Upload Fixed (part 9)

Fixed/digit/ball_0030_20/press_depth_02/up/franka_data.csv

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Fixed/digit/ball_0030_20/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,1792759234405736505,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.003125774e-10,-1.216016003e-11,-1.390494386e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450105e-01,-1.154130101e-04,8.303262602e-01
+1,3.833333333e-01,WAIT_W2,1792759234799102373,1.238386806e-06,-5.168561428e-06,8.991608832e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.221565282e-08,-1.910039921e-10,-2.551093781e-09,7.019569080e-01,-2.725647283e-05,8.601443450e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450221e-01,-1.154131889e-04,8.303262577e-01
+2,7.500000000e-01,WAIT_W2,1792759235176099584,1.467321887e-06,6.678240567e-07,6.504100513e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.015548739e-08,-2.422120456e-10,-3.801357895e-09,7.019571369e-01,-2.142008735e-05,8.601440963e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450300e-01,-1.154132401e-04,8.303262565e-01
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+4,1.100000000e+00,WAIT_W2,1792759235520076282,1.152136040e-06,-1.332616346e-04,3.279077689e-06,1.434064638e-06,-1.332820548e-04,3.414698239e-06,1.621781369e-06,-1.349039374e-04,3.372886261e-06,7.019568218e-01,-1.553495460e-04,8.601467249e-01,7.019571037e-01,-1.553699662e-04,8.601468605e-01,7.027466316e-01,-2.503169353e-04,8.303296332e-01
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+6,1.366666667e+00,WAIT_W2,1792759235782047803,2.808648574e-06,-2.233613472e-04,1.083679958e-05,2.245202048e-06,-2.255500408e-04,8.614687570e-06,2.523046068e-06,-2.283048999e-04,8.654825831e-06,7.019584783e-01,-2.454492586e-04,8.601542826e-01,7.019579148e-01,-2.476379522e-04,8.601520605e-01,7.027475329e-01,-3.437178978e-04,8.303349151e-01
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+8,1.950000000e+00,UP_FORCE_RAMP,1792759236404358403,7.975254079e-07,-2.285220515e-04,8.610850374e-06,2.245202048e-06,-2.255500408e-04,8.614687570e-06,2.533517082e-06,-2.283133391e-04,8.672184222e-06,7.019564672e-01,-2.506099629e-04,8.601520567e-01,7.019579148e-01,-2.476379522e-04,8.601520605e-01,7.027475434e-01,-3.437263370e-04,8.303349325e-01
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+19,5.766666667e+00,UP_FORCE_RAMP,1792759240270433399,-1.033008172e-06,-2.280079759e-04,3.749138627e-04,2.433561907e-06,-2.233088152e-04,3.674919151e-04,7.262618410e-06,-2.261694783e-04,3.673410762e-04,7.019546366e-01,-2.500958874e-04,8.605183597e-01,7.019581032e-01,-2.453967266e-04,8.605109378e-01,7.027522725e-01,-3.415824762e-04,8.306936014e-01
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+21,6.383333333e+00,UP_FORCE_RAMP,1792759240892423347,-2.739254615e-06,-2.102774241e-04,4.916810848e-04,-1.145694906e-06,-2.126712655e-04,4.886629697e-04,4.917182096e-06,-2.153881148e-04,4.884646472e-04,7.019529304e-01,-2.323653355e-04,8.606351269e-01,7.019545239e-01,-2.347591769e-04,8.606321088e-01,7.027499270e-01,-3.308011127e-04,8.308147249e-01
+22,6.733333333e+00,UP_FORCE_RAMP,1792759241236418987,1.856570918e-06,-2.083203322e-04,5.619103107e-04,3.843590550e-06,-2.099553979e-04,5.541616649e-04,1.112535898e-05,-2.126509450e-04,5.540072360e-04,7.019575262e-01,-2.304082436e-04,8.607053562e-01,7.019595132e-01,-2.320433093e-04,8.606976075e-01,7.027561352e-01,-3.280639429e-04,8.308802675e-01
+23,6.983333333e+00,UP_FORCE_RAMP,1792759241517642115,-7.851856421e-06,-2.059723777e-04,6.136561399e-04,-7.597067186e-06,-2.051254512e-04,5.957886760e-04,-6.854169485e-07,-2.077262479e-04,5.955582953e-04,7.019478178e-01,-2.280602891e-04,8.607571020e-01,7.019480726e-01,-2.272133626e-04,8.607392345e-01,7.027443244e-01,-3.231392458e-04,8.309218186e-01
+24,7.266666667e+00,UP_FORCE_RAMP,1792759241826155903,3.701155214e-06,-2.022424072e-04,6.804218600e-04,-2.718978391e-06,-2.014037447e-04,6.619449356e-04,5.400527210e-06,-2.040048133e-04,6.617725100e-04,7.019593708e-01,-2.243303186e-04,8.608238677e-01,7.019529506e-01,-2.234916561e-04,8.608053908e-01,7.027504104e-01,-3.194178112e-04,8.309880328e-01
+25,7.483333333e+00,UP_FORCE_RAMP,1792759242038708731,9.408641976e-07,-2.283804307e-04,7.184635508e-04,2.114389521e-06,-2.258812952e-04,7.033942922e-04,1.112112276e-05,-2.287651385e-04,7.032064102e-04,7.019566105e-01,-2.504683421e-04,8.608619094e-01,7.019577840e-01,-2.479692066e-04,8.608468401e-01,7.027561310e-01,-3.441781364e-04,8.310294667e-01
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+40,1.221666667e+01,UP_FORCE_RAMP,1792759246936534691,-6.761518151e-05,-2.324385780e-04,1.222277130e-03,-6.509777032e-05,-2.303596714e-04,1.209832229e-03,-5.498628475e-05,-2.332923759e-04,1.209911424e-03,7.018880544e-01,-2.545264894e-04,8.613657230e-01,7.018905719e-01,-2.524475828e-04,8.613532781e-01,7.026900236e-01,-3.487053738e-04,8.315361717e-01
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Fixed/digit/ball_0030_20/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+1,3.8333e-01,WAIT_W2,8.8599e-05,1.3630e-02,3.2818e-02,2.4528e+00,-3.9032e-02,3.7757e-02,5.6296e-06,2.1381e-03,2.3805e-05,-4.7016e-04,6.9775e-06,1.5262e-04,-9.5998e-06,2.1893e-03,1.5308e-04
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+6,1.3667e+00,WAIT_W2,5.4104e-04,2.0314e-02,2.0477e-01,2.4569e+00,-5.0870e-02,3.8218e-02,3.7024e-05,8.8223e-03,1.7198e-01,3.6354e-03,-1.1832e-02,6.1350e-04,2.1794e-05,1.7224e-01,1.1848e-02
+7,1.6667e+00,WAIT_W2,6.3150e-04,2.1425e-02,2.0375e-01,2.4591e+00,-5.0865e-02,3.8297e-02,3.1751e-05,9.9327e-03,1.7096e-01,5.8460e-03,-1.1826e-02,6.9190e-04,1.6521e-05,1.7135e-01,1.1846e-02
+8,1.9500e+00,UP_FORCE_RAMP,7.1939e-04,2.2162e-02,2.0313e-01,2.4601e+00,-5.0862e-02,3.8349e-02,2.6355e-05,1.0669e-02,1.7033e-01,6.8574e-03,-1.1823e-02,7.4417e-04,1.1125e-05,1.7081e-01,1.1846e-02
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Fixed/digit/ball_0030_20/press_depth_03/down/camera_frames_60hz.tar

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Fixed/digit/ball_0030_20/press_depth_03/down/franka_data.csv

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+15630,1792759300566344697,42703493000000,1792759300563977266,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759029092014581,-0.004155059885208535,0.10676105986883722,0.9999999408979993,-5.187610555624027e-05,-0.00030926906438408724,0.00010634085716623848,0.6761,-0.004,0.10699795068628679,1.0,0.0,0.0,0.0,-0.00277498103320295,0.004002048546121739,0.0040560051408750075,-5.526590631411282e-05,0.0005472208449265256,0.00023977268441136815,0.586549115411575,0.4795385803268338,0.27990577997452415,0.038827223356638844,-0.04133634947224375,0.0006704489169795925,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.37200123616726705,0.6126394191805233,1.139502806163822,0.09492236047669796,-0.6994997451212595,0.33563460122582806,1.5366765084632985,-0.0040560051408750075,0.39717370229947657,0.39717370229947657,0.4344200363897033,0,0,-8.61688593675603e-06,-9.999999025923074e-05
+15693,1792759301091433098,42704018000000,1792759301083977832,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.675902689813167,-0.004150351115895044,0.10675866406763154,0.9999999406643039,-4.8581467335042024e-05,-0.00031013681607786633,0.00010756044569706028,0.6761,-0.004,0.10698917722185138,1.0,0.0,0.0,0.0,-0.00928465274814172,-0.002370951899159257,0.003757296336255378,-5.630969116102863e-05,0.0005481646006508523,0.00023557238133015655,0.5800394436966362,0.4731655798815528,0.2796070711699045,0.03882617957179193,-0.041335405716519426,0.000666248613898381,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.4321516292246561,0.740077471648604,1.1114469312305861,0.06778553678114962,-0.667894875603671,0.4221323757638235,1.5366765084632985,-0.003757296336255378,0.4252295772327124,0.4252295772327124,0.5131700363896946,0,0,-2.6409041796486517e-05,-9.9999393514355e-05
+15756,1792759301616412808,42704543000000,1792759301615987217,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.675900636501509,-0.00414931117916655,0.10674693661499154,0.9999999390847237,-4.4209723255327403e-05,-0.00031530076303080425,0.00010910702269900099,0.6761,-0.004,0.10696912055781187,1.0,0.0,0.0,0.0,-0.00023617594258307228,-0.002369886377010133,0.00406474701126136,-5.6463378847557144e-05,0.000548008704818137,0.0002399037984525561,0.5890879205021948,0.4731666454037019,0.2799145218449105,0.0388260258841054,-0.04133556161235214,0.0006705800310207805,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.49513882215585575,0.7263079261753819,1.0833086117806356,0.08107376936356596,-0.6324833390099613,0.4128449772975852,1.5366765084632985,-0.00406474701126136,0.45336789668266286,0.45336789668266286,0.5919200363896859,0,0,-5.064163887821683e-05,-9.999999025923074e-05
+15821,1792759302158434990,42705085000000,1792759302151987565,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6758962514639661,-0.004152746236900836,0.10671791524678521,0.9999999348642648,-4.5164336924765014e-05,-0.00032656448016746097,0.00011414969878560071,0.6761,-0.004,0.10693492292159998,1.0,0.0,0.0,0.0,-0.00817749671983592,-0.007397501341646406,0.023377695253168407,-0.001053190792498944,0.0005677856171709336,-0.000677901211816295,0.581146599724942,0.46813903043906563,0.29922747008681755,0.03782929847045401,-0.041315784699999344,-0.00024722497924807064,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.5441098139873124,0.6576326027866409,1.018751342032283,0.13693165065230423,-0.5842131348209106,0.36128839265706053,1.5366765084632985,-0.023377695253168407,0.5179251664310156,0.5179251664310156,0.673220036389677,0,0,-7.507878533738322e-05,-9.999999025923074e-05
+15870,1792759302566345830,42705493000000,1792759302563986975,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759375070025191,-0.0041608157618376095,0.10669000538391882,0.9999999598303191,-4.5888633298796934e-05,-0.00022921468912433528,0.00013090868687762577,0.6761,-0.004,0.10690054007981115,1.0,0.0,0.0,0.0,0.0009765050025907218,-0.013364938267806326,0.05381258576759468,-0.0010871007750272305,0.000556699250006551,0.00018833548263215698,0.5903006014473686,0.4621715935129057,0.3296623606012438,0.03779538848792573,-0.04132687106716373,0.0006190117152003814,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.5052975266276555,0.6664421578168468,0.9637229592097512,0.13495083634679905,-0.5693126113414357,0.3657391299819871,1.5366765084632985,-0.05381258576759468,0.5729535492535474,0.5729535492535474,0.7344200363896702,0,0,-9.36983502828045e-05,-9.999999025923074e-05
+15919,1792759302974421465,42705901000000,1792759302971986906,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6759220105217663,-0.004161148142979311,0.1066548820374224,0.9999999518584909,-4.8057890837657274e-05,-0.0002612847263320739,0.00013094507044945238,0.6761,-0.004,0.10685816542336882,1.0,0.0,0.0,0.0,-0.027256055490869513,-0.010567867226903893,0.05418837892679629,-9.442341103339802e-05,0.0015516238186736725,0.00021181820448657157,0.5620680409539084,0.46496866455380814,0.33003815376044543,0.03878806585191956,-0.040331946498496606,0.000642494437054796,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.5696018457187918,0.6394037486225636,0.8769962407312217,0.14350377178350843,-0.495342459114566,0.3475434745035827,1.5366765084632985,-0.05418837892679629,0.6596802677320768,0.6596802677320768,0.7956200363896635,0,0,-0.00011378696973127068,-9.997863234379451e-05
+15974,1792759303433420774,42706360000000,1792759303427986850,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759064852853861,-0.00416150267898076,0.10658674646747243,0.9999999415614147,-5.292719083695758e-05,-0.0002981362008469592,0.00012897112015589275,0.6761,-0.004,0.10680090037963055,1.0,0.0,0.0,0.0,-0.017342656204501705,-0.011473476667896942,0.10919733760634592,-0.0011237830341569999,0.0015582253934783435,0.00015154759496546267,0.5719814402402762,0.4640630551128151,0.38504711243999507,0.03775870622879596,-0.040325344923691935,0.0005822238275336871,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.5824958657911227,0.6366875260803192,0.8724034066882366,0.15383255213137206,-0.48789960249348424,0.3430236265134496,1.5366765084632985,-0.10919733760634592,0.6642731017750619,0.6642731017750619,0.8644700363896559,0,0,-0.00013508745177612103,-9.999999025923074e-05
+16027,1792759303874476303,42706801000000,1792759303871977592,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759100487079929,-0.004150966997425424,0.10654185666118937,0.9999999451506303,-0.00012523821303672266,-0.00028417951133744544,6.85492230954001e-05,0.6761,-0.004,0.10673647581434663,1.0,0.0,0.0,0.0,0.0002818103731612176,0.002312480218499169,0.13133714052276563,-8.031651775414206e-05,0.0005197957138618273,0.00013716304432703785,0.5896059068179391,0.4778490119992112,0.40718691535641477,0.038802172745198815,-0.04136377460330845,0.0005678392768952622,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.6068609228998227,0.7194090716779672,0.9577425575040407,0.05026504881401938,-0.521404461203059,0.42081661465580644,1.5366765084632985,-0.13133714052276563,0.5789339509592578,0.5789339509592578,0.9306200363896486,0,0,-0.0001571374474804418,-9.999999025923074e-05
+16086,1792759304366404310,42707293000000,1792759304359987072,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759170563170942,-0.0041625415030028265,0.10647216725371178,0.9999999497225394,-0.0001176655102515409,-0.00026528626459272267,8.818054695293962e-05,0.6761,-0.004,0.10665312489136759,1.0,0.0,0.0,0.0,-0.01045152437349639,-0.004889478944333503,0.174546153392029,-0.00011686687104901089,0.0015245804807601862,0.00011670236239987768,0.5788725720712815,0.47064705283637853,0.45039592822567814,0.038765622391903946,-0.04035898983641009,0.0005473785949681021,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.6519417016337985,0.6561664091595993,0.7213267161208914,0.1290333163538106,-0.3727797137417276,0.3592758412667865,1.5366765084632985,-0.174546153392029,0.8153497923424071,0.8153497923424071,1.0044200363896438,0,0,-0.00018173744268798331,-9.999999025923074e-05
+16141,1792759304824493972,42707751000000,1792759304823987206,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759146691268584,-0.0041654334192368124,0.106388168319651,0.9999999482180378,-0.00011378320995896511,-0.00026687014733127787,0.00010411768159090566,0.6761,-0.004,0.10656509794155282,1.0,0.0,0.0,0.0,-0.008934282010440442,-0.016822077384252065,0.22433354985804255,-0.0010649024412563504,0.001532182927703206,6.60248897377644e-05,0.5803898144343375,0.45871445439645997,0.5001833246916917,0.03781758682169661,-0.04035138738946707,0.0004967011223059888,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.6519771543360164,0.7358853996386616,0.7581953088093027,0.11766682367972144,-0.4002306194788426,0.4052676086166016,1.5366765084632985,-0.22433354985804255,0.7784811996539958,0.7784811996539958,1.0731200363896871,0,0,-0.0002026865631818683,-9.999999025923074e-05
+16192,1792759305249475471,42708176000000,1792759305247987465,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759152027805855,-0.0041750419839268835,0.10630577966208637,0.9999999473629517,-0.00011463016841220053,-0.0002634752115986602,0.00011898611536160092,0.6761,-0.004,0.10647558790603434,1.0,0.0,0.0,0.0,-0.0184063559959744,-0.023177364047039573,0.28366094677322773,-0.001159851930292409,0.0015216580427422424,1.6005787089106707e-05,0.5709177404488035,0.45235916773367246,0.5595107216068769,0.03772263733266055,-0.040361912274428036,0.0004466820196573311,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.6258436511899148,0.6485791742090427,0.6040940046971351,0.14410860453952123,-0.31104451586257503,0.34850544739844724,1.5366765084632985,-0.28366094677322773,0.9325825037661634,0.9325825037661634,1.1368700363897273,0,0,-0.00021843130105644726,-9.999235747593644e-05
+16243,1792759305674436910,42708601000000,1792759305671978365,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759139745157678,-0.00417991061686358,0.1062157395464704,0.9999999453703108,-0.0001139337542655688,-0.00026363685897836883,0.00013497016787615605,0.6761,-0.004,0.10637928771616642,1.0,0.0,0.0,0.0,-0.021999572714379245,-0.022962129682786547,0.3342667813758148,-0.0011955259834819099,0.002525448295751083,-4.310069849522262e-06,0.5673245237303987,0.4525744020979255,0.6101165562094639,0.03768696327947105,-0.039358122021419195,0.00042636616271870214,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.6374590524447472,0.7818604753765154,0.6260020029499385,0.11860369310582249,-0.32182798012765457,0.4391925950959661,1.5366765084632985,-0.3342667813758148,0.91067450551336,0.91067450551336,1.2006200363897674,0,0,-0.00023338943151293557,-9.999999025923074e-05
+16294,1792759306099522155,42709026000000,1792759306091977650,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6759126198195663,-0.004186341951092838,0.10611829588606284,0.9999999430666248,-0.0001147545691736551,-0.0002631892027979174,0.0001512363837944308,0.6761,-0.004,0.10627748893767726,1.0,0.0,0.0,0.0,-0.03331737064543272,-0.034049074858265194,0.3882847311309563,-0.002228305400042388,0.0025316280107417002,-6.806922726282252e-05,0.5560067257993452,0.44148745692244684,0.6641345059646054,0.03665418386291057,-0.03935194230642858,0.0003626070053054019,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.6066453008565937,0.7214770890846219,0.593790034691906,0.12379718976546521,-0.3096843565463616,0.39441157377850616,1.5366765084632985,-0.3882847311309563,0.9428864737713925,0.9428864737713925,1.2643700363898076,0,0,-0.00024374135256940844,-9.803832331923274e-05
+16343,1792759306508451836,42709435000000,1792759306503987269,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759149072018158,-0.004198812816506464,0.10602404078769034,0.9999999415334028,-0.00011724578661122367,-0.0002559221679300005,0.0001706848702312376,0.6761,-0.004,0.10617575918411619,1.0,0.0,0.0,0.0,-0.037062718315758025,-0.03237236031550578,0.4344916335630227,-0.002265472785058842,0.0035336948687124115,-9.450891524906543e-05,0.5522613781290199,0.44316417146520626,0.7103414083966718,0.036617016477894115,-0.03834987544845787,0.00033616731731915897,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.6598209589337338,0.6341105789174469,0.45196586369223324,0.14610007718719992,-0.2053581353721868,0.3345672586551761,1.5366765084632985,-0.4344916335630227,1.0847106447710653,1.0847106447710653,1.3257200363898463,0,0,-0.0002524691043823398,-6.058754472982315e-05
+16387,1792759306874537615,42709801000000,1792759306871987286,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6759154785732234,-0.0042038147679393355,0.10593625774752177,0.9999999388822134,-0.00011657726815564826,-0.0002561355742696716,0.00018569529351131393,0.6761,-0.004,0.10608216016242902,1.0,0.0,0.0,0.0,-0.03665446259943261,-0.04291462866186746,0.49420712311498327,-0.0032663716870413306,0.0035414446816629253,-0.00014757898674111236,0.5526696338453453,0.4326219031188446,0.7700568979486324,0.03561611757591163,-0.03834212563550735,0.00028309724582711203,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.6850573514405451,0.695770554536611,0.31854617147694453,0.12288885603116376,-0.10939524846883399,0.3698344083897831,1.5366765084632985,-0.49420712311498327,1.2181303369863539,1.2181303369863539,1.3806200363898808,0,0,-0.00025872527591589014,9.843750400773672e-05
+16400,1792759306983540751,42709910000000,1792759306979977281,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6759942661727263,-0.004188667571320053,0.10597566938245934,0.999999958814372,-0.00010120513302632257,-0.0001685444506837313,0.00018752175305923084,0.6761,-0.004,0.10605394152405095,1.0,0.0,0.0,0.0,-0.07320103096560937,-0.006992620431655938,0.47235206367034865,-0.0004465385523592727,0.005417330041696526,-6.363036542496954e-05,0.5161230654791685,0.4685439113490561,0.7482018385039978,0.038435950710593685,-0.03646624027547375,0.00036704586714325486,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.49527968103349296,0.6589904535567929,0.48917192091052214,0.13657347968077738,-0.2746234301696292,0.35313729195687227,1.5366765084632985,-0.47235206367034865,1.0475045875527764,1.0475045875527764,1.3969700363898911,0,0,-0.0002604377742451965,-9.999999025923074e-05
+16444,1792759307349522230,42710276000000,1792759307343987374,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759906236462055,-0.004197657838046643,0.10588364184536395,0.999999955978845,-0.0001119954424952121,-0.00016840093361923168,0.0001964263701504511,0.6761,-0.004,0.1059562700558726,1.0,0.0,0.0,0.0,-0.06649551388730923,-0.004893856227063176,0.5060406324681529,-0.00028932108012884317,0.005507658249843679,-9.510924407440279e-05,0.5228285825574687,0.47064267555364886,0.781890407301802,0.038593168182824114,-0.0363759120673266,0.0003355669884938216,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.8777572884724237,0.632134698336282,0.30194502161212333,0.15836708458573806,-0.05983331159749705,0.3316211026092284,1.5366765084632985,-0.5060406324681529,1.2347314868511752,1.2347314868511752,1.4518700363899257,0,0,-0.0002714343118922783,6.568264962337195e-05
+16471,1792759307574547463,42710501000000,1792759307571987034,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759885636806966,-0.004169757699195141,0.10581741325181687,0.9999999436864546,-0.0002747643425587817,-0.0001614628962337999,5.004238936938995e-05,0.6761,-0.004,0.10589399576074336,1.0,0.0,0.0,0.0,-0.026612218485313255,0.02590952517566164,0.5628113015652072,0.0019582557645441076,0.002449297704492266,-0.00014919061593151244,0.5627118779594646,0.5014460569563737,0.8386610763988563,0.040840745027497065,-0.03943427261267801,0.00028148561663671195,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9028722479898165,0.7988370110852225,0.28918156202322,-0.0546967513052158,-0.00698836431334898,0.48208481215043225,1.5366765084632985,-0.5628113015652072,1.2474949464400784,1.2474949464400784,1.485620036389947,0,0,-0.0002821156059948681,-3.6712140858325163e-05
+16519,1792759307974565522,42710901000000,1792759307971987078,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6759953924010547,-0.004181445613072742,0.1057098664430716,0.9999999464526007,-0.0002658827499808187,-0.00014573163253506268,8.127923560597251e-05,0.6761,-0.004,0.10577798358333763,1.0,0.0,0.0,0.0,-0.03981097825204527,0.025368341196965793,0.6143717294802421,0.0017606740831847753,0.004424118272572775,-0.0001720821062728584,0.5495131181927326,0.5009048729776778,0.8902215043138912,0.04064316334613773,-0.037459452044597503,0.000258594126295366,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.8734923207671672,0.7310973502724258,0.2386243028112053,0.04004123603503003,-0.0012434471555764564,0.41865200890223053,1.5366765084632985,-0.6143717294802421,1.2980522056520931,1.2980522056520931,1.5456200363899848,0,0,-0.00029450600938979356,-2.6014015107842805e-05
+16564,1792759308349547407,42711276000000,1792759308343986952,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759880892545136,-0.0041892729064043795,0.1056026948372776,0.9999999442094265,-0.00025566600026566004,-0.0001635230571656045,0.00010449456316699063,0.6761,-0.004,0.10566726310743597,1.0,0.0,0.0,0.0,-0.043781778714950814,0.01458096391553293,0.670315120161715,0.0007289574136025365,0.004436167920536881,-0.0002292729686309687,0.5455423177298271,0.49011749569624496,0.9461648949953642,0.039611446676555494,-0.0374474023966334,0.0002014032639372557,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9217867062002373,0.7351021764930035,0.21529790686122557,0.14413948999274243,0.0112841873118641,0.39716031117011946,1.5366765084632985,-0.670315120161715,1.321378601602073,1.321378601602073,1.6018700363900202,0,0,-0.00029271115984805105,-9.353727101058524e-05
+16609,1792759308724507550,42711651000000,1792759308719987016,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6759992285879685,-0.0041976655653528,0.10550507907697257,0.9999999449419651,-0.0002632410521130094,-0.00013946627758477093,0.0001131911508414597,0.6761,-0.004,0.1055589754644016,1.0,0.0,0.0,0.0,-0.04869193185014198,0.01615070146094877,0.7143294517123109,0.0007214000998257974,0.004430579084792156,-0.00026591833768625957,0.5406321645946359,0.4916872332416608,0.99017922654596,0.039603889362778755,-0.03745299123237812,0.00016475789488196486,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.8997623844884104,0.7236004262450108,0.1839430097362371,0.1660757599978817,0.019290679325237467,0.39423181345108715,1.5366765084632985,-0.7143294517123109,1.3527334987270614,1.3527334987270614,1.6581200363900557,0,0,-0.00028367731425979335,-9.776291862018666e-05
+16648,1792759309049580252,42711976000000,1792759309047986845,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6759941001472185,-0.004202943664778115,0.10542224543156763,0.9999999765310339,4.416695932307071e-05,-0.0001529679689132967,0.0001141528643137783,0.6761,-0.004,0.1054671640358104,1.0,0.0,0.0,0.0,-0.04086255935175731,0.007785076578826877,0.7508435046160945,0.0007125437815429653,0.004421421749185243,-0.0002925394037740274,0.5484615370930206,0.4833216083595389,1.0266932794497436,0.03959503304449592,-0.037462148567985035,0.00013813682879419695,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9429946862652071,0.8669587100562924,0.020991025411086158,0.08727878502168068,0.14343791193658154,0.4178462877216237,1.5366765084632985,-0.7508435046160945,1.5156854830522124,1.5156854830522124,1.7068700363900864,0,0,-0.0002800784456482867,9.999695102370083e-05
+16691,1792759309408560877,42712335000000,1792759309403987473,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6760015649186144,-0.004202644845200634,0.10532495581344728,0.9999999788801958,2.683032018144954e-05,-0.00013592597763609804,0.00012036085376405292,0.6761,-0.004,0.10536750340554549,1.0,0.0,0.0,0.0,-0.04175740495641189,0.009350333381748177,0.7966763013602639,0.0007040529054396297,0.004418004404862452,-0.0002515034505900705,0.547566691488366,0.4848868651624602,1.072526076193913,0.03958654216839259,-0.037465565912307826,0.00017917278197815393,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9159178425369452,0.8839121741226709,0.06880279868476355,0.08568048988893995,0.09967062137107413,0.4432800644070104,1.5366765084632985,-0.7966763013602639,1.467873709778535,1.467873709778535,1.7607200363901203,0,0,-0.00027668655868814805,-9.377441464864517e-05
+16737,1792759309791591805,42712718000000,1792759309787987517,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6760009456192131,-0.004204568239542688,0.10522712924562617,0.9999999782818153,9.117521554560219e-06,-0.0001407816667543612,0.00012237902864597336,0.6761,-0.004,0.10526185549751303,1.0,0.0,0.0,0.0,-0.043466363182081746,0.010460319453972411,0.836688021420419,0.000694589217615213,0.004401500376604979,0.00028730862774850585,0.5458577332626962,0.48599685123468445,1.1125377962540681,0.03957707848056817,-0.0374820699405653,0.0007179848603167303,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9761057461175847,0.765523927272801,-0.06617495628448293,0.13520406718035594,0.19881369815265,0.3865813993184022,1.5366765084632985,-0.836688021420419,1.6028514647477814,1.6028514647477814,1.8181700363901565,0,0,-0.00027501708782931713,9.762579219885765e-05
+16776,1792759310116527784,42713043000000,1792759310111987272,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760076489513767,-0.004207045252975204,0.10514324147366082,0.9999999798387811,-9.146619498494666e-06,-0.00012625258426118943,0.00012546683348628048,0.6761,-0.004,0.10517203790332177,1.0,0.0,0.0,0.0,-0.03987998821035066,0.012243987281769508,0.8667321194917149,0.000690927798152767,0.004425235964505121,-0.0003869546662550263,0.5494441082344272,0.48778051906248154,1.142581894325364,0.039573417061105724,-0.03745833435266516,4.372156631319808e-05,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.948543547802344,0.8038662220153258,-0.14523092516745467,0.1469865893622316,0.23603400119646542,0.4380426096369148,1.5366765084632985,-0.8667321194917149,1.6819074336307531,1.6819074336307531,1.8669200363901872,0,0,-0.00027833330921015067,9.895421568118507e-05
+16822,1792759310499507672,42713426000000,1792759310495987274,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6760155112687687,-0.004202187339556424,0.1050496495283785,0.999999981865098,-2.8861468521225973e-05,-0.00010982468516553956,0.00012173012140049983,0.6761,-0.004,0.10506480427495313,1.0,0.0,0.0,0.0,-0.03673354654512728,0.024825887936027857,0.8837799611770695,0.001707914598397052,0.004372284310267462,0.00023066410675660822,0.5525905498996506,0.5003624197167399,1.1596297360107186,0.04059040386135001,-0.037511286006902816,0.0006613403393248326,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.995152524849703,0.7329854722882868,-0.1620351156266492,0.187139066502572,0.25686728589835595,0.40665594864506693,1.5366765084632985,-0.8837799611770695,1.6987116240899478,1.6987116240899478,1.9243700363902234,0,0,-0.00028156762621881084,3.690090874386982e-05
+16859,1792759310808520281,42713735000000,1792759310807987305,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.676004452898726,-0.00421088075896257,0.10495214173221115,0.9999999776818481,-4.583108171492537e-05,-0.0001348257909015044,0.00012570077886434812,0.6761,-0.004,0.10497691575740045,1.0,0.0,0.0,0.0,-0.022087500984159347,0.026522406275647226,0.9119665166856997,0.0016949259408175765,0.0043609987175980275,0.0005690660718677387,0.5672365954606186,0.5020589380563593,1.1878162915193489,0.040577415203770534,-0.03752257159957225,0.000999742304435963,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9996858888859727,0.7365977315060922,-0.17421491253947058,0.19412624812357523,0.26719454608283016,0.4129828436807527,1.5366765084632985,-0.9119665166856997,1.710891421002769,1.710891421002769,1.9707200363902526,0,0,-0.00028787442329511324,-9.945556464353018e-05
+16898,1792759311133519619,42714060000000,1792759311131986798,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760212333348307,-0.004212166818049398,0.10486809709820706,0.9999999802153998,-5.956722638637649e-05,-9.972893898766485e-05,0.00013235538798044846,0.6761,-0.004,0.10488206433594333,1.0,0.0,0.0,0.0,-0.027615178842501642,0.03574088156142857,0.917775643580021,0.0016952551376478789,0.004359044208954124,0.0005942380475020532,0.5617089176022763,0.5112774133421406,1.19362541841367,0.040577744400600836,-0.037524526108216154,0.0010249142800702775,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0012401356445848,0.7618212621609962,-0.23898904176935548,0.1882669880413054,0.3065722417187342,0.4288781674064048,1.5366765084632985,-0.917775643580021,1.775665550232654,1.775665550232654,2.0194700363902833,0,0,-0.0002964638870729406,3.9378825088740564e-05
+16941,1792759311491553956,42714418000000,1792759311487977000,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6760095311770754,-0.00421700277831822,0.10476149207728819,0.9999999755181848,-7.934701724828143e-05,-0.0001315318697262036,0.0001296530460468807,0.6761,-0.004,0.10477334956312638,1.0,0.0,0.0,0.0,-0.012608419493260858,0.036834013274278765,0.9481992131764813,0.001716967979017693,0.0033427245399011915,0.0005468201098340479,0.576715676951517,0.5123705450549908,1.2240489880101304,0.04059945724197065,-0.03854084577726909,0.0009774963424022723,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0137017734651599,0.7149299437053582,-0.21436165900022883,0.21226703067577085,0.29195542621344983,0.39824593322053387,1.5366765084632985,-0.9481992131764813,1.7510381674635274,1.7510381674635274,2.073170036390317,0,0,-0.0003104939433715411,-9.999999025923074e-05
+16970,1792759311733530390,42714660000000,1792759311727987499,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6760385953943524,-0.004222529339291695,0.1046998481642369,0.9999999795560593,-9.457579632705242e-05,-6.51563943025231e-05,0.00013835031060936047,0.6761,-0.004,0.10469703400972453,1.0,0.0,0.0,0.0,-0.022438922167420716,0.055257223652130205,0.9577293268920762,0.0017116789385292555,0.005359447468602153,0.00046273409287746583,0.5668851742773572,0.5307937554328422,1.2335791017257254,0.04059416820148221,-0.036524122848568125,0.0008934103254456902,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9827063702143901,0.7713183518171255,-0.281724567027527,0.19794905061255016,0.3252196666817668,0.43389732744917286,1.5366765084632985,-0.9577293268920762,1.8184010754908255,1.8184010754908255,2.10947003639034,0,0,-0.00032065010500545297,-9.999999025923074e-05
+17004,1792759312016639433,42714943000000,1792759312015978113,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6760141543752547,-0.0042207133779714485,0.1045894192101588,0.9999999741423048,-0.00010529095827596194,-0.00012027457218228284,0.00013268796259405545,0.6761,-0.004,0.10460467070508868,1.0,0.0,0.0,0.0,-0.003514941658148807,0.03861232376329721,0.997097905226472,0.001707617922631792,0.003329130582879772,0.0005342488037887437,0.5858091547866291,0.5141488555440092,1.2729476800601212,0.04059010718558475,-0.038554439734290506,0.000964925036356968,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.038248476823661,0.7894186310965429,-0.2525021031653776,0.20980528765281495,0.32231529528819514,0.44967632374902977,1.5366765084632985,-0.997097905226472,1.789178611628676,1.789178611628676,2.1519200363903668,0,0,-0.0003321693857014348,-9.999961555895993e-05
+17041,1792759312324648436,42715251000000,1792759312323977758,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760388481494363,-0.004228774125453715,0.10450807406408606,0.9999999771170228,-0.00011768361522777333,-6.642930954120474e-05,0.00013764640081070556,0.6761,-0.004,0.10450053180040417,1.0,0.0,0.0,0.0,-0.003686224273257821,0.04811458636427651,1.004476435149929,0.0016823413526788691,0.004115850899705564,0.0005431900489044491,0.5856378721715201,0.5236511181449885,1.2803262099835782,0.040564830615631826,-0.037767719417464714,0.0009738662814726735,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.009831553022692,0.7385585987491416,-0.3393614200395783,0.23064458138275745,0.3593407336228474,0.41810045208883895,1.5366765084632985,-1.004476435149929,1.8760379285028768,1.8760379285028768,2.198120036390396,0,0,-0.0003437876852460927,-9.999996250365512e-05
+17079,1792759312641617360,42715568000000,1792759312635986912,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760240796597686,-0.004230881330809405,0.10439654489699253,0.999999972980888,-0.00012668490639758284,-0.00010542477790111475,0.00013534267003616768,0.6761,-0.004,0.10438928679973647,1.0,0.0,0.0,0.0,-0.0027967220386968528,0.04578801557541928,1.02857480265738,0.0017018983246462824,0.003320533160260479,0.0005093976775147396,0.586527374406081,0.5213245473561313,1.304424577491029,0.04058438758759924,-0.0385630371569098,0.000940073910082964,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9932726929515368,0.7694026460827311,-0.3286989148040164,0.2341058721397578,0.354502790883326,0.43914005076285756,1.5366765084632985,-1.02857480265738,1.865375423267315,1.865375423267315,2.245670036390426,0,0,-0.0003576305490318995,-9.989501867225243e-05
+17116,1792759312949625151,42715876000000,1792759312943987759,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.676037814383067,-0.004234816348118827,0.1042951803961622,0.9999999748914653,-0.00013087406022825986,-7.277264098808347e-05,0.000138694109847722,0.6761,-0.004,0.1042768299881482,1.0,0.0,0.0,0.0,0.0010364436133296628,0.06058245097182907,1.0485889734998661,0.0016737837996098626,0.004328258249258483,0.00037200009792226886,0.5903605400581076,0.5361189827525411,1.3244387483335152,0.04055627306256282,-0.037555312067911795,0.0008026763304904933,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0133885941406289,0.7478324845772814,-0.37474739963183595,0.24242274016535043,0.3860305002591798,0.42481096357894016,1.5366765084632985,-1.0485889734998661,1.9114239080951345,1.9114239080951345,2.291870036390455,0,0,-0.0003719064985932815,-9.999999025923074e-05
+17153,1792759313258642082,42716185000000,1792759313255986893,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6760327060018695,-0.004240136897460725,0.10418699583803699,0.9999999801985757,-6.124570805142462e-05,-8.946787393821713e-05,0.0001388890752886321,0.6761,-0.004,0.10415959717777319,1.0,0.0,0.0,0.0,0.014847855973190716,0.06174151758394192,1.0685122569015313,0.001701106872577303,0.0033124721127552326,-0.00017204852019216468,0.6041719524179686,0.537278049364654,1.3443620317351805,0.04058359613553026,-0.038571098204415045,0.0002586277123760597,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9976250115251737,0.7881563312691561,-0.39386142814265884,0.23718583932268364,0.3947008894786918,0.44678450746179466,1.5366765084632985,-1.0685122569015313,1.9305379366059574,1.9305379366059574,2.338220036390484,0,0,-0.00038614848126980315,-9.952459276008625e-05
+17189,1792759313558639198,42716485000000,1792759313555987435,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760409688339056,-0.004246741350582285,0.10407552099106,0.9999999800095419,-7.994417471938645e-05,-6.945456168685193e-05,0.0001421575636661613,0.6761,-0.004,0.104041611149977,1.0,0.0,0.0,0.0,0.014913492334942102,0.05232803780325129,1.0987440226075949,0.0016901232293985782,0.0033044122385336577,4.9713183137389046e-05,0.60423758877972,0.5278645695839633,1.374593797441244,0.040572612492351535,-0.03857915807863662,0.00048038941570561344,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9887039576891623,0.8230166483345615,-0.40477216464948884,0.2464344678436696,0.3949005749331864,0.4741076639739302,1.5366765084632985,-1.0987440226075949,1.9414486731127873,1.9414486731127873,2.3832200363905125,0,0,-0.00040048041554804757,-9.999999025923074e-05
+17220,1792759313816637285,42716743000000,1792759313815986835,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760436007524993,-0.004251900280611956,0.10396936229886385,0.9999999784232824,-0.00010034183216982442,-6.347276264135488e-05,0.00014317480352742253,0.6761,-0.004,0.10393662955309105,1.0,0.0,0.0,0.0,0.023981536187395736,0.06300618164628385,1.1167509364301709,0.0016880221606765389,0.0032994078931359305,0.0004411708306374234,0.6133056326321736,0.5385427134269959,1.3926007112638201,0.040570511423629496,-0.03858416242403435,0.0008718470632056478,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0353130449665828,0.794301783475957,-0.4607701674861129,0.2630579012504631,0.43993376832326286,0.45682794024848844,1.5366765084632985,-1.1167509364301709,1.9974466759494114,1.9974466759494114,2.421920036390537,0,0,-0.0004133804130349291,-9.999999025923074e-05
+17254,1792759314099683654,42717026000000,1792759314095986429,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760397296453697,-0.004257999965587514,0.10385658859884582,0.9999999756260631,-0.00011872677635055386,-7.261679774122515e-05,0.00014429653682389182,0.6761,-0.004,0.1038176620879496,1.0,0.0,0.0,0.0,0.02400307143240199,0.07337323598920092,1.1290258194742582,0.0016875089936818008,0.0032961335259198837,0.0002561198925310372,0.6133271678771799,0.548909767769913,1.4048755943079072,0.04056999825663476,-0.038587436791250394,0.0006867961250992616,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.000752604339849,0.7461457200222944,-0.514914500549744,0.28287724549778975,0.46393369998736,0.42216404645586975,1.5366765084632985,-1.1290258194742582,2.0515910090130425,2.0515910090130425,2.4643700363905636,0,0,-0.0004274751427655029,-9.999999025923074e-05
+17283,1792759314341684059,42717268000000,1792759314339986765,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6760423441138975,-0.00426859002003505,0.10374986127502679,0.9999999731970914,-0.00013382168465536534,-6.541710451499774e-05,0.0001511986770502512,0.6761,-0.004,0.10371275505368675,1.0,0.0,0.0,0.0,0.03907279856388979,0.07385695149775523,1.1393908335606304,0.0016849939022399313,0.0032933237606671967,0.0004249818055913879,0.6283968950086677,0.5493934832784673,1.4152406083942797,0.04056748316519289,-0.03859024655650308,0.0008556580381596123,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9710885846212493,0.7302934635189253,-0.5197203989670238,0.2972386179950663,0.46007355324982885,0.4144201403801934,1.5366765084632985,-1.1393908335606304,2.0563969074303223,2.0563969074303223,2.5006700363905865,0,0,-0.00043957514040823673,-9.999999025923074e-05
+17317,1792759314624657639,42717551000000,1792759314619987110,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760446783149455,-0.004269112061138536,0.10363015721768265,0.9999999711896564,-0.0001480112170067755,-6.076668913512334e-05,0.00015317845705425283,0.6761,-0.004,0.10358636027122012,1.0,0.0,0.0,0.0,0.04299784506144033,0.06817230183945461,1.158810278930575,0.0006724943823648438,0.0029480822056144745,0.00039262457654830286,0.6323219415062182,0.5437088336201666,1.4346600537642242,0.0395549836453178,-0.038935488111555804,0.0008233008091165273,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0148650665325114,0.6958389425786415,-0.48834405786200524,0.3188115706151171,0.44980875318581826,0.3939340571106852,1.5366765084632985,-1.158810278930575,2.0250205663253036,2.0250205663253036,2.5431200363906132,0,0,-0.0004537235487836729,-9.999999025923074e-05
+17348,1792759314883656079,42717810000000,1792759314879986748,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760431622185606,-0.0042767726995648955,0.10351215024622541,0.9999999685126185,-0.00016407617963787668,-6.523370990552434e-05,0.00015245063664278425,0.6761,-0.004,0.10346717532241312,1.0,0.0,0.0,0.0,0.0491141178678669,0.08074765860569594,1.1789086468260916,0.0008903660085816736,0.002927832881696339,0.00038278856520994873,0.6384382143126448,0.556284190386408,1.4547584216597407,0.03977285527153463,-0.03895573743547394,0.0008134647977781731,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0580152975079824,0.8364298291605183,-0.5407822188764544,0.2883521036682754,0.4951642837754766,0.4873678219157135,1.5366765084632985,-1.1789086468260916,2.077458727339753,2.077458727339753,2.5819700363906377,0,0,-0.0004666735462608137,-9.999999025923074e-05
+17377,1792759315124639777,42718051000000,1792759315119987262,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.6760458382136034,-0.004280327370031771,0.10339934684573739,0.9999999782107031,-8.648573306861548e-05,-6.249406250083955e-05,0.00015374058695565482,0.6761,-0.004,0.10335326099804831,1.0,0.0,0.0,0.0,0.051843595750049154,0.07566959980239424,1.1893719483797103,0.0017041407984810103,0.002268524369620911,0.0003704596664895944,0.641167692194827,0.5512061315831063,1.4652217232133595,0.04058663006143397,-0.03961504594754937,0.0008011358990578188,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0382519206672822,0.7793723676464492,-0.4847681155991427,0.30509322596863747,0.45437081580278876,0.4490987128202422,1.5366765084632985,-1.1893719483797103,2.021444624062441,2.021444624062441,2.6181200363906605,0,0,-0.0004787235439132883,-9.999999025923074e-05
+17407,1792759315374639992,42718301000000,1792759315367987406,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760485042462718,-0.004284932350247446,0.10327944343780263,0.9999999757655926,-0.00011070372744384411,-5.7223806399144214e-05,0.0001561467231823448,0.6761,-0.004,0.10323202386237561,1.0,0.0,0.0,0.0,0.06158471689317757,0.07355265582222653,1.2068493408744305,0.0006837549649929206,0.00228362025420166,0.0003460449945938049,0.6509088133379555,0.5490891876029386,1.4826991157080796,0.03956624422794588,-0.03959995006296862,0.0007767212271620293,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.01956077494638,0.7635738991729213,-0.4815351776532454,0.3194689932267851,0.443157270400625,0.43279389354792774,1.5366765084632985,-1.2068493408744305,2.018211686116544,2.018211686116544,2.655620036390684,0,0,-0.000491223541478096,-9.999999025923074e-05
+17436,1792759315616712302,42718543000000,1792759315615986839,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760465313401199,-0.004292717554952242,0.1031584713734492,0.999999972170874,-0.00013010298819040455,-5.9658608573363805e-05,0.00016314159082421852,0.6761,-0.004,0.10311168971562432,1.0,0.0,0.0,0.0,0.07054163753470866,0.07614563741863406,1.2151560956097782,0.0006802229697146292,0.0022819619623715565,0.000339942794697364,0.6598657339794866,0.5516821691993461,1.4910058704434275,0.039562712232667586,-0.03960160835479872,0.0007706190272655884,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0279921448227467,0.7528708934038253,-0.5628623428675547,0.3268761878387741,0.4992852491955122,0.4255087312986772,1.5366765084632985,-1.2151560956097782,2.0995388513308533,2.0995388513308533,2.691920036390707,0,0,-0.0005033235391208299,-9.999999025923074e-05
+17464,1792759315849680998,42718776000000,1792759315847986599,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760471419978156,-0.00429576844523192,0.10304455266625698,0.9999999707244728,-0.00013962492948649467,-5.7196787392951885e-05,0.00016500704403051995,0.6761,-0.004,0.1029930639312747,1.0,0.0,0.0,0.0,0.06769153023909902,0.0844582608266477,1.2291708035621784,0.0006771026565122878,0.002277823292513269,0.0003287254477150109,0.6570156266838769,0.5599947926073597,1.5050205783958275,0.039559591919465245,-0.03960574702465701,0.0007594016802832353,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9640928264265874,0.7766046097350051,-0.4539289274265909,0.3347180752865173,0.40942745760321514,0.4477421833121168,1.5366765084632985,-1.2291708035621784,1.9906054358898895,1.9906054358898895,2.726870036390729,0,0,-0.0005149735368512306,-9.999999025923074e-05
+17491,1792759316074685168,42719001000000,1792759316071987408,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760400438742601,-0.00429974008793833,0.10291893223214085,0.9999999682506083,-0.00015296635570391653,-6.96462624886881e-05,0.00016337790110194377,0.6761,-0.004,0.10287593488573084,1.0,0.0,0.0,0.0,0.0792627505288721,0.08465833004746998,1.2392213384325586,0.000675252679217267,0.0022668834988711986,0.00032187611716064156,0.66858684697365,0.560194861828182,1.5150711132662076,0.039557741942170224,-0.03961668681829908,0.000752552349728866,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0135279427913475,0.8500107975285731,-0.49515405930721323,0.3172263013771554,0.45338658906460605,0.4965404316636072,1.5366765084632985,-1.2392213384325586,2.0318305677705117,2.0318305677705117,2.7606200363907503,0,0,-0.0005262235346595575,-9.999999025923074e-05
+17519,1792759316308694615,42719235000000,1792759316307977378,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760412718323717,-0.0043052799926576405,0.10279362204371391,0.9999999701172869,-0.0001411281391664728,-6.840792710741914e-05,0.00016313029596246137,0.6761,-0.004,0.10275143552888832,1.0,0.0,0.0,0.0,0.07122429886120629,0.08102589982757896,1.2489527850124889,0.0006749576073042662,0.0022730573967870565,0.0003094443172124919,0.6605483953059842,0.556562431608291,1.5248025598461379,0.039557446870257224,-0.03961051292038322,0.0007401205497807163,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9616271473033061,0.8601484859355002,-0.5683851534668483,0.3260958354502424,0.4839509578615479,0.5101813824971562,1.5366765084632985,-1.2489527850124889,2.1050616619301468,2.1050616619301468,2.7957200363907724,0,0,-0.0005379235323802175,-9.999999025923074e-05
+17544,1792759316516691432,42719443000000,1792759316511986978,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760528659739106,-0.00430929327461274,0.10268889754854456,0.9999999698251619,-0.00014577011818963916,-4.8122174986099223e-05,0.00016801151249288074,0.6761,-0.004,0.10263847103436496,1.0,0.0,0.0,0.0,0.0826599983620101,0.09400499129172041,1.2400582584016848,0.0006749962742222948,0.0022737872372838377,0.00032175124964960546,0.671984094806788,0.5695415230724324,1.5159080332353339,0.03955748553717525,-0.03960978307988644,0.0007524274822178299,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0245162546724929,0.7827850675003039,-0.5330342466954822,0.35597939015848,0.47474153675292124,0.4612965192933635,1.5366765084632985,-1.2400582584016848,2.0697107551587806,2.0697107551587806,2.826920036390792,0,0,-0.0005483235303541375,-9.999999025923074e-05
+17570,1792759316733718834,42719660000000,1792759316731986783,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760513635476199,-0.004311616894676174,0.10257111872607558,0.9999999679671991,-0.00015565955448774158,-5.370452721996269e-05,0.00016850635514553732,0.6761,-0.004,0.10251831302850851,1.0,0.0,0.0,0.0,0.07998632508089165,0.08511277134255085,1.249253377015258,0.0006731690407147245,0.002273226077687991,0.00031399229475668556,0.6693104215256696,0.5606493031232629,1.525103151848907,0.03955565830366768,-0.03961034423948229,0.00074466852732491,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9953955080828922,0.8680192556734103,-0.5838618277470675,0.3323905374386384,0.5025093513507801,0.5119032087005888,1.5366765084632985,-1.249253377015258,2.120538336210366,2.120538336210366,2.8594700363908125,0,0,-0.0005591735282403906,-9.999999025923074e-05
+17596,1792759316949736522,42719876000000,1792759316943986776,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760451468279561,-0.004314335064450908,0.10244007620735174,0.9999999654478875,-0.00016805401247729985,-6.223719790704403e-05,0.0001686163341772261,0.6761,-0.004,0.10239637054663688,1.0,0.0,0.0,0.0,0.08950966315144449,0.08658393396800573,1.2489116365354054,-0.0003468592689328115,0.0022906030093090557,0.0003007504282857796,0.6788337595962224,0.5621204657487178,1.5247614113690546,0.038535629994020146,-0.03959296730786122,0.000731426660854004,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0178040342707892,0.8078097667645345,-0.6264532769921841,0.3532786805848262,0.536290772260201,0.47225484041897414,1.5366765084632985,-1.2489116365354054,2.1631297854554825,2.1631297854554825,2.891870036390833,0,0,-0.0005699735261363844,-9.999999025923074e-05
+17619,1792759317141739404,42720068000000,1792759317135986623,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760395091253112,-0.0043225812721552565,0.10231498932275736,0.9999999618441071,-0.00017398310849869812,-6.979843198929152e-05,0.00018058988179065074,0.6761,-0.004,0.10228601882979917,1.0,0.0,0.0,0.0,0.08419751967726408,0.0823428080760022,1.2489230736565382,-0.000346752006762506,0.0022920382219205754,0.00030325726137673094,0.673521616122042,0.5578793398567142,1.5247728484901875,0.03853573725619045,-0.0395915320952497,0.0007339334939449553,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9712958261446855,0.8188508565139057,-0.5183932910258029,0.34825082776950533,0.45531297116173713,0.4793420245295785,1.5366765084632985,-1.2489230736565382,2.055069799489101,2.055069799489101,2.920670036390851,0,0,-0.0005795735242661567,-9.999999025923074e-05
+17641,1792759317324721350,42720251000000,1792759317323977542,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760302849704349,-0.004327764280747151,0.10219774903877259,0.9999999582564492,-0.00017538004739913783,-8.834939817121074e-05,0.00019069920502607138,0.6761,-0.004,0.10217912422502246,1.0,0.0,0.0,0.0,0.0815244679147491,0.07002110656466404,1.2582144267547375,-0.001369619282465817,0.00230972844351153,0.00028388408411878353,0.670848564359527,0.5455576383453761,1.5340642015883865,0.03751286998048714,-0.03957384187365875,0.0007145603166870079,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.038755105460678,0.9225446118468986,-0.517388679125284,0.31842562946856434,0.47973121377433714,0.5491454318728691,1.5366765084632985,-1.2582144267547375,2.0540651875885825,2.0540651875885825,2.9481200363908684,0,0,-0.000588723522483596,-9.999999025923074e-05
+17664,1792759317516682373,42720443000000,1792759317515986887,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.6760310526169394,-0.004335284740259156,0.1020781952908819,0.999999956804898,-0.00017023713317374035,-8.431203022662497e-05,0.0002043131579246865,0.6761,-0.004,0.10206517250888608,1.0,0.0,0.0,0.0,0.08103491589689182,0.060230085346910045,1.2484462887107455,-0.0013693413979360552,0.0023126658068663014,0.00029171850497179664,0.6703590123416697,0.5357666171276221,1.5242960635443945,0.0375131478650169,-0.03957090451030398,0.000722394737540021,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0386702562154029,0.7550597417927373,-0.574018555919447,0.3758090332306998,0.5139714775414209,0.4429925378437641,1.5366765084632985,-1.2484462887107455,2.1106950643827456,2.1106950643827456,2.9769200363908865,0,0,-0.0005983235206133683,-9.999999025923074e-05
+17690,1792759317733651572,42720660000000,1792759317727987210,DOWN_FORCE_DETACH,3,0.0745,0.07450146228075027,0.676049507266494,-0.0043345757300140755,0.10196768265023937,0.9999999691210048,-6.957674563009911e-05,-6.484114410999537e-05,0.00021013223573818418,0.6761,-0.004,0.10193416450514338,1.0,0.0,0.0,0.0,0.07162176808599918,0.0693497814972544,1.2383604672223827,-0.001393613621970012,0.0033275180767051576,0.0003144494599820817,0.6609458645307771,0.5448863132779664,1.514210242056032,0.037488875640982945,-0.03855605224046512,0.0007451256925503061,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0202592002701112,0.8942793692062628,-0.4518180381625667,0.3167026427834053,0.4323174903781066,0.4886109703973404,1.5366765084632985,-1.2383604672223827,1.9884945466258652,1.9884945466258652,3.009470036390907,0,0,-0.0006091735184996213,-9.999999025923074e-05
+17711,1792759317908723197,42720835000000,1792759317903987243,DOWN_FORCE_DETACH,3,0.0745,0.0745021179318428,0.676045817857432,-0.004324539319223327,0.10186033218099089,0.9999999701854579,-0.0001526628528332797,-6.593039185755931e-05,0.000153033278421916,0.6761,-0.004,0.10182679788955595,1.0,0.0,0.0,0.0,0.08984739287301013,0.09171898885358981,1.2309875722488952,-0.0003419921168591883,0.002294756646645753,0.0003191642713278913,0.679171489317788,0.5672555206343018,1.5068373470825445,0.03854049714609377,-0.039588813670524525,0.0007498405038961157,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.0903872569307733,0.8120462327688827,-0.5326726019395821,0.31286073046419305,0.5107820021642384,0.47569090011933224,1.5366765084632985,-1.2309875722488952,2.0693491104028805,2.0693491104028805,3.0357200363909236,0,0,-0.0006179235167949867,-9.999999025923074e-05
+17734,1792759318094656635,42721021000000,1792759318087987228,DOWN_SETTLE,3,0.0745,0.0745021179318428,0.6760443988250501,-0.004338834700224663,0.10173926536814366,0.9999999655058351,-0.00015575637615717944,-6.511967438207846e-05,0.0001786912760541845,0.6761,-0.004,0.10171131624060133,1.0,0.0,0.0,0.0,0.0812912282023478,0.0689141570890694,1.2285009122157358,-0.0013642572457938928,0.0023162106531039034,0.0003078948356314223,0.6706153246471257,0.5444506888697814,1.5043506870493848,0.037518232017159064,-0.039567359664066375,0.0007385710681996467,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,1.1035407418139385,0.8578321900977115,-0.5104717960561929,0.33517011346643993,0.49413359881737545,0.5079203382216149,1.5366765084632985,-1.2285009122157358,2.0471483045194914,0.0,0.0,0,0,-0.0005991735149832037,0.0016000000097407686
+17777,1792759318452711936,42721379000000,1792759318451977446,DOWN_SETTLE,3,0.0745,0.0745021179318428,0.6760396836175525,-0.004335856753875162,0.10165100748458542,0.9999999631984574,-0.00015185723221152828,-7.786134198798205e-05,0.0001895334811972396,0.6761,-0.004,0.10164106158827596,1.0,0.0,0.0,0.0,0.07254653511904963,0.05425007344927585,1.1778102564402162,-0.0023760424027248275,0.002347143894484975,0.00031256445646310775,0.6618706315638275,0.5297866052299879,1.4536600312738652,0.03650644686022813,-0.0395364264226853,0.0007432406890313321,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.980109681929106,0.761939679981698,-0.25411136417220687,0.3590415218969733,0.3064935027818074,0.44279446438332604,1.5366765084632985,-1.1778102564402162,1.7907878726355053,0.0,0.0,0,0,-2.065985599560043e-05,0.00020868541409697406
+17844,1792759319010779659,42721937000000,1792759319007978461,DOWN_PEAK_HOLD,3,0.0745,0.07450146228075027,0.6760327371177577,-0.004336255133078364,0.1016287157493603,0.9999999618031704,-0.00015411746037028617,-9.172754994417727e-05,0.00018886605587142092,0.6761,-0.004,0.10163998306805767,1.0,0.0,0.0,0.0,0.07123295698365584,0.05124698640038078,1.0974776457880568,-0.0023889103632507847,0.0033779372567227517,0.0004126209760331309,0.6605570534284337,0.5267835181810928,1.373327420621706,0.03649357889970217,-0.038505633060447526,0.0008432972086013553,0.5893240964447779,0.47553653178071204,0.27584977483364914,0.03888248926295296,-0.04188357031717028,0.0004306762325682244,1,0.9070508416611496,0.856939792626142,-0.27835106946057625,0.3158324930723482,0.30543892100080294,0.5020767420134524,1.5366765084632985,-1.0974776457880568,1.8150275779238747,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_0030_20/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,1792759299485112901,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.669673702e-10,-5.989804139e-12,-1.673278183e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450464e-01,-1.154008654e-04,8.303262582e-01
+1,4.833333333e-01,DOWN_FORCE_DETACH,1792759299960075838,-2.036918228e-06,7.989243702e-07,-3.447151423e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.663418092e-08,-1.526664732e-11,-3.805274429e-09,7.019536327e-01,-2.128898704e-05,8.601399987e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450624e-01,-1.154008747e-04,8.303262545e-01
+2,1.100000000e+00,DOWN_FORCE_DETACH,1792759300566059824,3.559895004e-07,3.515901296e-07,-3.220655517e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.989512604e-08,1.659733601e-10,-6.054908908e-09,7.019560256e-01,-2.173632128e-05,8.601431238e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450756e-01,-1.154006934e-04,8.303262523e-01
+3,1.633333333e+00,DOWN_FORCE_DETACH,1792759301090240886,-3.266014567e-06,-1.287160486e-06,-7.350315128e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.712259078e-08,3.618578007e-10,-6.833257515e-09,7.019524036e-01,-2.337507189e-05,8.601360955e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450828e-01,-1.154004976e-04,8.303262515e-01
+4,2.150000000e+00,DOWN_FORCE_DETACH,1792759301614564928,-2.881770549e-06,-2.392694366e-07,-1.494288002e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.167521184e-08,5.353773917e-10,-7.061769725e-09,7.019527879e-01,-2.232718084e-05,8.601285030e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450874e-01,-1.154003240e-04,8.303262513e-01
+5,2.700000000e+00,DOWN_FORCE_DETACH,1792759302154810344,-7.028193600e-06,-1.868064457e-07,-4.279470735e-05,-7.160298611e-06,-4.179126364e-07,-3.955622266e-05,-8.219423142e-06,-4.548994098e-07,-3.951629875e-05,7.019486414e-01,-2.227471785e-05,8.601006511e-01,7.019485093e-01,-2.250582404e-05,8.601038896e-01,7.027368263e-01,-1.158557588e-04,8.302867420e-01
+6,3.100000000e+00,DOWN_FORCE_DETACH,1792759302564432795,3.079446193e-05,-7.120941894e-06,-7.394819442e-05,3.042521694e-05,-7.094212686e-06,-7.335427177e-05,3.184462229e-05,-7.217872708e-06,-7.321842459e-05,7.019864641e-01,-2.920885330e-05,8.600694977e-01,7.019860948e-01,-2.918212409e-05,8.600700916e-01,7.027768903e-01,-1.226187321e-04,8.302530399e-01
+7,3.516666667e+00,DOWN_FORCE_DETACH,1792759302973754153,1.830791301e-05,-6.439977168e-06,-1.055758651e-04,2.149494694e-05,-6.506313758e-06,-9.299280246e-05,2.202748225e-05,-6.582119649e-06,-9.291597629e-05,7.019739775e-01,-2.852788857e-05,8.600378700e-01,7.019771646e-01,-2.859422516e-05,8.600504530e-01,7.027670732e-01,-1.219829791e-04,8.302333424e-01
+8,3.966666667e+00,DOWN_FORCE_DETACH,1792759303432510169,4.119601061e-07,-8.214060917e-06,-1.783861899e-04,7.942453489e-07,-8.029442657e-06,-1.768644388e-04,-1.316524994e-06,-8.112721241e-06,-1.767075995e-04,7.019560816e-01,-3.030197232e-05,8.599650597e-01,7.019564639e-01,-3.011735406e-05,8.599665814e-01,7.027437292e-01,-1.235135807e-04,8.301495507e-01
+9,4.383333333e+00,DOWN_FORCE_DETACH,1792759303874950707,7.649477131e-06,3.657210481e-06,-2.187004048e-04,4.938474461e-06,-3.459366264e-06,-2.120398666e-04,2.731413491e-06,-3.495529540e-06,-2.118757018e-04,7.019633191e-01,-1.843070092e-05,8.599247454e-01,7.019606081e-01,-2.554727767e-05,8.599314060e-01,7.027477771e-01,-1.188963890e-04,8.301143826e-01
+10,4.783333333e+00,DOWN_FORCE_DETACH,1792759304366029846,1.026151828e-05,-1.096381247e-05,-2.927583589e-04,1.030209230e-05,-1.107159070e-05,-2.927382892e-04,7.455731189e-06,-1.119068616e-05,-2.924482702e-04,7.019659311e-01,-3.305172388e-05,8.598506875e-01,7.019659717e-01,-3.315950211e-05,8.598507076e-01,7.027525014e-01,-1.265915456e-04,8.300338101e-01
+11,5.183333333e+00,DOWN_FORCE_DETACH,1792759304824833509,9.851043005e-06,-1.338369239e-05,-3.751736325e-04,8.405277795e-06,-1.368102265e-05,-3.567817356e-04,4.604930655e-06,-1.385152482e-05,-3.565341026e-04,7.019655207e-01,-3.547160380e-05,8.597682722e-01,7.019640749e-01,-3.576893405e-05,8.597866641e-01,7.027496506e-01,-1.292523842e-04,8.299697242e-01
+12,5.616666667e+00,DOWN_FORCE_DETACH,1792759305250756021,1.211442645e-05,-2.204433850e-05,-4.555006403e-04,1.267593911e-05,-2.644805429e-05,-4.418425821e-04,8.179703406e-06,-2.676255977e-05,-4.415624473e-04,7.019677841e-01,-4.413224990e-05,8.596879452e-01,7.019683456e-01,-4.853596569e-05,8.597016033e-01,7.027532254e-01,-1.421634192e-04,8.298846959e-01
+13,6.050000000e+00,DOWN_FORCE_DETACH,1792759305676427423,8.471634971e-06,-2.881580670e-05,-5.480163643e-04,8.548708674e-06,-2.892627784e-05,-5.479704150e-04,2.433911046e-06,-2.926667589e-05,-5.476300780e-04,7.019641413e-01,-5.090371811e-05,8.595954295e-01,7.019642183e-01,-5.101418924e-05,8.595954754e-01,7.027474796e-01,-1.446675353e-04,8.297786283e-01
+14,6.483333333e+00,DOWN_FORCE_DETACH,1792759306102561325,7.665973554e-06,-3.627550490e-05,-6.454403549e-04,8.943910709e-06,-3.668565610e-05,-6.352066972e-04,1.765526732e-06,-3.705178132e-05,-6.349004908e-04,7.019633356e-01,-5.836341631e-05,8.594980055e-01,7.019646135e-01,-5.877356751e-05,8.595082391e-01,7.027468112e-01,-1.524526407e-04,8.296913578e-01
+15,6.900000000e+00,DOWN_FORCE_DETACH,1792759306512102642,7.568934105e-06,-4.486475391e-05,-7.419435725e-04,7.666317170e-06,-4.630675647e-05,-7.299153220e-04,-7.887320510e-07,-4.683136308e-05,-7.296078579e-04,7.019632386e-01,-6.695266532e-05,8.594015023e-01,7.019633359e-01,-6.839466787e-05,8.594135305e-01,7.027442570e-01,-1.622322225e-04,8.295966505e-01
+16,7.266666667e+00,DOWN_FORCE_DETACH,1792759306872652143,7.624350452e-06,-5.502871723e-05,-8.322041458e-04,7.706234429e-06,-5.299414986e-05,-8.209141388e-04,-1.875079040e-06,-5.361890929e-05,-8.205988301e-04,7.019632940e-01,-7.711662863e-05,8.593112417e-01,7.019633759e-01,-7.508206126e-05,8.593225317e-01,7.027431706e-01,-1.690197687e-04,8.295056595e-01
+17,7.383333333e+00,DOWN_FORCE_DETACH,1792759306986859595,8.615479502e-05,-3.737228832e-05,-7.906292680e-04,9.165044323e-05,-4.037432028e-05,-7.803242910e-04,8.904107243e-05,-4.083441430e-05,-7.799641307e-04,7.020418244e-01,-5.946019973e-05,8.593528166e-01,7.020473201e-01,-6.246223169e-05,8.593631216e-01,7.028340868e-01,-1.562352737e-04,8.295462942e-01
+18,7.733333333e+00,DOWN_FORCE_DETACH,1792759307351527090,8.739598952e-05,-5.073939097e-05,-8.757469156e-04,8.701147798e-05,-5.063401588e-05,-8.753558236e-04,8.295208560e-05,-5.120886513e-05,-8.749419011e-04,7.020430656e-01,-7.282730237e-05,8.592676989e-01,7.020426811e-01,-7.272192728e-05,8.592680900e-01,7.028279978e-01,-1.666097245e-04,8.294513164e-01
+19,7.966666667e+00,DOWN_FORCE_DETACH,1792759307577427410,8.356801816e-05,-1.484702705e-05,-9.481192937e-04,8.043635985e-05,-1.422778561e-05,-9.407449251e-04,7.509116260e-05,-1.435718078e-05,-9.403548026e-04,7.020392376e-01,-3.693493846e-05,8.591953266e-01,7.020361060e-01,-3.631569702e-05,8.592027009e-01,7.028201369e-01,-1.297580402e-04,8.293859035e-01
+20,8.366666667e+00,DOWN_FORCE_DETACH,1792759307970733581,9.054822228e-05,-2.938895053e-05,-1.053754719e-03,9.043453876e-05,-2.926332158e-05,-1.053333419e-03,8.449342259e-05,-2.958901139e-05,-1.052931236e-03,7.020462178e-01,-5.147686194e-05,8.590896911e-01,7.020461042e-01,-5.135123299e-05,8.590901124e-01,7.028295391e-01,-1.449898708e-04,8.292733271e-01
+21,8.750000000e+00,DOWN_FORCE_DETACH,1792759308346683961,8.221432018e-05,-3.975297847e-05,-1.159740072e-03,8.240458582e-05,-3.856889722e-05,-1.144389421e-03,7.478537657e-05,-3.901359801e-05,-1.143991128e-03,7.020378839e-01,-6.184088988e-05,8.589837058e-01,7.020380742e-01,-6.065680862e-05,8.589990564e-01,7.028198311e-01,-1.544144574e-04,8.291822672e-01
+22,9.116666667e+00,DOWN_FORCE_DETACH,1792759308723438994,9.417228785e-05,-4.598175146e-05,-1.258005198e-03,9.352505645e-05,-4.336345575e-05,-1.254821544e-03,8.544160073e-05,-4.384997124e-05,-1.254423328e-03,7.020498419e-01,-6.806966287e-05,8.588854406e-01,7.020491947e-01,-6.545136716e-05,8.588886243e-01,7.028304873e-01,-1.592508307e-04,8.290718350e-01
+23,9.450000000e+00,DOWN_FORCE_DETACH,1792759309051286002,8.820983527e-05,-4.354186219e-05,-1.342425047e-03,8.811488526e-05,-4.260354079e-05,-1.328973410e-03,7.863125480e-05,-4.308470376e-05,-1.328650567e-03,7.020438795e-01,-6.562977360e-05,8.588010208e-01,7.020437845e-01,-6.469145219e-05,8.588144724e-01,7.028236770e-01,-1.584855632e-04,8.289976078e-01
+24,9.816666667e+00,DOWN_FORCE_DETACH,1792759309412014357,9.638912125e-05,-4.845202024e-05,-1.440666352e-03,9.626574906e-05,-4.863556061e-05,-1.440677053e-03,8.610389713e-05,-4.918698288e-05,-1.440316048e-03,7.020520587e-01,-7.053993165e-05,8.587027795e-01,7.020519354e-01,-7.072347202e-05,8.587027688e-01,7.028311496e-01,-1.645878423e-04,8.288859423e-01
+25,1.016666667e+01,DOWN_FORCE_DETACH,1792759309788435381,9.589399896e-05,-4.860259760e-05,-1.533199717e-03,9.662217111e-05,-5.369676506e-05,-1.529703587e-03,8.536853099e-05,-5.430869476e-05,-1.529362309e-03,7.020515636e-01,-7.069050900e-05,8.586102461e-01,7.020522918e-01,-7.578467647e-05,8.586137423e-01,7.028304142e-01,-1.697095542e-04,8.287968960e-01
+26,1.050000000e+01,DOWN_FORCE_DETACH,1792759310116042369,1.016596147e-04,-5.019219576e-05,-1.620925264e-03,1.020846582e-04,-5.083349124e-05,-1.617382087e-03,9.012020542e-05,-5.143957607e-05,-1.617076472e-03,7.020573292e-01,-7.228010717e-05,8.585225206e-01,7.020577543e-01,-7.292140264e-05,8.585260638e-01,7.028351659e-01,-1.668404355e-04,8.287091819e-01
+27,1.086666667e+01,DOWN_FORCE_DETACH,1792759310503836049,1.106931849e-04,-5.013761271e-05,-1.713692424e-03,1.124480051e-04,-5.150977852e-05,-1.703769604e-03,1.002312342e-04,-5.211963341e-05,-1.703448969e-03,7.020663628e-01,-7.222552411e-05,8.584297534e-01,7.020681176e-01,-7.359768992e-05,8.584396762e-01,7.028452770e-01,-1.675204928e-04,8.286228094e-01
+28,1.116666667e+01,DOWN_FORCE_DETACH,1792759310807812803,9.963481487e-05,-5.883103212e-05,-1.811200220e-03,9.959396755e-05,-5.878018025e-05,-1.811210181e-03,8.515768009e-05,-5.945851436e-05,-1.810908568e-03,7.020553044e-01,-8.091894352e-05,8.583322456e-01,7.020552636e-01,-8.086809165e-05,8.583322357e-01,7.028302034e-01,-1.748593738e-04,8.285153498e-01
+29,1.148333333e+01,DOWN_FORCE_DETACH,1792759311132178283,1.154429119e-04,-6.350515913e-05,-1.893196588e-03,1.180469912e-04,-6.013519148e-05,-1.875521836e-03,1.042629737e-04,-6.083560894e-05,-1.875272157e-03,7.020711125e-01,-8.559307054e-05,8.582502493e-01,7.020737166e-01,-8.222310289e-05,8.582679240e-01,7.028493087e-01,-1.762364684e-04,8.284509862e-01
+30,1.185000000e+01,DOWN_FORCE_DETACH,1792759311492619737,1.050150835e-04,-6.508485506e-05,-1.998530283e-03,1.039948143e-04,-5.883219980e-05,-1.992934805e-03,8.764748001e-05,-5.950040824e-05,-1.992713083e-03,7.020606847e-01,-8.717276646e-05,8.581449156e-01,7.020596644e-01,-8.092011121e-05,8.581505110e-01,7.028326932e-01,-1.749012677e-04,8.283335453e-01
+31,1.210000000e+01,DOWN_FORCE_DETACH,1792759311737214970,1.333220431e-04,-6.767151807e-05,-2.064135544e-03,1.302935593e-04,-7.250653415e-05,-2.063932725e-03,1.151212004e-04,-7.336769456e-05,-2.063684640e-03,7.020889917e-01,-8.975942948e-05,8.580793103e-01,7.020859632e-01,-9.459444556e-05,8.580795131e-01,7.028601669e-01,-1.887685540e-04,8.282625737e-01
+32,1.238333333e+01,DOWN_FORCE_DETACH,1792759312016295087,1.066218627e-04,-7.396416659e-05,-2.176286684e-03,1.081363634e-04,-7.336458640e-05,-2.171079874e-03,8.996130957e-05,-7.420607045e-05,-2.170865269e-03,7.020622915e-01,-9.605207800e-05,8.579671592e-01,7.020638060e-01,-9.545249781e-05,8.579723660e-01,7.028350070e-01,-1.896069299e-04,8.281553931e-01
+33,1.270000000e+01,DOWN_FORCE_DETACH,1792759312327443902,1.340300656e-04,-7.672439861e-05,-2.255267888e-03,1.334677520e-04,-7.749259109e-05,-2.250259873e-03,1.162922850e-04,-7.837898135e-05,-2.250049741e-03,7.020896997e-01,-9.881231001e-05,8.578881780e-01,7.020891374e-01,-9.958050249e-05,8.578931860e-01,7.028613380e-01,-1.937798408e-04,8.280762086e-01
+34,1.300000000e+01,DOWN_FORCE_DETACH,1792759312639016154,1.175934407e-04,-7.664256508e-05,-2.369174645e-03,1.193392137e-04,-8.198621974e-05,-2.357111356e-03,9.975209198e-05,-8.291627200e-05,-2.356894329e-03,7.020732631e-01,-9.873047648e-05,8.577742712e-01,7.020750088e-01,-1.040741311e-04,8.577863345e-01,7.028447978e-01,-1.983171314e-04,8.279693640e-01
+35,1.326666667e+01,DOWN_FORCE_DETACH,1792759312949346410,1.340791293e-04,-8.296985048e-05,-2.466132706e-03,1.373619415e-04,-8.423124837e-05,-2.450485051e-03,1.180101986e-04,-8.523452851e-05,-2.450286984e-03,7.020897488e-01,-1.050577619e-04,8.576773131e-01,7.020930316e-01,-1.063191598e-04,8.576929608e-01,7.028630559e-01,-2.006353879e-04,8.278759714e-01
+36,1.358333333e+01,DOWN_FORCE_DETACH,1792759313260592999,1.261612981e-04,-8.969255317e-05,-2.579821370e-03,1.272180089e-04,-9.453876426e-05,-2.569478492e-03,1.056559573e-04,-9.562838267e-05,-2.569247940e-03,7.020818309e-01,-1.117804646e-04,8.575636245e-01,7.020828876e-01,-1.166266757e-04,8.575739674e-01,7.028507017e-01,-2.110292421e-04,8.277570104e-01
+37,1.386666667e+01,DOWN_FORCE_DETACH,1792759313555653339,1.382423522e-04,-9.706660442e-05,-2.685873419e-03,1.381180531e-04,-9.847403345e-05,-2.668034228e-03,1.162068378e-04,-9.960421244e-05,-2.667825306e-03,7.020939120e-01,-1.191545158e-04,8.574575724e-01,7.020937877e-01,-1.205619449e-04,8.574754116e-01,7.028612526e-01,-2.150050719e-04,8.276584330e-01
+38,1.413333333e+01,DOWN_FORCE_DETACH,1792759313817593967,1.387826686e-04,-9.985055376e-05,-2.793979653e-03,1.364448101e-04,-1.036334813e-04,-2.785833219e-03,1.130127263e-04,-1.048381536e-04,-2.785661888e-03,7.020944523e-01,-1.219384652e-04,8.573494662e-01,7.020921144e-01,-1.257213927e-04,8.573576126e-01,7.028580584e-01,-2.202390131e-04,8.275405965e-01
+39,1.441666667e+01,DOWN_FORCE_DETACH,1792759314096151464,1.368285799e-04,-1.050084861e-04,-2.901061015e-03,1.360449155e-04,-1.094047803e-04,-2.883156427e-03,1.113753585e-04,-1.106944365e-04,-2.883068035e-03,7.020924982e-01,-1.270963975e-04,8.572423848e-01,7.020917145e-01,-1.314926917e-04,8.572602894e-01,7.028564211e-01,-2.260952959e-04,8.274431903e-01
+40,1.466666667e+01,DOWN_FORCE_DETACH,1792759314341891254,1.375260300e-04,-1.165402932e-04,-3.013480677e-03,1.373513650e-04,-1.163960490e-04,-3.013283891e-03,1.112502913e-04,-1.177502215e-04,-3.013068813e-03,7.020931957e-01,-1.386282046e-04,8.571299652e-01,7.020930210e-01,-1.384839604e-04,8.571301620e-01,7.028562960e-01,-2.331510809e-04,8.273131895e-01
+41,1.493333333e+01,DOWN_FORCE_DETACH,1792759314621238965,1.413819292e-04,-1.137210392e-04,-3.130508891e-03,1.371350085e-04,-1.168662407e-04,-3.126119165e-03,1.096156346e-04,-1.182110224e-04,-3.125985293e-03,7.020970516e-01,-1.358089506e-04,8.570129370e-01,7.020928046e-01,-1.389541521e-04,8.570173267e-01,7.028546614e-01,-2.336118818e-04,8.272002730e-01
+42,1.520000000e+01,DOWN_FORCE_DETACH,1792759314882132366,1.357783213e-04,-1.267158925e-04,-3.252924895e-03,1.374035165e-04,-1.243721362e-04,-3.245453765e-03,1.084730120e-04,-1.258255739e-04,-3.245273389e-03,7.020914479e-01,-1.488038039e-04,8.568905210e-01,7.020930731e-01,-1.464600476e-04,8.568979921e-01,7.028535187e-01,-2.412264334e-04,8.270809849e-01
+43,1.545000000e+01,DOWN_FORCE_DETACH,1792759315128459424,1.406598076e-04,-1.311484131e-04,-3.369251774e-03,1.414468916e-04,-1.283309704e-04,-3.357124931e-03,1.114782842e-04,-1.298441598e-04,-3.356992846e-03,7.020963294e-01,-1.532363245e-04,8.567741941e-01,7.020971165e-01,-1.504188818e-04,8.567863209e-01,7.028565240e-01,-2.452450193e-04,8.269692655e-01
+44,1.570000000e+01,DOWN_FORCE_DETACH,1792759315375308696,1.420942321e-04,-1.339224932e-04,-3.485397605e-03,1.418797595e-04,-1.340192211e-04,-3.485108263e-03,1.104211724e-04,-1.355929688e-04,-3.484971792e-03,7.020977639e-01,-1.560104046e-04,8.566580482e-01,7.020975494e-01,-1.561071325e-04,8.566583376e-01,7.028554669e-01,-2.509938282e-04,8.268412865e-01
+45,1.595000000e+01,DOWN_FORCE_DETACH,1792759315619636884,1.417567413e-04,-1.406796349e-04,-3.604911270e-03,1.414249748e-04,-1.409421974e-04,-3.605163755e-03,1.084733361e-04,-1.425926200e-04,-3.605070320e-03,7.020974264e-01,-1.627675463e-04,8.565385346e-01,7.020970946e-01,-1.630301088e-04,8.565382821e-01,7.028535191e-01,-2.579934794e-04,8.267211880e-01
+46,1.616666667e+01,DOWN_FORCE_DETACH,1792759315848925178,1.409588848e-04,-1.471513975e-04,-3.721376576e-03,1.417628381e-04,-1.442954747e-04,-3.703852961e-03,1.076355856e-04,-1.459486577e-04,-3.703761315e-03,7.020966285e-01,-1.692393090e-04,8.564220693e-01,7.020974325e-01,-1.663833861e-04,8.564395929e-01,7.028526813e-01,-2.613495171e-04,8.266224970e-01
+47,1.640000000e+01,DOWN_FORCE_DETACH,1792759316078015123,1.359850512e-04,-1.466804766e-04,-3.844245807e-03,1.358633527e-04,-1.464496396e-04,-3.844112199e-03,9.963836031e-05,-1.481352995e-04,-3.844029402e-03,7.020916547e-01,-1.687683880e-04,8.562992000e-01,7.020915330e-01,-1.685375510e-04,8.562993336e-01,7.028446841e-01,-2.635361590e-04,8.264822289e-01
+48,1.663333333e+01,DOWN_FORCE_DETACH,1792759316307301751,1.324730783e-04,-1.547344321e-04,-3.971355854e-03,1.344548816e-04,-1.531055044e-04,-3.963038876e-03,9.667686491e-05,-1.548962219e-04,-3.963006369e-03,7.020881427e-01,-1.768223435e-04,8.561720900e-01,7.020901245e-01,-1.751934158e-04,8.561804070e-01,7.028417226e-01,-2.702970813e-04,8.263632520e-01
+49,1.685000000e+01,DOWN_FORCE_DETACH,1792759316520322580,1.474504605e-04,-1.601379344e-04,-4.078052165e-03,1.473176298e-04,-1.602666982e-04,-4.078345888e-03,1.091379045e-04,-1.621216167e-04,-4.078330460e-03,7.021031201e-01,-1.822258458e-04,8.560653937e-01,7.021029873e-01,-1.823546096e-04,8.560651000e-01,7.028541836e-01,-2.775224761e-04,8.262479279e-01
+50,1.705000000e+01,DOWN_FORCE_DETACH,1792759316733791091,1.443872451e-04,-1.634588714e-04,-4.198190402e-03,1.465623496e-04,-1.590190902e-04,-4.185871510e-03,1.070304505e-04,-1.608716771e-04,-4.185839030e-03,7.021000569e-01,-1.855467828e-04,8.559452554e-01,7.021022320e-01,-1.811070016e-04,8.559575743e-01,7.028520762e-01,-2.762725366e-04,8.261404193e-01
+51,1.726666667e+01,DOWN_FORCE_DETACH,1792759316946646144,1.400798816e-04,-1.631826668e-04,-4.323188875e-03,1.399047237e-04,-1.632311416e-04,-4.322792536e-03,9.818319386e-05,-1.651697897e-04,-4.322748727e-03,7.020957495e-01,-1.852705782e-04,8.558202570e-01,7.020955743e-01,-1.853190530e-04,8.558206533e-01,7.028432289e-01,-2.805706491e-04,8.260035096e-01
+52,1.745000000e+01,DOWN_FORCE_DETACH,1792759317143855907,1.360834157e-04,-1.690920182e-04,-4.450119856e-03,1.359829890e-04,-1.690797799e-04,-4.450088457e-03,9.251370015e-05,-1.710404745e-04,-4.450073088e-03,7.020917530e-01,-1.911799296e-04,8.556933260e-01,7.020916526e-01,-1.911676913e-04,8.556933574e-01,7.028375594e-01,-2.864413339e-04,8.258761853e-01
+53,1.763333333e+01,DOWN_FORCE_DETACH,1792759317322934666,1.265229755e-04,-1.749981140e-04,-4.565751963e-03,1.260913312e-04,-1.769237539e-04,-4.552783841e-03,8.056317693e-05,-1.790208996e-04,-4.552860307e-03,7.020821926e-01,-1.970860254e-04,8.555776939e-01,7.020817610e-01,-1.990116653e-04,8.555906620e-01,7.028256089e-01,-2.944217590e-04,8.257733980e-01
+54,1.780000000e+01,DOWN_FORCE_DETACH,1792759317520218620,1.280048192e-04,-1.862544690e-04,-4.686394030e-03,1.278889083e-04,-1.861764667e-04,-4.686243730e-03,8.092043990e-05,-1.883168449e-04,-4.686259728e-03,7.020836744e-01,-2.083423804e-04,8.554570518e-01,7.020835585e-01,-2.082643781e-04,8.554572021e-01,7.028259662e-01,-3.037177043e-04,8.256399986e-01
+55,1.801666667e+01,DOWN_FORCE_DETACH,1792759317733178100,1.454934359e-04,-1.854100778e-04,-4.793387564e-03,1.447914787e-04,-1.817183756e-04,-4.783799474e-03,9.794408012e-05,-1.838146761e-04,-4.783942324e-03,7.021011631e-01,-2.074979892e-04,8.553500583e-01,7.021004611e-01,-2.038062870e-04,8.553596464e-01,7.028429898e-01,-2.992155355e-04,8.255423160e-01
+56,1.820000000e+01,DOWN_FORCE_DETACH,1792759317912636613,1.417965075e-04,-1.759220516e-04,-4.903956025e-03,1.416795027e-04,-1.760848200e-04,-4.892233525e-03,9.337231571e-05,-1.781166104e-04,-4.892376953e-03,7.020974661e-01,-1.980099630e-04,8.552394898e-01,7.020973491e-01,-1.981727314e-04,8.552512123e-01,7.028384180e-01,-2.935174698e-04,8.254338814e-01
+57,1.838333333e+01,DOWN_SETTLE,1792759318093222342,1.395807412e-04,-1.867849734e-04,-5.024076584e-03,1.393338903e-04,-1.842595392e-04,-5.005854227e-03,8.948413675e-05,-1.863969588e-04,-5.005998109e-03,7.020952504e-01,-2.088728848e-04,8.551193693e-01,7.020950035e-01,-2.063474506e-04,8.551375916e-01,7.028345299e-01,-3.017978182e-04,8.253202602e-01
+58,1.875000000e+01,DOWN_SETTLE,1792759318453932662,1.346663029e-04,-1.836335735e-04,-5.112539447e-03,1.391927994e-04,-1.829710961e-04,-5.097321754e-03,8.820071065e-05,-1.851221969e-04,-5.097748006e-03,7.020903359e-01,-2.057214850e-04,8.550309064e-01,7.020948624e-01,-2.050590075e-04,8.550461241e-01,7.028332464e-01,-3.005230563e-04,8.252285103e-01
+59,1.926666667e+01,DOWN_PEAK_HOLD,1792759319009920422,1.287321387e-04,-1.806183103e-04,-5.135053569e-03,1.321080062e-04,-1.818717761e-04,-5.118313614e-03,8.032810214e-05,-1.840628626e-04,-5.119019656e-03,7.020844018e-01,-2.027062217e-04,8.550083923e-01,7.020877776e-01,-2.039596875e-04,8.550251322e-01,7.028253738e-01,-2.994637220e-04,8.252072387e-01

Fixed/digit/ball_0030_20/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+00,1.3230e-02,3.4404e-02,2.4536e+00,-3.9145e-02,3.7729e-02,2.0171e-05,1.1643e-04,1.9968e-06,-3.0518e-05,2.9430e-07,8.3558e-06,-4.0146e-07,1.2038e-04,8.3706e-06
+1,4.8333e-01,DOWN_FORCE_DETACH,1.2707e-04,1.6022e-02,3.4476e-02,2.4530e+00,-3.9138e-02,3.7928e-02,9.4665e-06,2.9077e-03,7.4066e-05,-6.9785e-04,7.3053e-06,2.0777e-04,-1.1106e-05,2.9912e-03,2.0820e-04
+2,1.1000e+00,DOWN_FORCE_DETACH,2.5614e-04,1.8337e-02,3.4580e-02,2.4526e+00,-3.9132e-02,3.8093e-02,-2.3331e-06,5.2233e-03,1.7735e-04,-1.1110e-03,1.3530e-05,3.7231e-04,-2.2906e-05,5.3431e-03,3.7326e-04
+3,1.6333e+00,DOWN_FORCE_DETACH,3.8269e-04,1.9599e-02,3.4661e-02,2.4524e+00,-3.9128e-02,3.8182e-02,-1.1255e-05,6.4847e-03,2.5833e-04,-1.2555e-03,1.7408e-05,4.6165e-04,-3.1827e-05,6.6102e-03,4.6307e-04
+4,2.1500e+00,DOWN_FORCE_DETACH,5.1232e-04,2.0393e-02,3.4726e-02,2.4524e+00,-3.9125e-02,3.8238e-02,-1.8931e-05,7.2794e-03,3.2347e-04,-1.2999e-03,2.0359e-05,5.1780e-04,-3.9503e-05,7.4016e-03,5.1970e-04
+5,2.7000e+00,DOWN_FORCE_DETACH,6.3888e-04,2.4151e-02,3.5560e-02,2.4668e+00,-3.9168e-02,3.8484e-02,-2.6911e-05,1.1037e-02,1.1574e-03,1.3098e-02,-2.2206e-05,7.6346e-04,-4.7483e-05,1.7167e-02,7.6526e-04
+6,3.1000e+00,DOWN_FORCE_DETACH,7.6612e-04,2.5902e-02,3.7857e-02,2.4786e+00,-3.9311e-02,3.8591e-02,-3.2349e-05,1.2788e-02,3.4542e-03,2.4917e-02,-1.6516e-04,8.7069e-04,-5.2922e-05,2.8219e-02,8.8780e-04
+7,3.5167e+00,DOWN_FORCE_DETACH,8.9756e-04,1.4594e-02,4.0936e-02,2.4753e+00,-3.9511e-02,3.7794e-02,-3.0630e-05,1.4802e-03,6.5335e-03,2.1617e-02,-3.6541e-04,7.4163e-05,-5.1202e-05,2.2631e-02,3.7636e-04
+8,3.9667e+00,DOWN_FORCE_DETACH,1.0224e-03,2.5738e-02,4.3315e-02,2.4997e+00,-3.9648e-02,3.8549e-02,-3.3663e-05,1.2624e-02,8.9130e-03,4.5993e-02,-5.0267e-04,8.2878e-04,-5.4236e-05,4.8519e-02,9.7082e-04
+9,4.3833e+00,DOWN_FORCE_DETACH,1.1520e-03,2.2852e-02,4.0244e-02,2.4999e+00,-3.9425e-02,3.8342e-02,-3.3589e-05,9.7383e-03,5.8412e-03,4.6241e-02,-2.7997e-04,6.2165e-04,-5.4162e-05,4.7615e-02,6.8394e-04
+10,4.7833e+00,DOWN_FORCE_DETACH,1.2768e-03,2.0288e-02,4.2998e-02,2.5106e+00,-3.9601e-02,3.8143e-02,-2.8897e-05,7.1738e-03,8.5960e-03,5.6970e-02,-4.5583e-04,4.2315e-04,-4.9470e-05,5.8060e-02,6.2393e-04
+11,5.1833e+00,DOWN_FORCE_DETACH,1.4091e-03,2.3401e-02,4.9701e-02,2.5244e+00,-4.0041e-02,3.8340e-02,-2.0869e-05,1.0287e-02,1.5298e-02,7.0702e-02,-8.9536e-04,6.1978e-04,-4.1441e-05,7.3066e-02,1.0897e-03
+12,5.6167e+00,DOWN_FORCE_DETACH,1.5355e-03,2.2406e-02,6.1172e-02,2.5327e+00,-4.0804e-02,3.8253e-02,-7.5341e-06,9.2923e-03,2.6770e-02,7.9018e-02,-1.6585e-03,5.3275e-04,-2.8107e-05,8.3945e-02,1.7422e-03
+13,6.0500e+00,DOWN_FORCE_DETACH,1.6630e-03,2.3464e-02,6.1534e-02,2.5361e+00,-4.0818e-02,3.8321e-02,3.3425e-06,1.0350e-02,2.7132e-02,8.2387e-02,-1.6731e-03,6.0042e-04,-1.7230e-05,8.7355e-02,1.7776e-03
+14,6.4833e+00,DOWN_FORCE_DETACH,1.7929e-03,2.4055e-02,7.2591e-02,2.5475e+00,-4.1558e-02,3.8349e-02,1.4567e-05,1.0941e-02,3.8189e-02,9.3773e-02,-2.4129e-03,6.2900e-04,-6.0053e-06,1.0184e-01,2.4936e-03
+15,6.9000e+00,DOWN_FORCE_DETACH,1.9178e-03,2.4594e-02,8.1372e-02,2.5520e+00,-4.2149e-02,3.8381e-02,2.0355e-05,1.1480e-02,4.6970e-02,9.8369e-02,-3.0039e-03,6.6048e-04,-2.1711e-07,1.0961e-01,3.0757e-03
+16,7.2667e+00,DOWN_FORCE_DETACH,2.0446e-03,2.5464e-02,8.6739e-02,2.5593e+00,-4.2510e-02,3.8429e-02,2.0049e-05,1.2350e-02,5.2336e-02,1.0560e-01,-3.3651e-03,7.0874e-04,-5.2387e-07,1.1850e-01,3.4389e-03
+17,7.3833e+00,DOWN_FORCE_DETACH,2.1733e-03,-1.5231e-02,7.4195e-02,2.5286e+00,-4.1679e-02,3.5599e-02,3.0893e-05,-2.8345e-02,3.9792e-02,7.4930e-02,-2.5335e-03,-2.1215e-03,1.0321e-05,8.9450e-02,3.3044e-03
+18,7.7333e+00,DOWN_FORCE_DETACH,2.2996e-03,2.0703e-03,7.5027e-02,2.5360e+00,-4.1744e-02,3.6803e-02,3.4528e-05,-1.1044e-02,4.0625e-02,8.2322e-02,-2.5982e-03,-9.1731e-04,1.3955e-05,9.2462e-02,2.7555e-03
+19,7.9667e+00,DOWN_FORCE_DETACH,2.4300e-03,8.8175e-03,5.1294e-02,2.5547e+00,-4.0118e-02,3.7255e-02,2.7444e-05,-4.2964e-03,1.6891e-02,1.0106e-01,-9.7220e-04,-4.6552e-04,6.8716e-06,1.0256e-01,1.0779e-03
+20,8.3667e+00,DOWN_FORCE_DETACH,2.5586e-03,1.1630e-02,6.3419e-02,2.5553e+00,-4.0915e-02,3.7451e-02,3.0043e-05,-1.4838e-03,2.9016e-02,1.0165e-01,-1.7694e-03,-2.6966e-04,9.4707e-06,1.0572e-01,1.7898e-03
+21,8.7500e+00,DOWN_FORCE_DETACH,2.6886e-03,2.0939e-02,7.3208e-02,2.5619e+00,-4.1520e-02,3.8101e-02,2.7248e-05,7.8248e-03,3.8805e-02,1.0827e-01,-2.3749e-03,3.8024e-04,6.6758e-06,1.1528e-01,2.4051e-03
+22,9.1167e+00,DOWN_FORCE_DETACH,2.8132e-03,1.8189e-02,7.7987e-02,2.5709e+00,-4.1795e-02,3.7895e-02,2.1970e-05,5.0754e-03,4.3584e-02,1.1718e-01,-2.6498e-03,1.7508e-04,1.3973e-06,1.2513e-01,2.6556e-03
+23,9.4500e+00,DOWN_FORCE_DETACH,2.9404e-03,2.1520e-02,7.7847e-02,2.5668e+00,-4.1765e-02,3.8131e-02,1.5663e-05,8.4060e-03,4.3444e-02,1.1316e-01,-2.6192e-03,4.1037e-04,-4.9096e-06,1.2151e-01,2.6512e-03
+24,9.8167e+00,DOWN_FORCE_DETACH,3.0712e-03,1.7652e-02,8.1792e-02,2.5652e+00,-4.2021e-02,3.7857e-02,1.7197e-05,4.5377e-03,4.7389e-02,1.1153e-01,-2.8759e-03,1.3710e-04,-3.3753e-06,1.2127e-01,2.8791e-03
+25,1.0167e+01,DOWN_FORCE_DETACH,3.2003e-03,1.8568e-02,8.7035e-02,2.5740e+00,-4.2362e-02,3.7917e-02,2.4878e-05,5.4544e-03,5.2633e-02,1.2030e-01,-3.2166e-03,1.9653e-04,4.3057e-06,1.3142e-01,3.2226e-03
+26,1.0500e+01,DOWN_FORCE_DETACH,3.3253e-03,1.7968e-02,8.4891e-02,2.5750e+00,-4.2214e-02,3.7874e-02,3.4540e-05,4.8539e-03,5.0488e-02,1.2131e-01,-3.0687e-03,1.5391e-04,1.3968e-05,1.3149e-01,3.0726e-03
+27,1.0867e+01,DOWN_FORCE_DETACH,3.4523e-03,1.5427e-02,8.4412e-02,2.5714e+00,-4.2197e-02,3.7702e-02,4.4852e-05,2.3130e-03,5.0009e-02,1.1768e-01,-3.0513e-03,-1.8768e-05,2.4280e-05,1.2789e-01,3.0515e-03
+28,1.1167e+01,DOWN_FORCE_DETACH,3.5827e-03,2.2797e-02,8.7290e-02,2.5744e+00,-4.2394e-02,3.8216e-02,4.7291e-05,9.6834e-03,5.2887e-02,1.2069e-01,-3.2483e-03,4.9608e-04,2.6718e-05,1.3212e-01,3.2861e-03
+29,1.1483e+01,DOWN_FORCE_DETACH,3.7081e-03,1.8148e-02,9.1110e-02,2.5724e+00,-4.2633e-02,3.7892e-02,4.7109e-05,5.0339e-03,5.6708e-02,1.1868e-01,-3.4878e-03,1.7191e-04,2.6537e-05,1.3163e-01,3.4922e-03
+30,1.1850e+01,DOWN_FORCE_DETACH,3.8391e-03,2.8090e-02,9.1869e-02,2.5789e+00,-4.2628e-02,3.8586e-02,3.5902e-05,1.4976e-02,5.7466e-02,1.2519e-01,-3.4827e-03,8.6541e-04,1.5330e-05,1.3856e-01,3.5887e-03
+31,1.2100e+01,DOWN_FORCE_DETACH,3.9654e-03,1.6730e-02,1.0317e-01,2.5769e+00,-4.3374e-02,3.7789e-02,3.4740e-05,3.6159e-03,6.8770e-02,1.2325e-01,-4.2290e-03,6.8732e-05,1.4168e-05,1.4118e-01,4.2296e-03
+32,1.2383e+01,DOWN_FORCE_DETACH,4.0966e-03,2.9691e-02,1.0458e-01,2.5901e+00,-4.3435e-02,3.8680e-02,1.9790e-05,1.6577e-02,7.0182e-02,1.3642e-01,-4.2895e-03,9.5927e-04,-7.8231e-07,1.5430e-01,4.3954e-03
+33,1.2700e+01,DOWN_FORCE_DETACH,4.2181e-03,1.4624e-02,1.0898e-01,2.5827e+00,-4.3688e-02,3.7627e-02,1.3280e-05,1.5098e-03,7.4583e-02,1.2898e-01,-4.5430e-03,-9.3617e-05,-7.2924e-06,1.4900e-01,4.5439e-03
+34,1.3000e+01,DOWN_FORCE_DETACH,4.3513e-03,2.3073e-02,1.1505e-01,2.5901e+00,-4.4045e-02,3.8203e-02,6.5090e-06,9.9589e-03,8.0650e-02,1.3646e-01,-4.8992e-03,4.8260e-04,-1.4064e-05,1.5883e-01,4.9229e-03
+35,1.3267e+01,DOWN_FORCE_DETACH,4.4763e-03,1.4978e-02,1.1811e-01,2.5942e+00,-4.4217e-02,3.7627e-02,1.2109e-05,1.8640e-03,8.3709e-02,1.4055e-01,-5.0715e-03,-9.3572e-05,-8.4635e-06,1.6360e-01,5.0723e-03
+36,1.3583e+01,DOWN_FORCE_DETACH,4.6091e-03,2.2755e-02,1.2727e-01,2.6005e+00,-4.4813e-02,3.8167e-02,1.9544e-05,9.6412e-03,9.2872e-02,1.4684e-01,-5.6679e-03,4.4660e-04,-1.0288e-06,1.7402e-01,5.6854e-03
+37,1.3867e+01,DOWN_FORCE_DETACH,4.7342e-03,2.0723e-02,1.3066e-01,2.6001e+00,-4.5013e-02,3.8018e-02,3.2800e-05,7.6092e-03,9.6256e-02,1.4647e-01,-5.8679e-03,2.9783e-04,1.2227e-05,1.7543e-01,5.8755e-03
+38,1.4133e+01,DOWN_FORCE_DETACH,4.8652e-03,2.3903e-02,1.3610e-01,2.6086e+00,-4.5321e-02,3.8234e-02,4.0440e-05,1.0790e-02,1.0170e-01,1.5493e-01,-6.1759e-03,5.1371e-04,1.9867e-05,1.8564e-01,6.1973e-03
+39,1.4417e+01,DOWN_FORCE_DETACH,4.9900e-03,2.6010e-02,1.4158e-01,2.6037e+00,-4.5628e-02,3.8379e-02,4.1480e-05,1.2896e-02,1.0718e-01,1.5000e-01,-6.4829e-03,6.5820e-04,2.0907e-05,1.8480e-01,6.5162e-03
+40,1.4667e+01,DOWN_FORCE_DETACH,5.1144e-03,2.5124e-02,1.4378e-01,2.6093e+00,-4.5717e-02,3.8308e-02,3.1031e-05,1.2010e-02,1.0938e-01,1.5564e-01,-6.5711e-03,5.8729e-04,1.0458e-05,1.9061e-01,6.5973e-03
+41,1.4933e+01,DOWN_FORCE_DETACH,5.2425e-03,2.5679e-02,1.4934e-01,2.6223e+00,-4.6011e-02,3.8335e-02,1.7712e-05,1.2565e-02,1.1494e-01,1.6863e-01,-6.8658e-03,6.1449e-04,-2.8602e-06,2.0446e-01,6.8932e-03
+42,1.5200e+01,DOWN_FORCE_DETACH,5.3749e-03,2.5604e-02,1.5671e-01,2.6248e+00,-4.6438e-02,3.8322e-02,1.3648e-05,1.2490e-02,1.2231e-01,1.7112e-01,-7.2928e-03,6.0205e-04,-6.9243e-06,2.1070e-01,7.3176e-03
+43,1.5450e+01,DOWN_FORCE_DETACH,5.5014e-03,2.4862e-02,1.6042e-01,2.6280e+00,-4.6623e-02,3.8259e-02,2.1259e-05,1.1748e-02,1.2602e-01,1.7429e-01,-7.4779e-03,5.3871e-04,6.8673e-07,2.1540e-01,7.4973e-03
+44,1.5700e+01,DOWN_FORCE_DETACH,5.6258e-03,2.5073e-02,1.6506e-01,2.6262e+00,-4.6878e-02,3.8276e-02,3.0864e-05,1.1959e-02,1.3066e-01,1.7250e-01,-7.7324e-03,5.5563e-04,1.0291e-05,2.1673e-01,7.7524e-03
+45,1.5950e+01,DOWN_FORCE_DETACH,5.7556e-03,2.6840e-02,1.6978e-01,2.6277e+00,-4.7118e-02,3.8397e-02,3.6231e-05,1.3726e-02,1.3538e-01,1.7402e-01,-7.9725e-03,6.7699e-04,1.5658e-05,2.2091e-01,8.0012e-03
+46,1.6167e+01,DOWN_FORCE_DETACH,5.8827e-03,2.5111e-02,1.7757e-01,2.6332e+00,-4.7539e-02,3.8270e-02,3.8567e-05,1.1997e-02,1.4317e-01,1.7950e-01,-8.3939e-03,5.4924e-04,1.7994e-05,2.2991e-01,8.4119e-03
+47,1.6400e+01,DOWN_FORCE_DETACH,6.0122e-03,2.8091e-02,1.7968e-01,2.6344e+00,-4.7605e-02,3.8471e-02,2.9091e-05,1.4977e-02,1.4528e-01,1.8074e-01,-8.4596e-03,7.5101e-04,8.5182e-06,2.3237e-01,8.4929e-03
+48,1.6633e+01,DOWN_FORCE_DETACH,6.1453e-03,2.8704e-02,1.8671e-01,2.6453e+00,-4.7990e-02,3.8500e-02,1.4454e-05,1.5590e-02,1.5231e-01,1.9160e-01,-8.8446e-03,7.7924e-04,-6.1184e-06,2.4526e-01,8.8788e-03
+49,1.6850e+01,DOWN_FORCE_DETACH,6.2652e-03,2.4146e-02,1.8867e-01,2.6352e+00,-4.8078e-02,3.8188e-02,5.3686e-06,1.1032e-02,1.5427e-01,1.8151e-01,-8.9326e-03,4.6781e-04,-1.5204e-05,2.3847e-01,8.9449e-03
+50,1.7050e+01,DOWN_FORCE_DETACH,6.3962e-03,2.4238e-02,1.9096e-01,2.6482e+00,-4.8161e-02,3.8184e-02,1.9781e-06,1.1124e-02,1.5656e-01,1.9455e-01,-9.0160e-03,4.6381e-04,-1.8594e-05,2.4997e-01,9.0279e-03
+51,1.7267e+01,DOWN_FORCE_DETACH,6.5278e-03,2.8726e-02,1.9597e-01,2.6473e+00,-4.8429e-02,3.8490e-02,4.5192e-06,1.5612e-02,1.6157e-01,1.9358e-01,-9.2840e-03,7.6980e-04,-1.6053e-05,2.5263e-01,9.3159e-03
+52,1.7450e+01,DOWN_FORCE_DETACH,6.6595e-03,2.9401e-02,2.0156e-01,2.6563e+00,-4.8685e-02,3.8527e-02,1.0059e-05,1.6287e-02,1.6716e-01,2.0260e-01,-9.5398e-03,8.0622e-04,-1.0513e-05,2.6316e-01,9.5738e-03
+53,1.7633e+01,DOWN_FORCE_DETACH,6.7791e-03,3.4406e-02,2.1299e-01,2.6622e+00,-4.9322e-02,3.8862e-02,6.1602e-06,2.1292e-02,1.7858e-01,2.0848e-01,-1.0176e-02,1.1419e-03,-1.4412e-05,2.7534e-01,1.0240e-02
+54,1.7800e+01,DOWN_FORCE_DETACH,6.9134e-03,3.1370e-02,2.1878e-01,2.6603e+00,-4.9615e-02,3.8648e-02,3.7812e-07,1.8256e-02,1.8438e-01,2.0659e-01,-1.0470e-02,9.2733e-04,-2.0194e-05,2.7750e-01,1.0511e-02
+55,1.8017e+01,DOWN_FORCE_DETACH,7.0353e-03,2.3292e-02,2.1820e-01,2.6606e+00,-4.9492e-02,3.8076e-02,1.7532e-06,1.0179e-02,1.8379e-01,2.0690e-01,-1.0346e-02,3.5554e-04,-1.8819e-05,2.7693e-01,1.0352e-02
+56,1.8200e+01,DOWN_FORCE_DETACH,7.1663e-03,2.5903e-02,2.1360e-01,2.6620e+00,-4.9161e-02,3.8255e-02,3.4785e-07,1.2789e-02,1.7920e-01,2.0835e-01,-1.0016e-02,5.3462e-04,-2.0225e-05,2.7511e-01,1.0030e-02
+57,1.8383e+01,DOWN_SETTLE,7.2971e-03,2.7732e-02,2.1876e-01,2.6648e+00,-4.9456e-02,3.8379e-02,3.6163e-06,1.4618e-02,1.8435e-01,2.1108e-01,-1.0311e-02,6.5835e-04,-1.6956e-05,2.8063e-01,1.0332e-02
+58,1.8750e+01,DOWN_SETTLE,7.4195e-03,2.6444e-02,2.1325e-01,2.6225e+00,-4.9185e-02,3.8342e-02,6.2333e-06,1.3330e-02,1.7885e-01,1.6883e-01,-1.0040e-02,6.2184e-04,-1.4339e-05,2.4631e-01,1.0059e-02
+59,1.9267e+01,DOWN_PEAK_HOLD,7.5483e-03,2.6792e-02,2.0628e-01,2.5670e+00,-4.9108e-02,3.8458e-02,3.5451e-06,1.3678e-02,1.7187e-01,1.1336e-01,-9.9627e-03,7.3804e-04,-1.7027e-05,2.0634e-01,9.9900e-03

Fixed/digit/ball_0030_20/press_depth_03/up/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:240c55c411ee8bbfd1404ee282925bf57e6b39fe9655696ee7ee9088b627f65f
+size 624640

Fixed/digit/ball_0030_20/press_depth_03/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/digit/ball_0030_20/press_depth_03/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,1792759281139035008,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.663901653e-10,-4.750947899e-12,-1.671158767e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450464e-01,-1.154008644e-04,8.303262582e-01
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+20,4.250000000e+00,UP_FORCE_RAMP,1792759285528723687,1.087537738e-06,-2.124755078e-04,1.650195772e-04,3.249523984e-06,-2.114273467e-04,1.670556532e-04,5.629848363e-06,-2.140709252e-04,1.669653924e-04,7.019567572e-01,-2.345634192e-04,8.603084654e-01,7.019589191e-01,-2.335152581e-04,8.603105015e-01,7.027506755e-01,-3.294717848e-04,8.304932237e-01
+21,4.500000000e+00,UP_FORCE_RAMP,1792759285774815254,5.155499171e-06,-2.077070244e-04,1.920840153e-04,4.884787681e-06,-2.137506299e-04,1.877740277e-04,7.673530721e-06,-2.164269961e-04,1.876523530e-04,7.019608251e-01,-2.297949358e-04,8.603355299e-01,7.019605544e-01,-2.358385414e-04,8.603312199e-01,7.027527192e-01,-3.318278558e-04,8.305139107e-01
+22,4.566666667e+00,UP_FORCE_RAMP,1792759285840953378,2.802418313e-07,-2.590429162e-04,2.034722159e-04,6.517622805e-07,-2.591587419e-04,2.030198092e-04,3.292557156e-06,-2.624055836e-04,2.028795015e-04,7.019559499e-01,-2.811308276e-04,8.603469181e-01,7.019563214e-01,-2.812466533e-04,8.603464657e-01,7.027483382e-01,-3.778064433e-04,8.305291378e-01
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+31,6.700000000e+00,UP_FORCE_RAMP,1792759287985982423,-1.211268000e-06,-2.074402924e-04,5.612432398e-04,-1.400266057e-06,-2.079908963e-04,5.494695089e-04,5.419695509e-06,-2.105963181e-04,5.492732477e-04,7.019544584e-01,-2.295282038e-04,8.607046891e-01,7.019542694e-01,-2.300788077e-04,8.606929154e-01,7.027504654e-01,-3.259971778e-04,8.308755316e-01
+32,6.883333333e+00,UP_FORCE_RAMP,1792759288199083635,-5.413357299e-06,-2.043377735e-04,6.005778411e-04,-6.764823787e-06,-2.076551655e-04,5.922155918e-04,1.731394914e-07,-2.102765283e-04,5.919850777e-04,7.019502563e-01,-2.264256849e-04,8.607440237e-01,7.019489048e-01,-2.297430769e-04,8.607356614e-01,7.027452188e-01,-3.256773880e-04,8.309182434e-01
+33,7.100000000e+00,UP_FORCE_RAMP,1792759288411933938,-3.412543114e-06,-2.062745954e-04,6.411957902e-04,-4.339107056e-06,-2.057276538e-04,6.312601737e-04,3.244411357e-06,-2.083669411e-04,6.310697445e-04,7.019522571e-01,-2.283625068e-04,8.607846416e-01,7.019513305e-01,-2.278155652e-04,8.607747060e-01,7.027482901e-01,-3.237678008e-04,8.309573281e-01
+34,7.266666667e+00,UP_FORCE_RAMP,1792759288575699513,-3.543954133e-06,-2.305491456e-04,6.715539326e-04,-3.654840999e-06,-2.329501249e-04,6.603869812e-04,4.362983395e-06,-2.359089628e-04,6.602190867e-04,7.019521257e-01,-2.526370570e-04,8.608149998e-01,7.019520148e-01,-2.550380363e-04,8.608038328e-01,7.027494087e-01,-3.513098225e-04,8.309864774e-01
+35,7.466666667e+00,UP_FORCE_RAMP,1792759288772732868,3.144828033e-06,-2.326060617e-04,7.107465443e-04,-8.449344848e-07,-2.284984855e-04,7.031341607e-04,7.924687750e-06,-2.313911040e-04,7.029259089e-04,7.019588145e-01,-2.546939732e-04,8.608541924e-01,7.019548247e-01,-2.505863969e-04,8.608465800e-01,7.027529704e-01,-3.467919637e-04,8.310291842e-01
+36,7.733333333e+00,UP_FORCE_RAMP,1792759289034448762,4.687684684e-06,-2.286696655e-04,7.555185040e-04,5.191141923e-06,-2.295871631e-04,7.428030975e-04,1.494015803e-05,-2.324908058e-04,7.426163446e-04,7.019603573e-01,-2.507575769e-04,8.608989643e-01,7.019608608e-01,-2.516750745e-04,8.608862489e-01,7.027599858e-01,-3.478916655e-04,8.310688747e-01
+37,7.983333333e+00,UP_FORCE_RAMP,1792759289280184735,-7.301597497e-06,-2.305381196e-04,7.833134758e-04,-2.846927784e-06,-2.267516684e-04,7.828447811e-04,6.725020271e-06,-2.296385312e-04,7.826597916e-04,7.019483680e-01,-2.526260310e-04,8.609267593e-01,7.019528227e-01,-2.488395799e-04,8.609262906e-01,7.027517707e-01,-3.450393909e-04,8.311089181e-01
+38,8.266666667e+00,UP_FORCE_RAMP,1792759289559151357,-3.636047912e-06,-2.262933567e-04,8.306911975e-04,-3.555229985e-06,-2.294816089e-04,8.300418632e-04,6.604013558e-06,-2.324245431e-04,8.298867683e-04,7.019520336e-01,-2.483812681e-04,8.609741370e-01,7.019521144e-01,-2.515695203e-04,8.609734877e-01,7.027516497e-01,-3.478254028e-04,8.311561451e-01
+39,8.533333333e+00,UP_FORCE_RAMP,1792759289820644905,-1.946166577e-06,-2.291098300e-04,8.634805192e-04,-3.646088840e-06,-2.280875020e-04,8.507477603e-04,6.755099084e-06,-2.309858015e-04,8.506303341e-04,7.019537235e-01,-2.511977414e-04,8.610069264e-01,7.019520235e-01,-2.501754134e-04,8.609941936e-01,7.027518008e-01,-3.463866612e-04,8.311768887e-01
+40,8.850000000e+00,UP_FORCE_RAMP,1792759290152870096,-1.846648054e-06,-2.248670722e-04,9.039455931e-04,1.509514784e-07,-2.267014143e-04,8.951746670e-04,1.146461968e-05,-2.295886746e-04,8.950656025e-04,7.019538230e-01,-2.469549836e-04,8.610473914e-01,7.019558206e-01,-2.487893257e-04,8.610386205e-01,7.027565103e-01,-3.449895343e-04,8.312213239e-01
+41,9.066666667e+00,UP_FORCE_RAMP,1792759290409780349,2.454454028e-06,-2.255295642e-04,9.362908893e-04,2.541523704e-06,-2.255253038e-04,9.361276337e-04,1.447078871e-05,-2.284012480e-04,9.360331018e-04,7.019581241e-01,-2.476174756e-04,8.610797367e-01,7.019582111e-01,-2.476132152e-04,8.610795735e-01,7.027595165e-01,-3.438021077e-04,8.312622914e-01
+42,9.366666667e+00,UP_FORCE_RAMP,1792759290704636225,-1.783574496e-06,-2.209672258e-04,9.581686371e-04,1.772250695e-06,-2.225862100e-04,9.571873623e-04,1.395865368e-05,-2.254303227e-04,9.571448004e-04,7.019538861e-01,-2.430551372e-04,8.611016145e-01,7.019574419e-01,-2.446741214e-04,8.611006332e-01,7.027590043e-01,-3.408311824e-04,8.312834031e-01
+43,9.583333333e+00,UP_FORCE_RAMP,1792759290948143640,-2.750202733e-06,-2.232581020e-04,9.788210163e-04,-2.739819593e-06,-2.230747933e-04,9.786375373e-04,9.388512672e-06,-2.259189263e-04,9.786014613e-04,7.019529194e-01,-2.453460134e-04,8.611222669e-01,7.019529298e-01,-2.451627047e-04,8.611220834e-01,7.027544342e-01,-3.413197860e-04,8.313048598e-01
+44,9.883333333e+00,UP_FORCE_RAMP,1792759291245741710,-4.960829610e-06,-2.234557297e-04,1.000065377e-03,-2.505407372e-06,-2.210712958e-04,1.002567668e-03,9.921798737e-06,-2.238666875e-04,1.002556544e-03,7.019507088e-01,-2.455436411e-04,8.611435112e-01,7.019531642e-01,-2.431592072e-04,8.611460135e-01,7.027549675e-01,-3.392675471e-04,8.313288149e-01
+45,1.020000000e+01,UP_FORCE_RAMP,1792759291557422442,-9.586912304e-06,-2.181287001e-04,1.019060646e-03,-6.194434503e-06,-2.222372652e-04,1.024621611e-03,6.238935838e-06,-2.250844211e-04,1.024642871e-03,7.019460827e-01,-2.402166115e-04,8.611625065e-01,7.019494752e-01,-2.443251766e-04,8.611680675e-01,7.027512846e-01,-3.404852807e-04,8.313509012e-01
+46,1.023333333e+01,UP_FORCE_RAMP,1792759291589707769,-6.396908019e-05,-2.252995485e-04,9.883292413e-04,-6.356566284e-05,-2.254316332e-04,9.880323683e-04,-5.604788470e-05,-2.283022103e-04,9.880194779e-04,7.018917005e-01,-2.473874599e-04,8.611317751e-01,7.018921040e-01,-2.475195446e-04,8.611314782e-01,7.026889978e-01,-3.437030700e-04,8.313142778e-01
+47,1.030000000e+01,UP_FORCE_RAMP,1792759291655421852,-6.436465579e-05,-2.316474074e-04,9.899590699e-04,-6.426044019e-05,-2.316588283e-04,9.899968422e-04,-5.681999514e-05,-2.346059246e-04,9.899764121e-04,7.018913050e-01,-2.537353188e-04,8.611334049e-01,7.018914092e-01,-2.537467397e-04,8.611334427e-01,7.026882257e-01,-3.500067843e-04,8.313162347e-01
+48,1.050000000e+01,UP_FORCE_RAMP,1792759291886218356,-7.342167719e-05,-2.354674285e-04,9.934581199e-04,-6.426044019e-05,-2.316588283e-04,9.899968422e-04,-5.685216521e-05,-2.345970275e-04,9.900081795e-04,7.018822479e-01,-2.575553399e-04,8.611369040e-01,7.018914092e-01,-2.537467397e-04,8.611334427e-01,7.026881935e-01,-3.499978871e-04,8.313162665e-01
+49,1.068333333e+01,UP_FORCE_RAMP,1792759292064355240,-7.548808574e-05,-2.352169876e-04,1.001866611e-03,-6.426044019e-05,-2.316588283e-04,9.899968422e-04,-5.687493739e-05,-2.345935060e-04,9.900302159e-04,7.018801815e-01,-2.573048990e-04,8.611453125e-01,7.018914092e-01,-2.537467397e-04,8.611334427e-01,7.026881708e-01,-3.499943657e-04,8.313162885e-01
+50,1.093333333e+01,UP_FORCE_RAMP,1792759292310567817,-7.656753732e-05,-2.268606262e-04,1.019322916e-03,-7.365645734e-05,-2.289845112e-04,1.009680316e-03,-6.671898711e-05,-2.318743687e-04,1.009688195e-03,7.018791021e-01,-2.489485376e-04,8.611627688e-01,7.018820132e-01,-2.510724226e-04,8.611531262e-01,7.026783267e-01,-3.472752283e-04,8.313359465e-01
+51,1.118333333e+01,UP_FORCE_RAMP,1792759292572642677,-7.372812351e-05,-2.334071416e-04,1.041625793e-03,-7.233959052e-05,-2.330130985e-04,1.030396816e-03,-6.511506592e-05,-2.359327914e-04,1.030419122e-03,7.018819415e-01,-2.554950530e-04,8.611850716e-01,7.018833300e-01,-2.551010099e-04,8.611738427e-01,7.026799306e-01,-3.513336511e-04,8.313566774e-01
+52,1.146666667e+01,UP_FORCE_RAMP,1792759292851628821,-7.291058412e-05,-2.270149286e-04,1.058808742e-03,-7.221911797e-05,-2.301965080e-04,1.051939531e-03,-6.468220948e-05,-2.331063463e-04,1.051951996e-03,7.018827590e-01,-2.491028400e-04,8.612022546e-01,7.018834505e-01,-2.522844195e-04,8.611953854e-01,7.026803635e-01,-3.485072060e-04,8.313782103e-01
+53,1.175000000e+01,UP_FORCE_RAMP,1792759293129187433,-7.513775035e-05,-2.300439739e-04,1.072732216e-03,-7.422704055e-05,-2.245667455e-04,1.073109075e-03,-6.659140881e-05,-2.273884582e-04,1.073106589e-03,7.018805319e-01,-2.521318853e-04,8.612161781e-01,7.018814426e-01,-2.466546569e-04,8.612165549e-01,7.026784543e-01,-3.427893179e-04,8.313993649e-01
+54,1.206666667e+01,UP_FORCE_RAMP,1792759293440182575,-7.239924464e-05,-2.283874644e-04,1.095981495e-03,-7.300540113e-05,-2.283340838e-04,1.094660682e-03,-6.502008274e-05,-2.312084008e-04,1.094705257e-03,7.018832704e-01,-2.504753758e-04,8.612394273e-01,7.018826642e-01,-2.504219953e-04,8.612381065e-01,7.026800256e-01,-3.466092605e-04,8.314209636e-01
+55,1.233333333e+01,UP_FORCE_RAMP,1792759293735451181,-7.350809272e-05,-2.289230597e-04,1.109037718e-03,-7.300540113e-05,-2.283340838e-04,1.094660682e-03,-6.502151973e-05,-2.312051272e-04,1.094747117e-03,7.018821615e-01,-2.510109711e-04,8.612524836e-01,7.018826642e-01,-2.504219953e-04,8.612381065e-01,7.026800242e-01,-3.466059869e-04,8.314210054e-01
+56,1.258333333e+01,UP_FORCE_RAMP,1792759293980897946,-7.457074695e-05,-2.296653130e-04,1.119193591e-03,-7.245778201e-05,-2.282797275e-04,1.116445384e-03,-6.417489838e-05,-2.311586266e-04,1.116505611e-03,7.018810989e-01,-2.517532244e-04,8.612626394e-01,7.018832118e-01,-2.503676390e-04,8.612598912e-01,7.026808708e-01,-3.465594863e-04,8.314427639e-01
+57,1.291666667e+01,UP_FORCE_HOLD,1792759294341678998,-7.677927044e-05,-2.262304677e-04,1.132604686e-03,-7.245778201e-05,-2.282797275e-04,1.116445384e-03,-6.417400113e-05,-2.311553810e-04,1.116544390e-03,7.018788904e-01,-2.483183791e-04,8.612760505e-01,7.018832118e-01,-2.503676390e-04,8.612598912e-01,7.026808717e-01,-3.465562406e-04,8.314428027e-01
+58,1.321666667e+01,UP_SETTLE,1792759294652479637,-7.509868534e-05,-2.249536933e-04,1.145680881e-03,-7.295752660e-05,-2.258376780e-04,1.136432963e-03,-6.446987207e-05,-2.286483342e-04,1.136516815e-03,7.018805709e-01,-2.470416047e-04,8.612891267e-01,7.018827121e-01,-2.479255894e-04,8.612798788e-01,7.026805758e-01,-3.440491939e-04,8.314627751e-01
+59,1.346666667e+01,UP_SETTLE,1792759294898211001,-7.363053738e-05,-2.254756867e-04,1.157818355e-03,-7.360515792e-05,-2.253765756e-04,1.157971179e-03,-6.485591211e-05,-2.281878092e-04,1.158014706e-03,7.018820391e-01,-2.475635981e-04,8.613012642e-01,7.018820645e-01,-2.474644870e-04,8.613014170e-01,7.026801898e-01,-3.435886689e-04,8.314842730e-01

Fixed/digit/ball_0030_20/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+00,1.3226e-02,3.4404e-02,2.4536e+00,-3.9145e-02,3.7728e-02,2.0248e-05,1.1657e-04,2.0377e-06,-3.0518e-05,2.9057e-07,8.3633e-06,-4.0146e-07,1.2051e-04,8.3779e-06
+1,3.0000e-01,WAIT_W2,6.6655e-05,1.5082e-02,3.4447e-02,2.4532e+00,-3.9141e-02,3.7861e-02,1.3418e-05,1.9725e-03,4.4562e-05,-4.9067e-04,4.9248e-06,1.4111e-04,-7.2310e-06,2.0331e-03,1.4138e-04
+2,5.5000e-01,WAIT_W2,1.3048e-04,1.6327e-02,3.4487e-02,2.4529e+00,-3.9137e-02,3.7950e-02,8.1719e-06,3.2179e-03,8.5272e-05,-7.6056e-04,8.1100e-06,2.2985e-04,-1.2477e-05,3.3076e-03,2.3034e-04
+3,8.3333e-01,WAIT_W2,1.9887e-04,1.7471e-02,3.4535e-02,2.4527e+00,-3.9134e-02,3.8031e-02,2.6191e-06,4.3617e-03,1.3296e-04,-9.7418e-04,1.1150e-05,3.1117e-04,-1.8030e-05,4.4712e-03,3.1189e-04
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+5,1.0667e+00,WAIT_W2,3.2939e-04,1.8035e-02,9.3675e-02,2.4506e+00,-4.3172e-02,3.8071e-02,1.4008e-05,4.9254e-03,5.9273e-02,-3.1004e-03,-4.0268e-03,3.5052e-04,-6.6410e-06,5.9558e-02,4.0420e-03
+6,1.1000e+00,WAIT_W2,4.1556e-04,1.9523e-02,1.4833e-01,2.4509e+00,-4.6906e-02,3.8172e-02,2.7477e-05,6.4139e-03,1.1393e-01,-2.7847e-03,-7.7608e-03,4.5227e-04,6.8281e-06,1.1414e-01,7.7740e-03
+7,1.1333e+00,WAIT_W2,4.6150e-04,2.0899e-02,2.1829e-01,2.4518e+00,-5.1696e-02,3.8265e-02,4.5419e-05,7.7894e-03,1.8388e-01,-1.8554e-03,-1.2550e-02,5.4539e-04,2.4770e-05,1.8406e-01,1.2562e-02
+8,1.3000e+00,WAIT_W2,5.2765e-04,2.2114e-02,2.1673e-01,2.4549e+00,-5.1655e-02,3.8349e-02,4.3164e-05,9.0052e-03,1.8232e-01,1.2751e-03,-1.2510e-02,6.2865e-04,2.2515e-05,1.8255e-01,1.2526e-02
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Fixed/digit/ball_0030_20/press_depth_04/down/camera_frames_60hz.tar

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Fixed/digit/ball_0030_20/press_depth_04/down/franka_data.csv

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+20362,1792759339928216064,42742854000000,1792759339927977940,XJC_ZERO_HOLD_BEFORE_DOWN,4,0.074,0.0740017369389534,0.6759065636351292,-0.004149624834014242,0.10676152173337182,0.9999999421546515,-5.416468700210434e-05,-0.00030557774737683313,0.00010402877073918804,0.6761,-0.004,0.107,1.0,0.0,0.0,0.0,-0.001995220722743496,0.0007494644416997653,-0.0023912101641376804,-0.00012422261401119628,0.0006031700386494449,8.820076283349416e-05,0.6176695665725719,0.5050457101280745,0.28622333110926973,0.04092316231096711,-0.043404022321909666,0.0006602735413628958,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.27639093118852615,0.7034227573926435,1.2319509645445788,0.06186920886625542,-0.779444968030306,0.40583886567249605,1.5366765084632985,0.0023912101641376804,0.30472554391871975,0.0,0.0,0,0,0.0,0.0
+20441,1792759340580215359,42743506000000,1792759340575977274,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6759068320300211,-0.0041497065270168065,0.10676380616938977,0.9999999425237849,-5.6635808521911784e-05,-0.00030407634059575594,0.0001035628100034152,0.6761,-0.004,0.10699789881021872,1.0,0.0,0.0,0.0,-0.0026610014985055663,-0.0035010825302197457,0.002106006297855012,-0.0001245581248730046,0.0006032651863073848,-0.0007085944882707432,0.6170037857968098,0.500795163156155,0.2907205475712624,0.040922826800105304,-0.043403927174251726,-0.00013652170974134153,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.33394792285674096,0.716976821875466,1.17530502627078,0.059579410404314394,-0.7274699991646892,0.41368195901554855,1.5366765084632985,-0.002106006297855012,0.36137148219251847,0.36137148219251847,0.41125734050486473,0,0,-9.550991882127607e-06,-9.999856084708653e-05
+20528,1792759341305204584,42744231000000,1792759341299977335,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6759056075938219,-0.004148378617587441,0.1067592583703647,0.9999999417959892,-5.314347022122707e-05,-0.00030674549533598824,0.0001045650765874641,0.6761,-0.004,0.10698192745502891,1.0,0.0,0.0,0.0,-0.009859226566111379,-0.009659125138212987,0.0018935297629728565,-0.00012596636711649511,0.0006028914224362608,8.411017969466755e-05,0.609805560729204,0.4946371205481618,0.29050807103638027,0.04092141855786181,-0.04340430093812285,0.0006561829582240692,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.45528536519897794,0.6911583116607987,1.1326494883153386,0.07937736699468415,-0.6711768808828693,0.399275653828454,1.5366765084632985,-0.0018935297629728565,0.4040270201479599,0.4040270201479599,0.5200073405048528,0,0,-3.768517689159279e-05,-9.999999025923074e-05
+20589,1792759341814194597,42744740000000,1792759341807986450,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6759018696005892,-0.004149733074197504,0.10674066475429046,0.9999999391680233,-5.0949917346681625e-05,-0.0003145436085482821,0.00010757898630871866,0.6761,-0.004,0.10695673910933011,1.0,0.0,0.0,0.0,-0.0026882188589775202,-0.004795291159355397,0.01236413954006943,-0.00012774851388253072,0.0006005386945257818,7.641944082921242e-05,0.6169765684363379,0.49950095452701937,0.30097868081347684,0.04091963641109578,-0.04340665366603333,0.000648492219358614,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.4417005481731158,0.6702230147319277,1.0190509619122483,0.09656764314042421,-0.6024631040456294,0.3813279437503484,1.5366765084632985,-0.01236413954006943,0.5176255465510502,0.5176255465510502,0.5963573405048443,0,0,-6.085925754603506e-05,-9.965537703238709e-05
+20658,1792759342389217468,42745315000000,1792759342387977344,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6758970559631091,-0.004155096175906997,0.10669714824072561,0.9999999342617638,-5.036969812856609e-05,-0.000326726375107171,0.0001167565923395082,0.6761,-0.004,0.10691495736403661,1.0,0.0,0.0,0.0,-0.00940512608481403,-0.016021784117041082,0.04203710844301389,-0.001154379631321957,0.0006138051226459856,4.020345689355819e-05,0.6102596612105013,0.4882744615693337,0.3306516497164213,0.03989300529365635,-0.043393387237913125,0.0006122762354229598,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.5047007114388706,0.6773900997471992,0.9544792813316795,0.13265967072314816,-0.5519569900477462,0.3826345179629404,1.5366765084632985,-0.04203710844301389,0.582197227131619,0.582197227131619,0.6826073405048348,0,0,-8.467198113068364e-05,-9.999999025923074e-05
+20699,1792759342730168730,42745656000000,1792759342723986862,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.675930550732915,-0.004162841481619501,0.10667945118567822,0.9999999557804763,-5.3328351033539776e-05,-0.0002449148231546981,0.00013059374517824317,0.6761,-0.004,0.10688330752304688,1.0,0.0,0.0,0.0,-0.03042812234371517,-0.013038251202222684,0.052351845345793124,-0.00016452356095342235,0.0016365320517016113,5.5571531756041246e-05,0.5892366649516002,0.4912579944841521,0.34096638661920053,0.040882861364024886,-0.0423706603088575,0.0006276443102854429,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.47644294937041964,0.735534285458558,1.0300860377380552,0.11266392989904381,-0.6123116253348255,0.4194206841659355,1.5366765084632985,-0.052351845345793124,0.5065904707252433,0.5065904707252433,0.7337573405048292,0,0,-0.00010120082917094842,-9.999999025923074e-05
+20750,1792759343155247070,42746081000000,1792759343147977661,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6759145352731507,-0.004161206128548511,0.1066217813122009,0.9999999463780682,-5.341442766782313e-05,-0.0002799419389535179,0.00013215950591491867,0.6761,-0.004,0.10683607166237442,1.0,0.0,0.0,0.0,-0.021166927215029108,-0.014415418656411272,0.08202125326211807,-0.0009638266694926567,0.0016141085424379031,2.5427568097272958e-05,0.5984978600802863,0.4898808270299635,0.3706357945355255,0.04008355825548565,-0.04239308381812121,0.0005975003466266746,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.532109709235061,0.7110411195976272,1.0014095057325934,0.1345981338796191,-0.5799764729929561,0.4003316355307428,1.5366765084632985,-0.08202125326211807,0.5352670027307052,0.5352670027307052,0.7975073405048222,0,0,-0.0001193547673847536,-9.999980984798924e-05
+20805,1792759343614170667,42746540000000,1792759343611977158,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6759132369722437,-0.004147520923923307,0.10657611681762742,0.9999999452579251,-0.00013384223691131493,-0.00028209710951354383,5.860450116638311e-05,0.6761,-0.004,0.10677668477693279,1.0,0.0,0.0,0.0,-0.0017921820335626837,0.009684525943848832,0.12285293199116859,4.88314661674788e-05,0.0005716933464137222,-1.112911204372458e-05,0.6178726052617527,0.5139807716302236,0.411467473264576,0.04109621639114579,-0.04343549901414539,0.000560943666485677,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.49999841683338764,0.7217144286041911,0.9531111052492072,-0.00518759545889677,-0.5327388353803821,0.432416332255665,1.5366765084632985,-0.12285293199116859,0.5835654032140913,0.5835654032140913,0.8663573405048146,0,0,-0.0001401647136786962,-9.999999025923074e-05
+20864,1792759344105285921,42747031000000,1792759344103977368,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6759187349730497,-0.004154992301894838,0.10651473928341619,0.9999999502827333,-0.00012381723929759503,-0.0002634365512189092,7.8408354766392e-05,0.6761,-0.004,0.1067018491536931,1.0,0.0,0.0,0.0,-0.012408282473381771,-0.001296905170259155,0.16280691992937635,-0.0001670461740862772,0.0009850132197704656,-3.9483647633622716e-05,0.6072565048219336,0.5029993405161156,0.45142146120278376,0.04088033875089203,-0.043022179140788645,0.0005325891308957789,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.5662422606743581,0.7131601704493199,0.8114862164119042,0.055194495341374876,-0.44126684073402656,0.4118191864731728,1.5366765084632985,-0.16280691992937635,0.7251902920513943,0.7251902920513943,0.9400073405048065,0,0,-0.0001647147088959785,-9.999999025923074e-05
+20919,1792759344564197162,42747490000000,1792759344563976340,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6759178429550585,-0.004162161100526695,0.1064449960481453,0.9999999490335663,-0.00012003215027854985,-0.0002650047287210215,9.349067250997207e-05,0.6761,-0.004,0.10662115192852573,1.0,0.0,0.0,0.0,-0.012642746581179698,-0.011168020729826533,0.20289560900608772,-0.00019358390948408244,0.0015720988061116575,-6.291519298902534e-05,0.6070220407141357,0.49312822495654823,0.49151015027949513,0.040853801015494226,-0.04243509355444745,0.0005091575855403763,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.609633858747046,0.6889969499275982,0.64708391204297,0.12309687637039235,-0.3343722932011911,0.38352630758273765,1.5366765084632985,-0.20289560900608772,0.8895925964203285,0.8895925964203285,1.0088573405048056,0,0,-0.00018676792895991478,5e-05
+20978,1792759345055274430,42747981000000,1792759345051986787,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6759182134819921,-0.0041706721391600275,0.10635174867417296,0.9999999487334658,-0.00012243082647980788,-0.00025854207493893847,0.00011019355032714703,0.6761,-0.004,0.10652461571878415,1.0,0.0,0.0,0.0,-0.02144315499978111,-0.018504216553230146,0.26272628636371126,-0.0012241277372925796,0.0015799545090775038,-0.00012384100009922832,0.5982216322955343,0.4857920291331446,0.5513408276371187,0.03982325718768573,-0.04242723785148161,0.0004482317784301733,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.549311485519387,0.7110257569180884,0.6795025521207873,0.12711318989970138,-0.37744924902482935,0.3962870553154742,1.5366765084632985,-0.26272628636371126,0.8571739563425113,0.8571739563425113,1.082507340504852,0,0,-0.0002057614222020484,-9.687500387845489e-05
+21029,1792759345480278944,42748406000000,1792759345479977058,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6759153490050906,-0.0041810486648182045,0.10626830759006438,0.9999999459007746,-0.00012103397047163858,-0.00026272828363820753,0.00012635639835032315,0.6761,-0.004,0.10643413603622139,1.0,0.0,0.0,0.0,-0.03105500184721044,-0.01634395854637416,0.32200451673784797,-0.0012625979388533465,0.002580413363369151,-0.00015743789386607113,0.5886097854481049,0.4879522871400006,0.6106190580112554,0.03978478698612496,-0.04142677899718996,0.0004146348846633305,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.6006961022553969,0.7863845347017571,0.5881212279818185,0.10178896865160904,-0.3032272707279441,0.4413103494683204,1.5366765084632985,-0.32200451673784797,0.94855528048148,0.94855528048148,1.1462573405048921,0,0,-0.00021873130804791886,-5.000695277169172e-05
+21080,1792759345905304276,42748831000000,1792759345903977558,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6759184575184846,-0.0041834846782489955,0.10618411249110693,0.999999945956097,-0.00012321979367054805,-0.00025390073972110164,0.00014100341935521375,0.6761,-0.004,0.10633982992680772,1.0,0.0,0.0,0.0,-0.031081336534560133,-0.03329130173502054,0.38244272586213096,-0.0015022005327747709,0.002572883644486268,-0.00020853600620104656,0.5885834507607552,0.4710049439513542,0.6710572671355384,0.03954518439220354,-0.04143430871607284,0.00036353677232835505,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.667748461006113,0.6465691645560889,0.6254386167373379,0.1488663950486854,-0.30899153564215043,0.34824310836851136,1.5366765084632985,-0.38244272586213096,0.9112378917259606,0.9112378917259606,1.2100073405049323,0,0,-0.00022428588892650503,-9.443749535010255e-05
+21131,1792759346330332703,42749256000000,1792759346323987434,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6759139556691012,-0.004194068814430681,0.10609039212774819,0.9999999422502144,-0.00012090012143128823,-0.0002598949396026845,0.00015741732214048966,0.6761,-0.004,0.10624366633304293,1.0,0.0,0.0,0.0,-0.04015107784607441,-0.044963506888986426,0.43663261049226404,-0.002308692726838979,0.002577161539712977,-0.00025602041693611923,0.579513709449241,0.45933273879738834,0.7252471517656714,0.03873869219813933,-0.041430030820846134,0.0003160523615932824,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.6894273843044549,0.723892960570004,0.507063068252629,0.11830058681780287,-0.2276832017402228,0.39607753660372047,1.5366765084632985,-0.43663261049226404,1.0296134402106696,1.0296134402106696,1.2737573405049725,0,0,-0.0002268795430513101,-9.980468815141136e-05
+21188,1792759346805244119,42749731000000,1792759346799977114,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.67591795590373,-0.00420401886991209,0.10599357984652229,0.9999999420345866,-0.00012293128766366804,-0.0002478268331857469,0.0001756230254817491,0.6761,-0.004,0.10613637124172486,1.0,0.0,0.0,0.0,-0.04968046787587077,-0.04770130252306942,0.5027965418878406,-0.00234822917001741,0.003576252294127044,-0.00030133545316829403,0.5699843194194446,0.45659494316330534,0.7914110831612481,0.0386991557549609,-0.04043094006643207,0.0002707373253611076,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.6383018915828007,0.6911226320068261,0.3201339867229036,0.13144104157833664,-0.12430041162899441,0.3755680079085495,1.5366765084632985,-0.5027965418878406,1.216542521740395,1.216542521740395,1.3450073405050174,0,0,-0.00022254179914552174,9.99997404590502e-05
+21235,1792759347197250755,42750123000000,1792759347191986566,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6759191400441822,-0.004211414677424772,0.1059092271432827,0.9999999390665062,-0.00012386015437094135,-0.00024684634359996256,0.00019244581807535403,0.6761,-0.004,0.1060486449443835,1.0,0.0,0.0,0.0,-0.04948386213333056,-0.049566254461156256,0.5526110336952132,-0.0033889590004688303,0.0039847217191935486,-0.00034309603486065514,0.5701809251619848,0.4547299912252185,0.8412255749686206,0.03765842592450948,-0.04002247064136556,0.00022897674366874647,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.6557184448199447,0.7034239975932195,0.305524030161766,0.12650275268005598,-0.11185728938593917,0.3837605926493939,1.5366765084632985,-0.5526110336952132,1.2311524783015324,1.2311524783015324,1.4038073405050544,0,0,-0.00022227484124529161,9.994034352723275e-05
+21247,1792759347297342736,42750223000000,1792759347291986652,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6759971833485343,-0.004195571382081883,0.10595066717256774,0.999999958212108,-0.00010742541455459917,-0.00016242180212138453,0.0001926073343592151,0.6761,-0.004,0.10602638550234977,1.0,0.0,0.0,0.0,-0.0780782882836577,-0.007796985199336692,0.5261414498321171,-0.0006869742318827005,0.006129103052062178,-0.0002558725326914188,0.5415864990116577,0.4964992604870381,0.8147559911055245,0.04036041069309561,-0.03787808930849693,0.0003162002458379828,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.4627351407411174,0.6835485228878064,0.5181403371139576,0.12789819696177956,-0.3026998320427865,0.36967922188929603,1.5366765084632985,-0.5261414498321171,1.018536171349341,1.018536171349341,1.4188073405050639,0,0,-0.0002240764368041922,-9.999999025923074e-05
+21279,1792759347564342596,42750490000000,1792759347559986677,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6759921761545679,-0.004160306414610429,0.10589549813876464,0.9999999428072547,-0.0002817372264492449,-0.0001596619575992815,3.0992671185552914e-05,0.6761,-0.004,0.10596519748402479,1.0,0.0,0.0,0.0,-0.07555258559549538,-0.005214050258750602,0.5501833102100202,-0.0003949509453190711,0.006563972402109028,-0.00027222848226382567,0.54411220169982,0.49908219542762416,0.8387978514834277,0.04065243397965924,-0.03744321995845008,0.00029984429626557594,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.7725434898482467,0.7039496025310842,0.3644175992764357,0.1452262577582304,-0.12114368698239078,0.3821706858968468,1.5366765084632985,-0.5501833102100202,1.172258909186863,1.172258909186863,1.458857340505089,0,0,-0.00023283917010705058,-9.999999025923074e-05
+21316,1792759347872326132,42750798000000,1792759347871977988,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6759936637416467,-0.004171922455761311,0.10582336301868579,0.9999999438833385,-0.0002785342358488352,-0.00015232207776060713,5.3785200523832105e-05,0.6761,-0.004,0.10589112477194951,1.0,0.0,0.0,0.0,-0.034089215415347596,0.034748867222729074,0.5952659072281696,0.0027432458079449523,0.0034562574995987347,-0.00031650106266053606,0.5855755718799678,0.5390451129091038,0.883880448501577,0.04379063073292326,-0.040550934860960376,0.00025557171586886555,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.8396033749054035,0.7738790091610191,0.4056995015699528,-0.035537991852488474,-0.09970004643015934,0.47039911688738706,1.5366765084632985,-0.5952659072281696,1.1309770068933456,1.1309770068933456,1.5050573405051182,0,0,-0.00024818422337677246,-9.999929636984035e-05
+21365,1792759348280348186,42751206000000,1792759348275986656,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6759991568656175,-0.004184103436215992,0.10572235246892374,0.9999999457782905,-0.0002713937737952143,-0.00013856293703087976,8.385709149912798e-05,0.6761,-0.004,0.10578659549000538,1.0,0.0,0.0,0.0,-0.05238500284558034,0.014416867948329526,0.661314856928235,0.0016804703982792046,0.00447544774966286,-0.0003678866952962982,0.567279784449735,0.5187131136347043,0.9499293982016425,0.04272785532325751,-0.03953174461089625,0.00020418608323310346,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.9494311976705279,0.8127718792297867,0.10470326325276008,0.028672882832904457,0.10796885177792401,0.4738748165840196,1.5366765084632985,-0.661314856928235,1.4319732452105385,1.4319732452105385,1.5662573405051567,0,0,-0.0002617401352225394,9.992377344859022e-05
+21414,1792759348689323975,42751615000000,1792759348687987028,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6759939508238128,-0.004191195052578521,0.10562488743765032,0.9999999430345792,-0.0002671293673591378,-0.0001539699890272664,0.00010153248609745114,0.6761,-0.004,0.1056802145516816,1.0,0.0,0.0,0.0,-0.0520395747171406,0.003813814974844676,0.7244824470770395,0.0006479473695174334,0.004481894177643685,-0.000429974090654018,0.5676252125781748,0.5081100606612194,1.0130969883504468,0.04169533229449574,-0.039525298182915426,0.0001420986878753836,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.9615221428739376,0.728696610209581,0.06702688473080838,0.1619985613183423,0.11943333542937873,0.3989894683256945,1.5366765084632985,-0.7244824470770395,1.46964962373249,1.46964962373249,1.6276073405051954,0,0,-0.00025632921768906227,9.999999025923074e-05
+21461,1792759349080337275,42752006000000,1792759349075987097,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760080961553164,-0.0041982925637456285,0.10553818279570583,0.9999999444974489,-0.00027340288993710394,-0.00012188724382341204,0.0001133239713883747,0.6761,-0.004,0.10558238949270682,1.0,0.0,0.0,0.0,-0.06840135763515665,0.00763401712460432,0.7552555647081594,0.001633718870481804,0.005469251684377965,-0.0002211836220385717,0.5512634296601587,0.5119302628109791,1.0438701059815667,0.04268110379546011,-0.038537940676181145,0.0003508891564908299,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.9148218777224693,0.7623018379296753,0.0008289795270344334,0.15061789490834657,0.14248111601969607,0.4172194938248639,1.5366765084632985,-0.7552555647081594,1.535847528936264,1.535847528936264,1.6862573405052323,0,0,-0.0002468013010944751,9.84202539174916e-05
+21511,1792759349497392825,42752423000000,1792759349495977318,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760004919305812,-0.0041989256958453345,0.10544246179169768,0.9999999767555058,7.26878823286982e-05,-0.00014190153483275046,0.00011185829746947907,0.6761,-0.004,0.10548119393186646,1.0,0.0,0.0,0.0,-0.060474840154169485,0.006555015755982496,0.8153804457124456,0.0005956644827975269,0.00547071429561511,0.00040204861390713705,0.5591899471411459,0.5108512614423573,1.103994986985853,0.041643049407775835,-0.038536478064944,0.0009741213924365387,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.9077420675661464,0.797319164057079,0.07677339097419403,0.12464504502604273,0.09895887895407145,0.4113564762658027,1.5366765084632985,-0.8153804457124456,1.4599031174891044,1.4599031174891044,1.7488073405052718,0,0,-0.00023917398439129845,-9.990234614421496e-05
+21558,1792759349889369247,42752815000000,1792759349887986753,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760126695217757,-0.004204060263263922,0.10536237949609058,0.9999999817880143,3.037600703485458e-05,-0.00011594642957984358,0.00011619190727937753,0.6761,-0.004,0.10538765869278612,1.0,0.0,0.0,0.0,-0.062011239948476016,-5.217430151738256e-05,0.8648574655325381,0.0005931348513495902,0.005465330887741676,-0.0005227778023144229,0.5576535473468394,0.5042440713848574,1.1534720068059454,0.0416405197763279,-0.038541861472817435,4.929497621497872e-05,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.9681152806495281,0.8727129652102938,-0.10870965920031606,0.09020416032937983,0.23073766680308752,0.4215958162931358,1.5366765084632985,-0.8648574655325381,1.6453861676636146,1.6453861676636146,1.8076073405053088,0,0,-0.00023753252402916735,9.99995739255965e-05
+21607,1792759350297385976,42753223000000,1792759350295987110,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760100918680059,-0.00420770683577734,0.10526760665482303,0.9999999800806616,1.5237484119189964e-05,-0.00012758431183820655,0.00012153848500178206,0.6761,-0.004,0.10529068394400816,1.0,0.0,0.0,0.0,-0.06191055653366839,0.006432401574749114,0.9020482909049381,0.0005790948228216117,0.005450733813700065,0.0003475437106140192,0.557754230761647,0.5107286472611239,1.1906628321783455,0.04162647974779992,-0.038556458546859046,0.0009196164891434208,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.9957421061713473,0.9169209143271912,-0.16214953657762343,0.08811046057299317,0.272905355285356,0.47104022562147796,1.5366765084632985,-0.9020482909049381,1.698826045040922,1.698826045040922,1.8688073405053474,0,0,-0.00023698904913907614,9.999999025923074e-05
+21664,1792759350772383033,42753698000000,1792759350771978272,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760221062865345,-0.004206486811367838,0.1051696114300737,0.9999999827795699,-2.813631716840498e-06,-0.0001030300478143023,0.00012353386988694793,0.6761,-0.004,0.10517808026239234,1.0,0.0,0.0,0.0,-0.07188726130406087,0.013981204306567685,0.946072830049357,0.0015627527147809087,0.006436123205408116,0.0004583386080714814,0.5477775259912545,0.5182774499929425,1.2346873713227644,0.04261013763975922,-0.037571069155150995,0.001030411386600883,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0040472326919891,0.8467669319119034,-0.17818630578610034,0.12692792838357586,0.2787356098197179,0.45098705938907746,1.5366765084632985,-0.946072830049357,1.714862814249399,1.714862814249399,1.9400573405053922,0,0,-0.00023719571174837662,-9.99755931082646e-05
+21713,1792759351180392917,42754106000000,1792759351175987664,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760279440034203,-0.004206563079966419,0.10508419491044457,0.9999999841623,-2.6966047702336597e-05,-9.095590144108966e-05,0.0001188196978629407,0.6761,-0.004,0.10508100028816446,1.0,0.0,0.0,0.0,-0.05567329099792828,0.015577749923509021,0.9916355329403246,0.001570608556187278,0.00581365711712635,0.0004141224259544174,0.5639914962973871,0.5198739956098838,1.280250074213732,0.042617993481165586,-0.03819353524343276,0.000986195204483819,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0172723886551946,0.7348513270794179,-0.2788716522034569,0.18551648629174788,0.3415064915352221,0.4077958319101819,1.5366765084632985,-0.9916355329403246,1.8155481606667554,1.8155481606667554,2.001257340505431,0,0,-0.00023755131123706785,9.919765983490975e-05
+21762,1792759351589385391,42754515000000,1792759351587986856,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760222880782106,-0.004205590687022532,0.10498557520558124,0.9999999818293325,-4.04264604952043e-05,-0.00010617333577547259,0.00012197181356352359,0.6761,-0.004,0.1049832463305382,1.0,0.0,0.0,0.0,-0.053529755653379474,0.0068391129863865086,1.0265222722541438,0.0015737765736194356,0.005405738618399311,0.0003798636567846238,0.5661350316419359,0.5111353586727613,1.3151368135275512,0.042621161498597744,-0.0386014537421598,0.0009519364353140254,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.9776098239406484,0.8040491933783255,-0.19560226928096597,0.1680929508007933,0.27498538205424294,0.4537274688951637,1.5366765084632985,-1.0265222722541438,1.7322787777442645,1.7322787777442645,2.0626073405054695,0,0,-0.00024177548832024354,-9.999999025923074e-05
+21807,1792759351964378756,42754890000000,1792759351959977300,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760393378608793,-0.004208068983475877,0.10490818374287349,0.9999999842142179,-5.185540788525364e-05,-6.761823792515725e-05,0.0001255118282328518,0.6761,-0.004,0.10489186262465268,1.0,0.0,0.0,0.0,-0.06307230525809704,0.0280413871850137,1.0565134457764582,0.00154344750247528,0.006417588540085825,0.0003701838638224227,0.5565924820372183,0.5323376328713885,1.3451279870498656,0.04259083242745359,-0.037589603820473286,0.0009422566423518243,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0366329936088663,0.8325711365517804,-0.36344532019467385,0.1701590919042915,0.3981035658390398,0.4756493013949987,1.5366765084632985,-1.0565134457764582,1.9001218286579724,1.9001218286579724,2.118857340505505,0,0,-0.00024919222579441867,-9.819473986561462e-05
+21855,1792759352364414555,42755290000000,1792759352359987320,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760283673588985,-0.004212028062925932,0.10480585179574274,0.99999998060526,-6.694141735174013e-05,-0.00010050251249081957,0.00012510170162409844,0.6761,-0.004,0.10479035540433689,1.0,0.0,0.0,0.0,-0.053676972336414,0.02013014474076802,1.105750487204241,0.001566107108396421,0.005391629217097321,-0.0003351747282566824,0.5659878149589014,0.5244263904271428,1.3943650284776483,0.04261349203337473,-0.03861556314346179,0.00023689805027271924,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0304864966446114,0.8760702101374734,-0.45209402011462735,0.16119465943637792,0.4537944294668217,0.5053093992824547,1.5366765084632985,-1.105750487204241,1.9887705285779258,1.9887705285779258,2.1788573405055427,0,0,-0.00025715514193472435,9.999980984798924e-05
+21892,1792759352672370719,42755598000000,1792759352667986717,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760552855451702,-0.004217629114892605,0.10473870641420506,0.9999999832820281,-7.88517765613385e-05,-3.4780215294860785e-05,0.0001321042840900219,0.6761,-0.004,0.10471021869299747,1.0,0.0,0.0,0.0,-0.07282997636703936,0.034149475577088584,1.1184468797132756,0.002507096994918148,0.007358487690047544,0.00034651699818096307,0.546834810928276,0.5384457212634634,1.407061420986683,0.04355448191989646,-0.03664870467051157,0.0009185897767103647,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,0.9704156325030694,0.6879547967169527,-0.42493814628147925,0.21610771705512394,0.41473861673035217,0.3799139357123043,1.5366765084632985,-1.1184468797132756,1.9616146547447777,1.9616146547447777,2.225057340505572,0,0,-0.00026424747026218407,-9.642106143926128e-05
+21935,1792759353030383102,42755956000000,1792759353023987538,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760354323327328,-0.004220921939486628,0.1046355800231895,0.9999999794612083,-9.824895430660237e-05,-8.399216695109996e-05,0.0001257493786426251,0.6761,-0.004,0.10461278044125986,1.0,0.0,0.0,0.0,-0.05400177815025775,0.03168555229677672,1.1569480484380394,0.0015249414669727748,0.006388824077927839,0.00029018400122467864,0.5656630091450576,0.5359817979831515,1.4455625897114468,0.04257232639195108,-0.03761836828263127,0.0008622567797540803,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.047616029025728,0.7463939025259301,-0.40686341359937106,0.21846169911794547,0.42782070570616837,0.4214124123553695,1.5366765084632985,-1.1569480484380394,1.9435399220626697,1.9435399220626697,2.2787573405056056,0,0,-0.0002789100433900612,-9.995076574587642e-05
+21974,1792759353355462024,42756281000000,1792759353351987164,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760432516227247,-0.004218117293181783,0.1045482114758754,0.9999999793994829,-0.0001076663792765959,-6.738383573316254e-05,0.00012849617788225618,0.6761,-0.004,0.10452047427311359,1.0,0.0,0.0,0.0,-0.04443017855088449,0.027281358163559588,1.178885928969321,0.0015476666522545868,0.0053712911408050415,0.0002576439059151994,0.5752346087444309,0.5315776038499344,1.4675004702427283,0.042595051577232895,-0.03863590121975407,0.000829716684444601,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.05766367340786,0.8079049483161262,-0.5489041872213302,0.19980238947775766,0.5201475307686187,0.4581744794229434,1.5366765084632985,-1.178885928969321,2.085580695684629,2.085580695684629,2.3275073405056363,0,0,-0.0002899852450661217,-3.3002900917916515e-06
+22008,1792759353639449837,42756565000000,1792759353635987491,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760409452885229,-0.004225866451824496,0.10445810846057384,0.9999999770547733,-0.00011679518903889265,-7.452294175938493e-05,0.0001346793684116295,0.6761,-0.004,0.10443640347503262,1.0,0.0,0.0,0.0,-0.03588121429457081,0.033846841976939324,1.214859341015931,0.0015409164048567486,0.005380544872501732,0.0002302016455990089,0.5837835730007446,0.5381430876633141,1.5034738822893383,0.04258830132983506,-0.03862664748805738,0.0008022744241284105,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0728914254399622,0.8081241609289533,-0.5731016885167955,0.2144438276410811,0.5393077933485609,0.46389816669937456,1.5366765084632985,-1.214859341015931,2.109778196980094,2.109778196980094,2.370107340505663,0,0,-0.0003011639652064898,-4.151829854771023e-05
+22051,1792759353997382496,42756923000000,1792759353991987278,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760585609723941,-0.004227621498012639,0.10437631697661034,0.999999978317901,-0.0001278096133268349,-3.6697984761177216e-05,0.00013086260923560612,0.6761,-0.004,0.10432549983564128,1.0,0.0,0.0,0.0,-0.0329688351331513,0.03422436061405554,1.2273022675684435,0.0015392142823427296,0.0053597787412351106,0.0002201936400937017,0.5866959521621641,0.5385206063004303,1.5159168088418509,0.04258659920732104,-0.038647413619324,0.0007922664186231033,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0349107680619316,0.6677756609623622,-0.5354572677209891,0.2647478355169927,0.5001726655332256,0.3737327186957482,1.5366765084632985,-1.2273022675684435,2.0721337761842875,2.0721337761842875,2.423807340505697,0,0,-0.0003184935218434034,-9.999999025923074e-05
+22094,1792759354355450050,42757281000000,1792759354347987293,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760513641306667,-0.004234055921639063,0.1042665454682046,0.9999999780303416,-0.00012202088254214966,-5.552548945610321e-05,0.0001319469782307204,0.6761,-0.004,0.10420893259529404,1.0,0.0,0.0,0.0,-0.026300381274998674,0.03564595814796245,1.2661080550060844,0.0015318126796448686,0.005351053691447491,0.00018965648745585808,0.5933644060203167,0.5399422038343372,1.5547225962794917,0.04257919760462318,-0.03865613866911162,0.0007617292659852597,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0998560830931008,0.7243794282008016,-0.5287800695415897,0.2581498686875008,0.5132885888306202,0.4154840515364055,1.5366765084632985,-1.2661080550060844,2.065456578004888,2.065456578004888,2.477507340505731,0,0,-0.0003332847138507163,-9.999999025923074e-05
+22130,1792759354655475824,42757581000000,1792759354651977128,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760656587250298,-0.0042351766601949345,0.10417520495257988,0.9999999840771174,-6.317693732967008e-05,-2.21905516718072e-05,0.00013713089890483429,0.6761,-0.004,0.10410688208465085,1.0,0.0,0.0,0.0,-0.03578881504571241,0.04642095623511722,1.2872117457112302,0.0015020897160628738,0.006348150510759404,0.00018693798256924556,0.583875972249603,0.550717201921492,1.5758262869846376,0.04254947464104118,-0.03765904184979971,0.0007590107610986472,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0520227306869083,0.8243699641482485,-0.6413394558460839,0.2306574852041796,0.5670585522673383,0.4709904903277819,1.5366765084632985,-1.2872117457112302,2.1780159643093824,2.1780159643093824,2.522507340505759,0,0,-0.00034727199633574477,-9.999999025923074e-05
+22167,1792759354964418474,42757890000000,1792759354959986901,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760557273223343,-0.00424346291136815,0.1040671558324563,0.9999999817016998,-8.746793288156064e-05,-4.7098043667731623e-05,0.00013479836563682685,0.6761,-0.004,0.10399745952410899,1.0,0.0,0.0,0.0,-0.017388157178442776,0.03755039549851791,1.3175305694262103,0.0015222399889818702,0.005339738412390653,0.00014918897918915377,0.6022766301168726,0.5418466411848927,1.6061451106996176,0.04256962491396018,-0.03866745394816846,0.0007212617577185554,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0888978110167487,0.7876328426861742,-0.6774768880943258,0.2510216194848488,0.6069123621192132,0.45123817112271575,1.5366765084632985,-1.3175305694262103,2.2141533965576246,2.2141533965576246,2.5688573405057884,0,0,-0.000361160366525752,-9.999999025923074e-05
+22208,1792759355305476472,42758231000000,1792759355303977256,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760672232814889,-0.004249236091431398,0.10395214604262461,0.9999999799277981,-0.00010942989282575792,-2.20902161132071e-05,0.00013829095627180236,0.6761,-0.004,0.1038715921469336,1.0,0.0,0.0,0.0,-0.013541246184874511,0.048262810622938246,1.3377444339756377,0.0015198453929027092,0.005334385060321169,0.00013335068596783458,0.6061235411104409,0.552559056309313,1.626358975249045,0.04256723031788102,-0.03867280730023794,0.0007054234644972362,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.1557010856580656,0.810310003408859,-0.7085269254316549,0.2558494222143951,0.6397525682235753,0.4656612104360009,1.5366765084632985,-1.3377444339756377,2.2452034338949534,2.2452034338949534,2.6200073405058206,0,0,-0.0003773395454806635,-9.999999025923074e-05
+22242,1792759355589474682,42758515000000,1792759355587987207,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760623775339537,-0.004252353776000584,0.1038359419432937,0.9999999780740644,-0.0001177933474756263,-3.2115974760951094e-05,0.00014278664640660554,0.6761,-0.004,0.10376281634792263,1.0,0.0,0.0,0.0,-0.008029461819725747,0.0493537797964827,1.3678496094477104,0.0015142170055033877,0.005327735086035804,0.00010969799837717332,0.6116353254755896,0.5536500254828575,1.6564641507211177,0.042561601930481696,-0.03867945727452331,0.0006817707769065749,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0580184290380796,0.7845372718882043,-0.6209744817227265,0.27155506038288185,0.5531359888026582,0.4472302834671664,1.5366765084632985,-1.3678496094477104,2.157650990186025,2.157650990186025,2.6626073405058475,0,0,-0.0003899842062851918,-9.999999025923074e-05
+22278,1792759355890455362,42758815000000,1792759355887987340,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760653716361739,-0.004260216553611969,0.10372267930167474,0.9999999751676785,-0.00013902129921204408,-2.8491708604296048e-05,0.0001448061034104705,0.6761,-0.004,0.10364366414714993,1.0,0.0,0.0,0.0,-0.008074039264667987,0.05381640329949211,1.3879509252700999,0.0015098452644611848,0.005321669154825466,8.833300409126716e-05,0.6115907480306474,0.5581126489858669,1.6765654665435072,0.04255723018943949,-0.038685523205733645,0.0006604057826206688,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.1049315129632313,0.7886691510062839,-0.7697704580169356,0.278791877390587,0.6624268913244469,0.45166291048753493,1.5366765084632985,-1.3879509252700999,2.306446966480234,2.306446966480234,2.707607340505876,0,0,-0.00040462669020499407,-9.999999025923074e-05
+22311,1792759356164472326,42759090000000,1792759356159987422,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760688791980413,-0.004260665275815944,0.10361109354141848,0.9999999733413473,-0.00015118203809918188,-2.4361319806615136e-05,0.0001459818025715308,0.6761,-0.004,0.10353050805771322,1.0,0.0,0.0,0.0,0.0011284248440792677,0.06101428141992726,1.4167456934461344,0.0015071264865860606,0.005316041255947111,6.55637171664093e-05,0.6207932121393946,0.565310527106302,1.7053602347195418,0.04255451141156437,-0.038691151104612,0.0006376364956958109,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.1288815029588606,0.8389330090273737,-0.7800947410693727,0.2803157575589873,0.6738876205399369,0.49042870418244777,1.5366765084632985,-1.4167456934461344,2.316771249532671,2.316771249532671,2.748857340505902,0,0,-0.0004183766875262825,-9.999999025923074e-05
+22348,1792759356472466886,42759398000000,1792759356467977574,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760703722598708,-0.004271177443222878,0.10348384495753814,0.9999999733129191,-0.00015095484400723668,-1.8816946968391486e-05,0.00014722629873129808,0.6761,-0.004,0.10339928413841865,1.0,0.0,0.0,0.0,0.010412308128632142,0.06305082757011493,1.4381779252101632,0.001513838185065855,0.004892643110117667,4.8649882838181033e-05,0.6300770954239475,0.5673470732564897,1.7267924664835705,0.042561223110044163,-0.039114549250441444,0.0006207226613675826,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0555195511307884,0.7912133273828457,-0.8095804453633774,0.2999661750690393,0.6704480068724417,0.46207166538750105,1.5366765084632985,-1.4381779252101632,2.3462569538266758,2.3462569538266758,2.795057340505931,0,0,-0.0004337766845261256,-9.999999025923074e-05
+22376,1792759356705529411,42759631000000,1792759356703978005,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760667628043996,-0.004272258507134815,0.10338195373420847,0.9999999802849591,-9.213282024687326e-05,-2.6669553539878246e-05,0.00014721828772069884,0.6761,-0.004,0.1032968627711896,1.0,0.0,0.0,0.0,0.014924442192113752,0.05847656744912377,1.4522225974058645,0.0015261302173953523,0.004294282095284374,2.862959003368127e-05,0.6345892294874291,0.5627728131354985,1.7408371386792718,0.04257351514237366,-0.03971291026527474,0.0006007023685630829,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0358175623529315,0.8435442332785935,-0.7831324080885973,0.2893544570260149,0.6483009721101372,0.4843924914871036,1.5366765084632985,-1.4522225974058645,2.319808916551896,2.319808916551896,2.830007340505953,0,0,-0.00044542668225652635,-9.999999025923074e-05
+22409,1792759356980499911,42759906000000,1792759356979987564,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760682068413733,-0.0042831013514219255,0.10325615568446077,0.9999999767212401,-0.00011504596017524473,-2.39114526251262e-05,0.00015554116198511966,0.6761,-0.004,0.10317248668393872,1.0,0.0,0.0,0.0,0.0241155623390239,0.06860259836727522,1.468077974545933,0.0012345259228795022,0.004295888920737498,1.3177891716394476e-05,0.6437803496343393,0.57289884405365,1.7566925158193403,0.04228191084785781,-0.03971130343982161,0.0005852506702457961,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0450285419375231,0.8414269286027203,-0.8027008928937981,0.3044250021615303,0.6623825478210174,0.490020974177935,1.5366765084632985,-1.468077974545933,2.3393774013570967,2.3393774013570967,2.871257340505979,0,0,-0.0004591766795778148,-9.999999025923074e-05
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+22525,1792759357947529809,42760873000000,1792759357939987140,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.676072310010003,-0.004308145376041781,0.10279559527407546,0.9999999707686478,-0.00014945468606610723,-2.3292849212948602e-05,0.00016439680003492167,0.6761,-0.004,0.10270510978934592,1.0,0.0,0.0,0.0,0.04415509710950716,0.07213660689132728,1.5182057719693653,0.000495422360709083,0.004296865451856584,-3.582043533469027e-05,0.6638198844048225,0.576432852577702,1.8068203132427727,0.04154280728568739,-0.03971032690870253,0.0005362523431947113,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.1156069453539945,0.7197947530805318,-0.9047872664743876,0.36884024272359267,0.7469236917809063,0.416916548312421,1.5366765084632985,-1.5182057719693653,2.441463774937686,2.441463774937686,3.0163073405060703,0,0,-0.000507526670158491,-9.999999025923074e-05
+22552,1792759358172512088,42761098000000,1792759358167987178,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760762551997711,-0.004315013488759581,0.1026899933111736,0.9999999692769256,-0.00015615041213151154,-8.741298799053637e-06,0.0001686109441370448,0.6761,-0.004,0.10258965628880792,1.0,0.0,0.0,0.0,0.03865116011497849,0.07248788731109801,1.528225748736321,0.0004944071090212734,0.004295646480558767,-4.138468853602604e-05,0.6583159474102939,0.5767841329974728,1.8168402900097285,0.04154179203399958,-0.039711545880000344,0.0005306880899933756,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0454065300994335,0.6974897492734802,-0.8085959126053603,0.38771805492923084,0.6673617421503738,0.4047052671719392,1.5366765084632985,-1.528225748736321,2.3452724210686586,2.3452724210686586,3.0500573405060916,0,0,-0.0005187766679668179,-9.999999025923074e-05
+22580,1792759358405491923,42761331000000,1792759358399987647,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760722619924783,-0.004325277321137736,0.1025631044337369,0.9999999664713516,-0.00017278419086910084,-1.1956518638049996e-05,0.0001688277967363039,0.6761,-0.004,0.1024674299254372,1.0,0.0,0.0,0.0,0.047758703818482684,0.06025993750752312,1.5442701728003663,-0.0005302630438160719,0.004311421861675699,-6.544450639031976e-05,0.6674234911137981,0.5645561831938979,1.8328847140737736,0.04051712188116224,-0.03969577049888341,0.0005066282721390818,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0762205386685357,0.8471453599108268,-0.8334010784272242,0.34073788330416416,0.6907442058068658,0.49927105336035105,1.5366765084632985,-1.5442701728003663,2.3700775868905226,2.3700775868905226,3.0850073405061136,0,0,-0.0005304266656972187,-9.999999025923074e-05
+22604,1792759358605586862,42761531000000,1792759358599986763,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760612128183879,-0.004331911991209577,0.1024402381656789,0.9999999638807571,-0.0001787964631238735,-3.0435451557974385e-05,0.00017546183910875123,0.6761,-0.004,0.10236034959249354,1.0,0.0,0.0,0.0,0.048380383980915376,0.06714636410781272,1.5579636519140174,-0.0005311798283169564,0.0043080952234931455,-7.576737144566364e-05,0.6680451712762308,0.5714426097941875,1.8465781931874248,0.04051620509666135,-0.039699097137065965,0.000496305407083738,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.1118476377716144,0.8365266541988695,-0.8679776088944907,0.35409774188336535,0.7251346853386024,0.4970371403834519,1.5366765084632985,-1.5579636519140174,2.404654117357789,2.404654117357789,3.1150073405061325,0,0,-0.0005404266637490648,-9.999999025923074e-05
+22629,1792759358814548392,42761740000000,1792759358811987302,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760594095760365,-0.004336987681110016,0.10232142698225677,0.999999962512463,-0.00017446181292377096,-3.114017513156398e-05,0.00018711307270948718,0.6761,-0.004,0.10224631361998375,1.0,0.0,0.0,0.0,0.056923541882408,0.05812716151651398,1.5615389294636406,-0.0015524938380675202,0.004326476741905685,-8.91113537220419e-05,0.6765883291777234,0.5624234072028887,1.850153470737048,0.03949489108691079,-0.039680715618653425,0.0004829614248073597,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.090105955138701,0.7776098173905788,-0.9255822399398875,0.37152709564904124,0.7578173209848247,0.4604199455277926,1.5366765084632985,-1.5615389294636406,2.462258748403186,2.462258748403186,3.1463573405061522,0,0,-0.000550876661713244,-9.999999025923074e-05
+22653,1792759359014584488,42761940000000,1792759359011987150,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760587550692773,-0.004340349781022582,0.10220615970880066,0.9999999604467517,-0.00017098396562775005,-3.355426108053405e-05,0.0002004693353173186,0.6761,-0.004,0.10213514328783689,1.0,0.0,0.0,0.0,0.054477289147288666,0.06605833288589058,1.5675869866293661,-0.0015535021771736143,0.004311499566176345,-9.45276750763696e-05,0.674142076442604,0.5703545785722653,1.8562015279027735,0.039493882747804694,-0.039695692794382766,0.000477545103453032,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0027661744955219,0.8832166866539448,-0.8140868750231638,0.3427438854153206,0.6640244716839169,0.5313182463141536,1.5366765084632985,-1.5675869866293661,2.3507633834864623,2.3507633834864623,3.176357340506171,0,0,-0.0005608766597650902,-9.999999025923074e-05
+22676,1792759359205524065,42762131000000,1792759359203977799,DOWN_FORCE_DETACH,4,0.074,0.07400239259004593,0.6760799573561762,-0.004344245981716224,0.10211417775865157,0.9999999723487087,-4.558751277345478e-05,-1.5433472725486922e-05,0.00021078195554435772,0.6761,-0.004,0.10202710859600037,1.0,0.0,0.0,0.0,0.04880584927568665,0.05900232874346201,1.5562742357308703,-0.0013264055300845068,0.004326619144681659,-8.427296443289372e-05,0.668470636571002,0.5632985744298368,1.8448887770042777,0.0397209793948938,-0.03968057321587745,0.0004877998140965079,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.0788052461876598,0.8367919556605036,-0.8433838799102132,0.36540863065041473,0.7021705790330526,0.4932232559850004,1.5366765084632985,-1.5562742357308703,2.380060388373512,2.380060388373512,3.205007340506189,0,0,-0.0005704266579046033,-9.999999025923074e-05
+22702,1792759359422583320,42762348000000,1792759359419987084,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760769594698501,-0.004342668233013655,0.10198886564503624,0.9999999735440721,-0.00011782949965755584,-1.132257153169433e-05,0.00017419164135600736,0.6761,-0.004,0.10190215421146546,1.0,0.0,0.0,0.0,0.04889252875635486,0.04811458157384274,1.558022779228144,-0.0015550814283547404,0.004373803728560083,-8.651300520509794e-05,0.6685573160516702,0.5524108272602175,1.8466373205015514,0.03949230349662357,-0.03963338863199903,0.00048555977332430367,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.1211082002190735,0.9443538789134102,-0.8112493043283501,0.31901995971984465,0.6975389934502759,0.518145354119457,1.5366765084632985,-1.558022779228144,2.3479258127916487,2.3479258127916487,3.2375573405062097,0,0,-0.0005812766557908563,-9.999999025923074e-05
+22725,1792759359614563449,42762540000000,1792759359611987251,DOWN_FORCE_DETACH,4,0.074,0.0740017369389534,0.6760702630785677,-0.004341210944040796,0.10187049368613649,0.999999969703009,-0.0001584648170098044,-2.2231832160452615e-05,0.00016257765187518113,0.6761,-0.004,0.1017896322937341,1.0,0.0,0.0,0.0,0.07644525465120977,0.0711488133325846,1.5680663631490264,-0.0005058725127902869,0.0032918321970792086,-0.00010059235980117273,0.6961100419465251,0.5754450590189594,1.8566809044224337,0.04054151241218802,-0.0407153601634799,0.0004714804187282289,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.108576668183981,0.8976675272806437,-0.8626164726320165,0.3157690449755323,0.7333733382489549,0.5194702921530091,1.5366765084632985,-1.5680663631490264,2.399292981095315,2.399292981095315,3.266357340506228,0,0,-0.0005908766539206286,-9.999999025923074e-05
+22747,1792759359794570951,42762720000000,1792759359787987419,DOWN_SETTLE,4,0.074,0.07400239259004593,0.6760696873882108,-0.004351607435689102,0.10176072481187878,0.9999999660801765,-0.00015882272391249487,-1.815617055973345e-05,0.00018365240502220224,0.6761,-0.004,0.10168246899618706,1.0,0.0,0.0,0.0,0.06761178347016361,0.05882536499013957,1.567689510408733,-0.0015290760578156523,0.003392204662071352,-0.00010724141134577114,0.687276570765479,0.5631216106765143,1.8563040516821403,0.039518308867162656,-0.04061498769848776,0.0004648313671836305,0.6196647872953154,0.5042962456863748,0.2886145412734074,0.04104738492497831,-0.04400719236055911,0.0005720727785294016,1,1.1025701226771567,0.7912089623870939,-0.7827344831748492,0.36846868781955994,0.6778850912624182,0.46398721040988505,1.5366765084632985,-1.567689510408733,2.3194109916381476,0.0,0.0,0,0,-0.0005998766521672902,-9.999999025923074e-05
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Fixed/digit/ball_0030_20/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,1792759339927853463,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.335423380e-10,-4.478481822e-11,-2.026268042e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450229e-01,-1.153947943e-04,8.303262566e-01
+1,6.500000000e-01,DOWN_FORCE_DETACH,1792759340583282712,6.976850431e-09,8.981620320e-08,1.202517475e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.343478944e-08,1.226190070e-10,-5.633033373e-09,7.019556766e-01,-2.199809520e-05,8.601446484e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450456e-01,-1.153946269e-04,8.303262512e-01
+2,1.283333333e+00,DOWN_FORCE_DETACH,1792759341304728447,-3.910195762e-07,3.376538122e-06,-3.915845835e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.757426681e-08,4.493768014e-10,-8.220370384e-09,7.019552786e-01,-1.871137328e-05,8.601395300e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450597e-01,-1.153943001e-04,8.303262486e-01
+3,1.800000000e+00,DOWN_FORCE_DETACH,1792759341811851183,-2.981063452e-06,1.113010434e-06,-1.817767153e-05,-5.810656933e-06,3.722637352e-06,-2.128635083e-05,-6.506284953e-06,3.785990368e-06,-2.125401047e-05,7.019526886e-01,-2.097490097e-05,8.601252682e-01,7.019498590e-01,-1.836527405e-05,8.601221595e-01,7.027385158e-01,-1.116087591e-04,8.303050028e-01
+4,2.383333333e+00,DOWN_FORCE_DETACH,1792759342385056831,-1.024579911e-05,-8.290177150e-06,-6.407519995e-05,-1.164958678e-05,-6.318695235e-06,-6.238385381e-05,-1.332992249e-05,-6.407069830e-06,-6.231685176e-05,7.019454238e-01,-3.037808856e-05,8.600793706e-01,7.019440200e-01,-2.840660664e-05,8.600810620e-01,7.027316922e-01,-1.218018193e-04,8.302639399e-01
+5,2.733333333e+00,DOWN_FORCE_DETACH,1792759342728840419,2.319039194e-05,-1.198587104e-05,-8.266750941e-05,2.392141980e-05,-1.020983169e-05,-7.101445330e-05,2.490850785e-05,-1.030434056e-05,-7.094255149e-05,7.019788600e-01,-3.407378245e-05,8.600607783e-01,7.019795910e-01,-3.229774310e-05,8.600724314e-01,7.027699306e-01,-1.256990901e-04,8.302553142e-01
+6,3.166666667e+00,DOWN_FORCE_DETACH,1792759343155109729,9.660483091e-06,-9.546854829e-06,-1.390027667e-04,1.224090108e-05,-1.450721900e-05,-1.303547913e-04,1.162404779e-05,-1.466640883e-05,-1.301692516e-04,7.019653301e-01,-3.163476623e-05,8.600044431e-01,7.019679105e-01,-3.659513041e-05,8.600130911e-01,7.027566462e-01,-1.300611583e-04,8.301960875e-01
+7,3.616666667e+00,DOWN_FORCE_DETACH,1792759343615594710,5.360436438e-06,2.945913781e-06,-1.859005179e-04,5.245438571e-06,7.106617104e-07,-1.810686955e-04,3.460070485e-06,7.203153844e-07,-1.808996280e-04,7.019610301e-01,-1.914199763e-05,8.599575453e-01,7.019609151e-01,-2.137724970e-05,8.599623772e-01,7.027484822e-01,-1.146744341e-04,8.301453572e-01
+8,4.116666667e+00,DOWN_FORCE_DETACH,1792759344107103554,1.299132069e-05,-8.337266397e-06,-2.458646859e-04,1.284040881e-05,-8.179383805e-06,-2.456385711e-04,1.084198525e-05,-8.251474312e-06,-2.453845084e-04,7.019686609e-01,-3.042517780e-05,8.598975812e-01,7.019685100e-01,-3.026729521e-05,8.598978073e-01,7.027558641e-01,-1.236462238e-04,8.300808723e-01
+9,4.583333333e+00,DOWN_FORCE_DETACH,1792759344564427450,1.113640638e-05,-1.105948911e-05,-3.168252554e-04,9.737489733e-06,-1.251772240e-05,-3.129716874e-04,6.655313194e-06,-1.269127408e-05,-3.127237376e-04,7.019668060e-01,-3.314740052e-05,8.598266206e-01,7.019654071e-01,-3.460563380e-05,8.598304742e-01,7.027516774e-01,-1.280860236e-04,8.300135331e-01
+10,5.050000000e+00,DOWN_FORCE_DETACH,1792759345054897583,1.288655287e-05,-2.226032888e-05,-4.080569089e-04,1.301568885e-05,-2.416816494e-05,-4.011440703e-04,9.097622043e-06,-2.444437637e-05,-4.008551138e-04,7.019685562e-01,-4.434824029e-05,8.597353889e-01,7.019686853e-01,-4.625607635e-05,8.597423018e-01,7.027541198e-01,-1.398391259e-04,8.299254017e-01
+11,5.466666667e+00,DOWN_FORCE_DETACH,1792759345481694410,8.988384443e-06,-3.029927124e-05,-4.938280245e-04,8.867629419e-06,-3.017585859e-05,-4.936057731e-04,3.480661098e-06,-3.054105186e-05,-4.932610469e-04,7.019646580e-01,-5.238718264e-05,8.596496178e-01,7.019645373e-01,-5.226377000e-05,8.596498401e-01,7.027485028e-01,-1.459358014e-04,8.298329957e-01
+12,5.900000000e+00,DOWN_FORCE_DETACH,1792759345906483733,1.138592898e-05,-3.617081665e-05,-5.780851008e-04,8.857622448e-06,-3.668124175e-05,-5.643768716e-04,2.642857561e-06,-3.710331365e-05,-5.640588205e-04,7.019670556e-01,-5.825872806e-05,8.595653607e-01,7.019645272e-01,-5.876915316e-05,8.595790690e-01,7.027476650e-01,-1.524980632e-04,8.297621980e-01
+13,6.333333333e+00,DOWN_FORCE_DETACH,1792759346332441660,6.849431342e-06,-4.490441762e-05,-6.729925461e-04,7.894398952e-06,-4.420514853e-05,-6.535938176e-04,4.362728649e-07,-4.473088848e-05,-6.533089073e-04,7.019625191e-01,-6.699232902e-05,8.594704533e-01,7.019635640e-01,-6.629305994e-05,8.594898520e-01,7.027454584e-01,-1.601256380e-04,8.296729479e-01
+14,6.816666667e+00,DOWN_FORCE_DETACH,1792759346807747147,1.284671223e-05,-5.413357172e-05,-7.671064101e-04,1.168473309e-05,-5.214503078e-05,-7.640773513e-04,3.228635346e-06,-5.271803881e-05,-7.637410543e-04,7.019685163e-01,-7.622148312e-05,8.593763394e-01,7.019673544e-01,-7.423294218e-05,8.593793685e-01,7.027482508e-01,-1.681127883e-04,8.295625157e-01
+15,7.216666667e+00,DOWN_FORCE_DETACH,1792759347200815486,1.046501707e-05,-5.740836968e-05,-8.552078160e-04,1.016692843e-05,-5.765725726e-05,-8.553257291e-04,4.397906647e-07,-5.831856528e-05,-8.549433993e-04,7.019661346e-01,-7.949628109e-05,8.592882380e-01,7.019658366e-01,-7.974516867e-05,8.592881201e-01,7.027454619e-01,-1.737133148e-04,8.294713134e-01
+16,7.316666667e+00,DOWN_FORCE_DETACH,1792759347299296258,9.079318711e-05,-4.630948854e-05,-8.104971641e-04,9.693625996e-05,-4.457502141e-05,-7.981275865e-04,9.454720872e-05,-4.510010393e-05,-7.977507002e-04,7.020464628e-01,-6.839739994e-05,8.593329487e-01,7.020526059e-01,-6.666293281e-05,8.593453183e-01,7.028395693e-01,-1.604948534e-04,8.295285061e-01
+17,7.583333333e+00,DOWN_FORCE_DETACH,1792759347561042699,9.547811781e-05,-1.853684312e-06,-8.664395486e-04,9.526444785e-05,-1.930695308e-06,-8.662866827e-04,9.201231586e-05,-1.976824937e-06,-8.658942648e-04,7.020511477e-01,-2.394159572e-05,8.592770063e-01,7.020509341e-01,-2.401860671e-05,8.592771592e-01,7.028370344e-01,-1.173715744e-04,8.294603625e-01
+18,7.900000000e+00,DOWN_FORCE_DETACH,1792759347872247532,8.695718054e-05,-2.401368430e-05,-9.390594411e-04,8.664737054e-05,-2.359117626e-05,-9.204709966e-04,8.212284108e-05,-2.386054164e-05,-9.201046526e-04,7.020426268e-01,-4.610159571e-05,8.592043864e-01,7.020423170e-01,-4.567908766e-05,8.592229748e-01,7.028271450e-01,-1.392552912e-04,8.294061521e-01
+19,8.316666667e+00,DOWN_FORCE_DETACH,1792759348282213910,9.279483966e-05,-3.676577860e-05,-1.036922378e-03,9.343599417e-05,-2.984494603e-05,-1.031710508e-03,8.802004611e-05,-3.022566214e-05,-1.031308454e-03,7.020484645e-01,-5.885369000e-05,8.591065235e-01,7.020491056e-01,-5.193285744e-05,8.591117353e-01,7.028330422e-01,-1.456204117e-04,8.292949483e-01
+20,8.733333333e+00,DOWN_FORCE_DETACH,1792759348691123303,8.870231760e-05,-4.051460729e-05,-1.134521581e-03,8.662474842e-05,-4.098662978e-05,-1.115478480e-03,7.969450809e-05,-4.147570199e-05,-1.115113525e-03,7.020443719e-01,-6.260251870e-05,8.590089243e-01,7.020422944e-01,-6.307454118e-05,8.590279674e-01,7.028247166e-01,-1.568704515e-04,8.292111433e-01
+21,9.133333333e+00,DOWN_FORCE_DETACH,1792759349084355320,1.004104888e-04,-4.702633350e-05,-1.221941404e-03,1.002906151e-04,-4.676064627e-05,-1.221773329e-03,9.310877666e-05,-4.731179113e-05,-1.221342316e-03,7.020560801e-01,-6.911424490e-05,8.589215044e-01,7.020559602e-01,-6.884855767e-05,8.589216725e-01,7.028381309e-01,-1.627065406e-04,8.291049145e-01
+22,9.550000000e+00,DOWN_FORCE_DETACH,1792759349494155277,9.451885985e-05,-5.126771867e-05,-1.318351680e-03,9.543350712e-05,-4.716518779e-05,-1.309227651e-03,8.685441024e-05,-4.771409843e-05,-1.308849357e-03,7.020501885e-01,-7.335563008e-05,8.588250942e-01,7.020511031e-01,-6.925309920e-05,8.588342182e-01,7.028318765e-01,-1.631088479e-04,8.290174074e-01
+23,9.950000000e+00,DOWN_FORCE_DETACH,1792759349887785210,1.080172938e-04,-5.263976043e-05,-1.398811961e-03,1.033824751e-04,-5.067856904e-05,-1.397363242e-03,9.430444879e-05,-5.127927272e-05,-1.396973768e-03,7.020636869e-01,-7.472767184e-05,8.587446339e-01,7.020590521e-01,-7.276648044e-05,8.587460826e-01,7.028393266e-01,-1.666740222e-04,8.289292830e-01
+24,1.036666667e+01,DOWN_FORCE_DETACH,1792759350296898918,1.040819561e-04,-5.665844422e-05,-1.492774465e-03,1.025758253e-04,-5.194827837e-05,-1.487234601e-03,9.234064514e-05,-5.258095595e-05,-1.486933554e-03,7.020597516e-01,-7.874635562e-05,8.586506714e-01,7.020582455e-01,-7.403618977e-05,8.586562112e-01,7.028373628e-01,-1.679757055e-04,8.288393232e-01
+25,1.081666667e+01,DOWN_FORCE_DETACH,1792759350773636822,1.171046517e-04,-5.724850481e-05,-1.587076002e-03,1.164183605e-04,-5.597341311e-05,-1.575089840e-03,1.061378306e-04,-5.661465604e-05,-1.574749934e-03,7.020727743e-01,-7.933641621e-05,8.585563698e-01,7.020720880e-01,-7.806132451e-05,8.585683560e-01,7.028511600e-01,-1.720094056e-04,8.287515069e-01
+26,1.121666667e+01,DOWN_FORCE_DETACH,1792759351182227442,1.196185556e-04,-5.403494155e-05,-1.679072255e-03,1.106408324e-04,-5.754846544e-05,-1.662133285e-03,9.889694456e-05,-5.825872188e-05,-1.661818364e-03,7.020752882e-01,-7.612285295e-05,8.584643736e-01,7.020663105e-01,-7.963637685e-05,8.584813126e-01,7.028439191e-01,-1.736534714e-04,8.286644384e-01
+27,1.163333333e+01,DOWN_FORCE_DETACH,1792759351592446202,1.177041320e-04,-6.051188481e-05,-1.774673846e-03,1.165064636e-04,-5.851402985e-05,-1.769437493e-03,1.039352282e-04,-5.924740368e-05,-1.769180856e-03,7.020733738e-01,-8.259979622e-05,8.583687720e-01,7.020721761e-01,-8.060194126e-05,8.583740084e-01,7.028489574e-01,-1.746421532e-04,8.285570759e-01
+28,1.200000000e+01,DOWN_FORCE_DETACH,1792759351968040582,1.330296029e-04,-5.873834866e-05,-1.852894322e-03,1.340558367e-04,-6.290951932e-05,-1.846883964e-03,1.218667722e-04,-6.369201597e-05,-1.846563443e-03,7.020886992e-01,-8.082626007e-05,8.582905515e-01,7.020897255e-01,-8.499743072e-05,8.582965619e-01,7.028668889e-01,-1.790867655e-04,8.284796934e-01
+29,1.240000000e+01,DOWN_FORCE_DETACH,1792759352360999549,1.204714591e-04,-5.994485469e-05,-1.953974389e-03,1.228181413e-04,-6.207598012e-05,-1.935216941e-03,1.086951846e-04,-6.283302559e-05,-1.934979633e-03,7.020761411e-01,-8.203276609e-05,8.581894715e-01,7.020784878e-01,-8.416389153e-05,8.582082289e-01,7.028537173e-01,-1.782277751e-04,8.283912772e-01
+30,1.271666667e+01,DOWN_FORCE_DETACH,1792759352672107909,1.467709537e-04,-6.909095238e-05,-2.025547715e-03,1.504448142e-04,-6.657581508e-05,-2.014977728e-03,1.374742975e-04,-6.738312378e-05,-2.014734938e-03,7.021024406e-01,-9.117886379e-05,8.581178981e-01,7.021061144e-01,-8.866372648e-05,8.581284681e-01,7.028824964e-01,-1.827778733e-04,8.283115219e-01
+31,1.308333333e+01,DOWN_FORCE_DETACH,1792759353032471080,1.314141654e-04,-6.889344667e-05,-2.123928390e-03,1.316430107e-04,-6.896015444e-05,-2.105870972e-03,1.162320001e-04,-6.978212015e-05,-2.105632470e-03,7.020870838e-01,-9.098135808e-05,8.580195175e-01,7.020873126e-01,-9.104806585e-05,8.580375749e-01,7.028612541e-01,-1.851768697e-04,8.282206243e-01
+32,1.341666667e+01,DOWN_FORCE_DETACH,1792759353359714997,1.435385928e-04,-7.373886933e-05,-2.212720085e-03,1.434209417e-04,-7.389484360e-05,-2.212477078e-03,1.275362344e-04,-7.476935639e-05,-2.212188087e-03,7.020992082e-01,-9.582678073e-05,8.579307258e-01,7.020990906e-01,-9.598275500e-05,8.579309688e-01,7.028725584e-01,-1.901641059e-04,8.281140687e-01
+33,1.370000000e+01,DOWN_FORCE_DETACH,1792759353639244115,1.334274993e-04,-7.410369071e-05,-2.304958974e-03,1.401558612e-04,-7.391478047e-05,-2.286370771e-03,1.231581970e-04,-7.477812940e-05,-2.286101686e-03,7.020890971e-01,-9.619160211e-05,8.578384869e-01,7.020958255e-01,-9.600269188e-05,8.578570751e-01,7.028681803e-01,-1.901728789e-04,8.280401551e-01
+34,1.406666667e+01,DOWN_FORCE_DETACH,1792759353998360610,1.522527144e-04,-7.829086320e-05,-2.384761088e-03,1.425935882e-04,-8.017811148e-05,-2.383258220e-03,1.245420365e-04,-8.107937983e-05,-2.383056495e-03,7.021079223e-01,-1.003787746e-04,8.577586848e-01,7.020982632e-01,-1.022660229e-04,8.577601876e-01,7.028695642e-01,-1.964741293e-04,8.279432003e-01
+35,1.443333333e+01,DOWN_FORCE_DETACH,1792759354359106927,1.445941540e-04,-9.184017760e-05,-2.494816213e-03,1.433430052e-04,-8.734034973e-05,-2.493700886e-03,1.240624287e-04,-8.833742115e-05,-2.493463521e-03,7.021002638e-01,-1.139280890e-04,8.576486296e-01,7.020990126e-01,-1.094282611e-04,8.576497450e-01,7.028690846e-01,-2.037321707e-04,8.278327933e-01
+36,1.473333333e+01,DOWN_FORCE_DETACH,1792759354654204572,1.588158221e-04,-9.104722759e-05,-2.585982640e-03,1.586055617e-04,-9.127993877e-05,-2.586318629e-03,1.394215963e-04,-9.231976033e-05,-2.586052807e-03,7.021144854e-01,-1.131351390e-04,8.575574632e-01,7.021142752e-01,-1.133678502e-04,8.575571272e-01,7.028844437e-01,-2.077145098e-04,8.277402040e-01
+37,1.505000000e+01,DOWN_FORCE_DETACH,1792759354965285255,1.494190643e-04,-9.413227656e-05,-2.693922232e-03,1.492484663e-04,-9.411245254e-05,-2.693968647e-03,1.279914671e-04,-9.518057447e-05,-2.693702352e-03,7.021050887e-01,-1.162201880e-04,8.574495236e-01,7.021049181e-01,-1.162003639e-04,8.574494772e-01,7.028730136e-01,-2.105753240e-04,8.276325544e-01
+38,1.538333333e+01,DOWN_FORCE_DETACH,1792759355309108652,1.613396225e-04,-1.000889729e-04,-2.807752678e-03,1.612464645e-04,-1.000993114e-04,-2.807374460e-03,1.395708229e-04,-1.012507473e-04,-2.807106270e-03,7.021170092e-01,-1.221768843e-04,8.573356932e-01,7.021169161e-01,-1.221872228e-04,8.573360714e-01,7.028845930e-01,-2.166454968e-04,8.275191505e-01
+39,1.565000000e+01,DOWN_FORCE_DETACH,1792759355588083211,1.568004255e-04,-1.036718860e-04,-2.922966224e-03,1.565378828e-04,-1.036503148e-04,-2.922928338e-03,1.330796289e-04,-1.048373550e-04,-2.922643193e-03,7.021124701e-01,-1.257597974e-04,8.572204796e-01,7.021122075e-01,-1.257382262e-04,8.572205175e-01,7.028781018e-01,-2.202321045e-04,8.274036136e-01
+40,1.590000000e+01,DOWN_FORCE_DETACH,1792759355888142076,1.603246461e-04,-1.104400338e-04,-3.038967851e-03,1.600875283e-04,-1.058892313e-04,-3.022668999e-03,1.356864617e-04,-1.071253034e-04,-3.022399993e-03,7.021159943e-01,-1.325279453e-04,8.571044780e-01,7.021157572e-01,-1.279771427e-04,8.571207768e-01,7.028807086e-01,-2.225200529e-04,8.273038568e-01
+41,1.616666667e+01,DOWN_FORCE_DETACH,1792759356160973801,1.624241502e-04,-1.198124231e-04,-3.148547708e-03,1.609374164e-04,-1.157852439e-04,-3.134541655e-03,1.352928913e-04,-1.171092581e-04,-3.134252219e-03,7.021180938e-01,-1.419003345e-04,8.569948981e-01,7.021166070e-01,-1.378731553e-04,8.570089042e-01,7.028803150e-01,-2.325040076e-04,8.271920046e-01
+42,1.640000000e+01,DOWN_FORCE_DETACH,1792759356471186617,1.643668404e-04,-1.214689245e-04,-3.275981600e-03,1.639374542e-04,-1.215693666e-04,-3.275874013e-03,1.368224831e-04,-1.229694946e-04,-3.275502061e-03,7.021200365e-01,-1.435568359e-04,8.568674642e-01,7.021196071e-01,-1.436572780e-04,8.568675718e-01,7.028818446e-01,-2.383642441e-04,8.270507547e-01
+43,1.663333333e+01,DOWN_FORCE_DETACH,1792759356702524397,1.598286530e-04,-1.270702165e-04,-3.379207828e-03,1.619983274e-04,-1.266385451e-04,-3.364614881e-03,1.336580252e-04,-1.281057713e-04,-3.364351054e-03,7.021154983e-01,-1.491581279e-04,8.567642380e-01,7.021176680e-01,-1.487264565e-04,8.567788310e-01,7.028786802e-01,-2.435005208e-04,8.269619057e-01
+44,1.690000000e+01,DOWN_FORCE_DETACH,1792759356980016289,1.613568344e-04,-1.308012324e-04,-3.506998926e-03,1.597331966e-04,-1.285251463e-04,-3.488502977e-03,1.297328343e-04,-1.299770347e-04,-3.488231748e-03,7.021170265e-01,-1.528891438e-04,8.566364469e-01,7.021154028e-01,-1.506130578e-04,8.566549429e-01,7.028747550e-01,-2.453717842e-04,8.268380250e-01
+45,1.713333333e+01,DOWN_FORCE_DETACH,1792759357227086307,1.632921776e-04,-1.396538139e-04,-3.617134315e-03,1.630511985e-04,-1.365220843e-04,-3.599938800e-03,1.319302097e-04,-1.380546203e-04,-3.599683687e-03,7.021189618e-01,-1.617417253e-04,8.565263115e-01,7.021187208e-01,-1.586099957e-04,8.565435070e-01,7.028769523e-01,-2.534493698e-04,8.267265731e-01
+46,1.738333333e+01,DOWN_FORCE_DETACH,1792759357471496898,1.666065251e-04,-1.457175414e-04,-3.725565944e-03,1.662965580e-04,-1.419176099e-04,-3.706959575e-03,1.341859931e-04,-1.435224263e-04,-3.706768252e-03,7.021222761e-01,-1.678054528e-04,8.564178799e-01,7.021219662e-01,-1.640055213e-04,8.564364863e-01,7.028792081e-01,-2.589171758e-04,8.266194885e-01
+47,1.763333333e+01,DOWN_FORCE_DETACH,1792759357717175405,1.783851464e-04,-1.456232812e-04,-3.837442063e-03,1.806699851e-04,-1.460989385e-04,-3.818138551e-03,1.483209858e-04,-1.477409792e-04,-3.817956555e-03,7.021340548e-01,-1.677111926e-04,8.563060038e-01,7.021363396e-01,-1.681868499e-04,8.563253073e-01,7.028933431e-01,-2.631357287e-04,8.265083002e-01
+48,1.786666667e+01,DOWN_FORCE_DETACH,1792759357946310997,1.668443776e-04,-1.566653129e-04,-3.960891271e-03,1.667723661e-04,-1.568341722e-04,-3.960662469e-03,1.316933955e-04,-1.586214261e-04,-3.960402474e-03,7.021225140e-01,-1.787532243e-04,8.561825546e-01,7.021224420e-01,-1.789220836e-04,8.561827834e-01,7.028767155e-01,-2.740161756e-04,8.263658543e-01
+49,1.810000000e+01,DOWN_FORCE_DETACH,1792759358175535298,1.701691919e-04,-1.622100375e-04,-4.072819506e-03,1.705560800e-04,-1.650238719e-04,-4.056521549e-03,1.345824783e-04,-1.669178080e-04,-4.056391234e-03,7.021258388e-01,-1.842979489e-04,8.560706263e-01,7.021262257e-01,-1.871117833e-04,8.560869243e-01,7.028796046e-01,-2.823125576e-04,8.262698656e-01
+50,1.831666667e+01,DOWN_FORCE_DETACH,1792759358405373227,1.667114441e-04,-1.722696936e-04,-4.197614589e-03,1.667026908e-04,-1.737810518e-04,-4.186920862e-03,1.288890211e-04,-1.757627117e-04,-4.186746743e-03,7.021223811e-01,-1.943576050e-04,8.559458313e-01,7.021223723e-01,-1.958689632e-04,8.559565250e-01,7.028739112e-01,-2.911574612e-04,8.261395101e-01
+51,1.851666667e+01,DOWN_FORCE_DETACH,1792759358601643890,1.568799220e-04,-1.818291040e-04,-4.314856760e-03,1.566984612e-04,-1.818862776e-04,-4.315095534e-03,1.165926540e-04,-1.839502648e-04,-4.314949115e-03,7.021125495e-01,-2.039170154e-04,8.558285891e-01,7.021123681e-01,-2.039741890e-04,8.558283503e-01,7.028616148e-01,-2.993450143e-04,8.260113077e-01
+52,1.873333333e+01,DOWN_FORCE_DETACH,1792759358814355113,1.511169583e-04,-1.848590885e-04,-4.440301802e-03,1.508437196e-04,-1.849992681e-04,-4.440316801e-03,1.087611401e-04,-1.871176275e-04,-4.440161087e-03,7.021067866e-01,-2.069469999e-04,8.557031440e-01,7.021065133e-01,-2.070871795e-04,8.557031290e-01,7.028537833e-01,-3.025123770e-04,8.258860957e-01
+53,1.893333333e+01,DOWN_FORCE_DETACH,1792759359011187267,1.500221789e-04,-1.935895601e-04,-4.558161681e-03,1.519028629e-04,-1.922428836e-04,-4.545620622e-03,1.086023951e-04,-1.943814409e-04,-4.545541259e-03,7.021056918e-01,-2.156774715e-04,8.555852842e-01,7.021075725e-01,-2.143307950e-04,8.555978252e-01,7.028536245e-01,-3.097761904e-04,8.257807155e-01
+54,1.913333333e+01,DOWN_FORCE_DETACH,1792759359207546298,1.755736669e-04,-1.952192953e-04,-4.646976008e-03,1.744130085e-04,-1.961637645e-04,-4.636753481e-03,1.318016803e-04,-1.983719049e-04,-4.636668101e-03,7.021312433e-01,-2.173072067e-04,8.554964698e-01,7.021300826e-01,-2.182516759e-04,8.555066924e-01,7.028768238e-01,-3.137666544e-04,8.256895887e-01
+55,1.935000000e+01,DOWN_FORCE_DETACH,1792759359420591776,1.726291753e-04,-1.943893460e-04,-4.768057206e-03,1.704054138e-04,-1.982623502e-04,-4.751878712e-03,1.261047119e-04,-2.004786807e-04,-4.751848064e-03,7.021282988e-01,-2.164772574e-04,8.553753886e-01,7.021260750e-01,-2.203502616e-04,8.553915671e-01,7.028711268e-01,-3.158734303e-04,8.255744087e-01
+56,1.955000000e+01,DOWN_FORCE_DETACH,1792759359617205572,1.649663438e-04,-1.927924128e-04,-4.889699765e-03,1.637241896e-04,-1.890832541e-04,-4.879907999e-03,1.173830270e-04,-1.912089608e-04,-4.879932577e-03,7.021206360e-01,-2.148803242e-04,8.552537461e-01,7.021193938e-01,-2.111711655e-04,8.552635378e-01,7.028624052e-01,-3.066037103e-04,8.254463242e-01
+57,1.973333333e+01,DOWN_SETTLE,1792759359797531741,1.631259941e-04,-2.035237120e-04,-5.003187805e-03,1.637144094e-04,-2.035861662e-04,-4.983845955e-03,1.161175981e-04,-2.058685439e-04,-4.983839268e-03,7.021187956e-01,-2.256116234e-04,8.551402580e-01,7.021193840e-01,-2.256740776e-04,8.551595999e-01,7.028611397e-01,-3.212632934e-04,8.253424175e-01
+58,2.005000000e+01,DOWN_SETTLE,1792759360108963673,1.651376500e-04,-2.070347479e-04,-5.087681576e-03,1.609513695e-04,-2.068854999e-04,-5.079448553e-03,1.120509829e-04,-2.092736492e-04,-5.079654120e-03,7.021208073e-01,-2.291226593e-04,8.550557643e-01,7.021166210e-01,-2.289734113e-04,8.550639973e-01,7.028570731e-01,-3.246683987e-04,8.252466027e-01
+59,2.066666667e+01,DOWN_PEAK_HOLD,1792759360747324126,1.551393245e-04,-2.013832811e-04,-5.123792131e-03,1.564667770e-04,-2.029670560e-04,-5.120709775e-03,1.066717193e-04,-2.052832354e-04,-5.121288876e-03,7.021108089e-01,-2.234711925e-04,8.550196537e-01,7.021121364e-01,-2.250549674e-04,8.550227361e-01,7.028516938e-01,-3.206779850e-04,8.252049679e-01

Fixed/digit/ball_0030_20/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+00,1.4922e-02,3.6246e-02,2.4542e+00,-3.9268e-02,3.7849e-02,2.5808e-05,1.2910e-04,2.6375e-06,-3.3855e-05,2.8685e-07,9.2871e-06,-3.6624e-07,1.3349e-04,9.2988e-06
+1,6.5000e-01,DOWN_FORCE_DETACH,1.2819e-04,1.8882e-02,3.6378e-02,2.4532e+00,-3.9259e-02,3.8132e-02,1.2886e-05,4.0894e-03,1.3500e-04,-1.0271e-03,8.9146e-06,2.9239e-04,-1.3289e-05,4.2186e-03,2.9282e-04
+2,1.2833e+00,DOWN_FORCE_DETACH,2.5666e-04,2.1347e-02,3.6510e-02,2.4527e+00,-3.9254e-02,3.8307e-02,2.1773e-06,6.5538e-03,2.6741e-04,-1.4992e-03,1.4633e-05,4.6744e-04,-2.3997e-05,6.7284e-03,4.6829e-04
+3,1.8000e+00,DOWN_FORCE_DETACH,3.8560e-04,2.5795e-02,3.3622e-02,2.4622e+00,-3.9043e-02,3.8610e-02,-6.8840e-06,1.1002e-02,-2.6207e-03,7.9188e-03,2.2494e-04,7.7007e-04,-3.3059e-05,1.3806e-02,8.0293e-04
+4,2.3833e+00,DOWN_FORCE_DETACH,5.1331e-04,2.8758e-02,4.2735e-02,2.4748e+00,-3.9647e-02,3.8801e-02,-1.3757e-05,1.3965e-02,6.4918e-03,2.0534e-02,-3.7847e-04,9.6097e-04,-3.9931e-05,2.5667e-02,1.0336e-03
+5,2.7333e+00,DOWN_FORCE_DETACH,6.4179e-04,1.3701e-02,4.5702e-02,2.4719e+00,-3.9843e-02,3.7739e-02,-1.3882e-05,-1.0919e-03,9.4588e-03,1.7711e-02,-5.7416e-04,-1.0055e-04,-4.0056e-05,2.0108e-02,5.8427e-04
+6,3.1667e+00,DOWN_FORCE_DETACH,7.7594e-04,2.3201e-02,5.0101e-02,2.4907e+00,-4.0123e-02,3.8384e-02,-1.7156e-05,8.4076e-03,1.3858e-02,3.6444e-02,-8.5483e-04,5.4476e-04,-4.3331e-05,3.9886e-02,1.0146e-03
+7,3.6167e+00,DOWN_FORCE_DETACH,9.0082e-04,2.5937e-02,3.8011e-02,2.4979e+00,-3.9280e-02,3.8566e-02,-2.3452e-05,1.1144e-02,1.7683e-03,4.3667e-02,-1.1414e-05,7.2594e-04,-4.9627e-05,4.5101e-02,7.2773e-04
+8,4.1167e+00,DOWN_FORCE_DETACH,1.0305e-03,2.3880e-02,4.3129e-02,2.5005e+00,-3.9615e-02,3.8414e-02,-2.0982e-05,9.0868e-03,6.8862e-03,4.6230e-02,-3.4706e-04,5.7410e-04,-4.7156e-05,4.7615e-02,6.7250e-04
+9,4.5833e+00,DOWN_FORCE_DETACH,1.1586e-03,2.6413e-02,5.0220e-02,2.5228e+00,-4.0083e-02,3.8560e-02,-1.6229e-05,1.1620e-02,1.3977e-02,6.8536e-02,-8.1508e-04,7.2024e-04,-4.2403e-05,7.0906e-02,1.0885e-03
+10,5.0500e+00,DOWN_FORCE_DETACH,1.2841e-03,2.5719e-02,6.0910e-02,2.5372e+00,-4.0794e-02,3.8487e-02,-6.7702e-06,1.0926e-02,2.4667e-02,8.3001e-02,-1.5256e-03,6.4685e-04,-3.2945e-05,8.7275e-02,1.6574e-03
+11,5.4667e+00,DOWN_FORCE_DETACH,1.4145e-03,2.7085e-02,6.1594e-02,2.5393e+00,-4.0823e-02,3.8574e-02,1.0832e-06,1.2293e-02,2.5351e-02,8.5071e-02,-1.5547e-03,7.3452e-04,-2.5091e-05,8.9615e-02,1.7196e-03
+12,5.9000e+00,DOWN_FORCE_DETACH,1.5429e-03,2.7559e-02,7.4334e-02,2.5480e+00,-4.1674e-02,3.8593e-02,1.2033e-05,1.2766e-02,3.8091e-02,9.3749e-02,-2.4059e-03,7.5382e-04,-1.4141e-05,1.0199e-01,2.5213e-03
+13,6.3333e+00,DOWN_FORCE_DETACH,1.6740e-03,2.7871e-02,8.2409e-02,2.5528e+00,-4.2212e-02,3.8611e-02,1.9920e-05,1.3078e-02,4.6166e-02,9.8532e-02,-2.9436e-03,7.7095e-04,-6.2548e-06,1.0959e-01,3.0429e-03
+14,6.8167e+00,DOWN_FORCE_DETACH,1.8016e-03,2.6434e-02,8.9889e-02,2.5628e+00,-4.2718e-02,3.8498e-02,2.4510e-05,1.1641e-02,5.3646e-02,1.0857e-01,-3.4499e-03,6.5854e-04,-1.6646e-06,1.2166e-01,3.5122e-03
+15,7.2167e+00,DOWN_FORCE_DETACH,1.9300e-03,2.8727e-02,9.5313e-02,2.5592e+00,-4.3095e-02,3.8658e-02,2.1925e-05,1.3934e-02,5.9070e-02,1.0497e-01,-3.8262e-03,8.1791e-04,-4.2496e-06,1.2125e-01,3.9126e-03
+16,7.3167e+00,DOWN_FORCE_DETACH,2.0569e-03,-1.5272e-02,8.0945e-02,2.5327e+00,-4.2138e-02,3.5587e-02,3.1573e-05,-3.0065e-02,4.4702e-02,7.8496e-02,-2.8698e-03,-2.2527e-03,5.3982e-06,9.5204e-02,3.6483e-03
+17,7.5833e+00,DOWN_FORCE_DETACH,2.1915e-03,-7.6617e-04,8.4848e-02,2.5389e+00,-4.2415e-02,3.6598e-02,3.5229e-05,-1.5559e-02,4.8605e-02,8.4691e-02,-3.1468e-03,-1.2421e-03,9.0544e-06,9.8879e-02,3.3831e-03
+18,7.9000e+00,DOWN_FORCE_DETACH,2.3170e-03,8.0148e-03,6.1181e-02,2.5486e+00,-4.0809e-02,3.7205e-02,2.8531e-05,-6.7781e-03,2.4938e-02,9.4353e-02,-1.5410e-03,-6.3468e-04,2.3565e-06,9.7828e-02,1.6666e-03
+19,8.3167e+00,DOWN_FORCE_DETACH,2.4434e-03,1.2849e-02,6.6382e-02,2.5627e+00,-4.1137e-02,3.7533e-02,2.9535e-05,-1.9438e-03,3.0139e-02,1.0849e-01,-1.8683e-03,-3.0639e-04,3.3607e-06,1.1262e-01,1.8932e-03
+20,8.7333e+00,DOWN_FORCE_DETACH,2.5717e-03,2.2317e-02,7.7176e-02,2.5594e+00,-4.1820e-02,3.8201e-02,2.9478e-05,7.5240e-03,4.0933e-02,1.0517e-01,-2.5521e-03,3.6114e-04,3.3030e-06,1.1310e-01,2.5775e-03
+21,9.1333e+00,DOWN_FORCE_DETACH,2.7015e-03,1.6754e-02,8.4617e-02,2.5601e+00,-4.2283e-02,3.7806e-02,2.6887e-05,1.9611e-03,4.8373e-02,1.0587e-01,-3.0148e-03,-3.3878e-05,7.1240e-07,1.1642e-01,3.0150e-03
+22,9.5500e+00,DOWN_FORCE_DETACH,2.8292e-03,2.3598e-02,8.4115e-02,2.5705e+00,-4.2216e-02,3.8273e-02,1.7727e-05,8.8050e-03,4.7872e-02,1.1625e-01,-2.9481e-03,4.3352e-04,-8.4474e-06,1.2603e-01,2.9798e-03
+23,9.9500e+00,DOWN_FORCE_DETACH,2.9586e-03,1.9400e-02,8.7631e-02,2.5710e+00,-4.2444e-02,3.7975e-02,1.5024e-05,4.6069e-03,5.1388e-02,1.1675e-01,-3.1759e-03,1.3490e-04,-1.1151e-05,1.2764e-01,3.1788e-03
+24,1.0367e+01,DOWN_FORCE_DETACH,3.0883e-03,2.1489e-02,8.8772e-02,2.5709e+00,-4.2516e-02,3.8124e-02,1.9609e-05,6.6963e-03,5.2529e-02,1.1668e-01,-3.2475e-03,2.8453e-04,-6.5652e-06,1.2813e-01,3.2600e-03
+25,1.0817e+01,DOWN_FORCE_DETACH,3.2143e-03,1.7164e-02,9.2351e-02,2.5670e+00,-4.2765e-02,3.7826e-02,3.4913e-05,2.3712e-03,5.6108e-02,1.1274e-01,-3.4965e-03,-1.3676e-05,8.7381e-06,1.2595e-01,3.4966e-03
+26,1.1217e+01,DOWN_FORCE_DETACH,3.3451e-03,2.3250e-02,9.3100e-02,2.5663e+00,-4.2830e-02,3.8256e-02,4.4845e-05,8.4572e-03,5.6857e-02,1.1210e-01,-3.5617e-03,4.1636e-04,1.8670e-05,1.2598e-01,3.5860e-03
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+29,1.2400e+01,DOWN_FORCE_DETACH,3.7287e-03,2.9115e-02,9.6041e-02,2.5689e+00,-4.3015e-02,3.8673e-02,5.0645e-05,1.4322e-02,5.9798e-02,1.1464e-01,-3.7470e-03,8.3287e-04,2.4471e-05,1.3009e-01,3.8385e-03
+30,1.2717e+01,DOWN_FORCE_DETACH,3.8594e-03,1.6813e-02,1.0037e-01,2.5697e+00,-4.3279e-02,3.7801e-02,4.8755e-05,2.0201e-03,6.4131e-02,1.1542e-01,-4.0106e-03,-3.9008e-05,2.2580e-05,1.3206e-01,4.0109e-03
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+33,1.3700e+01,DOWN_FORCE_DETACH,4.2441e-03,2.4761e-02,1.0922e-01,2.5893e+00,-4.3777e-02,3.8328e-02,1.6764e-05,9.9685e-03,7.2972e-02,1.3506e-01,-4.5082e-03,4.8874e-04,-9.4107e-06,1.5384e-01,4.5346e-03
+34,1.4067e+01,DOWN_FORCE_DETACH,4.3702e-03,2.2237e-02,1.1678e-01,2.5893e+00,-4.4244e-02,3.8150e-02,1.0131e-05,7.4441e-03,8.0534e-02,1.3505e-01,-4.9761e-03,3.1048e-04,-1.6043e-05,1.5742e-01,4.9858e-03
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+38,1.5383e+01,DOWN_FORCE_DETACH,4.8902e-03,2.5331e-02,1.3336e-01,2.5968e+00,-4.5281e-02,3.8345e-02,4.2778e-05,1.0538e-02,9.7120e-02,1.4253e-01,-6.0128e-03,5.0501e-04,1.6603e-05,1.7279e-01,6.0340e-03
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+40,1.5900e+01,DOWN_FORCE_DETACH,5.1495e-03,2.8325e-02,1.4264e-01,2.6280e+00,-4.5763e-02,3.8515e-02,3.4332e-05,1.3532e-02,1.0640e-01,1.7381e-01,-6.4942e-03,6.7514e-04,8.1575e-06,2.0424e-01,6.5292e-03
+41,1.6167e+01,DOWN_FORCE_DETACH,5.2705e-03,2.7965e-02,1.5307e-01,2.6315e+00,-4.6386e-02,3.8480e-02,2.4954e-05,1.3172e-02,1.1683e-01,1.7728e-01,-7.1179e-03,6.4079e-04,-1.2204e-06,2.1273e-01,7.1467e-03
+42,1.6400e+01,DOWN_FORCE_DETACH,5.4091e-03,2.5644e-02,1.5508e-01,2.6410e+00,-4.6441e-02,3.8307e-02,2.0699e-05,1.0851e-02,1.1884e-01,1.8678e-01,-7.1728e-03,4.6684e-04,-5.4757e-06,2.2165e-01,7.1879e-03
+43,1.6633e+01,DOWN_FORCE_DETACH,5.5274e-03,2.8480e-02,1.6541e-01,2.6476e+00,-4.7048e-02,3.8489e-02,2.1938e-05,1.3687e-02,1.2916e-01,1.9337e-01,-7.7800e-03,6.4891e-04,-4.2368e-06,2.3294e-01,7.8070e-03
+44,1.6900e+01,DOWN_FORCE_DETACH,5.6610e-03,3.0140e-02,1.6744e-01,2.6529e+00,-4.7103e-02,3.8596e-02,2.8778e-05,1.5347e-02,1.3120e-01,1.9863e-01,-7.8342e-03,7.5663e-04,2.6033e-06,2.3854e-01,7.8706e-03
+45,1.7133e+01,DOWN_FORCE_DETACH,5.7855e-03,2.8982e-02,1.7519e-01,2.6565e+00,-4.7550e-02,3.8511e-02,3.8122e-05,1.4189e-02,1.3894e-01,2.0223e-01,-8.2821e-03,6.7141e-04,1.1947e-05,2.4577e-01,8.3093e-03
+46,1.7383e+01,DOWN_FORCE_DETACH,5.9111e-03,2.8043e-02,1.8163e-01,2.6506e+00,-4.7898e-02,3.8449e-02,4.3306e-05,1.3250e-02,1.4538e-01,1.9633e-01,-8.6295e-03,6.0948e-04,1.7132e-05,2.4466e-01,8.6510e-03
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+48,1.7867e+01,DOWN_FORCE_DETACH,6.1720e-03,2.8499e-02,1.8964e-01,2.6542e+00,-4.8295e-02,3.8472e-02,3.4211e-05,1.3706e-02,1.5340e-01,1.9997e-01,-9.0269e-03,6.3208e-04,8.0367e-06,2.5241e-01,9.0490e-03
+49,1.8100e+01,DOWN_FORCE_DETACH,6.2999e-03,2.9499e-02,2.0343e-01,2.6559e+00,-4.9136e-02,3.8536e-02,2.0190e-05,1.4706e-02,1.6719e-01,2.0166e-01,-9.8674e-03,6.9636e-04,-5.9849e-06,2.6236e-01,9.8919e-03
+50,1.8317e+01,DOWN_FORCE_DETACH,6.4321e-03,3.1452e-02,2.1213e-01,2.6652e+00,-4.9623e-02,3.8661e-02,7.1866e-06,1.6659e-02,1.7589e-01,2.1093e-01,-1.0355e-02,8.2109e-04,-1.8988e-05,2.7515e-01,1.0388e-02
+51,1.8517e+01,DOWN_FORCE_DETACH,6.5607e-03,3.5154e-02,2.1775e-01,2.6630e+00,-4.9922e-02,3.8918e-02,9.4855e-07,2.0361e-02,1.8150e-01,2.0881e-01,-1.0654e-02,1.0787e-03,-2.5226e-05,2.7742e-01,1.0708e-02
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+53,1.8933e+01,DOWN_FORCE_DETACH,6.8186e-03,3.7065e-02,2.3450e-01,2.6789e+00,-5.0772e-02,3.9032e-02,6.5211e-06,2.2272e-02,1.9825e-01,2.2471e-01,-1.1503e-02,1.1921e-03,-1.9653e-05,3.0049e-01,1.1565e-02
+54,1.9133e+01,DOWN_FORCE_DETACH,6.9411e-03,2.6789e-02,2.3879e-01,2.6727e+00,-5.0998e-02,3.8307e-02,1.6708e-05,1.1996e-02,2.0254e-01,2.1845e-01,-1.1729e-02,4.6689e-04,-9.4661e-06,2.9814e-01,1.1739e-02
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+59,2.0667e+01,DOWN_PEAK_HOLD,7.5879e-03,3.3489e-02,2.3622e-01,2.5885e+00,-5.0998e-02,3.8889e-02,6.8750e-06,1.8696e-02,1.9998e-01,1.3425e-01,-1.1730e-02,1.0489e-03,-1.9300e-05,2.4159e-01,1.1777e-02

Fixed/digit/ball_0030_20/press_depth_04/up/camera_frames_60hz.tar

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Fixed/digit/ball_0030_20/press_depth_04/up/franka_data.csv

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Fixed/digit/ball_0030_20/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+1,3.666666667e-01,WAIT_W2,1792759323465362064,-4.980024624e-07,2.315870350e-06,-1.912608636e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.476664990e-08,6.192659927e-11,-3.704967111e-09,7.019551716e-01,-1.977204106e-05,8.601415332e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450369e-01,-1.153947374e-04,8.303262531e-01
+2,6.666666667e-01,WAIT_W2,1792759323760798452,5.636438195e-07,1.149253644e-06,1.650435251e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.387451037e-08,1.759769119e-10,-5.716842666e-09,7.019562333e-01,-2.093865776e-05,8.601450963e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450460e-01,-1.153946234e-04,8.303262511e-01
+3,9.000000000e-01,WAIT_W2,1792759323989582894,-2.359589136e-06,4.938074366e-07,-4.081511892e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.975145907e-08,2.879726319e-10,-6.876943681e-09,7.019533100e-01,-2.159410397e-05,8.601393643e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450519e-01,-1.153945114e-04,8.303262499e-01
+4,9.833333333e-01,WAIT_W2,1792759324072411929,2.608831824e-06,-4.925236027e-05,4.317262508e-06,2.567546158e-06,-4.927760220e-05,4.256738202e-06,2.832149565e-06,-4.984758114e-05,4.261703132e-06,7.019582785e-01,-7.134027168e-05,8.601477631e-01,7.019582372e-01,-7.136551360e-05,8.601477026e-01,7.027478543e-01,-1.652423805e-04,8.303305185e-01
+5,1.033333333e+00,WAIT_W2,1792759324120973990,2.928619195e-06,-9.104514127e-05,5.267238218e-06,3.021295009e-06,-7.784778928e-05,6.051196408e-06,3.402505792e-06,-7.877919680e-05,6.023640235e-06,7.019585982e-01,-1.131330527e-04,8.601487131e-01,7.019586909e-01,-9.993570069e-05,8.601494970e-01,7.027484247e-01,-1.941739962e-04,8.303322804e-01
+6,1.066666667e+00,WAIT_W2,1792759324153835257,3.805955449e-06,-1.328210844e-04,6.902570824e-06,3.659118452e-06,-1.326970030e-04,6.833200003e-06,4.048918217e-06,-1.342895413e-04,6.807439170e-06,7.019594756e-01,-1.549089958e-04,8.601503484e-01,7.019593287e-01,-1.547849144e-04,8.601502790e-01,7.027490711e-01,-2.496843407e-04,8.303330642e-01
+7,1.100000000e+00,WAIT_W2,1792759324186463831,2.001394402e-06,-2.224340170e-04,7.444440711e-06,1.984722474e-06,-2.223500995e-04,7.120744606e-06,2.251580978e-06,-2.250100077e-04,7.079837559e-06,7.019576710e-01,-2.445219284e-04,8.601508903e-01,7.019576543e-01,-2.444380109e-04,8.601505666e-01,7.027472737e-01,-3.404048070e-04,8.303333366e-01
+8,1.166666667e+00,WAIT_W2,1792759324251615899,5.116698791e-06,-2.357384100e-04,1.346320733e-05,2.288171560e-06,-2.487426343e-04,8.437661760e-06,2.558155919e-06,-2.516980636e-04,8.461407748e-06,7.019607863e-01,-2.578263214e-04,8.601569091e-01,7.019579578e-01,-2.708305457e-04,8.601518835e-01,7.027475803e-01,-3.670928630e-04,8.303347182e-01
+9,1.400000000e+00,WAIT_W2,1792759324481162141,5.457662240e-06,-2.410823980e-04,1.531461358e-05,2.288171560e-06,-2.487426343e-04,8.437661760e-06,2.566315945e-06,-2.517063376e-04,8.475770831e-06,7.019611273e-01,-2.631703094e-04,8.601587605e-01,7.019579578e-01,-2.708305457e-04,8.601518835e-01,7.027475885e-01,-3.671011370e-04,8.303347326e-01
+10,1.650000000e+00,WAIT_W2,1792759324727002756,4.872776688e-06,-2.519092958e-04,1.355495894e-05,2.288171560e-06,-2.487426343e-04,8.437661760e-06,2.572786394e-06,-2.517117480e-04,8.486046662e-06,7.019605424e-01,-2.739972072e-04,8.601570008e-01,7.019579578e-01,-2.708305457e-04,8.601518835e-01,7.027475950e-01,-3.671065474e-04,8.303347428e-01
+11,1.916666667e+00,UP_FORCE_RAMP,1792759324989049578,3.479729553e-06,-2.465741862e-04,1.272091800e-05,2.288171560e-06,-2.487426343e-04,8.437661760e-06,2.578260492e-06,-2.517161596e-04,8.493569839e-06,7.019591494e-01,-2.686620976e-04,8.601561668e-01,7.019579578e-01,-2.708305457e-04,8.601518835e-01,7.027476004e-01,-3.671109590e-04,8.303347504e-01
+12,2.116666667e+00,UP_FORCE_RAMP,1792759325186309126,4.669917205e-06,-2.502310173e-04,1.392181531e-05,2.288171560e-06,-2.487426343e-04,8.437661760e-06,2.581651716e-06,-2.517188555e-04,8.497518061e-06,7.019603395e-01,-2.723189287e-04,8.601573677e-01,7.019579578e-01,-2.708305457e-04,8.601518835e-01,7.027476038e-01,-3.671136549e-04,8.303347543e-01
+13,2.400000000e+00,UP_FORCE_RAMP,1792759325464403590,4.445782701e-06,-2.479557119e-04,1.493630556e-05,2.288171560e-06,-2.487426343e-04,8.437661760e-06,2.585623643e-06,-2.517220093e-04,8.501348437e-06,7.019601154e-01,-2.700436233e-04,8.601583822e-01,7.019579578e-01,-2.708305457e-04,8.601518835e-01,7.027476078e-01,-3.671168086e-04,8.303347581e-01
+14,2.633333333e+00,UP_FORCE_RAMP,1792759325693358774,6.542160161e-06,-2.502296721e-04,2.176814034e-05,2.288171560e-06,-2.487426343e-04,8.437661760e-06,2.588301026e-06,-2.517241520e-04,8.503381546e-06,7.019622118e-01,-2.723175835e-04,8.601652140e-01,7.019579578e-01,-2.708305457e-04,8.601518835e-01,7.027476105e-01,-3.671189513e-04,8.303347602e-01
+15,2.933333333e+00,UP_FORCE_RAMP,1792759325988107398,1.069528269e-05,-2.449906691e-04,3.742999582e-05,7.833534898e-06,-2.461724848e-04,2.972163737e-05,8.846566253e-06,-2.491625729e-04,2.975347126e-05,7.019663649e-01,-2.670785805e-04,8.601808758e-01,7.019635032e-01,-2.682603962e-04,8.601731675e-01,7.027538687e-01,-3.645573723e-04,8.303560103e-01
+16,3.116666667e+00,UP_FORCE_RAMP,1792759326169253014,1.536137620e-05,-2.439637802e-04,5.663417635e-05,1.353536337e-05,-2.448298517e-04,5.130471748e-05,1.528336168e-05,-2.477973920e-04,5.130447246e-05,7.019710310e-01,-2.660516916e-04,8.602000800e-01,7.019692050e-01,-2.669177631e-04,8.601947506e-01,7.027603055e-01,-3.631921914e-04,8.303775613e-01
+17,3.333333333e+00,UP_FORCE_RAMP,1792759326381775710,1.620392639e-05,-2.461529623e-04,7.232468893e-05,1.635592582e-05,-2.462248685e-04,7.227077877e-05,1.855833022e-05,-2.492125877e-04,7.219324267e-05,7.019718736e-01,-2.682408737e-04,8.602157705e-01,7.019720256e-01,-2.683127799e-04,8.602157166e-01,7.027635805e-01,-3.646073871e-04,8.303984500e-01
+18,3.566666667e+00,UP_FORCE_RAMP,1792759326610751001,7.987567224e-06,-2.393704003e-04,8.398931286e-05,1.635592582e-05,-2.462248685e-04,7.227077877e-05,1.856915574e-05,-2.492138918e-04,7.222734063e-05,7.019636572e-01,-2.614583117e-04,8.602274352e-01,7.019720256e-01,-2.683127799e-04,8.602157166e-01,7.027635913e-01,-3.646086912e-04,8.303984841e-01
+19,3.683333333e+00,UP_FORCE_RAMP,1792759326725595270,-2.371368578e-05,-2.358650053e-04,8.158552118e-05,-1.244987268e-05,-2.438615456e-04,7.963783020e-05,-1.237485690e-05,-2.468259373e-04,7.955499241e-05,7.019319559e-01,-2.579529167e-04,8.602250314e-01,7.019432198e-01,-2.659494570e-04,8.602230837e-01,7.027326473e-01,-3.622207366e-04,8.304058118e-01
+20,3.883333333e+00,UP_FORCE_RAMP,1792759326922857141,-1.496222650e-05,-2.384014168e-04,1.023473238e-04,-1.599072933e-05,-2.335537373e-04,9.715596059e-05,-1.591929804e-05,-2.364056915e-04,9.701995939e-05,7.019407074e-01,-2.604893282e-04,8.602457932e-01,7.019396789e-01,-2.556416487e-04,8.602406018e-01,7.027291029e-01,-3.518004909e-04,8.304232767e-01
+21,4.083333333e+00,UP_FORCE_RAMP,1792759327118522931,-7.083375050e-06,-2.385919235e-04,1.309827969e-04,-9.570088615e-06,-2.358772754e-04,1.167157366e-04,-8.845703705e-06,-2.387747357e-04,1.166304453e-04,7.019485862e-01,-2.606798349e-04,8.602744286e-01,7.019460995e-01,-2.579651868e-04,8.602601616e-01,7.027361765e-01,-3.541695350e-04,8.304428872e-01
+22,4.283333333e+00,UP_FORCE_RAMP,1792759327315276362,1.629857514e-06,-2.340357756e-04,1.641041163e-04,1.210634976e-06,-2.359809821e-04,1.607737655e-04,3.384157084e-06,-2.388640422e-04,1.606382565e-04,7.019572995e-01,-2.561236870e-04,8.603075500e-01,7.019568803e-01,-2.580688935e-04,8.603042196e-01,7.027484063e-01,-3.542588415e-04,8.304868950e-01
+23,4.450000000e+00,UP_FORCE_RAMP,1792759327478584002,4.976003518e-06,-2.304387739e-04,1.833131654e-04,5.689909391e-06,-2.339155665e-04,1.803796664e-04,8.441371535e-06,-2.367937479e-04,1.802765765e-04,7.019606456e-01,-2.525266853e-04,8.603267590e-01,7.019613595e-01,-2.560034779e-04,8.603238255e-01,7.027534635e-01,-3.521885472e-04,8.305065334e-01
+24,4.616666667e+00,UP_FORCE_RAMP,1792759327643025844,8.439877907e-06,-2.393555437e-04,2.033276050e-04,7.362133688e-06,-2.302719987e-04,2.013969010e-04,1.050795449e-05,-2.330887099e-04,2.012663016e-04,7.019641095e-01,-2.614434551e-04,8.603467735e-01,7.019630318e-01,-2.523599101e-04,8.603448427e-01,7.027555301e-01,-3.484835093e-04,8.305275231e-01
+25,4.666666667e+00,UP_FORCE_RAMP,1792759327692217303,4.666364122e-07,-2.672475980e-04,2.134687052e-04,2.051817953e-07,-2.823782867e-04,2.069551828e-04,2.846640107e-06,-2.858078143e-04,2.067862339e-04,7.019561363e-01,-2.893355094e-04,8.603569146e-01,7.019558748e-01,-3.044661981e-04,8.603504010e-01,7.027478688e-01,-4.012026137e-04,8.305330430e-01
+26,4.900000000e+00,UP_FORCE_RAMP,1792759327920815674,-7.666312372e-06,-2.624046530e-04,2.306413713e-04,1.157214012e-06,-2.597961207e-04,2.156741720e-04,4.030870380e-06,-2.629756037e-04,2.155611324e-04,7.019480033e-01,-2.844925644e-04,8.603740872e-01,7.019568268e-01,-2.818840321e-04,8.603591200e-01,7.027490530e-01,-3.783704031e-04,8.305418179e-01
+27,5.150000000e+00,UP_FORCE_RAMP,1792759328166782124,-1.131376962e-05,-2.566756119e-04,2.642913256e-04,-1.066208676e-05,-2.626258782e-04,2.541356551e-04,-8.271708694e-06,-2.658725414e-04,2.539949052e-04,7.019443559e-01,-2.787635233e-04,8.604077372e-01,7.019450075e-01,-2.847137896e-04,8.603975815e-01,7.027367505e-01,-3.812673408e-04,8.305802517e-01
+28,5.350000000e+00,UP_FORCE_RAMP,1792759328363267302,-6.829487858e-06,-2.512136036e-04,2.942687332e-04,-7.305257965e-06,-2.587573773e-04,2.791642144e-04,-4.298214226e-06,-2.619194009e-04,2.790256751e-04,7.019488401e-01,-2.733015150e-04,8.604377146e-01,7.019483644e-01,-2.808452887e-04,8.604226101e-01,7.027407240e-01,-3.773142002e-04,8.306052825e-01
+29,5.550000000e+00,UP_FORCE_RAMP,1792759328559886386,-9.393719521e-07,-2.533080453e-04,3.326442819e-04,-2.384770941e-06,-2.571298777e-04,3.210318790e-04,1.509576804e-06,-2.602899745e-04,3.208178134e-04,7.019547303e-01,-2.753959567e-04,8.604760901e-01,7.019532849e-01,-2.792177891e-04,8.604644777e-01,7.027465317e-01,-3.756847739e-04,8.306470746e-01
+30,5.716666667e+00,UP_FORCE_RAMP,1792759328724039457,4.575835569e-06,-2.510247880e-04,3.685908918e-04,3.111076072e-06,-2.509847139e-04,3.628425356e-04,7.931389806e-06,-2.540933892e-04,3.626670723e-04,7.019602455e-01,-2.731126994e-04,8.605120367e-01,7.019587807e-01,-2.730726253e-04,8.605062884e-01,7.027529536e-01,-3.694881885e-04,8.306889239e-01
+31,5.900000000e+00,UP_FORCE_RAMP,1792759328938925883,-2.566951585e-06,-2.489039260e-04,4.005478030e-04,2.277973816e-06,-2.505868246e-04,3.860493952e-04,7.337989146e-06,-2.536574762e-04,3.858693900e-04,7.019531027e-01,-2.709918374e-04,8.605439936e-01,7.019579476e-01,-2.726747360e-04,8.605294952e-01,7.027523602e-01,-3.690522755e-04,8.307121262e-01
+32,6.116666667e+00,UP_FORCE_RAMP,1792759329166376475,-7.263243605e-06,-2.438094383e-04,4.437279520e-04,-4.276500038e-06,-2.440357081e-04,4.325472506e-04,8.555557826e-07,-2.470525847e-04,4.323254339e-04,7.019484064e-01,-2.658973497e-04,8.605871738e-01,7.019513931e-01,-2.661236195e-04,8.605759931e-01,7.027458777e-01,-3.624473840e-04,8.307585822e-01
+33,6.350000000e+00,UP_FORCE_RAMP,1792759329411798095,-3.391916855e-06,-2.404395457e-04,4.894497107e-04,-5.502286726e-06,-2.406903360e-04,4.760989136e-04,4.781652474e-08,-2.436907412e-04,4.758689424e-04,7.019522777e-01,-2.625274571e-04,8.606328956e-01,7.019501673e-01,-2.627782474e-04,8.606195448e-01,7.027450700e-01,-3.590855405e-04,8.308021257e-01
+34,6.583333333e+00,UP_FORCE_RAMP,1792759329641043726,3.515226239e-07,-2.379598374e-04,5.311579351e-04,-1.153399738e-06,-2.397677715e-04,5.177243660e-04,5.337561289e-06,-2.427643945e-04,5.175162971e-04,7.019560211e-01,-2.600477488e-04,8.606746038e-01,7.019545162e-01,-2.618556830e-04,8.606611702e-01,7.027503597e-01,-3.581591939e-04,8.308437731e-01
+35,6.800000000e+00,UP_FORCE_RAMP,1792759329853700834,-2.201245474e-06,-2.373504602e-04,5.673980379e-04,-3.533771331e-08,-2.392672947e-04,5.637412013e-04,7.121633775e-06,-2.422260328e-04,5.635117646e-04,7.019534684e-01,-2.594383716e-04,8.607108439e-01,7.019556343e-01,-2.613552061e-04,8.607071870e-01,7.027521438e-01,-3.576208322e-04,8.308897686e-01
+36,7.016666667e+00,UP_FORCE_RAMP,1792759330066674144,-5.707979237e-06,-2.358854649e-04,6.047347472e-04,-5.570315972e-06,-2.359139829e-04,6.046364749e-04,1.620375562e-06,-2.388343534e-04,6.043526889e-04,7.019499616e-01,-2.579733763e-04,8.607481806e-01,7.019500993e-01,-2.580018943e-04,8.607480823e-01,7.027466425e-01,-3.542291527e-04,8.309306095e-01
+37,7.200000000e+00,UP_FORCE_RAMP,1792759330263550235,-3.463668850e-06,-2.341807045e-04,6.410063245e-04,-5.209407702e-06,-2.324397986e-04,6.252867408e-04,2.260871329e-06,-2.353268344e-04,6.250214846e-04,7.019522060e-01,-2.562686159e-04,8.607844522e-01,7.019504602e-01,-2.545277100e-04,8.607687326e-01,7.027472830e-01,-3.507216338e-04,8.309512783e-01
+38,7.366666667e+00,UP_FORCE_RAMP,1792759330427366020,-3.864836617e-06,-2.547038206e-04,6.702656980e-04,-2.831523396e-06,-2.562915603e-04,6.657629190e-04,5.348343036e-06,-2.594933102e-04,6.655101869e-04,7.019518048e-01,-2.767917320e-04,8.608137115e-01,7.019528381e-01,-2.783794717e-04,8.608092088e-01,7.027503705e-01,-3.748881095e-04,8.309917670e-01
+39,7.566666667e+00,UP_FORCE_RAMP,1792759330623942080,8.927372425e-07,-2.550446175e-04,7.076660502e-04,2.035514332e-06,-2.543093445e-04,7.082869348e-04,1.110799508e-05,-2.574939019e-04,7.080169606e-04,7.019565624e-01,-2.771325290e-04,8.608511119e-01,7.019577051e-01,-2.763972559e-04,8.608517328e-01,7.027561302e-01,-3.728887013e-04,8.310342737e-01
+40,7.766666667e+00,UP_FORCE_RAMP,1792759330820671742,1.949241936e-06,-2.503946893e-04,7.387025079e-04,5.534042346e-06,-2.496415518e-04,7.354058829e-04,1.521274982e-05,-2.527543760e-04,7.351925322e-04,7.019576189e-01,-2.724826007e-04,8.608821484e-01,7.019612037e-01,-2.717294632e-04,8.608788517e-01,7.027602349e-01,-3.681491754e-04,8.310614493e-01
+41,7.966666667e+00,UP_FORCE_RAMP,1792759331033631524,1.751266566e-06,-2.490334531e-04,7.695428513e-04,2.356678303e-06,-2.499439206e-04,7.560286304e-04,1.205431030e-05,-2.530612320e-04,7.558126538e-04,7.019574209e-01,-2.711213645e-04,8.609129887e-01,7.019580263e-01,-2.720318320e-04,8.608994745e-01,7.027570765e-01,-3.684560313e-04,8.310820694e-01
+42,8.216666667e+00,UP_FORCE_RAMP,1792759331279655178,-2.829503232e-06,-2.440568502e-04,8.031448787e-04,-2.056442739e-06,-2.459858049e-04,7.983057106e-04,7.790868292e-06,-2.490693704e-04,7.981274205e-04,7.019528401e-01,-2.661447617e-04,8.609465907e-01,7.019536132e-01,-2.680737163e-04,8.609417516e-01,7.027528130e-01,-3.644641698e-04,8.311243842e-01
+43,8.466666667e+00,UP_FORCE_RAMP,1792759331539337924,-9.683645226e-07,-2.396713107e-04,8.369108111e-04,-4.498414380e-06,-2.467267022e-04,8.191738065e-04,5.474816570e-06,-2.497998492e-04,8.190309045e-04,7.019547013e-01,-2.617592221e-04,8.609803567e-01,7.019511712e-01,-2.688146136e-04,8.609626197e-01,7.027504970e-01,-3.651946485e-04,8.311452877e-01
+44,8.716666667e+00,UP_FORCE_RAMP,1792759331792313322,-2.427639966e-07,-2.420934879e-04,8.670445841e-04,-2.992435659e-06,-2.431804897e-04,8.614929477e-04,7.575070615e-06,-2.462410489e-04,8.612825811e-04,7.019554269e-01,-2.641813993e-04,8.610104904e-01,7.019526772e-01,-2.652684011e-04,8.610049388e-01,7.027525972e-01,-3.616358482e-04,8.311875394e-01
+45,8.916666667e+00,UP_FORCE_RAMP,1792759332016060605,-1.649793335e-06,-2.386566651e-04,8.849738113e-04,3.204498691e-07,-2.466963533e-04,8.834184585e-04,1.143776681e-05,-2.497916695e-04,8.832641942e-04,7.019540198e-01,-2.607445765e-04,8.610284197e-01,7.019559901e-01,-2.687842647e-04,8.610268643e-01,7.027564599e-01,-3.651864688e-04,8.312095210e-01
+46,9.116666667e+00,UP_FORCE_RAMP,1792759332228985389,1.085502542e-06,-2.400001881e-04,9.095771264e-04,1.690205130e-06,-2.412335361e-04,9.028829927e-04,1.317519488e-05,-2.442640000e-04,9.027082736e-04,7.019567551e-01,-2.620880996e-04,8.610530230e-01,7.019573598e-01,-2.633214476e-04,8.610463288e-01,7.027581974e-01,-3.596587993e-04,8.312289651e-01
+47,9.383333333e+00,UP_FORCE_RAMP,1792759332491777597,9.265425205e-08,-2.412737787e-04,9.284751880e-04,3.206028137e-06,-2.394675787e-04,9.233036548e-04,1.506571170e-05,-2.424402685e-04,9.231827277e-04,7.019557623e-01,-2.633616901e-04,8.610719210e-01,7.019588757e-01,-2.615554901e-04,8.610667495e-01,7.027600879e-01,-3.578350678e-04,8.312494395e-01
+48,9.583333333e+00,UP_FORCE_RAMP,1792759332688120731,7.011491138e-07,-2.382022491e-04,9.453771752e-04,1.825963595e-06,-2.366365380e-04,9.445369804e-04,1.387297603e-05,-2.396189854e-04,9.444430847e-04,7.019563708e-01,-2.602901605e-04,8.610888230e-01,7.019574956e-01,-2.587244494e-04,8.610879828e-01,7.027588951e-01,-3.550137848e-04,8.312706999e-01
+49,9.816666667e+00,UP_FORCE_RAMP,1792759332917820563,6.767728234e-07,-2.322648307e-04,9.620536163e-04,1.825963595e-06,-2.366365380e-04,9.445369804e-04,1.387620696e-05,-2.396159836e-04,9.445079962e-04,7.019563464e-01,-2.543527422e-04,8.611054995e-01,7.019574956e-01,-2.587244494e-04,8.610879828e-01,7.027588984e-01,-3.550107829e-04,8.312707648e-01
+50,1.000000000e+01,UP_FORCE_RAMP,1792759333097454652,-4.498086818e-06,-2.406577300e-04,9.650750021e-04,-2.112913964e-06,-2.384319622e-04,9.642000185e-04,9.865299056e-06,-2.414029634e-04,9.641720043e-04,7.019511715e-01,-2.627456414e-04,8.611085208e-01,7.019535567e-01,-2.605198736e-04,8.611076459e-01,7.027548875e-01,-3.567977628e-04,8.312904288e-01
+51,1.026666667e+01,UP_FORCE_RAMP,1792759333359769750,-3.861273333e-06,-2.384385153e-04,9.837068005e-04,-2.112913964e-06,-2.384319622e-04,9.642000185e-04,9.866189276e-06,-2.413994032e-04,9.642303712e-04,7.019518084e-01,-2.605264267e-04,8.611271526e-01,7.019535567e-01,-2.605198736e-04,8.611076459e-01,7.027548884e-01,-3.567942026e-04,8.312904872e-01
+52,1.050000000e+01,UP_FORCE_RAMP,1792759333588992152,-3.733550803e-06,-2.469028404e-04,9.958714601e-04,-6.203961359e-06,-2.461982400e-04,9.827282634e-04,5.642571397e-06,-2.492319463e-04,9.827672091e-04,7.019519361e-01,-2.689907518e-04,8.611393173e-01,7.019494657e-01,-2.682861514e-04,8.611261741e-01,7.027506647e-01,-3.646267457e-04,8.313090240e-01
+53,1.083333333e+01,UP_FORCE_HOLD,1792759333916036769,-5.910703058e-06,-2.463491718e-04,1.011167700e-03,-4.129430058e-06,-2.462341995e-04,1.002616352e-03,8.192392494e-06,-2.492580839e-04,1.002694670e-03,7.019497589e-01,-2.684370832e-04,8.611546135e-01,7.019515402e-01,-2.683221109e-04,8.611460622e-01,7.027532146e-01,-3.646528833e-04,8.313289515e-01
+54,1.110000000e+01,UP_FORCE_HOLD,1792759334194797377,-6.020717941e-06,-2.384774805e-04,1.025375619e-03,-4.591086449e-06,-2.425593917e-04,1.022961083e-03,7.982704035e-06,-2.455954165e-04,1.023032177e-03,7.019496489e-01,-2.605653919e-04,8.611688215e-01,7.019510785e-01,-2.646473031e-04,8.611664069e-01,7.027530049e-01,-3.609902158e-04,8.313492890e-01
+55,1.138333333e+01,UP_FORCE_HOLD,1792759334489786832,-4.984827131e-06,-2.412113587e-04,1.037097815e-03,-4.591086449e-06,-2.425593917e-04,1.022961083e-03,7.983482272e-06,-2.455914216e-04,1.023085980e-03,7.019506848e-01,-2.632992702e-04,8.611805437e-01,7.019510785e-01,-2.646473031e-04,8.611664069e-01,7.027530057e-01,-3.609862210e-04,8.313493428e-01
+56,1.158333333e+01,UP_SETTLE,1792759334686031705,-1.181716446e-05,-2.471063057e-04,1.037395353e-03,-6.592250872e-06,-2.424016877e-04,1.043294943e-03,6.072291806e-06,-2.454034979e-04,1.043396189e-03,7.019438525e-01,-2.691942171e-04,8.611808412e-01,7.019490774e-01,-2.644895991e-04,8.611867408e-01,7.027510945e-01,-3.607982972e-04,8.313696530e-01
+57,1.161666667e+01,UP_SETTLE,1792759334718842083,-7.441077866e-05,-2.541767609e-04,9.939004519e-04,-7.461983916e-05,-2.539126392e-04,9.937988832e-04,-6.780477755e-05,-2.570637753e-04,9.939239151e-04,7.018812588e-01,-2.762646723e-04,8.611373463e-01,7.018810498e-01,-2.760005506e-04,8.611372447e-01,7.026772174e-01,-3.724585746e-04,8.313201807e-01
+58,1.165000000e+01,UP_SETTLE,1792759334770461705,-6.888214830e-05,-2.545071713e-04,9.969945939e-04,-6.907010729e-05,-2.544953597e-04,9.968238596e-04,-6.183133381e-05,-2.576630808e-04,9.969520828e-04,7.018867875e-01,-2.765950827e-04,8.611404404e-01,7.018865995e-01,-2.765832711e-04,8.611402697e-01,7.026831908e-01,-3.730578802e-04,8.313232089e-01
+59,1.178333333e+01,UP_SETTLE,1792759334899338172,-7.807537057e-05,-2.528222994e-04,9.958268384e-04,-6.907010729e-05,-2.544953597e-04,9.968238596e-04,-6.185759432e-05,-2.576578329e-04,9.969593807e-04,7.018775943e-01,-2.749102108e-04,8.611392727e-01,7.018865995e-01,-2.765832711e-04,8.611402697e-01,7.026831646e-01,-3.730526323e-04,8.313232162e-01

Fixed/digit/ball_0030_20/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.4926e-02,3.6245e-02,2.4542e+00,-3.9268e-02,3.7849e-02,2.5768e-05,1.2581e-04,3.1292e-06,-3.6716e-05,2.6822e-07,9.0338e-06,-3.6432e-07,1.3109e-04,9.0452e-06
+1,3.6667e-01,WAIT_W2,5.7031e-05,1.7377e-02,3.6317e-02,2.4536e+00,-3.9263e-02,3.8025e-02,1.8196e-05,2.5769e-03,7.5001e-05,-6.7830e-04,5.5693e-06,1.8455e-04,-7.9362e-06,2.6657e-03,1.8481e-04
+2,6.6667e-01,WAIT_W2,1.1486e-04,1.8966e-02,3.6381e-02,2.4532e+00,-3.9259e-02,3.8138e-02,1.2546e-05,4.1654e-03,1.3909e-04,-1.0459e-03,9.0823e-06,2.9777e-04,-1.3586e-05,4.2969e-03,2.9822e-04
+3,9.0000e-01,WAIT_W2,1.7558e-04,1.9990e-02,3.6431e-02,2.4530e+00,-3.9257e-02,3.8211e-02,8.4341e-06,5.1900e-03,1.8885e-04,-1.2572e-03,1.1418e-05,3.7064e-04,-1.7698e-05,5.3434e-03,3.7124e-04
+4,9.8333e-01,WAIT_W2,2.4079e-04,1.9338e-02,5.7120e-02,2.4512e+00,-4.0665e-02,3.8166e-02,1.2219e-05,4.5378e-03,2.0878e-02,-3.0396e-03,-1.3966e-03,3.2605e-04,-1.3913e-05,2.1581e-02,1.4342e-03
+5,1.0333e+00,WAIT_W2,2.8289e-04,2.0086e-02,1.0164e-01,2.4506e+00,-4.3703e-02,3.8217e-02,2.2504e-05,5.2858e-03,6.5401e-02,-3.6051e-03,-4.4350e-03,3.7650e-04,-3.6286e-06,6.5714e-02,4.4509e-03
+6,1.0667e+00,WAIT_W2,3.2485e-04,2.0426e-02,1.2829e-01,2.4503e+00,-4.5524e-02,3.8240e-02,2.8448e-05,5.6258e-03,9.2049e-02,-3.9566e-03,-6.2560e-03,3.9966e-04,2.3156e-06,9.2305e-02,6.2687e-03
+7,1.1000e+00,WAIT_W2,4.1456e-04,2.1968e-02,1.8757e-01,2.4511e+00,-4.9575e-02,3.8345e-02,4.2149e-05,7.1675e-03,1.5133e-01,-3.1312e-03,-1.0307e-02,5.0484e-04,1.6017e-05,1.5153e-01,1.0319e-02
+8,1.1667e+00,WAIT_W2,4.6083e-04,2.4537e-02,2.4709e-01,2.4550e+00,-5.3668e-02,3.8519e-02,5.5392e-05,9.7366e-03,2.1085e-01,7.2217e-04,-1.4400e-02,6.7903e-04,2.9260e-05,2.1107e-01,1.4416e-02
+9,1.4000e+00,WAIT_W2,5.1561e-04,2.6021e-02,2.4548e-01,2.4577e+00,-5.3635e-02,3.8623e-02,5.0889e-05,1.1221e-02,2.0924e-01,3.4425e-03,-1.4367e-02,7.8246e-04,2.4757e-05,2.0957e-01,1.4388e-02
+10,1.6500e+00,WAIT_W2,5.7260e-04,2.7148e-02,2.4444e-01,2.4596e+00,-5.3620e-02,3.8702e-02,4.5680e-05,1.2348e-02,2.0820e-01,5.3246e-03,-1.4352e-02,8.6140e-04,1.9547e-05,2.0864e-01,1.4378e-02
+11,1.9167e+00,UP_FORCE_RAMP,6.3198e-04,2.8110e-02,2.4360e-01,2.4609e+00,-5.3609e-02,3.8769e-02,3.9936e-05,1.3309e-02,2.0736e-01,6.7027e-03,-1.4340e-02,9.2892e-04,1.3804e-05,2.0789e-01,1.4370e-02
+12,2.1167e+00,UP_FORCE_RAMP,6.9006e-04,2.8705e-02,2.4309e-01,2.4617e+00,-5.3602e-02,3.8811e-02,3.5598e-05,1.3904e-02,2.0685e-01,7.4265e-03,-1.4333e-02,9.7076e-04,9.4663e-06,2.0745e-01,1.4366e-02
+13,2.4000e+00,UP_FORCE_RAMP,7.4452e-04,2.9400e-02,2.4249e-01,2.4624e+00,-5.3594e-02,3.8860e-02,2.9519e-05,1.4600e-02,2.0625e-01,8.1296e-03,-1.4325e-02,1.0198e-03,3.3866e-06,2.0693e-01,1.4362e-02
+14,2.6333e+00,UP_FORCE_RAMP,8.0266e-04,2.9869e-02,2.4209e-01,2.4627e+00,-5.3588e-02,3.8893e-02,2.4630e-05,1.5068e-02,2.0585e-01,8.5046e-03,-1.4320e-02,1.0528e-03,-1.5024e-06,2.0657e-01,1.4358e-02
+15,2.9333e+00,UP_FORCE_RAMP,8.5923e-04,2.7673e-02,2.3880e-01,2.4544e+00,-5.3411e-02,3.8750e-02,2.1275e-05,1.2872e-02,2.0256e-01,1.5712e-04,-1.4142e-02,9.0973e-04,-4.8570e-06,2.0297e-01,1.4172e-02
+16,3.1167e+00,UP_FORCE_RAMP,9.1484e-04,2.5299e-02,2.3668e-01,2.4460e+00,-5.3304e-02,3.8594e-02,2.1589e-05,1.0498e-02,2.0044e-01,-8.2595e-03,-1.4035e-02,7.5423e-04,-4.5427e-06,2.0088e-01,1.4056e-02
+17,3.3333e+00,UP_FORCE_RAMP,9.7231e-04,2.6960e-02,2.3627e-01,2.4504e+00,-5.3299e-02,3.8707e-02,2.0822e-05,1.2159e-02,2.0003e-01,-3.8445e-03,-1.4031e-02,8.6718e-04,-5.3101e-06,2.0044e-01,1.4058e-02
+18,3.5667e+00,UP_FORCE_RAMP,1.0280e-03,2.7022e-02,2.3640e-01,2.4462e+00,-5.3357e-02,3.8719e-02,2.1807e-05,1.2222e-02,2.0016e-01,-8.0814e-03,-1.4089e-02,8.7837e-04,-4.3248e-06,2.0070e-01,1.4116e-02
+19,3.6833e+00,UP_FORCE_RAMP,1.0911e-03,3.9894e-02,2.3478e-01,2.4453e+00,-5.3266e-02,3.9629e-02,4.6850e-06,2.5093e-02,1.9854e-01,-8.9414e-03,-1.3998e-02,1.7888e-03,-2.1447e-05,2.0032e-01,1.4111e-02
+20,3.8833e+00,UP_FORCE_RAMP,1.1481e-03,3.9339e-02,2.2543e-01,2.4407e+00,-5.2662e-02,3.9597e-02,-6.0410e-06,2.4539e-02,1.8918e-01,-1.3554e-02,-1.3394e-02,1.7572e-03,-3.2173e-05,1.9125e-01,1.3509e-02
+21,4.0833e+00,UP_FORCE_RAMP,1.2014e-03,3.4949e-02,2.2664e-01,2.4371e+00,-5.2781e-02,3.9294e-02,-7.3826e-06,2.0149e-02,1.9040e-01,-1.7123e-02,-1.3513e-02,1.4535e-03,-3.3515e-05,1.9222e-01,1.3591e-02
+22,4.2833e+00,UP_FORCE_RAMP,1.2584e-03,2.9253e-02,2.2529e-01,2.4232e+00,-5.2753e-02,3.8912e-02,-4.9602e-06,1.4453e-02,1.8905e-01,-3.0996e-02,-1.3484e-02,1.0714e-03,-3.1092e-05,1.9212e-01,1.3527e-02
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Fixed/digit/ball_0030_20/press_depth_05/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_0030_20/press_depth_05/down/franka_data.csv

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+25623,1792759383667027528,42786592000000,1792759383659977439,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6759967758709521,-0.0041566329378840755,0.10675597548311486,0.9999999728921383,-5.4349105763318185e-05,-0.00016223408846750717,0.00012800336853384327,0.6761,-0.004,0.1069040894105405,1.0,0.0,0.0,0.0,-0.043583818809211694,0.0014191129276143188,0.03699361159523523,-0.00011768734523278507,0.002950476840300996,1.1420787858444333e-05,0.6071381096654529,0.5286309877647793,0.3422221074562867,0.04293714886857803,-0.04349099038727689,0.0006373721272342731,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.3753813645903403,0.6109321028083566,1.0065478036844042,0.13482309443575977,-0.6220088097774181,0.34477317887804376,1.5366765084632985,-0.03699361159523523,0.5301287047788943,0.5301287047788943,0.6845606177327243,0,0,-8.483038115988795e-05,-9.999999025923074e-05
+25682,1792759384159059131,42787084000000,1792759384155977982,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6759925421840504,-0.0041606261141823855,0.10672372455207148,0.999999970033817,-5.347817138326351e-05,-0.00017741845619562006,0.00013052971315538598,0.6761,-0.004,0.10685676587766321,1.0,0.0,0.0,0.0,-0.025108229831980577,-0.011854655203134223,0.06654359289125,-0.0009195493887918516,0.0019829505195166283,-3.567481451522e-05,0.625613698642684,0.5153572196340308,0.37177208875230144,0.042135286825018964,-0.04445851670806126,0.0005902765248606088,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.4687144909560446,0.6261685409614361,1.0095104047588832,0.15566666786728098,-0.5992185685222052,0.3499933451118868,1.5366765084632985,-0.06654359289125,0.5271661037044153,0.5271661037044153,0.7583606177327161,0,0,-0.0001074134480347474,-9.999999025923074e-05
+25729,1792759384550018666,42787475000000,1792759384547977838,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6759728734522911,-0.004164225214772514,0.10665959421217588,0.9999999615339707,-5.7377885333987826e-05,-0.0002168792222167398,0.0001343357834255076,0.6761,-0.004,0.1068111043751084,1.0,0.0,0.0,0.0,-0.01994073563105503,-0.014522921034743286,0.11663200622151348,-0.001109575344287829,0.0019758094221419484,-7.7541402012692e-05,0.6307811928436096,0.5126889538024217,0.4218605020825649,0.041945260869522986,-0.04446565780543594,0.0005484099373631368,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.4882854154652965,0.7568695032249794,0.8252020674824502,0.1248629516467461,-0.4767729740504151,0.4363720348411244,1.5366765084632985,-0.11663200622151348,0.7114744409808483,0.7114744409808483,0.8170106177327097,0,0,-0.00012408330997163442,-2.585961748079982e-05
+25774,1792759384925049981,42787850000000,1792759384923977277,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6759769650714534,-0.004148399840946815,0.10663206294709737,0.9999999643287548,-0.00013143310469459438,-0.00020386641053448139,6.284249390473918e-05,0.6761,-0.004,0.1067615696611958,1.0,0.0,0.0,0.0,0.002370329972376739,-0.00011085657665810267,0.1372402702825154,-5.426214224838605e-05,0.0005721475296740705,-0.00010202613780649567,0.6530922584470413,0.5271010182605069,0.44246876614356684,0.04300057407156243,-0.04586931969790382,0.0005239252015693331,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.5102061951714322,0.7688602273772557,0.8806483862670924,0.003199649553141662,-0.4877996200782558,0.46847575130905805,1.5366765084632985,-0.1372402702825154,0.6560281221962061,0.6560281221962061,0.8732606177327035,0,0,-0.00014111543110015135,-9.999999025923074e-05
+25831,1792759385399996896,42788325000000,1792759385399977579,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6759836037022685,-0.004156739283436968,0.10656836513561052,0.9999999676062962,-0.0001245162082963751,-0.00018492079313715893,8.081017915705484e-05,0.6761,-0.004,0.10668903076828573,1.0,0.0,0.0,0.0,-0.015073840785857717,-0.0064332083124009065,0.18723569567648835,-7.437703496794568e-05,0.0009276227365610026,-0.00013822771531291978,0.6356480876888069,0.5207786665247641,0.4924641915375398,0.04298045917884287,-0.045513844491016885,0.000487723624062909,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.6132677137440693,0.738181472497272,0.7553542641179685,0.07828082302526326,-0.3933196202302117,0.4320900143783099,1.5366765084632985,-0.18723569567648835,0.78132224434533,0.78132224434533,0.9445106177326956,0,0,-0.00016416568122542963,-9.999999025923074e-05
+25890,1792759385892039595,42788817000000,1792759385887977868,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6759808915281837,-0.004160517439515484,0.10649333877459435,0.9999999658290196,-0.0001205415504916802,-0.00018933533410347538,9.698809060537073e-05,0.6761,-0.004,0.10660321776044297,1.0,0.0,0.0,0.0,-0.01610720875519811,-0.013983992690138503,0.23655646927878576,-0.0011323474624986701,0.0019497025575957033,-0.00017395052057415342,0.6346147197194665,0.5132278821470265,0.5417849651398372,0.041922488751312145,-0.044491764669982184,0.00045200081880167537,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.6009190220337816,0.7218869798672828,0.6640016223571179,0.12757263236042585,-0.34613400801702904,0.41102012274560806,1.5366765084632985,-0.23655646927878576,0.8726748861061806,0.8726748861061806,1.018310617732701,0,0,-0.00018246914627919505,7.784109421586394e-05
+25945,1792759386350049716,42789275000000,1792759386343979152,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6759814343451496,-0.004170077296196968,0.10640806255011565,0.9999999655256587,-0.00011995305591193321,-0.00018269351190874127,0.00011236498889845542,0.6761,-0.004,0.10651701401231813,1.0,0.0,0.0,0.0,-0.025475897997282004,-0.024401444233896785,0.28717376679074175,-0.0011430334462739014,0.001939704735846405,-0.00021599047609696328,0.6252460304773826,0.5028104306032682,0.5924022626517932,0.041911802767536914,-0.04450176249173148,0.0004099608632788655,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.601285395185072,0.7744846768407849,0.6025272451944124,0.11835397809210964,-0.31021297098729944,0.4419517245798015,1.5366765084632985,-0.28717376679074175,0.9341492632688861,0.9341492632688861,1.0870106177327443,0,0,-0.00019186103478588545,5.4439268397327114e-05
+25998,1792759386792127137,42789717000000,1792759386787978094,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6759812841814238,-0.004180316635382232,0.10633409063157677,0.9999999633473678,-0.00012423325858682723,-0.0001824389036304463,0.00012661070780283667,0.6761,-0.004,0.10643042803962081,1.0,0.0,0.0,0.0,-0.024897368033054756,-0.024725508401639673,0.3469425830857282,-0.002201270658775449,0.002558165551797907,-0.0002599963921785046,0.6258245604416098,0.5024863664355254,0.6521710789467796,0.040853565555035366,-0.04388330167577998,0.0003659549471973242,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.6301785189502711,0.7879432023522616,0.5672526740597805,0.11058293623352786,-0.27764043034945657,0.449504393044073,1.5366765084632985,-0.3469425830857282,0.969423834403518,0.969423834403518,1.153310617732786,0,0,-0.0001982107024303944,-7.539062016193582e-05
+26049,1792759387217096690,42790142000000,1792759387215977428,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6759846582143172,-0.004183614689228779,0.10625419046195791,0.9999999633230816,-0.00011856174627369833,-0.00017514355451116442,0.00014164938184930767,0.6761,-0.004,0.1063458294949377,1.0,0.0,0.0,0.0,-0.03542694610234942,-0.03290502271225554,0.40487716135027035,-0.0022138902750777067,0.0029470988436762838,-0.0003092300720655619,0.6152949823723152,0.4943068521249095,0.7101056572113218,0.04084094593873311,-0.043494368383901603,0.00031672126731026686,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.6836857963385325,0.7727116890520587,0.5427397043172484,0.11727335146413946,-0.24595021304355233,0.4372599576148743,1.5366765084632985,-0.40487716135027035,0.9939368041460501,0.9939368041460501,1.2170606177328263,0,0,-0.00019901105347971815,-9.608531611882682e-05
+26106,1792759387692079949,42790617000000,1792759387687977694,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6759953055327462,-0.004192480120421773,0.10617624101923395,0.9999999622079951,-0.00011985758878838429,-0.00016418694946949457,0.00016032366248847695,0.6761,-0.004,0.1062489449408928,1.0,0.0,0.0,0.0,-0.04442675224225123,-0.03107377606096373,0.45110797257700536,-0.0022509168254171152,0.003949998933994461,-0.00033081044436374064,0.6062951762324134,0.4961380987762013,0.7563364684380568,0.0408039193883937,-0.042491468293583426,0.00029514089501208815,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.6943229194466353,0.6578389894215497,0.37332345789775956,0.15747137501828237,-0.14171977929954088,0.3652851499951364,1.5366765084632985,-0.45110797257700536,1.163353050565539,1.163353050565539,1.2883106177328711,0,0,-0.00020481434040845047,9.99999208702917e-05
+26159,1792759388134114595,42791059000000,1792759388131977163,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760030882129144,-0.0041938817490378,0.10609767051505335,0.9999999630148013,-0.00011383499022885855,-0.0001479951931045237,0.00017479209954013569,0.6761,-0.004,0.10615749425364186,1.0,0.0,0.0,0.0,-0.05388515473785882,-0.030468603017322016,0.5067870051220238,-0.0022876469769649785,0.004951699557449812,-0.0003613972279137125,0.5968367737368058,0.496743271819843,0.8120155009830753,0.04076718923684584,-0.041489767670128075,0.0002645541114621163,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.6671566965388929,0.7699847481534767,0.3734644128163822,0.11850768582019401,-0.14862210529047884,0.4346523895803475,1.5366765084632985,-0.5067870051220238,1.1632120956469163,1.1632120956469163,1.354610617732913,0,0,-0.0002085742650495811,-9.843750400773672e-05
+26216,1792759388609145322,42791534000000,1792759388603977688,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6759999464058007,-0.004204333179699156,0.105997730508705,0.9999999588936547,-0.0001211808232849186,-0.0001514997623306038,0.0001897856245626202,0.6761,-0.004,0.10605850903809967,1.0,0.0,0.0,0.0,-0.06266500017664556,-0.04309197000198367,0.5769810634926962,-0.0033221748662141184,0.00495653500628699,-0.0004305330942184349,0.588056928298019,0.48411990483518136,0.8822095593537477,0.0397326613475967,-0.0414849322212909,0.00019541824515739386,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.743860679834219,0.7098756491452266,0.26353548937072346,0.14216031726661083,-0.056517111964237816,0.39468833405233456,1.5366765084632985,-0.5769810634926962,1.273141019092575,1.273141019092575,1.4258606177329578,0,0,-0.00020654244930054665,9.998619573814977e-05
+26264,1792759389009178612,42791934000000,1792759389003978356,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760049380272529,-0.004167361195489234,0.10592214339983247,0.999999946804869,-0.00028211065702886493,-0.00012937531668601374,3.884234153826688e-05,0.6761,-0.004,0.10597671148343037,1.0,0.0,0.0,0.0,-0.06286334695266504,-0.04767467135305564,0.6267499175456148,-0.0033321802610301737,0.0049463128731985564,-0.00047037835672886403,0.5878585815219995,0.4795372034841094,0.9319784134066662,0.03972265595278064,-0.04149515435437933,0.00015557298264696475,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.7481071138132208,0.8354186925968197,0.15763880593315857,0.10744903895421572,0.014701759107064958,0.4714418723057848,1.5366765084632985,-0.6267499175456148,1.37903770253014,1.37903770253014,1.4858606177329956,0,0,-0.00020396479511322762,8.750001698055172e-05
+26307,1792759389367183654,42792292000000,1792759389363977897,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760021775375383,-0.004177154743648292,0.10584648974208116,0.9999999442485215,-0.00028496863976267656,-0.00013633814122709627,5.6130235467794195e-05,0.6761,-0.004,0.10590066217238046,1.0,0.0,0.0,0.0,-0.017867553262971625,-0.0016049784583807014,0.6770223691480153,-0.0002253475665784238,0.0028460700827155835,0.0004734068956146238,0.632854375211693,0.5256068963787843,0.9822508650090668,0.04282948864723239,-0.043595397144862304,0.0010993582349904526,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.8020128351454098,0.7998590287302771,0.11512376440397404,-0.04064562249921142,0.08471912473083816,0.4937171965018401,1.5366765084632985,-0.6770223691480153,1.4215527440593245,1.4215527440593245,1.5395606177330294,0,0,-0.00022074142748820946,8.750000310276391e-05
+26354,1792759389759860388,42792684000000,1792759389755977031,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.676006010124777,-0.004188216906624136,0.1057638829585138,0.999999945052794,-0.00027998850431576813,-0.00012878257329872157,7.974182757508944e-05,0.6761,-0.004,0.10581223901701117,1.0,0.0,0.0,0.0,-0.02671492435477585,-0.018431993573177485,0.725015878219359,-0.0012534339374574918,0.0028576494198582214,-7.225370645836131e-05,0.6240070041198887,0.5087798812639875,1.0302443740804104,0.041801402276353324,-0.043583817807719666,0.0005536976329174675,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.7827673076421515,0.7864539176157691,0.21566327530712817,0.0477539238255349,-0.0015912275073130687,0.46672331549501,1.5366765084632985,-0.725015878219359,1.3210132331561704,1.3210132331561704,1.5983606177330665,0,0,-0.000229024236571311,-9.835494504806803e-05
+26403,1792759390167155047,42793092000000,1792759390163976893,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.676008637252198,-0.004197116730014937,0.10567933330888984,0.9999999460594736,-0.00026936212562173495,-0.00012767536657269912,0.00010230816040188497,0.6761,-0.004,0.10571977976754716,1.0,0.0,0.0,0.0,-0.038342750735455455,-0.01734353467472205,0.777705646094657,-0.0012981196659594824,0.003855489926334034,0.000307313395174086,0.6123791777392091,0.509868340162443,1.0829341419557084,0.04175671654785133,-0.04258597730124385,0.0009332647345499148,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.8148315952362171,0.8045292599297906,-0.014072595566445406,0.13106419575837366,0.1395591011440549,0.45164401813286614,1.5366765084632985,-0.777705646094657,1.5507491040297439,1.5507491040297439,1.659560617733105,0,0,-0.0002230906684011228,9.999999025923074e-05
+26452,1792759390575156841,42793500000000,1792759390571977063,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760113087269274,-0.004198558890267414,0.10560283515552922,0.9999999438017014,-0.0002763489725056007,-0.00012584702168178332,0.00010785745413468372,0.6761,-0.004,0.1056311010866062,1.0,0.0,0.0,0.0,-0.04523316776667852,-0.029649653171821777,0.8285998952778597,-0.001301086726384848,0.0038512826587572893,-0.0006229872721800367,0.6054887607079861,0.49756222166534325,1.133828391138911,0.04175374948742597,-0.0425901845688206,2.964067195792013e-06,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.7961371042606218,0.7747332510069695,-0.044754406939632334,0.16413450801908833,0.14895520188347292,0.43916982478816885,1.5366765084632985,-0.8285998952778597,1.581430915402931,1.581430915402931,1.7207606177331436,0,0,-0.00021346904244681918,8.958999794662077e-05
+26499,1792759390967186621,42793892000000,1792759390963977408,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760225972232196,-0.0042021412071866415,0.10553219526318296,0.9999999433272723,-0.0002856535904865271,-0.00010090565345924224,0.00011405433536578597,0.6761,-0.004,0.10554867820431667,1.0,0.0,0.0,0.0,-0.05439901233446376,-0.02409480170473277,0.8530872362036954,-0.0013390439052859,0.004853143657086383,-0.00013998943950978559,0.5963229161402008,0.5031170731324323,1.1583157320647468,0.041715792308524915,-0.041588323570491505,0.0004859618998660432,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.8606615245817109,0.7292818214760575,-0.015749366599206057,0.17544596406494978,0.14747138958084305,0.3993246419294013,1.5366765084632985,-0.8530872362036954,1.5524258750625046,1.5524258750625046,1.7795606177331806,0,0,-0.0002082105949139087,-9.930059138708031e-05
+26560,1792759391475216176,42794400000000,1792759391467977657,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.676017054018276,-0.004207677698767702,0.10543052990826304,0.9999999369542472,-0.0003002097405375494,-0.00011928643084411103,0.00011480080391837596,0.6761,-0.004,0.10544448366973118,1.0,0.0,0.0,0.0,-0.0461889165467918,-0.021970546349854514,0.9184736485442231,-0.0013511494114599107,0.004840861910178157,-6.0847778504854815e-05,0.6045330119278728,0.5052413284873105,1.2237021444052745,0.041703686802350905,-0.04160060531739973,0.000565103560870974,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.7982712979484708,0.7354952581713317,-0.10475885888235253,0.17652637659279574,0.18391978762192482,0.4037790512913414,1.5366765084632985,-0.9184736485442231,1.641435367345651,1.641435367345651,1.8557606177332286,0,0,-0.00020293829988279744,-9.873082493084268e-05
+26619,1792759391967179898,42794892000000,1792759391959986736,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760296126804783,-0.004206493148723655,0.10534166236262804,0.9999999838404009,2.595561075870556e-05,-9.39463636617276e-05,0.00011942549741020905,0.6761,-0.004,0.10534444146456777,1.0,0.0,0.0,0.0,-0.057550841806236375,-0.02615128610473838,0.967476896937786,-0.001373383297015987,0.005198820559201962,0.0003084068996993025,0.5931710866684282,0.5010605887324266,1.2727053927988374,0.04168145291679483,-0.041242646668375925,0.0009343582390751313,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.897997613410157,0.8444024782369055,-0.2541664302461833,0.09043354223442833,0.3166667464273633,0.39672404380250126,1.5366765084632985,-0.967476896937786,1.7908429387094817,1.7908429387094817,1.9295606177332751,0,0,-0.0002059857969096982,9.993744306958092e-05
+26669,1792759392384248198,42795309000000,1792759392383976870,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760291896043991,-0.004208805532545757,0.10526541347370413,0.999999983811512,7.294782120864497e-06,-9.803047444404439e-05,0.00011898173170610203,0.6761,-0.004,0.10525693439032133,1.0,0.0,0.0,0.0,-0.055814802236271555,-0.02890741949043546,1.0096714131590017,-0.0013987802641150793,0.005783087268481306,0.0002859481237165848,0.594907126238393,0.49830445534672957,1.314899909020053,0.041656055949695736,-0.04065837995909658,0.0009118994630924136,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.8964072938431705,0.887537653435211,-0.29386285445257276,0.09910341711342159,0.3334150679108959,0.44363473968235667,1.5366765084632985,-1.0096714131590017,1.8305393629158713,1.8305393629158713,1.9921106177333145,0,0,-0.0002148192271747299,9.74978389952696e-05
+26729,1792759392884154175,42795809000000,1792759392883977579,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.676037235085146,-0.004212067772322004,0.10516603494497893,0.9999999851071201,-2.1003004155393672e-05,-8.144467671621376e-05,0.0001189716885770644,0.6761,-0.004,0.1051493649694454,1.0,0.0,0.0,0.0,-0.06929657137401868,-0.025355820783233507,1.0696908195119588,-0.0014109805740422296,0.005819639030203008,0.00023659637206072386,0.5814253571006459,0.5018560540539315,1.3749193153730102,0.041643855639768586,-0.04062182819737488,0.0008625477114365526,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.9338062241042987,0.8532216123309511,-0.39949271197203345,0.13042015168355298,0.40816744880002886,0.44599319641558055,1.5366765084632985,-1.0696908195119588,1.936169220435332,1.936169220435332,2.067110617733362,0,0,-0.00021605874680055847,9.999999025923074e-05
+26778,1792759393292221107,42796217000000,1792759393291977182,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.676044962912074,-0.004213227075716003,0.10508941743252236,0.9999999858656293,-3.765161846821726e-05,-6.346787013951575e-05,0.00011943948540720864,0.6761,-0.004,0.10506029259359169,1.0,0.0,0.0,0.0,-0.06468152744948175,-0.016493289519637466,1.1096879842663523,-0.0014396070712399262,0.006606071370222039,0.0002175380094199674,0.5860404010251828,0.5107185853175276,1.4149164801274037,0.04161522914257089,-0.03983539585735585,0.0008434893487957962,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.8670372657032585,0.8537153858338017,-0.43276718757429944,0.15065064550687776,0.40361150045479216,0.4735830198212373,1.5366765084632985,-1.1096879842663523,1.9694436960375978,1.9694436960375978,2.1283106177334004,0,0,-0.0002217495313941179,9.75157829749051e-05
+26833,1792759393750263110,42796675000000,1792759393743977357,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760434235414532,-0.004217272882826333,0.10499349801978422,0.9999999839481812,-5.465091378852422e-05,-7.480621390035507e-05,0.00012232665128492393,0.6761,-0.004,0.10495843251589652,1.0,0.0,0.0,0.0,-0.06541346169167517,-0.023091255637869512,1.1688712932447685,-0.0014294325177638886,0.005797899404382578,0.0001565299766429592,0.5853084667829894,0.5041206191992955,1.4740997891058198,0.04162540369604693,-0.04064356782319531,0.000782481316018788,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.9482283889729018,0.7576238784825465,-0.39899050178429646,0.1895682250442087,0.409179021677744,0.42048128419703024,1.5366765084632985,-1.1688712932447685,1.935667010247595,1.935667010247595,2.1970106177334436,0,0,-0.00022585909628255874,-9.99999208702917e-05
+26881,1792759394150276089,42797075000000,1792759394147977631,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760564983855926,-0.004221537562569946,0.10491468396480536,0.9999999843187863,-6.974278427659818e-05,-4.404602683600633e-05,0.00012649578231702785,0.6761,-0.004,0.1048667863760702,1.0,0.0,0.0,0.0,-0.07038281433231364,-0.009211784331561557,1.200529755190337,-0.0004420309154725133,0.006785131417654758,0.00015800824636615334,0.580339114142351,0.5180000905056035,1.5057582510513883,0.0426128052983383,-0.03965633580992313,0.0007839595857419821,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.8958649582964692,0.8145453289941774,-0.4614617167584131,0.17635859281461683,0.42921382201158464,0.46127311072849186,1.5366765084632985,-1.200529755190337,1.9981382252217115,1.9981382252217115,2.2570106177334814,0,0,-0.00023318782873679578,-9.961141220061193e-05
+26924,1792759394509279864,42797434000000,1792759394503977533,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760472634349736,-0.00421654542346303,0.10483003589029503,0.9999999824506071,-7.74221142436284e-05,-7.125976544999129e-05,0.0001243764939983941,0.6761,-0.004,0.10478195370631534,1.0,0.0,0.0,0.0,-0.05659243464664354,-0.018509178327010156,1.2406997403091529,-0.0010397678353078338,0.005768992374482702,0.0001017176983591152,0.594129493828021,0.5087026965101549,1.5459282361702043,0.04201506837850298,-0.040672474853095185,0.000727669037734944,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.9372276835717902,0.7467341897229454,-0.4831436658822424,0.20216648954131283,0.45706132877433864,0.4170284303491659,1.5366765084632985,-1.2406997403091529,2.019820174345541,2.019820174345541,2.3108606177335154,0,0,-0.00023965549330737102,-9.99574687173876e-05
+26961,1792759394817253086,42797742000000,1792759394815986914,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760765289963284,-0.004225127346847956,0.1047662651473036,0.9999999831151871,-8.394355944120975e-05,-4.5243449201786896e-06,0.00013470523003301119,0.6761,-0.004,0.1047073238114398,1.0,0.0,0.0,0.0,-0.08527036418468625,-0.002145058357732932,1.2750001489993485,0.00013465822580187997,0.007770363678528264,0.00011870588497517483,0.5654515642899783,0.5250668164794321,1.5802286448604,0.043189494439612695,-0.038671103549049624,0.0007446572243510036,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.9638387457846561,0.803864159864966,-0.5095095138477108,0.1955007311401378,0.47662755072000285,0.4589448042974834,1.5366765084632985,-1.2750001489993485,2.0461860223110095,2.0461860223110095,2.3570606177335445,0,0,-0.00024509198277430775,-9.999980984798924e-05
+27010,1792759395225199394,42798150000000,1792759395219977467,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760610389175224,-0.004218036372596385,0.10467054481566783,0.9999999830470653,-9.125821280218812e-05,-4.423727565813054e-05,0.000122734411169905,0.6761,-0.004,0.10460517688556069,1.0,0.0,0.0,0.0,-0.05795399261616874,-0.008594872770186335,1.321097321675385,-0.00045366093157046816,0.006357088428701682,5.227089532491738e-05,0.5927679358584959,0.5186170020669787,1.6263258175364363,0.04260117528224035,-0.040084378798876205,0.0006782222347007462,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.969867590535772,0.7388909467363369,-0.6047052815736562,0.2213672123801997,0.5433150506047643,0.4171227175624653,1.5366765084632985,-1.321097321675385,2.141381790036955,2.141381790036955,2.418260617733583,0,0,-0.0002542424170179621,-9.999999025923074e-05
+27052,1792759395575275040,42798500000000,1792759395571977799,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760855666509907,-0.004227705967762572,0.10459294239807863,0.9999999818727772,-9.852858616916147e-05,1.1306157887360373e-05,0.00013364729039906382,0.6761,-0.004,0.10451484675187349,1.0,0.0,0.0,0.0,-0.06958353400063333,-0.0035045167520330045,1.3611915228799532,-0.00047053819751127074,0.006668816745383686,2.9322562077329587e-05,0.5811383944740313,0.523707358085132,1.6664200187410045,0.042584298016299545,-0.0397726504821942,0.0006552739014531584,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.9760238393316915,0.7528520344609141,-0.6340934504348001,0.22182256545098358,0.5545635581547793,0.4275593847978355,1.5366765084632985,-1.3611915228799532,2.1707699588980987,2.1707699588980987,2.470760617733616,0,0,-0.0002620966835329127,-9.999999025923074e-05
+27097,1792759395950307093,42798875000000,1792759395947977545,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760691574614285,-0.004224872567138012,0.10449564267547977,0.9999999808625255,-0.0001135046373837564,-2.7914489606122227e-05,0.0001267094771393885,0.6761,-0.004,0.10441482110863472,1.0,0.0,0.0,0.0,-0.05749073937390459,-0.0018560958979951803,1.4011791017745052,-0.00047874936932253837,0.006740694914890079,-2.4957761448192407e-06,0.59323118910076,0.5253557789391698,1.7064075976355566,0.04257608684448828,-0.03970077231268781,0.0006234555632310095,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0105250264898167,0.6951952324363262,-0.6676591181874476,0.24756166564584706,0.5942465693106429,0.38989487206961315,1.5366765084632985,-1.4011791017745052,2.204335626650746,2.204335626650746,2.5270106177336515,0,0,-0.00027022049036848204,-9.999484159995404e-05
+27140,1792759396309282208,42799234000000,1792759396307977142,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760894656106204,-0.004228634840625104,0.1044142047971991,0.9999999798258563,-0.00012289547747017498,1.686266691381608e-05,0.00012807616240820965,0.6761,-0.004,0.10431615972906096,1.0,0.0,0.0,0.0,-0.057946752455587336,0.007362933776018821,1.431676995161928,0.00014566198768566074,0.0071265876882714504,-9.93352112004962e-06,0.5927751760190773,0.5345748086131838,1.7369054910229793,0.043200498201496476,-0.03931487953930644,0.0006160178182557792,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,0.9891288494593078,0.7869229389051469,-0.7927798892642437,0.23690442576636025,0.6545762129676783,0.45466974766083146,1.5366765084632985,-1.431676995161928,2.329456397727542,2.329456397727542,2.5808606177336855,0,0,-0.00027977037702772565,-9.999999025923074e-05
+27187,1792759396700255734,42799625000000,1792759396695977133,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760745683490671,-0.004233440618666939,0.10430026708279794,0.9999999810466748,-0.00011061977625634128,-1.8838412538965874e-05,0.00012945228358806187,0.6761,-0.004,0.10420425348739137,1.0,0.0,0.0,0.0,-0.04844531177997813,-0.00015946302524005862,1.471611137486784,-0.0004920638079813355,0.006725203782752494,-5.830852597596859e-05,0.6022766166946865,0.527052411811925,1.7768396333478353,0.04256277240582948,-0.03971626344482539,0.0005676428133998602,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.044662965041914,0.7368884494611875,-0.8301839014888174,0.26169467910180977,0.701601490873966,0.42816660193385203,1.5366765084632985,-1.471611137486784,2.3668604099521158,2.3668604099521158,2.6395106177337224,0,0,-0.0002925289487546153,-9.977195044997273e-05
+27231,1792759397067297434,42799992000000,1792759397059977581,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760895613833899,-0.004242017553732347,0.10420450556137967,0.9999999836411023,-7.410671935063517e-05,1.6830925218696016e-05,0.00013559341283800796,0.6761,-0.004,0.10409440044541608,1.0,0.0,0.0,0.0,-0.057694528874773,-0.004685090503012024,1.4956300233934217,-0.0004947526551660336,0.006721943736235372,-7.876909385923388e-05,0.5930273995998916,0.522526784334153,1.800858519254473,0.04256008355864478,-0.039719523491342515,0.0005471822455165949,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0504279984130125,0.8355283332007001,-0.8649453164496126,0.2338134515151915,0.7244869716353153,0.48830991828749565,1.5366765084632985,-1.4956300233934217,2.401621824912911,2.401621824912911,2.694560617733757,0,0,-0.0003055002989013885,-9.999999025923074e-05
+27268,1792759397375332238,42800300000000,1792759397371977858,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760826023819098,-0.004243594210053876,0.10411126499832589,0.9999999831225597,-8.830636629433269e-05,-4.6737492248625486e-06,0.00013182521197042612,0.6761,-0.004,0.10399910400613738,1.0,0.0,0.0,0.0,-0.03999073472248271,0.004112938662199084,1.5318300091695003,-0.0005031676617047176,0.00671175762753657,-0.00010588944575533733,0.6107311937521819,0.5313248134993641,1.8370585050305517,0.0425516685521061,-0.03972970960004132,0.0005200618936204915,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0094776103841916,0.7622987285173299,-0.9126224389544296,0.26849818344622,0.743574866074797,0.44056816214957734,1.5366765084632985,-1.5318300091695003,2.449298947417728,2.449298947417728,2.740760617733786,0,0,-0.00031510031281020554,-9.999951841444527e-05
+27309,1792759397717321918,42800642000000,1792759397715977066,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760949096782046,-0.004243648098005957,0.1040105035884664,0.9999999812907633,-0.0001044319159082834,2.2847903664161827e-05,0.00013203516811673304,0.6761,-0.004,0.10388870692804626,1.0,0.0,0.0,0.0,-0.04193723053877263,0.016768258639985656,1.5576005292599988,0.0005040086119696627,0.006685765521981815,-0.00011989789872060824,0.608784697935892,0.5439801334771507,1.8628290251210502,0.04355884482578048,-0.03975570170559607,0.0005060534406552206,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0662857358944862,0.7514689670685556,-0.9045161801280203,0.27638380675342494,0.7481524221878508,0.4305474941045466,1.5366765084632985,-1.5576005292599988,2.4411926885913187,2.4411926885913187,2.7920606177338185,0,0,-0.0003297798952348315,-9.999999025923074e-05
+27350,1792759398059290308,42800984000000,1792759398055978088,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760941551378716,-0.004250958108223454,0.10390133089223304,0.9999999790420618,-0.00011925003972629102,1.8625084144741764e-05,0.00013708126957570429,0.6761,-0.004,0.10377329927448002,1.0,0.0,0.0,0.0,-0.03940394073304987,0.015102394474260872,1.591574554429824,-0.000512878937480192,0.006697935973124229,-0.00015410347173879055,0.6113179877416147,0.5423142693114259,1.8968030502908755,0.04254195727633062,-0.03974353125445366,0.00047184786763703824,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0556924780300634,0.8269978764692937,-0.9312769004667552,0.2689880954284886,0.7587324401315679,0.4824606624518028,1.5366765084632985,-1.591574554429824,2.467953408930054,2.467953408930054,2.843360617733851,0,0,-0.0003430966388593123,-9.375304285542114e-05
+27392,1792759398409258784,42801334000000,1792759398403987002,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760981155449788,-0.004256704048542447,0.10378427952548312,0.9999999765034272,-0.00013509911072115665,2.5718337768132264e-05,0.00013972403799495875,0.6761,-0.004,0.10365068551070451,1.0,0.0,0.0,0.0,-0.03049982801215101,0.016195756185878762,1.6221993798353251,-0.0005180633488527375,0.006690688647867177,-0.00017775664375227457,0.6202221004625136,0.5434076310230438,1.9274278756963765,0.04253677286495808,-0.03975077857971071,0.0004481946956235542,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0827266324223201,0.8198800520992593,-0.9568225607831867,0.27042307305003466,0.7849264606705315,0.47444722977531256,1.5366765084632985,-1.6221993798353251,2.4934990692464853,2.4934990692464853,2.895860617733884,0,0,-0.0003580241469778019,-9.999999025923074e-05
+27429,1792759398717294218,42801642000000,1792759398711987159,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760983753413359,-0.004260574115930694,0.10367372368895328,0.9999999737126531,-0.000153323330950854,2.8431660196940278e-05,0.00014036079971888727,0.6761,-0.004,0.10353819580724823,1.0,0.0,0.0,0.0,-0.030286055909739318,0.026121253692168223,1.6525733307283421,-0.0005295877492578691,0.006680743978470904,0.0004490703268144302,0.6204358725649253,0.5533331285293333,1.9578018265893935,0.042525248464552946,-0.03976072324910698,0.001075021666190259,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.044990116433621,0.842750301604411,-0.9783189420988208,0.2807266938675373,0.7862107817054625,0.49550475907348646,1.5366765084632985,-1.6525733307283421,2.514995450562119,2.514995450562119,2.942060617733913,0,0,-0.00037216359030231425,-9.999999025923074e-05
+27464,1792759399009382115,42801934000000,1792759399007987468,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760968354098835,-0.004268214222964078,0.10355889899831273,0.9999999719411976,-0.000161183985626573,2.7116147148515045e-05,0.00014437764927628552,0.6761,-0.004,0.1034279889329228,1.0,0.0,0.0,0.0,-0.02124965074188001,0.017988387014727047,1.6823004287041778,-0.0005261608819346342,0.006307393750697526,-0.00022729595145986996,0.6294722777327846,0.5452002618518921,1.9875289245652292,0.04252867533187618,-0.04013407347688036,0.00039865538791595883,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0505348615919823,0.7740359716805298,-1.033569639568391,0.30636555741556465,0.8194094867302891,0.4475247504512685,1.5366765084632985,-1.6823004287041778,2.5702461480316896,2.5702461480316896,2.9858606177339406,0,0,-0.00038356281989035255,-9.999999025923074e-05
+27502,1792759399325330931,42802250000000,1792759399323986730,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760961692942051,-0.004270185285569653,0.10343539891235906,0.9999999813546483,-8.524696080373418e-05,2.10565783034812e-05,0.00014499359838424553,0.6761,-0.004,0.1033044876655137,1.0,0.0,0.0,0.0,-0.01702155043100695,0.019108751654360434,1.7023873506069118,-0.0005060462168454335,0.005659915614689821,-0.00025635664434328837,0.6337003780436576,0.5463206264915255,2.007615846467963,0.04254878999696538,-0.040781551612888066,0.0003695946950325404,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.1009248374155118,0.7441364305979216,-1.058909638570628,0.3176305708798909,0.8547919751287307,0.4111671388339519,1.5366765084632985,-1.7023873506069118,2.5955861470339263,2.5955861470339263,3.0332606177339705,0,0,-0.00039823797606394615,-9.995727442835828e-05
+27537,1792759399617383780,42802542000000,1792759399611986649,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6761007658019672,-0.0042805831120192985,0.10332071157834422,0.9999999776753608,-0.00010892607758582197,2.9456505523560093e-05,0.00015283836670772734,0.6761,-0.004,0.10318614333928221,1.0,0.0,0.0,0.0,-0.012935025419324786,0.02232566149349713,1.7318455830146022,-0.0005133957370276193,0.005731605287495271,-0.0002778949567652281,0.6377869030553398,0.5495375363306622,2.0370740788756536,0.042541440476783196,-0.040709861940082616,0.00034805638261060066,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0415137848135523,0.8095919830250992,-1.0806918335998896,0.30994413827084893,0.8477331648750546,0.46753404789589037,1.5366765084632985,-1.7318455830146022,2.6173683420631884,2.6173683420631884,3.077060617733998,0,0,-0.00041246656908996835,-9.999999025923074e-05
+27574,1792759399925345111,42802850000000,1792759399923978036,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6761093202532975,-0.0042860542354698486,0.10320502015363417,0.9999999748712655,-0.00012743254601553744,3.8413690895004815e-05,0.00015487306849091217,0.6761,-0.004,0.10305678665288164,1.0,0.0,0.0,0.0,-0.011874227917267333,0.04014963395781068,1.7505910750332387,-0.0005397902210774255,0.006610939660801285,-0.0001626540504575002,0.6388477005573973,0.5673615087949757,2.05581957089429,0.04251504599273339,-0.0398305275667766,0.0004632972889183286,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.1709658335065662,0.7728966682374327,-1.1326933308657476,0.33796967464510663,0.9183744144659335,0.4475294123035516,1.5366765084632985,-1.7505910750332387,2.669369839329046,2.669369839329046,3.123260617734027,0,0,-0.0004276652146820422,-9.999999025923074e-05
+27608,1792759400209367362,42803134000000,1792759400203986583,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6761118276135305,-0.004290907001417394,0.10309044011353273,0.9999999723545027,-0.00014301145746038122,4.438374243560996e-05,0.0001559219825836362,0.6761,-0.004,0.10293332043230614,1.0,0.0,0.0,0.0,-0.003171391554463221,0.03187691005010729,1.772832340234832,-0.000518194819348311,0.005661489296201923,-0.00030296975626423504,0.6475505369202014,0.5590887848872723,2.0780608360958834,0.042536641394462504,-0.040779977931375964,0.00032298158311159375,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0572207376864704,0.8276630065529135,-1.0824512526774819,0.32904843114089655,0.8508816401517175,0.4862563489523582,1.5366765084632985,-1.772832340234832,2.6191277611407804,2.6191277611407804,3.165860617734054,0,0,-0.0004418652119156637,-9.999999025923074e-05
+27639,1792759400467321110,42803392000000,1792759400463977060,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6761095501595261,-0.004296090871159068,0.10296753562098011,0.9999999706853209,-0.00015277657839103507,4.544887290874223e-05,0.00015705393557203165,0.6761,-0.004,0.10281766155795735,1.0,0.0,0.0,0.0,0.005883094918821219,0.042197260811185466,1.7932105462529888,-0.0005270854865867813,0.0056339862656376374,0.0003246722824754789,0.6566050233934858,0.5694091356483505,2.09843904211404,0.042527750727224034,-0.04080748096194025,0.0009506236218513077,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.1496566303787317,0.7645538984236221,-1.0800589805726761,0.35352311368546896,0.8755644460916696,0.4437059720528513,1.5366765084632985,-1.7932105462529888,2.6167354890359746,2.6167354890359746,3.2045606177340784,0,0,-0.00045476520940254526,-9.999999025923074e-05
+27671,1792759400734362507,42803659000000,1792759400727986832,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6761036772638086,-0.004302893740519308,0.10284100130479724,0.9999999711567946,-0.00014998981859160927,3.4467393577665806e-05,0.00015951278089066,0.6761,-0.004,0.10269446369739538,1.0,0.0,0.0,0.0,0.008227669106343649,0.04111799958448181,1.8213925964767568,-0.0014088887795105504,0.005648083737304813,-0.00035964900787611596,0.6589495975810082,0.5683298744216468,2.126621092337808,0.041645947434300265,-0.040793383490273075,0.0002663023314997128,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.1041338876178024,0.7678414662406938,-1.2437360360556522,0.3603958542675591,0.9714190268561891,0.4521768843421423,1.5366765084632985,-1.8213925964767568,2.780412544518951,2.780412544518951,3.2446106177341036,0,0,-0.00046811520680175987,-9.999999025923074e-05
+27702,1792759400992376308,42803917000000,1792759400991986856,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6760991855590468,-0.004306301893982525,0.10271509093520481,0.9999999704389736,-0.00015500011500680077,2.9995945728499138e-05,0.0001601253377062032,0.6761,-0.004,0.10257203232436597,1.0,0.0,0.0,0.0,0.025738433374841385,0.027469542454744644,1.8327791680652359,-0.0015214692078342404,0.004635542852968515,-0.0003798791802855554,0.676460361849506,0.5546814172919097,2.1380076639262873,0.041533367005976575,-0.04180592437460937,0.0002460721590902734,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0763217836668941,0.7997428995098561,-1.277243476204762,0.3681820373564893,0.9848316076693951,0.47480152645948626,1.5366765084632985,-1.8327791680652359,2.8139199846680603,2.8139199846680603,3.283310617734128,0,0,-0.0004810152042886414,-9.999999025923074e-05
+27734,1792759401259328183,42804184000000,1792759401251977632,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760943072945877,-0.004316429736850147,0.10258265226628535,0.9999999682146015,-0.00016785733552721025,2.487652619364809e-05,0.00016192199822878043,0.6761,-0.004,0.10244182571516941,1.0,0.0,0.0,0.0,0.032967282967491185,0.03199067878897621,1.8532047952572768,-0.0015341842490882232,0.0046255479006098235,0.0005454929638579758,0.6836892114421558,0.5592025536261412,2.158433291118328,0.04152065196472259,-0.041815919326968064,0.0011714443032338046,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0530072386969351,0.8156258339460223,-1.1945529948505427,0.36445325807178997,0.9246661605741126,0.48318204947423327,1.5366765084632985,-1.8532047952572768,2.731229503313841,2.731229503313841,3.3233606177341533,0,0,-0.0004943652016878561,-9.999999025923074e-05
+27759,1792759401467313382,42804392000000,1792759401463977598,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6760934118207795,-0.0043197796751465725,0.10247300806265132,0.9999999666267225,-0.00016971414201046367,2.592533953941258e-05,0.00016945325211099887,0.6761,-0.004,0.10233792135343006,1.0,0.0,0.0,0.0,0.029548429132886134,0.032249169234437325,1.8651110405577769,-0.0015279847200876245,0.004628025233644965,-0.00038252499123337394,0.6802703576075507,0.5594610440716024,2.1703395364188283,0.04152685149372319,-0.04181344199393292,0.00024342634814245484,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0830591598825734,0.8281434874657779,-1.1769708369311163,0.3693151994137663,0.9240838921380878,0.4991788975762347,1.5366765084632985,-1.8651110405577769,2.7136473453944148,2.7136473453944148,3.354560617734173,0,0,-0.0005047651996617761,-9.999999025923074e-05
+27791,1792759401734361891,42804659000000,1792759401731986556,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6761245790549707,-0.004318450366168643,0.10236544374196278,0.9999999651339299,-0.00015522375161574814,6.193993536151584e-05,0.00018232946732187592,0.6761,-0.004,0.10220137349546887,1.0,0.0,0.0,0.0,0.025736930560334215,0.05442973722504041,1.8640430915659763,-0.0005823685684517785,0.005619806374541153,-0.0003818879049784444,0.6764588590349988,0.5816416120622054,2.1692715874270276,0.04247246764535904,-0.040821660853036734,0.00024406343439738434,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.1634755913806265,0.7259860586629919,-1.1772615921709233,0.4045137416502898,0.948823328449566,0.43333794880004006,1.5366765084632985,-1.8640430915659763,2.7139381006342216,2.7139381006342216,3.394610617734198,0,0,-0.0005181151970609907,-9.999999025923074e-05
+27816,1792759401942383639,42804867000000,1792759401939977726,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.676119811074296,-0.004333399372852484,0.10224693714446319,0.9999999622464639,-0.00015695923422829393,5.530797252864069e-05,0.00019812814502302654,0.6761,-0.004,0.10209252913469191,1.0,0.0,0.0,0.0,0.029142135246694845,0.04635927386189409,1.8751246069572542,-0.0015554399078675785,0.005638183474031923,-0.00040022712532842306,0.6798640637213594,0.5735711486990591,2.1803531028183056,0.04149939630594324,-0.040803283753545964,0.00022572421404740573,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.118821869890966,0.8027226798372408,-1.2186169736292551,0.3827538920175461,0.9615940984898945,0.4832446066101258,1.5366765084632985,-1.8751246069572542,2.7552934820925534,2.7552934820925534,3.425810617734218,0,0,-0.0005285151950349107,-9.999999025923074e-05
+27841,1792759402150328680,42805075000000,1792759402143987351,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6761100146457086,-0.004339941048453701,0.10212631557282491,0.9999999723358074,-4.9816488357986346e-05,4.0218326689858197e-05,0.00020657214846101797,0.6761,-0.004,0.10198152157433638,1.0,0.0,0.0,0.0,0.03470505779870969,0.052116885837889204,1.8929983891132882,-0.001555804651578667,0.005554040591051385,-0.00041673552523127807,0.6854269862733743,0.5793287606750542,2.1982268849743396,0.04149903156223215,-0.0408874266365265,0.00020921581414455075,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.137731644492845,0.9481003740680429,-1.2119926570707513,0.3070826686998911,0.9720304476499196,0.5196987585610291,1.5366765084632985,-1.8929983891132882,2.74866916553405,2.74866916553405,3.4570106177342375,0,0,-0.0005389151930088307,-9.999999025923074e-05
+27869,1792759402384326625,42805309000000,1792759402383987078,DOWN_FORCE_DETACH,5,0.0735,0.073501355946064,0.6761050377447165,-0.004331103109566417,0.10199411864030061,0.9999999736580558,-0.0001476504808431819,4.1259704366886085e-05,0.00014360962496911132,0.6761,-0.004,0.10185405236944013,1.0,0.0,0.0,0.0,0.062359919314316725,0.06576237761677295,1.9040250151543114,-0.0004921998902565616,0.0035794501298905407,0.00036093515246841273,0.7130818477889813,0.592974252453938,2.209253511015363,0.042562636323554254,-0.04286201709768735,0.0009868864918442415,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.1935398794740617,0.8681186775122562,-1.2279349393342054,0.3436672352057149,0.9986257871200748,0.48595970758300233,1.5366765084632985,-1.9040250151543114,2.764611447797504,2.764611447797504,3.4921106177342596,0,0,-0.0005506151907294906,-9.999999025923074e-05
+27897,1792759402617398827,42805542000000,1792759402615987348,DOWN_FORCE_DETACH,5,0.0735,0.07350201159715652,0.6761078326971167,-0.004341889664707985,0.10186885752783793,0.999999969171274,-0.00015262655802800623,4.116232069424917e-05,0.00016766368858018617,0.6761,-0.004,0.1017244076302657,1.0,0.0,0.0,0.0,0.06288686123511811,0.04670635147701119,1.9036216463629305,-0.0015148500173982754,0.0035993492980769815,0.0005748211057417788,0.7136087897097827,0.5739182263141762,2.208850142223982,0.04153998619641254,-0.042842117929500906,0.0012007724451176076,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.2276900411579341,0.8027227027434306,-1.2050904006439453,0.37721563814788084,0.9949902699025216,0.47144229318466613,1.5366765084632985,-1.9036216463629305,2.741766909107244,2.741766909107244,3.5270606177342816,0,0,-0.0005622651884598914,-9.999999025923074e-05
+27929,1792759402880433920,42805805000000,1792759402875987510,DOWN_SETTLE,5,0.0735,0.07350201159715652,0.6761082152262118,-0.004342615872191123,0.1017521380142378,0.9999999663436727,-0.00015114480039946722,4.037606171368492e-05,0.00018515004904367616,0.6761,-0.004,0.10161195395399171,1.0,0.0,0.0,0.0,0.059310943585530906,0.05241544339002158,1.8839726663516765,-0.0015372588239625992,0.004615535163484993,0.00046870651041576266,0.7100328720601955,0.5796273182271866,2.189201162212728,0.041517577389848216,-0.041825932064092894,0.0010946578497915914,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.1481501230384052,0.7202100319472712,-1.130556066230669,0.4047150221717604,0.9287681268704837,0.4200185370051796,1.5366765084632985,-1.8839726663516765,2.6672325746939674,0.0,0.0,0,0,-0.0001450294476094234,0.001464943915246701
+28021,1792759403640441072,42806565000000,1792759403639986876,DOWN_PEAK_HOLD,5,0.0735,0.073501355946064,0.6761001551102678,-0.004346068871345212,0.10170885821911858,0.9999999654662022,-0.000150930446412563,2.5223741529784532e-05,0.00019259860313405324,0.6761,-0.004,0.10159849966241752,1.0,0.0,0.0,0.0,0.06306168920548605,0.04488651478463879,1.7359201545252891,-0.002493785261312595,0.0036596521195508616,-0.0003283820232424915,0.7137836176801506,0.5720983896218038,2.0411486503863405,0.04056105095249822,-0.042781815108027026,0.0002975693161333373,0.6507219284746646,0.527211874837165,0.30522849586105144,0.043054836213810815,-0.04644146722757789,0.0006259513393758288,1,1.0057347837305888,0.870614727584576,-0.99313155961164,0.34194494719889246,0.8058733692459781,0.5156876030025098,1.5366765084632985,-1.7359201545252891,2.5298080680749386,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_0030_20/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,1792759380944660243,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.877145602e-10,-1.866276231e-12,-2.094060481e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450300e-01,-1.153839512e-04,8.303262552e-01
+1,6.833333333e-01,DOWN_FORCE_DETACH,1792759381616075724,-3.310914994e-07,-6.111581374e-06,-1.341148877e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.679940581e-08,2.072469019e-10,-6.625791915e-09,7.019553385e-01,-2.819949278e-05,8.601421047e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450560e-01,-1.153837421e-04,8.303262488e-01
+2,1.233333333e+00,DOWN_FORCE_DETACH,1792759382205569924,-4.369014278e-06,-8.444617703e-06,-7.385317935e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.102723505e-08,5.318955935e-10,-9.519315891e-09,7.019513006e-01,-3.053252911e-05,8.601360605e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450703e-01,-1.153834175e-04,8.303262459e-01
+3,1.850000000e+00,DOWN_FORCE_DETACH,1792759382811634837,-6.619538240e-06,-7.086537432e-06,-2.155715205e-05,-5.288975310e-06,-8.088197378e-06,-1.847718587e-05,-5.879136522e-06,-8.152606971e-06,-1.848382206e-05,7.019490501e-01,-2.917444884e-05,8.601218887e-01,7.019503806e-01,-3.017610878e-05,8.601249687e-01,7.027391501e-01,-1.235365563e-04,8.303077716e-01
+4,2.333333333e+00,DOWN_FORCE_DETACH,1792759383287010575,-7.578044498e-06,-1.285551192e-05,-4.599499887e-05,-9.712421128e-06,-8.088471051e-06,-4.166242376e-05,-1.092797004e-05,-8.191372514e-06,-4.167589261e-05,7.019480916e-01,-3.494342333e-05,8.600974508e-01,7.019459572e-01,-3.017638246e-05,8.601017834e-01,7.027341013e-01,-1.235753219e-04,8.302845795e-01
+5,2.716666667e+00,DOWN_FORCE_DETACH,1792759383663783770,2.275027412e-05,-1.175916494e-05,-7.738047761e-05,2.989468096e-05,-1.290462314e-05,-6.643515360e-05,3.144174418e-05,-1.300204385e-05,-6.634160875e-05,7.019784199e-01,-3.384707635e-05,8.600660654e-01,7.019855643e-01,-3.499253454e-05,8.600770107e-01,7.027764710e-01,-1.283859932e-04,8.302599138e-01
+6,3.200000000e+00,DOWN_FORCE_DETACH,1792759384155034315,1.470068856e-05,-1.760116859e-05,-1.116993447e-04,1.466080747e-05,-2.036985734e-05,-1.078998515e-04,1.451293395e-05,-2.060463812e-05,-1.078151710e-04,7.019703703e-01,-3.968908000e-05,8.600317465e-01,7.019703304e-01,-4.245776875e-05,8.600355460e-01,7.027595422e-01,-1.359885875e-04,8.302184403e-01
+7,3.600000000e+00,DOWN_FORCE_DETACH,1792759384548011914,-1.370050334e-07,-2.471223433e-05,-1.703110922e-04,2.433420702e-06,-1.891095235e-05,-1.537586807e-04,7.699365954e-07,-1.909508043e-05,-1.536394120e-04,7.019555326e-01,-4.680014574e-05,8.599731348e-01,7.019581030e-01,-4.099886375e-05,8.599896872e-01,7.027457992e-01,-1.344790298e-04,8.301726160e-01
+8,3.983333333e+00,DOWN_FORCE_DETACH,1792759384925499737,2.811427184e-06,-7.065995799e-06,-1.987854836e-04,-2.279033912e-06,-1.152207153e-06,-1.942513247e-04,-4.824215782e-06,-1.125276879e-06,-1.940775429e-04,7.019584811e-01,-2.915390720e-05,8.599446604e-01,7.019533906e-01,-2.324011856e-05,8.599491945e-01,7.027402050e-01,-1.165092263e-04,8.301321779e-01
+9,4.450000000e+00,DOWN_FORCE_DETACH,1792759385400115241,5.244915094e-06,-1.810336689e-05,-2.689521685e-04,9.197533687e-06,-1.523255689e-05,-2.607030780e-04,6.729815041e-06,-1.539274442e-05,-2.604731560e-04,7.019609145e-01,-4.019127829e-05,8.598744937e-01,7.019648672e-01,-3.732046829e-05,8.598827428e-01,7.027517590e-01,-1.307766938e-04,8.300657823e-01
+10,4.950000000e+00,DOWN_FORCE_DETACH,1792759385891326186,4.819066009e-06,-2.238179581e-05,-3.402628191e-04,5.883004235e-06,-1.976818722e-05,-3.217706488e-04,2.402154868e-06,-1.997456387e-05,-3.215088330e-04,7.019604887e-01,-4.446970721e-05,8.598031830e-01,7.019615526e-01,-4.185609863e-05,8.598216752e-01,7.027474314e-01,-1.353585132e-04,8.300047466e-01
+11,5.416666667e+00,DOWN_FORCE_DETACH,1792759386349770324,1.002345892e-05,-2.595406417e-05,-4.171426346e-04,1.036908080e-05,-3.399078185e-05,-4.062345019e-04,6.204076525e-06,-3.434301608e-05,-4.058752954e-04,7.019656931e-01,-4.804197558e-05,8.597263032e-01,7.019660387e-01,-5.607869326e-05,8.597372113e-01,7.027512333e-01,-1.497269655e-04,8.299203801e-01
+12,5.850000000e+00,DOWN_FORCE_DETACH,1792759386792143108,8.039901367e-06,-3.414189564e-05,-4.982048306e-04,4.552266164e-06,-3.743730998e-05,-4.922040006e-04,-1.115280922e-06,-3.782880663e-05,-4.918279682e-04,7.019637095e-01,-5.622980704e-05,8.596452410e-01,7.019602219e-01,-5.952522139e-05,8.596512418e-01,7.027439140e-01,-1.532127560e-04,8.298344275e-01
+13,6.250000000e+00,DOWN_FORCE_DETACH,1792759387218256469,1.322844456e-05,-4.037180256e-05,-5.717793596e-04,7.184212232e-06,-4.446003719e-05,-5.569890462e-04,8.561573872e-07,-4.494385592e-05,-5.566823552e-04,7.019688981e-01,-6.245971396e-05,8.595716665e-01,7.019628538e-01,-6.654794860e-05,8.595864568e-01,7.027458854e-01,-1.603278053e-04,8.297695731e-01
+14,6.733333333e+00,DOWN_FORCE_DETACH,1792759387693772763,2.181758822e-05,-4.945170806e-05,-6.548669258e-04,1.888763087e-05,-4.845758766e-05,-6.390718364e-04,1.246560216e-05,-4.895554997e-05,-6.387219345e-04,7.019774872e-01,-7.153961946e-05,8.594885789e-01,7.019745573e-01,-7.054549907e-05,8.595043740e-01,7.027574948e-01,-1.643394993e-04,8.296875335e-01
+15,7.166666667e+00,DOWN_FORCE_DETACH,1792759388135327496,2.710967632e-05,-5.888486906e-05,-7.345005416e-04,2.603937141e-05,-5.478555668e-05,-7.321677565e-04,1.903727886e-05,-5.536779005e-05,-7.317716310e-04,7.019827793e-01,-8.097278046e-05,8.594089453e-01,7.019817090e-01,-7.687346808e-05,8.594112781e-01,7.027640665e-01,-1.707517394e-04,8.295944838e-01
+16,7.616666667e+00,DOWN_FORCE_DETACH,1792759388610087346,2.579276153e-05,-6.299933455e-05,-8.331179220e-04,2.168763337e-05,-6.285249404e-05,-8.229010000e-04,1.323511187e-05,-6.353236883e-05,-8.225229654e-04,7.019814624e-01,-8.508724596e-05,8.593103279e-01,7.019773573e-01,-8.494040545e-05,8.593205448e-01,7.027582643e-01,-1.789163182e-04,8.295037325e-01
+17,8.000000000e+00,DOWN_FORCE_DETACH,1792759389005374976,3.135571521e-05,-2.154590547e-05,-9.105921890e-04,3.103276897e-05,-2.166560016e-05,-9.103718782e-04,2.226988635e-05,-2.186662089e-05,-9.099387359e-04,7.019870253e-01,-4.363381688e-05,8.592328537e-01,7.019867024e-01,-4.375351157e-05,8.592330740e-01,7.027672991e-01,-1.372505703e-04,8.294163167e-01
+18,8.366666667e+00,DOWN_FORCE_DETACH,1792759389363961215,2.585318291e-05,-4.095013002e-05,-9.836345751e-04,2.851324064e-05,-3.728104040e-05,-9.782360051e-04,1.872475059e-05,-3.767822389e-05,-9.779048150e-04,7.019815228e-01,-6.303804143e-05,8.591598113e-01,7.019841829e-01,-5.936895181e-05,8.591652098e-01,7.027637540e-01,-1.530621733e-04,8.293483506e-01
+19,8.766666667e+00,DOWN_FORCE_DETACH,1792759389756869642,3.151702574e-05,-4.692055599e-05,-1.064491926e-03,3.121786526e-05,-4.741478644e-05,-1.064382152e-03,2.057770173e-05,-4.792528291e-05,-1.064009575e-03,7.019871867e-01,-6.900846740e-05,8.590789539e-01,7.019868875e-01,-6.950269784e-05,8.590790637e-01,7.027656069e-01,-1.633092323e-04,8.292622459e-01
+20,9.166666667e+00,DOWN_FORCE_DETACH,1792759390167356160,3.600163916e-05,-5.379698846e-05,-1.147632018e-03,3.591380122e-05,-5.396486136e-05,-1.147171159e-03,2.458000282e-05,-5.455706640e-05,-1.146784940e-03,7.019916713e-01,-7.588489986e-05,8.589958138e-01,7.019915834e-01,-7.605277276e-05,8.589962747e-01,7.027696092e-01,-1.699410158e-04,8.291794705e-01
+21,9.566666667e+00,DOWN_FORCE_DETACH,1792759390577144146,3.713195880e-05,-5.744714272e-05,-1.228059338e-03,3.493165236e-05,-5.752501923e-05,-1.216754768e-03,2.274279553e-05,-5.812394775e-05,-1.216445831e-03,7.019928016e-01,-7.953505412e-05,8.589153865e-01,7.019906013e-01,-7.961293063e-05,8.589266911e-01,7.027677720e-01,-1.735078971e-04,8.291098096e-01
+22,9.966666667e+00,DOWN_FORCE_DETACH,1792759390970229156,4.844357895e-05,-6.080736204e-05,-1.298653168e-03,4.973343310e-05,-5.930971983e-05,-1.293206775e-03,3.770945764e-05,-5.992441571e-05,-1.292899734e-03,7.020041132e-01,-8.289527344e-05,8.588447927e-01,7.020054031e-01,-8.139763123e-05,8.588502391e-01,7.027827387e-01,-1.753083651e-04,8.290333557e-01
+23,1.046666667e+01,DOWN_FORCE_DETACH,1792759391477315595,4.231527128e-05,-6.619751062e-05,-1.401930340e-03,4.372762098e-05,-6.138566840e-05,-1.384785774e-03,3.014521486e-05,-6.203189727e-05,-1.384510086e-03,7.019979849e-01,-8.828542202e-05,8.587415155e-01,7.019993972e-01,-8.347357981e-05,8.587586601e-01,7.027751744e-01,-1.774158466e-04,8.289417453e-01
+24,1.085000000e+01,DOWN_FORCE_DETACH,1792759391969081550,5.727779706e-05,-6.569671649e-05,-1.483273416e-03,5.530794869e-05,-6.758277211e-05,-1.482382795e-03,4.135629684e-05,-6.830519745e-05,-1.482042601e-03,7.020129474e-01,-8.778462790e-05,8.586601724e-01,7.020109776e-01,-8.967068352e-05,8.586610631e-01,7.027863855e-01,-1.836891468e-04,8.288442128e-01
+25,1.126666667e+01,DOWN_FORCE_DETACH,1792759392380317170,5.253590279e-05,-6.995397066e-05,-1.566314852e-03,5.346484881e-05,-7.102909043e-05,-1.548153658e-03,3.856300155e-05,-7.180941571e-05,-1.547896997e-03,7.020082055e-01,-9.204188207e-05,8.585771310e-01,7.020091345e-01,-9.311700184e-05,8.585952922e-01,7.027835922e-01,-1.871933651e-04,8.287783584e-01
+26,1.175000000e+01,DOWN_FORCE_DETACH,1792759392885806052,6.479942404e-05,-7.336313377e-05,-1.660102803e-03,6.603798872e-05,-7.558308457e-05,-1.654872262e-03,5.086588159e-05,-7.640126856e-05,-1.654606329e-03,7.020204690e-01,-9.545104517e-05,8.584833430e-01,7.020217076e-01,-9.767099598e-05,8.584885736e-01,7.027958951e-01,-1.917852179e-04,8.286716491e-01
+27,1.216666667e+01,DOWN_FORCE_DETACH,1792759393295978494,7.080926781e-05,-7.189323057e-05,-1.741430998e-03,6.815458021e-05,-7.328607010e-05,-1.723478732e-03,5.226782767e-05,-7.407110961e-05,-1.723264243e-03,7.020264789e-01,-9.398114197e-05,8.584020148e-01,7.020238242e-01,-9.537398150e-05,8.584199671e-01,7.027972971e-01,-1.894550590e-04,8.286029912e-01
+28,1.261666667e+01,DOWN_FORCE_DETACH,1792759393753864300,6.978122671e-05,-7.558143768e-05,-1.837463873e-03,6.960037662e-05,-7.547558048e-05,-1.837081389e-03,5.248589601e-05,-7.627376937e-05,-1.836882612e-03,7.020254509e-01,-9.766934908e-05,8.583059820e-01,7.020252700e-01,-9.756349189e-05,8.583063645e-01,7.027975151e-01,-1.916577187e-04,8.284893728e-01
+29,1.301666667e+01,DOWN_FORCE_DETACH,1792759394146970243,8.370323045e-05,-7.969897685e-05,-1.913822293e-03,8.368701859e-05,-7.981863335e-05,-1.913716898e-03,6.672594461e-05,-8.067856349e-05,-1.913480592e-03,7.020393729e-01,-1.017868883e-04,8.582296236e-01,7.020393566e-01,-1.019065448e-04,8.582297289e-01,7.028117552e-01,-1.960625129e-04,8.284127748e-01
+30,1.338333333e+01,DOWN_FORCE_DETACH,1792759394507473974,7.414293416e-05,-7.497375414e-05,-1.998334378e-03,7.565864324e-05,-8.060609576e-05,-1.985796477e-03,5.721786509e-05,-8.147907333e-05,-1.985609394e-03,7.020298126e-01,-9.706166555e-05,8.581451115e-01,7.020313283e-01,-1.026940072e-04,8.581576494e-01,7.028022471e-01,-1.968630227e-04,8.283406460e-01
+31,1.370000000e+01,DOWN_FORCE_DETACH,1792759394818367619,1.028728325e-04,-8.072944114e-05,-2.063551900e-03,1.061953959e-04,-8.063091091e-05,-2.058555201e-03,8.924445827e-05,-8.148699089e-05,-2.058338345e-03,7.020585425e-01,-1.028173526e-04,8.580798939e-01,7.020618650e-01,-1.027188223e-04,8.580848906e-01,7.028342737e-01,-1.968709403e-04,8.282679171e-01
+32,1.411666667e+01,DOWN_FORCE_DETACH,1792759395228085601,8.681338251e-05,-7.574383418e-05,-2.162996524e-03,8.643600155e-05,-7.552331314e-05,-2.162939678e-03,6.671001423e-05,-7.633185912e-05,-2.162720497e-03,7.020424830e-01,-9.783174559e-05,8.579804493e-01,7.020421056e-01,-9.761122454e-05,8.579805062e-01,7.028117392e-01,-1.917158085e-04,8.281635349e-01
+33,1.446666667e+01,DOWN_FORCE_DETACH,1792759395572212146,1.112475092e-04,-8.247102287e-05,-2.237447621e-03,1.065701393e-04,-8.562566764e-05,-2.234339580e-03,8.747265807e-05,-8.655699985e-05,-2.234098578e-03,7.020669171e-01,-1.045589343e-04,8.579059982e-01,7.020622398e-01,-1.077135790e-04,8.579091063e-01,7.028325019e-01,-2.019409492e-04,8.280921568e-01
+34,1.485000000e+01,DOWN_FORCE_DETACH,1792759395948771507,9.797018542e-05,-8.459197664e-05,-2.331755443e-03,9.548056273e-05,-8.544102364e-05,-2.323804233e-03,7.447740669e-05,-8.637565814e-05,-2.323646089e-03,7.020536398e-01,-1.066798880e-04,8.578116904e-01,7.020511502e-01,-1.075289350e-04,8.578196416e-01,7.028195066e-01,-2.017596075e-04,8.280026093e-01
+35,1.520000000e+01,DOWN_FORCE_DETACH,1792759396309356851,1.153119664e-04,-8.730099548e-05,-2.416643633e-03,1.000513037e-04,-8.950312786e-05,-2.410471564e-03,7.828738594e-05,-9.046825192e-05,-2.410291807e-03,7.020709816e-01,-1.093889069e-04,8.577268022e-01,7.020557209e-01,-1.115910393e-04,8.577329743e-01,7.028233166e-01,-2.058522013e-04,8.279159636e-01
+36,1.560000000e+01,DOWN_FORCE_DETACH,1792759396702083104,9.940707796e-05,-9.240180745e-05,-2.533531757e-03,1.027504961e-04,-9.038303487e-05,-2.516543205e-03,7.992858400e-05,-9.134014983e-05,-2.516332835e-03,7.020550767e-01,-1.144897189e-04,8.576099141e-01,7.020584201e-01,-1.124709463e-04,8.576269026e-01,7.028249578e-01,-2.067240992e-04,8.278099226e-01
+37,1.595000000e+01,DOWN_FORCE_DETACH,1792759397063882469,1.140645402e-04,-1.007065175e-04,-2.625804119e-03,1.161658262e-04,-9.267274521e-05,-2.612994077e-03,9.329214322e-05,-9.369994160e-05,-2.612786384e-03,7.020697342e-01,-1.227944289e-04,8.575176417e-01,7.020718355e-01,-1.147606566e-04,8.575304518e-01,7.028383214e-01,-2.090838910e-04,8.277134690e-01
+38,1.626666667e+01,DOWN_FORCE_DETACH,1792759397373687265,1.069239221e-04,-1.006135288e-04,-2.720539621e-03,1.064898845e-04,-9.447577140e-05,-2.710741763e-03,8.166664997e-05,-9.550410190e-05,-2.710599088e-03,7.020625935e-01,-1.227014402e-04,8.574229062e-01,7.020621595e-01,-1.165636828e-04,8.574327041e-01,7.028266959e-01,-2.108880513e-04,8.276156563e-01
+39,1.660000000e+01,DOWN_FORCE_DETACH,1792759397718330409,1.183248348e-04,-1.045954414e-04,-2.822330951e-03,1.192254138e-04,-1.037270633e-04,-2.818650902e-03,9.412179068e-05,-1.048448153e-04,-2.818491610e-03,7.020739945e-01,-1.266833528e-04,8.573211149e-01,7.020748950e-01,-1.258149747e-04,8.573247949e-01,7.028391510e-01,-2.202287647e-04,8.275077638e-01
+40,1.693333333e+01,DOWN_FORCE_DETACH,1792759398061790360,1.201367521e-04,-1.133584667e-04,-2.930181019e-03,1.197770416e-04,-1.095520998e-04,-2.924081660e-03,9.344880019e-05,-1.107615157e-04,-2.923874839e-03,7.020758064e-01,-1.354463781e-04,8.572132648e-01,7.020754467e-01,-1.316400113e-04,8.572193642e-01,7.028384780e-01,-2.261454650e-04,8.274023806e-01
+41,1.728333333e+01,DOWN_FORCE_DETACH,1792759398406760586,1.220101732e-04,-1.174344970e-04,-3.047213158e-03,1.217905781e-04,-1.175110793e-04,-3.047521118e-03,9.414414772e-05,-1.188062548e-04,-3.047312064e-03,7.020776798e-01,-1.395224084e-04,8.570962327e-01,7.020774602e-01,-1.395989907e-04,8.570959247e-01,7.028391734e-01,-2.341902042e-04,8.272789434e-01
+42,1.760000000e+01,DOWN_FORCE_DETACH,1792759398716887353,1.254027200e-04,-1.189615571e-04,-3.157219016e-03,1.247343345e-04,-1.182384294e-04,-3.152995817e-03,9.600947871e-05,-1.195508193e-04,-3.152783955e-03,7.020810723e-01,-1.410494685e-04,8.569862268e-01,7.020804040e-01,-1.403263408e-04,8.569904500e-01,7.028410387e-01,-2.349347687e-04,8.271734715e-01
+43,1.790000000e+01,DOWN_FORCE_DETACH,1792759399012109330,1.233580287e-04,-1.263935717e-04,-3.273186617e-03,1.195011624e-04,-1.266958703e-04,-3.258167505e-03,8.906177354e-05,-1.280863678e-04,-3.258053187e-03,7.020790277e-01,-1.484814831e-04,8.568702592e-01,7.020751708e-01,-1.487837817e-04,8.568852783e-01,7.028340910e-01,-2.434703172e-04,8.270682022e-01
+44,1.820000000e+01,DOWN_FORCE_DETACH,1792759399323120560,1.214686616e-04,-1.328616669e-04,-3.391820511e-03,1.219972779e-04,-1.305883416e-04,-3.379813604e-03,9.030453702e-05,-1.320395953e-04,-3.379704705e-03,7.020771383e-01,-1.549495783e-04,8.567516253e-01,7.020776669e-01,-1.526762530e-04,8.567636322e-01,7.028353338e-01,-2.474235447e-04,8.269465507e-01
+45,1.850000000e+01,DOWN_FORCE_DETACH,1792759399618561232,1.275736826e-04,-1.358897164e-04,-3.507884406e-03,1.274053196e-04,-1.376681215e-04,-3.501021254e-03,9.467639137e-05,-1.392183111e-04,-3.500844247e-03,7.020832433e-01,-1.579776278e-04,8.566355614e-01,7.020830749e-01,-1.597560329e-04,8.566424246e-01,7.028397056e-01,-2.546022605e-04,8.268254112e-01
+46,1.881666667e+01,DOWN_FORCE_DETACH,1792759399929489855,1.348948416e-04,-1.405232316e-04,-3.626006392e-03,1.346505637e-04,-1.405346742e-04,-3.626331303e-03,1.010011330e-04,-1.420779089e-04,-3.626151531e-03,7.020905645e-01,-1.626111430e-04,8.565174395e-01,7.020903202e-01,-1.626225856e-04,8.565171145e-01,7.028460304e-01,-2.574618583e-04,8.267001039e-01
+47,1.910000000e+01,DOWN_FORCE_DETACH,1792759400207693644,1.357642103e-04,-1.507822443e-04,-3.742441182e-03,1.355721728e-04,-1.503820979e-04,-3.742677104e-03,1.005582572e-04,-1.520571867e-04,-3.742484006e-03,7.020914338e-01,-1.728701557e-04,8.564010047e-01,7.020912418e-01,-1.724700093e-04,8.564007687e-01,7.028455875e-01,-2.674411361e-04,8.265837714e-01
+48,1.936666667e+01,DOWN_FORCE_DETACH,1792759400470115492,1.344925983e-04,-1.562138355e-04,-3.863100387e-03,1.345359675e-04,-1.563608097e-04,-3.862794240e-03,9.803634857e-05,-1.580819723e-04,-3.862623482e-03,7.020901622e-01,-1.783017469e-04,8.562803455e-01,7.020902056e-01,-1.784487211e-04,8.562806516e-01,7.028430656e-01,-2.734659217e-04,8.264636319e-01
+49,1.961666667e+01,DOWN_FORCE_DETACH,1792759400732146395,1.267832021e-04,-1.610632160e-04,-3.992329722e-03,1.256127539e-04,-1.597545885e-04,-3.983145973e-03,8.700893948e-05,-1.615187906e-04,-3.982967034e-03,7.020824528e-01,-1.831511274e-04,8.561511161e-01,7.020812824e-01,-1.818424999e-04,8.561602999e-01,7.028320382e-01,-2.769027400e-04,8.263432884e-01
+50,1.988333333e+01,DOWN_FORCE_DETACH,1792759400994252642,1.239061352e-04,-1.697621540e-04,-4.115999445e-03,1.224601238e-04,-1.688709117e-04,-4.111272588e-03,8.200216172e-05,-1.707375770e-04,-4.111166971e-03,7.020795758e-01,-1.918500654e-04,8.560274464e-01,7.020781297e-01,-1.909588231e-04,8.560321733e-01,7.028270314e-01,-2.861215264e-04,8.262150885e-01
+51,2.011666667e+01,DOWN_FORCE_DETACH,1792759401256354149,1.217639187e-04,-1.758364881e-04,-4.242422506e-03,1.217155893e-04,-1.759641553e-04,-4.242186252e-03,7.965057629e-05,-1.779359853e-04,-4.242011220e-03,7.020774335e-01,-1.979243995e-04,8.559010233e-01,7.020773852e-01,-1.980520667e-04,8.559012596e-01,7.028246798e-01,-2.933199347e-04,8.260842442e-01
+52,2.033333333e+01,DOWN_FORCE_DETACH,1792759401469225063,1.203738231e-04,-1.785742160e-04,-4.357068556e-03,1.181203733e-04,-1.808988153e-04,-4.351102349e-03,7.448343099e-05,-1.829205997e-04,-4.350966020e-03,7.020760434e-01,-2.006621274e-04,8.557863773e-01,7.020737900e-01,-2.029867268e-04,8.557923435e-01,7.028195127e-01,-2.983045491e-04,8.259752894e-01
+53,2.055000000e+01,DOWN_FORCE_DETACH,1792759401730766603,1.520507794e-04,-1.840924063e-04,-4.460856658e-03,1.481705437e-04,-1.794135563e-04,-4.451731124e-03,1.056387668e-04,-1.813683029e-04,-4.451577326e-03,7.021077204e-01,-2.061803177e-04,8.556825892e-01,7.021038402e-01,-2.015014677e-04,8.556917147e-01,7.028506680e-01,-2.967522522e-04,8.258746781e-01
+54,2.076666667e+01,DOWN_FORCE_DETACH,1792759401944087665,1.430573705e-04,-1.893919290e-04,-4.585904783e-03,1.446619996e-04,-1.867075062e-04,-4.568223616e-03,1.004750811e-04,-1.887524393e-04,-4.568110979e-03,7.020987270e-01,-2.114798404e-04,8.555575411e-01,7.021003316e-01,-2.087954176e-04,8.555752222e-01,7.028455043e-01,-3.041363887e-04,8.257581444e-01
+55,2.095000000e+01,DOWN_FORCE_DETACH,1792759402155530348,1.370554086e-04,-1.959316889e-04,-4.702666623e-03,1.337965291e-04,-1.984344665e-04,-4.694252839e-03,8.734281615e-05,-2.005835172e-04,-4.694137243e-03,7.020927250e-01,-2.180196003e-04,8.554407792e-01,7.020894662e-01,-2.205223779e-04,8.554491930e-01,7.028323721e-01,-3.159674666e-04,8.256321182e-01
+56,2.110000000e+01,DOWN_FORCE_DETACH,1792759402386469747,1.326045317e-04,-1.889690055e-04,-4.838608737e-03,1.325722770e-04,-1.890178928e-04,-4.838533619e-03,8.427733071e-05,-1.910100126e-04,-4.838384470e-03,7.020882742e-01,-2.110569169e-04,8.553048371e-01,7.020882419e-01,-2.111058042e-04,8.553049122e-01,7.028293066e-01,-3.063939620e-04,8.254878710e-01
+57,2.133333333e+01,DOWN_FORCE_DETACH,1792759402616843048,1.305618217e-04,-1.996925017e-04,-4.963328901e-03,1.284118760e-04,-1.972696413e-04,-4.955865243e-03,7.835648124e-05,-1.994068551e-04,-4.955723423e-03,7.020862314e-01,-2.217804131e-04,8.551801169e-01,7.020840815e-01,-2.193575527e-04,8.551875806e-01,7.028233857e-01,-3.147908045e-04,8.253705320e-01
+58,2.158333333e+01,DOWN_SETTLE,1792759402878419463,1.329670243e-04,-2.036227235e-04,-5.080895152e-03,1.352146762e-04,-2.017887811e-04,-5.062678862e-03,8.447499143e-05,-2.039652672e-04,-5.062658230e-03,7.020886366e-01,-2.257106349e-04,8.550625507e-01,7.020908843e-01,-2.238766925e-04,8.550807670e-01,7.028295042e-01,-3.193492165e-04,8.252635972e-01
+59,2.226666667e+01,DOWN_PEAK_HOLD,1792759403639285941,1.260323913e-04,-2.018100347e-04,-5.122714238e-03,1.244179879e-04,-2.025464957e-04,-5.123434108e-03,7.206569756e-05,-2.047567006e-04,-5.123862531e-03,7.020817020e-01,-2.238979461e-04,8.550207316e-01,7.020800876e-01,-2.246344071e-04,8.550200117e-01,7.028170949e-01,-3.201406499e-04,8.252023929e-01

Fixed/digit/ball_0030_20/press_depth_05/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.6803e-02,3.8260e-02,2.4548e+00,-3.9403e-02,3.7982e-02,3.0646e-05,1.3612e-04,3.1628e-06,-3.9577e-05,2.9802e-07,9.7752e-06,-3.3033e-07,1.4180e-04,9.7853e-06
+1,6.8333e-01,DOWN_FORCE_DETACH,1.3402e-04,2.1338e-02,3.8406e-02,2.4536e+00,-3.9392e-02,3.8307e-02,1.8230e-05,4.6714e-03,1.4937e-04,-1.2083e-03,1.0394e-05,3.3427e-04,-1.2746e-05,4.8275e-03,3.3468e-04
+2,1.2333e+00,DOWN_FORCE_DETACH,2.6738e-04,2.3814e-02,3.8537e-02,2.4531e+00,-3.9387e-02,3.8483e-02,9.6615e-06,7.1468e-03,2.8094e-04,-1.7347e-03,1.5669e-05,5.1025e-04,-2.1315e-05,7.3597e-03,5.1093e-04
+3,1.8500e+00,DOWN_FORCE_DETACH,4.0015e-04,2.8693e-02,4.5753e-02,2.4619e+00,-3.9863e-02,3.8817e-02,2.3672e-06,1.2026e-02,7.4971e-03,7.0515e-03,-4.6042e-04,8.4404e-04,-2.8609e-05,1.5829e-02,9.6187e-04
+4,2.3333e+00,DOWN_FORCE_DETACH,5.3146e-04,3.1170e-02,4.6222e-02,2.4681e+00,-3.9884e-02,3.8982e-02,-4.7108e-06,1.4503e-02,7.9660e-03,1.3235e-02,-4.8162e-04,1.0091e-03,-3.5687e-05,2.1189e-02,1.1187e-03
+5,2.7167e+00,DOWN_FORCE_DETACH,6.6994e-04,1.1041e-02,5.0057e-02,2.4735e+00,-4.0138e-02,3.7552e-02,-5.7198e-06,-5.6259e-03,1.1801e-02,1.8692e-02,-7.3519e-04,-4.2114e-04,-3.6696e-05,2.2810e-02,8.4806e-04
+6,3.2000e+00,DOWN_FORCE_DETACH,8.0182e-04,2.4736e-02,5.7316e-02,2.4858e+00,-4.0616e-02,3.8502e-02,-9.2891e-06,8.0696e-03,1.9059e-02,3.0940e-02,-1.2127e-03,5.2928e-04,-4.0265e-05,3.7224e-02,1.3238e-03
+7,3.6000e+00,DOWN_FORCE_DETACH,9.3473e-04,3.1440e-02,5.6683e-02,2.4954e+00,-4.0556e-02,3.8960e-02,-1.3325e-05,1.4773e-02,1.8427e-02,4.0522e-02,-1.1532e-03,9.8733e-04,-4.4301e-05,4.6902e-02,1.5188e-03
+8,3.9833e+00,DOWN_FORCE_DETACH,1.0725e-03,3.2764e-02,4.1570e-02,2.5012e+00,-3.9513e-02,3.9045e-02,-1.8954e-05,1.6098e-02,3.3133e-03,4.6300e-02,-1.1031e-04,1.0721e-03,-4.9930e-05,4.9130e-02,1.0790e-03
+9,4.4500e+00,DOWN_FORCE_DETACH,1.2053e-03,2.7891e-02,5.4122e-02,2.5173e+00,-4.0355e-02,3.8678e-02,-1.5177e-05,1.1224e-02,1.5865e-02,6.2489e-02,-9.5235e-04,7.0560e-04,-4.6153e-05,6.5441e-02,1.1862e-03
+10,4.9500e+00,DOWN_FORCE_DETACH,1.3399e-03,3.0599e-02,5.8683e-02,2.5234e+00,-4.0653e-02,3.8854e-02,-1.1415e-05,1.3932e-02,2.0426e-02,6.8564e-02,-1.2506e-03,8.8099e-04,-4.2392e-05,7.2886e-02,1.5303e-03
+11,5.4167e+00,DOWN_FORCE_DETACH,1.4716e-03,2.9345e-02,7.2011e-02,2.5381e+00,-4.1542e-02,3.8740e-02,-1.8495e-06,1.2678e-02,3.3754e-02,8.3258e-02,-2.1391e-03,7.6713e-04,-3.2826e-05,9.0730e-02,2.2727e-03
+12,5.8500e+00,DOWN_FORCE_DETACH,1.6046e-03,3.2630e-02,7.6492e-02,2.5505e+00,-4.1824e-02,3.8951e-02,6.1203e-06,1.5963e-02,3.8235e-02,9.5654e-02,-2.4213e-03,9.7873e-04,-2.4856e-05,1.0424e-01,2.6118e-03
+13,6.2500e+00,DOWN_FORCE_DETACH,1.7347e-03,3.0971e-02,8.4059e-02,2.5514e+00,-4.2326e-02,3.8830e-02,1.4916e-05,1.4305e-02,4.5802e-02,9.6538e-02,-2.9231e-03,8.5695e-04,-1.6060e-05,1.0781e-01,3.0462e-03
+14,6.7333e+00,DOWN_FORCE_DETACH,1.8725e-03,2.6303e-02,8.8955e-02,2.5534e+00,-4.2651e-02,3.8498e-02,2.5099e-05,9.6363e-03,5.0698e-02,9.8501e-02,-3.2482e-03,5.2568e-04,-5.8775e-06,1.1120e-01,3.2905e-03
+15,7.1667e+00,DOWN_FORCE_DETACH,2.0070e-03,2.4587e-02,9.5216e-02,2.5650e+00,-4.3076e-02,3.8366e-02,3.0999e-05,7.9206e-03,5.6959e-02,1.1011e-01,-3.6727e-03,3.9319e-04,2.2294e-08,1.2422e-01,3.6937e-03
+16,7.6167e+00,DOWN_FORCE_DETACH,2.1406e-03,2.9373e-02,1.0241e-01,2.5709e+00,-4.3573e-02,3.8690e-02,3.0813e-05,1.2706e-02,6.4150e-02,1.1604e-01,-4.1705e-03,7.1711e-04,-1.6362e-07,1.3320e-01,4.2317e-03
+17,8.0000e+00,DOWN_FORCE_DETACH,2.2926e-03,2.8826e-02,1.0597e-01,2.5688e+00,-4.3823e-02,3.8648e-02,2.8127e-05,1.2159e-02,6.7715e-02,1.1398e-01,-4.4205e-03,6.7511e-04,-2.8492e-06,1.3313e-01,4.4718e-03
+18,8.3667e+00,DOWN_FORCE_DETACH,2.4114e-03,2.9506e-02,7.7737e-02,2.5785e+00,-4.1909e-02,3.8685e-02,1.7816e-05,1.2839e-02,3.9481e-02,1.2362e-01,-2.5065e-03,7.1258e-04,-1.3160e-05,1.3040e-01,2.6058e-03
+19,8.7667e+00,DOWN_FORCE_DETACH,2.5433e-03,3.1629e-02,8.1069e-02,2.5704e+00,-4.2118e-02,3.8840e-02,1.2714e-05,1.4962e-02,4.2813e-02,1.1559e-01,-2.7148e-03,8.6782e-04,-1.8262e-05,1.2417e-01,2.8502e-03
+20,9.1667e+00,DOWN_FORCE_DETACH,2.6753e-03,3.0280e-02,9.6632e-02,2.5696e+00,-4.3125e-02,3.8747e-02,1.1521e-05,1.3613e-02,5.8376e-02,1.1479e-01,-3.7223e-03,7.7419e-04,-1.9455e-05,1.2950e-01,3.8021e-03
+21,9.5667e+00,DOWN_FORCE_DETACH,2.8075e-03,3.2196e-02,9.7853e-02,2.5742e+00,-4.3160e-02,3.8879e-02,4.7907e-06,1.5530e-02,5.9597e-02,1.1933e-01,-3.7570e-03,9.0603e-04,-2.6186e-05,1.3429e-01,3.8648e-03
+22,9.9667e+00,DOWN_FORCE_DETACH,2.9420e-03,2.7129e-02,9.9907e-02,2.5751e+00,-4.3278e-02,3.8521e-02,4.5025e-06,1.0462e-02,6.1651e-02,1.2027e-01,-3.8751e-03,5.4854e-04,-2.6474e-05,1.3556e-01,3.9138e-03
+23,1.0467e+01,DOWN_FORCE_DETACH,3.0796e-03,3.0383e-02,1.0236e-01,2.5730e+00,-4.3437e-02,3.8749e-02,5.8077e-06,1.3716e-02,6.4103e-02,1.1811e-01,-4.0341e-03,7.7615e-04,-2.5169e-05,1.3508e-01,4.1082e-03
+24,1.0850e+01,DOWN_FORCE_DETACH,3.2130e-03,2.5783e-02,1.0769e-01,2.5836e+00,-4.3794e-02,3.8412e-02,1.5492e-05,9.1162e-03,6.9435e-02,1.2871e-01,-4.3915e-03,4.3939e-04,-1.5484e-05,1.4653e-01,4.4135e-03
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Fixed/digit/ball_0030_20/press_depth_05/up/camera_frames_60hz.tar

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Fixed/digit/ball_0030_20/press_depth_05/up/franka_data.csv

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Fixed/digit/ball_0030_20/press_depth_05/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+6,9.500000000e-01,WAIT_W2,1792759365677692824,2.049898894e-06,-1.668605888e-04,3.911372613e-06,2.131782889e-06,-1.669318691e-04,4.136647285e-06,2.354282398e-06,-1.688932702e-04,4.120353736e-06,7.019577195e-01,-1.889485002e-04,8.601473572e-01,7.019578014e-01,-1.890197805e-04,8.601475825e-01,7.027473835e-01,-2.842771635e-04,8.303303758e-01
+7,9.666666667e-01,WAIT_W2,1792759365694344955,1.754750880e-06,-2.133661720e-04,7.364189029e-06,1.793653857e-06,-2.134229431e-04,7.477804017e-06,2.063900521e-06,-2.159102413e-04,7.424165138e-06,7.019574244e-01,-2.354540834e-04,8.601508100e-01,7.019574633e-01,-2.355108545e-04,8.601509236e-01,7.027470931e-01,-3.312941346e-04,8.303336796e-01
+8,1.000000000e+00,WAIT_W2,1792759365726688889,1.083812112e-06,-2.529153433e-04,7.113554803e-06,1.250666009e-06,-2.396947927e-04,6.400745377e-06,1.450078912e-06,-2.425127183e-04,6.394211189e-06,7.019567534e-01,-2.750032547e-04,8.601505594e-01,7.019569203e-01,-2.617827041e-04,8.601498466e-01,7.027464793e-01,-3.578966117e-04,8.303326497e-01
+9,1.200000000e+00,WAIT_W2,1792759365923505334,4.291771043e-06,-2.475397806e-04,1.145140898e-05,1.250666009e-06,-2.396947927e-04,6.400745377e-06,1.458152398e-06,-2.425194757e-04,6.405800084e-06,7.019599614e-01,-2.696276920e-04,8.601548973e-01,7.019569203e-01,-2.617827041e-04,8.601498466e-01,7.027464874e-01,-3.579033691e-04,8.303326612e-01
+10,1.400000000e+00,WAIT_W2,1792759366120746398,2.963878179e-06,-2.488335225e-04,9.455285165e-06,1.250666009e-06,-2.396947927e-04,6.400745377e-06,1.464367824e-06,-2.425244632e-04,6.413242849e-06,7.019586335e-01,-2.709214340e-04,8.601529011e-01,7.019569203e-01,-2.617827041e-04,8.601498466e-01,7.027464936e-01,-3.579083566e-04,8.303326687e-01
+11,1.600000000e+00,UP_FORCE_RAMP,1792759366316768629,4.344802489e-06,-2.564518434e-04,1.014719198e-05,2.371872473e-06,-2.618294254e-04,8.677081715e-06,2.684752241e-06,-2.649578953e-04,8.691605253e-06,7.019600144e-01,-2.785397548e-04,8.601535930e-01,7.019580415e-01,-2.839173368e-04,8.601521229e-01,7.027477140e-01,-3.803417886e-04,8.303349471e-01
+12,1.800000000e+00,UP_FORCE_RAMP,1792759366513746681,4.048409139e-06,-2.556352967e-04,1.201240280e-05,2.371872473e-06,-2.618294254e-04,8.677081715e-06,2.690056220e-06,-2.649618699e-04,8.698427739e-06,7.019597180e-01,-2.777232081e-04,8.601554582e-01,7.019580415e-01,-2.839173368e-04,8.601521229e-01,7.027477193e-01,-3.803457633e-04,8.303349539e-01
+13,2.016666667e+00,UP_FORCE_RAMP,1792759366726263172,5.103082462e-06,-2.586540337e-04,1.416742052e-05,2.371872473e-06,-2.618294254e-04,8.677081715e-06,2.694874635e-06,-2.649654399e-04,8.704120545e-06,7.019607727e-01,-2.807419451e-04,8.601576133e-01,7.019580415e-01,-2.839173368e-04,8.601521229e-01,7.027477241e-01,-3.803493332e-04,8.303349596e-01
+14,2.266666667e+00,UP_FORCE_RAMP,1792759367001455358,8.304233046e-06,-2.569816954e-04,1.863549285e-05,2.371872473e-06,-2.618294254e-04,8.677081715e-06,2.699535215e-06,-2.649689008e-04,8.709030044e-06,7.019639739e-01,-2.790696068e-04,8.601620813e-01,7.019580415e-01,-2.839173368e-04,8.601521229e-01,7.027477288e-01,-3.803527942e-04,8.303349645e-01
+15,2.516666667e+00,UP_FORCE_RAMP,1792759367250558945,4.862091679e-06,-2.569652596e-04,1.895829979e-05,2.371872473e-06,-2.618294254e-04,8.677081715e-06,2.703432097e-06,-2.649718160e-04,8.712617088e-06,7.019605317e-01,-2.790531710e-04,8.601624041e-01,7.019580415e-01,-2.839173368e-04,8.601521229e-01,7.027477327e-01,-3.803557093e-04,8.303349681e-01
+16,2.783333333e+00,UP_FORCE_RAMP,1792759367512525585,9.371447856e-06,-2.555680604e-04,3.303470765e-05,9.857282406e-06,-2.575660464e-04,2.818481330e-05,1.101486050e-05,-2.606425526e-04,2.815813705e-05,7.019650411e-01,-2.776559718e-04,8.601764806e-01,7.019655269e-01,-2.796539578e-04,8.601716307e-01,7.027560441e-01,-3.760264459e-04,8.303544136e-01
+17,2.966666667e+00,UP_FORCE_RAMP,1792759367710684224,1.176616917e-05,-2.562836899e-04,4.937345932e-05,1.188491108e-05,-2.559972140e-04,4.950315133e-05,1.351988275e-05,-2.590649461e-04,4.947304777e-05,7.019674358e-01,-2.783716013e-04,8.601928193e-01,7.019675545e-01,-2.780851255e-04,8.601929490e-01,7.027585491e-01,-3.744488395e-04,8.303757285e-01
+18,3.183333333e+00,UP_FORCE_RAMP,1792759367956279658,1.591302752e-05,-2.534572005e-04,7.114456989e-05,1.751269332e-05,-2.532789463e-04,7.347322180e-05,1.988077869e-05,-2.563163667e-04,7.341603102e-05,7.019715827e-01,-2.755451119e-04,8.602145904e-01,7.019731823e-01,-2.753668577e-04,8.602169191e-01,7.027649100e-01,-3.717002601e-04,8.303996715e-01
+19,3.383333333e+00,UP_FORCE_RAMP,1792759368168318438,8.811437457e-06,-2.498967260e-04,8.573041369e-05,1.751269332e-05,-2.532789463e-04,7.347322180e-05,1.989035344e-05,-2.563188171e-04,7.344234629e-05,7.019644811e-01,-2.719846374e-04,8.602291763e-01,7.019731823e-01,-2.753668577e-04,8.602169191e-01,7.027649196e-01,-3.717027104e-04,8.303996978e-01
+20,3.516666667e+00,UP_FORCE_RAMP,1792759368298883906,-1.715284590e-05,-2.489845312e-04,8.788780778e-05,-2.168066785e-05,-2.498923439e-04,7.700424456e-05,-2.229278807e-05,-2.528676436e-04,7.693830437e-05,7.019385168e-01,-2.710724426e-04,8.602313337e-01,7.019339890e-01,-2.719802553e-04,8.602204501e-01,7.027227364e-01,-3.682515369e-04,8.304031938e-01
+21,3.750000000e+00,UP_FORCE_RAMP,1792759368528356846,-1.384122455e-05,-2.484751948e-04,1.048427322e-04,-1.666108278e-05,-2.465752438e-04,9.613630282e-05,-1.668865321e-05,-2.495446514e-04,9.605967150e-05,7.019418284e-01,-2.705631062e-04,8.602482886e-01,7.019390085e-01,-2.686631552e-04,8.602395821e-01,7.027283406e-01,-3.649285448e-04,8.304223151e-01
+22,3.900000000e+00,UP_FORCE_RAMP,1792759368793754791,-4.296754624e-07,-2.439252682e-04,1.502022575e-04,-3.593379350e-06,-2.463287288e-04,1.411062172e-04,-2.046222134e-06,-2.492847991e-04,1.409261807e-04,7.019552399e-01,-2.660131796e-04,8.602936481e-01,7.019520762e-01,-2.684166402e-04,8.602845521e-01,7.027429830e-01,-3.646686925e-04,8.304671816e-01
+23,4.100000000e+00,UP_FORCE_RAMP,1792759369004568297,5.486316178e-06,-2.415997714e-04,1.811381654e-04,3.322864010e-06,-2.444638477e-04,1.615057307e-04,5.690677137e-06,-2.473916600e-04,1.613894709e-04,7.019611559e-01,-2.636876828e-04,8.603245840e-01,7.019589925e-01,-2.665517591e-04,8.603049516e-01,7.027507199e-01,-3.627755534e-04,8.304876449e-01
+24,4.283333333e+00,UP_FORCE_RAMP,1792759369183614887,6.424183383e-06,-2.501452624e-04,1.993382151e-04,7.577919943e-06,-2.409795624e-04,1.837361798e-04,1.053496027e-05,-2.439045196e-04,1.836196766e-04,7.019620938e-01,-2.722331738e-04,8.603427841e-01,7.019632475e-01,-2.630674738e-04,8.603271820e-01,7.027555642e-01,-3.592884129e-04,8.305098751e-01
+25,4.383333333e+00,UP_FORCE_RAMP,1792759369281333454,-1.048545086e-06,-2.769829397e-04,2.070463420e-04,-3.440427955e-06,-2.837241012e-04,2.067492178e-04,-1.099595277e-06,-2.871665470e-04,2.065331278e-04,7.019546211e-01,-2.990708511e-04,8.603504922e-01,7.019522292e-01,-3.058120126e-04,8.603501951e-01,7.027439296e-01,-4.025504403e-04,8.305327886e-01
+26,4.600000000e+00,UP_FORCE_RAMP,1792759369495230121,-7.144107604e-06,-2.700839633e-04,2.306800836e-04,-3.411559840e-06,-2.712518074e-04,2.230390882e-04,-8.167893051e-07,-2.745086457e-04,2.228834053e-04,7.019485255e-01,-2.921718747e-04,8.603741259e-01,7.019522581e-01,-2.933397188e-04,8.603664849e-01,7.027442124e-01,-3.898925390e-04,8.305491389e-01
+27,4.800000000e+00,UP_FORCE_RAMP,1792759369714613750,-8.756185141e-06,-2.693643768e-04,2.593678208e-04,-1.147965035e-05,-2.695524897e-04,2.415391284e-04,-9.310720741e-06,-2.728046071e-04,2.413639442e-04,7.019469134e-01,-2.914522882e-04,8.604028137e-01,7.019441900e-01,-2.916404011e-04,8.603849850e-01,7.027357185e-01,-3.881885005e-04,8.305676194e-01
+28,5.000000000e+00,UP_FORCE_RAMP,1792759369920408504,-3.162364626e-06,-2.647634556e-04,2.949523522e-04,-5.725422293e-06,-2.649930306e-04,2.864559411e-04,-2.504891614e-06,-2.682000467e-04,2.862805592e-04,7.019525073e-01,-2.868513670e-04,8.604383982e-01,7.019499442e-01,-2.870809420e-04,8.604299018e-01,7.027425243e-01,-3.835839401e-04,8.306125360e-01
+29,5.166666667e+00,UP_FORCE_RAMP,1792759370084587362,-2.490791782e-06,-2.638651273e-04,3.209489961e-04,-2.193769483e-06,-2.665573799e-04,3.089184467e-04,1.591445154e-06,-2.697827505e-04,3.087192426e-04,7.019531788e-01,-2.859530387e-04,8.604643948e-01,7.019534759e-01,-2.886452913e-04,8.604523643e-01,7.027466207e-01,-3.851666439e-04,8.306349747e-01
+30,5.333333333e+00,UP_FORCE_RAMP,1792759370247671214,4.614847985e-06,-2.584715368e-04,3.559466641e-04,4.623291009e-06,-2.585433119e-04,3.559919589e-04,9.497623769e-06,-2.616856005e-04,3.557132988e-04,7.019602845e-01,-2.805594482e-04,8.604993925e-01,7.019602929e-01,-2.806312233e-04,8.604994378e-01,7.027545269e-01,-3.770694939e-04,8.306819687e-01
+31,5.533333333e+00,UP_FORCE_RAMP,1792759370464843479,-5.003743560e-06,-2.535405578e-04,3.908943114e-04,3.056840554e-06,-2.558102999e-04,3.784782748e-04,8.139126630e-06,-2.589196491e-04,3.782363489e-04,7.019506659e-01,-2.756284692e-04,8.605343402e-01,7.019587265e-01,-2.778982114e-04,8.605219241e-01,7.027531684e-01,-3.743035424e-04,8.307044918e-01
+32,5.683333333e+00,UP_FORCE_RAMP,1792759370641956085,-9.954915482e-06,-2.528588700e-04,4.247740552e-04,-1.063830169e-05,-2.508127496e-04,4.178200301e-04,-6.150645793e-06,-2.538573030e-04,4.174803778e-04,7.019457147e-01,-2.749467814e-04,8.605682199e-01,7.019450313e-01,-2.729006610e-04,8.605612659e-01,7.027388786e-01,-3.692411963e-04,8.307437358e-01
+33,5.866666667e+00,UP_FORCE_RAMP,1792759370821300000,-5.621575426e-06,-2.484788163e-04,4.590915677e-04,-5.689325384e-06,-2.485032481e-04,4.590909371e-04,-3.380738141e-07,-2.515162402e-04,4.587399564e-04,7.019500480e-01,-2.705667277e-04,8.606025374e-01,7.019499803e-01,-2.705911595e-04,8.606025368e-01,7.027446912e-01,-3.669001335e-04,8.307849954e-01
+34,6.066666667e+00,UP_FORCE_RAMP,1792759371017931598,-3.348047904e-06,-2.469438241e-04,4.940960826e-04,-4.017061941e-06,-2.491920527e-04,4.802872466e-04,1.729073041e-06,-2.522185427e-04,4.800136591e-04,7.019523216e-01,-2.690317355e-04,8.606375419e-01,7.019516526e-01,-2.712799641e-04,8.606237331e-01,7.027467583e-01,-3.676024361e-04,8.308062691e-01
+35,6.233333333e+00,UP_FORCE_RAMP,1792759371182616118,-4.655436622e-07,-2.473760475e-04,5.253292756e-04,1.277088242e-06,-2.396960857e-04,5.220989925e-04,7.993646289e-06,-2.426033776e-04,5.218129982e-04,7.019552041e-01,-2.694639589e-04,8.606687751e-01,7.019569467e-01,-2.617839971e-04,8.606655448e-01,7.027530229e-01,-3.579872709e-04,8.308480684e-01
+36,6.366666667e+00,UP_FORCE_RAMP,1792759371313082505,2.732973168e-06,-2.451539838e-04,5.501340930e-04,1.695664229e-06,-2.400705111e-04,5.455539115e-04,8.666204472e-06,-2.430254093e-04,5.452502061e-04,7.019584026e-01,-2.672418952e-04,8.606935799e-01,7.019573653e-01,-2.621584225e-04,8.606889998e-01,7.027536954e-01,-3.584093026e-04,8.308715057e-01
+37,6.550000000e+00,UP_FORCE_RAMP,1792759371532109552,-2.987533493e-06,-2.340237671e-04,5.860985196e-04,-2.908372164e-06,-2.340138867e-04,5.860376298e-04,4.276122387e-06,-2.368497604e-04,5.856351162e-04,7.019526821e-01,-2.561116785e-04,8.607295444e-01,7.019527613e-01,-2.561017981e-04,8.607294835e-01,7.027493054e-01,-3.522336538e-04,8.309118906e-01
+38,6.716666667e+00,UP_FORCE_RAMP,1792759371706688761,-7.336334353e-06,-2.360201388e-04,6.141508823e-04,-6.361402218e-06,-2.323965488e-04,6.105383872e-04,8.842030566e-07,-2.352704447e-04,6.102030122e-04,7.019483333e-01,-2.581080502e-04,8.607575967e-01,7.019493082e-01,-2.544844602e-04,8.607539842e-01,7.027459134e-01,-3.506543381e-04,8.309364585e-01
+39,6.833333333e+00,UP_FORCE_RAMP,1792759371822238473,-6.873882588e-06,-2.570312918e-04,6.401567804e-04,-6.560376545e-06,-2.570490699e-04,6.401954658e-04,1.037304029e-06,-2.602002605e-04,6.398213636e-04,7.019487957e-01,-2.791192032e-04,8.607836026e-01,7.019491092e-01,-2.791369813e-04,8.607836413e-01,7.027460665e-01,-3.755841538e-04,8.309660768e-01
+40,7.016666667e+00,UP_FORCE_RAMP,1792759372000875201,-2.674979743e-06,-2.553341535e-04,6.683177551e-04,-5.116268212e-06,-2.540003370e-04,6.615096555e-04,2.816463908e-06,-2.570974257e-04,6.611835204e-04,7.019529946e-01,-2.774220649e-04,8.608117636e-01,7.019505534e-01,-2.760882484e-04,8.608049555e-01,7.027478457e-01,-3.724813190e-04,8.309874390e-01
+41,7.183333333e+00,UP_FORCE_RAMP,1792759372164652601,-1.040907802e-06,-2.486646359e-04,6.957751811e-04,-3.341738111e-06,-2.534861408e-04,6.820515423e-04,4.995187465e-06,-2.566240153e-04,6.817311520e-04,7.019546287e-01,-2.707525473e-04,8.608392210e-01,7.019523279e-01,-2.755740522e-04,8.608254974e-01,7.027500244e-01,-3.720079086e-04,8.310079866e-01
+42,7.350000000e+00,UP_FORCE_RAMP,1792759372328495768,-8.722319420e-07,-2.537111904e-04,7.195162254e-04,6.497623817e-08,-2.453064915e-04,7.051695640e-04,8.996153068e-06,-2.483156400e-04,7.048705559e-04,7.019547974e-01,-2.757991019e-04,8.608629621e-01,7.019557346e-01,-2.673944029e-04,8.608486154e-01,7.027540254e-01,-3.636995333e-04,8.310311260e-01
+43,7.550000000e+00,UP_FORCE_RAMP,1792759372525284292,-6.841572101e-07,-2.473421933e-04,7.461150077e-04,-4.047372836e-07,-2.475594575e-04,7.464609295e-04,8.965645931e-06,-2.505923067e-04,7.462060616e-04,7.019549855e-01,-2.694301047e-04,8.608895609e-01,7.019552649e-01,-2.696473689e-04,8.608899068e-01,7.027539949e-01,-3.659762001e-04,8.310724615e-01
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+45,7.966666667e+00,UP_FORCE_RAMP,1792759372984200445,-2.331566884e-06,-2.374317255e-04,8.073127134e-04,-6.992269499e-06,-2.435094458e-04,7.916450962e-04,2.436734598e-06,-2.465027102e-04,7.913732804e-04,7.019533381e-01,-2.595196369e-04,8.609507586e-01,7.019486774e-01,-2.655973573e-04,8.609350909e-01,7.027474660e-01,-3.618866036e-04,8.311176287e-01
+46,8.133333333e+00,UP_FORCE_RAMP,1792759373147692121,-1.996535149e-06,-2.373781584e-04,8.287239082e-04,-4.052037565e-06,-2.398656095e-04,8.149408504e-04,5.891809978e-06,-2.428373742e-04,8.147429025e-04,7.019536731e-01,-2.594660698e-04,8.609721698e-01,7.019516176e-01,-2.619535209e-04,8.609583867e-01,7.027509210e-01,-3.582212675e-04,8.311409984e-01
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+48,8.516666667e+00,UP_FORCE_RAMP,1792759373524367831,-7.223108576e-07,-2.388885980e-04,8.690213399e-04,-1.099857023e-06,-2.406539609e-04,8.554207710e-04,9.600849187e-06,-2.436091378e-04,8.552331262e-04,7.019549473e-01,-2.609765094e-04,8.610124672e-01,7.019545698e-01,-2.627418723e-04,8.609988666e-01,7.027546301e-01,-3.589930312e-04,8.311814886e-01
+49,8.750000000e+00,UP_FORCE_RAMP,1792759373753563236,-1.717260144e-07,-2.382579651e-04,8.888408951e-04,3.959068804e-07,-2.359047533e-04,8.745278701e-04,1.143588731e-05,-2.388124686e-04,8.743844339e-04,7.019554979e-01,-2.603458765e-04,8.610322867e-01,7.019560655e-01,-2.579926647e-04,8.610179737e-01,7.027564651e-01,-3.541963620e-04,8.312006399e-01
+50,8.950000000e+00,UP_FORCE_RAMP,1792759373949667305,2.092893691e-06,-2.399039820e-04,9.070972828e-04,1.104179606e-06,-2.362821714e-04,8.953585278e-04,1.250290361e-05,-2.391893645e-04,8.952428265e-04,7.019577625e-01,-2.619918934e-04,8.610505431e-01,7.019567738e-01,-2.583700828e-04,8.610388044e-01,7.027575321e-01,-3.545732579e-04,8.312214983e-01
+51,9.200000000e+00,UP_FORCE_RAMP,1792759374196055108,-9.632244294e-07,-2.377817069e-04,9.230163806e-04,5.729801633e-07,-2.394282288e-04,9.154051191e-04,1.214136012e-05,-2.423698010e-04,9.152451201e-04,7.019547064e-01,-2.598696183e-04,8.610664622e-01,7.019562426e-01,-2.615161402e-04,8.610588510e-01,7.027571706e-01,-3.577536944e-04,8.312415006e-01
+52,9.350000000e+00,UP_FORCE_RAMP,1792759374343102118,1.533472603e-06,-2.428775340e-04,9.357512038e-04,1.552727492e-06,-2.426647316e-04,9.354038896e-04,1.344781168e-05,-2.456481726e-04,9.353063363e-04,7.019572031e-01,-2.649654454e-04,8.610791970e-01,7.019572224e-01,-2.647526430e-04,8.610788497e-01,7.027584770e-01,-3.610320659e-04,8.312615618e-01
+53,9.566666667e+00,UP_FORCE_RAMP,1792759374572210085,-1.222552214e-06,-2.404620649e-04,9.481530510e-04,1.552727492e-06,-2.426647316e-04,9.354038896e-04,1.345279482e-05,-2.456467862e-04,9.353715839e-04,7.019544471e-01,-2.625499763e-04,8.610915989e-01,7.019572224e-01,-2.647526430e-04,8.610788497e-01,7.027584820e-01,-3.610306795e-04,8.312616270e-01
+54,9.783333333e+00,UP_FORCE_RAMP,1792759374785753112,-2.283696812e-06,-2.472217404e-04,9.595609755e-04,-2.178028933e-06,-2.473394622e-04,9.594849375e-04,9.735194666e-06,-2.504101687e-04,9.594046114e-04,7.019533859e-01,-2.693096518e-04,8.611030068e-01,7.019534916e-01,-2.694273736e-04,8.611029308e-01,7.027547644e-01,-3.657940620e-04,8.312856601e-01
+55,1.003333333e+01,UP_FORCE_RAMP,1792759375047492979,-6.820994937e-06,-2.415506564e-04,9.631328300e-04,-2.178028933e-06,-2.473394622e-04,9.594849375e-04,9.734054867e-06,-2.504089643e-04,9.594728574e-04,7.019488486e-01,-2.636385678e-04,8.611065787e-01,7.019534916e-01,-2.694273736e-04,8.611029308e-01,7.027547633e-01,-3.657928577e-04,8.312857283e-01
+56,1.028333333e+01,UP_FORCE_HOLD,1792759375293050059,-6.842080149e-06,-2.418427412e-04,9.717844259e-04,-2.178028933e-06,-2.473394622e-04,9.594849375e-04,9.735678416e-06,-2.504064550e-04,9.595222035e-04,7.019488275e-01,-2.639306526e-04,8.611152303e-01,7.019534916e-01,-2.694273736e-04,8.611029308e-01,7.027547649e-01,-3.657903483e-04,8.312857777e-01
+57,1.053333333e+01,UP_FORCE_HOLD,1792759375589211384,-8.412478044e-06,-2.447491257e-04,9.814638467e-04,-7.533618228e-06,-2.408135557e-04,9.785408564e-04,4.241310840e-06,-2.437879706e-04,9.785191480e-04,7.019472571e-01,-2.668370371e-04,8.611249097e-01,7.019481360e-01,-2.629014671e-04,8.611219867e-01,7.027492705e-01,-3.591718639e-04,8.313047746e-01
+58,1.076666667e+01,UP_SETTLE,1792759375834669344,-6.615836608e-06,-2.410596047e-04,9.898007389e-04,-7.533618228e-06,-2.408135557e-04,9.785408564e-04,4.239654780e-06,-2.437845924e-04,9.785616141e-04,7.019490538e-01,-2.631475161e-04,8.611332466e-01,7.019481360e-01,-2.629014671e-04,8.611219867e-01,7.027492689e-01,-3.591684858e-04,8.313048171e-01
+59,1.095000000e+01,UP_SETTLE,1792759376014880888,-8.370077062e-06,-2.444139598e-04,9.904860419e-04,-7.533618228e-06,-2.408135557e-04,9.785408564e-04,4.238984489e-06,-2.437820408e-04,9.785893141e-04,7.019472995e-01,-2.665018712e-04,8.611339319e-01,7.019481360e-01,-2.629014671e-04,8.611219867e-01,7.027492682e-01,-3.591659341e-04,8.313048448e-01

Fixed/digit/ball_0030_20/press_depth_05/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.6804e-02,3.8260e-02,2.4548e+00,-3.9403e-02,3.7983e-02,3.0645e-05,1.3811e-04,2.4885e-06,-3.6478e-05,3.3155e-07,9.9614e-06,-3.3219e-07,1.4287e-04,9.9725e-06
+1,2.5000e-01,WAIT_W2,5.2821e-05,1.8692e-02,3.8309e-02,2.4543e+00,-3.9398e-02,3.8118e-02,2.5848e-05,2.0260e-03,5.1666e-05,-5.4979e-04,4.5337e-06,1.4541e-04,-5.1287e-06,2.0999e-03,1.4557e-04
+2,5.0000e-01,WAIT_W2,1.0896e-04,2.0305e-02,3.8364e-02,2.4539e+00,-3.9395e-02,3.8233e-02,2.1350e-05,3.6393e-03,1.0676e-04,-9.6107e-04,8.1062e-06,2.6071e-04,-9.6269e-06,3.7656e-03,2.6101e-04
+3,7.1667e-01,WAIT_W2,1.6013e-04,2.1514e-02,3.8414e-02,2.4536e+00,-3.9392e-02,3.8319e-02,1.7677e-05,4.8479e-03,1.5654e-04,-1.2481e-03,1.0803e-05,3.4686e-04,-1.3300e-05,5.0084e-03,3.4728e-04
+4,8.6667e-01,WAIT_W2,2.2299e-04,2.2675e-02,5.7692e-02,2.4541e+00,-4.0701e-02,3.8400e-02,1.9685e-05,6.0089e-03,1.9434e-02,-7.4887e-04,-1.2979e-03,4.2764e-04,-1.1292e-05,2.0356e-02,1.3665e-03
+5,9.0000e-01,WAIT_W2,2.6413e-04,2.2182e-02,8.2386e-02,2.4523e+00,-4.2387e-02,3.8366e-02,2.5264e-05,5.5158e-03,4.4129e-02,-2.5461e-03,-2.9838e-03,3.9313e-04,-5.7135e-06,4.4545e-02,3.0096e-03
+6,9.5000e-01,WAIT_W2,3.4049e-04,2.3385e-02,1.4731e-01,2.4525e+00,-4.6813e-02,3.8447e-02,3.9266e-05,6.7190e-03,1.0905e-01,-2.3630e-03,-7.4105e-03,4.7479e-04,8.2889e-06,1.0928e-01,7.4257e-03
+7,9.6667e-01,WAIT_W2,3.8713e-04,2.4410e-02,1.8550e-01,2.4535e+00,-4.9421e-02,3.8517e-02,4.7952e-05,7.7437e-03,1.4725e-01,-1.3254e-03,-1.0018e-02,5.4419e-04,1.6975e-05,1.4745e-01,1.0033e-02
+8,1.0000e+00,WAIT_W2,4.2671e-04,2.6546e-02,2.5081e-01,2.4546e+00,-5.3886e-02,3.8663e-02,6.2253e-05,9.8800e-03,2.1255e-01,-2.2006e-04,-1.4483e-02,6.9002e-04,3.1276e-05,2.1278e-01,1.4499e-02
+9,1.2000e+00,WAIT_W2,4.8156e-04,2.7957e-02,2.4867e-01,2.4570e+00,-5.3808e-02,3.8761e-02,5.7192e-05,1.1291e-02,2.1041e-01,2.1617e-03,-1.4405e-02,7.8873e-04,2.6215e-05,2.1073e-01,1.4426e-02
+10,1.4000e+00,WAIT_W2,5.3030e-04,2.9048e-02,2.4774e-01,2.4584e+00,-5.3789e-02,3.8838e-02,5.3023e-05,1.2382e-02,2.0948e-01,3.5269e-03,-1.4386e-02,8.6543e-04,2.2046e-05,2.0987e-01,1.4412e-02
+11,1.6000e+00,UP_FORCE_RAMP,5.8816e-04,3.0030e-02,2.6646e-01,2.4595e+00,-5.5112e-02,3.8906e-02,5.4142e-05,1.3364e-02,2.2820e-01,4.6072e-03,-1.5709e-02,9.3375e-04,2.3165e-05,2.2864e-01,1.5737e-02
+12,1.8000e+00,UP_FORCE_RAMP,6.4187e-04,3.0962e-02,2.6571e-01,2.4607e+00,-5.5099e-02,3.8972e-02,4.9929e-05,1.4296e-02,2.2745e-01,5.8568e-03,-1.5696e-02,9.9905e-04,1.8952e-05,2.2797e-01,1.5728e-02
+13,2.0167e+00,UP_FORCE_RAMP,6.9465e-04,3.1806e-02,2.6503e-01,2.4618e+00,-5.5088e-02,3.9031e-02,4.5276e-05,1.5140e-02,2.2677e-01,6.8967e-03,-1.5685e-02,1.0582e-03,1.4299e-05,2.2738e-01,1.5721e-02
+14,2.2667e+00,UP_FORCE_RAMP,7.4645e-04,3.2622e-02,2.6438e-01,2.4626e+00,-5.5077e-02,3.9088e-02,3.9898e-05,1.5956e-02,2.2612e-01,7.7946e-03,-1.5674e-02,1.1155e-03,8.9208e-06,2.2682e-01,1.5714e-02
+15,2.5167e+00,UP_FORCE_RAMP,8.0160e-04,3.3303e-02,2.6383e-01,2.4633e+00,-5.5068e-02,3.9136e-02,3.4579e-05,1.6637e-02,2.2557e-01,8.4512e-03,-1.5665e-02,1.1633e-03,3.6020e-06,2.2635e-01,1.5708e-02
+16,2.7833e+00,UP_FORCE_RAMP,8.5362e-04,3.0344e-02,2.5882e-01,2.4558e+00,-5.4773e-02,3.8938e-02,3.2542e-05,1.3678e-02,2.2056e-01,9.2697e-04,-1.5370e-02,9.6527e-04,1.5647e-06,2.2099e-01,1.5400e-02
+17,2.9667e+00,UP_FORCE_RAMP,9.0761e-04,3.1334e-02,2.5846e-01,2.4574e+00,-5.4767e-02,3.9006e-02,3.0349e-05,1.4668e-02,2.2020e-01,2.5365e-03,-1.5364e-02,1.0339e-03,-6.2759e-07,2.2071e-01,1.5398e-02
+18,3.1833e+00,UP_FORCE_RAMP,9.6136e-04,2.8045e-02,2.5310e-01,2.4391e+00,-5.4466e-02,3.8799e-02,3.0217e-05,1.1379e-02,2.1484e-01,-1.5783e-02,-1.5063e-02,8.2685e-04,-7.6031e-07,2.1572e-01,1.5086e-02
+19,3.3833e+00,UP_FORCE_RAMP,1.0046e-03,2.9636e-02,2.5245e-01,2.4444e+00,-5.4449e-02,3.8906e-02,2.9913e-05,1.2970e-02,2.1419e-01,-1.0446e-02,-1.5046e-02,9.3382e-04,-1.0644e-06,2.1484e-01,1.5075e-02
+20,3.5167e+00,UP_FORCE_RAMP,1.0659e-03,4.7738e-02,2.5009e-01,2.4455e+00,-5.4305e-02,4.0184e-02,8.1616e-06,3.1072e-02,2.1183e-01,-9.3319e-03,-1.4903e-02,2.2117e-03,-2.2815e-05,2.1430e-01,1.5066e-02
+21,3.7500e+00,UP_FORCE_RAMP,1.1201e-03,4.2474e-02,2.4629e-01,2.4409e+00,-5.4087e-02,3.9820e-02,7.5204e-07,2.5808e-02,2.0804e-01,-1.3916e-02,-1.4684e-02,1.8475e-03,-3.0225e-05,2.1009e-01,1.4800e-02
+22,3.9000e+00,UP_FORCE_RAMP,1.1728e-03,3.5063e-02,2.4446e-01,2.4241e+00,-5.4019e-02,3.9319e-02,2.6803e-06,1.8397e-02,2.0620e-01,-3.0732e-02,-1.4616e-02,1.3467e-03,-2.8297e-05,2.0929e-01,1.4678e-02
+23,4.1000e+00,UP_FORCE_RAMP,1.2286e-03,3.2496e-02,2.4172e-01,2.4235e+00,-5.3881e-02,3.9142e-02,4.8736e-06,1.5830e-02,2.0346e-01,-3.1342e-02,-1.4478e-02,1.1691e-03,-2.6103e-05,2.0647e-01,1.4525e-02
+24,4.2833e+00,UP_FORCE_RAMP,1.2695e-03,3.1224e-02,2.3772e-01,2.4209e+00,-5.3653e-02,3.9057e-02,5.9842e-06,1.4558e-02,1.9946e-01,-3.3948e-02,-1.4250e-02,1.0843e-03,-2.4993e-05,2.0285e-01,1.4292e-02
+25,4.3833e+00,UP_FORCE_RAMP,1.3311e-03,3.7555e-02,2.7499e-01,2.4164e+00,-5.6245e-02,3.9510e-02,9.8865e-06,2.0889e-02,2.3674e-01,-3.8463e-02,-1.6842e-02,1.5378e-03,-2.1091e-05,2.4075e-01,1.6912e-02
+26,4.6000e+00,UP_FORCE_RAMP,1.3862e-03,3.7024e-02,2.6287e-01,2.4176e+00,-5.5483e-02,3.9473e-02,4.5304e-06,2.0358e-02,2.2462e-01,-3.7271e-02,-1.6080e-02,1.5000e-03,-2.6447e-05,2.2860e-01,1.6149e-02
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Fixed/digit/ball_0030_20/press_depth_06/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_0030_20/press_depth_06/down/franka_data.csv

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+30945,1792759427940934599,42830865000000,1792759427939978297,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6759245723159499,-0.004173117365501639,0.10664705281243572,0.9999999504641071,-7.546172678782186e-05,-0.00026137935171675593,0.00012845625853538455,0.6761,-0.004,0.10684098016904699,1.0,0.0,0.0,0.0,-0.028241015203744224,-0.012251213232672531,0.08416083588365408,-0.0010977335885019729,0.002241132412395229,-4.7244543290540374e-05,0.6269391777331828,0.5287858855883939,0.40362577342736256,0.042971183655235556,-0.04448153985896226,0.0005751376791103667,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.5731346863599502,0.745664205023827,0.9331869261861748,0.11106092109871346,-0.5202783250809991,0.4326228118510691,1.5366765084632985,-0.08416083588365408,0.6034895822771237,0.6034895822771237,0.7706764841129379,0,0,-0.00010893439949674478,-9.999745062406191e-05
+31004,1792759428432943790,42831357000000,1792759428431977379,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6759151034827542,-0.0041622269898596645,0.10658506660366981,0.9999999436025006,-0.00014825635480591006,-0.0002790864563039998,6.60958642285922e-05,0.6761,-0.004,0.10678469318954088,1.0,0.0,0.0,0.0,-0.005830144688765859,-0.0012935970028564725,0.1334952835413043,-3.115417543911314e-05,0.00018352214493799063,-0.00010503701405027157,0.6493500482481611,0.53974350181821,0.45296022108501277,0.044037763068298416,-0.0465391501264195,0.0005173452083506355,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.5490073450638475,0.7165396209906868,0.8501750344102027,0.019734894098473205,-0.45347576406570483,0.4339817596615281,1.5366765084632985,-0.1334952835413043,0.6865014740530958,0.6865014740530958,0.8444764841129297,0,0,-0.0001235559605697586,-9.999999025923074e-05
+31074,1792759429016954276,42831940000000,1792759429015979629,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6759257487889966,-0.004169349958425409,0.10653234865773316,0.9999999509105374,-0.00013750392552476943,-0.0002520587006468849,8.474000914402514e-05,0.6761,-0.004,0.10670500118970949,1.0,0.0,0.0,0.0,-0.012048102615856426,-0.006216492923139749,0.1735260132945896,-6.724121118536347e-05,0.0011888445563888184,-0.0001225929653456138,0.6431320903210705,0.5348206058979267,0.4929909508382981,0.044001676032552166,-0.045533827714968673,0.0004997892570552932,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.5441179257633567,0.8084933400659778,0.7233229127610523,0.07853037531301364,-0.39623654752683746,0.47624001598816945,1.5366765084632985,-0.1735260132945896,0.8133535957022462,0.8133535957022462,0.9319264841129201,0,0,-0.00014700480858023812,2.985903454543883e-07
+31137,1792759429540951168,42832465000000,1792759429539977282,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6759238325370382,-0.004177305656526295,0.10645639624468342,0.9999999488269543,-0.00013690200968740306,-0.000255320189391326,9.928944400817371e-05,0.6761,-0.004,0.10662431658116742,1.0,0.0,0.0,0.0,-0.01987152369756795,-0.009013366183208693,0.23317113461780087,-0.0011244250364554828,0.002158504944778518,-0.0001683915146147069,0.635308669239359,0.5320237326378577,0.5526360721615093,0.042944492207282046,-0.044564167326578974,0.00045399070778620013,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.6006142675655446,0.7497354116947925,0.7690149677568852,0.12368256645038678,-0.4134013523196348,0.4296639854651949,1.5366765084632985,-0.23317113461780087,0.7676615407064133,0.7676615407064133,1.0106764841129194,0,0,-0.0001625620122222823,-9.999999025923074e-05
+31201,1792759430074972331,42832999000000,1792759430071977487,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6759262176911208,-0.004182044356838256,0.1063729492374042,0.9999999503400387,-0.000131775280526154,-0.0002453968882656516,0.00011479733079925106,0.6761,-0.004,0.1065336021654064,1.0,0.0,0.0,0.0,-0.030302014655885556,-0.024692359016563636,0.29311520580482814,-0.0011394793303651715,0.002196840919437379,-0.00021724127435827234,0.6248781782810414,0.5163447398045028,0.6125801433485366,0.04292943791337236,-0.04452583135192011,0.0004051409480426347,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.5969856759753351,0.6942283765218725,0.6482315706815727,0.1469750374710855,-0.3395600868380597,0.39267184568702734,1.5366765084632985,-0.29311520580482814,0.8884449377817258,0.8884449377817258,1.09077648411297,0,0,-0.0001770108391488653,-9.999964331453554e-05
+31263,1792759430590986636,42833515000000,1792759430587977635,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6759249342079896,-0.004192692566421545,0.10628960115917094,0.9999999471602796,-0.00013853299106129642,-0.0002476532585515308,0.00012883623769772452,0.6761,-0.004,0.10643993545982487,1.0,0.0,0.0,0.0,-0.03375893443905709,-0.035296906705242215,0.3531671159949417,-0.0021718490630728976,0.0022034443819817576,-0.0002776941049292668,0.6214212584978699,0.5057401921158242,0.6726320535386502,0.04189706818066463,-0.044519227889375734,0.0003446881174716402,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.5861331441122825,0.6866976375594349,0.5035434746705082,0.15102051717257592,-0.25112655021168306,0.38794278110452723,1.5366765084632985,-0.3531671159949417,1.0331330337927902,1.0331330337927902,1.1681764841130187,0,0,-0.00018569764482082173,6.964377271956863e-05
+31315,1792759431024980296,42833949000000,1792759431019977707,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6759247838671173,-0.004194300139164183,0.10621205130983219,0.9999999468755079,-0.00013203309050583865,-0.00024431378192928024,0.00014342205057708292,0.6761,-0.004,0.106358924564007,1.0,0.0,0.0,0.0,-0.03957669949786646,-0.04303008831275279,0.4119674060883108,-0.0022119361977433194,0.0032045799860630775,-0.0003108896753651496,0.6156034934390605,0.49800701050831364,0.7314323436320193,0.04185698104599421,-0.043518092285294414,0.0003114925470357574,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.6255083358548273,0.712887012040192,0.44232454706680435,0.1363765713086069,-0.19786464020377129,0.4011816705232765,1.5366765084632985,-0.4119674060883108,1.094351961396494,1.094351961396494,1.2332764841130597,0,0,-0.00019019357261754332,1.8097436076064357e-05
+31377,1792759431540908805,42834465000000,1792759431539977270,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.675924268736838,-0.004202332744803054,0.10611936732531624,0.9999999443008465,-0.00013192490443230957,-0.0002445691824520994,0.00016007155539413183,0.6761,-0.004,0.1062608789536827,1.0,0.0,0.0,0.0,-0.039533140211247764,-0.053825003407676875,0.47176417212700844,-0.0032440859625680746,0.003211402168807234,-0.00037002705452093365,0.6156470527256792,0.48721209541338956,0.7912291096707169,0.040824831281169455,-0.04351127010255026,0.0002523551678799734,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.6383601100895555,0.7415827922166901,0.40906138028631195,0.12861083951152658,-0.1758023327307957,0.41833561635920813,1.5366765084632985,-0.47176417212700844,1.1276151281769866,1.1276151281769866,1.3106764841131084,0,0,-0.00019253947442929154,-9.866025637983995e-05
+31413,1792759431840904342,42834765000000,1792759431839976725,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6759919717497239,-0.004199275448518423,0.10612619204099638,0.9999999598777002,-0.0001262409323198353,-0.00016583978994223127,0.0001680709774189367,0.6761,-0.004,0.10620285863414108,1.0,0.0,0.0,0.0,-0.05686453833702376,-0.015106869004040235,0.4956404530666659,-0.0010778558523243803,0.0054677379029416315,-0.00032170937185795745,0.5983156545999032,0.5259302298170262,0.8151053906103743,0.04299106139141315,-0.04125493436841586,0.0003006728505429496,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.6364416804712179,0.6956240615389508,0.4816064178975964,0.1434233431843293,-0.22575764979079654,0.3953879430841136,1.5366765084632985,-0.4956404530666659,1.0550700905657022,1.0550700905657022,1.3556764841131368,0,0,-0.0001949475732052327,-9.999999025923074e-05
+31464,1792759432265947641,42835190000000,1792759432263977578,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6759974072411868,-0.004205719959749964,0.10605616608056824,0.9999999587923728,-0.0001241493741349565,-0.000156327281892847,0.00018440941090460067,0.6761,-0.004,0.10611654815042562,1.0,0.0,0.0,0.0,-0.07881609021649971,-0.013806208654405516,0.5170492904993194,-0.00027013687655113444,0.006183871714469005,-0.0003282344252941905,0.5763641027204273,0.5272308901666609,0.8365142280430279,0.043798780367186395,-0.04053880055688849,0.00029414779710671654,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.8477240180734964,0.7237210680091833,0.2625756086317964,0.14619937398149618,-0.0358514675456071,0.4092488971491238,1.5366765084632985,-0.5170492904993194,1.274100899831502,1.274100899831502,1.419426484113177,0,0,-0.00020952569792090513,8.199344955628902e-05
+31516,1792759432700026679,42835624000000,1792759432699976974,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6759973132505825,-0.004212046303262245,0.10596670999404723,0.99999995572919,-0.0001308783156621101,-0.00015607929594227488,0.00019620041336934166,0.6761,-0.004,0.10602483783277485,1.0,0.0,0.0,0.0,-0.08788812674346325,-0.023390179043709325,0.5830307499428957,-0.0003553836361462684,0.006171219871972118,-0.0003897991780660769,0.5672920661934637,0.5176469197773571,0.9024956874866041,0.04371353360759126,-0.040551452399385374,0.00023258304433483018,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.9517845044533959,0.7729893345226307,0.2584667661857447,0.13109351247572518,0.0010207582578326737,0.43866396690164,1.5366765084632985,-0.5830307499428957,1.2782097422775538,1.2782097422775538,1.484526484113218,0,0,-0.0002126040287389871,-9.506479911459138e-05
+31562,1792759433083034246,42836007000000,1792759433079976913,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760030788819222,-0.004182028127032407,0.10588462655870175,0.9999999433200569,-0.00029029779549572194,-0.00013303961955916208,5.3201470002296666e-05,0.6761,-0.004,0.10594205075804916,1.0,0.0,0.0,0.0,-0.04359742883054596,0.028906975095461696,0.6359167740910332,0.0028084772426067994,0.004071040484674104,-0.0003692425611205117,0.611582764106381,0.5699440739165281,0.9553817116347416,0.04687739448634433,-0.04265163178668339,0.00025313966128039534,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.8556381480344717,0.7935853453851853,0.2972249158582126,-0.04203387218214581,-0.02281334653733064,0.49351345407085634,1.5366765084632985,-0.6359167740910332,1.239451592605086,1.239451592605086,1.5419764841132542,0,0,-0.00022301411393563087,-9.99114916063803e-05
+31619,1792759433557975467,42836482000000,1792759433555977191,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6759976982547862,-0.004190045844631041,0.10578177480591897,0.9999999419829855,-0.0002828946979407955,-0.00014612713893871082,7.806624621769546e-05,0.6761,-0.004,0.1058315875861661,1.0,0.0,0.0,0.0,-0.051628978956180016,0.006197865101522315,0.7158078306057674,0.0009846362411621151,0.004083413612622683,0.000522827927358053,0.603551213980747,0.5472349639225887,1.0352727681494758,0.045053553484899644,-0.04263925865873481,0.00114521014975896,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.8849816794693351,0.7646847293660954,0.10290320886432965,0.050357678570809854,0.09408676983373049,0.4561565416971605,1.5366765084632985,-0.7158078306057674,1.433773299598969,1.433773299598969,1.613226484113299,0,0,-0.00023748014122274152,9.999901881408419e-05
+31676,1792759434032978084,42836957000000,1792759434031977157,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760059355558554,-0.004202275302643144,0.10567802978743654,0.9999999433013631,-0.0002765237305840707,-0.00013107857170954287,0.00010579777420570642,0.6761,-0.004,0.10572047343458224,1.0,0.0,0.0,0.0,-0.07151610352200355,0.00777812412300849,0.7759444572715324,0.0006935428360580059,0.006099893997739768,0.0004976400595232712,0.5836640894149234,0.5488152229440749,1.0954093948152408,0.044762460079795535,-0.040622778273617724,0.0011200222819241783,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.8809333732188261,0.7923817511864657,0.07204433504729592,0.14988969454154372,0.09664311409332889,0.44712919628816916,1.5366765084632985,-0.7759444572715324,1.4646321734160026,1.4646321734160026,1.684476484113344,0,0,-0.00022815392105721,-9.999875513611584e-05
+31727,1792759434457960943,42837382000000,1792759434451977807,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760082107404777,-0.004207501275166837,0.10559583928710461,0.9999999398296046,-0.00028712460892499223,-0.00012999616061841126,0.00011155316348756793,0.6761,-0.004,0.10562591163814054,1.0,0.0,0.0,0.0,-0.06739173419853461,-6.802594622434821e-05,0.836081881479382,0.0006808657698781709,0.0060889054960421435,0.000387952914198388,0.5877884587383924,0.5409690728748421,1.1555468190230904,0.0447497830136157,-0.04063376677531535,0.001010335136599295,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.9178662786753915,0.8643015767230431,-0.1280163260752303,0.13963855450406293,0.23064407702672873,0.49452374663482424,1.5366765084632985,-0.836081881479382,1.6646928345385288,1.6646928345385288,1.748226484113384,0,0,-0.00021612280529517835,9.999999025923074e-05
+31776,1792759434866042913,42837790000000,1792759434863977279,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760201211958813,-0.004209990404823462,0.10552328580149703,0.99999994015138,-0.0002935930453599602,-0.00010467925129257043,0.0001182602138239423,0.6761,-0.004,0.105539177523693,1.0,0.0,0.0,0.0,-0.08018229852841285,0.0014942415601904013,0.8754143097971445,0.0006574486522543249,0.007093768543510862,0.00042474381123657726,0.5749978944085141,0.5425313403812568,1.194879247340853,0.044726365895991854,-0.03962890372784663,0.0010471260336374843,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.9379110265555077,0.7670792692775518,-0.042914393922965435,0.17825058918566816,0.17906319502611084,0.43069237094784113,1.5366765084632985,-0.8754143097971445,1.579590902386264,1.579590902386264,1.8094264841134227,0,0,-0.00021071908244271598,-9.893546678985671e-05
+31829,1792759435308041378,42838232000000,1792759435307977616,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760123542116067,-0.004215933406514681,0.10542971071790531,0.9999999319900374,-0.0003125505906076428,-0.00012707988556163652,0.00011672880983773378,0.6761,-0.004,0.10544822736619545,1.0,0.0,0.0,0.0,-0.08022651563083716,-0.002854090835032519,0.9327634214052918,0.0006622643858937433,0.006069447973009637,0.0003762804261450096,0.5749536773060898,0.5381830079860339,1.2522283589490002,0.04473118162963127,-0.040653224298347855,0.0009986626485459166,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.0166134739004762,0.7330429197383362,-0.2494625006200666,0.18851705185057419,0.33523786218998375,0.4054755662633489,1.5366765084632985,-0.9327634214052918,1.786139009083365,1.786139009083365,1.8757264841134644,0,0,-0.00020138584128495817,9.999961555895993e-05
+31880,1792759435733058971,42838657000000,1792759435731977411,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760254058591991,-0.004220146144863094,0.10535957569243161,0.9999999386373665,-0.00029940728146138807,-9.689657008674402e-05,0.0001230221999148425,0.6761,-0.004,0.10536413283684376,1.0,0.0,0.0,0.0,-0.08866237367768148,0.004877993616598908,0.9762150962889458,0.0006276620834900076,0.0070720237174225625,0.0003525048495829279,0.5665178192592455,0.5459150924376653,1.2956800338326542,0.04469657932722754,-0.03965064855393493,0.0009748870719838349,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.0003676234598176,0.7486949532567424,-0.211724523721843,0.18733207923613912,0.30013911969533835,0.42150931850953155,1.5366765084632985,-0.9762150962889458,1.7484010321851415,1.7484010321851415,1.9394764841135046,0,0,-0.00019571104461632428,-7.378051922047319e-05
+31945,1792759436275032693,42839199000000,1792759436271979277,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760218307233168,-0.004222295131163664,0.10525679593824198,0.9999999821334745,2.7995573650158434e-07,-0.00010930122334661036,0.0001234061560232786,0.6761,-0.004,0.10525489510509284,1.0,0.0,0.0,0.0,-0.08092910415992904,-0.002810604321618948,1.0367018572145748,0.000614926862361781,0.007059499792880564,0.000304733144937195,0.5742510887769979,0.5382264944994475,1.3561667947582832,0.04468384410609931,-0.03966317247847693,0.000927115367338102,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.934403291409314,0.8983825709878341,-0.1581394239897031,0.09764248443221361,0.256241934387909,0.43551096060519434,1.5366765084632985,-1.0367018572145748,1.6948159324530017,1.6948159324530017,2.0207764841135556,0,0,-0.0002068914120814932,-9.999987923692828e-05
+31994,1792759436683103928,42839607000000,1792759436679977243,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760343646282725,-0.004221633151012745,0.10518687834303374,0.9999999845165976,-1.3887056908742146e-05,-8.047615832749591e-05,0.00012546077667920406,0.6761,-0.004,0.10516975899893606,1.0,0.0,0.0,0.0,-0.09489787805092409,0.006842329039446593,1.0866384888837346,0.0005794483347399682,0.008061318176939121,0.0002784427177978607,0.5602823148860029,0.547879427860513,1.406103426427443,0.0446483655784775,-0.03866135409441837,0.0009008249401987677,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.0033316094394902,0.8695955378406278,-0.3866167967109188,0.12018830072880946,0.4176012600273794,0.43428135090319636,1.5366765084632985,-1.0866384888837346,1.9232933051742174,1.9232933051742174,2.081976484113594,0,0,-0.00021113218038185255,9.012677690123922e-05
+32049,1792759437141008183,42840065000000,1792759437135977171,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6760407727514535,-0.004229911509571739,0.10510148164611122,0.9999999845849026,-4.33009079229074e-05,-7.140048826941909e-05,0.0001236934143285178,0.6761,-0.004,0.10507207601428319,1.0,0.0,0.0,0.0,-0.09043844603119278,0.0010781502212130478,1.1433258719551507,0.0005677165911545864,0.008049655940606193,0.00023315660106263683,0.5647417469057342,0.5421152490422795,1.462790809498859,0.044636633834892116,-0.0386730163307513,0.0008555388234635439,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.0015300057937566,0.8411357939715138,-0.3635026632797222,0.145625435940604,0.3998685210410074,0.43894707440293745,1.5366765084632985,-1.1433258719551507,1.9001791717430208,1.9001791717430208,2.1506764841136374,0,0,-0.0002145806191858598,-9.999695102370083e-05
+32106,1792759437616090883,42840540000000,1792759437611978070,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6760445065121556,-0.004226646774706716,0.10500967453702499,0.9999999838223275,-5.7405088784219495e-05,-7.056410925036324e-05,0.00012459362526664035,0.6761,-0.004,0.10496988467208025,1.0,0.0,0.0,0.0,-0.09262032316792423,-0.005662438150586535,1.1971283293396104,0.0005563557740138059,0.008038451160682088,0.0001880816828473003,0.5625598697690027,0.5353746606704799,1.5165932668833189,0.044625273017751335,-0.038684221110675404,0.0008104639052482073,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,0.9966062250336541,0.7238811941805141,-0.3981833530704898,0.19876811267773248,0.4163867520364953,0.38924132051166704,1.5366765084632985,-1.1971283293396104,1.9348598615337882,1.9348598615337882,2.2219264841136823,0,0,-0.0002165204275692264,-9.999999025923074e-05
+32154,1792759438016074734,42840940000000,1792759438015977518,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760582142371621,-0.004230825985429445,0.10493147966939526,0.9999999837475583,-7.361692275052248e-05,-3.69916626709992e-05,0.0001309958514218021,0.6761,-0.004,0.10488247051346976,1.0,0.0,0.0,0.0,-0.10994920095334237,0.007615814789887487,1.2462771475926957,0.0015411832082494956,0.009021865462868359,0.00017484433135266867,0.5452309919835846,0.5486529136109539,1.5657420851364041,0.045610100451987025,-0.03770080680848913,0.0007972265537535757,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.0484897770470123,0.7207642402376716,-0.5165460675925254,0.2055999291193937,0.5059212401850681,0.3927531455286376,1.5366765084632985,-1.2462771475926957,2.053222576055824,2.053222576055824,2.28192648411372,0,0,-0.000221136115012592,-9.999999025923074e-05
+32209,1792759438475106712,42841399000000,1792759438467978405,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6760472115509971,-0.00422928189699801,0.10483126950162606,0.9999999813489718,-8.958519728917239e-05,-7.053171693924978e-05,0.0001254778456450243,0.6761,-0.004,0.1047795093942842,1.0,0.0,0.0,0.0,-0.0980568054152241,-0.00330521358568836,1.2987114645902849,0.0005374605578260735,0.008016447328878969,0.00010452905725054004,0.5571233875217029,0.5377318852353781,1.6181764021339933,0.0446063778015636,-0.03870622494247852,0.0007269112796514471,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.021715810134691,0.7863310878101628,-0.6206692326288379,0.19073525684987364,0.5640871875713653,0.43856588167810606,1.5366765084632985,-1.2987114645902849,2.1573457410921364,2.1573457410921364,2.3507764841137635,0,0,-0.00022685817243769802,-3.7530224787590785e-05
+32252,1792759438833085831,42841757000000,1792759438831976978,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760741821576329,-0.004228007776402817,0.10476052418494348,0.9999999821633583,-9.797857443261781e-05,-7.954420866622877e-06,0.00013211008167100848,0.6761,-0.004,0.1046980445538265,1.0,0.0,0.0,0.0,-0.11038824133946079,0.019975342928935547,1.3457111758110614,0.0014998886533005504,0.009880918291972032,0.00010824878810819505,0.5447919515974662,0.561012441750002,1.6651761133547698,0.04556880589703808,-0.03684175397938546,0.0007306310105091021,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.0057498867976176,0.7698901942376032,-0.5253407915361868,0.2107694193629261,0.4943114679904625,0.42891133986291424,1.5366765084632985,-1.3457111758110614,2.0620172999994852,2.0620172999994852,2.4044764841137973,0,0,-0.00022963171491671564,-9.999695102370083e-05
+32309,1792759439308093544,42842232000000,1792759439303978536,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.676061898836182,-0.004223755584138619,0.10466016103642892,0.9999999808518979,-0.00011237367628475487,-4.528662292942569e-05,0.00012272060489707215,0.6761,-0.004,0.10458836061360147,1.0,0.0,0.0,0.0,-0.091851034314136,0.0069659115487739065,1.4060214592462892,0.0015377985793449886,0.007974341599370847,3.2276083575499956e-05,0.563329158622791,0.5480030103698403,1.7254863967899976,0.04560671582308252,-0.038748330671986644,0.000654658305976407,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1132134588378477,0.7429908097593583,-0.7654468856189152,0.22083072378440452,0.6824897450040506,0.4128309826697626,1.5366765084632985,-1.4060214592462892,2.302123394082214,2.302123394082214,2.475726484113842,0,0,-0.00023358875489845753,9.946788811910352e-05
+32350,1792759439650112373,42842574000000,1792759439643977619,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6760896076435801,-0.004233628752595706,0.10459803222484042,0.9999999799078807,-0.00011854929553443219,1.741330709642282e-05,0.00013141515858502742,0.6761,-0.004,0.1045082150563444,1.0,0.0,0.0,0.0,-0.11026720075564433,0.01709943988740381,1.4385610659412111,0.002278419193081055,0.009889843896512401,4.4421557539402017e-05,0.5449129921812826,0.5581365387084702,1.7580260034849196,0.046347336436818584,-0.03683282837484509,0.000666803779940309,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.0761273839816436,0.800611312800519,-0.7613838486317821,0.21145781622153514,0.660304485581266,0.45841279825714665,1.5366765084632985,-1.4385610659412111,2.2980603570950806,2.2980603570950806,2.5270264841138745,0,0,-0.00023559926374680374,-9.998823577295752e-05
+32391,1792759439991065283,42842915000000,1792759439983977453,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6760725928331718,-0.004234251950003892,0.10450636478912191,0.999999981646948,-0.00010124614117965988,-2.3294761803831905e-05,0.00013174042996882623,0.6761,-0.004,0.10442660029472699,1.0,0.0,0.0,0.0,-0.10125866440248721,0.009891973758718975,1.486983170755603,0.001495399189842407,0.008969931441753634,-1.8557035351797002e-05,0.5539215285344398,0.5509290725797854,1.8064481082993114,0.045564316433579936,-0.03775274082960386,0.00060382518704911,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1050067187172585,0.8232115485399725,-0.9026856303090202,0.21200270330402185,0.7634150375933368,0.4766144212521909,1.5366765084632985,-1.486983170755603,2.4393621387723186,2.4393621387723186,2.5781764841139068,0,0,-0.0002423571329221178,9.845608636561138e-05
+32447,1792759440458079710,42843382000000,1792759440455977105,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6760922854963975,-0.004237023798413101,0.10441872184000564,0.9999999803625943,-0.00011366475841333691,2.182545973481519e-05,0.00013161172984413956,0.6761,-0.004,0.10431272758803897,1.0,0.0,0.0,0.0,-0.11121632243834212,0.03054507760406966,1.528921924124026,0.002471980773096738,0.00994306203155472,-2.6582402039507084e-05,0.5439638704985849,0.5715821764251361,1.8483868616677344,0.04654089801683427,-0.03677961023980277,0.0005957998203614,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.0643065901231725,0.7942885612392006,-0.8132157528236162,0.23306906187096046,0.6874636710579243,0.45846045051489326,1.5366765084632985,-1.528921924124026,2.349892261286915,2.349892261286915,2.648226484113951,0,0,-0.0002455016854766275,-9.999999025923074e-05
+32498,1792759440883144862,42843807000000,1792759440879986577,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6760838395117487,-0.004234591158470571,0.10432168321960124,0.9999999840754505,-8.438890552209227e-05,-1.9159315313054014e-06,0.0001271487514232543,0.6761,-0.004,0.10420680755334792,1.0,0.0,0.0,0.0,-0.10130479698137007,0.0158561375859555,1.5865647591649557,0.0014770918093376662,0.008948047725972477,-9.900216787147957e-05,0.5538753959555569,0.5568932364070219,1.906029696708664,0.045546009053075195,-0.037774624545385015,0.0005233800545294275,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1049160253775572,0.7648706115415154,-0.9723088034720297,0.25234223490181695,0.8015028504612849,0.4503184113844015,1.5366765084632985,-1.5865647591649557,2.5089853119353283,2.5089853119353283,2.711976484113991,0,0,-0.0002512562140885314,5.317866566401648e-05
+32543,1792759441258193565,42844182000000,1792759441255977174,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761005257655691,-0.00423767464646404,0.10423850599477738,0.999999983284364,-7.471593558908814e-05,3.589747815424394e-05,0.00013417539350495767,0.6761,-0.004,0.10411151047993192,1.0,0.0,0.0,0.0,-0.11156309915717377,0.02362117319098933,1.6271471793656846,0.002453995175766839,0.009927612902483868,0.0008909903435950386,0.5436170937797532,0.5646582720120558,1.946612116909393,0.04652291241950437,-0.036795059368873624,0.0015133725659959457,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1178980050875589,0.7592364569760764,-0.9922702109896124,0.260937178279469,0.8162179484057257,0.4422020588638585,1.5366765084632985,-1.6271471793656846,2.528946719452911,2.528946719452911,2.7682264841140265,0,0,-0.0002560835606305308,-9.999999025923074e-05
+32590,1792759441650159097,42844574000000,1792759441643988133,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.676088257525323,-0.004241566460310201,0.10413401798554217,0.999999983323703,-8.810596216042392e-05,5.127064366094628e-06,0.00013040901341363414,0.6761,-0.004,0.10400878052114304,1.0,0.0,0.0,0.0,-0.09280156563996078,0.013716450972358851,1.6786259628881084,0.001457147839536252,0.008926213989745066,-0.00013971336441483383,0.5623786272969662,0.5547535497934253,1.9980909004318168,0.04552606508327378,-0.037796458281612426,0.0004826688579860732,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1421342087554307,0.8453739913803374,-1.0703845282885425,0.2390799551269044,0.874529055913085,0.49967441346905755,1.5366765084632985,-1.6786259628881084,2.607061036751841,2.607061036751841,2.8270264841140635,0,0,-0.000266006960042153,2.0691143509958998e-05
+32643,1792759442091206135,42845015000000,1792759442087977215,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6761063654018913,-0.0042417426818077055,0.10403507987923354,0.9999999809166186,-0.00010359666322847011,4.1848743786290414e-05,0.00013086649986406736,0.6761,-0.004,0.10388924724560497,1.0,0.0,0.0,0.0,-0.10254411184414125,0.03197313493828979,1.7290124714161226,0.0024256402316797307,0.009913233512152876,0.0008323633171749775,0.5526360810927857,0.5730102337593562,2.048477408959831,0.04649455747541726,-0.036809438759204616,0.0014547455395758845,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1514095216714502,0.7678085646055551,-1.0765866646308706,0.26419670088817615,0.8787300300274388,0.44062657452805964,1.5366765084632985,-1.7290124714161226,2.613263173094169,2.613263173094169,2.893176484114105,0,0,-0.00027637094749818756,-9.99530417030769e-05
+32690,1792759442483196782,42845407000000,1792759442479977279,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6761050400347915,-0.004251625147959665,0.10393079160238045,0.9999999785545388,-0.00012054202504439276,3.671733948303138e-05,0.00013585007664357207,0.6761,-0.004,0.10377843450712672,1.0,0.0,0.0,0.0,-0.09057470281788849,0.021424469417892666,1.7573991139110894,0.0014446393628077883,0.008927919439820041,-0.00017141364997996967,0.5646054901190385,0.5624615682389591,2.076864051454798,0.04551355660654532,-0.03779475283153745,0.00045096857242093736,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1336394104480698,0.7346211854514578,-1.0790292813499196,0.2857697719644652,0.8720816876676497,0.421187066802538,1.5366765084632985,-1.7573991139110894,2.615705789813218,2.615705789813218,2.9519764841141423,0,0,-0.0002882831403691873,-9.999999025923074e-05
+32734,1792759442850226019,42845774000000,1792759442843977428,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761071046747312,-0.004253740238537677,0.10382428360238374,0.9999999761247775,-0.00013364655897741203,4.415969022808687e-05,0.0001392186326900704,0.6761,-0.004,0.10367123791465528,1.0,0.0,0.0,0.0,-0.09280703635514898,0.018353703339395455,1.7900092090564068,0.0015621832247846787,0.009028259697101033,0.0007685796744243507,0.562373156581778,0.5593908021604619,2.1094741466001152,0.04563110046852221,-0.03769441257425646,0.0013909618968252577,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1716579242569265,0.7613315396480506,-1.2196260095936409,0.2783714949792698,0.9729727488920098,0.43533811082555507,1.5366765084632985,-1.7900092090564068,2.7563025180569394,2.7563025180569394,3.007026484114177,0,0,-0.0002977501956177961,-3.150064293827256e-05
+32777,1792759443208143952,42846132000000,1792759443203976966,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6761091071109774,-0.004255744234332241,0.10371613780164261,0.9999999742120668,-0.00014654468596477982,4.5406234246549904e-05,0.00013957671388670432,0.6761,-0.004,0.10356231737253949,1.0,0.0,0.0,0.0,-0.0835290979351444,0.01936122481911784,1.8313061799280397,0.001422141386376273,0.008889021618959492,0.0007326918431752622,0.5716510950017826,0.5603983236401843,2.150771117471748,0.0454910586301138,-0.037833650652398,0.0013550740655761692,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1329999264633301,0.7438717407937471,-1.156603094980154,0.3026645950666974,0.9196752237364452,0.42798756949449357,1.5366765084632985,-1.8313061799280397,2.6932796034434525,2.6932796034434525,3.0607264841142108,0,0,-0.0003090898786598225,-9.980468815141136e-05
+32822,1792759443583161231,42846507000000,1792759443579977538,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6761091757780472,-0.004264283456719234,0.10359955225054004,0.9999999712857521,-0.00016494518533237025,4.710711664505065e-05,0.00013944663683301294,0.6761,-0.004,0.10344398998740922,1.0,0.0,0.0,0.0,-0.07801007531222792,0.029595968399864447,1.870063331529673,0.001416414492184652,0.008879676084142252,0.0006988846780356225,0.577170117624699,0.5706330672209309,2.1895282690733815,0.04548533173592218,-0.03784299618721524,0.0013212669004365296,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.102806058159125,0.7123735956343737,-1.2769159342937964,0.3259070350239152,0.9846495775842314,0.40947413718512393,1.5366765084632985,-1.870063331529673,2.813592442757095,2.813592442757095,3.116976484114246,0,0,-0.00032306064169237834,-9.979641698987791e-05
+32863,1792759443925172700,42846849000000,1792759443919977635,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761148474002888,-0.004272137480936667,0.10350147361522656,0.9999999811858336,-7.863824887037678e-05,5.550250770438822e-05,0.0001407362583565026,0.6761,-0.004,0.10333113358016573,1.0,0.0,0.0,0.0,-0.07283644701784331,0.030738842068550265,1.9003124954151294,0.0014114331921653983,0.008873419205662356,0.0004589646709954971,0.5823437459190837,0.5717759408896167,2.219777432958838,0.04548035043590293,-0.037849253065695136,0.0010813468933964041,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1397503229908061,0.8267123830947132,-1.2771400923642757,0.2782086171893221,0.9968657404379216,0.45798317022336926,1.5366765084632985,-1.9003124954151294,2.8138166008275745,2.8138166008275745,3.1682764841142785,0,0,-0.00033626939048156244,-9.999999025923074e-05
+32907,1792759444291182933,42847215000000,1792759444287979061,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761207380221909,-0.004270014291372736,0.10338199692205308,0.9999999785061189,-9.793203498083099e-05,6.308352670139869e-05,0.0001444313379572711,0.6761,-0.004,0.10320489604310593,1.0,0.0,0.0,0.0,-0.06834898411578694,0.03350839245414816,1.930507833652757,0.0014061375080061042,0.008866318546852589,0.0006545764651064352,0.58683120882114,0.5745454912752146,2.2499727711964654,0.045475054751743633,-0.0378563537245049,0.0012769586875073422,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1774147328718105,0.7398083374409319,-1.3249127791578046,0.3200156473721869,1.034857170844706,0.4149605770805199,1.5366765084632985,-1.930507833652757,2.8615892876211033,2.8615892876211033,3.223176484114313,0,0,-0.0003536152981501158,-9.999999025923074e-05
+32950,1792759444650234934,42847574000000,1792759444647977634,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6761229860723642,-0.00427046198016769,0.10325214836223014,0.9999999761341306,-0.00011411783460653905,6.354307934250068e-05,0.0001487077655856667,0.6761,-0.004,0.10307501269572147,1.0,0.0,0.0,0.0,-0.06530264692671606,0.04624300535328263,1.9642729501134242,0.0014006861776095364,0.008857704723252896,0.0006275158217948816,0.5898775460102109,0.5872801041743491,2.2837378876571326,0.045469603421347066,-0.037864967548104596,0.0012498980441957887,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1791939089425345,0.7745013701861627,-1.3185778158182548,0.3326750665746962,1.031732312212825,0.4486941188985899,1.5366765084632985,-1.9642729501134242,2.855254324281553,2.855254324281553,3.277026484114347,0,0,-0.00036997466290186596,-9.999999025923074e-05
+32991,1792759444991270242,42847915000000,1792759444983978053,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761307210923104,-0.004281413496202983,0.10313512070341727,0.9999999723131264,-0.00013487921911343624,7.609447305034772e-05,0.00015110869676538443,0.6761,-0.004,0.10294618319943094,1.0,0.0,0.0,0.0,-0.056844412616516404,0.05271575003982443,1.9907337097893172,0.0013955487682807272,0.008851455990985399,0.0006069471954885542,0.5983357803204106,0.5937528488608909,2.3101986473330256,0.045464466012018256,-0.03787121628037209,0.0012293294178894612,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1959778617456993,0.8150112999432467,-1.3030994859821636,0.3307056514147836,1.0236222931770238,0.47786000031110015,1.5366765084632985,-1.9907337097893172,2.8397759944454624,2.8397759944454624,3.3281764841143793,0,0,-0.0003853106251242285,-9.999999025923074e-05
+33026,1792759445283195778,42848207000000,1792759445275986898,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761331718187257,-0.004283891793756543,0.10302230384233027,0.9999999696383312,-0.00015017233267353644,8.451175027866739e-05,0.00014990742395840976,0.6761,-0.004,0.10283170871493133,1.0,0.0,0.0,0.0,-0.047341808006925334,0.047750884751036504,2.021257076521912,0.002387091517745056,0.007813917958662188,0.0005693271682014962,0.6078383849300016,0.5887879835721029,2.3407220140656206,0.046456008761482585,-0.038908754312695304,0.0011917093906024033,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1750586126130216,0.7701060536506806,-1.457736679325922,0.35642556001258463,1.1154353742052825,0.4505740941940094,1.5366765084632985,-2.021257076521912,2.9944131877892204,2.9944131877892204,3.371976484114407,0,0,-0.0003989933834117317,-9.999999025923074e-05
+33060,1792759445566217436,42848490000000,1792759445563977479,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761258339678599,-0.004287527083496603,0.10290667506472237,0.9999999710986668,-0.00014936091785940287,6.81181031143135e-05,0.00014932103030144555,0.6761,-0.004,0.10271679843781725,1.0,0.0,0.0,0.0,-0.03789576450241727,0.05402843342070918,2.0507988173477236,0.001412130396376013,0.00782336088958168,0.0005398198813281439,0.6172844284345097,0.5950655322417756,2.370263754891432,0.04548104764011354,-0.03889931138177581,0.001162202103729051,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1460809465300905,0.765201124156325,-1.4578354020228659,0.3702047682637286,1.111152561836555,0.45314971883053434,1.5366765084632985,-2.0507988173477236,2.9945119104861644,2.9945119104861644,3.4144264841144336,0,0,-0.000413143380655094,-9.999999025923074e-05
+33093,1792759445841181338,42848765000000,1792759445835976986,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6761268658838989,-0.004293945429258077,0.10279344574554343,0.9999999698507981,-0.00014695475357358475,7.634397000556755e-05,0.0001559396227530342,0.6761,-0.004,0.10260144000498043,1.0,0.0,0.0,0.0,-0.03757304857150423,0.05683945067429952,2.0811473823689446,0.001407157031152767,0.007817826983338251,0.0005207669172911701,0.6176071443654227,0.597876549495366,2.400612319912653,0.045476074274890296,-0.03890484528801924,0.0011431491396920771,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1614576525017135,0.7757139932094796,-1.4390737643796525,0.3656303062299737,1.1045897374372995,0.4569008473965507,1.5366765084632985,-2.0811473823689446,2.975750272842951,2.975750272842951,3.4556764841144596,0,0,-0.00042619352481484816,-9.999999025923074e-05
+33127,1792759446125241313,42849049000000,1792759446123976754,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6761201198203083,-0.004298447485545308,0.10266111624692024,0.9999999683983125,-0.00016554226987661435,6.529506677671415e-05,0.00015158677149672585,0.6761,-0.004,0.10247845924430425,1.0,0.0,0.0,0.0,-0.01794304411773595,0.046768760040474255,2.1110778272487822,0.0008408485573906527,0.006809264288275364,0.0004765675300544719,0.637237148819191,0.5878058588615407,2.4305427647924907,0.04490976580112818,-0.03991340798308213,0.001098949752455379,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1668410810837064,0.7834275965228096,-1.550459912800329,0.3707310476517272,1.1803301237279629,0.4634479530399529,1.5366765084632985,-2.1110778272487822,3.0871364212636276,3.0871364212636276,3.4982764841144864,0,0,-0.0004397935222763812,-9.999999025923074e-05
+33160,1792759446400224882,42849324000000,1792759446399977330,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761178658992855,-0.00430930824394906,0.1025380514364723,0.9999999667533258,-0.00016467446635041403,6.664946513178382e-05,0.00016240806807343893,0.6761,-0.004,0.10235565832334549,1.0,0.0,0.0,0.0,-0.00977894986958483,0.046312914592621435,2.131025054094661,0.00040381400394810807,0.0068127210999403,0.0004566853221562336,0.6454012430673421,0.5873500134136879,2.4504899916383693,0.04447273124768564,-0.03990995117141719,0.0010790675445571407,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1257133231453775,0.8759769562773503,-1.4669212840374186,0.3438614514720124,1.1166794822740231,0.524987357659538,1.5366765084632985,-2.131025054094661,3.003597792500717,3.003597792500717,3.5395264841145124,0,0,-0.0004532592498232831,-9.999999025923074e-05
+33193,1792759446675277802,42849599000000,1792759446671986774,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.676144881189933,-0.004309448861661251,0.10242894335394237,0.999999964562561,-0.0001501692567087389,9.529006991535892e-05,0.00017517630528040686,0.6761,-0.004,0.10222917677623536,1.0,0.0,0.0,0.0,-0.015089414024295755,0.04697893262654951,2.149001582712397,0.0004011530455891865,0.006808750549315047,0.00045739726378875257,0.6400907789126312,0.5880160314476159,2.4684665202561056,0.044470070289326716,-0.039913921722042445,0.0010797794861896596,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.2022008311330512,0.7204788327208911,-1.521592118082194,0.4028127614583509,1.1760348609960039,0.42917827731607544,1.5366765084632985,-2.149001582712397,3.058268626545493,3.058268626545493,3.5807764841145384,0,0,-0.0004667637037256408,-9.999999025923074e-05
+33223,1792759446925237472,42849849000000,1792759446923976981,DOWN_FORCE_DETACH,6,0.073,0.07300163060426712,0.6761415351681237,-0.004318821837038709,0.1023043823979097,0.9999999624636572,-0.00014625032361826798,9.335665879486848e-05,0.00019081647117578349,0.6761,-0.004,0.10211092960060957,1.0,0.0,0.0,0.0,-0.01930314685933121,0.06089685177506199,2.1676356353439328,0.0013908807101701837,0.007798505643437641,0.000453060881298126,0.6358770460775958,0.6019339505961284,2.487100572887641,0.04545979795390771,-0.03892416662791985,0.001075443103699033,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1876446954835547,0.8396927937004043,-1.4956894941181462,0.3725306403460546,1.1531972130873573,0.509709061463694,1.5366765084632985,-2.1676356353439328,3.032366002581445,3.032366002581445,3.618276484114562,0,0,-0.00047926370129044846,-9.999999025923074e-05
+33254,1792759447183295565,42850107000000,1792759447175977517,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.676133522322565,-0.004327246010431931,0.10217274666409946,0.999999971871643,-3.795530164394029e-05,7.780863752555821e-05,0.00020051131789521737,0.6761,-0.004,0.10198562191600208,1.0,0.0,0.0,0.0,-0.007285024809566831,0.04980228973137535,2.187574480857685,0.0003930118302222507,0.0068037398537000235,0.0004101350370707725,0.6478951681273601,0.5908393885524418,2.5070394184013933,0.04446192907395978,-0.03991893241765747,0.0010325172594716795,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.216569042518096,0.8419769154128594,-1.5431806774105923,0.34777212956640413,1.2019425869270732,0.466219294045797,1.5366765084632985,-2.187574480857685,3.079857185873891,3.079857185873891,3.6569764841145864,0,0,-0.00049216369877733,-9.999999025923074e-05
+33282,1792759447416264344,42850340000000,1792759447411986497,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.676133682209723,-0.004313488276402403,0.10205537652936714,0.9999999746243289,-0.00012505120928200058,8.652339325618297e-05,0.00013809454517346747,0.6761,-0.004,0.1018695963744525,1.0,0.0,0.0,0.0,0.02709173251015451,0.08551704202876331,2.195759852437925,0.0014501585387019442,0.0057628909437178605,0.0004027559161204376,0.6822719254470815,0.6265541408498297,2.5152247899816333,0.04551907578243947,-0.04095978132763963,0.0010251381385213447,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.256232273910749,0.7940256422311186,-1.5375105675063054,0.37495258506977724,1.212027913993518,0.43553176115069936,1.5366765084632985,-2.195759852437925,3.074187075969604,3.074187075969604,3.6919264841146084,0,0,-0.0005038136965077308,-9.999999025923074e-05
+33315,1792759447691213515,42850615000000,1792759447683977975,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761330971289182,-0.004325672797760707,0.10192240359898211,0.9999999702337884,-0.0001367896464832207,8.24391566227493e-05,0.00015958591620636917,0.6761,-0.004,0.10172916385828254,1.0,0.0,0.0,0.0,0.02786308222331091,0.06929801524070234,2.2114795115872528,0.00041896220421863,0.005779450682503205,0.000380521567805625,0.6830432751602379,0.6103351140617688,2.530944449130961,0.04448787944795616,-0.04094322158885429,0.001002903790206532,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.1998063265381032,0.9107292035766665,-1.5675554150711322,0.3561581565600534,1.2137904452964625,0.5448378090620857,1.5366765084632985,-2.2114795115872528,3.1042319235344307,3.1042319235344307,3.7331764841146344,0,0,-0.0005175636938290193,-9.999999025923074e-05
+33343,1792759447925223728,42850849000000,1792759447919977236,DOWN_FORCE_DETACH,6,0.073,0.07300229370594025,0.6761361811495624,-0.0043331789906861365,0.1018047221885854,0.9999999655302437,-0.00014140658710534398,8.934151722346166e-05,0.00018001290551612965,0.6761,-0.004,0.10160669090419437,1.0,0.0,0.0,0.0,0.01868327761591726,0.066439031816235,2.211470698754942,0.00041850038354864644,0.005779764359610737,0.00037940903559012507,0.6738634705528442,0.6074761306373014,2.5309356362986506,0.044487417627286176,-0.040942907911746755,0.001001791257991032,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.264383554694137,0.8902952502320971,-1.6299811099043442,0.35966114701858415,1.2767650733702036,0.5342287162134579,1.5366765084632985,-2.211470698754942,3.1666576183676427,3.1666576183676427,3.7682764841146565,0,0,-0.0005292636915496793,-9.999999025923074e-05
+33385,1792759448271298017,42851195000000,1792759448263987463,DOWN_SETTLE,6,0.073,0.07300229370594025,0.6761296905410006,-0.004343651244980221,0.1016758616209209,0.9999999619308807,-0.00014416890928937586,7.619004461857241e-05,0.00020246358704376647,0.6761,-0.004,0.10150636061896481,1.0,0.0,0.0,0.0,0.028473148018285155,0.0699968181652707,2.1971306900390957,-0.0005955665487545544,0.005801383940067371,0.00038067652862911177,0.6836533409552121,0.6110339169863371,2.516595627582804,0.043473350694982975,-0.04092128833129012,0.0010030587510300188,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.2068309876835388,0.7864791276953069,-1.4752025976437142,0.3961864254659326,1.1691872035556556,0.46789676366552113,1.5366765084632985,-2.1971306900390957,3.0118791061070125,0.0,0.0,0,0,-4.48957069385319e-05,0.00045349198927809996
+33462,1792759448906359089,42851830000000,1792759448899977555,DOWN_PEAK_HOLD,6,0.073,0.07300163060426712,0.6761217062878835,-0.004337506617510804,0.1016479875574469,0.9999999632834264,-0.00014106655881369773,6.041541813221969e-05,0.00020328849772670968,0.6761,-0.004,0.1015028728559379,1.0,0.0,0.0,0.0,0.038257704007050974,0.06141928126994711,2.070708115624797,-0.0005475321416246598,0.0048155926796624865,0.00046634265195714584,0.693437896943978,0.6024563800910135,2.3901730531685055,0.04352138510211287,-0.041907079591695005,0.0010887248743580529,0.655180192936927,0.5410370988210664,0.31946493754370847,0.04406891724373753,-0.04672267227135749,0.000622382222400907,1,1.0260811497031939,0.877888632403856,-1.2327370714561958,0.35974797467497627,0.9673718843092103,0.5222349274634095,1.5366765084632985,-2.070708115624797,2.7694135799194943,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_0030_20/press_depth_06/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792759424597788575,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.487401892e-10,-4.405120366e-12,-2.244920916e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450663e-01,-1.153684022e-04,8.303262546e-01
+1,6.000000000e-01,DOWN_FORCE_DETACH,1792759425187788610,5.979078819e-07,7.637135647e-07,-5.135565284e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.657040976e-08,6.354015925e-11,-6.672310593e-09,7.019562675e-01,-2.132419784e-05,8.601433945e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027450920e-01,-1.153683342e-04,8.303262482e-01
+2,1.183333333e+00,DOWN_FORCE_DETACH,1792759425777159686,-8.720431494e-07,2.371572881e-07,-1.913648897e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.450311708e-08,2.949732993e-10,-1.056897381e-08,7.019547976e-01,-2.185075412e-05,8.601415322e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027451099e-01,-1.153681028e-04,8.303262443e-01
+3,1.783333333e+00,DOWN_FORCE_DETACH,1792759426383943082,-8.200624110e-07,3.098484616e-06,-9.636756457e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.772064182e-08,5.886259449e-10,-1.296245800e-08,7.019548496e-01,-1.898942679e-05,8.601338091e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027451231e-01,-1.153678091e-04,8.303262419e-01
+4,2.383333333e+00,DOWN_FORCE_DETACH,1792759426989447202,-6.744646396e-06,-3.079245295e-06,-4.856096888e-05,-6.991843446e-06,-2.787028405e-06,-4.032974180e-05,-7.981088701e-06,-2.800603803e-06,-4.031656481e-05,7.019489250e-01,-2.516715670e-05,8.600948849e-01,7.019486778e-01,-2.487493981e-05,8.601031161e-01,7.027370843e-01,-1.181690016e-04,8.302859383e-01
+5,2.816666667e+00,DOWN_FORCE_DETACH,1792759427432700825,2.704949502e-05,-1.048402609e-05,-7.203588236e-05,2.286133639e-05,-8.446590428e-06,-7.185811851e-05,2.372203783e-05,-8.560920699e-06,-7.173044883e-05,7.019827191e-01,-3.257193750e-05,8.600714100e-01,7.019785310e-01,-3.053450183e-05,8.600715877e-01,7.027687875e-01,-1.239293185e-04,8.302545244e-01
+6,3.333333333e+00,DOWN_FORCE_DETACH,1792759427939928403,1.399089581e-05,-1.476790679e-05,-1.191172183e-04,1.404854287e-05,-1.297030423e-05,-1.144695335e-04,1.375327379e-05,-1.311854757e-05,-1.143074118e-04,7.019696605e-01,-3.685581820e-05,8.600243286e-01,7.019697182e-01,-3.505821563e-05,8.600289763e-01,7.027588187e-01,-1.284869453e-04,8.302119474e-01
+7,3.833333333e+00,DOWN_FORCE_DETACH,1792759428430710286,4.208723540e-06,-3.721564029e-06,-1.798510023e-04,3.969274509e-06,4.213326499e-06,-1.692033857e-04,2.233832211e-06,4.247701262e-06,-1.690045474e-04,7.019598783e-01,-2.580947543e-05,8.599635948e-01,7.019596389e-01,-1.787458491e-05,8.599742425e-01,7.027472993e-01,-1.111206965e-04,8.301572503e-01
+8,4.433333333e+00,DOWN_FORCE_DETACH,1792759429020475292,1.576918077e-05,-1.009478419e-05,-2.354530096e-04,1.292824101e-05,-1.225369567e-05,-2.303020794e-04,1.109562224e-05,-1.238103801e-05,-2.300660372e-04,7.019714388e-01,-3.218269559e-05,8.599079928e-01,7.019685979e-01,-3.434160707e-05,8.599131438e-01,7.027561611e-01,-1.277494358e-04,8.300961888e-01
+9,4.916666667e+00,DOWN_FORCE_DETACH,1792759429545319347,1.002443358e-05,-1.533380303e-05,-3.131711382e-04,9.909596804e-06,-1.453209101e-05,-2.969193475e-04,7.040742388e-06,-1.468099200e-05,-2.966452133e-04,7.019656941e-01,-3.742171444e-05,8.598302747e-01,7.019655792e-01,-3.662000242e-05,8.598465265e-01,7.027521062e-01,-1.300493898e-04,8.300296096e-01
+10,5.450000000e+00,DOWN_FORCE_DETACH,1792759430076677739,1.457638462e-05,-2.202533980e-05,-3.954519145e-04,1.411637332e-05,-2.338675976e-05,-3.801907702e-04,1.053728987e-05,-2.361533016e-05,-3.798182828e-04,7.019702460e-01,-4.411325120e-05,8.597479939e-01,7.019697860e-01,-4.547467116e-05,8.597632551e-01,7.027556027e-01,-1.389837279e-04,8.299464366e-01
+11,5.916666667e+00,DOWN_FORCE_DETACH,1792759430593077729,1.523099209e-05,-2.888737085e-05,-4.741914868e-04,1.228442834e-05,-2.874949161e-05,-4.678028338e-04,7.480686835e-06,-2.904063911e-05,-4.674418448e-04,7.019709006e-01,-5.097528225e-05,8.596692544e-01,7.019679541e-01,-5.083740301e-05,8.596756430e-01,7.027525461e-01,-1.444090369e-04,8.298588130e-01
+12,6.350000000e+00,DOWN_FORCE_DETACH,1792759431024753654,1.220371056e-05,-3.434011432e-05,-5.551862569e-04,1.074974791e-05,-4.059434912e-05,-5.569047408e-04,4.719616262e-06,-4.103479818e-05,-5.564691150e-04,7.019678733e-01,-5.642802572e-05,8.595882596e-01,7.019664194e-01,-6.268226053e-05,8.595865411e-01,7.027497850e-01,-1.564031959e-04,8.297697857e-01
+13,6.850000000e+00,DOWN_FORCE_DETACH,1792759431543322723,1.115339844e-05,-4.771152019e-05,-6.472883548e-04,9.196560572e-06,-4.321683733e-05,-6.426645735e-04,1.981191650e-06,-4.367740489e-05,-6.422680558e-04,7.019668230e-01,-6.979943159e-05,8.594961575e-01,7.019648662e-01,-6.530474874e-05,8.595007813e-01,7.027470466e-01,-1.590458026e-04,8.296839868e-01
+14,7.150000000e+00,DOWN_FORCE_DETACH,1792759431838594092,7.077312065e-05,-4.052569163e-05,-6.505540550e-04,7.153086440e-05,-3.954197625e-05,-6.518191505e-04,6.895161238e-05,-3.994084314e-05,-6.513813380e-04,7.020264427e-01,-6.261360303e-05,8.594928918e-01,7.020272005e-01,-6.162988765e-05,8.594916267e-01,7.028140170e-01,-1.553092409e-04,8.296748735e-01
+15,7.516666667e+00,DOWN_FORCE_DETACH,1792759432263706202,8.920492556e-05,-4.204221210e-05,-7.064897835e-04,8.063306395e-05,-4.150678185e-05,-6.890472997e-04,7.836569249e-05,-4.196426102e-05,-6.886088030e-04,7.020448746e-01,-6.413012351e-05,8.594369561e-01,7.020363027e-01,-6.359469326e-05,8.594543985e-01,7.028234311e-01,-1.573326588e-04,8.296376461e-01
+16,7.950000000e+00,DOWN_FORCE_DETACH,1792759432698580294,8.423049687e-05,-5.078932588e-05,-8.026567025e-04,8.405609682e-05,-5.098779089e-05,-8.025794053e-04,8.069089178e-05,-5.151408719e-05,-8.020577060e-04,7.020399001e-01,-7.287723728e-05,8.593407891e-01,7.020397257e-01,-7.307570230e-05,8.593408664e-01,7.028257563e-01,-1.668824849e-04,8.295241972e-01
+17,8.316666667e+00,DOWN_FORCE_DETACH,1792759433083241441,9.066950795e-05,-2.238458988e-05,-8.840519884e-04,9.051555226e-05,-2.234352581e-05,-8.844621602e-04,8.665068296e-05,-2.258704661e-05,-8.838415296e-04,7.020463391e-01,-4.447250129e-05,8.592593939e-01,7.020461852e-01,-4.443143721e-05,8.592589837e-01,7.028317161e-01,-1.379554444e-04,8.294424133e-01
+18,8.766666667e+00,DOWN_FORCE_DETACH,1792759433557888742,8.443399603e-05,-2.782061254e-05,-9.869140642e-04,8.362631624e-05,-2.973891919e-05,-9.717523273e-04,7.824191410e-05,-3.008673034e-05,-9.712369751e-04,7.020401036e-01,-4.990852395e-05,8.591565318e-01,7.020392959e-01,-5.182683059e-05,8.591716935e-01,7.028233073e-01,-1.454551281e-04,8.293550179e-01
+19,9.250000000e+00,DOWN_FORCE_DETACH,1792759434033486242,9.352618188e-05,-4.263176549e-05,-1.090648760e-03,9.309239329e-05,-4.200038689e-05,-1.082256170e-03,8.706856526e-05,-4.246301859e-05,-1.081715158e-03,7.020491958e-01,-6.471967690e-05,8.590527971e-01,7.020487620e-01,-6.408829829e-05,8.590611897e-01,7.028321340e-01,-1.578314163e-04,8.292445397e-01
+20,9.683333333e+00,DOWN_FORCE_DETACH,1792759434459925084,9.772824094e-05,-4.816068378e-05,-1.170834804e-03,9.511282690e-05,-4.519686572e-05,-1.167691474e-03,8.820383102e-05,-4.566890934e-05,-1.167165222e-03,7.020533979e-01,-7.024859518e-05,8.589726110e-01,7.020507825e-01,-6.728477712e-05,8.589757544e-01,7.028332693e-01,-1.610373071e-04,8.291590896e-01
+21,1.010000000e+01,DOWN_FORCE_DETACH,1792759434868658204,1.044162842e-04,-4.701784908e-05,-1.251184156e-03,1.042167978e-04,-4.687263104e-05,-1.251105324e-03,9.702360189e-05,-4.737654986e-05,-1.250581553e-03,7.020600859e-01,-6.910576048e-05,8.588922617e-01,7.020598864e-01,-6.896054245e-05,8.588923405e-01,7.028420890e-01,-1.627449476e-04,8.290756733e-01
+22,1.053333333e+01,DOWN_FORCE_DETACH,1792759435310906966,9.827544723e-05,-5.116619071e-05,-1.340495218e-03,9.814922049e-05,-5.107198371e-05,-1.340059515e-03,8.936492410e-05,-5.159662748e-05,-1.339562694e-03,7.020539451e-01,-7.325410212e-05,8.588029506e-01,7.020538188e-01,-7.315989512e-05,8.588033863e-01,7.028344304e-01,-1.669650252e-04,8.289866922e-01
+23,1.096666667e+01,DOWN_FORCE_DETACH,1792759435736569607,1.128150160e-04,-6.091204746e-05,-1.409733770e-03,1.159610296e-04,-5.596681856e-05,-1.403300479e-03,1.077825035e-04,-5.658091463e-05,-1.402791354e-03,7.020684846e-01,-8.299995886e-05,8.587337121e-01,7.020716307e-01,-7.805472996e-05,8.587401454e-01,7.028528479e-01,-1.719493124e-04,8.289234635e-01
+24,1.150000000e+01,DOWN_FORCE_DETACH,1792759436277562311,1.107872678e-04,-6.418030161e-05,-1.509277455e-03,1.121375332e-04,-5.511550083e-05,-1.491582357e-03,1.025641733e-04,-5.571640245e-05,-1.491161084e-03,7.020664569e-01,-8.626821302e-05,8.586341684e-01,7.020678072e-01,-7.720341224e-05,8.586518635e-01,7.028476296e-01,-1.710848002e-04,8.288350938e-01
+25,1.190000000e+01,DOWN_FORCE_DETACH,1792759436686640825,1.238797814e-04,-5.851531511e-05,-1.582652497e-03,1.236294935e-04,-5.854860080e-05,-1.582557989e-03,1.138520367e-04,-5.916201735e-05,-1.582103206e-03,7.020795494e-01,-8.060322652e-05,8.585607933e-01,7.020792991e-01,-8.063651221e-05,8.585608879e-01,7.028589175e-01,-1.745304151e-04,8.287441517e-01
+26,1.235000000e+01,DOWN_FORCE_DETACH,1792759437145497573,1.306233858e-04,-6.400818116e-05,-1.665204410e-03,1.202860073e-04,-6.976203876e-05,-1.654128177e-03,1.093468895e-04,-7.052979836e-05,-1.653719949e-03,7.020862930e-01,-8.609609256e-05,8.584782414e-01,7.020759556e-01,-9.184995017e-05,8.584893177e-01,7.028544123e-01,-1.858981961e-04,8.286725349e-01
+27,1.283333333e+01,DOWN_FORCE_DETACH,1792759437620303266,1.307265721e-04,-6.474745120e-05,-1.760607754e-03,1.305435287e-04,-6.444504903e-05,-1.760506384e-03,1.191734131e-04,-6.514701402e-05,-1.760099016e-03,7.020863962e-01,-8.683536261e-05,8.583828381e-01,7.020862132e-01,-8.653296044e-05,8.583829395e-01,7.028642388e-01,-1.805154118e-04,8.285661558e-01
+28,1.318333333e+01,DOWN_FORCE_DETACH,1792759438013705030,1.479498669e-04,-6.817359953e-05,-1.834265934e-03,1.462634297e-04,-7.253419855e-05,-1.830983137e-03,1.352378345e-04,-7.334977090e-05,-1.830557828e-03,7.021036195e-01,-9.026151094e-05,8.583091799e-01,7.021019331e-01,-9.462210995e-05,8.583124627e-01,7.028803033e-01,-1.887181687e-04,8.284956970e-01
+29,1.365000000e+01,DOWN_FORCE_DETACH,1792759438473188569,1.344946651e-04,-6.876137266e-05,-1.938074434e-03,1.348986139e-04,-6.651916942e-05,-1.922899189e-03,1.218871890e-04,-6.726556009e-05,-1.922525452e-03,7.020901643e-01,-9.084928407e-05,8.582053714e-01,7.020905682e-01,-8.860708082e-05,8.582205467e-01,7.028669526e-01,-1.826339578e-04,8.284037294e-01
+30,1.400000000e+01,DOWN_FORCE_DETACH,1792759438832606047,1.616336304e-04,-7.301682213e-05,-2.009807946e-03,1.678825515e-04,-7.277998507e-05,-1.996414464e-03,1.565450674e-04,-7.361038027e-05,-1.996027071e-03,7.021173033e-01,-9.510473354e-05,8.581336379e-01,7.021235522e-01,-9.486789648e-05,8.581470314e-01,7.029016105e-01,-1.889787780e-04,8.283302278e-01
+31,1.448333333e+01,DOWN_FORCE_DETACH,1792759439308026797,1.494894622e-04,-6.411204699e-05,-2.108517511e-03,1.488938546e-04,-7.079422263e-05,-2.099006503e-03,1.348660875e-04,-7.157680036e-05,-2.098626041e-03,7.021051591e-01,-8.619995839e-05,8.580349283e-01,7.021045635e-01,-9.288213404e-05,8.580444393e-01,7.028799315e-01,-1.869451981e-04,8.282276288e-01
+32,1.483333333e+01,DOWN_FORCE_DETACH,1792759439651756274,1.765367658e-04,-7.421515830e-05,-2.173009953e-03,1.792263351e-04,-7.086758269e-05,-2.163291921e-03,1.667677621e-04,-7.165761900e-05,-2.162907892e-03,7.021322064e-01,-9.630306971e-05,8.579704359e-01,7.021348960e-01,-9.295549409e-05,8.579801539e-01,7.029118332e-01,-1.870260168e-04,8.281633470e-01
+33,1.516666667e+01,DOWN_FORCE_DETACH,1792759439995482265,1.599952943e-04,-7.258740334e-05,-2.264194061e-03,1.611499854e-04,-7.171117803e-05,-2.247079721e-03,1.462325056e-04,-7.254075763e-05,-2.246702152e-03,7.021156649e-01,-9.467531475e-05,8.578792518e-01,7.021168196e-01,-9.379908943e-05,8.578963661e-01,7.028912979e-01,-1.879091554e-04,8.280795527e-01
+34,1.560000000e+01,DOWN_FORCE_DETACH,1792759440455040792,1.803644422e-04,-7.466869953e-05,-2.345493673e-03,1.659464905e-04,-7.706068484e-05,-2.334701535e-03,1.502739562e-04,-7.794350578e-05,-2.334384659e-03,7.021360341e-01,-9.675661094e-05,8.577979522e-01,7.021216161e-01,-9.914859625e-05,8.578087443e-01,7.028953394e-01,-1.933119035e-04,8.279918702e-01
+35,1.598333333e+01,DOWN_FORCE_DETACH,1792759440879828436,1.701930107e-04,-7.390763345e-05,-2.446529130e-03,1.702714029e-04,-7.411470494e-05,-2.446432973e-03,1.536463748e-04,-7.491451717e-05,-2.446012469e-03,7.021258626e-01,-9.599554485e-05,8.576969167e-01,7.021259410e-01,-9.620261635e-05,8.576970129e-01,7.028987118e-01,-1.902829149e-04,8.278802424e-01
+36,1.635000000e+01,DOWN_FORCE_DETACH,1792759441257346442,1.881623389e-04,-8.154614994e-05,-2.529097910e-03,1.906112988e-04,-7.621253739e-05,-2.524932741e-03,1.745539570e-04,-7.706467491e-05,-2.524581112e-03,7.021438320e-01,-1.036340613e-04,8.576143479e-01,7.021462809e-01,-9.830044879e-05,8.576185131e-01,7.029196194e-01,-1.924330727e-04,8.278016737e-01
+37,1.673333333e+01,DOWN_FORCE_DETACH,1792759441650277773,1.758481513e-04,-8.192292316e-05,-2.634660562e-03,1.755913238e-04,-8.175262520e-05,-2.634474372e-03,1.571442653e-04,-8.264804718e-05,-2.634087537e-03,7.021315178e-01,-1.040108346e-04,8.575087853e-01,7.021312609e-01,-1.038405366e-04,8.575089715e-01,7.029022097e-01,-1.980164449e-04,8.276921673e-01
+38,1.718333333e+01,DOWN_FORCE_DETACH,1792759442092537290,1.914488275e-04,-8.507738416e-05,-2.737107504e-03,1.928937975e-04,-8.631360898e-05,-2.717828376e-03,1.747513156e-04,-8.728607720e-05,-2.717495797e-03,7.021471185e-01,-1.071652956e-04,8.574063383e-01,7.021485634e-01,-1.084015204e-04,8.574256175e-01,7.029198167e-01,-2.026544750e-04,8.276087591e-01
+39,1.753333333e+01,DOWN_FORCE_DETACH,1792759442485043839,1.889144692e-04,-9.253098686e-05,-2.846680995e-03,1.903924823e-04,-8.724394998e-05,-2.834976967e-03,1.706630117e-04,-8.821556223e-05,-2.834646836e-03,7.021445841e-01,-1.146188983e-04,8.572967649e-01,7.021460621e-01,-1.093318614e-04,8.573084689e-01,7.029157284e-01,-2.035839600e-04,8.274916080e-01
+40,1.788333333e+01,DOWN_FORCE_DETACH,1792759442847188143,1.945501044e-04,-9.404252270e-05,-2.944158586e-03,1.960852366e-04,-9.031902279e-05,-2.927842057e-03,1.756631243e-04,-9.130281973e-05,-2.927524177e-03,7.021502197e-01,-1.161304341e-04,8.571992873e-01,7.021517549e-01,-1.124069342e-04,8.572156038e-01,7.029207286e-01,-2.066712175e-04,8.273987307e-01
+41,1.825000000e+01,DOWN_FORCE_DETACH,1792759443210674081,1.957964288e-04,-9.544815531e-05,-3.052901048e-03,1.950325049e-04,-9.652973898e-05,-3.046410926e-03,1.731103141e-04,-9.761284795e-05,-3.045993814e-03,7.021514661e-01,-1.175360667e-04,8.570905448e-01,7.021507021e-01,-1.186176504e-04,8.570970349e-01,7.029181757e-01,-2.129812457e-04,8.272802610e-01
+42,1.861666667e+01,DOWN_FORCE_DETACH,1792759443583551615,1.965058194e-04,-9.854365691e-05,-3.170754413e-03,1.968583712e-04,-1.000676451e-04,-3.151953186e-03,1.737943340e-04,-1.011851200e-04,-3.151624134e-03,7.021521754e-01,-1.206315683e-04,8.569726914e-01,7.021525280e-01,-1.221555565e-04,8.569914927e-01,7.029188598e-01,-2.165535178e-04,8.271746307e-01
+43,1.896666667e+01,DOWN_FORCE_DETACH,1792759443926839575,1.999895431e-04,-1.088595851e-04,-3.271311734e-03,1.997697040e-04,-1.063569509e-04,-3.265779929e-03,1.755779699e-04,-1.074830411e-04,-3.265449376e-03,7.021556592e-01,-1.309474965e-04,8.568721341e-01,7.021554393e-01,-1.284448623e-04,8.568776659e-01,7.029206434e-01,-2.228514388e-04,8.270608055e-01
+44,1.933333333e+01,DOWN_FORCE_DETACH,1792759444288253414,2.059379469e-04,-1.115778842e-04,-3.389592955e-03,2.051030890e-04,-1.121578174e-04,-3.379828738e-03,1.799781123e-04,-1.133651434e-04,-3.379522223e-03,7.021616076e-01,-1.336657956e-04,8.567538529e-01,7.021607727e-01,-1.342457288e-04,8.567636171e-01,7.029250435e-01,-2.287335412e-04,8.269467326e-01
+45,1.966666667e+01,DOWN_FORCE_DETACH,1792759444647770009,2.095783448e-04,-1.139452094e-04,-3.516183983e-03,2.077717117e-04,-1.166351015e-04,-3.499861874e-03,1.813808602e-04,-1.178659029e-04,-3.499569170e-03,7.021652480e-01,-1.360331208e-04,8.566272619e-01,7.021634413e-01,-1.387230129e-04,8.566435840e-01,7.029264463e-01,-2.332343006e-04,8.268266857e-01
+46,2.001666667e+01,DOWN_FORCE_DETACH,1792759444991263609,2.181033322e-04,-1.201221205e-04,-3.631596456e-03,2.177376375e-04,-1.207151814e-04,-3.622529190e-03,1.906815341e-04,-1.220476296e-04,-3.622197930e-03,7.021737730e-01,-1.422100319e-04,8.565118494e-01,7.021734073e-01,-1.428030928e-04,8.565209167e-01,7.029357470e-01,-2.374160274e-04,8.267040569e-01
+47,2.030000000e+01,DOWN_FORCE_DETACH,1792759445286440888,2.258306459e-04,-1.212217948e-04,-3.738546735e-03,2.206449484e-04,-1.267383945e-04,-3.739338801e-03,1.923888149e-04,-1.281428936e-04,-3.739018917e-03,7.021815003e-01,-1.433097062e-04,8.564048991e-01,7.021763146e-01,-1.488263059e-04,8.564041070e-01,7.029374542e-01,-2.435112913e-04,8.265872359e-01
+48,2.058333333e+01,DOWN_FORCE_DETACH,1792759445564690919,2.129967850e-04,-1.263007257e-04,-3.861240820e-03,2.121877890e-04,-1.254929040e-04,-3.848770202e-03,1.819460354e-04,-1.268446470e-04,-3.848512996e-03,7.021686664e-01,-1.483886371e-04,8.562822050e-01,7.021678574e-01,-1.475808154e-04,8.562946756e-01,7.029270115e-01,-2.422130447e-04,8.264777419e-01
+49,2.086666667e+01,DOWN_FORCE_DETACH,1792759445844294147,2.144565099e-04,-1.343018921e-04,-3.975232802e-03,2.146548447e-04,-1.341589833e-04,-3.966476991e-03,1.832219698e-04,-1.356520924e-04,-3.966149661e-03,7.021701261e-01,-1.563898035e-04,8.561682130e-01,7.021703245e-01,-1.562468947e-04,8.561769689e-01,7.029282874e-01,-2.510204901e-04,8.263601052e-01
+50,2.115000000e+01,DOWN_FORCE_DETACH,1792759446121587004,2.091210801e-04,-1.418622224e-04,-4.102002139e-03,2.069773992e-04,-1.364700144e-04,-4.090938393e-03,1.734418839e-04,-1.379896864e-04,-4.090625029e-03,7.021647907e-01,-1.639501338e-04,8.560414437e-01,7.021626470e-01,-1.585579258e-04,8.560525075e-01,7.029185073e-01,-2.533580841e-04,8.262356298e-01
+51,2.141666667e+01,DOWN_FORCE_DETACH,1792759446401371345,2.073086281e-04,-1.483855430e-04,-4.229340681e-03,2.064692174e-04,-1.409380315e-04,-4.220300758e-03,1.713475704e-04,-1.425009206e-04,-4.219964247e-03,7.021629783e-01,-1.704734544e-04,8.559141052e-01,7.021621388e-01,-1.630259429e-04,8.559231451e-01,7.029164130e-01,-2.578693184e-04,8.261062906e-01
+52,2.168333333e+01,DOWN_FORCE_DETACH,1792759446678520618,2.361434752e-04,-1.520593945e-04,-4.333932208e-03,2.359669778e-04,-1.523345966e-04,-4.333938807e-03,2.017356832e-04,-1.540075711e-04,-4.333609241e-03,7.021918131e-01,-1.741473059e-04,8.558095136e-01,7.021916366e-01,-1.744225080e-04,8.558095070e-01,7.029468011e-01,-2.693759688e-04,8.259926456e-01
+53,2.193333333e+01,DOWN_FORCE_DETACH,1792759446924830477,2.328061581e-04,-1.577234133e-04,-4.459147378e-03,2.294890480e-04,-1.581986544e-04,-4.456481369e-03,1.933424323e-04,-1.599099127e-04,-4.456184676e-03,7.021884758e-01,-1.798113247e-04,8.556842985e-01,7.021851587e-01,-1.802865658e-04,8.556869645e-01,7.029384079e-01,-2.752783105e-04,8.258700702e-01
+54,2.220000000e+01,DOWN_FORCE_DETACH,1792759447186343650,2.241191279e-04,-1.671726543e-04,-4.589607427e-03,2.240469373e-04,-1.685485637e-04,-4.578776877e-03,1.860204469e-04,-1.703752652e-04,-4.578453144e-03,7.021797888e-01,-1.892605657e-04,8.555538384e-01,7.021797166e-01,-1.906364751e-04,8.555646690e-01,7.029310859e-01,-2.857436630e-04,8.257478017e-01
+55,2.243333333e+01,DOWN_FORCE_DETACH,1792759447415926781,2.222993997e-04,-1.574696795e-04,-4.710972359e-03,2.247986457e-04,-1.568246376e-04,-4.693571108e-03,1.854991365e-04,-1.585117793e-04,-4.693313838e-03,7.021779690e-01,-1.795575909e-04,8.554324735e-01,7.021804683e-01,-1.789125490e-04,8.554498747e-01,7.029305646e-01,-2.738801770e-04,8.256329410e-01
+56,2.270000000e+01,DOWN_FORCE_DETACH,1792759447694523129,2.219110660e-04,-1.679469038e-04,-4.844681279e-03,2.189352546e-04,-1.681012578e-04,-4.832874225e-03,1.774884646e-04,-1.699341796e-04,-4.832596837e-03,7.021775807e-01,-1.900348152e-04,8.552987646e-01,7.021746049e-01,-1.901891693e-04,8.553105716e-01,7.029225539e-01,-2.853025774e-04,8.254936580e-01
+57,2.293333333e+01,DOWN_FORCE_DETACH,1792759447923426957,2.242945900e-04,-1.765533133e-04,-4.962673563e-03,2.239757291e-04,-1.764628892e-04,-4.962850242e-03,1.813927405e-04,-1.783753276e-04,-4.962563681e-03,7.021799642e-01,-1.986412247e-04,8.551807723e-01,7.021796454e-01,-1.985508006e-04,8.551805956e-01,7.029264582e-01,-2.937437253e-04,8.253636912e-01
+58,2.328333333e+01,DOWN_SETTLE,1792759448268158908,2.132634030e-04,-1.778691518e-04,-5.098167821e-03,2.185476941e-04,-1.825833481e-04,-5.083056399e-03,1.740805256e-04,-1.845457173e-04,-5.082895983e-03,7.021689330e-01,-1.999570632e-04,8.550452780e-01,7.021742173e-01,-2.046712595e-04,8.550603894e-01,7.029191460e-01,-2.999141150e-04,8.252433589e-01
+59,2.391666667e+01,DOWN_PEAK_HOLD,1792759448906416889,2.100240138e-04,-1.784416455e-04,-5.120413809e-03,2.089769179e-04,-1.813389142e-04,-5.119995568e-03,1.633375409e-04,-1.833703280e-04,-5.120330582e-03,7.021656936e-01,-2.005295569e-04,8.550230320e-01,7.021646465e-01,-2.034268257e-04,8.550234503e-01,7.029084030e-01,-2.987387257e-04,8.252059243e-01

Fixed/digit/ball_0030_20/press_depth_06/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.8609e-02,4.0419e-02,2.4556e+00,-3.9549e-02,3.8110e-02,3.5099e-05,1.4771e-04,2.6338e-06,-4.0531e-05,3.4645e-07,1.0625e-05,-3.0751e-07,1.5319e-04,1.0635e-05
+1,6.0000e-01,DOWN_FORCE_DETACH,1.3559e-04,2.3087e-02,4.0541e-02,2.4544e+00,-3.9539e-02,3.8431e-02,2.4763e-05,4.6258e-03,1.2448e-04,-1.2133e-03,1.0669e-05,3.3147e-04,-1.0643e-05,4.7839e-03,3.3181e-04
+2,1.1833e+00,DOWN_FORCE_DETACH,2.7718e-04,2.6204e-02,4.0673e-02,2.4537e+00,-3.9531e-02,3.8653e-02,1.6024e-05,7.7423e-03,2.5719e-04,-1.9188e-03,1.8023e-05,5.5331e-04,-1.9382e-05,7.9807e-03,5.5395e-04
+3,1.7833e+00,DOWN_FORCE_DETACH,4.1542e-04,2.8501e-02,4.0798e-02,2.4533e+00,-3.9525e-02,3.8816e-02,8.1581e-06,1.0039e-02,3.8231e-04,-2.3522e-03,2.3901e-05,7.1625e-04,-2.7248e-05,1.0318e-02,7.1716e-04
+4,2.3833e+00,DOWN_FORCE_DETACH,5.5243e-04,3.3870e-02,4.3786e-02,2.4694e+00,-3.9710e-02,3.9174e-02,8.8406e-07,1.5408e-02,3.3695e-03,1.3709e-02,-1.6047e-04,1.0740e-03,-3.4522e-05,2.0898e-02,1.0864e-03
+5,2.8167e+00,DOWN_FORCE_DETACH,6.9495e-04,2.0927e-02,4.8741e-02,2.4774e+00,-4.0037e-02,3.8247e-02,-8.1403e-07,2.4656e-03,8.3251e-03,2.1727e-02,-4.8739e-04,1.4723e-04,-3.6220e-05,2.3398e-02,5.1043e-04
+6,3.3333e+00,DOWN_FORCE_DETACH,8.3106e-04,2.9609e-02,5.3402e-02,2.4890e+00,-4.0336e-02,3.8843e-02,-4.6640e-06,1.1147e-02,1.2985e-02,3.3340e-02,-7.8722e-04,7.4355e-04,-4.0070e-05,3.7475e-02,1.0836e-03
+7,3.8333e+00,DOWN_FORCE_DETACH,9.6900e-04,3.4781e-02,3.8259e-02,2.4994e+00,-3.9287e-02,3.9192e-02,-1.1859e-05,1.6320e-02,-2.1573e-03,4.3775e-02,2.6217e-04,1.0925e-03,-4.7266e-05,4.6768e-02,1.1245e-03
+8,4.4333e+00,DOWN_FORCE_DETACH,1.1043e-03,3.0940e-02,5.3707e-02,2.5112e+00,-4.0325e-02,3.8901e-02,-9.8674e-06,1.2479e-02,1.3291e-02,5.5551e-02,-7.7556e-04,8.0096e-04,-4.5274e-05,5.8466e-02,1.1158e-03
+9,4.9167e+00,DOWN_FORCE_DETACH,1.2472e-03,3.4057e-02,5.6152e-02,2.5239e+00,-4.0480e-02,3.9100e-02,-8.9983e-06,1.5595e-02,1.5736e-02,6.8232e-02,-9.3058e-04,1.0004e-03,-4.4404e-05,7.1739e-02,1.3670e-03
+10,5.4500e+00,DOWN_FORCE_DETACH,1.3852e-03,3.3066e-02,6.4940e-02,2.5385e+00,-4.1062e-02,3.9004e-02,-3.0333e-06,1.4604e-02,2.4524e-02,8.2863e-02,-1.5127e-03,9.0475e-04,-3.8439e-05,8.7641e-02,1.7631e-03
+11,5.9167e+00,DOWN_FORCE_DETACH,1.5230e-03,3.4689e-02,7.1159e-02,2.5525e+00,-4.1462e-02,3.9095e-02,4.2412e-06,1.6228e-02,3.0743e-02,9.6831e-02,-1.9131e-03,9.9579e-04,-3.1165e-05,1.0288e-01,2.1570e-03
+12,6.3500e+00,DOWN_FORCE_DETACH,1.6592e-03,3.5392e-02,8.3488e-02,2.5662e+00,-4.2280e-02,3.9125e-02,1.3028e-05,1.6930e-02,4.3072e-02,1.1054e-01,-2.7309e-03,1.0257e-03,-2.2378e-05,1.1984e-01,2.9173e-03
+13,6.8500e+00,DOWN_FORCE_DETACH,1.8008e-03,3.5687e-02,8.7743e-02,2.5697e+00,-4.2557e-02,3.9139e-02,1.9743e-05,1.7226e-02,4.7327e-02,1.1407e-01,-3.0074e-03,1.0397e-03,-1.5664e-05,1.2470e-01,3.1821e-03
+14,7.1500e+00,DOWN_FORCE_DETACH,1.9335e-03,1.5691e-03,8.3772e-02,2.5496e+00,-4.2296e-02,3.6760e-02,2.9149e-05,-1.6892e-02,4.3356e-02,9.3932e-02,-2.7469e-03,-1.3399e-03,-6.2571e-06,1.0483e-01,3.0563e-03
+15,7.5167e+00,DOWN_FORCE_DETACH,2.0803e-03,7.1326e-03,8.4858e-02,2.5461e+00,-4.2393e-02,3.7154e-02,3.6946e-05,-1.1329e-02,4.4442e-02,9.0489e-02,-2.8436e-03,-9.4599e-04,1.5403e-06,1.0145e-01,2.9969e-03
+16,7.9500e+00,DOWN_FORCE_DETACH,2.2194e-03,1.3689e-02,9.3401e-02,2.5611e+00,-4.2990e-02,3.7596e-02,4.2427e-05,-4.7722e-03,5.2985e-02,1.0549e-01,-3.4411e-03,-5.0353e-04,7.0209e-06,1.1814e-01,3.4777e-03
+17,8.3167e+00,DOWN_FORCE_DETACH,2.3589e-03,1.5555e-02,6.6949e-02,2.5707e+00,-4.1214e-02,3.7714e-02,3.7448e-05,-2.9062e-03,2.6533e-02,1.1510e-01,-1.6644e-03,-3.8599e-04,2.0423e-06,1.1815e-01,1.7086e-03
+18,8.7667e+00,DOWN_FORCE_DETACH,2.4907e-03,2.5857e-02,7.1550e-02,2.5836e+00,-4.1537e-02,3.8419e-02,3.8244e-05,7.3953e-03,3.1134e-02,1.2795e-01,-1.9873e-03,3.1941e-04,2.8380e-06,1.3189e-01,2.0128e-03
+19,9.2500e+00,DOWN_FORCE_DETACH,2.6349e-03,2.7867e-02,8.2363e-02,2.5915e+00,-4.2243e-02,3.8550e-02,4.4251e-05,9.4060e-03,4.1947e-02,1.3588e-01,-2.6939e-03,4.5005e-04,8.8451e-06,1.4252e-01,2.7312e-03
+20,9.6833e+00,DOWN_FORCE_DETACH,2.7720e-03,3.0912e-02,8.6600e-02,2.5905e+00,-4.2480e-02,3.8768e-02,4.4881e-05,1.2450e-02,4.6184e-02,1.3482e-01,-2.9311e-03,6.6812e-04,9.4745e-06,1.4306e-01,3.0063e-03
+21,1.0100e+01,DOWN_FORCE_DETACH,2.9116e-03,2.8838e-02,9.3818e-02,2.5796e+00,-4.2932e-02,3.8631e-02,4.3255e-05,1.0376e-02,5.3402e-02,1.2395e-01,-3.3829e-03,5.3160e-04,7.8487e-06,1.3536e-01,3.4244e-03
+22,1.0533e+01,DOWN_FORCE_DETACH,3.0494e-03,3.4274e-02,9.3611e-02,2.5842e+00,-4.2887e-02,3.9006e-02,3.1130e-05,1.5812e-02,5.3195e-02,1.2860e-01,-3.3381e-03,9.0628e-04,-4.2758e-06,1.4006e-01,3.4589e-03
+23,1.0967e+01,DOWN_FORCE_DETACH,3.1894e-03,2.5725e-02,9.9304e-02,2.5869e+00,-4.3254e-02,3.8399e-02,2.4681e-05,7.2637e-03,5.8888e-02,1.3127e-01,-3.7044e-03,2.9941e-04,-1.0725e-05,1.4406e-01,3.7165e-03
+24,1.1500e+01,DOWN_FORCE_DETACH,3.3259e-03,2.8342e-02,9.9214e-02,2.5807e+00,-4.3239e-02,3.8592e-02,2.2459e-05,9.8805e-03,5.8798e-02,1.2505e-01,-3.6900e-03,4.9231e-04,-1.2947e-05,1.3854e-01,3.7227e-03
+25,1.1900e+01,DOWN_FORCE_DETACH,3.4607e-03,2.4921e-02,1.0628e-01,2.5752e+00,-4.3720e-02,3.8360e-02,3.3987e-05,6.4599e-03,6.5863e-02,1.1954e-01,-4.1710e-03,2.6048e-04,-1.4189e-06,1.3664e-01,4.1791e-03
+26,1.2350e+01,DOWN_FORCE_DETACH,3.6031e-03,2.9729e-02,1.1260e-01,2.5826e+00,-4.4157e-02,3.8691e-02,4.7365e-05,1.1267e-02,7.2182e-02,1.2699e-01,-4.6074e-03,5.9143e-04,1.1958e-05,1.4650e-01,4.6452e-03
+27,1.2833e+01,DOWN_FORCE_DETACH,3.7386e-03,2.8407e-02,1.0561e-01,2.5790e+00,-4.3719e-02,3.8604e-02,5.9037e-05,9.9451e-03,6.5195e-02,1.2332e-01,-4.1694e-03,5.0400e-04,2.3631e-05,1.3985e-01,4.1998e-03
+28,1.3183e+01,DOWN_FORCE_DETACH,3.8783e-03,2.5886e-02,1.1245e-01,2.5917e+00,-4.4190e-02,3.8414e-02,6.7973e-05,7.4248e-03,7.2030e-02,1.3609e-01,-4.6404e-03,3.1436e-04,3.2566e-05,1.5416e-01,4.6512e-03
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Fixed/digit/ball_0030_20/press_depth_06/up/camera_frames_60hz.tar

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Fixed/digit/ball_0030_20/press_depth_06/up/franka_data.csv

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