792836927135754573,8.194814354e-04,-1.181181496e-04,-3.746071745e-03,8.216271566e-04,-1.217626424e-04,-3.727315689e-03,8.419475316e-04,-1.207458014e-04,-3.724102457e-03,7.027751511e-01,-1.402060610e-04,8.563973741e-01,7.027772968e-01,-1.438505538e-04,8.564161302e-01,7.035873480e-01,-2.382507913e-04,8.266021709e-01
+53,7.258333333e+01,DOWN_FORCE_DETACH,1792836928429812561,8.367600136e-04,-1.255770669e-04,-3.916207759e-03,8.335703940e-04,-1.252863540e-04,-3.902899363e-03,8.528233748e-04,-1.242670787e-04,-3.899462789e-03,7.027924296e-01,-1.476649783e-04,8.562272381e-01,7.027892400e-01,-1.473742654e-04,8.562405465e-01,7.035982239e-01,-2.417720686e-04,8.264268106e-01
+54,7.371666667e+01,DOWN_FORCE_DETACH,1792836929560392869,8.429462000e-04,-1.305228819e-04,-4.080378770e-03,8.461218430e-04,-1.280874360e-04,-4.073227683e-03,8.643283206e-04,-1.270530778e-04,-4.069472783e-03,7.027986158e-01,-1.526107933e-04,8.560630671e-01,7.028017915e-01,-1.501753474e-04,8.560702182e-01,7.036097288e-01,-2.445580678e-04,8.262568006e-01
+55,7.481666667e+01,DOWN_FORCE_DETACH,1792836930707593611,8.600594155e-04,-1.284768887e-04,-4.265950914e-03,8.598381936e-04,-1.283472065e-04,-4.265505702e-03,8.768136540e-04,-1.272435824e-04,-4.261365288e-03,7.028157290e-01,-1.505648001e-04,8.558774949e-01,7.028155078e-01,-1.504351179e-04,8.558779401e-01,7.036222141e-01,-2.447485724e-04,8.260649081e-01
+56,7.595000000e+01,DOWN_FORCE_DETACH,1792836931853983550,8.786736234e-04,-1.329989610e-04,-4.480256353e-03,8.775588691e-04,-1.333950684e-04,-4.474103548e-03,8.934108593e-04,-1.322556558e-04,-4.469703013e-03,7.028343432e-01,-1.550868724e-04,8.556631895e-01,7.028332285e-01,-1.554829798e-04,8.556693423e-01,7.036388113e-01,-2.497606457e-04,8.258565703e-01
+57,7.695000000e+01,DOWN_FORCE_DETACH,1792836932836755042,8.889200434e-04,-1.396206949e-04,-4.685893238e-03,8.894999822e-04,-1.377839217e-04,-4.671526049e-03,9.039868465e-04,-1.365595323e-04,-4.666925775e-03,7.028445897e-01,-1.617086063e-04,8.554575526e-01,7.028451696e-01,-1.598718331e-04,8.554719198e-01,7.036493873e-01,-2.540645222e-04,8.256593476e-01
+58,7.788333333e+01,DOWN_FORCE_DETACH,1792836933769936423,8.978123779e-04,-1.386396095e-04,-4.911192780e-03,8.978312303e-04,-1.384663465e-04,-4.910981466e-03,9.102472314e-04,-1.372228803e-04,-4.905715587e-03,7.028534820e-01,-1.607275209e-04,8.552322531e-01,7.028535009e-01,-1.605542579e-04,8.552324644e-01,7.036556477e-01,-2.547278703e-04,8.254205578e-01
+59,7.901666667e+01,DOWN_PEAK_HOLD,1792836934949862376,8.824224013e-04,-1.385875039e-04,-5.080046941e-03,8.861541496e-04,-1.350316944e-04,-5.073192587e-03,8.960176110e-04,-1.338342733e-04,-5.068809450e-03,7.028380920e-01,-1.606754153e-04,8.550633989e-01,7.028418238e-01,-1.571196058e-04,8.550702533e-01,7.036414181e-01,-2.513392633e-04,8.252574639e-01

Fixed/digit/cylinder_15A_20/press_depth_10/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.1669e-01,2.2729e-01,2.5101e+00,-5.2672e-02,4.5045e-02,3.0537e-04,7.7184e-04,-8.2344e-05,-3.2520e-04,4.5635e-06,5.5142e-05,1.8906e-07,8.4159e-04,5.5331e-05
+1,1.3833e+00,DOWN_FORCE_DETACH,3.2381e-04,1.6300e-01,2.2282e-01,2.4901e+00,-5.2452e-02,4.8406e-02,3.0941e-04,4.7083e-02,-4.5504e-03,-2.0323e-02,2.2434e-04,3.4158e-03,4.2332e-06,5.1483e-02,3.4232e-03
+2,2.8833e+00,DOWN_FORCE_DETACH,6.5383e-04,1.9206e-01,2.2703e-01,2.5693e+00,-5.2798e-02,5.0415e-02,3.0474e-04,7.6142e-02,-3.3975e-04,5.8860e-02,-1.2147e-04,5.4250e-03,-4.4075e-07,9.6240e-02,5.4264e-03
+3,4.0667e+00,DOWN_FORCE_DETACH,9.7676e-04,1.4828e-01,2.7561e-01,2.6389e+00,-5.6146e-02,4.7162e-02,3.1942e-04,3.2368e-02,4.8241e-02,1.2847e-01,-3.4691e-03,2.1722e-03,1.4243e-05,1.4100e-01,4.0931e-03
+4,5.5833e+00,DOWN_FORCE_DETACH,1.3013e-03,1.9183e-01,2.9559e-01,2.6066e+00,-5.7552e-02,5.0364e-02,3.1056e-04,7.5913e-02,6.8218e-02,9.6148e-02,-4.8748e-03,5.3739e-03,5.3768e-06,1.4022e-01,7.2555e-03
+5,7.0500e+00,DOWN_FORCE_DETACH,1.6294e-03,1.8366e-01,2.8434e-01,2.5627e+00,-5.6862e-02,4.9882e-02,2.8635e-04,6.7740e-02,5.6973e-02,5.2292e-02,-4.1855e-03,4.8924e-03,-1.8824e-05,1.0281e-01,6.4385e-03
+6,8.5333e+00,DOWN_FORCE_DETACH,1.9559e-03,1.9014e-01,3.4525e-01,2.6491e+00,-6.1015e-02,5.0254e-02,2.6672e-04,7.4220e-02,1.1788e-01,1.3867e-01,-8.3382e-03,5.2641e-03,-3.8454e-05,1.9655e-01,9.8609e-03
+7,1.0050e+01,DOWN_FORCE_DETACH,2.2822e-03,2.1263e-01,3.5003e-01,2.6157e+00,-6.1348e-02,5.1917e-02,2.2880e-04,9.6710e-02,1.2265e-01,1.0526e-01,-8.6711e-03,6.9274e-03,-7.6383e-05,1.8835e-01,1.1099e-02
+8,1.1517e+01,DOWN_FORCE_DETACH,2.6066e-03,2.3189e-01,3.6223e-01,2.6115e+00,-6.2169e-02,5.3298e-02,1.9221e-04,1.1597e-01,1.3486e-01,1.0109e-01,-9.4921e-03,8.3078e-03,-1.1297e-04,2.0458e-01,1.2615e-02
+9,1.2967e+01,DOWN_FORCE_DETACH,2.9360e-03,2.1925e-01,3.5709e-01,2.6809e+00,-6.1759e-02,5.2275e-02,1.6259e-04,1.0334e-01,1.2972e-01,1.7049e-01,-9.0826e-03,7.2850e-03,-1.4258e-04,2.3785e-01,1.1644e-02
+10,1.3783e+01,DOWN_FORCE_DETACH,3.2625e-03,9.7485e-02,3.4578e-01,2.6270e+00,-6.0997e-02,4.3638e-02,1.5881e-04,-1.8431e-02,1.1840e-01,1.1659e-01,-8.3197e-03,-1.3513e-03,-1.4636e-04,1.6719e-01,8.4300e-03
+11,1.5100e+01,DOWN_FORCE_DETACH,3.5832e-03,1.3662e-01,3.5345e-01,2.6449e+00,-6.1509e-02,4.6350e-02,1.5830e-04,2.0703e-02,1.2608e-01,1.3447e-01,-8.8318e-03,1.3604e-03,-1.4687e-04,1.8549e-01,8.9371e-03
+12,1.6533e+01,DOWN_FORCE_DETACH,3.9112e-03,1.4562e-01,3.4988e-01,2.7388e+00,-6.1209e-02,4.6827e-02,1.3542e-04,2.9700e-02,1.2251e-01,2.2832e-01,-8.5325e-03,1.8368e-03,-1.6976e-04,2.6081e-01,8.7296e-03
+13,1.8117e+01,DOWN_FORCE_DETACH,4.2341e-03,1.8135e-01,3.5770e-01,2.6602e+00,-6.1756e-02,4.9451e-02,1.0045e-04,6.5435e-02,1.3033e-01,1.4976e-01,-9.0788e-03,4.4614e-03,-2.0473e-04,2.0903e-01,1.0118e-02
+14,1.9550e+01,DOWN_FORCE_DETACH,4.5624e-03,1.9353e-01,3.5644e-01,2.6248e+00,-6.1718e-02,5.0362e-02,7.1348e-05,7.7612e-02,1.2907e-01,1.1434e-01,-9.0413e-03,5.3722e-03,-2.3383e-04,1.8909e-01,1.0520e-02
+15,2.0983e+01,DOWN_FORCE_DETACH,4.8910e-03,1.7971e-01,3.9282e-01,2.6813e+00,-6.4150e-02,4.9291e-02,6.0857e-05,6.3790e-02,1.6545e-01,1.7085e-01,-1.1473e-02,4.3014e-03,-2.4432e-04,2.4624e-01,1.2255e-02
+16,2.2367e+01,DOWN_FORCE_DETACH,5.2158e-03,1.8381e-01,4.0492e-01,2.6421e+00,-6.4890e-02,4.9612e-02,5.6274e-05,6.7890e-02,1.7755e-01,1.3171e-01,-1.2213e-02,4.6223e-03,-2.4890e-04,2.3126e-01,1.3061e-02
+17,2.3883e+01,DOWN_FORCE_DETACH,5.5418e-03,1.8636e-01,4.0156e-01,2.6544e+00,-6.4553e-02,4.9752e-02,5.8814e-05,7.0444e-02,1.7419e-01,1.4393e-01,-1.1876e-02,4.7626e-03,-2.4636e-04,2.3669e-01,1.2798e-02
+18,2.5317e+01,DOWN_FORCE_DETACH,5.8634e-03,1.8730e-01,4.2768e-01,2.6695e+00,-6.6250e-02,4.9782e-02,7.5973e-05,7.1381e-02,2.0031e-01,1.5902e-01,-1.3573e-02,4.7926e-03,-2.2921e-04,2.6553e-01,1.4396e-02
+19,2.6467e+01,DOWN_FORCE_DETACH,6.1924e-03,1.9733e-01,4.2552e-01,2.6574e+00,-6.6096e-02,5.0505e-02,8.3576e-05,8.1415e-02,1.9814e-01,1.4692e-01,-1.3419e-02,5.5153e-03,-2.2160e-04,2.5976e-01,1.4510e-02
+20,2.7867e+01,DOWN_FORCE_DETACH,6.5167e-03,1.9868e-01,4.2864e-01,2.6649e+00,-6.6336e-02,5.0604e-02,9.2465e-05,8.2768e-02,2.0127e-01,1.5443e-01,-1.3660e-02,5.6144e-03,-2.1271e-04,2.6685e-01,1.4770e-02
+21,2.9400e+01,DOWN_FORCE_DETACH,6.8438e-03,1.9499e-01,4.6447e-01,2.6432e+00,-6.8842e-02,5.0391e-02,1.0699e-04,7.9075e-02,2.3710e-01,1.3273e-01,-1.6165e-02,5.4008e-03,-1.9819e-04,2.8300e-01,1.7044e-02
+22,3.0650e+01,DOWN_FORCE_DETACH,7.1683e-03,1.8416e-01,4.6662e-01,2.6539e+00,-6.9038e-02,4.9613e-02,1.1731e-04,6.8243e-02,2.3924e-01,1.4347e-01,-1.6361e-02,4.6230e-03,-1.8787e-04,2.8719e-01,1.7003e-02
+23,3.2017e+01,DOWN_FORCE_DETACH,7.4962e-03,1.8350e-01,4.7509e-01,2.6555e+00,-6.9641e-02,4.9541e-02,1.4155e-04,6.7583e-02,2.4772e-01,1.4504e-01,-1.6964e-02,4.5508e-03,-1.6363e-04,2.9490e-01,1.7564e-02
+24,3.3400e+01,DOWN_FORCE_DETACH,7.8208e-03,1.8098e-01,4.9635e-01,2.6546e+00,-7.1052e-02,4.9309e-02,1.8281e-04,6.5064e-02,2.6897e-01,1.4419e-01,-1.8376e-02,4.3196e-03,-1.2237e-04,3.1204e-01,1.8877e-02
+25,3.4833e+01,DOWN_FORCE_DETACH,8.1470e-03,1.7517e-01,4.9513e-01,2.6650e+00,-7.0945e-02,4.8827e-02,2.2136e-04,5.9256e-02,2.6776e-01,1.5457e-01,-1.8268e-02,3.8371e-03,-8.3814e-05,3.1480e-01,1.8667e-02
+26,3.6200e+01,DOWN_FORCE_DETACH,8.4756e-03,1.6935e-01,5.1795e-01,2.7121e+00,-7.2464e-02,4.8303e-02,2.5254e-04,5.3433e-02,2.9058e-01,2.0170e-01,-1.9787e-02,3.3137e-03,-5.2643e-05,3.5773e-01,2.0063e-02
+27,3.7583e+01,DOWN_FORCE_DETACH,8.7991e-03,1.7611e-01,4.9814e-01,2.7112e+00,-7.1200e-02,4.8794e-02,2.5874e-04,6.0192e-02,2.7076e-01,2.0079e-01,-1.8523e-02,3.8042e-03,-4.6437e-05,3.4242e-01,1.8910e-02
+28,3.8917e+01,DOWN_FORCE_DETACH,9.1225e-03,1.7876e-01,5.1934e-01,2.7048e+00,-7.2729e-02,4.9051e-02,2.5475e-04,6.2845e-02,2.9197e-01,1.9437e-01,-2.0052e-02,4.0608e-03,-5.0426e-05,3.5634e-01,2.0459e-02
+29,4.0317e+01,DOWN_FORCE_DETACH,9.4505e-03,1.9522e-01,5.2473e-01,2.6740e+00,-7.3141e-02,5.0312e-02,2.4564e-04,7.9303e-02,2.9735e-01,1.6361e-01,-2.0464e-02,5.3218e-03,-5.9539e-05,3.4853e-01,2.1145e-02
+30,4.1600e+01,DOWN_FORCE_DETACH,9.7754e-03,2.0448e-01,5.2451e-01,2.6616e+00,-7.3092e-02,5.1005e-02,2.4609e-04,8.8563e-02,2.9714e-01,1.5113e-01,-2.0415e-02,6.0148e-03,-5.9089e-05,3.4493e-01,2.1283e-02
+31,4.2867e+01,DOWN_FORCE_DETACH,1.0102e-02,2.0017e-01,5.6389e-01,2.7175e+00,-7.5641e-02,5.0621e-02,2.6817e-04,8.4258e-02,3.3652e-01,2.0703e-01,-2.2964e-02,5.6314e-03,-3.7012e-05,4.0399e-01,2.3645e-02
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Fixed/digit/cylinder_15A_20/press_depth_10/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_15A_20/press_depth_10/up/franka_data.csv

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Fixed/digit/cylinder_15A_20/press_depth_10/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+10,8.666666667e-01,WAIT_W2,1792836839678653913,2.183814154e-06,-4.646534333e-04,2.318125422e-05,2.237660921e-06,-4.645219307e-04,2.300403275e-05,2.952286862e-06,-4.596826559e-04,2.292843070e-05,7.019578534e-01,-4.867413447e-04,8.601666271e-01,7.019579073e-01,-4.866098421e-04,8.601664499e-01,7.027483528e-01,-5.771876710e-04,8.303492018e-01
+11,9.000000000e-01,WAIT_W2,1792836839711546043,2.847907613e-06,-4.222727267e-04,2.371941057e-05,2.862875836e-06,-4.226286861e-04,2.408100294e-05,3.609929110e-06,-4.183151480e-04,2.409317670e-05,7.019585175e-01,-4.443606381e-04,8.601671653e-01,7.019585325e-01,-4.447165975e-04,8.601675268e-01,7.027490104e-01,-5.358201631e-04,8.303503665e-01
+12,9.500000000e-01,WAIT_W2,1792836839760584594,4.047519974e-06,-4.075648955e-04,2.237239262e-05,3.202912197e-06,-3.964180589e-04,2.086101464e-05,3.993655766e-06,-3.924311634e-04,2.089327239e-05,7.019597171e-01,-4.296528070e-04,8.601658182e-01,7.019588725e-01,-4.185059703e-04,8.601643069e-01,7.027493942e-01,-5.099361785e-04,8.303471666e-01
+13,1.066666667e+00,WAIT_W2,1792836839875408857,4.751250504e-06,-4.173285133e-04,2.684730336e-05,3.083369693e-06,-4.088773722e-04,2.581333034e-05,3.885702156e-06,-4.048209270e-04,2.584393755e-05,7.019604209e-01,-4.394164247e-04,8.601702931e-01,7.019587530e-01,-4.309652836e-04,8.601692592e-01,7.027492862e-01,-5.223259421e-04,8.303521173e-01
+14,1.216666667e+00,WAIT_W2,1792836840022687541,5.614230210e-06,-4.316745653e-04,3.039203329e-05,2.164894397e-06,-4.296612397e-04,2.538982519e-05,2.958719341e-06,-4.254464120e-04,2.551023439e-05,7.019612839e-01,-4.537624767e-04,8.601738379e-01,7.019578345e-01,-4.517491511e-04,8.601688357e-01,7.027483592e-01,-5.429514271e-04,8.303517836e-01
+15,1.316666667e+00,WAIT_W2,1792836840121413600,5.124450380e-06,-4.365320007e-04,3.170074587e-05,4.830802404e-07,-4.290474352e-04,2.507882217e-05,1.258518405e-06,-4.248796477e-04,2.521159111e-05,7.019607941e-01,-4.586199121e-04,8.601751466e-01,7.019561527e-01,-4.511353466e-04,8.601685247e-01,7.027466590e-01,-5.423846628e-04,8.303514849e-01
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+17,1.600000000e+00,UP_FORCE_RAMP,1792836840399509519,5.040536254e-06,-4.192333841e-04,3.049650324e-05,4.061275854e-06,-4.071144089e-04,2.862479061e-05,5.141575474e-06,-4.032168684e-04,2.880313380e-05,7.019607102e-01,-4.413212955e-04,8.601739423e-01,7.019597309e-01,-4.292023203e-04,8.601720706e-01,7.027505421e-01,-5.207218835e-04,8.303550765e-01
+18,1.816666667e+00,UP_FORCE_RAMP,1792836840613576692,6.521285892e-06,-4.176546535e-04,3.484221128e-05,4.061275854e-06,-4.071144089e-04,2.862479061e-05,5.186850812e-06,-4.032682217e-04,2.883784665e-05,7.019621909e-01,-4.397425649e-04,8.601782881e-01,7.019597309e-01,-4.292023203e-04,8.601720706e-01,7.027505874e-01,-5.207732368e-04,8.303551112e-01
+19,2.066666667e+00,UP_FORCE_RAMP,1792836840858945684,4.963469786e-06,-4.207361421e-04,3.395064274e-05,4.061275854e-06,-4.071144089e-04,2.862479061e-05,5.232505931e-06,-4.033205760e-04,2.886542979e-05,7.019606331e-01,-4.428240535e-04,8.601773965e-01,7.019597309e-01,-4.292023203e-04,8.601720706e-01,7.027506330e-01,-5.208255911e-04,8.303551388e-01
+20,2.333333333e+00,UP_FORCE_RAMP,1792836841137480132,5.452084105e-06,-4.176258376e-04,3.670285934e-05,4.061275854e-06,-4.071144089e-04,2.862479061e-05,5.275661041e-06,-4.033698299e-04,2.888391064e-05,7.019611217e-01,-4.397137490e-04,8.601801487e-01,7.019597309e-01,-4.292023203e-04,8.601720706e-01,7.027506762e-01,-5.208748450e-04,8.303551573e-01
+21,2.616666667e+00,UP_FORCE_RAMP,1792836841432987574,6.688174571e-06,-4.182847433e-04,4.815947704e-05,5.693919419e-06,-4.199233419e-04,4.391306940e-05,7.244741230e-06,-4.161311851e-04,4.401231297e-05,7.019623578e-01,-4.403726547e-04,8.601916053e-01,7.019613635e-01,-4.420112533e-04,8.601873589e-01,7.027526453e-01,-5.336362002e-04,8.303702857e-01
+22,2.850000000e+00,UP_FORCE_RAMP,1792836841688647772,6.324674203e-06,-4.177816700e-04,5.784812408e-05,5.693919419e-06,-4.199233419e-04,4.391306940e-05,7.280140752e-06,-4.161722149e-04,4.405263420e-05,7.019619943e-01,-4.398695815e-04,8.602012940e-01,7.019613635e-01,-4.420112533e-04,8.601873589e-01,7.027526807e-01,-5.336772300e-04,8.303703260e-01
+23,3.033333333e+00,UP_FORCE_RAMP,1792836841948426802,-2.457324629e-05,-4.116239520e-04,7.180548208e-05,-2.395457419e-05,-4.116097419e-04,7.174172546e-05,-2.388607913e-05,-4.080258494e-04,7.142238807e-05,7.019310964e-01,-4.337118634e-04,8.602152513e-01,7.019317151e-01,-4.336976533e-04,8.602151876e-01,7.027215144e-01,-5.255308645e-04,8.303976957e-01
+24,3.233333333e+00,UP_FORCE_RAMP,1792836842169441758,-1.617436256e-05,-4.112130256e-04,9.709301150e-05,-1.681689780e-05,-4.110737639e-04,9.154611540e-05,-1.614971207e-05,-4.075272328e-04,9.104122266e-05,7.019394953e-01,-4.333009370e-04,8.602405389e-01,7.019388527e-01,-4.331616753e-04,8.602349920e-01,7.027292508e-01,-5.250322479e-04,8.304173146e-01
+25,3.466666667e+00,UP_FORCE_RAMP,1792836842430896429,-1.345588393e-05,-4.107965716e-04,1.111742026e-04,-1.281225148e-05,-4.124737943e-04,1.120429308e-04,-1.163965372e-05,-4.089140747e-04,1.113763894e-04,7.019422137e-01,-4.328844830e-04,8.602546200e-01,7.019428574e-01,-4.345617057e-04,8.602554888e-01,7.027337609e-01,-5.264190898e-04,8.304376497e-01
+26,3.700000000e+00,UP_FORCE_RAMP,1792836842660443502,-1.252277424e-05,-4.134638304e-04,1.286652972e-04,-1.281225148e-05,-4.124737943e-04,1.120429308e-04,-1.162968812e-05,-4.089465159e-04,1.114992567e-04,7.019431469e-01,-4.355517419e-04,8.602721111e-01,7.019428574e-01,-4.345617057e-04,8.602554888e-01,7.027337708e-01,-5.264515310e-04,8.304377726e-01
+27,4.000000000e+00,UP_FORCE_RAMP,1792836842954815784,-1.043393531e-05,-4.096350171e-04,1.523219395e-04,-7.937191888e-06,-4.149333285e-04,1.514042538e-04,-5.931689280e-06,-4.114534911e-04,1.505042888e-04,7.019452357e-01,-4.317229285e-04,8.602957678e-01,7.019477324e-01,-4.370212399e-04,8.602948501e-01,7.027394688e-01,-5.289585062e-04,8.304767776e-01
+28,4.233333333e+00,UP_FORCE_RAMP,1792836843201017721,-9.205442489e-06,-4.101356863e-04,1.749186131e-04,-7.392986356e-06,-4.085502742e-04,1.707414302e-04,-5.118698824e-06,-4.052306994e-04,1.696647270e-04,7.019464642e-01,-4.322235977e-04,8.603183645e-01,7.019482766e-01,-4.306381856e-04,8.603141873e-01,7.027402818e-01,-5.227357145e-04,8.304959381e-01
+29,4.483333333e+00,UP_FORCE_RAMP,1792836843463203073,-1.628411887e-05,-4.087213767e-04,1.910591033e-04,-1.446844841e-05,-4.038836108e-04,1.896063914e-04,-1.236309190e-05,-4.006068536e-04,1.884443454e-04,7.019393855e-01,-4.308092881e-04,8.603345049e-01,7.019412012e-01,-4.259715222e-04,8.603330522e-01,7.027330374e-01,-5.181118687e-04,8.305147177e-01
+30,4.716666667e+00,UP_FORCE_RAMP,1792836843693087711,-2.290704967e-05,-4.103143486e-04,2.021544247e-04,-1.446844841e-05,-4.038836108e-04,1.896063914e-04,-1.236518629e-05,-4.006297351e-04,1.886030469e-04,7.019327626e-01,-4.324022600e-04,8.603456003e-01,7.019412012e-01,-4.259715222e-04,8.603330522e-01,7.027330353e-01,-5.181347502e-04,8.305148764e-01
+31,5.000000000e+00,UP_FORCE_RAMP,1792836843970478157,-2.438022192e-05,-4.037845280e-04,2.202828647e-04,-2.239506812e-05,-4.080467295e-04,2.073308269e-04,-2.065554583e-05,-4.048163287e-04,2.062432100e-04,7.019312894e-01,-4.258724394e-04,8.603637287e-01,7.019332746e-01,-4.301346409e-04,8.603507767e-01,7.027247450e-01,-5.223213438e-04,8.305325166e-01
+32,5.233333333e+00,UP_FORCE_RAMP,1792836844200574929,-2.611638077e-05,-4.058537300e-04,2.298052262e-04,-2.354664894e-05,-4.029902152e-04,2.275503499e-04,-2.168793239e-05,-3.998656097e-04,2.263131122e-04,7.019295532e-01,-4.279416414e-04,8.603732511e-01,7.019321230e-01,-4.250781266e-04,8.603709962e-01,7.027237126e-01,-5.173706248e-04,8.305525865e-01
+33,5.500000000e+00,UP_FORCE_RAMP,1792836844479250108,-2.670896939e-05,-3.985938751e-04,2.438527786e-04,-2.354664894e-05,-4.029902152e-04,2.275503499e-04,-2.169588009e-05,-3.998865940e-04,2.264694754e-04,7.019289607e-01,-4.206817865e-04,8.603872986e-01,7.019321230e-01,-4.250781266e-04,8.603709962e-01,7.027237046e-01,-5.173916091e-04,8.305527428e-01
+34,5.766666667e+00,UP_FORCE_RAMP,1792836844757204292,-2.721861204e-05,-4.036701202e-04,2.518770760e-04,-2.425443144e-05,-4.081257479e-04,2.495653598e-04,-2.211553034e-05,-4.049970430e-04,2.483436099e-04,7.019284510e-01,-4.257580316e-04,8.603953229e-01,7.019314152e-01,-4.302136593e-04,8.603930112e-01,7.027232850e-01,-5.225020581e-04,8.305746170e-01
+35,6.000000000e+00,UP_FORCE_RAMP,1792836844986297009,-2.727547267e-05,-4.009626000e-04,2.593509725e-04,-2.425443144e-05,-4.081257479e-04,2.495653598e-04,-2.211997253e-05,-4.050142449e-04,2.484732370e-04,7.019283942e-01,-4.230505114e-04,8.604027968e-01,7.019314152e-01,-4.302136593e-04,8.603930112e-01,7.027232805e-01,-5.225192599e-04,8.305747466e-01
+36,6.250000000e+00,UP_FORCE_RAMP,1792836845232391405,-2.810915932e-05,-4.004090233e-04,2.627979375e-04,-2.425443144e-05,-4.081257479e-04,2.495653598e-04,-2.212471179e-05,-4.050289355e-04,2.485875833e-04,7.019275605e-01,-4.224969347e-04,8.604062438e-01,7.019314152e-01,-4.302136593e-04,8.603930112e-01,7.027232758e-01,-5.225339506e-04,8.305748609e-01
+37,6.516666667e+00,UP_FORCE_RAMP,1792836845494276223,-2.909779544e-05,-4.045179047e-04,2.656359440e-04,-2.575891973e-05,-4.053313891e-04,2.691278519e-04,-2.348375797e-05,-4.022803041e-04,2.679935432e-04,7.019265718e-01,-4.266058161e-04,8.604090818e-01,7.019299107e-01,-4.274193005e-04,8.604125737e-01,7.027219168e-01,-5.197853192e-04,8.305942669e-01
+38,6.783333333e+00,UP_FORCE_RAMP,1792836845756124230,-2.709549695e-05,-4.037707178e-04,2.711677233e-04,-2.575891973e-05,-4.053313891e-04,2.691278519e-04,-2.349083036e-05,-4.022919662e-04,2.681244914e-04,7.019285741e-01,-4.258586292e-04,8.604146136e-01,7.019299107e-01,-4.274193005e-04,8.604125737e-01,7.027219097e-01,-5.197969813e-04,8.305943978e-01
+39,7.050000000e+00,UP_FORCE_RAMP,1792836846018201589,-2.589746834e-05,-4.062701125e-04,2.760079149e-04,-2.575891973e-05,-4.053313891e-04,2.691278519e-04,-2.349743684e-05,-4.023009011e-04,2.682282127e-04,7.019297722e-01,-4.283580239e-04,8.604194538e-01,7.019299107e-01,-4.274193005e-04,8.604125737e-01,7.027219031e-01,-5.198059162e-04,8.305945016e-01
+40,7.416666667e+00,UP_FORCE_RAMP,1792836846378617448,-2.765105137e-05,-3.980704865e-04,2.789196050e-04,-2.575891973e-05,-4.053313891e-04,2.691278519e-04,-2.350605106e-05,-4.023097130e-04,2.683443216e-04,7.019280186e-01,-4.201583979e-04,8.604223655e-01,7.019299107e-01,-4.274193005e-04,8.604125737e-01,7.027218945e-01,-5.198147281e-04,8.305946177e-01
+41,7.666666667e+00,UP_FORCE_RAMP,1792836846624732823,-3.065338363e-05,-3.999946639e-04,2.850349678e-04,-2.575891973e-05,-4.053313891e-04,2.691278519e-04,-2.351159007e-05,-4.023137137e-04,2.684101956e-04,7.019250162e-01,-4.220825753e-04,8.604284808e-01,7.019299107e-01,-4.274193005e-04,8.604125737e-01,7.027218889e-01,-5.198187288e-04,8.305946836e-01
+42,7.916666667e+00,UP_FORCE_RAMP,1792836846870034224,-2.828512250e-05,-4.002086858e-04,2.965033185e-04,-2.846144834e-05,-4.010927300e-04,2.895747319e-04,-2.619254881e-05,-3.981393156e-04,2.886861083e-04,7.019273845e-01,-4.222965972e-04,8.604399492e-01,7.019272082e-01,-4.231806414e-04,8.604330206e-01,7.027192080e-01,-5.156443307e-04,8.306149595e-01
+43,8.166666667e+00,UP_FORCE_RAMP,1792836847115622530,-3.128322319e-05,-3.971958253e-04,3.014035977e-04,-2.846144834e-05,-4.010927300e-04,2.895747319e-04,-2.620199158e-05,-3.981420987e-04,2.887741685e-04,7.019243864e-01,-4.192837367e-04,8.604448494e-01,7.019272082e-01,-4.231806414e-04,8.604330206e-01,7.027191985e-01,-5.156471138e-04,8.306150475e-01
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+45,8.750000000e+00,UP_FORCE_RAMP,1792836847689247789,-3.591158235e-05,-4.017845182e-04,3.145478469e-04,-2.840885047e-05,-3.980533043e-04,3.094464988e-04,-2.591535132e-05,-3.951618999e-04,3.085496883e-04,7.019197580e-01,-4.238724296e-04,8.604579937e-01,7.019272608e-01,-4.201412157e-04,8.604528923e-01,7.027194852e-01,-5.126669150e-04,8.306348230e-01
+46,8.966666667e+00,UP_FORCE_RAMP,1792836847901816410,-3.527589462e-05,-4.033968183e-04,3.226875310e-04,-2.840885047e-05,-3.980533043e-04,3.094464988e-04,-2.591979561e-05,-3.951627279e-04,3.086162661e-04,7.019203937e-01,-4.254847297e-04,8.604661334e-01,7.019272608e-01,-4.201412157e-04,8.604528923e-01,7.027194807e-01,-5.126677430e-04,8.306348896e-01
+47,9.116666667e+00,UP_FORCE_HOLD,1792836848049591055,-3.975280083e-05,-3.959234266e-04,3.233544929e-04,-2.840885047e-05,-3.980533043e-04,3.094464988e-04,-2.592295235e-05,-3.951630115e-04,3.086569513e-04,7.019159168e-01,-4.180113380e-04,8.604668003e-01,7.019272608e-01,-4.201412157e-04,8.604528923e-01,7.027194776e-01,-5.126680266e-04,8.306349303e-01
+48,9.150000000e+00,UP_FORCE_HOLD,1792836848082233327,-9.229027196e-05,-4.058762396e-04,2.911022586e-04,-9.229781850e-05,-4.059051866e-04,2.910190871e-04,-9.409184193e-05,-4.028901256e-04,2.904451744e-04,7.018633794e-01,-4.279641510e-04,8.604345481e-01,7.018633718e-01,-4.279930980e-04,8.604344649e-01,7.026513087e-01,-5.203951407e-04,8.306167185e-01
+49,9.250000000e+00,UP_FORCE_HOLD,1792836848181049044,-1.086720934e-04,-4.029892460e-04,2.840672428e-04,-9.733465013e-05,-4.071549633e-04,2.891925397e-04,-9.958158988e-05,-4.041182094e-04,2.885931500e-04,7.018469975e-01,-4.250771574e-04,8.604275131e-01,7.018583350e-01,-4.292428747e-04,8.604326384e-01,7.026458189e-01,-5.216232245e-04,8.306148665e-01
+50,9.400000000e+00,UP_FORCE_HOLD,1792836848328401284,-1.027133106e-04,-4.034487864e-04,2.972314298e-04,-9.733465013e-05,-4.071549633e-04,2.891925397e-04,-9.968841604e-05,-4.041157350e-04,2.886008765e-04,7.018529563e-01,-4.255366978e-04,8.604406773e-01,7.018583350e-01,-4.292428747e-04,8.604326384e-01,7.026457121e-01,-5.216207501e-04,8.306148742e-01
+51,9.600000000e+00,UP_FORCE_HOLD,1792836848524906700,-1.025579047e-04,-4.055504212e-04,2.993312787e-04,-9.733465013e-05,-4.071549633e-04,2.891925397e-04,-9.979670055e-05,-4.041115101e-04,2.886149008e-04,7.018531117e-01,-4.276383327e-04,8.604427771e-01,7.018583350e-01,-4.292428747e-04,8.604326384e-01,7.026456038e-01,-5.216165252e-04,8.306148883e-01
+52,9.900000000e+00,UP_FORCE_HOLD,1792836848852282558,-1.045632281e-04,-4.043937884e-04,3.094666627e-04,-1.052775480e-04,-4.064914205e-04,3.079314792e-04,-1.082343897e-04,-4.034634044e-04,3.071497056e-04,7.018511064e-01,-4.264816998e-04,8.604529125e-01,7.018503921e-01,-4.285793319e-04,8.604513773e-01,7.026371661e-01,-5.209684195e-04,8.306334231e-01
+53,1.016666667e+01,UP_FORCE_HOLD,1792836849115155023,-1.074530805e-04,-3.995703891e-04,3.225171647e-04,-1.052775480e-04,-4.064914205e-04,3.079314792e-04,-1.083512700e-04,-4.034601081e-04,3.072257291e-04,7.018482165e-01,-4.216583005e-04,8.604659630e-01,7.018503921e-01,-4.285793319e-04,8.604513773e-01,7.026370492e-01,-5.209651232e-04,8.306334991e-01
+54,1.041666667e+01,UP_FORCE_HOLD,1792836849359980162,-1.113401461e-04,-3.989312777e-04,3.335051882e-04,-1.064265788e-04,-3.996840983e-04,3.280332584e-04,-1.093881624e-04,-3.967320308e-04,3.270547137e-04,7.018443295e-01,-4.210191891e-04,8.604769510e-01,7.018492430e-01,-4.217720097e-04,8.604714791e-01,7.026360124e-01,-5.142370459e-04,8.306533281e-01
+55,1.070000000e+01,UP_FORCE_HOLD,1792836849638341631,-1.131776966e-04,-3.965392655e-04,3.476070974e-04,-1.126059997e-04,-3.992653212e-04,3.483354176e-04,-1.158060424e-04,-3.963421554e-04,3.471880468e-04,7.018424919e-01,-4.186271769e-04,8.604910529e-01,7.018430636e-01,-4.213532326e-04,8.604917813e-01,7.026295945e-01,-5.138471705e-04,8.306734614e-01
+56,1.090000000e+01,UP_SETTLE,1792836849835031377,-1.171193031e-04,-4.013953848e-04,3.542441867e-04,-1.126059997e-04,-3.992653212e-04,3.483354176e-04,-1.158724854e-04,-3.963411752e-04,3.472845816e-04,7.018385503e-01,-4.234832962e-04,8.604976900e-01,7.018430636e-01,-4.213532326e-04,8.604917813e-01,7.026295280e-01,-5.138461903e-04,8.306735579e-01
+57,1.118333333e+01,UP_SETTLE,1792836850113360464,-1.220663670e-04,-3.987824574e-04,3.614050932e-04,-1.126059997e-04,-3.992653212e-04,3.483354176e-04,-1.159493993e-04,-3.963388766e-04,3.473788772e-04,7.018336033e-01,-4.208703688e-04,8.605048509e-01,7.018430636e-01,-4.213532326e-04,8.604917813e-01,7.026294511e-01,-5.138438917e-04,8.306736522e-01
+58,1.145000000e+01,UP_SETTLE,1792836850375586906,-1.251984121e-04,-3.983355075e-04,3.656693537e-04,-1.198748862e-04,-3.972404242e-04,3.666026827e-04,-1.234765442e-04,-3.943176532e-04,3.654391400e-04,7.018304712e-01,-4.204234189e-04,8.605091152e-01,7.018357947e-01,-4.193283356e-04,8.605100485e-01,7.026219240e-01,-5.118226683e-04,8.306917125e-01
+59,1.170000000e+01,UP_SETTLE,1792836850665564233,-1.234223137e-04,-3.931934092e-04,3.729561321e-04,-1.198748862e-04,-3.972404242e-04,3.666026827e-04,-1.235407021e-04,-3.943152515e-04,3.655298272e-04,7.018322473e-01,-4.152813206e-04,8.605164020e-01,7.018357947e-01,-4.193283356e-04,8.605100485e-01,7.026218598e-01,-5.118202666e-04,8.306918032e-01

Fixed/digit/cylinder_15A_20/press_depth_10/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.1669e-01,2.2728e-01,2.5101e+00,-5.2672e-02,4.5045e-02,3.0541e-04,7.7179e-04,-8.2329e-05,-3.2520e-04,4.5635e-06,5.5138e-05,1.8929e-07,8.4154e-04,5.5327e-05
+1,2.5000e-01,WAIT_W2,5.9437e-05,1.2736e-01,2.2635e-01,2.5056e+00,-5.2624e-02,4.5817e-02,3.0775e-04,1.1441e-02,-1.0159e-03,-4.8308e-03,5.3104e-05,8.2707e-04,2.5239e-06,1.2460e-02,8.2878e-04
+2,5.3333e-01,WAIT_W2,1.2008e-04,1.3804e-01,2.2538e-01,2.5010e+00,-5.2576e-02,4.6591e-02,3.0911e-04,2.2118e-02,-1.9824e-03,-9.3937e-03,1.0101e-04,1.6009e-03,3.8843e-06,2.4111e-02,1.6041e-03
+3,7.8333e-01,WAIT_W2,1.8410e-04,1.4637e-01,2.2458e-01,2.4974e+00,-5.2536e-02,4.7196e-02,3.0965e-04,3.0449e-02,-2.7871e-03,-1.2995e-02,1.4022e-04,2.2057e-03,4.4226e-06,3.3223e-02,2.2102e-03
+4,8.0000e-01,WAIT_W2,2.3263e-04,1.4097e-01,3.4972e-01,2.4773e+00,-6.1014e-02,4.6833e-02,3.2897e-04,2.5051e-02,1.2235e-01,-3.3093e-02,-8.3372e-03,1.8429e-03,2.3746e-05,1.2920e-01,8.5384e-03
+5,8.1667e-01,WAIT_W2,3.3230e-04,1.5345e-01,5.9004e-01,2.4921e+00,-7.7310e-02,4.7662e-02,3.6691e-04,3.7526e-02,3.6267e-01,-1.8322e-02,-2.4634e-02,2.6717e-03,6.1688e-05,3.6507e-01,2.4778e-02
+6,8.1667e-01,WAIT_W2,3.3230e-04,1.5345e-01,5.9004e-01,2.4921e+00,-7.7310e-02,4.7662e-02,3.6691e-04,3.7526e-02,3.6267e-01,-1.8322e-02,-2.4634e-02,2.6717e-03,6.1688e-05,3.6507e-01,2.4778e-02
+7,8.3333e-01,WAIT_W2,4.4486e-04,1.5433e-01,1.0861e+00,2.4831e+00,-1.1091e-01,4.7712e-02,4.4506e-04,3.8411e-02,8.5878e-01,-2.7329e-02,-5.8229e-02,2.7223e-03,1.3983e-04,8.6007e-01,5.8293e-02
+8,8.3333e-01,WAIT_W2,4.4486e-04,1.5433e-01,1.0861e+00,2.4831e+00,-1.1091e-01,4.7712e-02,4.4506e-04,3.8411e-02,8.5878e-01,-2.7329e-02,-5.8229e-02,2.7223e-03,1.3983e-04,8.6007e-01,5.8293e-02
+9,8.5000e-01,WAIT_W2,5.6830e-04,1.4735e-01,1.6309e+00,2.4510e+00,-1.4791e-01,4.7225e-02,5.3912e-04,3.1428e-02,1.4035e+00,-5.9432e-02,-9.5237e-02,2.2353e-03,2.3390e-04,1.4051e+00,9.5263e-02
+10,8.6667e-01,WAIT_W2,6.2522e-04,1.8329e-01,2.2104e+00,2.4876e+00,-1.8740e-01,4.9619e-02,6.3293e-04,6.7372e-02,1.9830e+00,-2.2874e-02,-1.3472e-01,4.6291e-03,3.2771e-04,1.9843e+00,1.3480e-01
+11,9.0000e-01,WAIT_W2,6.6878e-04,1.8867e-01,2.4768e+00,2.5152e+00,-2.0582e-01,4.9988e-02,6.8920e-04,7.2747e-02,2.2495e+00,4.7622e-03,-1.5314e-01,4.9983e-03,3.8398e-04,2.2506e+00,1.5323e-01
+12,9.5000e-01,WAIT_W2,7.2130e-04,1.8022e-01,2.1354e+00,2.5164e+00,-1.8284e-01,4.9436e-02,6.3532e-04,6.4300e-02,1.9080e+00,5.9361e-03,-1.3016e-01,4.4458e-03,3.3010e-04,1.9091e+00,1.3024e-01
+13,1.0667e+00,WAIT_W2,7.8677e-04,1.8723e-01,2.1830e+00,2.5168e+00,-1.8641e-01,4.9947e-02,6.4861e-04,7.1312e-02,1.9556e+00,6.3319e-03,-1.3374e-01,4.9571e-03,3.4339e-04,1.9569e+00,1.3383e-01
+14,1.2167e+00,WAIT_W2,8.4545e-04,1.9973e-01,2.2731e+00,2.5333e+00,-1.9285e-01,5.0815e-02,6.7067e-04,8.3810e-02,2.0457e+00,2.2897e-02,-1.4018e-01,5.8251e-03,3.6544e-04,2.0476e+00,1.4030e-01
+15,1.3167e+00,WAIT_W2,9.0546e-04,2.0919e-01,2.2653e+00,2.5404e+00,-1.9249e-01,5.1469e-02,6.7141e-04,9.3269e-02,2.0379e+00,2.9936e-02,-1.3982e-01,6.4786e-03,3.6618e-04,2.0403e+00,1.3997e-01
+16,1.4333e+00,WAIT_W2,9.6237e-04,2.0855e-01,2.2661e+00,2.5429e+00,-1.9274e-01,5.1433e-02,6.7997e-04,9.2626e-02,2.0388e+00,3.2439e-02,-1.4007e-01,6.4425e-03,3.7475e-04,2.0411e+00,1.4022e-01
+17,1.6000e+00,UP_FORCE_RAMP,1.0330e-03,2.0797e-01,2.1411e+00,2.5395e+00,-1.8453e-01,5.1428e-02,6.6824e-04,9.2051e-02,1.9138e+00,2.9059e-02,-1.3185e-01,6.4376e-03,3.6302e-04,1.9162e+00,1.3201e-01
+18,1.8167e+00,UP_FORCE_RAMP,1.0900e-03,2.1588e-01,2.1319e+00,2.5459e+00,-1.8416e-01,5.1995e-02,6.7310e-04,9.9961e-02,1.9045e+00,3.5454e-02,-1.3149e-01,7.0051e-03,3.6787e-04,1.9075e+00,1.3167e-01
+19,2.0667e+00,UP_FORCE_RAMP,1.1526e-03,2.2385e-01,2.1224e+00,2.5510e+00,-1.8379e-01,5.2572e-02,6.7644e-04,1.0793e-01,1.8950e+00,4.0542e-02,-1.3111e-01,7.5820e-03,3.7121e-04,1.8985e+00,1.3133e-01
+20,2.3333e+00,UP_FORCE_RAMP,1.2091e-03,2.3134e-01,2.1135e+00,2.5543e+00,-1.8344e-01,5.3118e-02,6.7781e-04,1.1542e-01,1.8861e+00,4.3892e-02,-1.3077e-01,8.1277e-03,3.7259e-04,1.8902e+00,1.3102e-01
+21,2.6167e+00,UP_FORCE_RAMP,1.2727e-03,2.3445e-01,2.1640e+00,2.5219e+00,-1.8719e-01,5.3388e-02,6.9105e-04,1.1853e-01,1.9366e+00,1.1502e-02,-1.3452e-01,8.3975e-03,3.8582e-04,1.9403e+00,1.3478e-01
+22,2.8500e+00,UP_FORCE_RAMP,1.3353e-03,2.4068e-01,2.1564e+00,2.5294e+00,-1.8688e-01,5.3836e-02,6.9044e-04,1.2476e-01,1.9290e+00,1.8978e-02,-1.3421e-01,8.8464e-03,3.8522e-04,1.9331e+00,1.3450e-01
+23,3.0333e+00,UP_FORCE_RAMP,1.3994e-03,2.4048e-01,2.1456e+00,2.4826e+00,-1.8640e-01,5.3889e-02,6.9214e-04,1.2456e-01,1.9182e+00,-2.7884e-02,-1.3372e-01,8.8991e-03,3.8692e-04,1.9225e+00,1.3402e-01
+24,3.2333e+00,UP_FORCE_RAMP,1.4542e-03,2.9472e-01,2.0977e+00,2.4299e+00,-1.8340e-01,5.7869e-02,6.2949e-04,1.7880e-01,1.8703e+00,-8.0488e-02,-1.3072e-01,1.2879e-02,3.2427e-04,1.8805e+00,1.3136e-01
+25,3.4667e+00,UP_FORCE_RAMP,1.5161e-03,2.8007e-01,2.0951e+00,2.3913e+00,-1.8347e-01,5.6892e-02,6.2380e-04,1.6415e-01,1.8677e+00,-1.1915e-01,-1.3080e-01,1.1902e-02,3.1858e-04,1.8787e+00,1.3134e-01
+26,3.7000e+00,UP_FORCE_RAMP,1.5744e-03,2.8151e-01,2.0882e+00,2.4152e+00,-1.8319e-01,5.6975e-02,6.1662e-04,1.6559e-01,1.8608e+00,-9.5278e-02,-1.3051e-01,1.1985e-02,3.1140e-04,1.8706e+00,1.3106e-01
+27,4.0000e+00,UP_FORCE_RAMP,1.6378e-03,2.6843e-01,2.0854e+00,2.3446e+00,-1.8338e-01,5.6142e-02,6.2073e-04,1.5251e-01,1.8580e+00,-1.6587e-01,-1.3070e-01,1.1152e-02,3.1551e-04,1.8717e+00,1.3117e-01
+28,4.2333e+00,UP_FORCE_RAMP,1.6975e-03,2.6808e-01,2.0455e+00,2.3193e+00,-1.8091e-01,5.6165e-02,6.1252e-04,1.5216e-01,1.8182e+00,-1.9112e-01,-1.2823e-01,1.1175e-02,3.0730e-04,1.8345e+00,1.2872e-01
+29,4.4833e+00,UP_FORCE_RAMP,1.7557e-03,2.8848e-01,2.0156e+00,2.2968e+00,-1.7908e-01,5.7654e-02,5.9430e-04,1.7256e-01,1.7882e+00,-2.1359e-01,-1.2641e-01,1.2664e-02,2.8908e-04,1.8092e+00,1.2704e-01
+30,4.7167e+00,UP_FORCE_RAMP,1.8171e-03,2.8840e-01,2.0112e+00,2.3263e+00,-1.7891e-01,5.7649e-02,5.8728e-04,1.7248e-01,1.7838e+00,-1.8416e-01,-1.2623e-01,1.2659e-02,2.8206e-04,1.8016e+00,1.2687e-01
+31,5.0000e+00,UP_FORCE_RAMP,1.8771e-03,3.0619e-01,2.0240e+00,2.3149e+00,-1.8000e-01,5.8958e-02,5.6594e-04,1.9027e-01,1.7967e+00,-1.9554e-01,-1.2733e-01,1.3968e-02,2.6072e-04,1.8173e+00,1.2809e-01
+32,5.2333e+00,UP_FORCE_RAMP,1.9404e-03,3.0533e-01,1.9928e+00,2.2886e+00,-1.7807e-01,5.8944e-02,5.5060e-04,1.8941e-01,1.7654e+00,-2.2180e-01,-1.2539e-01,1.3954e-02,2.4538e-04,1.7893e+00,1.2617e-01
+33,5.5000e+00,UP_FORCE_RAMP,1.9983e-03,3.0395e-01,1.9891e+00,2.3169e+00,-1.7792e-01,5.8822e-02,5.4043e-04,1.8803e-01,1.7617e+00,-1.9353e-01,-1.2524e-01,1.3832e-02,2.3521e-04,1.7823e+00,1.2601e-01
+34,5.7667e+00,UP_FORCE_RAMP,2.0613e-03,3.0319e-01,2.0063e+00,2.2927e+00,-1.7929e-01,5.8805e-02,5.3362e-04,1.8727e-01,1.7789e+00,-2.1771e-01,-1.2662e-01,1.3815e-02,2.2839e-04,1.8019e+00,1.2737e-01
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Fixed/digit/cylinder_PLA_10/press_depth_01/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_PLA_10/press_depth_01/down/franka_data.csv

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+3468,1792921129266032956,696258000000,1792921129259339764,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6759718705340523,-0.004862748381273718,0.09978282193713234,0.9999999543558099,-4.739375766067099e-05,-0.00017222525592954115,0.0002254407584606648,0.6761,-0.0046,0.09983953242434508,1.0,0.0,0.0,0.0,-0.19537874921503373,0.042492168839039834,0.4108285797351202,0.0034459514049058892,0.01255205280386644,-0.00010575830025617633,0.9896418311886547,1.197663070589898,0.6609078345592693,0.0802818106615298,-0.06655928344802463,0.002551117265305864,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.390210328716118,0.6314758829842765,-0.5980345286693524,0.7841375493047278,0.8466741061861958,0.40307583491602195,1.1210382144179905,-0.4108285797351202,1.719072743087343,1.719072743087343,1.6491710638971833,0,0,-2.2810022166892867e-05,9.999999025923074e-05
+3552,1792921129966124036,696958000000,1792921129963330096,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6759739056975375,-0.0048697243804918635,0.09976850185210925,0.9999999534345541,-4.9691080733149016e-05,-0.00017545120183543023,0.00022654232767342804,0.6761,-0.0046,0.09983332371322985,1.0,0.0,0.0,0.0,-0.18189088750305227,0.018918534127451814,0.48091463260405387,0.002432148974651216,0.01158684796725555,-0.00018709280527832084,1.0031296929006361,1.17408943587831,0.7309938874282029,0.07926800823127512,-0.06752448828463552,0.0024697827602837195,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.2970831755068533,0.650090091534353,-0.6353947903185553,0.767172756251725,0.8531133791147607,0.41272266368271837,1.1210382144179905,-0.48091463260405387,1.7564330047365457,1.7564330047365457,1.7541710638972494,0,0,-2.394589255633184e-06,2.418777025892105e-05
+3643,1792921130725234064,697716000000,1792921130723329699,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6759720312419423,-0.004862365107622618,0.09976185405444747,0.9999999532593677,-4.0305824239232925e-05,-0.00017875259057747629,0.00022659893773930122,0.6761,-0.0046,0.09982545924533874,1.0,0.0,0.0,0.0,-0.1756922337382678,0.008584347454291485,0.45911352604377187,0.001416997791801336,0.011568055474475869,-0.00018104187664830153,1.0093283466654206,1.1637552492051497,0.7091927808679209,0.07825285704842525,-0.0675432807774152,0.0024758336889137388,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.321918750771715,0.5667906410439006,-0.6575839644745152,0.7968682539566531,0.8764976341863754,0.36182784184680794,1.1210382144179905,-0.45911352604377187,1.7786221788925056,1.7786221788925056,1.867871063897321,0,0,-2.578661142535322e-05,-9.999999025923074e-05
+3727,1792921131424200521,698416000000,1792921131423330496,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6759727222811056,-0.004864701376553901,0.09975292612839443,0.9999999534571506,-4.6650659256039274e-05,-0.00017769857847353015,0.00022533417855298885,0.6761,-0.0046,0.09979532032608053,1.0,0.0,0.0,0.0,-0.16744641053120612,0.009151625621902415,0.4704988134032241,0.0014147550969740713,0.01156483156136097,-0.00018912719672918837,1.0175741698724823,1.1643225273727607,0.7205780682273731,0.07825061435359798,-0.0675465046905301,0.002467748368832852,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.3222485810923192,0.6887174564261902,-0.6182736164178776,0.7658340176216368,0.849318720977128,0.43792912853513244,1.1210382144179905,-0.4704988134032241,1.739311830835868,1.739311830835868,1.9728710638973872,0,0,-6.054280017184078e-05,-9.999999025923074e-05
+3810,1792921132116279772,699108000000,1792921132111330482,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6759940552245458,-0.004864495593828699,0.09973427622561257,0.9999999600516565,-4.310852819374451e-05,-0.00013033802535493863,0.00022911395406727413,0.6761,-0.0046,0.099742096649287,1.0,0.0,0.0,0.0,-0.19587826639669137,0.03347389669065115,0.5814472541378992,0.0033816176967632477,0.013420177733001012,-0.0002299226099312093,0.989142314006997,1.1886447984415094,0.8315265089620483,0.08021747695338716,-0.06569115851889006,0.002426952955630831,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.4094003126787293,0.49461686041713226,-0.8741735642589169,0.8297860846541899,1.0180249578747944,0.31168044323271893,1.1210382144179905,-0.5814472541378992,1.9952117786769072,1.9952117786769072,2.0766710638974524,0,0,-9.270862817018641e-05,-5.09344858027045e-05
+3881,1792921132707365617,699699000000,1792921132707329717,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760039504581778,-0.004867830522342736,0.09969477693896879,0.9999999627170644,-5.083497688275641e-05,-0.00011410260415901259,0.00022451087975130873,0.6761,-0.0046,0.09968302099092907,1.0,0.0,0.0,0.0,-0.2543188136493316,0.09162889539954855,0.7031969639800895,0.006313058085867851,0.017478247271870445,-0.0001652558106996797,0.9307017667543568,1.2467997971504068,0.9532762188042385,0.08314891734249176,-0.06163308898002062,0.0024916197548623606,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.555077370361816,0.6783555143548834,-1.0595036327470386,0.7796350754344425,1.166490686684743,0.4328414510300025,1.1210382144179905,-0.7031969639800895,2.180541847165029,2.180541847165029,2.1653210638975082,0,0,-0.00010236967092483595,9.999980984798924e-05
+3957,1792921133341396655,700333000000,1792921133339329580,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760075037279439,-0.004871307213552962,0.09965333375632192,0.9999999643207966,-6.135944900131278e-05,-0.0001112720862722686,0.00021599724721749365,0.6761,-0.0046,0.09962674288909631,1.0,0.0,0.0,0.0,-0.22702488789436437,0.09551645579913992,0.81347426960154,0.006303298937656326,0.01645896980190413,-0.0003139688623636583,0.957995692509324,1.2506873575499982,1.063553524425689,0.08313915819428024,-0.06265236644998694,0.002342906703198382,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5595681346784223,0.6155785990950563,-1.178983666958268,0.8077947171225229,1.2496396226716848,0.391701405352333,1.1210382144179905,-0.81347426960154,2.3000218813762583,2.3000218813762583,2.260421063897568,0,0,-7.853659879789176e-05,9.995193148005228e-05
+4032,1792921133966517234,700958000000,1792921133959340292,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6760105640733498,-0.0048678636208078115,0.09961976506037941,0.9999999653129874,-6.168751584908542e-05,-0.00010465349617852102,0.0002146140361696605,0.6761,-0.0046,0.09957926718536034,1.0,0.0,0.0,0.0,-0.22624873915208565,0.08721679090847978,0.8329066028782319,0.005906872714575032,0.016465083013526005,-0.00036195217957122163,0.9587718412516028,1.242387692659338,1.082985857702381,0.08274273197119894,-0.06264625323836506,0.0022949233859908187,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5428379189809847,0.588596929201185,-1.1137886114381652,0.8195950210981793,1.197197789308118,0.3732130435890257,1.1210382144179905,-0.8329066028782319,2.234826825856156,2.234826825856156,2.354171063897627,0,0,-8.028032604942415e-05,-9.999999025923074e-05
+4107,1792921134591542739,701583000000,1792921134591330352,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6760220704798184,-0.004873479083111045,0.09958564550569109,0.9999999665100073,-6.28853816180209e-05,-8.47551326316396e-05,0.00021745078757329155,0.6761,-0.0046,0.09952524225358059,1.0,0.0,0.0,0.0,-0.24497510259161648,0.0864111167361501,0.9131381418029767,0.005245486369865396,0.017791462478228583,-0.00041087066231643024,0.9400454778120719,1.2415820184870083,1.1632173966271258,0.0820813456264893,-0.061319873773662485,0.00224600490324561,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5914890341164383,0.6778689588284266,-1.2458358110538508,0.789150153886669,1.2954391071386195,0.4306908123403031,1.1210382144179905,-0.9131381418029767,2.3668740254718412,2.3668740254718412,2.4479210638976863,0,0,-8.725945364470989e-05,-9.999999025923074e-05
+4178,1792921135182520194,702174000000,1792921135175340598,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760273313920752,-0.00487207816379739,0.09953961818698077,0.9999999664146083,-6.0226101519915916e-05,-7.794459322669052e-05,0.00022115854878888039,0.6761,-0.0046,0.09947363942996475,1.0,0.0,0.0,0.0,-0.24477220735667926,0.08509327205783057,0.9728491644585242,0.004202339603777361,0.018489266068842027,-0.0004597869732045046,0.9402483730470091,1.2402641738086888,1.2229284192826733,0.08103819886040127,-0.06062207018304904,0.0021970885923575357,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6370878425384108,0.5759692249525763,-1.4708108023557505,0.8231920948189788,1.4500094991309063,0.3656992329815583,1.1210382144179905,-0.9728491644585242,2.591849016773741,2.591849016773741,2.536571063897742,0,0,-8.770511961545135e-05,9.998812475065506e-05
+4246,1792921135749672588,702741000000,1792921135743339882,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760301780558644,-0.004878002358551015,0.09949924458632008,0.9999999659378201,-6.752722188581901e-05,-7.202076294335101e-05,0.00022320463057205539,0.6761,-0.0046,0.09941940457729025,1.0,0.0,0.0,0.0,-0.2541965979489266,0.06689330066591315,1.0028199232005583,0.0041821034684840774,0.01880594500389922,-0.0004822203061839456,0.9308239824547618,1.2220642024167714,1.2528991780247074,0.08101796272510799,-0.06030539124799185,0.0021746552593780947,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6300447165379888,0.6508905442794597,-1.3866489327408291,0.7997813457609882,1.3899948095005046,0.4140960883478683,1.1210382144179905,-1.0028199232005583,2.5076871471588196,2.5076871471588196,2.6216210638977957,0,0,-0.00010321171525359685,-9.999171909769728e-05
+4323,1792921136391699432,703383000000,1792921136387339527,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760389332340689,-0.0048757062824584165,0.0994421093184237,0.9999999665094449,-6.058290277017624e-05,-5.989351820091317e-05,0.0002262000267399931,0.6761,-0.0046,0.09935035346072967,1.0,0.0,0.0,0.0,-0.24499576978137916,0.05594649605562263,1.0728175450143258,0.0029222070506798037,0.018863789839858015,-0.00055131039484098,0.9400248106223092,1.2111173978064809,1.3228967998384749,0.07975806630730371,-0.06024754641203305,0.0021055651707210603,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6394031669289437,0.5835423972624441,-1.4761136382087192,0.815541518069832,1.4478937669693834,0.3683745478872136,1.1210382144179905,-1.0728175450143258,2.59715185262671,2.59715185262671,2.7179210638978564,0,0,-0.00011069185562181805,-8.361669276280565e-05
+4392,1792921136966727802,703958000000,1792921136963330805,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6760402816550826,-0.004882027300373407,0.09938139158289304,0.9999999663586793,-6.380963462037845e-05,-5.716497638510306e-05,0.00022668480506499438,0.6761,-0.0046,0.09928259849838417,1.0,0.0,0.0,0.0,-0.2527824056804995,0.03284700930151452,1.121784753595896,0.0010848838481400669,0.019519710710892257,-0.0006002485635252233,0.9322381747231889,1.1880179110523728,1.371864008420045,0.07792074310476398,-0.05959162554099881,0.002056627002036817,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6529901973407655,0.6192630354362568,-1.54556921048318,0.806018104548121,1.4944313146287562,0.3939648443714105,1.1210382144179905,-1.121784753595896,2.66660742490117,2.66660742490117,2.8041710638979107,0,0,-0.0001239156891500156,-9.999999025923074e-05
+4466,1792921137582839622,704574000000,1792921137575340678,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760462658991007,-0.004882990668390526,0.09931912262582593,0.999999967382341,-6.424476110294504e-05,-4.788393038256962e-05,0.00022418278554938857,0.6761,-0.0046,0.09920168847529237,1.0,0.0,0.0,0.0,-0.23513434841361003,0.02166250111256196,1.1747162757636394,0.00010010335067479892,0.018526051155779842,-0.0006664290152226266,0.9498862319900784,1.1768334028634202,1.4247955305877884,0.07693596260729871,-0.060585285096111226,0.0019904465503394137,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.655339963577395,0.6477905797777793,-1.6321454194225693,0.7925776914680593,1.5488678084345782,0.4125244631959431,1.1210382144179905,-1.1747162757636394,2.7531836338405595,2.7531836338405595,2.896571063897969,0,0,-0.00013983287211058316,-9.999999025923074e-05
+4541,1792921138207862360,705199000000,1792921138207339751,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760579264926888,-0.004883463946390171,0.09924723008631725,0.9999999691223987,-7.27859651595313e-05,-2.4680588729799253e-05,0.00021746525676676848,0.6761,-0.0046,0.09911043377784731,1.0,0.0,0.0,0.0,-0.24919746690857658,0.0367838677111727,1.2307178742242297,0.0010531019004960673,0.019506579026620924,-0.0006882495068500816,0.9358231134951118,1.191954769462031,1.4807971290483788,0.07788896115711998,-0.059604757225270144,0.0019686260587119587,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.684116903264223,0.6566973943371647,-1.7392266056275163,0.7859427197600184,1.6119883117484466,0.41649144165929963,1.1210382144179905,-1.2307178742242297,2.860264820045507,2.860264820045507,2.990321063898028,0,0,-0.00015242798540939618,-3.676269912756598e-05
+4608,1792921138766905588,705758000000,1792921138763339489,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6760650251909877,-0.004882876574193524,0.09917323384235872,0.9999999697954989,-7.679372175911284e-05,-1.537266028567003e-05,0.00021381831380164125,0.6761,-0.0046,0.09902219184794372,1.0,0.0,0.0,0.0,-0.24149335070623856,0.026197511161136333,1.2626652412972301,4.352640692081855e-05,0.018909943757133778,-0.0007298813232702983,0.9435272296974498,1.1813684129119946,1.5127444961213792,0.07687938566354473,-0.06020139249475729,0.001926994242291742,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.7147150992925293,0.6480397343142652,-1.788061236939803,0.7852468107447431,1.6501182089831719,0.41344468031899684,1.1210382144179905,-1.2626652412972301,2.9090994513577932,2.9090994513577932,3.074171063898081,0,0,-0.00016607197284998344,-9.999999025923074e-05
+4673,1792921139307892430,706299000000,1792921139307339672,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760690953518725,-0.0048900452769265286,0.09909424320049086,0.9999999697514741,-8.505857218339304e-05,-5.8492448912299476e-06,0.0002113545385747651,0.6761,-0.0046,0.09893028053757469,1.0,0.0,0.0,0.0,-0.23171210408587106,0.01395988639707424,1.3119569060740022,-0.000988315744795687,0.018515386794426866,-0.0007838490277628665,0.9533084763178173,1.1691307881479325,1.5620361608981512,0.07584754351182822,-0.0605959494574642,0.0018730265377991738,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6784127266837285,0.5805146483296354,-1.8633552229998371,0.8003485705035552,1.6848698206836878,0.37206698843432284,1.1210382144179905,-1.3119569060740022,2.9843934374178276,2.9843934374178276,3.155321063898132,0,0,-0.00017457261009964776,-9.325760583068216e-05
+4740,1792921139867031867,706858000000,1792921139859339364,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760746793056535,-0.004895878104968107,0.09900285526000295,0.9999999690308717,-8.402813619839829e-05,2.9598510160232434e-06,0.00021520137434460798,0.6761,-0.0046,0.09882901892192149,1.0,0.0,0.0,0.0,-0.23274111896900374,-0.01039990505560473,1.363563710286772,-0.003051074524576966,0.019331878689777426,-0.000795732650636442,0.9522794614346847,1.1447709966952535,1.613642965110921,0.07378478473204694,-0.05977945756211364,0.0018611429149255983,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.672009673216663,0.656691977952322,-1.9707748990150322,0.7645615499704405,1.752189686602941,0.42076812993556517,1.1210382144179905,-1.363563710286772,3.0918131134330227,3.0918131134330227,3.2391710638981848,0,0,-0.0001852957294309635,2.3618557068070482e-11
+4795,1792921140324970413,707316000000,1792921140323339099,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6760773328463866,-0.004896913066608014,0.09892497308046187,0.9999999690955264,-7.937589528593998e-05,8.279289573755546e-06,0.00021652420528581694,0.6761,-0.0046,0.09874178239961748,1.0,0.0,0.0,0.0,-0.21972486062780705,-0.02150109601796113,1.391069444559598,-0.004052516783054169,0.018350634528011098,-0.0008873562109471382,0.9652957197758814,1.133669805732897,1.641148699383747,0.07278334247356974,-0.06076070172387997,0.0017695193546149021,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6240083483667487,0.6645385167327026,-1.9277279142081745,0.7562393978603333,1.7092301284996156,0.42717791525216864,1.1210382144179905,-1.391069444559598,3.048766128626165,3.048766128626165,3.307871063898228,0,0,-0.0001974781516048393,-9.999999025923074e-05
+4852,1792921140800108005,707791000000,1792921140799330804,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6760790758978255,-0.004900138344543418,0.09883598362168879,0.9999999689114506,-7.800574028911119e-05,1.2750358478686351e-05,0.00021765223436976102,0.6761,-0.0046,0.09864459376602618,1.0,0.0,0.0,0.0,-0.22371461288015304,-0.04445053122598863,1.400794128660361,-0.005079496300095618,0.018574515089126324,-0.0009042881803702127,0.9613059675235354,1.1107203705248696,1.65087338348451,0.07175636295652829,-0.060536821162764744,0.0017525873851918275,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6484376546179487,0.6445080985959282,-1.9880547800635657,0.7522436168994846,1.7540433897100538,0.41384816222740706,1.1210382144179905,-1.400794128660361,3.109092994481556,3.109092994481556,3.379121063898273,0,0,-0.00021393095627905557,-9.999999025923074e-05
+4913,1792921141308072305,708299000000,1792921141307330053,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6760865187324258,-0.004899276781511219,0.09873305669701131,0.9999999696990374,-9.041967504892259e-05,2.5883392978885096e-05,0.00020784398274098718,0.6761,-0.0046,0.09853115703180412,1.0,0.0,0.0,0.0,-0.2092965419250904,-0.041219172848577124,1.4609337776379685,-0.005300127657568127,0.017918803953859384,-0.0008251425497430829,0.975724038478598,1.1139517289022811,1.7110130324621176,0.07153573159905578,-0.061192532298031684,0.0018317330158189574,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6752110760358634,0.6490015296290769,-2.060305662178466,0.7399804661730636,1.8071978727661733,0.4172071738723808,1.1210382144179905,-1.4609337776379685,3.1813438765964563,3.1813438765964563,3.455321063898321,0,0,-0.00023226301535814032,-9.996189573169829e-05
+4968,1792921141767178507,708758000000,1792921141763329642,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6760935808569455,-0.004903296313391746,0.0986284623848704,0.9999999690692712,-9.998077224455303e-05,3.278104084699623e-05,0.0002055080772133945,0.6761,-0.0046,0.09842048357515323,1.0,0.0,0.0,0.0,-0.2207740924643099,-0.03367432667358905,1.4917584972790257,-0.004499434671109276,0.01850752954066271,6.78061352448224e-05,0.9642464879393785,1.1214965750772692,1.7418377521031747,0.07233642458551463,-0.06060380671122836,0.0027246817008068627,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.678830096543204,0.5817320181717913,-2.100185825892295,0.7574974907515725,1.8287133489093628,0.3764983510782858,1.1210382144179905,-1.4917584972790257,3.2212240403102856,3.2212240403102856,3.5241710638983643,0,0,-0.0002502614076763373,-9.999999025923074e-05
+5019,1792921142192240100,709183000000,1792921142191330238,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761036602356569,-0.004900641905136049,0.09852895522780523,0.9999999682899562,-9.975652451587626e-05,4.461634665206609e-05,0.00020717376395491395,0.6761,-0.0046,0.09831003136519975,1.0,0.0,0.0,0.0,-0.2489199491797509,-0.05207298309003705,1.5308899259299094,-0.005943580215153121,0.02050156940311349,3.19391223740262e-05,0.9361006312239375,1.1030979186608212,1.7809691807540584,0.07089227904147079,-0.05860976684877758,0.0026888146879360665,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6796616567651252,0.7061833592280408,-2.1228324563644008,0.7126212358302497,1.8435349157145422,0.4556126062668095,1.1210382144179905,-1.5308899259299094,3.243870670782391,3.243870670782391,3.5879210638984045,0,0,-0.0002702988228201183,-9.999999025923074e-05
+5068,1792921142600270586,709591000000,1792921142599330174,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761022356552806,-0.004909646259152065,0.09841982573077365,0.9999999670592044,-9.838114278948142e-05,4.5079319424318776e-05,0.00021357307980133413,0.6761,-0.0046,0.09819643405636755,1.0,0.0,0.0,0.0,-0.24930736979073298,-0.08598075435402563,1.5601707487463703,-0.00814119149572845,0.020480225157644888,-1.4672604322513768e-05,0.9357132106129554,1.0691901473968326,1.8102500035705194,0.06869466776089546,-0.05863111109424618,0.0026422029612395265,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.646763448691753,0.6955557737711737,-2.220552934025328,0.7024336099900123,1.901100583511152,0.45221735993498957,1.1210382144179905,-1.5601707487463703,3.3415911484433183,3.3415911484433183,3.649121063898443,0,0,-0.0002879124797697515,-9.999999025923074e-05
+5113,1792921142975230743,709966000000,1792921142967330854,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761047046353428,-0.004914912008301528,0.09831350613947558,0.9999999666307705,-0.00010417174981592668,5.097509729770912e-05,0.00021149730050388856,0.6761,-0.0046,0.09808502503235993,1.0,0.0,0.0,0.0,-0.22034245422114296,-0.0734470639345235,1.59066607388069,-0.007184416977920521,0.01898299677220401,-5.8379476352631715e-05,0.9646781261825454,1.0817238378163347,1.840745328704839,0.06965144227870339,-0.06012833947968706,0.0025984960892094086,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.68973231147302,0.6835955588676862,-2.2228652306924412,0.6967597201162194,1.9207983431893465,0.4429346929053284,1.1210382144179905,-1.59066607388069,3.3439034451104317,3.3439034451104317,3.7053710638984785,0,0,-0.00030642650620668475,-9.999999025923074e-05
+5162,1792921143383344835,710374000000,1792921143379330164,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761123544298848,-0.00491818262718644,0.09819678791105414,0.9999999663310657,-0.00012276399333210924,6.60022488883148e-05,0.00019837700676364432,0.6761,-0.0046,0.09795585161864033,1.0,0.0,0.0,0.0,-0.20388721965458234,-0.066519342117205,1.601338608252714,-0.006555223736837118,0.018205913537433484,-6.42715183340305e-05,0.9811333607491061,1.0886515596336532,1.851417863076863,0.07028063551978679,-0.060905422714457584,0.00259260404722801,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.713266679769264,0.7234635290069148,-2.18527173484958,0.6775483003776919,1.9076994910845437,0.4703576632124566,1.1210382144179905,-1.601338608252714,3.3063099492675705,3.3063099492675705,3.766571063898517,0,0,-0.0003268265022324509,-9.999999025923074e-05
+5209,1792921143775340046,710766000000,1792921143775330309,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761165531653422,-0.0049192045996153885,0.09807284030424822,0.9999999659772594,-0.00012580123801558701,7.302836309585028e-05,0.00019577857698550513,0.6761,-0.0046,0.09782390383051552,1.0,0.0,0.0,0.0,-0.1959458736225932,-0.07414194216094194,1.647113708356499,-0.00820031216868547,0.018574455175382046,-0.00011236448875174415,0.9890747067810952,1.0810289595899163,1.8971929631806481,0.06863554708793844,-0.06053688107650902,0.002544511076810296,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.744895636484654,0.7543338903991326,-2.322333312342668,0.6715597610567624,2.014682496180339,0.4964014418229778,1.1210382144179905,-1.647113708356499,3.4433715267606586,3.4433715267606586,3.825371063898554,0,0,-0.00034642649841406934,-9.999999025923074e-05
+5255,1792921144158374589,711149000000,1792921144155330401,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6761224576440221,-0.004923449671716455,0.09794861766841416,0.9999999645067036,-0.00011688486512472278,8.345175559875931e-05,0.00020445828094824186,0.6761,-0.0046,0.09768756483233923,1.0,0.0,0.0,0.0,-0.23033617467530076,-0.10646955405032221,1.6705568471065781,-0.009477459055773296,0.019604843794179892,-0.0001288590460049011,0.9546844057283876,1.048701347700536,1.9206361019307272,0.06735840020085061,-0.059506492457711176,0.002528016519557139,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.679073214670481,0.7165011258991663,-2.251048492000915,0.658869076200797,1.9597515945412252,0.46789618609033434,1.1210382144179905,-1.6705568471065781,3.3720867064189055,3.3720867064189055,3.8828210638985903,0,0,-0.0003655764946833547,-9.999999025923074e-05
+5296,1792921144500371861,711491000000,1792921144499330300,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761284519889589,-0.004927690324109836,0.09782883183079748,0.9999999630808002,-0.00011509768233633988,9.429837381818375e-05,0.00020770556777152064,0.6761,-0.0046,0.09755962212172885,1.0,0.0,0.0,0.0,-0.22947323233900674,-0.10985164044655171,1.7057924811245446,-0.010950895539676278,0.020420199360027515,-0.00016668021574876716,0.9555473480646817,1.0453192613043065,1.9558717359486937,0.06588496371694763,-0.05869113689186355,0.002490195349813273,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6591139851148125,0.7080410415603572,-2.251249642346127,0.6575320736269689,1.9582303488772197,0.4631902378680254,1.1210382144179905,-1.7057924811245446,3.3722878567641175,3.3722878567641175,3.9341210638986226,0,0,-0.00038267649135201163,-9.999999025923074e-05
+5335,1792921144825430492,711816000000,1792921144823330134,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761326856467025,-0.004932367840853258,0.0977089252482234,0.9999999622978468,-0.00013467204206033114,0.00010367391990061595,0.00019483923817674055,0.6761,-0.0046,0.09743261976255546,1.0,0.0,0.0,0.0,-0.21940667359706245,-0.11155158253826403,1.7201047529128886,-0.010706102743730544,0.019620065401266942,-0.00018327651697053497,0.965613906806626,1.0436193192125942,1.9701840077370376,0.06612975651289336,-0.059491270850624126,0.0024735990485915053,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.650661214014356,0.700703080118153,-2.278781055138046,0.6588012716436573,1.9851680694944813,0.45942945181095096,1.1210382144179905,-1.7201047529128886,3.3998192695560365,3.3998192695560365,3.9828710638986533,0,0,-0.0003989264881862616,-9.999999025923074e-05
+5376,1792921145167459154,712158000000,1792921145163340480,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761335063066277,-0.004936115997931094,0.09757301031127161,0.9999999614259272,-0.00013564281281105487,0.00010606514414242813,0.00019733783471216108,0.6761,-0.0046,0.09729327135416709,1.0,0.0,0.0,0.0,-0.22886893441855172,-0.13837000744004957,1.7384892289516176,-0.012322394040516299,0.0200120297718704,-0.0002159472526171223,0.9561516459851367,1.0168008943108087,1.9885684837757667,0.06451346521610761,-0.059099306480020666,0.002440928312944918,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.661589031900973,0.7885732206347309,-2.2697091851502367,0.6223292031642925,1.9931352932156454,0.516633194432353,1.1210382144179905,-1.7384892289516176,3.390747399568227,3.390747399568227,4.034171063898585,0,0,-0.00041602648485491853,-9.999999025923074e-05
+5416,1792921145500492078,712491000000,1792921145499330661,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6761364998724227,-0.004939803309492299,0.09743533171798803,0.9999999594105252,-0.00013678444742728227,0.00011096287261229893,0.00020395849649684208,0.6761,-0.0046,0.09715197063525209,1.0,0.0,0.0,0.0,-0.21573552239646798,-0.1543925573997582,1.7687252128631863,-0.01337488456488703,0.019661182391652023,-0.0002524824970889781,0.9692850580072204,1.0007783443511,2.0188044676873353,0.06346097469173688,-0.059450153860239045,0.002404393068473062,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5645952691992484,0.8073349348668215,-2.181521954262017,0.6058732385265807,1.9204911396074869,0.5292946554276843,1.1210382144179905,-1.7687252128631863,3.3025601686800075,3.3025601686800075,4.084121063898468,0,0,-0.00043267648161124237,-9.999999025923074e-05
+5451,1792921145792542022,712783000000,1792921145791329865,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6761362772735914,-0.004944842746134175,0.0973074752560401,0.9999999581113734,-0.00013264588129054797,0.00011065961395434202,0.00021302496500021531,0.6761,-0.0046,0.0970235048030383,1.0,0.0,0.0,0.0,-0.22108323521025441,-0.1788872976973468,1.7861727983189206,-0.01541505414482236,0.020291144011902094,-0.00029254062937285026,0.963937345193434,0.9762836040535114,2.0362520531430697,0.06142080511180155,-0.05882019223998897,0.00236433493618919,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.589981123319272,0.7196637649875958,-2.254845606584062,0.625149748792296,1.9853346976323425,0.4696618434599149,1.1210382144179905,-1.7861727983189206,3.3758838210020525,3.3758838210020525,4.127921063898366,0,0,-0.00044727647876693775,-9.999999025923074e-05
+5487,1792921146092472494,713083000000,1792921146091329503,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761363116882213,-0.004945660537297611,0.0971682939469829,0.9999999580807757,-0.00017062637660817905,0.00011003646513090732,0.00018455331796639584,0.6761,-0.0046,0.09688707935984801,1.0,0.0,0.0,0.0,-0.18585141890884904,-0.16427628955949414,1.8124346518792154,-0.01471817227897694,0.01802577491945992,-0.0003248782003743827,0.9991691614948394,0.9908946121913641,2.0625139067033644,0.06211768697764697,-0.06108556133243115,0.0023319973651876576,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.604837308617546,0.8019520690626408,-2.227197095756434,0.6163319459423601,1.9827723743262322,0.5303790468678241,1.1210382144179905,-1.8124346518792154,3.3482353101744247,3.3482353101744247,4.1729210638982615,0,0,-0.00046227647584470697,-9.999999025923074e-05
+5522,1792921146383593551,713374000000,1792921146383329963,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6761388792019888,-0.004949683216097549,0.09703496346018876,0.9999999583970897,-0.0001497109336928881,0.0001128358851348638,0.00019875457887178594,0.6761,-0.0046,0.09675044715579105,1.0,0.0,0.0,0.0,-0.2087601163838333,-0.18792111598813044,1.7861632775818015,-0.015378805472878676,0.018683712414512436,-0.00030876914109075277,0.9762604640198551,0.9672497857627278,2.0362425324059505,0.06145705378374523,-0.06042762383737863,0.0023481064244712875,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.613942802165791,0.7697906586707187,-2.205216593690244,0.5947488825753803,1.9777235457153408,0.5092414966815519,1.1210382144179905,-1.7861632775818015,3.3262548081082346,3.3262548081082346,4.21657106389816,0,0,-0.0004768264730101431,-9.999999025923074e-05
+5555,1792921146658559685,713649000000,1792921146655330985,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761411318214076,-0.0049519586276904936,0.09690595081999034,0.9999999576635459,-0.0001268065533690391,0.000116654444755005,0.0002154706693362815,0.6761,-0.0046,0.09661743612608292,1.0,0.0,0.0,0.0,-0.2413899780035308,-0.20496753041811122,1.7977483262363922,-0.016458564831109128,0.020727839182244835,-0.0003008280880055056,0.9436306024001576,0.950203371332747,2.0478275810605413,0.06037729442551478,-0.05838349706964623,0.0023560474775565347,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.614465132542205,0.7796333430899458,-1.9831708503678753,0.5932692329855096,1.8391193771189418,0.5179740847063153,1.1210382144179905,-1.7977483262363922,3.1042090647858656,3.1042090647858656,4.257821063898064,0,0,-0.0004905764703314316,-9.999999025923074e-05
+5589,1792921146942606813,713933000000,1792921146935339956,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761472165835982,-0.0049555127783680155,0.09677116823712072,0.9999999551520552,-0.00011090074124625201,0.00012564047324191936,0.00023033507980970826,0.6761,-0.0046,0.096476103108903,1.0,0.0,0.0,0.0,-0.25470004822532244,-0.21357495070944177,1.806808720209068,-0.01750760442122197,0.021763381611763666,-0.0003024052118292286,0.930320532178366,0.9415959510414165,2.056887975033217,0.05932825483540194,-0.0573479546401274,0.0023544703537328117,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5508474628574165,0.8168561132757327,-2.0965916198805563,0.5677780692658095,1.897452624773424,0.5367697479638871,1.1210382144179905,-1.806808720209068,3.2176298342985468,3.2176298342985468,4.300421063897964,0,0,-0.0005047764675650532,-9.999999025923074e-05
+5618,1792921147183607398,714174000000,1792921147179340132,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6761454603770733,-0.004949451345014535,0.09664661922136837,0.9999999566489454,-0.00017682571729820334,0.00012816398477343536,0.00017450395532396886,0.6761,-0.0046,0.09635300598050388,1.0,0.0,0.0,0.0,-0.14967862209036076,-0.11294588114657267,1.810247560524181,-0.011359308698350029,0.015728801155990638,-0.0003098826351964996,1.0353419583133276,1.0422250206042856,2.06032681534833,0.06547655055827388,-0.06338253509590043,0.0023469929303655407,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5924329940391933,0.83157090516686,-2.113124126703916,0.580539645263461,1.926714612631584,0.5583896749506588,1.1210382144179905,-1.810247560524181,3.2341623411219063,3.2341623411219063,4.33657106389788,0,0,-0.0005168264652175278,-9.999999025923074e-05
+5652,1792921147467644250,714458000000,1792921147463339710,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761487885933747,-0.00495565318777196,0.0964997735006122,0.9999999540398065,-0.0001681022156755879,0.00013189317534410743,0.00019418827087182113,0.6761,-0.0046,0.09620421796477631,1.0,0.0,0.0,0.0,-0.2074979353135017,-0.165559463782182,1.8287587383123236,-0.014736821394071592,0.01873230853960086,-0.0003260821917008493,0.9775226450901867,0.9896114379686762,2.0788379931364727,0.06209903786255232,-0.06037902771229021,0.002330793373861191,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5152781293288955,0.8447477149522075,-2.138824272984095,0.5587586205400852,1.9245494640481977,0.5633774173251743,1.1210382144179905,-1.8287587383123236,3.2598624874020854,3.2598624874020854,4.379171063897781,0,0,-0.0005310264624511493,-9.999999025923074e-05
+5679,1792921147692706624,714683000000,1792921147687339511,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761458864031468,-0.004955685130954779,0.0963758244811534,0.9999999554753611,-0.00016486601681311948,0.00012884015288575198,0.00019160258743369506,0.6761,-0.0046,0.09608347701097246,1.0,0.0,0.0,0.0,-0.19449586533175467,-0.18297201413990927,1.828618281383075,-0.015359289267377077,0.01768857223886615,-0.0003522809670875784,0.9905247150719337,0.972198887610949,2.078697536207224,0.06147656998924683,-0.06142276401302492,0.002304594598474462,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.553396029485574,0.8433288164491515,-2.1015982735522223,0.5613570364995153,1.9191096229771745,0.5615931860484936,1.1210382144179905,-1.828618281383075,3.2226364879702127,3.2226364879702127,4.412921063897702,0,0,-0.0005422764602594762,-9.999999025923074e-05
+5709,1792921147942686824,714933000000,1792921147935339669,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761473230500206,-0.0049605006625080906,0.09623774078791364,0.9999999557689965,-0.00015730898477465952,0.00013094394527320892,0.00019496778130749406,0.6761,-0.0046,0.09594635164621321,1.0,0.0,0.0,0.0,-0.18119345342023574,-0.18853606324884642,1.8683243879920812,-0.016375596610686903,0.01767098056217832,-0.0003943797516053394,1.0038271269834527,0.9666348385020118,2.1184036428162303,0.060460262645937006,-0.06144035568971275,0.002262495813956701,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.555331165474835,0.8499621452936028,-2.076564966668315,0.5644458700062683,1.9086338587931118,0.5705998210587716,1.1210382144179905,-1.8683243879920812,3.1976031810863055,3.1976031810863055,4.450421063897615,0,0,-0.0005547764578242839,-9.999999025923074e-05
+5738,1792921148183701165,715174000000,1792921148183339605,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761484830778803,-0.004958310278238426,0.0961003042784085,0.9999999556754703,-0.0001504793738661959,0.00013038789167560448,0.0002011140905615177,0.6761,-0.0046,0.0958112045201616,1.0,0.0,0.0,0.0,-0.1803374374621658,-0.19796101408042055,1.888316898759747,-0.01652809037229238,0.017669180539020654,-0.00041154476302180006,1.0046831429415226,0.9572098876704377,2.138396153583896,0.06030776888433153,-0.061442155712870414,0.0022453308025402402,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5341620489679824,0.8585063032620512,-2.152599379275447,0.5481532161746067,1.9548813026617569,0.5753019651386406,1.1210382144179905,-1.888316898759747,3.2736375936934374,3.2736375936934374,4.4865710638975305,0,0,-0.0005668264554767585,-9.999999025923074e-05
+5766,1792921148417687483,715408000000,1792921148411330370,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761474858874374,-0.004960112952737881,0.09596369071311472,0.999999955329852,-0.00014949000405595106,0.00012718722276837914,0.00020557068735979723,0.6761,-0.0046,0.09567720407984787,1.0,0.0,0.0,0.0,-0.18195219874691615,-0.2055024550515281,1.8582985345006027,-0.01740911029282887,0.017741008931911877,-0.0003972458886386111,1.0030683816567723,0.9496684466993301,2.1083777893247517,0.05942674896379504,-0.06137032731997919,0.002259629676923429,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5428800169336334,0.7870582331163831,-2.1078292849593367,0.5663537138414199,1.9334452720102027,0.5286974323105781,1.1210382144179905,-1.8582985345006027,3.228867499377327,3.228867499377327,4.521671063897449,0,0,-0.0005785264531974185,-9.999999025923074e-05
+5795,1792921148658764180,715649000000,1792921148651339874,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761460926893323,-0.00495930249807527,0.09582033686420131,0.9999999549915681,-0.00015265109147600978,0.00012631485234423215,0.0002054310789488541,0.6761,-0.0046,0.09553633320491134,1.0,0.0,0.0,0.0,-0.18327948999221122,-0.20186874818843037,1.8679395416830318,-0.017407945502427948,0.017690984412752055,-0.00040600394488417117,1.0017410904114772,0.9533021535624279,2.118018796507181,0.05942791375419596,-0.06142035183913901,0.002250871620677869,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5617586561588,0.8375561254159887,-2.1440819081321076,0.5538459151855317,1.9610008210827161,0.5630191126697686,1.1210382144179905,-1.8679395416830318,3.265120122550098,3.265120122550098,4.557821063897364,0,0,-0.0005905764508498931,-9.999999025923074e-05
+5825,1792921148908814507,715899000000,1792921148907339583,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6761442853448719,-0.004961271753059335,0.09567477074588085,0.999999955104562,-0.00015313254211465262,0.00012535355095371213,0.0002051113117703228,0.6761,-0.0046,0.09538713284250448,1.0,0.0,0.0,0.0,-0.1708000092959776,-0.20920506679582618,1.867851756496813,-0.017387411865891732,0.016902335329082536,-0.000418076174827111,1.0142205711077108,0.9459658349550321,2.117931011320962,0.05944844739073218,-0.06220900092280853,0.0022387993907349293,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.544698355918294,0.8026355558959297,-2.2030003557292748,0.5638744597637486,1.9959400572245847,0.5438566282976118,1.1210382144179905,-1.867851756496813,3.3240385701472652,3.3240385701472652,4.595321063897277,0,0,-0.0006030764484147008,-9.999999025923074e-05
+5850,1792921149117759764,716108000000,1792921149115339768,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6761452213545439,-0.004965879198930945,0.09554584993471317,0.9999999538908162,-0.00015163786610478632,0.0001253981812403926,0.000211996423021022,0.6761,-0.0046,0.09526000306499957,1.0,0.0,0.0,0.0,-0.17027405352416647,-0.20890434352562515,1.857866073903377,-0.017486866098979183,0.017612672009197805,-0.0003980139848937729,1.014746526879522,0.9462665582252331,2.107945328727526,0.059348993157644726,-0.06149866424269326,0.0022588615806682674,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.541168339081498,0.8815925140758637,-2.113012031829678,0.5376749903208885,1.93743602750636,0.594788033160929,1.1210382144179905,-1.857866073903377,3.2340502462476683,3.2340502462476683,4.626671063897204,0,0,-0.00061352644637888,-9.999999025923074e-05
+5880,1792921149367809398,716358000000,1792921149367340576,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6761445114337309,-0.004959814897044564,0.09538832508753126,0.9999999540243572,-0.0001581127874715335,0.0001252872248895813,0.0002066339892288809,0.6761,-0.0046,0.09510506520371047,1.0,0.0,0.0,0.0,-0.15529354490639324,-0.20149505733178352,1.8685176825531717,-0.017380857555893567,0.016677015304631074,-0.00041882460676862096,1.0297270354972952,0.9536758444190747,2.118596937377321,0.05945500170073034,-0.062434320947259994,0.0022380509587934193,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.545314041436776,0.8542536908478722,-2.1916997579322803,0.5491139082083941,1.988910333233426,0.5769495578230334,1.1210382144179905,-1.8685176825531717,3.312737972350271,3.312737972350271,4.6641710638971166,0,0,-0.0006260264439436877,-9.999999025923074e-05
+5905,1792921149575809001,716566000000,1792921149575339037,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761448272331332,-0.004962805393860866,0.09525977844844673,0.9999999538542685,-0.00016693903717181774,0.0001250374937299712,0.00020057743623535238,0.6761,-0.0046,0.0949737753035819,1.0,0.0,0.0,0.0,-0.15321884009724052,-0.20733541603962946,1.88109184530137,-0.017363209870430815,0.01602939520746749,-0.0004469131037750586,1.031801740306448,0.9478354857112288,2.131171100125519,0.059472649386193094,-0.06308194104442358,0.0022099624617869817,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5646336195740433,0.9607335434275168,-2.136667222535661,0.5192054809455712,1.9615180822558937,0.6491311192072733,1.1210382144179905,-1.88109184530137,3.2577054369536516,3.2577054369536516,4.695371063897044,0,0,-0.0006364264419176077,-9.999999025923074e-05
+5929,1792921149775869844,716766000000,1792921149775339270,DOWN_FORCE_DETACH,1,0.057,0.05700194835662842,0.6761411239123928,-0.004963360391922261,0.09512398559614418,0.999999955002826,-0.00016527474211365322,0.00011893019349874754,0.00019994268884071008,0.6761,-0.0046,0.09484549501539417,1.0,0.0,0.0,0.0,-0.15701987338148005,-0.20231171043198137,1.8560974604012348,-0.017376632740432274,0.016662511203505773,-0.000415478688633173,1.0280007070222084,0.9528591913188769,2.106176715225384,0.059459226516191635,-0.062448825048385295,0.0022413968769288673,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.5980886300345745,0.7969735554923594,-2.15587709686538,0.5701607890475165,1.9838567697970368,0.5444151349810409,1.1210382144179905,-1.8560974604012348,3.2769153112833704,3.2769153112833704,4.725371063896974,0,0,-0.0006464264399694538,-9.999999025923074e-05
+5956,1792921150000902262,716991000000,1792921149999339375,DOWN_FORCE_DETACH,1,0.057,0.057002607733011246,0.6761403700950318,-0.0049630280316818876,0.09496275639685584,0.9999999557947664,-0.0001556683593842974,0.0001170903885758218,0.00020472061994436551,0.6761,-0.0046,0.0946987890666487,1.0,0.0,0.0,0.0,-0.17049659724622845,-0.22011723410016004,1.8974124251233484,-0.017388750431911584,0.016672652706633033,-0.00044400271406736403,1.01452398315746,0.9350536676506982,2.1474916799474975,0.059447108824712325,-0.062438683545258035,0.0022128728514946763,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.663880608531417,0.8327011940399869,-2.1465702627960135,0.5594111069144563,1.993027100575873,0.5710734695717788,1.1210382144179905,-1.8974124251233484,3.267608477214004,3.267608477214004,4.759121063896895,0,0,-0.0006576764377777808,-9.999999025923074e-05
+5981,1792921150202858484,717193000000,1792921150199330586,DOWN_SETTLE,1,0.057,0.057002607733011246,0.676137253846841,-0.004966167085701986,0.09482935214232546,0.9999999566066015,-0.00015543804346749275,0.0001091942416531973,0.00020529318513529943,0.6761,-0.0046,0.09456523575141715,1.0,0.0,0.0,0.0,-0.16984725300962533,-0.2350242934141974,1.8577663460040996,-0.018485486484971884,0.016701986119340158,-0.00042383376872239366,1.015173327394063,0.9201466083366608,2.1078456008282487,0.058350372771652025,-0.06240935013255091,0.0022330417968396466,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.6668280708383425,0.7667095292878086,-2.2047490907260134,0.5753166156150948,2.038136967791119,0.5255921952163797,1.1210382144179905,-1.8577663460040996,3.325787305144004,0.0,0.0,0,0,-0.0006397264358101454,0.0016000000097407686
+6020,1792921150527908734,717518000000,1792921150523339394,DOWN_SETTLE,1,0.057,0.057002607733011246,0.6761191563591452,-0.0049599438112262586,0.09470104527445249,0.9999999610352185,-0.00015525499970020184,7.377586113503149e-05,0.00019956310552849739,0.6761,-0.0046,0.09448971486709644,1.0,0.0,0.0,0.0,-0.0921503839087221,-0.2839795971226795,1.5965099797082793,-0.022164806120173325,0.011778788569462753,-0.0003267117738377928,1.0928701964949663,0.8711913046281787,1.8465892345324284,0.054671053136450584,-0.06733254768242831,0.0023301637917242475,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.4185411102754975,0.895063602388489,-1.7678421685625125,0.5358838697400791,1.7127003848652782,0.6072563066085851,1.1210382144179905,-1.5965099797082793,2.8888803829805028,0.0,0.0,0,0,-3.152920282319568e-05,0.00031847679619389574
+6093,1792921151135898580,718126000000,1792921151135339471,DOWN_PEAK_HOLD,1,0.057,0.05700194835662842,0.676102203303588,-0.004958615102446611,0.0946512136240821,0.99999996243868,-0.00015836581907966574,4.1698334868361894e-05,0.0001993665447665555,0.6761,-0.0046,0.09448755544074763,1.0,0.0,0.0,0.0,-0.0422316724906846,-0.31713585058162286,1.1645415269150723,-0.024758308025303266,0.007859642083617085,-0.0010853914029300322,1.1427889079130038,0.8380350511692354,1.4146207817392213,0.05207755123132064,-0.07125169416827398,0.001571484162632008,1.1850205804036884,1.1551709017508582,0.25007925482414906,0.07683585925662391,-0.07911133625189107,0.0026568755655620403,1,2.104154907957764,0.8024532598178021,-1.3165016182367348,0.5473976249740493,1.3445966429165945,0.5449215886740764,1.1210382144179905,-1.1645415269150723,2.4375398326547253,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_10/press_depth_01/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792921124382383097,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.042763677e-09,-7.981693232e-10,-1.074769607e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453945e-01,-1.171348694e-04,8.303256552e-01
+1,8.500000000e-01,DOWN_FORCE_DETACH,1792921125217679392,2.279732522e-06,3.487149504e-06,1.479137564e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.207056166e-07,-2.675301056e-08,-3.197404008e-08,7.019579125e-01,-1.878358552e-05,8.601445664e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456072e-01,-1.171608242e-04,8.303256243e-01
+2,1.466666667e+00,DOWN_FORCE_DETACH,1792921125905657878,-1.775505750e-07,3.604901256e-06,-2.734296159e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.667391540e-07,-3.298896071e-08,-3.909181046e-08,7.019554553e-01,-1.866583377e-05,8.601403529e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456532e-01,-1.171670602e-04,8.303256172e-01
+3,2.216666667e+00,DOWN_FORCE_DETACH,1792921126708878530,1.337065343e-06,-8.950756091e-07,-1.016571849e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.868865115e-07,-3.584297195e-08,-4.202270198e-08,7.019569699e-01,-2.316581063e-05,8.601329215e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456734e-01,-1.171699142e-04,8.303256142e-01
+4,2.950000000e+00,DOWN_FORCE_DETACH,1792921127479171190,5.400394191e-06,2.686218252e-06,-2.273438783e-05,3.507962824e-06,-6.055537827e-06,-2.008371448e-05,3.779626718e-06,-5.860982584e-06,-1.975297659e-05,7.019610332e-01,-1.958451677e-05,8.601203529e-01,7.019591408e-01,-2.832627285e-05,8.601230035e-01,7.027491661e-01,-1.229950538e-04,8.303059033e-01
+5,3.433333333e+00,DOWN_FORCE_DETACH,1792921127986991326,3.138534933e-05,-4.192195522e-06,-2.990613344e-05,3.465063713e-05,-7.458130117e-07,-2.021470231e-05,3.666352719e-05,-7.888487560e-07,-2.000883369e-05,7.019870182e-01,-2.646293054e-05,8.601131811e-01,7.019902835e-01,-2.301654803e-05,8.601228725e-01,7.027820500e-01,-1.179229200e-04,8.303056474e-01
+6,4.016666667e+00,DOWN_FORCE_DETACH,1792921128559790454,3.223693396e-05,-3.137285567e-06,-3.942244080e-05,2.916226506e-05,-3.610097411e-06,-4.024403102e-05,3.120351263e-05,-3.563729941e-06,-3.978918435e-05,7.019878698e-01,-2.540802059e-05,8.601036648e-01,7.019847951e-01,-2.588083243e-05,8.601028432e-01,7.027765900e-01,-1.206978011e-04,8.302858671e-01
+7,4.716666667e+00,DOWN_FORCE_DETACH,1792921129264712361,2.679392161e-05,-6.818472003e-06,-7.654215794e-05,3.027492079e-05,-4.413797303e-06,-6.022790128e-05,3.217754532e-05,-4.381166442e-06,-5.965662333e-05,7.019824267e-01,-2.908920703e-05,8.600665451e-01,7.019859077e-01,-2.668453233e-05,8.600828593e-01,7.027775640e-01,-1.215152376e-04,8.302659996e-01
+8,5.400000000e+00,DOWN_FORCE_DETACH,1792921129968719697,2.842559632e-05,-4.634841229e-06,-9.187498924e-05,2.842367038e-05,-3.625296284e-06,-8.094717206e-05,2.999775140e-05,-3.608458660e-06,-8.055603709e-05,7.019840584e-01,-2.690557625e-05,8.600512123e-01,7.019840565e-01,-2.589603131e-05,8.600621401e-01,7.027753842e-01,-1.207425299e-04,8.302451002e-01
+9,6.150000000e+00,DOWN_FORCE_DETACH,1792921130723348455,3.106792385e-05,-1.124024999e-05,-9.208393506e-05,2.842367038e-05,-3.625296284e-06,-8.094717206e-05,2.998368866e-05,-3.606777681e-06,-8.084068901e-05,7.019867007e-01,-3.351098501e-05,8.600510033e-01,7.019840565e-01,-2.589603131e-05,8.600621401e-01,7.027753702e-01,-1.207408489e-04,8.302448156e-01
+10,6.850000000e+00,DOWN_FORCE_DETACH,1792921131426721122,3.058603912e-05,-8.203374599e-06,-1.027735108e-04,2.772798025e-05,-6.675211028e-06,-1.007041837e-04,2.902572989e-05,-6.530793392e-06,-1.003436907e-04,7.019862189e-01,-3.047410962e-05,8.600403137e-01,7.019833608e-01,-2.894594605e-05,8.600423831e-01,7.027744122e-01,-1.236648646e-04,8.302253126e-01
+11,7.516666667e+00,DOWN_FORCE_DETACH,1792921132114747159,4.787953597e-05,-1.019688640e-05,-1.236168169e-04,3.064443171e-05,-8.459763897e-06,-1.217478529e-04,3.180895340e-05,-8.275768561e-06,-1.212317957e-04,7.020035124e-01,-3.246762142e-05,8.600194704e-01,7.019862772e-01,-3.073049892e-05,8.600213394e-01,7.027771954e-01,-1.254098398e-04,8.302044245e-01
+12,8.116666667e+00,DOWN_FORCE_DETACH,1792921132704927549,6.199382935e-05,-1.039543245e-05,-1.606004368e-04,5.588749197e-05,-6.291531295e-06,-1.440583288e-04,5.857250997e-05,-6.255917720e-06,-1.434546342e-04,7.020176266e-01,-3.266616747e-05,8.599824868e-01,7.020115203e-01,-2.856226632e-05,8.599990289e-01,7.028039590e-01,-1.233899889e-04,8.301822016e-01
+13,8.766666667e+00,DOWN_FORCE_DETACH,1792921133343176886,6.415225178e-05,-1.205559085e-05,-2.040315141e-04,6.022893864e-05,-7.747606303e-06,-1.864548787e-04,6.290828444e-05,-7.660748030e-06,-1.856211852e-04,7.020197851e-01,-3.432632587e-05,8.599390557e-01,7.020158618e-01,-3.001834133e-05,8.599566324e-01,7.028082948e-01,-1.247948192e-04,8.301400351e-01
+14,9.400000000e+00,DOWN_FORCE_DETACH,1792921133965955827,6.721259719e-05,-8.611998104e-06,-2.376002101e-04,6.857524853e-05,-9.024128793e-06,-2.262548861e-04,7.132855880e-05,-8.918023966e-06,-2.252530310e-04,7.020228454e-01,-3.088273313e-05,8.599054870e-01,7.020242081e-01,-3.129486382e-05,8.599168324e-01,7.028167151e-01,-1.260520952e-04,8.301004032e-01
+15,1.001666667e+01,DOWN_FORCE_DETACH,1792921134589051266,7.560979745e-05,-1.328492836e-05,-2.773200190e-04,7.560257123e-05,-1.149002176e-05,-2.677946958e-04,7.843072811e-05,-1.127242610e-05,-2.666705096e-04,7.020312426e-01,-3.555566339e-05,8.598657672e-01,7.020312354e-01,-3.376075678e-05,8.598752925e-01,7.028238172e-01,-1.284064973e-04,8.300589857e-01
+16,1.060000000e+01,DOWN_FORCE_DETACH,1792921135179549837,8.479854159e-05,-1.346720929e-05,-3.131696832e-04,8.179311032e-05,-1.341860393e-05,-3.091024688e-04,8.466410935e-05,-1.317040025e-05,-3.077870429e-04,7.020404314e-01,-3.573794431e-05,8.598299176e-01,7.020374259e-01,-3.568933895e-05,8.598339848e-01,7.028300506e-01,-1.303044714e-04,8.300178692e-01
+17,1.116666667e+01,DOWN_FORCE_DETACH,1792921135752284618,8.684572623e-05,-1.514044927e-05,-3.598286761e-04,8.718428956e-05,-1.672633331e-05,-3.495215577e-04,8.998651148e-05,-1.637858165e-05,-3.482102592e-04,7.020424785e-01,-3.741118430e-05,8.597832586e-01,7.020428171e-01,-3.899706834e-05,8.597935657e-01,7.028353730e-01,-1.335126528e-04,8.299774460e-01
+18,1.180000000e+01,DOWN_FORCE_DETACH,1792921136390082103,9.648854395e-05,-1.574608164e-05,-4.129795917e-04,9.376409158e-05,-1.699787197e-05,-4.090865464e-04,9.637477871e-05,-1.663577081e-05,-4.074362588e-04,7.020521214e-01,-3.801681666e-05,8.597301076e-01,7.020493969e-01,-3.926860700e-05,8.597340007e-01,7.028417613e-01,-1.337698420e-04,8.299182200e-01
+19,1.238333333e+01,DOWN_FORCE_DETACH,1792921136963618401,9.771071027e-05,-1.875672007e-05,-4.734062931e-04,9.815718171e-05,-1.703673969e-05,-4.708753799e-04,1.003892733e-04,-1.665297078e-05,-4.689040629e-04,7.020533435e-01,-4.102745509e-05,8.596696809e-01,7.020537900e-01,-3.930747472e-05,8.596722119e-01,7.028457758e-01,-1.337870420e-04,8.298567522e-01
+20,1.301666667e+01,DOWN_FORCE_DETACH,1792921137585825969,1.042667275e-04,-2.384630739e-05,-5.362679064e-04,1.042027801e-04,-2.405893639e-05,-5.330706631e-04,1.061474795e-04,-2.344238161e-05,-5.310757925e-04,7.020598995e-01,-4.611704242e-05,8.596068193e-01,7.020598356e-01,-4.632967141e-05,8.596100166e-01,7.028515340e-01,-1.405764528e-04,8.297945805e-01
+21,1.365000000e+01,DOWN_FORCE_DETACH,1792921138208807282,1.145750165e-04,-2.421232369e-05,-6.101351842e-04,1.099624335e-04,-2.376874241e-05,-5.988467852e-04,1.116564022e-04,-2.317543914e-05,-5.969063834e-04,7.020702078e-01,-4.648305871e-05,8.595329521e-01,7.020655953e-01,-4.603947744e-05,8.595442405e-01,7.028570429e-01,-1.403095103e-04,8.297287499e-01
+22,1.420000000e+01,DOWN_FORCE_DETACH,1792921138765744399,1.216737148e-04,-2.362495149e-05,-6.841314281e-04,1.215223805e-04,-2.371483486e-05,-6.837961419e-04,1.229035770e-04,-2.315500196e-05,-6.811759638e-04,7.020773065e-01,-4.589568651e-05,8.594589558e-01,7.020771552e-01,-4.598556988e-05,8.594592911e-01,7.028682901e-01,-1.402890732e-04,8.296444803e-01
+23,1.475000000e+01,DOWN_FORCE_DETACH,1792921139306335501,1.255193142e-04,-2.894920718e-05,-7.629122205e-04,1.254981327e-04,-2.980594291e-05,-7.470200620e-04,1.265986257e-04,-2.901210103e-05,-7.448042911e-04,7.020811521e-01,-5.121994220e-05,8.593801750e-01,7.020811309e-01,-5.207667793e-05,8.593960672e-01,7.028719851e-01,-1.461461722e-04,8.295808520e-01
+24,1.530000000e+01,DOWN_FORCE_DETACH,1792921139862920553,1.305851318e-04,-3.488346751e-05,-8.549122683e-04,1.294652337e-04,-3.196716682e-05,-8.481342454e-04,1.297619765e-04,-3.109448258e-05,-8.453429606e-04,7.020862179e-01,-5.715420253e-05,8.592881750e-01,7.020850981e-01,-5.423790184e-05,8.592949530e-01,7.028751485e-01,-1.482285538e-04,8.294803133e-01
+25,1.576666667e+01,DOWN_FORCE_DETACH,1792921140321845764,1.333153425e-04,-3.226397521e-05,-9.324456838e-04,1.328603897e-04,-3.869488180e-05,-9.308155616e-04,1.323938389e-04,-3.756193859e-05,-9.276729706e-04,7.020889482e-01,-5.453471023e-05,8.592106416e-01,7.020884932e-01,-6.096561682e-05,8.592122717e-01,7.028777803e-01,-1.546960098e-04,8.293979833e-01
+26,1.623333333e+01,DOWN_FORCE_DETACH,1792921140796773943,1.358155259e-04,-3.418587797e-05,-1.021768759e-03,1.362577772e-04,-3.930589234e-05,-1.016480269e-03,1.349953897e-04,-3.814824936e-05,-1.013201685e-03,7.020914483e-01,-5.645661300e-05,8.591213185e-01,7.020918906e-01,-6.157662736e-05,8.591266070e-01,7.028803819e-01,-1.552823206e-04,8.293124546e-01
+27,1.670000000e+01,DOWN_FORCE_DETACH,1792921141304602866,1.411777569e-04,-4.122007750e-05,-1.124306802e-03,1.397829758e-04,-4.371439427e-05,-1.105127959e-03,1.377214754e-04,-4.240526166e-05,-1.101840988e-03,7.020968106e-01,-6.349081252e-05,8.590187804e-01,7.020954158e-01,-6.598512929e-05,8.590379593e-01,7.028831080e-01,-1.595393329e-04,8.292238153e-01
+28,1.715000000e+01,DOWN_FORCE_DETACH,1792921141763767443,1.469756750e-04,-4.667821681e-05,-1.231405278e-03,1.477637660e-04,-4.360371660e-05,-1.216656407e-03,1.449485214e-04,-4.232068973e-05,-1.212929613e-03,7.021026085e-01,-6.894895183e-05,8.589116820e-01,7.021033966e-01,-6.587445163e-05,8.589264308e-01,7.028903350e-01,-1.594547609e-04,8.291127266e-01
+29,1.753333333e+01,DOWN_FORCE_DETACH,1792921142189019022,1.599713484e-04,-4.267333874e-05,-1.328491283e-03,1.597551031e-04,-4.264332340e-05,-1.328394524e-03,1.563330379e-04,-4.138190260e-05,-1.323956234e-03,7.021156042e-01,-6.494407376e-05,8.588145960e-01,7.021153879e-01,-6.491405842e-05,8.588146927e-01,7.029017195e-01,-1.585159738e-04,8.290017000e-01
+30,1.791666667e+01,DOWN_FORCE_DETACH,1792921142598853213,1.589807519e-04,-5.181128253e-05,-1.436597149e-03,1.593284793e-04,-5.231642873e-05,-1.426437931e-03,1.549216088e-04,-5.071608513e-05,-1.422093973e-03,7.021146136e-01,-7.408201755e-05,8.587064901e-01,7.021149613e-01,-7.458716375e-05,8.587166493e-01,7.029003081e-01,-1.678501563e-04,8.289035623e-01
+31,1.828333333e+01,DOWN_FORCE_DETACH,1792921142976370158,1.668169466e-04,-5.537101878e-05,-1.538860157e-03,1.635339711e-04,-5.439014634e-05,-1.519674301e-03,1.583112094e-04,-5.274588067e-05,-1.515568035e-03,7.021224498e-01,-7.764175380e-05,8.586042271e-01,7.021191668e-01,-7.666088136e-05,8.586234129e-01,7.029036977e-01,-1.698799519e-04,8.288100882e-01
+32,1.868333333e+01,DOWN_FORCE_DETACH,1792921143386740397,1.700710159e-04,-5.850531902e-05,-1.662182201e-03,1.717967516e-04,-5.585971970e-05,-1.654112931e-03,1.654299831e-04,-5.417654061e-05,-1.649393263e-03,7.021257038e-01,-8.077605404e-05,8.584809050e-01,7.021274296e-01,-7.813045472e-05,8.584889743e-01,7.029108165e-01,-1.713106118e-04,8.286762630e-01
+33,1.908333333e+01,DOWN_FORCE_DETACH,1792921143778291944,1.739664591e-04,-6.224101153e-05,-1.782710528e-03,1.728090350e-04,-5.797974183e-05,-1.769627840e-03,1.652622498e-04,-5.627890324e-05,-1.765048649e-03,7.021295993e-01,-8.451174656e-05,8.583603767e-01,7.021284419e-01,-8.025047685e-05,8.583734594e-01,7.029106487e-01,-1.734129744e-04,8.285606076e-01
+34,1.946666667e+01,DOWN_FORCE_DETACH,1792921144154799513,1.807618362e-04,-6.538292687e-05,-1.905001683e-03,1.799169793e-04,-6.092208251e-05,-1.899301506e-03,1.712181236e-04,-5.914374746e-05,-1.894297608e-03,7.021363947e-01,-8.765366189e-05,8.582380856e-01,7.021355498e-01,-8.319281753e-05,8.582437857e-01,7.029166046e-01,-1.762778187e-04,8.284313586e-01
+35,1.981666667e+01,DOWN_FORCE_DETACH,1792921144498934538,1.861444135e-04,-7.387617031e-05,-2.024464825e-03,1.846446485e-04,-6.855426837e-05,-2.015148136e-03,1.748940003e-04,-6.650491141e-05,-2.010103311e-03,7.021417772e-01,-9.614690533e-05,8.581186224e-01,7.021402775e-01,-9.082500339e-05,8.581279391e-01,7.029202805e-01,-1.836389826e-04,8.283155529e-01
+36,2.013333333e+01,DOWN_FORCE_DETACH,1792921144826164448,1.881326798e-04,-7.387683294e-05,-2.151202965e-03,1.878523933e-04,-7.378422673e-05,-2.151234089e-03,1.766885345e-04,-7.152586919e-05,-2.145447762e-03,7.021437655e-01,-9.614756796e-05,8.579918843e-01,7.021434852e-01,-9.605496175e-05,8.579918531e-01,7.029220750e-01,-1.886599404e-04,8.281802085e-01
+37,2.043333333e+01,DOWN_FORCE_DETACH,1792921145171460679,1.891207531e-04,-7.549647157e-05,-2.288257468e-03,1.917051734e-04,-7.823562934e-05,-2.277887037e-03,1.792555402e-04,-7.579603556e-05,-2.271934934e-03,7.021447536e-01,-9.776720660e-05,8.578548298e-01,7.021473380e-01,-1.005063644e-04,8.578652002e-01,7.029246420e-01,-1.929301068e-04,8.280537213e-01
+38,2.076666667e+01,DOWN_FORCE_DETACH,1792921145498011209,1.936061452e-04,-8.110330156e-05,-2.417720680e-03,1.924263659e-04,-8.056122656e-05,-2.416316891e-03,1.784674422e-04,-7.808314010e-05,-2.410313690e-03,7.021492390e-01,-1.033740366e-04,8.577253666e-01,7.021480592e-01,-1.028319616e-04,8.577267703e-01,7.029238539e-01,-1.952172113e-04,8.279153426e-01
+39,2.103333333e+01,DOWN_FORCE_DETACH,1792921145793419671,1.929257974e-04,-8.559112343e-05,-2.549890014e-03,1.926193742e-04,-8.561258297e-05,-2.549976231e-03,1.770975134e-04,-8.290186034e-05,-2.543240433e-03,7.021485586e-01,-1.078618585e-04,8.575931972e-01,7.021482522e-01,-1.078833180e-04,8.575931110e-01,7.029224840e-01,-2.000359315e-04,8.277824158e-01
+40,2.133333333e+01,DOWN_FORCE_DETACH,1792921146088311535,1.934515507e-04,-8.633965598e-05,-2.686080551e-03,1.932743226e-04,-8.774368715e-05,-2.667044040e-03,1.764341833e-04,-8.498461715e-05,-2.660949040e-03,7.021490844e-01,-1.086103910e-04,8.574570067e-01,7.021489071e-01,-1.100144222e-04,8.574760432e-01,7.029218207e-01,-2.021186883e-04,8.276647072e-01
+41,2.163333333e+01,DOWN_FORCE_DETACH,1792921146382914773,1.957344416e-04,-9.374141275e-05,-2.819773978e-03,1.930301521e-04,-8.842967866e-05,-2.808462813e-03,1.745794932e-04,-8.567365769e-05,-2.802134395e-03,7.021513673e-01,-1.160121478e-04,8.573233133e-01,7.021486630e-01,-1.107004137e-04,8.573346244e-01,7.029199660e-01,-2.028077289e-04,8.275235219e-01
+42,2.191666667e+01,DOWN_FORCE_DETACH,1792921146661267110,1.972710956e-04,-9.812699841e-05,-2.952305035e-03,1.976289585e-04,-9.180822938e-05,-2.944238017e-03,1.778360158e-04,-8.894248620e-05,-2.937661363e-03,7.021529039e-01,-1.203977334e-04,8.571907822e-01,7.021532618e-01,-1.140789644e-04,8.571988492e-01,7.029232225e-01,-2.060765574e-04,8.273879949e-01
+43,2.218333333e+01,DOWN_FORCE_DETACH,1792921146939668343,2.018655579e-04,-1.003831290e-04,-3.086802636e-03,2.021618557e-04,-9.423989030e-05,-3.075955504e-03,1.810980444e-04,-9.126566563e-05,-3.069058948e-03,7.021574984e-01,-1.226538641e-04,8.570562846e-01,7.021577947e-01,-1.165106253e-04,8.570671317e-01,7.029264845e-01,-2.083997368e-04,8.272565973e-01
+44,2.241666667e+01,DOWN_FORCE_DETACH,1792921147185772664,2.033891172e-04,-9.163160219e-05,-3.213492909e-03,2.020915478e-04,-8.577935209e-05,-3.195891569e-03,1.797077345e-04,-8.314656469e-05,-3.189006539e-03,7.021590219e-01,-1.139023372e-04,8.569295943e-01,7.021577244e-01,-1.080500871e-04,8.569471957e-01,7.029250942e-01,-2.002806359e-04,8.271366497e-01
+45,2.270000000e+01,DOWN_FORCE_DETACH,1792921147464464555,2.042057019e-04,-9.617396426e-05,-3.355632896e-03,2.053672644e-04,-9.332941241e-05,-3.337998240e-03,1.814239190e-04,-9.041307095e-05,-3.331148149e-03,7.021598385e-01,-1.184446993e-04,8.567874543e-01,7.021610001e-01,-1.156001474e-04,8.568050890e-01,7.029268104e-01,-2.075471421e-04,8.269945081e-01
+46,2.291666667e+01,DOWN_FORCE_DETACH,1792921147693157152,2.025820718e-04,-9.491415279e-05,-3.480744003e-03,2.022884530e-04,-9.759225892e-05,-3.467799537e-03,1.766639894e-04,-9.456536323e-05,-3.460583913e-03,7.021582149e-01,-1.171848878e-04,8.566623432e-01,7.021579213e-01,-1.198629939e-04,8.566752877e-01,7.029220505e-01,-2.116994344e-04,8.268650723e-01
+47,2.316666667e+01,DOWN_FORCE_DETACH,1792921147939443223,2.040373306e-04,-1.021839848e-04,-3.617662436e-03,2.023564076e-04,-9.855882576e-05,-3.611062379e-03,1.749992521e-04,-9.556172175e-05,-3.603603854e-03,7.021596701e-01,-1.244547199e-04,8.565254248e-01,7.021579892e-01,-1.208295608e-04,8.565320249e-01,7.029203857e-01,-2.126957929e-04,8.267220524e-01
+48,2.340000000e+01,DOWN_FORCE_DETACH,1792921148185358240,2.064108429e-04,-9.913323745e-05,-3.756108087e-03,2.056566662e-04,-1.026327898e-04,-3.738312422e-03,1.768583063e-04,-9.942630774e-05,-3.730987038e-03,7.021620437e-01,-1.214039725e-04,8.563869792e-01,7.021612895e-01,-1.249035248e-04,8.564047748e-01,7.029222448e-01,-2.165603789e-04,8.265946692e-01
+49,2.363333333e+01,DOWN_FORCE_DETACH,1792921148414050157,2.033299359e-04,-9.763597456e-05,-3.889995516e-03,2.032524282e-04,-9.781930678e-05,-3.889647886e-03,1.725732318e-04,-9.476259772e-05,-3.881836198e-03,7.021589628e-01,-1.199067096e-04,8.562530917e-01,7.021588852e-01,-1.200900418e-04,8.562534394e-01,7.029179597e-01,-2.118966689e-04,8.264438200e-01
+50,2.388333333e+01,DOWN_FORCE_DETACH,1792921148659856282,2.029131236e-04,-1.011896000e-04,-4.037271457e-03,2.038153365e-04,-1.007518276e-04,-4.024431740e-03,1.715322009e-04,-9.755044475e-05,-4.016955846e-03,7.021585459e-01,-1.234603350e-04,8.561058158e-01,7.021594482e-01,-1.230225626e-04,8.561186555e-01,7.029169187e-01,-2.146845159e-04,8.263087004e-01
+51,2.411666667e+01,DOWN_FORCE_DETACH,1792921148905617678,2.021569880e-04,-1.051571694e-04,-4.180781314e-03,2.046519609e-04,-1.012338844e-04,-4.168225353e-03,1.706433584e-04,-9.801425694e-05,-4.160565820e-03,7.021577898e-01,-1.274279044e-04,8.559623059e-01,7.021602848e-01,-1.235046195e-04,8.559748619e-01,7.029160299e-01,-2.151483281e-04,8.261650904e-01
+52,2.433333333e+01,DOWN_FORCE_DETACH,1792921149118207346,2.021023861e-04,-1.060238563e-04,-4.311201168e-03,1.998720308e-04,-1.020418497e-04,-4.303524099e-03,1.640951400e-04,-9.878747811e-05,-4.295694426e-03,7.021577352e-01,-1.282945913e-04,8.558318861e-01,7.021555048e-01,-1.243125848e-04,8.558395631e-01,7.029094816e-01,-2.159215493e-04,8.260299618e-01
+53,2.458333333e+01,DOWN_FORCE_DETACH,1792921149364026495,2.015605055e-04,-1.026948057e-04,-4.465527750e-03,2.020978878e-04,-1.020006154e-04,-4.453451307e-03,1.646230823e-04,-9.876269129e-05,-4.445734293e-03,7.021571933e-01,-1.249655408e-04,8.556775595e-01,7.021577307e-01,-1.242713504e-04,8.556896359e-01,7.029100096e-01,-2.158967625e-04,8.258799220e-01
+54,2.480000000e+01,DOWN_FORCE_DETACH,1792921149578123921,1.994399983e-04,-1.045786753e-04,-4.603907932e-03,1.992413496e-04,-1.017109421e-04,-4.591121037e-03,1.600396307e-04,-9.841021335e-05,-4.583166680e-03,7.021550728e-01,-1.268494103e-04,8.555391793e-01,7.021548742e-01,-1.239816771e-04,8.555519662e-01,7.029054261e-01,-2.155442845e-04,8.257424896e-01
+55,2.500000000e+01,DOWN_FORCE_DETACH,1792921149773949510,2.010651547e-04,-1.011651208e-04,-4.728479578e-03,1.961690376e-04,-9.957676078e-05,-4.722230337e-03,1.553269074e-04,-9.634465170e-05,-4.714081796e-03,7.021566980e-01,-1.234358558e-04,8.554146077e-01,7.021518019e-01,-1.218474958e-04,8.554208569e-01,7.029007134e-01,-2.134787229e-04,8.256115745e-01
+56,2.510000000e+01,DOWN_FORCE_DETACH,1792921150008248855,1.987026338e-04,-1.056694498e-04,-4.892301319e-03,1.978631057e-04,-1.055168596e-04,-4.892088075e-03,1.550694327e-04,-1.020950836e-04,-4.882699523e-03,7.021543355e-01,-1.279401849e-04,8.552507859e-01,7.021534959e-01,-1.277875947e-04,8.552509992e-01,7.029004559e-01,-2.192291548e-04,8.254429567e-01
+57,2.528333333e+01,DOWN_SETTLE,1792921150199637409,1.961548445e-04,-1.026285216e-04,-5.023067792e-03,1.952791995e-04,-1.017958313e-04,-5.009111812e-03,1.509168752e-04,-9.859910080e-05,-5.000470155e-03,7.021517877e-01,-1.248992566e-04,8.551200194e-01,7.021509120e-01,-1.240665664e-04,8.551339754e-01,7.028963034e-01,-2.157331720e-04,8.253251861e-01
+58,2.561666667e+01,DOWN_SETTLE,1792921150527023921,1.768593322e-04,-1.028772013e-04,-5.153798667e-03,1.799839630e-04,-1.027833856e-04,-5.142152251e-03,1.330744248e-04,-9.952007371e-05,-5.135630983e-03,7.021324921e-01,-1.251479363e-04,8.549892886e-01,7.021356168e-01,-1.250541206e-04,8.550009350e-01,7.028784609e-01,-2.166541449e-04,8.251900253e-01
+59,2.623333333e+01,DOWN_PEAK_HOLD,1792921151133391171,1.575758218e-04,-9.588448861e-05,-5.207376706e-03,1.606178473e-04,-9.848556163e-05,-5.202726940e-03,1.112502503e-04,-9.524847838e-05,-5.199895717e-03,7.021132086e-01,-1.181552236e-04,8.549357105e-01,7.021162507e-01,-1.207562967e-04,8.549403603e-01,7.028566367e-01,-2.123825496e-04,8.251257605e-01

Fixed/digit/cylinder_PLA_10/press_depth_01/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.2597e-01,3.4096e-01,2.4426e+00,-6.1850e-02,4.5850e-02,4.1534e-04,5.6217e-03,-3.1996e-04,-8.8811e-04,2.6714e-05,4.0565e-04,-3.0688e-05,5.7004e-03,4.0768e-04
+1,8.5000e-01,DOWN_FORCE_DETACH,1.4729e-04,1.6158e-01,3.3792e-01,2.4378e+00,-6.1611e-02,4.8429e-02,1.9615e-04,4.1230e-02,-3.3579e-03,-5.7173e-03,2.6564e-04,2.9854e-03,-2.4987e-04,4.1760e-02,3.0076e-03
+2,1.4667e+00,DOWN_FORCE_DETACH,2.9270e-04,1.6890e-01,3.3723e-01,2.4364e+00,-6.1557e-02,4.8961e-02,1.4340e-04,4.8548e-02,-4.0428e-03,-7.0834e-03,3.1962e-04,3.5171e-03,-3.0263e-04,4.9228e-02,3.5446e-03
+3,2.2167e+00,DOWN_FORCE_DETACH,4.3966e-04,1.7263e-01,3.3687e-01,2.4357e+00,-6.1529e-02,4.9230e-02,1.1740e-04,5.2277e-02,-4.4025e-03,-7.7591e-03,3.4734e-04,3.7860e-03,-3.2863e-04,5.3032e-02,3.8161e-03
+4,2.9500e+00,DOWN_FORCE_DETACH,5.9039e-04,1.5888e-01,3.9575e-01,2.5086e+00,-6.5706e-02,4.8141e-02,1.4891e-04,3.8526e-02,5.4474e-02,6.5109e-02,-3.8292e-03,2.6970e-03,-2.9712e-04,9.3225e-02,4.6931e-03
+5,3.4333e+00,DOWN_FORCE_DETACH,7.3800e-04,1.0484e-02,3.3611e-01,2.4716e+00,-6.1424e-02,3.7393e-02,2.1279e-04,-1.0986e-01,-5.1671e-03,2.8141e-02,4.5264e-04,-8.0514e-03,-2.3324e-04,1.1353e-01,8.0675e-03
+6,4.0167e+00,DOWN_FORCE_DETACH,8.8544e-04,1.5402e-01,3.6005e-01,2.5216e+00,-6.3106e-02,4.7782e-02,1.9412e-04,3.3669e-02,1.8774e-02,7.8067e-02,-1.2298e-03,2.3378e-03,-2.5191e-04,8.7066e-02,2.6535e-03
+7,4.7167e+00,DOWN_FORCE_DETACH,1.0323e-03,1.6849e-01,3.6611e-01,2.5445e+00,-6.3517e-02,4.8834e-02,1.3152e-04,4.8138e-02,2.4833e-02,1.0102e-01,-1.6406e-03,3.3897e-03,-3.1451e-04,1.1463e-01,3.7790e-03
+8,5.4000e+00,DOWN_FORCE_DETACH,1.1769e-03,1.8063e-01,3.5674e-01,2.5221e+00,-6.2817e-02,4.9722e-02,8.7928e-05,6.0280e-02,1.5466e-02,7.8597e-02,-9.4021e-04,4.2776e-03,-3.5810e-04,1.0025e-01,4.3943e-03
+9,6.1500e+00,DOWN_FORCE_DETACH,1.3223e-03,1.7843e-01,3.5685e-01,2.4635e+00,-6.2901e-02,4.9624e-02,6.6352e-05,5.8077e-02,1.5576e-02,2.0040e-02,-1.0245e-03,4.1796e-03,-3.7968e-04,6.3381e-02,4.3201e-03
+10,6.8500e+00,DOWN_FORCE_DETACH,1.4716e-03,1.8083e-01,3.8591e-01,2.5033e+00,-6.4959e-02,4.9761e-02,7.0542e-05,6.0480e-02,4.4629e-02,5.9844e-02,-3.0827e-03,4.3168e-03,-3.7549e-04,9.6077e-02,5.3178e-03
+11,7.5167e+00,DOWN_FORCE_DETACH,1.6176e-03,1.6679e-01,4.0209e-01,2.5426e+00,-6.6082e-02,4.8724e-02,7.5024e-05,4.6440e-02,6.0813e-02,9.9082e-02,-4.2058e-03,3.2799e-03,-3.7100e-04,1.2519e-01,5.3464e-03
+12,8.1167e+00,DOWN_FORCE_DETACH,1.7685e-03,1.2516e-01,3.7187e-01,2.5533e+00,-6.3884e-02,4.5630e-02,1.9305e-04,4.8079e-03,3.0595e-02,1.0982e-01,-2.0076e-03,1.8632e-04,-2.5298e-04,1.1410e-01,2.0320e-03
+13,8.7667e+00,DOWN_FORCE_DETACH,1.9144e-03,1.5156e-01,3.8184e-01,2.5811e+00,-6.4510e-02,4.7508e-02,1.7103e-04,3.1209e-02,4.0567e-02,1.3762e-01,-2.6335e-03,2.0638e-03,-2.7499e-04,1.4683e-01,3.3571e-03
+14,9.4000e+00,DOWN_FORCE_DETACH,2.0596e-03,1.4081e-01,3.9321e-01,2.6369e+00,-6.5291e-02,4.6805e-02,1.7910e-04,2.0464e-02,5.1932e-02,1.9337e-01,-3.4147e-03,1.3609e-03,-2.6692e-04,2.0127e-01,3.6856e-03
+15,1.0017e+01,DOWN_FORCE_DETACH,2.2085e-03,1.4386e-01,4.1385e-01,2.6627e+00,-6.6707e-02,4.6989e-02,2.0583e-04,2.3508e-02,7.2573e-02,2.1918e-01,-4.8306e-03,1.5451e-03,-2.4020e-04,2.3207e-01,5.0774e-03
+16,1.0600e+01,DOWN_FORCE_DETACH,2.3542e-03,1.5116e-01,4.2596e-01,2.6890e+00,-6.7446e-02,4.7469e-02,2.3550e-04,3.0815e-02,8.4686e-02,2.4547e-01,-5.5692e-03,2.0245e-03,-2.1053e-04,2.6149e-01,5.9295e-03
+17,1.1167e+01,DOWN_FORCE_DETACH,2.5048e-03,1.5785e-01,4.5660e-01,2.6978e+00,-6.9558e-02,4.7964e-02,2.7742e-04,3.7501e-02,1.1532e-01,2.5432e-01,-7.6812e-03,2.5202e-03,-1.6861e-04,2.8176e-01,8.0859e-03
+18,1.1800e+01,DOWN_FORCE_DETACH,2.6519e-03,1.6750e-01,4.6059e-01,2.7376e+00,-6.9769e-02,4.8579e-02,3.2298e-04,4.7148e-02,1.1932e-01,2.9415e-01,-7.8921e-03,3.1351e-03,-1.2305e-04,3.2091e-01,8.4929e-03
+19,1.2383e+01,DOWN_FORCE_DETACH,2.7977e-03,1.7818e-01,4.7358e-01,2.7644e+00,-7.0642e-02,4.9373e-02,3.5680e-04,5.7833e-02,1.3230e-01,3.2092e-01,-8.7654e-03,3.9291e-03,-8.9223e-05,3.5191e-01,9.6061e-03
+20,1.3017e+01,DOWN_FORCE_DETACH,2.9454e-03,1.8039e-01,5.1118e-01,2.7912e+00,-7.2985e-02,4.9476e-02,3.8326e-04,6.0038e-02,1.6991e-01,3.4775e-01,-1.1109e-02,4.0323e-03,-6.2763e-05,3.9167e-01,1.1818e-02
+21,1.3650e+01,DOWN_FORCE_DETACH,3.0915e-03,1.8427e-01,5.2160e-01,2.8488e+00,-7.3653e-02,4.9657e-02,4.0744e-04,6.3921e-02,1.8033e-01,4.0527e-01,-1.1776e-02,4.2125e-03,-3.8583e-05,4.4816e-01,1.2507e-02
+22,1.4200e+01,DOWN_FORCE_DETACH,3.2380e-03,1.7149e-01,5.2560e-01,2.8258e+00,-7.3624e-02,4.8854e-02,3.6897e-04,5.1137e-02,1.8432e-01,3.8230e-01,-1.1747e-02,3.4099e-03,-7.7057e-05,4.2748e-01,1.2232e-02
+23,1.4750e+01,DOWN_FORCE_DETACH,3.3877e-03,1.8104e-01,5.7198e-01,2.9026e+00,-7.6770e-02,4.9363e-02,3.5544e-04,6.0689e-02,2.3071e-01,4.5907e-01,-1.4894e-02,3.9189e-03,-9.0584e-05,5.1735e-01,1.5401e-02
+24,1.5300e+01,DOWN_FORCE_DETACH,3.5354e-03,2.0188e-01,6.0361e-01,2.9821e+00,-7.8823e-02,5.0694e-02,2.8952e-04,8.1531e-02,2.6233e-01,5.3858e-01,-1.6946e-02,5.2504e-03,-1.5651e-04,6.0459e-01,1.7742e-02
+25,1.5767e+01,DOWN_FORCE_DETACH,3.6779e-03,2.1304e-01,6.4904e-01,3.0115e+00,-8.1766e-02,5.1423e-02,2.1566e-04,9.2691e-02,3.0777e-01,5.6800e-01,-1.9890e-02,5.9786e-03,-2.3036e-04,6.5263e-01,2.0770e-02
+26,1.6233e+01,DOWN_FORCE_DETACH,3.8280e-03,2.1771e-01,6.6924e-01,3.0500e+00,-8.3099e-02,5.1735e-02,7.4798e-05,9.7365e-02,3.2796e-01,6.0648e-01,-2.1223e-02,6.2905e-03,-3.7123e-04,6.9632e-01,2.2139e-02
+27,1.6700e+01,DOWN_FORCE_DETACH,3.9764e-03,2.2196e-01,6.9897e-01,3.1048e+00,-8.4959e-02,5.1956e-02,3.8726e-05,1.0161e-01,3.5769e-01,6.6130e-01,-2.3083e-02,6.5119e-03,-4.0730e-04,7.5867e-01,2.3987e-02
+28,1.7150e+01,DOWN_FORCE_DETACH,4.1256e-03,1.9893e-01,7.1304e-01,3.2246e+00,-8.5684e-02,5.0151e-02,1.5815e-05,7.8579e-02,3.7176e-01,7.8106e-01,-2.3807e-02,4.7073e-03,-4.3021e-04,8.6858e-01,2.4272e-02
+29,1.7533e+01,DOWN_FORCE_DETACH,4.2706e-03,1.9999e-01,7.2492e-01,3.2242e+00,-8.6371e-02,5.0168e-02,3.5403e-05,7.9643e-02,3.8364e-01,7.8070e-01,-2.4494e-02,4.7239e-03,-4.1062e-04,8.7351e-01,2.4949e-02
+30,1.7917e+01,DOWN_FORCE_DETACH,4.4159e-03,2.2645e-01,7.9195e-01,3.2964e+00,-9.0701e-02,5.1893e-02,7.0618e-05,1.0610e-01,4.5068e-01,8.5289e-01,-2.8824e-02,6.4494e-03,-3.7541e-04,9.7046e-01,2.9539e-02
+31,1.8283e+01,DOWN_FORCE_DETACH,4.5591e-03,2.2614e-01,8.0587e-01,3.3223e+00,-9.1430e-02,5.1893e-02,7.5800e-05,1.0579e-01,4.6460e-01,8.7879e-01,-2.9553e-02,6.4490e-03,-3.7023e-04,9.9966e-01,3.0251e-02
+32,1.8683e+01,DOWN_FORCE_DETACH,4.7136e-03,2.0975e-01,8.2345e-01,3.3475e+00,-9.2396e-02,5.0796e-02,9.8540e-05,8.9402e-02,4.8217e-01,9.0396e-01,-3.0520e-02,5.3515e-03,-3.4749e-04,1.0284e+00,3.0987e-02
+33,1.9083e+01,DOWN_FORCE_DETACH,4.8591e-03,2.2573e-01,8.3416e-01,3.3948e+00,-9.2927e-02,5.1802e-02,1.1657e-04,1.0538e-01,4.9289e-01,9.5127e-01,-3.1051e-02,6.3581e-03,-3.2946e-04,1.0766e+00,3.1697e-02
+34,1.9467e+01,DOWN_FORCE_DETACH,5.0084e-03,2.0649e-01,8.8164e-01,3.4086e+00,-9.5877e-02,5.0476e-02,1.2599e-04,8.6141e-02,5.4036e-01,9.6512e-01,-3.4000e-02,5.0314e-03,-3.2004e-04,1.1094e+00,3.4372e-02
+35,1.9817e+01,DOWN_FORCE_DETACH,5.1526e-03,1.9808e-01,9.2536e-01,3.4571e+00,-9.8502e-02,4.9804e-02,1.5086e-04,7.7734e-02,5.8408e-01,1.0136e+00,-3.6626e-02,4.3604e-03,-2.9517e-04,1.1724e+00,3.6886e-02
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Fixed/digit/cylinder_PLA_10/press_depth_01/up/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
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Fixed/digit/cylinder_PLA_10/press_depth_01/up/franka_data.csv

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Fixed/digit/cylinder_PLA_10/press_depth_01/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+18,1.933333333e+00,UP_FORCE_RAMP,1792921113194208879,1.215628446e-05,-3.096947735e-04,3.294441161e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.265478209e-05,-3.022022132e-04,3.128273265e-05,7.019677891e-01,-3.319655085e-04,8.601760317e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027580413e-01,-4.193361670e-04,8.303569389e-01
+19,2.066666667e+00,UP_FORCE_RAMP,1792921113325276602,1.091828839e-05,-3.130938255e-04,3.041297601e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.272319143e-05,-3.022152940e-04,3.130810132e-05,7.019665511e-01,-3.353645605e-04,8.601735002e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027581097e-01,-4.193492478e-04,8.303569643e-01
+20,2.216666667e+00,UP_FORCE_RAMP,1792921113472493797,1.245838292e-05,-3.085995911e-04,3.155862676e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.279192730e-05,-3.022281906e-04,3.133391810e-05,7.019680912e-01,-3.308703261e-04,8.601746459e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027581785e-01,-4.193621444e-04,8.303569901e-01
+21,2.333333333e+00,UP_FORCE_RAMP,1792921113587149180,1.112837449e-05,-3.075512635e-04,3.022176463e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.283998140e-05,-3.022373070e-04,3.135233680e-05,7.019667612e-01,-3.298219985e-04,8.601733090e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027582265e-01,-4.193712608e-04,8.303570086e-01
+22,2.500000000e+00,UP_FORCE_RAMP,1792921113750618968,1.019502796e-05,-3.141686569e-04,2.797785135e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.290174310e-05,-3.022489327e-04,3.137636794e-05,7.019658278e-01,-3.364393920e-04,8.601710651e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027582883e-01,-4.193828865e-04,8.303570326e-01
+23,2.683333333e+00,UP_FORCE_RAMP,1792921113930971686,9.788724365e-06,-3.086320824e-04,2.884241699e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.296154045e-05,-3.022600102e-04,3.140014012e-05,7.019654215e-01,-3.309028175e-04,8.601719297e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027583481e-01,-4.193939640e-04,8.303570564e-01
+24,2.833333333e+00,UP_FORCE_RAMP,1792921114078652845,9.683915527e-06,-3.088138767e-04,2.973207462e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.300487432e-05,-3.022682145e-04,3.141778138e-05,7.019653167e-01,-3.310846117e-04,8.601728193e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027583914e-01,-4.194021683e-04,8.303570740e-01
+25,3.050000000e+00,UP_FORCE_RAMP,1792921114291910432,1.053544702e-05,-3.081502368e-04,3.215312497e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.306012193e-05,-3.022786341e-04,3.144072549e-05,7.019661683e-01,-3.304209719e-04,8.601752404e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027584467e-01,-4.194125879e-04,8.303570969e-01
+26,3.250000000e+00,UP_FORCE_RAMP,1792921114487870885,7.702920991e-06,-3.112528737e-04,2.866174014e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.310440614e-05,-3.022869530e-04,3.145954636e-05,7.019633357e-01,-3.335236088e-04,8.601717490e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027584909e-01,-4.194209068e-04,8.303571158e-01
+27,3.450000000e+00,UP_FORCE_RAMP,1792921114701246665,8.116313897e-06,-3.086892974e-04,3.156496842e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.314325021e-05,-3.022942866e-04,3.147641389e-05,7.019637491e-01,-3.309600324e-04,8.601746522e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027585298e-01,-4.194282404e-04,8.303571326e-01
+28,3.650000000e+00,UP_FORCE_RAMP,1792921114949546607,5.731374680e-06,-3.043688623e-04,2.737152127e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.317736932e-05,-3.023007293e-04,3.149154568e-05,7.019613642e-01,-3.266395973e-04,8.601704588e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027585639e-01,-4.194346831e-04,8.303571478e-01
+29,3.850000000e+00,UP_FORCE_RAMP,1792921115143565096,2.924298669e-06,-3.050431145e-04,2.992889113e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.320739968e-05,-3.023063177e-04,3.150514184e-05,7.019585571e-01,-3.273138495e-04,8.601730161e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027585939e-01,-4.194402715e-04,8.303571614e-01
+30,4.066666667e+00,UP_FORCE_RAMP,1792921115356210325,2.564711739e-06,-3.090682025e-04,3.595997337e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.323583275e-05,-3.023117913e-04,3.151832462e-05,7.019581975e-01,-3.313389376e-04,8.601790472e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027586224e-01,-4.194457451e-04,8.303571745e-01
+31,4.233333333e+00,UP_FORCE_RAMP,1792921115537320430,-1.871493776e-06,-3.020700408e-04,3.961383802e-05,1.097319944e-05,-3.140653925e-04,3.177494613e-05,1.325524469e-05,-3.023154870e-04,3.152748079e-05,7.019537613e-01,-3.243407758e-04,8.601827011e-01,7.019666060e-01,-3.363361275e-04,8.601748622e-01,7.027586418e-01,-4.194494408e-04,8.303571837e-01
+32,4.366666667e+00,UP_FORCE_RAMP,1792921115668267901,2.271671115e-06,-3.023084724e-04,5.213058350e-05,2.264154914e-06,-3.059847997e-04,4.806197001e-05,4.337131597e-06,-2.945349795e-04,4.747280543e-05,7.019579045e-01,-3.245792075e-04,8.601952178e-01,7.019578970e-01,-3.282555347e-04,8.601911492e-01,7.027497237e-01,-4.116689333e-04,8.303731290e-01
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+34,4.716666667e+00,UP_FORCE_RAMP,1792921116011833245,-5.872183454e-06,-2.996016914e-04,6.965814600e-05,-1.147453069e-06,-3.005028671e-04,6.802739532e-05,8.953285286e-07,-2.892211830e-04,6.712214902e-05,7.019497606e-01,-3.218724264e-04,8.602127454e-01,7.019544854e-01,-3.227736021e-04,8.602111146e-01,7.027462819e-01,-4.063551368e-04,8.303927784e-01
+35,4.766666667e+00,UP_FORCE_RAMP,1792921116062308400,-3.361548619e-05,-2.991956189e-04,6.798547255e-05,-3.318762116e-05,-2.992430940e-04,6.821037365e-05,-3.247908932e-05,-2.880007422e-04,6.730087424e-05,7.019220173e-01,-3.214663539e-04,8.602110727e-01,7.019224452e-01,-3.215138290e-04,8.602112976e-01,7.027129074e-01,-4.051346960e-04,8.303929571e-01
+36,4.833333333e+00,UP_FORCE_RAMP,1792921116126650752,-4.337587017e-05,-2.926026263e-04,7.338103587e-05,-4.909873687e-05,-2.855688775e-04,6.564832334e-05,-4.938214913e-05,-2.748264333e-04,6.481215639e-05,7.019122569e-01,-3.148733613e-04,8.602164683e-01,7.019065341e-01,-3.078396126e-04,8.602087356e-01,7.026960044e-01,-3.919603871e-04,8.303904684e-01
+37,5.000000000e+00,UP_FORCE_RAMP,1792921116290109754,-4.288730367e-05,-2.889648143e-04,9.212563401e-05,-4.233835365e-05,-2.850794319e-04,8.676173012e-05,-4.243871146e-05,-2.742916694e-04,8.551256685e-05,7.019127455e-01,-3.112355493e-04,8.602352129e-01,7.019132945e-01,-3.073501670e-04,8.602298490e-01,7.027029478e-01,-3.914256232e-04,8.304111688e-01
+38,5.133333333e+00,UP_FORCE_RAMP,1792921116420775561,-4.438046831e-05,-2.879219599e-04,1.005998529e-04,-4.233835365e-05,-2.850794319e-04,8.676173012e-05,-4.255114334e-05,-2.742725852e-04,8.568526865e-05,7.019112523e-01,-3.101926949e-04,8.602436871e-01,7.019132945e-01,-3.073501670e-04,8.602298490e-01,7.027028354e-01,-3.914065390e-04,8.304113415e-01
+39,5.283333333e+00,UP_FORCE_RAMP,1792921116569012359,-4.420603694e-05,-2.878059316e-04,1.166532098e-04,-4.369963727e-05,-2.866233272e-04,1.106211843e-04,-4.385458544e-05,-2.756990083e-04,1.091059312e-04,7.019114268e-01,-3.100766666e-04,8.602597404e-01,7.019119332e-01,-3.088940622e-04,8.602537084e-01,7.027015319e-01,-3.928329621e-04,8.304347621e-01
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+53,7.416666667e+00,UP_SETTLE,1792921118714220758,-9.052849104e-05,-2.702903026e-04,2.468454722e-04,-8.826028760e-05,-2.656085630e-04,2.467076764e-04,-9.030819439e-05,-2.552371187e-04,2.446556275e-04,7.018651043e-01,-2.925610377e-04,8.603899327e-01,7.018673725e-01,-2.878792980e-04,8.603897949e-01,7.026550783e-01,-3.723710725e-04,8.305703118e-01
+54,7.566666667e+00,UP_SETTLE,1792921118894792718,-9.535701013e-05,-2.639154863e-04,2.538281251e-04,-8.826028760e-05,-2.656085630e-04,2.467076764e-04,-9.045039727e-05,-2.552172446e-04,2.449474976e-04,7.018602758e-01,-2.861862213e-04,8.603969154e-01,7.018673725e-01,-2.878792980e-04,8.603897949e-01,7.026549361e-01,-3.723511984e-04,8.305706037e-01
+55,7.733333333e+00,UP_SETTLE,1792921119058420682,-9.486230418e-05,-2.655294677e-04,2.602114845e-04,-8.826028760e-05,-2.656085630e-04,2.467076764e-04,-9.055018062e-05,-2.552005091e-04,2.451376243e-04,7.018607705e-01,-2.878002027e-04,8.604032987e-01,7.018673725e-01,-2.878792980e-04,8.603897949e-01,7.026548364e-01,-3.723344629e-04,8.305707938e-01
+56,7.900000000e+00,UP_SETTLE,1792921119222613147,-9.467598665e-05,-2.683697947e-04,2.666328198e-04,-9.430643129e-05,-2.682153622e-04,2.665349806e-04,-9.665560118e-05,-2.576854539e-04,2.644360627e-04,7.018609568e-01,-2.906405297e-04,8.604097201e-01,7.018613264e-01,-2.904860972e-04,8.604096222e-01,7.026487309e-01,-3.748194077e-04,8.305900923e-01
+57,8.066666667e+00,UP_SETTLE,1792921119402418710,-9.848365156e-05,-2.678826946e-04,2.658186853e-04,-9.430643129e-05,-2.682153622e-04,2.665349806e-04,-9.681885595e-05,-2.576708776e-04,2.648281881e-04,7.018571492e-01,-2.901534296e-04,8.604089059e-01,7.018613264e-01,-2.904860972e-04,8.604096222e-01,7.026485677e-01,-3.748048314e-04,8.305904844e-01
+58,8.216666667e+00,UP_SETTLE,1792921119550546052,-9.922753402e-05,-2.648705325e-04,2.673261247e-04,-9.430643129e-05,-2.682153622e-04,2.665349806e-04,-9.689595723e-05,-2.576580850e-04,2.649917331e-04,7.018564053e-01,-2.871412676e-04,8.604104134e-01,7.018613264e-01,-2.904860972e-04,8.604096222e-01,7.026484906e-01,-3.747920388e-04,8.305906479e-01
+59,8.383333333e+00,UP_SETTLE,1792921119730214825,-9.700379611e-05,-2.654505968e-04,2.760211566e-04,-9.430643129e-05,-2.682153622e-04,2.665349806e-04,-9.696384676e-05,-2.576463896e-04,2.651331284e-04,7.018586290e-01,-2.877213319e-04,8.604191084e-01,7.018613264e-01,-2.904860972e-04,8.604096222e-01,7.026484227e-01,-3.747803434e-04,8.305907893e-01

Fixed/digit/cylinder_PLA_10/press_depth_01/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.2442e-01,3.4123e-01,2.4423e+00,-6.1869e-02,4.5739e-02,4.2288e-04,-1.0690e-04,-1.1772e-05,3.8147e-05,7.1153e-07,-6.8620e-06,-1.8999e-07,1.1411e-04,6.9014e-06
+1,2.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,4.0460e-05,1.3843e-01,3.3963e-01,2.4423e+00,-6.1751e-02,4.6752e-02,3.4354e-04,1.3905e-02,-1.6123e-03,5.0068e-05,1.1833e-04,1.0059e-03,-7.9524e-05,1.3998e-02,1.0159e-03
+2,3.8333e-01,WAIT_W2,8.0389e-05,1.4650e-01,3.3941e-01,2.4381e+00,-6.1725e-02,4.7342e-02,2.8951e-04,2.1972e-02,-1.8314e-03,-4.1223e-03,1.4418e-04,1.5962e-03,-1.3355e-04,2.2430e-02,1.6083e-03
+3,5.5000e-01,WAIT_W2,1.2090e-04,1.5300e-01,3.3864e-01,2.4396e+00,-6.1667e-02,4.7816e-02,2.4537e-04,2.8475e-02,-2.6070e-03,-2.5864e-03,2.0228e-04,2.0705e-03,-1.7770e-04,2.8711e-02,2.0880e-03
+4,7.1667e-01,WAIT_W2,1.5777e-04,1.5862e-01,3.3818e-01,2.4385e+00,-6.1632e-02,4.8216e-02,2.1560e-04,3.4094e-02,-3.0634e-03,-3.7417e-03,2.3790e-04,2.4703e-03,-2.0747e-04,3.4436e-02,2.4904e-03
+5,8.5000e-01,WAIT_W2,1.9589e-04,1.6098e-01,3.3797e-01,2.4368e+00,-6.1615e-02,4.8389e-02,1.9716e-04,3.6455e-02,-3.2736e-03,-5.4169e-03,2.5502e-04,2.6438e-03,-2.2591e-04,3.7001e-02,2.6656e-03
+6,1.0167e+00,WAIT_W2,2.3562e-04,1.6381e-01,3.3769e-01,2.4375e+00,-6.1592e-02,4.8597e-02,1.7657e-04,3.9281e-02,-3.5578e-03,-4.7641e-03,2.7727e-04,2.8510e-03,-2.4650e-04,3.9729e-02,2.8750e-03
+7,1.0667e+00,WAIT_W2,2.9102e-04,1.7321e-01,6.1332e-01,2.4315e+00,-8.1542e-02,4.9282e-02,3.2874e-04,4.8690e-02,2.7208e-01,-1.0781e-02,-1.9673e-02,3.5367e-03,-9.4324e-05,2.7661e-01,1.9988e-02
+8,1.0667e+00,WAIT_W2,2.9102e-04,1.7321e-01,6.1332e-01,2.4315e+00,-8.1542e-02,4.9282e-02,3.2874e-04,4.8690e-02,2.7208e-01,-1.0781e-02,-1.9673e-02,3.5367e-03,-9.4324e-05,2.7661e-01,1.9988e-02
+9,1.0833e+00,WAIT_W2,3.5552e-04,1.5754e-01,8.9446e-01,2.4008e+00,-1.0189e-01,4.8167e-02,5.3811e-04,3.3017e-02,5.5321e-01,-4.1442e-02,-4.0023e-02,2.4210e-03,1.1504e-04,5.5574e-01,4.0096e-02
+10,1.1000e+00,WAIT_W2,3.9058e-04,1.6699e-01,1.5670e+00,2.3781e+00,-1.5028e-01,4.8883e-02,9.5194e-04,4.2468e-02,1.2257e+00,-6.4103e-02,-8.8406e-02,3.1369e-03,5.2887e-04,1.2281e+00,8.8464e-02
+11,1.1167e+00,WAIT_W2,4.2610e-04,1.5273e-01,1.8873e+00,2.3617e+00,-1.7365e-01,4.7869e-02,1.4020e-03,2.8210e-02,1.5460e+00,-8.0569e-02,-1.1178e-01,2.1233e-03,9.7893e-04,1.5484e+00,1.1181e-01
+12,1.1500e+00,WAIT_W2,4.7958e-04,1.5637e-01,2.4986e+00,2.3409e+00,-2.1801e-01,4.8164e-02,1.7724e-03,3.1849e-02,2.1573e+00,-1.0133e-01,-1.5614e-01,2.4186e-03,1.3493e-03,2.1599e+00,1.5616e-01
+13,1.1667e+00,WAIT_W2,5.0804e-04,1.5749e-01,2.7592e+00,2.3359e+00,-2.3693e-01,4.8257e-02,1.9448e-03,3.2967e-02,2.4180e+00,-1.0636e-01,-1.7506e-01,2.5116e-03,1.5218e-03,2.4206e+00,1.7508e-01
+14,1.2667e+00,WAIT_W2,5.5544e-04,1.7159e-01,3.2392e+00,2.3511e+00,-2.7181e-01,4.9273e-02,2.2460e-03,4.7064e-02,2.8979e+00,-9.1120e-02,-2.0994e-01,3.5275e-03,1.8230e-03,2.8998e+00,2.0998e-01
+15,1.4000e+00,WAIT_W2,5.9643e-04,1.7698e-01,3.4284e+00,2.3523e+00,-2.8596e-01,4.9602e-02,2.2878e-03,5.2453e-02,3.0872e+00,-8.9912e-02,-2.2409e-01,3.8568e-03,1.8647e-03,3.0890e+00,2.2413e-01
+16,1.5167e+00,WAIT_W2,6.3545e-04,2.0164e-01,3.4189e+00,2.3632e+00,-2.8516e-01,5.1450e-02,2.0056e-03,7.7111e-02,3.0777e+00,-7.9032e-02,-2.2329e-01,5.7044e-03,1.5826e-03,3.0797e+00,2.2337e-01
+17,1.7167e+00,UP_FORCE_RAMP,6.7461e-04,2.2256e-01,3.4161e+00,2.3698e+00,-2.8486e-01,5.2960e-02,1.7886e-03,9.8041e-02,3.0749e+00,-7.2469e-02,-2.2299e-01,7.2145e-03,1.3656e-03,3.0773e+00,2.2311e-01
+18,1.9333e+00,UP_FORCE_RAMP,7.1710e-04,2.4342e-01,3.4132e+00,2.3744e+00,-2.8457e-01,5.4467e-02,1.5683e-03,1.1890e-01,3.0720e+00,-6.7804e-02,-2.2270e-01,8.7210e-03,1.1452e-03,3.0750e+00,2.2287e-01
+19,2.0667e+00,UP_FORCE_RAMP,7.5507e-04,2.5558e-01,3.4113e+00,2.3792e+00,-2.8439e-01,5.5342e-02,1.4458e-03,1.3105e-01,3.0700e+00,-6.3049e-02,-2.2252e-01,9.5960e-03,1.0228e-03,3.0735e+00,2.2273e-01
+20,2.2167e+00,UP_FORCE_RAMP,7.9487e-04,2.7079e-01,3.4090e+00,2.3878e+00,-2.8417e-01,5.6437e-02,1.2897e-03,1.4627e-01,3.0678e+00,-5.4420e-02,-2.2230e-01,1.0692e-02,8.6664e-04,3.0717e+00,2.2256e-01
+21,2.3333e+00,UP_FORCE_RAMP,8.3467e-04,2.7624e-01,3.4083e+00,2.3874e+00,-2.8410e-01,5.6829e-02,1.2378e-03,1.5171e-01,3.0671e+00,-5.4799e-02,-2.2223e-01,1.1084e-02,8.1470e-04,3.0713e+00,2.2251e-01
+22,2.5000e+00,UP_FORCE_RAMP,8.7329e-04,2.8848e-01,3.4066e+00,2.3943e+00,-2.8393e-01,5.7713e-02,1.1107e-03,1.6396e-01,3.0654e+00,-4.7916e-02,-2.2206e-01,1.1967e-02,6.8759e-04,3.0702e+00,2.2239e-01
+23,2.6833e+00,UP_FORCE_RAMP,9.1251e-04,3.0008e-01,3.4053e+00,2.3970e+00,-2.8379e-01,5.8544e-02,9.9766e-04,1.7555e-01,3.0640e+00,-4.5182e-02,-2.2192e-01,1.2799e-02,5.7459e-04,3.0694e+00,2.2229e-01
+24,2.8333e+00,UP_FORCE_RAMP,9.5407e-04,3.0662e-01,3.4044e+00,2.3999e+00,-2.8370e-01,5.9016e-02,9.3102e-04,1.8209e-01,3.0632e+00,-4.2301e-02,-2.2183e-01,1.3270e-02,5.0796e-04,3.0689e+00,2.2223e-01
+25,3.0500e+00,UP_FORCE_RAMP,9.9261e-04,3.1535e-01,3.4033e+00,2.4048e+00,-2.8358e-01,5.9646e-02,8.4229e-04,1.9083e-01,3.0620e+00,-3.7416e-02,-2.2171e-01,1.3900e-02,4.1922e-04,3.0682e+00,2.2215e-01
+26,3.2500e+00,UP_FORCE_RAMP,1.0320e-03,3.2325e-01,3.4023e+00,2.4074e+00,-2.8348e-01,6.0212e-02,7.6433e-04,1.9872e-01,3.0611e+00,-3.4870e-02,-2.2161e-01,1.4467e-02,3.4126e-04,3.0677e+00,2.2209e-01
+27,3.4500e+00,UP_FORCE_RAMP,1.0754e-03,3.2993e-01,3.4015e+00,2.4110e+00,-2.8339e-01,6.0693e-02,6.9675e-04,2.0540e-01,3.0602e+00,-3.1199e-02,-2.2152e-01,1.4947e-02,2.7368e-04,3.0673e+00,2.2203e-01
+28,3.6500e+00,UP_FORCE_RAMP,1.1116e-03,3.3600e-01,3.4007e+00,2.4132e+00,-2.8332e-01,6.1128e-02,6.3687e-04,2.1147e-01,3.0595e+00,-2.9043e-02,-2.2145e-01,1.5383e-02,2.1380e-04,3.0669e+00,2.2198e-01
+29,3.8500e+00,UP_FORCE_RAMP,1.1516e-03,3.4179e-01,3.4000e+00,2.4153e+00,-2.8324e-01,6.1545e-02,5.7660e-04,2.1727e-01,3.0588e+00,-2.6952e-02,-2.2137e-01,1.5799e-02,1.5353e-04,3.0666e+00,2.2193e-01
+30,4.0667e+00,UP_FORCE_RAMP,1.1929e-03,3.4651e-01,3.3995e+00,2.4173e+00,-2.8318e-01,6.1882e-02,5.3202e-04,2.2199e-01,3.0582e+00,-2.4908e-02,-2.2131e-01,1.6137e-02,1.0896e-04,3.0664e+00,2.2190e-01
+31,4.2333e+00,UP_FORCE_RAMP,1.2283e-03,3.4938e-01,3.3990e+00,2.4205e+00,-2.8313e-01,6.2092e-02,4.9850e-04,2.2486e-01,3.0578e+00,-2.1697e-02,-2.2126e-01,1.6347e-02,7.5428e-05,3.0661e+00,2.2186e-01
+32,4.3667e+00,UP_FORCE_RAMP,1.2717e-03,3.9394e-01,3.3224e+00,2.3594e+00,-2.7820e-01,6.5436e-02,2.4565e-05,2.6941e-01,2.9811e+00,-8.2792e-02,-2.1633e-01,1.9690e-02,-3.9850e-04,2.9944e+00,2.1722e-01
+33,4.5500e+00,UP_FORCE_RAMP,1.3090e-03,3.8717e-01,3.3275e+00,2.3702e+00,-2.7846e-01,6.4887e-02,3.8177e-05,2.6265e-01,2.9862e+00,-7.1987e-02,-2.1659e-01,1.9141e-02,-3.8489e-04,2.9986e+00,2.1743e-01
+34,4.7167e+00,UP_FORCE_RAMP,1.3529e-03,3.9833e-01,3.2742e+00,2.2935e+00,-2.7522e-01,6.5753e-02,-4.0367e-05,2.7380e-01,2.9329e+00,-1.4875e-01,-2.1335e-01,2.0007e-02,-4.6344e-04,2.9494e+00,2.1429e-01
+35,4.7667e+00,UP_FORCE_RAMP,1.3858e-03,3.9672e-01,3.2736e+00,2.3046e+00,-2.7519e-01,6.5648e-02,-5.1953e-05,2.7220e-01,2.9324e+00,-1.3766e-01,-2.1332e-01,1.9903e-02,-4.7502e-04,2.9482e+00,2.1425e-01
+36,4.8333e+00,UP_FORCE_RAMP,1.4288e-03,6.6859e-01,3.1359e+00,2.3260e+00,-2.6512e-01,8.5229e-02,-2.3828e-03,5.4407e-01,2.7947e+00,-1.1625e-01,-2.0325e-01,3.9483e-02,-2.8059e-03,2.8495e+00,2.0707e-01
+37,5.0000e+00,UP_FORCE_RAMP,1.4717e-03,5.4111e-01,3.1493e+00,2.2309e+00,-2.6668e-01,7.6062e-02,-1.8300e-03,4.1659e-01,2.8080e+00,-2.1132e-01,-2.0481e-01,3.0316e-02,-2.2531e-03,2.8466e+00,2.0706e-01
+38,5.1333e+00,UP_FORCE_RAMP,1.5080e-03,5.1641e-01,3.1464e+00,2.2872e+00,-2.6631e-01,7.4430e-02,-1.5735e-03,3.9188e-01,2.8051e+00,-1.5503e-01,-2.0444e-01,2.8684e-02,-1.9965e-03,2.8366e+00,2.0646e-01
+39,5.2833e+00,UP_FORCE_RAMP,1.5505e-03,5.1349e-01,3.1640e+00,2.1911e+00,-2.6825e-01,7.4269e-02,-1.4159e-03,3.8897e-01,2.8227e+00,-2.5115e-01,-2.0638e-01,2.8523e-02,-1.8389e-03,2.8604e+00,2.0835e-01
+40,5.3833e+00,UP_FORCE_RAMP,1.5891e-03,4.9501e-01,3.1662e+00,2.2197e+00,-2.6824e-01,7.2830e-02,-1.2524e-03,3.7049e-01,2.8249e+00,-2.2253e-01,-2.0637e-01,2.7084e-02,-1.6754e-03,2.8578e+00,2.0815e-01
+41,5.5167e+00,UP_FORCE_RAMP,1.6286e-03,4.9286e-01,3.0950e+00,2.1625e+00,-2.6363e-01,7.2703e-02,-1.2131e-03,3.6833e-01,2.7537e+00,-2.7973e-01,-2.0176e-01,2.6957e-02,-1.6361e-03,2.7923e+00,2.0356e-01
+42,5.6500e+00,UP_FORCE_RAMP,1.6698e-03,4.7800e-01,3.0933e+00,2.1996e+00,-2.6340e-01,7.1707e-02,-1.1802e-03,3.5347e-01,2.7521e+00,-2.4261e-01,-2.0154e-01,2.5961e-02,-1.6033e-03,2.7853e+00,2.0321e-01
+43,5.8333e+00,UP_FORCE_RAMP,1.7083e-03,5.1701e-01,3.1210e+00,2.1072e+00,-2.6571e-01,7.4498e-02,-1.1791e-03,3.9248e-01,2.7798e+00,-3.3500e-01,-2.0384e-01,2.8753e-02,-1.6022e-03,2.8273e+00,2.0586e-01
+44,5.9833e+00,UP_FORCE_HOLD,1.7468e-03,4.8804e-01,3.1276e+00,2.1894e+00,-2.6605e-01,7.2514e-02,-1.1811e-03,3.6352e-01,2.7864e+00,-2.5286e-01,-2.0418e-01,2.6769e-02,-1.6042e-03,2.8214e+00,2.0594e-01
+45,6.1500e+00,UP_FORCE_HOLD,1.7894e-03,4.8046e-01,3.0787e+00,2.1296e+00,-2.6281e-01,7.1854e-02,-1.1280e-03,3.5594e-01,2.7375e+00,-3.1267e-01,-2.0094e-01,2.6108e-02,-1.5511e-03,2.7782e+00,2.0263e-01
+46,6.2833e+00,UP_SETTLE,1.8250e-03,4.6714e-01,3.0817e+00,2.1660e+00,-2.6296e-01,7.0962e-02,-1.1010e-03,3.4261e-01,2.7405e+00,-2.7618e-01,-2.0109e-01,2.5217e-02,-1.5241e-03,2.7756e+00,2.0267e-01
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Fixed/digit/cylinder_PLA_10/press_depth_02/down/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fb51fb7a012e61839edb1ff6aa9d5bcbe43633a0db8164ee035a53fa67a6bae2
+size 624640

Fixed/digit/cylinder_PLA_10/press_depth_02/down/franka_data.csv

@@ -0,0 +1,61 @@
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+9476,1792921179262353520,746250000000,1792921179259329636,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6760000062854171,-0.004862708261052757,0.09970535028319302,0.999999977068312,-9.60039886878401e-05,-0.00012291659045655164,0.00011393412911895702,0.6761,-0.0046,0.09976688082340726,1.0,0.0,0.0,0.0,-0.26650533786816266,0.078163579160063,0.5003639120406236,0.006645123974707318,0.017550771035304648,0.0009480525429799657,0.9380364103295019,1.3038944706542752,0.8546294030824063,0.08724635697542449,-0.06167803749411923,0.0035749249701955525,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.431638698002108,0.9457805743663226,0.0205842613619735,0.17368665031754493,0.2987667972816684,0.5875250074195179,1.1210382144179905,-0.5003639120406236,1.100453953056017,1.100453953056017,1.138813548723562,0,0,-4.6686714590055856e-05,6.618179686886311e-06
+9576,1792921180095345583,747083000000,1792921180091330731,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.676010168641939,-0.004861398251106204,0.0996867233501886,0.999999978605218,-8.914533352614278e-05,-0.00010815735328358414,0.00012077882313291082,0.6761,-0.0046,0.09972602139645474,1.0,0.0,0.0,0.0,-0.2854396804386178,0.0813484013254051,0.591402964479874,0.006619252030998848,0.018544195159168185,0.0008881348487010448,0.9191020677590468,1.3070792928196173,0.9456684555216568,0.08722048503171602,-0.06068461337025569,0.0035150072759166317,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.471423426157665,0.9529725326200346,-0.061424041541768525,0.20503387385478067,0.35099634845622046,0.5900768037786019,1.1210382144179905,-0.591402964479874,1.182462255959759,1.182462255959759,1.2637635487236407,0,0,-4.9535393519010935e-05,-9.998275404677343e-05
+9690,1792921181045464931,748033000000,1792921181039330613,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6760194360637434,-0.004865489157934066,0.09966159646804883,0.9999999784270404,-8.501634141842192e-05,-9.955163977088424e-05,0.00013210024980090087,0.6761,-0.0046,0.099681399271552,1.0,0.0,0.0,0.0,-0.28625266554877105,0.08545447507803994,0.7001302643574594,0.006923320631902194,0.01935565051291386,0.0008163739373209136,0.9182890826488935,1.3111853665722522,1.0543957553992422,0.08752455363261936,-0.05987315801651002,0.0034432463645365004,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.4643857726779625,0.9047271689973035,-0.24511919423277037,0.2751578794756688,0.4584382277340715,0.5720577584731502,1.1210382144179905,-0.7001302643574594,1.3661574086507609,1.3661574086507609,1.4062635487237305,0,0,-4.616912694651692e-05,-1.978021354592567e-05
+9773,1792921181737553968,748725000000,1792921181735330519,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6760208957430467,-0.004866787868948427,0.09963877719810169,0.999999978111152,-8.437983085656992e-05,-9.564095678492998e-05,0.00013767138953508674,0.6761,-0.0046,0.09964857587130856,1.0,0.0,0.0,0.0,-0.29752915073421193,0.07986497796371483,0.7672671206604753,0.006527331899585501,0.019606917017597973,0.0007588400430800502,0.9070125974634526,1.305595869457927,1.1215326117022582,0.08712856490030267,-0.059621891511825904,0.003385712470295637,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.5310593888865025,0.9165767170349031,-0.30862735593027923,0.3069633125796081,0.5077108243175876,0.5790442518604002,1.1210382144179905,-0.7672671206604753,1.4296655703482697,1.4296655703482697,1.510063548723796,0,0,-4.994055603366044e-05,-9.997198488343457e-05
+9836,1792921182262558515,749250000000,1792921182255330246,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6760247537837284,-0.0048731883339823276,0.09962485116049746,0.9999999775720876,-8.901852354838093e-05,-8.937225724368803e-05,0.00014278301979485226,0.6761,-0.0046,0.09962269956138861,1.0,0.0,0.0,0.0,-0.31440529267644945,0.07620764805109959,0.8145293666448281,0.006477272277993232,0.021508215380266538,0.00034094250570125594,0.8901364555212151,1.3019385395453118,1.168794857686611,0.0870785052787104,-0.05772059314915734,0.0029678149329168428,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.5251177008129773,0.8767724567388527,-0.4199646577325828,0.3522036015457744,0.569528213845928,0.5535601705911791,1.1210382144179905,-0.8145293666448281,1.5410028721505733,1.5410028721505733,1.5888135487238455,0,0,-5.15271031581214e-05,-5.904756292732565e-05
+9928,1792921183028560695,750016000000,1792921183023340545,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6760299944576703,-0.00487319761916794,0.09959568559165585,0.999999977591947,-8.40070500418385e-05,-7.999637701701563e-05,0.00015100452033387627,0.6761,-0.0046,0.09958324246683221,1.0,0.0,0.0,0.0,-0.3246646888521376,0.06936715274020466,0.8886518964652448,0.005412866130959829,0.022553661929021494,0.0006761154826372853,0.879877059345527,1.2950980442344169,1.2429173875070276,0.086014099131677,-0.05667514660040238,0.003302987909852872,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.5101982349697483,0.9044544079620657,-0.535876134774305,0.37853268233749304,0.6314043279358975,0.5693412309975197,1.1210382144179905,-0.8886518964652448,1.6569143491922955,1.6569143491922955,1.703713548723918,0,0,-5.206758034245467e-05,-4.132786965143605e-05
+10022,1792921183812633555,750800000000,1792921183807340822,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6760400070350313,-0.004871721840523831,0.09957132140269885,0.9999999783549949,-8.477802501096175e-05,-6.354784145591018e-05,0.00015332068481081724,0.6761,-0.0046,0.0995415344644593,1.0,0.0,0.0,0.0,-0.34109289751815686,0.05698839769414166,0.9567905810098722,0.004359096145434116,0.02335024422474459,0.0006382044861948117,0.8634488506795077,1.2827192891883539,1.311056072051655,0.08496032914615129,-0.05587856430467929,0.0032650769134103985,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.6044896122853487,0.8907838108032543,-0.6249063512898744,0.3928382404591441,0.7112260046459924,0.562373672334799,1.1210382144179905,-0.9567905810098722,1.7459445657078647,1.7459445657078647,1.821313548723992,0,0,-5.396921654995802e-05,-8.13643833127486e-05
+10105,1792921184503757593,751491000000,1792921184503339925,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6760435822813927,-0.004874676243617417,0.0995406493344588,0.999999977993664,-8.948174190751435e-05,-5.607696262307434e-05,0.0001558971713620001,0.6761,-0.0046,0.09949862083639315,1.0,0.0,0.0,0.0,-0.34199893908007195,0.052649310615285216,1.0205031568013345,0.004337851263820081,0.02356268757340256,0.0005534018917645808,0.8625428091175926,1.2783802021094974,1.3747686478431174,0.08493908426453725,-0.05566612095602132,0.0031802743189801677,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.6178083983899414,0.848419983108742,-0.7370025897643921,0.4074662331847615,0.7836837664666441,0.5299566659172396,1.1210382144179905,-1.0205031568013345,1.8580408041823826,1.8580408041823826,1.9249635487240573,0,0,-6.889295697395793e-05,-9.149550147936054e-05
+10191,1792921185220744536,752208000000,1792921185215339625,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.676050871711947,-0.004876610976957569,0.09950142288481698,0.9999999785627054,-9.225818863847848e-05,-4.392772592994909e-05,0.00015451936692628806,0.6761,-0.0046,0.09944398360404433,1.0,0.0,0.0,0.0,-0.3422667341923984,0.06491603108563493,1.1005939015130786,0.004306989599988029,0.02452952677791642,-0.00044793483116770724,0.8622750140052662,1.2906469225798471,1.4548593925548614,0.0849082226007052,-0.054699281751507456,0.0021789375960478796,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.6615081526417474,0.872447810946832,-0.8362096904742987,0.3990278633689432,0.8603597085959308,0.5509087166316149,1.1210382144179905,-1.1005939015130786,1.9572479048922893,1.9572479048922893,2.032513548724125,0,0,-8.327628947436622e-05,-7.113619317006747e-05
+10280,1792921185962886589,752950000000,1792921185959339219,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6760590364706853,-0.0048757296059718245,0.09945337245423327,0.9999999781608265,-0.00010375515920860505,-3.0408897133676552e-05,0.0001530731090091632,0.6761,-0.0046,0.09937862369627616,1.0,0.0,0.0,0.0,-0.35106734863339906,0.055186240341525306,1.1948052618021516,0.0033080586931315686,0.02455420016766132,0.00042084814656899406,0.8534743995642655,1.2809171318357375,1.5490707528439345,0.08390929169384874,-0.05467460836176256,0.003047720573784581,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.6654574241817341,0.8569617322735259,-0.8723787243907983,0.40240498708823147,0.8811699457485853,0.537979520820406,1.1210382144179905,-1.1948052618021516,1.9934169388087888,1.9934169388087888,2.143813548724195,0,0,-9.216711876622175e-05,-9.999035907449211e-05
+10368,1792921186695954684,753683000000,1792921186691331109,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6760655404684954,-0.004878982698026523,0.09939702479174134,0.9999999780128358,-0.0001117571235134052,-1.940798463959051e-05,0.00015016946324595057,0.6761,-0.0046,0.09930800224461356,1.0,0.0,0.0,0.0,-0.33429945874161926,0.05792855305975664,1.2798442796155243,0.0032423712536211874,0.02461018248346042,0.00018039925351884777,0.8702422894560453,1.2836594445539689,1.6341097706573071,0.08384360425433836,-0.05461862604596346,0.0028072716807344346,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.709601740120179,0.9526165689940503,-1.0238834287495273,0.3741947879859925,0.9876106713959594,0.6033944621853182,1.1210382144179905,-1.2798442796155243,2.1449216431675175,2.1449216431675175,2.2537635487242644,0,0,-9.651139716157354e-05,-6.448578756946261e-05
+10443,1792921187320913738,754308000000,1792921187319339497,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6760733406287537,-0.004880679731009928,0.09935465983362855,0.9999999778963949,-0.00011951750384226502,-5.715660937598578e-06,0.00014605810988224842,0.6761,-0.0046,0.09924543023129254,1.0,0.0,0.0,0.0,-0.3350787088175069,0.05904712754272201,1.330386836020659,0.0032621676896393142,0.024126829597392437,-0.0004668830976120612,0.8694630393801577,1.2847780190369342,1.6846523270624418,0.08386340069035648,-0.05510197893203144,0.0021599893296035256,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.7163817717179026,0.9027358159008299,-1.105082684511987,0.3861047668379515,1.0392045256418654,0.5680462462788681,1.1210382144179905,-1.330386836020659,2.2261208989299774,2.2261208989299774,2.3475135487243235,0,0,-0.00010151012913159197,-9.885562787659836e-05
+10524,1792921187995991955,754983000000,1792921187995339616,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6760795536470502,-0.004886733130311741,0.09929896423156978,0.9999999762157668,-0.0001319590547773086,5.133079801654602e-06,0.00014687337961241485,0.6761,-0.0046,0.09917582888455083,1.0,0.0,0.0,0.0,-0.32014654014046295,0.04912772668272081,1.390868256286391,0.0022262777068637885,0.0244531058525776,-0.000371671249434144,0.8843952080572016,1.274858618176933,1.7451337473281738,0.08282751070758096,-0.054775702676846276,0.002255201177781443,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.7552020067056486,0.873047706759384,-1.2815724956043781,0.40454286033377873,1.1570545457667214,0.5527527588053914,1.1210382144179905,-1.390868256286391,2.4026107100223686,2.4026107100223686,2.4487635487243873,0,0,-0.00010265216227459272,9.99976032797278e-05
+10608,1792921188696123103,755683000000,1792921188695330007,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6760877253180234,-0.004881830670000663,0.09923968490836613,0.9999999755857116,-0.00013649682427152552,2.066473875488643e-05,0.00014564692179316795,0.6761,-0.0046,0.09909776771541241,1.0,0.0,0.0,0.0,-0.3229838507231323,0.03888435522463762,1.4305753884402599,0.001262467550376803,0.02454447667376826,-0.0007847793365280973,0.8815578974745323,1.2646152467188498,1.7848408794820427,0.08186370055109397,-0.05468433185565562,0.0018420930906874896,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.783318568914555,0.8008957927132476,-1.2329508809993346,0.42366269210652,1.1289276321234853,0.5018138838517177,1.1210382144179905,-1.4305753884402599,2.353989095417325,2.353989095417325,2.5537635487244534,0,0,-0.0001219660910143069,-9.999999025923074e-05
+10700,1792921189463178618,756450000000,1792921189459330438,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6760944328017906,-0.0048885106119964244,0.09915717028365384,0.9999999735426801,-0.00014376731355044293,3.2116806892196494e-05,0.00015052233612213083,0.6761,-0.0046,0.0989981524426727,1.0,0.0,0.0,0.0,-0.3226725348462658,0.01878335317087565,1.5200152781368232,0.00013997704346957462,0.024545712775875278,-0.0004956657688894961,0.8818692133513988,1.2445142446650879,1.874280769178606,0.08074121004418675,-0.0546830957535486,0.0021312066583260908,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.8238505558299238,0.916068152186704,-1.4540018093725036,0.3822356574921096,1.2815132532463451,0.5787257736005541,1.1210382144179905,-1.5200152781368232,2.575040023790494,2.575040023790494,2.668813548724526,0,0,-0.0001346230274798258,9.264345820903514e-05
+10779,1792921190121174764,757108000000,1792921190119330793,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.676100517532421,-0.004889370887534922,0.09907998712007456,0.9999999724316364,-0.0001473484563932644,4.2003934013560705e-05,0.00015199898904643197,0.6761,-0.0046,0.09890833514268974,1.0,0.0,0.0,0.0,-0.3126052317796153,-0.004440010205764011,1.59028325468314,-0.00169546006022267,0.02448419010720424,7.944886187532e-05,0.8919365164180493,1.2212908812884482,1.9445487457249229,0.0789057729404945,-0.054744618422219636,0.002706321289090907,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.8088995640762393,0.9065274908317783,-1.550466406227727,0.38396067361178293,1.334596496314068,0.5704393152438224,1.1210382144179905,-1.59028325468314,2.6715046206457176,2.6715046206457176,2.767513548724588,0,0,-0.00013782959358968482,9.964913202787357e-05
+10862,1792921190813214939,757800000000,1792921190811329757,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761061869874258,-0.004893894520639631,0.09899850374675419,0.9999999703296598,-0.00016103853867886902,5.1739141661191384e-05,0.00014890666267327647,0.6761,-0.0046,0.09881275157876278,1.0,0.0,0.0,0.0,-0.28446421038210956,-0.010878919171807278,1.6198834988262105,-0.002291637843547009,0.02294147562736879,3.2283129201094406e-05,0.920077537815555,1.214851972322405,1.9741489898679934,0.07830959515717016,-0.056287332902055086,0.0026591555564166812,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.775711899985921,0.9716191281747038,-1.5422020487441346,0.36772321934778757,1.313875405629077,0.6147598816002537,1.1210382144179905,-1.6198834988262105,2.663240263162125,2.663240263162125,2.8713135487246535,0,0,-0.00014441314871302258,-9.49787151968195e-05
+10944,1792921191496323305,758483000000,1792921191491329796,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761160806606082,-0.0048970990577492145,0.09891047983134554,0.9999999695829347,-0.00016243977569186302,6.521988448026628e-05,0.00014709411939078826,0.6761,-0.0046,0.09870771342383282,1.0,0.0,0.0,0.0,-0.27828282752758415,-0.006761147740409479,1.6595434147302865,-0.002894933202494121,0.022575588371059135,-0.0006662315217362724,0.9262589206700804,1.2189697437538027,2.0138089057720694,0.07770629979822305,-0.05665322015836474,0.0019606409054793144,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.9015528863006028,0.8998694469995266,-1.717712235440239,0.39427198630313365,1.4544899619028258,0.5704285669950528,1.1210382144179905,-1.6595434147302865,2.8387504498582294,2.8387504498582294,2.973763548724718,0,0,-0.00016104057276175444,-1.4339737993751124e-06
+11023,1792921192154392660,759141000000,1792921192151330045,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761226662316694,-0.004900673058632075,0.0988145407216353,0.9999999731949474,-0.00013211801018160523,7.391959467718795e-05,0.00014877396881740994,0.6761,-0.0046,0.09859844523065807,1.0,0.0,0.0,0.0,-0.30017661128648543,-0.03274439347383651,1.68990641535993,-0.003906818500333392,0.023519713176715695,-3.861886619544808e-05,0.9043651369111791,1.1929864980203757,2.0441719064017128,0.07669441450038378,-0.05570909535270818,0.0025882535610201388,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.9557813886027655,0.8399351328587157,-1.786821794924121,0.41715658499486374,1.5030610052986524,0.5405127907422558,1.1210382144179905,-1.68990641535993,2.9078600093421114,2.9078600093421114,3.0724635487247802,0,0,-0.0001730386239254519,-9.999912983638665e-05
+11099,1792921192788395698,759775000000,1792921192783330318,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761293090108839,-0.00490432282546612,0.09871366468091154,0.9999999735167312,-0.00011738347464218962,8.359232238660628e-05,0.0001537622998881574,0.6761,-0.0046,0.09848602666209788,1.0,0.0,0.0,0.0,-0.29207564824962184,-0.051539545402264464,1.7491574313857028,-0.005295795349992347,0.023578997451355548,-0.00010928903121627895,0.9124660999480427,1.1741913460919478,2.1034229224274856,0.07530543765072482,-0.05564981107806833,0.002517583395999308,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.9643331132664779,0.8732433987951193,-1.8559614432889253,0.41016144744341376,1.5422734765386468,0.5636561461823324,1.1210382144179905,-1.7491574313857028,2.9769996577069158,2.9769996577069158,3.16756354872484,0,0,-0.00017873793283914997,-8.902982104175833e-05
+11168,1792921193363461418,760350000000,1792921193363330434,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.676135400251978,-0.00490932892015344,0.09861999184003976,0.9999999723093279,-0.00011237975383067326,9.372145051371525e-05,0.00015940918581143702,0.6761,-0.0046,0.0983805326013914,1.0,0.0,0.0,0.0,-0.279758178090071,-0.07031221329789306,1.7790776423988277,-0.006781952999164009,0.02245797386616627,-0.0001582000100608153,0.9247835701075936,1.1554186781963192,2.1333431334406106,0.07381928000155316,-0.05677083466325761,0.0024686724171547715,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.912401090082923,0.8645692575963756,-1.91390849358249,0.41280570043075787,1.564245217499349,0.5594039602911115,1.1210382144179905,-1.7790776423988277,3.03494670800048,3.03494670800048,3.2538135487248945,0,0,-0.0001880263648904298,-9.769662442782873e-05
+11235,1792921193921482655,760908000000,1792921193919339437,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761379427535081,-0.004910176660663442,0.098516254493951,0.9999999716475542,-0.00011480278722617214,9.596448002359564e-05,0.00016049577482553885,0.6761,-0.0046,0.09827179558014443,1.0,0.0,0.0,0.0,-0.2632018839296939,-0.08309781148263817,1.8190094614864643,-0.008011715112475906,0.021593100891638885,-0.00021516836072702893,0.9413398642679707,1.142633080011574,2.173274952528247,0.07258951788824126,-0.05763570763778499,0.002411704066488558,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.0080718409259046,0.842784894944688,-2.0169598824597865,0.417556202537149,1.6539807374975457,0.5444765838709329,1.1210382144179905,-1.8190094614864643,3.137998096877777,3.137998096877777,3.337513548724947,0,0,-0.00020142601551561968,-7.656204423079344e-05
+11298,1792921194446597887,761433000000,1792921194439330612,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761438422446108,-0.004913118227817738,0.09842000136369551,0.9999999690852759,-0.0001383599281485098,0.00010748000392362333,0.00015025608389618395,0.6761,-0.0046,0.09816250177435247,1.0,0.0,0.0,0.0,-0.23745751346401045,-0.08318652864756237,1.8510098139127662,-0.008007025535293089,0.020573668792738094,-0.00025332535877522176,0.9670842347336541,1.1425443628466498,2.205275304954549,0.07259420746542408,-0.058655139736685784,0.002373547068440365,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.944194491517241,0.8935432351959464,-2.090064281414776,0.4068573675520779,1.6795120596705582,0.5773810737840445,1.1210382144179905,-1.8510098139127662,3.2111024958327663,3.2111024958327663,3.416263548724997,0,0,-0.0002147474980854477,-7.509785435034217e-05
+11361,1792921194971545260,761958000000,1792921194967330252,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761484324430026,-0.004912395511073929,0.09831390498158352,0.9999999677108242,-0.00014468476906511214,0.00011472315255908537,0.00014807474692266528,0.6761,-0.0046,0.09804597530906094,1.0,0.0,0.0,0.0,-0.22504979661696312,-0.10361583069302172,1.8792821202859427,-0.008987049032713926,0.019252251865873787,-0.0003073403880098969,0.9794919515807015,1.1221150608011905,2.2335476113277255,0.07161418396800324,-0.05997655666355009,0.00231953203920569,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.9415084622233054,0.8852179441428386,-2.183356349187069,0.40833927436102735,1.7406015342123335,0.5697642455377372,1.1210382144179905,-1.8792821202859427,3.3043945636050593,3.3043945636050593,3.4950135487250464,0,0,-0.0002293604212610708,6.238778960467625e-06
+11418,1792921195446668875,762433000000,1792921195443329869,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.676152439225315,-0.004921638426571408,0.09821008670116328,0.9999999650336974,-0.0001477974640238059,0.00012507521558920569,0.0001545560362972141,0.6761,-0.0046,0.09793262677027305,1.0,0.0,0.0,0.0,-0.237367072332075,-0.12531047747467983,1.9081259548572744,-0.010047355912740696,0.020601152469261724,-0.0003229426475168497,0.9671746758655896,1.1004204140195324,2.2623914458990573,0.07055387708797647,-0.05862765606016215,0.002303929779698737,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.987234877965009,0.9361557362454525,-2.1308167552058443,0.39471461565261245,1.7143355926687733,0.6053370500181644,1.1210382144179905,-1.9081259548572744,3.251854969623835,3.251854969623835,3.5662635487250913,0,0,-0.0002472553941132701,-9.999982372577704e-05
+11479,1792921195954657442,762941000000,1792921195951340168,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761557082817199,-0.004925556227920078,0.09809083379620048,0.9999999636705535,-0.0001448020302516418,0.00012922272301495419,0.00016259033122380907,0.6761,-0.0046,0.09780230537934632,1.0,0.0,0.0,0.0,-0.24282244389173013,-0.12855608492430237,1.948162598263089,-0.011208726330329974,0.020612232664310982,-0.0003680089601637783,0.9617193043059344,1.0971748065699098,2.302428089304872,0.0693925066703872,-0.058616575865112895,0.0022588634670518085,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.009568796928366,0.8828315857788352,-2.213306017078499,0.4127510476182976,1.772663249030414,0.571237270957363,1.1210382144179905,-1.948162598263089,3.3343442314964893,3.3343442314964893,3.6424635487251393,0,0,-0.00026556096118931914,-9.99988522806305e-05
+11542,1792921196479739786,763466000000,1792921196475339544,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761640565144513,-0.0049308780995189995,0.09796329257117391,0.9999999609550568,-0.0001493412141880287,0.0001455633738273354,0.00016137303054536653,0.6761,-0.0046,0.09765728112315211,1.0,0.0,0.0,0.0,-0.24625744730755406,-0.14420157888446172,1.9979179488208938,-0.012106001353958465,0.020620666668670948,-0.00041958518881304125,0.9582843008901105,1.0815293126097505,2.3521834398626766,0.0684952316467587,-0.05860814186075293,0.0022072872384025456,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.9771392172893707,0.9228894207125788,-2.3118079648434184,0.40380853338384537,1.8255122310220575,0.6001032515560242,1.1210382144179905,-1.9979179488208938,3.432846179261409,3.432846179261409,3.721213548725189,0,0,-0.0002860623148040738,-9.999999025923074e-05
+11597,1792921196938777883,763925000000,1792921196935339642,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761685554644133,-0.0049373786597529425,0.097832242350941,0.9999999587802494,-0.00015899673018789724,0.000153320033701357,0.00015841518521226127,0.6761,-0.0046,0.09752151508875784,1.0,0.0,0.0,0.0,-0.2329876502718411,-0.15513024867045755,2.057446415817541,-0.01313504779234477,0.02062652891519714,-0.0004871965587674152,0.9715540979258235,1.0706006428237547,2.4117119068593236,0.0674661852083724,-0.05860227961422674,0.0021396758684481716,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.0748551158544695,0.8654230925905613,-2.3653315174423337,0.43000475000075583,1.8917846475774305,0.5627918887939054,1.1210382144179905,-2.057446415817541,3.486369731860324,3.486369731860324,3.7900635487252323,0,0,-0.00030370390404907264,-9.967168343306127e-05
+11652,1792921197396714162,764383000000,1792921197395330557,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761728378849745,-0.0049402663106295,0.09770205086488386,0.9999999574218171,-0.00015541047210589052,0.00016250069207742566,0.00016137019069019913,0.6761,-0.0046,0.09737916665032194,1.0,0.0,0.0,0.0,-0.23528860984055178,-0.17088526762729694,2.0773496707109436,-0.014160412221807667,0.020513715248229668,-0.0005074615550591664,0.9692531383571128,1.0548456238669153,2.431615161752726,0.0664408207789095,-0.05871509328119421,0.0021194108721564204,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.070856365459181,0.9077858681750598,-2.407385423772487,0.4239405981125699,1.9209390064727505,0.5953595585780957,1.1210382144179905,-2.0773496707109436,3.5284236381904774,3.5284236381904774,3.8587635487252756,0,0,-0.0003195608366771393,-9.999999025923074e-05
+11703,1792921197821842527,764808000000,1792921197819339654,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761745222484574,-0.004945197217211749,0.09756702571105119,0.9999999556048903,-0.00015173269994272532,0.0001657008143818126,0.00017249205641934684,0.6761,-0.0046,0.09723934329603308,1.0,0.0,0.0,0.0,-0.23988933399760892,-0.18912446693991058,2.1033894100915744,-0.015191514667283176,0.020656932458699005,-0.0005404823000347198,0.9646524142000557,1.0366064245543016,2.457654901133357,0.065409718333434,-0.05857187607072487,0.002086390127180867,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.1017911230053183,0.9604815203802133,-2.464970570931326,0.40430861561063,1.9750113453453204,0.6274810974416083,1.1210382144179905,-2.1033894100915744,3.5860087853493163,3.5860087853493163,3.9225135487253158,0,0,-0.00033925473097026613,-9.999999025923074e-05
+11754,1792921198246853814,765233000000,1792921198239339427,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761782759124043,-0.004948504456222169,0.09742581184324157,0.999999953982644,-0.00015034581816887176,0.00017124447837949566,0.00017762048777671523,0.6761,-0.0046,0.0970906550362525,1.0,0.0,0.0,0.0,-0.23673352583326968,-0.21719658491939753,2.1263148272830743,-0.017214973332529984,0.020691453325695122,-0.0005794953033873198,0.9678082223643949,1.0085343065748147,2.480580318324857,0.06338625966818719,-0.058537355203728755,0.002047377123828267,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.0572675858368363,0.8446976591329673,-2.4077898734559877,0.444655872826741,1.9350087213070069,0.5519059117035536,1.1210382144179905,-2.1263148272830743,3.528828087873978,3.528828087873978,3.986263548725356,0,0,-0.0003605047268304392,-9.999999025923074e-05
+11799,1792921198621815824,765608000000,1792921198619339413,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761807744798467,-0.00495192449814053,0.09728915012362806,0.9999999511756688,-0.0001792106018107567,0.00017567472269953906,0.00016159664667521123,0.6761,-0.0046,0.09695224121655803,1.0,0.0,0.0,0.0,-0.2121627151369826,-0.2039205412350522,2.1472675929699023,-0.016166308541721908,0.018639443574613397,-0.0006131030573988255,0.992379033060682,1.02181035025916,2.501533084011685,0.06443492445899526,-0.06058936495481048,0.0020137693698167613,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.1525961260224644,0.8749804805027236,-2.573983708221198,0.444755286835969,2.0777275035548763,0.5756866042127354,1.1210382144179905,-2.1472675929699023,3.6950219226391883,3.6950219226391883,4.042513548725266,0,0,-0.00037809259414575545,-8.730007969160453e-05
+11846,1792921199013843562,766000000000,1792921199007339360,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761831535938518,-0.004955759598320646,0.09714414658484137,0.9999999510268855,-0.00016015537080249295,0.0001784823454080986,0.0001785592347248388,0.6761,-0.0046,0.0968001971139791,1.0,0.0,0.0,0.0,-0.2289449752137701,-0.23147565341806497,2.15602669728878,-0.01825245027031415,0.020334149234691387,-0.000619868538235765,0.9755967729838945,0.9942552380761472,2.5102921883305624,0.06234878273040302,-0.05889465929473249,0.002007003888979822,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.1813951590989133,0.8829010539181565,-2.5879212554681708,0.4446671534725183,2.1038219910368507,0.5836885485338708,1.1210382144179905,-2.15602669728878,3.708959469886161,3.708959469886161,4.101313548725129,0,0,-0.00039769259052166293,-9.999999025923074e-05
+11894,1792921199413893174,766400000000,1792921199411340152,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761893638589391,-0.004961365638764043,0.09699068135331425,0.9999999489905306,-0.0001403881582535331,0.00018965170727526363,0.00019438414401537333,0.6761,-0.0046,0.09663713007855164,1.0,0.0,0.0,0.0,-0.2577243001695487,-0.2579517570043828,2.1661712597111538,-0.01932909430401334,0.021723676619871242,-0.0006090480797759615,0.9468174480281158,0.9677791344898294,2.5204367507529364,0.06127213869670383,-0.057505131909552636,0.0020178243474396253,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.157832097715064,0.8289906493685245,-2.439368871190843,0.45605337378916083,2.006377911883917,0.5490656243659539,1.1210382144179905,-2.1661712597111538,3.5604070856088335,3.5604070856088335,4.161313548724989,0,0,-0.0004176925866253552,-9.999999025923074e-05
+11939,1792921199788978152,766775000000,1792921199787339787,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761945419961969,-0.004958524610123354,0.096837477967753,0.9999999451507167,-0.00019001579460918336,0.00020386654782217104,0.00015321180202701782,0.6761,-0.0046,0.09647698910925386,1.0,0.0,0.0,0.0,-0.18579151487694623,-0.1907402627987993,2.2252371301377893,-0.015206435719340092,0.017603805570569744,-0.0006752842233159141,1.0187502333207183,1.034990628695413,2.579502621179572,0.06539479728137708,-0.06162500295885413,0.0019515882038996727,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.251803846195055,0.8402435759869742,-2.488771900827811,0.4901176802598902,2.07454873515405,0.5666310417956124,1.1210382144179905,-2.2252371301377893,3.6098101152458013,3.6098101152458013,4.217563548724858,0,0,-0.00043644258297256675,-9.999999025923074e-05
+11982,1792921200147003516,767133000000,1792921200139330259,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761975839570427,-0.0049607524937929455,0.09668315772294676,0.9999999441081489,-0.00017481503104188202,0.00020670967523946952,0.00017302421346995382,0.6761,-0.0046,0.09631754751517563,1.0,0.0,0.0,0.0,-0.22091962915935381,-0.2499281138442746,2.215868995907785,-0.01926527361649291,0.01969730950665704,-0.0006889783356598517,0.9836221190383108,0.9758027776499376,2.5701344869495677,0.06133595938422426,-0.05953149902276684,0.0019378940915557351,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.2129616425605128,0.8425234567496613,-2.3926265444649264,0.47796641750672275,2.015304678810646,0.5657453537925435,1.1210382144179905,-2.215868995907785,3.513664758882917,3.513664758882917,4.271263548724733,0,0,-0.00045434257948537136,-9.999999025923074e-05
+12021,1792921200472059084,767458000000,1792921200467339518,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6761968248295799,-0.0049609130973748555,0.09653417008955978,0.9999999430168671,-0.0001765273111157546,0.00020738271421976017,0.00017674740457293594,0.6761,-0.0046,0.0961672536773589,1.0,0.0,0.0,0.0,-0.20238062255127431,-0.23011808259842237,2.236457605066249,-0.018226194025456895,0.01866057179531811,-0.0007075426358474611,1.0021611256463903,0.9956128088957898,2.5907230961080314,0.062375038975260276,-0.06056823673410577,0.0019193297913681258,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.2757583861267223,0.8002069183640698,-2.455983245292292,0.499905825289397,2.0828987482736387,0.5394077212303382,1.1210382144179905,-2.236457605066249,3.5770214597102825,3.5770214597102825,4.320013548724619,0,0,-0.00047059257631962135,-9.999999025923074e-05
+12059,1792921200789082758,767775000000,1792921200783330965,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761985008047412,-0.004961059908810586,0.09638140774797062,0.9999999431147509,-0.0001702190326630691,0.00021411241934093697,0.00017434079250562288,0.6761,-0.0046,0.09601557153115654,1.0,0.0,0.0,0.0,-0.19340369634675403,-0.23420628335762428,2.2842329981332306,-0.018201792462749895,0.017637114719789355,-0.0007608189155711149,1.0111380518509105,0.9915246081365879,2.638498489175013,0.062399440537967275,-0.06159169380963452,0.001866053511644472,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.2768874805600223,0.8930814453503614,-2.442704111886077,0.48739495141674055,2.081307118824127,0.6098615066263614,1.1210382144179905,-2.2842329981332306,3.5637423263040673,3.5637423263040673,4.367563548724508,0,0,-0.0004864425732317975,-9.999999025923074e-05
+12096,1792921201097115832,768083000000,1792921201091330584,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6762016903581809,-0.0049647910656411805,0.09623158493805399,0.9999999422771482,-0.00016558102955057855,0.00021427919761672474,0.00018318273047789299,0.6761,-0.0046,0.09586338331906467,1.0,0.0,0.0,0.0,-0.17443617238725118,-0.23470725054181796,2.2867434194080647,-0.018181734095630384,0.016629609230802964,-0.0007761189305983138,1.0301055758104134,0.9910236409523943,2.6410089104498473,0.06241949890508679,-0.06259919929862091,0.001850753496617273,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.2923429868332503,0.956677516578746,-2.4845976406115042,0.4668479515341173,2.1214706804411794,0.6502469634587926,1.1210382144179905,-2.2867434194080647,3.6056358550294947,3.6056358550294947,4.4137635487244005,0,0,-0.0005018425702316406,-9.999999025923074e-05
+12133,1792921201405106098,768391000000,1792921201403330865,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6762050747380016,-0.004961435715584953,0.09607622531939462,0.9999999421461052,-0.00015375515727266442,0.00021762226479238393,0.00019013298464839976,0.6761,-0.0046,0.09570645190789685,1.0,0.0,0.0,0.0,-0.18336674804284536,-0.24424091291496508,2.296122140199904,-0.019005995306796607,0.017649793025735952,-0.0007781178668990569,1.0211750001548192,0.9814899785792471,2.6503876312416867,0.061595237693920564,-0.061579015503687926,0.00184875456031653,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.319049803603954,0.8907170495558061,-2.445058429938831,0.4943125408980637,2.1140859412504756,0.6117814917068048,1.1210382144179905,-2.296122140199904,3.5660966443568216,3.5660966443568216,4.459963548724293,0,0,-0.0005172425672314837,-9.999999025923074e-05
+12169,1792921201705124940,768691000000,1792921201703330048,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6762061701114206,-0.0049601260332235095,0.0959224003800222,0.9999999409525403,-0.00015824593226338753,0.00022211320825737518,0.00018751460655388568,0.6761,-0.0046,0.0955490366381672,1.0,0.0,0.0,0.0,-0.1725626310813888,-0.2564107013564555,2.3165323117353753,-0.019198667539065843,0.016268022305130886,-0.0008260240097039328,1.0319791171162758,0.9693201901377567,2.670797802777158,0.06140256546165133,-0.06296078622429299,0.001800848417511654,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.335275326463407,0.9032844520854444,-2.4558461101592104,0.504854589027819,2.131439185234591,0.6220889627613951,1.1210382144179905,-2.3165323117353753,3.576884324577201,3.576884324577201,4.504963548724188,0,0,-0.0005322425643092529,-9.999999025923074e-05
+12204,1792921201997177958,768983000000,1792921201995330513,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6762009305680016,-0.004965374056623199,0.0957602493611332,0.9999999405708853,-0.00015799423817603925,0.00021650590427027785,0.00019612267710230198,0.6761,-0.0046,0.09539149750980559,1.0,0.0,0.0,0.0,-0.1630685999753887,-0.28138353452240805,2.303588628901553,-0.02099653522852754,0.0156613074805053,-0.0008361682628167115,1.0414731482222759,0.9443473569718042,2.6578541199433356,0.05960469777218963,-0.06356750104891858,0.0017907041643988753,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.3049971697077885,0.925605540136606,-2.5979417946078684,0.49990332075073357,2.2248474714536965,0.6389396482297215,1.1210382144179905,-2.303588628901553,3.718980009025859,3.718980009025859,4.548763548724086,0,0,-0.0005468425614649483,-9.999999025923074e-05
+12237,1792921202272146514,769258000000,1792921202271330224,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761979491970659,-0.0049684804058291974,0.09560440895875884,0.999999939090589,-0.00017076623717018286,0.0002146428148864237,0.00019501034997152506,0.6761,-0.0046,0.0952392320557724,1.0,0.0,0.0,0.0,-0.14392573150976484,-0.29270223277655394,2.3159430955491658,-0.021423839250369038,0.014653821871550662,-0.0008645750417970205,1.0606160166878997,0.9330286587176583,2.6702085865909484,0.05917739375034813,-0.06457498665787322,0.0017622973854185663,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.2721068421479886,0.8397058703737387,-2.5115337587379813,0.5298661341659576,2.1651021771147416,0.5805059225799936,1.1210382144179905,-2.3159430955491658,3.632571973155972,3.632571973155972,4.59001354872399,0,0,-0.0005605925587862367,-9.999999025923074e-05
+12272,1792921202564148960,769550000000,1792921202559330981,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6762097699062021,-0.004959610144526434,0.09544668020704532,0.9999999365955907,-0.00017912318459890173,0.00022262993641588866,0.00019131773283852867,0.6761,-0.0046,0.0950734147290235,1.0,0.0,0.0,0.0,-0.18191011085167053,-0.23678775917303696,2.2778886716532845,-0.01828941824972939,0.016591458513547666,0.00011851630012718476,1.022631637345994,0.9889431323211753,2.632154162695067,0.06231181475098778,-0.06263735001587621,0.0027453887273427716,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.4526980075242446,0.8375758379595442,-2.3945054528760195,0.5406161866721308,2.1280817817738344,0.579289814295753,1.1210382144179905,-2.2778886716532845,3.51554366729401,3.51554366729401,4.633813548723888,0,0,-0.0005751925559419321,-9.999999025923074e-05
+12304,1792921202830179262,769816000000,1792921202827330531,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6762113291725093,-0.004963996613302145,0.09529428456164708,0.9999999325572826,-0.00019598044429480643,0.00022752266974230637,0.00019014046044416318,0.6761,-0.0046,0.09491865125948885,1.0,0.0,0.0,0.0,-0.16391949146562146,-0.26887993991752024,2.3261121599387633,-0.020205870850718212,0.015641459094973706,-0.0006683640806972643,1.0406222567320431,0.956850951576692,2.680377650980546,0.06039536214999896,-0.06358734943445017,0.0019585083465183226,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.4084920244944383,0.9165869989465831,-2.492610894770706,0.5260701042009553,2.1854066881449334,0.635021334599085,1.1210382144179905,-2.3261121599387633,3.6136491091886964,3.6136491091886964,4.673713548723795,0,0,-0.0005884925533508875,-9.999999025923074e-05
+12336,1792921203097200820,770083000000,1792921203095330381,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6762086597966823,-0.004964117382422234,0.09513004362620497,0.999999944983254,-0.00010461147761223282,0.00022614810975587972,0.0001984686994992118,0.6761,-0.0046,0.09475974819809267,1.0,0.0,0.0,0.0,-0.15285197688829522,-0.31844676895141677,2.324977383317132,-0.02274821634469773,0.01505421160833055,-0.0008831956806528137,1.0516897713093694,0.9072841225427954,2.6792428743589145,0.05785301665601944,-0.06417459692109333,0.0017436767465627732,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.3712820557127947,0.8140312117454381,-2.4237617809018697,0.5570279265591438,2.137538663807175,0.5694971603328667,1.1210382144179905,-2.324977383317132,3.54479999531986,3.54479999531986,4.713763548723701,0,0,-0.0006018425507501021,-9.999999025923074e-05
+12363,1792921203322190253,770308000000,1792921203315330866,DOWN_FORCE_DETACH,2,0.0568,0.05680166557431221,0.6762025376084188,-0.004966237415230818,0.09497953408797305,0.9999999447004373,-0.00012249762341251283,0.00020991738176750788,0.00020729450469000546,0.6761,-0.0046,0.09462307362442156,1.0,0.0,0.0,0.0,-0.16160862273331356,-0.349097747357755,2.355220808726986,-0.024272993237426703,0.014708369226760706,-0.0009304423103943184,1.042933125464351,0.8766331441364572,2.7094862997687685,0.05632823976329047,-0.06452043930266317,0.0016964301168212684,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.3735626107270145,0.8434113509999086,-2.431830264664584,0.53917846761423,2.150797765997503,0.5781612336660513,1.1210382144179905,-2.355220808726986,3.5528684790825746,3.5528684790825746,4.747513548723623,0,0,-0.000613092548558429,-9.999999025923074e-05
+12393,1792921203572306375,770558000000,1792921203571330352,DOWN_FORCE_DETACH,2,0.0568,0.05680232495069504,0.6761991231095884,-0.004969524858575716,0.09481753649504378,0.9999999412628033,-0.00016916975029821458,0.00021014248057460962,0.00019010257096843314,0.6761,-0.0046,0.09446824423758757,1.0,0.0,0.0,0.0,-0.11490810595322531,-0.3408146333802865,2.326098247410745,-0.024263324723924222,0.011803014178821777,-0.0009476847622850535,1.0896336422444393,0.8849162581139257,2.6803637384525274,0.05633790827679295,-0.0674257943506021,0.0016791876649305333,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.3964386346504307,0.7865258191657701,-2.513988467459345,0.5633616149284949,2.2168958009284596,0.5523490750387742,1.1210382144179905,-2.326098247410745,3.6350266818773354,3.6350266818773354,4.785013548723535,0,0,-0.0006255925461232367,-9.999999025923074e-05
+12431,1792921203884325775,770870000000,1792921203883329712,DOWN_SETTLE,2,0.0568,0.05680232495069504,0.6761864083515892,-0.0049676786936848445,0.09466899416826781,0.9999999454944137,-0.00016173109436635425,0.00018763024476381153,0.00019771691431052355,0.6761,-0.0046,0.09435810037045825,1.0,0.0,0.0,0.0,-0.11645819789371115,-0.3966290203734707,2.105182099901207,-0.028024271195926015,0.012805519353790401,-0.0008063561100885141,1.0880835503039534,0.8291018711207415,2.4594475909429896,0.052576961804791156,-0.06642328917563348,0.0018205163171270728,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,2.325177414578999,0.7094746663036973,-2.255697396656384,0.5924263947300012,2.0414039464835843,0.5051639197682639,1.1210382144179905,-2.105182099901207,3.3767356110743743,0.0,0.0,0,0,-6.72550434365906e-05,0.0006793438730968749
+12513,1792921204567396539,771553000000,1792921204567330041,DOWN_PEAK_HOLD,2,0.0568,0.05680232495069504,0.6761597617250203,-0.004963487590887567,0.09459157276571901,0.9999999540829444,-0.00015965238151626556,0.00013595967447585717,0.0001982499875970308,0.6761,-0.0046,0.09435238994799115,1.0,0.0,0.0,0.0,-0.023237473612580217,-0.47316111319729837,1.5324871859394813,-0.03297178854399426,0.005808621217639351,-0.0015193513267520286,1.1813042745850844,0.7525697782969138,1.8867526769812641,0.04762944445672291,-0.07342018731178453,0.0011075211004635582,1.2045417481976646,1.2257308914942122,0.3542654910417828,0.08060123300071717,-0.07922880852942388,0.002626872427215587,1,1.8170013588542613,0.7804043502885453,-1.5833875603764038,0.5585626480754683,1.485475896437592,0.5471832922218549,1.1210382144179905,-1.5324871859394813,2.7044257747943945,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_10/press_depth_02/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792921171577260270,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.685158009e-09,-9.042347860e-10,-1.207637323e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027454695e-01,-1.169307794e-04,8.303256002e-01
+1,7.333333333e-01,DOWN_FORCE_DETACH,1792921172298497677,2.076354091e-07,-2.608617281e-06,1.387184960e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.657521037e-07,-3.118828905e-08,-3.610657906e-08,7.019558405e-01,-2.487935230e-05,8.601444744e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457255e-01,-1.169610635e-04,8.303255653e-01
+2,1.583333333e+00,DOWN_FORCE_DETACH,1792921173184048408,2.209954480e-06,2.468330049e-06,-6.759232981e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.666756108e-07,-4.449000704e-08,-5.130448866e-08,7.019578428e-01,-1.980240497e-05,8.601424113e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458265e-01,-1.169743652e-04,8.303255501e-01
+3,2.316666667e+00,DOWN_FORCE_DETACH,1792921173904080829,6.798838825e-06,-1.497556477e-06,-2.229640064e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.974123823e-07,-4.881789696e-08,-5.569507455e-08,7.019624317e-01,-2.376829150e-05,8.601408576e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458572e-01,-1.169786931e-04,8.303255457e-01
+4,3.116666667e+00,DOWN_FORCE_DETACH,1792921174690455471,1.359511668e-05,2.399425800e-06,-6.149053227e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.102279807e-07,-5.070666073e-08,-5.731579855e-08,7.019692279e-01,-1.987130922e-05,8.601369382e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458700e-01,-1.169805818e-04,8.303255441e-01
+5,3.833333333e+00,DOWN_FORCE_DETACH,1792921175394479029,2.018122119e-05,-1.928891643e-06,-1.666948744e-05,1.934281016e-05,-2.145779834e-06,-5.048927490e-06,2.092075407e-05,-2.100175997e-06,-5.006410851e-06,7.019758140e-01,-2.419962667e-05,8.601264178e-01,7.019749756e-01,-2.441651486e-05,8.601380383e-01,7.027663805e-01,-1.190300512e-04,8.303205950e-01
+6,4.633333333e+00,DOWN_FORCE_DETACH,1792921176197824843,2.359289710e-05,-6.513934078e-06,-3.093035043e-05,1.950977374e-05,-3.417935454e-06,-2.659020082e-05,2.102993494e-05,-3.363941995e-06,-2.623195864e-05,7.019792257e-01,-2.878466910e-05,8.601121569e-01,7.019751426e-01,-2.568867048e-05,8.601164970e-01,7.027664897e-01,-1.202938172e-04,8.302993695e-01
+7,5.266666667e+00,DOWN_FORCE_DETACH,1792921176835393157,2.539107151e-05,-7.371663942e-06,-4.109832520e-05,1.950977374e-05,-3.417935454e-06,-2.659020082e-05,2.109404145e-05,-3.369539476e-06,-2.646105120e-05,7.019810239e-01,-2.964239897e-05,8.601019889e-01,7.019751426e-01,-2.568867048e-05,8.601164970e-01,7.027665538e-01,-1.202994146e-04,8.302991404e-01
+8,6.116666667e+00,DOWN_FORCE_DETACH,1792921177687400104,2.738227671e-05,-7.742589789e-06,-5.755028304e-05,2.562159548e-05,-3.577167106e-06,-4.594031386e-05,2.744283471e-05,-3.525746307e-06,-4.570866762e-05,7.019830151e-01,-3.001332481e-05,8.600855370e-01,7.019812544e-01,-2.584790213e-05,8.600971469e-01,7.027729026e-01,-1.204556215e-04,8.302798927e-01
+9,6.883333333e+00,DOWN_FORCE_DETACH,1792921178506627425,3.435502218e-05,-6.044212047e-06,-7.225906676e-05,2.863109095e-05,-6.278659079e-06,-6.614703963e-05,3.042900951e-05,-6.127640845e-06,-6.568411394e-05,7.019899878e-01,-2.831494707e-05,8.600708282e-01,7.019842639e-01,-2.854939410e-05,8.600769402e-01,7.027758888e-01,-1.230575160e-04,8.302599173e-01
+10,7.633333333e+00,DOWN_FORCE_DETACH,1792921179260124266,4.897086363e-05,-9.204526330e-06,-8.444302943e-05,4.126465137e-05,-9.666787333e-06,-8.115109837e-05,4.364304930e-05,-9.388013284e-06,-8.067354052e-05,7.020046037e-01,-3.147526135e-05,8.600586442e-01,7.019968975e-01,-3.193752236e-05,8.600619361e-01,7.027891028e-01,-1.263178885e-04,8.302449279e-01
+11,8.466666667e+00,DOWN_FORCE_DETACH,1792921180095792972,5.831694391e-05,-1.024731297e-05,-1.055253701e-04,5.492825350e-05,-1.539360161e-05,-9.531221639e-05,5.818409577e-05,-1.486413567e-05,-9.485330270e-05,7.020139498e-01,-3.251804800e-05,8.600375619e-01,7.020105611e-01,-3.766433664e-05,8.600477750e-01,7.028036439e-01,-1.317940108e-04,8.302307481e-01
+12,9.233333333e+00,DOWN_FORCE_DETACH,1792921181045791554,6.759675662e-05,-1.395807525e-05,-1.306702637e-04,6.355816532e-05,-1.360870125e-05,-1.333809156e-04,6.709399159e-05,-1.324514132e-05,-1.324048185e-04,7.020232296e-01,-3.622881027e-05,8.600124170e-01,7.020191910e-01,-3.587943627e-05,8.600097063e-01,7.028125538e-01,-1.301750165e-04,8.301931966e-01
+13,9.916666667e+00,DOWN_FORCE_DETACH,1792921181734000722,7.059789273e-05,-1.878917866e-05,-1.514393935e-04,6.779820989e-05,-1.658245946e-05,-1.547127816e-04,7.143820021e-05,-1.607530833e-05,-1.535888487e-04,7.020262307e-01,-4.105991368e-05,8.599916478e-01,7.020234310e-01,-3.885319449e-05,8.599883745e-01,7.028168980e-01,-1.330051835e-04,8.301720126e-01
+14,1.045000000e+01,DOWN_FORCE_DETACH,1792921182258065501,7.298598313e-05,-1.563816349e-05,-1.697353148e-04,6.779820989e-05,-1.658245946e-05,-1.547127816e-04,7.161651017e-05,-1.608992929e-05,-1.541762463e-04,7.020286188e-01,-3.790889851e-05,8.599733519e-01,7.020234310e-01,-3.885319449e-05,8.599883745e-01,7.028170763e-01,-1.330198045e-04,8.301714252e-01
+15,1.121666667e+01,DOWN_FORCE_DETACH,1792921183027996165,8.072187762e-05,-1.732789675e-05,-1.943039896e-04,7.986796766e-05,-2.150909882e-05,-1.898906719e-04,8.401535954e-05,-2.083039189e-05,-1.889811640e-04,7.020363547e-01,-3.959863177e-05,8.599487832e-01,7.020355008e-01,-4.377983384e-05,8.599531966e-01,7.028294751e-01,-1.377602671e-04,8.301366203e-01
+16,1.200000000e+01,DOWN_FORCE_DETACH,1792921183814415538,8.610312010e-05,-2.331083944e-05,-2.243107889e-04,8.349554067e-05,-2.021262410e-05,-2.106301702e-04,8.785499879e-05,-1.957705334e-05,-2.098722267e-04,7.020417359e-01,-4.558157447e-05,8.599187765e-01,7.020391284e-01,-4.248335912e-05,8.599324571e-01,7.028333148e-01,-1.365069285e-04,8.301157292e-01
+17,1.270000000e+01,DOWN_FORCE_DETACH,1792921184502049045,9.303123620e-05,-2.131467773e-05,-2.505758482e-04,8.966321153e-05,-2.630380098e-05,-2.517580738e-04,9.391858196e-05,-2.544997027e-05,-2.504611007e-04,7.020486641e-01,-4.358541275e-05,8.598925114e-01,7.020452960e-01,-4.857453601e-05,8.598913292e-01,7.028393784e-01,-1.423798454e-04,8.300751403e-01
+18,1.338333333e+01,DOWN_FORCE_DETACH,1792921185223258839,9.847791452e-05,-2.863054592e-05,-2.892497979e-04,9.397925828e-05,-2.415309188e-05,-2.738064304e-04,9.841469384e-05,-2.340147604e-05,-2.728689814e-04,7.020541107e-01,-5.090128095e-05,8.598538374e-01,7.020496121e-01,-4.642382690e-05,8.598692808e-01,7.028438745e-01,-1.403313512e-04,8.300527324e-01
+19,1.410000000e+01,DOWN_FORCE_DETACH,1792921185960624062,1.074590185e-04,-2.885130457e-05,-3.391018181e-04,1.057664460e-04,-2.807075310e-05,-3.341091887e-04,1.103253288e-04,-2.716499846e-05,-3.325229986e-04,7.020630918e-01,-5.112203960e-05,8.598039854e-01,7.020613993e-01,-5.034148813e-05,8.598089781e-01,7.028557851e-01,-1.440948736e-04,8.299930784e-01
+20,1.485000000e+01,DOWN_FORCE_DETACH,1792921186697128331,1.123512330e-04,-3.006924170e-05,-3.962795457e-04,1.122884613e-04,-2.993056871e-05,-3.961807079e-04,1.166739180e-04,-2.898968312e-05,-3.940389823e-04,7.020679841e-01,-5.233997672e-05,8.597468077e-01,7.020679213e-01,-5.220130374e-05,8.597469065e-01,7.028621337e-01,-1.459195583e-04,8.299315624e-01
+21,1.548333333e+01,DOWN_FORCE_DETACH,1792921187320008639,1.208496089e-04,-3.210728891e-05,-4.388460863e-04,1.206307633e-04,-3.209555009e-05,-4.390833666e-04,1.250144453e-04,-3.105891544e-05,-4.369668245e-04,7.020764824e-01,-5.437802393e-05,8.597042412e-01,7.020762636e-01,-5.436628512e-05,8.597040039e-01,7.028704742e-01,-1.479887906e-04,8.298886346e-01
+22,1.611666667e+01,DOWN_FORCE_DETACH,1792921187993943028,1.296168657e-04,-2.912505410e-05,-4.905124059e-04,1.250436613e-04,-3.203987149e-05,-4.826121572e-04,1.294018336e-04,-3.101733929e-05,-4.808229453e-04,7.020852497e-01,-5.139578913e-05,8.596525748e-01,7.020806765e-01,-5.431060652e-05,8.596604751e-01,7.028748616e-01,-1.479472145e-04,8.298447785e-01
+23,1.681666667e+01,DOWN_FORCE_DETACH,1792921188695876558,1.364373024e-04,-3.450222000e-05,-5.527207629e-04,1.345541039e-04,-3.210740372e-05,-5.461529795e-04,1.389033940e-04,-3.110695744e-05,-5.440986437e-04,7.020920701e-01,-5.677295503e-05,8.595903665e-01,7.020901869e-01,-5.437813874e-05,8.595969343e-01,7.028843632e-01,-1.480368326e-04,8.297815028e-01
+24,1.760000000e+01,DOWN_FORCE_DETACH,1792921189465987889,1.435571130e-04,-3.725707610e-05,-6.330648839e-04,1.441717404e-04,-3.290384964e-05,-6.301622950e-04,1.482004342e-04,-3.189165975e-05,-6.277017678e-04,7.020991899e-01,-5.952781113e-05,8.595100224e-01,7.020998046e-01,-5.517458466e-05,8.595129249e-01,7.028936602e-01,-1.488215349e-04,8.296978996e-01
+25,1.826666667e+01,DOWN_FORCE_DETACH,1792921190121423112,1.479578392e-04,-4.233792219e-05,-7.122957548e-04,1.475784186e-04,-3.877188992e-05,-6.960757538e-04,1.511754607e-04,-3.748328798e-05,-6.937252595e-04,7.021035907e-01,-6.460865721e-05,8.594307915e-01,7.021032112e-01,-6.104262494e-05,8.594470115e-01,7.028966352e-01,-1.544131632e-04,8.296318762e-01
+26,1.893333333e+01,DOWN_FORCE_DETACH,1792921190808910400,1.562283769e-04,-4.294602323e-05,-7.928651224e-04,1.551642806e-04,-4.139566768e-05,-7.806954330e-04,1.582980760e-04,-4.003473944e-05,-7.780930754e-04,7.021118612e-01,-6.521675825e-05,8.593502221e-01,7.021107971e-01,-6.366640270e-05,8.593623918e-01,7.029037579e-01,-1.569646146e-04,8.295475083e-01
+27,1.963333333e+01,DOWN_FORCE_DETACH,1792921191497698568,1.607570517e-04,-4.470842442e-05,-8.855846548e-04,1.606333160e-04,-4.446543249e-05,-8.853214138e-04,1.629819859e-04,-4.301977765e-05,-8.819339705e-04,7.021163899e-01,-6.697915944e-05,8.592575026e-01,7.021162661e-01,-6.673616751e-05,8.592577658e-01,7.029084418e-01,-1.599496528e-04,8.294436674e-01
+28,2.030000000e+01,DOWN_FORCE_DETACH,1792921192152022031,1.731727722e-04,-4.672870096e-05,-9.750689151e-04,1.711918848e-04,-5.051373588e-05,-9.681293121e-04,1.732331256e-04,-4.878655217e-05,-9.650184856e-04,7.021288056e-01,-6.899943598e-05,8.591680183e-01,7.021268247e-01,-7.278447090e-05,8.591749579e-01,7.029186929e-01,-1.657164273e-04,8.293605829e-01
+29,2.095000000e+01,DOWN_FORCE_DETACH,1792921192790898215,1.798258094e-04,-5.160601167e-05,-1.075893140e-03,1.760811625e-04,-5.599496658e-05,-1.058734967e-03,1.776027430e-04,-5.407675038e-05,-1.055642804e-03,7.021354586e-01,-7.387674669e-05,8.590671941e-01,7.021317140e-01,-7.826570160e-05,8.590843523e-01,7.029230625e-01,-1.710066256e-04,8.292699586e-01
+30,2.153333333e+01,DOWN_FORCE_DETACH,1792921193364414841,1.807975931e-04,-5.779044728e-05,-1.173665251e-03,1.812958231e-04,-5.642473240e-05,-1.165808183e-03,1.819698933e-04,-5.451548205e-05,-1.162235955e-03,7.021364304e-01,-8.006118230e-05,8.589694220e-01,7.021369286e-01,-7.869546742e-05,8.589772791e-01,7.029274297e-01,-1.714453572e-04,8.291633655e-01
+31,2.208333333e+01,DOWN_FORCE_DETACH,1792921193921609965,1.862342625e-04,-5.824331379e-05,-1.275662707e-03,1.862165809e-04,-5.788859463e-05,-1.275629333e-03,1.859278770e-04,-5.595656329e-05,-1.271365428e-03,7.021418671e-01,-8.051404881e-05,8.588674245e-01,7.021418494e-01,-8.015932965e-05,8.588674579e-01,7.029313877e-01,-1.728864385e-04,8.290542360e-01
+32,2.261666667e+01,DOWN_FORCE_DETACH,1792921194445798497,1.892192378e-04,-6.277085682e-05,-1.376372852e-03,1.875034174e-04,-6.271785837e-05,-1.361785593e-03,1.864531505e-04,-6.056521842e-05,-1.357907412e-03,7.021448521e-01,-8.504159184e-05,8.587667144e-01,7.021431362e-01,-8.498859339e-05,8.587813016e-01,7.029319129e-01,-1.774950936e-04,8.289676940e-01
+33,2.315000000e+01,DOWN_FORCE_DETACH,1792921194969713251,1.966577681e-04,-6.143442312e-05,-1.477969866e-03,1.928149546e-04,-6.435922425e-05,-1.473392169e-03,1.908084366e-04,-6.213434549e-05,-1.469152926e-03,7.021522906e-01,-8.370515814e-05,8.586651174e-01,7.021484478e-01,-8.662995927e-05,8.586696951e-01,7.029362682e-01,-1.790642207e-04,8.288564485e-01
+34,2.363333333e+01,DOWN_FORCE_DETACH,1792921195444518350,1.996744512e-04,-7.068666804e-05,-1.584201576e-03,1.958611290e-04,-6.919570798e-05,-1.565503153e-03,1.929032406e-04,-6.678634549e-05,-1.561435896e-03,7.021553073e-01,-9.295740307e-05,8.585588857e-01,7.021514939e-01,-9.146644301e-05,8.585775841e-01,7.029383630e-01,-1.837162207e-04,8.287641655e-01
+35,2.415000000e+01,DOWN_FORCE_DETACH,1792921195952527187,2.041740559e-04,-7.370573696e-05,-1.699296678e-03,2.032174612e-04,-7.418837765e-05,-1.689685569e-03,1.992108700e-04,-7.156072322e-05,-1.685132462e-03,7.021598069e-01,-9.597647199e-05,8.584437906e-01,7.021588503e-01,-9.645911268e-05,8.584534017e-01,7.029446707e-01,-1.884905984e-04,8.286404690e-01
+36,2.468333333e+01,DOWN_FORCE_DETACH,1792921196476638493,2.099080693e-04,-8.080164469e-05,-1.831234335e-03,2.113933374e-04,-7.605857152e-05,-1.821439705e-03,2.062682318e-04,-7.341478291e-05,-1.816497822e-03,7.021655409e-01,-1.030723797e-04,8.583118529e-01,7.021670262e-01,-9.832930654e-05,8.583216475e-01,7.029517280e-01,-1.903446581e-04,8.285091036e-01
+37,2.515000000e+01,DOWN_FORCE_DETACH,1792921196935420288,2.172925897e-04,-8.160731190e-05,-1.956602116e-03,2.148743231e-04,-8.183375724e-05,-1.942368680e-03,2.085961982e-04,-7.896106679e-05,-1.937347199e-03,7.021729254e-01,-1.038780469e-04,8.581864851e-01,7.021705071e-01,-1.041044923e-04,8.582007186e-01,7.029540560e-01,-1.958909420e-04,8.283882542e-01
+38,2.561666667e+01,DOWN_FORCE_DETACH,1792921197394102662,2.198066640e-04,-8.477391195e-05,-2.090994342e-03,2.210578617e-04,-8.569770913e-05,-2.084698196e-03,2.133821543e-04,-8.270980863e-05,-2.079088948e-03,7.021754395e-01,-1.070446470e-04,8.580520929e-01,7.021766907e-01,-1.079684442e-04,8.580583890e-01,7.029588419e-01,-1.996396838e-04,8.282465125e-01
+39,2.605000000e+01,DOWN_FORCE_DETACH,1792921197820289136,2.234180695e-04,-9.205007642e-05,-2.221607540e-03,2.221566160e-04,-9.289265190e-05,-2.211907052e-03,2.131847184e-04,-8.956968304e-05,-2.206232844e-03,7.021790509e-01,-1.143208114e-04,8.579214797e-01,7.021777894e-01,-1.151633869e-04,8.579311802e-01,7.029586445e-01,-2.064995582e-04,8.281193686e-01
+40,2.648333333e+01,DOWN_FORCE_DETACH,1792921198245767751,2.276362734e-04,-9.465458735e-05,-2.364655746e-03,2.261577912e-04,-9.406043348e-05,-2.348345631e-03,2.157686707e-04,-9.071820390e-05,-2.342538209e-03,7.021832691e-01,-1.169253224e-04,8.577784315e-01,7.021817906e-01,-1.163311685e-04,8.577947416e-01,7.029612285e-01,-2.076480791e-04,8.279830632e-01
+41,2.686666667e+01,DOWN_FORCE_DETACH,1792921198623630428,2.290016683e-04,-1.010142551e-04,-2.502263877e-03,2.287719193e-04,-1.010459200e-04,-2.502274880e-03,2.167387868e-04,-9.737994232e-05,-2.495520360e-03,7.021846345e-01,-1.232849901e-04,8.576408234e-01,7.021844047e-01,-1.233166550e-04,8.576408124e-01,7.029621986e-01,-2.143098175e-04,8.278300811e-01
+42,2.726666667e+01,DOWN_FORCE_DETACH,1792921199016017612,2.307646307e-04,-1.052478338e-04,-2.649863271e-03,2.319303470e-04,-9.897556551e-05,-2.631140409e-03,2.185901986e-04,-9.547082960e-05,-2.624750871e-03,7.021863974e-01,-1.275185688e-04,8.574932240e-01,7.021875632e-01,-1.212463005e-04,8.575119468e-01,7.029640500e-01,-2.124007048e-04,8.277008505e-01
+43,2.766666667e+01,DOWN_FORCE_DETACH,1792921199409957814,2.377578591e-04,-1.059043287e-04,-2.795744214e-03,2.376931909e-04,-1.059823881e-04,-2.795191300e-03,2.228377008e-04,-1.022431535e-04,-2.788050566e-03,7.021933907e-01,-1.281750637e-04,8.573473430e-01,7.021933260e-01,-1.282531232e-04,8.573478959e-01,7.029682975e-01,-2.191730286e-04,8.275375508e-01
+44,2.800000000e+01,DOWN_FORCE_DETACH,1792921199785778487,2.413188112e-04,-1.051267869e-04,-2.954815976e-03,2.413640020e-04,-1.051795121e-04,-2.954483159e-03,2.249466718e-04,-1.014539499e-04,-2.946552625e-03,7.021969516e-01,-1.273975219e-04,8.571882713e-01,7.021969968e-01,-1.274502471e-04,8.571886041e-01,7.029704065e-01,-2.183838251e-04,8.273790488e-01
+45,2.835000000e+01,DOWN_FORCE_DETACH,1792921200146492703,2.456030357e-04,-1.091986623e-04,-3.108927464e-03,2.454269917e-04,-1.094971677e-04,-3.108938000e-03,2.275757875e-04,-1.055829723e-04,-3.100738481e-03,7.022012359e-01,-1.314693973e-04,8.570341598e-01,7.022010598e-01,-1.317679028e-04,8.570341492e-01,7.029730356e-01,-2.225128474e-04,8.272248629e-01
+46,2.866666667e+01,DOWN_FORCE_DETACH,1792921200474433929,2.445635593e-04,-1.063133707e-04,-3.261070384e-03,2.458443956e-04,-1.056644411e-04,-3.250709526e-03,2.264391053e-04,-1.018857933e-04,-3.242443224e-03,7.022001964e-01,-1.285841058e-04,8.568820169e-01,7.022014772e-01,-1.279351761e-04,8.568923777e-01,7.029718989e-01,-2.188156685e-04,8.270831582e-01
+47,2.898333333e+01,DOWN_FORCE_DETACH,1792921200785382831,2.488428706e-04,-1.041814060e-04,-3.405009089e-03,2.455834482e-04,-1.117815623e-04,-3.395349774e-03,2.245040418e-04,-1.077297402e-04,-3.387065383e-03,7.022044757e-01,-1.264521410e-04,8.567380782e-01,7.022012163e-01,-1.340522973e-04,8.567477375e-01,7.029699638e-01,-2.246596153e-04,8.269385360e-01
+48,2.930000000e+01,DOWN_FORCE_DETACH,1792921201096858166,2.500309928e-04,-1.137255359e-04,-3.560424256e-03,2.493976526e-04,-1.099655252e-04,-3.544075934e-03,2.267023119e-04,-1.061031755e-04,-3.535775617e-03,7.022056638e-01,-1.359962709e-04,8.565826630e-01,7.022050305e-01,-1.322362602e-04,8.565990113e-01,7.029721621e-01,-2.230330507e-04,8.267898258e-01
+49,2.961666667e+01,DOWN_FORCE_DETACH,1792921201407801812,2.528107533e-04,-1.130106829e-04,-3.719463687e-03,2.528240667e-04,-1.131760277e-04,-3.719060640e-03,2.281696616e-04,-1.092174633e-04,-3.710066744e-03,7.022084436e-01,-1.352814179e-04,8.564236236e-01,7.022084569e-01,-1.354467627e-04,8.564240266e-01,7.029736294e-01,-2.261473385e-04,8.266155347e-01
+50,2.991666667e+01,DOWN_FORCE_DETACH,1792921201702389227,2.538448296e-04,-1.103109075e-04,-3.869826970e-03,2.539710323e-04,-1.080923967e-04,-3.852947447e-03,2.277786123e-04,-1.042958270e-04,-3.844614811e-03,7.022094776e-01,-1.325816426e-04,8.562732603e-01,7.022096038e-01,-1.303631317e-04,8.562901398e-01,7.029732384e-01,-2.212257022e-04,8.264809866e-01
+51,3.021666667e+01,DOWN_FORCE_DETACH,1792921201997415485,2.490912609e-04,-1.138429739e-04,-4.032017371e-03,2.488122122e-04,-1.135460004e-04,-4.031748809e-03,2.202722219e-04,-1.095139098e-04,-4.022599410e-03,7.022047241e-01,-1.361137090e-04,8.561110699e-01,7.022044450e-01,-1.358167354e-04,8.561113384e-01,7.029657320e-01,-2.264437849e-04,8.263030020e-01
+52,3.045000000e+01,DOWN_FORCE_DETACH,1792921202268621101,2.478755185e-04,-1.130531074e-04,-4.184036208e-03,2.476226280e-04,-1.133147427e-04,-4.183791259e-03,2.171558210e-04,-1.092737150e-04,-4.173916811e-03,7.022035083e-01,-1.353238425e-04,8.559590510e-01,7.022032554e-01,-1.355854777e-04,8.559592960e-01,7.029626156e-01,-2.262035902e-04,8.261516846e-01
+53,3.073333333e+01,DOWN_FORCE_DETACH,1792921202562294298,2.608559008e-04,-1.170105377e-04,-4.344916093e-03,2.578360069e-04,-1.141117440e-04,-4.329188554e-03,2.260101553e-04,-1.101060533e-04,-4.319997239e-03,7.022164887e-01,-1.392812727e-04,8.557981711e-01,7.022134688e-01,-1.363824790e-04,8.558138987e-01,7.029714699e-01,-2.270359284e-04,8.260056042e-01
+54,3.100000000e+01,DOWN_FORCE_DETACH,1792921202832912039,2.569864173e-04,-1.108252243e-04,-4.502389543e-03,2.567826168e-04,-1.108420777e-04,-4.501992053e-03,2.232319438e-04,-1.069815418e-04,-4.492156265e-03,7.022126192e-01,-1.330959593e-04,8.556406977e-01,7.022124154e-01,-1.331128128e-04,8.556410952e-01,7.029686917e-01,-2.239114170e-04,8.258334452e-01
+55,3.126666667e+01,DOWN_FORCE_DETACH,1792921203094884772,2.554297127e-04,-1.128313175e-04,-4.662474094e-03,2.552829505e-04,-1.126332732e-04,-4.662744938e-03,2.198227845e-04,-1.086072429e-04,-4.652713299e-03,7.022110625e-01,-1.351020525e-04,8.554806131e-01,7.022109158e-01,-1.349040082e-04,8.554803423e-01,7.029652826e-01,-2.255371180e-04,8.256728881e-01
+56,3.148333333e+01,DOWN_FORCE_DETACH,1792921203324440271,2.504959382e-04,-1.147631645e-04,-4.812885975e-03,2.505832277e-04,-1.155803697e-04,-4.793208705e-03,2.133769530e-04,-1.114118084e-04,-4.783352824e-03,7.022061288e-01,-1.370338995e-04,8.553302013e-01,7.022062160e-01,-1.378511047e-04,8.553498785e-01,7.029588367e-01,-2.283416835e-04,8.255422486e-01
+57,3.173333333e+01,DOWN_FORCE_DETACH,1792921203571025440,2.472838025e-04,-1.179937759e-04,-4.974730237e-03,2.470167473e-04,-1.180609261e-04,-4.974798105e-03,2.075086928e-04,-1.137664512e-04,-4.964230945e-03,7.022029166e-01,-1.402645109e-04,8.551683570e-01,7.022026496e-01,-1.403316611e-04,8.551682891e-01,7.029529685e-01,-2.306963264e-04,8.253613705e-01
+58,3.205000000e+01,DOWN_SETTLE,1792921203881418846,2.364152622e-04,-1.173778853e-04,-5.121279257e-03,2.384518434e-04,-1.172492369e-04,-5.112149592e-03,1.967701740e-04,-1.130957535e-04,-5.103315788e-03,7.021920481e-01,-1.396486203e-04,8.550218080e-01,7.021940847e-01,-1.395199719e-04,8.550309376e-01,7.029422300e-01,-2.300256287e-04,8.252222856e-01
+59,3.275000000e+01,DOWN_PEAK_HOLD,1792921204569595276,2.073112437e-04,-1.131058225e-04,-5.201254460e-03,2.129874488e-04,-1.123866960e-04,-5.191084177e-03,1.682943795e-04,-1.083262367e-04,-5.186973542e-03,7.021629441e-01,-1.353765576e-04,8.549418328e-01,7.021686203e-01,-1.346574311e-04,8.549520031e-01,7.029137542e-01,-2.252561119e-04,8.251386279e-01

Fixed/digit/cylinder_PLA_10/press_depth_02/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.4925e-01,3.7987e-01,2.4435e+00,-6.4742e-02,4.7536e-02,5.3819e-04,7.5370e-03,-1.7698e-03,1.7800e-03,1.1698e-04,5.3371e-04,-3.4049e-05,7.9440e-03,5.4744e-04
+1,7.3333e-01,DOWN_FORCE_DETACH,1.6659e-04,1.9148e-01,3.7720e-01,2.4356e+00,-6.4523e-02,5.0594e-02,2.9304e-04,4.9771e-02,-4.4419e-03,-6.0866e-03,3.3561e-04,3.5921e-03,-2.7920e-04,5.0338e-02,3.6185e-03
+2,1.5833e+00,DOWN_FORCE_DETACH,3.3109e-04,2.0878e-01,3.7561e-01,2.4335e+00,-6.4399e-02,5.1853e-02,1.7636e-04,6.7070e-02,-6.0301e-03,-8.1818e-03,4.6024e-04,4.8513e-03,-3.9588e-04,6.7835e-02,4.8892e-03
+3,2.3167e+00,DOWN_FORCE_DETACH,4.9601e-04,2.1424e-01,3.7509e-01,2.4325e+00,-6.4358e-02,5.2247e-02,1.3786e-04,7.2531e-02,-6.5550e-03,-9.1913e-03,5.0084e-04,5.2454e-03,-4.3438e-04,7.3404e-02,5.2871e-03
+4,3.1167e+00,DOWN_FORCE_DETACH,6.6426e-04,2.1655e-01,3.7486e-01,2.4322e+00,-6.4340e-02,5.2413e-02,1.2072e-04,7.4839e-02,-6.7867e-03,-9.5558e-03,5.1859e-04,5.4115e-03,-4.5152e-04,7.5752e-02,5.4550e-03
+5,3.8333e+00,DOWN_FORCE_DETACH,8.2882e-04,1.5665e-01,3.9241e-01,2.4464e+00,-6.5610e-02,4.8050e-02,1.9923e-04,1.4934e-02,1.0772e-02,4.6756e-03,-7.5061e-04,1.0483e-03,-3.7301e-04,1.8997e-02,1.3422e-03
+6,4.6333e+00,DOWN_FORCE_DETACH,9.9542e-04,2.0232e-01,4.0359e-01,2.5113e+00,-6.6354e-02,5.1290e-02,1.6510e-04,6.0603e-02,2.1945e-02,6.9595e-02,-1.4949e-03,4.2878e-03,-4.0714e-04,9.4856e-02,4.5591e-03
+7,5.2667e+00,DOWN_FORCE_DETACH,1.1606e-03,2.1540e-01,4.0274e-01,2.4660e+00,-6.6320e-02,5.2292e-02,1.2580e-04,7.3691e-02,2.1101e-02,2.4313e-02,-1.4609e-03,5.2902e-03,-4.4644e-04,8.0416e-02,5.5063e-03
+8,6.1167e+00,DOWN_FORCE_DETACH,1.3270e-03,2.0673e-01,4.0108e-01,2.4845e+00,-6.6176e-02,5.1640e-02,1.1930e-04,6.5019e-02,1.9436e-02,4.2779e-02,-1.3166e-03,4.6380e-03,-4.5295e-04,8.0220e-02,4.8425e-03
+9,6.8833e+00,DOWN_FORCE_DETACH,1.4914e-03,2.0675e-01,4.2853e-01,2.5164e+00,-6.8120e-02,5.1605e-02,1.1764e-04,6.5040e-02,4.6888e-02,7.4711e-02,-3.2615e-03,4.6028e-03,-4.5460e-04,1.0959e-01,5.6595e-03
+10,7.6333e+00,DOWN_FORCE_DETACH,1.6581e-03,1.5435e-01,4.6213e-01,2.5273e+00,-7.0536e-02,4.7787e-02,1.6104e-04,1.2633e-02,8.0486e-02,8.5572e-02,-5.6770e-03,7.8546e-04,-4.1120e-04,1.1815e-01,5.7458e-03
+11,8.4667e+00,DOWN_FORCE_DETACH,1.8248e-03,1.5169e-01,5.1823e-01,2.5115e+00,-7.4582e-02,4.7597e-02,2.2957e-04,9.9797e-03,1.3659e-01,6.9823e-02,-9.7231e-03,5.9477e-04,-3.4267e-04,1.5372e-01,9.7473e-03
+12,9.2333e+00,DOWN_FORCE_DETACH,1.9890e-03,1.7258e-01,4.9108e-01,2.6245e+00,-7.2473e-02,4.9127e-02,1.9090e-04,3.0868e-02,1.0943e-01,1.8277e-01,-7.6138e-03,2.1250e-03,-3.8134e-04,2.1525e-01,7.9140e-03
+13,9.9167e+00,DOWN_FORCE_DETACH,2.1539e-03,1.8346e-01,5.2166e-01,2.6424e+00,-7.4622e-02,4.9967e-02,1.7655e-04,4.1747e-02,1.4002e-01,2.0068e-01,-9.7626e-03,2.9656e-03,-3.9569e-04,2.4823e-01,1.0211e-02
+14,1.0450e+01,DOWN_FORCE_DETACH,2.3221e-03,2.0924e-01,5.2095e-01,2.5294e+00,-7.4680e-02,5.1765e-02,1.8236e-04,6.7530e-02,1.3930e-01,8.7667e-02,-9.8212e-03,4.7633e-03,-3.8988e-04,1.7791e-01,1.0922e-02
+15,1.1217e+01,DOWN_FORCE_DETACH,2.4871e-03,1.6662e-01,5.7177e-01,2.6134e+00,-7.8270e-02,4.8623e-02,2.5130e-04,2.4904e-02,1.9013e-01,1.7165e-01,-1.3411e-02,1.6213e-03,-3.2094e-04,2.5736e-01,1.3512e-02
+16,1.2000e+01,DOWN_FORCE_DETACH,2.6557e-03,2.0434e-01,5.5300e-01,2.5643e+00,-7.6906e-02,5.1358e-02,2.4808e-04,6.2624e-02,1.7136e-01,1.2254e-01,-1.2047e-02,4.3557e-03,-3.2416e-04,2.1978e-01,1.2814e-02
+17,1.2700e+01,DOWN_FORCE_DETACH,2.8193e-03,1.9144e-01,6.1618e-01,2.6744e+00,-8.1196e-02,5.0470e-02,2.6681e-04,4.9721e-02,2.3454e-01,2.3269e-01,-1.6337e-02,3.4683e-03,-3.0543e-04,3.3410e-01,1.6704e-02
+18,1.3383e+01,DOWN_FORCE_DETACH,2.9834e-03,2.0861e-01,5.9114e-01,2.6019e+00,-7.9516e-02,5.1621e-02,2.9081e-04,6.6892e-02,2.0950e-01,1.6014e-01,-1.4658e-02,4.6190e-03,-2.8143e-04,2.7205e-01,1.5371e-02
+19,1.4100e+01,DOWN_FORCE_DETACH,3.1508e-03,1.9286e-01,6.2789e-01,2.7117e+00,-8.1918e-02,5.0507e-02,3.5287e-04,5.1144e-02,2.4624e-01,2.7004e-01,-1.7059e-02,3.5046e-03,-2.1937e-04,3.6901e-01,1.7417e-02
+20,1.4850e+01,DOWN_FORCE_DETACH,3.3189e-03,2.1124e-01,6.1797e-01,2.6690e+00,-8.1140e-02,5.1710e-02,4.0849e-04,6.9522e-02,2.3633e-01,2.2729e-01,-1.6281e-02,4.7085e-03,-1.6375e-04,3.3518e-01,1.6949e-02
+21,1.5483e+01,DOWN_FORCE_DETACH,3.4844e-03,2.2587e-01,6.1190e-01,2.6799e+00,-8.0635e-02,5.2753e-02,4.3506e-04,8.4153e-02,2.3025e-01,2.3822e-01,-1.5776e-02,5.7512e-03,-1.3718e-04,3.4183e-01,1.6792e-02
+22,1.6117e+01,DOWN_FORCE_DETACH,3.6485e-03,2.1685e-01,6.6470e-01,2.7789e+00,-8.4137e-02,5.2095e-02,4.8389e-04,7.5141e-02,2.8306e-01,3.3723e-01,-1.9278e-02,5.0933e-03,-8.8349e-05,4.4665e-01,1.9940e-02
+23,1.6817e+01,DOWN_FORCE_DETACH,3.8134e-03,2.1741e-01,6.6553e-01,2.8030e+00,-8.4093e-02,5.2091e-02,5.1244e-04,7.5696e-02,2.8389e-01,3.6128e-01,-1.9234e-02,5.0893e-03,-5.9800e-05,4.6567e-01,1.9896e-02
+24,1.7600e+01,DOWN_FORCE_DETACH,3.9792e-03,2.1516e-01,6.9369e-01,2.8614e+00,-8.6036e-02,5.1936e-02,5.0541e-04,7.3442e-02,3.1205e-01,4.1974e-01,-2.1177e-02,4.9337e-03,-6.6832e-05,5.2816e-01,2.1744e-02
+25,1.8267e+01,DOWN_FORCE_DETACH,4.1455e-03,2.3225e-01,7.3484e-01,2.8934e+00,-8.8659e-02,5.3050e-02,4.6350e-04,9.0541e-02,3.5320e-01,4.5171e-01,-2.3800e-02,6.0481e-03,-1.0875e-04,5.8051e-01,2.4556e-02
+26,1.8933e+01,DOWN_FORCE_DETACH,4.3085e-03,2.2780e-01,7.6383e-01,2.9270e+00,-9.0538e-02,5.2706e-02,3.9452e-04,8.6085e-02,3.8218e-01,4.8524e-01,-2.5679e-02,5.7046e-03,-1.7772e-04,6.2365e-01,2.6305e-02
+27,1.9633e+01,DOWN_FORCE_DETACH,4.4772e-03,2.2852e-01,7.9409e-01,2.9554e+00,-9.2339e-02,5.2680e-02,3.0948e-04,8.6803e-02,4.1244e-01,5.1364e-01,-2.7481e-02,5.6779e-03,-2.6276e-04,6.6444e-01,2.8062e-02
+28,2.0300e+01,DOWN_FORCE_DETACH,4.6390e-03,2.2910e-01,8.4411e-01,3.0228e+00,-9.5619e-02,5.2641e-02,2.2462e-04,8.7387e-02,4.6246e-01,5.8111e-01,-3.0760e-02,5.6393e-03,-3.4762e-04,7.4780e-01,3.1275e-02
+29,2.0950e+01,DOWN_FORCE_DETACH,4.8051e-03,2.5796e-01,9.0327e-01,3.0823e+00,-9.9657e-02,5.4475e-02,1.1566e-04,1.1625e-01,5.2162e-01,6.4059e-01,-3.4798e-02,7.4729e-03,-4.5659e-04,8.3424e-01,3.5594e-02
+30,2.1533e+01,DOWN_FORCE_DETACH,4.9733e-03,2.6897e-01,9.0775e-01,3.1228e+00,-9.9758e-02,5.5216e-02,4.6091e-05,1.2726e-01,5.2610e-01,6.8108e-01,-3.4899e-02,8.2137e-03,-5.2615e-04,8.6997e-01,3.5857e-02
+31,2.2083e+01,DOWN_FORCE_DETACH,5.1380e-03,2.8092e-01,9.4215e-01,3.1700e+00,-1.0190e-01,5.5930e-02,-2.1530e-05,1.3920e-01,5.6050e-01,7.2833e-01,-3.7046e-02,8.9277e-03,-5.9377e-04,9.2952e-01,3.8111e-02
+32,2.2617e+01,DOWN_FORCE_DETACH,5.3099e-03,3.0091e-01,9.7297e-01,3.2273e+00,-1.0389e-01,5.7241e-02,-7.0367e-05,1.5920e-01,5.9133e-01,7.8561e-01,-3.9029e-02,1.0239e-02,-6.4261e-04,9.9609e-01,4.0355e-02
+33,2.3150e+01,DOWN_FORCE_DETACH,5.4654e-03,2.9869e-01,9.8352e-01,3.2840e+00,-1.0421e-01,5.7040e-02,-9.0580e-05,1.5697e-01,6.0188e-01,8.4231e-01,-3.9354e-02,1.0038e-02,-6.6282e-04,1.0471e+00,4.0619e-02
+34,2.3633e+01,DOWN_FORCE_DETACH,5.6357e-03,2.8949e-01,1.0344e+00,3.3051e+00,-1.0757e-01,5.6280e-02,-3.7296e-05,1.4777e-01,6.5271e-01,8.6336e-01,-4.2708e-02,9.2782e-03,-6.0954e-04,1.0924e+00,4.3708e-02
+35,2.4150e+01,DOWN_FORCE_DETACH,5.8032e-03,2.7426e-01,1.0827e+00,3.3284e+00,-1.1066e-01,5.5282e-02,1.3709e-06,1.3254e-01,7.0101e-01,8.8670e-01,-4.5804e-02,8.2802e-03,-5.7087e-04,1.1381e+00,4.6550e-02
+36,2.4683e+01,DOWN_FORCE_DETACH,5.9677e-03,2.5696e-01,1.1295e+00,3.3869e+00,-1.1364e-01,5.4099e-02,4.8060e-05,1.1525e-01,7.4781e-01,9.4521e-01,-4.8783e-02,7.0967e-03,-5.2418e-04,1.2108e+00,4.9300e-02
+37,2.5150e+01,DOWN_FORCE_DETACH,6.1354e-03,2.5843e-01,1.1570e+00,3.4805e+00,-1.1505e-01,5.4080e-02,7.8777e-05,1.1672e-01,7.7539e-01,1.0388e+00,-5.0195e-02,7.0780e-03,-4.9346e-04,1.3015e+00,5.0694e-02
+38,2.5617e+01,DOWN_FORCE_DETACH,6.3004e-03,2.4254e-01,1.1966e+00,3.5063e+00,-1.1718e-01,5.2928e-02,1.1924e-04,1.0082e-01,8.1492e-01,1.0646e+00,-5.2320e-02,5.9265e-03,-4.5300e-04,1.3445e+00,5.2656e-02
+39,2.6050e+01,DOWN_FORCE_DETACH,6.4644e-03,2.6105e-01,1.2678e+00,3.5453e+00,-1.2152e-01,5.4073e-02,1.6176e-04,1.1933e-01,8.8617e-01,1.1036e+00,-5.6657e-02,7.0709e-03,-4.1048e-04,1.4204e+00,5.7098e-02
+40,2.6483e+01,DOWN_FORCE_DETACH,6.6301e-03,2.5776e-01,1.3080e+00,3.6131e+00,-1.2381e-01,5.3718e-02,2.2824e-04,1.1605e-01,9.2632e-01,1.1714e+00,-5.8949e-02,6.7158e-03,-3.4400e-04,1.4979e+00,5.9331e-02
+41,2.6867e+01,DOWN_FORCE_DETACH,6.7929e-03,2.5735e-01,1.3145e+00,3.6703e+00,-1.2389e-01,5.3559e-02,2.3623e-04,1.1563e-01,9.3286e-01,1.2286e+00,-5.9027e-02,6.5574e-03,-3.3602e-04,1.5469e+00,5.9391e-02
+42,2.7267e+01,DOWN_FORCE_DETACH,6.9598e-03,2.5821e-01,1.3483e+00,3.7344e+00,-1.2559e-01,5.3432e-02,1.8366e-04,1.1649e-01,9.6669e-01,1.2927e+00,-6.0730e-02,6.4303e-03,-3.8858e-04,1.6183e+00,6.1071e-02
+43,2.7667e+01,DOWN_FORCE_DETACH,7.1267e-03,2.6665e-01,1.3912e+00,3.7771e+00,-1.2794e-01,5.3916e-02,9.3857e-05,1.2494e-01,1.0095e+00,1.3354e+00,-6.3080e-02,6.9141e-03,-4.7838e-04,1.6787e+00,6.3460e-02
+44,2.8000e+01,DOWN_FORCE_DETACH,7.2948e-03,2.9799e-01,1.3838e+00,3.9532e+00,-1.2667e-01,5.5820e-02,2.6992e-05,1.5628e-01,1.0022e+00,1.5115e+00,-6.1811e-02,8.8180e-03,-5.4525e-04,1.8202e+00,6.2440e-02
+45,2.8350e+01,DOWN_FORCE_DETACH,7.4625e-03,3.0728e-01,1.4682e+00,3.9703e+00,-1.3161e-01,5.6393e-02,9.1270e-08,1.6556e-01,1.0866e+00,1.5286e+00,-6.6748e-02,9.3914e-03,-5.7215e-04,1.8827e+00,6.7408e-02
+46,2.8667e+01,DOWN_FORCE_DETACH,7.6225e-03,3.1382e-01,1.4203e+00,4.0475e+00,-1.2795e-01,5.6814e-02,-5.0155e-05,1.7211e-01,1.0386e+00,1.6058e+00,-6.3092e-02,9.8121e-03,-6.2240e-04,1.9201e+00,6.3853e-02
+47,2.8983e+01,DOWN_FORCE_DETACH,7.7865e-03,3.2876e-01,1.4672e+00,4.1030e+00,-1.3063e-01,5.7771e-02,-6.0024e-05,1.8705e-01,1.0855e+00,1.6613e+00,-6.5768e-02,1.0769e-02,-6.3227e-04,1.9933e+00,6.6647e-02
+48,2.9300e+01,DOWN_FORCE_DETACH,7.9608e-03,3.0891e-01,1.4410e+00,4.1217e+00,-1.2851e-01,5.6449e-02,-7.9108e-05,1.6720e-01,1.0593e+00,1.6800e+00,-6.3655e-02,9.4474e-03,-6.5135e-04,1.9931e+00,6.4355e-02
+49,2.9617e+01,DOWN_FORCE_DETACH,8.1264e-03,2.9162e-01,1.4200e+00,4.1437e+00,-1.2667e-01,5.5231e-02,-9.6086e-05,1.4990e-01,1.0384e+00,1.7020e+00,-6.1811e-02,8.2292e-03,-6.6833e-04,1.9994e+00,6.2360e-02
+50,2.9917e+01,DOWN_FORCE_DETACH,8.2851e-03,2.9977e-01,1.4332e+00,4.1656e+00,-1.2707e-01,5.5657e-02,-8.7976e-05,1.5806e-01,1.0516e+00,1.7239e+00,-6.2213e-02,8.6548e-03,-6.6022e-04,2.0255e+00,6.2816e-02
+51,3.0217e+01,DOWN_FORCE_DETACH,8.4557e-03,3.0083e-01,1.4693e+00,4.1874e+00,-1.2897e-01,5.5622e-02,-5.7397e-05,1.5912e-01,1.0876e+00,1.7457e+00,-6.4111e-02,8.6200e-03,-6.2964e-04,2.0629e+00,6.4691e-02
+52,3.0450e+01,DOWN_FORCE_DETACH,8.6178e-03,3.2332e-01,1.4595e+00,4.2974e+00,-1.2792e-01,5.6952e-02,-7.0093e-05,1.8161e-01,1.0778e+00,1.8557e+00,-6.3064e-02,9.9501e-03,-6.4233e-04,2.1537e+00,6.3848e-02
+53,3.0733e+01,DOWN_FORCE_DETACH,8.7875e-03,2.5729e-01,1.4772e+00,4.2927e+00,-1.2849e-01,5.2480e-02,-9.7629e-05,1.1557e-01,1.0955e+00,1.8510e+00,-6.3632e-02,5.4786e-03,-6.6987e-04,2.1540e+00,6.3871e-02
+54,3.1000e+01,DOWN_FORCE_DETACH,8.9551e-03,2.7740e-01,1.4605e+00,4.3213e+00,-1.2702e-01,5.3632e-02,-7.6851e-05,1.3568e-01,1.0788e+00,1.8796e+00,-6.2158e-02,6.6304e-03,-6.4909e-04,2.1715e+00,6.2514e-02
+55,3.1267e+01,DOWN_FORCE_DETACH,9.1234e-03,3.3226e-01,1.4704e+00,4.3687e+00,-1.2722e-01,5.7218e-02,-1.1976e-04,1.9055e-01,1.0887e+00,1.9270e+00,-6.2365e-02,1.0216e-02,-6.9200e-04,2.2215e+00,6.3200e-02
+56,3.1483e+01,DOWN_FORCE_DETACH,9.2829e-03,3.7144e-01,1.5246e+00,4.4753e+00,-1.3032e-01,5.9766e-02,-1.6229e-04,2.2973e-01,1.1430e+00,2.0336e+00,-6.5458e-02,1.2764e-02,-7.3454e-04,2.3441e+00,6.6695e-02
+57,3.1733e+01,DOWN_FORCE_DETACH,9.4551e-03,3.9372e-01,1.5148e+00,4.4855e+00,-1.2928e-01,6.1201e-02,-1.9659e-04,2.5200e-01,1.1332e+00,2.0438e+00,-6.4418e-02,1.4199e-02,-7.6883e-04,2.3505e+00,6.5969e-02
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Fixed/digit/cylinder_PLA_10/press_depth_02/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_10/press_depth_02/up/franka_data.csv

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Fixed/digit/cylinder_PLA_10/press_depth_02/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+33,5.316666667e+00,UP_FORCE_RAMP,1792921160568955512,-3.468506641e-05,-4.356381354e-04,1.408010216e-04,-2.819729714e-05,-4.326375682e-04,1.377105794e-04,-2.653094337e-05,-4.139438792e-04,1.359469893e-04,7.019209478e-01,-4.579088704e-04,8.602838883e-01,7.019274355e-01,-4.549083032e-04,8.602807978e-01,7.027189288e-01,-5.308737494e-04,8.304615484e-01
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+38,6.466666667e+00,UP_FORCE_RAMP,1792921161748689739,-3.981077025e-05,-4.313491159e-04,1.581699519e-04,-4.240153479e-05,-4.391354848e-04,1.512135249e-04,-4.146114375e-05,-4.201407356e-04,1.498147700e-04,7.019158220e-01,-4.536198509e-04,8.603012572e-01,7.019132313e-01,-4.614062198e-04,8.602943008e-01,7.027039986e-01,-5.370706058e-04,8.304754162e-01
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+40,6.816666667e+00,UP_FORCE_RAMP,1792921162125062755,-4.169845045e-05,-4.294885487e-04,1.565858295e-04,-4.240153479e-05,-4.391354848e-04,1.512135249e-04,-4.154343310e-05,-4.201290285e-04,1.499846354e-04,7.019139344e-01,-4.517592837e-04,8.602996731e-01,7.019132313e-01,-4.614062198e-04,8.602943008e-01,7.027039163e-01,-5.370588987e-04,8.304755861e-01
+41,7.016666667e+00,UP_FORCE_RAMP,1792921162321759565,-4.244499103e-05,-4.325684952e-04,1.584218186e-04,-4.240153479e-05,-4.391354848e-04,1.512135249e-04,-4.158008420e-05,-4.201234876e-04,1.500668891e-04,7.019131878e-01,-4.548392302e-04,8.603015091e-01,7.019132313e-01,-4.614062198e-04,8.602943008e-01,7.027038797e-01,-5.370533578e-04,8.304756683e-01
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+48,8.700000000e+00,UP_FORCE_HOLD,1792921163992802426,-4.275067095e-05,-4.327825357e-04,1.672318527e-04,-4.240153479e-05,-4.391354848e-04,1.512135249e-04,-4.175075498e-05,-4.200978614e-04,1.505123569e-04,7.019128821e-01,-4.550532707e-04,8.603103191e-01,7.019132313e-01,-4.614062198e-04,8.602943008e-01,7.027037090e-01,-5.370277316e-04,8.304761138e-01
+49,8.933333333e+00,UP_FORCE_HOLD,1792921164222152347,-4.498746480e-05,-4.332135823e-04,1.655393367e-04,-4.240153479e-05,-4.391354848e-04,1.512135249e-04,-4.176323527e-05,-4.200960403e-04,1.505509517e-04,7.019106454e-01,-4.554843174e-04,8.603086266e-01,7.019132313e-01,-4.614062198e-04,8.602943008e-01,7.027036965e-01,-5.370259105e-04,8.304761524e-01
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Fixed/digit/cylinder_PLA_10/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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Fixed/digit/cylinder_PLA_10/press_depth_03/down/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_10/press_depth_03/down/franka_data.csv

@@ -0,0 +1,61 @@
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+14326,1792921219604526931,786589000000,1792921219603329716,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0566,0.056601382791996,0.6759536659838117,-0.004858762827451002,0.09978943822866024,0.9999999621029707,-0.00010837714045654074,-0.00022236852835670943,7.77403026898205e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,-0.007181879541693803,-0.009083499129724837,-0.012461969668016604,-0.0006006263724108452,0.0003352704585612015,1.9771053425102474e-05,1.1831011262355384,1.22180449126886,0.4208223935063228,0.07917750007089443,-0.07661984711567905,0.002595559015949397,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,0.3493388206868882,1.1728229234595309,1.1234884546623642,-0.08783837432373001,-0.600178617416046,0.7090155600229667,1.1210382144179905,0.012461969668016604,-0.0024502402443737914,0.0,0.0,0,0,0.0,0.0
+14425,1792921220422520606,787407000000,1792921220415330283,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6759539725963813,-0.004856830461525706,0.09979168972773542,0.9999999625327478,-0.00010806171940962221,-0.00022098907118169633,7.657586145233436e-05,0.6761,-0.0046,0.0999906902469557,1.0,0.0,0.0,0.0,-0.021041879606205738,-0.015795184226430337,-0.02280761626672223,-0.0012236078891582208,0.0013515553131342173,3.518053221116847e-05,1.1692411261710265,1.2150928061721544,0.41047674690761715,0.07855451855414705,-0.07560356226110604,0.002610968494735463,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,0.40195788875537514,1.1819827573380608,1.0846733478857395,-0.09098531232251786,-0.5659352302059393,0.7145389700163579,1.1210382144179905,0.02280761626672223,0.036364866532250906,0.036364866532250906,0.09374999999999903,0,0,-3.015548317583517e-05,-9.999999025923074e-05
+14537,1792921221356695570,788341000000,1792921221355339804,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6759619594645964,-0.0048559284199834836,0.09979005939106125,0.9999999665216309,-0.00010777518890358761,-0.00020069862344953808,8.064845059790533e-05,0.6761,-0.0046,0.0999567683142125,1.0,0.0,0.0,0.0,-0.07166675245182552,0.027769043689348072,-0.04191637855825048,0.0017163130793156622,0.004393714824455844,0.00012625010454705944,1.1186162533254067,1.2586570340879328,0.3913679846160889,0.08149443952262093,-0.07256140274978441,0.002702038067071354,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,0.8898772641427325,1.176578487844543,0.929392747725151,-0.06938127173178349,-0.35871429988463377,0.7108113732406971,1.1210382144179905,0.04191637855825048,0.19164546669283944,0.19164546669283944,0.23385000000000664,0,0,-2.2089444880217475e-05,-5e-05
+14624,1792921222081748044,789066000000,1792921222079340174,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6759672474702518,-0.004858435849949178,0.09979015678278443,0.999999968846244,-0.00010413956325837678,-0.00018963772188845194,8.332383407630358e-05,0.6761,-0.0046,0.0999500748886405,1.0,0.0,0.0,0.0,-0.08913904343923229,0.03354176149917332,-0.020853253334434163,0.0026998089606989767,0.005950429048538028,0.00014037751856539344,1.101143962338,1.264429751897758,0.4124311098399052,0.08247793540400425,-0.07100468852570223,0.002716165481089688,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,0.9156121614770354,1.1706836105362315,0.8149960361265405,-0.06784651120925066,-0.28411069076197165,0.7070416009840526,1.1210382144179905,0.020853253334434163,0.30604217829145,0.30604217829145,0.34259999999999763,0,0,-3.50448454563968e-06,-9.166383904546933e-05
+14730,1792921222964784563,789949000000,1792921222959340057,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6759718894936828,-0.0048570045816252105,0.09979274015695692,0.9999999704278321,-0.00010560756307508132,-0.00017991588928617183,8.405066798460227e-05,0.6761,-0.0046,0.09994147898594045,1.0,0.0,0.0,0.0,-0.10798122097732143,0.026689039565240158,0.007899155639712718,0.00268185241423205,0.006956556584814991,0.0001333175212854124,1.0823017847999108,1.257577029963825,0.4411835188140521,0.08245997885753732,-0.06999856098942527,0.002709105483809707,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.017591415138699,1.1769858271366445,0.6453861367940515,-0.06440509385916433,-0.1519820823669382,0.715318405062196,1.1210382144179905,-0.007899155639712718,0.4756520776239389,0.4756520776239389,0.47504999999998304,0,0,-2.277781923212962e-05,7.683946120907165e-05
+14838,1792921223864781256,790849000000,1792921223863339572,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6759752722581225,-0.004859173395239933,0.0997740745548451,0.9999999722388025,-0.00010353313591549303,-0.0001685532112331809,8.85209762873179e-05,0.6761,-0.0046,0.09990638576862196,1.0,0.0,0.0,0.0,-0.14775171945115217,0.05101831933954348,0.10842630802345354,0.0036513391902889686,0.009665142308594873,0.00010633345123575765,1.04253128632608,1.2819063097381282,0.5417106711977929,0.08342946563359424,-0.06728997526564538,0.0026821214137600522,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.1078195715591823,1.1282630256654302,0.5529010402189912,-0.014746063107467552,-0.08537331894053321,0.6874958836429322,1.1210382144179905,-0.10842630802345354,0.5681371741989992,0.5681371741989992,0.6100499999999682,0,0,-5.129433897367008e-05,1.0090383964719997e-05
+14935,1792921224672918506,791657000000,1792921224667340008,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6759789100077142,-0.004862962641194962,0.09975711575119048,0.9999999723543297,-0.0001040404195211382,-0.00016395015521081436,9.502705949715994e-05,0.6761,-0.0046,0.09986942039135364,1.0,0.0,0.0,0.0,-0.1827568796631489,0.04592525753014165,0.2386838460976024,0.0037660302469247897,0.011311642603020158,1.8844772394310035e-05,1.0075261261140833,1.2768132479287264,0.6719682092719418,0.08354415669023006,-0.0656434749712201,0.0025946327349186046,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.1568044705959006,1.0586770237103347,0.2990054559752175,0.02922696800036642,0.0856501853691996,0.6494364257630078,1.1210382144179905,-0.2386838460976024,0.8220327584427729,0.8220327584427729,0.7312499999999549,0,0,-3.7094912201636514e-05,9.998780556153548e-05
+15033,1792921225489942367,792474000000,1792921225487339577,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6759822530933369,-0.00486245967940634,0.09974742037534154,0.9999999725332216,-0.00010480245520116904,-0.00015977604859413193,9.932008947918439e-05,0.6761,-0.0046,0.09984407988546475,1.0,0.0,0.0,0.0,-0.19259578615084794,0.04122446330684637,0.30958197773177365,0.00454292084463806,0.011309683222786263,-2.801509161874747e-05,0.9976872196263843,1.2721124537054311,0.742866340906113,0.08432104728794333,-0.065645434351454,0.002547772870905547,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.1671331340031978,1.1097895382060348,0.3255006805075128,0.041680457526827634,0.06447602265756293,0.6872969721096195,1.1210382144179905,-0.30958197773177365,0.7955375339104777,0.7955375339104777,0.8537999999999414,0,0,-2.6230016168830812e-05,-9.936105690855896e-05
+15133,1792921226323046436,793307000000,1792921226315339415,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6759837809112117,-0.004863059455620181,0.0997349493608029,0.9999999731423944,-0.00010060931535165809,-0.00015659220820839456,0.00010254131351039082,0.6761,-0.0046,0.09982176387865262,1.0,0.0,0.0,0.0,-0.20234368665948754,0.03944092268839405,0.37973234648958576,0.004503105460567328,0.01230650375882357,-7.428079400016198e-05,0.9879393191177447,1.2703289130869788,0.8130167096639251,0.0842812319038726,-0.06464861381541669,0.0025015071685241326,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.1876168550928574,1.0281761507523406,0.12076896164645591,0.07614664018549608,0.19991151151216482,0.6362426940347331,1.1210382144179905,-0.37973234648958576,1.0002692527715344,1.0002692527715344,0.9787499999999276,0,0,-3.2253211300321876e-05,9.836610278946551e-05
+15216,1792921227015147042,793999000000,1792921227011330372,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6759899376664462,-0.004863795016923047,0.09972382196008062,0.9999999745713292,-0.00010086291879642154,-0.0001438438669859621,0.00010693838915140214,0.6761,-0.0046,0.09979470772057147,1.0,0.0,0.0,0.0,-0.2231368791765661,0.0518546930759991,0.46027169257315526,0.005454265317905965,0.01429933911379859,-7.636909868702227e-05,0.9671461266006661,1.2827426834745839,0.8935560557474946,0.08523239176121124,-0.06265577846044167,0.0024994188638372723,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.1984175720361185,1.0034699052897595,0.14135956900101238,0.11973062727423128,0.17542164636507804,0.6275097465435684,1.1210382144179905,-0.46027169257315526,0.9796786454169781,0.9796786454169781,1.0825499999999773,0,0,-4.3258452399357e-05,-9.999890779178173e-05
+15290,1792921227632072516,794616000000,1792921227631330124,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6760011796693031,-0.004866899375739358,0.09971223051489826,0.9999999768328403,-9.972804528519931e-05,-0.00012052779579121674,0.0001153453541829006,0.6761,-0.0046,0.0997662763070323,1.0,0.0,0.0,0.0,-0.2614232139635566,0.06428382168936286,0.5299298424076657,0.00639928850021701,0.016286473365502756,0.0009144959149209649,0.9288597918136756,1.2951718120879476,0.9632142055820051,0.08617741494352228,-0.0606686442087375,0.0034902838774452595,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.3214231483607306,0.9864809875704587,-0.03765878938219569,0.13435181509773889,0.3108183048399515,0.6179607403963799,1.1210382144179905,-0.5299298424076657,1.158697003800186,1.158697003800186,1.1751000000000356,0,0,-4.683173775579951e-05,9.999996250365512e-05
+15395,1792921228507226176,795491000000,1792921228507330715,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6760173791539229,-0.00486513990575575,0.09969716239220248,0.9999999788184405,-9.673204338756465e-05,-9.873443562308291e-05,0.00012124523111230644,0.6761,-0.0046,0.09972577000329517,1.0,0.0,0.0,0.0,-0.2912458881076503,0.1028343889633323,0.6219860326076078,0.008343892761529068,0.019266088820822584,0.000906611078490068,0.8990371176695819,1.333722379361917,1.0552703957819471,0.08812201920483434,-0.05768902875341767,0.0034823990410143627,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.4098927457280652,0.9554181496665718,-0.16332809312884977,0.19056059208497197,0.3998497593652932,0.6105821641465767,1.1210382144179905,-0.6219860326076078,1.2843663075468403,1.2843663075468403,1.3063500000001182,0,0,-4.5407737865572943e-05,9.967029565428049e-05
+15487,1792921229273233391,796257000000,1792921229267329919,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6760242028892538,-0.00487143566618169,0.09967846588010056,0.9999999784271288,-9.663313504571176e-05,-9.136371980768585e-05,0.000130012746506594,0.6761,-0.0046,0.09969156763144404,1.0,0.0,0.0,0.0,-0.3084294739506963,0.10772628409332952,0.7126045678569878,0.008946486400530043,0.020248596568622088,0.0008532468460513329,0.8818535318265359,1.3386142744919143,1.1458889310313272,0.08872461284383532,-0.05670652100561817,0.0034290348085756275,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.3662992611413098,0.9730031147298609,-0.252211002209648,0.22219536331418926,0.4354580690339262,0.6224952991952392,1.1210382144179905,-0.7126045678569878,1.3732492166276384,1.3732492166276384,1.4212500000001906,0,0,-4.3582348420471935e-05,-9.999999025923074e-05
+15583,1792921230073339486,797057000000,1792921230071330250,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6760259532256706,-0.0048696969215311385,0.09965523091957856,0.9999999782586986,-9.509564400040216e-05,-8.784853067617885e-05,0.00013477730086261795,0.6761,-0.0046,0.09965893661074611,1.0,0.0,0.0,0.0,-0.3197859479063617,0.09942244122951549,0.8012278007251951,0.008254492937039115,0.021255361923723626,0.0007898525226455811,0.8704970578708705,1.3303104316281003,1.2345121638995344,0.08803261938034439,-0.05569975565051663,0.0033656404851698757,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.3968612727226248,0.981430140800791,-0.32065414293419964,0.2504787055426136,0.4768769284897674,0.6295751637968525,1.1210382144179905,-0.8012278007251951,1.44169235735219,1.44169235735219,1.5412500000002662,0,0,-4.1654626840885396e-05,-9.999999025923074e-05
+15699,1792921231040332915,798024000000,1792921231039330243,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6760330996927018,-0.004872148586848919,0.09963141501100575,0.9999999787311562,-8.856456319499592e-05,-7.512567594888046e-05,0.00014315377210685892,0.6761,-0.0046,0.09961720543573845,1.0,0.0,0.0,0.0,-0.34340289223484155,0.0931820601151887,0.9022847982638572,0.008206862037828694,0.02224812169179239,0.0007205229643676907,0.8468801135423907,1.3240700505137735,1.3355691614381966,0.08798498848113397,-0.054706995882447866,0.0032963109268919853,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.4550887101635723,0.946076296278329,-0.5394313059991536,0.28965462717412466,0.6270867632986169,0.6019330686844342,1.1210382144179905,-0.9022847982638572,1.660469520417144,1.660469520417144,1.6863000000003576,0,0,-4.68216651463863e-05,5e-05
+15794,1792921231832402371,798816000000,1792921231827330090,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6760420416560413,-0.0048769552936747404,0.0996116783824663,0.9999999785254825,-8.999840064174579e-05,-6.052928483290768e-05,0.00015042736589735117,0.6761,-0.0046,0.09958033100834335,1.0,0.0,0.0,0.0,-0.36699480004498397,0.09637465209358465,0.9929048804036004,0.008136187217568591,0.024227455591793276,0.0006759675291753238,0.8232882057322483,1.3272626424921694,1.4261892435779397,0.08791431366087386,-0.05272766198244698,0.0032517554916996184,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.4818122412753927,0.9365557220741995,-0.6229111614823066,0.32024741130235784,0.6773117431411954,0.5917570058004108,1.1210382144179905,-0.9929048804036004,1.743949375900297,1.743949375900297,1.8051000000004325,0,0,-4.5905374872227907e-05,-9.375008688661807e-05
+15886,1792921232598446718,799582000000,1792921232595330122,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6760468569961506,-0.004879161055278461,0.09958413113440091,0.9999999783748122,-8.883945373590161e-05,-5.3469780552942816e-05,0.00015473129475476787,0.6761,-0.0046,0.09954311630552587,1.0,0.0,0.0,0.0,-0.3848422781755929,0.08965869687728523,1.0730851160764874,0.008092450291050851,0.02523387623117382,0.0006256958723582307,0.8054407276016393,1.32054668727587,1.5063694792508266,0.08787057673435612,-0.05172124134306644,0.0032014838348825253,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.4589111739296263,0.8546061074955503,-0.7867318945739791,0.35870649298735213,0.774458045319146,0.5319286794949143,1.1210382144179905,-1.0730851160764874,1.9077701089919694,1.9077701089919694,1.9200000000005049,0,0,-5.1559968201860034e-05,8.080058430526833e-05
+15994,1792921233498596367,800482000000,1792921233491340146,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6760547162502859,-0.004877990717002359,0.09955181401885625,0.9999999787658985,-9.601169376566862e-05,-3.8986919885906945e-05,0.00015222628395623842,0.6761,-0.0046,0.09949165411489011,1.0,0.0,0.0,0.0,-0.3796686134310867,0.10615454649565237,1.1832620455665452,0.009062098342392522,0.025226406521067384,0.0005480597368435797,0.8106143923461455,1.3370425368942371,1.6165464087408845,0.0888402247856978,-0.05172871105317287,0.0031238476993678743,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.561047312632459,0.8945748797114355,-0.963965425421421,0.3559385231297834,0.9089059524227547,0.5611704378092608,1.1210382144179905,-1.1832620455665452,2.0850036398394116,2.0850036398394116,2.05500000000059,0,0,-6.0853927706634774e-05,9.995116820172285e-05
+16100,1792921234382700747,801366000000,1792921234379339141,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6760665483961829,-0.004877949730864488,0.09951747582869165,0.9999999790297538,-9.990831407415143e-05,-1.866950405268059e-05,0.0001518325877725561,0.6761,-0.0046,0.09943404640857577,1.0,0.0,0.0,0.0,-0.39447437594301615,0.1179421941699561,1.2640564689663472,0.009050976876464792,0.026213997522370587,0.0004959433545877298,0.7958086298342161,1.3488301845685409,1.6973408321406864,0.08882910331977006,-0.05074112005186967,0.0030717313171120244,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.6446399189286796,0.8825672523564349,-0.9840582852236486,0.35545508583235563,0.9424353329008087,0.5533605766084856,1.1210382144179905,-1.2640564689663472,2.105096499641639,2.105096499641639,2.1876000000006735,0,0,-7.301571423454079e-05,-7.508643293097634e-05
+16187,1792921235107701416,802091000000,1792921235107339851,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6760731324797369,-0.004883968509430771,0.09947759382738394,0.9999999786411449,-0.00010885617093653346,-9.005686263926262e-06,0.0001490966327102075,0.6761,-0.0046,0.09937921219671776,1.0,0.0,0.0,0.0,-0.38759676970259593,0.12607039192565184,1.3443144652941945,0.009011724390693546,0.027199010379303723,0.00044592034435848296,0.8026862360746363,1.3569583823242366,1.777598828468534,0.08878985083399882,-0.04975610719493653,0.0030217083068827776,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.6535836002767026,0.9340339541673238,-1.0819065178848013,0.3396220863954606,1.0051734728744937,0.5859497093605579,1.1210382144179905,-1.3443144652941945,2.2029447323027918,2.2029447323027918,2.296350000000742,0,0,-7.761893072308202e-05,-9.998933211819434e-05
+16283,1792921235907804804,802891000000,1792921235903339845,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6760805868287427,-0.004881825100651614,0.09942678992286877,0.9999999780518495,-0.0001233108814690655,4.9311617962804274e-06,0.00014180717603530567,0.6761,-0.0046,0.0993123092147331,1.0,0.0,0.0,0.0,-0.39493467986675024,0.1260878572396651,1.436721116201074,0.008994212833255438,0.027179882986402712,8.435677598460627e-06,0.795348325910482,1.3569758476382499,1.8700054793754133,0.08877233927656071,-0.049775234587837544,0.0025842236401227552,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.701714258071335,0.9077393100896887,-1.1808156048705418,0.34944063551618587,1.0815332988190651,0.5648561449520253,1.1210382144179905,-1.436721116201074,2.3018538192885325,2.3018538192885325,2.4163500000008176,0,0,-8.974396590730039e-05,-9.999999025923074e-05
+16373,1792921236657865670,803641000000,1792921236651339783,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6760902309558635,-0.004881070468149055,0.09938051064601906,0.99999997761883,-0.0001284877378084699,2.0575004851419226e-05,0.00013882641798140097,0.6761,-0.0046,0.09924499769546266,1.0,0.0,0.0,0.0,-0.37888798879702545,0.13759678308261747,1.5182117731756741,0.008968748395688925,0.027165267301161616,-0.00034217075900538256,0.8113950169802068,1.3684847734812022,1.9514961363500134,0.0887468748389942,-0.04978985027307864,0.002233617203518912,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.7766392416440624,0.8880846258720815,-1.2813613417341796,0.3620883689605876,1.1655134965602014,0.559100814736241,1.1210382144179905,-1.5182117731756741,2.40239955615217,2.40239955615217,2.5288500000008884,0,0,-9.180036382036428e-05,-9.909381234874388e-05
+16470,1792921237465897384,804449000000,1792921237459340436,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6760991298570052,-0.0048881078418552635,0.09932578123557564,0.9999999746266809,-0.0001483467391960081,3.601169361139244e-05,0.0001374259974557986,0.6761,-0.0046,0.09917063057896887,1.0,0.0,0.0,0.0,-0.3786173476918011,0.13193685159946256,1.615248194361341,0.008958134686430294,0.027139707520872032,0.0002309112465566478,0.8116656580854311,1.3628248419980473,2.0485325575356805,0.08873626112973557,-0.049815410053368224,0.0028066992090809424,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.7689709384363346,0.8105840488357721,-1.4244055597940954,0.3941162682609093,1.2515220181777704,0.5041423036940637,1.1210382144179905,-1.615248194361341,2.545443774212086,2.545443774212086,2.650050000000965,0,0,-9.470374647965597e-05,-9.999999025923074e-05
+16552,1792921238148906588,805132000000,1792921238147339881,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.676108886266105,-0.00488607561276619,0.09928163400827289,0.9999999734226919,-0.00015216168992223357,5.3936189333724886e-05,0.0001361439949316591,0.6761,-0.0046,0.09910588728295083,1.0,0.0,0.0,0.0,-0.3694721991951009,0.13119627903864606,1.6750799473941749,0.007927437497810844,0.0271518240808682,-3.3316915123635105e-06,0.8208108065821313,1.3620842694372308,2.1083643105685144,0.08770556394111612,-0.04980329349337206,0.002572456271011931,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.760646142256668,0.846538060244666,-1.607351570041134,0.3829510972917032,1.363247285447553,0.5310134916609786,1.1210382144179905,-1.6750799473941749,2.7283897844591243,2.7283897844591243,2.7525000000010293,0,0,-9.901702312656446e-05,9.474366710471855e-05
+16647,1792921238940963232,805924000000,1792921238939338932,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6761153372708704,-0.004892660196019901,0.0992134859315503,0.9999999700827844,-0.0001643920486230525,6.566524090698737e-05,0.00014121127815283806,0.6761,-0.0046,0.09902113869848642,1.0,0.0,0.0,0.0,-0.37579369493438297,0.11084362807856896,1.742513227596366,0.006754672572841208,0.027378301160549318,-0.00010132000863508637,0.8144893108428493,1.3417316184771537,2.1757975907707054,0.08653279901614648,-0.04957681641369094,0.0024744679538892082,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.8125083799428117,0.9173622899406529,-1.5962292372510027,0.35575971074064044,1.3683205596814918,0.5737245194318048,1.1210382144179905,-1.742513227596366,2.7172674516689934,2.7172674516689934,2.871300000001104,0,0,-0.00011317771511229336,-9.999994862586731e-05
+16725,1792921239591042159,806574000000,1792921239587332323,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6761243935359065,-0.004891005694417151,0.09915650518381088,0.9999999688738562,-0.00016461007390824767,8.008813631663402e-05,0.00014207239331540315,0.6761,-0.0046,0.0989438832207297,1.0,0.0,0.0,0.0,-0.3761977991097649,0.09131238924993146,1.8194095481663703,0.005845169667988218,0.027561829138333077,3.4814494465635736e-05,0.8140852066674673,1.3222003796485162,2.25269391134071,0.08562329611129349,-0.04939328843590718,0.0026106024569899303,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.8370840278298233,0.9361969260843201,-1.765914185708086,0.35185954885589865,1.4780345651206586,0.5873439886314115,1.1210382144179905,-1.8194095481663703,2.8869524001260762,2.8869524001260762,2.9688000000011656,0,0,-0.00012204845776101069,9.835268296865535e-05
+16816,1792921240349074785,807332000000,1792921240343330342,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6761329120215693,-0.0048974373510626374,0.09907423160136443,0.9999999651604728,-0.00017822666882615895,9.116986512130938e-05,0.00014506973314437385,0.6761,-0.0046,0.0988491199729891,1.0,0.0,0.0,0.0,-0.3706676087154174,0.09322882914414565,1.904678015396625,0.005217697613976793,0.02815846197258897,-2.8616129319501693e-05,0.8196153970618149,1.3241168195427304,2.3379623785709645,0.08499582405728207,-0.048796655601651286,0.002547171833204793,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.8761873875856503,0.9085427453035074,-1.863362914911023,0.35800211636414225,1.5461189786876801,0.5653512912201557,1.1210382144179905,-1.904678015396625,2.9844011293290134,2.9844011293290134,3.0825000000012373,0,0,-0.00012349152308593542,5.83119018107753e-05
+16900,1792921241049147322,808032000000,1792921241047330516,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6761407585864256,-0.004896425897730626,0.09900108194429845,0.9999999620634114,-0.00019069224343261357,0.00010403712963889965,0.00014187594618353847,0.6761,-0.0046,0.09875979210442745,1.0,0.0,0.0,0.0,-0.34387017648075513,0.08194493457642027,1.9254177071890122,0.004841917056429237,0.02613730494829379,-8.11616170898824e-05,0.8464128292964771,1.312832924975005,2.3587020703633517,0.08462004349973451,-0.050817812625946465,0.002494626345434412,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.8777905563902761,0.9885667586947461,-1.9000447031616994,0.3448157144237963,1.567250489743346,0.6199673282810034,1.1210382144179905,-1.9254177071890122,3.02108291757969,3.02108291757969,3.1875000000013034,0,0,-0.00013694579207720737,-9.999999025923074e-05
+16973,1792921241658205805,808641000000,1792921241651330096,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6761486384747527,-0.004900024321863348,0.09892606664766067,0.9999999588553165,-0.00020150983582068908,0.00011494543941404377,0.00014111541942621179,0.6761,-0.0046,0.09867278237370464,1.0,0.0,0.0,0.0,-0.3490070770763264,0.0817680890873076,1.9946567532723622,0.003805406665384259,0.02670387999359601,-0.0001364613095307418,0.8412759287009058,1.3126560794858924,2.4279411164467017,0.08358353310868953,-0.050251237580644245,0.002439326652993553,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.8755319256744054,0.974206257683016,-1.9334467182188468,0.3528766338591643,1.5843669890320433,0.6110674009921689,1.1210382144179905,-1.9946567532723622,3.0544849326368375,3.0544849326368375,3.278850000001361,0,0,-0.00014628443059247343,-9.96106350444947e-05
+17054,1792921242333213854,809316000000,1792921242331329997,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6761561115187034,-0.004904411474147483,0.09884474080356608,0.9999999752665769,-5.995351516351071e-05,0.00012813506079969566,0.00014455688256789485,0.6761,-0.0046,0.0985720768163624,1.0,0.0,0.0,0.0,-0.31998866870336107,0.0609673927360197,2.0530756751681545,0.0028028071914725367,0.025135067506793174,-0.00021756651463728785,0.8702943370738712,1.2918553831346045,2.486360038342494,0.08258093363477781,-0.05182005006744708,0.0023582214478870068,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.9495314810816653,1.1119232790192664,-2.123221210620825,0.25710834938841703,1.7306155821046851,0.6175396148389971,1.1210382144179905,-2.0530756751681545,3.2442594250388153,3.2442594250388153,3.3801000000014247,0,0,-0.00015698737202230492,-6.082139326087316e-05
+17132,1792921242983308432,809966000000,1792921242983330740,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6761645798226883,-0.004910441874452331,0.09875274075777368,0.9999999714762792,-7.613276440168085e-05,0.0001415245305712694,0.0001505487118158966,0.6761,-0.0046,0.09846523643091816,1.0,0.0,0.0,0.0,-0.31990979249952634,0.037040085811803625,2.0950428848925697,0.0007822277914459608,0.025164851617036278,-0.00027314962857426196,0.8703732132777059,1.2679280762103884,2.5283272480669092,0.08056035423475123,-0.05179026595720398,0.0023026383339500326,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.96535520820225,1.0646568689740672,-2.194026503105133,0.28502968289779074,1.7764222739370674,0.6100760041641012,1.1210382144179905,-2.0950428848925697,3.3150647175231236,3.3150647175231236,3.477600000001486,0,0,-0.00017239340747573906,-9.999391178817092e-05
+17215,1792921243674390281,810657000000,1792921243671331462,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6761697483292561,-0.004917765090412874,0.09864209831896342,0.9999999674181036,-9.973199241714144e-05,0.00015023123544291887,0.00015521198942933766,0.6761,-0.0046,0.09834468014622487,1.0,0.0,0.0,0.0,-0.30864156307259616,0.008416456053759624,2.1822908145926907,-0.00023079225488095712,0.02415320036138325,-0.00036949614551114044,0.8816414427046361,1.2393044464523444,2.61557517776703,0.07954733418842432,-0.05280191721285701,0.002206291817013154,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.9416042545081373,0.9775467582582227,-2.3241715913106877,0.33281612854637044,1.8450032357091424,0.5882947941659877,1.1210382144179905,-2.1822908145926907,3.445209805728678,3.445209805728678,3.5812500000015515,0,0,-0.00017672044959751864,4.623521984570829e-05
+17285,1792921244258438727,811241000000,1792921244255330161,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.676176804561418,-0.004916332589775433,0.09854913430031902,0.9999999640493864,-0.00012208197705177113,0.00016117116190260527,0.0001498797440890009,0.6761,-0.0046,0.09824090559924199,1.0,0.0,0.0,0.0,-0.2721894496241605,0.005218342915522589,2.193620298335072,-0.0012277582108486812,0.0221436994577046,-0.00041718600502396426,0.9180935561530718,1.2361063333141074,2.6269046615094114,0.07855036823245659,-0.05481141811653566,0.0021586019575003303,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.9470484503915553,1.0284777399118024,-2.3388657994200823,0.3437422275216757,1.8533569936708654,0.6543038707716434,1.1210382144179905,-2.193620298335072,3.459904013838073,3.459904013838073,3.6688500000016067,0,0,-0.00018259262823536038,-9.999907432523542e-05
+17364,1792921244916447996,811899000000,1792921244915330511,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6761821063167149,-0.004919422176643685,0.09843344146439997,0.9999999600099521,-0.00014859810804220444,0.0001689336387713368,0.00014423240495579212,0.6761,-0.0046,0.09811605010897859,1.0,0.0,0.0,0.0,-0.24704997805598705,-0.006581287002976888,2.2334748911925932,-0.0022287877571449677,0.02113947479529755,-0.0004733174641887456,0.9432330277212452,1.2243067033956079,2.6667592543669327,0.0775493386861603,-0.05581564277894271,0.002102470498335549,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.9434085038010585,0.902793929954122,-2.445782268515883,0.39320466798321624,1.9192546693009644,0.5760163676560842,1.1210382144179905,-2.2334748911925932,3.5668204829338737,3.5668204829338737,3.767550000001669,0,0,-0.00019606308169636678,-9.999999025923074e-05
+17427,1792921245441431822,812424000000,1792921245439330300,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6761857433908111,-0.004923238793493624,0.09833650410505065,0.9999999565714188,-0.00016139349834736204,0.0001763601425987492,0.00014542786366573458,0.6761,-0.0046,0.09800978772132822,1.0,0.0,0.0,0.0,-0.24194400402405258,-0.01859137922487042,2.272618952234771,-0.003230856781810079,0.020142991161294713,-0.000535319393465879,0.9483390017531796,1.2122966111737143,2.7059033154091106,0.0765472696614952,-0.05681212641294554,0.0020404685690584155,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.9314657098266506,0.9518951067878908,-2.4884798867046465,0.3802370142078736,1.9417028524121238,0.6099653508012866,1.1210382144179905,-2.272618952234771,3.609518101122637,3.609518101122637,3.8463000000017185,0,0,-0.00020798342410396765,-9.975728162825987e-05
+17502,1792921246066574797,813049000000,1792921246063331307,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6761935746816724,-0.004930320987893695,0.09821835480367602,0.9999999536734858,-0.0001561003384498103,0.00019087256858673173,0.0001526310499312025,0.6761,-0.0046,0.0978715726414264,1.0,0.0,0.0,0.0,-0.2514168759189068,-0.04772942196669594,2.3229990771867066,-0.004889884109219866,0.02052314088080983,-0.0005838379384903157,0.9388661298583254,1.1831585684318888,2.756283440361046,0.0748882423340854,-0.056431976693430426,0.001991950024033979,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.9582282154810908,0.904590965326005,-2.6884531732153523,0.3881487625411962,2.075837955783222,0.580747351314404,1.1210382144179905,-2.3229990771867066,3.8094913876333427,3.8094913876333427,3.9400500000017775,0,0,-0.0002327149864103387,9.944089582181732e-05
+17570,1792921246633511667,813616000000,1792921246631338995,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.676198923499994,-0.0049338929508379505,0.09809372028331866,0.9999999514367911,-0.0001511320087399999,0.00020168050922715356,0.00015828255683019227,0.6761,-0.0046,0.09773558123469989,1.0,0.0,0.0,0.0,-0.2417327772733594,-0.06349735803293477,2.3526180039583338,-0.006332164022278763,0.020969069843055403,-0.0006187996380800846,0.9485502285038728,1.16739063236565,2.7859023671326733,0.07344596242102651,-0.05598604773118485,0.00195698832444421,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.9671621125055458,1.0077225086898636,-2.612011235206992,0.3627988970653406,2.0309168130714697,0.6518336492181808,1.1210382144179905,-2.3526180039583338,3.7330494496249824,3.7330494496249824,4.025100000001757,0,0,-0.0002459759391407453,-9.994975266736645e-05
+17635,1792921247174656431,814157000000,1792921247171330470,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762091415598678,-0.004940162492080707,0.0979747154090981,0.9999999461191561,-0.00016408843073512463,0.00021968663553925476,0.00015497521773782003,0.6761,-0.0046,0.09759738529313332,1.0,0.0,0.0,0.0,-0.22829629385761596,-0.07412471170395074,2.411841384701607,-0.007340389240028167,0.020185743664530936,-0.0006882756861018237,0.9619867119196163,1.156763278694634,2.8451257478759464,0.0724377372032771,-0.05676937390970932,0.001887512276422471,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.9911282928707894,1.0119046030686338,-2.6914745540834857,0.3712695595537977,2.089274880300469,0.652783763472996,1.1210382144179905,-2.411841384701607,3.812512768501476,3.812512768501476,4.106250000001568,0,0,-0.0002639181450561897,-9.993166990985287e-05
+17700,1792921247716689969,814699000000,1792921247715329909,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762135029312969,-0.004943249791822534,0.09783385645839823,0.9999999440716641,-0.00016755813949174384,0.00022755353499159204,0.00015311169588795852,0.6761,-0.0046,0.09744912161192922,1.0,0.0,0.0,0.0,-0.20624397674264794,-0.0903429829917648,2.471799049473759,-0.00833400554934538,0.018616460712975035,-0.0007659021873411538,0.9840390290345843,1.14054500740682,2.9050834126480987,0.07144412089395989,-0.05833865686126522,0.0018098857751831408,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.0011935034061636,0.9308639059985452,-2.792489575533227,0.41336401131164263,2.161760182428969,0.605701851886834,1.1210382144179905,-2.471799049473759,3.9135277899512175,3.9135277899512175,4.187550000001378,0,0,-0.0002824019185679579,-9.99997404590502e-05
+17757,1792921248191688952,815174000000,1792921248191340584,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762195847677213,-0.004947384305224593,0.09770604478243652,0.9999999418378874,-0.00015671302252536919,0.0002375288598488021,0.00016367087484392325,0.6761,-0.0046,0.09731048545968199,1.0,0.0,0.0,0.0,-0.21743697611652257,-0.11930807351812223,2.515279198949615,-0.010397489315340736,0.01921028246649109,-0.0008238202044800137,0.9728460296607097,1.1115799168804625,2.9485635621239545,0.06938063712796454,-0.057744835107749165,0.0017519677580442809,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.0137137372619547,0.9505379699559755,-2.7936765753300357,0.40977015185367943,2.172580536365751,0.6198657569792448,1.1210382144179905,-2.515279198949615,3.914714789748026,3.914714789748026,4.258800000001212,0,0,-0.00030299752378923204,-9.999999025923074e-05
+17818,1792921248699687686,815682000000,1792921248699339679,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.676226647373463,-0.004951783694109975,0.09756095789278216,0.9999999377370677,-0.00015582025422360471,0.00024943809924579967,0.00017166656066958577,0.6761,-0.0046,0.09715129724013276,1.0,0.0,0.0,0.0,-0.2136818850038653,-0.14023187340563958,2.560419052409407,-0.011469524069541867,0.019219990193390726,-0.0008690086192431497,0.9766011207733669,1.0906561169929452,2.9937034155837465,0.0683086023737634,-0.05773512738084953,0.001706779343281145,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.039818750830939,0.941944866990475,-2.8743789237878046,0.41731891510815655,2.2357064090060703,0.6155692540947781,1.1210382144179905,-2.560419052409407,3.995417138205795,3.995417138205795,4.335000000001035,0,0,-0.0003244068537231178,-9.999999025923074e-05
+17873,1792921249158763012,816141000000,1792921249151340097,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762306584827553,-0.004952422124417936,0.09741173811788209,0.9999999343261754,-0.0001826317715028215,0.0002564328141552545,0.00015387773395019998,0.6761,-0.0046,0.09699740058727178,1.0,0.0,0.0,0.0,-0.19182161141777931,-0.13880866335877018,2.581758035289881,-0.011380479552573763,0.017191595090337478,-0.0009148331114680851,0.9984613943594529,1.0920793270398146,3.0150423984642205,0.06839764689073151,-0.05976352248390278,0.0016609548510562095,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.0726942932712826,0.8451345906736735,-2.9992678982357166,0.4604331717988323,2.336464154215995,0.5526547485775485,1.1210382144179905,-2.581758035289881,4.120306112653707,4.120306112653707,4.403850000000874,0,0,-0.00034614802477542374,2.0547157057687573e-05
+17922,1792921249566789908,816549000000,1792921249563339524,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6762374698998228,-0.004959187076459424,0.09727744449843587,0.9999999328020871,-0.00016547998452406859,0.00026422712019550846,0.00016923087510159734,0.6761,-0.0046,0.09685252864239827,1.0,0.0,0.0,0.0,-0.20100933398398135,-0.1819911237348677,2.6217952535219955,-0.013460668083154798,0.018234890177679118,-0.0009549490157563345,0.9892736717932509,1.048896866663717,3.055079616696335,0.06631745836015047,-0.05872022739656114,0.0016208389467679601,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.059699115548691,0.9160254572758613,-2.8912143389745104,0.43730679775875103,2.274927565477668,0.601936217298322,1.1210382144179905,-2.6217952535219955,4.012252553392501,4.012252553392501,4.465050000000732,0,0,-0.00036436949641813064,-9.999999025923074e-05
+17971,1792921249974769952,816957000000,1792921249971339848,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6762435282613267,-0.004965609689837778,0.09713750624626341,0.9999999301610099,-0.00014322683991822833,0.00027583387783151935,0.0001858025399127971,0.6761,-0.0046,0.0966997491557526,1.0,0.0,0.0,0.0,-0.2181970255365976,-0.21761978208598598,2.637998027584461,-0.016526018136800005,0.01929900030317641,-0.0009904063434060073,0.9720859802406346,1.0132682083125988,3.0712823907588005,0.06325210830650527,-0.057656117271063845,0.0015853816191182873,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.0718996418627955,0.9158251659059645,-2.9372591949773885,0.4390551635337991,2.3175588694588156,0.6047119165706298,1.1210382144179905,-2.637998027584461,4.058297409395379,4.058297409395379,4.526250000000589,0,0,-0.00038459292809741994,-9.999999025923074e-05
+18022,1792921250399889777,817382000000,1792921250399340065,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762461320910259,-0.004959453962818212,0.09697978990398107,0.9999999261303268,-0.00018776554802264444,0.00028761238747210114,0.0001456208032758406,0.6761,-0.0046,0.09653179216219299,1.0,0.0,0.0,0.0,-0.19789705391615398,-0.17822804964551908,2.634930095291125,-0.014631435715044022,0.018336438544791944,-0.0009697196292347051,0.9923859518610783,1.0526599407530657,3.0682144584654645,0.06514669072826125,-0.05861867902944831,0.0016060683332895895,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.1495670422034334,0.9138031053896583,-2.900624685957166,0.47449351249695526,2.3232518805374016,0.6052450184153738,1.1210382144179905,-2.634930095291125,4.021662900375157,4.021662900375157,4.59000000000044,0,0,-0.000405842923957593,-9.999999025923074e-05
+18068,1792921250783899571,817766000000,1792921250779339524,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6762522125014403,-0.004966699191948443,0.09682479459098636,0.9999999220210787,-0.00018453170638131288,0.0002952164592289332,0.00016185176028846236,0.6761,-0.0046,0.09637227168011331,1.0,0.0,0.0,0.0,-0.20886521781267753,-0.2277470509099948,2.709581393081937,-0.01646028445196121,0.018273611634714478,-0.0009346518982845161,0.9814177879645547,1.00314093948859,3.1428657562562763,0.06331784199134406,-0.05868150593952578,0.0016411360642397785,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.170518082901223,0.8897105306100633,-3.0058187725911862,0.46064751348549676,2.409584611401478,0.5911511985083132,1.1210382144179905,-2.709581393081937,4.126856987009177,4.126856987009177,4.647600000000306,0,0,-0.0004250429202171376,-9.999999025923074e-05
+18115,1792921251174947513,818157000000,1792921251167339747,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762561454884305,-0.004965084669497397,0.09666445638214771,0.9999999193456635,-0.00017472540138585083,0.00030433119941569275,0.0001720612855696478,0.6761,-0.0046,0.0962022676490549,1.0,0.0,0.0,0.0,-0.20819311285354436,-0.24922874171070397,2.729377756545251,-0.017572376405335405,0.018296280047051874,-0.00044008986447082203,0.9820898929236879,0.9816592486878808,3.1626621197195903,0.06220575003796987,-0.05865883752718838,0.0021356980980534726,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.1759362831518603,0.8414510140809914,-3.009066535089445,0.4778227368003797,2.426409747212022,0.5589464949485093,1.1210382144179905,-2.729377756545251,4.130104749507435,4.130104749507435,4.7062500000001695,0,0,-0.00044459291640849683,-9.999999025923074e-05
+18160,1792921251549901742,818532000000,1792921251543340095,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6762601233219049,-0.004966152581276677,0.0964957194168284,0.9999999185674034,-0.0001675612210956652,0.0003117264954020859,0.00017046372016737738,0.6761,-0.0046,0.09603203905608844,1.0,0.0,0.0,0.0,-0.14851160206569625,-0.19416642079192648,2.7419367660680005,-0.014449194560781559,0.015107339000750786,-0.00010587997481625692,1.041771403711536,1.0367215696066583,3.17522112924234,0.06532893188252371,-0.06184777857348947,0.0024699079877080377,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.229625085875638,0.9195154083749579,-2.967303421377258,0.474562219891059,2.4228012538813095,0.615493261506392,1.1210382144179905,-2.7419367660680005,4.088341635795249,4.088341635795249,4.762500000000038,0,0,-0.00046334291275570836,-9.999999025923074e-05
+18201,1792921251892003269,818874000000,1792921251891339954,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762626962967103,-0.004962267088136539,0.09633614466463537,0.999999918407548,-0.00015978437424870017,0.00031275735290045136,0.00017686026571012576,0.6761,-0.0046,0.09587066023049731,1.0,0.0,0.0,0.0,-0.13068529217298752,-0.21124711212031322,2.782196840526151,-0.015170038876549635,0.012959059720495408,-0.00015060806683764565,1.0595977136042447,1.0196408782782715,3.2154812037004903,0.06460808756675564,-0.06399605785374485,0.002425179895686649,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.20092309337031,0.8678280562360827,-2.978454969356947,0.4998789958776311,2.4280613967978044,0.5852389187564442,1.1210382144179905,-2.782196840526151,4.099493183774937,4.099493183774937,4.813799999999919,0,0,-0.0004804429094243653,-9.999999025923074e-05
+18241,1792921252224979571,819207000000,1792921252223330436,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762635159911053,-0.004963675982815771,0.09617027363681645,0.9999999178175908,-0.00015024305702276077,0.00031253956392246783,0.0001885569433156121,0.6761,-0.0046,0.09570790884220069,1.0,0.0,0.0,0.0,-0.12474722445173292,-0.22835057020044247,2.8302857800181127,-0.016425637355264477,0.013175913912707365,-0.0003263779595582164,1.0655357813254993,1.0025374201981423,3.263570143192452,0.0633524890880408,-0.06377920366153289,0.002249410002966078,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.254434481901681,0.9081166233139568,-3.113483306823446,0.49222516715169085,2.5441353501993116,0.6140588176678382,1.1210382144179905,-2.8302857800181127,4.234521521241437,4.234521521241437,4.863749999999802,0,0,-0.0004970929061806892,-9.999999025923074e-05
+18280,1792921252549974883,819532000000,1792921252547339757,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6762646100125315,-0.004963526115089029,0.09600974684646921,0.999999915980418,-0.00015848173181177782,0.00031743832590595497,0.0001832988569206628,0.6761,-0.0046,0.09554372114820799,1.0,0.0,0.0,0.0,-0.10287576408874455,-0.24360369385644165,2.8365908564850684,-0.017421237713660817,0.011780529119899949,-0.0003124146584416918,1.0874072416884877,0.9872842965421431,3.269875219659408,0.062356888729644455,-0.06517458845434031,0.002263373304082603,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.2662443808723487,0.96511144825889,-3.0601635219994976,0.4927182460135742,2.5196628061451194,0.6569351300079783,1.1210382144179905,-2.8365908564850684,4.1812017364174885,4.1812017364174885,4.912499999999689,0,0,-0.0005133429030149392,-9.999999025923074e-05
+18319,1792921252875043698,819857000000,1792921252871338987,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6762672631757632,-0.0049624559759802655,0.09584959714703876,0.9999999145121575,-0.0001536958294986141,0.0003215703559098323,0.00018811868623764782,0.6761,-0.0046,0.09537425220524415,1.0,0.0,0.0,0.0,-0.09523727596170684,-0.2720681459291825,2.849433461723523,-0.019306820335192945,0.011208137256402337,-0.001221725086582875,1.0950457298155254,0.9588198444694023,3.2827178248978623,0.06047130610811233,-0.06574698031783792,0.0013540628759414195,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.1933116627070457,0.8821586448644045,-2.90220662138122,0.5240631845939877,2.4088693015589695,0.6057566111728746,1.1210382144179905,-2.849433461723523,4.02324483579921,4.02324483579921,4.961249999999575,0,0,-0.0005295928998491891,-9.999999025923074e-05
+18357,1792921253191999245,820174000000,1792921253191339497,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762662097382331,-0.004965366727521935,0.09567274421922434,0.9999999111100266,-0.00017302570826199592,0.0003226724146814113,0.00018752978461003645,0.6761,-0.0046,0.09520386695648292,1.0,0.0,0.0,0.0,-0.09503806985840413,-0.2954009613689944,2.845416362556359,-0.02046537366844204,0.010586929438599763,-0.001240683419355065,1.095244935918828,0.9354870290295904,3.2787007257306984,0.05931275277486323,-0.0663681881356405,0.0013351045431692296,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.176852972023785,0.9057406037012694,-2.9535638639435526,0.5129333435136082,2.445361169954071,0.6176775946438797,1.1210382144179905,-2.845416362556359,4.0746020783615435,4.0746020783615435,5.008799999999464,0,0,-0.0005454428967613653,-9.999999025923074e-05
+18392,1792921253484084605,820466000000,1792921253483339140,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762715140246852,-0.004964659723966631,0.09551269174281969,0.9999999077101457,-0.0001880743301054819,0.00032554745624682155,0.00018619737989274018,0.6761,-0.0046,0.09504247333104529,1.0,0.0,0.0,0.0,-0.11162731527653103,-0.3024433350195158,2.8493456906081245,-0.020611101988600396,0.011226238671510055,-0.00029246131924450317,1.0786556905007012,0.928444655379069,3.282630053782464,0.05916702445470488,-0.0657288789027302,0.0022833266432797914,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.2618089404042685,0.7789200849997505,-3.0001824652083844,0.5588590206213525,2.4987958549903633,0.53783817408536,1.1210382144179905,-2.8493456906081245,4.121220679626375,4.121220679626375,5.052599999999362,0,0,-0.0005600428939170607,-9.999999025923074e-05
+18429,1792921253792115332,820774000000,1792921253791330078,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6762768423617236,-0.004965560955053918,0.09534194594070058,0.9999999033540227,-0.00020066671378795263,0.0003316857046625088,0.00018561323456001415,0.6761,-0.0046,0.09486761622018236,1.0,0.0,0.0,0.0,-0.14158058091022752,-0.28320345992939944,2.845168582610145,-0.01947787860628447,0.012833135167220552,-0.00026372288703073194,1.0487024248670047,0.9476845304691853,3.2784529457844847,0.0603002478370208,-0.0641219824070197,0.0023120650754935627,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.289842678262791,0.8302810877869071,-3.0389472883570896,0.5516195935257079,2.5238244418649156,0.5755952758096059,1.1210382144179905,-2.845168582610145,4.15998550277508,4.15998550277508,5.098799999999255,0,0,-0.0005754428909169037,-9.999999025923074e-05
+18463,1792921254075130783,821057000000,1792921254067330794,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.6762747094281518,-0.004968751085381488,0.09517828125503508,0.9999999171091005,-0.00010349450906898118,0.00032928654869993665,0.0001951509975405987,0.6761,-0.0046,0.09470277073244432,1.0,0.0,0.0,0.0,-0.13018341436529024,-0.3612149088737029,2.878014261491128,-0.023539006875977993,0.012296627518582112,-0.00034587371668259436,1.060099591411942,0.8696730815248819,3.3112986246654676,0.05623911956732728,-0.06465849005565814,0.0022299142458417002,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.2715770629733045,0.8209409170360117,-2.977896644172804,0.5305020474122737,2.496942469073516,0.5495235314119445,1.1210382144179905,-2.878014261491128,4.098934858590795,4.098934858590795,5.141249999999156,0,0,-0.000589592888160266,-9.999999025923074e-05
+18492,1792921254317077653,821299000000,1792921254311330513,DOWN_FORCE_DETACH,3,0.0566,0.05660203844308853,0.676273983787883,-0.0049665897420113035,0.0950238900662632,0.9999999148655407,-0.00014126491342422056,0.00032660610466989765,0.00018730844097952844,0.6761,-0.0046,0.09455863120379594,1.0,0.0,0.0,0.0,-0.13223611464053486,-0.3744407896464683,2.8841819850449397,-0.024597169192744038,0.012448302072401565,-0.00036213559786686276,1.0580468911366974,0.8564472007521164,3.317466348219279,0.055180957250561234,-0.06450681550183869,0.002213652364657432,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.320220604343687,0.7940162695851282,-3.031355848352766,0.5555518066049692,2.547662723504561,0.5421780465372845,1.1210382144179905,-2.8841819850449397,4.152394062770757,4.152394062770757,5.177549999999071,0,0,-0.0006016928858029999,-9.999999025923074e-05
+18524,1792921254584170894,821566000000,1792921254583330283,DOWN_FORCE_DETACH,3,0.0566,0.056601382791996,0.6762709750516881,-0.004973966796818933,0.09485291015655037,0.9999999100768793,-0.00017612739058984667,0.0003283801468929182,0.0001800964163270758,0.6761,-0.0046,0.09439620365363505,1.0,0.0,0.0,0.0,-0.13213944318963278,-0.3526947583650075,2.8600441127663982,-0.023469701336126025,0.012317524841503794,-0.00032004744460029794,1.0581435625875995,0.8781932320335772,3.2933284759407377,0.05630842510717925,-0.06463759273273646,0.0022557405179239967,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.3585413344857074,0.7962133276512742,-3.1588408176610194,0.5590039254977971,2.638885592775408,0.5520807297985789,1.1210382144179905,-2.8600441127663982,4.27987903207901,4.27987903207901,5.217599999998978,0,0,-0.0006150428832022145,-9.999999025923074e-05
+18558,1792921254862111998,821844000000,1792921254855330984,DOWN_SETTLE,3,0.0566,0.05660203844308853,0.676261387018876,-0.004971782357625825,0.09469328313782678,0.9999999145283309,-0.00017032256131035566,0.0003101757085586673,0.00019278861491890727,0.6761,-0.0046,0.09425827985411481,1.0,0.0,0.0,0.0,-0.11820397023260742,-0.4102325498109739,2.748707491575824,-0.027591133909471953,0.011391694466167487,-0.00029949034603879996,1.0720790355446248,0.8206554405876109,3.1819918547501636,0.05218699253383332,-0.06556342310807277,0.0022762976164854946,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,2.311772710793678,0.8129748837607638,-2.8916061033838303,0.5475676456552874,2.46358392230903,0.5678370780333963,1.1210382144179905,-2.748707491575824,4.01264431780182,0.0,0.0,0,0,-0.0001806937958460686,0.001825189857030996
+18652,1792921255643285835,822625000000,1792921255639330054,DOWN_PEAK_HOLD,3,0.0566,0.056601382791996,0.6762243553871596,-0.0049683977329790475,0.09457296598851025,0.9999999342014998,-0.00016561463634675628,0.0002396190158148593,0.0001954338247528357,0.6761,-0.0046,0.09424128559766588,1.0,0.0,0.0,0.0,0.03885368918504817,-0.5581109059432672,1.9700976901712415,-0.036337368397819945,0.0005962912528297559,-0.001975294605250902,1.2291366949622804,0.6727770844553176,2.403382053345581,0.04344075804548533,-0.0763588263214105,0.0006004933572733925,1.1902830057772322,1.2308879903985848,0.4332843631743394,0.07977812644330527,-0.07695511757424026,0.0025757879625242946,1,1.7399968191018058,0.7517281489172069,-2.104812485058841,0.5708808399315126,1.8346073722135727,0.5327482492902492,1.1210382144179905,-1.9700976901712415,3.2258506994768315,0.0,0.0,0,0,0.0,0.0