Upload Fixed (part 42)

Fixed/digit/cylinder_PLA_15/press_depth_02/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
+2785,1793077882092023974,14433223000000,1793077882090123232,XJC_ZERO_HOLD_BEFORE_DOWN,2,0.0668,0.06680203974246979,0.6759022361952,-0.004930363283141902,0.09969632536780822,0.9999999337267788,-0.00013797982109786804,-0.0003029489683292631,0.00011477279331587174,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,-0.004719891220459793,-0.0006330152944660217,-0.017007514102657162,-0.00017819993165635317,0.0005092669426685209,1.9234417583173903e-05,1.1829654751097867,1.3037697015185394,0.40477294489880783,0.08993758942071188,-0.08194225108498682,0.0016203376926358208,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,0.07571815378637037,1.763614015088307,1.487402614806461,-0.11734391336510566,-0.9348713969013744,1.116161812019613,-0.06928523458915005,0.017007514102657162,-1.5566878493956111,0.0,0.0,0,0,0.0,0.0
+2871,1793077882801005075,14433932000000,1793077882794123522,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6759034860505858,-0.004930159362284765,0.09969727135656742,0.9999999341055347,-0.00014047015545327776,-0.00030007479252414093,0.000115995882890736,0.6761,-0.0046,0.09999333065117993,1.0,0.0,0.0,0.0,-0.019702970930938646,-0.010525159171352438,-0.02708261810867102,-0.00018129276380805803,0.0005766507433433432,2.848084641518577e-05,1.1679823953993078,1.293877557641653,0.39469784089279397,0.08993449658856018,-0.081874867284312,0.0016295841214678326,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,0.08132312805952678,1.7632346324224808,1.5381590860359737,-0.11909536566892466,-0.9669883854920756,1.1121248732731637,-0.06928523458915005,0.02708261810867102,-1.6074443206251239,-1.6074443206251239,0.051700000000000454,0,0,-2.5849995209685457e-05,-9.999999025923074e-05
+2965,1793077883583886331,14434715000000,1793077883578124024,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6759102243688717,-0.004929548860565298,0.0996965354604126,0.9999999383657802,-0.00013586261044627558,-0.00028686409094987866,0.00011815940386750426,0.6761,-0.0046,0.09995778245792054,1.0,0.0,0.0,0.0,-0.04302791598003464,0.002795683614865263,-0.01682896612009016,0.0007859334478689806,0.002581221555710625,5.837674969790376e-05,1.1446574503502118,1.3071984004278707,0.40495149288137483,0.09090172280023721,-0.07987029647194471,0.0016594800247505506,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,0.502691417920854,1.738207491684924,1.2009309490434803,-0.111954018167549,-0.6527559064312246,1.0966470800696206,-0.06928523458915005,0.01682896612009016,-1.2702161836326304,-1.2702161836326304,0.130000000000002,0,0,-6.499998758266313e-05,-9.999999025923074e-05
+3056,1793077884342968529,14435474000000,1793077884338132949,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6759162826434142,-0.004937755604703957,0.09966599943510848,0.9999999406328526,-0.00013459165037455484,-0.00027445529142576216,0.00012936976546137178,0.6761,-0.0046,0.09989406442015474,1.0,0.0,0.0,0.0,-0.1006129523812831,0.0356187445451579,0.17343049695493973,0.0027930903607801955,0.006546896620075973,0.0010122351935257972,1.0870724139489634,1.3400214613581634,0.5952109559564047,0.09290887971314843,-0.07590462140757936,0.002613338468578444,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,0.5895407977502124,1.7399951032153986,0.9421453828191582,-0.06207944740235624,-0.48526773939266177,1.0972443877656222,-0.06928523458915005,-0.17343049695493973,-1.0114306174083083,-1.0114306174083083,0.20589999999999364,0,0,-0.00010294998018941926,-9.999999025923074e-05
+3136,1793077885008855932,14436140000000,1793077885006132256,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6759392132011824,-0.004933904747912412,0.09964366360340711,0.9999999506838702,-0.00013166400766064564,-0.0002321893412149705,0.0001372145057856511,0.6761,-0.0046,0.09981442748551211,1.0,0.0,0.0,0.0,-0.22601969244425713,0.09927091060574567,0.3673049873892479,0.008548125742506657,0.014352819226474814,0.0011167476706108424,0.9616656738859893,1.4036736274187511,0.7890854463907129,0.09866391509487489,-0.06809869880118052,0.0027178509456634893,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,0.8786659165098853,1.622444076617603,0.5135247066152818,0.03981278030542693,-0.17275578774704875,1.0236236039414066,-0.06928523458915005,-0.3673049873892479,-0.5828099412044319,-0.5828099412044319,0.2724999999999863,0,0,-0.00013624997370206694,-9.999999025923074e-05
+3199,1793077885533948956,14436665000000,1793077885530132214,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6759570235420836,-0.0049375950049527955,0.09960162597504751,0.9999999550865524,-0.0001277430687898195,-0.00020625061194750818,0.000149706883605335,0.6761,-0.0046,0.09973601875066349,1.0,0.0,0.0,0.0,-0.31420849729797085,0.1754672567959814,0.6419836885290694,0.013428883620153667,0.02036564923188007,0.0019802861204060106,0.8734768690322756,1.4798699736089869,1.0637641475305344,0.1035446729725219,-0.06208586879577527,0.0035813893954586575,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,0.9579130176248924,1.6038052196413246,0.32843800986654875,0.08350801961450308,-0.0640661642907912,1.0068813272899093,-0.06928523458915005,-0.6419836885290694,-0.3977232444556988,-0.3977232444556988,0.3249999999999805,0,0,-0.00016249996858816308,-9.999999025923074e-05
+3266,1793077886092932210,14437224000000,1793077886086132800,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6759803357342619,-0.004945031317532109,0.09955162928893903,0.9999999598611049,-0.00012858700904614905,-0.00017015885018145676,0.0001619629577208855,0.6761,-0.0046,0.09963738321974733,1.0,0.0,0.0,0.0,-0.40169870238731953,0.2359107284169959,0.9423741312505011,0.018248703580163908,0.025317168901904122,0.002889942904915386,0.7859866639429269,1.5403134452300014,1.364154590251966,0.10836449293253214,-0.057134349125751216,0.004491046179968033,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.1504689798742085,1.5428045113370996,0.018388467770286295,0.0992558487616893,0.16834621327563395,0.9604783427376732,-0.06928523458915005,-0.9423741312505011,-0.08767370235943635,-0.08767370235943635,0.38089999999997437,0,0,-0.00019044996314307306,-9.999999025923074e-05
+3341,1793077886717882630,14437849000000,1793077886714132963,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6760051873863946,-0.004946416519621599,0.09947506571792482,0.9999999639342766,-0.0001384450163754046,-0.00013120651543086027,0.00016490038649048802,0.6761,-0.0046,0.09951014038705562,1.0,0.0,0.0,0.0,-0.4690478589002708,0.29962234115947606,1.2746896962279317,0.022189855163671737,0.03103805837775645,0.002753352145497487,0.7186375074299757,1.6040250579724815,1.6964701552293966,0.11230564451603997,-0.051413459649898886,0.004354455420550134,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.4185049692700058,1.6243189976366086,-0.425897259459614,0.09796265060548076,0.5110621745035571,1.016693326022177,-0.06928523458915005,-1.2746896962279317,0.35661202487046395,0.35661202487046395,0.4433999999999675,0,0,-0.00020629434667876622,9.975506118221062e-05
+3414,1793077887325905663,14438457000000,1793077887322132482,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6760264898743789,-0.004954030810941314,0.0993970466765971,0.9999999649582644,-0.0001519687180706821,-9.759629582275767e-05,0.00017002001648686266,0.6761,-0.0046,0.09939393982265245,1.0,0.0,0.0,0.0,-0.46196215162080057,0.30392909363695564,1.4847653434145487,0.021104568348878222,0.0322326045021254,0.0025064034306956145,0.7257232147094459,1.608331810449961,1.9065458024160136,0.11122035770124646,-0.050218913525529936,0.004107506705748261,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.4518743207846032,1.7049308326678425,-0.6677378455868147,0.08388721312644369,0.6683801002867601,1.0667958962659205,-0.06928523458915005,-1.4847653434145487,0.5984526109976647,0.5984526109976647,0.5041999999999608,0,0,-0.00017589435250400941,9.999999025923074e-05
+3484,1793077887908891076,14439040000000,1793077887906132886,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6760405088538304,-0.004950653140576324,0.09932839002123901,0.9999999650368248,-0.00016868983911818875,-7.436410088795665e-05,0.00016547789003125418,0.6761,-0.0046,0.09929987606348438,1.0,0.0,0.0,0.0,-0.4518073678206931,0.29513318689080115,1.6360692488306547,0.019043617259320772,0.03224268883020339,0.0014182377172794773,0.7358779985095534,1.5995359037038066,2.0578497078321196,0.109159406611689,-0.05020882919745195,0.003019340992332124,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.4643221119077015,1.5621090012376277,-0.8732495493938428,0.13776681836514226,0.8029548837093752,0.9684475547931001,-0.06928523458915005,-1.6360692488306547,0.8039643148046928,0.8039643148046928,0.5624999999999544,0,0,-0.0001467443581828779,9.999999025923074e-05
+3563,1793077888567878827,14439699000000,1793077888562133250,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6760491944581021,-0.0049586874162447095,0.09926024188359098,0.9999999633147114,-0.00018360380748373917,-5.8699558163235177e-05,0.00016630527285006183,0.6761,-0.0046,0.09921401207932354,1.0,0.0,0.0,0.0,-0.4159427163725524,0.2593617361950138,1.695966997763716,0.01599561874503852,0.031273393912294785,0.0007509719475554465,0.771742649957694,1.5637644530080193,2.117747456765181,0.10611140809740675,-0.05117812411536055,0.0023520752226080933,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.4343391912489305,1.6635928853471575,-0.9235142236541894,0.11589649741352878,0.8324716046101504,1.0322481482645012,-0.06928523458915005,-1.695966997763716,0.8542289890650394,0.8542289890650394,0.6283999999999471,0,0,-0.00011379436460204483,9.999999025923074e-05
+3633,1793077889150834203,14440282000000,1793077889146132762,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6760544771842075,-0.0049564999754634805,0.09921140729790683,0.9999999627599147,-0.00018746023409877682,-5.0168706650717194e-05,0.00016812136970718115,0.6761,-0.0046,0.09915615261310232,1.0,0.0,0.0,0.0,-0.38309749876180543,0.21520736274996044,1.7021218536074465,0.011956950155462429,0.03000236577323309,0.00023276802632114465,0.804587867568441,1.519610079562966,2.1239023126089114,0.10207273950783066,-0.052449152254422246,0.0018338713013737915,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3962643147281866,1.5998835943246266,-0.9573818254980071,0.13005668541555743,0.8508319533317802,0.9882631468906102,-0.06928523458915005,-1.7021218536074465,0.8880965909088571,0.8880965909088571,0.6866999999999407,0,0,-8.464437028091331e-05,9.999999025923074e-05
+3722,1793077889892849977,14441024000000,1793077889890133605,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6760584730987016,-0.004958413955121265,0.09916606936763889,0.9999999614328913,-0.00019376166493738283,-4.405927413372514e-05,0.00017056458489416145,0.6761,-0.0046,0.0991070920376688,1.0,0.0,0.0,0.0,-0.3540856572135831,0.169373681477192,1.6820118815431377,0.0089396236477024,0.02837968140186175,0.00018801998892943486,0.8335997091166634,1.4737763982901975,2.1037923405446026,0.09905541300007063,-0.05407183662579359,0.0017891232639820817,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3211860603975538,1.625038418990028,-0.9430058182513242,0.1285135198427338,0.8243959094104355,1.003903124463972,-0.06928523458915005,-1.6820118815431377,0.8737205836621742,0.8737205836621742,0.7608999999999325,0,0,-4.75443775085641e-05,9.999999025923074e-05
+3799,1793077890533834056,14441665000000,1793077890526133096,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6760560850058412,-0.0049609581861430625,0.09913716671197548,0.9999999607100025,-0.00019567737627711984,-4.82283244422871e-05,0.0001714854244321702,0.6761,-0.0046,0.09908587539550152,1.0,0.0,0.0,0.0,-0.34172565511887976,0.129455795068248,1.639468773857724,0.005945237726578109,0.026420972314170565,0.00015750356916319186,0.8459597112113667,1.4338585118812535,2.061249232859189,0.09606102707894634,-0.05603054571348477,0.0017586068442158387,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.2999745324592746,1.66464242655872,-0.8194428158760113,0.11069842066409626,0.7465535842690847,1.0252195858551283,-0.06928523458915005,-1.639468773857724,0.7501575812868613,0.7501575812868613,0.8249999999999255,0,0,-2.467501146049956e-05,-9.679144571806404e-05
+3875,1793077891167793579,14442299000000,1793077891166133105,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6760576033359766,-0.0049611898677014874,0.09911900762591125,0.9999999600530599,-0.00019773176209272883,-4.659952109005027e-05,0.00017339947402724142,0.6761,-0.0046,0.0990685880700326,1.0,0.0,0.0,0.0,-0.31519635729565487,0.10378048738522172,1.5854244358800194,0.004819441970684582,0.02544292110463768,0.0001738599692345461,0.8724890090345916,1.4081832041982272,2.0072048948814842,0.09493523132305282,-0.05700859692301766,0.001774963244287193,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.2371251771111889,1.6249704139704972,-0.8718276437957312,0.12192119234968062,0.7654449957221838,0.9990002482410214,-0.06928523458915005,-1.5854244358800194,0.8025424092065812,0.8025424092065812,0.8883999999999185,0,0,-3.6669132073867357e-05,-9.999999025923074e-05
+3948,1793077891775806280,14442907000000,1793077891774134754,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6760584947875886,-0.004963530052181602,0.09909455451224587,0.9999999589468357,-0.0002055119747505625,-4.295753178363184e-05,0.00017166441000692026,0.6761,-0.0046,0.09903786133445529,1.0,0.0,0.0,0.0,-0.3119134786097163,0.08772448505631836,1.5783972331635976,0.0029412505076085865,0.024466328297918505,0.0001449639045862513,0.8757718877205302,1.3921272018693238,2.0001776921650625,0.09305703985997682,-0.05798518972973683,0.0017460671796388982,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.2192670707495032,1.5615345335917938,-0.7967941239874204,0.1427523368735179,0.712016536959249,0.9542978643052217,-0.06928523458915005,-1.5783972331635976,0.7275088893982704,0.7275088893982704,0.9491999999999118,0,0,-6.534067662908172e-05,-9.999999025923074e-05
+4031,1793077892467775972,14443599000000,1793077892466132930,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6760605816155472,-0.004963474114831631,0.09905145160947355,0.9999999573696835,-0.00021593811448508576,-3.956785669402597e-05,0.00016884493144056123,0.6761,-0.0046,0.09898218908476425,1.0,0.0,0.0,0.0,-0.3126854058681886,0.10028248661138517,1.618840368468648,0.003707289782707443,0.025452470072845068,0.00013803429412429956,0.8749999604620579,1.4046852034243906,2.040620827470113,0.09382307913507568,-0.05699904795481027,0.0017391375691769464,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.263650225793128,1.5695939559373797,-0.9039933215888917,0.15125534257297202,0.7875180346256938,0.9617920677348734,-0.06928523458915005,-1.618840368468648,0.8347080869997416,0.8347080869997416,1.0183999999999043,0,0,-9.506293227187624e-05,-9.999996250365512e-05
+4097,1793077893017749779,14444149000000,1793077893014132969,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6760683260908718,-0.004965976026099893,0.09900999290866581,0.999999955581922,-0.00022407045099657034,-2.6295873311044e-05,0.00017140588730852786,0.6761,-0.0046,0.09892456588602712,1.0,0.0,0.0,0.0,-0.32266550309170794,0.10658575381261093,1.7190240943554045,0.0038807689969489606,0.026442672749888006,7.25016808598882e-05,0.8650198632385385,1.4109884706256164,2.1408045533568694,0.0939965583493172,-0.05600884527776733,0.001673604955912535,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.2663946646591209,1.6052936660260506,-1.060878614998254,0.1420682733469237,0.8822495746408822,0.9866856696653552,-0.06928523458915005,-1.7190240943554045,0.991593380409104,0.991593380409104,1.0733999999998982,0,0,-0.00011005179258585939,6.654260062267098e-05
+4172,1793077893642733921,14444774000000,1793077893642133001,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.676074420934465,-0.0049684150335015335,0.09895521519598138,0.9999999539481328,-0.00022951606135496264,-1.622184649148083e-05,0.00017494520783874922,0.6761,-0.0046,0.09885968553406337,1.0,0.0,0.0,0.0,-0.33179888062691365,0.08851508501275629,1.7931142000545313,0.003459953622439199,0.026465802266314953,7.4593917802788165e-06,0.8558864857033328,1.3929178018257617,2.214894659055996,0.09357574297480743,-0.055985715761340385,0.0016085626668329257,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3411767950699807,1.6246271111966701,-1.2422910316824665,0.12469963860554785,1.015656724211538,0.9954625712178861,-0.06928523458915005,-1.7931142000545313,1.1730057970933163,1.1730057970933163,1.1358999999998913,0,0,-9.852302336879758e-05,9.963601751839519e-05
+4245,1793077894250719430,14445382000000,1793077894246133083,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6760791653509549,-0.004967780426676279,0.09890861168301916,0.9999999531086635,-0.00023303288314414114,-8.494774625779116e-06,0.0001756389732202067,0.6761,-0.0046,0.09880273658992149,1.0,0.0,0.0,0.0,-0.33166548300569854,0.07241472099484447,1.8147203280491686,0.0018166278295412147,0.026541816588888732,-2.767131483731892e-05,0.8560198833245479,1.37681743780785,2.2365007870506335,0.09193241718190945,-0.055909701438766606,0.001573431960215328,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3163141260630669,1.6070503812529318,-1.1184932879314802,0.1329048016925531,0.9300302789587127,0.985367426550464,-0.06928523458915005,-1.8147203280491686,1.04920805334233,1.04920805334233,1.1966999999998846,0,0,-9.375347686665781e-05,-9.981016987759545e-05
+4325,1793077894917738600,14446049000000,1793077894910132937,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.676082147918755,-0.004973240525639766,0.09885156446060937,0.9999999500358494,-0.00024597949284591166,-3.1381191344204047e-06,0.00017565706417444583,0.6761,-0.0046,0.09873869110191957,1.0,0.0,0.0,0.0,-0.32663849590749827,0.06149469056331225,1.808181236876068,0.0007994316295783788,0.02648338259549783,-3.453626261922969e-05,0.8610468704227482,1.3658974073763177,2.229961695877533,0.09091522098194661,-0.055968135432157506,0.0015665670124334172,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3059100842717122,1.5922484694810972,-1.1849666380306851,0.1369272802938286,0.965830575904828,0.9707395781209199,-0.06928523458915005,-1.808181236876068,1.115681403441535,1.115681403441535,1.2633999999998773,0,0,-0.00010269800925918749,-9.999999025923074e-05
+4394,1793077895492685383,14446624000000,1793077895490132917,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6760877376719612,-0.004970543972445737,0.0987936528495568,0.9999999481132497,-0.00025483264100664764,9.368318617336707e-07,0.00017399945171589726,0.6761,-0.0046,0.09867397751438019,1.0,0.0,0.0,0.0,-0.33669640862002015,0.08379833407543003,1.8273124503635323,0.0024315492104911712,0.027461065224326467,0.00038583386951654376,0.8509889577102263,1.3882010508884355,2.249092909364997,0.0925473385628594,-0.05499045280332887,0.0019869371445691906,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3247933802569636,1.6743877373857543,-1.2224416043154631,0.12714901459974665,0.9807582365532946,1.0262666774774196,-0.06928523458915005,-1.8273124503635323,1.153156369726313,1.153156369726313,1.320899999999871,0,0,-0.00012217030363334403,-9.999999025923074e-05
+4481,1793077896217673769,14447349000000,1793077896210133437,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6760963216132606,-0.0049751210087647735,0.09871947184947041,0.9999999438266305,-0.0002717500670764233,1.5289679444555352e-05,0.00017235929478348586,0.6761,-0.0046,0.09858058697286126,1.0,0.0,0.0,0.0,-0.34998177524336305,0.08317045885221508,1.8995694701302615,0.0017412296226881063,0.028452931074020846,0.000958710228474326,0.8377035910868834,1.3875731756652205,2.3213499291317263,0.09185701897505634,-0.05399858695363449,0.002559813503526973,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3806229969566084,1.5888700514638032,-1.3328560823061493,0.13610588077526403,1.0596236541896766,0.967930601908906,-0.06928523458915005,-1.8995694701302615,1.2635708477169991,1.2635708477169991,1.393399999999863,0,0,-0.00013148125024428493,-9.253551677546596e-05
+4553,1793077896817710176,14447949000000,1793077896810133587,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.676099820791585,-0.004979266690184958,0.0986509379634415,0.9999999404803308,-0.0002823290774025324,2.3076384770213948e-05,0.00017389643803300195,0.6761,-0.0046,0.09850311318858794,1.0,0.0,0.0,0.0,-0.3212522057254523,0.03676468657595655,1.9200503357904326,-0.00038271310275704573,0.026492324906214892,-9.28891110763884e-05,0.8664331606047941,1.341167403388962,2.3418307947918975,0.08973307624961119,-0.055959193121440445,0.0015082141639762585,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3946812416263479,1.6066246095457721,-1.4641797906528946,0.1362363709724641,1.1527866716413342,0.980661758906603,-0.06928523458915005,-1.9200503357904326,1.3948945560637445,1.3948945560637445,1.4533999999998564,0,0,-0.00012862766910340528,9.760701555195368e-05
+4626,1793077897425695671,14448557000000,1793077897422133112,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6761005183593668,-0.004980527291797163,0.0985816163189314,0.9999999380645962,-0.00028926113300537225,3.0103622571578176e-05,0.00017531524869880845,0.6761,-0.0046,0.09842141878469357,1.0,0.0,0.0,0.0,-0.31971225887336274,0.015608386560306498,1.9131050365645574,-0.0030125537843279926,0.02652992189098579,-0.00015389719041090217,0.8679731074568837,1.320011103373312,2.3348854955660223,0.08710323556804024,-0.05592159613666955,0.0014472060846417447,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.364416089890192,1.692332979695509,-1.4512238687114627,0.0986942767822273,1.1295205417097967,1.030578220878887,-0.06928523458915005,-1.9131050365645574,1.3819386341223125,1.3819386341223125,1.5141999999998497,0,0,-0.00014520499138778587,-9.999999025923074e-05
+4691,1793077897967633118,14449099000000,1793077897962133479,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6761093833205972,-0.004982934401762103,0.09850499771496034,0.9999999345779225,-0.0002976767216043695,3.755544907008223e-05,0.00017962508776396918,0.6761,-0.0046,0.09834418156696006,1.0,0.0,0.0,0.0,-0.328853932894859,0.008621476518623217,1.9893863471253321,-0.003349957798568115,0.027535665745490913,-7.328206197164855e-05,0.8588314334353875,1.3130241933316287,2.411166806126797,0.08676583155380012,-0.054915852282164425,0.0015278212130809983,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3588293566373615,1.6366825044964337,-1.5263331041616313,0.1127535217060889,1.172090103980109,0.9892976260122475,-0.06928523458915005,-1.9893863471253321,1.4570478695724811,1.4570478695724811,1.5683999999998437,0,0,-0.00013512360365487862,1.5162092343874018e-05
+4752,1793077898475626808,14449607000000,1793077898474133364,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761099784527363,-0.004982509697055623,0.09844103787306901,0.999999933145129,-0.00030267387272440245,4.029692614730108e-05,0.00017865409463128072,0.6761,-0.0046,0.09827391352076272,1.0,0.0,0.0,0.0,-0.3200646565569891,-0.006471820033838949,1.9767202300286564,-0.004341681126725061,0.02657376300610189,-9.015026970828044e-05,0.8676207097732573,1.2979308967791665,2.3985006890301213,0.08577410822564317,-0.05587775502155345,0.0015109530053443664,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3957232660459875,1.5902129510353915,-1.5080724789045352,0.12543468143887263,1.1713807981537079,0.9629305176478474,-0.06928523458915005,-1.9767202300286564,1.438787244315385,1.438787244315385,1.619199999999838,0,0,-0.00014191903039836718,-9.996204838736417e-05
+4825,1793077899083607465,14450215000000,1793077899082123990,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.676114095926144,-0.004983112074774674,0.09836111150528365,0.9999999772056043,-5.506805337421025e-05,4.655336824848614e-05,0.00017841510271444775,0.6761,-0.0046,0.09818363815749681,1.0,0.0,0.0,0.0,-0.30850969361173963,-0.04135846157614598,1.9859421086400242,-0.00638326312436481,0.0264470537790912,-0.0002690392193960044,0.8791756727185068,1.2630442552368595,2.407722567641489,0.08373252622800342,-0.05600446424856414,0.0013320640556566425,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.3749497832864759,1.7741026773650632,-1.4682260211037423,0.03240807170166266,1.1501483922642513,1.0194300646603536,-0.06928523458915005,-1.9859421086400242,1.3989407865145922,1.3989407865145922,1.6799999999998314,0,0,-0.0001567852961168167,-9.999999025923074e-05
+4891,1793077899633568238,14450765000000,1793077899626133433,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761158864357785,-0.004993123794965973,0.09827611143216802,0.9999999753766017,-7.685029057066373e-05,5.024804071066498e-05,0.0001796074264993609,0.6761,-0.0046,0.09809366346251329,1.0,0.0,0.0,0.0,-0.31864610070711086,-0.04360281116729481,2.0434574813095687,-0.007202583799029452,0.026585758998395465,-0.00031354041255656547,0.8690392656231356,1.2607999056457107,2.4652379403110336,0.08291320555333878,-0.05586575902925987,0.0012875628624960814,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.391805660127316,1.80922414999235,-1.6301726771151899,0.021140974166455155,1.2527546386047497,1.0500527681606997,-0.06928523458915005,-2.0434574813095687,1.5608874425260397,1.5608874425260397,1.7349999999998253,0,0,-0.00016829493696832033,-9.999999025923074e-05
+4956,1793077900175597343,14451307000000,1793077900174133365,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6761186895580756,-0.00499326294935717,0.09819191664584273,0.9999999737023887,-9.300342508723958e-05,5.62469236181687e-05,0.00017951248659514176,0.6761,-0.0046,0.09800101007675957,1.0,0.0,0.0,0.0,-0.31682381488765154,-0.06515785021144893,2.0475304748313734,-0.008440220914207541,0.026609573076476996,-0.00033041195973616995,0.8708615514425949,1.2392448666015565,2.4693109338328383,0.08167556843816069,-0.05584194495117834,0.001270691315316477,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.4450635433758723,1.7495794115455252,-1.7029422413161497,0.04224283149093071,1.3126379625312576,1.023824936283487,-0.06928523458915005,-2.0475304748313734,1.6336570067269995,1.6336570067269995,1.7891999999998194,0,0,-0.0001742967622550814,-9.999997638144293e-05
+5019,1793077900700534982,14451832000000,1793077900694133442,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761222282168431,-0.005000161834331821,0.09810481077650902,0.9999999704016159,-0.00011531306363642631,6.267723520420154e-05,0.00018279522259587167,0.6761,-0.0046,0.09790515676633692,1.0,0.0,0.0,0.0,-0.32951120189219674,-0.07628569637960547,2.0945195054900174,-0.009499499204043249,0.027630999016107688,-0.00013409042326649793,0.8581741644380497,1.2281170204334,2.5162999644914823,0.08061629014832498,-0.05482051901154765,0.001467012851786149,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.4317538854298588,1.7733030013897637,-1.727834850094019,0.04197495097181633,1.319153162498581,1.0552562574644784,-0.06928523458915005,-2.0945195054900174,1.658549615504869,1.658549615504869,1.8416999999998136,0,0,-0.0001896398789072703,-8.818027838331516e-05
+5084,1793077901242575335,14452374000000,1793077901242133612,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761280585689312,-0.004997266785786528,0.09801237482501532,0.9999999676565857,-0.00013057288179361515,7.359746814281772e-05,0.00018347704756748685,0.6761,-0.0046,0.09779995537762572,1.0,0.0,0.0,0.0,-0.3452035703642773,-0.08656698193557033,2.105381260516836,-0.009536258435519987,0.028639876273666966,0.0006664873713120552,0.8424817959659692,1.2178357348774351,2.527161719518301,0.08057953091684825,-0.05381164175398837,0.002267590646364702,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.4777236449635125,1.6598595808362298,-1.736391980477069,0.08441601258728738,1.3330456287072334,1.0038422539843463,-0.06928523458915005,-2.105381260516836,1.667106745887919,1.667106745887919,1.8958999999998076,0,0,-0.0001988781265602465,-9.990234614421496e-05
+5143,1793077901733602237,14452865000000,1793077901730133342,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6761319632429658,-0.004998765713860415,0.0979210535225041,0.9999999649718034,-0.00014565975087467626,8.305048410002977e-05,0.00018271592747310213,0.6761,-0.0046,0.09769934498116706,1.0,0.0,0.0,0.0,-0.34418355657438515,-0.09798757384967449,2.134044501617914,-0.010564915486815582,0.02865219270033917,0.0006319550783865226,0.8435018097558613,1.206415142963331,2.555824960619379,0.07955087386555265,-0.05379932532731617,0.0022330583534391694,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.4808576226914671,1.602347550639873,-1.8182537812599875,0.11227339584566103,1.3894402340700733,0.9767860611399631,-0.06928523458915005,-2.134044501617914,1.7489685466708373,1.7489685466708373,1.9449999999998022,0,0,-0.00021339231546654703,-9.999999025923074e-05
+5202,1793077902225589060,14453357000000,1793077902218133196,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761334769844687,-0.005004739983823608,0.09782069162328061,0.9999999613817803,-0.00016506013432257243,8.637288496730127e-05,0.00018432085858099566,0.6761,-0.0046,0.09759286861243811,1.0,0.0,0.0,0.0,-0.35528715164835634,-0.09950945553038038,2.1644097089859176,-0.011481166643146273,0.02967531498943244,0.0006117573716633781,0.8323982146818901,1.204893261282625,2.5861901679873824,0.07863462270922196,-0.0527762030382229,0.002212860646716025,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.529068208746481,1.6356586342895105,-1.8752937946938832,0.09203433491331979,1.4376248516109793,0.9981269079231636,-0.06928523458915005,-2.1644097089859176,1.806008560104733,1.806008560104733,1.9941999999997968,0,0,-0.0002175668963419738,-9.740769260256025e-12
+5257,1793077902683572800,14453815000000,1793077902678134245,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761348044241836,-0.0050061194328609865,0.09772109586418766,0.9999999589721792,-0.0001769776271185276,8.931771174878033e-05,0.00018493179840999694,0.6761,-0.0046,0.09749144898898185,1.0,0.0,0.0,0.0,-0.3469606564245752,-0.13204872859073657,2.1826110712445503,-0.013443577630316644,0.029711479219836197,0.0005735439055063584,0.8407247099056713,1.1723539882222689,2.604391530246015,0.07667221172205159,-0.05274003880781914,0.0021746471805590053,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.5032607669841012,1.6777364692735777,-1.872776486564169,0.08320484649598263,1.4321016179598,1.0260080565650047,-0.06928523458915005,-2.1826110712445503,1.8034912519750188,1.8034912519750188,2.0399999999998806,0,0,-0.00022764280317308228,-9.995776015093156e-05
+5342,1793077903392524810,14454524000000,1793077903390133423,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761399592134228,-0.005013805954667599,0.0975648261854313,0.9999999528654739,-0.0002028032779327777,9.931915745257534e-05,0.00018632887452976863,0.6761,-0.0046,0.09732360653191716,1.0,0.0,0.0,0.0,-0.36184937410026874,-0.1455732926836224,2.209698987229391,-0.014712405730880895,0.030733681884600933,0.0005585830149826844,0.8258359922299777,1.158829424129383,2.631479446230856,0.07540338362148734,-0.051717836143054405,0.0021596862900353313,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.5392158830707146,1.769564115688708,-1.9111831992674826,0.04901151201674459,1.4721383808994883,1.0764247812447088,-0.06928523458915005,-2.209698987229391,1.8418979646783324,1.8418979646783324,2.11090000000003,0,0,-0.0002446492084432191,-9.379882567739912e-05
+5397,1793077903850523454,14454982000000,1793077903850132966,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6761481161663901,-0.005017857604341821,0.09746184162579777,0.9999999485093704,-0.0002144602379198344,0.0001123323718961361,0.00018924155289955384,0.6761,-0.0046,0.09720678205372342,1.0,0.0,0.0,0.0,-0.37113215042734904,-0.16794005265428447,2.252321738882866,-0.015749639092209916,0.03075253472824116,0.0005069806039906138,0.8165532159028974,1.136462664158721,2.6741021978843307,0.07436615026015832,-0.05169898329941418,0.0021080838790432607,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.5768137799534523,1.7142072986944084,-1.9601807618463243,0.05479553258244327,1.5165798584691863,1.0400198299540413,-0.06928523458915005,-2.252321738882866,1.8908955272571741,1.8908955272571741,2.156700000000127,0,0,-0.00026565555019261575,-9.998350344731505e-05
+5444,1793077904242503660,14455374000000,1793077904242123111,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6761484523867541,-0.00502317929777754,0.09735627029538893,0.9999999444860319,-0.00023140937693508887,0.00011187780876002104,0.00019079793865777278,0.6761,-0.0046,0.09710051542420664,1.0,0.0,0.0,0.0,-0.37521374221103376,-0.179992181888319,2.2692337509008436,-0.016783167422148998,0.03178119709246979,0.000495861339352205,0.8124716241192127,1.1244105349246865,2.6910142099023084,0.07333262193021924,-0.050670320935185545,0.002096964614404852,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.636699587975629,1.6538949176313167,-2.063586144755165,0.07481735144015816,1.6018636698284485,1.0003885892935487,-0.06928523458915005,-2.2692337509008436,1.994300910166015,1.994300910166015,2.1959000000002096,0,0,-0.0002761036920109498,9.995423519282837e-05
+5495,1793077904667526888,14455799000000,1793077904666132479,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761531826820817,-0.00502731456290151,0.09724309866753303,0.999999959874673,-0.000138255079917003,0.00012184229788548978,0.00019425113612878028,0.6761,-0.0046,0.09698020053595359,1.0,0.0,0.0,0.0,-0.3822277173678059,-0.19337597952498942,2.2924418252994316,-0.017829327287657196,0.03179577093242379,0.0004604315715503078,0.8054576489624405,1.111026737288016,2.7142222843008965,0.07228646206471104,-0.050655747095231546,0.0020615348466029547,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.5622682653411286,1.719660000369916,-1.986600940023559,0.04718785252127422,1.53572376402928,1.0367967580794577,-0.06928523458915005,-2.2924418252994316,1.9173157054344088,1.9173157054344088,2.2384000000002993,0,0,-0.00028932289134894616,-9.999999025923074e-05
+5548,1793077905108458473,14456240000000,1793077905102132774,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761536080272725,-0.00502772701214216,0.09711381631143814,0.9999999561169521,-0.00016294292926896593,0.0001223141988700307,0.00019415920447714535,0.6761,-0.0046,0.0968503256678133,1.0,0.0,0.0,0.0,-0.3858586040735158,-0.2012674982366005,2.299834706146418,-0.018877695497015,0.032827261460382756,0.00046362022532661813,0.8018267622567307,1.103135218576405,2.721615165147883,0.07123809385535324,-0.04962425656727258,0.002064723500379265,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.6233640315647195,1.6707263617272583,-2.0960343273051887,0.05408751301264065,1.6287118520993413,1.0026546733537156,-0.06928523458915005,-2.299834706146418,2.0267490927160385,2.0267490927160385,2.2825000000003923,0,0,-0.0003009881569218927,-3.9062783419581377e-07
+5595,1793077905500450809,14456632000000,1793077905498133210,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761562775829939,-0.0050385206614504035,0.09700162129046264,0.9999999520667641,-0.00017921943874619535,0.0001279139488071804,0.0001970475784831413,0.6761,-0.0046,0.09672924110366364,1.0,0.0,0.0,0.0,-0.3966890402556379,-0.214257786750641,2.3121860096136113,-0.01893105218093799,0.032826875495416914,0.0004521133818433192,0.7909963260746086,1.0901449300623645,2.733966468615076,0.07118473717143024,-0.049624642532238424,0.002053216656895966,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.633879335902403,1.7984484079877092,-2.109532961791454,0.02669099535337966,1.6416616632565186,1.0887280840385176,-0.06928523458915005,-2.3121860096136113,2.040247727202304,2.040247727202304,2.321700000000475,0,0,-0.0003172971022550027,-9.999999025923074e-05
+5640,1793077905875470024,14457007000000,1793077905874123284,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.676161238580162,-0.005038277438685415,0.09688894685049775,0.9999999488801962,-0.0001892727956944674,0.0001362368758722298,0.00019823670610296212,0.6761,-0.0046,0.09660768792699072,1.0,0.0,0.0,0.0,-0.4056999615504572,-0.22628949173878277,2.331570568391881,-0.019933558905805546,0.03385522076881131,0.000439767209653579,0.7819854047797893,1.0781132250742227,2.7533510273933457,0.07018223044656269,-0.048596297258844026,0.002040870484706226,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.6227484751678343,1.7313645274421494,-2.0581487312708577,0.04388120912271521,1.6049261259250687,1.0461456076263465,-0.06928523458915005,-2.331570568391881,1.9888634966817076,1.9888634966817076,2.359200000000554,0,0,-0.0003323349977255293,-9.999999025923074e-05
+5690,1793077906292496157,14457424000000,1793077906290135097,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761662270404497,-0.005041080977375338,0.09675693445294568,0.9999999454563618,-0.00019395318178155817,0.00014439845970528166,0.000205088726288859,0.6761,-0.0046,0.09646497046428758,1.0,0.0,0.0,0.0,-0.41469342000880716,-0.24898496595615716,2.40046342455903,-0.02198633766015108,0.03489109772935457,0.00037568184116036196,0.7729919463214393,1.0554177508568483,2.822243883560495,0.06812945169221715,-0.047560420298300765,0.001976785116213009,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.6752338767787125,1.7097861976240085,-2.0875787628551756,0.03813399889888218,1.6431225635188107,1.026354780471964,-0.06928523458915005,-2.40046342455903,2.0182935282660255,2.0182935282660255,2.400900000000642,0,0,-0.0003509515554792327,-9.999999025923074e-05
+5739,1793077906700453301,14457832000000,1793077906698123579,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.676171236761773,-0.005046233434468387,0.09662097742845754,0.9999999428998148,-0.000197219605595523,0.00015402131233102848,0.00020742491142256996,0.6761,-0.0046,0.09631902347341925,1.0,0.0,0.0,0.0,-0.4168737508967558,-0.2725846530548628,2.3998323755938222,-0.02340118702270967,0.03491776726164542,0.00036310923238273493,0.7708116154334906,1.0318180637581427,2.821612834595287,0.06671460232965856,-0.047533750766009915,0.001964212507435382,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.674454005764082,1.7663329672573975,-2.13305513679375,0.0165461357343049,1.676337347692816,1.0591928347766544,-0.06928523458915005,-2.3998323755938222,2.0637699022045997,2.0637699022045997,2.4417000000007283,0,0,-0.0003667459153408866,-9.999999025923074e-05
+5782,1793077907058379086,14458190000000,1793077907058123320,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761733920601241,-0.005045192803538598,0.09649041563157847,0.9999999385351975,-0.0002313878293481458,0.00016010579353714662,0.0001876120263143363,0.6761,-0.0046,0.09618528768783773,1.0,0.0,0.0,0.0,-0.4047968100615339,-0.24900257449525642,2.4110352889951248,-0.02199100977447356,0.03387843703791037,0.00035262262447380765,0.7828885562687126,1.055400142317749,2.8328157479965896,0.06812477957789467,-0.04857308098974497,0.0019537258995264545,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.6353174305410358,1.8301819648600315,-2.179228769629183,0.01553404355923648,1.6951449724404488,1.1004412545492974,-0.06928523458915005,-2.4110352889951248,2.109943535040033,2.109943535040033,2.477500000000804,0,0,-0.0003814913198077737,-9.999999025923074e-05
+5825,1793077907417473784,14458549000000,1793077907410132703,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.676176885279669,-0.005048754623684036,0.09635954084602187,0.9999999353183472,-0.00023629468472240563,0.00016534786939549433,0.0001939872924349616,0.6761,-0.0046,0.09604546676095774,1.0,0.0,0.0,0.0,-0.4206948754806549,-0.2719946547034613,2.4499663821065565,-0.024067990580887072,0.0349213674523015,0.0003118855938312162,0.7669904908495916,1.0324080621095442,2.8717468411080214,0.06604779877148116,-0.04753015057535384,0.001912988868883863,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.7043204879576925,1.7275139320292145,-2.2579519667708605,0.03634065967166064,1.7699275688198817,1.0330817875140075,-0.06928523458915005,-2.4499663821065565,2.1886667321817104,2.1886667321817104,2.5134000000008796,0,0,-0.0003982028998247581,9.740769260256025e-12
+5866,1793077907758468130,14458890000000,1793077907754123182,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6761791284010067,-0.005054773992190392,0.09622212707368143,0.999999934873342,-0.00022806217957548373,0.00017009725474328573,0.00020186813016914707,0.6761,-0.0046,0.09590708845921166,1.0,0.0,0.0,0.0,-0.4315131584199713,-0.3043807888270076,2.4557834915450436,-0.025119327928957907,0.03595538312864612,0.00031197882930914596,0.7561722079102752,1.0000219279859979,2.8775639505465085,0.06499646142341033,-0.046496134899009216,0.0019130821043617928,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.7122572925562012,1.7805667182056546,-2.141611949919369,0.02725636537376167,1.6994654585748916,1.0695385456458422,-0.06928523458915005,-2.4557834915450436,2.072326715330219,2.072326715330219,2.5475000000009516,0,0,-0.00041410226725022,-9.999999025923074e-05
+5908,1793077908108458712,14459240000000,1793077908106122899,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761849379735697,-0.005058850485778223,0.09607813238095395,0.9999999461977337,-0.00016116813961302733,0.00017630780717116097,0.00020490920386015556,0.6761,-0.0046,0.09575917802412146,1.0,0.0,0.0,0.0,-0.45634104729965475,-0.28610646103680093,2.4833715757155455,-0.025171532099345667,0.03775201773982842,0.00031695186305117804,0.7313443190305917,1.0182962557762045,2.9051520347170103,0.06494425725302257,-0.04469950028782692,0.001918055138103825,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.6921916397482066,1.7860256317334666,-2.1870319381501013,0.024340858974053203,1.7241890365061223,1.061281725342431,-0.06928523458915005,-2.4833715757155455,2.117746703560951,2.117746703560951,2.5825000000010254,0,0,-0.00043088287021294933,-9.999999025923074e-05
+5945,1793077908417398804,14459549000000,1793077908414123350,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6761914732971102,-0.005060652298066911,0.09595019239472741,0.9999999409852688,-0.00018002379288740845,0.00018566920857900703,0.00020637514911502183,0.6761,-0.0046,0.09562365591769219,1.0,0.0,0.0,0.0,-0.4598009596508902,-0.29405062140445937,2.48968794147919,-0.02517954466769136,0.0379737389341689,0.0003153444365028566,0.7278844066793563,1.010352095408546,2.911468400480655,0.06493624468467687,-0.044477779093486436,0.0019164477115555035,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.7253168267772483,1.7627910487067306,-2.1408298667984704,0.03941517046583874,1.7025519100417073,1.0481933628665459,-0.06928523458915005,-2.48968794147919,2.0715446322093203,2.0715446322093203,2.6134000000010906,0,0,-0.00044633286720305163,-9.999999025923074e-05
+5980,1793077908708441182,14459840000000,1793077908702133005,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6761917956448426,-0.005062028376005689,0.09582165956563046,0.9999999362332918,-0.00020462374029010281,0.00019126852231383771,0.00020130015866982043,0.6761,-0.0046,0.09549182798915706,1.0,0.0,0.0,0.0,-0.4461212901673183,-0.3005100703649517,2.500327942917551,-0.02619903002797569,0.03697709965835668,0.0002769489710224937,0.7415640761629282,1.0038926464480538,2.922108401919016,0.06391675932439254,-0.04547441836929866,0.0018780522460751406,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.6848665081284273,1.6721857885744644,-2.19210868984306,0.08396729217473432,1.730455565746678,0.9918340966293466,-0.06928523458915005,-2.500327942917551,2.12282345525391,2.12282345525391,2.642500000001152,0,0,-0.0004599819634174259,-9.999999025923074e-05
+6018,1793077909025335067,14460157000000,1793077909018123768,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6761937004167511,-0.005065923312459525,0.0956829549914169,0.9999999308303056,-0.00021984778065211731,0.00019664825713247984,0.00020683003737104487,0.6761,-0.0046,0.09534352779101674,1.0,0.0,0.0,0.0,-0.4488060906190394,-0.33319956712242216,2.538716774726468,-0.028222547648615752,0.0370088173927657,0.00022211215777393476,0.738879275711207,0.9712031496905833,2.9604972337279327,0.06189324170375248,-0.045442700634889636,0.0018232154328265816,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.6857551593606845,1.7187400545142268,-2.180807786324297,0.06713383609597609,1.7317223348475141,1.0203486550369911,-0.06928523458915005,-2.538716774726468,2.111522551735147,2.111522551735147,2.674200000001219,0,0,-0.0004757200181518525,-9.999999025923074e-05
+6053,1793077909317457251,14460449000000,1793077909314123127,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.676194778047808,-0.005065053405035683,0.09554482421029725,0.9999999286431286,-0.00021942193774203005,0.0001998133281618543,0.00021467475132497956,0.6761,-0.0046,0.09520249324613309,1.0,0.0,0.0,0.0,-0.4422198905992131,-0.3553262346947538,2.542023906163493,-0.029474171760041183,0.03703174880134546,0.0002031819699974673,0.7454654757310334,0.9490764821182517,2.963804365164958,0.06064161759232705,-0.04541976922630988,0.0018042852450501142,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.6584173072912136,1.671534931229082,-2.2096851251234235,0.08604313380943329,1.749528292139502,0.9905324683517662,-0.06928523458915005,-2.542023906163493,2.1403998905342734,2.1403998905342734,2.7034000000012806,0,0,-0.0004903200153075479,-9.999999025923074e-05
+6089,1793077909617376145,14460749000000,1793077909614123944,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6762047985313481,-0.005072701554721474,0.09540634977019827,0.9999999222378678,-0.00023172646907551622,0.00020782202272542853,0.00022378555097949,0.6761,-0.0046,0.09505315474198062,1.0,0.0,0.0,0.0,-0.483261667442183,-0.3340357198783652,2.5404012346631104,-0.028318871111375335,0.040031467931451764,0.00026653887400558836,0.7044236988880634,0.9703669969346402,2.9621816936645753,0.0617969182409929,-0.042420050096203574,0.0018676421490582352,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.8649964525544596,1.6868822284415637,-2.1651801562947814,0.08960128650756446,1.7719247382291972,1.0001251008964651,-0.06928523458915005,-2.5404012346631104,2.0958949217056313,2.0958949217056313,2.733400000001344,0,0,-0.0005053200123853171,-9.999999025923074e-05
+6122,1793077909892425681,14461024000000,1793077909890124121,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6762067304182636,-0.0050696671068057855,0.09527475032030132,0.9999999161552768,-0.0002746630043746544,0.00021812890843405557,0.00019003240875719001,0.6761,-0.0046,0.09491230798894432,1.0,0.0,0.0,0.0,-0.4497197026438442,-0.29500418256371175,2.5696666250534648,-0.026148572626002523,0.03787286638859854,0.0004626164273691725,0.7379656636864023,1.0093985342492937,2.9914470840549297,0.06396721672636571,-0.0445786516390568,0.0020637197024218194,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.7688606851398665,1.7272115859376214,-2.302200832343416,0.09901331525723545,1.8333727519297756,1.0313035667334312,-0.06928523458915005,-2.5696666250534648,2.232915597754266,2.232915597754266,2.760900000001402,0,0,-0.0005190700097066056,-9.999999025923074e-05
+6153,1793077910150384277,14461282000000,1793077910146123406,DOWN_FORCE_DETACH,2,0.0668,0.06680138409137726,0.6762024760432164,-0.005079448056616874,0.0951326390010428,0.9999999386696391,-0.00016241465474446724,0.00021124482862924478,0.00020760704373990968,0.6761,-0.0046,0.09477673027676546,1.0,0.0,0.0,0.0,-0.438079103029246,-0.35267212047240915,2.558647562419604,-0.029257696947667645,0.03680182236535411,0.00019248798412168353,0.7496062633010004,0.9517305963405963,2.9804280214210688,0.06085809240470059,-0.045649695662301225,0.0017935912591743304,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.7994931373435232,1.7921277199423729,-2.25296989230762,0.05180608542610882,1.8274760439310411,1.0490145925341066,-0.06928523458915005,-2.558647562419604,2.18368465771847,2.18368465771847,2.7867000000014563,0,0,-0.0005319700071934871,-9.999999025923074e-05
+6186,1793077910425390015,14461557000000,1793077910422133045,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6762102798638633,-0.00507925761295707,0.09499283086136102,0.9999999314152609,-0.00018186330462454907,0.00022077658644313069,0.00021632331138971242,0.6761,-0.0046,0.09462856259473924,1.0,0.0,0.0,0.0,-0.4561553918852389,-0.3635090490537394,2.5952685308266603,-0.030298985659954758,0.03748610415641299,0.00016360700219235206,0.7315299744450076,0.9408936677592661,3.017048989828125,0.059816803692413476,-0.044965413871242345,0.001764710277244999,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.7987524623240334,1.7112427786165199,-2.2793004685385956,0.09431905919793304,1.8422061928181066,1.0066051601086574,-0.06928523458915005,-2.5952685308266603,2.2100152339494454,2.2100152339494454,2.8142000000015144,0,0,-0.0005456086773450705,-9.999999025923074e-05
+6216,1793077910675386895,14461807000000,1793077910674123490,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6762093645223147,-0.005077698588006463,0.0948521354410776,0.9999999288211618,-0.00019560878878327123,0.00021929313872884554,0.00021782620712496866,0.6761,-0.0046,0.09449060417570859,1.0,0.0,0.0,0.0,-0.43791392144679697,-0.3906941558984469,2.614193481051209,-0.03128434025215233,0.03608940741881011,0.00011289827640632291,0.7497714448834495,0.9137085609145585,3.0359739400526737,0.058831449100215906,-0.04636211060884523,0.0017140015514589698,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.786786195780024,1.709402869852806,-2.3943712378467175,0.10634442461313402,1.921102945069217,1.0116959919100819,-0.06928523458915005,-2.614193481051209,2.3250860032575673,2.3250860032575673,2.839200000001567,0,0,-0.0005581086749098782,-9.999999025923074e-05
+6246,1793077910925386911,14462057000000,1793077910922123379,DOWN_FORCE_DETACH,2,0.0668,0.06680203974246979,0.6762121184895542,-0.005082362372655287,0.09471226955124218,0.9999999225254543,-0.00021613531607256821,0.00022488571671057438,0.0002215939733493777,0.6761,-0.0046,0.09434952075728674,1.0,0.0,0.0,0.0,-0.42764355140085,-0.4025573118958181,2.607051199564228,-0.033183444394160995,0.036076806937867585,9.766248104544056e-05,0.7600418149293965,0.9018454049171873,3.028831658565693,0.05693234495820724,-0.04637471108978775,0.0016987657560980874,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.7724716970107073,1.731079445581873,-2.2562208678014937,0.10395714729382777,1.833885983244223,1.0247050828622433,-0.06928523458915005,-2.607051199564228,2.1869356332123435,2.1869356332123435,2.86420000000162,0,0,-0.0005706086724746859,-9.999999025923074e-05
+6285,1793077911248359085,14462380000000,1793077911242123855,DOWN_SETTLE,2,0.0668,0.06680203974246979,0.6761979768176695,-0.005077984840391906,0.09458291873383202,0.9999999259927926,-0.00022640616817947684,0.00019941462705524358,0.00022007118540414634,0.6761,-0.0046,0.09425762166466894,1.0,0.0,0.0,0.0,-0.36912745143190473,-0.45807010838849016,2.402601627700329,-0.036218661055162624,0.03213099893050781,0.00017163422794537627,0.8185579148983417,0.8463326084245153,2.8243820867017937,0.05389712829720561,-0.05032051909714753,0.0017727375029980231,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.6722496989905697,1.753742398370753,-2.1506475531045632,0.09074663733002084,1.7580475582974462,1.0384557547818853,-0.06928523458915005,-2.402601627700329,2.081362318515413,0.0,0.0,0,0,-4.5825270534295516e-05,0.00046288152054843953
+6363,1793077911893311548,14463025000000,1793077911890124638,DOWN_PEAK_HOLD,2,0.0668,0.06680138409137726,0.6761775251970632,-0.005078209168720115,0.09452024957729278,0.9999999322724518,-0.0002284562581131919,0.00015931803198016527,0.0002220888533330756,0.6761,-0.0046,0.09425404179488067,1.0,0.0,0.0,0.0,-0.24866612001546573,-0.5168022341680083,1.9225931661901572,-0.04000358651418483,0.02421067244507638,-0.0006205729417674535,0.9390192463147807,0.7876004826449972,2.344373625191622,0.050112202838183406,-0.05824084558257896,0.0009805303332851934,1.1876853663302465,1.3044027168130055,0.421780459001465,0.09011578935236823,-0.08245151802765534,0.0016011032750526469,1,1.1527776440389363,1.7637459010243381,-1.5464122547192463,0.07981616648584565,1.2437526883190222,1.0438149671298744,-0.06928523458915005,-1.9225931661901572,1.4771270201300961,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_15/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,1793077882095081992,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.966445447e-09,-7.097681505e-10,-4.498635908e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455855e-01,-1.160565849e-04,8.303256116e-01
+1,7.166666667e-01,DOWN_FORCE_DETACH,1793077882798943223,3.056014053e-06,-2.063327248e-06,2.479061534e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.908425534e-07,-2.465281715e-08,-1.389486315e-08,7.019586888e-01,-2.433406227e-05,8.601455663e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458664e-01,-1.160805279e-04,8.303255981e-01
+2,1.516666667e+00,DOWN_FORCE_DETACH,1793077883585601417,7.651026304e-06,-1.856129741e-07,2.562785135e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.112528360e-07,-3.576386152e-08,-1.943021588e-08,7.019632838e-01,-2.245634800e-05,8.601456500e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459868e-01,-1.160916389e-04,8.303255926e-01
+3,2.266666667e+00,DOWN_FORCE_DETACH,1793077884338909176,2.058299702e-05,-4.011599569e-06,-1.988912279e-05,1.357092856e-05,-2.768119270e-06,-1.571358501e-05,1.442529934e-05,-2.664580262e-06,-1.534172213e-05,7.019762158e-01,-2.628233459e-05,8.601231981e-01,7.019692037e-01,-2.503885429e-05,8.601273737e-01,7.027600009e-01,-1.187204553e-04,8.303102703e-01
+4,2.950000000e+00,DOWN_FORCE_DETACH,1793077885010153379,3.918193079e-05,-7.187435327e-06,-5.058336984e-05,3.890465741e-05,-6.373284617e-06,-4.840857687e-05,4.080666278e-05,-6.122228889e-06,-4.730980718e-05,7.019948147e-01,-2.945817035e-05,8.600925039e-01,7.019945375e-01,-2.864401964e-05,8.600946787e-01,7.027863822e-01,-1.221781040e-04,8.302783022e-01
+5,3.483333333e+00,DOWN_FORCE_DETACH,1793077885534447254,5.722769422e-05,-8.249481692e-06,-9.090679095e-05,5.653953807e-05,-6.558054771e-06,-8.712589677e-05,5.929799104e-05,-6.320807267e-06,-8.544566742e-05,7.020128605e-01,-3.052021672e-05,8.600521804e-01,7.020121724e-01,-2.882878979e-05,8.600559613e-01,7.028048736e-01,-1.223766824e-04,8.302401664e-01
+6,4.050000000e+00,DOWN_FORCE_DETACH,1793077886091640153,8.053988640e-05,-1.568579427e-05,-1.409034771e-04,7.133592148e-05,-1.490706277e-05,-1.248497006e-04,7.503950125e-05,-1.426243662e-05,-1.231311725e-04,7.020361727e-01,-3.795652929e-05,8.600021838e-01,7.020269687e-01,-3.717779780e-05,8.600182375e-01,7.028206151e-01,-1.303183117e-04,8.302024808e-01
+7,4.683333333e+00,DOWN_FORCE_DETACH,1793077886713968647,1.084763142e-04,-1.730849125e-05,-2.165076500e-04,1.009743217e-04,-1.678304005e-05,-2.073374796e-04,1.058361109e-04,-1.610499708e-05,-2.046533537e-04,7.020641091e-01,-3.957922627e-05,8.599265796e-01,7.020566071e-01,-3.905377507e-05,8.599357498e-01,7.028514117e-01,-1.321608722e-04,8.301209587e-01
+8,5.266666667e+00,DOWN_FORCE_DETACH,1793077887323419361,1.279466274e-04,-1.955206253e-05,-2.934826353e-04,1.251594825e-04,-2.116709123e-05,-2.868837497e-04,1.309374177e-04,-2.030066338e-05,-2.835964371e-04,7.020835794e-01,-4.182279755e-05,8.598496046e-01,7.020807923e-01,-4.343782625e-05,8.598562035e-01,7.028765130e-01,-1.363565385e-04,8.300420156e-01
+9,5.800000000e+00,DOWN_FORCE_DETACH,1793077887910669089,1.398314739e-04,-2.408676770e-05,-3.638415945e-04,1.364404093e-04,-2.185556923e-05,-3.485018027e-04,1.427288843e-04,-2.099047670e-05,-3.454877624e-04,7.020954643e-01,-4.635750273e-05,8.597792456e-01,7.020920732e-01,-4.412630425e-05,8.597945854e-01,7.028883045e-01,-1.370463518e-04,8.299801243e-01
+10,6.466666667e+00,DOWN_FORCE_DETACH,1793077888566091356,1.493986102e-04,-2.934189298e-05,-4.322908824e-04,1.493725265e-04,-2.909883709e-05,-4.321286070e-04,1.558253057e-04,-2.791433464e-05,-4.286726954e-04,7.021050314e-01,-5.161262801e-05,8.597107964e-01,7.021050053e-01,-5.136957212e-05,8.597109586e-01,7.029014009e-01,-1.439702097e-04,8.298969393e-01
+11,7.066666667e+00,DOWN_FORCE_DETACH,1793077889154748617,1.553152700e-04,-2.768644160e-05,-4.795213701e-04,1.532683141e-04,-2.767485023e-05,-4.801368335e-04,1.596598499e-04,-2.655513822e-05,-4.772794548e-04,7.021109481e-01,-4.995717663e-05,8.596635659e-01,7.021089011e-01,-4.994558526e-05,8.596629504e-01,7.029052354e-01,-1.426110133e-04,8.298483326e-01
+12,7.816666667e+00,DOWN_FORCE_DETACH,1793077889892123743,1.581661143e-04,-3.020304334e-05,-5.268814570e-04,1.578434928e-04,-3.132570242e-05,-5.194873422e-04,1.641622289e-04,-3.005458578e-05,-5.173856800e-04,7.021137989e-01,-5.247377836e-05,8.596162058e-01,7.021134763e-01,-5.359643745e-05,8.596235999e-01,7.029097378e-01,-1.461104609e-04,8.298082263e-01
+13,8.466666667e+00,DOWN_FORCE_DETACH,1793077890530620428,1.576163381e-04,-3.126190867e-05,-5.516722762e-04,1.565083074e-04,-3.505244188e-05,-5.408597526e-04,1.626463363e-04,-3.359366638e-05,-5.394854158e-04,7.021132492e-01,-5.353264370e-05,8.595914150e-01,7.021121411e-01,-5.732317690e-05,8.596022275e-01,7.029082219e-01,-1.496495415e-04,8.297861266e-01
+14,9.116666667e+00,DOWN_FORCE_DETACH,1793077891169255303,1.582284854e-04,-2.778933414e-05,-5.717154993e-04,1.555062085e-04,-3.214209894e-05,-5.606188253e-04,1.613735884e-04,-3.085781983e-05,-5.595612181e-04,7.021138613e-01,-5.006006916e-05,8.595713717e-01,7.021111390e-01,-5.441283396e-05,8.595824684e-01,7.029069492e-01,-1.469136949e-04,8.297660508e-01
+15,9.733333333e+00,DOWN_FORCE_DETACH,1793077891775161288,1.596960111e-04,-3.395483987e-05,-5.975134379e-04,1.576771509e-04,-2.848161100e-05,-5.816086051e-04,1.634063281e-04,-2.737219708e-05,-5.806140306e-04,7.021153288e-01,-5.622557489e-05,8.595455738e-01,7.021133100e-01,-5.075234602e-05,8.595614786e-01,7.029089819e-01,-1.434280722e-04,8.297449980e-01
+16,1.041666667e+01,DOWN_FORCE_DETACH,1793077892463357499,1.626449385e-04,-3.678915288e-05,-6.373505525e-04,1.585991222e-04,-3.191005519e-05,-6.236107424e-04,1.639594166e-04,-3.065304306e-05,-6.223913309e-04,7.021182778e-01,-5.905988790e-05,8.595057367e-01,7.021142319e-01,-5.418079021e-05,8.595194765e-01,7.029095350e-01,-1.467089182e-04,8.297032207e-01
+17,1.096666667e+01,DOWN_FORCE_DETACH,1793077893020061868,1.670677470e-04,-3.385210658e-05,-6.832357875e-04,1.677902691e-04,-4.077356552e-05,-6.824996271e-04,1.728865364e-04,-3.902573047e-05,-6.803430856e-04,7.021227006e-01,-5.612284160e-05,8.594598515e-01,7.021234231e-01,-6.304430055e-05,8.594605876e-01,7.029184621e-01,-1.550816056e-04,8.296452689e-01
+18,1.160000000e+01,DOWN_FORCE_DETACH,1793077893642366306,1.746243386e-04,-3.905778022e-05,-7.373033880e-04,1.713735994e-04,-3.568904548e-05,-7.263327733e-04,1.763063869e-04,-3.420624088e-05,-7.242863764e-04,7.021302572e-01,-6.132851524e-05,8.594057839e-01,7.021270064e-01,-5.795978051e-05,8.594167545e-01,7.029218820e-01,-1.502621160e-04,8.296013256e-01
+19,1.220000000e+01,DOWN_FORCE_DETACH,1793077894248657467,1.770714784e-04,-4.486862781e-05,-7.842826304e-04,1.742927033e-04,-3.658668416e-05,-7.677834027e-04,1.790420429e-04,-3.508535555e-05,-7.659267451e-04,7.021327043e-01,-6.713936283e-05,8.593588046e-01,7.021299255e-01,-5.885741918e-05,8.593753038e-01,7.029246176e-01,-1.511412306e-04,8.295596853e-01
+20,1.281666667e+01,DOWN_FORCE_DETACH,1793077894920036161,1.821736680e-04,-4.420434353e-05,-8.417301154e-04,1.784990571e-04,-4.144633501e-05,-8.337511348e-04,1.826966301e-04,-3.968564580e-05,-8.313971789e-04,7.021378065e-01,-6.647507855e-05,8.593013571e-01,7.021341319e-01,-6.371707004e-05,8.593093361e-01,7.029282722e-01,-1.557415209e-04,8.294942148e-01
+21,1.338333333e+01,DOWN_FORCE_DETACH,1793077895495056542,1.882030421e-04,-4.090869069e-05,-8.983373017e-04,1.873962756e-04,-4.418880183e-05,-8.791566925e-04,1.915759640e-04,-4.229036967e-05,-8.769451075e-04,7.021438359e-01,-6.317942572e-05,8.592447499e-01,7.021430291e-01,-6.645953686e-05,8.592639305e-01,7.029371515e-01,-1.583462448e-04,8.294486669e-01
+22,1.411666667e+01,DOWN_FORCE_DETACH,1793077896214151375,1.982250534e-04,-4.450517677e-05,-9.710756893e-04,1.964837972e-04,-4.462213110e-05,-9.641242604e-04,2.004298283e-04,-4.271791082e-05,-9.613140860e-04,7.021538579e-01,-6.677591179e-05,8.591720115e-01,7.021521166e-01,-6.689286612e-05,8.591789630e-01,7.029460054e-01,-1.587737859e-04,8.293642979e-01
+23,1.471666667e+01,DOWN_FORCE_DETACH,1793077896820645445,2.000249437e-04,-4.992116692e-05,-1.041594803e-03,1.974555265e-04,-4.721212399e-05,-1.031306684e-03,2.008349513e-04,-4.517938917e-05,-1.028456996e-03,7.021556578e-01,-7.219190195e-05,8.591014924e-01,7.021530883e-01,-6.948285901e-05,8.591117806e-01,7.029464105e-01,-1.612352643e-04,8.292971550e-01
+24,1.530000000e+01,DOWN_FORCE_DETACH,1793077897426427585,2.007225115e-04,-5.118176854e-05,-1.110916447e-03,1.998042148e-04,-4.726347810e-05,-1.093527499e-03,2.026236625e-04,-4.530597235e-05,-1.090811780e-03,7.021563553e-01,-7.345250356e-05,8.590321708e-01,7.021554370e-01,-6.953421313e-05,8.590495597e-01,7.029481992e-01,-1.613618474e-04,8.292348002e-01
+25,1.585000000e+01,DOWN_FORCE_DETACH,1793077897966809613,2.098000077e-04,-5.088006913e-05,-1.186659736e-03,2.042925147e-04,-5.693358998e-05,-1.172919133e-03,2.064821274e-04,-5.445646176e-05,-1.169880229e-03,7.021654328e-01,-7.315080415e-05,8.589564275e-01,7.021599253e-01,-7.920432501e-05,8.589701681e-01,7.029520577e-01,-1.705123368e-04,8.291557318e-01
+26,1.636666667e+01,DOWN_FORCE_DETACH,1793077898474269769,2.095205196e-04,-5.531859642e-05,-1.252194188e-03,2.069600995e-04,-5.197684453e-05,-1.239016886e-03,2.086247494e-04,-4.979251961e-05,-1.235861801e-03,7.021651533e-01,-7.758933145e-05,8.588908931e-01,7.021625929e-01,-7.424757956e-05,8.589040704e-01,7.029542003e-01,-1.658483947e-04,8.290897502e-01
+27,1.696666667e+01,DOWN_FORCE_DETACH,1793077899082602613,2.133170397e-04,-5.686244024e-05,-1.332086726e-03,2.116868374e-04,-6.028767687e-05,-1.324492863e-03,2.127576560e-04,-5.766439748e-05,-1.320986557e-03,7.021689499e-01,-7.913317527e-05,8.588110005e-01,7.021673197e-01,-8.255841190e-05,8.588185944e-01,7.029583332e-01,-1.737202726e-04,8.290046255e-01
+28,1.753333333e+01,DOWN_FORCE_DETACH,1793077899637659242,2.172271851e-04,-5.944291319e-05,-1.414286746e-03,2.170939830e-04,-6.088851275e-05,-1.410738425e-03,2.174740033e-04,-5.826498104e-05,-1.406797437e-03,7.021728600e-01,-8.171364821e-05,8.587288005e-01,7.021727268e-01,-8.315924777e-05,8.587323488e-01,7.029630496e-01,-1.743208561e-04,8.289188146e-01
+29,1.805000000e+01,DOWN_FORCE_DETACH,1793077900178246660,2.157402317e-04,-6.629418091e-05,-1.505472653e-03,2.155474021e-04,-6.658478030e-05,-1.505448982e-03,2.148715915e-04,-6.363609004e-05,-1.500915246e-03,7.021713730e-01,-8.856491593e-05,8.586376146e-01,7.021711802e-01,-8.885551532e-05,8.586376383e-01,7.029604472e-01,-1.796919651e-04,8.288246968e-01
+30,1.856666667e+01,DOWN_FORCE_DETACH,1793077900701904344,2.224323690e-04,-7.081631107e-05,-1.587721989e-03,2.223678752e-04,-7.061394914e-05,-1.587268288e-03,2.210032448e-04,-6.743838558e-05,-1.582742730e-03,7.021780652e-01,-9.308704609e-05,8.585553652e-01,7.021780007e-01,-9.288468416e-05,8.585558190e-01,7.029665788e-01,-1.834942607e-04,8.287428693e-01
+31,1.910000000e+01,DOWN_FORCE_DETACH,1793077901242756613,2.279931075e-04,-6.827231822e-05,-1.680381192e-03,2.279272451e-04,-6.804315599e-05,-1.675304158e-03,2.257647721e-04,-6.509074097e-05,-1.670890173e-03,7.021836259e-01,-9.054305325e-05,8.584627060e-01,7.021835601e-01,-9.031389101e-05,8.584677831e-01,7.029713403e-01,-1.811466161e-04,8.286547218e-01
+32,1.955000000e+01,DOWN_FORCE_DETACH,1793077901734547308,2.321673951e-04,-6.942019060e-05,-1.771479243e-03,2.285095721e-04,-7.668540761e-05,-1.762419823e-03,2.254553246e-04,-7.330370144e-05,-1.757865467e-03,7.021878002e-01,-9.169092562e-05,8.583716080e-01,7.021841424e-01,-9.895614263e-05,8.583806674e-01,7.029710309e-01,-1.893595765e-04,8.285677466e-01
+33,2.001666667e+01,DOWN_FORCE_DETACH,1793077902225170600,2.334645911e-04,-7.636490511e-05,-1.872022734e-03,2.333069900e-04,-7.629887968e-05,-1.871702679e-03,2.293195473e-04,-7.295877296e-05,-1.866351845e-03,7.021890974e-01,-9.863564013e-05,8.582710645e-01,7.021889398e-01,-9.856961470e-05,8.582713846e-01,7.029748951e-01,-1.890146480e-04,8.284592602e-01
+34,2.041666667e+01,DOWN_FORCE_DETACH,1793077902687788607,2.350085763e-04,-7.677390960e-05,-1.971436902e-03,2.340905649e-04,-7.787666772e-05,-1.960786192e-03,2.290696535e-04,-7.444943214e-05,-1.955589139e-03,7.021906414e-01,-9.904464462e-05,8.581716503e-01,7.021897234e-01,-1.001474027e-04,8.581823010e-01,7.029746452e-01,-1.905053072e-04,8.283700229e-01
+35,2.060000000e+01,DOWN_FORCE_DETACH,1793077903388283927,2.408495203e-04,-8.984742717e-05,-2.125673284e-03,2.423475834e-04,-8.551084467e-05,-2.109365226e-03,2.359573504e-04,-8.170348902e-05,-2.101595384e-03,7.021964823e-01,-1.121181622e-04,8.580174140e-01,7.021979804e-01,-1.077815797e-04,8.580337220e-01,7.029815329e-01,-1.977593641e-04,8.282240166e-01
+36,2.101666667e+01,DOWN_FORCE_DETACH,1793077903852951979,2.462387970e-04,-9.036335805e-05,-2.232376337e-03,2.434871950e-04,-8.965253358e-05,-2.219390006e-03,2.359972445e-04,-8.563246398e-05,-2.212528015e-03,7.022018716e-01,-1.126340931e-04,8.579107109e-01,7.021991200e-01,-1.119232686e-04,8.579236972e-01,7.029815728e-01,-2.016883391e-04,8.281130840e-01
+37,2.138333333e+01,DOWN_FORCE_DETACH,1793077904240787642,2.465558895e-04,-9.514994559e-05,-2.336591842e-03,2.479926143e-04,-8.839219688e-05,-2.317874436e-03,2.395585495e-04,-8.446489974e-05,-2.311344194e-03,7.022021887e-01,-1.174206806e-04,8.578064954e-01,7.022036254e-01,-1.106629319e-04,8.578252128e-01,7.029851341e-01,-2.005207748e-04,8.280142678e-01
+38,2.180000000e+01,DOWN_FORCE_DETACH,1793077904665655991,2.520845117e-04,-9.368314335e-05,-2.451328514e-03,2.477104262e-04,-9.639822842e-05,-2.438649238e-03,2.379698758e-04,-9.207186002e-05,-2.432150944e-03,7.022077173e-01,-1.159538784e-04,8.576917587e-01,7.022033432e-01,-1.186689634e-04,8.577044380e-01,7.029835455e-01,-2.081277351e-04,8.278934611e-01
+39,2.223333333e+01,DOWN_FORCE_DETACH,1793077905109193252,2.560731293e-04,-9.986656822e-05,-2.572463410e-03,2.559751714e-04,-9.975849083e-05,-2.572310823e-03,2.450390077e-04,-9.529772261e-05,-2.565330835e-03,7.022117059e-01,-1.221373032e-04,8.575706238e-01,7.022116080e-01,-1.220292259e-04,8.575707764e-01,7.029906146e-01,-2.113535977e-04,8.277602812e-01
+40,2.261666667e+01,DOWN_FORCE_DETACH,1793077905501696501,2.581010713e-04,-1.042789502e-04,-2.690466378e-03,2.577726231e-04,-1.013693384e-04,-2.685015599e-03,2.456476584e-04,-9.684387956e-05,-2.678110628e-03,7.022137339e-01,-1.265496852e-04,8.574526209e-01,7.022134054e-01,-1.236400734e-04,8.574580716e-01,7.029912232e-01,-2.128997546e-04,8.276475014e-01
+41,2.300000000e+01,DOWN_FORCE_DETACH,1793077905877977026,2.614427323e-04,-1.089319154e-04,-2.803585915e-03,2.612715369e-04,-1.087893707e-04,-2.803435059e-03,2.480883072e-04,-1.038602732e-04,-2.796240641e-03,7.022170755e-01,-1.312026504e-04,8.573395013e-01,7.022169044e-01,-1.310601057e-04,8.573396522e-01,7.029936639e-01,-2.199161483e-04,8.275293714e-01
+42,2.341666667e+01,DOWN_FORCE_DETACH,1793077906288079406,2.670772727e-04,-1.091209211e-04,-2.933418700e-03,2.665337729e-04,-1.090387228e-04,-2.924587682e-03,2.522170767e-04,-1.041039927e-04,-2.917509521e-03,7.022227101e-01,-1.313916561e-04,8.572096685e-01,7.022221666e-01,-1.313094578e-04,8.572184996e-01,7.029977927e-01,-2.201598678e-04,8.274081025e-01
+43,2.378333333e+01,DOWN_FORCE_DETACH,1793077906697580147,2.702344522e-04,-1.150933191e-04,-3.072400692e-03,2.695479779e-04,-1.172471632e-04,-3.060133654e-03,2.540264769e-04,-1.118932010e-04,-3.052408301e-03,7.022258673e-01,-1.373640541e-04,8.570706865e-01,7.022251808e-01,-1.395178983e-04,8.570829536e-01,7.029996021e-01,-2.279490761e-04,8.272732037e-01
+44,2.413333333e+01,DOWN_FORCE_DETACH,1793077907057523482,2.737676023e-04,-1.144076090e-04,-3.199964203e-03,2.714160462e-04,-1.153476530e-04,-3.197419321e-03,2.544437330e-04,-1.100971779e-04,-3.189170851e-03,7.022294004e-01,-1.366783440e-04,8.569431230e-01,7.022270489e-01,-1.376183880e-04,8.569456679e-01,7.030000193e-01,-2.261530529e-04,8.271364412e-01
+45,2.450000000e+01,DOWN_FORCE_DETACH,1793077907417369119,2.769165709e-04,-1.193146050e-04,-3.333059235e-03,2.769172440e-04,-1.194040405e-04,-3.333069152e-03,2.586796111e-04,-1.139580486e-04,-3.324656587e-03,7.022325494e-01,-1.415853400e-04,8.568100280e-01,7.022325501e-01,-1.416747755e-04,8.568100181e-01,7.030042552e-01,-2.300139237e-04,8.270009554e-01
+46,2.485000000e+01,DOWN_FORCE_DETACH,1793077907761557798,2.792678510e-04,-1.247878625e-04,-3.471915069e-03,2.791321331e-04,-1.246565002e-04,-3.471962251e-03,2.594818554e-04,-1.189855412e-04,-3.463175528e-03,7.022349007e-01,-1.470585975e-04,8.566711722e-01,7.022347650e-01,-1.469272352e-04,8.566711250e-01,7.030050574e-01,-2.350414163e-04,8.268624365e-01
+47,2.520000000e+01,DOWN_FORCE_DETACH,1793077908106030346,2.854831030e-04,-1.330280781e-04,-3.610448478e-03,2.846593760e-04,-1.261902771e-04,-3.595019161e-03,2.638239869e-04,-1.205024777e-04,-3.586670502e-03,7.022411159e-01,-1.552988131e-04,8.565326388e-01,7.022402922e-01,-1.484610121e-04,8.565480681e-01,7.030093996e-01,-2.365583528e-04,8.267389415e-01
+48,2.551666667e+01,DOWN_FORCE_DETACH,1793077908417172092,2.920343451e-04,-1.301152379e-04,-3.740774833e-03,2.895770002e-04,-1.291762518e-04,-3.732162891e-03,2.674571941e-04,-1.233663737e-04,-3.723449536e-03,7.022476672e-01,-1.523859729e-04,8.564023124e-01,7.022452098e-01,-1.514469868e-04,8.564109243e-01,7.030130328e-01,-2.394222487e-04,8.266021625e-01
+49,2.581666667e+01,DOWN_FORCE_DETACH,1793077908711839224,2.938169572e-04,-1.330891203e-04,-3.869428410e-03,2.936103822e-04,-1.328292873e-04,-3.869193067e-03,2.700962159e-04,-1.268313633e-04,-3.859872895e-03,7.022494498e-01,-1.553598553e-04,8.562736588e-01,7.022492432e-01,-1.551000224e-04,8.562738942e-01,7.030156718e-01,-2.428872384e-04,8.264657391e-01
+50,2.613333333e+01,DOWN_FORCE_DETACH,1793077909022858963,2.933414434e-04,-1.321088585e-04,-4.010231028e-03,2.931892358e-04,-1.320069746e-04,-4.009953334e-03,2.681265180e-04,-1.260411785e-04,-4.000290193e-03,7.022489743e-01,-1.543795936e-04,8.561328562e-01,7.022488221e-01,-1.542777097e-04,8.561331339e-01,7.030137021e-01,-2.420970535e-04,8.263253218e-01
+51,2.640000000e+01,DOWN_FORCE_DETACH,1793077909317749365,2.949821999e-04,-1.357078818e-04,-4.147708556e-03,2.947694426e-04,-1.356805780e-04,-4.147536488e-03,2.681784552e-04,-1.295698783e-04,-4.137263746e-03,7.022506150e-01,-1.579786168e-04,8.559953787e-01,7.022504023e-01,-1.579513130e-04,8.559955508e-01,7.030137540e-01,-2.456257534e-04,8.261883483e-01
+52,2.670000000e+01,DOWN_FORCE_DETACH,1793077909612940699,3.058532936e-04,-1.418853198e-04,-4.281330859e-03,3.059234131e-04,-1.418183664e-04,-4.280935666e-03,2.782332436e-04,-1.353979190e-04,-4.270835362e-03,7.022614861e-01,-1.641560548e-04,8.558617564e-01,7.022615562e-01,-1.640891014e-04,8.558621516e-01,7.030238088e-01,-2.514537941e-04,8.260547767e-01
+53,2.698333333e+01,DOWN_FORCE_DETACH,1793077909893174907,3.064124388e-04,-1.391004860e-04,-4.422901621e-03,3.063509130e-04,-1.388591434e-04,-4.422642469e-03,2.773783066e-04,-1.325584687e-04,-4.412130607e-03,7.022620453e-01,-1.613712210e-04,8.557201856e-01,7.022619837e-01,-1.611298784e-04,8.557204448e-01,7.030229539e-01,-2.486143437e-04,8.259134814e-01
+54,2.725000000e+01,DOWN_FORCE_DETACH,1793077910153246972,3.054331368e-04,-1.495119636e-04,-4.557277268e-03,3.070056985e-04,-1.454738094e-04,-4.546507474e-03,2.766222221e-04,-1.388522241e-04,-4.536113773e-03,7.022610660e-01,-1.717826987e-04,8.555858100e-01,7.022626385e-01,-1.677445444e-04,8.555965798e-01,7.030221978e-01,-2.549080991e-04,8.257894982e-01
+55,2.751666667e+01,DOWN_FORCE_DETACH,1793077910425309595,3.113924928e-04,-1.498899229e-04,-4.697741120e-03,3.096773894e-04,-1.496388898e-04,-4.691658974e-03,2.779040644e-04,-1.427735909e-04,-4.680757996e-03,7.022670253e-01,-1.721606579e-04,8.554453461e-01,7.022653102e-01,-1.719096248e-04,8.554514283e-01,7.030234796e-01,-2.588294660e-04,8.256448540e-01
+56,2.775000000e+01,DOWN_FORCE_DETACH,1793077910678607668,3.095686744e-04,-1.483530647e-04,-4.840397325e-03,3.093858763e-04,-1.482118719e-04,-4.840231558e-03,2.758862655e-04,-1.413846174e-04,-4.828591217e-03,7.022652015e-01,-1.706237998e-04,8.553026899e-01,7.022650187e-01,-1.704826069e-04,8.553028557e-01,7.030214618e-01,-2.574404925e-04,8.254970208e-01
+57,2.798333333e+01,DOWN_FORCE_DETACH,1793077910922735880,3.104518804e-04,-1.529465606e-04,-4.979586367e-03,3.101829924e-04,-1.529217630e-04,-4.979488299e-03,2.751873616e-04,-1.458916020e-04,-4.967623467e-03,7.022660847e-01,-1.752172956e-04,8.551635009e-01,7.022658158e-01,-1.751924980e-04,8.551635989e-01,7.030207629e-01,-2.619474771e-04,8.253579886e-01
+58,2.830000000e+01,DOWN_SETTLE,1793077911250239470,3.004409550e-04,-1.500228616e-04,-5.106991756e-03,2.999466840e-04,-1.540359125e-04,-5.106173415e-03,2.630174251e-04,-1.469955203e-04,-5.095778277e-03,7.022560738e-01,-1.722935966e-04,8.550360955e-01,7.022555795e-01,-1.763066475e-04,8.550369138e-01,7.030085930e-01,-2.630513954e-04,8.252298337e-01
+59,2.893333333e+01,DOWN_PEAK_HOLD,1793077911890503665,2.761521877e-04,-1.482744802e-04,-5.171346648e-03,2.762206626e-04,-1.462578750e-04,-5.171971075e-03,2.370122308e-04,-1.395655532e-04,-5.165902028e-03,7.022317850e-01,-1.705452152e-04,8.549717406e-01,7.022318535e-01,-1.685286100e-04,8.549711162e-01,7.029825878e-01,-2.556214283e-04,8.251597100e-01

Fixed/digit/cylinder_PLA_15/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+00,1.5907e-01,5.3950e-01,2.4530e+00,-7.6239e-02,4.8215e-02,1.0028e-03,1.1134e-04,-3.2187e-06,-9.0599e-06,-7.4506e-08,8.8066e-06,-4.8615e-07,1.1176e-04,8.8203e-06
+1,7.1667e-01,DOWN_FORCE_DETACH,1.4826e-04,2.0951e-01,5.3633e-01,2.4507e+00,-7.5984e-02,5.1897e-02,6.5343e-04,5.0550e-02,-3.1786e-03,-2.2492e-03,2.5470e-04,3.6909e-03,-3.4988e-04,5.0700e-02,3.7162e-03
+2,1.5167e+00,DOWN_FORCE_DETACH,3.0102e-04,2.3150e-01,5.3513e-01,2.4497e+00,-7.5884e-02,5.3479e-02,4.9087e-04,7.2537e-02,-4.3770e-03,-3.2480e-03,3.5530e-04,5.2722e-03,-5.1243e-04,7.2742e-02,5.3090e-03
+3,2.2667e+00,DOWN_FORCE_DETACH,4.5113e-04,1.5620e-01,5.6815e-01,2.5247e+00,-7.8161e-02,4.7947e-02,5.0379e-04,-2.7641e-03,2.8644e-02,7.1707e-02,-1.9221e-03,-2.5943e-04,-4.9951e-04,7.7266e-02,2.0028e-03
+4,2.9500e+00,DOWN_FORCE_DETACH,6.0322e-04,5.3119e-02,6.1009e-01,2.6755e+00,-8.0947e-02,4.0894e-02,6.0771e-04,-1.0584e-01,7.0588e-02,2.2253e-01,-4.7081e-03,-7.3126e-03,-3.9559e-04,2.5633e-01,8.7062e-03
+5,3.4833e+00,DOWN_FORCE_DETACH,7.5179e-04,4.2688e-02,6.0442e-01,2.7694e+00,-8.0501e-02,3.9925e-02,6.6703e-04,-1.1627e-01,6.4913e-02,3.1641e-01,-4.2617e-03,-8.2818e-03,-3.3627e-04,3.4329e-01,9.3200e-03
+6,4.0500e+00,DOWN_FORCE_DETACH,9.0024e-04,9.1500e-02,6.9381e-01,2.7601e+00,-8.6317e-02,4.2884e-02,7.0412e-04,-6.7462e-02,1.5430e-01,3.0710e-01,-1.0078e-02,-5.3223e-03,-2.9919e-04,3.5025e-01,1.1401e-02
+7,4.6833e+00,DOWN_FORCE_DETACH,1.0514e-03,4.4103e-02,7.0119e-01,2.9255e+00,-8.6734e-02,3.9654e-02,7.3050e-04,-1.1486e-01,1.6168e-01,4.7250e-01,-1.0495e-02,-8.5520e-03,-2.7281e-04,5.1244e-01,1.3541e-02
+8,5.2667e+00,DOWN_FORCE_DETACH,1.1999e-03,4.3131e-02,7.4670e-01,3.0140e+00,-8.9561e-02,3.9429e-02,7.5100e-04,-1.1583e-01,2.0719e-01,5.6107e-01,-1.3322e-02,-8.7769e-03,-2.5230e-04,6.0921e-01,1.5956e-02
+9,5.8000e+00,DOWN_FORCE_DETACH,1.3508e-03,7.1876e-02,7.6760e-01,3.0645e+00,-9.0806e-02,4.1242e-02,7.6273e-04,-8.7086e-02,2.2809e-01,6.1157e-01,-1.4568e-02,-6.9642e-03,-2.4057e-04,6.5850e-01,1.6148e-02
+10,6.4667e+00,DOWN_FORCE_DETACH,1.5039e-03,1.3784e-01,8.1630e-01,2.9215e+00,-9.4034e-02,4.5801e-02,7.5980e-04,-2.1125e-02,2.7679e-01,4.6855e-01,-1.7795e-02,-2.4053e-03,-2.4350e-04,5.4461e-01,1.7958e-02
+11,7.0667e+00,DOWN_FORCE_DETACH,1.6516e-03,1.8503e-01,8.2623e-01,3.0040e+00,-9.4699e-02,4.9467e-02,5.0416e-04,2.6071e-02,2.8672e-01,5.5099e-01,-1.8460e-02,1.2604e-03,-4.9914e-04,6.2167e-01,1.8510e-02
+12,7.8167e+00,DOWN_FORCE_DETACH,1.8029e-03,2.0297e-01,8.4547e-01,2.8229e+00,-9.6164e-02,5.0848e-02,4.8149e-04,4.4012e-02,3.0596e-01,3.6989e-01,-1.9925e-02,2.6421e-03,-5.2181e-04,4.8204e-01,2.0106e-02
+13,8.4667e+00,DOWN_FORCE_DETACH,1.9518e-03,2.3816e-01,9.0562e-01,2.6766e+00,-1.0081e-01,5.3535e-02,4.0408e-04,7.9200e-02,3.6612e-01,2.2365e-01,-2.4574e-02,5.3290e-03,-5.9923e-04,4.3628e-01,2.5153e-02
+14,9.1167e+00,DOWN_FORCE_DETACH,2.1051e-03,2.4891e-01,8.7220e-01,2.6159e+00,-9.8719e-02,5.4417e-02,3.0418e-04,8.9951e-02,3.3269e-01,1.6294e-01,-2.2481e-02,6.2108e-03,-6.9913e-04,3.8121e-01,2.3333e-02
+15,9.7333e+00,DOWN_FORCE_DETACH,2.2520e-03,2.3954e-01,8.2778e-01,2.6123e+00,-9.5680e-02,5.3758e-02,2.2337e-04,8.0576e-02,2.8828e-01,1.5928e-01,-1.9441e-02,5.5518e-03,-7.7994e-04,3.3907e-01,2.0233e-02
+16,1.0417e+01,DOWN_FORCE_DETACH,2.4029e-03,2.4268e-01,8.7433e-01,2.6798e+00,-9.8859e-02,5.3901e-02,2.1484e-04,8.3716e-02,3.3483e-01,2.2679e-01,-2.2621e-02,5.6949e-03,-7.8846e-04,4.1298e-01,2.3340e-02
+17,1.0967e+01,DOWN_FORCE_DETACH,2.5550e-03,2.1059e-01,9.1000e-01,2.7767e+00,-1.0099e-01,5.1562e-02,2.2178e-04,5.1629e-02,3.7049e-01,3.2369e-01,-2.4755e-02,3.3553e-03,-7.8152e-04,4.9467e-01,2.4993e-02
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+19,1.2200e+01,DOWN_FORCE_DETACH,2.8546e-03,2.2731e-01,9.3269e-01,2.7904e+00,-1.0240e-01,5.2534e-02,2.3211e-04,6.8344e-02,3.9318e-01,3.3740e-01,-2.6159e-02,4.3278e-03,-7.7120e-04,5.2260e-01,2.6526e-02
+20,1.2817e+01,DOWN_FORCE_DETACH,3.0091e-03,2.3078e-01,9.8315e-01,2.8802e+00,-1.0556e-01,5.2728e-02,2.1669e-04,7.1814e-02,4.4365e-01,4.2717e-01,-2.9324e-02,4.5219e-03,-7.8661e-04,6.2004e-01,2.9681e-02
+21,1.3383e+01,DOWN_FORCE_DETACH,3.1518e-03,2.0554e-01,1.0062e+00,2.8681e+00,-1.0689e-01,5.0932e-02,1.5641e-04,4.6575e-02,4.6668e-01,4.1514e-01,-3.0654e-02,2.7261e-03,-8.4689e-04,6.2634e-01,3.0787e-02
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+24,1.5300e+01,DOWN_FORCE_DETACH,3.6049e-03,2.4641e-01,1.0628e+00,2.9981e+00,-1.1027e-01,5.3482e-02,8.5896e-05,8.7445e-02,5.2327e-01,5.4511e-01,-3.4030e-02,5.2752e-03,-9.1741e-04,7.6066e-01,3.4449e-02
+25,1.5850e+01,DOWN_FORCE_DETACH,3.7542e-03,2.4821e-01,1.1270e+00,3.0894e+00,-1.1432e-01,5.3555e-02,5.2704e-05,8.9249e-02,5.8754e-01,6.3643e-01,-3.8080e-02,5.3485e-03,-9.5060e-04,8.7076e-01,3.8465e-02
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+33,2.0017e+01,DOWN_FORCE_DETACH,4.9557e-03,2.5413e-01,1.3584e+00,3.3854e+00,-1.2750e-01,5.3552e-02,-9.2769e-05,9.5164e-02,8.1888e-01,9.3243e-01,-5.1264e-02,5.3458e-03,-1.0961e-03,1.2446e+00,5.1554e-02
+34,2.0417e+01,DOWN_FORCE_DETACH,5.0935e-03,2.7948e-01,1.4244e+00,3.4946e+00,-1.3159e-01,5.5165e-02,-7.0756e-05,1.2051e-01,8.8489e-01,1.0416e+00,-5.5355e-02,6.9584e-03,-1.0741e-03,1.3720e+00,5.5801e-02
+35,2.0600e+01,DOWN_FORCE_DETACH,5.2566e-03,2.3264e-01,1.4973e+00,4.0118e+00,-1.3395e-01,5.1118e-02,4.4640e-05,7.3675e-02,9.5776e-01,1.5588e+00,-5.7710e-02,2.9113e-03,-9.5866e-04,1.8310e+00,5.7792e-02
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+38,2.1800e+01,DOWN_FORCE_DETACH,5.7057e-03,2.6106e-01,1.6281e+00,3.7928e+00,-1.4155e-01,5.3162e-02,1.3157e-04,1.0210e-01,1.0885e+00,1.3398e+00,-6.5312e-02,4.9559e-03,-8.7173e-04,1.7293e+00,6.5506e-02
+39,2.2233e+01,DOWN_FORCE_DETACH,5.8596e-03,2.5103e-01,1.6435e+00,3.7621e+00,-1.4250e-01,5.2494e-02,1.5497e-04,9.2071e-02,1.1040e+00,1.3091e+00,-6.6260e-02,4.2878e-03,-8.4834e-04,1.7150e+00,6.6404e-02
+40,2.2617e+01,DOWN_FORCE_DETACH,6.0116e-03,2.5283e-01,1.6901e+00,3.7907e+00,-1.4530e-01,5.2546e-02,1.6636e-04,9.3868e-02,1.1506e+00,1.3377e+00,-6.9057e-02,4.3392e-03,-8.3695e-04,1.7669e+00,6.9198e-02
+41,2.3000e+01,DOWN_FORCE_DETACH,6.1579e-03,2.6004e-01,1.7654e+00,3.8032e+00,-1.4994e-01,5.2967e-02,1.6558e-04,1.0108e-01,1.2259e+00,1.3502e+00,-7.3699e-02,4.7608e-03,-8.3772e-04,1.8265e+00,7.3857e-02
+42,2.3417e+01,DOWN_FORCE_DETACH,6.3088e-03,2.6513e-01,1.8039e+00,3.8419e+00,-1.5208e-01,5.3241e-02,1.5999e-04,1.0617e-01,1.2644e+00,1.3889e+00,-7.5841e-02,5.0347e-03,-8.4331e-04,1.8812e+00,7.6013e-02
+43,2.3783e+01,DOWN_FORCE_DETACH,6.4630e-03,2.6834e-01,1.8691e+00,3.9554e+00,-1.5497e-01,5.3216e-02,1.6445e-04,1.0937e-01,1.3296e+00,1.5024e+00,-7.8729e-02,5.0097e-03,-8.3885e-04,2.0093e+00,7.8892e-02
+44,2.4133e+01,DOWN_FORCE_DETACH,6.6101e-03,2.9197e-01,1.8916e+00,4.0274e+00,-1.5595e-01,5.4733e-02,1.4373e-04,1.3300e-01,1.3521e+00,1.5744e+00,-7.9712e-02,6.5262e-03,-8.5957e-04,2.0796e+00,7.9983e-02
+45,2.4500e+01,DOWN_FORCE_DETACH,6.7555e-03,3.0040e-01,1.9675e+00,4.0546e+00,-1.6043e-01,5.5268e-02,1.3295e-04,1.4144e-01,1.4280e+00,1.6016e+00,-8.4186e-02,7.0616e-03,-8.7035e-04,2.1504e+00,8.4487e-02
+46,2.4850e+01,DOWN_FORCE_DETACH,6.9106e-03,3.0881e-01,2.0133e+00,4.1044e+00,-1.6274e-01,5.5802e-02,1.1500e-04,1.4984e-01,1.4738e+00,1.6514e+00,-8.6501e-02,7.5960e-03,-8.8830e-04,2.2185e+00,8.6839e-02
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+49,2.5817e+01,DOWN_FORCE_DETACH,7.3598e-03,2.8006e-01,2.0661e+00,4.2343e+00,-1.6318e-01,5.3439e-02,1.5384e-04,1.2110e-01,1.5266e+00,1.7814e+00,-8.6943e-02,5.2328e-03,-8.4946e-04,2.3491e+00,8.7105e-02
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+51,2.6400e+01,DOWN_FORCE_DETACH,7.6652e-03,2.9657e-01,2.1714e+00,4.3446e+00,-1.6908e-01,5.4381e-02,1.8140e-04,1.3761e-01,1.6319e+00,1.8916e+00,-9.2843e-02,6.1750e-03,-8.2190e-04,2.5020e+00,9.3052e-02
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+54,2.7250e+01,DOWN_FORCE_DETACH,8.1164e-03,2.9293e-01,2.2517e+00,4.4786e+00,-1.7185e-01,5.3721e-02,3.1123e-04,1.3397e-01,1.7122e+00,2.0256e+00,-9.5610e-02,5.5143e-03,-6.9207e-04,2.6557e+00,9.5771e-02
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Fixed/digit/cylinder_PLA_15/press_depth_02/up/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_PLA_15/press_depth_02/up/franka_data.csv

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Fixed/digit/cylinder_PLA_15/press_depth_02/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1793077868794263063,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.966474201e-09,-7.097615586e-10,-4.498743600e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455855e-01,-1.160565848e-04,8.303256116e-01
+1,1.500000000e-01,XJC_ZERO_HOLD_BEFORE_UP,1793077868941925633,-4.112875850e-07,-8.928950033e-06,4.588693041e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.275164958e-08,-7.743987691e-09,-4.132843623e-09,7.019552215e-01,-3.119968506e-05,8.601435461e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456683e-01,-1.160636190e-04,8.303256079e-01
+2,3.333333333e-01,WAIT_W2,1793077869121889486,-1.292022105e-06,-2.228050673e-06,-1.733143213e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.734254391e-07,-1.449962099e-08,-8.018318010e-09,7.019543408e-01,-2.449878570e-05,8.601413541e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457490e-01,-1.160703747e-04,8.303256040e-01
+3,4.500000000e-01,WAIT_W2,1793077869237398753,-1.027736560e-06,-3.357674667e-06,-2.630181745e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.155642681e-07,-1.805077096e-08,-1.012900730e-08,7.019546051e-01,-2.562840969e-05,8.601428242e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457911e-01,-1.160739258e-04,8.303256019e-01
+4,6.166666667e-01,WAIT_W2,1793077869432146331,-1.981726686e-07,-4.721393781e-06,-4.436275957e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.655577311e-07,-2.243820489e-08,-1.263329907e-08,7.019554346e-01,-2.699212880e-05,8.601426436e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458411e-01,-1.160783132e-04,8.303255994e-01
+5,7.500000000e-01,WAIT_W2,1793077869580660530,1.399558736e-06,7.782034122e-07,2.471918913e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.985702202e-07,-2.534478653e-08,-1.425996365e-08,7.019570324e-01,-2.149253161e-05,8.601455592e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458741e-01,-1.160812198e-04,8.303255978e-01
+6,9.000000000e-01,WAIT_W2,1793077869728285162,2.167316589e-06,-7.746272203e-06,6.504855044e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.296785158e-07,-2.810629641e-08,-1.578315967e-08,7.019578001e-01,-3.001700723e-05,8.601495921e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459053e-01,-1.160839813e-04,8.303255962e-01
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+8,1.083333333e+00,WAIT_W2,1793077869908457914,4.744324154e-07,-3.112869096e-05,4.778928272e-06,3.795752626e-07,-3.092122001e-05,4.658271188e-06,7.833748599e-07,-2.921752716e-05,4.440108480e-06,7.019561072e-01,-5.339942598e-05,8.601478662e-01,7.019560124e-01,-5.319195504e-05,8.601477455e-01,7.027463589e-01,-1.452734022e-04,8.303300521e-01
+9,1.116666667e+00,WAIT_W2,1793077869941875636,1.404269665e-06,-1.010380050e-04,9.395311034e-06,1.401410763e-06,-1.010491380e-04,9.679457355e-06,1.911725557e-06,-9.547634451e-05,9.268508829e-06,7.019570371e-01,-1.233087401e-04,8.601524826e-01,7.019570342e-01,-1.233198730e-04,8.601527667e-01,7.027474873e-01,-2.115322196e-04,8.303348805e-01
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+14,1.216666667e+00,WAIT_W2,1793077870039594438,7.143194006e-06,-2.717418710e-04,2.603143493e-05,5.486531767e-06,-2.554978515e-04,2.158824102e-05,6.374739457e-06,-2.417168185e-04,2.083386487e-05,7.019627760e-01,-2.940126060e-04,8.601691187e-01,7.019611193e-01,-2.777685865e-04,8.601646755e-01,7.027519503e-01,-3.577726935e-04,8.303464459e-01
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+17,1.666666667e+00,WAIT_W2,1793077870481828708,1.518770271e-05,-2.839985767e-04,4.415896310e-05,1.546976160e-05,-2.871042609e-04,4.248833484e-05,1.724603822e-05,-2.717293031e-04,4.159353046e-05,7.019708205e-01,-3.062693117e-04,8.601872462e-01,7.019711026e-01,-3.093749959e-04,8.601855756e-01,7.027628216e-01,-3.877851782e-04,8.303672056e-01
+18,1.866666667e+00,UP_FORCE_RAMP,1793077870678115265,1.529373948e-05,-2.841594525e-04,4.537026996e-05,1.546976160e-05,-2.871042609e-04,4.248833484e-05,1.740991256e-05,-2.717560087e-04,4.174573891e-05,7.019709266e-01,-3.064301876e-04,8.601884575e-01,7.019711026e-01,-3.093749959e-04,8.601855756e-01,7.027629855e-01,-3.878118838e-04,8.303673578e-01
+19,2.000000000e+00,UP_FORCE_RAMP,1793077870808964544,1.613728551e-05,-2.864514397e-04,4.464059845e-05,1.546976160e-05,-2.871042609e-04,4.248833484e-05,1.749333305e-05,-2.717703586e-04,4.180747244e-05,7.019717701e-01,-3.087221747e-04,8.601877278e-01,7.019711026e-01,-3.093749959e-04,8.601855756e-01,7.027630689e-01,-3.878262336e-04,8.303674195e-01
+20,2.116666667e+00,UP_FORCE_RAMP,1793077870940160339,1.598670277e-05,-2.783514649e-04,4.518489398e-05,1.546976160e-05,-2.871042609e-04,4.248833484e-05,1.755768286e-05,-2.717821640e-04,4.185070969e-05,7.019716195e-01,-3.006221999e-04,8.601882721e-01,7.019711026e-01,-3.093749959e-04,8.601855756e-01,7.027631333e-01,-3.878380391e-04,8.303674627e-01
+21,2.283333333e+00,UP_FORCE_RAMP,1793077871104066920,1.844345889e-05,-2.836512792e-04,4.985568936e-05,1.546976160e-05,-2.871042609e-04,4.248833484e-05,1.763918321e-05,-2.717969255e-04,4.190239381e-05,7.019740763e-01,-3.059220142e-04,8.601929429e-01,7.019711026e-01,-3.093749959e-04,8.601855756e-01,7.027632148e-01,-3.878528005e-04,8.303675144e-01
+22,2.433333333e+00,UP_FORCE_RAMP,1793077871251399582,1.654115120e-05,-2.836256602e-04,5.108292531e-05,1.546976160e-05,-2.871042609e-04,4.248833484e-05,1.770403122e-05,-2.718084236e-04,4.194235335e-05,7.019721740e-01,-3.058963952e-04,8.601941702e-01,7.019711026e-01,-3.093749959e-04,8.601855756e-01,7.027632796e-01,-3.878642986e-04,8.303675544e-01
+23,2.600000000e+00,UP_FORCE_RAMP,1793077871415437859,1.611904655e-05,-2.794022535e-04,5.186669376e-05,1.546976160e-05,-2.871042609e-04,4.248833484e-05,1.776878632e-05,-2.718198299e-04,4.198174133e-05,7.019717519e-01,-3.016729886e-04,8.601949539e-01,7.019711026e-01,-3.093749959e-04,8.601855756e-01,7.027633444e-01,-3.878757050e-04,8.303675938e-01
+24,2.800000000e+00,UP_FORCE_RAMP,1793077871612135355,1.269680613e-05,-2.823528868e-04,5.209945762e-05,1.546976160e-05,-2.871042609e-04,4.248833484e-05,1.783724492e-05,-2.718320955e-04,4.202342703e-05,7.019683296e-01,-3.046236218e-04,8.601951867e-01,7.019711026e-01,-3.093749959e-04,8.601855756e-01,7.027634128e-01,-3.878879706e-04,8.303676354e-01
+25,3.033333333e+00,UP_FORCE_RAMP,1793077871841115137,1.239830366e-05,-2.799886150e-04,5.861890255e-05,1.383386705e-05,-2.799044036e-04,6.187158034e-05,1.644015764e-05,-2.650108130e-04,6.080385487e-05,7.019680311e-01,-3.022593501e-04,8.602017061e-01,7.019694667e-01,-3.021751386e-04,8.602049588e-01,7.027620157e-01,-3.810666881e-04,8.303864159e-01
+26,3.183333333e+00,UP_FORCE_RAMP,1793077871989073224,9.835132751e-06,-2.820444349e-04,6.293930653e-05,1.383386705e-05,-2.799044036e-04,6.187158034e-05,1.646350407e-05,-2.650174919e-04,6.101103775e-05,7.019654679e-01,-3.043151699e-04,8.602060265e-01,7.019694667e-01,-3.021751386e-04,8.602049588e-01,7.027620391e-01,-3.810733670e-04,8.303866231e-01
+27,3.300000000e+00,UP_FORCE_RAMP,1793077872103717795,8.114299711e-06,-2.856637567e-04,6.542859884e-05,1.383386705e-05,-2.799044036e-04,6.187158034e-05,1.648536696e-05,-2.650230688e-04,6.109656598e-05,7.019637471e-01,-3.079344917e-04,8.602085158e-01,7.019694667e-01,-3.021751386e-04,8.602049588e-01,7.027620609e-01,-3.810789438e-04,8.303867086e-01
+28,3.466666667e+00,UP_FORCE_RAMP,1793077872267494196,7.591616896e-06,-2.800717598e-04,7.466240902e-05,1.383386705e-05,-2.799044036e-04,6.187158034e-05,1.651591794e-05,-2.650296864e-04,6.117960346e-05,7.019632244e-01,-3.023424948e-04,8.602177496e-01,7.019694667e-01,-3.021751386e-04,8.602049588e-01,7.027620915e-01,-3.810855614e-04,8.303867916e-01
+29,3.650000000e+00,UP_FORCE_RAMP,1793077872463673169,5.985568003e-06,-2.789069029e-04,8.500569047e-05,1.119047805e-05,-2.788923866e-04,8.172250113e-05,1.403190124e-05,-2.641030371e-04,8.060779861e-05,7.019616184e-01,-3.011776380e-04,8.602280929e-01,7.019668233e-01,-3.011631216e-04,8.602248097e-01,7.027596075e-01,-3.801589122e-04,8.304062198e-01
+30,3.866666667e+00,UP_FORCE_RAMP,1793077872676599103,3.393854761e-06,-2.840514452e-04,9.584459434e-05,1.119047805e-05,-2.788923866e-04,8.172250113e-05,1.404555631e-05,-2.641110540e-04,8.080727108e-05,7.019590267e-01,-3.063221802e-04,8.602389318e-01,7.019668233e-01,-3.011631216e-04,8.602248097e-01,7.027596211e-01,-3.801669291e-04,8.304064193e-01
+31,4.033333333e+00,UP_FORCE_RAMP,1793077872843951437,1.089974387e-06,-2.801064715e-04,1.047403476e-04,3.434437074e-06,-2.816742701e-04,1.007610775e-04,6.219855146e-06,-2.666926188e-04,9.935980760e-05,7.019567228e-01,-3.023772065e-04,8.602478276e-01,7.019590673e-01,-3.039450051e-04,8.602438483e-01,7.027517954e-01,-3.827484938e-04,8.304249718e-01
+32,4.216666667e+00,UP_FORCE_RAMP,1793077873021656670,-3.258805662e-06,-2.839577989e-04,1.120200328e-04,3.434437074e-06,-2.816742701e-04,1.007610775e-04,6.171286202e-06,-2.666961952e-04,9.957806367e-05,7.019523740e-01,-3.062285339e-04,8.602551073e-01,7.019590673e-01,-3.039450051e-04,8.602438483e-01,7.027517469e-01,-3.827520703e-04,8.304251901e-01
+33,4.383333333e+00,UP_FORCE_RAMP,1793077873185082010,-4.881508749e-06,-2.811890723e-04,1.179892237e-04,-3.178758188e-06,-2.781429936e-04,1.196288498e-04,-5.220020962e-07,-2.633570033e-04,1.178776605e-04,7.019507513e-01,-3.034598074e-04,8.602610765e-01,7.019524541e-01,-3.004137287e-04,8.602627161e-01,7.027450536e-01,-3.794128784e-04,8.304434897e-01
+34,4.583333333e+00,UP_FORCE_RAMP,1793077873383446547,-7.402041897e-06,-2.755739861e-04,1.271338480e-04,-3.178758188e-06,-2.781429936e-04,1.196288498e-04,-6.330713023e-07,-2.633555959e-04,1.182328085e-04,7.019482308e-01,-2.978447211e-04,8.602702211e-01,7.019524541e-01,-3.004137287e-04,8.602627161e-01,7.027449425e-01,-3.794114709e-04,8.304438448e-01
+35,4.800000000e+00,UP_FORCE_RAMP,1793077873594198103,-9.970348851e-06,-2.766214200e-04,1.334747241e-04,-3.178758188e-06,-2.781429936e-04,1.196288498e-04,-6.757625842e-07,-2.633553733e-04,1.184261613e-04,7.019456625e-01,-2.988921550e-04,8.602765620e-01,7.019524541e-01,-3.004137287e-04,8.602627161e-01,7.027448998e-01,-3.794112483e-04,8.304440382e-01
+36,4.950000000e+00,UP_FORCE_RAMP,1793077873741363377,-1.169330371e-05,-2.773179135e-04,1.391992422e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.207081490e-06,-2.614460061e-04,1.378396408e-04,7.019439395e-01,-2.995886485e-04,8.602822865e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027383685e-01,-3.775018811e-04,8.304634517e-01
+37,5.133333333e+00,UP_FORCE_RAMP,1793077873921753605,-1.421373062e-05,-2.773497744e-04,1.442748306e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.290972887e-06,-2.614441022e-04,1.381142101e-04,7.019414191e-01,-2.996205094e-04,8.602873621e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027382846e-01,-3.774999773e-04,8.304637262e-01
+38,5.333333333e+00,UP_FORCE_RAMP,1793077874117852603,-1.754715396e-05,-2.793652140e-04,1.424222991e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.336842061e-06,-2.614421680e-04,1.382929646e-04,7.019380857e-01,-3.016359490e-04,8.602855095e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027382387e-01,-3.774980430e-04,8.304639050e-01
+39,5.466666667e+00,UP_FORCE_RAMP,1793077874248860966,-1.863378644e-05,-2.740394018e-04,1.442465025e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.358031746e-06,-2.614406502e-04,1.383842288e-04,7.019369990e-01,-2.963101368e-04,8.602873337e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027382175e-01,-3.774965252e-04,8.304639963e-01
+40,5.683333333e+00,UP_FORCE_RAMP,1793077874462413313,-2.061069576e-05,-2.746931930e-04,1.456308740e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.384796839e-06,-2.614388501e-04,1.385084163e-04,7.019350221e-01,-2.969639280e-04,8.602887181e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027381908e-01,-3.774947251e-04,8.304641204e-01
+41,5.883333333e+00,UP_FORCE_RAMP,1793077874658798074,-1.790150887e-05,-2.773789024e-04,1.525067974e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.404110155e-06,-2.614377017e-04,1.386049941e-04,7.019377313e-01,-2.996496374e-04,8.602955940e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027381715e-01,-3.774935768e-04,8.304642170e-01
+42,6.000000000e+00,UP_FORCE_RAMP,1793077874784188350,-2.133924700e-05,-2.790162622e-04,1.479272386e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.413867265e-06,-2.614370368e-04,1.386556076e-04,7.019342936e-01,-3.012869972e-04,8.602910145e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027381617e-01,-3.774929118e-04,8.304642676e-01
+43,6.216666667e+00,UP_FORCE_RAMP,1793077875003034931,-1.881873968e-05,-2.761598634e-04,1.538537365e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.429509553e-06,-2.614362576e-04,1.387397568e-04,7.019368141e-01,-2.984305984e-04,8.602969410e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027381461e-01,-3.774921326e-04,8.304643518e-01
+44,6.400000000e+00,UP_FORCE_RAMP,1793077875183424984,-1.823924536e-05,-2.765155805e-04,1.561317456e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.440655235e-06,-2.614354772e-04,1.388025270e-04,7.019373936e-01,-2.987863155e-04,8.602992190e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027381349e-01,-3.774913522e-04,8.304644145e-01
+45,6.550000000e+00,UP_FORCE_RAMP,1793077875330572710,-1.855935018e-05,-2.771184471e-04,1.553084368e-04,-9.676797904e-06,-2.761209244e-04,1.395114264e-04,-7.448734346e-06,-2.614351870e-04,1.388492314e-04,7.019370735e-01,-2.993891821e-04,8.602983957e-01,7.019459560e-01,-2.983916594e-04,8.602825987e-01,7.027381268e-01,-3.774910620e-04,8.304644613e-01
+46,6.650000000e+00,UP_FORCE_RAMP,1793077875429172451,-1.871112938e-05,-2.731474216e-04,1.541162795e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.556590516e-05,-2.596140343e-04,1.567093201e-04,7.019369217e-01,-2.954181566e-04,8.602972035e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027300097e-01,-3.756699094e-04,8.304823213e-01
+47,6.816666667e+00,UP_FORCE_RAMP,1793077875592389827,-1.942339128e-05,-2.704394056e-04,1.560723074e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.566226087e-05,-2.596096712e-04,1.569221333e-04,7.019362094e-01,-2.927101407e-04,8.602991595e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027299133e-01,-3.756655463e-04,8.304825342e-01
+48,6.983333333e+00,UP_FORCE_RAMP,1793077875756092758,-1.850878305e-05,-2.737640859e-04,1.573719270e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.570901622e-05,-2.596067702e-04,1.570400617e-04,7.019371240e-01,-2.960348209e-04,8.603004592e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027298666e-01,-3.756626453e-04,8.304826521e-01
+49,7.166666667e+00,UP_FORCE_RAMP,1793077875968744100,-2.118685618e-05,-2.778619941e-04,1.525452163e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.574236799e-05,-2.596036225e-04,1.571313542e-04,7.019344460e-01,-3.001327291e-04,8.602956325e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027298332e-01,-3.756594975e-04,8.304827434e-01
+50,7.333333333e+00,UP_FORCE_RAMP,1793077876132988392,-1.795527013e-05,-2.740414540e-04,1.569735715e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.576523499e-05,-2.596012192e-04,1.571971369e-04,7.019376775e-01,-2.963121890e-04,8.603000608e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027298103e-01,-3.756570942e-04,8.304828092e-01
+51,7.533333333e+00,UP_FORCE_RAMP,1793077876329832775,-1.808436553e-05,-2.708550047e-04,1.585431288e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.578755945e-05,-2.595988218e-04,1.572636720e-04,7.019375485e-01,-2.931257398e-04,8.603016304e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027297880e-01,-3.756546969e-04,8.304828757e-01
+52,7.666666667e+00,UP_FORCE_RAMP,1793077876460889050,-1.951996793e-05,-2.830023403e-04,1.574958679e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.580039942e-05,-2.595973218e-04,1.573027704e-04,7.019361128e-01,-3.052730754e-04,8.603005831e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027297752e-01,-3.756531968e-04,8.304829148e-01
+53,7.866666667e+00,UP_FORCE_RAMP,1793077876656802358,-1.849896761e-05,-2.780939762e-04,1.607976899e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.581725960e-05,-2.595954013e-04,1.573550198e-04,7.019371338e-01,-3.003647112e-04,8.603038849e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027297583e-01,-3.756512763e-04,8.304829670e-01
+54,8.016666667e+00,UP_FORCE_RAMP,1793077876817097001,-2.017948951e-05,-2.744097800e-04,1.606038399e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.582822231e-05,-2.595942143e-04,1.573900239e-04,7.019354533e-01,-2.966805150e-04,8.603036911e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027297474e-01,-3.756500893e-04,8.304830020e-01
+55,8.216666667e+00,UP_FORCE_RAMP,1793077877033589674,-1.978118639e-05,-2.759118635e-04,1.616551086e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.584092189e-05,-2.595926312e-04,1.574319836e-04,7.019358516e-01,-2.981825985e-04,8.603047423e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027297347e-01,-3.756485063e-04,8.304830440e-01
+56,8.383333333e+00,UP_FORCE_HOLD,1793077877197894300,-2.101545481e-05,-2.712662408e-04,1.619892438e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.585026854e-05,-2.595915325e-04,1.574633181e-04,7.019346174e-01,-2.935369758e-04,8.603050765e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027297253e-01,-3.756474075e-04,8.304830753e-01
+57,8.533333333e+00,UP_FORCE_HOLD,1793077877344962542,-1.919806502e-05,-2.711876760e-04,1.655221439e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.585781071e-05,-2.595906710e-04,1.574890393e-04,7.019364348e-01,-2.934584111e-04,8.603086094e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027297178e-01,-3.756465461e-04,8.304831011e-01
+58,8.700000000e+00,UP_FORCE_HOLD,1793077877508849851,-2.281463978e-05,-2.762436677e-04,1.604800183e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.586525259e-05,-2.595898457e-04,1.575150525e-04,7.019328182e-01,-2.985144027e-04,8.603035673e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027297103e-01,-3.756457208e-04,8.304831271e-01
+59,8.866666667e+00,UP_FORCE_HOLD,1793077877672051883,-2.102765787e-05,-2.733446596e-04,1.640876946e-04,-1.767927430e-05,-2.742429809e-04,1.579520926e-04,-1.587184456e-05,-2.595890438e-04,1.575387108e-04,7.019346052e-01,-2.956153946e-04,8.603071749e-01,7.019379535e-01,-2.965137159e-04,8.603010393e-01,7.027297037e-01,-3.756449189e-04,8.304831507e-01

Fixed/digit/cylinder_PLA_15/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.5907e-01,5.3950e-01,2.4530e+00,-7.6239e-02,4.8215e-02,1.0028e-03,1.1134e-04,-3.2187e-06,-9.5367e-06,-7.4506e-08,8.8066e-06,-4.8615e-07,1.1180e-04,8.8203e-06
+1,1.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,3.9907e-05,1.7497e-01,5.3895e-01,2.4524e+00,-7.6207e-02,4.9416e-02,8.8177e-04,1.6011e-02,-5.5718e-04,-6.1774e-04,3.2231e-05,1.2096e-03,-1.2154e-04,1.6032e-02,1.2161e-03
+2,3.3333e-01,WAIT_W2,8.0096e-05,1.8932e-01,5.3750e-01,2.4517e+00,-7.6083e-02,5.0449e-02,7.8093e-04,3.0356e-02,-2.0047e-03,-1.3170e-03,1.5610e-04,2.2425e-03,-2.2237e-04,3.0451e-02,2.2589e-03
+3,4.5000e-01,WAIT_W2,1.1639e-04,1.9774e-01,5.3694e-01,2.4513e+00,-7.6035e-02,5.1054e-02,7.2899e-04,3.8775e-02,-2.5709e-03,-1.7085e-03,2.0391e-04,2.8476e-03,-2.7431e-04,3.8898e-02,2.8681e-03
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+6,9.0000e-01,WAIT_W2,2.2943e-04,2.1707e-01,5.3588e-01,2.4504e+00,-7.5947e-02,5.2441e-02,5.9911e-04,5.8110e-02,-3.6212e-03,-2.6093e-03,2.9181e-04,4.2342e-03,-4.0419e-04,5.8281e-02,4.2634e-03
+7,1.0500e+00,WAIT_W2,2.6899e-04,2.2178e-01,5.3619e-01,2.4502e+00,-7.5979e-02,5.2781e-02,5.6571e-04,6.2815e-02,-3.3187e-03,-2.8257e-03,2.5951e-04,4.5749e-03,-4.3759e-04,6.2967e-02,4.6031e-03
+8,1.0833e+00,WAIT_W2,2.9673e-04,2.2305e-01,5.3557e-01,2.4501e+00,-7.5920e-02,5.2871e-02,5.5580e-04,6.4088e-02,-3.9380e-03,-2.8872e-03,3.1833e-04,4.6646e-03,-4.4751e-04,6.4273e-02,4.6968e-03
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Fixed/digit/cylinder_PLA_15/press_depth_03/down/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_15/press_depth_03/down/franka_data.csv

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+8167,1793077926864052782,14477996000000,1793077926862122634,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0666,0.06660176068544388,0.6759208221546252,-0.004936500202386102,0.099731971554829,0.9999999235928938,-0.00023966271842536192,-0.00027323602517322223,0.00011027659063438768,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,-0.007086175490144342,-0.006749990247662874,-0.025462178330911356,-0.0006395001895926344,0.0005923624244016795,2.231109629935251e-05,1.112336897747694,1.2769023572381042,0.5035175337781898,0.08682790356674386,-0.07613288138521894,0.001590008347638657,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,-0.03473867582566243,1.6303034257250353,1.4577113239882946,-0.11533729360913793,-0.954282448729378,1.050453637969654,-0.06928523458915005,0.025462178330911356,-1.5269965585774448,0.0,0.0,0,0,0.0,0.0
+8260,1793077927631033679,14478763000000,1793077927630123522,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6759198853547017,-0.004936658368720717,0.09973089164575606,0.9999999233319485,-0.00024114641715675228,-0.00027326463415831175,0.00010933346368238566,0.6761,-0.0046,0.09999174870147444,1.0,0.0,0.0,0.0,-0.0259890731984751,-0.013241924839329622,-0.0258877461683803,-0.0005496936520533457,0.0008819850792731176,3.1094385557201574e-05,1.0934340000393632,1.2704104226464374,0.5030919659407208,0.08691771010428315,-0.0758432587303475,0.001598791636896506,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,0.06233891555469066,1.6686666797068217,1.3859653551600792,-0.126459789024427,-0.8874910694741579,1.0777416044846235,-0.06928523458915005,0.0258877461683803,-1.4552505897492294,-1.4552505897492294,0.05750000000000062,0,0,-2.874999464472084e-05,-9.999999025923074e-05
+8352,1793077928398018920,14479530000000,1793077928394123780,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6759246379319744,-0.004938927170581483,0.09973105992364421,0.9999999272147423,-0.00023766543988708576,-0.0002599266904242675,0.00011387110454789608,0.6761,-0.0046,0.09995500940845087,1.0,0.0,0.0,0.0,-0.031119486278853303,0.006298668107045824,-0.030921551050919538,0.0014095860464551913,0.0019452733178126208,7.483450598185252e-05,1.088303586958985,1.2899510155928129,0.49805816105818157,0.08887698980279168,-0.074779970491808,0.001642531757321157,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,0.4715664838497468,1.7470796398958939,1.0519861353386906,-0.13888512585622365,-0.5759456065441257,1.1257807462929614,-0.06928523458915005,0.030921551050919538,-1.1212713699278407,-1.1212713699278407,0.13420000000000154,0,0,-6.709998717355082e-05,-9.999999025923074e-05
+8427,1793077929023010245,14480155000000,1793077929022123572,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6759339753643708,-0.004945190208746282,0.09971364666549022,0.9999999302946564,-0.00023889681832467123,-0.00024277798421856798,0.00012182244031375326,0.6761,-0.0046,0.09990332191837294,1.0,0.0,0.0,0.0,-0.11263939122606148,0.002909905604555174,0.14518494031828788,0.001571778069258345,0.006246838042388944,-1.3763259800517657e-05,1.0067836820117768,1.2865622530903222,0.674164652427389,0.08903918182559484,-0.07047840576723167,0.0015539339915387868,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,0.6894159829897195,1.738143009559009,0.7124962130438621,-0.10518237442818244,-0.3151862083627373,1.1112867680373333,-0.06928523458915005,-0.14518494031828788,-0.7817814476330122,-0.7817814476330122,0.19669999999999466,0,0,-9.834998108557003e-05,-9.999999025923074e-05
+8515,1793077929755989667,14480888000000,1793077929754132775,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6759520574913255,-0.004949253856041771,0.0996742427693529,0.9999999382675046,-0.0002296552643744119,-0.0002087857575234985,0.00013628946454632613,0.6761,-0.0046,0.09981781748485759,1.0,0.0,0.0,0.0,-0.2114144344056874,0.08825393081973432,0.4364566376122515,0.007964396137090796,0.013489395192023995,0.0009410155223014236,0.9080086388321509,1.3719062783055014,0.9654363497213526,0.09543179989342729,-0.06323584861759662,0.002508712773640728,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,0.8590805307290044,1.7129122068325628,0.4454738056775437,-0.06222896087528985,-0.1302930099017794,1.0773546466598796,-0.06928523458915005,-0.4364566376122515,-0.5147590402666937,-0.5147590402666937,0.2699999999999866,0,0,-0.00013499997394558617,-9.999999025923074e-05
+8592,1793077930397980960,14481530000000,1793077930390123705,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6759817492127178,-0.004947995324498247,0.09963179173827764,0.999999945463793,-0.00022337774117782707,-0.0001677223057283605,0.00014995628739568413,0.6761,-0.0046,0.09972085945359505,1.0,0.0,0.0,0.0,-0.3568054070154537,0.20992765787741008,0.7424999469300144,0.01581937469664485,0.022752037967601592,0.001954731795944572,0.7626176662223846,1.4935800053631771,1.2714796590391155,0.10328677845298134,-0.05397320584201903,0.003522429047283876,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.0230298213836884,1.6380630839163643,0.14041656476541967,-0.004516468781789319,0.06868526031392586,1.0188062591018265,-0.06928523458915005,-0.7424999469300144,-0.20970179935456973,-0.20970179935456973,0.3341999999999795,0,0,-0.0001670999676920123,-9.999999025923074e-05
+8667,1793077931022892692,14482155000000,1793077931018132910,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6760042659223778,-0.004954507070156783,0.09957264993164966,0.9999999492401802,-0.00022219552554588086,-0.0001271696488764005,0.00016558843492681203,0.6761,-0.0046,0.09960715301750218,1.0,0.0,0.0,0.0,-0.4657568710804383,0.2553320210237493,1.174633883676924,0.019621322260142515,0.029670728972253327,0.002778599396255497,0.6536662021574,1.5389843685095164,1.703613595786025,0.10708872601647901,-0.04705451483736729,0.004346296647594801,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.2302865992184229,1.6374099711526295,-0.33822644964550846,-0.011737170753243951,0.41728114823364704,1.012611837360766,-0.06928523458915005,-1.174633883676924,0.26894121505635843,0.26894121505635843,0.39669999999997263,0,0,-0.0001901653094757164,9.999999025923074e-05
+8747,1793077931689863878,14482822000000,1793077931686132913,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6760288006993872,-0.004955516803851012,0.0995018337211283,0.9999999721516242,-0.0001036060501879836,-9.28497254773971e-05,0.00016668632262088846,0.6761,-0.0046,0.0994908499329829,1.0,0.0,0.0,0.0,-0.555243869919362,0.34792736340215713,1.4988711690134027,0.026487100721529322,0.03655834008677404,0.002700765023770482,0.5641792033184763,1.6315797108879242,2.027850881122504,0.11395450447786581,-0.04016690372284658,0.004268462275109786,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4286235756944854,1.7755570947746224,-0.6924937419495767,-0.051486349881153325,0.6726548575302688,1.0819149859955384,-0.06928523458915005,-1.4988711690134027,0.6232085073604267,0.6232085073604267,0.4633999999999653,0,0,-0.00015779036946908664,9.999999025923074e-05
+8836,1793077932430928693,14483563000000,1793077932430123943,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6760509613435453,-0.00496080456971108,0.0994376296793236,0.9999999718650925,-0.00012439496105740166,-5.8833287337193803e-05,0.00016963848755003767,0.6761,-0.0046,0.09938763576652847,1.0,0.0,0.0,0.0,-0.5837441486239436,0.36584798518926664,1.707234604826898,0.026429267813389792,0.03946870928058947,0.0025707941987706904,0.5356789246138947,1.6495003326750337,2.236214316935999,0.11389667156972628,-0.037256534529031146,0.004138491450109995,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.5390652816600219,1.7952057708746028,-1.054119560888064,-0.05244052297869389,0.9288258688673449,1.0839175772842686,-0.06928523458915005,-1.707234604826898,0.984834326298914,0.984834326298914,0.5374999999999571,0,0,-0.00012074037668699666,9.999999025923074e-05
+8907,1793077933022923405,14484155000000,1793077933018133036,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6760619984078945,-0.004953250553525018,0.09939168483134496,0.9999999713333579,-0.00017202196804400117,-4.0198475176541713e-05,0.00013254686929574077,0.6761,-0.0046,0.09932490426181999,1.0,0.0,0.0,0.0,-0.515250429230679,0.4095548455750586,1.7704456049488635,0.02787311980120738,0.03547036068855152,0.0014531171322086027,0.6041726440071593,1.6932071930608257,2.2994253170579646,0.11534052355754387,-0.0412548831210691,0.003020814383547907,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.5289557908162328,1.686438816676331,-1.073653063329849,0.035991081971774454,0.9355668045463034,1.01959037461299,-0.06928523458915005,-1.7704456049488635,1.0043678287406987,1.0043678287406987,0.5966999999999506,0,0,-9.114038245353206e-05,9.999999025923074e-05
+8993,1793077933739872333,14484872000000,1793077933734132854,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6760695529322766,-0.004958018164955625,0.09934948542100286,0.9999999700851447,-0.0001757437131568705,-2.6101654601678838e-05,0.0001403760113333447,0.6761,-0.0046,0.0992723909050935,1.0,0.0,0.0,0.0,-0.47863252440593984,0.3638896548302193,1.8381681878165943,0.024479316854548752,0.0344978802633458,0.0013498220453191125,0.6407905488318985,1.6475420023159864,2.3671478999256954,0.11194672061088524,-0.04222736354627482,0.002917519296658417,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4642063119448854,1.5887418353882443,-1.2369468301178317,0.07357695394688674,1.0310500059586027,0.9748783059623899,-0.06928523458915005,-1.8381681878165943,1.1676615955286815,1.1676615955286815,0.6683999999999427,0,0,-5.5290389437663616e-05,9.999999025923074e-05
+9078,1793077934447851006,14485580000000,1793077934442132677,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6760689543098078,-0.004956598496863896,0.09931683524698905,0.9999999695841024,-0.00017687586341668106,-2.8518652293235573e-05,0.00014204321139197772,0.6761,-0.0046,0.09924575920692684,1.0,0.0,0.0,0.0,-0.45048646994081487,0.31796114968948586,1.797761995517233,0.021476001649385,0.03256032166087206,0.0013031296173753066,0.6689366032970234,1.601613497175253,2.326741707626334,0.10894340540572149,-0.04416492214874856,0.002870826868714611,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.401456359074619,1.6303239979330293,-1.1094903317412514,0.062457364971873666,0.9408549957554064,1.0088454661340462,-0.06928523458915005,-1.797761995517233,1.0402050971521013,1.0402050971521013,0.7391999999999349,0,0,-1.989039633412825e-05,9.999999025923074e-05
+9188,1793077935364802735,14486497000000,1793077935362133108,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6760660472628746,-0.004961539452090147,0.09929870961382964,0.9999999679139012,-0.00018360938992740484,-3.521516285703918e-05,0.00014374472149953754,0.6761,-0.0046,0.09924084272693758,1.0,0.0,0.0,0.0,-0.40077546075857573,0.25808180240992207,1.6868072443958781,0.016600521836955998,0.02962997038650892,0.00028579752408773346,0.7186476124792626,1.5417341498956891,2.2157869565049793,0.10406792559329249,-0.0470952734231117,0.001853494775427038,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.3584544352587125,1.6097884917981293,-0.9453120381829296,0.0711975304545115,0.8380302424198403,0.9983204837151853,-0.06928523458915005,-1.6868072443958781,0.8760268035937796,0.8760268035937796,0.8308999999999248,0,0,-7.78554273550558e-07,7.864184581318767e-06
+9278,1793077936114860946,14487247000000,1793077936114132758,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6760633356597044,-0.004963968474719574,0.09928951589101731,0.9999999673735976,-0.00018395899769053833,-3.89988324484492e-05,0.00014606110369471282,0.6761,-0.0046,0.0992372885741639,1.0,0.0,0.0,0.0,-0.38040355657316616,0.2297126511659,1.605184647072055,0.014491587046242663,0.028298448630324997,0.000308751696619296,0.7390195166646721,1.513364998651667,2.134164359181156,0.10195899080257916,-0.04842679517929562,0.0018764489479586005,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.2792547053771637,1.6189636059749068,-0.8878427271250686,0.06068933061813232,0.7868749920439282,0.997533957482095,-0.06928523458915005,-1.605184647072055,0.8185574925359186,0.8185574925359186,0.9058999999999165,0,0,-1.4840226099403724e-05,-9.999696490148863e-05
+9347,1793077936689838066,14487822000000,1793077936686123211,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6760643995418139,-0.004960406551497872,0.09927677690278046,0.9999999680191792,-0.0001797552505205658,-3.766106442684868e-05,0.0001472215975464787,0.6761,-0.0046,0.09922176428002179,1.0,0.0,0.0,0.0,-0.37178148726380034,0.21020278943045523,1.604046860995516,0.013487169977026522,0.027676421349928045,0.00028865268319412684,0.747641585974038,1.4938551369162223,2.133026573104617,0.10095457373336301,-0.049048822459692575,0.0018563499345334313,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.2868288601890037,1.572103450482088,-0.8777588810294323,0.08073958597931977,0.7814477356815621,0.9740669236293263,-0.06928523458915005,-1.604046860995516,0.8084736464402823,0.8084736464402823,0.9633999999999102,0,0,-4.047724031927403e-05,-9.999999025923074e-05
+9431,1793077937389799150,14488522000000,1793077937386133006,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6760693894218456,-0.004961048742636944,0.09925331159516448,0.9999999671858819,-0.00018456475927015263,-2.8032672570570667e-05,0.00014906749570863098,0.6761,-0.0046,0.09918209445520253,1.0,0.0,0.0,0.0,-0.3907026272419897,0.2196255137530878,1.6802656288567763,0.013419648169586948,0.029655442918055726,0.0002538426454047845,0.7287204459958486,1.5032778612388549,2.2092453409658774,0.10088705192592344,-0.04706980089156489,0.001821539896744089,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.361864526981474,1.6875733612367558,-1.0017221651210169,0.04734783231906536,0.8738922886986202,1.046646076708169,-0.06928523458915005,-1.6802656288567763,0.9324369305318668,0.9324369305318668,1.0333999999999026,0,0,-6.925934322862671e-05,-9.978688294965394e-05
+9528,1793077938197801849,14489330000000,1793077938190133214,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6760797409307016,-0.0049664221894467385,0.0992186650302418,0.9999999653915254,-0.0001934426921852701,-1.0152902572135803e-05,0.00015210738230531058,0.6761,-0.0046,0.09912163341163666,1.0,0.0,0.0,0.0,-0.42642149341523494,0.2386093815747865,1.7849492217217682,0.015322819224416737,0.031435508513174795,0.00021916699549470817,0.6930015798226034,1.5222617290605536,2.3139289338308693,0.10279022298075323,-0.045289735296445824,0.0017868642468340126,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.3976901649626474,1.6129008549553268,-1.0351030437471611,0.08171016954462033,0.895697102306291,0.9988708279871972,-0.06928523458915005,-1.7849492217217682,0.9658178091580111,0.9658178091580111,1.1141999999998937,0,0,-7.369303221402135e-05,-9.998924885146749e-05
+9618,1793077938947797680,14490080000000,1793077938946133447,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6760845341460779,-0.004963703875400099,0.09918068555853542,0.9999999649299947,-0.0001963927609072898,-1.5428163612514367e-06,0.0001516917164135544,0.6761,-0.0046,0.09907370648165505,1.0,0.0,0.0,0.0,-0.4320342351058847,0.23151764008380837,1.8653947912743924,0.01455125197029876,0.03164781171370476,0.0007992744512732945,0.6873888381319536,1.5151699875695754,2.3943745033834936,0.10201865572663525,-0.04507743209591586,0.002366971702612599,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.428535452239337,1.6864226241415687,-1.3263042715330773,0.046180224242979746,1.0897398705724086,1.0403859336271153,-0.06928523458915005,-1.8653947912743924,1.2570190369439271,1.2570190369439271,1.1891999999998855,0,0,-5.790725176171995e-05,9.998808311729163e-05
+9716,1793077939764742344,14490897000000,1793077939758132823,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.676090676545226,-0.004967232487987862,0.09914783104472226,0.9999999631708936,-0.00020393228867597498,8.306038149596178e-06,0.00015311337894206395,0.6761,-0.0046,0.09903071888446899,1.0,0.0,0.0,0.0,-0.426548323728162,0.21749874732781493,1.8969348710211693,0.013323257596460844,0.03166686115668611,0.00010892823249407271,0.6928747495096763,1.501151094813582,2.4259145831302704,0.10079066135279734,-0.045058382652934506,0.0016766254838333772,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.3849397356479445,1.7282628778976061,-1.311956240163254,0.03438122541442717,1.0711068036251805,1.0654267241884654,-0.06928523458915005,-1.8969348710211693,1.242671005574104,1.242671005574104,1.2708999999998765,0,0,-5.073237509670291e-05,9.961833721672803e-05
+9817,1793077940605715024,14491738000000,1793077940602133137,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6760944663701254,-0.004969811852376966,0.09910756520890128,0.9999999614281336,-0.00020995737915503295,1.4778695403403903e-05,0.00015583993224621041,0.6761,-0.0046,0.0989789791072179,1.0,0.0,0.0,0.0,-0.4218054299305719,0.1937302070483835,1.929494154163999,0.012068016861356903,0.03169620638800738,5.625316767427077e-05,0.6976176433072664,1.4773825545341506,2.4584738662731,0.0995354206176934,-0.04502903742161324,0.0016239504190135752,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.3785132975134264,1.6264233658735188,-1.2488082109254108,0.0751635351360508,1.0282432869246905,1.0046646819838163,-0.06928523458915005,-1.929494154163999,1.1795229763362607,1.1795229763362607,1.3549999999998672,0,0,-7.363829857972982e-05,-9.999831104690599e-05
+9915,1793077941422749331,14492555000000,1793077941418133106,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6761030840465335,-0.004970011360545516,0.09905600271775156,0.9999999593620833,-0.00021299252400725952,2.9172100727990237e-05,0.0001627939469963455,0.6761,-0.0046,0.09890901553976533,1.0,0.0,0.0,0.0,-0.4366733659602643,0.18731687566709865,2.0333492070605796,0.011198668035948378,0.03370049786997523,5.0969431082186975e-06,0.682749707277574,1.4709692231528657,2.5623289191696808,0.09866607179228487,-0.04302474593964539,0.0015727941944475232,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.3439371264995275,1.621194500507686,-1.3350466386372437,0.06258052395293959,1.0679622771757087,0.9931057387354021,-0.06928523458915005,-2.0333492070605796,1.2657614040480936,1.2657614040480936,1.4366999999998582,0,0,-9.115112345056543e-05,-9.999095581936785e-05
+10005,1793077942172707531,14493305000000,1793077942170132741,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6761139071550332,-0.004976017760401203,0.09900832332221601,0.9999999557420847,-0.0002249802490632941,4.589048064673016e-05,0.00016503528079264536,0.6761,-0.0046,0.09884271925001682,1.0,0.0,0.0,0.0,-0.44587078598965224,0.18429810537298397,2.076163730596409,0.01017099550535569,0.03371376692669428,-4.096349252793552e-05,0.673552287248186,1.467950452858751,2.60514344270551,0.09763839926169218,-0.043011476882926336,0.001526733758811369,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4242287844998502,1.6610698357232565,-1.518235980895661,0.04667437882725632,1.2105156915517767,1.0178317368595675,-0.06928523458915005,-2.076163730596409,1.4489507463065108,1.4489507463065108,1.51169999999985,0,0,-8.652017147584156e-05,9.999999025923074e-05
+10094,1793077942914715128,14494047000000,1793077942910133447,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6761188428229289,-0.00497600492206215,0.09894715660116409,0.9999999532863851,-0.00023260972707883333,5.387723459803098e-05,0.00016691330099890728,0.6761,-0.0046,0.09877596583691263,1.0,0.0,0.0,0.0,-0.44539877148120244,0.164847833878214,2.1317996722811756,0.009137560400210187,0.03372156921977161,-9.956655142352592e-05,0.6740243017566359,1.448500181363981,2.6607793843902767,0.09660496415654668,-0.04300367458984901,0.0014681306999157785,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4310306520488996,1.6977468601029977,-1.5142020604559394,0.03611637329683017,1.2109073565514958,1.0374344638145394,-0.06928523458915005,-2.1317996722811756,1.4449168258667893,1.4449168258667893,1.5858999999998418,0,0,-9.13352735207581e-05,-9.994150926140861e-05
+10193,1793077943739651858,14494872000000,1793077943738132807,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.676127184847578,-0.004975746377072513,0.09888671125616841,0.9999999490040798,-0.00025118507707903257,6.779455463287615e-05,0.00016045141613475568,0.6761,-0.0046,0.09869821062193965,1.0,0.0,0.0,0.0,-0.42589948224167584,0.1532762442722002,2.1835152025133446,0.00813419717225046,0.03271646390376556,-0.00016446426450884085,0.6935235909961625,1.4369285917579673,2.7124949146224457,0.09560160092858695,-0.04400877990585506,0.0014032329868304636,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.3899594077410609,1.680561423842084,-1.6928948315832288,0.0397530485048808,1.3141470690384653,1.0247424706662662,-0.06928523458915005,-2.1835152025133446,1.6236095969940787,1.6236095969940787,1.6683999999998327,0,0,-9.923369214262655e-05,9.99571217726924e-05
+10277,1793077944439681920,14495572000000,1793077944438132952,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6761289488717038,-0.00497795322173477,0.09882200897877834,0.9999999453338525,-0.0002649894535902265,7.326408203361155e-05,0.0001587076550159418,0.6761,-0.0046,0.09862545061216149,1.0,0.0,0.0,0.0,-0.41570450341993037,0.13579715062882602,2.2230278311279865,0.006969253789732552,0.032743435379027845,-4.2565076307813634e-05,0.7037185698179079,1.419449498114593,2.7520075432370876,0.09443665754606904,-0.043981808430592774,0.0015251321750314908,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.374446961542656,1.7717537469870304,-1.653054948754177,0.015598428696410939,1.284693674513764,1.085760758185846,-0.06928523458915005,-2.2230278311279865,1.5837697141650269,1.5837697141650269,1.738399999999825,0,0,-0.00010980184105976865,-9.990476087929351e-05
+10363,1793077945155627926,14496288000000,1793077945154123381,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6761352873131938,-0.004978765583863679,0.0987484048642428,0.9999999415852385,-0.0002740821652118543,8.38432763860429e-05,0.00016162195153401416,0.6761,-0.0046,0.09854179055398042,1.0,0.0,0.0,0.0,-0.40929757167059844,0.11047106438509813,2.2809236779669617,0.0050663649509698205,0.03231931088803983,-7.042187186730034e-05,0.7101255015672399,1.3941234118708652,2.809903390076063,0.09253376870730631,-0.044405932921580786,0.0014972753794720041,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4284132909467757,1.668180030780136,-1.7902593952692907,0.04947728991847815,1.3892737297564333,1.0166506094380219,-0.06928523458915005,-2.2809236779669617,1.7209741606801405,1.7209741606801405,1.809999999999817,0,0,-0.00011853424590893701,9.999999025923074e-05
+10438,1793077945780614621,14496913000000,1793077945774133058,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6761387571287606,-0.004984209948598156,0.09868066651552942,0.9999999370431881,-0.000288483455410728,8.962612773074895e-05,0.00016155784280914962,0.6761,-0.0046,0.09846484508446911,1.0,0.0,0.0,0.0,-0.40944329140406,0.10644984000518032,2.304106991784226,0.004018181384977601,0.03276349171806575,0.0005896966006927408,0.7099797818337783,1.3901021874909474,2.833086703893327,0.0914855851413141,-0.04396175209155487,0.0021573938520320452,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.406687496473302,1.7329315633143578,-1.8380595570946934,0.022825754959984082,1.4093458573939575,1.054458911620002,-0.06928523458915005,-2.304106991784226,1.7687743225055432,1.7687743225055432,1.8724999999998102,0,0,-0.00012834694973898474,6.351290353318009e-06
+10512,1793077946397562436,14497530000000,1793077946390133187,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6761470798592532,-0.004987692159716748,0.09861383228361058,0.9999999316590732,-0.0003015403683290417,0.000104590278446994,0.00016204626651504118,0.6761,-0.0046,0.09838301537538675,1.0,0.0,0.0,0.0,-0.4090203466384016,0.09119396846554051,2.3503472618965096,0.002986221492473254,0.03277320553879114,0.0006717450428668414,0.7104027265994367,1.3748463159513076,2.8793269740056107,0.09045362524880975,-0.043952038270829476,0.002239442294206146,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4297168609481523,1.7048362288708998,-1.918608573261857,0.026804704240597752,1.4688450223107812,1.0345439154045035,-0.06928523458915005,-2.3503472618965096,1.8493233386727068,1.8493233386727068,1.9341999999998034,0,0,-0.00013891220979470186,9.999962943674773e-05
+10601,1793077947139577023,14498272000000,1793077947134133315,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6761513479618264,-0.00498599642285304,0.09851864020185025,0.9999999737191907,-7.341873603455009e-05,0.00011094790995114877,0.00016218733896103914,0.6761,-0.0046,0.09827985346060257,1.0,0.0,0.0,0.0,-0.3882883266763282,0.046956705442318336,2.3911898362016313,-2.154058723936869e-05,0.030820033594738283,-0.0004514125925349588,0.7311347465615101,1.3306090529280854,2.9201695483107324,0.08744586316909712,-0.045905210214882336,0.0011162846588043457,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4039487499359564,1.746074178730957,-1.9329556806327812,-0.03603173047874647,1.4830550328636816,0.9938795470221073,-0.06928523458915005,-2.3911898362016313,1.863670446043631,1.863670446043631,2.008399999999814,0,0,-0.00014465406369543044,-9.622330296299992e-05
+10683,1793077947822572068,14498955000000,1793077947822132899,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6761594945811701,-0.004995181590797882,0.09843040494168348,0.9999999695040558,-9.465712330598363e-05,0.00012481759768788735,0.0001670190053506532,0.6761,-0.0046,0.09817541322208616,1.0,0.0,0.0,0.0,-0.39733377832005,0.03163556249923971,2.440836800940658,-0.0010793997807583416,0.031825554373445156,-0.00048577469583087145,0.7220892949177883,1.3152879099850068,2.969816513049759,0.08638800397557815,-0.04489968943617546,0.001081922555508433,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4241885158734466,1.8274251782965207,-1.929385981358262,-0.050462220925713515,1.4840569493107907,1.0587141900576973,-0.06928523458915005,-2.440836800940658,1.8601007467691117,1.8601007467691117,2.076699999999958,0,0,-0.00015763100890828075,-9.843750400773672e-05
+10758,1793077948447548113,14499580000000,1793077948446132945,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6761623159423439,-0.004994699498435628,0.09833468659416424,0.9999999670530214,-0.00011181741459307515,0.00012926891718713268,0.00016769983066290662,0.6761,-0.0046,0.09807309054392692,1.0,0.0,0.0,0.0,-0.39374684116399195,0.014076538728688304,2.4743887168515273,-0.0027556250866667548,0.03185108109691211,-0.0005353385082087353,0.7256762320738464,1.2977288862144554,3.0033684289606284,0.08471177866966974,-0.04487416271270851,0.0010323587431305692,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.462133504516539,1.6945494180678675,-2.046759417692121,0.0006913168284164089,1.5702892860080073,0.9931930752533198,-0.06928523458915005,-2.4743887168515273,1.977474183102971,1.977474183102971,2.13920000000009,0,0,-0.00016742882781170388,-6.692414264287123e-05
+10827,1793077949022537660,14500155000000,1793077949022124400,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6761669653394242,-0.004998165566607324,0.09824441959608846,0.9999999631935497,-0.0001327371085456007,0.0001388970165054711,0.0001677624586848769,0.6761,-0.0046,0.09797348832184218,1.0,0.0,0.0,0.0,-0.3894907361531098,-0.005627887049423075,2.5070562317096576,-0.0035013621857034605,0.03145191992145657,0.00044720610572329786,0.7299323370847285,1.278024460436344,3.0360359438187587,0.08396604157063303,-0.045273323888164047,0.0020149033570626023,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4524958525931004,1.628644909884835,-2.006273911842734,0.030083007080889783,1.5372789473681263,0.9745548413541915,-0.06928523458915005,-2.5070562317096576,1.9369886772535838,1.9369886772535838,2.1967000000002113,0,0,-0.00017687285222142547,-9.999999025923074e-05
+10912,1793077949730543886,14500863000000,1793077949730132859,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6761754963645888,-0.004999529786722125,0.09813013917229163,0.9999999579347606,-0.00015396461719179328,0.00015338083135104622,0.00016835248369053508,0.6761,-0.0046,0.09784455096459188,1.0,0.0,0.0,0.0,-0.3973046025173098,-0.03059213531703464,2.519959585893986,-0.005191681775010892,0.031881798513642715,0.00042826089100297406,0.7221184707205285,1.2530602121687324,3.048939298003087,0.0822757219813256,-0.044843445295977905,0.0019959581423422785,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4352277805319766,1.7052860477728387,-2.180919993076666,0.010672950463079065,1.6409943786999637,1.0373604513317096,-0.06928523458915005,-2.519959585893986,2.111634758487516,2.111634758487516,2.2675000000003607,0,0,-0.00018932699488370222,2.311823301301549e-05
+10990,1793077950380554634,14501513000000,1793077950378132879,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6761800415753186,-0.005008493343205295,0.09801567982824998,0.9999999532933651,-0.000170462513029714,0.00016285546410223106,0.00017110453296673037,0.6761,-0.0046,0.09771682808895592,1.0,0.0,0.0,0.0,-0.4099836114503109,-0.042486794755410395,2.5576523119901213,-0.00624749783810867,0.03290676321586437,0.0004004389739231684,0.7094394617875274,1.2411655527303567,3.0866320240992224,0.08121990591822782,-0.04381848059375625,0.001968136225262473,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.44865014961871,1.7589897486776966,-2.276155906697624,-0.0016267752998168255,1.7057082643300994,1.0777284568888208,-0.06928523458915005,-2.5576523119901213,2.2068706721084737,2.2068706721084737,2.332500000000498,0,0,-0.00020408108285655124,9.346985271741488e-05
+11053,1793077950905444941,14502038000000,1793077950902122988,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6761832416846895,-0.00501052304934389,0.0979163223237029,0.999999949013094,-0.0001848738901737496,0.00017073837978002937,0.00017345525042265303,0.6761,-0.0046,0.09760740192618912,1.0,0.0,0.0,0.0,-0.40913854998500954,-0.06478362770798918,2.5717021824065074,-0.0072722038585073395,0.03292475996066501,0.0003786136795054316,0.7102845232528288,1.2188687197777779,3.1006818945156085,0.08019519989782915,-0.04380048384895561,0.001946310930844736,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4082571254354377,1.8149277433828053,-2.2353182027613294,-0.03618110071977333,1.6709137885572811,1.1073558363129146,-0.06928523458915005,-2.5717021824065074,2.1660329681721793,2.1660329681721793,2.3850000000006086,0,0,-0.00021427799008352644,-9.999999025923074e-05
+11116,1793077951430519707,14502563000000,1793077951430123358,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6761884925579569,-0.005011391829807759,0.09780692818016137,0.9999999453901585,-0.00019708333211149886,0.00017786237862863806,0.00017374026235565258,0.6761,-0.0046,0.0974912281426223,1.0,0.0,0.0,0.0,-0.41861080133400397,-0.07115822687852535,2.6394142698501653,-0.008332100572102041,0.033896031764781384,0.0003252442120221617,0.7008122719038343,1.2124941206072417,3.1683939819592664,0.07913530318423445,-0.042829212044839235,0.0018929414633614661,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4865315649580784,1.75756021040173,-2.3270517233166377,-0.013172361754964498,1.7499044777271207,1.071525857612269,-0.06928523458915005,-2.6394142698501653,2.2577664887274875,2.2577664887274875,2.4375000000007194,0,0,-0.0002258626026388225,8.870860576515866e-05
+11175,1793077951922454566,14503055000000,1793077951922123098,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6761950592625019,-0.005014668072275436,0.09770719387582305,0.9999999403032042,-0.00021168138920617596,0.00019027134995351782,0.00017269700371007565,0.6761,-0.0046,0.09737836061240078,1.0,0.0,0.0,0.0,-0.4175439413546309,-0.08543828546288212,2.6578753978279615,-0.01037437750802106,0.03397650966101812,0.00028816973780821905,0.7018791318832074,1.198214062022885,3.1868551099370626,0.07709302624831543,-0.0427487341486025,0.0018558669891475235,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4444932344055779,1.7695006707504337,-2.301569268748794,-0.018358040576903722,1.7240365638398771,1.0771249836759624,-0.06928523458915005,-2.6578753978279615,2.232284034159644,2.232284034159644,2.4867000000008233,0,0,-0.0002350804028203576,-9.999284319850971e-05
+11244,1793077952497481278,14503630000000,1793077952490133169,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6762008334364233,-0.005018726482742509,0.09757555038161105,0.9999999368448781,-0.00021714563018069655,0.0001979588328615403,0.00017723763624794957,0.6761,-0.0046,0.09723831363215882,1.0,0.0,0.0,0.0,-0.40769969252653326,-0.12066439494380843,2.708467396254735,-0.01138906456589675,0.03297518030926032,0.00022123704584220026,0.711723380711305,1.1629879525419586,3.237447108363836,0.07607833919043974,-0.0437500635003603,0.0017889342971815047,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4839088021618467,1.7883260418698312,-2.364144791708806,-0.03407547629549105,1.7798407907373723,1.0832543743137633,-0.06928523458915005,-2.708467396254735,2.294859557119656,2.294859557119656,2.5442000000009446,0,0,-0.00025005100363492536,-9.999980984798924e-05
+11305,1793077953005471974,14504138000000,1793077952998133503,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6762035076863206,-0.005020987874632092,0.0974545870978153,0.9999999344418486,-0.00022247268502093929,0.00020429229263188407,0.0001770020514192092,0.6761,-0.0046,0.09710863973572838,1.0,0.0,0.0,0.0,-0.3982341394934986,-0.1335951307067691,2.717563409244157,-0.01310722147055876,0.03302428929469796,0.00018630048996533992,0.7211889337443397,1.150057216778998,3.246543121353258,0.07436018228577773,-0.04370095451492266,0.0017539977413046444,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4567717560362157,1.7855116980815195,-2.4176498041260652,-0.025146789955530335,1.80608148042583,1.0850390818813187,-0.06928523458915005,-2.717563409244157,2.348364569536915,2.348364569536915,2.595000000001052,0,0,-0.0002599501405340084,-9.999999025923074e-05
+11369,1793077953539494364,14504672000000,1793077953534132858,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6762086324764908,-0.005025739078054395,0.09731818719019694,0.9999999401054775,-0.00018604904257065908,0.00021185417183492176,0.00017814451741351747,0.6761,-0.0046,0.09696761898313741,1.0,0.0,0.0,0.0,-0.40991232899152086,-0.14732837158135137,2.7805674095128303,-0.014488692761163047,0.034029471955240614,0.00014387838504269506,0.7095107442463174,1.1363239759044157,3.3095471216219314,0.07297871099517345,-0.042695771854380005,0.0017115756363819995,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.4800411511210716,1.7520499628129729,-2.4273005133675136,-0.017991046607454663,1.8210342006260687,1.0631962895324674,-0.06928523458915005,-2.7805674095128303,2.3580152787783635,2.3580152787783635,2.6484000000011645,0,0,-0.00026883163007781894,-9.999999025923074e-05
+11426,1793077954014477233,14505147000000,1793077954014123192,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6762132604428547,-0.005029163996620374,0.097196811202515,0.9999999382346783,-0.00018531540507996032,0.00021864475461826416,0.00018117995430120724,0.6761,-0.0046,0.09683802948498477,1.0,0.0,0.0,0.0,-0.41512502263593953,-0.16987281438095425,2.7664104261717166,-0.015508690838893877,0.034053107123738935,0.00014314064608239,0.7042980506018988,1.1137795331048128,3.2953901382808177,0.07195871291744262,-0.042672136685881684,0.0017108378974216945,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.5794334071972422,1.752444234151235,-2.5316187466216964,-0.022038632229867267,1.917162717582708,1.0609067969136965,-0.06928523458915005,-2.7664104261717166,2.4623335120325462,2.4623335120325462,2.6959000000012647,0,0,-0.0002782378054673597,-2.062606156669124e-05
+11483,1793077954489466509,14505622000000,1793077954482132807,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6762158158261545,-0.00503338992237566,0.09706740190553777,0.9999999340153386,-0.00019911839998305105,0.0002238025161168813,0.00018351152315983774,0.6761,-0.0046,0.09670303511272418,1.0,0.0,0.0,0.0,-0.41028170613511217,-0.17885373714516573,2.7898402192089247,-0.016533712054234692,0.03406795191965397,0.00011463912465536148,0.7091413671027261,1.1047986103406013,3.3188199313180258,0.0709336917021018,-0.04265729188996665,0.001682336375994666,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.5524187060414285,1.721185979242289,-2.551564492427719,-0.0037970456907170996,1.9227495276282587,1.0399198067277509,-0.06928523458915005,-2.7898402192089247,2.482279257838569,2.482279257838569,2.743400000001365,0,0,-0.00029039797337235127,-9.999997638144293e-05
+11542,1793077954980384550,14506113000000,1793077954978133193,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6762192230418633,-0.0050366221974520635,0.0969359013725307,0.9999999295509799,-0.00020772181555198528,0.00023251728334239743,0.00018742534420863237,0.6761,-0.0046,0.09655625369930906,1.0,0.0,0.0,0.0,-0.4135789927061375,-0.20768139623514958,2.7845770775295278,-0.018526395468737633,0.03410763853745217,9.377476496108365e-05,0.7058440805317008,1.0759709512506175,3.313556789638629,0.06894100828759886,-0.04261760527216845,0.0016614720163003881,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.5553888071731758,1.7437129878706448,-2.4706341491439887,-0.010746277169899588,1.8706243175656232,1.0531036730948609,-0.06928523458915005,-2.7845770775295278,2.4013489145548386,2.4013489145548386,2.7925000000014686,0,0,-0.00030764923010104104,-9.999980984798924e-05
+11591,1793077955389405953,14506522000000,1793077955386132861,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.676224587361414,-0.005042005730372747,0.09681248156667428,0.9999999253281385,-0.0002139364415390032,0.0002386934912443511,0.00019504665525472333,0.6761,-0.0046,0.09642823094686623,1.0,0.0,0.0,0.0,-0.4131712238875066,-0.22987344845253221,2.855074012494019,-0.019737694713992865,0.03411563380917026,2.5169668734451077e-05,0.7062518493503317,1.0537788990332349,3.38405372460312,0.06772970904234363,-0.04260961000045036,0.0015928669200737555,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.555437928633078,1.6982699176089837,-2.739795441365,0.005617274217159444,2.049942526286017,1.0251263269255078,-0.06928523458915005,-2.855074012494019,2.67051020677585,2.67051020677585,2.833400000001555,0,0,-0.00031604066034055114,9.998779168374767e-05
+11648,1793077955864401637,14506997000000,1793077955858123513,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6762276232088069,-0.005040352591755912,0.09667076869168163,0.9999999224609464,-0.00022680630831905824,0.0002456152202196349,0.00018642163839223576,0.6761,-0.0046,0.09627522315406203,1.0,0.0,0.0,0.0,-0.4035008040076057,-0.23167677214822135,2.8752678153088325,-0.02063918280450841,0.03375871315165294,0.0010213530949818382,0.7159222692302326,1.0519755753375457,3.4042475274179336,0.06682822095182808,-0.042966530657967676,0.0025890503463211426,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.558105289054661,1.7049781095741505,-2.6898558701497857,0.021096230849546014,2.0136884305199305,1.028247066802919,-0.06928523458915005,-2.8752678153088325,2.6205706355606355,2.6205706355606355,2.880900000001655,0,0,-0.00032878633857561103,9.403416520304404e-05
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+11898,1793077957947393415,14509080000000,1793077957946123276,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.676252900644123,-0.005057365758795558,0.09595543949380395,0.99999991418496,-0.00021153145481711902,0.0002874233934578807,0.0001889845843613024,0.6761,-0.0046,0.09552695083421749,1.0,0.0,0.0,0.0,-0.41121770739075236,-0.2769469572889647,2.955164601461234,-0.023731123110973848,0.03437799876291691,0.0009273338421352001,0.7082053658470859,1.0067053901968024,3.484144313570335,0.06373628064536264,-0.04234724504670371,0.0024950310934745046,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.638962577652161,1.6584763195605796,-2.799958293451793,0.0658489256555167,2.1133951231554535,0.9906748420431419,-0.06928523458915005,-2.955164601461234,2.7306730588626427,2.7306730588626427,3.0892000000020947,0,0,-0.0003958478196439393,-9.999999025923074e-05
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+11987,1793077958689282571,14509822000000,1793077958682123304,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6762582067780993,-0.005056792095857345,0.09566839542643847,0.9999999039268953,-0.00022808366754335617,0.00030086597861495024,0.00020259952529255747,0.6761,-0.0046,0.09522142312819674,1.0,0.0,0.0,0.0,-0.40111941878852386,-0.309480695540603,3.0271462285248925,-0.02578350813295529,0.03418844158778329,0.0008461876437933626,0.7183036544493144,0.9741716519451641,3.5561259406339936,0.0616838956233812,-0.04253680222183733,0.002413884895132667,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.6636443126781746,1.669048993574375,-2.8245510320679146,0.06949094611515959,2.1482192479192936,1.0008067311564792,-0.06928523458915005,-3.0271462285248925,2.7552657974787644,2.7552657974787644,3.1634000000022513,0,0,-0.000428394739705766,-9.999999025923074e-05
+12028,1793077959030347762,14510163000000,1793077959030123423,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6762566382876519,-0.005062145836988168,0.09552411379185533,0.999999900467393,-0.00023383540927861697,0.0003038283732824538,0.00020860821901275264,0.6761,-0.0046,0.09507270268427954,1.0,0.0,0.0,0.0,-0.3906267194493418,-0.3476140224232408,3.056728124144582,-0.027804692871086938,0.03321026547052051,0.0007867395838588537,0.7287963537884965,0.9360383250625263,3.585707836253683,0.059662710885249555,-0.04351497833910011,0.002354436835198158,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.583138227568866,1.6331338979999943,-2.837711930612737,0.08801838831800834,2.1412708955159547,0.9784026598761268,-0.06928523458915005,-3.056728124144582,2.768426696023587,2.768426696023587,3.1975000000023233,0,0,-0.00044217729721770924,-9.999999025923074e-05
+12069,1793077959372294981,14510505000000,1793077959366123495,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6762681474172954,-0.00506143707282544,0.09537880138322218,0.9999998913980521,-0.00027604623533048015,0.0003140599219489595,0.00018387927869399005,0.6761,-0.0046,0.09491934223866319,1.0,0.0,0.0,0.0,-0.34399800015922166,-0.29746889142528754,3.076425290622554,-0.0256790796639364,0.031136322000793824,0.000766734920924653,0.7754250730786166,0.9861834560604795,3.605405002731655,0.06178832409240009,-0.045588921808826795,0.0023344321722639574,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.7173949506643427,1.7507874598344946,-2.930104117168682,0.07925026298345379,2.2390958263230365,1.0554306525709323,-0.06928523458915005,-3.076425290622554,2.8608188825795318,2.8608188825795318,3.2317000000023954,0,0,-0.00045439200343081056,4.546032580788335e-05
+12110,1793077959714366572,14510847000000,1793077959710123381,DOWN_FORCE_DETACH,3,0.0666,0.06660176068544388,0.6762768707215614,-0.0050701167624996974,0.09523462032599385,0.9999998851931152,-0.0002746196441666973,0.0003244979362399984,0.0002008525843615139,0.6761,-0.0046,0.09476145705119758,1.0,0.0,0.0,0.0,-0.4045673431397293,-0.2622027593273142,3.0646798789219067,-0.023689040334352846,0.03515139069854744,0.0008553203126248682,0.714855730098109,1.0214495881584529,3.593659591031008,0.06377836342198365,-0.04157385311107318,0.0024230175639641726,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.7611064638765068,1.724947115119639,-2.8706265065580046,0.08038079525316293,2.205434444261174,1.0389937702853327,-0.06928523458915005,-3.0646798789219067,2.8013412719688544,2.8013412719688544,3.2659000000024676,0,0,-0.00047019200051098684,-9.999999025923074e-05
+12150,1793077960047247479,14511180000000,1793077960046122702,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6762747285992979,-0.005069170787015195,0.09507314951640661,0.9999999112121919,-0.0001358135096526733,0.0003241364199953238,0.0002133277863665833,0.6761,-0.0046,0.0946023745507537,1.0,0.0,0.0,0.0,-0.3907250799638289,-0.33905247142250117,3.112528261393091,-0.027794669759527303,0.03320177730535055,-0.00028747958918022673,0.7286979932740094,0.9445998760632659,3.641507973502192,0.05967273399680919,-0.04352346650427007,0.0012802176621590777,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.6923860683248793,1.7139701987153528,-2.8585369380431667,0.0411058859502123,2.202145466380807,0.965082052232777,-0.06928523458915005,-3.112528261393091,2.7892517034540165,2.7892517034540165,3.299200000002538,0,0,-0.0004850698567635244,-9.997915969973121e-05
+12187,1793077960355342332,14511488000000,1793077960350123532,DOWN_FORCE_DETACH,3,0.0666,0.06660241633653641,0.6762783178317789,-0.005068442315752417,0.09492280043055305,0.9999999053160509,-0.000156953658845179,0.00032858800279559366,0.0002195591648593602,0.6761,-0.0046,0.09445066357525228,1.0,0.0,0.0,0.0,-0.37834748003942376,-0.3544853895714579,3.1226591603228546,-0.028838689802181586,0.033213897116308476,0.0007214194524427819,0.7410755931984145,0.9291669579143091,3.6516388724319557,0.05862871395415491,-0.04351134669331214,0.0022891167037820863,1.1194230732378383,1.283652347485767,0.5289797121091011,0.08746740375633649,-0.07672524380962062,0.0015676972513393045,1,1.6913532095399022,1.7417083284863717,-2.824302813306108,0.06261238954337102,2.1850743897426494,1.0023676230020324,-0.06928523458915005,-3.1226591603228546,2.755017578716958,2.755017578716958,3.330000000002603,0,0,-0.0004997893444755583,-9.999999025923074e-05
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Fixed/digit/cylinder_PLA_15/press_depth_03/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1793077926860461719,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.155594964e-08,-9.170330328e-10,-4.314569813e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456333e-01,-1.158316367e-04,8.303255593e-01
+1,7.833333333e-01,DOWN_FORCE_DETACH,1793077927632608314,-1.218403142e-06,-7.637480424e-07,-2.487677489e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.585094501e-07,-3.009291150e-08,-1.609604727e-08,7.019544144e-01,-2.303448306e-05,8.601405996e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459802e-01,-1.158608126e-04,8.303255437e-01
+2,1.516666667e+00,DOWN_FORCE_DETACH,1793077928400550789,4.267837591e-06,-8.060998285e-07,-2.771270769e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.975840380e-07,-4.261179195e-08,-2.304554514e-08,7.019599007e-01,-2.307683485e-05,8.601403160e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027461193e-01,-1.158733315e-04,8.303255367e-01
+3,2.100000000e+00,DOWN_FORCE_DETACH,1793077929022566848,1.395876818e-05,-4.472131364e-06,-1.687715888e-05,7.716703397e-06,1.883585193e-06,-2.124658689e-05,8.310162739e-06,1.715326161e-06,-2.062787995e-05,7.019695916e-01,-2.674286639e-05,8.601262101e-01,7.019633495e-01,-2.038714983e-05,8.601218407e-01,7.027539319e-01,-1.141153935e-04,8.303049319e-01
+4,2.816666667e+00,DOWN_FORCE_DETACH,1793077929752435171,3.247400691e-05,-6.666506918e-06,-5.889572216e-05,2.840881521e-05,-7.782939788e-06,-5.319972055e-05,2.978284763e-05,-7.400231989e-06,-5.197962283e-05,7.019881068e-01,-2.893724194e-05,8.600841915e-01,7.019840416e-01,-3.005367481e-05,8.600898875e-01,7.027754045e-01,-1.232309517e-04,8.302735802e-01
+5,3.466666667e+00,DOWN_FORCE_DETACH,1793077930398043226,6.095672814e-05,-9.627120203e-06,-1.019158124e-04,6.079343507e-05,-9.687126008e-06,-1.018945098e-04,6.346399830e-05,-9.250494364e-06,-9.970258750e-05,7.020165895e-01,-3.189785523e-05,8.600411714e-01,7.020164263e-01,-3.195786103e-05,8.600411927e-01,7.028090857e-01,-1.250812140e-04,8.302258572e-01
+6,4.100000000e+00,DOWN_FORCE_DETACH,1793077931021654705,8.362398433e-05,-1.682941434e-05,-1.599274413e-04,7.627649812e-05,-1.222832987e-05,-1.434918967e-04,8.004995423e-05,-1.168553746e-05,-1.414140939e-04,7.020392568e-01,-3.910014936e-05,8.599831598e-01,7.020319093e-01,-3.449906490e-05,8.599995953e-01,7.028256717e-01,-1.275162571e-04,8.301841457e-01
+7,4.683333333e+00,DOWN_FORCE_DETACH,1793077931692045153,1.123747187e-04,-1.867168237e-05,-2.247114270e-04,1.057648454e-04,-1.697843396e-05,-2.243114971e-04,1.105554474e-04,-1.618719014e-05,-2.211202207e-04,7.020680075e-01,-4.094241740e-05,8.599183758e-01,7.020613977e-01,-3.924916898e-05,8.599187757e-01,7.028561771e-01,-1.320179098e-04,8.301044396e-01
+8,5.416666667e+00,DOWN_FORCE_DETACH,1793077932429593164,1.305831554e-04,-2.121590316e-05,-2.952481969e-04,1.272650579e-04,-1.549531346e-05,-2.816174510e-04,1.333696072e-04,-1.485305417e-05,-2.787327004e-04,7.020862160e-01,-4.348663818e-05,8.598478390e-01,7.020828979e-01,-3.776604848e-05,8.598614698e-01,7.028789913e-01,-1.306837738e-04,8.300468271e-01
+9,6.016666667e+00,DOWN_FORCE_DETACH,1793077933025850371,1.424766083e-04,-1.424842361e-05,-3.404506848e-04,1.422416765e-04,-1.399806020e-05,-3.404650692e-04,1.488142096e-04,-1.348136662e-05,-3.372421405e-04,7.020981094e-01,-3.651915863e-05,8.598026366e-01,7.020978745e-01,-3.626879522e-05,8.598026222e-01,7.028944359e-01,-1.293120863e-04,8.299883176e-01
+10,6.733333333e+00,DOWN_FORCE_DETACH,1793077933740568991,1.491747441e-04,-1.842949840e-05,-3.833924552e-04,1.462602251e-04,-2.213728331e-05,-3.826238094e-04,1.532401625e-04,-2.116489110e-05,-3.801145134e-04,7.021048076e-01,-4.070023343e-05,8.597596948e-01,7.021018930e-01,-4.440801834e-05,8.597604634e-01,7.028988619e-01,-1.369956108e-04,8.299454453e-01
+11,7.450000000e+00,DOWN_FORCE_DETACH,1793077934444198638,1.499548570e-04,-1.714546222e-05,-4.140435753e-04,1.481079731e-04,-2.110178830e-05,-4.027797540e-04,1.552840369e-04,-2.019763983e-05,-4.010998406e-04,7.021055877e-01,-3.941619724e-05,8.597290437e-01,7.021037408e-01,-4.337252333e-05,8.597403075e-01,7.029009057e-01,-1.360283595e-04,8.299244599e-01
+12,8.316666667e+00,DOWN_FORCE_DETACH,1793077935361662040,1.459041627e-04,-1.990790600e-05,-4.338031502e-04,1.480716564e-04,-2.187613960e-05,-4.243218493e-04,1.551017992e-04,-2.092107874e-05,-4.232110986e-04,7.021015370e-01,-4.217864102e-05,8.597092841e-01,7.021037045e-01,-4.414687463e-05,8.597187654e-01,7.029007235e-01,-1.367517984e-04,8.299023487e-01
+13,9.050000000e+00,DOWN_FORCE_DETACH,1793077936116333871,1.431997497e-04,-2.423114105e-05,-4.441074951e-04,1.431405178e-04,-2.675826537e-05,-4.444684996e-04,1.498901549e-04,-2.554731582e-05,-4.431411507e-04,7.020988326e-01,-4.650187607e-05,8.596989797e-01,7.020987733e-01,-4.902900039e-05,8.596986187e-01,7.028955119e-01,-1.413780355e-04,8.298824186e-01
+14,9.633333333e+00,DOWN_FORCE_DETACH,1793077936688342168,1.441275026e-04,-2.062571468e-05,-4.538622399e-04,1.431405178e-04,-2.675826537e-05,-4.444684996e-04,1.497589718e-04,-2.554412615e-05,-4.437893008e-04,7.020997603e-01,-4.289644970e-05,8.596892250e-01,7.020987733e-01,-4.902900039e-05,8.596986187e-01,7.028953807e-01,-1.413748458e-04,8.298817705e-01
+15,1.033333333e+01,DOWN_FORCE_DETACH,1793077937392889620,1.498459163e-04,-2.184889807e-05,-4.780102056e-04,1.458537604e-04,-2.058355323e-05,-4.655726281e-04,1.523274329e-04,-1.974352595e-05,-4.647656896e-04,7.021054787e-01,-4.411963309e-05,8.596650770e-01,7.021014866e-01,-4.285428826e-05,8.596775146e-01,7.028979491e-01,-1.355742456e-04,8.298607941e-01
+16,1.113333333e+01,DOWN_FORCE_DETACH,1793077938195930991,1.573483573e-04,-2.665480962e-05,-5.150929357e-04,1.539348191e-04,-2.359340266e-05,-5.051960265e-04,1.604291075e-04,-2.255603605e-05,-5.039030365e-04,7.021129812e-01,-4.892554465e-05,8.596279943e-01,7.021095676e-01,-4.586413768e-05,8.596378912e-01,7.029060508e-01,-1.383867557e-04,8.298216567e-01
+17,1.190000000e+01,DOWN_FORCE_DETACH,1793077938948658124,1.641559579e-04,-2.411520885e-05,-5.521923177e-04,1.644408172e-04,-3.023071358e-05,-5.440258973e-04,1.710772062e-04,-2.883785347e-05,-5.423685859e-04,7.021197888e-01,-4.638594387e-05,8.595908949e-01,7.021200736e-01,-5.250144860e-05,8.595990613e-01,7.029166989e-01,-1.446685731e-04,8.297831912e-01
+18,1.273333333e+01,DOWN_FORCE_DETACH,1793077939767977945,1.702118430e-04,-2.738659028e-05,-5.869246274e-04,1.709394333e-04,-2.741849463e-05,-5.847342972e-04,1.775860572e-04,-2.619383308e-05,-5.829209354e-04,7.021258447e-01,-4.965732530e-05,8.595561626e-01,7.021265723e-01,-4.968922965e-05,8.595583529e-01,7.029232078e-01,-1.420245527e-04,8.297426388e-01
+19,1.356666667e+01,DOWN_FORCE_DETACH,1793077940602833293,1.755137545e-04,-2.922661931e-05,-6.232531951e-04,1.700445101e-04,-2.682030628e-05,-6.056857777e-04,1.765878136e-04,-2.562079572e-05,-6.044965971e-04,7.021311466e-01,-5.149735433e-05,8.595198340e-01,7.021256773e-01,-4.909104130e-05,8.595374015e-01,7.029222095e-01,-1.414515154e-04,8.297210632e-01
+20,1.436666667e+01,DOWN_FORCE_DETACH,1793077941421983994,1.810995454e-04,-3.163909428e-05,-6.788180724e-04,1.812087917e-04,-3.417038301e-05,-6.726163917e-04,1.875929537e-04,-3.258429910e-05,-6.704395516e-04,7.021367324e-01,-5.390982930e-05,8.594642692e-01,7.021368416e-01,-5.644111803e-05,8.594704708e-01,7.029332147e-01,-1.484150188e-04,8.296551202e-01
+21,1.506666667e+01,DOWN_FORCE_DETACH,1793077942175532397,1.914686828e-04,-3.290503900e-05,-7.304780215e-04,1.878186114e-04,-3.202674292e-05,-7.151743138e-04,1.942034418e-04,-3.056128284e-05,-7.131118859e-04,7.021471015e-01,-5.517577403e-05,8.594126092e-01,7.021434514e-01,-5.429747795e-05,8.594279129e-01,7.029398251e-01,-1.463920025e-04,8.296124479e-01
+22,1.580000000e+01,DOWN_FORCE_DETACH,1793077942912922456,1.977919605e-04,-4.121641141e-05,-7.852177264e-04,1.953765105e-04,-3.678132888e-05,-7.753299205e-04,2.017085891e-04,-3.505975037e-05,-7.729797427e-04,7.021534248e-01,-6.348714643e-05,8.593578695e-01,7.021510093e-01,-5.905206391e-05,8.593677573e-01,7.029473303e-01,-1.508904700e-04,8.295525800e-01
+23,1.651666667e+01,DOWN_FORCE_DETACH,1793077943736413221,2.039064117e-04,-3.764019979e-05,-8.492980997e-04,2.028954777e-04,-3.835311358e-05,-8.397201572e-04,2.089403682e-04,-3.655106040e-05,-8.369730222e-04,7.021595392e-01,-5.991093482e-05,8.592937891e-01,7.021585283e-01,-6.062384860e-05,8.593033671e-01,7.029545621e-01,-1.523817801e-04,8.294885868e-01
+24,1.721666667e+01,DOWN_FORCE_DETACH,1793077944435412983,2.090034618e-04,-4.015135199e-05,-9.099068543e-04,2.085460441e-04,-4.111637394e-05,-9.014994311e-04,2.143580041e-04,-3.918227036e-05,-8.986803608e-04,7.021646363e-01,-6.242208702e-05,8.592331804e-01,7.021641789e-01,-6.338710897e-05,8.592415878e-01,7.029599797e-01,-1.550129900e-04,8.294268794e-01
+25,1.795000000e+01,DOWN_FORCE_DETACH,1793077945156964868,2.146409414e-04,-4.040246724e-05,-9.849066293e-04,2.086038682e-04,-4.545708653e-05,-9.712565929e-04,2.138237377e-04,-4.327411174e-05,-9.682792692e-04,7.021702738e-01,-6.267320226e-05,8.591581806e-01,7.021642367e-01,-6.772782155e-05,8.591718306e-01,7.029594454e-01,-1.591048314e-04,8.293572805e-01
+26,1.856666667e+01,DOWN_FORCE_DETACH,1793077945778561704,2.200334033e-04,-4.542725229e-05,-1.047791557e-03,2.153723585e-04,-4.314718651e-05,-1.033207182e-03,2.202589466e-04,-4.111906591e-05,-1.030266727e-03,7.021756662e-01,-6.769798731e-05,8.590952957e-01,7.021710052e-01,-6.541792153e-05,8.591098801e-01,7.029658806e-01,-1.569497856e-04,8.292952930e-01
+27,1.920000000e+01,DOWN_FORCE_DETACH,1793077946401504625,2.264416981e-04,-4.227614367e-05,-1.119582663e-03,2.253845437e-04,-4.688474563e-05,-1.112675989e-03,2.299898154e-04,-4.467955513e-05,-1.109060180e-03,7.021820745e-01,-6.454687869e-05,8.590235046e-01,7.021810174e-01,-6.915548065e-05,8.590304112e-01,7.029756115e-01,-1.605102748e-04,8.292164996e-01
+28,1.993333333e+01,DOWN_FORCE_DETACH,1793077947138615781,2.312750536e-04,-4.870381512e-05,-1.212952895e-03,2.305244749e-04,-4.840824171e-05,-1.199402546e-03,2.345613801e-04,-4.618562281e-05,-1.195782331e-03,7.021869079e-01,-7.097455014e-05,8.589301343e-01,7.021861573e-01,-7.067897673e-05,8.589436847e-01,7.029801831e-01,-1.620163425e-04,8.291297774e-01
+29,2.061666667e+01,DOWN_FORCE_DETACH,1793077947826397288,2.385871153e-04,-5.135948440e-05,-1.303564371e-03,2.338297343e-04,-5.293343688e-05,-1.287513826e-03,2.371659882e-04,-5.043447833e-05,-1.283791089e-03,7.021942199e-01,-7.363021943e-05,8.588395229e-01,7.021894626e-01,-7.520417190e-05,8.588555734e-01,7.029827877e-01,-1.662651980e-04,8.290417687e-01
+30,2.125000000e+01,DOWN_FORCE_DETACH,1793077948448402867,2.419377542e-04,-5.511083188e-05,-1.398191282e-03,2.415614111e-04,-5.669137226e-05,-1.391943640e-03,2.441799464e-04,-5.398937316e-05,-1.387397165e-03,7.021975706e-01,-7.738156691e-05,8.587448960e-01,7.021971942e-01,-7.896210728e-05,8.587511436e-01,7.029898016e-01,-1.698200928e-04,8.289381626e-01
+31,2.183333333e+01,DOWN_FORCE_DETACH,1793077949021837014,2.464330386e-04,-5.886217125e-05,-1.488509178e-03,2.464032900e-04,-5.928716656e-05,-1.481595394e-03,2.483201196e-04,-5.643915964e-05,-1.476866680e-03,7.022020659e-01,-8.113290627e-05,8.586545781e-01,7.022020361e-01,-8.155790158e-05,8.586614918e-01,7.029939418e-01,-1.722698793e-04,8.288486931e-01
+32,2.253333333e+01,DOWN_FORCE_DETACH,1793077949726622446,2.503596071e-04,-6.075527454e-05,-1.607180762e-03,2.518441701e-04,-6.220896264e-05,-1.590457068e-03,2.529000149e-04,-5.919108916e-05,-1.585710665e-03,7.022059924e-01,-8.302600956e-05,8.585359065e-01,7.022074770e-01,-8.447969766e-05,8.585526302e-01,7.029985217e-01,-1.750218088e-04,8.287398491e-01
+33,2.320000000e+01,DOWN_FORCE_DETACH,1793077950382680907,2.598044800e-04,-6.352883475e-05,-1.717141601e-03,2.595109312e-04,-6.355158965e-05,-1.717083462e-03,2.595420827e-04,-6.049716468e-05,-1.711536322e-03,7.022154373e-01,-8.579956977e-05,8.584259456e-01,7.022151437e-01,-8.582232467e-05,8.584260038e-01,7.030051638e-01,-1.763278844e-04,8.286140235e-01
+34,2.373333333e+01,DOWN_FORCE_DETACH,1793077950906536426,2.663613616e-04,-6.401698539e-05,-1.813401494e-03,2.636602719e-04,-7.008714552e-05,-1.808469167e-03,2.629141371e-04,-6.666292023e-05,-1.803063697e-03,7.022219942e-01,-8.628772041e-05,8.583296857e-01,7.022192931e-01,-9.235788054e-05,8.583346181e-01,7.030085358e-01,-1.824936399e-04,8.285224961e-01
+35,2.426666667e+01,DOWN_FORCE_DETACH,1793077951429768998,2.698748911e-04,-7.326229358e-05,-1.921666010e-03,2.668692728e-04,-7.418638450e-05,-1.913348730e-03,2.651654968e-04,-7.056480489e-05,-1.907787421e-03,7.022255077e-01,-9.553302860e-05,8.582214212e-01,7.022225021e-01,-9.645711952e-05,8.582297385e-01,7.030107872e-01,-1.863955246e-04,8.284177724e-01
+36,2.476666667e+01,DOWN_FORCE_DETACH,1793077951921322846,2.734784551e-04,-7.578721045e-05,-2.028003723e-03,2.732776709e-04,-7.599218410e-05,-2.028049356e-03,2.705726792e-04,-7.224390643e-05,-2.021637515e-03,7.022291113e-01,-9.805794548e-05,8.581150835e-01,7.022289105e-01,-9.826291912e-05,8.581150379e-01,7.030161944e-01,-1.880746261e-04,8.283039223e-01
+37,2.533333333e+01,DOWN_FORCE_DETACH,1793077952495202049,2.779456408e-04,-8.298810565e-05,-2.157054548e-03,2.775252572e-04,-7.834905846e-05,-2.155954279e-03,2.735977872e-04,-7.449818555e-05,-2.149314444e-03,7.022335785e-01,-1.052588407e-04,8.579860327e-01,7.022331581e-01,-1.006197935e-04,8.579871330e-01,7.030192195e-01,-1.903289052e-04,8.281762453e-01
+38,2.583333333e+01,DOWN_FORCE_DETACH,1793077953003609572,2.831294981e-04,-8.139920808e-05,-2.278290778e-03,2.839683951e-04,-8.265323593e-05,-2.263254930e-03,2.791125024e-04,-7.854240965e-05,-2.256752324e-03,7.022387623e-01,-1.036699431e-04,8.578647965e-01,7.022396012e-01,-1.049239710e-04,8.578798323e-01,7.030247342e-01,-1.943731293e-04,8.280688074e-01
+39,2.636666667e+01,DOWN_FORCE_DETACH,1793077953542691023,2.897578200e-04,-8.611494760e-05,-2.411626945e-03,2.894695274e-04,-8.490817864e-05,-2.399681393e-03,2.833498111e-04,-8.071523358e-05,-2.392848014e-03,7.022453906e-01,-1.083856826e-04,8.577314603e-01,7.022451023e-01,-1.071789137e-04,8.577434058e-01,7.030289715e-01,-1.965459532e-04,8.279327118e-01
+40,2.683333333e+01,DOWN_FORCE_DETACH,1793077954017863325,2.926244733e-04,-8.956450120e-05,-2.540588927e-03,2.904390101e-04,-9.521163753e-05,-2.527311096e-03,2.829807848e-04,-9.045150485e-05,-2.520161405e-03,7.022482573e-01,-1.118352362e-04,8.576024983e-01,7.022460718e-01,-1.174823726e-04,8.576157761e-01,7.030286025e-01,-2.062822245e-04,8.278053984e-01
+41,2.731666667e+01,DOWN_FORCE_DETACH,1793077954492894660,2.957437426e-04,-8.782229009e-05,-2.665416176e-03,2.920766631e-04,-9.442502603e-05,-2.657260357e-03,2.833629269e-04,-8.970274984e-05,-2.649918426e-03,7.022513766e-01,-1.100930251e-04,8.574776711e-01,7.022477095e-01,-1.166957611e-04,8.574858269e-01,7.030289846e-01,-2.055334695e-04,8.276756413e-01
+42,2.781666667e+01,DOWN_FORCE_DETACH,1793077954984613924,3.004638568e-04,-9.447116855e-05,-2.796508883e-03,2.976021952e-04,-9.939121341e-05,-2.789210529e-03,2.876380648e-04,-9.437349675e-05,-2.781744258e-03,7.022560967e-01,-1.167419036e-04,8.573465784e-01,7.022532350e-01,-1.216619484e-04,8.573538767e-01,7.030332598e-01,-2.102042164e-04,8.275438155e-01
+43,2.823333333e+01,DOWN_FORCE_DETACH,1793077955393380653,3.060088441e-04,-9.694481434e-05,-2.918517791e-03,3.033696423e-04,-1.053120100e-04,-2.901469141e-03,2.924554305e-04,-9.996157876e-05,-2.894040469e-03,7.022616417e-01,-1.192155494e-04,8.572245694e-01,7.022590025e-01,-1.275827450e-04,8.572416181e-01,7.030380771e-01,-2.157922984e-04,8.274315193e-01
+44,2.871666667e+01,DOWN_FORCE_DETACH,1793077955868365627,3.116726472e-04,-1.061411143e-04,-3.058265188e-03,3.098432883e-04,-1.032031057e-04,-3.056206955e-03,2.975792174e-04,-9.802310919e-05,-3.047911678e-03,7.022673055e-01,-1.284118494e-04,8.570848221e-01,7.022654761e-01,-1.254738407e-04,8.570868803e-01,7.030432009e-01,-2.138538289e-04,8.272776481e-01
+45,2.918333333e+01,DOWN_FORCE_DETACH,1793077956327251552,3.162028959e-04,-1.088179487e-04,-3.207230627e-03,3.138379189e-04,-1.063276159e-04,-3.190375543e-03,3.003347003e-04,-1.009793582e-04,-3.182241558e-03,7.022718357e-01,-1.310886837e-04,8.569358566e-01,7.022694707e-01,-1.285983509e-04,8.569527117e-01,7.030459564e-01,-2.168100779e-04,8.271433182e-01
+46,2.963333333e+01,DOWN_FORCE_DETACH,1793077956769941076,3.194103426e-04,-1.083291903e-04,-3.351501132e-03,3.193293255e-04,-1.084264154e-04,-3.351742053e-03,3.043334543e-04,-1.029292701e-04,-3.342710406e-03,7.022750432e-01,-1.305999253e-04,8.567915861e-01,7.022749621e-01,-1.306971504e-04,8.567913452e-01,7.030499552e-01,-2.187599898e-04,8.269828494e-01
+47,3.005000000e+01,DOWN_FORCE_DETACH,1793077957179069215,3.212762523e-04,-1.176435805e-04,-3.498104975e-03,3.209918233e-04,-1.121750794e-04,-3.491116065e-03,3.045635564e-04,-1.065568535e-04,-3.481939449e-03,7.022769091e-01,-1.399143155e-04,8.566449823e-01,7.022766246e-01,-1.344458144e-04,8.566519712e-01,7.030501853e-01,-2.223875731e-04,8.268436203e-01
+48,3.043333333e+01,DOWN_FORCE_DETACH,1793077957555766539,3.269881897e-04,-1.137418462e-04,-3.631471788e-03,3.245775249e-04,-1.152312924e-04,-3.628629328e-03,3.067607272e-04,-1.094845290e-04,-3.619148940e-03,7.022826210e-01,-1.360125813e-04,8.565116155e-01,7.022802103e-01,-1.375020274e-04,8.565144579e-01,7.030523824e-01,-2.253152486e-04,8.267064108e-01
+49,3.083333333e+01,DOWN_FORCE_DETACH,1793077957949062937,3.308288572e-04,-1.134063605e-04,-3.780555796e-03,3.314391347e-04,-1.191466749e-04,-3.771306512e-03,3.122929336e-04,-1.131949098e-04,-3.761745108e-03,7.022864617e-01,-1.356770955e-04,8.563625314e-01,7.022870720e-01,-1.414174100e-04,8.563717807e-01,7.030579146e-01,-2.290256294e-04,8.265638147e-01
+50,3.115000000e+01,DOWN_FORCE_DETACH,1793077958309998130,3.375581582e-04,-1.210929411e-04,-3.915676581e-03,3.374726366e-04,-1.207592710e-04,-3.915303933e-03,3.170482152e-04,-1.146940126e-04,-3.904577290e-03,7.022931910e-01,-1.433636762e-04,8.562274107e-01,7.022931055e-01,-1.430300060e-04,8.562277833e-01,7.030626699e-01,-2.305247323e-04,8.264209825e-01
+51,3.151666667e+01,DOWN_FORCE_DETACH,1793077958686063840,3.346524195e-04,-1.199932459e-04,-4.066391278e-03,3.374438690e-04,-1.234912849e-04,-4.051108981e-03,3.155170451e-04,-1.172924539e-04,-4.040762645e-03,7.022902852e-01,-1.422639809e-04,8.560766960e-01,7.022930767e-01,-1.457620199e-04,8.560919783e-01,7.030611387e-01,-2.331231735e-04,8.262847971e-01
+52,3.186666667e+01,DOWN_FORCE_DETACH,1793077959030266841,3.360654066e-04,-1.226388221e-04,-4.209468097e-03,3.355783551e-04,-1.229243774e-04,-4.209661099e-03,3.118081643e-04,-1.167360939e-04,-4.198617939e-03,7.022916982e-01,-1.449095571e-04,8.559336191e-01,7.022912112e-01,-1.451951125e-04,8.559334261e-01,7.030574299e-01,-2.325668135e-04,8.261269418e-01
+53,3.221666667e+01,DOWN_FORCE_DETACH,1793077959373940198,3.510466535e-04,-1.216368874e-04,-4.350735318e-03,3.507540311e-04,-1.211937621e-04,-4.350369961e-03,3.256674023e-04,-1.151024228e-04,-4.339469292e-03,7.023066795e-01,-1.439076224e-04,8.557923519e-01,7.023063868e-01,-1.434644971e-04,8.557927173e-01,7.030712891e-01,-2.309331425e-04,8.259860905e-01
+54,3.256666667e+01,DOWN_FORCE_DETACH,1793077959717850076,3.564932258e-04,-1.290886799e-04,-4.500067130e-03,3.552602169e-04,-1.263612151e-04,-4.495032247e-03,3.291843744e-04,-1.200190277e-04,-4.484030876e-03,7.023121260e-01,-1.513594149e-04,8.556430201e-01,7.023108930e-01,-1.486319501e-04,8.556480550e-01,7.030748061e-01,-2.358497474e-04,8.258415289e-01
+55,3.288333333e+01,DOWN_FORCE_DETACH,1793077960045409342,3.549939703e-04,-1.279509856e-04,-4.659011307e-03,3.560211999e-04,-1.313396080e-04,-4.647656477e-03,3.284789852e-04,-1.247002133e-04,-4.636061670e-03,7.023106268e-01,-1.502217206e-04,8.554840759e-01,7.023116540e-01,-1.536103430e-04,8.554954308e-01,7.030741007e-01,-2.405309329e-04,8.256894981e-01
+56,3.320000000e+01,DOWN_FORCE_DETACH,1793077960356754314,3.579715899e-04,-1.288405748e-04,-4.810071907e-03,3.579945632e-04,-1.290203789e-04,-4.810058216e-03,3.287239736e-04,-1.225211986e-04,-4.797855546e-03,7.023136044e-01,-1.511113099e-04,8.553330153e-01,7.023136274e-01,-1.512911140e-04,8.553330290e-01,7.030743457e-01,-2.383519183e-04,8.255277042e-01
+57,3.350000000e+01,DOWN_FORCE_DETACH,1793077960651632207,3.587478608e-04,-1.283134831e-04,-4.959653751e-03,3.552719803e-04,-1.328235912e-04,-4.956200664e-03,3.242874320e-04,-1.261326048e-04,-4.943949227e-03,7.023143807e-01,-1.505842181e-04,8.551834335e-01,7.023109048e-01,-1.550943262e-04,8.551868866e-01,7.030699091e-01,-2.419633245e-04,8.253816105e-01
+58,3.386666667e+01,DOWN_SETTLE,1793077961012037882,3.473164468e-04,-1.283933844e-04,-5.101628155e-03,3.485686380e-04,-1.289090402e-04,-5.099508705e-03,3.156619625e-04,-1.224801640e-04,-5.088286354e-03,7.023029493e-01,-1.506641195e-04,8.550414591e-01,7.023042015e-01,-1.511797752e-04,8.550435785e-01,7.030612837e-01,-2.383108836e-04,8.252372734e-01
+59,3.450000000e+01,DOWN_PEAK_HOLD,1793077961651046025,3.243945073e-04,-1.289527688e-04,-5.170651691e-03,3.269445473e-04,-1.265598559e-04,-5.162667912e-03,2.919214347e-04,-1.202274373e-04,-5.156061701e-03,7.022800273e-01,-1.512235038e-04,8.549724355e-01,7.022825774e-01,-1.488305909e-04,8.549804193e-01,7.030375431e-01,-2.360581569e-04,8.251694981e-01

Fixed/digit/cylinder_PLA_15/press_depth_03/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.8093e-01,5.8490e-01,2.4554e+00,-7.9578e-02,4.9866e-02,1.1870e-03,5.5499e-04,-3.9220e-05,-5.1975e-05,3.3006e-06,3.5517e-05,-3.6974e-07,5.5880e-04,3.5672e-05
+1,7.8333e-01,DOWN_FORCE_DETACH,1.6681e-04,2.4449e-01,5.8035e-01,2.4526e+00,-7.9222e-02,5.4422e-02,7.9001e-04,6.4117e-02,-4.5860e-03,-2.9364e-03,3.5834e-04,4.5910e-03,-3.9740e-04,6.4348e-02,4.6220e-03
+2,1.5167e+00,DOWN_FORCE_DETACH,3.3244e-04,2.6979e-01,5.7851e-01,2.4513e+00,-7.9067e-02,5.6245e-02,6.1462e-04,8.9414e-02,-6.4263e-03,-4.1866e-03,5.1396e-04,6.4149e-03,-5.7279e-04,8.9743e-02,6.4609e-03
+3,2.1000e+00,DOWN_FORCE_DETACH,4.9774e-04,2.2389e-01,5.4971e-01,2.5734e+00,-7.6875e-02,5.2708e-02,5.4949e-04,4.3515e-02,-3.5228e-02,1.1792e-01,2.7054e-03,2.8770e-03,-6.3792e-04,1.3054e-01,4.0004e-03
+4,2.8167e+00,DOWN_FORCE_DETACH,6.6699e-04,1.4837e-01,6.7382e-01,2.6767e+00,-8.5575e-02,4.7297e-02,6.6109e-04,-3.2006e-02,8.8885e-02,2.2119e-01,-5.9944e-03,-2.5340e-03,-5.2632e-04,2.4052e-01,6.5292e-03
+5,3.4667e+00,DOWN_FORCE_DETACH,8.3349e-04,8.5763e-02,7.1446e-01,2.6618e+00,-8.8389e-02,4.2345e-02,8.0395e-04,-9.4609e-02,1.2953e-01,2.0631e-01,-8.8078e-03,-7.4860e-03,-3.8345e-04,2.6133e-01,1.1566e-02
+6,4.1000e+00,DOWN_FORCE_DETACH,1.0006e-03,6.4508e-02,7.1584e-01,2.8518e+00,-8.8234e-02,4.1000e-02,8.3606e-04,-1.1586e-01,1.3091e-01,3.9634e-01,-8.6534e-03,-8.8305e-03,-3.5135e-04,4.3318e-01,1.2369e-02
+7,4.6833e+00,DOWN_FORCE_DETACH,1.1671e-03,3.9625e-02,7.7282e-01,3.0098e+00,-9.1814e-02,3.9272e-02,8.5795e-04,-1.4075e-01,1.8789e-01,5.5430e-01,-1.2233e-02,-1.0559e-02,-3.2946e-04,6.0197e-01,1.6163e-02
+8,5.4167e+00,DOWN_FORCE_DETACH,1.3347e-03,5.8411e-02,7.7143e-01,3.0038e+00,-9.1601e-02,4.0395e-02,8.7787e-04,-1.2196e-01,1.8650e-01,5.4831e-01,-1.2020e-02,-9.4354e-03,-3.0954e-04,5.9186e-01,1.5284e-02
+9,6.0167e+00,DOWN_FORCE_DETACH,1.5023e-03,1.5436e-01,7.9997e-01,2.8775e+00,-9.3368e-02,4.6924e-02,8.6528e-04,-2.6015e-02,2.1503e-01,4.2204e-01,-1.3787e-02,-2.9061e-03,-3.2212e-04,4.7437e-01,1.4094e-02
+10,6.7333e+00,DOWN_FORCE_DETACH,1.6700e-03,1.8270e-01,8.3107e-01,2.9330e+00,-9.5573e-02,4.9508e-02,7.7958e-04,2.3255e-03,2.4614e-01,4.7753e-01,-1.5992e-02,-3.2287e-04,-4.0783e-04,5.3723e-01,1.6000e-02
+11,7.4500e+00,DOWN_FORCE_DETACH,1.8342e-03,2.4233e-01,8.1198e-01,2.7384e+00,-9.4535e-02,5.3743e-02,6.7464e-04,6.1958e-02,2.2704e-01,2.8293e-01,-1.4955e-02,3.9125e-03,-5.1277e-04,3.6802e-01,1.5466e-02
+12,8.3167e+00,DOWN_FORCE_DETACH,2.0002e-03,2.8158e-01,8.2058e-01,2.6419e+00,-9.5436e-02,5.6804e-02,4.4856e-04,1.0121e-01,2.3564e-01,1.8636e-01,-1.5856e-02,6.9730e-03,-7.3885e-04,3.1702e-01,1.7337e-02
+13,9.0500e+00,DOWN_FORCE_DETACH,2.1702e-03,3.4176e-01,8.8967e-01,2.6811e+00,-1.0033e-01,6.0984e-02,2.8086e-04,1.6139e-01,3.0473e-01,2.2556e-01,-2.0747e-02,1.1154e-02,-9.0655e-04,4.1205e-01,2.3572e-02
+14,9.6333e+00,DOWN_FORCE_DETACH,2.3363e-03,3.1700e-01,8.8889e-01,2.5509e+00,-1.0070e-01,5.9513e-02,2.3443e-04,1.3663e-01,3.0396e-01,9.5437e-02,-2.1119e-02,9.6820e-03,-9.5298e-04,3.4665e-01,2.3252e-02
+15,1.0333e+01,DOWN_FORCE_DETACH,2.5010e-03,2.9336e-01,8.0373e-01,2.5927e+00,-9.4584e-02,5.7708e-02,1.6705e-04,1.1298e-01,2.1880e-01,1.3724e-01,-1.5003e-02,7.8777e-03,-1.0204e-03,2.8191e-01,1.6976e-02
+16,1.1133e+01,DOWN_FORCE_DETACH,2.6702e-03,2.6752e-01,8.4668e-01,2.6775e+00,-9.7583e-02,5.5745e-02,2.5034e-04,8.7148e-02,2.6174e-01,2.2201e-01,-1.8002e-02,5.9147e-03,-9.3707e-04,3.5411e-01,1.8972e-02
+17,1.1900e+01,DOWN_FORCE_DETACH,2.8339e-03,2.4045e-01,9.2988e-01,2.7529e+00,-1.0309e-01,5.3811e-02,3.2515e-04,6.0081e-02,3.4494e-01,2.9743e-01,-2.3509e-02,3.9809e-03,-8.6225e-04,4.5941e-01,2.3859e-02
+18,1.2733e+01,DOWN_FORCE_DETACH,3.0029e-03,2.4006e-01,8.8904e-01,2.7703e+00,-9.9826e-02,5.3818e-02,3.4374e-04,5.9690e-02,3.0411e-01,3.1485e-01,-2.0245e-02,3.9874e-03,-8.4367e-04,4.4179e-01,2.0652e-02
+19,1.3567e+01,DOWN_FORCE_DETACH,3.1706e-03,2.8294e-01,8.8029e-01,2.6523e+00,-9.9472e-02,5.6754e-02,3.6164e-04,1.0257e-01,2.9535e-01,1.9676e-01,-1.9891e-02,6.9233e-03,-8.2577e-04,3.6942e-01,2.1078e-02
+20,1.4367e+01,DOWN_FORCE_DETACH,3.3365e-03,2.4739e-01,9.7713e-01,2.8403e+00,-1.0590e-01,5.4162e-02,3.8143e-04,6.7020e-02,3.9220e-01,3.8479e-01,-2.6315e-02,4.3319e-03,-8.0598e-04,5.5351e-01,2.6681e-02
+21,1.5067e+01,DOWN_FORCE_DETACH,3.5046e-03,2.4698e-01,9.5134e-01,2.8315e+00,-1.0406e-01,5.3979e-02,3.8725e-04,6.6610e-02,3.6640e-01,3.7599e-01,-2.4477e-02,4.1483e-03,-8.0016e-04,5.2920e-01,2.4839e-02
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Fixed/digit/cylinder_PLA_15/press_depth_03/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_15/press_depth_03/up/franka_data.csv

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Fixed/digit/cylinder_PLA_15/press_depth_03/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+6,6.833333333e-01,WAIT_W2,1793077916590580363,9.983513916e-07,2.871473434e-06,2.094660234e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.294872604e-07,-2.757301926e-08,-1.463241994e-08,7.019566312e-01,-1.939926159e-05,8.601451819e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459512e-01,-1.158582927e-04,8.303255451e-01
+7,8.500000000e-01,WAIT_W2,1793077916754267504,-1.377532950e-06,1.338452675e-06,-1.379674504e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.762458917e-07,-3.165841833e-08,-1.698001340e-08,7.019542553e-01,-2.093228235e-05,8.601417076e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459979e-01,-1.158623781e-04,8.303255428e-01
+8,9.833333333e-01,WAIT_W2,1793077916885455474,-8.082119449e-07,-8.587130482e-06,1.524508477e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.079526351e-07,-3.447244028e-08,-1.857454968e-08,7.019548246e-01,-3.085786550e-05,8.601446117e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027460296e-01,-1.158651921e-04,8.303255412e-01
+9,1.000000000e+00,WAIT_W2,1793077916901230124,-3.149886999e-07,-2.825976475e-05,-5.586889629e-08,-2.470749925e-07,-2.823756775e-05,5.838553119e-08,1.448165312e-07,-2.648045744e-05,3.445479757e-08,7.019553178e-01,-5.053049977e-05,8.601430314e-01,7.019553857e-01,-5.050830277e-05,8.601431456e-01,7.027457665e-01,-1.423111771e-04,8.303255942e-01
+10,1.016666667e+00,WAIT_W2,1793077916918074607,4.219710646e-07,-6.018708909e-05,3.637691523e-06,3.295452881e-07,-5.993981778e-05,3.644288222e-06,8.203342817e-07,-5.621971508e-05,3.454715529e-06,7.019560548e-01,-8.245782411e-05,8.601467249e-01,7.019559624e-01,-8.221055280e-05,8.601467315e-01,7.027464420e-01,-1.720504347e-04,8.303290145e-01
+11,1.033333333e+00,WAIT_W2,1793077916934959266,-1.209865496e-06,-1.059849071e-04,5.634034388e-06,-1.118243860e-06,-1.058137234e-04,5.782740871e-06,-6.127119773e-07,-9.919190342e-05,5.502006900e-06,7.019544230e-01,-1.282556421e-04,8.601487213e-01,7.019545146e-01,-1.280844584e-04,8.601488700e-01,7.027450090e-01,-2.150226231e-04,8.303310618e-01
+12,1.033333333e+00,WAIT_W2,1793077916934959266,-1.209865496e-06,-1.059849071e-04,5.634034388e-06,-1.118243860e-06,-1.058137234e-04,5.782740871e-06,-6.127119773e-07,-9.919190342e-05,5.502006900e-06,7.019544230e-01,-1.282556421e-04,8.601487213e-01,7.019545146e-01,-1.280844584e-04,8.601488700e-01,7.027450090e-01,-2.150226231e-04,8.303310618e-01
+13,1.050000000e+00,WAIT_W2,1793077916951427639,5.509643840e-07,-1.500896516e-04,5.642469189e-06,5.764438967e-07,-1.502987961e-04,5.378310896e-06,1.127667685e-06,-1.409763234e-04,5.115566529e-06,7.019561838e-01,-1.723603867e-04,8.601487297e-01,7.019562093e-01,-1.725695311e-04,8.601484656e-01,7.027467494e-01,-2.568070430e-04,8.303306753e-01
+14,1.066666667e+00,WAIT_W2,1793077916967151894,-2.669248695e-07,-1.960179274e-04,6.186072785e-06,-5.401447435e-07,-1.959173597e-04,5.969631876e-06,2.144453837e-08,-1.838347463e-04,5.679467890e-06,7.019553659e-01,-2.182886624e-04,8.601492733e-01,7.019550927e-01,-2.181880948e-04,8.601490569e-01,7.027456431e-01,-2.996654659e-04,8.303312392e-01
+15,1.066666667e+00,WAIT_W2,1793077916967151894,-2.669248695e-07,-1.960179274e-04,6.186072785e-06,-5.401447435e-07,-1.959173597e-04,5.969631876e-06,2.144453837e-08,-1.838347463e-04,5.679467890e-06,7.019553659e-01,-2.182886624e-04,8.601492733e-01,7.019550927e-01,-2.181880948e-04,8.601490569e-01,7.027456431e-01,-2.996654659e-04,8.303312392e-01
+16,1.083333333e+00,WAIT_W2,1793077916983956634,1.042618163e-06,-2.616522541e-04,1.150265791e-05,1.286359330e-06,-2.614591804e-04,1.153303582e-05,2.043699413e-06,-2.454309637e-04,1.098767370e-05,7.019566754e-01,-2.839229891e-04,8.601545899e-01,7.019569192e-01,-2.837299154e-04,8.601546203e-01,7.027476654e-01,-3.612616833e-04,8.303365474e-01
+17,1.083333333e+00,WAIT_W2,1793077916983956634,1.042618163e-06,-2.616522541e-04,1.150265791e-05,1.286359330e-06,-2.614591804e-04,1.153303582e-05,2.043699413e-06,-2.454309637e-04,1.098767370e-05,7.019566754e-01,-2.839229891e-04,8.601545899e-01,7.019569192e-01,-2.837299154e-04,8.601546203e-01,7.027476654e-01,-3.612616833e-04,8.303365474e-01
+18,1.100000000e+00,WAIT_W2,1793077917000054847,5.856918792e-07,-3.179508985e-04,1.257227256e-05,6.312437953e-07,-3.180264114e-04,1.320051544e-05,1.394478141e-06,-2.987112293e-04,1.262044646e-05,7.019562185e-01,-3.402216336e-04,8.601556595e-01,7.019562641e-01,-3.402971464e-04,8.601562878e-01,7.027470162e-01,-4.145419489e-04,8.303381802e-01
+19,1.100000000e+00,WAIT_W2,1793077917000054847,5.856918792e-07,-3.179508985e-04,1.257227256e-05,6.312437953e-07,-3.180264114e-04,1.320051544e-05,1.394478141e-06,-2.987112293e-04,1.262044646e-05,7.019562185e-01,-3.402216336e-04,8.601556595e-01,7.019562641e-01,-3.402971464e-04,8.601562878e-01,7.027470162e-01,-4.145419489e-04,8.303381802e-01
+20,1.116666667e+00,WAIT_W2,1793077917015846990,-2.150402777e-06,-3.722685035e-04,1.188616079e-05,-2.229047131e-06,-3.719342949e-04,1.174959954e-05,-1.584005834e-06,-3.494246249e-04,1.120991555e-05,7.019534824e-01,-3.945392385e-04,8.601549734e-01,7.019534038e-01,-3.942050299e-04,8.601548368e-01,7.027440377e-01,-4.652553445e-04,8.303367697e-01
+21,1.133333333e+00,WAIT_W2,1793077917032386085,-1.787238945e-06,-4.138669100e-04,1.301565762e-05,-1.754001690e-06,-4.139694459e-04,1.288816947e-05,-1.152887178e-06,-3.890351396e-04,1.234578124e-05,7.019538456e-01,-4.361376451e-04,8.601561029e-01,7.019538788e-01,-4.362401809e-04,8.601559754e-01,7.027444688e-01,-5.048658592e-04,8.303379056e-01
+22,1.133333333e+00,WAIT_W2,1793077917032386085,-1.787238945e-06,-4.138669100e-04,1.301565762e-05,-1.754001690e-06,-4.139694459e-04,1.288816947e-05,-1.152887178e-06,-3.890351396e-04,1.234578124e-05,7.019538456e-01,-4.361376451e-04,8.601561029e-01,7.019538788e-01,-4.362401809e-04,8.601559754e-01,7.027444688e-01,-5.048658592e-04,8.303379056e-01
+23,1.183333333e+00,WAIT_W2,1793077917081658125,1.185486633e-06,-4.452534494e-04,1.866867341e-05,-8.293210847e-07,-4.372427890e-04,1.880323962e-05,-2.512031185e-07,-4.110837182e-04,1.817515065e-05,7.019568183e-01,-4.675241844e-04,8.601617559e-01,7.019548035e-01,-4.595135240e-04,8.601618905e-01,7.027453705e-01,-5.269144378e-04,8.303437349e-01
+24,1.266666667e+00,WAIT_W2,1793077917164011702,4.194357005e-06,-4.515633216e-04,2.729058039e-05,5.487219204e-06,-4.572608893e-04,3.054641298e-05,6.500350602e-06,-4.300222929e-04,2.963772240e-05,7.019598272e-01,-4.738340566e-04,8.601703778e-01,7.019611200e-01,-4.795316243e-04,8.601736337e-01,7.027521220e-01,-5.458530126e-04,8.303551975e-01
+25,1.366666667e+00,WAIT_W2,1793077917262119390,1.247995191e-05,-4.499402619e-04,4.225986228e-05,5.487219204e-06,-4.572608893e-04,3.054641298e-05,6.623928640e-06,-4.300582360e-04,2.970266486e-05,7.019681128e-01,-4.722109970e-04,8.601853471e-01,7.019611200e-01,-4.795316243e-04,8.601736337e-01,7.027522456e-01,-5.458889556e-04,8.303552624e-01
+26,1.533333333e+00,WAIT_W2,1793077917426102925,1.443116101e-05,-4.504493841e-04,4.850315693e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.604353145e-05,-4.263724101e-04,4.808091607e-05,7.019700640e-01,-4.727201191e-04,8.601915904e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027616652e-01,-5.422031298e-04,8.303736407e-01
+27,1.650000000e+00,UP_FORCE_RAMP,1793077917540329625,1.437855769e-05,-4.496857443e-04,5.200648517e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.618391248e-05,-4.264009027e-04,4.819871172e-05,7.019700114e-01,-4.719564794e-04,8.601950937e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027618056e-01,-5.422316223e-04,8.303737585e-01
+28,1.783333333e+00,UP_FORCE_RAMP,1793077917749985572,1.606198111e-05,-4.468301599e-04,5.448383614e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.630938233e-05,-4.264255876e-04,4.828532238e-05,7.019716948e-01,-4.691008949e-04,8.601975711e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027619311e-01,-5.422563072e-04,8.303738451e-01
+29,1.883333333e+00,UP_FORCE_RAMP,1793077917852286786,1.634133712e-05,-4.531840331e-04,5.439970408e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.639058718e-05,-4.264411867e-04,4.833824462e-05,7.019719742e-01,-4.754547681e-04,8.601974869e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027620123e-01,-5.422719063e-04,8.303738980e-01
+30,1.983333333e+00,UP_FORCE_RAMP,1793077917949919870,1.593335642e-05,-4.460452117e-04,5.467384405e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.646535174e-05,-4.264552784e-04,4.838475459e-05,7.019715662e-01,-4.683159467e-04,8.601977611e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027620870e-01,-5.422859980e-04,8.303739445e-01
+31,2.083333333e+00,UP_FORCE_RAMP,1793077918048061983,1.433571087e-05,-4.525665125e-04,5.434950441e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.653504139e-05,-4.264678962e-04,4.842615355e-05,7.019699685e-01,-4.748372475e-04,8.601974367e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027621567e-01,-5.422986159e-04,8.303739859e-01
+32,2.233333333e+00,UP_FORCE_RAMP,1793077918196045540,1.609028028e-05,-4.511549345e-04,5.882119763e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.663044217e-05,-4.264844628e-04,4.848146574e-05,7.019717231e-01,-4.734256695e-04,8.602019084e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027622521e-01,-5.423151825e-04,8.303740412e-01
+33,2.350000000e+00,UP_FORCE_RAMP,1793077918310185520,1.479391462e-05,-4.533281521e-04,5.699473179e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.669872499e-05,-4.264967629e-04,4.851962752e-05,7.019704267e-01,-4.755988872e-04,8.602000820e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027623204e-01,-5.423274825e-04,8.303740794e-01
+34,2.466666667e+00,UP_FORCE_RAMP,1793077918424564615,1.416572775e-05,-4.488993402e-04,5.914439780e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.676289134e-05,-4.265076536e-04,4.855491855e-05,7.019697985e-01,-4.711700752e-04,8.602022316e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027623846e-01,-5.423383732e-04,8.303741147e-01
+35,2.633333333e+00,UP_FORCE_RAMP,1793077918588802436,1.382056076e-05,-4.479285191e-04,6.229813250e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.684783140e-05,-4.265223522e-04,4.860039883e-05,7.019694534e-01,-4.701992541e-04,8.602053854e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027624695e-01,-5.423530718e-04,8.303741602e-01
+36,2.783333333e+00,UP_FORCE_RAMP,1793077918735973168,1.382899845e-05,-4.522406475e-04,6.590133124e-05,1.417816831e-05,-4.533608130e-04,4.946638095e-05,1.691809103e-05,-4.265338922e-04,4.863758777e-05,7.019694618e-01,-4.745113825e-04,8.602089886e-01,7.019698110e-01,-4.756315481e-04,8.601925536e-01,7.027625398e-01,-5.423646119e-04,8.303741974e-01
+37,2.916666667e+00,UP_FORCE_RAMP,1793077918867231041,1.435304937e-05,-4.499577249e-04,7.109557209e-05,1.533276164e-05,-4.508717073e-04,7.065814050e-05,1.844574737e-05,-4.241781092e-04,6.925229500e-05,7.019699859e-01,-4.722284599e-04,8.602141828e-01,7.019709656e-01,-4.731424423e-04,8.602137454e-01,7.027640674e-01,-5.400088288e-04,8.303948121e-01
+38,3.050000000e+00,UP_FORCE_RAMP,1793077918998412633,1.058711562e-05,-4.507702146e-04,7.321147788e-05,1.533276164e-05,-4.508717073e-04,7.065814050e-05,1.850707292e-05,-4.241893094e-04,6.934572397e-05,7.019662199e-01,-4.730409496e-04,8.602162987e-01,7.019709656e-01,-4.731424423e-04,8.602137454e-01,7.027641288e-01,-5.400200290e-04,8.303949055e-01
+39,3.233333333e+00,UP_FORCE_RAMP,1793077919211128087,8.901736118e-06,-4.513879258e-04,8.146179825e-05,1.533276164e-05,-4.508717073e-04,7.065814050e-05,1.858291159e-05,-4.242032700e-04,6.944219073e-05,7.019645346e-01,-4.736586608e-04,8.602245490e-01,7.019709656e-01,-4.731424423e-04,8.602137454e-01,7.027642046e-01,-5.400339897e-04,8.303950020e-01
+40,3.350000000e+00,UP_FORCE_RAMP,1793077919326335468,5.162164764e-06,-4.476316711e-04,8.285341971e-05,1.533276164e-05,-4.508717073e-04,7.065814050e-05,1.862688352e-05,-4.242111801e-04,6.949373661e-05,7.019607950e-01,-4.699024061e-04,8.602259407e-01,7.019709656e-01,-4.731424423e-04,8.602137454e-01,7.027642486e-01,-5.400418997e-04,8.303950535e-01
+41,3.483333333e+00,UP_FORCE_RAMP,1793077919456755372,2.988968218e-06,-4.503235995e-04,8.730143857e-05,7.218190335e-06,-4.446835980e-04,8.832234997e-05,1.044943965e-05,-4.183872427e-04,8.670164125e-05,7.019586218e-01,-4.725943346e-04,8.602303887e-01,7.019628510e-01,-4.669543330e-04,8.602314096e-01,7.027560711e-01,-5.342179623e-04,8.304122614e-01
+42,3.633333333e+00,UP_FORCE_RAMP,1793077919603997769,1.640162075e-06,-4.507767578e-04,9.806190176e-05,7.218190335e-06,-4.446835980e-04,8.832234997e-05,1.046541488e-05,-4.183906999e-04,8.681479522e-05,7.019572730e-01,-4.730474928e-04,8.602411491e-01,7.019628510e-01,-4.669543330e-04,8.602314096e-01,7.027560871e-01,-5.342214196e-04,8.304123746e-01
+43,3.766666667e+00,UP_FORCE_RAMP,1793077919755220664,-7.188472735e-06,-4.463514118e-04,9.894139135e-05,7.218190335e-06,-4.446835980e-04,8.832234997e-05,1.048559718e-05,-4.183954964e-04,8.689486944e-05,7.019484443e-01,-4.686221468e-04,8.602420286e-01,7.019628510e-01,-4.669543330e-04,8.602314096e-01,7.027561073e-01,-5.342262160e-04,8.304124546e-01
+44,3.916666667e+00,UP_FORCE_RAMP,1793077919915383573,-9.982116050e-06,-4.469621525e-04,1.111418539e-04,-7.604567547e-06,-4.469069752e-04,1.036092697e-04,-4.871635256e-06,-4.204457254e-04,1.018006869e-04,7.019456507e-01,-4.692328875e-04,8.602542291e-01,7.019480282e-01,-4.691777102e-04,8.602466965e-01,7.027407501e-01,-5.362764450e-04,8.304273605e-01
+45,4.033333333e+00,UP_FORCE_RAMP,1793077920029840836,-1.487278096e-05,-4.470892672e-04,1.160863839e-04,-7.604567547e-06,-4.469069752e-04,1.036092697e-04,-4.899381278e-06,-4.204422664e-04,1.018926916e-04,7.019407600e-01,-4.693600022e-04,8.602591736e-01,7.019480282e-01,-4.691777102e-04,8.602466965e-01,7.027407223e-01,-5.362729860e-04,8.304274525e-01
+46,4.166666667e+00,UP_FORCE_RAMP,1793077920161205892,-2.088593385e-05,-4.463547870e-04,1.223020146e-04,-1.719010692e-05,-4.481554352e-04,1.229337111e-04,-1.467769493e-05,-4.215998296e-04,1.207090527e-04,7.019347469e-01,-4.686255220e-04,8.602653893e-01,7.019384427e-01,-4.704261702e-04,8.602660210e-01,7.027309440e-01,-5.374305492e-04,8.304462688e-01
+47,4.333333333e+00,UP_FORCE_RAMP,1793077920325519659,-2.749017251e-05,-4.464346692e-04,1.275668502e-04,-1.719010692e-05,-4.481554352e-04,1.229337111e-04,-1.474221862e-05,-4.215934816e-04,1.208928492e-04,7.019281426e-01,-4.687054042e-04,8.602706541e-01,7.019384427e-01,-4.704261702e-04,8.602660210e-01,7.027308795e-01,-5.374242013e-04,8.304464526e-01
+48,4.450000000e+00,UP_FORCE_RAMP,1793077920475168403,-3.303809443e-05,-4.424950122e-04,1.376518359e-04,-2.946976817e-05,-4.433469780e-04,1.397306326e-04,-2.732302204e-05,-4.170140144e-04,1.372608464e-04,7.019225947e-01,-4.647657473e-04,8.602807391e-01,7.019261630e-01,-4.656177130e-04,8.602828179e-01,7.027182987e-01,-5.328447340e-04,8.304628206e-01
+49,4.566666667e+00,UP_FORCE_RAMP,1793077920686017651,-3.765270968e-05,-4.478039477e-04,1.506856983e-04,-2.946976817e-05,-4.433469780e-04,1.397306326e-04,-2.741069573e-05,-4.170017533e-04,1.374194130e-04,7.019179801e-01,-4.700746827e-04,8.602937729e-01,7.019261630e-01,-4.656177130e-04,8.602828179e-01,7.027182110e-01,-5.328324730e-04,8.304629792e-01
+50,4.700000000e+00,UP_FORCE_RAMP,1793077920816533586,-4.310335511e-05,-4.457234401e-04,1.593791567e-04,-4.068608652e-05,-4.455744122e-04,1.575503706e-04,-3.891349065e-05,-4.190694944e-04,1.548517932e-04,7.019125295e-01,-4.679941751e-04,8.603024664e-01,7.019149467e-01,-4.678451472e-04,8.603006376e-01,7.027067082e-01,-5.349002140e-04,8.304804116e-01
+51,4.883333333e+00,UP_FORCE_RAMP,1793077920997108670,-4.435191424e-05,-4.423583054e-04,1.704655872e-04,-4.068608652e-05,-4.455744122e-04,1.575503706e-04,-3.904351263e-05,-4.190527181e-04,1.550902682e-04,7.019112809e-01,-4.646290404e-04,8.603135528e-01,7.019149467e-01,-4.678451472e-04,8.603006376e-01,7.027065782e-01,-5.348834377e-04,8.304806500e-01
+52,5.016666667e+00,UP_FORCE_RAMP,1793077921140035657,-4.745637449e-05,-4.408244087e-04,1.737783972e-04,-4.068608652e-05,-4.455744122e-04,1.575503706e-04,-3.910786753e-05,-4.190453224e-04,1.552252325e-04,7.019081764e-01,-4.630951437e-04,8.603168656e-01,7.019149467e-01,-4.678451472e-04,8.603006376e-01,7.027065138e-01,-5.348760420e-04,8.304807850e-01
+53,5.150000000e+00,UP_FORCE_RAMP,1793077921291686865,-4.952202087e-05,-4.430153674e-04,1.795390544e-04,-4.603542961e-05,-4.468309195e-04,1.773818395e-04,-4.454457096e-05,-4.201963436e-04,1.746460982e-04,7.019061108e-01,-4.652861025e-04,8.603226263e-01,7.019095974e-01,-4.691016545e-04,8.603204691e-01,7.027010771e-01,-5.360270632e-04,8.305002059e-01
+54,5.283333333e+00,UP_FORCE_HOLD,1793077921539548290,-5.095350038e-05,-4.390878624e-04,1.892212248e-04,-4.603542961e-05,-4.468309195e-04,1.773818395e-04,-4.461090233e-05,-4.201896714e-04,1.748139611e-04,7.019046793e-01,-4.613585974e-04,8.603323085e-01,7.019095974e-01,-4.691016545e-04,8.603204691e-01,7.027010108e-01,-5.360203910e-04,8.305003737e-01
+55,5.450000000e+00,UP_SETTLE,1793077921749720760,-5.248048230e-05,-4.420573064e-04,1.949413332e-04,-4.603542961e-05,-4.468309195e-04,1.773818395e-04,-4.467813301e-05,-4.201827462e-04,1.749860904e-04,7.019031523e-01,-4.643280414e-04,8.603380286e-01,7.019095974e-01,-4.691016545e-04,8.603204691e-01,7.027009436e-01,-5.360134658e-04,8.305005459e-01
+56,5.566666667e+00,UP_SETTLE,1793077921864638654,-5.473486513e-05,-4.425283201e-04,1.957605545e-04,-5.455576764e-05,-4.426460497e-04,1.954010338e-04,-5.335901186e-05,-4.162472965e-04,1.924353799e-04,7.019008980e-01,-4.647990551e-04,8.603388478e-01,7.019010770e-01,-4.649167847e-04,8.603384883e-01,7.026922627e-01,-5.320780162e-04,8.305179952e-01
+57,5.716666667e+00,UP_SETTLE,1793077922012074355,-5.776063766e-05,-4.405611185e-04,1.959744575e-04,-5.455576764e-05,-4.426460497e-04,1.954010338e-04,-5.348643523e-05,-4.162306019e-04,1.926893248e-04,7.018978722e-01,-4.628318535e-04,8.603390617e-01,7.019010770e-01,-4.649167847e-04,8.603384883e-01,7.026921353e-01,-5.320613216e-04,8.305182491e-01
+58,5.850000000e+00,UP_SETTLE,1793077922143883192,-5.782754533e-05,-4.427630883e-04,1.968383073e-04,-5.455576764e-05,-4.426460497e-04,1.954010338e-04,-5.355126678e-05,-4.162218936e-04,1.928342364e-04,7.018978053e-01,-4.650338233e-04,8.603399255e-01,7.019010770e-01,-4.649167847e-04,8.603384883e-01,7.026920704e-01,-5.320526133e-04,8.305183940e-01
+59,5.983333333e+00,UP_SETTLE,1793077922298375046,-5.826567680e-05,-4.407941840e-04,1.998260136e-04,-5.455576764e-05,-4.426460497e-04,1.954010338e-04,-5.360608509e-05,-4.162164975e-04,1.929612508e-04,7.018973671e-01,-4.630649190e-04,8.603429133e-01,7.019010770e-01,-4.649167847e-04,8.603384883e-01,7.026920156e-01,-5.320472172e-04,8.305185210e-01

Fixed/digit/cylinder_PLA_15/press_depth_03/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.8093e-01,5.8490e-01,2.4554e+00,-7.9578e-02,4.9866e-02,1.1870e-03,5.5502e-04,-3.9279e-05,-5.2214e-05,3.3081e-06,3.5517e-05,-3.6694e-07,5.5886e-04,3.5673e-05
+1,1.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.1026e-05,1.9648e-01,5.8374e-01,2.4549e+00,-7.9496e-02,5.0973e-02,1.0860e-03,1.6112e-02,-1.1940e-03,-6.2990e-04,8.4952e-05,1.1428e-03,-1.0140e-04,1.6169e-02,1.1504e-03
+2,2.5000e-01,WAIT_W2,6.1720e-05,2.0958e-01,5.8273e-01,2.4542e+00,-7.9417e-02,5.1918e-02,1.0083e-03,2.9207e-02,-2.2050e-03,-1.2445e-03,1.6423e-04,2.0875e-03,-1.7911e-04,2.9317e-02,2.1016e-03
+3,3.6667e-01,WAIT_W2,9.1793e-05,2.2064e-01,5.8194e-01,2.4537e+00,-7.9353e-02,5.2714e-02,9.4202e-04,4.0273e-02,-2.9993e-03,-1.7958e-03,2.2784e-04,2.8839e-03,-2.4539e-04,4.0424e-02,2.9032e-03
+4,4.8333e-01,WAIT_W2,1.1908e-04,2.2600e-01,5.8024e-01,2.4533e+00,-7.9193e-02,5.3092e-02,9.1160e-04,4.5625e-02,-4.6997e-03,-2.1462e-03,3.8736e-04,3.2618e-03,-2.7581e-04,4.5916e-02,3.2963e-03
+5,5.6667e-01,WAIT_W2,1.5116e-04,2.3426e-01,5.7975e-01,2.4530e+00,-7.9156e-02,5.3690e-02,8.5680e-04,5.3885e-02,-5.1841e-03,-2.5239e-03,4.2466e-04,3.8598e-03,-3.3061e-04,5.4193e-02,3.8971e-03
+6,6.8333e-01,WAIT_W2,1.8244e-04,2.3874e-01,5.8074e-01,2.4528e+00,-7.9254e-02,5.4012e-02,8.3099e-04,5.8372e-02,-4.1981e-03,-2.6708e-03,3.2650e-04,4.1819e-03,-3.5642e-04,5.8583e-02,4.2098e-03
+7,8.5000e-01,WAIT_W2,2.1015e-04,2.4919e-01,5.7995e-01,2.4523e+00,-7.9188e-02,5.4764e-02,7.5801e-04,6.8819e-02,-4.9831e-03,-3.1717e-03,3.9241e-04,4.9335e-03,-4.2940e-04,6.9072e-02,4.9676e-03
+8,9.8333e-01,WAIT_W2,2.4426e-04,2.5473e-01,5.7961e-01,2.4520e+00,-7.9160e-02,5.5165e-02,7.2076e-04,7.4357e-02,-5.3224e-03,-3.4506e-03,4.2045e-04,5.3346e-03,-4.6665e-04,7.4627e-02,5.3714e-03
+9,1.0000e+00,WAIT_W2,2.6400e-04,2.5475e-01,5.7961e-01,2.4520e+00,-7.9160e-02,5.5167e-02,7.2074e-04,7.4379e-02,-5.3235e-03,-3.4537e-03,4.2059e-04,5.3361e-03,-4.6667e-04,7.4650e-02,5.3729e-03
+10,1.0167e+00,WAIT_W2,2.9615e-04,2.6102e-01,9.8620e-01,2.4510e+00,-1.0850e-01,5.5631e-02,1.0826e-03,8.0644e-02,4.0127e-01,-4.4520e-03,-2.8922e-02,5.8004e-03,-1.0479e-04,4.0931e-01,2.9498e-02
+11,1.0333e+00,WAIT_W2,3.4202e-04,2.6579e-01,1.4385e+00,2.4197e+00,-1.4121e-01,5.5953e-02,1.4972e-03,8.5418e-02,8.5357e-01,-3.5834e-02,-6.1626e-02,6.1230e-03,3.0975e-04,8.5858e-01,6.1930e-02
+12,1.0333e+00,WAIT_W2,3.4202e-04,2.6579e-01,1.4385e+00,2.4197e+00,-1.4121e-01,5.5953e-02,1.4972e-03,8.5418e-02,8.5357e-01,-3.5834e-02,-6.1626e-02,6.1230e-03,3.0975e-04,8.5858e-01,6.1930e-02
+13,1.0500e+00,WAIT_W2,3.8616e-04,2.8186e-01,2.0943e+00,2.4065e+00,-1.8870e-01,5.7209e-02,1.7003e-03,1.0149e-01,1.5093e+00,-4.8965e-02,-1.0911e-01,7.3782e-03,5.1293e-04,1.5135e+00,1.0937e-01
+14,1.0667e+00,WAIT_W2,4.3210e-04,2.8008e-01,2.7184e+00,2.4140e+00,-2.3367e-01,5.7031e-02,2.6688e-03,9.9707e-02,2.1335e+00,-4.1473e-02,-1.5409e-01,7.2008e-03,1.4814e-03,2.1362e+00,1.5426e-01
+15,1.0667e+00,WAIT_W2,4.3210e-04,2.8008e-01,2.7184e+00,2.4140e+00,-2.3367e-01,5.7031e-02,2.6688e-03,9.9707e-02,2.1335e+00,-4.1473e-02,-1.5409e-01,7.2008e-03,1.4814e-03,2.1362e+00,1.5426e-01
+16,1.0833e+00,WAIT_W2,4.9796e-04,3.0164e-01,3.3522e+00,2.4130e+00,-2.7958e-01,5.8604e-02,2.8630e-03,1.2127e-01,2.7672e+00,-4.2510e-02,-2.0000e-01,8.7732e-03,1.6756e-03,2.7702e+00,2.0020e-01
+17,1.0833e+00,WAIT_W2,4.9796e-04,3.0164e-01,3.3522e+00,2.4130e+00,-2.7958e-01,5.8604e-02,2.8630e-03,1.2127e-01,2.7672e+00,-4.2510e-02,-2.0000e-01,8.7732e-03,1.6756e-03,2.7702e+00,2.0020e-01
+18,1.1000e+00,WAIT_W2,5.5427e-04,2.9917e-01,4.2629e+00,2.3652e+00,-3.4571e-01,5.8517e-02,3.2979e-03,1.1880e-01,3.6780e+00,-9.0311e-02,-2.6613e-01,8.6864e-03,2.1105e-03,3.6810e+00,2.6628e-01
+19,1.1000e+00,WAIT_W2,5.5427e-04,2.9917e-01,4.2629e+00,2.3652e+00,-3.4571e-01,5.8517e-02,3.2979e-03,1.1880e-01,3.6780e+00,-9.0311e-02,-2.6613e-01,8.6864e-03,2.1105e-03,3.6810e+00,2.6628e-01
+20,1.1167e+00,WAIT_W2,6.0866e-04,3.3260e-01,5.0345e+00,2.3786e+00,-4.0127e-01,6.0843e-02,4.6099e-03,1.5223e-01,4.4496e+00,-7.6884e-02,-3.2169e-01,1.1013e-02,3.4225e-03,4.4528e+00,3.2190e-01
+21,1.1333e+00,WAIT_W2,6.5027e-04,3.6479e-01,5.7693e+00,2.3898e+00,-4.5436e-01,6.3213e-02,4.7289e-03,1.8442e-01,5.1844e+00,-6.5738e-02,-3.7478e-01,1.3382e-02,3.5414e-03,5.1881e+00,3.7503e-01
+22,1.1333e+00,WAIT_W2,6.5027e-04,3.6479e-01,5.7693e+00,2.3898e+00,-4.5436e-01,6.3213e-02,4.7289e-03,1.8442e-01,5.1844e+00,-6.5738e-02,-3.7478e-01,1.3382e-02,3.5414e-03,5.1881e+00,3.7503e-01
+23,1.1833e+00,WAIT_W2,6.8606e-04,3.3692e-01,6.6376e+00,2.3642e+00,-5.1790e-01,6.1286e-02,5.0152e-03,1.5654e-01,6.0526e+00,-9.1343e-02,-4.3832e-01,1.1455e-02,3.8278e-03,6.0554e+00,4.3848e-01
+24,1.2667e+00,WAIT_W2,7.1779e-04,3.0289e-01,6.8789e+00,2.3204e+00,-5.3637e-01,5.8945e-02,5.5870e-03,1.2252e-01,6.2940e+00,-1.3512e-01,-4.5679e-01,9.1145e-03,4.3996e-03,6.2966e+00,4.5690e-01
+25,1.3667e+00,WAIT_W2,7.4950e-04,3.0637e-01,6.8774e+00,2.3223e+00,-5.3627e-01,5.9174e-02,5.5841e-03,1.2600e-01,6.2925e+00,-1.3315e-01,-4.5669e-01,9.3434e-03,4.3967e-03,6.2952e+00,4.5680e-01
+26,1.5333e+00,WAIT_W2,7.7818e-04,3.2453e-01,6.8086e+00,2.3131e+00,-5.3126e-01,6.0778e-02,5.2631e-03,1.4416e-01,6.2237e+00,-1.4242e-01,-4.5168e-01,1.0947e-02,4.0757e-03,6.2270e+00,4.5183e-01
+27,1.6500e+00,UP_FORCE_RAMP,8.0970e-04,3.2610e-01,6.7817e+00,2.2856e+00,-5.3050e-01,6.0517e-02,5.4155e-03,1.4573e-01,6.1968e+00,-1.6986e-01,-4.5092e-01,1.0687e-02,4.2280e-03,6.2008e+00,4.5107e-01
+28,1.7833e+00,UP_FORCE_RAMP,8.3801e-04,3.3452e-01,6.7739e+00,2.2788e+00,-5.2963e-01,6.1269e-02,5.3028e-03,1.5415e-01,6.1889e+00,-1.7673e-01,-4.5004e-01,1.1439e-02,4.1154e-03,6.1934e+00,4.5021e-01
+29,1.8833e+00,UP_FORCE_RAMP,8.7249e-04,3.4824e-01,6.7682e+00,2.2900e+00,-5.2895e-01,6.2365e-02,4.9848e-03,1.6787e-01,6.1833e+00,-1.6546e-01,-4.4937e-01,1.2534e-02,3.7974e-03,6.1878e+00,4.4956e-01
+30,1.9833e+00,UP_FORCE_RAMP,9.0150e-04,3.5968e-01,6.7722e+00,2.2989e+00,-5.2925e-01,6.3059e-02,4.7396e-03,1.7931e-01,6.1873e+00,-1.5660e-01,-4.4966e-01,1.3229e-02,3.5522e-03,6.1919e+00,4.4987e-01
+31,2.0833e+00,UP_FORCE_RAMP,9.2942e-04,3.7367e-01,6.7647e+00,2.3039e+00,-5.2848e-01,6.4159e-02,4.6107e-03,1.9329e-01,6.1798e+00,-1.5163e-01,-4.4890e-01,1.4328e-02,3.4233e-03,6.1847e+00,4.4914e-01
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Fixed/digit/cylinder_PLA_15/press_depth_04/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_PLA_15/press_depth_04/down/franka_data.csv

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+14706,1793077981259906665,14532393000000,1793077981258132938,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6760032338595289,-0.0049549175470129094,0.09961305486019884,0.9999999661875365,-0.0001224054708743756,-0.00012787826925735605,0.00016652879422405145,0.6761,-0.0046,0.09964182028946605,1.0,0.0,0.0,0.0,-0.5061063797986575,0.2649726672348469,1.0794295361069075,0.021974172573331868,0.031175707264493265,0.00391053098860676,0.5420513140640729,1.5193296900009157,1.7529849019389816,0.1056999786237768,-0.038937868776938424,0.0044071037713710945,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.303240645260567,1.5636718412741453,-0.3547057587604821,0.0048412518424677895,0.4346845752136965,0.9637647282476022,-0.06928523458915005,-1.0794295361069075,0.28542052417133207,0.28542052417133207,0.37999999999997447,0,0,-0.0001679706210830093,9.999999025923074e-05
+14804,1793077982076849466,14533210000000,1793077982070132862,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6760424112386884,-0.0049568858612306565,0.09955307436388353,0.999999969914732,-0.00012440179723924552,-7.796714901420311e-05,0.00017337449676561067,0.6761,-0.0046,0.09952125508878633,1.0,0.0,0.0,0.0,-0.6643824705220951,0.435366409550193,1.4528706681214438,0.03337225181658228,0.04201543489067016,0.0049243350584669415,0.38377522334063524,1.6897234323162618,2.126426033953518,0.1170980578670272,-0.02809814115076153,0.005420907841231276,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.645805924444481,1.6069846773365757,-0.8826629554572067,-0.018197694837394297,0.8237438361985063,0.9883718465067817,-0.06928523458915005,-1.4528706681214438,0.8133777208680567,0.8133777208680567,0.46169999999996547,0,0,-0.00012712062904121779,9.999999025923074e-05
+14904,1793077982909875562,14534043000000,1793077982902132915,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6760587437849358,-0.004955184122989783,0.09949827179582134,0.9999999703663387,-0.00013141127858561766,-4.991867058455857e-05,0.00017592438244520335,0.6761,-0.0046,0.09943269000141143,1.0,0.0,0.0,0.0,-0.7023478139280688,0.435891041989956,1.706074840676843,0.03345183200921574,0.04499656175302229,0.004761814724283416,0.34580987993466156,1.6902480647560247,2.379630206508917,0.11717763805966067,-0.0251170142884094,0.00525838750704775,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.693000832211531,1.5802622217261229,-1.1106437804161446,-0.007032585793488373,0.9810268194894284,0.9657212810797412,-0.06928523458915005,-1.706074840676843,1.0413585458269945,1.0413585458269945,0.5449999999999563,0,0,-8.547063715527858e-05,9.999999025923074e-05
+15010,1793077983793860922,14534927000000,1793077983786133173,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6760670134895699,-0.004958416310137442,0.09945529719876993,0.9999999697869592,-0.00013115034935321895,-3.6590669016024336e-05,0.0001825641090098811,0.6761,-0.0046,0.09937664825435587,1.0,0.0,0.0,0.0,-0.6893829199027199,0.40511002463404955,1.8044485382744146,0.02999135014559115,0.045045887829999326,0.0036176142027819847,0.35877477396001045,1.6594670474001183,2.478003904106489,0.11371715619603608,-0.02506768821143236,0.004114186985546319,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6182889061162595,1.5653837662685217,-1.1848798868107806,-0.005988760964364387,1.0142633803030272,0.9557252888632617,-0.06928523458915005,-1.8044485382744146,1.1155946522216305,1.1155946522216305,0.6333999999999466,0,0,-4.12706457661186e-05,9.999999025923074e-05
+15130,1793077984793860674,14535927000000,1793077984786133286,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6760675900439519,-0.004964384992770827,0.09943316178199282,0.9999999686778268,-0.00013653719646370565,-3.6224006877033804e-05,0.00018475016916731377,0.6761,-0.0046,0.09935890588647137,1.0,0.0,0.0,0.0,-0.6333844453491291,0.35689560895421035,1.7529983696976505,0.025773731418215207,0.042100139324862326,0.0032055263128035116,0.41477324851360137,1.611252631720279,2.426553735529725,0.10949953746866013,-0.02801343671656936,0.0037020990955678457,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.550286211720298,1.5650065344204676,-1.210815829517468,-0.0012865241495577107,1.0299067779406574,0.9527969550612124,-0.06928523458915005,-1.7529983696976505,1.1415305949283179,1.1415305949283179,0.7333999999999355,0,0,-1.5294061417314708e-06,1.5448546886176473e-05
+15252,1793077985809739365,14536943000000,1793077985806133281,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6760657903167798,-0.004962469768371781,0.09942050694295262,0.9999999687179422,-0.0001364533186986284,-4.029692228086682e-05,0.0001837488205531551,0.6761,-0.0046,0.09935860188589268,1.0,0.0,0.0,0.0,-0.5763538607915963,0.3070339126748507,1.6610145529142915,0.021796035442484235,0.03924265012954274,0.0025319361706526164,0.4718038330711341,1.5613909354409194,2.3345699187463658,0.10552184149292916,-0.030870925911888947,0.0030285089534169505,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5091695561609277,1.6500498651186915,-1.0485184627423092,-0.028470183923845944,0.9229958958499381,1.0088704108877826,-0.06928523458915005,-1.6610145529142915,0.9792332281531592,0.9792332281531592,0.8349999999999244,0,0,-9.391149108362029e-09,9.486009200365686e-08
+15344,1793077986576697017,14537710000000,1793077986574123568,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6760633099720701,-0.004957211480364022,0.09941327567494573,0.9999999687502911,-0.00013502114651365807,-4.596780308371928e-05,0.00018329902430484505,0.6761,-0.0046,0.09935840002821344,1.0,0.0,0.0,0.0,-0.5726463591745521,0.2796102958610125,1.6003616758685086,0.019840709923318434,0.03820057709775467,0.0025260640014360186,0.47551133468817824,1.5339673186270812,2.273917041700583,0.10356651597376336,-0.031912998943677016,0.0030226367842003526,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.4271547473040316,1.5045138804197695,-0.9660715218274473,0.014039595132563275,0.8526888652869853,0.9117363652304528,-0.06928523458915005,-1.6003616758685086,0.8967862872382972,0.8967862872382972,0.9116999999999159,0,0,-1.3936367157781958e-06,-4.321395605100804e-05
+15460,1793077987543780205,14538677000000,1793077987538132905,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6760646897302024,-0.004959477643833364,0.09940826192240751,0.9999999685332965,-0.00013451498895202384,-4.238338511919288e-05,0.00018570308763875715,0.6761,-0.0046,0.09934691829143552,1.0,0.0,0.0,0.0,-0.535780579687668,0.2655758825949899,1.5796658988487469,0.018797493812061777,0.0372108735747189,0.0025304784612964902,0.5123771141750624,1.5199329053610586,2.253221264680821,0.1025232998625067,-0.032902702466712785,0.0030270512440608243,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.4682016575129417,1.588746418016261,-0.966526274011241,-0.006642317192632328,0.8714982563802974,0.969095662756091,-0.06928523458915005,-1.5796658988487469,0.897241039422091,0.897241039422091,1.0083999999999054,0,0,-2.8009719539616402e-05,-9.999999025923074e-05
+15565,1793077988418771089,14539552000000,1793077988418133529,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6760715240552233,-0.0049610856184971195,0.09938862862289777,0.9999999683099846,-0.00013843526734963197,-2.8931798781304784e-05,0.0001866052568126918,0.6761,-0.0046,0.09930981442542983,1.0,0.0,0.0,0.0,-0.5715189531062776,0.26662989338361,1.669786905999843,0.019776640270858528,0.038186453506611984,0.00248738996104786,0.47663874075645274,1.5209869161496787,2.3433422718319172,0.10350244632130345,-0.031927122534819705,0.002983962743812194,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.4981734002829554,1.6234084041870622,-1.194595078275686,-0.016282038838190998,1.016317589657912,0.9875177267413731,-0.06928523458915005,-1.669786905999843,1.1253098436865359,1.1253098436865359,1.0958999999998957,0,0,-5.254326167628142e-05,9.83053458344429e-05
+15651,1793077989134748334,14540268000000,1793077989134122927,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.676079333326461,-0.004953233599302993,0.09936691316995792,0.9999999632573612,-0.00022765195964648513,-1.008389196395863e-05,0.00011402210618238381,0.6761,-0.0046,0.09926905232993438,1.0,0.0,0.0,0.0,-0.48566938930574477,0.42043515991133784,1.7770795383408022,0.029035877619161182,0.03391572557200472,0.002445906828176798,0.5624883045569856,1.6747921826774066,2.4506349041728765,0.11276168366960611,-0.036197850469426966,0.002942479610941132,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5409977891116364,1.606099528350619,-1.1539724266226248,-0.0457501037059966,1.006618502614767,1.0138035995142327,-0.06928523458915005,-1.7770795383408022,1.0846871920334746,1.0846871920334746,1.1674999999998878,0,0,-5.887981539417909e-05,-8.108445445487717e-05
+15749,1793077989951657964,14541085000000,1793077989950133341,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6760870450431695,-0.004951809490461792,0.09934070867910254,0.9999999636217208,-0.00022268099824968943,1.0641731168210576e-06,0.00012087787922902975,0.6761,-0.0046,0.09923008940239994,1.0,0.0,0.0,0.0,-0.5443931164602879,0.3666146622813997,1.8721500273158291,0.02594738394783981,0.037008070691723266,0.002383471440580721,0.5037645774024425,1.6209716850474685,2.5457053931479035,0.10967318999828474,-0.03310550534970842,0.002880044223345055,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.565438270096603,1.5879280915535463,-1.306714542694693,-0.028693866943654327,1.1079095695468888,0.9875769437234425,-0.06928523458915005,-1.8721500273158291,1.2374293081055427,1.2374293081055427,1.2491999999998789,0,0,-3.785681034343546e-05,5.2366995488500836e-05
+15846,1793077990759714595,14541893000000,1793077990754133207,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6760900053055887,-0.004955636132158413,0.09931812310922936,0.9999999628951662,-0.00022201043159619755,6.1837370040322395e-06,0.00012777190564740347,0.6761,-0.0046,0.09920415669332942,1.0,0.0,0.0,0.0,-0.5353726396526546,0.36652205487044864,1.9021961822410196,0.025576403607284928,0.036625855673852015,0.0023395865405658606,0.5127850542100758,1.6208790776365174,2.575751548073094,0.10930220965772985,-0.033487720367579674,0.0028361593233301946,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.570546225931544,1.6306031280601792,-1.330630051345001,-0.016056883965235958,1.1227794926117889,1.0131021097821211,-0.06928523458915005,-1.9021961822410196,1.2613448167558508,1.2613448167558508,1.32999999999987,0,0,-3.0220490522563044e-05,-9.983349843890039e-05
+15950,1793077991626694322,14542760000000,1793077991626133906,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6760927776795727,-0.004958118648042049,0.099294523236007,0.9999999623882684,-0.0002202393167328314,1.1757317991978323e-05,0.0001342487795773984,0.6761,-0.0046,0.09916967509924582,1.0,0.0,0.0,0.0,-0.5459293800399833,0.3397094270728973,1.9624729093405766,0.023495498204717927,0.03778217253162202,0.002287684161410299,0.5022283138227471,1.594066449838966,2.636028275172651,0.10722130425516285,-0.03233140350980967,0.002784256944174633,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5360920849678235,1.6111742821087092,-1.5007876101590838,0.01629931343175966,1.2185768098678793,0.9911613614416487,-0.06928523458915005,-1.9624729093405766,1.4315023755699336,1.4315023755699336,1.4166999999998604,0,0,-4.79378419779034e-05,9.98381336200282e-05
+16044,1793077992409644162,14543543000000,1793077992402133247,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6760984077718424,-0.004959310849254862,0.09926541607878611,0.9999999615398485,-0.00021992052900142274,2.2374448097797945e-05,0.00013963348649040006,0.6761,-0.0046,0.09912739501627363,1.0,0.0,0.0,0.0,-0.5411246780388291,0.3486507296663446,2.002878893495412,0.023185319690112755,0.0380436697809501,0.002259168555825499,0.5070330158239013,1.6030077524324133,2.676434259327486,0.10691112574055768,-0.03206990626048159,0.002755741338589833,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5713240905189558,1.6172126055509641,-1.5449306922394925,0.026833932428777713,1.2515050390331424,0.9898875897582884,-0.06928523458915005,-2.002878893495412,1.4756454576503424,1.4756454576503424,1.4949999999998518,0,0,-5.9242112108977334e-05,9.996290881020826e-05
+16139,1793077993201648462,14544335000000,1793077993194133178,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6761042257392472,-0.0049614800216146735,0.09923238495497896,0.9999999604008071,-0.00021953517597554133,3.263990711175515e-05,0.00014621966768944876,0.6761,-0.0046,0.09907933627239374,1.0,0.0,0.0,0.0,-0.5566277304289301,0.3237245189062834,2.092531537367871,0.02178733545299666,0.03906535571353201,0.0021858007327752314,0.4915299634338003,1.5780815416723522,2.766086903199945,0.10551314150344158,-0.031048220327899684,0.0026823735155395655,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6075216022596743,1.5170770769159054,-1.5614572261528972,0.06312929158889599,1.2698438820459492,0.920704110507729,-0.06928523458915005,-2.092531537367871,1.492171991563747,1.492171991563747,1.574199999999843,0,0,-6.199530179082225e-05,-7.729305670357007e-05
+16223,1793077993901551221,14545035000000,1793077993898133117,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.676107497460787,-0.0049621115441370305,0.09919923090605039,0.9999999594582905,-0.00021991610238235697,3.8384308167635125e-05,0.00015063145231456585,0.6761,-0.0046,0.09903675670160067,1.0,0.0,0.0,0.0,-0.5581464242626923,0.3239050368031169,2.154754479136846,0.021544322226331084,0.04006929327584234,0.002154218559335496,0.49001126960003805,1.5782620595691856,2.82830984496892,0.10527012827677601,-0.030044282765589344,0.0026507913420998302,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6086798488587792,1.6157617330457383,-1.643138490817056,0.034920919342806465,1.3224103409743886,0.9852783447924948,-0.06928523458915005,-2.154754479136846,1.573853256227906,1.573853256227906,1.6441999999998353,0,0,-6.022726249252231e-05,-9.749847737350876e-05
+16323,1793077994734591172,14545868000000,1793077994734132697,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6761161401079783,-0.004966909918151111,0.09916374110119489,0.9999999571988769,-0.00022541927411914771,5.3025783904783427e-05,0.00015303439329303619,0.6761,-0.0046,0.09898674652685163,1.0,0.0,0.0,0.0,-0.5654086403213566,0.30682993316678897,2.208618025316084,0.02044564233296553,0.04064849091544954,0.0020860518085995742,0.48274905354137376,1.5611869559328577,2.882173391148158,0.10417144838341046,-0.02946508512598215,0.0025826245913639083,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5568981437247775,1.4989691617354859,-1.7425517775736747,0.06815024197507671,1.3736909177504821,0.9048228365233414,-0.06928523458915005,-2.208618025316084,1.6732665429845246,1.6732665429845246,1.7274999999998262,0,0,-6.117728127359145e-05,-3.942290045222659e-05
+16424,1793077995576571692,14546710000000,1793077995574133255,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6761199468205756,-0.004969355612608838,0.09911709763555025,0.999999955255054,-0.00023055670113880582,5.8191194595171336e-05,0.000156173449178872,0.6761,-0.0046,0.09893165549364212,1.0,0.0,0.0,0.0,-0.5658000312745759,0.30329600944174384,2.2623253421909872,0.019586481124424987,0.04109580752851448,0.002055426623257446,0.4823576625881545,1.5576530322078126,2.9358807080230616,0.10331228717486991,-0.02901776851291721,0.00255199940602178,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.648156952811578,1.6173060874562637,-1.850036031621361,0.02557767427048557,1.4649254564663947,0.97644824568893,-0.06928523458915005,-2.2623253421909872,1.780750797032211,1.780750797032211,1.811699999999817,0,0,-7.055081072540747e-05,9.60824434167506e-05
+16524,1793077996409596309,14547543000000,1793077996406133211,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6761331499034356,-0.004968829507731342,0.09907981839855388,0.999999951668618,-0.00024012001172449705,7.931230454775608e-05,0.00015542703744163546,0.6761,-0.0046,0.0988713029387603,1.0,0.0,0.0,0.0,-0.5668266114872875,0.29534899135141823,2.3509304303960894,0.01951933364120345,0.04108677045397369,0.001980595848250948,0.48133108237544286,1.549706014117487,3.0244857962281637,0.10324513969164838,-0.029026805587457998,0.002477168631015282,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6502370036012632,1.6092492890131584,-1.8628254394839596,0.03790270037117214,1.4740841396708182,0.970197800698311,-0.06928523458915005,-2.3509304303960894,1.7935402048948095,1.7935402048948095,1.8949999999998077,0,0,-7.477008710374123e-05,-9.985048485117715e-05
+16613,1793077997151490072,14548285000000,1793077997150123343,DOWN_FORCE_DETACH,4,0.0664,0.06639819592237473,0.6761390618569092,-0.004971252974839464,0.0990351060496297,0.9999999487937715,-0.00024901053712022403,8.999989308723461e-05,0.00015410739737223547,0.6761,-0.0046,0.09881419754606376,1.0,0.0,0.0,0.0,-0.5561559481608966,0.29670998857909314,2.3826433660975725,0.018767292254527404,0.04104016050351274,0.0019476373974256457,0.4920017457018338,1.551067011345162,3.056198731929647,0.10249309830497233,-0.02907341553791895,0.0024442101801899797,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6555204014108962,1.6438804119529402,-2.0192090550010215,0.03723158315363098,1.5684543191854916,0.9966650230376778,-0.06928523458915005,-2.3826433660975725,1.9499238204118714,1.9499238204118714,1.9691999999997996,0,0,-7.952821336612714e-05,9.844966094985636e-05
+16711,1793077997968566354,14549102000000,1793077997966124080,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.676146689107557,-0.004975046613929542,0.09897910165504091,0.9999999436747885,-0.0002652381193614681,0.00010318322583114177,0.00015197119977102057,0.6761,-0.0046,0.0987473934978514,1.0,0.0,0.0,0.0,-0.5377631067913271,0.294223607193268,2.462021121444497,0.017531268517288826,0.03976365912244406,0.001198857910140408,0.5103945870714033,1.5485806299593368,3.1355764872765715,0.10125707456773375,-0.030349916918987623,0.001695430692904742,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6565782749475086,1.597201358801838,-2.073537428988717,0.04633666823465669,1.612495026207187,0.9598808914100285,-0.06928523458915005,-2.462021121444497,2.004252194399567,2.004252194399567,2.0508999999999036,0,0,-8.374536547975519e-05,9.999994862586731e-05
+16805,1793077998751548259,14549885000000,1793077998750133160,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6761514124924738,-0.00497609916364782,0.09892233272698862,0.9999999395624587,-0.00027766792675175856,0.000111898825431927,0.00015065562794547174,0.6761,-0.0046,0.09867774051566733,1.0,0.0,0.0,0.0,-0.5368365019836233,0.2516569092360603,2.5214471417754467,0.01547958100985787,0.04010437351562421,0.0017873673613419748,0.5113211918791071,1.506013932002129,3.195002507607521,0.0992053870603028,-0.030009202525807476,0.002283940144106309,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6301320212021815,1.5902401159674986,-2.163861789806803,0.053118454513647786,1.6642620019758332,0.9580370267703513,-0.06928523458915005,-2.5214471417754467,2.0945765552176527,2.0945765552176527,2.129200000000069,0,0,-9.113604642199823e-05,9.999940739214281e-05
+16899,1793077999534433319,14550668000000,1793077999534123311,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6761591466866944,-0.004977903498033383,0.09886178188696182,0.999999934540561,-0.0002893020814806667,0.00012512886174816055,0.00015168655554841234,0.6761,-0.0046,0.09860112943023351,1.0,0.0,0.0,0.0,-0.5386420865501425,0.24880441381270257,2.5807820228498954,0.014446482692593673,0.040120498177942956,0.0017262879923747526,0.5095156073125879,1.5031614365787713,3.2543373886819698,0.0981722887430386,-0.02999307786348873,0.0022228607751390867,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6410409771226078,1.6384690822125092,-2.1624930810591274,0.0331081539170471,1.6652109343871482,0.9821367158996807,-0.06928523458915005,-2.5807820228498954,2.0932078464699773,2.0932078464699773,2.207500000000234,0,0,-0.00010288535062383109,-9.999113623060935e-05
+17003,1793078000401485523,14551535000000,1793078000394123906,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6761670520277935,-0.004978751231572898,0.09878350006558098,0.9999999295199751,-0.0003000271685164075,0.0001370227181261673,0.00015365995445120972,0.6761,-0.0046,0.09851164985393006,1.0,0.0,0.0,0.0,-0.5355165326488276,0.21788049456793712,2.6446167725725216,0.012410369468334168,0.040137883089396025,0.0016457752897489838,0.5126411612139028,1.4722375173340059,3.318172138404596,0.0961361755187791,-0.029975692952035664,0.002142348072513318,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6279373742637049,1.6980036005433155,-2.293635559848302,0.01823982701217581,1.7483484634077986,1.0236300042756625,-0.06928523458915005,-2.6446167725725216,2.224350325259152,2.224350325259152,2.294200000000417,0,0,-0.00010583632104457929,5.650146603220492e-05
+17102,1793078001226406152,14552360000000,1793078001222123295,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6761757109620407,-0.004983758068748381,0.09870780035177067,0.9999999226244389,-0.0003145025401262282,0.00015407941834427906,0.00015343293294049114,0.6761,-0.0046,0.0984178355889556,1.0,0.0,0.0,0.0,-0.5167891544098872,0.19601935421418282,2.68037844238269,0.011389962200203538,0.039135947714540695,0.0015991124148741717,0.5313685394528432,1.4503763769802516,3.3539338082147645,0.09511576825064846,-0.030977628326890994,0.0020956851976385057,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5956577534949832,1.5429748807938986,-2.320729866787111,0.05109035558423547,1.757250632393058,0.913207640643996,-0.06928523458915005,-2.68037844238269,2.251444632197961,2.251444632197961,2.376700000000591,0,0,-0.00012364008488838086,-9.943415121694272e-05
+17198,1793078002026484843,14553160000000,1793078002026123028,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6761845397946051,-0.004984305669195036,0.0986216076246921,0.9999999166316866,-0.00032614382090178257,0.00016688558804556987,0.00015478660168193436,0.6761,-0.0046,0.09831635530687477,1.0,0.0,0.0,0.0,-0.5255296635520873,0.1764117609822342,2.7703525204815045,0.01035015960413882,0.0391549452738239,0.0015146242819732603,0.5226280303106431,1.430768783748303,3.443907886313579,0.09407596565458375,-0.03095863076760779,0.0020111970647375943,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6299264520371117,1.6602200140634078,-2.4485802140460065,0.0213816696381981,1.8495451371656138,0.9932711639841197,-0.06928523458915005,-2.7703525204815045,2.3792949794568563,2.3792949794568563,2.45670000000076,0,0,-0.00012276746185338615,5.329649248270132e-06
+17308,1793078002943365518,14554077000000,1793078002942123782,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6761921251177205,-0.0049859577344480936,0.09851891089927504,0.9999999108981144,-0.0003358988870830178,0.00017921137077682765,0.00015716821899326277,0.6761,-0.0046,0.09820223070359113,1.0,0.0,0.0,0.0,-0.49523103216963527,0.12625751180914158,2.7952737057886714,0.00628751100808983,0.038196097301009084,0.001434897588878317,0.5529266616930951,1.3806145345752103,3.4688290716207457,0.09001331705853476,-0.031917478740422604,0.0019314703716426511,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5985076805039276,1.6678620352816005,-2.4246806290185523,0.01576292768125838,1.83330681019715,0.9962530808051474,-0.06928523458915005,-2.7952737057886714,2.355395394429402,2.355395394429402,2.5484000000009535,0,0,-0.00013530994728424973,-9.995383273698195e-05
+17404,1793078003743376389,14554877000000,1793078003742123843,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6762044375936243,-0.0049925863519183445,0.0984254326320249,0.9999998998026397,-0.0003563348840465579,0.00019926582492135007,0.00015860692061944384,0.6761,-0.0046,0.09808831091336784,1.0,0.0,0.0,0.0,-0.5097055385141396,0.10947825475541739,2.8664952990332413,0.005242448474292755,0.03856082972235725,0.0013635088818492022,0.5384521553485908,1.3638352775214861,3.5400506648653156,0.08896825452473768,-0.03155274631907444,0.0018600816646135363,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5647681621853713,1.682315666953716,-2.514249162270749,0.01246938726296566,1.8807059710441665,1.0033582845483437,-0.06928523458915005,-2.8664952990332413,2.4449639276815986,2.4449639276815986,2.6284000000011223,0,0,-0.00014935149033753892,-9.999999025923074e-05
+17493,1793078004484386795,14555618000000,1793078004482123364,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.676206680607456,-0.004993498843784214,0.09831602407742397,0.9999999625069326,1.171698282823467e-05,0.00020255324315178116,0.0001589461985358055,0.6761,-0.0046,0.09797447149420854,1.0,0.0,0.0,0.0,-0.48437459817127937,0.07973116571293626,2.8979856063999376,0.003230307125189985,0.03722627560589107,0.0013042115806758557,0.563783095691451,1.334088188479005,3.571540972232012,0.08695611317563491,-0.03288730043554062,0.0018007843634401898,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5924405310198457,1.6461076870005455,-2.605300379002467,0.021080203022080538,1.9474778051298616,0.9929321766778839,-0.06928523458915005,-2.8979856063999376,2.5360151444133168,2.5360151444133168,2.7025000000012787,0,0,-0.0001576406858203302,-9.990240165536619e-05
+17569,1793078005118371638,14556252000000,1793078005118123184,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6762156869754269,-0.004999760142109943,0.0982291732601248,0.9999999574872065,-4.963318516742742e-05,0.00022012872132623067,0.00015983848946300977,0.6761,-0.0046,0.09786843230568966,1.0,0.0,0.0,0.0,-0.49288727037258984,0.06358918879826314,2.93494209942505,0.0017927403589799301,0.037619075063687175,0.0002240472814850021,0.5552704234901406,1.317946211564332,3.6084974652571242,0.08551854640942486,-0.03249450097774451,0.0007206200642493362,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.610599264532266,1.732495973942502,-2.730835045050964,-0.054653908718695174,2.0397527026751585,0.9752052607637972,-0.06928523458915005,-2.93494209942505,2.661549810461814,2.661549810461814,2.7659000000014125,0,0,-0.00017689494254538728,9.375000361989123e-05
+17660,1793078005876363901,14557010000000,1793078005874123453,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.676224276155623,-0.004999486530435947,0.09810862551801319,0.9999999527524149,-7.405182606687246e-05,0.00023390537014331806,0.00016044512219187587,0.6761,-0.0046,0.09773078581512917,1.0,0.0,0.0,0.0,-0.5057473123766826,0.05620136634831163,2.9734407242061045,0.00047848557069363196,0.0386875018998695,0.001205619012673299,0.5424103814860478,1.3105583891143804,3.646996090038179,0.08420429162113856,-0.03142607414156219,0.0017021917954376331,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.591597328619163,1.7099905636137296,-2.728110959892595,-0.030248457734369856,2.0283837726077785,0.9859908670763298,-0.06928523458915005,-2.9734407242061045,2.658825725303445,2.658825725303445,2.8417000000015724,0,0,-0.00018842944926186623,-9.999999025923074e-05
+17731,1793078006468295294,14557602000000,1793078006466123113,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6762318920339518,-0.005003628456325404,0.0980085467345976,0.9999999474591679,-9.621641602823686e-05,0.00024748052906513725,0.0001613081370762396,0.6761,-0.0046,0.09761715109564159,1.0,0.0,0.0,0.0,-0.5058481720833089,0.036023961422944506,3.0388900898725484,5.5743704384561554e-05,0.03928362007493521,0.0011793844366719886,0.5423095217794215,1.2903809841890133,3.7124454557046227,0.08378154975482949,-0.03082995596649648,0.0016759572194363227,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6239249095156973,1.687519873180614,-2.843746671840056,-0.0206443058361627,2.112105457622281,0.9952510470973536,-0.06928523458915005,-3.0388900898725484,2.7744614372509058,2.7744614372509058,2.9009000000016973,0,0,-0.00019529234849127863,9.999980984798924e-05
+17801,1793078007051308318,14558185000000,1793078007046122948,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6762351872225187,-0.005006818404682837,0.09790218309175763,0.9999999432003104,-0.00011902747756253177,0.00025359467416606835,0.00016298601496941712,0.6761,-0.0046,0.09750216534501943,1.0,0.0,0.0,0.0,-0.4996097245470512,2.54303294366931e-05,3.049979317755588,-0.002953701047051477,0.03831969379346347,0.0011261390854197305,0.5485479693156792,1.2543824530955054,3.7235346835876624,0.08077210500339345,-0.03179388224796822,0.0016227118681840646,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5897772776100387,1.6514747859131367,-2.7929207509477965,0.004618056058965528,2.071558589041933,0.9923360293041781,-0.06928523458915005,-3.049979317755588,2.7236355163586463,2.7236355163586463,2.9592000000018204,0,0,-0.00019997188353412654,-9.999999025923074e-05
+17889,1793078007784351002,14558918000000,1793078007778123478,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6762444536514853,-0.005010741024755176,0.09776948061292175,0.9999999360400361,-0.00014047003348071417,0.0002702370628669236,0.00016310391704906738,0.6761,-0.0046,0.09735122147947052,1.0,0.0,0.0,0.0,-0.49763088241592035,-0.03029308780188833,3.105457792757002,-0.005006998248466163,0.03834824651728161,0.0010584086478984934,0.55052681144681,1.2240639349641804,3.7790131585890765,0.07871880780197876,-0.03176532952415008,0.0015549814306628274,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5580092991040186,1.6669479307429758,-2.837247770793414,-0.0014338536356668236,2.0943456436544516,1.0022586935894673,-0.06928523458915005,-3.105457792757002,2.767962536204264,2.767962536204264,3.032500000001975,0,0,-0.0002139161500672434,-9.999525793358827e-05
+17986,1793078008593356587,14559727000000,1793078008586123208,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.676254367005368,-0.005015794467082267,0.09760331834348752,0.9999999270872842,-0.00016875841977196342,0.00028515656995087236,0.00016575468866339364,0.6761,-0.0046,0.0971711593133195,1.0,0.0,0.0,0.0,-0.49248497163122273,-0.06836411814595911,3.145239938828727,-0.00789559970841859,0.03836682977784284,0.000994077106100158,0.5556727222315077,1.1859929046201096,3.818795304660801,0.07583020634202634,-0.03174674626358885,0.0014906498888644921,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5769693107617846,1.628886835861628,-2.962600114396648,0.0008958110165382476,2.1868841281669846,0.9744024117170429,-0.06928523458915005,-3.145239938828727,2.8933148798074977,2.8933148798074977,3.113400000002146,0,0,-0.00023121195135841622,-9.93003832202632e-05
+18071,1793078009301344139,14560435000000,1793078009298123653,DOWN_FORCE_DETACH,4,0.0664,0.06639819592237473,0.6762619583633059,-0.005020530071912218,0.09744816834171355,0.9999999192524662,-0.00018959702212023802,0.00029842751147689673,0.00016712843855725602,0.6761,-0.0046,0.0970034612819214,1.0,0.0,0.0,0.0,-0.4840735433714808,-0.10442905592243701,3.204436076034447,-0.010140687507481552,0.038407013717853974,0.001529869390578495,0.5640841504912496,1.1499279668436317,3.8779914418665213,0.07358511854296337,-0.031706562323577714,0.002026442173342829,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.585107087653482,1.670913181184198,-3.056369734027939,-0.010045810775002467,2.2516130858505248,1.00457182770591,-0.06928523458915005,-3.204436076034447,2.987084499438789,2.987084499438789,3.184200000002295,0,0,-0.00024163577531347371,5.148661249763752e-05
+18146,1793078009926257307,14561060000000,1793078009922123748,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.676267191102851,-0.005027030316940405,0.09730448737517403,0.9999999126804979,-0.00020445495135804553,0.00030782026699691583,0.00017183339768564598,0.6761,-0.0046,0.09685050072341937,1.0,0.0,0.0,0.0,-0.4770640702558513,-0.13275443082338434,3.2370050961193177,-0.012160443672083285,0.037439427914344285,0.0013473299660100187,0.5710936236068791,1.1216025919426844,3.910560461951392,0.07156536237836164,-0.0326741481270874,0.0018439027487743528,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6289104696434182,1.7198436233995271,-3.127567046792627,-0.023636334524107638,2.315457065275969,1.033203236834,-0.06928523458915005,-3.2370050961193177,3.058281812203477,3.058281812203477,3.246700000002427,0,0,-0.000251062011323551,9.764139083235363e-05
+18214,1793078010493311063,14561627000000,1793078010490123178,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6762726402040729,-0.005027227654967831,0.09716463654816214,0.9999999084378566,-0.00021249332520057398,0.00031567750587305486,0.00017251504716983372,0.6761,-0.0046,0.09670421538064879,1.0,0.0,0.0,0.0,-0.4739824321463103,-0.15421410017218462,3.2636375954849717,-0.014211216185172348,0.0374222711550486,0.0018413176693098596,0.5741752617164201,1.1001429225938841,3.937192961317046,0.06951458986527258,-0.03269130488638309,0.0023378904520741936,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5422215922110878,1.6629868139735258,-3.0837157882736252,-0.005387078586100163,2.2614799079160135,0.9949513355378181,-0.06928523458915005,-3.2636375954849717,3.014430553684475,3.014430553684475,3.3034000000025467,0,0,-0.000265108023946052,-9.999994862586731e-05
+18283,1793078011068229056,14562202000000,1793078011062132636,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6762794434577991,-0.005031589497739767,0.09702003653362039,0.9999999024811007,-0.00021732199829667035,0.0003273262131546395,0.000179190826463397,0.6761,-0.0046,0.09654649986780435,1.0,0.0,0.0,0.0,-0.4754967884474631,-0.18095285179888276,3.320757631593772,-0.01572749907189816,0.03747971140921469,0.0017798378819674355,0.5726609054152673,1.073404170967186,3.9943129974258462,0.06799830697854677,-0.032633864632217,0.0022764106647317696,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5952828303322264,1.5648242663962262,-3.196515990769206,0.03084836052814982,2.3527278336772444,0.932336132982902,-0.06928523458915005,-3.320757631593772,3.127230756180056,3.127230756180056,3.360900000002668,0,0,-0.00028390519348356493,4.493213990315565e-08
+18348,1793078011609297770,14562743000000,1793078011602123371,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6762882272686472,-0.0050362468025423055,0.09688163209147432,0.9999998979301835,-0.00021569493347499177,0.0003399721389147136,0.00018296755745219603,0.6761,-0.0046,0.09639146598029,1.0,0.0,0.0,0.0,-0.4739254564385229,-0.19559760131178794,3.3323161123913243,-0.016271570745757677,0.03749719502831574,0.001762746487052689,0.5742322374242075,1.0587594214542808,4.005871478223399,0.06745423530468725,-0.032616381013115946,0.002259319269817023,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6427510779652428,1.695565140397696,-3.2601707418300534,-0.008849788645562542,2.4063779116529664,1.016924426030698,-0.06928523458915005,-3.3323161123913243,3.1908855072409033,3.1908855072409033,3.4150000000027823,0,0,-0.0002920271481340623,9.546303611352442e-05
+18417,1793078012184209208,14563318000000,1793078012182123889,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.676296418497408,-0.005037036220997078,0.09672806818328411,0.9999998884783801,-0.0002427077816259502,0.0003568884949964364,0.000167957215535535,0.6761,-0.0046,0.09622014513580407,1.0,0.0,0.0,0.0,-0.4374644328772056,-0.19904534961345366,3.3724000130568834,-0.017245125033213335,0.03547944187064175,0.0016991519702143501,0.6106932609855248,1.055311673152615,4.045955378888958,0.06648068101723159,-0.03463413417078994,0.002195724752978684,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6314136177242993,1.652477878802823,-3.3792405440462234,0.026760872682267633,2.479472276224341,0.9859098404979267,-0.06928523458915005,-3.3724000130568834,3.3099553094570733,3.3099553094570733,3.4725000000029036,0,0,-0.0003026151623216914,9.997539881923529e-05
+18480,1793078012709262412,14563843000000,1793078012706123598,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6762989527776583,-0.00503979172457844,0.09657627941637331,0.9999998876635027,-0.00023544613513814112,0.00036233615757276717,0.0001714452461462775,0.6761,-0.0046,0.09606022221872024,1.0,0.0,0.0,0.0,-0.42671254513393586,-0.24696397131038816,3.3827499732330777,-0.01926542810062612,0.03450496542521437,0.0016460234159031725,0.6214451487287945,1.0073930514556806,4.056305339065152,0.0644603779498188,-0.03560861061621732,0.0021425961986675066,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5876433358240705,1.632522117145189,-3.2539445265732807,0.038228805186804264,2.3960911387752453,0.9763265877186798,-0.06928523458915005,-3.3827499732330777,3.1846592919841306,3.1846592919841306,3.5250000000030144,0,0,-0.0003072289814595993,-9.961660249325206e-05
+18543,1793078013234254254,14564368000000,1793078013234123570,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.67630565358439,-0.005045454478218218,0.09642027554995232,0.9999998977967135,-0.00014966739641872302,0.00037563873657109836,0.0001798461478893973,0.6761,-0.0046,0.09589560101123706,1.0,0.0,0.0,0.0,-0.44137620535236,-0.24493124229297547,3.42104484756035,-0.02031875162980809,0.035529377826865945,0.001617189810703962,0.6067814885103704,1.0094257804730933,4.094600213392424,0.06340705442063684,-0.034584198214565744,0.002113762593468296,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5731872809942717,1.70385060461171,-3.280419616807229,-0.0015884624765559125,2.408626828064756,0.9898759876809524,-0.06928523458915005,-3.42104484756035,3.211134382218079,3.211134382218079,3.577500000003125,0,0,-0.00032119431888774495,-9.999999025923074e-05
+18599,1793078013701247771,14564835000000,1793078013694123996,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6763098004202456,-0.005044706755379184,0.09626904695281291,0.999999892835531,-0.00017135432407078898,0.0003778688405185192,0.00018337018772261347,0.6761,-0.0046,0.09574271996917,1.0,0.0,0.0,0.0,-0.43585862238110895,-0.24728403230400064,3.4468932123926432,-0.0203234369791538,0.03552493205269111,0.0015968389182964425,0.6122990714816214,1.007072990462068,4.1204485782247176,0.06340236907129113,-0.03458864398874058,0.0020934117010607766,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6537868942605496,1.6531034767094088,-3.4003456779130823,0.03660582178362431,2.5059903195578244,0.9861233752471376,-0.06928523458915005,-3.4468932123926432,3.331060443323932,3.331060443323932,3.6242000000032237,0,0,-0.00033283951099002804,-9.999999025923074e-05
+18651,1793078014134236394,14565268000000,1793078014134132811,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6763147502256931,-0.0050486708749870966,0.09613058919815756,0.9999998840943896,-0.00019754767668884145,0.00038879635090042396,0.00018184164660810974,0.6761,-0.0046,0.0955954893420249,1.0,0.0,0.0,0.0,-0.416619770087436,-0.2665443495029963,3.457067097899854,-0.02132072163580053,0.034528635531602354,0.0015651409292263925,0.6315379237752944,0.9878126732630724,4.130622463731928,0.062405084414644395,-0.035584940509829334,0.0020617137119907265,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6300095558401724,1.6466883298741468,-3.479621347190646,0.042049949707232345,2.5530106589341086,0.9789645870545642,-0.06928523458915005,-3.457067097899854,3.4103361126014957,3.4103361126014957,3.667500000003315,0,0,-0.0003456716004032482,9.999969882568677e-05
+18700,1793078014543211259,14565677000000,1793078014542123099,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6763150432134956,-0.005047770143225639,0.0959920556851082,0.9999998787903736,-0.0002158436862001975,0.00039369124864828783,0.00017966860115497762,0.6761,-0.0046,0.09545224241892553,1.0,0.0,0.0,0.0,-0.3793548189864737,-0.29108160054200016,3.4846507438597722,-0.023314271365908128,0.03253553868333466,0.001491683036821262,0.6688028748762567,0.9632754222240686,4.158206109691847,0.0604115346845368,-0.037578037358097026,0.001988255819585596,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5931735145539814,1.7180218644863516,-3.4195088257166173,0.02527240919307087,2.5163478022919388,1.0234750474155878,-0.06928523458915005,-3.4846507438597722,3.350223591127467,3.350223591127467,3.7084000000034014,0,0,-0.0003559710130094081,-9.790223773198931e-05
+18761,1793078015051218786,14566185000000,1793078015050122972,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6763154629034869,-0.0050501897189498615,0.0958154827592888,0.9999998728142868,-0.00022291973520737908,0.0003989537856273846,0.00019224188592528122,0.6761,-0.0046,0.09526718127066003,1.0,0.0,0.0,0.0,-0.376810985417076,-0.326385886403709,3.511856782207458,-0.02538161496467732,0.0315559842240238,0.001431193424597151,0.6713467084456544,0.9279711363623597,4.185412148039532,0.058344191085767605,-0.03855759181740789,0.001927766207361485,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.6491181590476116,1.613544085797491,-3.4527402169284716,0.06953926787079112,2.5604452173537084,0.9605475158958087,-0.06928523458915005,-3.511856782207458,3.3834549823393214,3.3834549823393214,3.7592000000035086,0,0,-0.00037508782836234565,-9.999999025923074e-05
+18814,1793078015493209175,14566627000000,1793078015490123069,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6763307837898973,-0.0050535073640175345,0.0956598618294243,0.9999998657394501,-0.0002226168685133417,0.00041157944864770056,0.00020250440281460543,0.6761,-0.0046,0.0950977446922169,1.0,0.0,0.0,0.0,-0.43542035811481483,-0.2543796505831635,3.5248900204978266,-0.021368400860377515,0.03551978407498206,0.0024620466962935817,0.6127373357479156,0.9999773721829053,4.198445386329901,0.06235740519006741,-0.03459379196644963,0.0029586194790579157,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.686258757714398,1.631686831013093,-3.484837924989798,0.07095031777336748,2.570872228183361,0.9722774756581594,-0.06928523458915005,-3.5248900204978266,3.4155526904006477,3.4155526904006477,3.803400000003602,0,0,-0.0003941552253014776,-9.999999025923074e-05
+18867,1793078015934219495,14567068000000,1793078015934123205,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6763370170556364,-0.0050528499258739885,0.09549553612025934,0.9999998533254943,-0.00026932293216564286,0.0004262286541729403,0.00017488895425839376,0.6761,-0.0046,0.09492010678083317,1.0,0.0,0.0,0.0,-0.35729310177898876,-0.24798849516994026,3.581284913536325,-0.021231451922012368,0.03145884001126141,0.0014350181204934274,0.6908645920837416,1.0063685275961285,4.254840279368399,0.06249435412843256,-0.03865473603017028,0.0019315909032577615,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.7276446169561033,1.6469169074497618,-3.5431960553841755,0.09086015371359216,2.6360139251081756,0.9801292443651225,-0.06928523458915005,-3.581284913536325,3.4739108207950253,3.4739108207950253,3.847500000003695,0,0,-0.00041231013253181646,-9.999999025923074e-05
+18918,1793078016359209864,14567493000000,1793078016358123648,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6763441762810525,-0.005058065097082043,0.09532871128865014,0.9999998481947374,-0.0002625639122193857,0.00043476521773647034,0.00019259481661831426,0.6761,-0.0046,0.09474176318268991,1.0,0.0,0.0,0.0,-0.3791909041423335,-0.2637284674215433,3.608994139571627,-0.022318095325805913,0.032620542972750036,0.0014084858022564777,0.6689667897203969,0.9906285553445254,4.2825495054037015,0.06140771072463901,-0.03749303306868165,0.0019050585850208118,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.747650159689642,1.6202137601924393,-3.5049820167532486,0.09935450982047687,2.6209259306112664,0.9675907702171664,-0.06928523458915005,-3.608994139571627,3.4356967821640985,3.4356967821640985,3.8900000000037847,0,0,-0.0004276532599254131,-9.999996250365512e-05
+18967,1793078016768208922,14567902000000,1793078016766122771,DOWN_FORCE_DETACH,4,0.0664,0.06639687716960907,0.6763431261040378,-0.005056795112909143,0.09515321575840302,0.9999998725303747,-0.00011610343789082733,0.0004352120768740074,0.0002085486481922995,0.6761,-0.0046,0.09456399685334198,1.0,0.0,0.0,0.0,-0.35411362382053446,-0.3335531146397245,3.6507311088710788,-0.026355315129584576,0.030531290559765008,0.001294878805185019,0.6940440700421959,0.9208039081263443,4.324286474703153,0.05737049092086035,-0.03958228548166668,0.0017914515879493532,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.7214335246003616,1.7888851276530437,-3.624135434194793,0.006329730587097761,2.717498822060967,1.0034803674223867,-0.06928523458915005,-3.6507311088710788,3.5548501996056427,3.5548501996056427,3.930900000003871,0,0,-0.0004406820801286778,-9.993642999107095e-05
+19012,1793078017143209167,14568277000000,1793078017142123152,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6763518333360564,-0.005061344137268214,0.09498890889397774,0.9999998631899653,-0.00013338252059563494,0.00044432585563681143,0.00022326341488400987,0.6761,-0.0046,0.09439584564172958,1.0,0.0,0.0,0.0,-0.366887236075637,-0.3463879499926553,3.6703943590925876,-0.027406132886529093,0.0314956983886816,0.0012805352959093452,0.6812704577870934,0.9079690727734134,4.343949724924662,0.05631967316391583,-0.038617877652750085,0.0017771080786736792,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.7761326412336451,1.7031091016948938,-3.593447862632743,0.06077562792667694,2.7141355630255415,0.9793613304177818,-0.06928523458915005,-3.6703943590925876,3.5241626280435927,3.5241626280435927,3.96840000000395,0,0,-0.00045571310354072656,-9.999999025923074e-05
+19056,1793078017509212166,14568643000000,1793078017502123656,DOWN_FORCE_DETACH,4,0.0664,0.0663975402712822,0.6763517826100215,-0.005055011595743371,0.09481884986185772,0.9999998556025897,-0.00020251731539213508,0.0004514378604531295,0.00018822395960026294,0.6761,-0.0046,0.09422663142458934,1.0,0.0,0.0,0.0,-0.32774524025727136,-0.3162841850727609,3.6626521894117463,-0.024882991082588797,0.0285854660232375,0.002303337103102978,0.720412453605459,0.9380728376933078,4.336207555243821,0.05884281496785613,-0.04152811001819419,0.002799909885867312,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.777480449229144,1.5973095491888598,-3.5810666641517135,0.13322304354564665,2.70997409061071,0.9546111331829169,-0.06928523458915005,-3.6626521894117463,3.5117814295625633,3.5117814295625633,4.005000000004005,0,0,-0.00046926530107157936,-9.999999025923074e-05
+19109,1793078017947211381,14569081000000,1793078017946122940,DOWN_SETTLE,4,0.0664,0.06639819592237473,0.6763450090083051,-0.005061286955637598,0.09465463429551581,0.9999998588182819,-0.00020492609649006322,0.0004366644739615698,0.00020281940864556633,0.6761,-0.0046,0.09408751005631288,1.0,0.0,0.0,0.0,-0.2610363965434178,-0.42105352939103136,3.4820770350929813,-0.031114185740055256,0.024187614377026177,0.0012821876922826136,0.7871212973193126,0.8333034933750374,4.155632400925056,0.05261162031038967,-0.04592596166440551,0.0017787604750469476,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.5756398400920433,1.6229366659068865,-3.3613362157098483,0.12393399579539253,2.5359846057750985,0.9703021713172565,-0.06928523458915005,-3.4820770350929813,3.292050981120698,0.0,0.0,0,0,-4.5889806501598856e-05,0.00046353339900604904
+19186,1793078018584208743,14569718000000,1793078018582125397,DOWN_PEAK_HOLD,4,0.0664,0.0663975402712822,0.6763202555820297,-0.005060788604895745,0.09458075578677691,0.9999998782652199,-0.00020646642678436052,0.0003886463272433613,0.00020307155539842577,0.6761,-0.0046,0.09408392514497539,1.0,0.0,0.0,0.0,-0.12348426838484494,-0.5358573638702687,2.9079293516770166,-0.03904579156667424,0.014737906940231069,0.0004952527042685912,0.9246734254778854,0.7184996588958,3.581484717509091,0.04468001448377069,-0.05537566910120062,0.0009918254870329253,1.0481576938627304,1.2543570227660688,0.6735553658320742,0.08372580605044493,-0.07011357604143169,0.0004965727827643341,1,1.0634095277944522,1.5329946238767969,-2.6475100913064957,0.14944607233930113,1.966025686648811,0.9086578169693994,-0.06928523458915005,-2.9079293516770166,2.5782248567173456,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_15/press_depth_04/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1793077977261908540,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.266471217e-08,-1.063923952e-09,-3.602365073e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457145e-01,-1.155687350e-04,8.303255057e-01
+1,7.666666667e-01,DOWN_FORCE_DETACH,1793077978046570097,2.751880358e-06,-2.630648241e-06,2.637950941e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.033505168e-07,-3.403496976e-08,-1.604554178e-08,7.019583847e-01,-2.490138326e-05,8.601457252e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027461052e-01,-1.156017060e-04,8.303254900e-01
+2,1.616666667e+00,DOWN_FORCE_DETACH,1793077978883694857,9.305029029e-06,-1.945492870e-06,1.077410270e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.993161469e-07,-5.145886175e-08,-2.583099912e-08,7.019649378e-01,-2.421622789e-05,8.601441646e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027463011e-01,-1.156191299e-04,8.303254802e-01
+3,2.450000000e+00,DOWN_FORCE_DETACH,1793077979717496841,2.373846704e-05,-2.501677255e-06,-2.940988139e-05,2.337944478e-05,-2.158716496e-06,-2.936648217e-05,2.466886414e-05,-2.087007150e-06,-2.820946139e-05,7.019793713e-01,-2.477241228e-05,8.601136774e-01,7.019790123e-01,-2.442945152e-05,8.601137208e-01,7.027703707e-01,-1.176546782e-04,8.302972966e-01
+4,3.183333333e+00,DOWN_FORCE_DETACH,1793077980454984124,5.383352089e-05,-6.914368655e-06,-6.645599871e-05,4.846688384e-05,-8.000443654e-06,-6.289758837e-05,5.090139707e-05,-7.584068706e-06,-6.135970920e-05,7.020094663e-01,-2.918510368e-05,8.600766312e-01,7.020040997e-01,-3.027117868e-05,8.600801897e-01,7.027966032e-01,-1.231517397e-04,8.302641463e-01
+5,3.983333333e+00,DOWN_FORCE_DETACH,1793077981257974573,8.173175239e-05,-1.091135332e-05,-1.323195153e-04,7.767524368e-05,-9.934770902e-06,-1.167470942e-04,8.173519397e-05,-9.430818860e-06,-1.146064550e-04,7.020373646e-01,-3.318208835e-05,8.600107677e-01,7.020333081e-01,-3.220550592e-05,8.600263401e-01,7.028274370e-01,-1.249984899e-04,8.302108996e-01
+6,4.750000000e+00,DOWN_FORCE_DETACH,1793077982077301499,1.265415026e-04,-1.371841653e-05,-1.857531971e-04,1.178220832e-04,-1.312402771e-05,-1.853733346e-04,1.238404881e-04,-1.250059004e-05,-1.825182333e-04,7.020821743e-01,-3.598915155e-05,8.599573340e-01,7.020734549e-01,-3.539476273e-05,8.599577139e-01,7.028695423e-01,-1.280682611e-04,8.301429878e-01
+7,5.566666667e+00,DOWN_FORCE_DETACH,1793077982911463383,1.368678084e-04,-1.727050620e-05,-2.464118562e-04,1.390553731e-04,-1.462688862e-05,-2.438154785e-04,1.463844908e-04,-1.396990318e-05,-2.407319033e-04,7.020925006e-01,-3.954124123e-05,8.598966754e-01,7.020946882e-01,-3.689762364e-05,8.598992718e-01,7.028920863e-01,-1.295375742e-04,8.300847741e-01
+8,6.450000000e+00,DOWN_FORCE_DETACH,1793077983796147836,1.462111360e-04,-1.549580411e-05,-2.872016875e-04,1.459674539e-04,-1.903620458e-05,-2.847010506e-04,1.540253191e-04,-1.814454609e-05,-2.821835736e-04,7.021018440e-01,-3.776653914e-05,8.598558856e-01,7.021016003e-01,-4.130693960e-05,8.598583862e-01,7.028997271e-01,-1.337122171e-04,8.300433225e-01
+9,7.416666667e+00,DOWN_FORCE_DETACH,1793077984795484192,1.471203024e-04,-2.282593802e-05,-3.131250914e-04,1.476324317e-04,-1.474376280e-05,-3.068273248e-04,1.561212093e-04,-1.419317422e-05,-3.052219179e-04,7.021027531e-01,-4.509667305e-05,8.598299621e-01,7.021032652e-01,-3.701449782e-05,8.598362599e-01,7.029018230e-01,-1.297608453e-04,8.300202841e-01
+10,8.433333333e+00,DOWN_FORCE_DETACH,1793077985811280689,1.494903291e-04,-1.629270476e-05,-3.185447226e-04,1.476324317e-04,-1.474376280e-05,-3.068273248e-04,1.563339164e-04,-1.420594216e-05,-3.061217659e-04,7.021051231e-01,-3.856343978e-05,8.598245425e-01,7.021032652e-01,-3.701449782e-05,8.598362599e-01,7.029020357e-01,-1.297736132e-04,8.300193843e-01
+11,9.216666667e+00,DOWN_FORCE_DETACH,1793077986580479099,1.462649174e-04,-2.070950539e-05,-3.274002593e-04,1.441686382e-04,-1.709164978e-05,-3.272020251e-04,1.524952686e-04,-1.637687190e-05,-3.263187930e-04,7.021018977e-01,-4.298024041e-05,8.598156870e-01,7.020998015e-01,-3.936238480e-05,8.598158852e-01,7.028981971e-01,-1.319445429e-04,8.299991872e-01
+12,1.016666667e+01,DOWN_FORCE_DETACH,1793077987547022591,1.458250116e-04,-1.963679471e-05,-3.355173488e-04,1.441686382e-04,-1.709164978e-05,-3.272020251e-04,1.524569773e-04,-1.637568611e-05,-3.267840739e-04,7.021014578e-01,-4.190752973e-05,8.598075699e-01,7.020998015e-01,-3.936238480e-05,8.598158852e-01,7.028981588e-01,-1.319433571e-04,8.299987220e-01
+13,1.101666667e+01,DOWN_FORCE_DETACH,1793077988414793011,1.509168122e-04,-2.219082864e-05,-3.547798067e-04,1.478555919e-04,-2.126530574e-05,-3.474049513e-04,1.560229680e-04,-2.028208118e-05,-3.466193571e-04,7.021065496e-01,-4.446156366e-05,8.597883074e-01,7.021034884e-01,-4.353604077e-05,8.597956823e-01,7.029017248e-01,-1.358497522e-04,8.299788867e-01
+14,1.175000000e+01,DOWN_FORCE_DETACH,1793077989136106807,1.595258402e-04,-1.284133402e-05,-3.766364145e-04,1.532324560e-04,-1.048712516e-05,-3.815583076e-04,1.614377049e-04,-1.021099038e-05,-3.801307647e-04,7.021151587e-01,-3.511206904e-05,8.597664508e-01,7.021088653e-01,-3.275786018e-05,8.597615289e-01,7.029071395e-01,-1.257786614e-04,8.299453753e-01
+15,1.256666667e+01,DOWN_FORCE_DETACH,1793077989955389241,1.638051331e-04,-1.266994325e-05,-4.084541521e-04,1.633162375e-04,-1.906507203e-05,-3.968188788e-04,1.717789200e-04,-1.823758610e-05,-3.956676450e-04,7.021194380e-01,-3.494067828e-05,8.597346331e-01,7.021189491e-01,-4.133580705e-05,8.597462684e-01,7.029174807e-01,-1.338052571e-04,8.299298384e-01
+16,1.335000000e+01,DOWN_FORCE_DETACH,1793077990757427821,1.691757683e-04,-1.704692088e-05,-4.254624704e-04,1.667793838e-04,-1.213661307e-05,-4.152319119e-04,1.754562688e-04,-1.179742170e-05,-4.142080838e-04,7.021248086e-01,-3.931765591e-05,8.597176248e-01,7.021224122e-01,-3.440734809e-05,8.597278553e-01,7.029211581e-01,-1.273650927e-04,8.299112980e-01
+17,1.421666667e+01,DOWN_FORCE_DETACH,1793077991626437964,1.737216102e-04,-1.988383448e-05,-4.478241486e-04,1.692478936e-04,-1.876814395e-05,-4.343093965e-04,1.779563378e-04,-1.797041045e-05,-4.333984204e-04,7.021293544e-01,-4.215456950e-05,8.596952631e-01,7.021248807e-01,-4.103887897e-05,8.597087778e-01,7.029236582e-01,-1.335380815e-04,8.298921076e-01
+18,1.501666667e+01,DOWN_FORCE_DETACH,1793077992411493150,1.783716365e-04,-1.808955047e-05,-4.787674194e-04,1.764803315e-04,-2.166715341e-05,-4.744759498e-04,1.851305151e-04,-2.070254852e-05,-4.729032191e-04,7.021340045e-01,-4.036028549e-05,8.596643198e-01,7.021321131e-01,-4.393788843e-05,8.596686113e-01,7.029308323e-01,-1.362702196e-04,8.298526028e-01
+19,1.581666667e+01,DOWN_FORCE_DETACH,1793077993198112107,1.853753259e-04,-2.468196615e-05,-5.109727340e-04,1.818773938e-04,-2.099976862e-05,-4.949631460e-04,1.907976801e-04,-2.011555421e-05,-4.936993846e-04,7.021410081e-01,-4.695270117e-05,8.596321145e-01,7.021375102e-01,-4.327050364e-05,8.596481241e-01,7.029364995e-01,-1.356832252e-04,8.298318067e-01
+20,1.653333333e+01,DOWN_FORCE_DETACH,1793077993902590439,1.879640790e-04,-2.167200863e-05,-5.440779237e-04,1.915694260e-04,-2.498837398e-05,-5.344560739e-04,2.005950967e-04,-2.382342982e-05,-5.326801016e-04,7.021435969e-01,-4.394274365e-05,8.595990093e-01,7.021472022e-01,-4.725910900e-05,8.596086312e-01,7.029462969e-01,-1.393911009e-04,8.297928259e-01
+21,1.735000000e+01,DOWN_FORCE_DETACH,1793077994737909670,1.966977655e-04,-2.615217301e-05,-5.793312585e-04,1.972628380e-04,-2.450823389e-05,-5.743951519e-04,2.062431774e-04,-2.340604107e-05,-5.724231938e-04,7.021523306e-01,-4.842290803e-05,8.595637560e-01,7.021528957e-01,-4.677896891e-05,8.595686921e-01,7.029519450e-01,-1.389737121e-04,8.297530828e-01
+22,1.818333333e+01,DOWN_FORCE_DETACH,1793077995573432178,2.043590139e-04,-2.791985653e-05,-6.205639585e-04,2.035046302e-04,-2.837806972e-05,-6.142098309e-04,2.125362096e-04,-2.704618939e-05,-6.121495453e-04,7.021599918e-01,-5.019059156e-05,8.595225233e-01,7.021591374e-01,-5.064880474e-05,8.595288774e-01,7.029582380e-01,-1.426138604e-04,8.297133565e-01
+23,1.901666667e+01,DOWN_FORCE_DETACH,1793077996409175053,2.136165216e-04,-2.838997222e-05,-6.634904312e-04,2.090441568e-04,-3.140524952e-05,-6.565967363e-04,2.180465850e-04,-2.987407666e-05,-6.545349899e-04,7.021692493e-01,-5.066070725e-05,8.594795968e-01,7.021646770e-01,-5.367598454e-05,8.594864905e-01,7.029637484e-01,-1.454417477e-04,8.296709710e-01
+24,1.971666667e+01,DOWN_FORCE_DETACH,1793077997148740515,2.197206709e-04,-3.362718578e-05,-7.094353800e-04,2.179104795e-04,-2.886140531e-05,-6.990777432e-04,2.269777710e-04,-2.752580704e-05,-6.968658317e-04,7.021753535e-01,-5.589792081e-05,8.594336519e-01,7.021735433e-01,-5.113214033e-05,8.594440095e-01,7.029726796e-01,-1.430934781e-04,8.296286402e-01
+25,2.048333333e+01,DOWN_FORCE_DETACH,1793077997964643289,2.264467636e-04,-3.257096442e-05,-7.631152376e-04,2.228647904e-04,-2.997614976e-05,-7.594905211e-04,2.316568242e-04,-2.859612409e-05,-7.567551905e-04,7.021820796e-01,-5.484169944e-05,8.593799720e-01,7.021784976e-01,-5.224688479e-05,8.593835967e-01,7.029773586e-01,-1.441637951e-04,8.295687508e-01
+26,2.128333333e+01,DOWN_FORCE_DETACH,1793077998750922592,2.319013082e-04,-3.576509664e-05,-8.209734784e-04,2.315917928e-04,-3.461109599e-05,-8.197548580e-04,2.402732480e-04,-3.290756838e-05,-8.166468567e-04,7.021875341e-01,-5.803583167e-05,8.593221138e-01,7.021872246e-01,-5.688183101e-05,8.593233324e-01,7.029859751e-01,-1.484752394e-04,8.295088592e-01
+27,2.208333333e+01,DOWN_FORCE_DETACH,1793077999536872277,2.397422414e-04,-3.751484642e-05,-8.811547342e-04,2.389355650e-04,-3.946049569e-05,-8.783601568e-04,2.474549919e-04,-3.748659045e-05,-8.751379231e-04,7.021953751e-01,-5.978558144e-05,8.592619325e-01,7.021945684e-01,-6.173123072e-05,8.592647271e-01,7.029931568e-01,-1.530542615e-04,8.294503681e-01
+28,2.295000000e+01,DOWN_FORCE_DETACH,1793078000404936579,2.495824703e-04,-3.967104735e-05,-9.587066434e-04,2.456724295e-04,-3.545142456e-05,-9.595251290e-04,2.538299366e-04,-3.380553173e-05,-9.557574532e-04,7.022052153e-01,-6.194178237e-05,8.591843806e-01,7.022013052e-01,-5.772215958e-05,8.591835621e-01,7.029995318e-01,-1.493732028e-04,8.293697486e-01
+29,2.378333333e+01,DOWN_FORCE_DETACH,1793078001225425763,2.560835810e-04,-4.419225489e-05,-1.035525317e-03,2.531107459e-04,-4.419932783e-05,-1.020455531e-03,2.611372135e-04,-4.199839885e-05,-1.017226653e-03,7.022117164e-01,-6.646298991e-05,8.591075619e-01,7.022087436e-01,-6.647006285e-05,8.591226317e-01,7.030068390e-01,-1.575660699e-04,8.293082794e-01
+30,2.451666667e+01,DOWN_FORCE_DETACH,1793078002026949610,2.638978013e-04,-4.353941271e-05,-1.122968851e-03,2.632587194e-04,-4.064033752e-05,-1.105473726e-03,2.709523235e-04,-3.870643010e-05,-1.101652268e-03,7.022195306e-01,-6.581014773e-05,8.590201184e-01,7.022188915e-01,-6.291107254e-05,8.590376135e-01,7.030166541e-01,-1.542741011e-04,8.292238538e-01
+31,2.540000000e+01,DOWN_FORCE_DETACH,1793078002946830450,2.703780022e-04,-4.579642896e-05,-1.225565165e-03,2.706490630e-04,-4.754373112e-05,-1.208832109e-03,2.778203142e-04,-4.518948118e-05,-1.204754192e-03,7.022260108e-01,-6.806716398e-05,8.589175221e-01,7.022262819e-01,-6.981446614e-05,8.589342551e-01,7.030235221e-01,-1.607571522e-04,8.291207518e-01
+32,2.620000000e+01,DOWN_FORCE_DETACH,1793078003747101947,2.812308575e-04,-5.069595833e-05,-1.320719718e-03,2.839581335e-04,-5.229649306e-05,-1.313219954e-03,2.906163157e-04,-4.964931323e-05,-1.308501996e-03,7.022368637e-01,-7.296669336e-05,8.588223675e-01,7.022395910e-01,-7.456722808e-05,8.588298673e-01,7.030363181e-01,-1.652169843e-04,8.290170040e-01
+33,2.693333333e+01,DOWN_FORCE_DETACH,1793078004484741667,2.871036160e-04,-5.286143981e-05,-1.427440392e-03,2.857716493e-04,-5.352722319e-05,-1.418229915e-03,2.916864815e-04,-5.080839120e-05,-1.413027754e-03,7.022427364e-01,-7.513217483e-05,8.587156468e-01,7.022414045e-01,-7.579795821e-05,8.587248573e-01,7.030373883e-01,-1.663760622e-04,8.289124783e-01
+34,2.758333333e+01,DOWN_FORCE_DETACH,1793078005122048574,2.940786608e-04,-5.748506793e-05,-1.519044810e-03,2.950502785e-04,-5.479852858e-05,-1.504746930e-03,3.005475689e-04,-5.199049064e-05,-1.499555290e-03,7.022497115e-01,-7.975580295e-05,8.586240424e-01,7.022506831e-01,-7.706926360e-05,8.586383403e-01,7.030462494e-01,-1.675581617e-04,8.288259507e-01
+35,2.831666667e+01,DOWN_FORCE_DETACH,1793078005879114090,3.052414610e-04,-6.307345057e-05,-1.633249025e-03,3.048170029e-04,-5.962112386e-05,-1.630582662e-03,3.095110505e-04,-5.655475544e-05,-1.624590589e-03,7.022608743e-01,-8.534418559e-05,8.585098382e-01,7.022604498e-01,-8.189185888e-05,8.585125046e-01,7.030552129e-01,-1.721224265e-04,8.287009155e-01
+36,2.891666667e+01,DOWN_FORCE_DETACH,1793078006465502887,3.127184891e-04,-6.283314358e-05,-1.734055197e-03,3.113911620e-04,-6.812239032e-05,-1.721115745e-03,3.155608651e-04,-6.456318956e-05,-1.715304485e-03,7.022683513e-01,-8.510387860e-05,8.584090320e-01,7.022670240e-01,-9.039312534e-05,8.584219715e-01,7.030612627e-01,-1.801308606e-04,8.286102016e-01
+37,2.950000000e+01,DOWN_FORCE_DETACH,1793078007055041620,3.169943898e-04,-6.728746833e-05,-1.841873625e-03,3.148712865e-04,-6.883806869e-05,-1.825516696e-03,3.181599752e-04,-6.525297421e-05,-1.819500715e-03,7.022726272e-01,-8.955820335e-05,8.583012136e-01,7.022705041e-01,-9.110880371e-05,8.583175705e-01,7.030638618e-01,-1.808206452e-04,8.285060053e-01
+38,3.021666667e+01,DOWN_FORCE_DETACH,1793078007786731341,3.249202697e-04,-7.030148925e-05,-1.973828217e-03,3.246430238e-04,-7.060806182e-05,-1.973669585e-03,3.267178364e-04,-6.695385459e-05,-1.966764013e-03,7.022805531e-01,-9.257222427e-05,8.581692590e-01,7.022802758e-01,-9.287879684e-05,8.581694177e-01,7.030724197e-01,-1.825215256e-04,8.283587420e-01
+39,3.053333333e+01,DOWN_FORCE_DETACH,1793078008591134393,3.345380302e-04,-7.671487222e-05,-2.139860759e-03,3.344129740e-04,-7.653526174e-05,-2.139366631e-03,3.350060787e-04,-7.250820424e-05,-2.128281056e-03,7.022901708e-01,-9.898560724e-05,8.580032265e-01,7.022900458e-01,-9.880599677e-05,8.580037206e-01,7.030807079e-01,-1.880758753e-04,8.281972250e-01
+40,3.110000000e+01,DOWN_FORCE_DETACH,1793078009301159485,3.422591020e-04,-7.732695681e-05,-2.296298941e-03,3.391170138e-04,-8.350244703e-05,-2.286004105e-03,3.385962319e-04,-7.905830482e-05,-2.276434891e-03,7.022978919e-01,-9.959769183e-05,8.578467883e-01,7.022947498e-01,-1.057731820e-04,8.578570831e-01,7.030842980e-01,-1.946259759e-04,8.280490711e-01
+41,3.171666667e+01,DOWN_FORCE_DETACH,1793078009922341865,3.488431246e-04,-8.601651167e-05,-2.435989557e-03,3.475709624e-04,-8.327345977e-05,-2.422171530e-03,3.459276630e-04,-7.882293087e-05,-2.413692842e-03,7.023044759e-01,-1.082872467e-04,8.577070977e-01,7.023032038e-01,-1.055441948e-04,8.577209157e-01,7.030916295e-01,-1.943906019e-04,8.279118132e-01
+42,3.230000000e+01,DOWN_FORCE_DETACH,1793078010495161073,3.519741079e-04,-8.931553458e-05,-2.578260754e-03,3.517986440e-04,-8.949553746e-05,-2.578121074e-03,3.486858658e-04,-8.466983601e-05,-2.569068350e-03,7.023076069e-01,-1.115862696e-04,8.575648265e-01,7.023074315e-01,-1.117662725e-04,8.575649662e-01,7.030943877e-01,-2.002375070e-04,8.277564377e-01
+43,3.288333333e+01,DOWN_FORCE_DETACH,1793078011068456510,3.599100760e-04,-9.114996223e-05,-2.723272296e-03,3.623957331e-04,-8.792564127e-05,-2.708663510e-03,3.582786788e-04,-8.321647707e-05,-2.700217462e-03,7.023155429e-01,-1.134206973e-04,8.574198149e-01,7.023180286e-01,-1.101963763e-04,8.574344237e-01,7.031039805e-01,-1.987841481e-04,8.276252886e-01
+44,3.338333333e+01,DOWN_FORCE_DETACH,1793078011609842366,3.681481874e-04,-9.323875227e-05,-2.859591985e-03,3.660166053e-04,-9.210626804e-05,-2.846894717e-03,3.607139689e-04,-8.716429346e-05,-2.838099872e-03,7.023237810e-01,-1.155094873e-04,8.572834953e-01,7.023216494e-01,-1.143770031e-04,8.572961925e-01,7.031064158e-01,-2.027319645e-04,8.274874062e-01
+45,3.395000000e+01,DOWN_FORCE_DETACH,1793078012182477399,3.781691906e-04,-9.679245473e-05,-3.012032972e-03,3.763859906e-04,-9.573312215e-05,-2.999276873e-03,3.700212018e-04,-9.056232507e-05,-2.990440336e-03,7.023338020e-01,-1.190631898e-04,8.571310543e-01,7.023320188e-01,-1.180038572e-04,8.571438104e-01,7.031157230e-01,-2.061299961e-04,8.273350657e-01
+46,3.441666667e+01,DOWN_FORCE_DETACH,1793078012705879684,3.805158204e-04,-1.013512707e-04,-3.166245344e-03,3.801434611e-04,-1.011203872e-04,-3.166385520e-03,3.722094891e-04,-9.570180650e-05,-3.156209017e-03,7.023361486e-01,-1.236220057e-04,8.569768419e-01,7.023357763e-01,-1.233911222e-04,8.569767017e-01,7.031179113e-01,-2.112694775e-04,8.271692970e-01
+47,3.493333333e+01,DOWN_FORCE_DETACH,1793078013230816924,3.844889365e-04,-1.004572780e-04,-3.325306550e-03,3.838714088e-04,-1.012223182e-04,-3.315593097e-03,3.745787046e-04,-9.573046151e-05,-3.305720904e-03,7.023401218e-01,-1.227280130e-04,8.568177807e-01,7.023395042e-01,-1.234930532e-04,8.568274941e-01,7.031202805e-01,-2.112981325e-04,8.270197851e-01
+48,3.540000000e+01,DOWN_FORCE_DETACH,1793078013705160447,3.948803709e-04,-1.059156215e-04,-3.469609064e-03,3.914912992e-04,-1.037483182e-04,-3.464235447e-03,3.809369012e-04,-9.817239062e-05,-3.454093485e-03,7.023505132e-01,-1.281863565e-04,8.566734782e-01,7.023471241e-01,-1.260190532e-04,8.566788518e-01,7.031266387e-01,-2.137400617e-04,8.268714126e-01
+49,3.583333333e+01,DOWN_FORCE_DETACH,1793078014131185094,3.952862375e-04,-1.030747577e-04,-3.613088177e-03,3.957756903e-04,-1.135547467e-04,-3.597805166e-03,3.839752578e-04,-1.074182723e-04,-3.587741048e-03,7.023509191e-01,-1.253454927e-04,8.565299991e-01,7.023514085e-01,-1.358254818e-04,8.565452821e-01,7.031296771e-01,-2.229859434e-04,8.267377650e-01
+50,3.625000000e+01,DOWN_FORCE_DETACH,1793078014541286058,3.958816722e-04,-1.078276575e-04,-3.750996672e-03,3.941892685e-04,-1.062766264e-04,-3.732550218e-03,3.808872328e-04,-1.006509277e-04,-3.722506862e-03,7.023515145e-01,-1.300983925e-04,8.563920906e-01,7.023498221e-01,-1.285473614e-04,8.564105370e-01,7.031265891e-01,-2.162185987e-04,8.266029992e-01
+51,3.675000000e+01,DOWN_FORCE_DETACH,1793078015048513852,3.973785369e-04,-1.094958552e-04,-3.925010701e-03,3.983391437e-04,-1.108075744e-04,-3.908662977e-03,3.832157610e-04,-1.048392726e-04,-3.898216598e-03,7.023530114e-01,-1.317665902e-04,8.562180765e-01,7.023539720e-01,-1.330783094e-04,8.562344243e-01,7.031289176e-01,-2.204069437e-04,8.264272894e-01
+52,3.720000000e+01,DOWN_FORCE_DETACH,1793078015491184940,4.140949664e-04,-1.129818479e-04,-4.076945258e-03,4.122577700e-04,-1.088804219e-04,-4.062687448e-03,3.959863373e-04,-1.030284841e-04,-4.052061107e-03,7.023697278e-01,-1.352525829e-04,8.560661420e-01,7.023678906e-01,-1.311511569e-04,8.560803998e-01,7.031416882e-01,-2.185961551e-04,8.262734449e-01
+53,3.763333333e+01,DOWN_FORCE_DETACH,1793078015933081974,4.188462012e-04,-1.094858311e-04,-4.244592317e-03,4.168409277e-04,-1.103003081e-04,-4.226444251e-03,3.991014469e-04,-1.043545019e-04,-4.215333551e-03,7.023744790e-01,-1.317565661e-04,8.558984949e-01,7.023724737e-01,-1.325710431e-04,8.559166430e-01,7.031448033e-01,-2.199221730e-04,8.261101725e-01
+54,3.806666667e+01,DOWN_FORCE_DETACH,1793078016359107023,4.251044174e-04,-1.192926393e-04,-4.414237001e-03,4.253819804e-04,-1.132287290e-04,-4.396738131e-03,4.061577540e-04,-1.071402141e-04,-4.385221654e-03,7.023807372e-01,-1.415633743e-04,8.557288502e-01,7.023810148e-01,-1.354994640e-04,8.557463491e-01,7.031518596e-01,-2.227078851e-04,8.259402844e-01
+55,3.848333333e+01,DOWN_FORCE_DETACH,1793078016768377316,4.272917086e-04,-1.185556706e-04,-4.584478527e-03,4.285848523e-04,-1.148120341e-04,-4.568319696e-03,4.077432322e-04,-1.087213015e-04,-4.556431649e-03,7.023829245e-01,-1.408264056e-04,8.555586087e-01,7.023842177e-01,-1.370827691e-04,8.555747675e-01,7.031534451e-01,-2.242889725e-04,8.257690744e-01
+56,3.886666667e+01,DOWN_FORCE_DETACH,1793078017145258269,4.323579125e-04,-1.183589771e-04,-4.753230048e-03,4.321224949e-04,-1.183637119e-04,-4.752847902e-03,4.094549740e-04,-1.120598954e-04,-4.739769704e-03,7.023879907e-01,-1.406297121e-04,8.553898572e-01,7.023877553e-01,-1.406344469e-04,8.553902393e-01,7.031551568e-01,-2.276275665e-04,8.255857363e-01
+57,3.923333333e+01,DOWN_FORCE_DETACH,1793078017505294099,4.333061961e-04,-1.195334684e-04,-4.921031494e-03,4.325483684e-04,-1.137050156e-04,-4.913589337e-03,4.082391364e-04,-1.076441801e-04,-4.900455906e-03,7.023889390e-01,-1.418042034e-04,8.552220557e-01,7.023881812e-01,-1.359757506e-04,8.552294979e-01,7.031539410e-01,-2.232118512e-04,8.254250501e-01
+58,3.965000000e+01,DOWN_SETTLE,1793078017947500229,4.248191811e-04,-1.212877461e-04,-5.090590603e-03,4.257887681e-04,-1.239633006e-04,-5.085718171e-03,3.993923777e-04,-1.173302955e-04,-5.073071242e-03,7.023804520e-01,-1.435584811e-04,8.550524966e-01,7.023814216e-01,-1.462340356e-04,8.550573691e-01,7.031450942e-01,-2.328979665e-04,8.252524348e-01
+59,4.030000000e+01,DOWN_PEAK_HOLD,1793078018586690000,4.018037100e-04,-1.173404353e-04,-5.159303744e-03,4.027921669e-04,-1.200457032e-04,-5.153782006e-03,3.741994680e-04,-1.136650676e-04,-5.145952271e-03,7.023574365e-01,-1.396111704e-04,8.549837835e-01,7.023584250e-01,-1.423164382e-04,8.549893052e-01,7.031199013e-01,-2.292327386e-04,8.251795538e-01

Fixed/digit/cylinder_PLA_15/press_depth_04/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.0725e-01,6.3047e-01,2.4605e+00,-8.2886e-02,5.1838e-02,1.3957e-03,5.9541e-04,3.3778e-04,-2.7370e-04,-2.1510e-05,3.7313e-05,-3.1199e-07,7.3724e-04,4.3070e-05
+1,7.6667e-01,DOWN_FORCE_DETACH,1.8890e-04,2.7915e-01,6.2882e-01,2.4552e+00,-8.2752e-02,5.6944e-02,9.6672e-04,7.2502e-02,-1.3095e-03,-5.6136e-03,1.1316e-04,5.1427e-03,-4.2934e-04,7.2731e-02,5.1618e-03
+2,1.6167e+00,DOWN_FORCE_DETACH,3.7939e-04,3.1215e-01,6.2731e-01,2.4535e+00,-8.2643e-02,5.9311e-02,7.4769e-04,1.0550e-01,-2.8201e-03,-7.2625e-03,2.2221e-04,7.5103e-03,-6.4836e-04,1.0579e-01,7.5415e-03
+3,2.4500e+00,DOWN_FORCE_DETACH,5.6891e-04,2.2177e-01,6.4320e-01,2.4907e+00,-8.3735e-02,5.2670e-02,7.5347e-04,1.5123e-02,1.3069e-02,2.9857e-02,-8.6962e-04,8.6923e-04,-6.4259e-04,3.5930e-02,1.3873e-03
+4,3.1833e+00,DOWN_FORCE_DETACH,7.5933e-04,1.0316e-01,7.2366e-01,2.7336e+00,-8.9154e-02,4.4048e-02,8.3076e-04,-1.0349e-01,9.3533e-02,2.7280e-01,-6.2894e-03,-7.7530e-03,-5.6529e-04,3.0639e-01,9.9992e-03
+5,3.9833e+00,DOWN_FORCE_DETACH,9.4933e-04,7.9655e-02,7.5361e-01,2.8429e+00,-9.1222e-02,4.1892e-02,9.7999e-04,-1.2700e-01,1.2348e-01,3.8214e-01,-8.3571e-03,-9.9092e-03,-4.1606e-04,4.2120e-01,1.2969e-02
+6,4.7500e+00,DOWN_FORCE_DETACH,1.1373e-03,-1.7139e-02,8.0474e-01,2.9429e+00,-9.4529e-02,3.4679e-02,1.2532e-03,-2.2379e-01,1.7461e-01,4.8214e-01,-1.1664e-02,-1.7122e-02,-1.4289e-04,5.5949e-01,2.0718e-02
+7,5.5667e+00,DOWN_FORCE_DETACH,1.3275e-03,1.1511e-01,8.0309e-01,2.9030e+00,-9.3990e-02,4.4305e-02,1.1725e-03,-9.1538e-02,1.7296e-01,4.4223e-01,-1.1125e-02,-7.4957e-03,-2.2354e-04,4.8359e-01,1.3416e-02
+8,6.4500e+00,DOWN_FORCE_DETACH,1.5201e-03,2.1514e-01,8.4483e-01,2.8813e+00,-9.6885e-02,5.2015e-02,9.2417e-04,8.4927e-03,2.1470e-01,4.2049e-01,-1.4020e-02,2.1392e-04,-4.7188e-04,4.7221e-01,1.4030e-02
+9,7.4167e+00,DOWN_FORCE_DETACH,1.7107e-03,2.9612e-01,7.8325e-01,2.7102e+00,-9.2730e-02,5.7736e-02,5.9804e-04,8.9466e-02,1.5312e-01,2.4938e-01,-9.8648e-03,5.9346e-03,-7.9802e-04,3.0601e-01,1.1540e-02
+10,8.4333e+00,DOWN_FORCE_DETACH,1.8996e-03,3.3673e-01,7.8357e-01,2.5550e+00,-9.3168e-02,6.0998e-02,2.9518e-04,1.3008e-01,1.5344e-01,9.4182e-02,-1.0303e-02,9.1971e-03,-1.1009e-03,2.2212e-01,1.3855e-02
+11,9.2167e+00,DOWN_FORCE_DETACH,2.0908e-03,3.6875e-01,8.1571e-01,2.5837e+00,-9.5514e-02,6.3229e-02,2.2097e-04,1.6210e-01,1.8558e-01,1.2285e-01,-1.2649e-02,1.1428e-02,-1.1751e-03,2.7533e-01,1.7087e-02
+12,1.0167e+01,DOWN_FORCE_DETACH,2.2820e-03,3.6281e-01,8.1688e-01,2.5029e+00,-9.5817e-02,6.2910e-02,1.4380e-04,1.5616e-01,1.8675e-01,4.2057e-02,-1.2952e-02,1.1109e-02,-1.2523e-03,2.4705e-01,1.7110e-02
+13,1.1017e+01,DOWN_FORCE_DETACH,2.4691e-03,3.4044e-01,8.7825e-01,2.5653e+00,-1.0020e-01,6.1182e-02,1.6418e-04,1.3379e-01,2.4812e-01,1.0446e-01,-1.7336e-02,9.3808e-03,-1.2319e-03,3.0063e-01,1.9750e-02
+14,1.1750e+01,DOWN_FORCE_DETACH,2.6606e-03,3.3827e-01,7.1729e-01,2.7036e+00,-8.8554e-02,6.0905e-02,6.7443e-05,1.3162e-01,8.7159e-02,2.4284e-01,-5.6888e-03,9.1044e-03,-1.3286e-03,2.8964e-01,1.0818e-02
+15,1.2567e+01,DOWN_FORCE_DETACH,2.8497e-03,2.7645e-01,8.4097e-01,2.6384e+00,-9.7431e-02,5.6409e-02,2.3178e-04,6.9803e-02,2.1085e-01,1.7759e-01,-1.4566e-02,4.6081e-03,-1.1643e-03,2.8437e-01,1.5322e-02
+16,1.3350e+01,DOWN_FORCE_DETACH,3.0406e-03,3.0668e-01,7.3586e-01,2.6105e+00,-8.9829e-02,5.8632e-02,2.4535e-04,1.0003e-01,1.0573e-01,1.4974e-01,-6.9640e-03,6.8310e-03,-1.1507e-03,2.0883e-01,9.8226e-03
+17,1.4217e+01,DOWN_FORCE_DETACH,3.2277e-03,3.2538e-01,8.3209e-01,2.5991e+00,-9.6720e-02,5.9998e-02,2.8238e-04,1.1873e-01,2.0196e-01,1.3832e-01,-1.3855e-02,8.1965e-03,-1.1137e-03,2.7206e-01,1.6136e-02
+18,1.5017e+01,DOWN_FORCE_DETACH,3.4245e-03,3.0909e-01,8.7509e-01,2.7056e+00,-9.9673e-02,5.8847e-02,3.0093e-04,1.0244e-01,2.4496e-01,2.4476e-01,-1.6808e-02,7.0459e-03,-1.0951e-03,3.6112e-01,1.8258e-02
+19,1.5817e+01,DOWN_FORCE_DETACH,3.6104e-03,3.0658e-01,8.6140e-01,2.6559e+00,-9.8613e-02,5.8543e-02,3.1872e-04,9.9926e-02,2.3127e-01,1.9514e-01,-1.5748e-02,6.7423e-03,-1.0773e-03,3.1867e-01,1.7165e-02
+20,1.6533e+01,DOWN_FORCE_DETACH,3.8017e-03,2.7759e-01,9.1559e-01,2.7525e+00,-1.0225e-01,5.6486e-02,3.6350e-04,7.0944e-02,2.8546e-01,2.9173e-01,-1.9385e-02,4.6854e-03,-1.0326e-03,4.1428e-01,1.9970e-02
+21,1.7350e+01,DOWN_FORCE_DETACH,3.9898e-03,2.9357e-01,9.1451e-01,2.7813e+00,-1.0213e-01,5.7519e-02,4.1398e-04,8.6919e-02,2.8438e-01,3.2048e-01,-1.9267e-02,5.7183e-03,-9.8207e-04,4.3719e-01,2.0121e-02
+22,1.8183e+01,DOWN_FORCE_DETACH,4.1817e-03,2.8682e-01,9.6246e-01,2.8249e+00,-1.0520e-01,5.7085e-02,4.3311e-04,8.0172e-02,3.3233e-01,3.6405e-01,-2.2332e-02,5.2839e-03,-9.6294e-04,4.9941e-01,2.2968e-02
+23,1.9017e+01,DOWN_FORCE_DETACH,4.3707e-03,2.9936e-01,1.0006e+00,2.8172e+00,-1.0772e-01,5.7801e-02,4.5202e-04,9.2711e-02,3.7046e-01,3.5636e-01,-2.4860e-02,5.9997e-03,-9.4403e-04,5.2233e-01,2.5591e-02
+24,1.9717e+01,DOWN_FORCE_DETACH,4.5625e-03,2.7922e-01,9.6652e-01,2.8329e+00,-1.0534e-01,5.6351e-02,4.4838e-04,7.2566e-02,3.3639e-01,3.7214e-01,-2.2470e-02,4.5501e-03,-9.4767e-04,5.0686e-01,2.2946e-02
+25,2.0483e+01,DOWN_FORCE_DETACH,4.7509e-03,2.9686e-01,9.9339e-01,2.9362e+00,-1.0704e-01,5.7446e-02,4.4152e-04,9.0214e-02,3.6326e-01,4.7544e-01,-2.4171e-02,5.6449e-03,-9.5454e-04,6.0510e-01,2.4840e-02
+26,2.1283e+01,DOWN_FORCE_DETACH,4.9415e-03,2.9612e-01,1.0509e+00,2.8953e+00,-1.1089e-01,5.7330e-02,4.3209e-04,8.9466e-02,4.2075e-01,4.3446e-01,-2.8026e-02,5.5293e-03,-9.6396e-04,6.1139e-01,2.8583e-02
+27,2.2083e+01,DOWN_FORCE_DETACH,5.1320e-03,2.9991e-01,1.0844e+00,2.9617e+00,-1.1284e-01,5.7529e-02,3.9563e-04,9.3264e-02,4.5425e-01,5.0092e-01,-2.9971e-02,5.7282e-03,-1.0004e-03,6.8262e-01,3.0530e-02
+28,2.2950e+01,DOWN_FORCE_DETACH,5.3236e-03,3.0666e-01,1.0872e+00,3.0477e+00,-1.1298e-01,5.7887e-02,3.7409e-04,1.0001e-01,4.5708e-01,5.8692e-01,-3.0114e-02,6.0858e-03,-1.0220e-03,7.5060e-01,3.0740e-02
+29,2.3783e+01,DOWN_FORCE_DETACH,5.5124e-03,3.0419e-01,1.1291e+00,3.0421e+00,-1.1560e-01,5.7681e-02,3.3251e-04,9.7541e-02,4.9899e-01,5.8127e-01,-3.2739e-02,5.8798e-03,-1.0635e-03,7.7226e-01,3.3280e-02
+30,2.4517e+01,DOWN_FORCE_DETACH,5.7006e-03,2.9481e-01,1.1411e+00,3.1432e+00,-1.1633e-01,5.6972e-02,2.9929e-04,8.8155e-02,5.1098e-01,6.8239e-01,-3.3466e-02,5.1706e-03,-1.0968e-03,8.5705e-01,3.3881e-02
+31,2.5400e+01,DOWN_FORCE_DETACH,5.8933e-03,3.1054e-01,1.2063e+00,3.2193e+00,-1.2033e-01,5.7869e-02,2.6045e-04,1.0389e-01,5.7620e-01,7.5850e-01,-3.7464e-02,6.0676e-03,-1.1356e-03,9.5818e-01,3.7969e-02
+32,2.6200e+01,DOWN_FORCE_DETACH,6.0825e-03,3.0009e-01,1.2505e+00,3.2720e+00,-1.2302e-01,5.7100e-02,2.2370e-04,9.3444e-02,6.2039e-01,8.1125e-01,-4.0157e-02,5.2992e-03,-1.1724e-03,1.0255e+00,4.0522e-02
+33,2.6933e+01,DOWN_FORCE_DETACH,6.2760e-03,3.2915e-01,1.2953e+00,3.3514e+00,-1.2572e-01,5.8892e-02,1.8293e-04,1.2250e-01,6.6512e-01,8.9059e-01,-4.2851e-02,7.0912e-03,-1.2131e-03,1.1183e+00,4.3451e-02
+34,2.7583e+01,DOWN_FORCE_DETACH,6.4660e-03,3.1498e-01,1.3020e+00,3.4425e+00,-1.2545e-01,5.7755e-02,-1.1574e-04,1.0833e-01,6.7183e-01,9.8165e-01,-4.2582e-02,5.9541e-03,-1.5118e-03,1.1945e+00,4.3023e-02
+35,2.8317e+01,DOWN_FORCE_DETACH,6.6528e-03,3.1420e-01,1.3608e+00,3.4798e+00,-1.2920e-01,5.7693e-02,-1.1474e-04,1.0755e-01,7.3063e-01,1.0190e+00,-4.6335e-02,5.8920e-03,-1.5108e-03,1.2585e+00,4.6733e-02
+36,2.8917e+01,DOWN_FORCE_DETACH,6.8407e-03,3.1116e-01,1.4395e+00,3.5505e+00,-1.3422e-01,5.7276e-02,-6.6631e-05,1.0451e-01,8.0936e-01,1.0897e+00,-5.1354e-02,5.4751e-03,-1.4627e-03,1.3614e+00,5.1665e-02
+37,2.9500e+01,DOWN_FORCE_DETACH,7.0320e-03,3.3033e-01,1.4443e+00,3.5921e+00,-1.3435e-01,5.8510e-02,-5.4691e-05,1.2368e-01,8.1419e-01,1.1313e+00,-5.1490e-02,6.7085e-03,-1.4507e-03,1.3993e+00,5.1945e-02
+38,3.0217e+01,DOWN_FORCE_DETACH,7.2222e-03,3.3561e-01,1.4966e+00,3.6422e+00,-1.3747e-01,5.8857e-02,-4.4078e-05,1.2896e-01,8.6650e-01,1.1814e+00,-5.4604e-02,7.0559e-03,-1.4401e-03,1.4708e+00,5.5077e-02
+39,3.0533e+01,DOWN_FORCE_DETACH,7.4117e-03,3.3321e-01,1.6286e+00,4.2431e+00,-1.4506e-01,5.8293e-02,3.6076e-05,1.2656e-01,9.9844e-01,1.7823e+00,-6.2192e-02,6.4921e-03,-1.3600e-03,2.0468e+00,6.2545e-02
+40,3.1100e+01,DOWN_FORCE_DETACH,7.6034e-03,3.1284e-01,1.6797e+00,4.2959e+00,-1.4643e-01,5.6225e-02,1.8694e-04,1.0619e-01,1.0495e+00,1.8351e+00,-6.3567e-02,4.4241e-03,-1.2091e-03,2.1167e+00,6.3732e-02
+41,3.1717e+01,DOWN_FORCE_DETACH,7.7940e-03,3.0805e-01,1.6805e+00,4.1483e+00,-1.4624e-01,5.5969e-02,2.0438e-04,1.0140e-01,1.0504e+00,1.6875e+00,-6.3379e-02,4.1683e-03,-1.1917e-03,1.9903e+00,6.3527e-02
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Fixed/digit/cylinder_PLA_15/press_depth_04/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_15/press_depth_04/up/franka_data.csv

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Fixed/digit/cylinder_PLA_15/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+22,1.466666667e+00,WAIT_W2,1793077967105153664,2.014461078e-05,-4.853041785e-04,6.372580768e-05,2.452935698e-05,-4.785580641e-04,6.631212465e-05,2.711565253e-05,-4.468713583e-04,6.441675531e-05,7.019757774e-01,-5.075749135e-04,8.602068130e-01,7.019801622e-01,-5.008287992e-04,8.602093994e-01,7.027728175e-01,-5.624390293e-04,8.303899228e-01
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+24,1.733333333e+00,UP_FORCE_RAMP,1793077967400814140,2.618043694e-05,-4.871385524e-04,7.638249095e-05,2.452935698e-05,-4.785580641e-04,6.631212465e-05,2.746013400e-05,-4.469350664e-04,6.468012250e-05,7.019818133e-01,-5.094092874e-04,8.602194697e-01,7.019801622e-01,-5.008287992e-04,8.602093994e-01,7.027731620e-01,-5.625027375e-04,8.303901862e-01
+25,1.850000000e+00,UP_FORCE_RAMP,1793077967519170638,2.356454983e-05,-4.853963182e-04,7.292487104e-05,2.452935698e-05,-4.785580641e-04,6.631212465e-05,2.757592342e-05,-4.469566113e-04,6.475792566e-05,7.019791974e-01,-5.076670532e-04,8.602160121e-01,7.019801622e-01,-5.008287992e-04,8.602093994e-01,7.027732777e-01,-5.625242823e-04,8.303902640e-01
+26,1.983333333e+00,UP_FORCE_RAMP,1793077967662251281,2.486825127e-05,-4.825120962e-04,7.755926083e-05,2.452935698e-05,-4.785580641e-04,6.631212465e-05,2.769527938e-05,-4.469772878e-04,6.483441855e-05,7.019805011e-01,-5.047828312e-04,8.602206465e-01,7.019801622e-01,-5.008287992e-04,8.602093994e-01,7.027733971e-01,-5.625449589e-04,8.303903405e-01
+27,2.116666667e+00,UP_FORCE_RAMP,1793077967795673126,2.464176374e-05,-4.837416251e-04,7.618149615e-05,2.452935698e-05,-4.785580641e-04,6.631212465e-05,2.780249239e-05,-4.469950116e-04,6.490185494e-05,7.019802746e-01,-5.060123601e-04,8.602192687e-01,7.019801622e-01,-5.008287992e-04,8.602093994e-01,7.027735043e-01,-5.625626826e-04,8.303904079e-01
+28,2.250000000e+00,UP_FORCE_RAMP,1793077967940360595,2.524694930e-05,-4.903020900e-04,7.964729445e-05,2.452935698e-05,-4.785580641e-04,6.631212465e-05,2.790166406e-05,-4.470119032e-04,6.496228776e-05,7.019808798e-01,-5.125728250e-04,8.602227345e-01,7.019801622e-01,-5.008287992e-04,8.602093994e-01,7.027736035e-01,-5.625795742e-04,8.303904683e-01
+29,2.450000000e+00,UP_FORCE_RAMP,1793077968137783262,2.442468506e-05,-4.814949182e-04,8.153797690e-05,2.651866282e-05,-4.874915886e-04,8.476574609e-05,3.033883675e-05,-4.553973526e-04,8.292185597e-05,7.019800575e-01,-5.037656532e-04,8.602246252e-01,7.019821515e-01,-5.097623237e-04,8.602278530e-01,7.027760407e-01,-5.709650237e-04,8.304084279e-01
+30,2.583333333e+00,UP_FORCE_RAMP,1793077968268416150,2.418380259e-05,-4.800069754e-04,8.362847493e-05,2.651866282e-05,-4.874915886e-04,8.476574609e-05,3.043674463e-05,-4.554155074e-04,8.304162560e-05,7.019798166e-01,-5.022777104e-04,8.602267157e-01,7.019821515e-01,-5.097623237e-04,8.602278530e-01,7.027761386e-01,-5.709831784e-04,8.304085477e-01
+31,2.683333333e+00,UP_FORCE_RAMP,1793077968375821543,2.559995962e-05,-4.853703718e-04,8.807971271e-05,2.651866282e-05,-4.874915886e-04,8.476574609e-05,3.050238939e-05,-4.554268105e-04,8.310760803e-05,7.019812328e-01,-5.076411068e-04,8.602311670e-01,7.019821515e-01,-5.097623237e-04,8.602278530e-01,7.027762042e-01,-5.709944815e-04,8.304086136e-01
+32,2.916666667e+00,UP_FORCE_RAMP,1793077968611887175,2.318139559e-05,-4.819968037e-04,9.314556015e-05,2.651866282e-05,-4.874915886e-04,8.476574609e-05,3.064245865e-05,-4.554497599e-04,8.323541150e-05,7.019788142e-01,-5.042675388e-04,8.602362328e-01,7.019821515e-01,-5.097623237e-04,8.602278530e-01,7.027763443e-01,-5.710174309e-04,8.304087415e-01
+33,3.066666667e+00,UP_FORCE_RAMP,1793077968759796372,2.169837535e-05,-4.844986491e-04,9.902845819e-05,2.651866282e-05,-4.874915886e-04,8.476574609e-05,3.072155389e-05,-4.554631309e-04,8.330531774e-05,7.019773312e-01,-5.067693841e-04,8.602421157e-01,7.019821515e-01,-5.097623237e-04,8.602278530e-01,7.027764234e-01,-5.710308019e-04,8.304088114e-01
+34,3.216666667e+00,UP_FORCE_RAMP,1793077968906921707,1.725973704e-05,-4.817399918e-04,9.669152944e-05,2.199313497e-05,-4.814739623e-04,1.038280479e-04,2.633816275e-05,-4.498332559e-04,1.018650595e-04,7.019728926e-01,-5.040107268e-04,8.602397788e-01,7.019776260e-01,-5.037446973e-04,8.602469153e-01,7.027720400e-01,-5.654009270e-04,8.304273711e-01
+35,3.350000000e+00,UP_FORCE_RAMP,1793077969038655658,1.784734475e-05,-4.783773317e-04,1.064802192e-04,2.199313497e-05,-4.814739623e-04,1.038280479e-04,2.638016942e-05,-4.498399016e-04,1.019957571e-04,7.019734802e-01,-5.006480667e-04,8.602495675e-01,7.019776260e-01,-5.037446973e-04,8.602469153e-01,7.027720820e-01,-5.654075727e-04,8.304275018e-01
+36,3.466666667e+00,UP_FORCE_RAMP,1793077969185459515,1.226056954e-05,-4.851571726e-04,1.075405037e-04,2.199313497e-05,-4.814739623e-04,1.038280479e-04,2.642074233e-05,-4.498464056e-04,1.020788637e-04,7.019678934e-01,-5.074279077e-04,8.602506277e-01,7.019776260e-01,-5.037446973e-04,8.602469153e-01,7.027721226e-01,-5.654140767e-04,8.304275849e-01
+37,3.600000000e+00,UP_FORCE_RAMP,1793077969316446765,1.148332947e-05,-4.806803947e-04,1.147276364e-04,2.199313497e-05,-4.814739623e-04,1.038280479e-04,2.646733321e-05,-4.498546720e-04,1.021611541e-04,7.019671161e-01,-5.029511297e-04,8.602578149e-01,7.019776260e-01,-5.037446973e-04,8.602469153e-01,7.027721692e-01,-5.654223431e-04,8.304276672e-01
+38,3.750000000e+00,UP_FORCE_RAMP,1793077969480656574,8.825443600e-06,-4.792503044e-04,1.247925477e-04,1.341751435e-05,-4.815905512e-04,1.217860846e-04,1.779462661e-05,-4.499080075e-04,1.196585861e-04,7.019644583e-01,-5.015210394e-04,8.602678798e-01,7.019690503e-01,-5.038612863e-04,8.602648733e-01,7.027634964e-01,-5.654756785e-04,8.304451646e-01
+39,3.916666667e+00,UP_FORCE_RAMP,1793077969644203347,4.329902136e-06,-4.820686168e-04,1.324058564e-04,1.341751435e-05,-4.815905512e-04,1.217860846e-04,1.781305518e-05,-4.499126341e-04,1.198004852e-04,7.019599627e-01,-5.043393518e-04,8.602754931e-01,7.019690503e-01,-5.038612863e-04,8.602648733e-01,7.027635149e-01,-5.654803052e-04,8.304453065e-01
+40,4.083333333e+00,UP_FORCE_RAMP,1793077969808491391,-7.683619412e-06,-4.796600475e-04,1.360331712e-04,1.587788393e-06,-4.794210302e-04,1.374528249e-04,5.657694801e-06,-4.478657692e-04,1.351194221e-04,7.019479492e-01,-5.019307825e-04,8.602791204e-01,7.019572206e-01,-5.016917652e-04,8.602805401e-01,7.027513595e-01,-5.634334402e-04,8.304606255e-01
+41,4.216666667e+00,UP_FORCE_RAMP,1793077969938890274,-1.462469329e-05,-4.815904298e-04,1.442725366e-04,1.587788393e-06,-4.794210302e-04,1.374528249e-04,5.638046011e-06,-4.478643382e-04,1.352463179e-04,7.019410081e-01,-5.038611649e-04,8.602873598e-01,7.019572206e-01,-5.016917652e-04,8.602805401e-01,7.027513399e-01,-5.634320093e-04,8.304607524e-01
+42,4.316666667e+00,UP_FORCE_RAMP,1793077970036944304,-1.885446811e-05,-4.785974856e-04,1.502062465e-04,-1.749442616e-05,-4.819774114e-04,1.433400503e-04,-1.419807973e-05,-4.502248003e-04,1.409898777e-04,7.019367783e-01,-5.008682207e-04,8.602932935e-01,7.019381384e-01,-5.042481464e-04,8.602864273e-01,7.027315037e-01,-5.657924714e-04,8.304664959e-01
+43,4.466666667e+00,UP_FORCE_RAMP,1793077970184384640,-2.495002739e-05,-4.812172020e-04,1.576834416e-04,-1.749442616e-05,-4.819774114e-04,1.433400503e-04,-1.427953023e-05,-4.502127163e-04,1.411159184e-04,7.019306828e-01,-5.034879370e-04,8.603007707e-01,7.019381384e-01,-5.042481464e-04,8.602864273e-01,7.027314223e-01,-5.657803874e-04,8.304666220e-01
+44,4.566666667e+00,UP_FORCE_RAMP,1793077970293571938,-2.850763364e-05,-4.784040414e-04,1.666817844e-04,-2.335468698e-05,-4.802541293e-04,1.646009647e-04,-2.018054682e-05,-4.485623981e-04,1.618249061e-04,7.019271252e-01,-5.006747765e-04,8.603097690e-01,7.019322781e-01,-5.025248643e-04,8.603076882e-01,7.027255213e-01,-5.641300691e-04,8.304873309e-01
+45,4.716666667e+00,UP_FORCE_RAMP,1793077970446732478,-3.369693622e-05,-4.751954612e-04,1.750014095e-04,-2.335468698e-05,-4.802541293e-04,1.646009647e-04,-2.024835343e-05,-4.485544722e-04,1.619994538e-04,7.019219359e-01,-4.974661962e-04,8.603180886e-01,7.019322781e-01,-5.025248643e-04,8.603076882e-01,7.027254535e-01,-5.641221432e-04,8.304875055e-01
+46,4.800000000e+00,UP_FORCE_RAMP,1793077970528430285,-3.233272488e-05,-4.731561366e-04,1.850771335e-04,-3.516031894e-05,-4.697716068e-04,1.780001516e-04,-3.236085791e-05,-4.387214493e-04,1.750004865e-04,7.019233001e-01,-4.954268716e-04,8.603281644e-01,7.019204725e-01,-4.920423418e-04,8.603210874e-01,7.027133410e-01,-5.542891203e-04,8.305005065e-01
+47,4.966666667e+00,UP_FORCE_RAMP,1793077970693200841,-3.899463127e-05,-4.719420273e-04,1.891675279e-04,-3.516031894e-05,-4.697716068e-04,1.780001516e-04,-3.250902676e-05,-4.387032841e-04,1.752392658e-04,7.019166382e-01,-4.942127624e-04,8.603322548e-01,7.019204725e-01,-4.920423418e-04,8.603210874e-01,7.027131928e-01,-5.542709551e-04,8.305007453e-01
+48,5.083333333e+00,UP_FORCE_RAMP,1793077970816700542,-4.173884766e-05,-4.737409820e-04,1.981312104e-04,-3.722825674e-05,-4.792093806e-04,1.955294611e-04,-3.452216832e-05,-4.475049710e-04,1.923448270e-04,7.019138940e-01,-4.960117171e-04,8.603412184e-01,7.019184046e-01,-5.014801156e-04,8.603386167e-01,7.027111797e-01,-5.630726421e-04,8.305178509e-01
+49,5.216666667e+00,UP_FORCE_RAMP,1793077970954657558,-4.214922524e-05,-4.708953590e-04,2.098868305e-04,-3.722825674e-05,-4.792093806e-04,1.955294611e-04,-3.458342427e-05,-4.475008515e-04,1.925251321e-04,7.019134836e-01,-4.931660941e-04,8.603529741e-01,7.019184046e-01,-5.014801156e-04,8.603386167e-01,7.027111184e-01,-5.630685225e-04,8.305180312e-01
+50,5.350000000e+00,UP_FORCE_HOLD,1793077971085657383,-4.435063900e-05,-4.704389602e-04,2.141715737e-04,-4.241722401e-05,-4.721802557e-04,2.135124084e-04,-3.979292589e-05,-4.408982898e-04,2.101205901e-04,7.019112822e-01,-4.927096952e-04,8.603572588e-01,7.019132156e-01,-4.944509908e-04,8.603565996e-01,7.027059089e-01,-5.564659609e-04,8.305356266e-01
+51,5.533333333e+00,UP_SETTLE,1793077971266142439,-4.766867636e-05,-4.752916039e-04,2.230891137e-04,-4.241722401e-05,-4.721802557e-04,2.135124084e-04,-3.988558332e-05,-4.408905245e-04,2.103808194e-04,7.019079641e-01,-4.975623389e-04,8.603661764e-01,7.019132156e-01,-4.944509908e-04,8.603565996e-01,7.027058162e-01,-5.564581956e-04,8.305358869e-01
+52,5.700000000e+00,UP_SETTLE,1793077971429794072,-4.993416549e-05,-4.761689492e-04,2.286533121e-04,-4.241722401e-05,-4.721802557e-04,2.135124084e-04,-3.995089986e-05,-4.408833175e-04,2.105689532e-04,7.019056987e-01,-4.984396842e-04,8.603717406e-01,7.019132156e-01,-4.944509908e-04,8.603565996e-01,7.027057509e-01,-5.564509885e-04,8.305360750e-01
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+57,6.533333333e+00,UP_SETTLE,1793077972273699201,-6.008345421e-05,-4.752900396e-04,2.473339782e-04,-5.099922289e-05,-4.732314135e-04,2.311128726e-04,-4.902858707e-05,-4.418050740e-04,2.284824971e-04,7.018955494e-01,-4.975607746e-04,8.603904212e-01,7.019046336e-01,-4.955021485e-04,8.603742001e-01,7.026966732e-01,-5.573727450e-04,8.305539885e-01
+58,6.683333333e+00,UP_SETTLE,1793077972429780330,-6.069971188e-05,-4.745103451e-04,2.498320085e-04,-5.959143505e-05,-4.723983911e-04,2.496087073e-04,-5.779633219e-05,-4.409706416e-04,2.465450366e-04,7.018949331e-01,-4.967810801e-04,8.603929192e-01,7.018960414e-01,-4.946691261e-04,8.603926959e-01,7.026879055e-01,-5.565383126e-04,8.305720511e-01
+59,6.833333333e+00,UP_SETTLE,1793077972575936155,-6.103969849e-05,-4.709958757e-04,2.535532308e-04,-5.959143505e-05,-4.723983911e-04,2.496087073e-04,-5.786681340e-05,-4.409631864e-04,2.467083011e-04,7.018945931e-01,-4.932666107e-04,8.603966405e-01,7.018960414e-01,-4.946691261e-04,8.603926959e-01,7.026878350e-01,-5.565308574e-04,8.305722143e-01

Fixed/digit/cylinder_PLA_15/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.0725e-01,6.3047e-01,2.4605e+00,-8.2887e-02,5.1839e-02,1.3957e-03,5.9478e-04,3.3724e-04,-2.7370e-04,-2.1480e-05,3.7279e-05,-3.1199e-07,7.3648e-04,4.3026e-05
+1,1.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.2425e-05,2.2353e-01,6.3317e-01,2.4573e+00,-8.3083e-02,5.2954e-02,1.2947e-03,1.6878e-02,3.0420e-03,-3.5295e-03,-2.1753e-04,1.1530e-03,-1.0137e-04,1.7510e-02,1.1777e-03
+2,3.0000e-01,WAIT_W2,6.8074e-05,2.4412e-01,6.3146e-01,2.4566e+00,-8.2960e-02,5.4419e-02,1.1719e-03,3.7463e-02,1.3285e-03,-4.2515e-03,-9.4756e-05,2.6174e-03,-2.2414e-04,3.7727e-02,2.6287e-03
+3,4.8333e-01,WAIT_W2,1.0464e-04,2.5600e-01,6.3052e-01,2.4562e+00,-8.2878e-02,5.5275e-02,1.1177e-03,4.9343e-02,3.8797e-04,-4.5898e-03,-1.3359e-05,3.4737e-03,-2.7836e-04,4.9557e-02,3.4849e-03
+4,6.8333e-01,WAIT_W2,1.3630e-04,2.7401e-01,6.2951e-01,2.4552e+00,-8.2813e-02,5.6566e-02,9.9241e-04,6.7356e-02,-6.2406e-04,-5.5928e-03,5.1707e-05,4.7643e-03,-4.0365e-04,6.7591e-02,4.7816e-03
+5,8.5000e-01,WAIT_W2,1.6945e-04,2.8390e-01,6.2903e-01,2.4549e+00,-8.2776e-02,5.7283e-02,9.3309e-04,7.7247e-02,-1.1064e-03,-5.9338e-03,8.8938e-05,5.4817e-03,-4.6297e-04,7.7482e-02,5.5019e-03
+6,9.8333e-01,WAIT_W2,2.0216e-04,2.8947e-01,6.2838e-01,2.4547e+00,-8.2719e-02,5.7682e-02,9.0202e-04,8.2810e-02,-1.7473e-03,-6.1307e-03,1.4619e-04,5.8805e-03,-4.9404e-04,8.3055e-02,5.9030e-03
+7,1.0000e+00,WAIT_W2,2.2695e-04,2.8965e-01,6.2838e-01,2.4547e+00,-8.2718e-02,5.7694e-02,9.0188e-04,8.2998e-02,-1.7552e-03,-6.1371e-03,1.4661e-04,5.8926e-03,-4.9418e-04,8.3243e-02,5.9151e-03
+8,1.0167e+00,WAIT_W2,2.6448e-04,2.8881e-01,1.2330e+00,2.3969e+00,-1.2645e-01,5.7639e-02,1.4270e-03,8.2154e-02,6.0288e-01,-6.3917e-02,-4.3584e-02,5.8375e-03,3.0982e-05,6.1180e-01,4.3974e-02
+9,1.0333e+00,WAIT_W2,3.0155e-04,2.8529e-01,1.8078e+00,2.3645e+00,-1.6803e-01,5.7422e-02,1.9389e-03,7.8633e-02,1.1777e+00,-9.6260e-02,-8.5164e-02,5.6205e-03,5.4281e-04,1.1842e+00,8.5351e-02
+10,1.0500e+00,WAIT_W2,3.4821e-04,2.6531e-01,2.3787e+00,2.3418e+00,-2.0933e-01,5.6183e-02,2.4281e-03,5.8651e-02,1.7486e+00,-1.1905e-01,-1.2646e-01,4.3818e-03,1.0321e-03,1.7536e+00,1.2654e-01
+11,1.0500e+00,WAIT_W2,3.4821e-04,2.6531e-01,2.3787e+00,2.3418e+00,-2.0933e-01,5.6183e-02,2.4281e-03,5.8651e-02,1.7486e+00,-1.1905e-01,-1.2646e-01,4.3818e-03,1.0321e-03,1.7536e+00,1.2654e-01
+12,1.0667e+00,WAIT_W2,4.0078e-04,3.0267e-01,3.0976e+00,2.3485e+00,-2.6132e-01,5.8710e-02,3.0513e-03,9.6012e-02,2.4675e+00,-1.1230e-01,-1.7846e-01,6.9085e-03,1.6552e-03,2.4719e+00,1.7860e-01
+13,1.0833e+00,WAIT_W2,4.7431e-04,3.0070e-01,3.8893e+00,2.3475e+00,-3.1868e-01,5.8657e-02,3.2993e-03,9.4046e-02,3.2592e+00,-1.1326e-01,-2.3581e-01,6.8551e-03,1.9033e-03,3.2625e+00,2.3592e-01
+14,1.0833e+00,WAIT_W2,4.7431e-04,3.0070e-01,3.8893e+00,2.3475e+00,-3.1868e-01,5.8657e-02,3.2993e-03,9.4046e-02,3.2592e+00,-1.1326e-01,-2.3581e-01,6.8551e-03,1.9033e-03,3.2625e+00,2.3592e-01
+15,1.0833e+00,WAIT_W2,4.7431e-04,3.0070e-01,3.8893e+00,2.3475e+00,-3.1868e-01,5.8657e-02,3.2993e-03,9.4046e-02,3.2592e+00,-1.1326e-01,-2.3581e-01,6.8551e-03,1.9033e-03,3.2625e+00,2.3592e-01
+16,1.1000e+00,WAIT_W2,5.4647e-04,3.1870e-01,4.9997e+00,2.3311e+00,-3.9923e-01,5.9987e-02,3.8467e-03,1.1204e-01,4.3695e+00,-1.2968e-01,-3.1637e-01,8.1854e-03,2.4506e-03,4.3729e+00,3.1648e-01
+17,1.1167e+00,WAIT_W2,6.0003e-04,4.6182e-01,6.0604e+00,2.3597e+00,-4.7572e-01,6.9544e-02,5.4864e-03,2.5516e-01,5.4303e+00,-1.0107e-01,-3.9286e-01,1.7742e-02,4.0903e-03,5.4372e+00,3.9328e-01
+18,1.1167e+00,WAIT_W2,6.0003e-04,4.6182e-01,6.0604e+00,2.3597e+00,-4.7572e-01,6.9544e-02,5.4864e-03,2.5516e-01,5.4303e+00,-1.0107e-01,-3.9286e-01,1.7742e-02,4.0903e-03,5.4372e+00,3.9328e-01
+19,1.1333e+00,WAIT_W2,6.3233e-04,3.7525e-01,6.8530e+00,2.3164e+00,-5.3332e-01,6.4083e-02,5.7544e-03,1.6860e-01,6.2229e+00,-1.4444e-01,-4.5045e-01,1.2282e-02,4.3583e-03,6.2269e+00,4.5064e-01
+20,1.2000e+00,WAIT_W2,6.7920e-04,3.6510e-01,7.7237e+00,2.3113e+00,-5.9699e-01,6.3417e-02,6.5888e-03,1.5845e-01,7.0936e+00,-1.4953e-01,-5.1413e-01,1.1616e-02,5.1928e-03,7.0969e+00,5.1428e-01
+21,1.3333e+00,WAIT_W2,7.1549e-04,2.7836e-01,7.7844e+00,2.2003e+00,-6.0300e-01,5.7574e-02,6.7018e-03,7.1706e-02,7.1543e+00,-2.6046e-01,-5.2014e-01,5.7727e-03,5.3058e-03,7.1594e+00,5.2020e-01
+22,1.4667e+00,WAIT_W2,7.4702e-04,2.7902e-01,7.7952e+00,2.1459e+00,-6.0547e-01,5.7367e-02,7.1009e-03,7.2364e-02,7.1651e+00,-3.1495e-01,-5.2261e-01,5.5653e-03,5.7048e-03,7.1723e+00,5.2267e-01
+23,1.6167e+00,WAIT_W2,7.8159e-04,3.2285e-01,7.7485e+00,2.2139e+00,-6.0195e-01,6.0353e-02,7.0858e-03,1.1619e-01,7.1183e+00,-2.4693e-01,-5.1908e-01,8.5519e-03,5.6897e-03,7.1236e+00,5.1918e-01
+24,1.7333e+00,UP_FORCE_RAMP,8.1555e-04,3.2613e-01,7.7481e+00,2.2148e+00,-6.0110e-01,6.1000e-02,6.7412e-03,1.1947e-01,7.1180e+00,-2.4601e-01,-5.1824e-01,9.1986e-03,5.3451e-03,7.1232e+00,5.1835e-01
+25,1.8500e+00,UP_FORCE_RAMP,8.4980e-04,3.5092e-01,7.7393e+00,2.2143e+00,-6.0054e-01,6.2630e-02,6.3927e-03,1.4426e-01,7.1091e+00,-2.4649e-01,-5.1768e-01,1.0828e-02,4.9966e-03,7.1149e+00,5.1781e-01
+26,1.9833e+00,UP_FORCE_RAMP,8.8418e-04,3.6858e-01,7.7265e+00,2.2348e+00,-5.9927e-01,6.4009e-02,6.1564e-03,1.6193e-01,7.0963e+00,-2.2600e-01,-5.1641e-01,1.2207e-02,4.7603e-03,7.1018e+00,5.1657e-01
+27,2.1167e+00,UP_FORCE_RAMP,9.1784e-04,3.8711e-01,7.7327e+00,2.2430e+00,-5.9978e-01,6.5185e-02,5.8588e-03,1.8045e-01,7.1026e+00,-2.1778e-01,-5.1692e-01,1.3384e-02,4.4627e-03,7.1082e+00,5.1711e-01
+28,2.2500e+00,UP_FORCE_RAMP,9.5139e-04,4.1227e-01,7.7252e+00,2.2619e+00,-5.9898e-01,6.7045e-02,5.4659e-03,2.0561e-01,7.0951e+00,-1.9887e-01,-5.1611e-01,1.5244e-02,4.0699e-03,7.1009e+00,5.1635e-01
+29,2.4500e+00,UP_FORCE_RAMP,9.8568e-04,4.2389e-01,7.8638e+00,2.1737e+00,-6.1015e-01,6.7987e-02,5.3802e-03,2.1724e-01,7.2337e+00,-2.8712e-01,-5.2728e-01,1.6185e-02,3.9841e-03,7.2427e+00,5.2755e-01
+30,2.5833e+00,UP_FORCE_RAMP,1.0228e-03,4.4808e-01,7.8412e+00,2.1909e+00,-6.0861e-01,6.9574e-02,5.3550e-03,2.4142e-01,7.2111e+00,-2.6988e-01,-5.2574e-01,1.7773e-02,3.9590e-03,7.2201e+00,5.2606e-01
+31,2.6833e+00,UP_FORCE_RAMP,1.0513e-03,4.4879e-01,7.8401e+00,2.1901e+00,-6.0822e-01,6.9776e-02,5.2234e-03,2.4214e-01,7.2100e+00,-2.7071e-01,-5.2536e-01,1.7975e-02,3.8273e-03,7.2191e+00,5.2568e-01
+32,2.9167e+00,UP_FORCE_RAMP,1.0881e-03,4.9134e-01,7.8442e+00,2.2365e+00,-6.0813e-01,7.2654e-02,4.7941e-03,2.8468e-01,7.2141e+00,-2.2431e-01,-5.2527e-01,2.0853e-02,3.3980e-03,7.2232e+00,5.2569e-01
+33,3.0667e+00,UP_FORCE_RAMP,1.1192e-03,4.8467e-01,7.8348e+00,2.2340e+00,-6.0734e-01,7.2362e-02,4.6092e-03,2.7802e-01,7.2047e+00,-2.2681e-01,-5.2447e-01,2.0561e-02,3.2131e-03,7.2136e+00,5.2488e-01
+34,3.2167e+00,UP_FORCE_RAMP,1.1575e-03,5.3346e-01,7.7527e+00,2.1355e+00,-6.0283e-01,7.5947e-02,3.7804e-03,3.2681e-01,7.1226e+00,-3.2531e-01,-5.1996e-01,2.4145e-02,2.3843e-03,7.1375e+00,5.2053e-01
+35,3.3500e+00,UP_FORCE_RAMP,1.1876e-03,5.3669e-01,7.7583e+00,2.1561e+00,-6.0310e-01,7.6159e-02,3.7718e-03,3.3004e-01,7.1282e+00,-3.0475e-01,-5.2024e-01,2.4357e-02,2.3757e-03,7.1423e+00,5.2081e-01
+36,3.4667e+00,UP_FORCE_RAMP,1.2275e-03,5.4138e-01,7.7534e+00,2.1690e+00,-6.0251e-01,7.6489e-02,3.7244e-03,3.3472e-01,7.1233e+00,-2.9185e-01,-5.1965e-01,2.4688e-02,2.3284e-03,7.1371e+00,5.2024e-01
+37,3.6000e+00,UP_FORCE_RAMP,1.2578e-03,5.5454e-01,7.7540e+00,2.1897e+00,-6.0223e-01,7.7392e-02,3.5973e-03,3.4789e-01,7.1239e+00,-2.7113e-01,-5.1936e-01,2.5590e-02,2.2013e-03,7.1375e+00,5.2000e-01
+38,3.7500e+00,UP_FORCE_RAMP,1.2921e-03,6.1759e-01,7.7582e+00,2.0973e+00,-6.0390e-01,8.2115e-02,2.5576e-03,4.1094e-01,7.1281e+00,-3.6350e-01,-5.2103e-01,3.0314e-02,1.1615e-03,7.1492e+00,5.2192e-01
+39,3.9167e+00,UP_FORCE_RAMP,1.3248e-03,6.2019e-01,7.7654e+00,2.1434e+00,-6.0403e-01,8.2248e-02,2.5452e-03,4.1353e-01,7.1353e+00,-3.1742e-01,-5.2116e-01,3.0446e-02,1.1491e-03,7.1543e+00,5.2205e-01
+40,4.0833e+00,UP_FORCE_RAMP,1.3605e-03,7.0285e-01,7.7344e+00,2.0616e+00,-6.0278e-01,8.8346e-02,1.2763e-03,4.9620e-01,7.1043e+00,-3.9916e-01,-5.1992e-01,3.6545e-02,-1.1979e-04,7.1327e+00,5.2120e-01
+41,4.2167e+00,UP_FORCE_RAMP,1.3929e-03,6.9641e-01,7.7438e+00,2.1147e+00,-6.0300e-01,8.7831e-02,1.2991e-03,4.8976e-01,7.1137e+00,-3.4615e-01,-5.2013e-01,3.6030e-02,-9.6961e-05,7.1389e+00,5.2138e-01
+42,4.3167e+00,UP_FORCE_RAMP,1.4260e-03,8.3031e-01,7.7856e+00,2.0751e+00,-6.0642e-01,9.7628e-02,-4.8548e-04,6.2366e-01,7.1555e+00,-3.8569e-01,-5.2355e-01,4.5826e-02,-1.8815e-03,7.1930e+00,5.2556e-01
+43,4.4667e+00,UP_FORCE_RAMP,1.4592e-03,7.9859e-01,7.7819e+00,2.1067e+00,-6.0561e-01,9.5194e-02,-2.7949e-04,5.9194e-01,7.1517e+00,-3.5408e-01,-5.2275e-01,4.3392e-02,-1.6755e-03,7.1849e+00,5.2455e-01
+44,4.5667e+00,UP_FORCE_RAMP,1.4947e-03,8.3749e-01,7.7578e+00,2.0160e+00,-6.0577e-01,9.8221e-02,-5.2172e-04,6.3083e-01,7.1277e+00,-4.4479e-01,-5.2290e-01,4.6419e-02,-1.9178e-03,7.1694e+00,5.2496e-01
+45,4.7167e+00,UP_FORCE_RAMP,1.5273e-03,8.2380e-01,7.7575e+00,2.0544e+00,-6.0530e-01,9.7189e-02,-5.2615e-04,6.1715e-01,7.1273e+00,-4.0640e-01,-5.2244e-01,4.5388e-02,-1.9222e-03,7.1655e+00,5.2441e-01
+46,4.8000e+00,UP_FORCE_RAMP,1.5605e-03,8.4771e-01,7.7065e+00,2.0217e+00,-6.0201e-01,9.8767e-02,-5.5413e-04,6.4106e-01,7.0763e+00,-4.3907e-01,-5.1914e-01,4.6966e-02,-1.9502e-03,7.1189e+00,5.2126e-01
+47,4.9667e+00,UP_FORCE_RAMP,1.5969e-03,8.6825e-01,7.6352e+00,2.0195e+00,-5.9678e-01,1.0060e-01,-1.6579e-03,6.6160e-01,7.0051e+00,-4.4132e-01,-5.1391e-01,4.8796e-02,-3.0540e-03,7.0501e+00,5.1623e-01
+48,5.0833e+00,UP_FORCE_RAMP,1.6310e-03,8.8054e-01,7.7802e+00,1.9386e+00,-6.0815e-01,1.0141e-01,-1.4600e-03,6.7388e-01,7.1501e+00,-5.2219e-01,-5.2529e-01,4.9610e-02,-2.8561e-03,7.2008e+00,5.2763e-01
+49,5.2167e+00,UP_FORCE_RAMP,1.6649e-03,8.5607e-01,7.7725e+00,1.9987e+00,-6.0743e-01,9.9778e-02,-1.4133e-03,6.4942e-01,7.1423e+00,-4.6211e-01,-5.2457e-01,4.7976e-02,-2.8094e-03,7.1867e+00,5.2676e-01
+50,5.3500e+00,UP_FORCE_HOLD,1.6974e-03,8.8565e-01,7.6484e+00,1.8829e+00,-5.9949e-01,1.0168e-01,-1.3754e-03,6.7900e-01,7.0183e+00,-5.7791e-01,-5.1663e-01,4.9879e-02,-2.7714e-03,7.0747e+00,5.1904e-01
+51,5.5333e+00,UP_SETTLE,1.7317e-03,8.7270e-01,7.6779e+00,1.9299e+00,-6.0127e-01,1.0088e-01,-1.3905e-03,6.6605e-01,7.0477e+00,-5.3094e-01,-5.1840e-01,4.9080e-02,-2.7865e-03,7.0990e+00,5.2073e-01
+52,5.7000e+00,UP_SETTLE,1.7672e-03,8.5681e-01,7.6721e+00,1.9838e+00,-6.0003e-01,9.9660e-02,-1.3343e-03,6.5016e-01,7.0420e+00,-4.7696e-01,-5.1717e-01,4.7859e-02,-2.7304e-03,7.0880e+00,5.1938e-01
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Fixed/digit/cylinder_PLA_15/press_depth_05/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_PLA_15/press_depth_05/down/franka_data.csv

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+4343,1793078081394895072,14632530000000,1793078081388166259,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6760405851236426,-0.004927627778114449,0.09958020924581898,0.999999963848724,-0.00019723673086852954,-7.775296797461302e-05,0.00013710420411099528,0.6761,-0.0046,0.09954734981098022,1.0,0.0,0.0,0.0,-0.49540544803544373,0.47873173977436023,1.3417375692243798,0.03498624480158437,0.03204371151441693,0.004915383186225029,0.4786029622091965,1.7855489120639003,2.127010304913708,0.12087711497814199,-0.03161531013289372,0.005420556477714679,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.6901271663803272,1.6957288257781753,-0.9177063776720745,-0.03745273254410844,0.8542002458015608,1.056364336145797,0.409954767226286,-1.3417375692243798,1.3276611448983604,1.3276611448983604,1.3308999999998699,0,0,-3.1612223759498785e-05,6.041555730552091e-05
+4467,1793078082427842625,14633563000000,1793078082424166427,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6760455759812278,-0.00492830852050759,0.09956116305274447,0.9999999643909573,-0.00019387246843024706,-6.937528274048216e-05,0.00014234284116264063,0.6761,-0.0046,0.09951690368778576,1.0,0.0,0.0,0.0,-0.5279959576603432,0.4748846669834381,1.446003002894864,0.03592337237069754,0.03438088002065151,0.004499407817109444,0.446012452584297,1.7817018392729782,2.231275738584192,0.12181424254725516,-0.02927814162665913,0.005004581108599094,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.726211839490483,1.7210835633431771,-1.046117108108821,-0.02530074005503563,0.9417738788292666,1.0625133801911306,0.409954767226286,-1.446003002894864,1.456071875335107,1.456071875335107,1.4341999999998585,0,0,-2.4998551455242317e-05,9.968585265441305e-05
+4598,1793078083519851429,14634655000000,1793078083512166702,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6760501717787618,-0.004932151408343103,0.09954666732720492,0.9999999641020957,-0.00019484464750857254,-6.164041157930091e-05,0.0001465424665377216,0.6761,-0.0046,0.09949165529878108,1.0,0.0,0.0,0.0,-0.5459756102797297,0.4675171014980979,1.5137565439039093,0.0348784803176726,0.03480124119302146,0.004808028091839278,0.42803279996491045,1.774334273787638,2.2990292795932374,0.12076935049423022,-0.02885778045428919,0.0053132013833289285,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.6682716523051124,1.7053603359242344,-0.978982793543554,-0.004198553700003881,0.8800069983556357,1.0490477338381305,0.409954767226286,-1.5137565439039093,1.38893756076984,1.38893756076984,1.5433999999998465,0,0,-2.4697741528327495e-05,-9.999999025923074e-05
+4720,1793078084535860231,14635671000000,1793078084528157221,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.676055954467184,-0.004930803336570923,0.09953100812211509,0.99999996474348,-0.00019231961622863373,-5.0426416889939644e-05,0.00014975394696491908,0.6761,-0.0046,0.09946182129219788,1.0,0.0,0.0,0.0,-0.5560895394437324,0.46809956989953894,1.595667251978146,0.03482592197331057,0.03644922898525191,0.0037481929395954162,0.41791887080090784,1.774916742189079,2.380939987667474,0.12071679214986819,-0.02720979266205874,0.004253366231085067,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7771063023447131,1.6668523727529088,-1.2107182827289902,0.024763678813826094,1.0587557009094146,1.0253805639927958,0.409954767226286,-1.595667251978146,1.6206730499552762,1.6206730499552762,1.6449999999998353,0,0,-3.262607624757307e-05,6.004322302743527e-07
+4842,1793078085552807284,14636688000000,1793078085548166195,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6760615724617474,-0.004933357161702878,0.09950846593110917,0.9999999648789782,-0.00018942910696008623,-4.019804745984013e-05,0.00015551731956449881,0.6761,-0.0046,0.09942694874835334,1.0,0.0,0.0,0.0,-0.5713410618459834,0.4615761106406069,1.6998564753789882,0.034778874851401895,0.03744019145996266,0.0036711509945129544,0.4026673483986568,1.768393282930147,2.4851292110683163,0.12066974502795952,-0.026218830187347986,0.004176324286002605,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8121950017609074,1.5989453138873437,-1.2632489123043842,0.05082806511313738,1.0947021043174412,0.9748183446569157,0.409954767226286,-1.6998564753789882,1.6732036795306702,1.6732036795306702,1.746699999999824,0,0,-3.436946582477252e-05,-9.999987923692828e-05
+4962,1793078086552812469,14637688000000,1793078086552157377,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6760660409700586,-0.004932786310242904,0.0994851407322543,0.9999999656412132,-0.00018323533240950855,-3.273900174807757e-05,0.00015972916879050173,0.6761,-0.0046,0.09939286694940835,1.0,0.0,0.0,0.0,-0.5888485455069612,0.46175286780166847,1.7857384537121423,0.0338350817454508,0.038453191445696956,0.003608391368224481,0.38515986473767905,1.7685700400912086,2.5710111894014704,0.11972595192200843,-0.02520583020161369,0.0041135646597141315,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8232996447397118,1.693042844382242,-1.4466717668689248,0.018938405929916937,1.216316298527247,1.0335862904231494,0.409954767226286,-1.7857384537121423,1.8566265340952108,1.8566265340952108,1.846699999999813,0,0,-3.4950898915282795e-05,9.985351020891926e-05
+5078,1793078087519766474,14638655000000,1793078087516165987,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6760740741133487,-0.004933815789975767,0.09946609171690925,0.9999999649727709,-0.00018814758910461679,-1.9357533803898163e-05,0.00016038420091197837,0.6761,-0.0046,0.09935802148889464,1.0,0.0,0.0,0.0,-0.5879605870126454,0.4618016698005587,1.8656413159712066,0.03367114610518697,0.03944903049669662,0.0035492659283850973,0.3860478232319949,1.7686188420900988,2.6509140516605347,0.11956201628174459,-0.02420999115061403,0.004054439219874748,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7970616652642795,1.611606701025408,-1.5770608699222852,0.03994197255158177,1.291429207208553,0.9784181796788038,0.409954767226286,-1.8656413159712066,1.9870156371485712,1.9870156371485712,1.9433999999998024,0,0,-3.975810986403682e-05,9.999749225742533e-05
+5207,1793078088594750487,14639730000000,1793078088588166193,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6760815285436794,-0.0049372950061965185,0.09943630645175783,0.9999999641241993,-0.0001917616929224504,-6.813058849831459e-06,0.00016240535560619568,0.6761,-0.0046,0.09931354345887052,1.0,0.0,0.0,0.0,-0.6031008759100505,0.45653324665525896,1.9736948476298255,0.03282980922385294,0.04045549683461917,0.003472719589158242,0.37090753433458973,1.763350418944799,2.7589675833191536,0.11872067940041056,-0.023203524812691476,0.0039778928806478925,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.786687611236076,1.5723072116184742,-1.5394692849314906,0.06181996877421878,1.259935616290238,0.9532125105183461,0.409954767226286,-1.9736948476298255,1.9494240521577766,1.9494240521577766,2.0508999999999036,0,0,-4.197125972746208e-05,-9.999999025923074e-05
+5339,1793078089694737867,14640830000000,1793078089692156912,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6760885934548388,-0.004944485602035314,0.09940369166835694,0.9999999617436363,-0.00020177863757191725,6.908504088406208e-06,0.00016490374206395089,0.6761,-0.0046,0.09926397327449119,1.0,0.0,0.0,0.0,-0.603194299037782,0.4492427626446296,2.0661028913805213,0.032585515675748536,0.04044116880775582,0.0033955171722654205,0.37081411120685825,1.7560599349341697,2.8513756270698494,0.11847638585230616,-0.023217852839554822,0.0039006904637550704,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8328333639799304,1.5974656531350762,-1.7195758676149986,0.059091570126394696,1.389687334437299,0.9679368851732484,0.409954767226286,-2.0661028913805213,2.1295306348412844,2.1295306348412844,2.1609000000001357,0,0,-4.606541720614433e-05,8.507251530831006e-05
+5457,1793078090677652676,14641813000000,1793078090676157025,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6760964482789167,-0.004938993496532845,0.09937311469005919,0.9999999612672972,-0.00020636816615492902,1.968892153096492e-05,0.0001610366254198727,0.6761,-0.0046,0.09922009154797365,1.0,0.0,0.0,0.0,-0.5941060017847464,0.4525373407786124,2.1391456364229935,0.03238333750456561,0.04050984950422423,0.0028954291823762735,0.3799024084598939,1.7593545130681525,2.9244183721123216,0.11827420768112323,-0.023149172143086413,0.0034006024738659235,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8465463260869204,1.615512516894112,-1.786167625727459,0.05242030277340958,1.4378992460713655,0.9753382944278743,0.409954767226286,-2.1391456364229935,2.196122392953745,2.196122392953745,2.259200000000343,0,0,-4.6890890111088386e-05,-9.94161794817316e-05
+5565,1793078091577694886,14642713000000,1793078091576166624,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6761022151932957,-0.004938024506756858,0.09934321102555897,0.999999959953053,-0.0002173159488705297,3.110838949705894e-05,0.00015278351663794199,0.6761,-0.0046,0.09917513163180623,1.0,0.0,0.0,0.0,-0.5925169765348378,0.4660364227407685,2.2453139464374927,0.03253402482349041,0.041190984525201986,0.002647728362331247,0.38149143370980243,1.7728535950303086,3.030586682126821,0.11842489500004803,-0.02246803712210866,0.0031529016538208968,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.863610606910863,1.773686224022688,-1.9722865036428403,0.013375826854672191,1.5628398156441892,1.0804278951480981,0.409954767226286,-2.2453139464374927,2.3822412708691263,2.3822412708691263,2.349200000000533,0,0,-5.2081100866659173e-05,9.755834615011167e-05
+5681,1793078092544677378,14643680000000,1793078092544166103,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6761093551272741,-0.0049403150527882154,0.09930897156901956,0.9999999573205716,-0.00022716616362963263,4.319574725471039e-05,0.00015274613146174944,0.6761,-0.0046,0.09912633862400937,1.0,0.0,0.0,0.0,-0.5862311740251112,0.4645289361516971,2.3068593922009293,0.0325212703239426,0.041403935470264774,0.0025115031723303895,0.38777723621952903,1.7713461084412372,3.0921321278902574,0.11841214050050022,-0.02225508617704587,0.0030166764638200395,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7979391045765012,1.7017768992330997,-1.923683278694375,0.031989567761272014,1.5123773420249556,1.0327973029748272,0.409954767226286,-2.3068593922009293,2.3336380459206607,2.3336380459206607,2.445900000000737,0,0,-5.172333914923855e-05,-9.980621470807022e-05
+5813,1793078093644655068,14644780000000,1793078093644166336,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6761216277195415,-0.0049412336815254625,0.0992680050412358,0.9999999546059375,-0.00023472765625086453,6.176208014609329e-05,0.0001527067772715666,0.6761,-0.0046,0.09906458978692105,1.0,0.0,0.0,0.0,-0.6025552388290758,0.47295775045126254,2.405932865892882,0.03247782916300977,0.042397010454424906,0.0021251013036854066,0.3714531714155644,1.7797749227408026,3.19120560158221,0.1183686993395674,-0.02126201119288574,0.002630274595175057,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.900615577308389,1.5688931061168085,-2.0670394273046053,0.08387911659419432,1.6295518616579947,0.9503178837103037,0.409954767226286,-2.405932865892882,2.4769941945308913,2.4769941945308913,2.5559000000009693,0,0,-5.918859710271474e-05,-9.859707081195097e-05
+5984,1793078095069627705,14646205000000,1793078095068166778,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6761370365968492,-0.004945129146281816,0.09920489947779892,0.9999999503265801,-0.00024044896437128583,8.823235765076639e-05,0.00015871057899527854,0.6761,-0.0046,0.09897256361872996,1.0,0.0,0.0,0.0,-0.6175916146475002,0.47330653400628964,2.529915530593623,0.031107331035151356,0.04436954630693149,0.002026314030448776,0.35641679559714007,1.7801237062958297,3.3151882662829513,0.11699820121170898,-0.01928947534037916,0.0025314873219384262,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.887300912804319,1.6441979302420946,-2.271399289651106,0.04776340277878266,1.7575208384741574,0.9908734059730332,0.409954767226286,-2.529915530593623,2.681354056877392,2.681354056877392,2.69840000000127,0,0,-6.647407459617482e-05,9.689859611772817e-05
+6098,1793078096019604420,14647155000000,1793078096016156997,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6761460265735133,-0.004946634384092322,0.09915414746092752,0.9999999475785079,-0.0002446170479533281,0.0001022769338483391,0.00016120723990525513,0.6761,-0.0046,0.09890584030284888,1.0,0.0,0.0,0.0,-0.6135462906030049,0.45402341565888915,2.6064694343411166,0.030342950318245923,0.044419342930794525,0.0019703000166432956,0.3604621196416354,1.7608405879484292,3.3917421700304446,0.11623382049480355,-0.01923967871651612,0.0024754733081329455,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8983449368363796,1.613416049388229,-2.3203607601241285,0.062000615957099575,1.7906965620123556,0.972797050135366,0.409954767226286,-2.6064694343411166,2.7303155273504145,2.7303155273504145,2.7934000000014705,0,0,-7.287513607431707e-05,-2.112333945208891e-06
+6222,1793078097052586293,14648188000000,1793078097048166186,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6761563134225185,-0.00494718749133663,0.09909992193475922,0.9999999433737561,-0.00025451416773060605,0.0001203052921109319,0.00015951339619442017,0.6761,-0.0046,0.09883197845788548,1.0,0.0,0.0,0.0,-0.6227402739351013,0.4463530441197465,2.7247803880596253,0.02927294074730878,0.045396645043638856,0.0018766434199566373,0.35126813630953896,1.7531702164092866,3.5100531237489534,0.1151638109238664,-0.018262376603671793,0.0023818167114462874,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.899251418680797,1.7296463514497566,-2.415683781160194,0.027397257041799527,1.8557096876280685,1.0486215553977112,0.409954767226286,-2.7247803880596253,2.82563854838648,2.82563854838648,2.8967000000016885,0,0,-7.231684536898453e-05,-9.999999025923074e-05
+6336,1793078098002471033,14649138000000,1793078097996167212,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6761638712697146,-0.004950084613474253,0.0990444090797785,0.9999999390615796,-0.0002654891926223592,0.00013298490059144682,0.0001585881641470703,0.6761,-0.0046,0.09876418515667092,1.0,0.0,0.0,0.0,-0.6030575141319429,0.4265272680356411,2.7759273573219367,0.027248075160417287,0.04444072203068101,0.0018001203617087284,0.3709508961126974,1.7333444403251812,3.561200093011265,0.11313894533697491,-0.019218299616629637,0.0023052936531983786,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8946078963673967,1.7068065226880005,-2.587131245717748,0.03685204928306076,1.966580567725851,1.0320997469065694,0.409954767226286,-2.7759273573219367,2.997086012944034,2.997086012944034,2.991700000001889,0,0,-7.220961513868118e-05,9.999999025923074e-05
+6465,1793078099077548342,14650213000000,1793078099076157176,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6761740069041903,-0.004953978407743457,0.09897572398995282,0.9999999330902216,-0.0002777605837553253,0.00014905976317182326,0.0001609119674397988,0.6761,-0.0046,0.09867678323523656,1.0,0.0,0.0,0.0,-0.5929032047602429,0.40996576771384174,2.8553272453935374,0.025192492009158435,0.044459248284382066,0.001714087615422429,0.38110520548439725,1.7167829400033818,3.6405999810828655,0.11108336218571606,-0.01919977336292858,0.002219260906912079,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8909676854662365,1.558857727828598,-2.473241825845898,0.0741046523949802,1.8992221384209937,0.9304743892272074,0.409954767226286,-2.8553272453935374,2.883196593072184,2.883196593072184,3.099200000002116,0,0,-9.2740437228371e-05,-9.999999025923074e-05
+6587,1793078100094483134,14651230000000,1793078100088166679,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6761896097359091,-0.004956591212252596,0.09890434558088859,0.9999999249727766,-0.0002926205187148258,0.00017580255357488566,0.00015799999773321845,0.6761,-0.0046,0.09857620169721683,1.0,0.0,0.0,0.0,-0.6016334456775889,0.40304403151390256,2.9561125477474315,0.025174937790007637,0.0444411149061381,0.0016287420712650304,0.3723749645670514,1.7098612038034426,3.7413852834367596,0.11106580796656526,-0.019217906741172543,0.0021339153627546806,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.908775217811926,1.703202261642796,-2.7169199017819508,0.030004269893501075,2.057831961329691,1.0249259264083814,0.409954767226286,-2.9561125477474315,3.1268746690082367,3.1268746690082367,3.2009000000023304,0,0,-9.983171713326555e-05,9.999932412541596e-05
+6697,1793078101010433338,14652146000000,1793078101008166569,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6761987192928902,-0.004953981203549421,0.0988334622945684,0.9999999648740224,-4.170536775612274e-05,0.0001903677544003025,0.0001539986974597937,0.6761,-0.0046,0.09849229740993182,1.0,0.0,0.0,0.0,-0.5735523012393293,0.3706625581242704,3.0347530583122873,0.023175160179795873,0.04266711021264591,0.0002766290864136419,0.400456109005311,1.6774797304138105,3.8200257940016153,0.1090660303563535,-0.02099191143466474,0.000781802377903292,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.9120610045240363,1.7986722043376107,-2.8422816559345208,-0.034870051446025986,2.1521014509660144,1.0251411393527685,0.409954767226286,-3.0347530583122873,3.2522364231608067,3.2522364231608067,3.2925000000025237,0,0,-8.668375602452626e-05,7.500000206850927e-05
+6815,1793078101994502971,14653130000000,1793078101992156793,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6762036271768356,-0.00496026979316656,0.09874699431075101,0.9999999616166892,-6.090790226554768e-05,0.00020119985448064786,0.00015497848348902354,0.6761,-0.0046,0.09839125407411371,1.0,0.0,0.0,0.0,-0.5574572950946484,0.3485777993480381,3.0736974893047355,0.021127802245148028,0.042397390156641006,0.0004361596224114479,0.4165511151499919,1.6553949716375782,3.8589702249940636,0.10701867242170565,-0.02126163149066964,0.000941332913901098,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8830512809684792,1.827574465907026,-2.880488000305558,-0.043622613637257564,2.169097187487235,1.0498569578681203,0.409954767226286,-3.0736974893047355,3.290442767531844,3.290442767531844,3.3909000000027314,0,0,-0.00011801500935801202,-7.240971974297874e-07
+6916,1793078102835481035,14653971000000,1793078102832157043,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6762223446645631,-0.004965118606354518,0.09866988955424622,0.9999999537859346,-8.188708189597981e-05,0.0002291153357337781,0.00015707215443737377,0.6761,-0.0046,0.09828742552312755,1.0,0.0,0.0,0.0,-0.5630188245006477,0.341671523877525,3.188062258567793,0.020057675224265367,0.04345189491152063,0.0003482627352025424,0.4109895857439926,1.648488696167065,3.973334994257121,0.10594854540082299,-0.020207126735790018,0.0008534360266921926,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.891978919676455,1.7700733335737202,-2.9815595556809034,-0.012401254718419736,2.234173953739842,1.0296125320066454,0.409954767226286,-3.188062258567793,3.3915143229071893,3.3915143229071893,3.475000000002909,0,0,-0.00012046155803827207,9.999999025923074e-05
+7030,1793078103785446665,14654921000000,1793078103780157095,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6762277288895933,-0.004967665694145074,0.0985715492309973,0.9999999498866309,-9.865426091517292e-05,0.000237857216128509,0.00015925100220338603,0.6761,-0.0046,0.09818083092220665,1.0,0.0,0.0,0.0,-0.5337974728706543,0.2817249473266741,3.2267703885109693,0.016045637244772745,0.04088116144119823,0.00023108319287000673,0.4402109373739859,1.5885421196162142,4.012043124200297,0.10193650742133037,-0.022777860206112412,0.0007362564843596569,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.846160800672088,1.7178970214849696,-2.988617921487184,0.008592658140089743,2.234006005224352,1.0154355756159927,0.409954767226286,-3.2267703885109693,3.39857268871347,3.39857268871347,3.5700000000031094,0,0,-0.0001107049993162842,-9.844805112647065e-05
+7130,1793078104619403932,14655755000000,1793078104616167684,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6762394736621595,-0.004967742109273314,0.09848659794924039,0.9999999428755498,-0.00011587181706015107,0.00025734391612022384,0.00016136787853320665,0.6761,-0.0046,0.09807681629638564,1.0,0.0,0.0,0.0,-0.513083720070165,0.23820693751268096,3.261324957313075,0.012997748485999355,0.03967849405226151,0.0001538224932704028,0.4609246901744753,1.545024109802221,4.046597693002403,0.09888861866255698,-0.023980527595049133,0.000658995784760053,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.821204997915803,1.7826257763545594,-3.1467973862918,-0.00045710527227649624,2.3286394901138276,1.0754502924940421,0.409954767226286,-3.261324957313075,3.556752153518086,3.556752153518086,3.6534000000032854,0,0,-0.0001380121280216987,7.376834840056574e-05
+7240,1793078105535396913,14656671000000,1793078105528166903,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6762496099498353,-0.004973409312302986,0.09837321857043319,0.9999999349796617,-0.00013840416976853401,0.00027450338076455644,0.00016424285824648093,0.6761,-0.0046,0.09794663828443023,1.0,0.0,0.0,0.0,-0.5341110845128757,0.21243803897387914,3.3620251306695463,0.011922730593107264,0.04055675239711235,0.0010952774213234566,0.43989732573176454,1.5192552112634192,4.147297866358874,0.09781360076966489,-0.023102269250198294,0.0016004507128131067,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8173330649355328,1.6997523230577964,-3.2817933450931895,0.021904987306520643,2.4144258310798694,1.0282610225175794,0.409954767226286,-3.3620251306695463,3.6917481123194755,3.6917481123194755,3.7450000000034787,0,0,-0.00013999073639606318,9.999695102370083e-05
+7345,1793078106410353147,14657546000000,1793078106408157299,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6762571575203915,-0.004982552178288201,0.09825870248818193,0.9999999275637563,-0.00016482672946126957,0.00028649713710090965,0.00016452016860490175,0.6761,-0.0046,0.09781732289707913,1.0,0.0,0.0,0.0,-0.5051741310593988,0.18278197090638382,3.371001419132533,0.008884609290130366,0.03959810136012347,0.0010425171407416967,0.46883427918524145,1.489599143195924,4.156274154821861,0.09477547946668799,-0.02406092028718718,0.0015476904322313469,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7360608593081122,1.739556486439989,-3.2762446817231905,0.015031366925063502,2.388811473540399,1.0570738632714054,0.409954767226286,-3.371001419132533,3.6861994489494765,3.6861994489494765,3.8325000000036633,0,0,-0.0001552955335812608,-5.0390618093426556e-05
+7452,1793078107302324865,14658438000000,1793078107300156829,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6762663834907856,-0.004976472643951002,0.09813702605250382,0.9999999204182999,-0.0001780455886622227,0.0003050486971603717,0.000160783453202813,0.6761,-0.0046,0.09767407213498878,1.0,0.0,0.0,0.0,-0.5001837617524609,0.14961732130154437,3.439049775205471,0.006828873645227551,0.039624472810746464,0.0009678346154961236,0.47382464849217937,1.4564344935910845,4.224322510894799,0.09271974382178517,-0.02403454883656418,0.0014730079069857737,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7712761786476943,1.6342498332886082,-3.3743182909163223,0.04116161788259475,2.4644676351439134,0.9898476645771341,0.409954767226286,-3.439049775205471,3.7842730581426083,3.7842730581426083,3.9217000000038515,0,0,-0.00016677975652465616,1.8862891829941897e-05
+7549,1793078108110337060,14659246000000,1793078108108167281,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6762750859939252,-0.0049852967852808214,0.09801249005389064,0.9999999118232177,-0.00019488496735973232,0.0003198016260073124,0.00016596141281943015,0.6761,-0.0046,0.09753527768633247,1.0,0.0,0.0,0.0,-0.5044269744001357,0.11872419981884441,3.4814372988895803,0.004786955739362483,0.039284363206672564,0.000906544372205181,0.46958143584450457,1.4255413721083845,4.266710034578908,0.09067782591592011,-0.024374658440638082,0.0014117176636948311,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7798890062393888,1.7697803274604518,-3.326793964648135,-0.0041671318180439565,2.437778690090337,1.0706924234516422,0.409954767226286,-3.4814372988895803,3.736748731874421,3.736748731874421,4.0025000000040105,0,0,-0.0001786936597817076,-9.843887790872969e-05
+7653,1793078108977254204,14660113000000,1793078108976157237,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6762871306242147,-0.0049886352918600205,0.09787227059741146,0.9999999052489968,-0.0001954278247820213,0.0003396836642573161,0.0001654322672983396,0.6761,-0.0046,0.09737420447734077,1.0,0.0,0.0,0.0,-0.47926639918485453,0.07175000013531174,3.54887420201835,0.001750133156214348,0.03780893925149978,0.0007946160303221553,0.4947420110597857,1.3785671724248518,4.334146937707678,0.08764100333277197,-0.02585008239581087,0.0012997893218118055,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7853172013917946,1.739397950896711,-3.482023437676619,0.004916815241808128,2.541830935197118,1.0567792097509354,0.409954767226286,-3.54887420201835,3.891978204902905,3.891978204902905,4.0892000000038085,0,0,-0.00019060036365456246,-9.74546790751873e-05
+7745,1793078109744314395,14660880000000,1793078109744156780,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6762962683759239,-0.0049942636014716916,0.09773873783884883,0.999999898398256,-0.00019977868357720847,0.000355541994487481,0.0001682994647685877,0.6761,-0.0046,0.09722350183411062,1.0,0.0,0.0,0.0,-0.47757709294453243,0.04493263833372407,3.6104321877903516,-0.0007852087519904238,0.03769357671132287,0.0007195683093594808,0.4964313173001078,1.3517498106232642,4.39570492347968,0.0851056614245672,-0.025965444935987778,0.001224741600849131,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7678560374234333,1.7404266484432942,-3.549802679991571,-0.005137031253161604,2.5852730389961898,1.0452565776522118,0.409954767226286,-3.6104321877903516,3.959757447217857,3.959757447217857,4.16590000000363,0,0,-0.00020194436417128448,-9.999924085868912e-05
+7834,1793078110485335878,14661621000000,1793078110484157118,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.676306012925785,-0.004996558861675491,0.09760239232747663,0.999999893912229,-0.00019369974958984137,0.00037115416699876654,0.00016835494153837082,0.6761,-0.0046,0.09707317605298332,1.0,0.0,0.0,0.0,-0.45727701637503937,-0.003826152053444165,3.666040497993577,-0.004368222120043397,0.03675213627231943,0.0006153199940000088,0.5167313938696009,1.302991020236096,4.451313233682905,0.08152264805651423,-0.026906885374991217,0.001120493285489659,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7126504758449033,1.6618409908824257,-3.67878695574323,0.017925552499470452,2.6581942313331424,0.9962550642201324,0.409954767226286,-3.666040497993577,4.088741722969516,4.088741722969516,4.240000000003457,0,0,-0.0002038215829072446,9.999924085868912e-05
+7932,1793078111302320586,14662438000000,1793078111296156996,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6763137970582961,-0.005006211229549138,0.09744007053567995,0.9999998866106664,-0.00020078026549904705,0.00038191845148654755,0.00017901703772491665,0.6761,-0.0046,0.09690084176555896,1.0,0.0,0.0,0.0,-0.4646059690789519,-0.06985758934886777,3.7161962155447954,-0.007453638096100557,0.03679779450909219,0.0015540180180076263,0.5094024411656883,1.2369595829406723,4.5014689512341235,0.07843723208045707,-0.02686122713821846,0.0020591913094972765,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.6769124388818142,1.7266525546778704,-3.7499084451692686,-0.02048259171023459,2.7028507845853604,1.0320140344324988,0.409954767226286,-3.7161962155447954,4.159863212395555,4.159863212395555,4.321700000003267,0,0,-0.00021582537465950213,5.0048822057507894e-05
+8020,1793078112035263225,14663171000000,1793078112028157566,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6763223623787614,-0.005007369920994873,0.0972899843507339,0.9999998826752234,-0.00019185948559666496,0.0003957976682765565,0.00018062820099483978,0.6761,-0.0046,0.09673714712605987,1.0,0.0,0.0,0.0,-0.45411304798036456,-0.09738109471786838,3.7456318179561903,-0.010524471925244305,0.03684935624509135,0.0015099086657009606,0.5198953622642757,1.2094360775716717,4.530904553645518,0.07536639825131332,-0.0268096654022193,0.002015081957190611,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.731232301260583,1.8354644411793366,-3.7454124694837723,-0.04466972476568297,2.715567372489266,1.1074268586548424,0.409954767226286,-3.7456318179561903,4.155367236710058,4.155367236710058,4.395000000003096,0,0,-0.00022920155753477912,-9.999999025923074e-05
+8113,1793078112810179814,14663946000000,1793078112804167155,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6763338432437886,-0.005008658267657898,0.09712615719356714,0.9999998712890671,-0.00022135499233683138,0.0004165014084542423,0.00016246001740484792,0.6761,-0.0046,0.09655268373341394,1.0,0.0,0.0,0.0,-0.4357223947324047,-0.08304771761937757,3.7746562571265088,-0.009454694988501211,0.034871208110432594,0.0014697038676207434,0.5382860155122355,1.2237694546701625,4.559928992815837,0.07643617518805641,-0.02878781353687805,0.0019748771591103936,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.6854987517222284,1.7317753307122024,-3.7893011303050437,-0.0034800961203680265,2.730460945960385,1.0342429288634518,0.409954767226286,-3.7746562571265088,4.19925589753133,4.19925589753133,4.472500000002915,0,0,-0.0002461198511896897,-9.980468815141136e-05
+8191,1793078113460179968,14664596000000,1793078113456156952,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6763425398247274,-0.0050168448276914,0.09697878282392028,0.9999998827376854,-0.00010213320862278817,0.0004313300678511127,0.00017172844885624024,0.6761,-0.0046,0.09638724957053733,1.0,0.0,0.0,0.0,-0.4152650069545005,-0.13684832219717857,3.8348502917244547,-0.013549144734857979,0.03486260795962748,0.0011994988570611163,0.5587434032901397,1.1699688500923615,4.620123027413783,0.07234172544169964,-0.02879641368768317,0.0017046721485507665,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7196588637145735,1.9551979242060655,-3.80946627615456,-0.10124077306240464,2.7693197646009025,1.1369472606103785,0.409954767226286,-3.8348502917244547,4.219421043380846,4.219421043380846,4.537500000002764,0,0,-0.0002577623205532716,-9.848628443188118e-05
+8274,1793078114152249980,14665288000000,1793078114148167242,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6763516574563396,-0.005018246053870489,0.09681274887537634,0.9999998706772036,-0.00013051616745026815,0.00044915633883535846,0.00017695353528528006,0.6761,-0.0046,0.09620375852038769,1.0,0.0,0.0,0.0,-0.40869219894451836,-0.2053056165618854,3.900579599227126,-0.017621741953014497,0.03391525749576834,0.0012711372374247967,0.5653162113001219,1.1015115557276547,4.685852334916454,0.06826912822354313,-0.029743764151542305,0.0017763105289144469,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7168670341535934,1.8747075306621077,-3.980855924747683,-0.07437450982877401,2.8893159310061898,1.0889146061371697,0.409954767226286,-3.900579599227126,4.390810691973969,4.390810691973969,4.606700000002602,0,0,-0.0002704191071941934,9.654803295691303e-09
+8358,1793078114852173038,14665988000000,1793078114852156507,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6763609065921596,-0.0050208690073787155,0.0966332327106055,0.9999998590747293,-0.0001676714000513029,0.00046328278294544136,0.00017478200820198348,0.6761,-0.0046,0.09601083056319827,1.0,0.0,0.0,0.0,-0.4131770275837433,-0.19864158118446884,3.9138419988513293,-0.01764860475476547,0.03455721920095338,0.0012611513145222987,0.5608313826608969,1.1081755911050712,4.699114734540657,0.06824226542179215,-0.02910180244635727,0.0017663246060119488,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.741218199037505,1.7579073285780464,-3.949291844538468,-0.010984743658407792,2.8686621292865038,1.0420556127863903,0.409954767226286,-3.9138419988513293,4.359246611764754,4.359246611764754,4.676700000002439,0,0,-0.00028177254881719813,-9.996182634275925e-05
+8444,1793078115569135194,14666705000000,1793078115564157025,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6763725039479256,-0.0050244197674484525,0.09644132129398911,0.9999998448823367,-0.00019726361649281062,0.00048186396698718197,0.00017484950549971146,0.6761,-0.0046,0.09580243379461599,1.0,0.0,0.0,0.0,-0.4141688999573305,-0.2119896696822745,3.9769428083179914,-0.018689791260678074,0.03492803202673922,0.001239608289297316,0.5598395102873097,1.0948275026072656,4.7622155440073195,0.06720107891587955,-0.028730989620571423,0.0017447815807869662,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.733467722489951,1.7371160529486227,-4.058366847640919,0.001228399594429107,2.9407832298984404,1.0312299942716499,0.409954767226286,-3.9769428083179914,4.468321614867205,4.468321614867205,4.748400000002272,0,0,-0.00029849156447522694,-9.982508849948885e-05
+8523,1793078116227149546,14667363000000,1793078116220156868,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.6763730856364525,-0.005030254470122654,0.09624279695009212,0.9999998376793208,-0.00020861211180136436,0.00048737831209136567,0.0001871565228834049,0.6761,-0.0046,0.09560149857590741,1.0,0.0,0.0,0.0,-0.4006814937816846,-0.2914206212626953,4.039658976516689,-0.023746224958667017,0.033213306655911684,0.001068407745469333,0.5733269164629556,1.0153965510268448,4.824931712206017,0.06214464521789061,-0.030445714991398965,0.001573581036958983,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.741278806294557,1.7138121094333894,-4.136092398600703,0.008951381979396019,3.0086573369834197,1.015896882161466,0.409954767226286,-4.039658976516689,4.546047165826989,4.546047165826989,4.814200000002119,0,0,-0.0003134649567823796,-8.402468916945331e-05
+8592,1793078116802157355,14667938000000,1793078116796166166,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6763782118332713,-0.005032428145760112,0.09606895442790467,0.999999826768661,-0.0002464218941038042,0.0004987952929445949,0.000168478538951872,0.6761,-0.0046,0.09541823149278512,1.0,0.0,0.0,0.0,-0.358791057082005,-0.3173607348249974,4.048172695680583,-0.024956585657478526,0.03105931387947483,0.0020346492214945956,0.6152173531626353,0.9894564374645427,4.833445431369911,0.0609342845190791,-0.032599707767835814,0.002539822512984246,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7326011338990066,1.601652526762478,-4.186388184081683,0.08039262020682136,3.0475464562787478,0.9446152647182424,0.409954767226286,-4.048172695680583,4.596342951307969,4.596342951307969,4.871700000001985,0,0,-0.00032647690456915214,-3.991468549158087e-05
+8669,1793078117444090009,14668580000000,1793078117440156980,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6763976758885726,-0.00503607979481687,0.09587575371075463,0.9999998131252501,-0.00024568359180825953,0.000522486761495077,0.00017843622276655918,0.6761,-0.0046,0.09520011701168546,1.0,0.0,0.0,0.0,-0.40995428717052806,-0.2790193058054733,4.05062224111879,-0.022542766918621657,0.033972713038454436,0.0021122719395152527,0.5640541230741122,1.0277978664840668,4.8358949768081185,0.06334810325793597,-0.029686308608856207,0.002617445231004903,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8015321748372404,1.7524928693188235,-4.171916178770011,0.014274063272059713,3.050854221055146,1.0446888665648828,0.409954767226286,-4.05062224111879,4.581870945996297,4.581870945996297,4.935900000001835,0,0,-0.0003551122404563386,-9.999999025923074e-05
+8734,1793078117985173807,14669121000000,1793078117984156989,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6764020721041204,-0.005040588651975383,0.09568971342004094,0.9999998102526686,-0.0002221952418822715,0.000531803841108541,0.00019685385400137743,0.6761,-0.0046,0.09500185795016564,1.0,0.0,0.0,0.0,-0.39942716794311184,-0.34460837274164835,4.130897623320347,-0.026500211508755527,0.03362640443136774,0.001993223229942137,0.5745812423015284,0.9622087995478917,4.9161703590096755,0.0593906586678021,-0.030032617215942907,0.002498396521431787,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7802267467395056,1.6526703996259946,-4.249269804682756,0.044947863274699996,3.1115391670029995,0.9826338070806104,0.409954767226286,-4.130897623320347,4.659224571909042,4.659224571909042,4.990000000001709,0,0,-0.0003766926862894523,-5.63897220847764e-05
+8797,1793078118510166284,14669646000000,1793078118508157105,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.676404611276421,-0.005046390828758544,0.09549829567787277,0.9999998215172567,-0.0001040520880135448,0.0005406832002721725,0.00021270439336571668,0.6761,-0.0046,0.09479947242392614,1.0,0.0,0.0,0.0,-0.3871935114993179,-0.41695256209483134,4.216914282076301,-0.031557901295795894,0.032093504542093476,0.0008191187556159537,0.5868148987453223,0.8898646101947087,5.002187017765629,0.05433296888076173,-0.03156551710521717,0.0013242920471056038,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.718268933638964,1.7232993832292465,-4.313146459845726,-0.006219481342282813,3.1587988393804567,0.9615842613605856,0.409954767226286,-4.216914282076301,4.723101227072012,4.723101227072012,5.042500000001587,0,0,-0.00039482153320749704,5e-05
+8854,1793078118985161294,14670121000000,1793078118984156760,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.6764193197929296,-0.005042933800609068,0.0953190869750165,0.9999998081718765,-0.00018422858335346394,0.0005576167182489023,0.0001738461931516237,0.6761,-0.0046,0.09460877936876069,1.0,0.0,0.0,0.0,-0.3612515032115251,-0.30550119765070494,4.232156098842513,-0.02475578554867603,0.03128758803324129,0.0019004621351848348,0.6127569070331151,1.0013159746388351,5.017428834531841,0.06113508462788159,-0.032371433614069356,0.002405635426674485,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.8502474880188,1.73016167782816,-4.311102517138989,0.05147125901447944,3.1797307621492803,1.021437153633136,0.409954767226286,-4.232156098842513,4.721057284365275,4.721057284365275,5.090000000001476,0,0,-0.0004103013166404087,-9.999999025923074e-05
+8911,1793078119460127625,14670596000000,1793078119460156899,DOWN_FORCE_DETACH,5,0.0662,0.06620250642299652,0.676420759354551,-0.005046350886861502,0.09512279476340377,0.9999998012919362,-0.00019265158287271378,0.0005619680938631845,0.00018956840820785417,0.6761,-0.0046,0.09440982391896716,1.0,0.0,0.0,0.0,-0.35336325189985685,-0.389060414835926,4.2839547825413495,-0.02983494210033856,0.03101974199055032,0.0017976367575093736,0.6206451583447834,0.9177567574536141,5.069227518230678,0.056055928076219064,-0.03263927965676033,0.0023028100489990238,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7890505738968001,1.6833998586049808,-4.355904219442794,0.06265344568348871,3.2073179459215235,1.0037578505934819,0.409954767226286,-4.2839547825413495,4.76585898666908,4.76585898666908,5.137500000001365,0,0,-0.0004267022618812107,-9.999980984798924e-05
+8968,1793078119935150812,14671071000000,1793078119932156975,DOWN_FORCE_DETACH,5,0.0662,0.06620185077190399,0.676428367562898,-0.005048287382449394,0.09492396189331041,0.9999997918478277,-0.0002123968794163913,0.0005725374203295443,0.000186643063460286,0.6761,-0.0046,0.09420294392152131,1.0,0.0,0.0,0.0,-0.323071271839962,-0.414566395498995,4.290933128124951,-0.030824881058263955,0.028084269074356148,0.001742011730094985,0.6509371384046783,0.8922507767905451,5.0762058638142795,0.05506598911829367,-0.0355747525729545,0.002247185021584635,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.7520504137280757,1.6664259680203743,-4.349638989499772,0.09816485303602163,3.2024774402747664,0.9914433328275472,0.409954767226286,-4.290933128124951,4.759593756726058,4.759593756726058,5.185000000001255,0,0,-0.00044530966667874337,-9.979484879985562e-05
+9022,1793078120379087479,14671515000000,1793078120376156810,DOWN_SETTLE,5,0.0662,0.06620185077190399,0.6764299982542253,-0.005050183466885801,0.09472836235801946,0.9999997862196242,-0.00022587762284804658,0.0005759199742092514,0.00019052310366355463,0.6761,-0.0046,0.09400680792274108,1.0,0.0,0.0,0.0,-0.3079027024614148,-0.45007115923136887,4.307309709225259,-0.0328441215825734,0.027025008424975357,0.0016880255185613591,0.6661057077832254,0.8567460130581712,5.092582444914587,0.05304674859398422,-0.03663401322233529,0.0021931988100510093,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.6713414957331065,1.6164340930290155,-4.252168166596621,0.1112598484604699,3.127988035546219,0.9580685162384578,0.409954767226286,-4.307309709225259,4.662122933822907,0.0,0.0,0,0,-0.00027643830774294544,0.0027923061388176306
+9120,1793078121195045050,14672331000000,1793078121192156971,DOWN_PEAK_HOLD,5,0.0662,0.06620250642299652,0.676394103355608,-0.005048022027642379,0.09459548257566654,0.9999998213550747,-0.00023004360364611433,0.0005085742140305247,0.0001927819799554275,0.6761,-0.0046,0.09398028023694054,1.0,0.0,0.0,0.0,-0.06799018548566216,-0.6424569487683206,3.524645551731899,-0.04537654475261426,0.01045263351898782,-0.00011697796410280105,0.9060182247589781,0.6643602235212195,4.309918287421227,0.04051432542394336,-0.053206388128322825,0.0003881953273868491,0.9740084102446402,1.30681717228954,0.7852727356893281,0.08589087017655762,-0.06365902164731065,0.0005051732914896502,1,1.0353757668675228,1.690840162852672,-3.470425140671157,0.07505581062972146,2.5113123805390476,1.0046665460097965,0.409954767226286,-3.524645551731899,3.880379907897443,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_15/press_depth_05/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1793078067895771304,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.301891428e-08,-1.305982301e-09,-2.412779976e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458182e-01,-1.152659163e-04,8.303254475e-01
+1,9.833333333e-01,DOWN_FORCE_DETACH,1793078069074868756,2.881852737e-06,1.033935098e-06,1.029807007e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.201963645e-07,-4.409772072e-08,-1.784688564e-08,7.019585147e-01,-2.123679993e-05,8.601441170e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027463254e-01,-1.153087081e-04,8.303254299e-01
+2,1.900000000e+00,DOWN_FORCE_DETACH,1793078071041279935,4.249708023e-05,-7.323544602e-06,-5.413462360e-05,4.183343513e-05,-7.172234933e-06,-5.381654557e-05,4.300495540e-05,-6.705432255e-06,-5.147470755e-05,7.019981299e-01,-2.959427962e-05,8.600889526e-01,7.019974663e-01,-2.944296996e-05,8.600892707e-01,7.027888101e-01,-1.219700426e-04,8.302739731e-01
+3,2.766666667e+00,DOWN_FORCE_DETACH,1793078072005833164,6.922800135e-05,-9.646386656e-06,-7.579670541e-05,5.624084886e-05,-6.254374104e-06,-6.821224417e-05,5.942194496e-05,-5.967781704e-06,-6.690204459e-05,7.020248608e-01,-3.191712168e-05,8.600672905e-01,7.020118737e-01,-2.852510913e-05,8.600748750e-01,7.028052271e-01,-1.212323920e-04,8.302585457e-01
+4,3.866666667e+00,DOWN_FORCE_DETACH,1793078073152375542,7.283893970e-05,-2.131733487e-06,-8.836134618e-05,6.668657915e-05,-3.448299380e-06,-8.675303067e-05,7.114968874e-05,-3.441044333e-06,-8.581549504e-05,7.020284718e-01,-2.440246851e-05,8.600547259e-01,7.020223194e-01,-2.571903440e-05,8.600563342e-01,7.028169549e-01,-1.187056547e-04,8.302396323e-01
+5,4.850000000e+00,DOWN_FORCE_DETACH,1793078074167644878,7.109044138e-05,-7.568508276e-06,-9.467798778e-05,6.668657915e-05,-3.448299380e-06,-8.675303067e-05,7.157846457e-05,-3.464003240e-06,-8.627387714e-05,7.020267233e-01,-2.983924330e-05,8.600484093e-01,7.020223194e-01,-2.571903440e-05,8.600563342e-01,7.028173837e-01,-1.187286136e-04,8.302391739e-01
+6,5.900000000e+00,DOWN_FORCE_DETACH,1793078075200106897,7.295262924e-05,-7.848449322e-06,-9.560483085e-05,6.668657915e-05,-3.448299380e-06,-8.675303067e-05,7.176616986e-05,-3.476692315e-06,-8.649094645e-05,7.020285854e-01,-3.011918434e-05,8.600474824e-01,7.020223194e-01,-2.571903440e-05,8.600563342e-01,7.028175714e-01,-1.187413027e-04,8.302389568e-01
+7,6.933333333e+00,DOWN_FORCE_DETACH,1793078076248461762,8.192756910e-05,-9.668346364e-06,-1.088370579e-04,7.555215972e-05,-7.636846505e-06,-1.039927029e-04,8.092472508e-05,-7.403277153e-06,-1.034081680e-04,7.020375604e-01,-3.193908139e-05,8.600342502e-01,7.020311850e-01,-2.990758153e-05,8.600390945e-01,7.028267299e-01,-1.226678875e-04,8.302220396e-01
+8,7.866666667e+00,DOWN_FORCE_DETACH,1793078077201568594,9.198568151e-05,7.613014923e-06,-1.281745709e-04,8.657709845e-05,-5.098219853e-06,-1.208586009e-04,9.242807890e-05,-5.038134863e-06,-1.200623076e-04,7.020476185e-01,-1.465772010e-05,8.600149127e-01,7.020422099e-01,-2.736895488e-05,8.600222286e-01,7.028382333e-01,-1.203027452e-04,8.302053855e-01
+9,8.733333333e+00,DOWN_FORCE_DETACH,1793078078083016485,9.644915890e-05,2.822740239e-06,-1.374164184e-04,9.473789918e-05,3.597316275e-06,-1.383429504e-04,1.009101549e-04,3.032734753e-06,-1.372107160e-04,7.020520820e-01,-1.944799478e-05,8.600056708e-01,7.020503707e-01,-1.867341875e-05,8.600047443e-01,7.028467153e-01,-1.122318756e-04,8.301882370e-01
+10,9.666666667e+00,DOWN_FORCE_DETACH,1793078079064875821,1.043101877e-04,-1.597575850e-07,-1.532262533e-04,1.020311275e-04,-4.468562885e-07,-1.567283363e-04,1.085881233e-04,-7.595893264e-07,-1.554602363e-04,7.020599430e-01,-2.243049261e-05,8.599898610e-01,7.020576639e-01,-2.271759131e-05,8.599863589e-01,7.028543933e-01,-1.160241997e-04,8.301699875e-01
+11,1.066666667e+01,DOWN_FORCE_DETACH,1793078080425001598,1.101032150e-04,-2.896936519e-06,-1.697507772e-04,1.020311275e-04,-4.468562885e-07,-1.567283363e-04,1.089782673e-04,-7.781602701e-07,-1.561710255e-04,7.020657360e-01,-2.516767154e-05,8.599733365e-01,7.020576639e-01,-2.271759131e-05,8.599863589e-01,7.028547835e-01,-1.160427706e-04,8.301692767e-01
+12,1.165000000e+01,DOWN_FORCE_DETACH,1793078081391211601,1.146167464e-04,-5.923746489e-06,-1.839829871e-04,1.094871482e-04,-6.695175355e-06,-1.752317096e-04,1.167650262e-04,-6.621328295e-06,-1.745132682e-04,7.020702496e-01,-2.819448151e-05,8.599591043e-01,7.020651200e-01,-2.896591038e-05,8.599678555e-01,7.028625702e-01,-1.218859386e-04,8.301509345e-01
+13,1.268333333e+01,DOWN_FORCE_DETACH,1793078082430223837,1.197768771e-04,-7.946543500e-06,-2.043077854e-04,1.149867998e-04,-4.589184717e-06,-1.948237490e-04,1.224295664e-04,-4.660453151e-06,-1.939561864e-04,7.020754097e-01,-3.021727852e-05,8.599387795e-01,7.020706196e-01,-2.685991974e-05,8.599482635e-01,7.028682348e-01,-1.199250635e-04,8.301314916e-01
+14,1.376666667e+01,DOWN_FORCE_DETACH,1793078083521111830,1.251560261e-04,-5.591281547e-06,-2.156409073e-04,1.205932519e-04,-8.965890352e-06,-2.157868990e-04,1.282469918e-04,-8.746039576e-06,-2.147691990e-04,7.020807888e-01,-2.786201657e-05,8.599274463e-01,7.020762261e-01,-3.123662537e-05,8.599273003e-01,7.028740522e-01,-1.240106499e-04,8.301106786e-01
+15,1.475000000e+01,DOWN_FORCE_DETACH,1793078084535531328,1.297817321e-04,-6.810032575e-06,-2.344882480e-04,1.270114345e-04,-8.080055877e-06,-2.359695229e-04,1.347582473e-04,-7.940423019e-06,-2.347035984e-04,7.020854145e-01,-2.908076760e-05,8.599085990e-01,7.020826443e-01,-3.035079090e-05,8.599071177e-01,7.028805634e-01,-1.232050334e-04,8.300907442e-01
+16,1.573333333e+01,DOWN_FORCE_DETACH,1793078085551487462,1.336116963e-04,-7.325095659e-06,-2.579918953e-04,1.305424151e-04,-9.526600941e-06,-2.575444016e-04,1.384355350e-04,-9.311962063e-06,-2.562075488e-04,7.020892445e-01,-2.959583068e-05,8.598850953e-01,7.020861752e-01,-3.179733596e-05,8.598855428e-01,7.028842407e-01,-1.245765724e-04,8.300692402e-01
+17,1.671666667e+01,DOWN_FORCE_DETACH,1793078086550413895,1.409709610e-04,-1.233519548e-05,-2.775447921e-04,1.370835863e-04,-1.326138522e-05,-2.764123286e-04,1.451999122e-04,-1.275365808e-05,-2.751456050e-04,7.020966038e-01,-3.460593050e-05,8.598655424e-01,7.020927164e-01,-3.553212025e-05,8.598666749e-01,7.028910051e-01,-1.280182684e-04,8.300503022e-01
+18,1.770000000e+01,DOWN_FORCE_DETACH,1793078087516976349,1.467233846e-04,-1.290821305e-05,-2.991694952e-04,1.440279157e-04,-9.750414608e-06,-2.950391759e-04,1.523912112e-04,-9.538809511e-06,-2.938771692e-04,7.021023562e-01,-3.517894808e-05,8.598439177e-01,7.020996607e-01,-3.202114963e-05,8.598480481e-01,7.028981964e-01,-1.248034199e-04,8.300315706e-01
+19,1.873333333e+01,DOWN_FORCE_DETACH,1793078088598074899,1.525830663e-04,-1.434287879e-05,-3.325089908e-04,1.486149645e-04,-1.220547791e-05,-3.168465147e-04,1.572407531e-04,-1.182369328e-05,-3.158021320e-04,7.021082159e-01,-3.661361381e-05,8.598105782e-01,7.021042478e-01,-3.447621294e-05,8.598262407e-01,7.029030459e-01,-1.270883036e-04,8.300096456e-01
+20,1.978333333e+01,DOWN_FORCE_DETACH,1793078089695709680,1.622199873e-04,-2.189658625e-05,-3.613023091e-04,1.565566966e-04,-1.294380293e-05,-3.580217763e-04,1.652842725e-04,-1.253494319e-05,-3.565661632e-04,7.021178528e-01,-4.416732127e-05,8.597817849e-01,7.021121895e-01,-3.521453795e-05,8.597850655e-01,7.029110895e-01,-1.277995535e-04,8.299688816e-01
+21,2.076666667e+01,DOWN_FORCE_DETACH,1793078090678858165,1.685210695e-04,-1.539178256e-05,-3.937390787e-04,1.635439413e-04,-1.383946938e-05,-3.770049892e-04,1.726384722e-04,-1.338814008e-05,-3.758122164e-04,7.021241539e-01,-3.766251758e-05,8.597493482e-01,7.021191768e-01,-3.611020440e-05,8.597660823e-01,7.029184437e-01,-1.286527504e-04,8.299496355e-01
+22,2.168333333e+01,DOWN_FORCE_DETACH,1793078091579349613,1.753128720e-04,-1.547589709e-05,-4.222608236e-04,1.726073319e-04,-1.647154367e-05,-4.151294798e-04,1.818207579e-04,-1.586529839e-05,-4.135916188e-04,7.021309457e-01,-3.774663211e-05,8.597208264e-01,7.021282401e-01,-3.874227869e-05,8.597279578e-01,7.029276259e-01,-1.311299087e-04,8.299118561e-01
+23,2.266666667e+01,DOWN_FORCE_DETACH,1793078092545847841,1.854715312e-04,-1.829146525e-05,-4.545833006e-04,1.820053611e-04,-2.029277868e-05,-4.556967588e-04,1.913877280e-04,-1.942704480e-05,-4.536924247e-04,7.021411043e-01,-4.056220027e-05,8.596885039e-01,7.021376382e-01,-4.256351370e-05,8.596873905e-01,7.029371929e-01,-1.346916551e-04,8.298717553e-01
+24,2.368333333e+01,DOWN_FORCE_DETACH,1793078093640524532,1.942418244e-04,-1.940939710e-05,-4.981611571e-04,1.916340566e-04,-1.691885252e-05,-4.943538527e-04,2.012556339e-04,-1.632343942e-05,-4.922589550e-04,7.021498746e-01,-4.168013212e-05,8.596449261e-01,7.021472669e-01,-3.918958754e-05,8.596487334e-01,7.029470608e-01,-1.315880498e-04,8.298331888e-01
+25,2.450000000e+01,DOWN_FORCE_DETACH,1793078095068101768,2.079264393e-04,-2.129277135e-05,-5.644903771e-04,2.064147503e-04,-2.610418564e-05,-5.595872514e-04,2.163009213e-04,-2.488148429e-05,-5.565938180e-04,7.021635593e-01,-4.356350637e-05,8.595785969e-01,7.021620476e-01,-4.837492067e-05,8.595835000e-01,7.029621061e-01,-1.401460946e-04,8.297688539e-01
+26,2.545000000e+01,DOWN_FORCE_DETACH,1793078096018022138,2.173968163e-04,-2.319417417e-05,-6.109566987e-04,2.140566527e-04,-2.390822153e-05,-6.007045901e-04,2.242328150e-04,-2.288693243e-05,-5.982043390e-04,7.021730296e-01,-4.546490920e-05,8.595321305e-01,7.021696895e-01,-4.617895655e-05,8.595423826e-01,7.029700380e-01,-1.381515428e-04,8.297272434e-01
+27,2.650000000e+01,DOWN_FORCE_DETACH,1793078097050207355,2.304689317e-04,-2.678323941e-05,-6.635174379e-04,2.278385058e-04,-2.354906841e-05,-6.582472032e-04,2.382383016e-04,-2.256913950e-05,-6.556728015e-04,7.021861017e-01,-4.905397443e-05,8.594795698e-01,7.021834713e-01,-4.581980343e-05,8.594848400e-01,7.029840435e-01,-1.378337498e-04,8.296697750e-01
+28,2.743333333e+01,DOWN_FORCE_DETACH,1793078098000180299,2.385404984e-04,-2.953864516e-05,-7.186263390e-04,2.371079422e-04,-3.078326049e-05,-7.168375739e-04,2.475774252e-04,-2.938217090e-05,-7.138257350e-04,7.021941733e-01,-5.180938018e-05,8.594244609e-01,7.021927408e-01,-5.305399552e-05,8.594262497e-01,7.029933826e-01,-1.446467812e-04,8.296116220e-01
+29,2.845000000e+01,DOWN_FORCE_DETACH,1793078099081127990,2.476928292e-04,-2.976418020e-05,-7.892721519e-04,2.462212715e-04,-3.279075717e-05,-7.763231295e-04,2.567502414e-04,-3.124556365e-05,-7.734570311e-04,7.022033256e-01,-5.203491523e-05,8.593538151e-01,7.022018541e-01,-5.506149219e-05,8.593667641e-01,7.030025554e-01,-1.465101740e-04,8.295519907e-01
+30,2.948333333e+01,DOWN_FORCE_DETACH,1793078100096418034,2.621663745e-04,-3.312960718e-05,-8.603614600e-04,2.601850778e-04,-3.285748016e-05,-8.599996257e-04,2.706549499e-04,-3.136335535e-05,-8.564036481e-04,7.022177992e-01,-5.540034221e-05,8.592827258e-01,7.022158179e-01,-5.512821519e-05,8.592830876e-01,7.030164601e-01,-1.466279657e-04,8.294690441e-01
+31,3.040000000e+01,DOWN_FORCE_DETACH,1793078101013953065,2.729765060e-04,-3.650991659e-05,-9.300458330e-04,2.692204489e-04,-3.704889424e-05,-9.268265835e-04,2.796233979e-04,-3.528755920e-05,-9.231969324e-04,7.022286093e-01,-5.878065162e-05,8.592130414e-01,7.022248533e-01,-5.931962927e-05,8.592162607e-01,7.030254286e-01,-1.505521695e-04,8.294022508e-01
+32,3.135000000e+01,DOWN_FORCE_DETACH,1793078101996704408,2.772537093e-04,-3.768077738e-05,-1.017999667e-03,2.801472647e-04,-3.553103166e-05,-1.009810138e-03,2.903979623e-04,-3.389883355e-05,-1.005859652e-03,7.022328865e-01,-5.995151240e-05,8.591250876e-01,7.022357801e-01,-5.780176668e-05,8.591332771e-01,7.030362032e-01,-1.491634439e-04,8.293195881e-01
+33,3.220000000e+01,DOWN_FORCE_DETACH,1793078102831820976,2.945008974e-04,-3.833062047e-05,-1.094718500e-03,2.919018556e-04,-3.581627380e-05,-1.093504309e-03,3.019804710e-04,-3.419039959e-05,-1.089076184e-03,7.022501337e-01,-6.060135549e-05,8.590483687e-01,7.022475347e-01,-5.808700883e-05,8.590495829e-01,7.030477857e-01,-1.494550099e-04,8.292363716e-01
+34,3.316666667e+01,DOWN_FORCE_DETACH,1793078103787553756,3.017130401e-04,-4.428608586e-05,-1.194176809e-03,3.003069904e-04,-4.393707218e-05,-1.177222546e-03,3.101763985e-04,-4.177909060e-05,-1.173088560e-03,7.022573459e-01,-6.655682088e-05,8.589489104e-01,7.022559398e-01,-6.620780721e-05,8.589658647e-01,7.030559816e-01,-1.570437009e-04,8.291523592e-01
+35,3.398333333e+01,DOWN_FORCE_DETACH,1793078104617401386,3.116771345e-04,-4.452161426e-05,-1.278491435e-03,3.060757393e-04,-4.707785948e-05,-1.262332925e-03,3.156048151e-04,-4.471881485e-05,-1.257977518e-03,7.022673100e-01,-6.679234928e-05,8.588645958e-01,7.022617086e-01,-6.934859450e-05,8.588807543e-01,7.030614100e-01,-1.599834252e-04,8.290674702e-01
+36,3.486666667e+01,DOWN_FORCE_DETACH,1793078105534505690,3.196753195e-04,-5.012185490e-05,-1.396770458e-03,3.223502653e-04,-4.921749506e-05,-1.387465286e-03,3.314125660e-04,-4.673478578e-05,-1.381941853e-03,7.022753081e-01,-7.239258993e-05,8.587463168e-01,7.022779831e-01,-7.148823008e-05,8.587556220e-01,7.030772178e-01,-1.619993961e-04,8.289435059e-01
+37,3.573333333e+01,DOWN_FORCE_DETACH,1793078106409899400,3.289614030e-04,-5.408416574e-05,-1.508770505e-03,3.304480700e-04,-5.417407259e-05,-1.496786061e-03,3.387848926e-04,-5.140797898e-05,-1.491154754e-03,7.022845942e-01,-7.635490076e-05,8.586343167e-01,7.022860809e-01,-7.644480761e-05,8.586463012e-01,7.030845901e-01,-1.666725893e-04,8.288342930e-01
+38,3.663333333e+01,DOWN_FORCE_DETACH,1793078107303881309,3.400100233e-04,-5.388362817e-05,-1.627967925e-03,3.396665216e-04,-5.869333110e-05,-1.626863855e-03,3.473068005e-04,-5.562932326e-05,-1.620568918e-03,7.022956428e-01,-7.615436319e-05,8.585151193e-01,7.022952993e-01,-8.096406612e-05,8.585162234e-01,7.030931120e-01,-1.708939336e-04,8.287048788e-01
+39,3.745000000e+01,DOWN_FORCE_DETACH,1793078108106407388,3.524360479e-04,-5.914398154e-05,-1.745819756e-03,3.483637375e-04,-6.126850500e-05,-1.735044027e-03,3.553801905e-04,-5.806017871e-05,-1.729059336e-03,7.023080689e-01,-8.141471657e-05,8.583972675e-01,7.023039966e-01,-8.353924002e-05,8.584080432e-01,7.031011854e-01,-1.733247891e-04,8.285963884e-01
+40,3.830000000e+01,DOWN_FORCE_DETACH,1793078108974480208,3.590640906e-04,-6.544172737e-05,-1.892813654e-03,3.587479692e-04,-6.556632041e-05,-1.893037988e-03,3.647145281e-04,-6.214735620e-05,-1.885668395e-03,7.023146969e-01,-8.771246240e-05,8.582502736e-01,7.023143808e-01,-8.783705544e-05,8.582500493e-01,7.031105197e-01,-1.774119665e-04,8.284397794e-01
+41,3.908333333e+01,DOWN_FORCE_DETACH,1793078109744085207,3.691372307e-04,-6.670376179e-05,-2.026848551e-03,3.689934894e-04,-7.241357461e-05,-2.019408508e-03,3.741721031e-04,-6.855375592e-05,-2.012214689e-03,7.023247700e-01,-8.897449681e-05,8.581162387e-01,7.023246263e-01,-9.468430963e-05,8.581236787e-01,7.031199773e-01,-1.838183663e-04,8.283132331e-01
+42,3.983333333e+01,DOWN_FORCE_DETACH,1793078110482005384,3.782458880e-04,-7.658363996e-05,-2.164318424e-03,3.770198861e-04,-7.417861067e-05,-2.146748967e-03,3.813345841e-04,-7.024399236e-05,-2.139626485e-03,7.023338787e-01,-9.885437498e-05,8.579787688e-01,7.023326527e-01,-9.644934569e-05,8.579963383e-01,7.031271398e-01,-1.855086027e-04,8.281858213e-01
+43,4.056666667e+01,DOWN_FORCE_DETACH,1793078111301908648,3.869334762e-04,-8.360199599e-05,-2.325856668e-03,3.866423089e-04,-8.335796238e-05,-2.325930232e-03,3.895233093e-04,-7.880721037e-05,-2.316937475e-03,7.023425663e-01,-1.058727310e-04,8.578172306e-01,7.023422751e-01,-1.056286974e-04,8.578171570e-01,7.031353285e-01,-1.940718207e-04,8.280085103e-01
+44,4.131666667e+01,DOWN_FORCE_DETACH,1793078112038266588,3.964417800e-04,-8.656284333e-05,-2.472916708e-03,3.946275769e-04,-8.377002667e-05,-2.457089436e-03,3.964717151e-04,-7.918444365e-05,-2.449156540e-03,7.023520746e-01,-1.088335783e-04,8.576701705e-01,7.023502604e-01,-1.060407617e-04,8.576859978e-01,7.031422769e-01,-1.944490540e-04,8.278762912e-01
+45,4.196666667e+01,DOWN_FORCE_DETACH,1793078112807948120,4.098862024e-04,-8.716989020e-05,-2.635678621e-03,4.096156716e-04,-8.706291121e-05,-2.635515750e-03,4.101901661e-04,-8.226308644e-05,-2.626118675e-03,7.023655190e-01,-1.094406252e-04,8.575074086e-01,7.023652485e-01,-1.093336462e-04,8.575075715e-01,7.031559954e-01,-1.975276968e-04,8.276993291e-01
+46,4.263333333e+01,DOWN_FORCE_DETACH,1793078113462951039,4.171631325e-04,-9.228975610e-05,-2.786674879e-03,4.116210313e-04,-9.332350507e-05,-2.767851710e-03,4.111471011e-04,-8.807264049e-05,-2.759183557e-03,7.023727959e-01,-1.145604911e-04,8.573564124e-01,7.023672538e-01,-1.155942401e-04,8.573752355e-01,7.031569523e-01,-2.033372508e-04,8.275662642e-01
+47,4.331666667e+01,DOWN_FORCE_DETACH,1793078114150303017,4.257198247e-04,-9.817163089e-05,-2.950811923e-03,4.240379844e-04,-9.544844152e-05,-2.948205780e-03,4.221870605e-04,-9.014672035e-05,-2.938470268e-03,7.023813526e-01,-1.204423659e-04,8.571922753e-01,7.023796708e-01,-1.177191765e-04,8.571948815e-01,7.031679922e-01,-2.054113307e-04,8.273869775e-01
+48,4.398333333e+01,DOWN_FORCE_DETACH,1793078114850269396,4.343310011e-04,-9.992437129e-05,-3.129713023e-03,4.314655756e-04,-9.875277688e-05,-3.114214881e-03,4.283713944e-04,-9.328473777e-05,-3.104439176e-03,7.023899638e-01,-1.221951063e-04,8.570133742e-01,7.023870984e-01,-1.210235119e-04,8.570288724e-01,7.031741766e-01,-2.085493481e-04,8.272210086e-01
+49,4.451666667e+01,DOWN_FORCE_DETACH,1793078115568502273,4.457140711e-04,-1.032534116e-04,-3.323236472e-03,4.456199649e-04,-1.034697676e-04,-3.323136167e-03,4.409851521e-04,-9.772315599e-05,-3.311118447e-03,7.024013469e-01,-1.255241466e-04,8.568198508e-01,7.024012528e-01,-1.257405026e-04,8.568199511e-01,7.031867903e-01,-2.129877663e-04,8.270143293e-01
+50,4.515000000e+01,DOWN_FORCE_DETACH,1793078116225196542,4.465700954e-04,-1.082706279e-04,-3.522739895e-03,4.484427489e-04,-1.080910264e-04,-3.504930853e-03,4.421982109e-04,-1.020407858e-04,-3.493504933e-03,7.024022029e-01,-1.305413629e-04,8.566203473e-01,7.024040756e-01,-1.303617614e-04,8.566381564e-01,7.031880034e-01,-2.173053961e-04,8.268319428e-01
+51,4.570000000e+01,DOWN_FORCE_DETACH,1793078116804755072,4.522556651e-04,-1.071634977e-04,-3.696590741e-03,4.510086332e-04,-1.119340332e-04,-3.687679258e-03,4.429164365e-04,-1.057118666e-04,-3.675674902e-03,7.024078885e-01,-1.294342327e-04,8.564464965e-01,7.024066415e-01,-1.342047682e-04,8.564554080e-01,7.031887216e-01,-2.209764770e-04,8.266497729e-01
+52,4.628333333e+01,DOWN_FORCE_DETACH,1793078117443106945,4.732402402e-04,-1.141142459e-04,-3.885083287e-03,4.703245953e-04,-1.117023352e-04,-3.883315278e-03,4.609784473e-04,-1.055152941e-04,-3.870955157e-03,7.024288731e-01,-1.363849809e-04,8.562580040e-01,7.024259574e-01,-1.339730702e-04,8.562597720e-01,7.032067836e-01,-2.207799045e-04,8.264544926e-01
+53,4.683333333e+01,DOWN_FORCE_DETACH,1793078117983300000,4.763734699e-04,-1.225503108e-04,-4.071856585e-03,4.747702881e-04,-1.199317528e-04,-4.062827915e-03,4.639130219e-04,-1.131405612e-04,-4.050433841e-03,7.024320063e-01,-1.448210458e-04,8.560712307e-01,7.024304031e-01,-1.422024878e-04,8.560802593e-01,7.032097182e-01,-2.284051715e-04,8.262750139e-01
+54,4.736666667e+01,DOWN_FORCE_DETACH,1793078118507063184,4.801906736e-04,-1.206769321e-04,-4.260608354e-03,4.789986439e-04,-1.207934293e-04,-4.243594621e-03,4.664000507e-04,-1.138900217e-04,-4.231112977e-03,7.024358235e-01,-1.429476672e-04,8.558824789e-01,7.024346315e-01,-1.430641644e-04,8.558994926e-01,7.032122052e-01,-2.291546321e-04,8.260943348e-01
+55,4.785000000e+01,DOWN_FORCE_DETACH,1793078118982173429,4.951986307e-04,-1.164670896e-04,-4.438846224e-03,4.925933997e-04,-1.186220635e-04,-4.424173464e-03,4.785659880e-04,-1.119470629e-04,-4.411334149e-03,7.024508314e-01,-1.387378246e-04,8.557042410e-01,7.024482262e-01,-1.408927986e-04,8.557189138e-01,7.032243712e-01,-2.272116733e-04,8.259141136e-01
+56,4.833333333e+01,DOWN_FORCE_DETACH,1793078119457727026,4.951658500e-04,-1.261689801e-04,-4.637664853e-03,4.952193970e-04,-1.261552733e-04,-4.637410451e-03,4.792009148e-04,-1.190604322e-04,-4.623089825e-03,7.024507987e-01,-1.484397151e-04,8.555054224e-01,7.024508522e-01,-1.484260083e-04,8.555056768e-01,7.032250061e-01,-2.343250426e-04,8.257023579e-01
+57,4.881666667e+01,DOWN_FORCE_DETACH,1793078119932562262,5.029457919e-04,-1.245423507e-04,-4.836734395e-03,4.973252118e-04,-1.281718646e-04,-4.823321433e-03,4.795487644e-04,-1.209788017e-04,-4.809310927e-03,7.024585786e-01,-1.468130858e-04,8.553063528e-01,7.024529580e-01,-1.504425997e-04,8.553197658e-01,7.032253540e-01,-2.362434121e-04,8.255161368e-01
+58,4.921666667e+01,DOWN_SETTLE,1793078120378956705,5.039327667e-04,-1.225296061e-04,-5.038703180e-03,5.039155294e-04,-1.225444094e-04,-5.038078832e-03,4.840622612e-04,-1.157435481e-04,-5.022215017e-03,7.024595656e-01,-1.448003411e-04,8.551043841e-01,7.024595483e-01,-1.448151445e-04,8.551050084e-01,7.032298674e-01,-2.310081585e-04,8.253032327e-01
+59,5.003333333e+01,DOWN_PEAK_HOLD,1793078121193404008,4.697222173e-04,-1.206648516e-04,-5.166668537e-03,4.682537959e-04,-1.235807222e-04,-5.165843328e-03,4.453913083e-04,-1.167369980e-04,-5.155856116e-03,7.024253550e-01,-1.429355866e-04,8.549764187e-01,7.024238866e-01,-1.458514573e-04,8.549772439e-01,7.031911965e-01,-2.320016083e-04,8.251695916e-01

Fixed/digit/cylinder_PLA_15/press_depth_05/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.3894e-01,6.9101e-01,2.4595e+00,-8.7349e-02,5.4085e-02,1.5881e-03,3.6865e-05,-1.6332e-05,7.3433e-05,1.3858e-06,2.7791e-06,-7.7300e-08,8.3775e-05,3.1064e-06
+1,9.8333e-01,DOWN_FORCE_DETACH,2.2730e-04,3.2961e-01,6.8375e-01,2.4575e+00,-8.6811e-02,6.0598e-02,1.0570e-03,9.0711e-02,-7.2714e-03,-1.8859e-03,5.3919e-04,6.5161e-03,-5.3123e-04,9.1021e-02,6.5599e-03
+2,1.9000e+00,DOWN_FORCE_DETACH,4.5376e-04,2.5320e-01,6.9782e-01,2.5568e+00,-8.7712e-02,5.4922e-02,9.1683e-04,1.4302e-02,6.7912e-03,9.7430e-02,-3.6161e-04,8.3973e-04,-6.7136e-04,9.8708e-02,1.1343e-03
+3,2.7667e+00,DOWN_FORCE_DETACH,6.7913e-04,1.4825e-01,7.6054e-01,2.6901e+00,-9.1918e-02,4.7055e-02,1.1370e-03,-9.0645e-02,6.9512e-02,2.3068e-01,-4.5681e-03,-7.0267e-03,-4.5119e-04,2.5741e-01,8.3932e-03
+4,3.8667e+00,DOWN_FORCE_DETACH,9.0947e-04,2.7374e-01,7.0646e-01,2.6126e+00,-8.7970e-02,5.6254e-02,1.0440e-03,3.4836e-02,1.5429e-02,1.5319e-01,-6.1946e-04,2.1724e-03,-5.4416e-04,1.5786e-01,2.3236e-03
+5,4.8500e+00,DOWN_FORCE_DETACH,1.1309e-03,3.5224e-01,7.0354e-01,2.5299e+00,-8.7853e-02,6.2128e-02,7.9760e-04,1.1334e-01,1.2518e-02,7.0436e-02,-5.0318e-04,8.0460e-03,-7.9059e-04,1.3403e-01,8.1004e-03
+6,5.9000e+00,DOWN_FORCE_DETACH,1.3564e-03,3.8741e-01,7.0161e-01,2.4872e+00,-8.7803e-02,6.4718e-02,6.2941e-04,1.4851e-01,1.0583e-02,2.7742e-02,-4.5319e-04,1.0636e-02,-9.5878e-04,1.5145e-01,1.0689e-02
+7,6.9333e+00,DOWN_FORCE_DETACH,1.5847e-03,3.5347e-01,7.6683e-01,2.5466e+00,-9.2450e-02,6.2181e-02,6.2840e-04,1.1457e-01,7.5807e-02,8.7167e-02,-5.1001e-03,8.0988e-03,-9.5979e-04,1.6270e-01,9.6189e-03
+8,7.8667e+00,DOWN_FORCE_DETACH,1.8069e-03,3.1629e-01,7.2026e-01,2.5876e+00,-8.9030e-02,5.9427e-02,5.8732e-04,7.7394e-02,2.9232e-02,1.2817e-01,-1.6802e-03,5.3446e-03,-1.0009e-03,1.5255e-01,5.6912e-03
+9,8.7333e+00,DOWN_FORCE_DETACH,2.0364e-03,2.9474e-01,5.7319e-01,2.6514e+00,-7.8386e-02,5.7831e-02,4.9716e-04,5.5841e-02,-1.1784e-01,1.9203e-01,8.9640e-03,3.7493e-03,-1.0910e-03,2.3212e-01,9.7775e-03
+10,9.6667e+00,DOWN_FORCE_DETACH,2.2630e-03,3.0409e-01,6.3152e-01,2.6935e+00,-8.2595e-02,5.8457e-02,4.7003e-04,6.5187e-02,-5.9506e-02,2.3411e-01,4.7556e-03,4.3749e-03,-1.1182e-03,2.5020e-01,6.5578e-03
+11,1.0667e+01,DOWN_FORCE_DETACH,2.4911e-03,3.7069e-01,6.3623e-01,2.5467e+00,-8.2911e-02,6.3450e-02,4.5380e-04,1.3180e-01,-5.4801e-02,8.7334e-02,4.4397e-03,9.3682e-03,-1.1344e-03,1.6733e-01,1.0429e-02
+12,1.1650e+01,DOWN_FORCE_DETACH,2.7159e-03,3.6524e-01,7.3336e-01,2.5638e+00,-8.9848e-02,6.3023e-02,4.6436e-04,1.2634e-01,4.2339e-02,1.0439e-01,-2.4978e-03,8.9406e-03,-1.1238e-03,1.6927e-01,9.3507e-03
+13,1.2683e+01,DOWN_FORCE_DETACH,2.9437e-03,3.6920e-01,6.9576e-01,2.5792e+00,-8.7083e-02,6.3277e-02,3.8295e-04,1.3030e-01,4.7358e-03,1.1974e-01,2.6730e-04,9.1951e-03,-1.2052e-03,1.7703e-01,9.2776e-03
+14,1.3767e+01,DOWN_FORCE_DETACH,3.1689e-03,3.6149e-01,7.6319e-01,2.6156e+00,-9.1885e-02,6.2647e-02,3.6617e-04,1.2259e-01,7.2163e-02,1.5622e-01,-4.5348e-03,8.5646e-03,-1.2220e-03,2.1128e-01,9.7679e-03
+15,1.4750e+01,DOWN_FORCE_DETACH,3.3965e-03,3.4001e-01,7.4618e-01,2.6696e+00,-9.0614e-02,6.1076e-02,3.1341e-04,1.0111e-01,5.5157e-02,2.1021e-01,-3.2641e-03,6.9942e-03,-1.2748e-03,2.3970e-01,7.8229e-03
+16,1.5733e+01,DOWN_FORCE_DETACH,3.6205e-03,3.6585e-01,7.6661e-01,2.6751e+00,-9.2013e-02,6.3004e-02,3.0575e-04,1.2695e-01,7.5585e-02,2.1570e-01,-4.6629e-03,8.9221e-03,-1.2824e-03,2.6145e-01,1.0148e-02
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+24,2.3683e+01,DOWN_FORCE_DETACH,5.4354e-03,3.3144e-01,8.6469e-01,2.8329e+00,-9.8870e-02,6.0361e-02,3.2742e-04,9.2537e-02,1.7366e-01,3.7347e-01,-1.1520e-02,6.2787e-03,-1.2608e-03,4.2213e-01,1.3180e-02
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+37,3.5733e+01,DOWN_FORCE_DETACH,8.3816e-03,3.5933e-01,1.3636e+00,3.4606e+00,-1.3009e-01,6.0972e-02,5.8874e-05,1.2043e-01,6.7261e-01,1.0011e+00,-4.2741e-02,6.8903e-03,-1.5293e-03,1.2121e+00,4.3320e-02
+38,3.6633e+01,DOWN_FORCE_DETACH,8.6041e-03,3.6296e-01,1.4198e+00,3.5174e+00,-1.3364e-01,6.1095e-02,4.6516e-05,1.2406e-01,7.2876e-01,1.0580e+00,-4.6290e-02,7.0132e-03,-1.5417e-03,1.2907e+00,4.6844e-02
+39,3.7450e+01,DOWN_FORCE_DETACH,8.8275e-03,3.7022e-01,1.4667e+00,3.5758e+00,-1.3656e-01,6.1478e-02,4.0790e-05,1.3132e-01,7.7568e-01,1.1164e+00,-4.9213e-02,7.3956e-03,-1.5474e-03,1.3658e+00,4.9790e-02
+40,3.8300e+01,DOWN_FORCE_DETACH,9.0606e-03,3.6937e-01,1.5273e+00,3.6548e+00,-1.4027e-01,6.1287e-02,4.6222e-05,1.3047e-01,8.3623e-01,1.1954e+00,-5.2920e-02,7.2045e-03,-1.5420e-03,1.4647e+00,5.3430e-02
+41,3.9083e+01,DOWN_FORCE_DETACH,9.2855e-03,3.6923e-01,1.5932e+00,3.7597e+00,-1.4371e-01,6.1019e-02,1.3516e-04,1.3033e-01,9.0221e-01,1.3003e+00,-5.6364e-02,6.9365e-03,-1.4530e-03,1.5880e+00,5.6808e-02
+42,3.9833e+01,DOWN_FORCE_DETACH,9.5133e-03,3.7437e-01,1.6491e+00,3.7932e+00,-1.4724e-01,6.1288e-02,1.5414e-04,1.3548e-01,9.5806e-01,1.3338e+00,-5.9888e-02,7.2056e-03,-1.4340e-03,1.6478e+00,6.0337e-02
+43,4.0567e+01,DOWN_FORCE_DETACH,9.7370e-03,3.6481e-01,1.7402e+00,4.0255e+00,-1.5222e-01,6.0170e-02,3.6614e-04,1.2592e-01,1.0492e+00,1.5661e+00,-6.4865e-02,6.0880e-03,-1.2221e-03,1.8893e+00,6.5162e-02
+44,4.1317e+01,DOWN_FORCE_DETACH,9.9579e-03,3.6939e-01,1.8140e+00,4.0038e+00,-1.5684e-01,6.0454e-02,3.8382e-04,1.3049e-01,1.1230e+00,1.5444e+00,-6.9490e-02,6.3715e-03,-1.2044e-03,1.9140e+00,6.9792e-02
+45,4.1967e+01,DOWN_FORCE_DETACH,1.0193e-02,3.3822e-01,1.8134e+00,4.1519e+00,-1.5557e-01,5.7993e-02,5.7232e-04,9.9320e-02,1.1223e+00,1.6925e+00,-6.8223e-02,3.9105e-03,-1.0159e-03,2.0333e+00,6.8342e-02
+46,4.2633e+01,DOWN_FORCE_DETACH,1.0419e-02,3.5604e-01,1.9117e+00,4.1412e+00,-1.6185e-01,5.9138e-02,6.1256e-04,1.1714e-01,1.2207e+00,1.6817e+00,-7.4502e-02,5.0563e-03,-9.7563e-04,2.0814e+00,7.4680e-02
+47,4.3317e+01,DOWN_FORCE_DETACH,1.0643e-02,3.5238e-01,1.9838e+00,4.2246e+00,-1.6571e-01,5.8751e-02,7.2495e-04,1.1348e-01,1.2927e+00,1.7651e+00,-7.8360e-02,4.6685e-03,-8.6325e-04,2.1908e+00,7.8504e-02
+48,4.3983e+01,DOWN_FORCE_DETACH,1.0869e-02,3.7434e-01,2.0386e+00,4.3000e+00,-1.6893e-01,6.0136e-02,7.2941e-04,1.3544e-01,1.3476e+00,1.8406e+00,-8.1582e-02,6.0539e-03,-8.5878e-04,2.2852e+00,8.1811e-02
+49,4.4517e+01,DOWN_FORCE_DETACH,1.1097e-02,3.6708e-01,2.0828e+00,4.5650e+00,-1.7006e-01,5.9105e-02,7.6899e-04,1.2818e-01,1.3917e+00,2.1056e+00,-8.2713e-02,5.0234e-03,-8.1920e-04,2.5272e+00,8.2869e-02
+50,4.5150e+01,DOWN_FORCE_DETACH,1.1324e-02,4.1506e-01,2.1555e+00,4.6171e+00,-1.7381e-01,6.2205e-02,7.6231e-04,1.7616e-01,1.4644e+00,2.1577e+00,-8.6464e-02,8.1230e-03,-8.2588e-04,2.6137e+00,8.6849e-02
+51,4.5700e+01,DOWN_FORCE_DETACH,1.1551e-02,4.5038e-01,2.1791e+00,4.6745e+00,-1.7415e-01,6.4620e-02,6.2307e-04,2.1148e-01,1.4880e+00,2.2151e+00,-8.6801e-02,1.0538e-02,-9.6512e-04,2.6768e+00,8.7444e-02
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+53,4.6833e+01,DOWN_FORCE_DETACH,1.2002e-02,4.0372e-01,2.2995e+00,4.7873e+00,-1.8050e-01,6.1007e-02,6.7842e-04,1.6482e-01,1.6085e+00,2.3279e+00,-9.3146e-02,6.9252e-03,-9.0977e-04,2.8343e+00,9.3407e-02
+54,4.7367e+01,DOWN_FORCE_DETACH,1.2225e-02,4.2382e-01,2.3647e+00,4.8500e+00,-1.8387e-01,6.2253e-02,7.1065e-04,1.8492e-01,1.6737e+00,2.3905e+00,-9.6518e-02,8.1708e-03,-8.7754e-04,2.9241e+00,9.6867e-02
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+58,4.9217e+01,DOWN_SETTLE,1.3131e-02,4.7057e-01,2.4698e+00,5.3227e+00,-1.8592e-01,6.4483e-02,8.4774e-04,2.3167e-01,1.7788e+00,2.8632e+00,-9.8568e-02,1.0401e-02,-7.4045e-04,3.3787e+00,9.9118e-02
+59,5.0033e+01,DOWN_PEAK_HOLD,1.3359e-02,6.4842e-01,2.3554e+00,4.7040e+00,-1.7807e-01,7.7143e-02,2.9111e-04,4.0952e-01,1.6644e+00,2.2445e+00,-9.0717e-02,2.3061e-02,-1.2971e-03,2.8241e+00,9.3611e-02

Fixed/digit/cylinder_PLA_15/press_depth_05/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d88372a93921833ec9b1d2d98c053ddc9345ac16538ae745b263fca1d8c7f8
+size 614400

Fixed/digit/cylinder_PLA_15/press_depth_05/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/digit/cylinder_PLA_15/press_depth_05/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+3,4.166666667e-01,WAIT_W2,1793078055347122748,-8.965178644e-07,-9.230605687e-06,1.548771820e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.836036486e-07,-2.400453843e-08,-8.016791897e-09,7.019547363e-01,-3.150134071e-05,8.601446360e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027460888e-01,-1.152886147e-04,8.303254397e-01
+4,5.166666667e-01,WAIT_W2,1793078055446121258,1.108448121e-06,-8.915800896e-06,4.025117458e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.345700246e-07,-2.835395523e-08,-9.941386270e-09,7.019567413e-01,-3.118653592e-05,8.601471124e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027461398e-01,-1.152929642e-04,8.303254378e-01
+5,6.166666667e-01,WAIT_W2,1793078055544346826,1.583505782e-07,-5.948344858e-06,1.901129972e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.810504606e-07,-3.226533449e-08,-1.179362319e-08,7.019557912e-01,-2.821907988e-05,8.601449884e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027461862e-01,-1.152968755e-04,8.303254360e-01
+6,7.166666667e-01,WAIT_W2,1793078055642289777,-5.823231444e-07,-4.254196495e-06,1.089766699e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.235101152e-07,-3.575895104e-08,-1.355557644e-08,7.019550505e-01,-2.652493152e-05,8.601441770e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027462287e-01,-1.153003692e-04,8.303254342e-01
+7,8.666666667e-01,WAIT_W2,1793078055789491880,6.754305794e-07,-4.512192566e-06,4.727407839e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.806698297e-07,-4.080793918e-08,-1.604846445e-08,7.019563082e-01,-2.678292759e-05,8.601435600e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027462859e-01,-1.153054181e-04,8.303254317e-01
+8,9.333333333e-01,WAIT_W2,1793078055855703874,1.000214581e-07,-5.122221044e-05,6.483015374e-06,2.555814801e-07,-5.119465988e-05,6.567492211e-06,9.057566531e-07,-4.737185023e-05,6.206657613e-06,7.019557328e-01,-7.349294546e-05,8.601495703e-01,7.019558884e-01,-7.346539490e-05,8.601496547e-01,7.027467109e-01,-1.626364604e-04,8.303316544e-01
+9,9.500000000e-01,WAIT_W2,1793078055871655619,-1.091152487e-06,-8.196898700e-05,6.018599468e-06,-1.098999057e-06,-8.186707249e-05,5.901916530e-06,-4.700821444e-07,-7.574532115e-05,5.581728425e-06,7.019545417e-01,-1.042397220e-04,8.601491058e-01,7.019545338e-01,-1.041378075e-04,8.601489892e-01,7.027453351e-01,-1.910099314e-04,8.303310295e-01
+10,9.666666667e-01,WAIT_W2,1793078055888262195,-1.077843450e-07,-1.215719892e-04,8.957779459e-06,-1.443826633e-07,-1.215695238e-04,9.072947927e-06,5.729931292e-07,-1.124704407e-04,8.594004255e-06,7.019555250e-01,-1.438427243e-04,8.601520450e-01,7.019554884e-01,-1.438402588e-04,8.601521602e-01,7.027463782e-01,-2.277350509e-04,8.303340418e-01
+11,9.833333333e-01,WAIT_W2,1793078055904263722,3.365839366e-06,-1.771672966e-04,1.459736334e-05,3.505805325e-06,-1.770870936e-04,1.464950176e-05,4.305649276e-06,-1.638555662e-04,1.395044785e-05,7.019589987e-01,-1.994380317e-04,8.601576846e-01,7.019591386e-01,-1.993578286e-04,8.601577367e-01,7.027501108e-01,-2.791201764e-04,8.303393982e-01
+12,9.833333333e-01,WAIT_W2,1793078055904263722,3.365839366e-06,-1.771672966e-04,1.459736334e-05,3.505805325e-06,-1.770870936e-04,1.464950176e-05,4.305649276e-06,-1.638555662e-04,1.395044785e-05,7.019589987e-01,-1.994380317e-04,8.601576846e-01,7.019591386e-01,-1.993578286e-04,8.601577367e-01,7.027501108e-01,-2.791201764e-04,8.303393982e-01
+13,1.016666667e+00,WAIT_W2,1793078055936766779,4.039086804e-06,-2.466745369e-04,1.709959343e-05,4.241725779e-06,-2.468087348e-04,1.692479821e-05,5.245134350e-06,-2.284723528e-04,1.614769419e-05,7.019596719e-01,-2.689452719e-04,8.601601868e-01,7.019598745e-01,-2.690794698e-04,8.601600120e-01,7.027510503e-01,-3.437369630e-04,8.303415955e-01
+14,1.033333333e+00,WAIT_W2,1793078055953309767,2.541288307e-06,-2.694813639e-04,1.882539377e-05,2.494373534e-06,-2.693272771e-04,1.906124311e-05,3.498746405e-06,-2.493800323e-04,1.815354421e-05,7.019581741e-01,-2.917520989e-04,8.601619126e-01,7.019581272e-01,-2.915980122e-04,8.601621485e-01,7.027493039e-01,-3.646446425e-04,8.303436013e-01
+15,1.066666667e+00,WAIT_W2,1793078055986610672,1.018860820e-05,-3.043002423e-04,2.782257329e-05,2.964270740e-06,-2.945681248e-04,2.049701655e-05,4.041966436e-06,-2.728456213e-04,1.960202282e-05,7.019658214e-01,-3.265709773e-04,8.601709098e-01,7.019585971e-01,-3.168388598e-04,8.601635843e-01,7.027498472e-01,-3.881102315e-04,8.303450498e-01
+16,1.183333333e+00,WAIT_W2,1793078056101013386,1.591729222e-05,-2.985795595e-04,3.632038620e-05,1.568525190e-05,-3.010735568e-04,3.706095188e-05,1.729705348e-05,-2.789144343e-04,3.565466066e-05,7.019715501e-01,-3.208502945e-04,8.601794076e-01,7.019713181e-01,-3.233442918e-04,8.601801482e-01,7.027631022e-01,-3.941790445e-04,8.303611024e-01
+17,1.366666667e+00,WAIT_W2,1793078056280960099,2.374401595e-05,-2.975109896e-04,4.982815195e-05,1.568525190e-05,-3.010735568e-04,3.706095188e-05,1.757160836e-05,-2.789611079e-04,3.595090451e-05,7.019793768e-01,-3.197817247e-04,8.601929154e-01,7.019713181e-01,-3.233442918e-04,8.601801482e-01,7.027633768e-01,-3.942257181e-04,8.303613987e-01
+18,1.483333333e+00,WAIT_W2,1793078056395306919,2.360952440e-05,-3.020102101e-04,4.931939113e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.796447182e-05,-2.719553035e-04,5.141444523e-05,7.019792423e-01,-3.242809451e-04,8.601924066e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027737697e-01,-3.872199137e-04,8.303768622e-01
+19,1.616666667e+00,UP_FORCE_RAMP,1793078056526249084,2.622010147e-05,-2.956465423e-04,5.382331724e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.818798711e-05,-2.719780011e-04,5.163844418e-05,7.019818529e-01,-3.179172774e-04,8.601969106e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027739932e-01,-3.872426113e-04,8.303770862e-01
+20,1.800000000e+00,UP_FORCE_RAMP,1793078056706896113,2.555871640e-05,-2.958372572e-04,5.453120592e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.840108778e-05,-2.720041777e-04,5.183962105e-05,7.019811915e-01,-3.181079922e-04,8.601976184e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027742063e-01,-3.872687879e-04,8.303772874e-01
+21,1.966666667e+00,UP_FORCE_RAMP,1793078056870955641,2.495412576e-05,-2.983728258e-04,5.349667699e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.855168857e-05,-2.720249331e-04,5.197092533e-05,7.019805869e-01,-3.206435609e-04,8.601965839e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027743569e-01,-3.872895433e-04,8.303774187e-01
+22,2.150000000e+00,UP_FORCE_RAMP,1793078057050796978,2.692412005e-05,-2.908882214e-04,5.745507157e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.868830875e-05,-2.720449603e-04,5.208142103e-05,7.019825569e-01,-3.131589565e-04,8.602005423e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027744935e-01,-3.873095705e-04,8.303775292e-01
+23,2.316666667e+00,UP_FORCE_RAMP,1793078057214602655,2.512039769e-05,-2.938869487e-04,5.467000316e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.879531730e-05,-2.720615293e-04,5.216157550e-05,7.019807532e-01,-3.161576837e-04,8.601977572e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027746005e-01,-3.873261395e-04,8.303776093e-01
+24,2.500000000e+00,UP_FORCE_RAMP,1793078057394725367,2.606053960e-05,-2.905807518e-04,5.807561914e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.889832740e-05,-2.720780083e-04,5.223424027e-05,7.019816934e-01,-3.128514869e-04,8.602011629e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027747035e-01,-3.873426185e-04,8.303776820e-01
+25,2.700000000e+00,UP_FORCE_RAMP,1793078057592260079,2.261543265e-05,-2.938882832e-04,5.328628894e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.899725811e-05,-2.720937900e-04,5.230042383e-05,7.019782482e-01,-3.161590182e-04,8.601963735e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027748024e-01,-3.873584002e-04,8.303777482e-01
+26,2.866666667e+00,UP_FORCE_RAMP,1793078057756099338,2.604308646e-05,-2.876919037e-04,5.821148083e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.907141732e-05,-2.721064093e-04,5.234774841e-05,7.019816759e-01,-3.099626388e-04,8.602012987e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027748766e-01,-3.873710195e-04,8.303777955e-01
+27,3.050000000e+00,UP_FORCE_RAMP,1793078057934901898,2.104575895e-05,-2.927554832e-04,5.740339749e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.914503660e-05,-2.721188896e-04,5.239385098e-05,7.019766786e-01,-3.150262182e-04,8.602004906e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027749502e-01,-3.873834998e-04,8.303778416e-01
+28,3.250000000e+00,UP_FORCE_RAMP,1793078058131671984,2.441355372e-05,-2.922115722e-04,6.727105922e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.921799091e-05,-2.721314976e-04,5.243835453e-05,7.019800464e-01,-3.144823072e-04,8.602103583e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027750232e-01,-3.873961078e-04,8.303778861e-01
+29,3.416666667e+00,UP_FORCE_RAMP,1793078058295272380,2.096024239e-05,-2.903566905e-04,6.608626081e-05,2.551200987e-05,-2.934980087e-04,5.300552375e-05,2.927353169e-05,-2.721411054e-04,5.247173982e-05,7.019765931e-01,-3.126274255e-04,8.602091735e-01,7.019811448e-01,-3.157687437e-04,8.601960928e-01,7.027750787e-01,-3.874057156e-04,8.303779195e-01
+30,3.566666667e+00,UP_FORCE_RAMP,1793078058443226199,2.081718162e-05,-2.962125531e-04,7.293631360e-05,2.049320332e-05,-2.888429722e-04,7.301800272e-05,2.441081014e-05,-2.678352447e-04,7.161928112e-05,7.019764500e-01,-3.184832881e-04,8.602160236e-01,7.019761260e-01,-3.111137072e-04,8.602161052e-01,7.027702160e-01,-3.830998549e-04,8.303970670e-01
+31,3.716666667e+00,UP_FORCE_RAMP,1793078058590162190,2.148944618e-05,-2.897681206e-04,8.136332462e-05,2.049320332e-05,-2.888429722e-04,7.301800272e-05,2.439077196e-05,-2.678387031e-04,7.184912552e-05,7.019771223e-01,-3.120388556e-04,8.602244506e-01,7.019761260e-01,-3.111137072e-04,8.602161052e-01,7.027701960e-01,-3.831033133e-04,8.303972969e-01
+32,3.883333333e+00,UP_FORCE_RAMP,1793078058766844547,1.638801262e-05,-2.895719290e-04,8.360205781e-05,2.049320332e-05,-2.888429722e-04,7.301800272e-05,2.439928215e-05,-2.678456825e-04,7.199175850e-05,7.019720208e-01,-3.118426640e-04,8.602266893e-01,7.019761260e-01,-3.111137072e-04,8.602161052e-01,7.027702045e-01,-3.831102927e-04,8.303974395e-01
+33,4.050000000e+00,UP_FORCE_RAMP,1793078058934182985,1.045621987e-05,-2.862614108e-04,8.851015220e-05,2.049320332e-05,-2.888429722e-04,7.301800272e-05,2.441608430e-05,-2.678517553e-04,7.209626653e-05,7.019660890e-01,-3.085321458e-04,8.602315974e-01,7.019761260e-01,-3.111137072e-04,8.602161052e-01,7.027702213e-01,-3.831163655e-04,8.303975440e-01
+34,4.183333333e+00,UP_FORCE_RAMP,1793078059066240804,9.429600459e-06,-2.874486838e-04,1.006077065e-04,1.261411295e-05,-2.866443496e-04,9.319038605e-05,1.652695094e-05,-2.657730578e-04,9.165481812e-05,7.019650624e-01,-3.097194189e-04,8.602436949e-01,7.019682469e-01,-3.089150846e-04,8.602362776e-01,7.027623321e-01,-3.810376680e-04,8.304171026e-01
+35,4.383333333e+00,UP_FORCE_RAMP,1793078059261706009,4.294445873e-06,-2.877271171e-04,1.133058978e-04,4.623864713e-06,-2.877833148e-04,1.133003334e-04,8.555007261e-06,-2.668295810e-04,1.110134409e-04,7.019599273e-01,-3.099978521e-04,8.602563931e-01,7.019602567e-01,-3.100540498e-04,8.602563876e-01,7.027543602e-01,-3.820941912e-04,8.304364612e-01
+36,4.633333333e+00,UP_FORCE_RAMP,1793078059510075507,-3.886834528e-06,-2.850585938e-04,1.257930085e-04,4.623864713e-06,-2.877833148e-04,1.133003334e-04,8.356273301e-06,-2.668315705e-04,1.115521630e-04,7.019517460e-01,-3.073293288e-04,8.602688802e-01,7.019602567e-01,-3.100540498e-04,8.602563876e-01,7.027541615e-01,-3.820961807e-04,8.304369999e-01
+37,4.750000000e+00,UP_FORCE_RAMP,1793078059622238467,-7.418685165e-06,-2.822048450e-04,1.358002852e-04,-3.544859445e-06,-2.831202923e-04,1.329928848e-04,1.247183135e-07,-2.624916279e-04,1.306074740e-04,7.019482141e-01,-3.044755800e-04,8.602788875e-01,7.019520880e-01,-3.053910274e-04,8.602760801e-01,7.027459299e-01,-3.777562381e-04,8.304560552e-01
+38,5.000000000e+00,UP_FORCE_RAMP,1793078059867909111,-1.440299302e-05,-2.825059048e-04,1.526198031e-04,-1.167884143e-05,-2.803041174e-04,1.518504021e-04,-8.151829830e-06,-2.598602738e-04,1.491366562e-04,7.019412298e-01,-3.047766398e-04,8.602957070e-01,7.019439540e-01,-3.025748524e-04,8.602949376e-01,7.027376534e-01,-3.751248840e-04,8.304745844e-01
+39,5.216666667e+00,UP_FORCE_RAMP,1793078060080856336,-1.947515565e-05,-2.810271469e-04,1.721575756e-04,-1.915726881e-05,-2.809386010e-04,1.720240652e-04,-1.580145817e-05,-2.604242044e-04,1.688372034e-04,7.019361577e-01,-3.032978820e-04,8.603152448e-01,7.019364755e-01,-3.032093360e-04,8.603151113e-01,7.027300037e-01,-3.756888146e-04,8.304942850e-01
+40,5.400000000e+00,UP_FORCE_RAMP,1793078060261474839,-2.756434930e-05,-2.795799373e-04,1.847767551e-04,-1.915726881e-05,-2.809386010e-04,1.720240652e-04,-1.603890639e-05,-2.604183579e-04,1.693879783e-04,7.019280685e-01,-3.018506723e-04,8.603278640e-01,7.019364755e-01,-3.032093360e-04,8.603151113e-01,7.027297663e-01,-3.756829681e-04,8.304948357e-01
+41,5.600000000e+00,UP_FORCE_RAMP,1793078060523378465,-3.365916319e-05,-2.768765645e-04,1.999558064e-04,-2.802083414e-05,-2.787194522e-04,1.899808908e-04,-2.509902407e-05,-2.583732307e-04,1.870069350e-04,7.019219737e-01,-2.991472995e-04,8.603430430e-01,7.019276120e-01,-3.009901872e-04,8.603330681e-01,7.027207062e-01,-3.736378409e-04,8.305124547e-01
+42,5.783333333e+00,UP_FORCE_RAMP,1793078060720284249,-3.960466105e-05,-2.755550169e-04,2.102428433e-04,-3.660871618e-05,-2.767146037e-04,2.082367465e-04,-3.388334958e-05,-2.564873174e-04,2.048563663e-04,7.019160282e-01,-2.978257520e-04,8.603533301e-01,7.019190241e-01,-2.989853387e-04,8.603513240e-01,7.027119218e-01,-3.717519276e-04,8.305303041e-01
+43,5.916666667e+00,UP_FORCE_HOLD,1793078060851018230,-4.035985431e-05,-2.747409098e-04,2.386702644e-04,-4.139952171e-05,-2.803771966e-04,2.272375130e-04,-3.877198383e-05,-2.598298146e-04,2.234120486e-04,7.019152730e-01,-2.970116448e-04,8.603817575e-01,7.019142333e-01,-3.026479316e-04,8.603703248e-01,7.027070332e-01,-3.750944248e-04,8.305488598e-01
+44,6.066666667e+00,UP_FORCE_HOLD,1793078060999968101,-4.382694074e-05,-2.747945072e-04,2.496860375e-04,-4.339117414e-05,-2.717231483e-04,2.469752028e-04,-4.081681457e-05,-2.518110584e-04,2.428564888e-04,7.019118059e-01,-2.970652422e-04,8.603927733e-01,7.019122416e-01,-2.939938833e-04,8.603900624e-01,7.027049884e-01,-3.670756686e-04,8.305683042e-01
+45,6.283333333e+00,UP_SETTLE,1793078061214322865,-4.882384395e-05,-2.788227617e-04,2.564408035e-04,-4.339117414e-05,-2.717231483e-04,2.469752028e-04,-4.102519870e-05,-2.517953420e-04,2.435157171e-04,7.019068090e-01,-3.010934967e-04,8.603995280e-01,7.019122416e-01,-2.939938833e-04,8.603900624e-01,7.027047800e-01,-3.670599522e-04,8.305689635e-01
+46,6.450000000e+00,UP_SETTLE,1793078061391573968,-5.439332493e-05,-2.756320896e-04,2.609490518e-04,-4.339117414e-05,-2.717231483e-04,2.469752028e-04,-4.114193967e-05,-2.517860264e-04,2.438718437e-04,7.019012395e-01,-2.979028246e-04,8.604040363e-01,7.019122416e-01,-2.939938833e-04,8.603900624e-01,7.027046632e-01,-3.670506366e-04,8.305693196e-01
+47,6.616666667e+00,UP_SETTLE,1793078061555713383,-5.527292728e-05,-2.757181370e-04,2.707591641e-04,-5.647724957e-05,-2.753207584e-04,2.612603462e-04,-5.461144124e-05,-2.551002169e-04,2.579295032e-04,7.019003599e-01,-2.979888720e-04,8.604138464e-01,7.018991556e-01,-2.975914934e-04,8.604043476e-01,7.026911937e-01,-3.703648271e-04,8.305833773e-01
+48,6.766666667e+00,UP_SETTLE,1793078061704213075,-5.975150838e-05,-2.761550160e-04,2.759372415e-04,-5.647724957e-05,-2.753207584e-04,2.612603462e-04,-5.478536685e-05,-2.550901981e-04,2.582280268e-04,7.018958813e-01,-2.984257511e-04,8.604190245e-01,7.018991556e-01,-2.975914934e-04,8.604043476e-01,7.026910198e-01,-3.703548083e-04,8.305836758e-01
+49,6.916666667e+00,UP_SETTLE,1793078061850322128,-6.095991393e-05,-2.701989364e-04,2.859148926e-04,-6.024043367e-05,-2.734077957e-04,2.843851222e-04,-5.851939702e-05,-2.533052382e-04,2.806405329e-04,7.018946729e-01,-2.924696714e-04,8.604290021e-01,7.018953924e-01,-2.956785307e-04,8.604274724e-01,7.026872858e-01,-3.685698484e-04,8.306060883e-01
+50,7.100000000e+00,UP_SETTLE,1793078062030062505,-6.520743950e-05,-2.695229974e-04,2.907837307e-04,-6.024043367e-05,-2.734077957e-04,2.843851222e-04,-5.868194537e-05,-2.532923289e-04,2.810876775e-04,7.018904254e-01,-2.917937324e-04,8.604338710e-01,7.018953924e-01,-2.956785307e-04,8.604274724e-01,7.026871232e-01,-3.685569391e-04,8.306065354e-01
+51,7.300000000e+00,UP_SETTLE,1793078062243326716,-7.078627755e-05,-2.738077021e-04,2.992789246e-04,-6.024043367e-05,-2.734077957e-04,2.843851222e-04,-5.881534447e-05,-2.532804005e-04,2.814423045e-04,7.018848465e-01,-2.960784372e-04,8.604423662e-01,7.018953924e-01,-2.956785307e-04,8.604274724e-01,7.026869898e-01,-3.685450107e-04,8.306068901e-01
+52,7.450000000e+00,UP_SETTLE,1793078062390182654,-7.130383331e-05,-2.701924143e-04,3.049841152e-04,-6.692359112e-05,-2.706024754e-04,3.045656169e-04,-6.550770109e-05,-2.506377623e-04,3.011454017e-04,7.018843290e-01,-2.924631494e-04,8.604480714e-01,7.018887092e-01,-2.928732104e-04,8.604476529e-01,7.026802975e-01,-3.659023725e-04,8.306265932e-01
+53,7.666666667e+00,UP_SETTLE,1793078062603202780,-7.505000756e-05,-2.756262197e-04,3.096550391e-04,-6.692359112e-05,-2.706024754e-04,3.045656169e-04,-6.567431352e-05,-2.506226706e-04,3.015727960e-04,7.018805828e-01,-2.978969547e-04,8.604527423e-01,7.018887092e-01,-2.928732104e-04,8.604476529e-01,7.026801309e-01,-3.658872808e-04,8.306270206e-01
+54,7.783333333e+00,UP_SETTLE,1793078062717967637,-7.737715719e-05,-2.726278716e-04,3.118177620e-04,-6.692359112e-05,-2.706024754e-04,3.045656169e-04,-6.574383972e-05,-2.506160059e-04,3.017537046e-04,7.018782557e-01,-2.948986066e-04,8.604549050e-01,7.018887092e-01,-2.928732104e-04,8.604476529e-01,7.026800613e-01,-3.658806161e-04,8.306272015e-01
+55,7.933333333e+00,UP_SETTLE,1793078062865242355,-7.587793659e-05,-2.718518461e-04,3.216262515e-04,-6.692359112e-05,-2.706024754e-04,3.045656169e-04,-6.582002129e-05,-2.506070793e-04,3.019536819e-04,7.018797549e-01,-2.941225811e-04,8.604647135e-01,7.018887092e-01,-2.928732104e-04,8.604476529e-01,7.026799852e-01,-3.658716895e-04,8.306274014e-01
+56,8.033333333e+00,UP_SETTLE,1793078062964092364,-8.072730588e-05,-2.715162993e-04,3.150577855e-04,-7.582442484e-05,-2.724884045e-04,3.224024705e-04,-7.476934198e-05,-2.523404640e-04,3.190782250e-04,7.018749055e-01,-2.937870343e-04,8.604581450e-01,7.018798084e-01,-2.947591396e-04,8.604654897e-01,7.026710358e-01,-3.676050742e-04,8.306445260e-01
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+58,8.350000000e+00,UP_SETTLE,1793078063275437053,-7.889072372e-05,-2.767801121e-04,3.284855196e-04,-7.582442484e-05,-2.724884045e-04,3.224024705e-04,-7.507048604e-05,-2.523195376e-04,3.196742131e-04,7.018767421e-01,-2.990508472e-04,8.604715728e-01,7.018798084e-01,-2.947591396e-04,8.604654897e-01,7.026707347e-01,-3.675841478e-04,8.306451220e-01
+59,8.500000000e+00,UP_SETTLE,1793078063422833199,-8.199532981e-05,-2.739035274e-04,3.255208386e-04,-7.582442484e-05,-2.724884045e-04,3.224024705e-04,-7.515822153e-05,-2.523119380e-04,3.198642048e-04,7.018736375e-01,-2.961742624e-04,8.604686081e-01,7.018798084e-01,-2.947591396e-04,8.604654897e-01,7.026706470e-01,-3.675765482e-04,8.306453120e-01

Fixed/digit/cylinder_PLA_15/press_depth_05/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.3894e-01,6.9101e-01,2.4595e+00,-8.7349e-02,5.4085e-02,1.5881e-03,3.6836e-05,-1.6391e-05,7.3433e-05,1.3933e-06,2.7716e-06,-7.9162e-08,8.3773e-05,3.1031e-06
+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,4.1504e-05,2.5082e-01,6.8674e-01,2.4607e+00,-8.6961e-02,5.4917e-02,1.5251e-03,1.1920e-02,-4.2847e-03,1.2622e-03,3.8920e-04,8.3540e-04,-6.3135e-05,1.2730e-02,9.2377e-04
+2,2.6667e-01,WAIT_W2,7.7057e-05,2.6999e-01,6.8559e-01,2.4600e+00,-8.6892e-02,5.6307e-02,1.4113e-03,3.1088e-02,-5.4339e-03,5.9295e-04,4.5809e-04,2.2250e-03,-1.7692e-04,3.1565e-02,2.2785e-03
+3,4.1667e-01,WAIT_W2,1.1714e-04,2.8666e-01,6.8465e-01,2.4594e+00,-8.6833e-02,5.7508e-02,1.3142e-03,4.7761e-02,-6.3729e-03,-3.4332e-05,5.1732e-04,3.4257e-03,-2.7403e-04,4.8185e-02,3.4753e-03
+4,5.1667e-01,WAIT_W2,1.5609e-04,2.9453e-01,6.8626e-01,2.4588e+00,-8.7001e-02,5.8073e-02,1.2687e-03,5.5628e-02,-4.7647e-03,-6.1989e-04,3.4934e-04,3.9913e-03,-3.1951e-04,5.5835e-02,4.0192e-03
+5,6.1667e-01,WAIT_W2,1.9523e-04,3.0187e-01,6.8389e-01,2.4588e+00,-8.6784e-02,5.8596e-02,1.2278e-03,6.2970e-02,-7.1315e-03,-6.4945e-04,5.6645e-04,4.5144e-03,-3.6041e-04,6.3376e-02,4.5640e-03
+6,7.1667e-01,WAIT_W2,2.2897e-04,3.0859e-01,6.8523e-01,2.4584e+00,-8.6923e-02,5.9081e-02,1.1888e-03,6.9695e-02,-5.7932e-03,-1.0619e-03,4.2724e-04,4.9988e-03,-3.9941e-04,6.9943e-02,5.0329e-03
+7,8.6667e-01,WAIT_W2,2.7326e-04,3.2008e-01,6.8443e-01,2.4579e+00,-8.6862e-02,5.9908e-02,1.1185e-03,8.1179e-02,-6.6002e-03,-1.4930e-03,4.8845e-04,5.8264e-03,-4.6974e-04,8.1461e-02,5.8656e-03
+8,9.3333e-01,WAIT_W2,3.2392e-04,3.1618e-01,1.0391e+00,2.4073e+00,-1.1250e-01,5.9634e-02,1.3927e-03,7.7277e-02,3.4812e-01,-5.2123e-02,-2.5151e-02,5.5519e-03,-1.9554e-04,3.6038e-01,2.5757e-02
+9,9.5000e-01,WAIT_W2,3.5469e-04,3.1909e-01,1.5374e+00,2.3993e+00,-1.4850e-01,6.0046e-02,1.7896e-03,8.0195e-02,8.4634e-01,-6.0109e-02,-6.1154e-02,5.9642e-03,2.0145e-04,8.5225e-01,6.1444e-02
+10,9.6667e-01,WAIT_W2,3.9441e-04,3.5781e-01,2.0420e+00,2.4144e+00,-1.8497e-01,6.2659e-02,2.1891e-03,1.1891e-01,1.3510e+00,-4.4987e-02,-9.7620e-02,8.5773e-03,6.0094e-04,1.3569e+00,9.7998e-02
+11,9.8333e-01,WAIT_W2,4.5040e-04,3.5061e-01,2.6995e+00,2.3901e+00,-2.3254e-01,6.2247e-02,2.7316e-03,1.1171e-01,2.0085e+00,-6.9323e-02,-1.4519e-01,8.1655e-03,1.1434e-03,2.0128e+00,1.4542e-01
+12,9.8333e-01,WAIT_W2,4.5040e-04,3.5061e-01,2.6995e+00,2.3901e+00,-2.3254e-01,6.2247e-02,2.7316e-03,1.1171e-01,2.0085e+00,-6.9323e-02,-1.4519e-01,8.1655e-03,1.1434e-03,2.0128e+00,1.4542e-01
+13,1.0167e+00,WAIT_W2,5.2022e-04,3.4641e-01,4.1223e+00,2.3708e+00,-3.3545e-01,6.2084e-02,3.8828e-03,1.0751e-01,3.4313e+00,-8.8629e-02,-2.4810e-01,8.0015e-03,2.2946e-03,3.4341e+00,2.4824e-01
+14,1.0333e+00,WAIT_W2,5.4314e-04,3.5664e-01,4.7465e+00,2.3303e+00,-3.8068e-01,6.2653e-02,4.4815e-03,1.1774e-01,4.0555e+00,-1.2912e-01,-2.9333e-01,8.5708e-03,2.8933e-03,4.0592e+00,2.9347e-01
+15,1.0667e+00,WAIT_W2,5.8232e-04,3.8661e-01,5.5116e+00,2.3144e+00,-4.3614e-01,6.4861e-02,5.0126e-03,1.4771e-01,4.8206e+00,-1.4503e-01,-3.4879e-01,1.0779e-02,3.4244e-03,4.8250e+00,3.4897e-01
+16,1.1833e+00,WAIT_W2,6.1797e-04,2.7428e-01,5.5812e+00,2.2059e+00,-4.4206e-01,5.6840e-02,5.1079e-03,3.5386e-02,4.8902e+00,-2.5351e-01,-3.5471e-01,2.7582e-03,3.5197e-03,4.8969e+00,3.5473e-01
+17,1.3667e+00,WAIT_W2,6.5867e-04,3.1260e-01,5.5703e+00,2.2740e+00,-4.4130e-01,5.9850e-02,4.9570e-03,7.3702e-02,4.8793e+00,-1.8539e-01,-3.5395e-01,5.7679e-03,3.3688e-03,4.8833e+00,3.5401e-01
+18,1.4833e+00,WAIT_W2,6.9694e-04,2.4468e-01,5.4278e+00,2.1644e+00,-4.3214e-01,5.5206e-02,4.7287e-03,5.7778e-03,4.7368e+00,-2.9500e-01,-3.4479e-01,1.1240e-03,3.1405e-03,4.7459e+00,3.4481e-01
+19,1.6167e+00,UP_FORCE_RAMP,7.3684e-04,2.7838e-01,5.4362e+00,2.2027e+00,-4.3254e-01,5.7269e-02,4.7468e-03,3.9484e-02,4.7451e+00,-2.5667e-01,-3.4519e-01,3.1870e-03,3.1586e-03,4.7522e+00,3.4522e-01
+20,1.8000e+00,UP_FORCE_RAMP,7.7581e-04,3.1652e-01,5.4216e+00,2.2496e+00,-4.3130e-01,6.0054e-02,4.6454e-03,7.7623e-02,4.7306e+00,-2.0978e-01,-3.4395e-01,5.9716e-03,3.0572e-03,4.7359e+00,3.4401e-01
+21,1.9667e+00,UP_FORCE_RAMP,8.1485e-04,3.4312e-01,5.4199e+00,2.2764e+00,-4.3118e-01,6.1881e-02,4.3958e-03,1.0422e-01,4.7289e+00,-1.8301e-01,-3.4383e-01,7.7989e-03,2.8076e-03,4.7335e+00,3.4393e-01
+22,2.1500e+00,UP_FORCE_RAMP,8.4828e-04,3.6865e-01,5.4160e+00,2.3003e+00,-4.3082e-01,6.3695e-02,4.0421e-03,1.2976e-01,4.7250e+00,-1.5916e-01,-3.4347e-01,9.6134e-03,2.4539e-03,4.7294e+00,3.4362e-01
+23,2.3167e+00,UP_FORCE_RAMP,8.8993e-04,3.9035e-01,5.4121e+00,2.3082e+00,-4.3041e-01,6.5299e-02,3.8471e-03,1.5145e-01,4.7210e+00,-1.5125e-01,-3.4306e-01,1.1217e-02,2.2589e-03,4.7259e+00,3.4325e-01
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Fixed/digit/cylinder_PLA_15/press_depth_06/down/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_15/press_depth_06/down/franka_data.csv

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+3158,1793078227910099010,14779048000000,1793078227908034786,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6760781488790276,-0.00489242344403386,0.0996550098527543,0.9999999814260366,-6.010015581851484e-05,-1.209514265567532e-05,0.0001575832144265495,0.6761,-0.0046,0.09957471253188199,1.0,0.0,0.0,0.0,-0.16580647155060424,0.1114258887266717,1.157669965020938,0.011550456732002001,0.007683269386810604,0.0013503215824710987,0.5726365940918894,1.2072678210194803,2.2024684998548554,0.08004600930922005,-0.03649197025522376,0.0017248711452577407,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.200516744664913,1.4405228977570246,-0.9573271395867249,-0.039423711797313896,0.8571143854257269,0.8640189433882786,-1.1517149190850677,-1.157669965020938,-0.19438777949834285,-0.19438777949834285,0.4124999999999709,0,0,-0.00020624996006498997,-9.999999025923074e-05
+3234,1793078228544057287,14779682000000,1793078228544034594,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6761336964458399,-0.004894260531869561,0.09959725892446071,0.9999999766614119,-0.00014154613900545687,8.241671786937089e-05,0.00010626483457711493,0.6761,-0.0046,0.09943391700916156,1.0,0.0,0.0,0.0,0.15512684983161484,0.0742574191982619,1.4188291669096618,0.008391527534877125,-0.014629890503741659,0.0007911049023959279,0.8935699154741085,1.1700993514910705,2.463627701743579,0.07688708011209518,-0.05880513014577602,0.0011656544651825699,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.0485254035492604,1.514094246522861,-1.2700873094239467,-0.019510781154030352,1.0676230897878711,0.9309466581201988,-1.1517149190850677,-1.4188291669096618,0.11837239033887892,0.11837239033887892,0.4758999999999639,0,0,-0.00023794995388934227,-9.999999025923074e-05
+3323,1793078229285043995,14780423000000,1793078229280034974,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6761797238755808,-0.004903825936810785,0.09951081258911795,0.9999999655009024,-0.00013859965363818732,0.00015508216311982937,0.000131075233362495,0.6761,-0.0046,0.09925786133229003,1.0,0.0,0.0,0.0,0.0542987956067672,0.11932368332936472,2.0320683996336806,0.013959825198047532,-0.007797442898544303,0.0012672830873768914,0.7927418612492608,1.2151656156221733,3.076866934467598,0.08245537777526558,-0.051972682540578664,0.0016418326501635334,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.2448580028931349,1.510023496271861,-1.906730998736223,0.038928033714020614,1.5052390723301547,0.9149525320959978,-1.1517149190850677,-2.0320683996336806,0.7550160796511554,0.7550160796511554,0.5499999999999557,0,0,-0.00022340932748635278,9.999999025923074e-05
+3417,1793078230069031377,14781207000000,1793078230064043986,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762155300121612,-0.004908429459831256,0.09942374104014089,0.9999999523568154,-0.00015222200275429368,0.00021270918966432396,0.0001353236637087106,0.6761,-0.0046,0.0990980552165433,1.0,0.0,0.0,0.0,-0.06257746007619203,0.2351862616748901,2.537926333324017,0.02105367162823653,0.0011010468533489554,0.0023241817295818184,0.6758656055663016,1.3310281939676987,3.5827248681579342,0.08954922420545458,-0.043074192788685406,0.0026987312923684604,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.4241209696173736,1.3866720773241215,-2.472671798233857,0.09020208869631922,1.8881125251294695,0.8256834703061604,-1.1517149190850677,-2.537926333324017,1.3209568791487891,1.3209568791487891,0.6283999999999471,0,0,-0.00018420933512311587,9.999999025923074e-05
+3519,1793078230919043733,14782057000000,1793078230916034505,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6762384425387645,-0.0049181378315533595,0.09933201709723607,0.9999999395339212,-0.00017520918774677856,0.00025216663116454794,0.00013449441956131197,0.6761,-0.0046,0.09895951852816566,1.0,0.0,0.0,0.0,-0.1223180174616193,0.28756312794901984,2.85111083578228,0.024651973629477325,0.006024962236800803,0.0023723970556624053,0.6161250481808743,1.3834050602418284,3.8959093706161974,0.09314752620669538,-0.03815027740523356,0.0027469466184490473,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.5288895250205359,1.556945524967036,-2.7973512217802354,0.04391083242304613,2.110550248230721,0.9338617830856832,-1.1517149190850677,-2.85111083578228,1.6456363026951677,1.6456363026951677,0.7133999999999378,0,0,-0.00014170934340276974,9.999999025923074e-05
+3618,1793078231743935691,14782882000000,1793078231736034622,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762531484987285,-0.004924208790712489,0.09926132499718701,0.9999999305233238,-0.0001896488904730492,0.00027715374584738795,0.00013272268590583703,0.6761,-0.0046,0.09885960331653945,1.0,0.0,0.0,0.0,-0.1418544624750604,0.312622332671451,3.0011323749689587,0.024520646088372983,0.009668307833036606,0.0025273813593388542,0.5965886031674332,1.4084642649642596,4.045930909802876,0.09301619866559103,-0.034506931808997755,0.0029019309221254962,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.5129813460458732,1.562999022396179,-2.9386142895158636,0.049592626903028486,2.187084907070135,0.9383178703066193,-1.1517149190850677,-3.0011323749689587,1.7868993704307958,1.7868993704307958,0.7958999999999287,0,0,-0.00010045935143890438,9.999999025923074e-05
+3728,1793078232660032037,14783798000000,1793078232660034802,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.676259936982723,-0.004927732987288674,0.09919838661341772,0.9999999251020439,-0.00019953282185970696,0.0002870741811197626,0.00013789067439887154,0.6761,-0.0046,0.09878853604653043,1.0,0.0,0.0,0.0,-0.12415897026522882,0.29866066323417884,3.0420041877422004,0.02234957591220124,0.010069869219459834,0.0020721661727448226,0.6142840953772648,1.3945025955269874,4.086802722576118,0.0908451284894193,-0.03410537042257453,0.0024467157355314646,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.5039218967128967,1.4243683752285954,-3.0160318717252834,0.0982343081988984,2.2375158170870857,0.8469758939975203,-1.1517149190850677,-3.0420041877422004,1.8643169526402157,1.8643169526402157,0.8874999999999186,0,0,-5.465936036144902e-05,9.999999025923074e-05
+3836,1793078233560993186,14784698000000,1793078233560034436,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762598700952688,-0.004926283778194952,0.0991621604135607,0.9999999251837158,-0.00020126429542499945,0.00028599124481540756,0.00013702962458924024,0.6761,-0.0046,0.09875957011024752,1.0,0.0,0.0,0.0,-0.0912703603672127,0.2465140803929866,2.9692321697186554,0.01845032670116052,0.008138954239167627,0.002058717361627992,0.6471727052752809,1.3423560126857952,4.014030704552573,0.08694587927837857,-0.036036285402866734,0.002433266924414634,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.4857262951243217,1.4685508904888107,-2.9122638477703786,0.08191241615879699,2.1767787578589677,0.872388016044366,-1.1517149190850677,-2.9692321697186554,1.7605489286853109,1.7605489286853109,0.9774999999999087,0,0,-9.664053918362336e-06,9.76167062460842e-05
+3940,1793078234426877621,14785565000000,1793078234420034717,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762531325993767,-0.004931877548156435,0.09914066171676773,0.999999927618368,-0.00020601314897941302,0.0002738531149352082,0.00013700064537466034,0.6761,-0.0046,0.09875766248253061,1.0,0.0,0.0,0.0,-0.044098004342952635,0.21374433613959964,2.84867201599062,0.015474797989632028,0.006200642804790421,0.0010688037193036927,0.694345061299541,1.3095862684324082,3.8934705508245373,0.08397035056685008,-0.03797459683724394,0.0014433532820903347,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.3442915661011385,1.5612289755747744,-2.7591693983229177,0.051017449371899115,2.051604122589886,0.9303591419990531,-1.1517149190850677,-2.84867201599062,1.60745447923785,1.60745447923785,1.0641999999998992,0,0,-1.2522574477369375e-07,1.2649065128655934e-06
+4050,1793078235343929628,14786482000000,1793078235336034750,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6762503152955383,-0.004929201928755787,0.0991296630203338,0.9999999289701675,-0.00020695977705904268,0.0002679919711574798,0.000137297042569202,0.6761,-0.0046,0.09875763769014925,1.0,0.0,0.0,0.0,-0.013082373032975214,0.1714277351655784,2.755957836257093,0.01248358200651338,0.004171368322959466,0.0010802559979262044,0.7253606926095184,1.267269667458387,3.80075637109101,0.08097913458373143,-0.040003871319074895,0.0014548055607128464,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.252751000568284,1.5394407061537363,-2.606926285611733,0.05548589795742527,1.9369662899312385,0.9169725072982585,-1.1517149190850677,-2.755957836257093,1.4552113665266653,1.4552113665266653,1.1558999999998891,0,0,-1.2629172707612213e-09,1.2756740108699205e-08
+4164,1793078236293944344,14787432000000,1793078236288034932,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.676248302045681,-0.004929544867896523,0.09912187698202252,0.9999999300010696,-0.0002053414118421379,0.0002644468645871596,0.00013908084102063264,0.6761,-0.0046,0.0987576374397079,1.0,0.0,0.0,0.0,0.012746060477534793,0.15236999591892397,2.665030199197826,0.010511781075106974,0.0022847653190308584,0.0011036071904477478,0.7511891261200284,1.2482119282117325,3.7098287340317433,0.07900733365232503,-0.0418904743230035,0.0014781567532343898,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.3036782879263766,1.4980714443851295,-2.6221082840964653,0.05991937279379068,1.965433322327147,0.8886181716552065,-1.1517149190850677,-2.665030199197826,1.4703933650113976,1.4703933650113976,1.2508999999998787,0,0,-1.0867556854421423e-11,1.0977330155981235e-10
+4300,1793078237426925640,14788565000000,1793078237424034472,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762449327608862,-0.004928991945604229,0.0991134687562263,0.9999999318603291,-0.00020590304899345552,0.00025675921358904636,0.00013928690585089472,0.6761,-0.0046,0.09875721413415793,1.0,0.0,0.0,0.0,0.038366329409503575,0.12409525217607009,2.580807792722208,0.008548193647176267,0.00032401345857414887,0.00010724476798785077,0.7768093950519972,1.2199371844688787,3.625606327556125,0.07704374622439432,-0.04385122618346021,0.0004817943307744928,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.2598564303097952,1.576626693049443,-2.5649672614840178,0.04358233491588261,1.9231101874480137,0.9426843995008786,-1.1517149190850677,-2.580807792722208,1.41325234239895,1.41325234239895,1.3641999999998662,0,0,-2.2801651342052587e-06,2.303197105257837e-05
+4422,1793078238443905166,14789582000000,1793078238440034720,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.676243762907535,-0.004928731908181255,0.09909940275077025,0.999999932372436,-0.00020469897090107618,0.00025519794779551853,0.00014025094008922467,0.6761,-0.0046,0.09874000710853587,1.0,0.0,0.0,0.0,0.04629042259454996,0.11668758619349306,2.572799947448956,0.0075279288512136305,0.0003405849590164753,0.0007079094556223611,0.7847334882370436,1.2125295184863016,3.6175984822828733,0.07602348142843168,-0.043834654683017886,0.001082459018409003,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.156281796246206,1.5529972460358787,-2.4462123899375707,0.05263228187262671,1.8142717914644595,0.9297321521948303,-1.1517149190850677,-2.572799947448956,1.294497470852503,1.294497470852503,1.465899999999855,0,0,-3.708371377616893e-05,-9.999999025923074e-05
+4530,1793078239343799198,14790482000000,1793078239340036223,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6762503042287006,-0.004934352290525128,0.09907645340480653,0.9999999267900266,-0.00021195732178857759,0.0002685104350222215,0.0001443573541361082,0.6761,-0.0046,0.09869188377162393,1.0,0.0,0.0,0.0,-0.001594832356543563,0.12018120292823609,2.68856483750741,0.009452915633913886,0.0023011617721949013,0.0010698867811654137,0.7368482332859501,1.2160231352210447,3.7333633723413273,0.07794846821113194,-0.04187407786983946,0.0014444363439520558,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.3135973578376223,1.4145843178817596,-2.677017972520693,0.09711277522405133,1.9975279279550924,0.8343645580120942,-1.1517149190850677,-2.68856483750741,1.5253030534356253,1.5253030534356253,1.555899999999845,0,0,-6.155886995010273e-05,9.999525793358827e-05
+4658,1793078240409842128,14791548000000,1793078240408043610,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6762590543825577,-0.004932768557160682,0.09904230636038404,0.9999999220174377,-0.00021805481640770668,0.0002833084711983269,0.0001399871062346816,0.6761,-0.0046,0.0986360983653605,1.0,0.0,0.0,0.0,-0.05052819679094078,0.17141377084432374,2.8159344116496015,0.012415822342722052,0.006249759608447945,0.0010596087383052941,0.6879148688515528,1.2672557031371323,3.8607329464835187,0.0809113749199401,-0.037925480033586416,0.0014341583010919362,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.3588839656342806,1.4681712332216448,-2.8039868433848723,0.08267949540810712,2.0783625301239304,0.8729451036170307,-1.1517149190850677,-2.8159344116496015,1.6522719242998045,1.6522719242998045,1.6624999999998333,0,0,-3.8619849364292296e-05,6.219598033674884e-05
+4779,1793078241418861014,14792557000000,1793078241416043985,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762619882632717,-0.004932291575342799,0.09900800848771707,0.9999999210110597,-0.00021487493135265203,0.0002880424948123672,0.00014241145822234928,0.6761,-0.0046,0.09859814632177526,1.0,0.0,0.0,0.0,-0.06024607703234397,0.18743057553627884,2.866582135179928,0.013263468641069101,0.007255086617569267,0.0010447347837784957,0.6781969886101497,1.2832725078290874,3.911380670013845,0.08175902121828715,-0.036920153024465094,0.0014192843465651377,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.4101281352948243,1.473961205904357,-2.893633829742829,0.07644084299571366,2.1432218958398748,0.8756928869584378,-1.1517149190850677,-2.866582135179928,1.7419189106577613,1.7419189106577613,1.7633999999998222,0,0,-4.222948315060903e-05,9.999660407900563e-05
+4880,1793078242259790550,14793398000000,1793078242256044807,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.67626812461829,-0.004933098514366099,0.0989805273587337,0.9999999167455313,-0.00021785341523192312,0.0002996751672925223,0.00014382794625338223,0.6761,-0.0046,0.09855508116477489,1.0,0.0,0.0,0.0,-0.08875666361137236,0.18323787467919872,2.9465077823865857,0.013331778944871003,0.009229595569216736,0.0010094796185558857,0.6496864020311213,1.2790798069720073,3.991306317220503,0.08182733152208906,-0.034945644072817625,0.0013840291813425277,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.4551685098445386,1.4660059142213144,-2.974892777441836,0.0791851588043125,2.2039644041717965,0.8705516874345384,-1.1517149190850677,-2.9465077823865857,1.8231778583567682,1.8231778583567682,1.847499999999813,0,0,-5.632561553695214e-05,8.750000310276391e-05
+4970,1793078243009822182,14794148000000,1793078243008043691,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.676272068362664,-0.004937017130142067,0.09894580344573893,0.9999999132288304,-0.00022398736207690292,0.0003060306990770967,0.00014546500787019723,0.6761,-0.0046,0.09851196759314801,1.0,0.0,0.0,0.0,-0.09783781888407883,0.2019614437322632,3.027535434025974,0.01427021346456582,0.01023180920925993,0.0019661085161683032,0.6406052467584148,1.2978033760250718,4.072333968859891,0.08276576604178387,-0.03394343043277443,0.0023406580789549452,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.473755691323824,1.548867514931372,-3.03201838517844,0.058298375276657086,2.242240576539914,0.9267603531389248,-1.1517149190850677,-3.027535434025974,1.8803034660933724,1.8803034660933724,1.9224999999998047,0,0,-5.5884900310310796e-05,5.302080426860651e-05
+5076,1793078243893800650,14795032000000,1793078243888043733,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6762777290600936,-0.004941938804527579,0.09890902445512964,0.9999999099466333,-0.000223395737356405,0.00031620369312275996,0.0001471705065999919,0.6761,-0.0046,0.09846308900079648,1.0,0.0,0.0,0.0,-0.11803088120860372,0.20886079604850782,3.095513347124388,0.01426007940134462,0.011229154299413867,0.0019535611583593447,0.6204121844338899,1.3047027283413164,4.140311881958305,0.08275563197856267,-0.032946085342620494,0.0023281107211459867,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.4835225729790302,1.505189991003842,-3.167223240303869,0.05966443929677393,2.3262254133320326,0.8921044789238528,-1.1517149190850677,-3.095513347124388,2.0155083212188014,2.0155083212188014,2.010899999999819,0,0,-5.714870684040007e-05,9.999380076586845e-05
+5172,1793078244693754917,14795832000000,1793078244692043852,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762793779493802,-0.004943164560950113,0.0988698810350976,0.999999907367081,-0.00022838910716457348,0.00032031983678430033,0.00014812937399665688,0.6761,-0.0046,0.09841905806731638,1.0,0.0,0.0,0.0,-0.1190565441307021,0.21822597924349174,3.1539109444254083,0.014196403806193775,0.012230744892215567,0.001926370809188966,0.6193865215117915,1.3140679115363003,4.198709479259326,0.08269195638341183,-0.031944494749818794,0.002300920371975608,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.5526821549987562,1.5919562250247727,-3.164336915229356,0.039450596618872374,2.3441952609776098,0.95335981925495,-1.1517149190850677,-3.1539109444254083,2.012621996144288,2.012621996144288,2.090899999999988,0,0,-5.465295669779125e-05,-9.444032641881534e-05
+5288,1793078245659741639,14796798000000,1793078245656044196,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762864373059677,-0.004943584982108324,0.09882772952442236,0.9999999025253465,-0.00023071935452018225,0.00033393914624132726,0.0001471237151704918,0.6761,-0.0046,0.09835753424364066,1.0,0.0,0.0,0.0,-0.1374551206998038,0.21289434853864564,3.211901086938934,0.014183920450993051,0.013228642887967317,0.0018892548958835348,0.6009879449426898,1.3087362808314542,4.256699621772851,0.0826794730282111,-0.030946596754067045,0.002263804458670177,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.5751693409265541,1.5189537165852354,-3.258379980299513,0.06371639995790383,2.403852551887748,0.9033911765280811,-1.1517149190850677,-3.211901086938934,2.106665061214445,2.106665061214445,2.187500000000192,0,0,-7.202090405586248e-05,-9.37622021953743e-05
+5401,1793078246601665026,14797740000000,1793078246600043949,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762917649732039,-0.0049448372904554085,0.09876792246045231,0.9999998995807344,-0.0002324504867271385,0.0003413573326577727,0.000147388357107299,0.6761,-0.0046,0.09829008066420776,1.0,0.0,0.0,0.0,-0.14676213832106444,0.22648272783193235,3.3082409669368666,0.014169483358990057,0.0142051928251576,0.0018264226882378437,0.5916809273214292,1.322324660124741,4.353039501770784,0.08266503593620811,-0.02997004681687676,0.0022009722510244857,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.589448738003855,1.5784326609177193,-3.4389011591228082,0.04912682212407663,2.5187756667671386,0.9444504139128531,-1.1517149190850677,-3.3082409669368666,2.2871862400377405,2.2871862400377405,2.2817000000003906,0,0,-6.93412670934882e-05,9.108009765690923e-05
+5505,1793078247468716245,14798607000000,1793078247468044340,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6762983855957885,-0.004941545364844068,0.09871998839984221,0.9999999217649397,-4.423841638229155e-05,0.00035373546201502567,0.00014431619514537037,0.6761,-0.0046,0.09822811929128981,1.0,0.0,0.0,0.0,-0.13884492954119354,0.22259474829774728,3.3679072792063427,0.014137058484893356,0.014215877449336223,0.0009792653681384752,0.5995981361013001,1.3184366805905559,4.41270581404026,0.08263261106211141,-0.02995936219269814,0.0013538149309251172,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.5475836129748022,1.610791160329956,-3.4085318416004733,0.026772957998396654,2.490810788052358,0.9440138695969378,-1.1517149190850677,-3.3679072792063427,2.2568169225154056,2.2568169225154056,2.3684000000005736,0,0,-7.858036525229396e-05,-9.999999025923074e-05
+5621,1793078248434727511,14799573000000,1793078248428044665,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6763024262702969,-0.004946653224759126,0.0986495694257624,0.9999999173741339,-6.76390998929924e-05,0.00036152192739268707,0.0001463606436227494,0.6761,-0.0046,0.09814514845520599,1.0,0.0,0.0,0.0,-0.14775710569255018,0.21971396940827992,3.438985634322037,0.014097227867862272,0.015130474205261573,0.000707966656627859,0.5906859599499434,1.3155559017010885,4.483784169155954,0.08259278044508032,-0.029044765436772788,0.001082516219414501,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.645334432780996,1.6584642881601879,-3.6542123503998485,-0.014805402870065237,2.67920378707508,0.929309677973682,-1.1517149190850677,-3.438985634322037,2.5024974313147808,2.5024974313147808,2.4650000000007775,0,0,-9.077127305770626e-05,9.688630039773045e-05
+5719,1793078249251648405,14800390000000,1793078249244044349,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6763088611490703,-0.004952736000105331,0.09858845494744468,0.9999999115386072,-8.562439352659084e-05,0.0003734018596061565,0.00014698692654979172,0.6761,-0.0046,0.09807123803180352,1.0,0.0,0.0,0.0,-0.1574115728212483,0.22062720640445277,3.516603609737237,0.014072396338024304,0.015191296659268345,0.0016421573551693878,0.5810314928212453,1.3164691386972613,4.561402144571154,0.08256794891524236,-0.028983942982766017,0.00201670691795603,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.6876983189069954,1.6377861264214786,-3.6665251228507225,-0.0026331357356779712,2.6902140526013376,0.9276219680530879,-1.1517149190850677,-3.516603609737237,2.514810203765655,2.514810203765655,2.54670000000095,0,0,-9.363246377261524e-05,9.876453407742786e-05
+5815,1793078250051692658,14801190000000,1793078250044044239,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6763150353997135,-0.004950935614105437,0.09852748969357777,0.9999999064372143,-9.717480050317867e-05,0.00038446975125738694,0.00014597429814774813,0.6761,-0.0046,0.09799787345072024,1.0,0.0,0.0,0.0,-0.15658148913918823,0.2125056111263124,3.548394524293658,0.013025722224619646,0.015996798810513333,0.0016476524888985843,0.5818615765033054,1.308347543419121,4.593193059127575,0.0815212748018377,-0.028178440831521028,0.0020222020516852263,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.672024512464383,1.646034805784796,-3.775196266498178,0.00771744389783626,2.7538731419152844,0.952819877069926,-1.1517149190850677,-3.548394524293658,2.6234813474131102,2.6234813474131102,2.6267000000011187,0,0,-9.385669782061156e-05,9.772342243608562e-05
+5915,1793078250884673398,14802023000000,1793078250884044233,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6763196055588281,-0.004956639462621174,0.09845360970483386,0.9999999016603125,-0.0001127066432482774,0.00039153145984702393,0.00014873653901960492,0.6761,-0.0046,0.09791587798851296,1.0,0.0,0.0,0.0,-0.15656385873572054,0.2173296217508609,3.597608231774592,0.013067613852532953,0.01598738119413756,0.0016141426374175001,0.5818792069067731,1.3131715540436695,4.642406766608509,0.081563166429751,-0.028187858447896803,0.001988692200204142,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.665809878102395,1.5085487814877585,-3.7078372976252423,0.06573374356305807,2.700384940862494,0.8817411516279161,-1.1517149190850677,-3.597608231774592,2.5561223785401745,2.5561223785401745,2.7100000000012945,0,0,-0.00010656024795471642,-9.99999208702917e-05
+6018,1793078251743603131,14802882000000,1793078251740044226,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6763270832148061,-0.004958432868078095,0.09837448459271605,0.9999998943920433,-0.00012583558554559717,0.0004044154391087973,0.0001525526949035587,0.6761,-0.0046,0.09782145992291423,1.0,0.0,0.0,0.0,-0.19340258271721855,0.19548487140280146,3.6644509456011103,0.012617324215726852,0.01761567897896289,0.0015734404754642294,0.5450404829252751,1.29132680369561,4.709249480435028,0.0811128767929449,-0.026559560663071472,0.0019479900382508714,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7615654004333021,1.5599474943167344,-3.906307268658875,0.061361534652471954,2.848104413827646,0.9344396898383265,-1.1517149190850677,-3.6644509456011103,2.7545923495738074,2.7545923495738074,2.7959000000014758,0,0,-0.00011184505395858834,9.999967107011116e-05
+6114,1793078252543631608,14803682000000,1793078252540044270,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.676334646091309,-0.0049659265068889655,0.0983002161825385,0.9999998860441436,-0.00014533452140907518,0.00041808296620159195,0.00015309825071901673,0.6761,-0.0046,0.09772934843756363,1.0,0.0,0.0,0.0,-0.19753106452717917,0.20594501265309506,3.6982794711053146,0.011958890073861111,0.019030015872706394,0.0015579312389629187,0.5409120011153145,1.3017869449459036,4.743078005939232,0.08045444265107916,-0.025145223769327967,0.0019324808017495607,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7319047992154961,1.5092617592105024,-3.9061564884430875,0.07201471069355546,2.831953475549064,0.9008937066795931,-1.1517149190850677,-3.6982794711053146,2.7544415693580198,2.7544415693580198,2.8759000000016446,0,0,-0.00012019526733217235,-9.999999025923074e-05
+6216,1793078253393629214,14804532000000,1793078253392044966,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.676345961312276,-0.004965427988448108,0.09821084689414963,0.9999998770096331,-0.00015581151282612591,0.0004348786672389089,0.00015500612958364217,0.6761,-0.0046,0.0976208549934653,1.0,0.0,0.0,0.0,-0.22827483093012912,0.19696372441523424,3.7862145764996575,0.011815925820961734,0.021204046918790086,0.0015202026131135628,0.5101682347123645,1.2928056567080428,4.831013111333575,0.08031147839817979,-0.022971192723244275,0.0018947521759002048,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7782754518333561,1.5776349512079317,-4.05320507152994,0.04628391184113499,2.9343137048576917,0.9454735778179338,-1.1517149190850677,-3.7862145764996575,2.9014901524448726,2.9014901524448726,2.960900000001824,0,0,-0.0001332282181007186,9.961013544413361e-05
+6318,1793078254243623669,14805382000000,1793078254236044559,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.676349919367889,-0.004969882316721464,0.09810909546805367,0.9999998711066647,-0.00017388392122407286,0.00044171280056115857,0.0001545435280204513,0.6761,-0.0046,0.09750798868054637,1.0,0.0,0.0,0.0,-0.22815321686781753,0.18189641409053348,3.8179753290660607,0.010409981055874706,0.021397057891461402,0.0014780857720472658,0.5102898487746761,1.277738346383342,4.862773863899978,0.07890553363309276,-0.02277818175057296,0.0018526353348339078,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7283933111507304,1.6573860832354441,-4.071270938506257,0.015666898057103192,2.931585081716308,0.9926238487546446,-1.1517149190850677,-3.8179753290660607,2.919556019421189,2.919556019421189,3.0459000000020033,0,0,-0.00013436129432250888,-9.999999025923074e-05
+6419,1793078255084600674,14806223000000,1793078255084044696,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6763564803215959,-0.004969666861524069,0.09799941658090991,0.9999998619093878,-0.00019181354920286777,0.00045503019429829836,0.0001542049089861676,0.6761,-0.0046,0.09738652459978746,1.0,0.0,0.0,0.0,-0.23086816113897635,0.16393188651564516,3.897031985458296,0.008752651639991671,0.02221815099970019,0.0014197144783017444,0.5075749045035173,1.2597738188084537,4.941830520292213,0.07724820421720972,-0.02195708864233417,0.0017942640410883864,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8159550083853033,1.506730432376645,-4.171084110457974,0.05355258288921173,3.020869763545967,0.8880631326644259,-1.1517149190850677,-3.897031985458296,3.019369191372906,3.019369191372906,3.130000000002181,0,0,-0.00015037355205885371,5e-05
+6511,1793078255851492376,14806990000000,1793078255844035334,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6763629493093886,-0.004975511983712105,0.09789599244143368,0.9999998516760492,-0.00021426448441388025,0.00046652805716064055,0.00015663028518302186,0.6761,-0.0046,0.09726892667684675,1.0,0.0,0.0,0.0,-0.2240193478961232,0.13174584984883086,3.9335012857734406,0.007350361382297901,0.02051630581383983,0.0013370095295761205,0.5144237177463704,1.2275877821416394,4.978299820607358,0.07584591395951595,-0.02365893382819453,0.0017115590923627625,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7878878737477333,1.5881466045958694,-4.258541207393988,0.03289807904775884,3.073024273192337,0.9415335658815525,-1.1517149190850677,-3.9335012857734406,3.1068262883089206,3.1068262883089206,3.2067000000023427,0,0,-0.00015753871432791643,8.834729755958221e-05
+6609,1793078256668469787,14807807000000,1793078256668034834,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6763701952692639,-0.004976639594863512,0.09777799695950438,0.9999998429665742,-0.00022788537855380762,0.000477995623421199,0.0001584238909074533,0.6761,-0.0046,0.09713334083665996,1.0,0.0,0.0,0.0,-0.2385995636511764,0.10987932292180558,4.000727646743746,0.005641373030661062,0.021364551579628594,0.001271928608131099,0.4998435019913172,1.2057212552146142,5.045526181577663,0.07413692560787911,-0.022810688062405767,0.001646478170917741,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7462442356401504,1.5940330474791866,-4.281448587948391,0.020682304509109385,3.077796946649713,0.9408293736923432,-1.1517149190850677,-4.000727646743746,3.129733668863323,3.129733668863323,3.288400000002515,0,0,-0.00017073712050705148,-9.720583646200538e-05
+6688,1793078257326494193,14808465000000,1793078257324044439,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6763790262712794,-0.00498130501360735,0.09767340779807641,0.9999998310485452,-0.00025549996137348236,0.0004911937261836491,0.00015097760769737203,0.6761,-0.0046,0.09701989884468924,1.0,0.0,0.0,0.0,-0.2394383389296758,0.12279330402799071,4.037382982140224,0.00662527408783338,0.022308584171309292,0.00225932531860478,0.4990047267128178,1.2186352363207993,5.082181516974141,0.07512082666505143,-0.02186665547072507,0.002633874881391422,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8281676291691786,1.5928731891342087,-4.441376996086895,0.03882080856622389,3.1968263163428072,0.9370974332882569,-1.1517149190850677,-4.037382982140224,3.289662077001827,3.289662077001827,3.354200000002654,0,0,-0.0001748708545093195,9.999994862586731e-05
+6767,1793078257984513903,14809123000000,1793078257984044536,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6763867929019212,-0.004986404809437638,0.09756782668059646,0.9999998546346047,-8.472533484916756e-05,0.0005030215454095976,0.00014820450814998743,0.6761,-0.0046,0.09690104887360942,1.0,0.0,0.0,0.0,-0.22009174359432648,0.10341767130684376,4.095655812564974,0.00560031402760916,0.020374995311754154,0.0011783855773289022,0.5183513220481671,1.1992596035996523,5.140454347398891,0.07409586660482721,-0.023800244330280208,0.0015529351401155442,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8783569543278653,1.8224736720232988,-4.379643833051161,-0.08839156181182317,3.186993824878952,1.0001955129971902,-1.1517149190850677,-4.095655812564974,3.2279289139660934,3.2279289139660934,3.420000000002793,0,0,-0.00018700841091931342,-8.750000310276391e-05
+6841,1793078258601490735,14809740000000,1793078258600044745,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6763923430643702,-0.004990816800207684,0.09745763181821836,0.9999998458488255,-0.00010461723188547589,0.0005148464463225248,0.0001540570063404571,0.6761,-0.0046,0.09678492198130065,1.0,0.0,0.0,0.0,-0.2379984472975908,0.08653651720697098,4.095978931491064,0.0035546925894605758,0.022358658249567388,0.0011869776206757797,0.5004446183449028,1.1823784494997795,5.140777466324982,0.07205024516667863,-0.021816581392466974,0.0015615271834624217,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8237651569828228,1.8148844376018778,-4.268494798580476,-0.07867393950391063,3.1001508131669335,1.0132629335703434,-1.1517149190850677,-4.095978931491064,3.1167798794954082,3.1167798794954082,3.481700000002923,0,0,-0.0001933737580298286,-9.996569824555763e-05
+6926,1793078259309496490,14810448000000,1793078259308044579,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764069238333043,-0.004990685367046202,0.09733732163524211,0.9999998339937834,-0.00011954688801202176,0.0005322037999266108,0.00016100598426968776,0.6761,-0.0046,0.0966444530548465,1.0,0.0,0.0,0.0,-0.2536304020021889,0.07054529048353753,4.1575659140562315,0.003105629201815771,0.02238756938739265,0.0011399501875017052,0.48481266364030473,1.166387222776346,5.202364448890148,0.07160118177903382,-0.021787670254641713,0.0015144997502883472,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.857994796451198,1.6457869779376877,-4.529432310047511,-0.016606598216684487,3.270080953013233,0.9358029324625584,-1.1517149190850677,-4.1575659140562315,3.3777173909624434,3.3777173909624434,3.5525000000030724,0,0,-0.00020952109192903348,-2.2024133305184428e-06
+7026,1793078260143478885,14811282000000,1793078260136034776,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764134765332644,-0.004997956333411637,0.09717030127189849,0.9999998228154423,-0.00015110661295465193,0.0005444513284227016,0.00016294628212897765,0.6761,-0.0046,0.09646160470916632,1.0,0.0,0.0,0.0,-0.23388464026912825,0.00861556237381178,4.274521888542996,-0.0015877099630283859,0.022417913695037074,0.000981519221588303,0.5045584253733654,1.1044574946666204,5.3193204233769125,0.06690784261418967,-0.021757325946997287,0.001356068784374945,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8270229198173928,1.700735653224335,-4.606354069413543,-0.016048074211832436,3.324914456322888,1.003081287317618,-1.1517149190850677,-4.274521888542996,3.4546391503284752,3.4546391503284752,3.6359000000032484,0,0,-0.00022115144207426906,3.675174206607332e-05
+7105,1793078260801495782,14811940000000,1793078260800034764,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764235115767887,-0.004998941420239573,0.09703894472425527,0.9999998087617655,-0.000178531653130476,0.0005634251366624095,0.00015683705132941557,0.6761,-0.0046,0.09631424542713736,1.0,0.0,0.0,0.0,-0.2298812038607061,-0.012966302327332757,4.298982211472875,-0.0025909395862129952,0.021417912421751086,0.0009417657018202655,0.5085618617817875,1.0828756299654758,5.343780746306792,0.06590461299100506,-0.022757327220283275,0.0013163152646069075,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7930726482985164,1.697679922010994,-4.639721757565925,-0.014253041856732198,3.341978965843628,0.9943139031183299,-1.1517149190850677,-4.298982211472875,3.4880068384808576,3.4880068384808576,3.7017000000033873,0,0,-0.00022308178137672575,-9.782883811227378e-05
+7183,1793078261451479796,14812590000000,1793078261444045125,DOWN_FORCE_DETACH,6,0.066,0.06600156426429749,0.6764307961444835,-0.0050009326140446715,0.09690352097769649,0.9999997957594278,-0.00020125682652678375,0.0005781373777426527,0.00015867208050301544,0.6761,-0.0046,0.09616451441604941,1.0,0.0,0.0,0.0,-0.22499438580361064,-0.04298313756192451,4.3348549920468376,-0.004646484439208273,0.021447737006973357,0.0018101833923474123,0.513448679838883,1.052858794730884,5.379653526880754,0.06384906813800978,-0.022727502635061004,0.0021847329551340543,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7758656166391589,1.7540629462412418,-4.675825470667948,-0.03247874978336905,3.3684241495298886,1.0337855246920113,-1.1517149190850677,-4.3348549920468376,3.52411055158288,3.52411055158288,3.7667000000035245,0,0,-0.00023831495523793234,-9.999968494789897e-05
+7254,1793078262043438844,14813182000000,1793078262040036752,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764357112500333,-0.005008021112753862,0.0967664335977055,0.9999997886925166,-0.00020875557828771307,0.0005848089025321,0.00016875260711156066,0.6761,-0.0046,0.09601954683990585,1.0,0.0,0.0,0.0,-0.23131947204404468,-0.0727398037140976,4.363573562284921,-0.007343334487625856,0.021491896739735342,0.0018561919322821001,0.5071235935984489,1.023102128578711,5.408372097118838,0.061152218089592196,-0.02268334290229902,0.002230741495068742,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7955993778300692,1.6694157355362522,-4.67211419709807,-0.012339411433762958,3.3761667207498007,0.9728654427304921,-1.1517149190850677,-4.363573562284921,3.5203992780130022,3.5203992780130022,3.8259000000036494,0,0,-0.00025192957826411364,-9.999999025923074e-05
+7327,1793078262651460633,14813790000000,1793078262648044264,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764412361957671,-0.005009211728044404,0.09661814676821527,0.9999997793754434,-0.00021427425058158839,0.0005966245772004144,0.0001755493892162152,0.6761,-0.0046,0.09586139106738253,1.0,0.0,0.0,0.0,-0.1967128530809048,-0.09162020653292346,4.444500712896094,-0.00796616170938641,0.019646279087691967,0.0011214144608631465,0.5417302125615888,1.004221725759885,5.4892992477300115,0.06052939086783164,-0.024528960554342394,0.0014959640236497885,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8025005607920113,1.6049831722590253,-4.760843561037466,0.017047343727466385,3.4418385818480317,0.9335909370747124,-1.1517149190850677,-4.444500712896094,3.609128641952398,3.609128641952398,3.8867000000037777,0,0,-0.0002660683490710288,-9.99714991608613e-05
+7405,1793078263301345669,14814440000000,1793078263296044221,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764476752996382,-0.005015206298885766,0.0964514423803167,0.9999997855705444,-0.0001474158650915163,0.0006124945561236541,0.000153038266002473,0.6761,-0.0046,0.09568489024441706,1.0,0.0,0.0,0.0,-0.16122727661628933,-0.09208685718679388,4.502947137873528,-0.008649037960806627,0.017490214588243746,0.000735569457764025,0.5772157890262043,1.0037550751060147,5.547745672707445,0.059846514616411425,-0.026685025053790615,0.001110119020550667,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8605471044299933,1.6868445786121606,-4.947615164547753,0.006073152800377688,3.5897441374375476,0.9918839727324478,-1.1517149190850677,-4.502947137873528,3.7959002454626853,3.7959002454626853,3.951700000003915,0,0,-0.0002753937322532999,9.903408235001904e-05
+7476,1793078263893381798,14815032000000,1793078263888044944,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764599671258782,-0.00501604054747549,0.09629259619367864,0.9999997769063488,-0.00015380212889630813,0.0006207546745435581,0.00016922959609154905,0.6761,-0.0046,0.09551760799166113,1.0,0.0,0.0,0.0,-0.24154664691368616,-0.10227705124358111,4.4913529440396935,-0.008790276161868657,0.022505040771804045,0.0017585381427316915,0.49689641872880747,0.9935648810492275,5.53615147887361,0.059705276415349395,-0.021670198870230317,0.0021330877055183335,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.9231473738407499,1.6189317188729007,-4.849278389202008,0.01464744801523157,3.5351589186386003,0.9390755845407085,-1.1517149190850677,-4.4913529440396935,3.6975634701169406,3.6975634701169406,4.010900000003991,0,0,-0.00029401293665939763,-9.999999025923074e-05
+7547,1793078264484329658,14815623000000,1793078264480044528,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764688085941103,-0.00502072143933704,0.09613002712764562,0.9999997619986079,-0.00016386579061774815,0.0006371697491531298,0.0001860330756706064,0.6761,-0.0046,0.09533702772362368,1.0,0.0,0.0,0.0,-0.23975163658303378,-0.16122802096056787,4.540745605933992,-0.01225369157217731,0.021969017832737962,0.0016716265242026204,0.49869142905945985,0.9346139113322407,5.58554414076791,0.05624186100504074,-0.0222062218092964,0.0020461760869892624,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8907405932144434,1.675873377507043,-4.984351507305316,-0.0028903446873767033,3.623480328080985,0.9793534905280898,-1.1517149190850677,-4.540745605933992,3.8326365882202484,3.8326365882202484,4.070000000003853,0,0,-0.0003176466760498612,8.861823361095417e-05
+7612,1793078265026417371,14816165000000,1793078265024044059,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764750036363376,-0.0050233006637926845,0.09596923415344318,0.9999997490660818,-0.00018399841205903126,0.0006506041280576963,0.00019018278169722852,0.6761,-0.0046,0.0951588361222911,1.0,0.0,0.0,0.0,-0.23912900863831027,-0.1927110426987403,4.601086146340263,-0.013896930624184366,0.02169163076812263,0.0015988722813541365,0.49931405700418335,0.9031308895940683,5.64588468117418,0.05459862195303369,-0.02248360887391173,0.0019734218441407785,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8056136752856193,1.6170713152839862,-4.921239877286028,0.026140133900962953,3.5649047812319936,0.9361063612618588,-1.1517149190850677,-4.601086146340263,3.76952495820096,3.76952495820096,4.124200000003727,0,0,-0.00033977283260130795,-9.999999025923074e-05
+7677,1793078265568386305,14816707000000,1793078265568044035,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764843725187243,-0.005028719703774314,0.09579606509110918,0.9999997271799802,-0.00024796917934079505,0.0006705822577580674,0.00016097686429158417,0.6761,-0.0046,0.09497061066006861,1.0,0.0,0.0,0.0,-0.16890282717907756,-0.1546622300989542,4.6623491556377346,-0.012794092008687148,0.018607246365553155,0.0015169492812847232,0.5695402384634161,0.9411797021938544,5.707147690471652,0.055701460568530904,-0.025567993276481207,0.0018914988440713652,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.857335609440069,1.631786353378555,-5.01257131006934,0.03536783566657343,3.648285302116593,0.9527214730302831,-1.1517149190850677,-4.6623491556377346,3.8608563909842726,3.8608563909842726,4.178400000003601,0,0,-0.0003539102980635019,-9.891184679500781e-05
+7740,1793078266093404463,14817232000000,1793078266092045315,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6764883622153337,-0.005028554743760747,0.09561941715036976,0.9999997399824181,-0.0001366935956608084,0.0006792807090942399,0.00017711730506734865,0.6761,-0.0046,0.09478140249553177,1.0,0.0,0.0,0.0,-0.17148718257794993,-0.2401488551280898,4.720105100932356,-0.017868822505750163,0.017572232123929457,0.0009946212559032311,0.5669558830645437,0.8556930771647188,5.764903635766274,0.05062673007146789,-0.026603007518104904,0.0013691708186898731,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.7652037195436887,1.5606163159854904,-4.9987847337098055,0.058872601781184475,3.628678076492799,0.9204657854166743,-1.1517149190850677,-4.720105100932356,3.8470698146247377,3.8470698146247377,4.230900000003478,0,0,-0.0003651709808941402,-9.997574576393049e-05
+7795,1793078266551376533,14817690000000,1793078266544044705,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6765012496502745,-0.005030964766190575,0.09546056704366093,0.9999997283505397,-0.0001541990727242972,0.0006892876729780155,0.0001893326728005235,0.6761,-0.0046,0.09461083804004218,1.0,0.0,0.0,0.0,-0.1811176511015976,-0.23810504347396244,4.720696438728247,-0.01712927443679963,0.018556384477138418,0.0014229535344969099,0.557325414540896,0.8577368888188461,5.765494973562164,0.05136627814041842,-0.025618855164895944,0.0017975030972835519,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8904625986782808,1.6651096067711486,-5.049663184712756,0.034049352262554414,3.6944155572925412,0.9771629235160673,-1.1517149190850677,-4.720696438728247,3.8979482656276883,3.8979482656276883,4.2767000000033715,0,0,-0.00038112539256093667,-9.999999025923074e-05
+7850,1793078267009392054,14818148000000,1793078267008034589,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6765064754419031,-0.005030876373263904,0.09528647520578575,0.9999997125128711,-0.00022215092139570675,0.0007021951869585683,0.00015488036275983815,0.6761,-0.0046,0.09443268099291512,1.0,0.0,0.0,0.0,-0.11963573312439368,-0.15660696353238768,4.804582710012728,-0.011759351835129321,0.01543994755377879,0.0013765809919046585,0.6188073325180999,0.9392349687604209,5.8493812448466445,0.05673620074208873,-0.028735292088255572,0.0017511305546913005,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.855235960141092,1.667867315209424,-5.146173809091237,0.05470502778026662,3.7523505104160115,0.980193537488937,-1.1517149190850677,-4.804582710012728,3.994458890006169,3.994458890006169,4.322500000003265,0,0,-0.0003950142087913869,1.3786634291637775e-05
+7903,1793078267451306749,14818590000000,1793078267444035233,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6765115080061807,-0.0050372726003385816,0.09511069885648496,0.9999997053044335,-0.00022744331199414517,0.0007058697837509052,0.00017564537667469853,0.6761,-0.0046,0.09425583121624158,1.0,0.0,0.0,0.0,-0.15356741893192372,-0.23388238678032924,4.821176378239604,-0.016858145991693503,0.016514751515073933,0.0013172414590252536,0.5848756467105699,0.8619595455124793,5.865974913073521,0.05163740658552455,-0.02766048812696043,0.0016917910218118956,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.8859608679759492,1.592549669558806,-5.1242028956377945,0.0693626619289803,3.757432699078475,0.9301429680348718,-1.1517149190850677,-4.821176378239604,3.972487976552727,3.972487976552727,4.366700000003162,0,0,-0.0004056606936017878,-9.993130908736986e-05
+7956,1793078267893369510,14819032000000,1793078267892035107,DOWN_FORCE_DETACH,6,0.066,0.06600221991539001,0.6765160120123771,-0.005033900255675126,0.09493666304183815,0.9999997018316394,-0.00020256042592024017,0.0007171288459858164,0.00018020818085270706,0.6761,-0.0046,0.09407234688762005,1.0,0.0,0.0,0.0,-0.12399061644496245,-0.27058088215446174,4.822794547282031,-0.01946997939706397,0.01453086858918267,0.0012615752070412208,0.6144524491975312,0.8252610501383468,5.867593082115949,0.04902557318015408,-0.02964437105285169,0.0016361247698278628,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.820673515996999,1.5610883109344553,-5.121101858007159,0.09213474186003222,3.747548247387288,0.9218519277993678,-1.1517149190850677,-4.822794547282031,3.9693869389220913,3.9693869389220913,4.410900000003059,0,0,-0.0004242589770151169,-9.86498757945597e-05
+8008,1793078268320323715,14819459000000,1793078268320034274,DOWN_SETTLE,6,0.066,0.06600221991539001,0.6765141572319128,-0.005034066607836475,0.09475280468978561,0.999999704902036,-0.00019571615440878924,0.0007143208927396386,0.0001818778550073914,0.6761,-0.0046,0.09389713568698867,1.0,0.0,0.0,0.0,-0.09486401452165882,-0.31398493713565945,4.832815858136353,-0.020824145229645173,0.011748632714646393,0.0011895380543571316,0.6435790511208348,0.7818569951571491,5.87761439297027,0.04767140734757288,-0.03242660692738797,0.0015640876171437736,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.720876310566803,1.5593417296131828,-5.04712986410837,0.10158051728352328,3.6873700522080224,0.9196662750837306,-1.1517149190850677,-4.832815858136353,3.895414945023302,0.0,0.0,0,0,-0.00021655709245158456,0.0021874453782988338
+8104,1793078269119341350,14820258000000,1793078269116034816,DOWN_PEAK_HOLD,6,0.066,0.06600221991539001,0.676480965832631,-0.00503480743372714,0.0946343780717151,0.9999997469303561,-0.00019999721038888114,0.0006517551784141782,0.00018110326096613377,0.6761,-0.0046,0.09387657317465156,1.0,0.0,0.0,0.0,0.16772624043965045,-0.5127728043997892,4.004458484330501,-0.03446792125053905,-0.005155918677871511,-0.0005846872788883401,0.9061693060821441,0.5830691278930193,5.0492570191644175,0.034027631326679,-0.04933115831990587,-0.00021013771610169812,0.7384430656424936,1.0958419322928086,1.0447985348339173,0.06849555257721805,-0.04417523964203436,0.00037454956278664206,1,1.0519470603622272,1.6867260748586885,-4.147392492841949,0.04849984349434472,2.9870046063833957,0.9986021126878468,-1.1517149190850677,-4.004458484330501,2.9956775737568817,0.0,0.0,0,0,0.0,0.0