Upload Fixed (part 77)

Fixed/s2/ball_15A_10/press_depth_08/up/franka_data.csv

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Fixed/s2/ball_15A_10/press_depth_08/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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Fixed/s2/ball_15A_10/press_depth_08/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+54,1.8833e+00,UP_FORCE_HOLD,4.4385e-04,1.3149e-02,1.8395e-02,2.4414e+00,-3.8070e-02,3.7701e-02,-1.0968e-05,2.8034e-02,1.8669e-02,-1.0211e-02,-1.3335e-03,1.9849e-03,1.5208e-05,3.5196e-02,2.3913e-03
+55,1.9167e+00,UP_FORCE_HOLD,4.5251e-04,1.3435e-02,1.8393e-02,2.4422e+00,-3.8070e-02,3.7721e-02,-1.1158e-05,2.8321e-02,1.8667e-02,-9.3541e-03,-1.3339e-03,2.0047e-03,1.5018e-05,3.5185e-02,2.4080e-03
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Fixed/s2/ball_15A_10/press_depth_09/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ab6416757ae54c853373105d0ea703d4e99cb93fdc70f4a726b0195f8a1171e
+size 82401280

Fixed/s2/ball_15A_10/press_depth_09/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+51919,1791875397512402419,4437674000000,1791875397511843591,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761550137060934,-0.004775716003944133,0.08975470649459424,0.9999999848837011,0.00010426621113568899,9.528693437516163e-05,4.152612981672968e-05,0.6761,-0.0048,0.08956661901706348,1.0,0.0,0.0,0.0,-0.04166220192721035,0.14943320153835346,1.3345185842023648,0.01073153002716548,0.006497883527172963,0.00018377703021677438,0.054091592225062886,0.1479759187109194,1.3175928063779336,0.007043264270955523,-0.0024556313135626015,-0.0009995495193904887,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0040190850102113,-0.3470542615912528,-1.090290082810997,0.36674595861533466,0.9013963305888217,-0.2779154515930797,1.002438071392113,1.3345185842023648,2.09272815420311,2.09272815420311,2.152000000001026,1,0,-9.09361044146032e-05,9.482324234000856e-05
+52103,1791875399046368532,4439208000000,1791875399043852335,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761545486611922,-0.004800925169116445,0.08960920345085639,0.9999999867914605,7.79289913442742e-05,9.56108509422254e-05,5.143520896464421e-05,0.6761,-0.0048,0.08941206272622393,1.0,0.0,0.0,0.0,-0.05556061663497067,0.12773564871859083,1.3942039602173362,0.009586988813475236,0.007520518129355367,0.00013715938635509004,0.040193177517302565,0.12627836589115676,1.377278182392905,0.00589872305726528,-0.0014329967113801963,-0.001046167163252173,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0088535355588204,-0.3581080509010846,-1.1730918400890045,0.354291272414411,0.9481784889521807,-0.28119711542488784,1.002438071392113,1.3942039602173362,2.1755299114811173,2.1755299114811173,2.2747200000011487,1,0,-0.00010975726274090191,9.647014717473752e-05
+52299,1791875400679460750,4440841000000,1791875400675852329,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6761581286828799,-0.004812462962317041,0.0894209141651055,0.9999999866380335,6.609699381560426e-05,0.00010275462705909204,5.691635384107864e-05,0.6761,-0.0048,0.08921310710934043,1.0,0.0,0.0,0.0,-0.04612635046352205,0.12852443648971143,1.4180543362505753,0.009584328948308504,0.006502280565383384,0.00010304006028712793,0.04962744368875119,0.12706715366227736,1.4011285584261441,0.005896063192098549,-0.0024512342753521795,-0.0010802864893201352,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0709183606775885,-0.3179311941933065,-1.183781790485825,0.3697515545439889,0.9622474107663337,-0.2516869009461279,1.002438071392113,1.4180543362505753,2.1862198618779383,2.1862198618779383,2.4053600000012794,1,0,-0.00013443352078343208,-9.999882452505488e-05
+52454,1791875401971393997,4442133000000,1791875401963843296,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761558645380868,-0.004814236659543476,0.08922301426200216,0.9999999876546362,5.8079523879473206e-05,9.632276689244338e-05,5.901089349378479e-05,0.6761,-0.0048,0.08902292541766929,1.0,0.0,0.0,0.0,-0.04039503317124227,0.1174630703308728,1.4634959309518651,0.008580907490640586,0.006511311569713553,5.530380367873926e-05,0.05535876098103097,0.11600578750343873,1.446570153127434,0.00489264173443063,-0.0024422032710220104,-0.0011280227459285238,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0692368342925445,-0.22882863955288812,-1.2839845238518317,0.3449179449831623,1.020557321583581,-0.19672484299053855,1.002438071392113,1.4634959309518651,2.2864225952439448,2.2864225952439448,2.5087200000013827,1,0,-0.00015979767435256165,-7.570750556873946e-05
+52598,1791875403171448484,4443333000000,1791875403163852127,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761579769132827,-0.004822132488688586,0.08901324995027056,0.9999999875124734,5.072320131565844e-05,9.435993487890492e-05,7.029421710839203e-05,0.6761,-0.0048,0.08881172135441837,1.0,0.0,0.0,0.0,-0.03596416186998829,0.10387490219282937,1.5035952074610657,0.00755794972966631,0.006298106623117118,8.944800979518702e-06,0.05978963228228495,0.1024176193653953,1.4866694296366345,0.003869683973456353,-0.0026554082176184456,-0.0011743817486277444,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0975970968697206,-0.2933871915326326,-1.3761826436027087,0.38328541294720436,1.0805051197443771,-0.23666268651348324,1.002438071392113,1.5035952074610657,2.3786207149948217,2.3786207149948217,2.6047200000014787,1,0,-0.00019034472448914712,9.560905539213665e-05
+52726,1791875404237446973,4444399000000,1791875404231852138,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761574169398986,-0.004824384608302901,0.08879229574909893,0.9999999857849083,7.94069917564866e-05,9.163174412046622e-05,7.191106136661475e-05,0.6761,-0.0048,0.08859400261998579,1.0,0.0,0.0,0.0,-0.033258886150115054,0.09169482247347926,1.503862940860565,0.007471788849159624,0.005511807560330343,-3.7128207765312754e-06,0.062494908002158185,0.0902375396460452,1.4869371630361339,0.0037835230929496675,-0.00344170728040522,-0.0011870393703837944,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.079017860175344,-0.31178152547543625,-1.3499887186545187,0.4020734613045349,1.0494992518539479,-0.23829624717187764,1.002438071392113,1.503862940860565,2.352426790046632,2.352426790046632,2.690000000001564,1,0,-0.00022154586978437164,-9.999997638144293e-05
+52841,1791875405196341486,4445358000000,1791875405195852941,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761546126742742,-0.004829805270378022,0.08855456802086885,0.999999986465426,7.083214617996915e-05,8.715343013849756e-05,7.680559169034221e-05,0.6761,-0.0048,0.08836134039152506,1.0,0.0,0.0,0.0,-0.02808129933934006,0.0943098195446794,1.5314266234879739,0.006552856855125784,0.005522275141400702,-3.757358951713362e-05,0.06767249481293318,0.09285253671724533,1.5145008456635427,0.002864591098915827,-0.003431239699334862,-0.0012209001391243967,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0891595331353299,-0.2667860699619322,-1.4309980608121982,0.40498479463674325,1.1028258139577076,-0.20495930391489386,1.002438071392113,1.5314266234879739,2.433436132204311,2.433436132204311,2.7667200000016408,1,0,-0.0002636266086223068,-1.0154400957534906e-05
+52945,1791875406062385022,4446224000000,1791875406055844991,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761590881611901,-0.004832607529773892,0.08831888340370211,0.9999999864127429,6.353443532543726e-05,9.108887032618519e-05,7.92689825807742e-05,0.6761,-0.0048,0.08811807012661747,1.0,0.0,0.0,0.0,-0.03536477985099189,0.08564032194805599,1.5715716653510723,0.006546355782817739,0.00551580328684847,-6.966710231124979e-05,0.06038901430128135,0.08418303912062192,1.5546458875266411,0.0028580900266077826,-0.003437711553887094,-0.0012529936519185129,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0558742374008974,-0.32201023207163243,-1.4372086610521584,0.4481390459221558,1.0945512143134888,-0.23303129518036964,1.002438071392113,1.5715716653510723,2.439646732444271,2.439646732444271,2.83600000000171,1,0,-0.0002966436579391037,-9.189422420086685e-05
+53033,1791875406796332549,4446958000000,1791875406795842791,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761553946945142,-0.00483628185965555,0.08808694810334021,0.9999999863429735,6.404468895887382e-05,8.516670466645048e-05,8.603387449947188e-05,0.6761,-0.0048,0.0878903932243825,1.0,0.0,0.0,0.0,-0.04205429928220524,0.07301179713799259,1.5733244550559413,0.005522935632773436,0.005533985022987936,-8.341174606733164e-05,0.053699494870068,0.07155451431055852,1.5563986772315102,0.001834669876563479,-0.0034195298177476276,-0.0012667382956745947,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0166432562195233,-0.41118657225059796,-1.3668026840554168,0.47742211446497906,1.042520562532527,-0.2963547277758931,1.002438071392113,1.5733244550559413,2.36924075544753,2.36924075544753,2.8947200000017688,1,0,-0.0003255560876949933,-9.999999025923074e-05
+53117,1791875407496423064,4447658000000,1791875407491852826,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761505889415123,-0.004836636509881492,0.08783923010345422,0.9999999873170633,5.716700329060122e-05,7.861305305747232e-05,8.579428423069189e-05,0.6761,-0.0048,0.08765134801585157,1.0,0.0,0.0,0.0,-0.035067184410093044,0.06378471829708866,1.593374838951514,0.005517648368171645,0.005530292831737367,-9.877458002021289e-05,0.060686609742180195,0.06232743546965459,1.576449061127083,0.0018293826119616886,-0.003423222008998197,-0.001282101129627476,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9934045152619722,-0.3171226187774652,-1.3361798549586992,0.47657948712854187,1.0200380923186794,-0.22442076015231374,1.002438071392113,1.593374838951514,2.3386179263508122,2.3386179263508122,2.9507200000018248,1,0,-0.0003581093370133833,-9.999999025923074e-05
+53193,1791875408129424640,4448291000000,1791875408127852487,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761468770215592,-0.004847880124679446,0.08760125868897863,0.9999999873180256,5.5739698150227716e-05,7.044571500642311e-05,9.347352697246847e-05,0.6761,-0.0048,0.08741504295386868,1.0,0.0,0.0,0.0,-0.04300834442428954,0.061583218218222414,1.603059317731399,0.0046024446569001365,0.005545213238722899,-0.00011889602558704101,0.0527454497279837,0.060125935390788345,1.5861335399069678,0.0009141789006901803,-0.0034083016020126644,-0.001302222575194304,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9499072492026941,-0.3428001870002018,-1.2613485339654968,0.488073282127963,0.961462593759182,-0.2460264199951732,1.002438071392113,1.603059317731399,2.26378660535761,2.26378660535761,3.0013600000018754,1,0,-0.00038898628551139867,-9.999999025923074e-05
+53269,1791875408762422470,4448924000000,1791875408759852852,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761501972055757,-0.0048500340703145255,0.08735411812525945,0.999999986891532,5.47959473294795e-05,7.589222812148242e-05,9.432695325834188e-05,0.6761,-0.0048,0.08715881323709455,1.0,0.0,0.0,0.0,-0.043678849803320124,0.0512516050120783,1.6029886717726631,0.00449465616169195,0.005548919266406962,-0.0001190955914040033,0.052074944348953114,0.04979432218464423,1.586062893948232,0.0008063904054819944,-0.003404595574328602,-0.0013024221410112664,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9445517458560063,-0.34131224669905286,-1.4051938190911692,0.5116582149510731,1.0555548053121049,-0.23075282679972195,1.002438071392113,1.6029886717726631,2.407631890483282,2.407631890483282,3.052000000001926,1,0,-0.00042063627934549173,-9.999999025923074e-05
+53336,1791875409321348287,4449483000000,1791875409319852167,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761529331426054,-0.004851774831460829,0.08711789296464564,0.999999986259245,5.390434815444438e-05,8.12272781084548e-05,9.706093358597648e-05,0.6761,-0.0048,0.08691587950846505,1.0,0.0,0.0,0.0,-0.053203164677704834,0.05307393891502823,1.6229790220695461,0.004462377250592413,0.006557087307067168,-0.00012076242001386544,0.042550629474568405,0.05161665608759416,1.606053244245115,0.0007741114943824569,-0.0023964275336683955,-0.0013040889696211285,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.966037750449792,-0.27136695032531166,-1.37771317403539,0.5007507934151217,1.0459277252029813,-0.1920856124445257,1.002438071392113,1.6229790220695461,2.380151245427503,2.380151245427503,3.096720000001971,1,0,-0.0004485862739004017,-9.999999025923074e-05
+53400,1791875409854384393,4450016000000,1791875409851852196,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761547968823955,-0.0048536467189829605,0.08687392372542128,0.9999999854594646,5.323683096039879e-05,8.729742301415966e-05,0.00010034408268081341,0.6761,-0.0048,0.08666969412586235,1.0,0.0,0.0,0.0,-0.061242064057312515,0.06315274918167338,1.6431666372286802,0.004752103532674669,0.006548650547093908,-0.00013126665372227174,0.034511730094960724,0.06169546635423931,1.626240859404249,0.0010638377764647122,-0.0024048642936416553,-0.0013145932033295348,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9340126648894764,-0.45288676964901925,-1.323434286120043,0.571642629991539,0.9993568687237898,-0.3002512161614829,1.002438071392113,1.6431666372286802,2.3258723575121563,2.3258723575121563,3.1393600000020134,1,0,-0.0004752362687085717,-9.999999025923074e-05
+53460,1791875410354390845,4450516000000,1791875410351852226,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.676149996545666,-0.004856552389327561,0.08662464492867014,0.9999999854758007,5.7388172314491e-05,7.881743671188658e-05,0.00010481255682091476,0.6761,-0.0048,0.0864258384927281,1.0,0.0,0.0,0.0,-0.06117813413542001,0.05416621679511588,1.6363112859800057,0.0044785398262686535,0.006554273523883716,-0.00013042847532395395,0.03457566001685323,0.05270893396768181,1.6193855081555746,0.000790274070058697,-0.0023992413168518476,-0.001313755024931217,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9212810934611382,-0.46555002938291423,-1.296780307737179,0.5802704794697435,0.9837116291957233,-0.30650367766225345,1.002438071392113,1.6363112859800057,2.299218379129292,2.299218379129292,3.1793600000020534,1,0,-0.0005002362638381871,-9.999999025923074e-05
+53520,1791875410854366257,4451016000000,1791875410851851843,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6761498924951936,-0.004857709155154153,0.08637198165746995,0.9999999857445712,5.016172483397364e-05,8.231332878903952e-05,0.00010325715104724629,0.6761,-0.0048,0.08616948286202904,1.0,0.0,0.0,0.0,-0.0638271671713811,0.051361172986987974,1.6036364793356397,0.004439644082740358,0.0075749073658520905,-9.05999457420177e-05,0.03192662698089215,0.049903890159553904,1.5867107015112085,0.0007513783265304019,-0.0013786074748834728,-0.0012739264953492808,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9012476085491011,-0.4523608220591261,-1.2539303444292242,0.5949553487865338,0.9496429964320019,-0.291599192117789,1.002438071392113,1.6036364793356397,2.2563684158213375,2.2563684158213375,3.2193600000020934,1,0,-0.0005252362589678025,-9.999999025923074e-05
+53576,1791875411321362582,4451483000000,1791875411319842587,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6761525618066652,-0.004865078871510191,0.08613323102854707,0.999999984889536,5.0910316407753424e-05,8.834611456589832e-05,0.00010614563557426414,0.6761,-0.0048,0.08591875698015553,1.0,0.0,0.0,0.0,-0.07190763541662101,0.0523571773016805,1.63291390418953,0.004434206964598493,0.0075685995645318905,-0.00011577790691099277,0.023846158735652222,0.05089989447424643,1.6159881263650988,0.0007459412083885365,-0.0013849152762036732,-0.0012991044565182559,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.977406638851673,-0.3517929064749224,-1.2225445829802044,0.5662257433767273,0.9504653871451728,-0.22622435966237542,1.002438071392113,1.63291390418953,2.2249826543723175,2.2249826543723175,3.256720000002131,1,0,-0.0005485862544188633,-9.999999025923074e-05
+53628,1791875411754335189,4451916000000,1791875411751842766,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761501153098821,-0.004865611548705602,0.08588569276032024,0.999999985006172,4.914865787576872e-05,8.499980807783386e-05,0.00010858159317257427,0.6761,-0.0048,0.08567654273290741,1.0,0.0,0.0,0.0,-0.08144822006794324,0.05300584506111802,1.6506810632181323,0.004403492425813005,0.008578167001948757,-0.00011509047141791099,0.014305574084330003,0.05154856223368395,1.6337552853937012,0.0007152266696030488,-0.00037534783878680786,-0.001298417021025174,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0093127570702651,-0.34123430046448555,-1.3221320036358635,0.5791479665886693,1.0193506132523684,-0.21317022539526082,1.002438071392113,1.6506810632181323,2.3245700750279763,2.3245700750279763,3.2913600000021654,1,0,-0.0005702362502011102,-9.999999025923074e-05
+53680,1791875412187399685,4452349000000,1791875412179852461,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.676148836160571,-0.004866978827257561,0.08563233853481787,0.9999999845641746,5.3112495779138916e-05,8.223798649709874e-05,0.00011282947895168432,0.6761,-0.0048,0.08542495403748558,1.0,0.0,0.0,0.0,-0.07335386301553737,0.052709661043932314,1.6428808379302755,0.004404786112251234,0.00857971285499818,-0.00010780633804356775,0.022399931136735874,0.051252378216498244,1.6259550601058443,0.0007165203560412782,-0.00037380198573738467,-0.0012911328876508308,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.975567439523526,-0.39736602984023683,-1.1981255602818306,0.6005668552479233,0.9300081626582687,-0.24883603901335266,1.002438071392113,1.6428808379302755,2.2005636316739436,2.2005636316739436,3.3260000000022,1,0,-0.0005918862459833571,-9.999999025923074e-05
+53728,1791875412587401209,4452749000000,1791875412579852572,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.676142647914388,-0.004865408174876702,0.08538613800280183,0.9999999856042247,4.5977397331968546e-05,7.412227126647106e-05,0.00011236717749374491,0.6761,-0.0048,0.08518420953987345,1.0,0.0,0.0,0.0,-0.07926058058241478,0.0416338921673012,1.6127234569874758,0.004305993298485925,0.007993365566335304,-9.590469412917315e-05,0.01649321356985846,0.04017660933986713,1.5957976791630446,0.0006177275422759688,-0.0009601492744002591,-0.0012792312437364362,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0508833227162049,-0.44242350196590385,-1.2142509212998518,0.6261249905963101,0.957747823990066,-0.2747441109875599,1.002438071392113,1.6127234569874758,2.2166889926919646,2.2166889926919646,3.358000000002232,1,0,-0.0006118862420870494,-9.999999025923074e-05
+53775,1791875412979369673,4453141000000,1791875412971852535,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.676142254623737,-0.0048630910782445835,0.08514993204479475,0.9999999855823363,5.147074353510732e-05,7.376453725370738e-05,0.00011039813148678328,0.6761,-0.0048,0.08494051833372564,1.0,0.0,0.0,0.0,-0.08102410187259834,0.047027187397628206,1.6127576917823543,0.0044088677538889716,0.008585973181574657,-8.440432619383383e-05,0.014729692279674893,0.045569904570194136,1.5958319139579231,0.0007206019976790155,-0.00036754165916090786,-0.001267730875801097,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0468370107076994,-0.4915128041789429,-1.2427533889555102,0.6430455005557995,0.9746745850104702,-0.3073520342916906,1.002438071392113,1.6127576917823543,2.2451914603476233,2.2451914603476233,3.3893600000022635,1,0,-0.0006314862382686678,-9.999999025923074e-05
+53824,1791875413387359005,4453549000000,1791875413379852227,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761428723131555,-0.004869209581934654,0.08489206519840845,0.9999999851503691,4.8404095867368303e-05,7.779036677061643e-05,0.00011290628173410502,0.6761,-0.0048,0.08467872054932475,1.0,0.0,0.0,0.0,-0.0993027132202423,0.028710914227948216,1.610135275766944,0.003388267013391814,0.00860756916264607,-9.717684059347572e-05,-0.0035489190679690564,0.027253631400514147,1.5932094979425129,-0.0002999987428181421,-0.00034594567808949505,-0.0012805033902007388,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.088072693006688,-0.3824333696299706,-1.2547677633381495,0.6140810582914905,0.9895347955101272,-0.23206242653033654,1.002438071392113,1.610135275766944,2.2572058347302626,2.2572058347302626,3.422000000002296,1,0,-0.000651886234294434,-9.999999025923074e-05
+53867,1791875413746361727,4453908000000,1791875413739852674,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6761424786506458,-0.004870231033119051,0.08465707146589675,0.9999999850579315,4.4967226372854284e-05,7.960476193155978e-05,0.00011387726492016909,0.6761,-0.0048,0.0844414803418425,1.0,0.0,0.0,0.0,-0.09927349252339923,0.028058856047686372,1.592245918872098,0.003391830212686049,0.0086117871996815,-8.15861529186437e-05,-0.003519698371125994,0.026601573220252302,1.575320141047667,-0.000296435543523907,-0.0003417276410540641,-0.0012649127025259068,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.1574910335278132,-0.4110746749204345,-1.3092794733318724,0.6237443836860685,1.0382253673916084,-0.24440031014668007,1.002438071392113,1.592245918872098,2.3117175447239857,2.3117175447239857,3.450720000002325,1,0,-0.0006698362307974978,-9.999999025923074e-05
+53911,1791875414112301006,4454274000000,1791875414111842597,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6761382411655291,-0.004865394143466004,0.08440154328896553,0.9999999863343597,4.1452565127107574e-05,7.113803214464222e-05,0.00010952264673793455,0.6761,-0.0048,0.08419298053202481,1.0,0.0,0.0,0.0,-0.10106259987523912,0.017638892617900474,1.5821671488382314,0.0033921986254151666,0.00861478750447003,-7.363887181457951e-05,-0.005308805722965886,0.016181609790466404,1.5652413710138002,-0.00029606713079478945,-0.00033872733626553385,-0.0012569654214218426,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.1775167617829498,-0.43179407954235266,-1.299967278503598,0.6297238773918599,1.035838990914816,-0.26783533200633947,1.002438071392113,1.5821671488382314,2.302405349895711,2.302405349895711,3.480000000002354,1,0,-0.0006881362272323763,-9.999999025923074e-05
+53951,1791875414446362671,4454608000000,1791875414443852295,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761338719422367,-0.004864461263185282,0.08416708290526399,0.9999999866376789,4.173407152047074e-05,6.543562604256586e-05,0.00011019960426118886,0.6761,-0.0048,0.08396036248267415,1.0,0.0,0.0,0.0,-0.10681065168035071,0.0031379461293635966,1.5376281608933526,0.0023787340521132516,0.008644794193886236,-5.036608819400314e-05,-0.011056857528077476,0.0016806633019295265,1.5207023830689215,-0.0013095317040967046,-0.00030872064684932715,-0.0012336926378012662,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.218031779787976,-0.43880070385926384,-1.4323757887374842,0.6386926429038382,1.1283968912323037,-0.26217483084421717,1.002438071392113,1.5376281608933526,2.434813860129597,2.434813860129597,3.506720000002381,1,0,-0.0007048362239789593,-9.999999025923074e-05
+53995,1791875414812329417,4454974000000,1791875414807852335,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6761332162195297,-0.004867598905876289,0.08391227977706334,0.9999999869064415,4.000912592437876e-05,6.73914053706947e-05,0.00010718045290652427,0.6761,-0.0048,0.08369905267535205,1.0,0.0,0.0,0.0,-0.10783646196388794,0.002647661605050906,1.5215637169659622,0.0023822404180237292,0.008647900573954133,-3.706491970941047e-05,-0.012082667811614704,0.0011903787776168357,1.504637939141531,-0.001306025338186227,-0.0003056142667814313,-0.0012203914693166736,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.216146988916267,-0.409269200521481,-1.276608208458945,0.626630786339761,1.0266663764701034,-0.24217523540172048,1.002438071392113,1.5215637169659622,2.279046279851058,2.279046279851058,3.53600000000241,1,0,-0.0007231362204138378,-9.999999025923074e-05
+54035,1791875415146389076,4455308000000,1791875415143842603,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6761263513908462,-0.004865860007901134,0.08366105501164103,0.9999999879417105,3.51141609405746e-05,5.750650136125137e-05,0.00010497352647812356,0.6761,-0.0048,0.08345474462827877,1.0,0.0,0.0,0.0,-0.1092561709105769,-0.011627717021756702,1.4809814133841805,0.0013681989978170618,0.008676580900710107,-1.5980379450346435e-05,-0.01350237675830367,-0.013084999849190771,1.4640556355597494,-0.0023200667583928945,-0.000276933940025456,-0.0011993069290576095,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.2702350058557974,-0.41538622569013317,-1.2959061214625178,0.6232871307595187,1.0496857635950743,-0.24507894595375432,1.002438071392113,1.4809814133841805,2.298344192854631,2.298344192854631,3.562720000002437,1,0,-0.0007398362171604208,-9.999999025923074e-05
+54075,1791875415479393950,4455641000000,1791875415471852156,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6761173235618838,-0.004861689530295947,0.08340074872675851,0.999999988525389,3.806231552858327e-05,4.4607731961342484e-05,0.00010465895401257455,0.6761,-0.0048,0.08320561526850605,1.0,0.0,0.0,0.0,-0.11637979261309957,-0.013177990265862813,1.4530301898828815,0.0013739887076971002,0.008683306241812697,6.9452156884900265e-06,-0.020625998460826325,-0.014635273093296883,1.4361044120584503,-0.002314277048512856,-0.0002702085989228678,-0.001176381333918773,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.2937995817123304,-0.5299222961171333,-1.270561286976902,0.6515517320606302,1.0364645030280994,-0.31537235362811616,1.002438071392113,1.4530301898828815,2.272999358369015,2.272999358369015,3.5893600000024635,1,0,-0.0007564862139167447,-9.999999025923074e-05
+54111,1791875415779374979,4455941000000,1791875415771843466,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.676111805439401,-0.004861359194265088,0.08315979318184404,0.999999988362783,4.285691832543269e-05,3.351075617758378e-05,0.00010843252286291588,0.6761,-0.0048,0.08297642690477082,1.0,0.0,0.0,0.0,-0.12440824687212577,-0.04173259784516691,1.3885251071934457,-0.0006388128850618431,0.008735782163508189,3.326885942261872e-05,-0.028654452719852532,-0.04318988067260098,1.3715993293690145,-0.004327078641271799,-0.00021773267722737546,-0.0011500576901846444,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.3621732916083207,-0.5293629334721366,-1.1906715089541366,0.6494544768647195,1.0033752774279547,-0.31833209331562157,1.002438071392113,1.3885251071934457,2.19310958034625,2.19310958034625,3.6133600000024875,1,0,-0.0007714862109945139,-9.999999025923074e-05
+54147,1791875416079341290,4456241000000,1791875416075852956,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6761078387066766,-0.00485948424905561,0.08292325266955597,0.9999999881421839,4.95674680759077e-05,2.9539416427827062e-05,0.00010876113951126468,0.6761,-0.0048,0.08274273854191226,1.0,0.0,0.0,0.0,-0.12502137636408883,-0.052662983790837156,1.3324154286380763,-0.0006479944466377795,0.008749410229243264,7.9057436346462e-05,-0.029267582211815607,-0.054120266618271226,1.315489650813645,-0.004336260202847736,-0.00020410461149230025,-0.001104269113260801,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.383841647917356,-0.4941907645199633,-1.1731579194731236,0.6318697322446373,0.9978537238108107,-0.29861109094320126,1.002438071392113,1.3324154286380763,2.1755959908652365,2.1755959908652365,3.6373600000025115,1,0,-0.0007864862080722831,-9.999999025923074e-05
+54183,1791875416379357922,4456541000000,1791875416375852346,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760983810834749,-0.004864264475848223,0.08266637186060787,0.9999999896474904,3.372010015762507e-05,1.785194047776317e-05,0.00010340283713360528,0.6761,-0.0048,0.08250455017993037,1.0,0.0,0.0,0.0,-0.1333725719188999,-0.06241805268377358,1.2994792111056035,-0.000643901699879202,0.008756594469300084,0.00010464796764010219,-0.03761877776662665,-0.06387533551120765,1.2825534332811723,-0.004332167456089158,-0.00019692037143547993,-0.001078678581967161,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.4279096058123804,-0.48509581352373143,-1.183096072761045,0.6283898740266072,1.0120781779561812,-0.28806972124180685,1.002438071392113,1.2994792111056035,2.185534144153158,2.185534144153158,3.6613600000025355,1,0,-0.0008014862051500523,-9.999999025923074e-05
+54219,1791875416679377680,4456841000000,1791875416675852196,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760878395421341,-0.0048560444094656605,0.0824083746484857,0.9999999899955624,3.323837687895519e-05,1.3731618080641242e-06,0.00010171068901592602,0.6761,-0.0048,0.08226186181882515,1.0,0.0,0.0,0.0,-0.13887320312641357,-0.06928322187645154,1.2091295447100698,-0.001584290356940324,0.009237362088629028,0.00017671981735034614,-0.04311940897414033,-0.07074050470388561,1.1922037668856387,-0.00527255611315028,0.0002838472478934648,-0.001006606732256917,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.4747361122530982,-0.5048902237206537,-1.2489708671454642,0.6267179142472313,1.0646481740637772,-0.29473148950263606,1.002438071392113,1.2091295447100698,2.251408938537577,2.251408938537577,3.6853600000025595,1,0,-0.0008164862022278216,-9.999999025923074e-05
+54251,1791875416946305136,4457108000000,1791875416939852350,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760789169072547,-0.004860241817447797,0.08217133382710563,0.9999999894395709,3.16958240858565e-05,-1.6038276914997258e-05,0.00010631025752132942,0.6761,-0.0048,0.08204208445317883,1.0,0.0,0.0,0.0,-0.14216006703851625,-0.07068331833355546,1.1886321098789845,-0.0016701789176713422,0.009814093637490265,0.00019730698791298206,-0.04640627288624302,-0.07214060116098953,1.1717063320545533,-0.005358444673881298,0.0008605787967547016,-0.000986019561694281,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.496653833684354,-0.4216402722721041,-1.0470602631442396,0.6024511775354614,0.9394230845216114,-0.2375575009669048,1.002438071392113,1.1886321098789845,2.0494983345363527,2.0494983345363527,3.706720000002581,1,0,-0.0008298361996270362,-9.999999025923074e-05
+54282,1791875417204278779,4457366000000,1791875417203852621,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6760675110163268,-0.004857210191598124,0.08192878276974744,0.9999999885119875,3.9149927704294116e-05,-3.314572415764403e-05,0.00010857040744911736,0.6761,-0.0048,0.0818263290640005,1.0,0.0,0.0,0.0,-0.1465275488403036,-0.10215685703597467,1.1175582963096455,-0.0037001781980177994,0.00986929951467821,0.00023114801726513727,-0.05077375468803039,-0.10361413986340874,1.1006325184852144,-0.007388443954227756,0.0009157846739426462,-0.0009521785323421258,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.5235261767347792,-0.4463411152616651,-1.0570537302155034,0.5920155995329873,0.9520416543416053,-0.25866838448206453,1.002438071392113,1.1175582963096455,2.0594918016076162,2.0594918016076162,3.7273600000026015,1,0,-0.0008427361971139177,-9.999999025923074e-05
+54318,1791875417504377771,4457666000000,1791875417503842808,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760537381100666,-0.004856988974976134,0.0816540652671547,0.9999999882204155,3.0657630214209995e-05,-5.492159176066462e-05,0.00010509881911826125,0.6761,-0.0048,0.08157126570530612,1.0,0.0,0.0,0.0,-0.17714606132674587,-0.1371839017572846,1.036562996037517,-0.0056733632096203435,0.010932331987202752,0.0002926376984729958,-0.08139226717447265,-0.13864118458471866,1.0196372182130857,-0.0093616289658303,0.0019788171464671877,-0.0008906888511342673,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.5283600707789304,-0.5697778136384222,-0.9097041050830657,0.609982190750136,0.8590835938020249,-0.34618774147132725,1.002438071392113,1.036562996037517,1.9121421764751787,1.9121421764751787,3.7513600000026255,1,0,-0.0008577361941916869,-9.999999025923074e-05
+54350,1791875417771360707,4457933000000,1791875417767843008,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760541568669166,-0.004854361383187637,0.0814137096200065,0.9999999875457702,3.431677751653851e-05,-5.890547218323366e-05,0.00010818423143852705,0.6761,-0.0048,0.08134047459180545,1.0,0.0,0.0,0.0,-0.18643966584122124,-0.12400081429858531,0.9566990729944566,-0.004746100907763025,0.011952610991200645,0.00037621735118514214,-0.09068587168894798,-0.12545809712601938,0.9397732951700253,-0.008434366663972981,0.002999096150465081,-0.0008071091984221209,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.5797334543410626,-0.48071265889360765,-0.9476867035653276,0.5830399210007252,0.8926792239479175,-0.28466437056542127,1.002438071392113,0.9566990729944566,1.9501247749574406,1.9501247749574406,3.772720000002647,1,0,-0.0008710861915909015,-9.999999025923074e-05
+54382,1791875418037339355,4458199000000,1791875418035852893,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.6760379136926769,-0.004859552227463006,0.0811602270073535,0.9999999860598378,3.235699189469451e-05,-8.117559942959118e-05,0.00010810520758704413,0.6761,-0.0048,0.08110700341518817,1.0,0.0,0.0,0.0,-0.1858399882170061,-0.14336943782762399,0.9267839268108443,-0.006792357602738916,0.01301023887451503,0.0003931090975714418,-0.09008619406473285,-0.14482672065505806,0.909858148986413,-0.010480623358948872,0.004056724033779467,-0.0007902174520358213,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.551304418027046,-0.5226356241353601,-0.9261093706720688,0.5835132387350846,0.872586580254585,-0.3119709741722703,1.002438071392113,0.9267839268108443,1.9285474420641817,1.9285474420641817,3.794000000002668,1,0,-0.0008843861889998569,-9.999999025923074e-05
+54406,1791875418237373389,4458399000000,1791875418235842775,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760207552639277,-0.004851390192548221,0.08095081764816849,0.9999999842970622,2.847365515095393e-05,-0.0001054943962086255,0.00010444579116288687,0.6761,-0.0048,0.08092913117758399,1.0,0.0,0.0,0.0,-0.17609284863287866,-0.14813213041641954,0.8365984738268621,-0.006975158748464663,0.012020694292550442,0.0004491732030625714,-0.08033905448060544,-0.1495894132438536,0.8196726960024309,-0.01066342450467462,0.0030671794518148782,-0.0007341533465446917,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.5926686789511297,-0.5090596950701888,-0.8246322882371179,0.5737227901232941,0.818701449960869,-0.30304893017532286,1.002438071392113,0.8365984738268621,1.8270703596292308,1.8270703596292308,3.810000000002684,1,0,-0.0008943861870517031,-9.999999025923074e-05
+54442,1791875418537363601,4458699000000,1791875418535852323,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760273939127439,-0.004837763335310931,0.08068035730399373,0.9999999844088445,4.46165609698231e-05,-0.00010271269451120968,0.00010042230839276881,0.6761,-0.0048,0.08065857282190828,1.0,0.0,0.0,0.0,-0.17971332341601048,-0.1286203189334194,0.7266026240210798,-0.005723336075456179,0.012020152881262706,0.0005520137822968501,-0.08395952926373723,-0.13007760176085348,0.7096768461966485,-0.009411601831666136,0.0030666380405271424,-0.000631312767310413,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.611451563686135,-0.4795921003454968,-0.8029997658894439,0.5682528079550764,0.8034021631093198,-0.29104300242683856,1.002438071392113,0.7266026240210798,1.805437837281557,1.805437837281557,3.834000000002708,1,0,-0.0009093861841294723,-9.999999025923074e-05
+54474,1791875418804304704,4458966000000,1791875418803852036,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760130270687621,-0.0048269066164143,0.08041948438139765,0.9999999836918984,4.3188467209933394e-05,-0.00011862009427473201,9.012822517953202e-05,0.6761,-0.0048,0.08041399116109421,1.0,0.0,0.0,0.0,-0.20112246018435276,-0.15603512566126243,0.6641904678232379,-0.007729894519486655,0.013087779838480623,0.0004620840249119969,-0.1053686660320795,-0.1574924084886965,0.6472646899988066,-0.011418160275696611,0.004134264997745059,-0.0007212425246952662,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6260907477460067,-0.48918240088245973,-0.6442127153928756,0.5479363543559915,0.7061672258015383,-0.30385338068623857,1.002438071392113,0.6641904678232379,1.6466507867849887,1.6466507867849887,3.8553600000027295,1,0,-0.0009227361815286869,-9.999999025923074e-05
+54502,1791875419037335669,4459199000000,1791875419035854688,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6759983598365796,-0.004822693508871389,0.08018667611556478,0.9999999816196125,3.973934899010658e-05,-0.0001354957169867406,9.091388160024908e-05,0.6761,-0.0048,0.08019764223106357,1.0,0.0,0.0,0.0,-0.21157759622550087,-0.16475132660799405,0.5835056594630456,-0.008814793478934598,0.014137019723589501,0.0006558987400414443,-0.11582380207322764,-0.16620860943542812,0.5665798816386143,-0.012503059235144554,0.005183504882853937,-0.0005274278095658188,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6445376212260825,-0.4573075684112525,-0.6426197852939319,0.5330122049571235,0.7094515998733675,-0.2785790021578277,1.002438071392113,0.5835056594630456,1.645057856686045,1.645057856686045,3.874000000002748,1,0,-0.0009343861792590877,-9.999999025923074e-05
+54534,1791875419304365965,4459466000000,1791875419303851982,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760030348652822,-0.004811197406443419,0.07993477200351179,0.9999999831613767,4.565809954500519e-05,-0.00012815501457098336,8.131261314124811e-05,0.6761,-0.0048,0.0799463855715499,1.0,0.0,0.0,0.0,-0.21763796266241692,-0.16447936042520758,0.5031138263700389,-0.008817750040115441,0.015173164884340291,-0.0002874048654047253,-0.12188416851014368,-0.16593664325264165,0.4861880485456076,-0.012506015796325399,0.0062196500436047285,-0.0014707314150119884,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6477643435465938,-0.5174636336004491,-0.5573237982405087,0.539444726485777,0.648989661884354,-0.31950837787878567,1.002438071392113,0.5031138263700389,1.5597618696326219,1.5597618696326219,3.8953600000027695,1,0,-0.0009477361766583023,-9.999999025923074e-05
+54566,1791875419571367547,4459733000000,1791875419567851922,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6760029886182262,-0.004808618907341654,0.07967552441806812,0.9999999806309368,5.709350506831087e-05,-0.00013612711054963397,9.160093819658469e-05,0.6761,-0.0048,0.07969156446273064,1.0,0.0,0.0,0.0,-0.2249410695825254,-0.1513127189365847,0.4030635530787519,-0.007781564653545133,0.015175242568060287,-0.00019597381696460003,-0.12918727543025216,-0.15277000176401878,0.3861377752543207,-0.01146983040975509,0.006221727727324723,-0.0013793003665718631,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6192674086818342,-0.45741024430749544,-0.370621108910279,0.513855691143186,0.5223459249460691,-0.28662494270934097,1.002438071392113,0.4030635530787519,1.3730591803023922,1.3730591803023922,3.916720000002791,1,0,-0.0009610861740575169,-9.999999025923074e-05
+54594,1791875419804320803,4459966000000,1791875419799852607,DOWN_FORCE_DETACH,9,0.0335,0.033502478152513504,0.675987203553296,-0.004809114203432552,0.07943703797211764,0.9999999795462918,4.615557194814988e-05,-0.0001525186969900804,8.341457015899976e-05,0.6761,-0.0048,0.07946627998444078,1.0,0.0,0.0,0.0,-0.2301772604495252,-0.16954156038646997,0.36219509264360816,-0.008792161087321775,0.015204139492430272,-0.00016645832692760583,-0.13442346629725196,-0.17099884321390404,0.34526931481917694,-0.01248042684353173,0.006250624651694708,-0.001349784876534869,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6461671100719097,-0.5504502314231249,-0.4419039246548585,0.5227769022674724,0.5741044159929122,-0.3518059499834089,1.002438071392113,0.36219509264360816,1.4443419960469717,1.4443419960469717,3.9353600000028095,1,0,-0.0009727361717879176,-9.999999025923074e-05
+54624,1791875420054341166,4460216000000,1791875420051842974,DOWN_FORCE_DETACH,9,0.0335,0.033501818776130676,0.6759801962279716,-0.004811281323554438,0.07918679825243131,0.9999999767239253,5.379399039287866e-05,-0.0001626182333284622,9.304047696661313e-05,0.6761,-0.0048,0.07922153969179942,1.0,0.0,0.0,0.0,-0.23801179499494807,-0.18598562438722782,0.30729440099789485,-0.010445926026841829,0.016259121556253225,-0.00013126986718236394,-0.14225800084267484,-0.1874429072146619,0.2903686231734636,-0.014134191783051784,0.007305606715517663,-0.001314596416789627,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.638556365743073,-0.50569670914093,-0.29632304705640133,0.5105891562640478,0.47603501525601105,-0.32816007602773983,1.002438071392113,0.30729440099789485,1.2987611184485144,1.2987611184485144,3.9553600000028295,1,0,-0.0009852361693527252,-9.999999025923074e-05
+54690,1791875420603316664,4460765000000,1791875420599851313,DOWN_SETTLE,9,0.0335,0.033502478152513504,0.6759733803743976,-0.004790981808488136,0.07894577134094853,0.9999999750369495,6.096796943700915e-05,-0.00017620378075312954,8.126560895407604e-05,0.6761,-0.0048,0.07901574102742308,1.0,0.0,0.0,0.0,-0.22889028924762023,-0.17062710764611683,0.13179905834717293,-0.009767591331526292,0.015272582698376658,1.6915032161578247e-07,-0.13313649509534697,-0.1720843904735509,0.11487328052274168,-0.013455857087736249,0.006319067857641095,-0.0011831573992856473,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.5736352333312114,-0.4751837994870831,-0.11919491420387049,0.46903975333920894,0.36029235694921097,-0.32495259274946675,1.002438071392113,0.13179905834717293,1.1216329855959835,0.0,0.0,1,1,-1.2668910770350669e-05,0.00012796879566010776

Fixed/s2/ball_15A_10/press_depth_09/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1791875370638285523,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.042997333e-08,9.807373143e-11,3.461759657e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292034e-01,1.727307527e-06,8.295726244e-01
+1,9.833333333e-01,DOWN_FORCE_DETACH,1791875372502198216,4.244164483e-06,-5.046808288e-05,-1.802020701e-05,2.527218225e-06,-5.248931403e-05,-1.543516128e-05,2.942011064e-06,-5.248351910e-05,-1.511644332e-05,7.015421156e-01,-4.891712156e-05,8.407229210e-01,7.015403987e-01,-5.093835271e-05,8.407255060e-01,7.017321350e-01,-5.075630965e-05,8.295575045e-01
+2,1.783333333e+00,DOWN_FORCE_DETACH,1791875374098277101,1.423094243e-05,-7.732714780e-05,-1.592506125e-04,1.292042301e-05,-7.827079305e-05,-1.462965522e-04,1.327030474e-05,-7.824426690e-05,-1.447675844e-04,7.015521024e-01,-7.577618648e-05,8.405816906e-01,7.015507919e-01,-7.671983173e-05,8.405946446e-01,7.017424633e-01,-7.651705745e-05,8.294278533e-01
+3,2.766666667e+00,DOWN_FORCE_DETACH,1791875376026409749,2.097085786e-05,-8.641742881e-05,-2.264440564e-04,1.468095268e-05,-9.141753500e-05,-2.117128661e-04,1.504608808e-05,-9.140125219e-05,-2.104974552e-04,7.015588423e-01,-8.486646749e-05,8.405144971e-01,7.015525524e-01,-8.986657368e-05,8.405292283e-01,7.017442391e-01,-8.967404273e-05,8.293621235e-01
+4,3.833333333e+00,DOWN_FORCE_DETACH,1791875378066939258,2.766660087e-05,-9.693887835e-05,-2.504360211e-04,2.065566536e-05,-9.390533713e-05,-2.506899797e-04,2.104660766e-05,-9.383800302e-05,-2.497190435e-04,7.015655381e-01,-9.538791703e-05,8.404905052e-01,7.015585271e-01,-9.235437581e-05,8.404902512e-01,7.017502396e-01,-9.211079357e-05,8.293229019e-01
+5,5.000000000e+00,DOWN_FORCE_DETACH,1791875380286278641,3.434456388e-05,-9.654684121e-05,-3.232485683e-04,3.354378047e-05,-9.281880710e-05,-3.116994112e-04,3.413761906e-05,-9.274531512e-05,-3.106570298e-04,7.015722160e-01,-9.499587989e-05,8.404176926e-01,7.015714153e-01,-9.126784578e-05,8.404292418e-01,7.017633306e-01,-9.101810566e-05,8.292619639e-01
+6,6.016666667e+00,DOWN_FORCE_DETACH,1791875382282258280,4.650641874e-05,-9.731179913e-05,-3.912382742e-04,3.910792871e-05,-9.696072618e-05,-3.743547474e-04,3.967096990e-05,-9.690725184e-05,-3.733305536e-04,7.015843779e-01,-9.576083781e-05,8.403497029e-01,7.015769794e-01,-9.540976486e-05,8.403665864e-01,7.017688640e-01,-9.518004239e-05,8.291992904e-01
+7,7.050000000e+00,DOWN_FORCE_DETACH,1791875384310095977,6.183514450e-05,-1.002229985e-04,-4.526554611e-04,5.531297708e-05,-9.949134397e-05,-4.366019221e-04,5.616216396e-05,-9.942540959e-05,-4.355797553e-04,7.015997066e-01,-9.867203722e-05,8.402882857e-01,7.015931845e-01,-9.794038265e-05,8.403043393e-01,7.017853552e-01,-9.769820013e-05,8.291370412e-01
+8,8.033333333e+00,DOWN_FORCE_DETACH,1791875386174921314,7.213174264e-05,-1.050746505e-04,-5.217400956e-04,6.960314755e-05,-9.931482309e-05,-5.174652513e-04,7.062815494e-05,-9.921699583e-05,-5.162491420e-04,7.016100032e-01,-1.035236892e-04,8.402192011e-01,7.016074746e-01,-9.776386177e-05,8.402234759e-01,7.017998212e-01,-9.748978637e-05,8.290563718e-01
+9,9.083333333e+00,DOWN_FORCE_DETACH,1791875388168780657,7.738366517e-05,-1.015166512e-04,-5.982040324e-04,7.576740060e-05,-1.052023203e-04,-5.828603008e-04,7.686812372e-05,-1.051020714e-04,-5.817773195e-04,7.016152551e-01,-9.996568987e-05,8.401427372e-01,7.016136389e-01,-1.036513590e-04,8.401580809e-01,7.018060611e-01,-1.033748619e-04,8.289908436e-01
+10,1.016666667e+01,DOWN_FORCE_DETACH,1791875390298180799,9.147999746e-05,-1.053432940e-04,-6.799304847e-04,8.875684908e-05,-1.077736622e-04,-6.644458451e-04,8.993131175e-05,-1.076473151e-04,-6.633631904e-04,7.016293515e-01,-1.037923327e-04,8.400610107e-01,7.016266283e-01,-1.062227009e-04,8.400764953e-01,7.018191243e-01,-1.059201056e-04,8.289092577e-01
+11,1.126666667e+01,DOWN_FORCE_DETACH,1791875392494224384,1.023610831e-04,-1.118306157e-04,-7.751382729e-04,9.958672648e-05,-1.125024767e-04,-7.725216274e-04,1.006333643e-04,-1.123948124e-04,-7.711989521e-04,7.016402326e-01,-1.102796543e-04,8.399658029e-01,7.016374582e-01,-1.109515154e-04,8.399684196e-01,7.018298264e-01,-1.106676030e-04,8.288014220e-01
+12,1.228333333e+01,DOWN_FORCE_DETACH,1791875394422273156,1.171519224e-04,-1.156503954e-04,-8.732506779e-04,1.149314288e-04,-1.131689182e-04,-8.734185554e-04,1.159339356e-04,-1.130310564e-04,-8.719435001e-04,7.016550234e-01,-1.140994341e-04,8.398676905e-01,7.016528029e-01,-1.116179568e-04,8.398675226e-01,7.018451269e-01,-1.113038470e-04,8.287006774e-01
+13,1.313333333e+01,DOWN_FORCE_DETACH,1791875396018323916,1.231765277e-04,-1.194512706e-04,-9.719317535e-04,1.190637191e-04,-1.221948465e-04,-9.607727090e-04,1.199511502e-04,-1.220526342e-04,-9.592839843e-04,7.016610480e-01,-1.179003093e-04,8.397690094e-01,7.016569352e-01,-1.206438852e-04,8.397801685e-01,7.018491442e-01,-1.203254247e-04,8.286133369e-01
+14,1.391666667e+01,DOWN_FORCE_DETACH,1791875397516359763,1.335986500e-04,-1.200070761e-04,-1.078560340e-03,1.271832891e-04,-1.196879905e-04,-1.074108469e-03,1.278818043e-04,-1.195592960e-04,-1.072323697e-03,7.016714701e-01,-1.184561148e-04,8.396623808e-01,7.016650548e-01,-1.181370292e-04,8.396668327e-01,7.018570748e-01,-1.178320865e-04,8.285002972e-01
+15,1.468333333e+01,DOWN_FORCE_DETACH,1791875399046406849,1.309566002e-04,-1.506511425e-04,-1.227097046e-03,1.314506006e-04,-1.539201698e-04,-1.209470410e-03,1.318222634e-04,-1.537917383e-04,-1.207317272e-03,7.016688281e-01,-1.491001811e-04,8.395138441e-01,7.016693221e-01,-1.523692085e-04,8.395314708e-01,7.018610153e-01,-1.520645289e-04,8.283653036e-01
+16,1.550000000e+01,DOWN_FORCE_DETACH,1791875400678140779,1.329167705e-04,-1.637840920e-04,-1.420428092e-03,1.331335520e-04,-1.593783302e-04,-1.415219974e-03,1.328258984e-04,-1.592734892e-04,-1.412261484e-03,7.016707883e-01,-1.622331307e-04,8.393205131e-01,7.016710050e-01,-1.578273689e-04,8.393257212e-01,7.018620189e-01,-1.575462797e-04,8.281603594e-01
+17,1.618333333e+01,DOWN_FORCE_DETACH,1791875401974119716,1.354748466e-04,-1.623526020e-04,-1.607935332e-03,1.322369628e-04,-1.611463197e-04,-1.590027521e-03,1.313628304e-04,-1.610693580e-04,-1.586691267e-03,7.016733463e-01,-1.608016406e-04,8.391330059e-01,7.016701084e-01,-1.595953583e-04,8.391509137e-01,7.018605558e-01,-1.593421486e-04,8.279859296e-01
+18,1.681666667e+01,DOWN_FORCE_DETACH,1791875403172241309,1.357013390e-04,-1.724377926e-04,-1.819155858e-03,1.312365206e-04,-1.717969785e-04,-1.814335436e-03,1.295714397e-04,-1.716914449e-04,-1.810304099e-03,7.016735728e-01,-1.708868312e-04,8.389217853e-01,7.016691080e-01,-1.702460172e-04,8.389266058e-01,7.018587644e-01,-1.699642355e-04,8.277623168e-01
+19,1.738333333e+01,DOWN_FORCE_DETACH,1791875404236251411,1.325059966e-04,-1.706399423e-04,-2.045225806e-03,1.298498210e-04,-1.771723967e-04,-2.034231487e-03,1.273112780e-04,-1.770240737e-04,-2.029772294e-03,7.016703775e-01,-1.690889809e-04,8.386957154e-01,7.016677213e-01,-1.756214354e-04,8.387067097e-01,7.018565043e-01,-1.752968642e-04,8.275428486e-01
+20,1.788333333e+01,DOWN_FORCE_DETACH,1791875405200172362,1.328606711e-04,-1.734828376e-04,-2.280337632e-03,1.313523416e-04,-1.788832190e-04,-2.265264565e-03,1.280243990e-04,-1.786694498e-04,-2.260280252e-03,7.016707322e-01,-1.719318763e-04,8.384606036e-01,7.016692238e-01,-1.773322577e-04,8.384756766e-01,7.018572174e-01,-1.769422403e-04,8.273123407e-01
+21,1.833333333e+01,DOWN_FORCE_DETACH,1791875406066266038,1.351874938e-04,-1.827079313e-04,-2.517829842e-03,1.357774641e-04,-1.809261979e-04,-2.507615008e-03,1.315777936e-04,-1.806455767e-04,-2.502158010e-03,7.016730590e-01,-1.811569700e-04,8.382231113e-01,7.016736489e-01,-1.793752366e-04,8.382333262e-01,7.018607708e-01,-1.789183673e-04,8.270704629e-01
+22,1.870000000e+01,DOWN_FORCE_DETACH,1791875406798429010,1.313003313e-04,-1.874691328e-04,-2.751231875e-03,1.294072266e-04,-1.897046063e-04,-2.737490571e-03,1.242952605e-04,-1.893783068e-04,-2.731564570e-03,7.016691718e-01,-1.859181715e-04,8.379897093e-01,7.016672787e-01,-1.881536450e-04,8.380034506e-01,7.018534883e-01,-1.876510974e-04,8.268410563e-01
+23,1.905000000e+01,DOWN_FORCE_DETACH,1791875407496179506,1.269968805e-04,-1.863624832e-04,-2.997070394e-03,1.268373723e-04,-1.862709114e-04,-2.996748677e-03,1.206552731e-04,-1.859242211e-04,-2.990122191e-03,7.016648684e-01,-1.848115219e-04,8.377438708e-01,7.016647089e-01,-1.847199501e-04,8.377441925e-01,7.018498483e-01,-1.841970117e-04,8.265824987e-01
+24,1.936666667e+01,DOWN_FORCE_DETACH,1791875408126152128,1.232975160e-04,-1.938092248e-04,-3.234958849e-03,1.261018701e-04,-1.974101188e-04,-3.218485408e-03,1.191733950e-04,-1.970904755e-04,-3.211645375e-03,7.016611690e-01,-1.922582635e-04,8.375059823e-01,7.016639734e-01,-1.958591575e-04,8.375224558e-01,7.018483664e-01,-1.953632661e-04,8.263609755e-01
+25,1.968333333e+01,DOWN_FORCE_DETACH,1791875408760169059,1.264463514e-04,-1.994882502e-04,-3.480621684e-03,1.261172241e-04,-1.995312754e-04,-3.480770686e-03,1.182483075e-04,-1.991321908e-04,-3.473406021e-03,7.016643178e-01,-1.979372888e-04,8.372603195e-01,7.016639887e-01,-1.979803141e-04,8.372601705e-01,7.018474413e-01,-1.974049813e-04,8.260992149e-01
+26,1.998333333e+01,DOWN_FORCE_DETACH,1791875409324179182,1.293188732e-04,-2.048867401e-04,-3.717303218e-03,1.290378602e-04,-2.048579178e-04,-3.717099351e-03,1.203846677e-04,-2.044054614e-04,-3.709709178e-03,7.016671904e-01,-2.033357788e-04,8.370236380e-01,7.016669093e-01,-2.033069565e-04,8.370238418e-01,7.018495777e-01,-2.026782519e-04,8.258629117e-01
+27,2.026666667e+01,DOWN_FORCE_DETACH,1791875409858177803,1.313573077e-04,-2.046447755e-04,-3.963732115e-03,1.304624777e-04,-1.994668956e-04,-3.956893425e-03,1.209008784e-04,-1.989533717e-04,-3.949438413e-03,7.016692288e-01,-2.030938142e-04,8.367772091e-01,7.016683340e-01,-1.979159343e-04,8.367840478e-01,7.018500939e-01,-1.972261623e-04,8.256231825e-01
+28,2.051666667e+01,DOWN_FORCE_DETACH,1791875410356243899,1.270910955e-04,-2.045827018e-04,-4.211647406e-03,1.269217941e-04,-2.047427914e-04,-4.194025102e-03,1.163849921e-04,-2.041579278e-04,-4.186445413e-03,7.016649626e-01,-2.030317405e-04,8.365292938e-01,7.016647933e-01,-2.031918300e-04,8.365469161e-01,7.018455780e-01,-2.024307184e-04,8.253861755e-01
+29,2.078333333e+01,DOWN_FORCE_DETACH,1791875410856303298,1.267448077e-04,-2.053141309e-04,-4.464425211e-03,1.246229760e-04,-2.110378260e-04,-4.448026193e-03,1.131237957e-04,-2.103815081e-04,-4.440306355e-03,7.016646163e-01,-2.037631696e-04,8.362765160e-01,7.016624945e-01,-2.094868647e-04,8.362929150e-01,7.018423168e-01,-2.086542986e-04,8.251323146e-01
+30,2.103333333e+01,DOWN_FORCE_DETACH,1791875411322558209,1.296406669e-04,-2.106767856e-04,-4.703670514e-03,1.267419191e-04,-2.110891431e-04,-4.688469592e-03,1.144105693e-04,-2.104260160e-04,-4.680765933e-03,7.016675121e-01,-2.091258242e-04,8.360372707e-01,7.016646134e-01,-2.095381817e-04,8.360524716e-01,7.018436036e-01,-2.086988065e-04,8.248918550e-01
+31,2.126666667e+01,DOWN_FORCE_DETACH,1791875411754177763,1.261834546e-04,-2.154880502e-04,-4.949142159e-03,1.259086198e-04,-2.156147503e-04,-4.949261747e-03,1.126106109e-04,-2.149434278e-04,-4.941279236e-03,7.016640549e-01,-2.139370888e-04,8.357917990e-01,7.016637801e-01,-2.140637889e-04,8.357916794e-01,7.018418036e-01,-2.132162184e-04,8.246313417e-01
+32,2.148333333e+01,DOWN_FORCE_DETACH,1791875412186323857,1.245775670e-04,-2.165404788e-04,-5.202436134e-03,1.245550249e-04,-2.166297944e-04,-5.202242808e-03,1.103840931e-04,-2.159295083e-04,-5.194034011e-03,7.016624490e-01,-2.149895174e-04,8.355385051e-01,7.016624265e-01,-2.150788331e-04,8.355386984e-01,7.018395771e-01,-2.142022988e-04,8.243785869e-01
+33,2.170000000e+01,DOWN_FORCE_DETACH,1791875412586193979,1.194210150e-04,-2.173315076e-04,-5.449809635e-03,1.194137281e-04,-2.174359694e-04,-5.449811764e-03,1.041435768e-04,-2.165671066e-04,-5.442004707e-03,7.016572925e-01,-2.157805463e-04,8.352911316e-01,7.016572852e-01,-2.158850081e-04,8.352911294e-01,7.018333366e-01,-2.148398972e-04,8.241306162e-01
+34,2.190000000e+01,DOWN_FORCE_DETACH,1791875412982235189,1.179888220e-04,-2.159478353e-04,-5.690078486e-03,1.178419529e-04,-2.159996703e-04,-5.690327104e-03,1.016916078e-04,-2.151273757e-04,-5.682377218e-03,7.016558603e-01,-2.143968740e-04,8.350508627e-01,7.016557134e-01,-2.144487089e-04,8.350506141e-01,7.018308846e-01,-2.134001662e-04,8.238902437e-01
+35,2.211666667e+01,DOWN_FORCE_DETACH,1791875413384702571,1.184292739e-04,-2.174875350e-04,-5.946942697e-03,1.182637323e-04,-2.174598327e-04,-5.946754854e-03,1.011330118e-04,-2.165034890e-04,-5.938962575e-03,7.016563008e-01,-2.159365737e-04,8.347939985e-01,7.016561352e-01,-2.159088714e-04,8.347941863e-01,7.018303260e-01,-2.147762796e-04,8.236336583e-01
+36,2.231666667e+01,DOWN_FORCE_DETACH,1791875413748202717,1.163960233e-04,-2.151000830e-04,-6.185471990e-03,1.161655934e-04,-2.151562420e-04,-6.185421896e-03,9.813100057e-05,-2.141780008e-04,-6.177872891e-03,7.016542675e-01,-2.135491217e-04,8.345554692e-01,7.016540371e-01,-2.136052806e-04,8.345555193e-01,7.018273240e-01,-2.124507913e-04,8.233947480e-01
+37,2.250000000e+01,DOWN_FORCE_DETACH,1791875414114358964,1.139546567e-04,-2.176000511e-04,-6.435045282e-03,1.139919201e-04,-2.175693121e-04,-6.434821882e-03,9.497468540e-05,-2.165920428e-04,-6.427297374e-03,7.016518261e-01,-2.160490898e-04,8.343058959e-01,7.016518634e-01,-2.160183508e-04,8.343061193e-01,7.018241677e-01,-2.148648334e-04,8.231453235e-01
+38,2.266666667e+01,DOWN_FORCE_DETACH,1791875414446215224,1.110337886e-04,-2.141577602e-04,-6.668044612e-03,1.108375233e-04,-2.146072109e-04,-6.667885372e-03,9.096434597e-05,-2.136152339e-04,-6.660719835e-03,7.016489053e-01,-2.126067989e-04,8.340728966e-01,7.016487090e-01,-2.130562496e-04,8.340730558e-01,7.018201574e-01,-2.118880244e-04,8.229119011e-01
+39,2.285000000e+01,DOWN_FORCE_DETACH,1791875414814242674,1.097992806e-04,-2.124233585e-04,-6.923829606e-03,1.097651668e-04,-2.125795085e-04,-6.923957433e-03,8.888053301e-05,-2.116661345e-04,-6.917100319e-03,7.016476708e-01,-2.108723972e-04,8.338171116e-01,7.016476366e-01,-2.110285471e-04,8.338169838e-01,7.018180735e-01,-2.099389250e-04,8.226555206e-01
+40,2.301666667e+01,DOWN_FORCE_DETACH,1791875415146202135,1.027593298e-04,-2.155859812e-04,-7.175245486e-03,1.025380678e-04,-2.154316239e-04,-7.174926379e-03,8.062072810e-05,-2.143901165e-04,-7.168069642e-03,7.016406308e-01,-2.140350199e-04,8.335656957e-01,7.016404095e-01,-2.138806626e-04,8.335660148e-01,7.018098137e-01,-2.126629070e-04,8.224045513e-01
+41,2.318333333e+01,DOWN_FORCE_DETACH,1791875415480201151,9.304524610e-05,-2.167808265e-04,-7.437593116e-03,9.291701139e-05,-2.169469187e-04,-7.437532576e-03,6.980679597e-05,-2.159017601e-04,-7.430910432e-03,7.016309167e-01,-2.152298652e-04,8.333033481e-01,7.016307885e-01,-2.153959574e-04,8.333034086e-01,7.017989998e-01,-2.141745507e-04,8.221417105e-01
+42,2.333333333e+01,DOWN_FORCE_DETACH,1791875415778210601,8.955374255e-05,-2.104817641e-04,-7.673828831e-03,8.937824431e-05,-2.103210876e-04,-7.673932135e-03,6.525617433e-05,-2.093325472e-04,-7.667781432e-03,7.016274252e-01,-2.089308028e-04,8.330671124e-01,7.016272497e-01,-2.087701263e-04,8.330670091e-01,7.017944492e-01,-2.076053377e-04,8.219048395e-01
+43,2.348333333e+01,DOWN_FORCE_DETACH,1791875416078284143,8.664519598e-05,-2.073231855e-04,-7.909894206e-03,8.646641643e-05,-2.072067062e-04,-7.909970246e-03,6.138584669e-05,-2.061850135e-04,-7.904396491e-03,7.016245167e-01,-2.057722242e-04,8.328310470e-01,7.016243379e-01,-2.056557449e-04,8.328309709e-01,7.017905789e-01,-2.044578040e-04,8.216682244e-01
+44,2.363333333e+01,DOWN_FORCE_DETACH,1791875416378266972,7.518553574e-05,-2.118477745e-04,-8.164420103e-03,7.517236417e-05,-2.118963402e-04,-8.164349804e-03,4.892193240e-05,-2.108446029e-04,-8.159178724e-03,7.016130570e-01,-2.102968132e-04,8.325765211e-01,7.016130438e-01,-2.103453788e-04,8.325765914e-01,7.017781149e-01,-2.091173934e-04,8.214134422e-01
+45,2.378333333e+01,DOWN_FORCE_DETACH,1791875416676246089,6.737969082e-05,-2.081560759e-04,-8.421845263e-03,6.721555178e-05,-2.082300368e-04,-8.421695379e-03,3.981992513e-05,-2.071497730e-04,-8.416716930e-03,7.016052512e-01,-2.066051146e-04,8.323190959e-01,7.016050870e-01,-2.066790755e-04,8.323192458e-01,7.017690129e-01,-2.054225636e-04,8.211559040e-01
+46,2.391666667e+01,DOWN_FORCE_DETACH,1791875416942219611,5.754853176e-05,-2.075630408e-04,-8.658587956e-03,5.749938862e-05,-2.074609926e-04,-8.658712571e-03,2.898580525e-05,-2.062810866e-04,-8.654160315e-03,7.015954200e-01,-2.060120795e-04,8.320823532e-01,7.015953709e-01,-2.059100313e-04,8.320822286e-01,7.017581788e-01,-2.045538772e-04,8.209184606e-01
+47,2.405000000e+01,DOWN_FORCE_DETACH,1791875417208245284,4.220844161e-05,-2.089104753e-04,-8.912086325e-03,4.220411085e-05,-2.089931268e-04,-8.911791224e-03,1.234905012e-05,-2.078113789e-04,-8.907680266e-03,7.015800799e-01,-2.073595140e-04,8.318288549e-01,7.015800756e-01,-2.074421655e-04,8.318291500e-01,7.017415421e-01,-2.060841694e-04,8.206649406e-01
+48,2.420000000e+01,DOWN_FORCE_DETACH,1791875417506291758,3.235147385e-05,-2.059728423e-04,-9.178477318e-03,3.202171784e-05,-2.058766489e-04,-9.178502803e-03,8.609895052e-07,-2.047651535e-04,-9.175368092e-03,7.015702230e-01,-2.044218809e-04,8.315624639e-01,7.015698932e-01,-2.043256875e-04,8.315624384e-01,7.017300540e-01,-2.030379441e-04,8.203972528e-01
+49,2.435000000e+01,DOWN_FORCE_DETACH,1791875417774651106,3.136696039e-05,-2.064660990e-04,-9.423587902e-03,3.129864904e-05,-2.061148535e-04,-9.423888049e-03,-8.135606537e-07,-2.050302964e-04,-9.421213781e-03,7.015692384e-01,-2.049151377e-04,8.313173533e-01,7.015691701e-01,-2.045638922e-04,8.313170531e-01,7.017283794e-01,-2.033030870e-04,8.201514071e-01
+50,2.448333333e+01,DOWN_FORCE_DETACH,1791875418040727518,1.372563267e-05,-2.068969836e-04,-9.682647784e-03,1.358230440e-05,-2.067369366e-04,-9.682218824e-03,-1.997135735e-05,-2.056485693e-04,-9.680011964e-03,7.015515971e-01,-2.053460223e-04,8.310582934e-01,7.015514538e-01,-2.051859753e-04,8.310587224e-01,7.017092217e-01,-2.039213599e-04,8.198926089e-01
+51,2.460000000e+01,DOWN_FORCE_DETACH,1791875418240123388,-3.023074628e-06,-2.004049208e-04,-9.887813813e-03,-3.355894919e-06,-2.004040631e-04,-9.887890434e-03,-3.812955303e-05,-1.992755901e-04,-9.886076276e-03,7.015348484e-01,-1.988539595e-04,8.308531274e-01,7.015345156e-01,-1.988531017e-04,8.308530508e-01,7.016910635e-01,-1.975483807e-04,8.196865446e-01
+52,2.475000000e+01,DOWN_FORCE_DETACH,1791875418541738870,3.203477191e-06,-1.863011056e-04,-1.016174755e-02,2.969820621e-06,-1.860541503e-04,-1.016144955e-02,-3.274706124e-05,-1.850756655e-04,-1.016024470e-02,7.015410750e-01,-1.847501442e-04,8.305791936e-01,7.015408413e-01,-1.845031890e-04,8.305794916e-01,7.016964459e-01,-1.833484561e-04,8.194123762e-01
+53,2.488333333e+01,DOWN_FORCE_DETACH,1791875418801099044,-1.298228137e-05,-1.777006529e-04,-1.040641747e-02,-1.305943711e-05,-1.776819873e-04,-1.040659134e-02,-5.006692739e-05,-1.770475130e-04,-1.040595893e-02,7.015248892e-01,-1.761496916e-04,8.303345237e-01,7.015248120e-01,-1.761310260e-04,8.303343499e-01,7.016791261e-01,-1.753203035e-04,8.191666620e-01
+54,2.501666667e+01,DOWN_FORCE_DETACH,1791875419038266213,-2.449276366e-05,-1.712785342e-04,-1.064976831e-02,-2.476512485e-05,-1.715094782e-04,-1.064926954e-02,-6.304319370e-05,-1.711691577e-04,-1.064896963e-02,7.015133787e-01,-1.697275729e-04,8.300911729e-01,7.015131064e-01,-1.699585169e-04,8.300916717e-01,7.016661498e-01,-1.694419482e-04,8.189236513e-01
+55,2.515000000e+01,DOWN_FORCE_DETACH,1791875419304315029,-2.055719574e-05,-1.609233798e-04,-1.090152849e-02,-2.067587401e-05,-1.608187045e-04,-1.090112863e-02,-5.977142693e-05,-1.607021255e-04,-1.090109780e-02,7.015173143e-01,-1.593724185e-04,8.298394127e-01,7.015171956e-01,-1.592677432e-04,8.298398126e-01,7.016694216e-01,-1.589749161e-04,8.186715231e-01
+56,2.530000000e+01,DOWN_FORCE_DETACH,1791875419570235620,-1.805138096e-05,-1.587507752e-04,-1.115587669e-02,-1.828977510e-05,-1.588853033e-04,-1.115591482e-02,-5.824344111e-05,-1.591687355e-04,-1.115618656e-02,7.015198201e-01,-1.571998139e-04,8.295850645e-01,7.015195817e-01,-1.573343420e-04,8.295850264e-01,7.016709496e-01,-1.574415260e-04,8.184164343e-01
+57,2.541666667e+01,DOWN_FORCE_DETACH,1791875419806712007,-3.614646484e-05,-1.576785978e-04,-1.140150955e-02,-3.655716447e-05,-1.575122430e-04,-1.140111799e-02,-7.790550938e-05,-1.582042191e-04,-1.140166703e-02,7.015017250e-01,-1.561276365e-04,8.293394316e-01,7.015013143e-01,-1.559612817e-04,8.293398232e-01,7.016512875e-01,-1.564770096e-04,8.181709539e-01
+58,2.555000000e+01,DOWN_FORCE_DETACH,1791875420053004794,-4.523339197e-05,-1.637647420e-04,-1.165272105e-02,-4.538347882e-05,-1.638478140e-04,-1.165302366e-02,-8.779104253e-05,-1.648278663e-04,-1.165373572e-02,7.014926381e-01,-1.622137807e-04,8.290882201e-01,7.014924880e-01,-1.622968527e-04,8.290879175e-01,7.016414020e-01,-1.631006568e-04,8.179188852e-01
+59,2.583333333e+01,DOWN_SETTLE,1791875420602240260,-5.357483707e-05,-1.400132589e-04,-1.189637586e-02,-5.148554536e-05,-1.434215865e-04,-1.188052827e-02,-9.481411943e-05,-1.442485264e-04,-1.188125171e-02,7.014842966e-01,-1.384622976e-04,8.288445653e-01,7.014863859e-01,-1.418706252e-04,8.288604129e-01,7.016343789e-01,-1.425213169e-04,8.176913692e-01

Fixed/s2/ball_15A_10/press_depth_09/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-1.8681e-02,-9.5500e-04,2.4500e+00,-3.6682e-02,3.5448e-02,-2.4875e-05,4.7037e-04,5.6642e-07,1.7691e-04,4.0978e-08,3.2999e-05,-6.9209e-08,5.0254e-04,3.2999e-05
+1,9.8333e-01,DOWN_FORCE_DETACH,2.4971e-04,1.1799e-03,1.6767e-02,2.4694e+00,-3.7935e-02,3.6838e-02,1.4095e-06,2.0331e-02,1.7723e-02,1.9639e-02,-1.2524e-03,1.4230e-03,2.6215e-05,3.3364e-02,1.8958e-03
+2,1.7833e+00,DOWN_FORCE_DETACH,4.9992e-04,7.1886e-03,2.5811e-02,2.5294e+00,-3.8553e-02,3.7230e-02,1.0253e-05,2.6340e-02,2.6767e-02,7.9630e-02,-1.8712e-03,1.8150e-03,3.5059e-05,8.8041e-02,2.6071e-03
+3,2.7667e+00,DOWN_FORCE_DETACH,7.5367e-04,1.4738e-02,3.0752e-02,2.5152e+00,-3.8852e-02,3.7782e-02,7.1907e-06,3.3889e-02,3.1708e-02,6.5415e-02,-2.1693e-03,2.3665e-03,3.1997e-05,8.0206e-02,3.2105e-03
+4,3.8333e+00,DOWN_FORCE_DETACH,1.0055e-03,1.6985e-02,3.1850e-02,2.4994e+00,-3.8906e-02,3.7960e-02,5.4197e-06,3.6137e-02,3.2806e-02,4.9634e-02,-2.2233e-03,2.5447e-03,3.0226e-05,6.9611e-02,3.3793e-03
+5,5.0000e+00,DOWN_FORCE_DETACH,1.2593e-03,1.6413e-02,3.1964e-02,2.5019e+00,-3.8928e-02,3.7923e-02,1.0867e-05,3.5564e-02,3.2920e-02,5.2120e-02,-2.2461e-03,2.5075e-03,3.5673e-05,7.1169e-02,3.3666e-03
+6,6.0167e+00,DOWN_FORCE_DETACH,1.5078e-03,1.9574e-02,3.4044e-02,2.5035e+00,-3.9109e-02,3.8143e-02,2.6474e-05,3.8725e-02,3.5000e-02,5.3657e-02,-2.4271e-03,2.7276e-03,5.1280e-05,7.4857e-02,3.6514e-03
+7,7.0500e+00,DOWN_FORCE_DETACH,1.7569e-03,1.9316e-02,3.5770e-02,2.5040e+00,-3.9273e-02,3.8119e-02,4.6486e-05,3.8467e-02,3.6726e-02,5.4188e-02,-2.5903e-03,2.7033e-03,7.1291e-05,7.5927e-02,3.7446e-03
+8,8.0333e+00,DOWN_FORCE_DETACH,2.0129e-03,2.1726e-02,3.6847e-02,2.5142e+00,-3.9391e-02,3.8278e-02,6.2233e-05,4.0877e-02,3.7802e-02,6.4433e-02,-2.7082e-03,2.8624e-03,8.7039e-05,8.5156e-02,3.9415e-03
+9,9.0833e+00,DOWN_FORCE_DETACH,2.2633e-03,2.6787e-02,3.9806e-02,2.5052e+00,-3.9619e-02,3.8641e-02,7.9521e-05,4.5938e-02,4.0762e-02,5.5408e-02,-2.9370e-03,3.2257e-03,1.0433e-04,8.2716e-02,4.3637e-03
+10,1.0167e+01,DOWN_FORCE_DETACH,2.5132e-03,2.6946e-02,4.1557e-02,2.5051e+00,-3.9729e-02,3.8659e-02,8.0110e-05,4.6097e-02,4.2512e-02,5.5284e-02,-3.0470e-03,3.2437e-03,1.0492e-04,8.3598e-02,4.4516e-03
+11,1.1267e+01,DOWN_FORCE_DETACH,2.7638e-03,2.5026e-02,4.3416e-02,2.5154e+00,-3.9817e-02,3.8523e-02,6.8967e-05,4.4178e-02,4.4371e-02,6.5556e-02,-3.1346e-03,3.1079e-03,9.3773e-05,9.0654e-02,4.4151e-03
+12,1.2283e+01,DOWN_FORCE_DETACH,3.0188e-03,2.0712e-02,4.3001e-02,2.5231e+00,-3.9747e-02,3.8213e-02,5.5817e-05,3.9863e-02,4.3957e-02,7.3344e-02,-3.0644e-03,2.7974e-03,8.0623e-05,9.4343e-02,4.1500e-03
+13,1.3133e+01,DOWN_FORCE_DETACH,3.2662e-03,2.2469e-02,4.5575e-02,2.5240e+00,-3.9909e-02,3.8326e-02,5.5009e-05,4.1621e-02,4.6531e-02,7.4203e-02,-3.2272e-03,2.9108e-03,7.9815e-05,9.6972e-02,4.3467e-03
+14,1.3917e+01,DOWN_FORCE_DETACH,3.5178e-03,2.2641e-02,4.4115e-02,2.5398e+00,-3.9810e-02,3.8319e-02,4.2357e-05,4.1792e-02,4.5070e-02,9.0044e-02,-3.1275e-03,2.9035e-03,6.7163e-05,1.0902e-01,4.2680e-03
+15,1.4683e+01,DOWN_FORCE_DETACH,3.7717e-03,2.4921e-02,5.4969e-02,2.5586e+00,-4.0585e-02,3.8465e-02,3.9851e-05,4.4072e-02,5.5924e-02,1.0881e-01,-3.9027e-03,3.0496e-03,6.4657e-05,1.3004e-01,4.9533e-03
+16,1.5500e+01,DOWN_FORCE_DETACH,4.0261e-03,2.7452e-02,5.5256e-02,2.6005e+00,-4.0589e-02,3.8615e-02,1.2758e-05,4.6603e-02,5.6212e-02,1.5068e-01,-3.9071e-03,3.1999e-03,3.7564e-05,1.6744e-01,5.0504e-03
+17,1.6183e+01,DOWN_FORCE_DETACH,4.2711e-03,3.1937e-02,5.4773e-02,2.6179e+00,-4.0505e-02,3.8909e-02,-2.0459e-06,5.1089e-02,5.5728e-02,1.6808e-01,-3.8231e-03,3.4936e-03,2.2760e-05,1.8430e-01,5.1790e-03
+18,1.6817e+01,DOWN_FORCE_DETACH,4.5259e-03,3.5294e-02,5.8892e-02,2.6543e+00,-4.0705e-02,3.9130e-02,-1.8619e-06,5.4445e-02,5.9847e-02,2.0452e-01,-4.0232e-03,3.7146e-03,2.2944e-05,2.1994e-01,5.4758e-03
+19,1.7383e+01,DOWN_FORCE_DETACH,4.7795e-03,3.5211e-02,6.1975e-02,2.6753e+00,-4.0868e-02,3.9116e-02,-1.8247e-05,5.4362e-02,6.2931e-02,2.2555e-01,-4.1860e-03,3.7007e-03,6.5590e-06,2.4039e-01,5.5874e-03
+20,1.7883e+01,DOWN_FORCE_DETACH,5.0320e-03,3.4449e-02,6.4136e-02,2.7036e+00,-4.1013e-02,3.9052e-02,-3.0754e-05,5.3600e-02,6.5092e-02,2.5382e-01,-4.3312e-03,3.6372e-03,-5.9478e-06,2.6746e-01,5.6558e-03
+21,1.8333e+01,DOWN_FORCE_DETACH,5.2842e-03,3.0855e-02,6.8058e-02,2.7313e+00,-4.1227e-02,3.8793e-02,-2.9311e-05,5.0007e-02,6.9013e-02,2.8155e-01,-4.5447e-03,3.3778e-03,-4.5055e-06,2.9417e-01,5.6625e-03
+22,1.8700e+01,DOWN_FORCE_DETACH,5.5308e-03,3.4682e-02,7.3165e-02,2.7547e+00,-4.1528e-02,3.9031e-02,-1.2214e-05,5.3834e-02,7.4121e-02,3.0487e-01,-4.8453e-03,3.6156e-03,1.2592e-05,3.1833e-01,6.0456e-03
+23,1.9050e+01,DOWN_FORCE_DETACH,5.7867e-03,3.7451e-02,7.4350e-02,2.7752e+00,-4.1600e-02,3.9194e-02,-1.4293e-05,5.6602e-02,7.5305e-02,3.2540e-01,-4.9180e-03,3.7786e-03,1.0513e-05,3.3876e-01,6.2019e-03
+24,1.9367e+01,DOWN_FORCE_DETACH,6.0324e-03,3.8743e-02,7.3857e-02,2.8035e+00,-4.1545e-02,3.9254e-02,-1.6837e-05,5.7895e-02,7.4812e-02,3.5370e-01,-4.8629e-03,3.8389e-03,7.9691e-06,3.6613e-01,6.1955e-03
+25,1.9683e+01,DOWN_FORCE_DETACH,6.2859e-03,3.9162e-02,7.3816e-02,2.8119e+00,-4.1463e-02,3.9287e-02,-1.3574e-05,5.8313e-02,7.4772e-02,3.6211e-01,-4.7807e-03,3.8718e-03,1.1232e-05,3.7432e-01,6.1519e-03
+26,1.9983e+01,DOWN_FORCE_DETACH,6.5280e-03,3.7600e-02,7.7800e-02,2.8167e+00,-4.1674e-02,3.9181e-02,7.5282e-06,5.6751e-02,7.8755e-02,3.6693e-01,-4.9913e-03,3.7659e-03,3.2334e-05,3.7955e-01,6.2526e-03
+27,2.0267e+01,DOWN_FORCE_DETACH,6.7852e-03,3.6071e-02,8.0221e-02,2.8355e+00,-4.1786e-02,3.9060e-02,1.7780e-06,5.5222e-02,8.1176e-02,3.8566e-01,-5.1035e-03,3.6445e-03,2.6584e-05,3.9796e-01,6.2713e-03
+28,2.0517e+01,DOWN_FORCE_DETACH,7.0377e-03,3.6586e-02,8.5934e-02,2.8461e+00,-4.2164e-02,3.9082e-02,2.1230e-05,5.5737e-02,8.6890e-02,3.9635e-01,-5.4818e-03,3.6672e-03,4.6036e-05,4.0957e-01,6.5955e-03
+29,2.0783e+01,DOWN_FORCE_DETACH,7.2967e-03,3.7462e-02,9.0425e-02,2.8519e+00,-4.2421e-02,3.9116e-02,3.0324e-05,5.6613e-02,9.1380e-02,4.0212e-01,-5.7392e-03,3.7005e-03,5.5130e-05,4.1624e-01,6.8290e-03
+30,2.1033e+01,DOWN_FORCE_DETACH,7.5424e-03,3.7118e-02,8.9343e-02,2.8506e+00,-4.2357e-02,3.9076e-02,1.7672e-05,5.6269e-02,9.0298e-02,4.0076e-01,-5.6752e-03,3.6607e-03,4.2478e-05,4.1464e-01,6.7535e-03
+31,2.1267e+01,DOWN_FORCE_DETACH,7.7908e-03,3.7185e-02,9.0773e-02,2.8507e+00,-4.2394e-02,3.9085e-02,9.7206e-06,5.6336e-02,9.1729e-02,4.0086e-01,-5.7121e-03,3.6696e-03,3.4527e-05,4.1506e-01,6.7894e-03
+32,2.1483e+01,DOWN_FORCE_DETACH,8.0507e-03,3.9759e-02,9.3502e-02,2.8543e+00,-4.2513e-02,3.9272e-02,2.1382e-05,5.8910e-02,9.4458e-02,4.0448e-01,-5.8309e-03,3.8566e-03,4.6188e-05,4.1952e-01,6.9910e-03
+33,2.1700e+01,DOWN_FORCE_DETACH,8.3031e-03,3.9960e-02,9.6686e-02,2.8518e+00,-4.2727e-02,3.9272e-02,1.3291e-05,5.9111e-02,9.7642e-02,4.0197e-01,-6.0449e-03,3.8571e-03,3.8097e-05,4.1786e-01,7.1707e-03
+34,2.1900e+01,DOWN_FORCE_DETACH,8.5485e-03,3.7480e-02,9.7572e-02,2.8519e+00,-4.2798e-02,3.9101e-02,2.5542e-05,5.6631e-02,9.8528e-02,4.0209e-01,-6.1157e-03,3.6860e-03,5.0348e-05,4.1784e-01,7.1408e-03
+35,2.2117e+01,DOWN_FORCE_DETACH,8.8089e-03,3.6831e-02,1.0279e-01,2.8476e+00,-4.3095e-02,3.9058e-02,2.5990e-05,5.5982e-02,1.0374e-01,3.9778e-01,-6.4123e-03,3.6426e-03,5.0796e-05,4.1488e-01,7.3749e-03
+36,2.2317e+01,DOWN_FORCE_DETACH,9.0522e-03,3.5542e-02,1.0347e-01,2.8340e+00,-4.3135e-02,3.8958e-02,1.2958e-05,5.4694e-02,1.0443e-01,3.8419e-01,-6.4528e-03,3.5428e-03,3.7764e-05,4.0187e-01,7.3614e-03
+37,2.2500e+01,DOWN_FORCE_DETACH,9.3037e-03,3.6267e-02,1.0037e-01,2.8385e+00,-4.2852e-02,3.9009e-02,-2.2759e-05,5.5418e-02,1.0133e-01,3.8872e-01,-6.1698e-03,3.5934e-03,2.0473e-06,4.0551e-01,7.1399e-03
+38,2.2667e+01,DOWN_FORCE_DETACH,9.5423e-03,3.5777e-02,1.0171e-01,2.8265e+00,-4.2897e-02,3.8975e-02,-3.0059e-05,5.4928e-02,1.0267e-01,3.7672e-01,-6.2147e-03,3.5597e-03,-5.2530e-06,3.9431e-01,7.1620e-03
+39,2.2850e+01,DOWN_FORCE_DETACH,9.8027e-03,3.4791e-02,1.0085e-01,2.8063e+00,-4.2917e-02,3.8906e-02,-2.2220e-05,5.3942e-02,1.0181e-01,3.5646e-01,-6.2348e-03,3.4906e-03,2.5863e-06,3.7462e-01,7.1454e-03
+40,2.3017e+01,DOWN_FORCE_DETACH,1.0057e-02,3.7831e-02,1.0210e-01,2.8090e+00,-4.2958e-02,3.9126e-02,-3.1956e-05,5.6982e-02,1.0305e-01,3.5919e-01,-6.2760e-03,3.7105e-03,-7.1501e-06,3.7800e-01,7.2908e-03
+41,2.3183e+01,DOWN_FORCE_DETACH,1.0322e-02,3.6694e-02,1.0505e-01,2.8010e+00,-4.3117e-02,3.9059e-02,-4.0615e-05,5.5845e-02,1.0601e-01,3.5125e-01,-6.4351e-03,3.6442e-03,-1.5809e-05,3.7112e-01,7.3953e-03
+42,2.3333e+01,DOWN_FORCE_DETACH,1.0560e-02,3.6671e-02,1.0246e-01,2.7788e+00,-4.2949e-02,3.9057e-02,-7.5390e-05,5.5822e-02,1.0341e-01,3.2905e-01,-6.2663e-03,3.6420e-03,-5.0584e-05,3.4941e-01,7.2480e-03
+43,2.3483e+01,DOWN_FORCE_DETACH,1.0799e-02,3.4664e-02,1.0111e-01,2.7530e+00,-4.2887e-02,3.8931e-02,-7.4722e-05,5.3815e-02,1.0206e-01,3.0321e-01,-6.2043e-03,3.5161e-03,-4.9916e-05,3.2442e-01,7.1315e-03
+44,2.3633e+01,DOWN_FORCE_DETACH,1.1057e-02,3.3248e-02,1.0242e-01,2.7298e+00,-4.2974e-02,3.8830e-02,-4.0029e-05,5.2399e-02,1.0337e-01,2.8005e-01,-6.2920e-03,3.4148e-03,-1.5223e-05,3.0309e-01,7.1590e-03
+45,2.3783e+01,DOWN_FORCE_DETACH,1.1316e-02,3.5591e-02,1.0286e-01,2.7192e+00,-4.3016e-02,3.9002e-02,-4.6082e-05,5.4742e-02,1.0381e-01,2.6940e-01,-6.3340e-03,3.5868e-03,-2.1276e-05,2.9386e-01,7.2791e-03
+46,2.3917e+01,DOWN_FORCE_DETACH,1.1555e-02,3.3137e-02,1.0622e-01,2.7051e+00,-4.3153e-02,3.8853e-02,-5.9316e-05,5.2288e-02,1.0717e-01,2.5529e-01,-6.4711e-03,3.4381e-03,-3.4510e-05,2.8176e-01,7.3278e-03
+47,2.4050e+01,DOWN_FORCE_DETACH,1.1810e-02,3.2873e-02,1.0884e-01,2.6860e+00,-4.3299e-02,3.8861e-02,-6.1881e-05,5.2024e-02,1.0979e-01,2.3622e-01,-6.6170e-03,3.4456e-03,-3.7075e-05,2.6563e-01,7.4604e-03
+48,2.4200e+01,DOWN_FORCE_DETACH,1.2078e-02,2.9565e-02,1.0296e-01,2.6386e+00,-4.3018e-02,3.8657e-02,-5.9262e-05,4.8716e-02,1.0392e-01,1.8881e-01,-6.3356e-03,3.2421e-03,-3.4456e-05,2.2096e-01,7.1170e-03
+49,2.4350e+01,DOWN_FORCE_DETACH,1.2325e-02,2.5082e-02,1.0092e-01,2.6126e+00,-4.2901e-02,3.8368e-02,-3.5299e-05,4.4233e-02,1.0188e-01,1.6284e-01,-6.2186e-03,2.9529e-03,-1.0493e-05,1.9711e-01,6.8841e-03
+50,2.4483e+01,DOWN_FORCE_DETACH,1.2587e-02,2.5050e-02,1.0311e-01,2.5945e+00,-4.3009e-02,3.8381e-02,-3.5900e-05,4.4201e-02,1.0407e-01,1.4470e-01,-6.3265e-03,2.9658e-03,-1.1094e-05,1.8363e-01,6.9872e-03
+51,2.4600e+01,DOWN_FORCE_DETACH,1.2794e-02,2.1353e-02,1.0241e-01,2.5746e+00,-4.2944e-02,3.8140e-02,-4.2734e-05,4.0504e-02,1.0337e-01,1.2485e-01,-6.2621e-03,2.7249e-03,-1.7928e-05,1.6707e-01,6.8293e-03
+52,2.4750e+01,DOWN_FORCE_DETACH,1.3070e-02,1.2055e-02,9.5931e-02,2.5394e+00,-4.2644e-02,3.7547e-02,-3.6436e-05,3.1206e-02,9.6887e-02,8.9614e-02,-5.9617e-03,2.1320e-03,-1.1630e-05,1.3562e-01,6.3314e-03
+53,2.4883e+01,DOWN_FORCE_DETACH,1.3318e-02,1.2591e-02,7.9411e-02,2.5181e+00,-4.1674e-02,3.7595e-02,-3.6866e-05,3.1743e-02,8.0367e-02,6.8309e-02,-4.9913e-03,2.1800e-03,-1.2060e-05,1.1015e-01,5.4466e-03
+54,2.5017e+01,DOWN_FORCE_DETACH,1.3563e-02,8.8634e-03,6.3921e-02,2.4982e+00,-4.0672e-02,3.7348e-02,-2.6327e-05,2.8015e-02,6.4876e-02,4.8367e-02,-3.9894e-03,1.9325e-03,-1.5213e-06,8.5634e-02,4.4328e-03
+55,2.5150e+01,DOWN_FORCE_DETACH,1.3818e-02,3.3921e-03,4.6970e-02,2.4872e+00,-3.9601e-02,3.6983e-02,6.2076e-06,2.2543e-02,4.7926e-02,3.7440e-02,-2.9190e-03,1.5675e-03,3.1014e-05,6.4860e-02,3.3134e-03
+56,2.5300e+01,DOWN_FORCE_DETACH,1.4076e-02,-3.6168e-04,2.7974e-02,2.4707e+00,-3.8485e-02,3.6750e-02,2.2576e-05,1.8790e-02,2.8929e-02,2.0929e-02,-1.8030e-03,1.3346e-03,4.7382e-05,4.0348e-02,2.2437e-03
+57,2.5417e+01,DOWN_FORCE_DETACH,1.4326e-02,5.9804e-04,1.0921e-02,2.4599e+00,-3.7451e-02,3.6823e-02,9.9579e-07,1.9749e-02,1.1876e-02,1.0148e-02,-7.6888e-04,1.4079e-03,2.5802e-05,2.5181e-02,1.6044e-03
+58,2.5550e+01,DOWN_FORCE_DETACH,1.4580e-02,1.2499e-05,9.6640e-05,2.4527e+00,-3.6792e-02,3.6788e-02,1.1480e-09,1.9164e-02,1.0522e-03,2.9309e-03,-1.0950e-04,1.3729e-03,2.4807e-05,1.9415e-02,1.3775e-03
+59,2.5833e+01,DOWN_SETTLE,1.4833e-02,0.0000e+00,3.8169e-14,2.4525e+00,-3.6788e-02,3.6787e-02,-2.8904e-17,1.9151e-02,9.5556e-04,2.7065e-03,-1.0522e-04,1.3722e-03,2.4806e-05,1.9365e-02,1.3765e-03

Fixed/s2/ball_15A_10/press_depth_09/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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Fixed/s2/ball_15A_10/press_depth_09/up/franka_data.csv

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Fixed/s2/ball_15A_10/press_depth_09/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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Fixed/s2/ball_15A_10/press_depth_09/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+3,1.1667e-01,UP_FORCE_RAMP,2.3700e-05,-1.5508e-02,-9.4868e-04,2.4512e+00,-3.6682e-02,3.5671e-02,-2.5203e-05,3.6344e-03,7.1134e-06,1.3852e-03,-7.4506e-09,2.5504e-04,-3.9412e-07,3.8894e-03,2.5504e-04
+4,1.5000e-01,UP_FORCE_RAMP,3.0508e-05,-1.4644e-02,-9.4389e-04,2.4515e+00,-3.6683e-02,3.5732e-02,-2.5281e-05,4.4990e-03,1.1908e-05,1.7259e-03,-2.4587e-07,3.1573e-04,-4.7148e-07,4.8187e-03,3.1573e-04
+5,2.0000e-01,UP_FORCE_RAMP,4.1401e-05,-1.3378e-02,-9.4102e-04,2.4520e+00,-3.6683e-02,3.5820e-02,-2.5327e-05,5.7648e-03,1.4775e-05,2.2235e-03,-3.3155e-07,4.0461e-04,-5.1811e-07,6.1787e-03,4.0461e-04
+6,2.1667e-01,UP_FORCE_RAMP,4.6043e-05,-1.3121e-02,7.4675e-03,2.4497e+00,-3.7275e-02,3.5839e-02,-1.4144e-05,6.0217e-03,8.4233e-03,-8.6308e-05,-5.9253e-04,4.2346e-04,1.0665e-05,1.0355e-02,7.2837e-04
+7,2.5000e-01,UP_FORCE_RAMP,5.5265e-05,-1.2307e-02,6.9598e-03,2.4502e+00,-3.7241e-02,3.5896e-02,-1.2287e-05,6.8351e-03,7.9156e-03,4.1580e-04,-5.5823e-04,4.8063e-04,1.2523e-05,1.0467e-02,7.3674e-04
+8,2.8333e-01,UP_FORCE_RAMP,6.3217e-05,-1.1513e-02,6.7686e-03,2.4506e+00,-3.7227e-02,3.5952e-02,-1.2500e-05,7.6297e-03,7.7244e-03,8.1301e-04,-5.4494e-04,5.3657e-04,1.2309e-05,1.0888e-02,7.6486e-04
+9,3.1667e-01,UP_FORCE_RAMP,7.1332e-05,-1.0735e-02,6.6561e-03,2.4510e+00,-3.7219e-02,3.6007e-02,-1.2744e-05,8.4076e-03,7.6119e-03,1.2221e-03,-5.3703e-04,5.9123e-04,1.2065e-05,1.1407e-02,7.9881e-04
+10,3.5000e-01,UP_FORCE_RAMP,8.0470e-05,-9.9710e-03,6.5767e-03,2.4514e+00,-3.7214e-02,3.6061e-02,-1.2991e-05,9.1715e-03,7.5325e-03,1.6193e-03,-5.3145e-04,6.4492e-04,1.1818e-05,1.1978e-02,8.3576e-04
+11,3.8333e-01,UP_FORCE_RAMP,8.8777e-05,-9.2173e-03,6.5191e-03,2.4518e+00,-3.7210e-02,3.6114e-02,-1.3207e-05,9.9253e-03,7.4749e-03,2.0056e-03,-5.2740e-04,6.9789e-04,1.1602e-05,1.2586e-02,8.7484e-04
+12,4.0000e-01,UP_FORCE_RAMP,9.7582e-05,-8.8450e-03,6.4959e-03,2.4520e+00,-3.7208e-02,3.6140e-02,-1.3305e-05,1.0298e-02,7.4517e-03,2.1949e-03,-5.2578e-04,7.2405e-04,1.1504e-05,1.2899e-02,8.9489e-04
+13,4.1667e-01,UP_FORCE_RAMP,9.9919e-05,-8.4759e-03,6.4758e-03,2.4522e+00,-3.7207e-02,3.6166e-02,-1.3398e-05,1.0667e-02,7.4316e-03,2.3820e-03,-5.2437e-04,7.4999e-04,1.1412e-05,1.3217e-02,9.1520e-04
+14,4.5000e-01,UP_FORCE_RAMP,1.1315e-04,-7.7466e-03,6.4435e-03,2.4526e+00,-3.7204e-02,3.6217e-02,-1.3565e-05,1.1396e-02,7.3992e-03,2.7499e-03,-5.2210e-04,8.0125e-04,1.1244e-05,1.3863e-02,9.5641e-04
+15,4.8333e-01,UP_FORCE_RAMP,1.1578e-04,-7.0308e-03,6.4172e-03,2.4529e+00,-3.7203e-02,3.6267e-02,-1.3715e-05,1.2112e-02,7.3730e-03,3.1109e-03,-5.2027e-04,8.5156e-04,1.1094e-05,1.4517e-02,9.9798e-04
+16,5.3333e-01,UP_FORCE_RAMP,1.2637e-04,-5.8995e-03,1.4716e-02,2.4527e+00,-3.7789e-02,3.6347e-02,-7.6788e-07,1.3243e-02,1.5671e-02,2.8772e-03,-1.1067e-03,9.3130e-04,2.4041e-05,2.0718e-02,1.4466e-03
+17,5.6667e-01,UP_FORCE_RAMP,1.3319e-04,-5.2337e-03,1.4472e-02,2.4531e+00,-3.7772e-02,3.6394e-02,-8.1450e-07,1.3909e-02,1.5428e-02,3.2926e-03,-1.0897e-03,9.7810e-04,2.3995e-05,2.1031e-02,1.4645e-03
+18,6.1667e-01,UP_FORCE_RAMP,1.4020e-04,-4.2382e-03,1.4269e-02,2.4536e+00,-3.7758e-02,3.6464e-02,-1.3823e-06,1.4904e-02,1.5225e-02,3.8352e-03,-1.0755e-03,1.0482e-03,2.3427e-05,2.1648e-02,1.5020e-03
+19,6.6667e-01,UP_FORCE_RAMP,1.4964e-04,-3.2748e-03,1.4145e-02,2.4542e+00,-3.7749e-02,3.6532e-02,-1.8902e-06,1.5868e-02,1.5100e-02,4.3759e-03,-1.0669e-03,1.1159e-03,2.2919e-05,2.2337e-02,1.5440e-03
+20,7.0000e-01,UP_FORCE_RAMP,1.5699e-04,-2.6429e-03,1.4085e-02,2.4545e+00,-3.7745e-02,3.6576e-02,-2.2059e-06,1.6500e-02,1.5041e-02,4.7255e-03,-1.0628e-03,1.1604e-03,2.2603e-05,2.2821e-02,1.5737e-03
+21,7.5000e-01,UP_FORCE_RAMP,1.6723e-04,-1.7150e-03,1.4022e-02,2.4550e+00,-3.7741e-02,3.6641e-02,-2.6326e-06,1.7428e-02,1.4978e-02,5.2376e-03,-1.0585e-03,1.2256e-03,2.2177e-05,2.3569e-02,1.6195e-03
+22,8.0000e-01,UP_FORCE_RAMP,1.7429e-04,-8.1019e-04,1.3981e-02,2.4555e+00,-3.7738e-02,3.6705e-02,-3.0118e-06,1.8332e-02,1.4937e-02,5.7335e-03,-1.0557e-03,1.2892e-03,2.1797e-05,2.4332e-02,1.6665e-03
+23,8.3333e-01,UP_FORCE_RAMP,1.8154e-04,-2.1997e-04,1.3961e-02,2.4559e+00,-3.7737e-02,3.6747e-02,-3.2426e-06,1.8923e-02,1.4917e-02,6.0556e-03,-1.0544e-03,1.3308e-03,2.1567e-05,2.4844e-02,1.6980e-03
+24,8.6667e-01,UP_FORCE_RAMP,1.8850e-04,3.5994e-04,1.3946e-02,2.4562e+00,-3.7736e-02,3.6787e-02,-3.4581e-06,1.9502e-02,1.4902e-02,6.3715e-03,-1.0534e-03,1.3715e-03,2.1351e-05,2.5357e-02,1.7295e-03
+25,9.1667e-01,UP_FORCE_RAMP,1.9701e-04,1.2109e-03,1.3929e-02,2.4566e+00,-3.7735e-02,3.6847e-02,-3.7515e-06,2.0353e-02,1.4885e-02,6.8336e-03,-1.0524e-03,1.4314e-03,2.1058e-05,2.6125e-02,1.7767e-03
+26,9.5000e-01,UP_FORCE_RAMP,2.0434e-04,1.7658e-03,1.3921e-02,2.4569e+00,-3.7734e-02,3.6886e-02,-3.9288e-06,2.0908e-02,1.4877e-02,7.1344e-03,-1.0519e-03,1.4704e-03,2.0880e-05,2.6634e-02,1.8080e-03
+27,1.0000e+00,UP_FORCE_RAMP,2.1435e-04,3.5688e-03,2.1794e-02,2.4512e+00,-3.8291e-02,3.7016e-02,8.9167e-06,2.2711e-02,2.2750e-02,1.3893e-03,-1.6090e-03,1.6004e-03,3.3726e-05,3.2176e-02,2.2697e-03
+28,1.0333e+00,UP_FORCE_RAMP,2.1998e-04,4.0414e-03,2.1620e-02,2.4518e+00,-3.8279e-02,3.7050e-02,8.4886e-06,2.3184e-02,2.2576e-02,1.9555e-03,-1.5970e-03,1.6337e-03,3.3298e-05,3.2419e-02,2.2848e-03
+29,1.0667e+00,UP_FORCE_RAMP,2.2953e-04,4.5143e-03,2.1502e-02,2.4523e+00,-3.8271e-02,3.7083e-02,8.0090e-06,2.3657e-02,2.2458e-02,2.4743e-03,-1.5890e-03,1.6669e-03,3.2818e-05,3.2713e-02,2.3032e-03
+30,1.1000e+00,UP_FORCE_RAMP,2.3750e-04,4.9867e-03,2.1417e-02,2.4528e+00,-3.8265e-02,3.7116e-02,7.5647e-06,2.4129e-02,2.2373e-02,2.9616e-03,-1.5832e-03,1.7001e-03,3.2374e-05,3.3038e-02,2.3233e-03
+31,1.1500e+00,UP_FORCE_RAMP,2.4453e-04,5.6902e-03,2.1328e-02,2.4535e+00,-3.8259e-02,3.7165e-02,6.9611e-06,2.4833e-02,2.2283e-02,3.6507e-03,-1.5771e-03,1.7496e-03,3.1770e-05,3.3564e-02,2.3557e-03
+32,1.1833e+00,UP_FORCE_RAMP,2.5047e-04,6.1529e-03,2.1285e-02,2.4539e+00,-3.8257e-02,3.7198e-02,6.5936e-06,2.5295e-02,2.2241e-02,4.0865e-03,-1.5743e-03,1.7821e-03,3.1403e-05,3.3929e-02,2.3781e-03
+33,1.2167e+00,UP_FORCE_RAMP,2.6010e-04,6.6105e-03,2.1252e-02,2.4543e+00,-3.8254e-02,3.7230e-02,6.2497e-06,2.5753e-02,2.2208e-02,4.5090e-03,-1.5722e-03,1.8143e-03,3.1059e-05,3.4304e-02,2.4009e-03
+34,1.2500e+00,UP_FORCE_RAMP,2.6564e-04,7.0619e-03,2.1227e-02,2.4547e+00,-3.8253e-02,3.7262e-02,5.9274e-06,2.6204e-02,2.2182e-02,4.9171e-03,-1.5706e-03,1.8460e-03,3.0737e-05,3.4683e-02,2.4239e-03
+35,1.2833e+00,UP_FORCE_RAMP,2.7702e-04,7.3946e-03,2.2644e-02,2.4394e+00,-3.8353e-02,3.7292e-02,6.9033e-06,2.6537e-02,2.3599e-02,-1.0445e-02,-1.6709e-03,1.8761e-03,3.1713e-05,3.7017e-02,2.5125e-03
+36,1.3000e+00,UP_FORCE_RAMP,2.7955e-04,7.5798e-03,2.2639e-02,2.4401e+00,-3.8353e-02,3.7306e-02,7.5722e-06,2.6722e-02,2.3594e-02,-9.7430e-03,-1.6710e-03,1.8903e-03,3.2381e-05,3.6955e-02,2.5232e-03
+37,1.3167e+00,UP_FORCE_RAMP,2.8775e-04,7.7866e-03,2.2601e-02,2.4407e+00,-3.8351e-02,3.7321e-02,7.6185e-06,2.6929e-02,2.3556e-02,-9.0952e-03,-1.6686e-03,1.9048e-03,3.2428e-05,3.6916e-02,2.5325e-03
+38,1.3500e+00,UP_FORCE_RAMP,2.9741e-04,8.2070e-03,2.2550e-02,2.4417e+00,-3.8348e-02,3.7350e-02,7.3834e-06,2.7349e-02,2.3506e-02,-8.0764e-03,-1.6655e-03,1.9341e-03,3.2193e-05,3.6956e-02,2.5526e-03
+39,1.3833e+00,UP_FORCE_RAMP,3.0692e-04,8.6239e-03,2.2511e-02,2.4426e+00,-3.8346e-02,3.7379e-02,7.0937e-06,2.7766e-02,2.3467e-02,-7.1712e-03,-1.6632e-03,1.9632e-03,3.1903e-05,3.7055e-02,2.5733e-03
+40,1.4167e+00,UP_FORCE_RAMP,3.1539e-04,9.0662e-03,2.2477e-02,2.4435e+00,-3.8344e-02,3.7410e-02,6.8016e-06,2.8209e-02,2.3433e-02,-6.3510e-03,-1.6612e-03,1.9941e-03,3.1611e-05,3.7218e-02,2.5956e-03
+41,1.4667e+00,UP_FORCE_RAMP,3.2187e-04,9.6785e-03,2.2444e-02,2.4446e+00,-3.8342e-02,3.7453e-02,6.3968e-06,2.8821e-02,2.3400e-02,-5.1794e-03,-1.6595e-03,2.0368e-03,3.1206e-05,3.7484e-02,2.6275e-03
+42,1.5000e+00,UP_FORCE_RAMP,3.3068e-04,1.0081e-02,2.2428e-02,2.4454e+00,-3.8341e-02,3.7481e-02,6.1458e-06,2.9224e-02,2.3384e-02,-4.4417e-03,-1.6588e-03,2.0650e-03,3.0955e-05,3.7690e-02,2.6489e-03
+43,1.5333e+00,UP_FORCE_RAMP,3.3564e-04,1.0481e-02,2.2414e-02,2.4461e+00,-3.8340e-02,3.7509e-02,5.9114e-06,2.9624e-02,2.3370e-02,-3.7363e-03,-1.6582e-03,2.0929e-03,3.0721e-05,3.7917e-02,2.6704e-03
+44,1.5667e+00,UP_FORCE_RAMP,3.4616e-04,1.0876e-02,2.2404e-02,2.4468e+00,-3.8340e-02,3.7536e-02,5.6933e-06,3.0018e-02,2.3360e-02,-3.0551e-03,-1.6579e-03,2.1205e-03,3.0502e-05,3.8159e-02,2.6918e-03
+45,1.6000e+00,UP_FORCE_HOLD,3.5378e-04,1.0521e-02,2.2392e-02,2.4325e+00,-3.8340e-02,3.7518e-02,5.2589e-06,2.9663e-02,2.3348e-02,-1.7353e-02,-1.6581e-03,2.1019e-03,3.0068e-05,4.1547e-02,2.6774e-03
+46,1.6333e+00,UP_FORCE_HOLD,3.6240e-04,1.0875e-02,2.2383e-02,2.4340e+00,-3.8340e-02,3.7544e-02,5.5488e-06,3.0018e-02,2.3339e-02,-1.5794e-02,-1.6580e-03,2.1277e-03,3.0358e-05,4.1173e-02,2.6976e-03
+47,1.6667e+00,UP_FORCE_HOLD,3.6647e-04,1.1306e-02,2.2361e-02,2.4352e+00,-3.8339e-02,3.7573e-02,5.4516e-06,3.0448e-02,2.3317e-02,-1.4580e-02,-1.6571e-03,2.1576e-03,3.0261e-05,4.1029e-02,2.7207e-03
+48,1.7000e+00,UP_FORCE_HOLD,3.8042e-04,1.1692e-02,2.2351e-02,2.4363e+00,-3.8339e-02,3.7600e-02,5.3259e-06,3.0835e-02,2.3307e-02,-1.3463e-02,-1.6570e-03,2.1844e-03,3.0135e-05,4.0930e-02,2.7419e-03
+49,1.7167e+00,UP_FORCE_HOLD,3.8476e-04,1.1883e-02,2.2347e-02,2.4369e+00,-3.8339e-02,3.7614e-02,5.2672e-06,3.1026e-02,2.3303e-02,-1.2936e-02,-1.6570e-03,2.1977e-03,3.0076e-05,4.0902e-02,2.7525e-03
+50,1.7500e+00,UP_FORCE_HOLD,3.9153e-04,1.2266e-02,2.2341e-02,2.4379e+00,-3.8339e-02,3.7640e-02,5.1673e-06,3.1408e-02,2.3297e-02,-1.1924e-02,-1.6572e-03,2.2242e-03,2.9976e-05,4.0883e-02,2.7739e-03
+51,1.7667e+00,UP_FORCE_HOLD,3.9931e-04,1.2455e-02,2.2337e-02,2.4384e+00,-3.8340e-02,3.7653e-02,5.1080e-06,3.1597e-02,2.3293e-02,-1.1436e-02,-1.6572e-03,2.2374e-03,2.9917e-05,4.0887e-02,2.7844e-03
+52,1.8167e+00,UP_FORCE_HOLD,4.0967e-04,1.3016e-02,2.2328e-02,2.4398e+00,-3.8340e-02,3.7692e-02,4.9468e-06,3.2158e-02,2.3284e-02,-1.0034e-02,-1.6575e-03,2.2763e-03,2.9756e-05,4.0951e-02,2.8160e-03
+53,1.8667e+00,UP_FORCE_HOLD,4.1842e-04,1.3565e-02,2.2323e-02,2.4411e+00,-3.8340e-02,3.7730e-02,4.8111e-06,3.2708e-02,2.3279e-02,-8.7087e-03,-1.6579e-03,2.3145e-03,2.9620e-05,4.1079e-02,2.8472e-03
+54,1.9000e+00,UP_FORCE_HOLD,4.2448e-04,1.3927e-02,2.2320e-02,2.4419e+00,-3.8341e-02,3.7756e-02,4.7380e-06,3.3070e-02,2.3276e-02,-7.8635e-03,-1.6582e-03,2.3397e-03,2.9547e-05,4.1197e-02,2.8679e-03
+55,1.9333e+00,UP_FORCE_HOLD,4.3225e-04,1.4287e-02,2.2316e-02,2.4428e+00,-3.8341e-02,3.7781e-02,4.6769e-06,3.3429e-02,2.3271e-02,-7.0457e-03,-1.6585e-03,2.3647e-03,2.9486e-05,4.1337e-02,2.8885e-03
+56,1.9833e+00,UP_FORCE_HOLD,4.4263e-04,1.4814e-02,2.2313e-02,2.4439e+00,-3.8341e-02,3.7817e-02,4.6050e-06,3.3957e-02,2.3269e-02,-5.8641e-03,-1.6592e-03,2.4014e-03,2.9414e-05,4.1580e-02,2.9190e-03
+57,2.0167e+00,UP_FORCE_HOLD,4.4851e-04,1.5159e-02,2.2310e-02,2.4447e+00,-3.8342e-02,3.7841e-02,4.5606e-06,3.4302e-02,2.3266e-02,-5.1074e-03,-1.6595e-03,2.4255e-03,2.9370e-05,4.1761e-02,2.9390e-03
+58,2.0500e+00,UP_FORCE_HOLD,4.5757e-04,1.5500e-02,2.2309e-02,2.4454e+00,-3.8342e-02,3.7865e-02,4.5370e-06,3.4643e-02,2.3265e-02,-4.3707e-03,-1.6600e-03,2.4492e-03,2.9346e-05,4.1958e-02,2.9589e-03
+59,2.0667e+00,UP_FORCE_HOLD,4.6414e-04,1.5669e-02,2.2309e-02,2.4458e+00,-3.8343e-02,3.7877e-02,4.5287e-06,3.4811e-02,2.3265e-02,-4.0097e-03,-1.6602e-03,2.4609e-03,2.9338e-05,4.2061e-02,2.9687e-03

Fixed/s2/ball_15A_10/press_depth_10/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21565458bc78bbd9d9d55ed2a78c09a14e80070c2c1b75ff843931919f59e257
+size 87111680

Fixed/s2/ball_15A_10/press_depth_10/down/franka_data.csv

@@ -0,0 +1,61 @@
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+60117,1791875465777015099,4505939000000,1791875465775842889,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761702324265134,-0.004816137713194298,0.08958677181052982,0.9999999846128418,6.758490230621894e-05,0.00012078205257134929,5.532772654132134e-05,0.6761,-0.0048,0.08936309684467353,1.0,0.0,0.0,0.0,-0.04822655016197824,0.16965339429970963,1.566692154651819,0.011600078265881775,0.007442683767062395,2.2651652472558455e-05,0.047527243990294996,0.16819611147227556,1.549766376827388,0.007911812509671818,-0.0015108310736731687,-0.0011606748971347046,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0375592072969488,-0.3496928005095464,-1.2255235133520406,0.3631553713171056,0.9887663717000298,-0.2788650610637022,1.002438071392113,1.566692154651819,2.2279615847441536,2.2279615847441536,2.4247200000012987,1,0,-0.00010288306060843156,-9.997711966492346e-05
+60320,1791875467468061169,4507630000000,1791875467463842586,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761716597463165,-0.004811448995996235,0.08940425164287898,0.9999999842783064,6.708962058867903e-05,0.0001226567520757298,5.7797536949603205e-05,0.6761,-0.0048,0.08917509207404276,1.0,0.0,0.0,0.0,-0.049020700789814534,0.1624093161698617,1.6157525948984144,0.011483238674170997,0.007434443233472838,-1.9153728125472077e-05,0.046733093362458705,0.16095203334242764,1.5988268170739832,0.007794972917961041,-0.0015190716072627259,-0.0012024802777327352,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.021827992415764,-0.2808465470129155,-1.3806733225453751,0.35658156375327854,1.0748843827127634,-0.23705744950672208,1.002438071392113,1.6157525948984144,2.3831113939374884,2.3831113939374884,2.560000000001434,1,0,-0.00012043596587660155,-9.999987923692828e-05
+60492,1791875468902091847,4509064000000,1791875468899842935,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761752286509016,-0.004819027353785352,0.08921755837873709,0.9999999838855524,5.6057740236599036e-05,0.00012775380550626497,6.48710595240484e-05,0.6761,-0.0048,0.08898254446637223,1.0,0.0,0.0,0.0,-0.05545429219732303,0.15345827353046312,1.6555087201450034,0.010560958164948033,0.007443687980684729,-6.24915741137288e-05,0.04029950195495021,0.15200099070302905,1.6385829423205722,0.006872692408738077,-0.0015098268600508354,-0.0012458181237209919,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0976484107074183,-0.2725340328056847,-1.4759383600989129,0.3666445163106652,1.148514290231071,-0.22385407035149496,1.002438071392113,1.6555087201450034,2.478376431491026,2.478376431491026,2.6747200000015487,1,0,-0.0001477972987439446,-9.37126875199363e-05
+60648,1791875470202017779,4510364000000,1791875470199842525,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761750307474074,-0.004821765957040084,0.08900519525920984,0.9999999846008495,5.231869148599143e-05,0.00012217578945939608,6.76535018374097e-05,0.6761,-0.0048,0.08877316851619016,1.0,0.0,0.0,0.0,-0.04703034432663613,0.13969027581565865,1.695468112377003,0.009962606429768775,0.0064337820629857285,-0.00011631803411485462,0.04872344982563711,0.13823299298822458,1.6785423345525718,0.00627434067355882,-0.002519732777749835,-0.0012996445837221177,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0910515493237731,-0.24121226748780297,-1.5008882257167593,0.3760652130786502,1.1582217989480763,-0.20006714436757128,1.002438071392113,1.695468112377003,2.503326297108872,2.503326297108872,2.7787200000016528,1,0,-0.00017372709226334682,-8.751124411088824e-05
+60791,1791875471393011687,4511555000000,1791875471391842924,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761768585704078,-0.00482729287253533,0.08877836582721306,0.9999999824886836,7.879314945585849e-05,0.00012243632086845837,7.257054496724782e-05,0.6761,-0.0048,0.08854899763555653,1.0,0.0,0.0,0.0,-0.04677183336163712,0.1394311036311776,1.7153898908160845,0.009555953142685175,0.006436817115689348,-0.00013692632849641594,0.04898196079063612,0.13797382080374354,1.6984641129916533,0.005867687386475218,-0.0025166977250462162,-0.001320252878103679,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0458882860905616,-0.19388351888571212,-1.5574896153146425,0.37316048199389834,1.1753361605440364,-0.16080871868884547,1.002438071392113,1.7153898908160845,2.5599276867067555,2.5599276867067555,2.874000000001748,1,0,-0.00020409925372974336,-9.999999025923074e-05
+60915,1791875472427066746,4512589000000,1791875472419842807,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761744949221844,-0.004829921692103082,0.08854433976445754,0.9999999833005754,7.157831218243039e-05,0.0001186442534167326,7.511191533551126e-05,0.6761,-0.0048,0.08831687638743922,1.0,0.0,0.0,0.0,-0.037060321975223645,0.12813953739523137,1.7350645323201386,0.00853106320309269,0.006451930223622242,-0.00016316793813937248,0.058693472177049594,0.1266822545677973,1.7181387544957074,0.004842797446882733,-0.0025015846171133217,-0.0013464944877466356,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0723919398354815,-0.31583899090193673,-1.575797329891004,0.41962805011262183,1.1917172640186324,-0.2427610262962886,1.002438071392113,1.7350645323201386,2.5782354012831172,2.5782354012831172,2.9567200000018308,1,0,-0.00024567741911260397,-9.999989311471608e-05
+61031,1791875473393040682,4513555000000,1791875473391842605,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761750095257824,-0.004832037529634988,0.08829280714383296,0.9999999836601046,6.575478703246231e-05,0.00011811353656185849,7.647323433268323e-05,0.6761,-0.0048,0.08806039939138348,1.0,0.0,0.0,0.0,-0.03666495920587207,0.1151107703427217,1.7748636382418626,0.007588213253123749,0.006325877703977639,-0.0002065163553465611,0.059088834946401166,0.11365348751528763,1.7579378604174314,0.0038999474969137926,-0.0026276371367579252,-0.0013898429049538242,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0700698039147882,-0.3172568289957948,-1.668237753771904,0.4432540767518488,1.2476184902774385,-0.23727410075990174,1.002438071392113,1.7748636382418626,2.6706758251640172,2.6706758251640172,3.034000000001908,1,0,-0.0002851560438704308,-5.5588848483655484e-05
+61127,1791875474192948063,4514355000000,1791875474187842464,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761739308931997,-0.0048442626306132745,0.08804648651552369,0.9999999839120775,5.548672673687771e-05,0.00011555021886925667,8.478254141885421e-05,0.6761,-0.0048,0.08781880160218793,1.0,0.0,0.0,0.0,-0.03665472692984257,0.11528583731643174,1.7948696499054004,0.007498432020897899,0.00645618448181578,-0.00022298931475922068,0.05909906722243067,0.11382855448899767,1.7779438720809693,0.003810166264687943,-0.0024973303589197835,-0.0014063158643664838,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0428746626613281,-0.23512846127870685,-1.7229183471496168,0.43125522325682814,1.2756184962493742,-0.17998416251266044,1.002438071392113,1.7948696499054004,2.72535641854173,2.72535641854173,3.098000000001972,1,0,-0.00031872163625404495,9.669338526941402e-05
+61215,1791875474927051317,4515089000000,1791875474919842456,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761738595243656,-0.004843429492927932,0.08779800250691555,0.9999999838946648,5.530468767701493e-05,0.00011355723124743106,8.77478273505581e-05,0.6761,-0.0048,0.08757239478930359,1.0,0.0,0.0,0.0,-0.03676393786752374,0.09773797970219504,1.8249098348828647,0.0074899144412608615,0.006453678085670737,-0.000247259004497295,0.0589898562847495,0.09628069687476097,1.8079840570584336,0.003801648685050905,-0.0024998367550648267,-0.001430585554104558,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0201174244357638,-0.3823549461478864,-1.6887193554716098,0.49307420611708386,1.2515127253134641,-0.27201210973025136,1.002438071392113,1.8249098348828647,2.6911574268637226,2.6911574268637226,3.156720000002031,1,0,-0.00035269442993510056,-9.999999025923074e-05
+61302,1791875475651950288,4515814000000,1791875475651842589,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761749850724905,-0.004855365724422865,0.08753586036237711,0.9999999834254731,5.2834670579073473e-05,0.00011414985515349739,9.36494841945736e-05,0.6761,-0.0048,0.08730457459346506,1.0,0.0,0.0,0.0,-0.04545994525974076,0.09533729011861831,1.8350467743927357,0.006468302719576857,0.006470444845894614,-0.0002679178001689787,0.05029384889253248,0.09388000729118424,1.8181209965683045,0.0027800369633669006,-0.00248306999484095,-0.0014512443497762418,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9979816741926029,-0.34007320351311915,-1.7056368306000627,0.4945433432995977,1.26044460548989,-0.24304854432532877,1.002438071392113,1.8350467743927357,2.708074901992176,2.708074901992176,3.214720000002089,1,0,-0.00038701898038703684,-9.999999025923074e-05
+61378,1791875476285043789,4516447000000,1791875476283842255,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761720723936676,-0.004851117656344888,0.08728200864012355,0.9999999838703697,5.4671807650632834e-05,0.00010986150952118402,9.297078625670827e-05,0.6761,-0.0048,0.08704965127917895,1.0,0.0,0.0,0.0,-0.045504787162699414,0.09588998874140109,1.853064564086075,0.006465181063820068,0.006466337158496998,-0.00028303288954626294,0.050249006989573824,0.09443270591396702,1.8361387862616438,0.0027769153076101115,-0.002487177682238566,-0.001466359439153526,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9739075149096025,-0.3328213469834916,-1.6081338544110828,0.5069093051327493,1.196753262196104,-0.235639543130833,1.002438071392113,1.853064564086075,2.610571925803196,2.610571925803196,3.2653600000021394,1,0,-0.0004185720719432614,-9.999999025923074e-05
+61451,1791875476892936120,4517055000000,1791875476887842734,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761795249784962,-0.004856270868580618,0.08702714746636445,0.9999999817565403,5.056119286154686e-05,0.00012478392745367785,9.900667155566961e-05,0.6761,-0.0048,0.08678593306124081,1.0,0.0,0.0,0.0,-0.05541892516977337,0.09871911259011457,1.8846116348189221,0.0070971639957882315,0.007462493784745449,-0.0002810950026334261,0.04033486898249987,0.0972618297626805,1.867685856994491,0.0034088982395782752,-0.001491021055990115,-0.0014644215522406892,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9654138936753617,-0.4743985087316827,-1.5343458624865773,0.5688304429125535,1.14868290970542,-0.3185581649231148,1.002438071392113,1.8846116348189221,2.5367839338786906,2.5367839338786906,3.314000000002188,1,0,-0.0004489720660208737,-9.999999025923074e-05
+61518,1791875477451990844,4517614000000,1791875477451842368,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761766405986,-0.004853647226980017,0.08676924267827264,0.9999999816834032,5.627531026426661e-05,0.00012285165256356514,9.90788500748672e-05,0.6761,-0.0048,0.08652715962785977,1.0,0.0,0.0,0.0,-0.06307882587058329,0.08760957530537836,1.8847809514615697,0.006430363288892116,0.007474049193313358,-0.0002946321157789448,0.03267496828168995,0.08615229247794429,1.8678551736371385,0.0027420975326821594,-0.0014794656474222056,-0.0014779586653862079,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.922468403887493,-0.42266358349514316,-1.5531091794864198,0.559999914465214,1.150153591169712,-0.28062304274022454,1.002438071392113,1.8847809514615697,2.555547250878533,2.555547250878533,3.358720000002233,1,0,-0.00047692206057578366,-9.999999025923074e-05
+61582,1791875477985015053,4518147000000,1791875477979842678,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761789410804397,-0.0048589619213394485,0.08651660763959616,0.9999999807784327,5.3363082186647994e-05,0.00012898808319361548,0.000101982618739552,0.6761,-0.0048,0.0862658712709591,1.0,0.0,0.0,0.0,-0.056362834687891314,0.08887449430531061,1.9124740110969298,0.006425683969541875,0.007468927266574799,-0.00031140753596587984,0.039390959464381925,0.08741721147787654,1.8955482332724987,0.002737418213331919,-0.0014845875741607648,-0.001494734085573143,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9366591350769281,-0.31993120292047,-1.5715313552212367,0.5497740560480839,1.16761461006655,-0.2122316071130953,1.002438071392113,1.9124740110969298,2.57396942661335,2.57396942661335,3.4013600000022755,1,0,-0.0005035720553839537,-9.999999025923074e-05
+61642,1791875478485015143,4518647000000,1791875478483842563,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761754768518962,-0.0048633163926788256,0.08625841403119627,0.9999999813497369,5.1773014937755955e-05,0.0001239935957358247,0.00010338536396416097,0.6761,-0.0048,0.08600784774448715,1.0,0.0,0.0,0.0,-0.07367478398945299,0.08752735450376971,1.8913747961103538,0.006401691789231449,0.008485812838187355,-0.0002852868020611799,0.022079010162820257,0.08607007167633564,1.8744490182859226,0.0027134260330214923,-0.00046770200254820884,-0.001468613351668443,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9198866696631784,-0.45091501686730406,-1.5070290922977696,0.584888727021484,1.1192038978641832,-0.295657231793333,1.002438071392113,1.8913747961103538,2.509467163689883,2.509467163689883,3.4413600000023155,1,0,-0.0005285720505135691,-9.999999025923074e-05
+61701,1791875478976965330,4519139000000,1791875478975842503,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761788631190763,-0.004867046716460767,0.08600092754604609,0.9999999799993915,5.2830801542898624e-05,0.00013214716854373292,0.00010578333210939985,0.6761,-0.0048,0.08574175099681582,1.0,0.0,0.0,0.0,-0.08110655791893978,0.07990273383842289,1.924617185905343,0.006394364571202384,0.008479704655208581,-0.00031330205817024217,0.014647236233333465,0.07844545101098882,1.9076914080809118,0.002706098814992428,-0.0004738101855269817,-0.0014966286077775053,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9423914305284952,-0.4013322570851754,-1.5666277737181,0.5847763090639536,1.1633131045216292,-0.2600217375423195,1.002438071392113,1.924617185905343,2.569065845110213,2.569065845110213,3.480720000002355,1,0,-0.0005531720457211106,-9.999999025923074e-05
+61753,1791875479410026789,4519572000000,1791875479407842989,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761832000721948,-0.004866770019271066,0.08576202482247926,0.9999999792571583,4.946043615158114e-05,0.00013887754674002481,0.0001058075590946963,0.6761,-0.0048,0.08549755110193383,1.0,0.0,0.0,0.0,-0.0832023155374213,0.0792469942453868,1.948638844065469,0.0063898072697522665,0.00847467805272344,-0.00033340385685130857,0.012551478614851931,0.07778971141795273,1.9317130662410378,0.00270154151354231,-0.0004788367880121237,-0.0015167304064585716,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,0.9556036883926703,-0.4117332460027801,-1.6605656416557288,0.6042056441481689,1.2243750982523707,-0.2560562812783816,1.002438071392113,1.948638844065469,2.663003713047842,2.663003713047842,3.5153600000023895,1,0,-0.0005748220415033575,-9.999999025923074e-05
+61806,1791875479851958972,4520014000000,1791875479847842782,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761763346291689,-0.004864797332840792,0.08549578812432823,0.9999999806689465,5.019872747862416e-05,0.00012656568155202706,0.00010754620905573238,0.6761,-0.0048,0.085238606710543,1.0,0.0,0.0,0.0,-0.07726466781754618,0.07807992129950632,1.9168185485235636,0.00639580535327481,0.008481926157704945,-0.0003055725924893894,0.018489126334727064,0.07662263847207225,1.8998927706991324,0.002707539597064853,-0.00047158868303061915,-0.0014888991420966525,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0207018606589966,-0.46379695655543274,-1.6248719146752602,0.6214781896706173,1.2214924796146387,-0.2910950960722942,1.002438071392113,1.9168185485235636,2.627309986067373,2.627309986067373,3.550720000002425,1,0,-0.0005969220371979375,-9.999999025923074e-05
+61857,1791875480276989019,4520439000000,1791875480275842798,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.676172976319445,-0.004868853622251055,0.08523968982377111,0.9999999809788417,4.956884564949466e-05,0.00012373527234121984,0.00010824829145641626,0.6761,-0.0048,0.08498040984561565,1.0,0.0,0.0,0.0,-0.08307605003348689,0.07682725807123546,1.9244320514958375,0.006022291151654946,0.008486860373171014,-0.0003150228642630627,0.012677744118786353,0.07536997524380139,1.9075062736714063,0.00233402539544499,-0.00046665446756454957,-0.0014983494138703258,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.0902318068342736,-0.42193651586775865,-1.6538597785388067,0.6206280083606831,1.2556808859284916,-0.2576412358217913,1.002438071392113,1.9244320514958375,2.6562978499309198,2.6562978499309198,3.584720000002459,1,0,-0.0006181720330581106,-9.999999025923074e-05
+61909,1791875480710022729,4520872000000,1791875480707842756,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.676173001717848,-0.004870818492657386,0.0849748991618664,0.9999999805905663,4.635523164297067e-05,0.00012823036205752018,0.00010802730286432654,0.6761,-0.0048,0.08470806495621674,1.0,0.0,0.0,0.0,-0.09178340334126428,0.04925074588384587,1.914939072453199,0.005372175568012816,0.008503404554189728,-0.0003183286244988295,0.003970390811008955,0.0477934630564118,1.8980132946287678,0.0016839098118028603,-0.00045011028654583614,-0.0015016551741060926,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.1208323132355218,-0.40153764339221276,-1.5709411845746304,0.6118821483288901,1.20767189801648,-0.25091588108495705,1.002438071392113,1.914939072453199,2.5733792559667434,2.5733792559667434,3.6193600000024935,1,0,-0.0006398220288403575,-9.999999025923074e-05
+61957,1791875481109999946,4521272000000,1791875481107843498,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761747054544575,-0.004872463414919628,0.0847176947477887,0.9999999805947674,4.263028132754202e-05,0.00012920705557657107,0.00010835831787353466,0.6761,-0.0048,0.08444814614546181,1.0,0.0,0.0,0.0,-0.10112113230506514,0.049448566433546344,1.9277760596053095,0.005370287355033929,0.008500529488475328,-0.00032865480526055556,-0.005367338152791904,0.047991283606112274,1.9108502817808783,0.0016820215988239723,-0.00045298535226023583,-0.0015119813548678186,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.1381753796882017,-0.4317891034982879,-1.6426884500059054,0.626764218198379,1.2563388992803652,-0.26461648469109494,1.002438071392113,1.9277760596053095,2.6451265213980184,2.6451265213980184,3.6513600000025255,1,0,-0.0006598220249440498,-9.999999025923074e-05
+62001,1791875481476977737,4521639000000,1791875481475843499,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761703194916175,-0.00487208718527476,0.08446612143893868,0.9999999818234967,3.6011176114858785e-05,0.00012333977311110989,0.00010623731200008121,0.6761,-0.0048,0.08420263341296512,1.0,0.0,0.0,0.0,-0.10047293798889945,0.0434783073163737,1.8937987532532323,0.0048366472798487955,0.008517222468991397,-0.0003072152997194537,-0.004719143836626202,0.04202102448893963,1.8768729754288012,0.0011483815236388393,-0.0004362923717441662,-0.0014905418493267168,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.1839932735997547,-0.5640412565509254,-1.5575065472111742,0.6681341734238865,1.2104673268670703,-0.34926779793654594,1.002438071392113,1.8937987532532323,2.5599446186032875,2.5599446186032875,3.680720000002555,1,0,-0.0006781720213691875,-9.999999025923074e-05
+62049,1791875481876978654,4522039000000,1791875481875842733,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761675774004928,-0.004867074275978818,0.08418911510406603,0.9999999820915954,3.624562652571996e-05,0.0001204447171921944,0.00010695325266090873,0.6761,-0.0048,0.08392737460519865,1.0,0.0,0.0,0.0,-0.11468240013453239,0.008255477807732262,1.8533289993313886,0.003340516129404062,0.008556987650358828,-0.00029439074375616587,-0.018928605982259154,0.006798194980298191,1.8364032215069575,-0.000347749626805894,-0.0003965271903767358,-0.001477717293363429,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.1913395608888755,-0.44446362862983974,-1.5877680544778607,0.6261817717859274,1.2292460749011929,-0.27264687072303834,1.002438071392113,1.8533289993313886,2.590206125869974,2.590206125869974,3.712720000002587,1,0,-0.0006981720174728797,-9.999999025923074e-05
+62092,1791875482234985137,4522397000000,1791875482231843018,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761641993451168,-0.004872551321976592,0.08394144570620325,0.9999999826085734,3.635028698673897e-05,0.00011798325663324047,0.00010480613123413953,0.6761,-0.0048,0.08367423387356931,1.0,0.0,0.0,0.0,-0.10889316647450495,0.030733164691350023,1.8342010059604208,0.004364973801799687,0.008540826267527045,-0.0002664848732478965,-0.013139372322231717,0.029275881863915953,1.8172752281359896,0.0006767080455897309,-0.0004126885732085188,-0.0014498114228551596,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.2351593438684687,-0.4187550983046827,-1.5566360555359287,0.6308053369382608,1.2160214157392468,-0.25069983140978613,1.002438071392113,1.8342010059604208,2.5590741269280417,2.5590741269280417,3.7413600000026155,1,0,-0.0007160720139856844,-9.999999025923074e-05
+62133,1791875482576904197,4522739000000,1791875482571843393,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761567799652054,-0.004866992772513956,0.0836853203672023,0.9999999839276364,3.658914770188487e-05,0.00010748653390392635,0.00010341890863700437,0.6761,-0.0048,0.08342642169535754,1.0,0.0,0.0,0.0,-0.11771507336064153,0.005810530429939353,1.7924439960779213,0.002380987235230581,0.008588776873214873,-0.00025653107627926215,-0.02196127920836829,0.004353247602505283,1.77551821825349,-0.0013072785209793756,-0.00036473796752069124,-0.0014398576258865252,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.315281349067727,-0.4639479313380233,-1.581381383299305,0.6347220398908625,1.2544219843771445,-0.27665966766900707,1.002438071392113,1.7924439960779213,2.583819454691418,2.583819454691418,3.768720000002643,1,0,-0.0007331720106543413,-9.999999025923074e-05
+62176,1791875482935002080,4523097000000,1791875482931843078,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761573092283528,-0.004866169968655185,0.08341530804770594,0.9999999838455931,3.800580816238593e-05,0.00010802642940406957,0.00010313838848763781,0.6761,-0.0048,0.08316075096616923,1.0,0.0,0.0,0.0,-0.1176931021371087,0.0027467821329448345,1.7916250792367547,0.0023303044436545823,0.008617371148060878,-0.00025640454207908085,-0.021939307984835458,0.0012894993055107646,1.7746993014123236,-0.001357961312555374,-0.0003361436926746855,-0.001439731091686344,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.314782224267023,-0.5178855141085075,-1.5387011027487514,0.6466228762324989,1.2236041518384677,-0.30946933474398564,1.002438071392113,1.7916250792367547,2.5411391741408647,2.5411391741408647,3.7973600000026715,1,0,-0.0007510720071671459,-9.999999025923074e-05
+62212,1791875483234958705,4523397000000,1791875483227851667,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761433623532657,-0.004862298416328358,0.08316642891733121,0.9999999852439143,4.4426336912706146e-05,8.500055064685519e-05,0.00010842620805542465,0.6761,-0.0048,0.08293318686445889,1.0,0.0,0.0,0.0,-0.12596935755717167,-0.020623864014557087,1.7021432158026208,0.001315442620035722,0.009038483228136378,-0.00019170169207851848,-0.030215563404898428,-0.022081146841991157,1.6852174379781897,-0.0023728231361742342,8.496838740081454e-05,-0.0013750282416857816,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.3392325636208802,-0.4501469521778882,-1.608585391443913,0.6219570637578847,1.2725391633668852,-0.26537888185595904,1.002438071392113,1.7021432158026208,2.611023462836026,2.611023462836026,3.8213600000026955,1,0,-0.0007660720042449151,-9.999999025923074e-05
+62252,1791875483567998278,4523730000000,1791875483567842108,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6761380621354882,-0.0048587072344188275,0.08290411295902159,0.999999985802571,4.6178649888612744e-05,8.133619521254346e-05,0.00010530754004346684,0.6761,-0.0048,0.08267532098758702,1.0,0.0,0.0,0.0,-0.13500491801675585,-0.027374125400743056,1.6619087523363045,0.0002851280286306646,0.009671220637270769,-0.00016108593350664096,-0.039251123864482616,-0.028831408228177126,1.6449829745118734,-0.0034031377275792916,0.0007177057965352049,-0.001344412483113904,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.3952546545684414,-0.5201801068838696,-1.474484424261059,0.6428491284753324,1.1994233672801267,-0.30939372855815905,1.002438071392113,1.6619087523363045,2.476922495653172,2.476922495653172,3.848000000002722,1,0,-0.0007827220010012389,-9.999999025923074e-05
+62292,1791875483901927774,4524064000000,1791875483899843561,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761292019863606,-0.004859292064152942,0.08262602955858837,0.9999999876447726,3.7005340694124106e-05,6.71185727923837e-05,0.0001013855065486827,0.6761,-0.0048,0.08241111128979756,1.0,0.0,0.0,0.0,-0.1247750059333028,-0.03415185255608474,1.6013508301037933,-0.0007096180765842359,0.009167086216083423,-0.0001294137715713566,-0.029021211781029562,-0.03560913538351881,1.5844250522793621,-0.004397883832794192,0.0002135713753478593,-0.0013127403211786197,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.4131891846112774,-0.5356645027780397,-1.4414918360528555,0.6409006992409864,1.1826513850913285,-0.31812192292791497,1.002438071392113,1.6013508301037933,2.4439299074449687,2.4439299074449687,3.874720000002749,1,0,-0.000799421997747822,-9.999999025923074e-05
+62328,1791875484202004220,4524364000000,1791875484199842873,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.676118192723616,-0.004859425354839163,0.08236445270762108,0.9999999887437743,3.365555719302008e-05,4.8315135781627906e-05,0.0001024122406732325,0.6761,-0.0048,0.082169042190913,1.0,0.0,0.0,0.0,-0.14345923640932148,-0.055554342227341715,1.5203278601959977,-0.0007122806916238685,0.009752665091168053,-5.8997184239484865e-05,-0.04770544225704825,-0.057011625054775784,1.5034020823715666,-0.004400546447833825,0.0007991502504324901,-0.001242323733846748,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.4654430042666111,-0.5610325165676959,-1.3740542396153799,0.6440424430908309,1.1495991966143486,-0.3362312395247084,1.002438071392113,1.5203278601959977,2.376492311007493,2.376492311007493,3.898720000002773,1,0,-0.0008144219948255912,-9.999999025923074e-05
+62360,1791875484467995875,4524630000000,1791875484463843517,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6761033305257799,-0.004861454745996753,0.08211859416420042,0.9999999893934799,3.198624281703444e-05,2.5335613927100957e-05,0.00010483745246098987,0.6761,-0.0048,0.0819506436906353,1.0,0.0,0.0,0.0,-0.134192740222744,-0.0698313661958505,1.4796205800188362,-0.0017187098864232635,0.009750968285991122,-3.668709037830411e-05,-0.038438946070470756,-0.07128864902328456,1.462694802194405,-0.00540697564263322,0.0007974534452555587,-0.0012200136399855672,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.4890114332457878,-0.4948488447695437,-1.461681480969295,0.6161776878183148,1.2114817681807728,-0.28573325884643813,1.002438071392113,1.4796205800188362,2.4641195523614083,2.4641195523614083,3.920000000002794,1,0,-0.0008277219922345466,-9.999999025923074e-05
+62396,1791875484767942295,4524930000000,1791875484767842571,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6760922218375,-0.0048577501570309664,0.0818452675827453,0.9999999897855817,3.254365122978812e-05,7.134894694214351e-06,0.00010373863812329363,0.6761,-0.0048,0.08170008459340473,1.0,0.0,0.0,0.0,-0.14221591065538716,-0.0873620612831426,1.3688274089701973,-0.002726584793878965,0.00980676849704966,4.559630289604805e-05,-0.04646211650311392,-0.08881934411057667,1.3519016311457661,-0.006414850550088921,0.0008532536563140976,-0.001137730246711215,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.4984327863761393,-0.5340279821966268,-1.3854532839415765,0.6065713220361494,1.1666248083605242,-0.3212120033308532,1.002438071392113,1.3688274089701973,2.3878913553336893,2.3878913553336893,3.944000000002818,1,0,-0.0008427219893123158,-9.999999025923074e-05
+62428,1791875485034994371,4525197000000,1791875485031843204,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6760850725382108,-0.00485821755204014,0.08160222818644977,0.9999999899248475,2.6677336998522274e-05,-8.724383388897987e-06,0.00010394890164966662,0.6761,-0.0048,0.08147330227260685,1.0,0.0,0.0,0.0,-0.17220643825231918,-0.10347502963996758,1.2946116025062218,-0.0037892682005879284,0.011857689392177826,0.00011453503887875289,-0.07645264410004596,-0.10493231246740164,1.2776858246817906,-0.007477533956797885,0.0029041745514422623,-0.0010687915107285102,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.59260434664558,-0.5475386634765776,-1.3395800437986223,0.6051924023467116,1.1572555319368727,-0.3280893398534441,1.002438071392113,1.2946116025062218,2.3420181151907355,2.3420181151907355,3.9653600000028395,1,0,-0.0008560719867115304,-9.999999025923074e-05
+62462,1791875485317959708,4525480000000,1791875485311843200,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6760707553049601,-0.004856974473090938,0.08133250029886582,0.9999999886690755,3.4013894802670755e-05,-2.96611939955026e-05,0.00010985436733491982,0.6761,-0.0048,0.08122903875075893,1.0,0.0,0.0,0.0,-0.1700536179913684,-0.12130396014039745,1.1983008226912406,-0.0057295474650614015,0.011916298059377604,0.0001728758683476072,-0.07429982383909516,-0.12276124296783152,1.1813750448668094,-0.009417813221271358,0.00296278321864204,-0.0010104506812596559,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.5635693425009107,-0.5754551891433339,-1.1873365692665727,0.6148242473220098,1.051975893560202,-0.3412289580767859,1.002438071392113,1.1983008226912406,2.189774640658686,2.189774640658686,3.988000000002862,1,0,-0.0008702219839548927,-9.999999025923074e-05
+62496,1791875485601887753,4525764000000,1791875485599842624,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6760550077571397,-0.004857888313368807,0.08105744731375343,0.9999999881512337,2.5361654141653723e-05,-5.256041168314701e-05,0.00010832629675944789,0.6761,-0.0048,0.08097988640770995,1.0,0.0,0.0,0.0,-0.1920356741152875,-0.1512610747118082,1.1184064264475904,-0.007865675621393162,0.012988637538687585,0.0002258348016941457,-0.09628187996301427,-0.15271835753924226,1.1014806486231592,-0.011553941377603117,0.00403512269795202,-0.0009574917479131174,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.5462925389468571,-0.5687751550616396,-1.1559491025186452,0.5914166082822367,1.0244056439775941,-0.34909254555680286,1.002438071392113,1.1184064264475904,2.158387173910758,2.158387173910758,4.010720000002825,1,0,-0.0008844219811885143,-9.999999025923074e-05
+62528,1791875485867949695,4526030000000,1791875485863842773,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6760492960263769,-0.004859834748194777,0.08080129061369644,0.9999999867604729,2.887239721955525e-05,-6.761502371518369e-05,0.00011187721742379574,0.6761,-0.0048,0.08074286791105971,1.0,0.0,0.0,0.0,-0.20398899833388504,-0.15477091903416607,0.9865989490624585,-0.00786643076054059,0.014023812768404725,0.0003467345417016419,-0.1082352041816118,-0.15622820186160014,0.9696731712380272,-0.011554696516750545,0.005070297927669162,-0.0008365920079056212,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.590003505084053,-0.587802501659234,-1.1185720554297967,0.5842032749178431,1.0080867302399588,-0.35933837695386445,1.002438071392113,0.9865989490624585,2.1210101268219095,2.1210101268219095,4.0320000000027285,1,0,-0.0008977219785974696,-9.999999025923074e-05
+62560,1791875486134951711,4526297000000,1791875486131842904,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6760406792570905,-0.0048546072783812585,0.08054758074854733,0.9999999870801,2.870828890834057e-05,-7.572410633977154e-05,0.00010355847673730127,0.6761,-0.0048,0.08050140059312269,1.0,0.0,0.0,0.0,-0.20386810335917666,-0.15483131658946844,0.9013251875833104,-0.00785433719104368,0.014048875017430401,0.0004103939756984309,-0.10811430920690343,-0.1562885994169025,0.8843994097588791,-0.011542602947253637,0.005095360176694838,-0.0007729325739088322,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.623696767757992,-0.4555162805442315,-0.9972477532365509,0.5465854805241672,0.9368298303294988,-0.2724458769704472,1.002438071392113,0.9013251875833104,1.999685824628664,1.999685824628664,4.053360000002631,1,0,-0.0009110719759966842,-9.999999025923074e-05
+62592,1791875486401953415,4526564000000,1791875486399842643,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6760331213274985,-0.00484352153589672,0.0802957261510327,0.9999999866672921,3.055579466369266e-05,-8.463165236293462e-05,0.00010006051632318333,0.6761,-0.0048,0.08025636882588008,1.0,0.0,0.0,0.0,-0.2306306569948151,-0.17963748152563544,0.8060328953869376,-0.0099112976138628,0.015328317964836004,0.0004845579337152626,-0.13487686284254186,-0.1810947643530695,0.7891071175625063,-0.013599563370072756,0.006374803124100439,-0.0006987686158920005,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6636043636894293,-0.5493525945172317,-0.8034022539807896,0.5542825505742973,0.8252301164931843,-0.34647529933095705,1.002438071392113,0.8060328953869376,1.8058403253729027,1.8058403253729027,4.074720000002534,1,0,-0.0009244219733958989,-9.999999025923074e-05
+62623,1791875486659984317,4526822000000,1791875486659842784,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6760219866797514,-0.004838109623570734,0.08003731983868112,0.9999999854562766,3.632333699691207e-05,-9.965213311252788e-05,9.633472224452561e-05,0.6761,-0.0048,0.08001621030706939,1.0,0.0,0.0,0.0,-0.23944235299925476,-0.17916371960410649,0.7042017252560256,-0.009906350138350596,0.016162960359358658,-0.00022304718279038513,-0.14368855884698153,-0.18062100243154056,0.6872759474315944,-0.013594615894560552,0.007209445518623093,-0.0014063737323976482,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6686967444598386,-0.5684678173354464,-0.7171620103266217,0.5571886968094351,0.7657306512432135,-0.3555913807335524,1.002438071392113,0.7042017252560256,1.7196000817187347,1.7196000817187347,4.09536000000244,1,0,-0.0009373219708827804,-9.999999025923074e-05
+62655,1791875486926978287,4527089000000,1791875486919842665,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6760202095152056,-0.004811734979539585,0.07977488537013332,0.9999999851041075,4.5059081412414574e-05,-0.00010758223875534315,8.735210565480907e-05,0.6761,-0.0048,0.07976416979119219,1.0,0.0,0.0,0.0,-0.2119228633064293,-0.1565032724394135,0.6044982175602537,-0.008809197086032606,0.01412859329937926,3.637121441340163e-05,-0.11616906915415605,-0.15796055526684757,0.5875724397358224,-0.012497462842242563,0.0051750784586436956,-0.0011469553351938614,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6364406599090409,-0.4883740668730772,-0.6181481178401604,0.5314467988113478,0.6913135018454158,-0.30717636209069044,1.002438071392113,0.6044982175602537,1.6205861892322735,1.6205861892322735,4.116720000002343,1,0,-0.000950671968281995,-9.999999025923074e-05
+62687,1791875487192877877,4527355000000,1791875487191842556,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6759952927629733,-0.004812838701779117,0.07949203504688128,0.9999999821418024,4.07675101693677e-05,-0.00013911458534020783,7.838623472408233e-05,0.6761,-0.0048,0.07950952879797508,1.0,0.0,0.0,0.0,-0.22205065884737812,-0.18310273240289263,0.5159078600789341,-0.009842615132368601,0.01519059425499084,-0.00030864016485120755,-0.1262968646951049,-0.1845600152303267,0.49898208225450286,-0.013530880888578558,0.006237079414255275,-0.0014919667144584706,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6617605169848269,-0.5306132261147413,-0.6396899066164237,0.5367818678658944,0.7099764521123464,-0.33319466559850197,1.002438071392113,0.5159078600789341,1.6421279780085367,1.6421279780085367,4.138000000002246,1,0,-0.0009639719656909504,-9.999999025923074e-05
+62716,1791875487434971868,4527597000000,1791875487427842829,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6759922616121831,-0.004808858210063027,0.07925483202743788,0.9999999798149569,4.786083774385581e-05,-0.00014624340040148814,9.019511228011783e-05,0.6761,-0.0048,0.07927478953256428,1.0,0.0,0.0,0.0,-0.22703444754893565,-0.18237482027439186,0.4399156607434752,-0.010846606596558717,0.015226431094232256,-0.0002567533470040624,-0.13128065339666242,-0.18383210310182593,0.422989882919044,-0.014534872352768674,0.006272916253496693,-0.0014400798966113255,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6352048056145483,-0.5503121172049186,-0.35660398159898293,0.518287510212678,0.5238600166593734,-0.3571850217551291,1.002438071392113,0.4399156607434752,1.359042052991096,1.359042052991096,4.157360000002158,1,0,-0.0009760719633336842,-9.999999025923074e-05
+62747,1791875487692979933,4527855000000,1791875487691843171,DOWN_FORCE_DETACH,10,0.033,0.03300144150853157,0.6759920469330446,-0.004807559649366275,0.0790005279231,0.999999980845189,4.443013424324896e-05,-0.00014519932365682832,8.182668101369032e-05,0.6761,-0.0048,0.07902130531634964,1.0,0.0,0.0,0.0,-0.23107240353208963,-0.17247836548935347,0.3554918216600324,-0.009837437527822786,0.0162381065971838,-0.00016371070757655818,-0.13531860937981638,-0.17393564831678754,0.3385660438356012,-0.013525703284032742,0.007284591756448237,-0.0013470372571838213,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6338695883040835,-0.4969460580410325,-0.46166296367875187,0.5078337550733032,0.5815092786352342,-0.31786392515614625,1.002438071392113,0.3554918216600324,1.464101035070865,1.464101035070865,4.178000000002064,1,0,-0.0009889719608205656,-9.999999025923074e-05
+62775,1791875487926901742,4528089000000,1791875487923843389,DOWN_FORCE_DETACH,10,0.033,0.0330020971596241,0.6759755294455987,-0.004804741253028508,0.07874339493397921,0.999999976687577,4.43883802285251e-05,-0.0001709935701027924,8.281654866000668e-05,0.6761,-0.0048,0.07878852282778545,1.0,0.0,0.0,0.0,-0.24251803258132082,-0.18748534242531523,0.3015516779898606,-0.010848069213697999,0.016270821576247985,-0.00013004824155421675,-0.1467642384290476,-0.1889426252527493,0.2846259001654294,-0.014536334969907954,0.007317306735512423,-0.0013133747911614798,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.6581404507191058,-0.5658580584622932,-0.2721363014358233,0.5138888043654045,0.46579727843638713,-0.3803959120416209,1.002438071392113,0.3015516779898606,1.2745743728279364,1.2745743728279364,4.196720000001979,1,0,-0.0010006719585412256,-9.999999025923074e-05
+62844,1791875488496969883,4528659000000,1791875488495842769,DOWN_SETTLE,10,0.033,0.03300144150853157,0.6759584408967074,-0.004788570223409539,0.07848769654418729,0.9999999704034307,6.299920908088203e-05,-0.00020078766467751486,7.96957683566084e-05,0.6761,-0.0048,0.07858247305114976,1.0,0.0,0.0,0.0,-0.23360772267310537,-0.18369104176688525,0.09266304125300417,-0.010784390047548706,0.015418095248893395,2.1472727552472506e-05,-0.13785392852083211,-0.18514832459431932,0.07573726342857293,-0.014472655803758661,0.006464580408157832,-0.0011618538220547906,0.09575379415227324,-0.0014572828274340701,-0.016925777824431245,-0.0036882657562099562,-0.008953514840735564,-0.001183326549607263,1,1.5139720819765004,-0.3818309152536888,0.03237080430559527,0.4361234255668816,0.24666106963556303,-0.2629779518496546,1.002438071392113,0.09266304125300417,0.9700672670865178,0.0,0.0,1,1,-1.009490013318757e-05,0.00010196868821401586

Fixed/s2/ball_15A_10/press_depth_10/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1791875435470674854,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.168298103e-08,2.365967994e-10,3.575274410e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291572e-01,1.723483989e-06,8.295725983e-01
+1,9.166666667e-01,DOWN_FORCE_DETACH,1791875437234854455,1.030597879e-05,-6.593647310e-05,-2.380808894e-06,5.350582221e-06,-6.001328670e-05,1.576041446e-06,5.928928595e-06,-6.002858086e-05,1.752860482e-06,7.015481775e-01,-6.438551178e-05,8.407385604e-01,7.015432221e-01,-5.846232538e-05,8.407425172e-01,7.017350744e-01,-5.830533347e-05,8.295743476e-01
+2,1.900000000e+00,DOWN_FORCE_DETACH,1791875439096554112,1.963727426e-05,-9.013683990e-05,-1.560074689e-04,1.760788216e-05,-9.129118845e-05,-1.405483089e-04,1.825230457e-05,-9.124723058e-05,-1.389876794e-04,7.015575088e-01,-8.858587858e-05,8.405849337e-01,7.015554794e-01,-8.974022713e-05,8.406003929e-01,7.017473978e-01,-8.952398318e-05,8.294336071e-01
+3,3.016666667e+00,DOWN_FORCE_DETACH,1791875441326765642,2.595002962e-05,-1.021378795e-04,-2.175285438e-04,2.014764293e-05,-9.883582279e-05,-2.214689300e-04,2.083676535e-05,-9.878940098e-05,-2.200959086e-04,7.015638215e-01,-1.005869182e-04,8.405234126e-01,7.015580191e-01,-9.728486147e-05,8.405194723e-01,7.017499823e-01,-9.706615359e-05,8.293524988e-01
+4,4.150000000e+00,DOWN_FORCE_DETACH,1791875443522857896,3.678234146e-05,-1.042251984e-04,-2.489119935e-04,2.851408304e-05,-1.061232450e-04,-2.385454832e-04,2.941167577e-05,-1.060900883e-04,-2.377023975e-04,7.015746538e-01,-1.026742370e-04,8.404920292e-01,7.015663856e-01,-1.045722837e-04,8.405023957e-01,7.017585572e-01,-1.043668409e-04,8.293348923e-01
+5,5.166666667e+00,DOWN_FORCE_DETACH,1791875445450924255,4.232828587e-05,-1.042246970e-04,-3.166473135e-04,4.049167865e-05,-1.060340853e-04,-3.002159177e-04,4.152423706e-05,-1.059652029e-04,-2.991780976e-04,7.015801998e-01,-1.026737357e-04,8.404242939e-01,7.015783632e-01,-1.044831240e-04,8.404407253e-01,7.017706697e-01,-1.042419555e-04,8.292734166e-01
+6,6.300000000e+00,DOWN_FORCE_DETACH,1791875447612851451,5.500230066e-05,-1.098361740e-04,-3.867588502e-04,5.111168951e-05,-1.117325195e-04,-3.821104636e-04,5.222728288e-05,-1.116291329e-04,-3.808048838e-04,7.015928738e-01,-1.082852127e-04,8.403541823e-01,7.015889832e-01,-1.101815582e-04,8.403588307e-01,7.017813728e-01,-1.099058855e-04,8.291917899e-01
+7,7.383333333e+00,DOWN_FORCE_DETACH,1791875449774908904,7.307631885e-05,-1.169318735e-04,-4.530651291e-04,6.903455382e-05,-1.119293912e-04,-4.415461122e-04,7.050131864e-05,-1.118479488e-04,-4.402654855e-04,7.016109478e-01,-1.153809122e-04,8.402878761e-01,7.016069060e-01,-1.103784299e-04,8.402993951e-01,7.017996468e-01,-1.101247014e-04,8.291323293e-01
+8,8.450000000e+00,DOWN_FORCE_DETACH,1791875451838766269,8.185938297e-05,-1.191169088e-04,-5.277664725e-04,8.084027852e-05,-1.180078747e-04,-5.266563420e-04,8.242077108e-05,-1.179159783e-04,-5.251733041e-04,7.016197309e-01,-1.175659475e-04,8.402131747e-01,7.016187118e-01,-1.164569134e-04,8.402142848e-01,7.018115663e-01,-1.161927309e-04,8.290474214e-01
+9,9.550000000e+00,DOWN_FORCE_DETACH,1791875453930858743,8.896738171e-05,-1.195123764e-04,-5.952594271e-04,8.812044739e-05,-1.179621518e-04,-5.885278654e-04,8.983748015e-05,-1.178477972e-04,-5.872650023e-04,7.016268389e-01,-1.179614150e-04,8.401456818e-01,7.016259919e-01,-1.164111904e-04,8.401524133e-01,7.018189830e-01,-1.161245498e-04,8.289853297e-01
+10,1.058333333e+01,DOWN_FORCE_DETACH,1791875455894694022,1.017794047e-04,-1.197586124e-04,-6.704441412e-04,1.017527755e-04,-1.199455651e-04,-6.702297440e-04,1.035427127e-04,-1.197880612e-04,-6.687446292e-04,7.016396509e-01,-1.182076511e-04,8.400704970e-01,7.016396243e-01,-1.183946038e-04,8.400707114e-01,7.018326882e-01,-1.180648138e-04,8.289038501e-01
+11,1.163333333e+01,DOWN_FORCE_DETACH,1791875457990775273,1.146801031e-04,-1.275184414e-04,-7.573700587e-04,1.145510710e-04,-1.275460542e-04,-7.568253134e-04,1.163307366e-04,-1.273984653e-04,-7.552236225e-04,7.016525516e-01,-1.259674801e-04,8.399835711e-01,7.016524226e-01,-1.259950929e-04,8.399841159e-01,7.018454762e-01,-1.256752179e-04,8.288173711e-01
+12,1.265000000e+01,DOWN_FORCE_DETACH,1791875459954768311,1.297148357e-04,-1.653332221e-04,-8.417286324e-04,1.224320508e-04,-1.690193781e-04,-8.305620150e-04,1.241804343e-04,-1.688819922e-04,-8.291873621e-04,7.016675863e-01,-1.637822608e-04,8.398992126e-01,7.016603035e-01,-1.674684168e-04,8.399103792e-01,7.018533259e-01,-1.671587448e-04,8.287434074e-01
+13,1.368333333e+01,DOWN_FORCE_DETACH,1791875461914765748,1.404979280e-04,-1.680858645e-04,-9.482217324e-04,1.380211372e-04,-1.709849013e-04,-9.306839386e-04,1.397453130e-04,-1.708587628e-04,-9.291728862e-04,7.016783694e-01,-1.665349032e-04,8.397927195e-01,7.016758926e-01,-1.694339400e-04,8.398102572e-01,7.018688908e-01,-1.691355154e-04,8.286434219e-01
+14,1.476666667e+01,DOWN_FORCE_DETACH,1791875463978871492,1.476527686e-04,-1.750087404e-04,-1.079560662e-03,1.463942478e-04,-1.748858753e-04,-1.075448552e-03,1.479433798e-04,-1.747889164e-04,-1.073528126e-03,7.016855243e-01,-1.734577791e-04,8.396613805e-01,7.016842657e-01,-1.733349140e-04,8.396654926e-01,7.018770889e-01,-1.730656690e-04,8.284990666e-01
+15,1.566666667e+01,DOWN_FORCE_DETACH,1791875465777025934,1.504762610e-04,-1.780186906e-04,-1.239725380e-03,1.487892393e-04,-1.764860906e-04,-1.230800192e-03,1.498444215e-04,-1.763813634e-04,-1.228369354e-03,7.016883477e-01,-1.764677293e-04,8.395012158e-01,7.016866607e-01,-1.749351293e-04,8.395101410e-01,7.018789899e-01,-1.746581160e-04,8.283442254e-01
+16,1.653333333e+01,DOWN_FORCE_DETACH,1791875467471523138,1.531182053e-04,-1.744980453e-04,-1.420775424e-03,1.515671603e-04,-1.772875169e-04,-1.406485524e-03,1.520981848e-04,-1.772201001e-04,-1.403590410e-03,7.016909897e-01,-1.729470840e-04,8.393201658e-01,7.016894386e-01,-1.757365555e-04,8.393344557e-01,7.018812437e-01,-1.754968527e-04,8.281690043e-01
+17,1.728333333e+01,DOWN_FORCE_DETACH,1791875468903058553,1.554724854e-04,-1.809083312e-04,-1.608938812e-03,1.552660801e-04,-1.811093537e-04,-1.608824549e-03,1.551931977e-04,-1.810379695e-04,-1.605215013e-03,7.016933440e-01,-1.793573699e-04,8.391320024e-01,7.016931376e-01,-1.795583924e-04,8.391321166e-01,7.018843387e-01,-1.793147221e-04,8.279673797e-01
+18,1.796666667e+01,DOWN_FORCE_DETACH,1791875470198700100,1.538550443e-04,-1.818823785e-04,-1.823429618e-03,1.573456474e-04,-1.895024502e-04,-1.806340454e-03,1.566712759e-04,-1.893896670e-04,-1.802358389e-03,7.016917265e-01,-1.803314172e-04,8.389175116e-01,7.016952171e-01,-1.879514889e-04,8.389346007e-01,7.018858168e-01,-1.876664196e-04,8.277702364e-01
+19,1.860000000e+01,DOWN_FORCE_DETACH,1791875471396926982,1.559413132e-04,-1.891350816e-04,-2.047416315e-03,1.560411525e-04,-1.897452403e-04,-2.040489277e-03,1.545124305e-04,-1.895909366e-04,-2.035890431e-03,7.016938128e-01,-1.875841202e-04,8.386935249e-01,7.016939126e-01,-1.881942790e-04,8.387004519e-01,7.018836579e-01,-1.878676892e-04,8.275367043e-01
+20,1.913333333e+01,DOWN_FORCE_DETACH,1791875472429093729,1.539340525e-04,-1.965989287e-04,-2.284092476e-03,1.514835592e-04,-1.968150488e-04,-2.271552537e-03,1.489213808e-04,-1.966022534e-04,-2.266300987e-03,7.016918055e-01,-1.950479674e-04,8.384568487e-01,7.016893550e-01,-1.952640875e-04,8.384693887e-01,7.018780669e-01,-1.948790060e-04,8.273062938e-01
+21,1.961666667e+01,DOWN_FORCE_DETACH,1791875473390863552,1.561482108e-04,-1.985207445e-04,-2.531632700e-03,1.553599254e-04,-1.991843149e-04,-2.515575469e-03,1.519264060e-04,-1.989140923e-04,-2.509801391e-03,7.016940197e-01,-1.969697832e-04,8.382093085e-01,7.016932314e-01,-1.976333535e-04,8.382253657e-01,7.018810719e-01,-1.971908449e-04,8.270627934e-01
+22,2.001666667e+01,DOWN_FORCE_DETACH,1791875474190825425,1.577945751e-04,-2.051530425e-04,-2.772962497e-03,1.577055440e-04,-2.049846594e-04,-2.772546643e-03,1.533733141e-04,-2.046195556e-04,-2.765961894e-03,7.016956661e-01,-2.036020812e-04,8.379679787e-01,7.016955770e-01,-2.034336980e-04,8.379683945e-01,7.018825188e-01,-2.028963082e-04,8.268066329e-01
+23,2.038333333e+01,DOWN_FORCE_DETACH,1791875474923126122,1.528105173e-04,-2.074931712e-04,-3.026836512e-03,1.531091638e-04,-2.130439876e-04,-3.015115987e-03,1.478919576e-04,-2.127051643e-04,-3.008053665e-03,7.016906820e-01,-2.059422098e-04,8.377141047e-01,7.016909806e-01,-2.114930263e-04,8.377258252e-01,7.018770375e-01,-2.109819169e-04,8.265645411e-01
+24,2.075000000e+01,DOWN_FORCE_DETACH,1791875475654810552,1.544732691e-04,-2.147111298e-04,-3.292163416e-03,1.542981659e-04,-2.145180288e-04,-3.292247289e-03,1.481200920e-04,-2.141676138e-04,-3.284512398e-03,7.016923448e-01,-2.131601685e-04,8.374487778e-01,7.016921696e-01,-2.129670674e-04,8.374486939e-01,7.018772656e-01,-2.124443664e-04,8.262880823e-01
+25,2.108333333e+01,DOWN_FORCE_DETACH,1791875476286680965,1.522299582e-04,-2.133893655e-04,-3.544909022e-03,1.523095101e-04,-2.138420018e-04,-3.544463381e-03,1.452132120e-04,-2.134389727e-04,-3.536335703e-03,7.016901014e-01,-2.118384042e-04,8.371960322e-01,7.016901810e-01,-2.122910405e-04,8.371964778e-01,7.018743587e-01,-2.117157253e-04,8.260362590e-01
+26,2.140000000e+01,DOWN_FORCE_DETACH,1791875476889631922,1.605903842e-04,-2.176275983e-04,-3.792671688e-03,1.605775953e-04,-2.174973637e-04,-3.792218318e-03,1.527319286e-04,-2.170273942e-04,-3.783991724e-03,7.016984619e-01,-2.160766370e-04,8.369482695e-01,7.016984491e-01,-2.159464024e-04,8.369487229e-01,7.018818774e-01,-2.153041468e-04,8.257886030e-01
+27,2.170000000e+01,DOWN_FORCE_DETACH,1791875477450687891,1.594637297e-04,-2.193759518e-04,-4.052869893e-03,1.588292469e-04,-2.191604036e-04,-4.035843218e-03,1.500351170e-04,-2.185390171e-04,-4.027521000e-03,7.016973352e-01,-2.178249904e-04,8.366880713e-01,7.016967007e-01,-2.176094423e-04,8.367050980e-01,7.018791806e-01,-2.168157697e-04,8.255450737e-01
+28,2.198333333e+01,DOWN_FORCE_DETACH,1791875477982707838,1.583976266e-04,-2.227577209e-04,-4.310290307e-03,1.590231796e-04,-2.232201399e-04,-4.291147416e-03,1.492653105e-04,-2.225868428e-04,-4.282660430e-03,7.016962691e-01,-2.212067596e-04,8.364306509e-01,7.016968947e-01,-2.216691786e-04,8.364497938e-01,7.018784108e-01,-2.208635955e-04,8.252899343e-01
+29,2.225000000e+01,DOWN_FORCE_DETACH,1791875478485539097,1.560467782e-04,-2.224902735e-04,-4.566041477e-03,1.579058153e-04,-2.243941248e-04,-4.546575888e-03,1.472247497e-04,-2.236720800e-04,-4.537969028e-03,7.016939183e-01,-2.209393122e-04,8.361748997e-01,7.016957773e-01,-2.228431635e-04,8.361943653e-01,7.018763703e-01,-2.219488326e-04,8.250346257e-01
+30,2.251666667e+01,DOWN_FORCE_DETACH,1791875478980121238,1.580947324e-04,-2.219806494e-04,-4.828296928e-03,1.580261010e-04,-2.222774013e-04,-4.828236560e-03,1.463480143e-04,-2.215514365e-04,-4.819343550e-03,7.016959662e-01,-2.204296881e-04,8.359126443e-01,7.016958976e-01,-2.207264399e-04,8.359127046e-01,7.018754935e-01,-2.198281891e-04,8.247532512e-01
+31,2.273333333e+01,DOWN_FORCE_DETACH,1791875479413300333,1.606761618e-04,-2.312181711e-04,-5.070793328e-03,1.605335374e-04,-2.311040502e-04,-5.070705743e-03,1.480859159e-04,-2.302394951e-04,-5.061517266e-03,7.016985476e-01,-2.296672097e-04,8.356701479e-01,7.016984050e-01,-2.295530889e-04,8.356702354e-01,7.018772314e-01,-2.285162477e-04,8.245110775e-01
+32,2.296666667e+01,DOWN_FORCE_DETACH,1791875479849233943,1.573964071e-04,-2.274133898e-04,-5.328571440e-03,1.573305733e-04,-2.275671571e-04,-5.328524742e-03,1.438958706e-04,-2.266433905e-04,-5.319375849e-03,7.016952679e-01,-2.258624285e-04,8.354123697e-01,7.016952021e-01,-2.260161958e-04,8.354124164e-01,7.018730414e-01,-2.249201431e-04,8.242532189e-01
+33,2.320000000e+01,DOWN_FORCE_DETACH,1791875480276684552,1.532201539e-04,-2.307345997e-04,-5.586807367e-03,1.530033721e-04,-2.308995142e-04,-5.586526216e-03,1.385443263e-04,-2.298780719e-04,-5.577634542e-03,7.016910916e-01,-2.291836384e-04,8.351541338e-01,7.016908749e-01,-2.293485529e-04,8.351544150e-01,7.018676898e-01,-2.281548245e-04,8.239949602e-01
+34,2.341666667e+01,DOWN_FORCE_DETACH,1791875480710851646,1.532455523e-04,-2.326994701e-04,-5.851598029e-03,1.532217975e-04,-2.326605079e-04,-5.851722889e-03,1.378182277e-04,-2.314944385e-04,-5.842763915e-03,7.016911170e-01,-2.311485088e-04,8.348893432e-01,7.016910933e-01,-2.311095466e-04,8.348892183e-01,7.018669637e-01,-2.297711911e-04,8.237298308e-01
+35,2.361666667e+01,DOWN_FORCE_DETACH,1791875481110787776,1.549492889e-04,-2.343443924e-04,-6.108802443e-03,1.549486599e-04,-2.343376427e-04,-6.108264768e-03,1.386383581e-04,-2.332155999e-04,-6.099337175e-03,7.016928208e-01,-2.327934310e-04,8.346321387e-01,7.016928201e-01,-2.327866814e-04,8.346326764e-01,7.018677839e-01,-2.314923525e-04,8.234732576e-01
+36,2.380000000e+01,DOWN_FORCE_DETACH,1791875481475802133,1.503639497e-04,-2.341616518e-04,-6.363037899e-03,1.504217723e-04,-2.341066155e-04,-6.362924452e-03,1.331179724e-04,-2.329140996e-04,-6.353970209e-03,7.016882354e-01,-2.326106905e-04,8.343779033e-01,7.016882933e-01,-2.325556542e-04,8.343780167e-01,7.018622635e-01,-2.311908522e-04,8.232186245e-01
+37,2.400000000e+01,DOWN_FORCE_DETACH,1791875481874924771,1.468420490e-04,-2.319413778e-04,-6.640121927e-03,1.468840115e-04,-2.316907780e-04,-6.639821666e-03,1.284332156e-04,-2.305017081e-04,-6.631000927e-03,7.016847135e-01,-2.303904165e-04,8.341008193e-01,7.016847555e-01,-2.301398167e-04,8.341011195e-01,7.018575787e-01,-2.287784607e-04,8.229415938e-01
+38,2.418333333e+01,DOWN_FORCE_DETACH,1791875482238549574,1.441048159e-04,-2.297714011e-04,-6.887579133e-03,1.439271520e-04,-2.296926737e-04,-6.887434076e-03,1.244799020e-04,-2.285756881e-04,-6.879214980e-03,7.016819763e-01,-2.282204398e-04,8.338533621e-01,7.016817986e-01,-2.281417124e-04,8.338535071e-01,7.018536254e-01,-2.268524407e-04,8.226933798e-01
+39,2.435000000e+01,DOWN_FORCE_DETACH,1791875482575263104,1.379254607e-04,-2.321596818e-04,-7.138884909e-03,1.379146770e-04,-2.322049578e-04,-7.138578017e-03,1.174034288e-04,-2.310320649e-04,-7.130469639e-03,7.016757969e-01,-2.306087205e-04,8.336020563e-01,7.016757862e-01,-2.306539965e-04,8.336023632e-01,7.018465489e-01,-2.293088175e-04,8.224421251e-01
+40,2.453333333e+01,DOWN_FORCE_DETACH,1791875482938794299,1.388426477e-04,-2.266920769e-04,-7.412014578e-03,1.387145697e-04,-2.270805484e-04,-7.411696050e-03,1.172522462e-04,-2.258527728e-04,-7.403780438e-03,7.016767141e-01,-2.251411156e-04,8.333289266e-01,7.016765861e-01,-2.255295871e-04,8.333292451e-01,7.018463978e-01,-2.241295254e-04,8.221688143e-01
+41,2.468333333e+01,DOWN_FORCE_DETACH,1791875483238792667,1.238712723e-04,-2.251858014e-04,-7.661737854e-03,1.236886063e-04,-2.251040905e-04,-7.661443745e-03,1.009907095e-04,-2.238797832e-04,-7.653887873e-03,7.016617428e-01,-2.236348401e-04,8.330792033e-01,7.016615601e-01,-2.235531292e-04,8.330794974e-01,7.018301362e-01,-2.221565358e-04,8.219187069e-01
+42,2.485000000e+01,DOWN_FORCE_DETACH,1791875483570653106,1.190202554e-04,-2.203656137e-04,-7.925009329e-03,1.188270002e-04,-2.206689621e-04,-7.924982352e-03,9.493813534e-05,-2.195408782e-04,-7.917838719e-03,7.016568917e-01,-2.188146524e-04,8.328159319e-01,7.016566985e-01,-2.191180007e-04,8.328159588e-01,7.018240836e-01,-2.178176308e-04,8.216547560e-01
+43,2.501666667e+01,DOWN_FORCE_DETACH,1791875483903557565,1.102595158e-04,-2.218230520e-04,-8.199886603e-03,1.100896640e-04,-2.218866469e-04,-8.199625891e-03,8.496155628e-05,-2.206588932e-04,-8.193254813e-03,7.016481310e-01,-2.202720907e-04,8.325410546e-01,7.016479611e-01,-2.203356856e-04,8.325413153e-01,7.018141071e-01,-2.189356458e-04,8.213793399e-01
+44,2.518333333e+01,DOWN_FORCE_DETACH,1791875484202806297,9.843655807e-05,-2.213063323e-04,-8.462044483e-03,9.841553444e-05,-2.212235680e-04,-8.461877722e-03,7.209537355e-05,-2.199325729e-04,-8.455777917e-03,7.016363080e-01,-2.197553710e-04,8.322788967e-01,7.016362870e-01,-2.196726066e-04,8.322790635e-01,7.018012409e-01,-2.182093255e-04,8.211168168e-01
+45,2.531666667e+01,DOWN_FORCE_DETACH,1791875484470636776,8.522725380e-05,-2.257701605e-04,-8.709278003e-03,8.499025856e-05,-2.257357621e-04,-8.709107321e-03,5.744484521e-05,-2.242847033e-04,-8.703160800e-03,7.016230987e-01,-2.242191992e-04,8.320316632e-01,7.016228617e-01,-2.241848008e-04,8.320318339e-01,7.017865904e-01,-2.225614559e-04,8.208694339e-01
+46,2.548333333e+01,DOWN_FORCE_DETACH,1791875484766519492,6.910119842e-05,-2.172326699e-04,-8.983850127e-03,6.893908621e-05,-2.172544568e-04,-8.983657072e-03,3.993125342e-05,-2.158671685e-04,-8.978574043e-03,7.016069727e-01,-2.156817086e-04,8.317570911e-01,7.016068106e-01,-2.157034955e-04,8.317572841e-01,7.017690768e-01,-2.141439211e-04,8.205940207e-01
+47,2.561666667e+01,DOWN_FORCE_DETACH,1791875485034995744,6.632393883e-05,-2.189742086e-04,-9.222817363e-03,6.593048468e-05,-2.188737984e-04,-9.222850978e-03,3.586638109e-05,-2.175172068e-04,-9.218420607e-03,7.016041954e-01,-2.174232473e-04,8.315181238e-01,7.016038020e-01,-2.173228371e-04,8.315180902e-01,7.017650119e-01,-2.157939594e-04,8.203541741e-01
+48,2.576666667e+01,DOWN_FORCE_DETACH,1791875485317217543,5.047196781e-05,-2.237752897e-04,-9.492190347e-03,5.090018832e-05,-2.208126819e-04,-9.476880282e-03,1.949456162e-05,-2.194545195e-04,-9.473179683e-03,7.015883434e-01,-2.222243284e-04,8.312487508e-01,7.015887717e-01,-2.192617205e-04,8.312640609e-01,7.017486401e-01,-2.177312721e-04,8.200994151e-01
+49,2.591666667e+01,DOWN_FORCE_DETACH,1791875485598906943,3.780655897e-05,-2.182648360e-04,-9.762087855e-03,3.769736514e-05,-2.181000388e-04,-9.762028002e-03,4.900412449e-06,-2.167384843e-04,-9.758796397e-03,7.015756780e-01,-2.167138747e-04,8.309788533e-01,7.015755688e-01,-2.165490774e-04,8.309789132e-01,7.017340459e-01,-2.150152369e-04,8.198137984e-01
+50,2.605000000e+01,DOWN_FORCE_DETACH,1791875485867267002,3.092022166e-05,-2.208093414e-04,-1.002089466e-02,3.069009918e-05,-2.206860463e-04,-1.002031539e-02,-3.354040409e-06,-2.191537051e-04,-1.001760762e-02,7.015687917e-01,-2.192583801e-04,8.307200465e-01,7.015685616e-01,-2.191350850e-04,8.307206258e-01,7.017257915e-01,-2.174304577e-04,8.195549871e-01
+51,2.620000000e+01,DOWN_FORCE_DETACH,1791875486132578158,2.017607248e-05,-2.187692944e-04,-1.027544852e-02,2.007798825e-05,-2.185936331e-04,-1.027515678e-02,-1.524027670e-05,-2.172245230e-04,-1.027303631e-02,7.015580476e-01,-2.172183331e-04,8.304654927e-01,7.015579495e-01,-2.170426717e-04,8.304657844e-01,7.017139052e-01,-2.155012756e-04,8.192995584e-01
+52,2.633333333e+01,DOWN_FORCE_DETACH,1791875486398563818,1.295065040e-05,-2.119195009e-04,-1.052693980e-02,1.270032140e-05,-2.119594049e-04,-1.052682382e-02,-2.373703449e-05,-2.109039143e-04,-1.052541827e-02,7.015508221e-01,-2.103685396e-04,8.302140014e-01,7.015505718e-01,-2.104084436e-04,8.302141174e-01,7.017054085e-01,-2.091806670e-04,8.190471765e-01
+53,2.648333333e+01,DOWN_FORCE_DETACH,1791875486662582598,1.245573037e-06,-1.975777759e-04,-1.079252964e-02,1.137088826e-06,-1.978265914e-04,-1.079257975e-02,-3.664335499e-05,-1.970295847e-04,-1.079172521e-02,7.015391171e-01,-1.960268146e-04,8.299484115e-01,7.015390086e-01,-1.962756301e-04,8.299483614e-01,7.016925022e-01,-1.953063373e-04,8.187808695e-01
+54,2.661666667e+01,DOWN_FORCE_DETACH,1791875486930647009,3.004510171e-06,-1.754070828e-04,-1.105291302e-02,2.824116751e-06,-1.755820931e-04,-1.105249814e-02,-3.596850115e-05,-1.749408046e-04,-1.105201355e-02,7.015408760e-01,-1.738561215e-04,8.296880282e-01,7.015406956e-01,-1.740311317e-04,8.296884430e-01,7.016931770e-01,-1.732175572e-04,8.185205812e-01
+55,2.675000000e+01,DOWN_FORCE_DETACH,1791875487194753581,-2.289083599e-05,-1.752583701e-04,-1.133154189e-02,-2.301116883e-05,-1.752209587e-04,-1.133154166e-02,-6.353248867e-05,-1.751207119e-04,-1.133154959e-02,7.015149806e-01,-1.737074088e-04,8.294093993e-01,7.015148603e-01,-1.736699973e-04,8.294093995e-01,7.016656130e-01,-1.733974645e-04,8.182410452e-01
+56,2.688333333e+01,DOWN_FORCE_DETACH,1791875487432502309,-3.015260834e-05,-1.707852163e-04,-1.157066263e-02,-3.023504828e-05,-1.706961079e-04,-1.157032304e-02,-7.182235183e-05,-1.711594694e-04,-1.157071032e-02,7.015077189e-01,-1.692342549e-04,8.291702786e-01,7.015076364e-01,-1.691451466e-04,8.291706182e-01,7.016573232e-01,-1.694362220e-04,8.180018844e-01
+57,2.701666667e+01,DOWN_FORCE_DETACH,1791875487694768563,-2.994160511e-05,-1.664703799e-04,-1.183036554e-02,-3.000074745e-05,-1.665076497e-04,-1.183000487e-02,-7.245326730e-05,-1.673463019e-04,-1.183058869e-02,7.015079299e-01,-1.649194186e-04,8.289105757e-01,7.015078707e-01,-1.649566884e-04,8.289109363e-01,7.016566922e-01,-1.656230546e-04,8.177420061e-01
+58,2.715000000e+01,DOWN_FORCE_DETACH,1791875487926544380,-4.373992949e-05,-1.705284781e-04,-1.208123444e-02,-4.402425041e-05,-1.704656478e-04,-1.208097247e-02,-8.768806690e-05,-1.714513382e-04,-1.208164038e-02,7.014941316e-01,-1.689775168e-04,8.286597067e-01,7.014938472e-01,-1.689146865e-04,8.286599687e-01,7.016414574e-01,-1.697280909e-04,8.174909544e-01
+59,2.745000000e+01,DOWN_SETTLE,1791875488494954317,-6.270325840e-05,-1.539828240e-04,-1.234038913e-02,-6.068265933e-05,-1.535043410e-04,-1.233570587e-02,-1.056739668e-04,-1.543842921e-04,-1.233642392e-02,7.014751682e-01,-1.524318627e-04,8.284005521e-01,7.014771888e-01,-1.519533797e-04,8.284052353e-01,7.016234715e-01,-1.526610448e-04,8.172361708e-01

Fixed/s2/ball_15A_10/press_depth_10/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-2.3282e-02,-1.1644e-03,2.4482e+00,-3.6660e-02,3.5125e-02,-2.3653e-05,5.2686e-04,9.9274e-06,1.7715e-04,-4.9546e-07,3.6974e-05,1.6182e-08,5.5593e-04,3.6977e-05
+1,9.1667e-01,DOWN_FORCE_DETACH,2.5844e-04,-2.5627e-03,1.9234e-02,2.4578e+00,-3.8100e-02,3.6581e-02,1.2910e-05,2.1246e-02,2.0408e-02,9.7020e-03,-1.4404e-03,1.4933e-03,3.6578e-05,3.1017e-02,2.0751e-03
+2,1.9000e+00,DOWN_FORCE_DETACH,5.2335e-04,8.1753e-03,3.0588e-02,2.5283e+00,-3.8882e-02,3.7304e-02,2.8545e-05,3.1984e-02,3.1762e-02,8.0239e-02,-2.2228e-03,2.2162e-03,5.2214e-05,9.2033e-02,3.1393e-03
+3,3.0167e+00,DOWN_FORCE_DETACH,7.9150e-04,1.9103e-02,3.3921e-02,2.5204e+00,-3.9065e-02,3.8091e-02,2.1034e-05,4.2912e-02,3.5095e-02,7.2316e-02,-2.4052e-03,3.0026e-03,4.4702e-05,9.1120e-02,3.8474e-03
+4,4.1500e+00,DOWN_FORCE_DETACH,1.0501e-03,2.1402e-02,3.6564e-02,2.4935e+00,-3.9230e-02,3.8279e-02,1.3347e-05,4.5211e-02,3.7738e-02,4.5449e-02,-2.5709e-03,3.1903e-03,3.7016e-05,7.4389e-02,4.0975e-03
+5,5.1667e+00,DOWN_FORCE_DETACH,1.3145e-03,2.2272e-02,3.6861e-02,2.5022e+00,-3.9254e-02,3.8340e-02,8.3904e-06,4.6081e-02,3.8035e-02,5.4178e-02,-2.5944e-03,3.2515e-03,3.2059e-05,8.0656e-02,4.1598e-03
+6,6.3000e+00,DOWN_FORCE_DETACH,1.5793e-03,2.4423e-02,3.9472e-02,2.5142e+00,-3.9464e-02,3.8482e-02,1.4987e-05,4.8232e-02,4.0646e-02,6.6157e-02,-2.8043e-03,3.3939e-03,3.8656e-05,9.1406e-02,4.4027e-03
+7,7.3833e+00,DOWN_FORCE_DETACH,1.8409e-03,2.4484e-02,4.0025e-02,2.5122e+00,-3.9542e-02,3.8479e-02,2.2815e-05,4.8293e-02,4.1199e-02,6.4155e-02,-2.8828e-03,3.3911e-03,4.6484e-05,9.0252e-02,4.4511e-03
+8,8.4500e+00,DOWN_FORCE_DETACH,2.1056e-03,2.8953e-02,4.3426e-02,2.5226e+00,-3.9819e-02,3.8780e-02,3.6988e-05,5.2762e-02,4.4601e-02,7.4524e-02,-3.1591e-03,3.6923e-03,6.0657e-05,1.0162e-01,4.8597e-03
+9,9.5500e+00,DOWN_FORCE_DETACH,2.3695e-03,3.4155e-02,4.4523e-02,2.5123e+00,-3.9920e-02,3.9156e-02,5.1208e-05,5.7964e-02,4.5697e-02,6.4204e-02,-3.2603e-03,4.0680e-03,7.4877e-05,9.7827e-02,5.2138e-03
+10,1.0583e+01,DOWN_FORCE_DETACH,2.6291e-03,3.5614e-02,4.6371e-02,2.5053e+00,-4.0053e-02,3.9272e-02,5.5843e-05,5.9423e-02,4.7545e-02,5.7290e-02,-3.3939e-03,4.1842e-03,7.9512e-05,9.5256e-02,5.3882e-03
+11,1.1633e+01,DOWN_FORCE_DETACH,2.8977e-03,3.2856e-02,4.8603e-02,2.5105e+00,-4.0187e-02,3.9085e-02,5.1222e-05,5.6665e-02,4.9778e-02,6.2469e-02,-3.5275e-03,3.9965e-03,7.4891e-05,9.7935e-02,5.3311e-03
+12,1.2650e+01,DOWN_FORCE_DETACH,3.1588e-03,2.9975e-02,6.2100e-02,2.5156e+00,-4.1092e-02,3.8880e-02,5.9321e-05,5.3783e-02,6.3274e-02,6.7532e-02,-4.4327e-03,3.7923e-03,8.2990e-05,1.0704e-01,5.8342e-03
+13,1.3683e+01,DOWN_FORCE_DETACH,3.4209e-03,2.6507e-02,6.1686e-02,2.5209e+00,-4.1033e-02,3.8626e-02,3.8816e-05,5.0316e-02,6.2860e-02,7.2871e-02,-4.3733e-03,3.5376e-03,6.2485e-05,1.0860e-01,5.6253e-03
+14,1.4767e+01,DOWN_FORCE_DETACH,3.6842e-03,2.8308e-02,6.2620e-02,2.5420e+00,-4.1100e-02,3.8721e-02,2.7143e-05,5.2117e-02,6.3794e-02,9.3993e-02,-4.4405e-03,3.6332e-03,5.0812e-05,1.2498e-01,5.7376e-03
+15,1.5667e+01,DOWN_FORCE_DETACH,3.9487e-03,3.1725e-02,6.2630e-02,2.5690e+00,-4.1116e-02,3.8939e-02,9.2211e-06,5.5533e-02,6.3804e-02,1.2097e-01,-4.4565e-03,3.8513e-03,3.2890e-05,1.4761e-01,5.8901e-03
+16,1.6533e+01,DOWN_FORCE_DETACH,4.2133e-03,3.4123e-02,6.1206e-02,2.5918e+00,-4.1009e-02,3.9092e-02,-3.6188e-06,5.7932e-02,6.2380e-02,1.4378e-01,-4.3494e-03,4.0035e-03,2.0050e-05,1.6710e-01,5.9115e-03
+17,1.7283e+01,DOWN_FORCE_DETACH,4.4726e-03,3.7070e-02,6.1514e-02,2.6131e+00,-4.0979e-02,3.9281e-02,-1.9508e-06,6.0878e-02,6.2688e-02,1.6504e-01,-4.3196e-03,4.1926e-03,2.1718e-05,1.8675e-01,6.0197e-03
+18,1.7967e+01,DOWN_FORCE_DETACH,4.7410e-03,3.8558e-02,6.5555e-02,2.6518e+00,-4.1173e-02,3.9367e-02,-5.3553e-06,6.2367e-02,6.6729e-02,2.0376e-01,-4.5139e-03,4.2789e-03,1.8314e-05,2.2329e-01,6.2196e-03
+19,1.8600e+01,DOWN_FORCE_DETACH,4.9986e-03,3.7958e-02,6.6659e-02,2.6804e+00,-4.1193e-02,3.9306e-02,-3.0295e-05,6.1767e-02,6.7833e-02,2.3232e-01,-4.5338e-03,4.2177e-03,-6.6258e-06,2.4978e-01,6.1923e-03
+20,1.9133e+01,DOWN_FORCE_DETACH,5.2672e-03,3.9910e-02,7.0857e-02,2.7155e+00,-4.1465e-02,3.9431e-02,-4.0018e-05,6.3719e-02,7.2031e-02,2.6742e-01,-4.8053e-03,4.3428e-03,-1.6349e-05,2.8419e-01,6.4770e-03
+21,1.9617e+01,DOWN_FORCE_DETACH,5.5269e-03,3.6496e-02,7.4706e-02,2.7436e+00,-4.1665e-02,3.9192e-02,-4.0291e-05,6.0305e-02,7.5880e-02,2.9552e-01,-5.0054e-03,4.1042e-03,-1.6622e-05,3.1101e-01,6.4729e-03
+22,2.0017e+01,DOWN_FORCE_DETACH,5.7835e-03,3.7457e-02,7.6930e-02,2.7642e+00,-4.1774e-02,3.9213e-02,-3.3627e-05,6.1266e-02,7.8104e-02,3.1616e-01,-5.1145e-03,4.1246e-03,-9.9578e-06,3.3138e-01,6.5704e-03
+23,2.0383e+01,DOWN_FORCE_DETACH,6.0475e-03,3.9756e-02,8.1508e-02,2.8111e+00,-4.2080e-02,3.9326e-02,-3.8757e-05,6.3565e-02,8.2683e-02,3.6305e-01,-5.4202e-03,4.2376e-03,-1.5088e-05,3.7773e-01,6.8802e-03
+24,2.0750e+01,DOWN_FORCE_DETACH,6.3219e-03,4.0547e-02,7.9888e-02,2.8272e+00,-4.1941e-02,3.9377e-02,-3.9512e-05,6.4356e-02,8.1062e-02,3.7915e-01,-5.2820e-03,4.2890e-03,-1.5843e-05,3.9303e-01,6.8040e-03
+25,2.1083e+01,DOWN_FORCE_DETACH,6.5848e-03,4.3724e-02,8.1966e-02,2.8462e+00,-4.1990e-02,3.9594e-02,-2.6201e-05,6.7533e-02,8.3141e-02,3.9815e-01,-5.3307e-03,4.5061e-03,-2.5323e-06,4.1231e-01,6.9801e-03
+26,2.1400e+01,DOWN_FORCE_DETACH,6.8408e-03,4.0250e-02,8.3070e-02,2.8584e+00,-4.2013e-02,3.9349e-02,-1.4118e-05,6.4059e-02,8.4244e-02,4.1031e-01,-5.3536e-03,4.2607e-03,9.5505e-06,4.2374e-01,6.8421e-03
+27,2.1700e+01,DOWN_FORCE_DETACH,7.1111e-03,4.0032e-02,8.9725e-02,2.8773e+00,-4.2403e-02,3.9323e-02,-1.6806e-05,6.3841e-02,9.0900e-02,4.2930e-01,-5.7440e-03,4.2350e-03,6.8629e-06,4.4344e-01,7.1364e-03
+28,2.1983e+01,DOWN_FORCE_DETACH,7.3731e-03,3.8708e-02,9.4539e-02,2.8852e+00,-4.2698e-02,3.9209e-02,8.5112e-06,6.2517e-02,9.5713e-02,4.3711e-01,-6.0385e-03,4.1209e-03,3.2180e-05,4.5181e-01,7.3107e-03
+29,2.2250e+01,DOWN_FORCE_DETACH,7.6326e-03,4.1029e-02,9.6853e-02,2.8929e+00,-4.2837e-02,3.9336e-02,-1.4821e-06,6.4838e-02,9.8027e-02,4.4484e-01,-6.1776e-03,4.2475e-03,2.2187e-05,4.6010e-01,7.4970e-03
+30,2.2517e+01,DOWN_FORCE_DETACH,7.9056e-03,4.1903e-02,9.9032e-02,2.8978e+00,-4.2965e-02,3.9382e-02,-1.2248e-05,6.5711e-02,1.0021e-01,4.4977e-01,-6.3051e-03,4.2943e-03,1.1421e-05,4.6546e-01,7.6286e-03
+31,2.2733e+01,DOWN_FORCE_DETACH,8.1547e-03,4.0409e-02,1.0014e-01,2.9104e+00,-4.2960e-02,3.9270e-02,-6.0978e-06,6.4218e-02,1.0132e-01,4.6232e-01,-6.3008e-03,4.1815e-03,1.7571e-05,4.7763e-01,7.5621e-03
+32,2.2967e+01,DOWN_FORCE_DETACH,8.4169e-03,4.5071e-02,1.0481e-01,2.9131e+00,-4.3183e-02,3.9597e-02,6.6730e-06,6.8880e-02,1.0598e-01,4.6508e-01,-6.5232e-03,4.5092e-03,3.0342e-05,4.8195e-01,7.9301e-03
+33,2.3200e+01,DOWN_FORCE_DETACH,8.6790e-03,4.4768e-02,1.0995e-01,2.9006e+00,-4.3558e-02,3.9577e-02,1.7079e-05,6.8577e-02,1.1113e-01,4.5250e-01,-6.8983e-03,4.4887e-03,4.0748e-05,4.7097e-01,8.2302e-03
+34,2.3417e+01,DOWN_FORCE_DETACH,8.9470e-03,4.3258e-02,1.1476e-01,2.9082e+00,-4.3841e-02,3.9464e-02,3.5730e-05,6.7067e-02,1.1594e-01,4.6017e-01,-7.1819e-03,4.3763e-03,5.9399e-05,4.7926e-01,8.4104e-03
+35,2.3617e+01,DOWN_FORCE_DETACH,9.2089e-03,4.3130e-02,1.1528e-01,2.9074e+00,-4.3858e-02,3.9433e-02,2.5101e-05,6.6939e-02,1.1645e-01,4.5934e-01,-7.1990e-03,4.3448e-03,4.8770e-05,4.7857e-01,8.4086e-03
+36,2.3800e+01,DOWN_FORCE_DETACH,9.4663e-03,4.5458e-02,1.1479e-01,2.9064e+00,-4.3790e-02,3.9585e-02,1.4295e-06,6.9267e-02,1.1596e-01,4.5836e-01,-7.1311e-03,4.4973e-03,2.5098e-05,4.7785e-01,8.4308e-03
+37,2.4000e+01,DOWN_FORCE_DETACH,9.7467e-03,4.4534e-02,1.1222e-01,2.9066e+00,-4.3504e-02,3.9538e-02,-1.9801e-05,6.8343e-02,1.1339e-01,4.5851e-01,-6.8441e-03,4.4501e-03,3.8679e-06,4.7724e-01,8.1637e-03
+38,2.4183e+01,DOWN_FORCE_DETACH,9.9977e-03,4.3621e-02,1.1336e-01,2.8746e+00,-4.3643e-02,3.9473e-02,-1.8079e-05,6.7430e-02,1.1454e-01,4.2655e-01,-6.9833e-03,4.3853e-03,5.5900e-06,4.4678e-01,8.2460e-03
+39,2.4350e+01,DOWN_FORCE_DETACH,1.0251e-02,4.3763e-02,1.1080e-01,2.8680e+00,-4.3508e-02,3.9486e-02,-2.0663e-05,6.7571e-02,1.1197e-01,4.1993e-01,-6.8482e-03,4.3983e-03,3.0055e-06,4.3983e-01,8.1390e-03
+40,2.4533e+01,DOWN_FORCE_DETACH,1.0528e-02,4.0886e-02,1.1581e-01,2.8624e+00,-4.3774e-02,3.9297e-02,-2.9464e-05,6.4695e-02,1.1699e-01,4.1434e-01,-7.1145e-03,4.2091e-03,-5.7954e-06,4.3537e-01,8.2663e-03
+41,2.4683e+01,DOWN_FORCE_DETACH,1.0780e-02,4.5866e-02,1.1653e-01,2.8467e+00,-4.3820e-02,3.9629e-02,-5.2476e-05,6.9675e-02,1.1770e-01,3.9864e-01,-7.1605e-03,4.5413e-03,-2.8807e-05,4.2145e-01,8.4792e-03
+42,2.4850e+01,DOWN_FORCE_DETACH,1.1045e-02,4.3214e-02,1.1052e-01,2.8215e+00,-4.3420e-02,3.9471e-02,-8.7432e-05,6.7022e-02,1.1170e-01,3.7341e-01,-6.7607e-03,4.3824e-03,-6.3763e-05,3.9548e-01,8.0571e-03
+43,2.5017e+01,DOWN_FORCE_DETACH,1.1323e-02,4.1945e-02,1.1330e-01,2.7896e+00,-4.3637e-02,3.9375e-02,-5.7583e-05,6.5754e-02,1.1448e-01,3.4154e-01,-6.9771e-03,4.2869e-03,-3.3914e-05,3.6616e-01,8.1889e-03
+44,2.5183e+01,DOWN_FORCE_DETACH,1.1587e-02,4.3560e-02,1.1335e-01,2.7742e+00,-4.3657e-02,3.9504e-02,-5.9023e-05,6.7368e-02,1.1452e-01,3.2618e-01,-6.9974e-03,4.4155e-03,-3.5355e-05,3.5220e-01,8.2742e-03
+45,2.5317e+01,DOWN_FORCE_DETACH,1.1837e-02,4.3343e-02,1.1818e-01,2.7691e+00,-4.3890e-02,3.9506e-02,-7.0491e-05,6.7152e-02,1.1936e-01,3.2108e-01,-7.2302e-03,4.4179e-03,-4.6822e-05,3.4907e-01,8.4733e-03
+46,2.5483e+01,DOWN_FORCE_DETACH,1.2117e-02,4.1442e-02,1.1900e-01,2.7325e+00,-4.3919e-02,3.9402e-02,-8.3533e-05,6.5251e-02,1.2018e-01,2.8450e-01,-7.2601e-03,4.3139e-03,-5.9864e-05,3.1565e-01,8.4452e-03
+47,2.5617e+01,DOWN_FORCE_DETACH,1.2358e-02,3.7293e-02,1.1494e-01,2.6998e+00,-4.3740e-02,3.9131e-02,-7.4575e-05,6.1102e-02,1.1611e-01,2.5174e-01,-7.0803e-03,4.0424e-03,-5.0906e-05,2.8388e-01,8.1532e-03
+48,2.5767e+01,DOWN_FORCE_DETACH,1.2632e-02,3.7808e-02,1.1834e-01,2.6735e+00,-4.3933e-02,3.9181e-02,-4.0069e-05,6.1617e-02,1.1951e-01,2.2547e-01,-7.2733e-03,4.0932e-03,-1.6400e-05,2.6252e-01,8.3460e-03
+49,2.5917e+01,DOWN_FORCE_DETACH,1.2904e-02,3.5374e-02,1.1681e-01,2.6435e+00,-4.3837e-02,3.9043e-02,-4.7630e-05,5.9183e-02,1.1798e-01,1.9543e-01,-7.1776e-03,3.9546e-03,-2.3961e-05,2.3583e-01,8.1950e-03
+50,2.6050e+01,DOWN_FORCE_DETACH,1.3165e-02,2.8126e-02,1.2516e-01,2.6184e+00,-4.4281e-02,3.8567e-02,-5.7456e-05,5.1935e-02,1.2633e-01,1.7038e-01,-7.6213e-03,3.4785e-03,-3.3787e-05,2.1837e-01,8.3777e-03
+51,2.6200e+01,DOWN_FORCE_DETACH,1.3422e-02,2.0508e-02,1.1924e-01,2.5910e+00,-4.4016e-02,3.8079e-02,-6.6382e-05,4.4317e-02,1.2042e-01,1.4291e-01,-7.3570e-03,2.9908e-03,-4.2713e-05,1.9206e-01,7.9418e-03
+52,2.6333e+01,DOWN_FORCE_DETACH,1.3676e-02,2.0142e-02,1.0494e-01,2.5550e+00,-4.3192e-02,3.8073e-02,-6.7069e-05,4.3951e-02,1.0612e-01,1.0697e-01,-6.5326e-03,2.9853e-03,-4.3401e-05,1.5695e-01,7.1825e-03
+53,2.6483e+01,DOWN_FORCE_DETACH,1.3945e-02,1.4249e-02,9.0506e-02,2.5282e+00,-4.2315e-02,3.7691e-02,-2.0051e-05,3.8058e-02,9.1680e-02,8.0197e-02,-5.6556e-03,2.6025e-03,3.6174e-06,1.2761e-01,6.2257e-03
+54,2.6617e+01,DOWN_FORCE_DETACH,1.4209e-02,7.9155e-03,7.6254e-02,2.5094e+00,-4.1400e-02,3.7270e-02,-5.8056e-06,3.1724e-02,7.7428e-02,6.1390e-02,-4.7404e-03,2.1821e-03,1.7863e-05,1.0378e-01,5.2185e-03
+55,2.6750e+01,DOWN_FORCE_DETACH,1.4490e-02,4.6418e-03,5.2874e-02,2.4848e+00,-4.0009e-02,3.7076e-02,-8.9445e-06,2.8451e-02,5.4048e-02,3.6785e-02,-3.3498e-03,1.9883e-03,1.4724e-05,7.1301e-02,3.8955e-03
+56,2.6883e+01,DOWN_FORCE_DETACH,1.4731e-02,2.7312e-03,2.7527e-02,2.4696e+00,-3.8456e-02,3.6958e-02,-1.0087e-05,2.6540e-02,2.8701e-02,2.1579e-02,-1.7968e-03,1.8699e-03,1.3582e-05,4.4652e-02,2.5933e-03
+57,2.7017e+01,DOWN_FORCE_DETACH,1.5001e-02,8.2824e-04,6.0310e-03,2.4571e+00,-3.7151e-02,3.6840e-02,-3.2071e-06,2.4637e-02,7.2053e-03,9.0373e-03,-4.9124e-04,1.7515e-03,2.0462e-05,2.7214e-02,1.8192e-03
+58,2.7150e+01,DOWN_FORCE_DETACH,1.5255e-02,3.0508e-05,2.7647e-04,2.4529e+00,-3.6803e-02,3.6789e-02,-4.8326e-08,2.3839e-02,1.4508e-03,4.8220e-03,-1.4311e-04,1.7011e-03,2.3621e-05,2.4365e-02,1.7073e-03
+59,2.7450e+01,DOWN_SETTLE,1.5528e-02,0.0000e+00,3.3230e-14,2.4525e+00,-3.6788e-02,3.6787e-02,-3.2284e-17,2.3809e-02,1.1743e-03,4.4496e-03,-1.2809e-04,1.6993e-03,2.3669e-05,2.4250e-02,1.7043e-03

Fixed/s2/ball_15A_10/press_depth_10/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce84074e45ab3173f689567963baecd21a86bfdcf05fe0c7414e3937cbf8251
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Fixed/s2/ball_15A_10/press_depth_10/up/franka_data.csv

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Fixed/s2/ball_15A_10/press_depth_10/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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Fixed/s2/ball_15A_10/press_depth_10/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+54,1.9167e+00,UP_FORCE_HOLD,4.7074e-04,1.6611e-02,2.7101e-02,2.4347e+00,-3.8666e-02,3.7950e-02,2.3168e-05,4.0424e-02,2.8277e-02,-1.3339e-02,-2.0066e-03,2.8618e-03,4.6872e-05,5.1104e-02,3.4955e-03
+55,1.9333e+00,UP_FORCE_HOLD,4.8107e-04,1.6781e-02,2.7075e-02,2.4354e+00,-3.8664e-02,3.7962e-02,2.3307e-05,4.0595e-02,2.8250e-02,-1.2641e-02,-2.0049e-03,2.8738e-03,4.7011e-05,5.1047e-02,3.5044e-03
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Fixed/s2/ball_15A_12.5/press_depth_01/down/camera_frames_60hz.tar

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+oid sha256:dd47defe8c45187339b474051626754114817db12046175cca6d88250a9063d8
+size 67317760

Fixed/s2/ball_15A_12.5/press_depth_01/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+3939,1792674130342774715,42670598000000,1792674130341400679,XJC_ZERO_HOLD_BEFORE_DOWN,1,0.04,0.040002163499593735,0.6760759609929405,-0.004436060699726415,0.09093992993237511,0.9999999819011696,3.195223644226711e-05,-4.964995890500009e-05,-0.00015541705550015426,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.030137106314977707,0.029809336234744133,-0.0015335683407109446,0.0018551613143840823,-0.0018417318427271616,-8.885543005836083e-06,0.2741596564941789,0.2988324914773787,-0.161994646246432,0.016946681034666185,-0.02095805976019359,2.2221507924757907e-05,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,-0.24614813621238144,0.44168037516806163,1.5202137086838092,-0.2520554261940745,-0.9341840080334636,0.22547438378928197,1.1878137942086926,0.0015335683407109446,-0.33239991447511663,0.0,0.0,0,0,0.0,0.0
+4063,1792674131368846555,42671624000000,1792674131365400801,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.676073463324801,-0.004439790661414126,0.09093399214915522,0.9999999822561213,3.208203268170013e-05,-5.334067405528934e-05,-0.0001518424755322721,0.6761,-0.00453,0.09098433815286693,1.0,0.0,0.0,0.0,0.048574286888545565,0.050468299631778624,-0.0009998333018094163,0.002924875165600631,-0.0034885650062524975,-1.6011428242030283e-05,0.29259683706774675,0.3194914548744132,-0.16146091120753048,0.018016394885882733,-0.022604892923718926,1.5095622688563705e-05,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,-0.1106186742404521,0.46503508886585704,1.4262654167466544,-0.2550395299976924,-0.8376977483898892,0.24123240810180752,1.1878137942086926,0.0009998333018094163,-0.23845162253796182,-0.23845162253796182,0.055440000000000406,0,0,-3.959999253097391e-05,-9.999999025923074e-05
+4187,1792674132401838157,42672657000000,1792674132397401038,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760588830576316,-0.004454392029501549,0.09085834720796215,0.9999999826810773,2.6374584923430704e-05,-8.368398639140941e-05,-0.00013558053507354995,0.6761,-0.00453,0.09091810461927775,1.0,0.0,0.0,0.0,0.07243944300299857,0.04583208995456933,0.12334527489165603,0.0029237597115100676,-0.004552055936674411,-0.00012805546138626935,0.31646199318219975,0.3148552451972039,-0.03711580301406503,0.01801527943179217,-0.02366838385414084,-9.694841045567536e-05,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.051970186143233184,0.45543975669580583,1.1609506487939247,-0.21804961624327387,-0.6357697141197168,0.2513674147460163,1.1878137942086926,0.12334527489165603,0.026863145414767864,0.026863145414767864,0.1277500000000005,0,0,-8.287303894930075e-05,9.868296044069353e-05
+4259,1792674133001850846,42673257000000,1792674132997410431,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.676072991709495,-0.004463062836504106,0.09080007170878902,0.9999999880193265,2.9556206505268868e-05,-4.345295702065412e-05,-0.000112438793916586,0.6761,-0.00453,0.09086690708593938,1.0,0.0,0.0,0.0,0.05620365255695661,0.053088511397183846,0.21958218760398687,0.003898598558671633,-0.003555083329464699,-0.00018064566700540244,0.3002262027361578,0.32211166663981844,0.05912110969826582,0.018990118278953735,-0.022671411246931127,-0.00014953861607480844,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.08336772166262586,0.3405934855412827,0.998358803396919,-0.1516628426767511,-0.5466363838244843,0.18037086570421537,1.1878137942086926,0.21958218760398687,0.18945499081177364,0.18945499081177364,0.16974999999999255,0,0,-7.779621977591222e-05,9.999986535914047e-05
+4391,1792674134101902607,42674357000000,1792674134101410426,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.67607179568998,-0.00447074573011788,0.09077179279193448,0.9999999891978049,2.9899897999903343e-05,-4.320842610373843e-05,-0.00010142131199733264,0.6761,-0.00453,0.09080809312196084,1.0,0.0,0.0,0.0,0.05652677795618702,0.05543366177508385,0.27031404971187756,0.003888139352449853,-0.0035675631809756504,-0.00022143902462135612,0.3005493281353882,0.32445681701771845,0.10985297180615648,0.018979659072731955,-0.02268389109844208,-0.00019033197369076212,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.05353509997632182,0.3842971168033513,0.8817376166356289,-0.13513219594927608,-0.4904827115039298,0.19695200988434866,1.1878137942086926,0.27031404971187756,0.3060761775730637,0.3060761775730637,0.24674999999997796,0,0,-3.280829465460299e-05,9.999999025923074e-05
+4485,1792674134885963313,42675141000000,1792674134885401089,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760715088695833,-0.004470395503149565,0.09075307997571741,0.9999999895253304,3.327447328292501e-05,-4.3522742961168215e-05,-9.690605702301506e-05,0.6761,-0.00453,0.0907891861354357,1.0,0.0,0.0,0.0,0.04926631257609579,0.04414695205341418,0.30000675057796977,0.0029452106361672024,-0.0035543321878329405,-0.000257449925830582,0.293288862755297,0.31317010729604877,0.13954567267224868,0.018036730356449305,-0.02267066010529937,-0.00022634287489998802,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.12487551721299336,0.41074746704568094,0.8595044926775934,-0.12267968438451664,-0.46209028841274785,0.21694195246586812,1.1878137942086926,0.30000675057796977,0.32830930153109916,0.32830930153109916,0.301629999999988,0,0,-1.7395927077974764e-05,9.99997404590502e-05
+4574,1792674135626940101,42675882000000,1792674135625410809,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760729517649968,-0.004475544542309977,0.09074557474054046,0.9999999900165208,3.3243603096754855e-05,-3.9864773404276985e-05,-9.335676371898015e-05,0.6761,-0.00453,0.09077493709380488,1.0,0.0,0.0,0.0,0.06516586893226364,0.05567096669894961,0.3104419321351742,0.0038635092052615866,-0.003574758381875095,-0.00025300218309984415,0.30918841911146483,0.3246941219415842,0.14998085422945312,0.01895502892554369,-0.022691086299341523,-0.00022189513216925016,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.13451333202677263,0.5243256601618216,0.8483790744113994,-0.1494926842701016,-0.4569663703366093,0.28725634086824564,1.1878137942086926,0.3104419321351742,0.3394347197972932,0.3394347197972932,0.35349999999999876,0,0,-2.2047719931668535e-05,9.779003581756313e-05
+4686,1792674136560994041,42676816000000,1792674136557410413,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760766144475994,-0.00448023008923965,0.0907289107296139,0.9999999911492159,3.063276557246284e-05,-3.0280538435143278e-05,-8.537655038052252e-05,0.6761,-0.00453,0.0907469320845484,1.0,0.0,0.0,0.0,0.04788133129026553,0.0580972165948474,0.350376599105814,0.0038746750654415386,-0.003583528874353835,-0.0002871746840954774,0.2919038814694667,0.327120371837482,0.18991552120009295,0.01896619478572364,-0.022699856791820263,-0.0002560676331648834,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.14790904026889562,0.34445376188846105,0.8914153307401208,-0.08194647361377533,-0.48476760195095375,0.1669440122740261,1.1878137942086926,0.350376599105814,0.2963984634685718,0.2963984634685718,0.4188800000000123,0,0,-3.383482463234356e-05,-9.593925240214957e-05
+4786,1792674137394033715,42677649000000,1792674137393401417,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760718821365097,-0.004481167487682119,0.09069624658119274,0.9999999914056423,3.227001166904795e-05,-3.947895892065759e-05,-7.766361991047804e-05,0.6761,-0.00453,0.09072482811769333,1.0,0.0,0.0,0.0,0.051651641354071326,0.04111536978377617,0.40030997346583796,0.002843180602177822,-0.003574329265688049,-0.00033858755730776596,0.2956741915332725,0.31013852502641076,0.2398488955601169,0.017934700322459925,-0.022690657183154477,-0.00030748050637717197,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.13476492164727008,0.3544973761304573,0.7519038602152202,-0.07466880661369919,-0.3993945838714092,0.17112470184464879,1.1878137942086926,0.40030997346583796,0.43590993399347244,0.43590993399347244,0.4771900000000244,0,0,-2.223380051468039e-05,-6.729541100915108e-05
+4874,1792674138127029200,42678382000000,1792674138125400989,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760713850515419,-0.004480966821665766,0.09068137942490709,0.9999999914836586,3.883877934818369e-05,-4.0235527391975045e-05,-7.313138024175657e-05,0.6761,-0.00453,0.09070820080008399,1.0,0.0,0.0,0.0,0.05648251781769961,0.04567341382415646,0.4203958899402735,0.0028392202947250256,-0.0035531207915556334,-0.0003538150926267002,0.3005050679969008,0.31469656906679105,0.25993481203455243,0.017930740015007128,-0.02266944870902206,-0.0003227080416961062,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.11717922630194685,0.42249183856622163,0.7002043755699964,-0.09473297862386548,-0.37103483844916113,0.21189749742264685,1.1878137942086926,0.4203958899402735,0.4876094186386962,0.4876094186386962,0.5285000000000349,0,0,-2.6905655936298615e-05,-1.7351020370085722e-05
+4966,1792674138894100086,42679149000000,1792674138893410358,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760740095356026,-0.004487074384287078,0.09066925292026218,0.9999999921499972,3.4892029400292975e-05,-3.424966972679477e-05,-6.893748136017882e-05,0.6761,-0.00453,0.09068237256365984,1.0,0.0,0.0,0.0,0.048669811571853544,0.03863796757339666,0.4404288084476825,0.0028347553390391245,-0.0035829509213904723,-0.0003713598675025753,0.29269236175105473,0.30766112281603125,0.27996773054196145,0.017926275059321227,-0.0226992788388569,-0.0003402528165719813,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.16347999581051004,0.38291805800625434,0.6691375812571014,-0.050973252857529884,-0.3495041320157092,0.18984603632471123,1.1878137942086926,0.4404288084476825,0.5186762129515912,0.5186762129515912,0.5821900000000461,0,0,-3.891888360683441e-05,-5.596734673822231e-05
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+5249,1792674141252136241,42681507000000,1792674141245410449,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.676072252733259,-0.0044931038829851225,0.09059394547600233,0.9999999932809548,4.313437663204333e-05,-3.077729182258986e-05,-4.553173310783306e-05,0.6761,-0.00453,0.09058886819316266,1.0,0.0,0.0,0.0,0.038199949690613105,0.037595623023208236,0.5502464770224584,0.001759258486596707,-0.0016115563143978273,-0.00044165947708381566,0.2822224998698143,0.30661877826584283,0.3897853991167373,0.01685077820687881,-0.020727884231864255,-0.00041055242615322166,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.23315177383811042,0.4123084308348564,0.5682471606016377,-0.00310932825803036,-0.2800241183219102,0.19574104955798866,1.1878137942086926,0.5502464770224584,0.6195666336070549,0.6195666336070549,0.7472500000000802,0,0,-3.624517525976779e-05,-9.993551405707563e-05
+5389,1792674142419113432,42682674000000,1792674142417401721,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760737820637112,-0.004501629215120525,0.09055592072515134,0.9999999939616345,4.163307990340222e-05,-2.630402890306076e-05,-3.3081416176788375e-05,0.6761,-0.00453,0.09054643237409563,1.0,0.0,0.0,0.0,0.03786835237002903,0.024774304714345885,0.590883630650471,0.0027773387600584197,-0.00260073009947287,-0.00047808134726991524,0.2818909025492302,0.2937974599569805,0.43042255274475,0.017868858480340522,-0.021717058016939298,-0.00044697429633932124,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.21699134049446797,0.326676064599009,0.37622607215519027,0.0512110606032913,-0.17114148994522857,0.13239136556801112,1.1878137942086926,0.590883630650471,0.8115877220535024,0.8115877220535024,0.8289400000000972,0,0,-3.7091656888950435e-05,9.943737086371413e-05
+5505,1792674143386214109,42683641000000,1792674143381400932,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760729852271744,-0.004505469522898418,0.0905243257752984,0.9999999941213485,4.366985152280142e-05,-2.6140519000738555e-05,-2.4693819496333293e-05,0.6761,-0.00453,0.09051347334281952,1.0,0.0,0.0,0.0,0.04693737855918703,0.03486701975979817,0.6406339390038234,0.002097470451207832,-0.002198031720808395,-0.00038797320015495853,0.2909599287383882,0.30389017500243276,0.4801728610981023,0.017188990171489935,-0.021314359638274823,-0.00035686614922436454,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.24673810099773483,0.37234158085920166,0.4256423164121317,0.06174911466067134,-0.2025320585483038,0.15647592089530515,1.1878137942086926,0.6406339390038234,0.7621714777965609,0.7621714777965609,0.8966300000001112,0,0,-3.429917505157055e-05,-9.885758464467926e-05
+5628,1792674144411218799,42684666000000,1792674144405410561,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.676077890426346,-0.004505345402248739,0.09049569549011915,0.9999999942755345,4.7050974682065674e-05,-1.975352591150209e-05,-1.696464958030144e-05,0.6761,-0.00453,0.09047747151113704,1.0,0.0,0.0,0.0,0.04363863640117224,0.0345591009622645,0.6785489035702084,0.0017966545420421073,-0.0015893304239772456,-0.0005428661749296322,0.28766118658037343,0.3035822562048991,0.5180878256644873,0.01688817426232421,-0.020705658341443674,-0.0005117591239990382,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.2839594356621653,0.4283643515602652,0.29606739246479014,0.05584493546479761,-0.11004680424096162,0.1904673065771445,1.1878137942086926,0.6785489035702084,0.8917464017439025,0.8917464017439025,0.968380000000126,0,0,-4.096475204470729e-05,-9.999409219941242e-05
+5768,1792674145577233215,42685832000000,1792674145573400872,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760815695011338,-0.004509967209466407,0.09045556029648198,0.9999999945510176,4.623153072479644e-05,-1.2709339846610083e-05,-6.476694828296732e-06,0.6761,-0.00453,0.09042365937593093,1.0,0.0,0.0,0.0,0.036107915006271724,0.03874054875898458,0.7208277606456036,0.002724433393612384,-0.0016163774334866897,-0.0005682135140128412,0.2801304651854729,0.3077637040016192,0.5603666827398825,0.017815953113894487,-0.020732705350953118,-0.0005371064630822472,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.3190126001901557,0.34351438281144137,0.2578750758818855,0.0866243847436351,-0.0795069140503787,0.13081309313205008,1.1878137942086926,0.7208277606456036,0.9299387183268071,0.9299387183268071,1.0500000000001428,0,0,-5.312802472542811e-05,-9.567334010996404e-05
+5884,1792674146544207926,42686799000000,1792674146541400762,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760893675203669,-0.0045157980327253395,0.09041362231764466,0.9999999946195333,4.651254508968133e-05,-3.92818346189688e-06,4.995034200379313e-06,0.6761,-0.00453,0.09036973798675255,1.0,0.0,0.0,0.0,0.02129017772642719,0.03989768822038853,0.7651283116649188,0.002684815073781991,-0.0006162859854111843,0.00013935345211612765,0.2653127279056284,0.3089208434630231,0.6046672337591977,0.017776334794064094,-0.019732613902877612,0.00017046050304672165,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.34362471381284193,0.41184443952625,0.1348166837539035,0.0702545662348417,-0.00018020920848389854,0.17830564294214524,1.1878137942086926,0.7651283116649188,1.052997110454789,1.052997110454789,1.1176900000001568,0,0,-5.6629007390258994e-05,9.99999208702917e-05
+6016,1792674147644321493,42687899000000,1792674147641400962,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760903776962444,-0.004519709889932814,0.09035209967924683,0.9999999941305503,5.334790129426888e-05,-4.46855199593617e-06,1.7770686827619963e-05,0.6761,-0.00453,0.09030465683306685,1.0,0.0,0.0,0.0,0.02346568500050808,0.03826240218082416,0.8288749401613298,0.0016481941796843598,-0.00020652918750976162,-0.0006391459532267812,0.26748823517970927,0.30728555742345876,0.6684138622556087,0.016739713899966462,-0.01932285710497619,-0.0006080389022961872,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.41553640241949247,0.3404915036977736,0.07033917916450584,0.09271997390745115,0.05774998807143448,0.13553024943651448,1.1878137942086926,0.8288749401613298,1.1174746150441868,1.1174746150441868,1.1946900000001728,0,0,-5.841075954399873e-05,4.40403037859447e-05
+6159,1792674148836308282,42689091000000,1792674148833411015,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760931920761845,-0.0045261891273875735,0.09029222500758399,0.9999999935433778,5.8661758077759095e-05,6.78109739758384e-08,3.024735280968438e-05,0.6761,-0.00453,0.09023403458714016,1.0,0.0,0.0,0.0,0.018251497052618,0.04066483051079489,0.8613216269514715,0.0016215948252589554,0.00039678283778242507,-0.0006421871475650542,0.2622740472318192,0.3096879857534295,0.7008605490457505,0.016713114545541058,-0.018719545079684003,-0.0006110800966344602,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.3999312791267118,0.36016586101122283,0.009852981606555063,0.08828928517892966,0.08634533744092594,0.1488117677934945,1.1878137942086926,0.8613216269514715,1.1779608126021375,1.1779608126021375,1.27813000000019,0,0,-6.60695903362526e-05,-3.3437332096158914e-05
+6275,1792674149802277066,42690057000000,1792674149797401069,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760949684762336,-0.004531558195204413,0.09022995636472536,0.9999999913848495,8.237015473921032e-05,1.974432938200873e-06,4.3409958896171e-05,0.6761,-0.00453,0.09016767005770426,1.0,0.0,0.0,0.0,0.015390383341655739,0.0381063909774933,0.9092255443084792,0.0007881834699382771,0.0013311935377227288,0.00031149614708444844,0.2594129335208569,0.3071295462201279,0.7487644664027582,0.01587970319022038,-0.0177851343797437,0.00034260319801504243,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.4390024702610645,0.3697661831685571,-0.022774729616057383,0.0947761120586073,0.11561607478360214,0.16428388242746012,1.1878137942086926,0.9092255443084792,1.21058852382475,1.21058852382475,1.345750000000204,0,0,-6.903535430399644e-05,-8.743597098981865e-05
+6419,1792674151002403054,42691257000000,1792674151001400758,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760941546875251,-0.004538750539883327,0.09014723762926091,0.9999999891303535,9.752652924588011e-05,-2.0280268778479184e-06,6.055262536536888e-05,0.6761,-0.00453,0.09008140922891238,1.0,0.0,0.0,0.0,0.009200192849558891,0.024558257028065578,0.9513833412049795,0.0005500918530056652,0.0014074411099832783,0.00029382049710870286,0.2532227430287601,0.29358141227070017,0.7909222632992584,0.015641611573287768,-0.01770888680748315,0.00032492754803929686,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.488892378522237,0.3573428031399753,-0.13340824024941955,0.096003561269887,0.1941730786429986,0.15783461132110216,1.1878137942086926,0.9513833412049795,1.321222034458112,1.321222034458112,1.4297500000002215,0,0,-7.115465160453207e-05,-4.863559873681349e-05
+6550,1792674152094438617,42692349000000,1792674152093400934,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760999309661686,-0.004542377066679717,0.09007967466044198,0.9999999888166041,9.545647214521202e-05,8.524818724446527e-06,6.800768592921203e-05,0.6761,-0.00453,0.08999867078201049,1.0,0.0,0.0,0.0,0.008857155343777484,0.029752704468299418,0.9978335848240565,0.0005146550385102585,0.0024100829020802933,0.00027197205658438295,0.25287970552297867,0.298775859710934,0.8373725069183354,0.015606174758792361,-0.016706245015386135,0.00030307910751497695,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.4885335135912574,0.3331855395582884,-0.2272833180974095,0.10188814339557131,0.24693553265465293,0.14110828344605442,1.1878137942086926,0.9978335848240565,1.415097112306102,1.415097112306102,1.5061900000002373,0,0,-8.009821145652107e-05,5.0268507438505597e-05
+6666,1792674153061419270,42693316000000,1792674153057403787,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6761060879448304,-0.004546445365700378,0.09001123676495684,0.9999999894639879,8.381502554500236e-05,1.747167564233455e-05,7.200465644387103e-05,0.6761,-0.00453,0.08991949323744551,1.0,0.0,0.0,0.0,0.00031695127576691906,0.02744411425911436,1.0223560649112855,0.0005106224327298802,0.002404884331911397,0.0002515096073921261,0.2443395014549681,0.29646726950174895,0.8618949870055644,0.015602142153011983,-0.01671144358555503,0.0002826166583227201,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.4875806604050508,0.18432689523054271,-0.3016852323258053,0.14449329043796122,0.2886565034796364,0.04298003909941234,1.1878137942086926,1.0223560649112855,1.4894990265344978,1.4894990265344978,1.5738800000002513,0,0,-8.356521813826655e-05,5e-05
+6794,1792674154127410293,42694382000000,1792674154121401391,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6761096611652294,-0.0045510525136400574,0.0899270313280863,0.999999989526239,7.593921955199024e-05,2.303916358021675e-05,7.805650647077165e-05,0.6761,-0.00453,0.08982562015618362,1.0,0.0,0.0,0.0,-0.00046024073319914094,0.026656956944841492,1.0716479594888446,-7.76405445800446e-06,0.0034065163082116247,0.0002217448996114421,0.24356230944600205,0.2956801121874761,0.9111868815831236,0.015083755665824098,-0.015709811609254803,0.0002528519505420361,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.5476153814616679,0.3061021190828405,-0.35938311611600443,0.11315186899769669,0.3388487197157789,0.12417434403320336,1.1878137942086926,1.0716479594888446,1.547196910324697,1.547196910324697,1.6485000000002668,0,0,-9.095563391761796e-05,8.904092327200459e-05
+6914,1792674155127458580,42695382000000,1792674155125401279,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6761031690591732,-0.004551955212328857,0.08982232506014035,0.999999992047065,4.9581831071327355e-05,1.2864244700245917e-05,6.873781741727265e-05,0.6761,-0.00453,0.08972853955464846,1.0,0.0,0.0,0.0,-3.695437072082086e-05,0.023227392364881305,1.0913373672753504,-0.0005510789190409787,0.0034225157991523703,0.00019955058214846016,0.24398559580848037,0.2922505476075159,0.9308762893696293,0.014540440801241124,-0.015693812118314058,0.00023065763307905416,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.5475933658880398,0.2901954148139156,-0.3944406302667246,0.1378501538254144,0.35025230632398213,0.11518881822519199,1.1878137942086926,1.0913373672753504,1.5822544244754173,1.5822544244754173,1.7185000000002812,0,0,-0.0001038085938820993,8.521910115853078e-05
+7033,1792674156119496969,42696374000000,1792674156113401111,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.676103975648438,-0.0045574421467964804,0.08971784617450174,0.99999999185654,4.5636030927833335e-05,1.0412362001444762e-05,7.442257533196358e-05,0.6761,-0.00453,0.08961875790355468,1.0,0.0,0.0,0.0,-0.004054052347237269,0.014904419370537991,1.1213933880961438,-0.0005585656320772799,0.0034171842287832807,0.00017476464896239166,0.23996849783196392,0.2839275746131726,0.9609323101904227,0.014532954088204823,-0.015699143688683147,0.00020587169989298566,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.5470969208288676,0.2689161017721629,-0.3733220498737914,0.1548990779725209,0.33274372191876955,0.10152501950826656,1.1878137942086926,1.1213933880961438,1.561135844082484,1.561135844082484,1.7879400000002956,0,0,-0.00011661642605328838,-9.421894794770509e-05
+7145,1792674157052560447,42697307000000,1792674157045401087,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6761043925580564,-0.004562891965003629,0.08961065606064925,0.9999999900431807,6.389288505600878e-05,1.4513060442786797e-05,8.404506786558389e-05,0.6761,-0.00453,0.0895069585725374,1.0,0.0,0.0,0.0,-0.009679997635407306,0.014035411770094819,1.151498016488251,-0.0005634962274435485,0.003410429966160467,0.0001497681144937174,0.23434255254379388,0.2830585670127294,0.9910369385825297,0.014528023492838554,-0.01570589795130596,0.0001808751654243114,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.5648438388578061,0.2364797056093279,-0.4572265340885381,0.17027801399415493,0.3789542595626399,0.08810960317139951,1.1878137942086926,1.151498016488251,1.6450403282972306,1.6450403282972306,1.8532500000003092,0,0,-0.00012093039298696618,-7.500016860196296e-05
+7229,1792674157752538299,42698007000000,1792674157749400994,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6761031541566022,-0.004555782862702534,0.08951781358315974,0.9999999877547776,9.344079219971624e-05,8.523786042053463e-06,8.443620356070366e-05,0.6761,-0.00453,0.08941777659437429,1.0,0.0,0.0,0.0,-0.010515228528965498,0.002628260897772572,1.1510274879886913,-0.0016055517978627344,0.004425189413046864,0.000154204141018567,0.2335073216502357,0.27165141614040716,0.9905664100829703,0.013485967922419368,-0.014691138504419565,0.000185311191949161,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.5681581229807655,0.19238662948113433,-0.5757923065014184,0.19395316857545533,0.45271572944309685,0.06661730473188582,1.1878137942086926,1.1510274879886913,1.7636061007101111,1.7636061007101111,1.9022500000003193,0,0,-0.00013174830872511733,9.650044238552197e-05
+7305,1792674158386512579,42698641000000,1792674158385401496,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6761034796537805,-0.004567421648694845,0.08943397722693473,0.9999999865020036,9.54939332417854e-05,7.168444731664155e-06,9.627242179669908e-05,0.6761,-0.00453,0.08933114567144887,1.0,0.0,0.0,0.0,-0.018650611974293158,0.01361521122279874,1.1612128868294755,-0.0012104171874799952,0.004433415482138549,0.00014056841574336884,0.22537193820490803,0.28263836646543333,1.0007518089237546,0.013881102532802107,-0.014682912435327879,0.00017167546667396283,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.5366882805404704,0.27072303311949486,-0.475376296047733,0.17428757038734818,0.37342976957395435,0.1175233893841435,1.1878137942086926,1.1612128868294755,1.6631900902564256,1.6631900902564256,1.9466300000003285,0,0,-0.0001427033312032241,-9.999999025923074e-05
+7365,1792674158886567393,42699141000000,1792674158881401302,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6761023533916461,-0.004581544021861937,0.08936006852900982,0.9999999858857873,8.923945132905887e-05,6.197889781324273e-06,0.000108024052504718,0.6761,-0.00453,0.08925771818823201,1.0,0.0,0.0,0.0,-0.018659943160254572,0.0032333068226276795,1.1688634350336136,-0.0016155423752937832,0.004439707684185149,0.00013883526196949958,0.22536260701894661,0.2722564620652623,1.0084023571278924,0.01347597734498832,-0.01467662023328128,0.00016994231290009358,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.5754707215671279,0.24399014354900708,-0.5526005056925299,0.190757229667316,0.4305049217163575,0.1028533296990486,1.1878137942086926,1.1688634350336136,1.7404142999012224,1.7404142999012224,1.9816300000003357,0,0,-0.00015305670572204744,-9.999504976677116e-05
+7403,1792674159202593161,42699457000000,1792674159197401580,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.676100175864585,-0.004585618716155094,0.08930607208391765,0.9999999856702082,8.550910720634083e-05,9.368776182292911e-07,0.00011309183240537204,0.6761,-0.00453,0.08920799874052261,1.0,0.0,0.0,0.0,-0.013070344685188945,0.0057983881958075245,1.161058408934164,-0.0012317182379164033,0.0034255488597371743,0.0001394909066629004,0.23095220549401224,0.2748215434384421,1.000597331028443,0.0138598014823657,-0.015690779057729254,0.0001705979575934944,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.56201258541584,0.2172376735441786,-0.5229530907035342,0.21028771400233434,0.4082568560288965,0.0885176712460819,1.1878137942086926,1.161058408934164,1.7107668849122268,1.7107668849122268,2.0037500000003403,0,0,-0.00016256146249535165,-9.999999025923074e-05
+7469,1792674159752631163,42700007000000,1792674159745401278,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760961031852231,-0.004587922018353734,0.08920766108736007,0.9999999848170974,8.339529209099128e-05,-6.609145071833239e-06,0.00012169722226309798,0.6761,-0.00453,0.08911639520999265,1.0,0.0,0.0,0.0,-0.009049548833451049,-0.009275998435141597,1.1751771050923945,-0.0026379664955551024,0.004456457341479163,0.00012144575241803928,0.23497300134575014,0.259747156807493,1.0147160271866733,0.012453553224727,-0.014659870575987265,0.00015255280334863327,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.6694086203790672,0.18712398628295906,-0.5797176281959274,0.21674330828045293,0.4692146616360444,0.06479244102923096,1.1878137942086926,1.1751771050923945,1.7675314224046201,1.7675314224046201,2.0422500000003483,0,0,-0.00017046590816280206,-9.936480391126707e-05
+7541,1792674160352646772,42700607000000,1792674160345401157,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760959563505188,-0.0045739949469080264,0.08909140651774704,0.999999994796886,-6.975315217999826e-06,-1.969110450148749e-06,4.2385848363673875e-05,0.6761,-0.00453,0.08900754407867442,1.0,0.0,0.0,0.0,8.783174081611334e-05,0.008984376368078972,1.1609661400023539,-0.0015858604070724588,0.0034272830604546375,0.00013172417280517628,0.2441103819200173,0.27800753161071357,1.000505062096633,0.013505659313209644,-0.01568904485701179,0.00016283122373577028,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.6269203263639198,0.32724897305944867,-0.545119223082186,0.09425933418560303,0.4528593267103892,0.18829321671483384,1.1878137942086926,1.1609661400023539,1.7329330172908786,1.7329330172908786,2.084250000000357,0,0,-0.00019522473702490573,-9.999999025923074e-05
+7612,1792674160944675660,42701199000000,1792674160941401294,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760944661240115,-0.004583854092690364,0.08896957562092091,0.9999999925579311,2.8696999580732125e-05,-7.2777814312380214e-06,7.382762510150568e-05,0.6761,-0.00453,0.08888495038905214,1.0,0.0,0.0,0.0,-0.007955036214360639,-0.00406105059659706,1.170773288574329,-0.0026081976838408395,0.003445874379790839,0.00011133138827864307,0.23606751396484055,0.26496210464603753,1.010312210668608,0.012483322036441263,-0.01567045353767559,0.00014243843920923706,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.6554184357108995,0.1807633236607295,-0.6152504089886316,0.2481191840729653,0.4806104493399255,0.07055529237772218,1.1878137942086926,1.170773288574329,1.8030642031973243,1.8030642031973243,2.1256900000003656,0,0,-0.00021376619589316548,-4.015386220602153e-05
+7684,1792674161544688423,42701799000000,1792674161537401439,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760957640383076,-0.004592953876468059,0.08884533742193403,0.9999999896113484,5.794039218547224e-05,-6.917072919196745e-06,9.388947092525338e-05,0.6761,-0.00453,0.08875204304717772,1.0,0.0,0.0,0.0,-0.012788946555592512,-0.009524638657419537,1.1714950844452354,-0.002637404581952059,0.004458790356988679,0.00012631138336249216,0.23123360362360867,0.25949851658521506,1.0110340065395145,0.012454115138330044,-0.01465753756047775,0.00015741843429308616,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.7298931215937049,0.18196827054796508,-0.6467031300161108,0.2552191587527293,0.5121536937172918,0.07806474144546173,1.1878137942086926,1.1714950844452354,1.8345169242248034,1.8345169242248034,2.1676900000003743,0,0,-0.00022667411611196198,-4.272651263204637e-05
+7748,1792674162077675162,42702332000000,1792674162077400677,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760957997055864,-0.004600340474997143,0.08871799717464014,0.9999999861335179,7.808823376447861e-05,-7.881725260820592e-06,0.00011408739861427299,0.6761,-0.00453,0.08862744235001974,1.0,0.0,0.0,0.0,-0.019408606318963434,-0.01862506624354665,1.1946758568188094,-0.0026432075338359458,0.004458479134060965,0.00010641595188755397,0.22461394386023775,0.25039808899908794,1.0342147789130882,0.012448312186446157,-0.014657848783405463,0.00013752300281814797,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.6517040766738672,0.05460845048108995,-0.6023612618611387,0.29560054307918854,0.46107351162741156,-0.006773484247661089,1.1878137942086926,1.1946758568188094,1.7901750560698313,1.7901750560698313,2.205000000000382,0,0,-0.0002384603446467778,-9.999999025923074e-05
+7808,1792674162577705165,42702832000000,1792674162577401094,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760934369427759,-0.004605958932632951,0.08859380989407603,0.9999999870841365,6.085531344034433e-05,-1.3128072568730834e-05,0.00011575351256154587,0.6761,-0.00453,0.08850534951938219,1.0,0.0,0.0,0.0,-0.02700135647624538,-0.014240837697399533,1.2107648318774054,-0.0026439894155566284,0.004458515461931923,9.247218481935637e-05,0.2170211937029558,0.25478231754523506,1.0503037539716842,0.012447530304725474,-0.014657812455534505,0.00012357923574995037,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.7217261954468124,0.1349979840203326,-0.6013534977667132,0.29191292948400277,0.47409338907919274,0.04715364672292003,1.1878137942086926,1.2107648318774054,1.7891672919754058,1.7891672919754058,2.2400000000003892,0,0,-0.00024895341973615724,-9.927044883196174e-05
+7864,1792674163044717709,42703299000000,1792674163037401649,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760889142188028,-0.004613572898219963,0.08847030568789674,0.9999999876537857,4.64530525253668e-05,-1.944984642220101e-05,0.00011661522245231616,0.6761,-0.00453,0.08838650075248307,1.0,0.0,0.0,0.0,-0.018319547299485206,-0.018465846004003916,1.20074773025874,-0.0026442705607943318,0.004454093326453811,0.00010159571650692132,0.22570300287971598,0.2505573092386307,1.040286652353019,0.01244724915948777,-0.014662234591012617,0.00013270276743751532,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.7407138236045393,0.24185998986707913,-0.6761509277646044,0.26924950812137777,0.5260803776337795,0.11654702283624907,1.1878137942086926,1.20074773025874,1.8639647219732969,1.8639647219732969,2.272690000000396,0,0,-0.0002601854252146359,-9.285574672913128e-05
+7924,1792674163544695803,42703799000000,1792674163537400763,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760875327979173,-0.0046054266397648575,0.08833573300092917,0.9999999905394954,3.113137646796183e-05,-1.9497458244348933e-05,9.494503748239652e-05,0.6761,-0.00453,0.08825302077707417,1.0,0.0,0.0,0.0,-0.023354834904288885,-0.01431327945839539,1.2047253105833606,-0.0026445126038073044,0.00445201221905361,9.653543269243399e-05,0.2206677152749123,0.2547098757842392,1.0442642326776395,0.012447007116474798,-0.014664315698412818,0.00012764248362302799,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.7835726177139593,0.07190435631515701,-0.6732075362060409,0.34707047142525344,0.5304324769967799,0.01125473392723432,1.1878137942086926,1.2047253105833606,1.8610213304147334,1.8610213304147334,2.3076900000004033,0,0,-0.0002742127918995126,-9.989911261965573e-05
+7980,1792674164011647469,42704266000000,1792674164009401087,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760866071589088,-0.0046185393456301535,0.088202678776441,0.9999999893036966,3.3072980404405484e-05,-2.0065536939689995e-05,0.00010648484973749226,0.6761,-0.00453,0.0881221616080429,1.0,0.0,0.0,0.0,-0.01826298696938114,-0.011678316065119099,1.210692520788442,-0.0026451554291479287,0.0044505221169925165,9.350924797553575e-05,0.22575956320982005,0.2573448391775155,1.050231442882721,0.012446364291134174,-0.014665805800473912,0.00012461629890612975,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.8082021865161672,0.2319195629965839,-0.6732550379864488,0.31740257913678355,0.5295494353001272,0.12033494977690386,1.1878137942086926,1.210692520788442,1.8610688321951414,1.8610688321951414,2.34038000000041,0,0,-0.0002876970404367115,-8.765388001397695e-05
+8031,1792674164436699322,42704691000000,1792674164433400499,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760873861102559,-0.004620979376822387,0.08807533062979504,0.9999999878702582,5.033221086347081e-05,-2.112377986288183e-05,0.00011279539963296144,0.6761,-0.00453,0.08799695476132005,1.0,0.0,0.0,0.0,-0.018221293736240513,-0.008060270662983926,1.2108120700501726,-0.002644649968584687,0.004450192526987978,9.347881523854613e-05,0.22580125644296067,0.26096288457965067,1.0503509921444516,0.012446869751697415,-0.01466613539047845,0.00012458586616914013,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.8103186518436825,0.0897416434902873,-0.7711811213494443,0.3732697843095033,0.5901431851763856,0.02824694669841244,1.1878137942086926,1.2108120700501726,1.958994915558137,1.958994915558137,2.370130000000416,0,0,-0.00030148600547033757,3.757171937313615e-05
+8079,1792674164836735676,42705091000000,1792674164833401114,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760789587162359,-0.004625922496848731,0.08794087804333339,0.9999999865618288,4.888216104578355e-05,-3.7687373255418917e-05,0.00012045498302374301,0.6761,-0.00453,0.08787325322800425,1.0,0.0,0.0,0.0,-0.01807812611197465,-0.008208321949568498,1.210780920007322,-0.0026446776774936703,0.004450201902845041,9.349778550308416e-05,0.22594442406722653,0.2608148332930661,1.050319842101601,0.012446842042788432,-0.014666126014621387,0.00012460483643367815,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.8458438956429317,0.053368043951700646,-0.7829184693874508,0.39833555067875354,0.6054568586240638,0.0038814916841960756,1.1878137942086926,1.210780920007322,1.9707322635961435,1.9707322635961435,2.398130000000422,0,0,-0.0003163183107154647,7.700353829432344e-05
+8131,1792674165269772386,42705524000000,1792674165265401083,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760802739573538,-0.0046326751944268385,0.0878053249132768,0.9999999875721295,3.145136248747795e-05,-3.302034366703176e-05,0.00011924375911448363,0.6761,-0.00453,0.08773437186643845,1.0,0.0,0.0,0.0,-0.01844086361946487,-0.009114070063109325,1.2007112282050065,-0.002668426822493141,0.005386104488466773,0.00011607758235474279,0.22558168655973632,0.25990908517952527,1.0402501502992854,0.012423092897788961,-0.013730223428999655,0.0001471846332853368,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.7995676041965878,0.1632806943425159,-0.6572406806754847,0.3856638992170218,0.5030221390621901,0.07577940743642214,1.1878137942086926,1.2007112282050065,1.8450544748841773,1.8450544748841773,2.4284400000004283,0,0,-0.00032765187204661226,-9.999999025923074e-05
+8179,1792674165669784533,42705924000000,1792674165669401381,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760792484200837,-0.004634647009062547,0.08767739016638727,0.9999999880627642,2.5247427144159968e-05,-3.425640894771913e-05,0.00011621704568478198,0.6761,-0.00453,0.0876010887670487,1.0,0.0,0.0,0.0,-0.024428812509833475,-0.00825410332838833,1.1906298192091858,-0.0026684042523342603,0.00546796239674124,0.00012450986462582674,0.2195937376693677,0.26076905191424626,1.0301687413034648,0.012423115467947842,-0.013648365520725188,0.00015561691555642074,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.8722276859770567,-0.0085676681507397,-0.768661488732101,0.45268015731685357,0.5923175181122188,-0.03273039945730341,1.1878137942086926,1.1906298192091858,1.9564752829407936,1.9564752829407936,2.456440000000434,0,0,-0.00033907183775580405,-9.338546188975556e-05
+8227,1792674166069733038,42706324000000,1792674166069401564,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760798145386545,-0.004641606692554642,0.08754187344455581,0.9999999878105745,1.9580812060918437e-05,-3.3130088672776746e-05,0.00011975267962852682,0.6761,-0.00453,0.08746262284536094,1.0,0.0,0.0,0.0,-0.026095751445072146,-0.008419395581915734,1.2006844882002756,-0.002670293221721406,0.005465830378629341,0.00011640403363887222,0.21792679873412904,0.26060375966071886,1.0402234102945545,0.012421226498560697,-0.013650497538837087,0.00014751108456946622,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.9217229083741603,0.18056074821583779,-0.8129279584774298,0.41678935136594264,0.6268284357353938,0.09218595186762424,1.1878137942086926,1.2006844882002756,2.0007417526861224,2.0007417526861224,2.48444000000044,0,0,-0.0003530672890341994,9.998400304767614e-05
+8271,1792674166436722483,42706691000000,1792674166433400877,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760776061958891,-0.004643998371005582,0.08740979810466315,0.9999999872089436,3.138007601524424e-05,-3.454209055220037e-05,0.00012184872633483031,0.6761,-0.00453,0.08733127913190943,1.0,0.0,0.0,0.0,-0.02432325434829863,-0.008063161872902569,1.2105509697209578,-0.0026714773160228366,0.005464490318517545,0.00011181994830232329,0.21969929583090256,0.260959993369732,1.0500898918152366,0.012420042404259266,-0.013651837598948884,0.00014292699923291728,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.897023015239101,0.08022116301791742,-0.8005011453717423,0.46027808224847466,0.6079835796496326,0.032889733025502584,1.1878137942086926,1.2105509697209578,1.988314939580435,1.988314939580435,2.510130000000445,0,0,-0.0003632030556371451,-2.0883703604667662e-05
+8319,1792674166836783453,42707091000000,1792674166833401240,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760756573327266,-0.004646563596747975,0.08726392992619013,0.9999999874911528,3.3975467696776285e-05,-3.692936087658328e-05,0.00011807814550622064,0.6761,-0.00453,0.08718404072495431,1.0,0.0,0.0,0.0,-0.021834321424611558,-0.008367977022892104,1.2007230241779672,-0.002663739472673631,0.005465611690328557,0.00011697490184692604,0.22218822875458963,0.2606551782197425,1.0402619462722462,0.012427780247608471,-0.013650716227137871,0.00014808195277752004,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.9789445313906858,0.09035509725424536,-0.7205908550557976,0.48373213850956154,0.5734261879527262,0.04190768532993784,1.1878137942086926,1.2007230241779672,1.9084046492644902,1.9084046492644902,2.538130000000451,0,0,-0.0003728407690875831,-9.9999393514355e-05
+8358,1792674167161840844,42707416000000,1792674167161400683,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760723371774522,-0.0046464216369524,0.08713963647124881,0.9999999869895739,2.755904878289928e-05,-4.2749747795409085e-05,0.0001219699728462549,0.6761,-0.00453,0.08706099615162069,1.0,0.0,0.0,0.0,-0.03647381817023945,-0.017575927900231048,1.1819388631307768,-0.002649688751918877,0.005470509914704944,0.00013130517460304943,0.20754873200896173,0.25144722734240355,1.0214777852250556,0.012441830968363226,-0.013645818002761484,0.00016241222553364343,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.930769108497402,0.09348228320804705,-0.7662267863113187,0.4846056875742247,0.5888304847717349,0.04390959200856183,1.1878137942086926,1.1819388631307768,1.9540405805200112,1.9540405805200112,2.5608800000004557,0,0,-0.00038513254363023295,-9.999839431363284e-05
+8400,1792674167511778688,42707766000000,1792674167509401365,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760712865695677,-0.004653718698495614,0.08700125964322093,0.9999999864791045,1.3428491869154541e-05,-4.365074791518878e-05,0.00012805835796243046,0.6761,-0.00453,0.08692375200307323,1.0,0.0,0.0,0.0,-0.03602689525527489,-0.0022747786304807005,1.1809656177837233,-0.0016618026236320388,0.005853875411509286,0.00015490010521128223,0.2079956549239263,0.2667483766121539,1.0205045398780024,0.013429717096650064,-0.013262452505957142,0.00018600715614187623,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,0.9754001773800659,0.04321554034725471,-0.7395281600304718,0.5155961274704888,0.5792778355833955,0.009468868479751903,1.1878137942086926,1.1809656177837233,1.9273419542391643,1.9273419542391643,2.5853800000004608,0,0,-0.00039932196848754673,-9.999999025923074e-05
+8442,1792674167861765965,42708116000000,1792674167857401185,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.676074647396862,-0.004655108916560973,0.08686485077720454,0.9999999873370231,1.70225891030564e-06,-3.752675462487166e-05,0.00012392603908829554,0.6761,-0.00453,0.08678191011422604,1.0,0.0,0.0,0.0,-0.04598396008445216,-0.016926587384228475,1.1905919298080994,-0.0025604715015017446,0.0064798935409202466,0.00013844064928334438,0.19803859009474903,0.2520965678584061,1.0301308519023784,0.012531048218780358,-0.012636434376546182,0.00016954770021393838,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,1.0052704273831568,0.1281718201340611,-0.7508096359903662,0.5079203448017232,0.590264028184902,0.06981274975419399,1.1878137942086926,1.1905919298080994,1.9386234301990588,1.9386234301990588,2.609880000000466,0,0,-0.0004110081853289912,-9.999865799160119e-05
+8478,1792674168161852161,42708416000000,1792674168161401230,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760727386428419,-0.00466022440524495,0.08673819597150517,0.9999999863512491,1.6022878145386373e-05,-3.848732107147139e-05,0.00013039309698081186,0.6761,-0.00453,0.08665707951802529,1.0,0.0,0.0,0.0,-0.050032887426301964,-0.00876539475403032,1.1905612480491001,-0.0026957446137526476,0.006481773199483161,0.00013739930796634266,0.19398966275289922,0.2602577604886043,1.0301001701433792,0.012395775106529455,-0.012634554717983268,0.00016850635889693665,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,1.0458414494083856,0.057817409569213295,-0.7394113184443732,0.5306695937389383,0.5930333576505014,0.027086752001917545,1.1878137942086926,1.1905612480491001,1.927225112653066,1.927225112653066,2.63088000000047,0,0,-0.000421944637642195,-9.999999025923074e-05
+8518,1792674168494861968,42708749000000,1792674168493401066,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760684989780605,-0.004665600186605,0.08659695192211782,0.9999999853101799,1.860364824892165e-05,-4.62675973731483e-05,0.00013540944694817077,0.6761,-0.00453,0.0865144263437556,1.0,0.0,0.0,0.0,-0.05497374593467072,-0.018305965938899438,1.2005574578273355,-0.002699069804468046,0.006491263598039381,0.0001288735984423664,0.18904880424453047,0.25071718930373516,1.0400963799216143,0.012392449915814056,-0.012625064319427047,0.0001599806493729604,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,1.1179509362823876,0.02634168907081434,-0.8067985396002281,0.5518717993146572,0.6604625610001339,0.007054684250273956,1.1878137942086926,1.2005574578273355,1.9946123338089206,1.9946123338089206,2.654190000000475,0,0,-0.00043482217283316436,-9.999997638144293e-05
+8554,1792674168794853553,42709049000000,1792674168789400583,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760648284092209,-0.0046709834432780905,0.08646603706205415,0.9999999854204679,1.4577731149918293e-06,-5.0628809968472424e-05,0.00013430013770392247,0.6761,-0.00453,0.08638249433485544,1.0,0.0,0.0,0.0,-0.05571907857797301,-0.010795091192832285,1.1905448577768771,-0.002696240318933195,0.006499702691963207,0.00013698934173904493,0.18830347160122818,0.2582280640498023,1.0300837798711562,0.012395279401348908,-0.012616625225503221,0.00016809639266963892,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,1.0993644678551406,0.048401616341222135,-0.7731263172740147,0.5582540589241245,0.6349255189762473,0.02255717109433005,1.1878137942086926,1.1905448577768771,1.9609401114827074,1.9609401114827074,2.6751900000004794,0,0,-0.00044409861047897534,-9.742328751916602e-05
+8590,1792674169094772880,42709349000000,1792674169093401098,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760651261560746,-0.004673204759738867,0.08633112468569042,0.9999999845587884,6.376517319368528e-06,-4.945570105154401e-05,0.00014085013713137465,0.6761,-0.00453,0.08624716063477246,1.0,0.0,0.0,0.0,-0.06397548272816175,-0.01725062890160306,1.1991372473038773,-0.002726148293350642,0.007494123104576025,0.00014447375243596867,0.18004706745103943,0.25177252634103153,1.038676169398156,0.01236537142693146,-0.011622204812890403,0.00017558080336656267,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,1.1360140617507,0.012572952441016156,-0.7565064562100128,0.5676586887249117,0.6360928301798935,0.002059898061664801,1.1878137942086926,1.1991372473038773,1.9443202504187054,1.9443202504187054,2.6961900000004837,0,0,-0.0004572696908025905,-9.998812475065506e-05
+8628,1792674169411799685,42709666000000,1792674169405401560,DOWN_FORCE_DETACH,1,0.04,0.040001507848501205,0.6760669399457827,-0.0046772708210934735,0.0861850819086887,0.9999999843731868,-3.1185237376267916e-06,-4.576004650762464e-05,0.00014350185901383338,0.6761,-0.00453,0.08610029821085419,1.0,0.0,0.0,0.0,-0.06571583922629234,-0.01567943217554335,1.200845659149071,-0.0017074562939976192,0.007475141077727499,0.00015438449785915812,0.17830671095290884,0.25334372306709124,1.04038458124335,0.013384063426284483,-0.011641186839738929,0.00018549154878975212,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,1.2172101216111781,0.021109333434319408,-0.85480671983653,0.5777766187833221,0.7186854096897753,0.0061823330242853445,1.1878137942086926,1.200845659149071,2.0426205140452227,2.0426205140452227,2.7183800000004883,0,0,-0.0004688816491141542,-1.9377301178852238e-05
+8662,1792674169694846061,42709949000000,1792674169689400766,DOWN_FORCE_DETACH,1,0.04,0.040002163499593735,0.6760673221851412,-0.0046786601040372505,0.0860531733446287,0.99999998530444,-2.8481620474029412e-05,-4.1678309734642275e-05,0.00013522462830533214,0.6761,-0.00453,0.08596577470627598,1.0,0.0,0.0,0.0,-0.05653792792995574,-0.00464343234081277,1.2107511905357513,-0.001707014123227905,0.007471909714628156,0.0001474068241888127,0.18748462224924545,0.2643797229018218,1.0502901126300301,0.013384505597054197,-0.011644418202838272,0.0001785138751194067,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,1.2515879635177392,-0.0386074756937333,-0.9066565046142763,0.5993072526305205,0.7626011871570352,-0.027792356418848863,1.1878137942086926,1.2107511905357513,2.094470298822969,2.094470298822969,2.7381900000004924,0,0,-0.0004813004312917161,5.485506079783704e-05
+8698,1792674169990861889,42710245000000,1792674169989411006,DOWN_SETTLE,1,0.04,0.040001507848501205,0.6760656286151207,-0.0046839525312848745,0.08590844523975338,0.9999999820094025,-1.0269191022101995e-05,-4.746474734066386e-05,0.00015832151043276954,0.6761,-0.00453,0.08582362069871242,1.0,0.0,0.0,0.0,-0.06660917757818344,-0.01218553677765688,1.1947650220058659,-0.0017152309491061599,0.007840060766597066,0.0001624800017719403,0.17741337260101775,0.2568376184649777,1.0343039441001447,0.013376288771175943,-0.011276267150869362,0.0001935870527025343,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,1.2826859142393516,-0.03344027768708765,-0.7820555270899703,0.6007884019635774,0.6930248208711384,-0.023062593681193032,1.1878137942086926,1.1947650220058659,1.9698693212986629,0.0,0.0,0,0,-0.0004069030915509637,0.0028500000097407704
+8802,1792674170855828949,42711110000000,1792674170853400699,DOWN_PEAK_HOLD,1,0.04,0.040002163499593735,0.6760590334279771,-0.00468477087950199,0.08583272802623756,0.9999999797292014,8.123190666110282e-06,-6.378337451926413e-05,0.00016688366104973006,0.6761,-0.00453,0.08578320818890885,1.0,0.0,0.0,0.0,-0.06522453701510061,-0.018209413452466683,1.03994591663381,-0.002695873120982765,0.007528606304694515,0.0002729246318530289,0.17879801316410057,0.2508137417901679,0.879484838728089,0.012395646599299337,-0.011587721612771914,0.0003040316827836229,0.2440225501792012,0.2690231552426346,-0.16046107790572106,0.015091519720282102,-0.019116327917466428,3.110705093059399e-05,1,1.2065738413660947,-0.02365471789483226,-0.6260131409037606,0.5674352963839975,0.5971789801004248,-0.020295121653574714,1.1878137942086926,1.03994591663381,1.8138269351124532,0.0,0.0,0,0,0.0,0.0

Fixed/s2/ball_15A_12.5/press_depth_01/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792674130340643212,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.882448724e-09,-5.183900358e-11,1.153262152e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293632e-01,1.767635869e-06,8.295726592e-01
+1,5.333333333e-01,DOWN_FORCE_DETACH,1792674131372473626,-4.947161244e-06,-9.000534662e-07,-9.019362302e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.659765367e-08,-9.957373485e-10,2.251049058e-08,7.015329243e-01,6.509078548e-07,8.407319218e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294169e-01,1.766691971e-06,8.295726805e-01
+2,1.050000000e+00,DOWN_FORCE_DETACH,1792674132404681420,-1.703970858e-05,-1.185655998e-05,-8.369737444e-05,-1.730717605e-05,-1.187945600e-05,-8.369854766e-05,-1.799673082e-05,-1.188726150e-05,-8.319721720e-05,7.015208318e-01,-1.030559866e-05,8.406572438e-01,7.015205643e-01,-1.032849468e-05,8.406572426e-01,7.017113635e-01,-1.011957380e-05,8.294894608e-01
+3,1.350000000e+00,DOWN_FORCE_DETACH,1792674133002569023,-4.212483909e-06,-2.549033354e-05,-1.423476778e-04,-3.473634170e-06,-1.995386352e-05,-1.368918423e-04,-4.060936802e-06,-1.997504110e-05,-1.362506325e-04,7.015336590e-01,-2.393937222e-05,8.405985935e-01,7.015343978e-01,-1.840290219e-05,8.406040493e-01,7.017252993e-01,-1.820735339e-05,8.294364074e-01
+4,1.900000000e+00,DOWN_FORCE_DETACH,1792674134100622000,-4.913588586e-06,-3.269752237e-05,-1.707068725e-04,-6.814649230e-06,-3.261584309e-05,-1.547997420e-04,-7.546378893e-06,-3.264155735e-05,-1.545824553e-04,7.015329579e-01,-3.114656105e-05,8.405702343e-01,7.015310568e-01,-3.106488177e-05,8.405861414e-01,7.017218139e-01,-3.087386964e-05,8.294180756e-01
+5,2.316666667e+00,DOWN_FORCE_DETACH,1792674134882654951,-3.604796839e-06,-3.514082901e-05,-1.848966997e-04,-4.798314493e-06,-3.056127242e-05,-1.747695061e-04,-5.586692714e-06,-3.058819579e-05,-1.746841407e-04,7.015342667e-01,-3.358986769e-05,8.405560445e-01,7.015330732e-01,-2.901031110e-05,8.405661717e-01,7.017237736e-01,-2.882050808e-05,8.293979739e-01
+6,2.716666667e+00,DOWN_FORCE_DETACH,1792674135630771427,-2.009185530e-06,-3.985864833e-05,-1.948085145e-04,-2.609033100e-06,-4.503821169e-05,-1.908620148e-04,-3.404022228e-06,-4.506353165e-05,-1.907539452e-04,7.015358623e-01,-3.830768701e-05,8.405461327e-01,7.015352624e-01,-4.348725037e-05,8.405500792e-01,7.017259563e-01,-4.329584394e-05,8.293819041e-01
+7,3.200000000e+00,DOWN_FORCE_DETACH,1792674136564677850,2.015131617e-09,-4.319183896e-05,-2.121106299e-04,-1.392300105e-06,-3.787650400e-05,-2.102988114e-04,-2.191551254e-06,-3.792077678e-05,-2.101923851e-04,7.015378735e-01,-4.164087764e-05,8.405288306e-01,7.015364792e-01,-3.632554268e-05,8.405306424e-01,7.017271687e-01,-3.615308907e-05,8.293624656e-01
+8,3.633333333e+00,DOWN_FORCE_DETACH,1792674137392640714,-5.369849436e-06,-3.813538596e-05,-2.459073897e-04,-9.083153219e-06,-4.160430047e-05,-2.501150608e-04,-1.024574568e-05,-4.164811788e-05,-2.498464742e-04,7.015325016e-01,-3.658442464e-05,8.404950338e-01,7.015287883e-01,-4.005333915e-05,8.404908261e-01,7.017191145e-01,-3.988043017e-05,8.293228116e-01
+9,4.033333333e+00,DOWN_FORCE_DETACH,1792674138124824958,-4.624972951e-06,-4.322601002e-05,-2.568604861e-04,-9.083153219e-06,-4.160430047e-05,-2.501150608e-04,-1.027874900e-05,-4.164786887e-05,-2.500375442e-04,7.015332465e-01,-4.167504869e-05,8.404840807e-01,7.015287883e-01,-4.005333915e-05,8.404908261e-01,7.017190815e-01,-3.988018116e-05,8.293226205e-01
+10,4.433333333e+00,DOWN_FORCE_DETACH,1792674138892702897,-4.975323365e-06,-5.011730382e-05,-2.763378433e-04,-8.225673965e-06,-4.882296986e-05,-2.716420867e-04,-9.508178958e-06,-4.889637466e-05,-2.715287154e-04,7.015328962e-01,-4.856634250e-05,8.404646033e-01,7.015296458e-01,-4.727200854e-05,8.404692991e-01,7.017198521e-01,-4.712868695e-05,8.293011293e-01
+11,5.016666667e+00,DOWN_FORCE_DETACH,1792674140054874659,-6.273715993e-06,-5.351275778e-05,-3.107552845e-04,-4.988666209e-06,-5.376610324e-05,-2.940500745e-04,-6.212965384e-06,-5.384300335e-05,-2.939789086e-04,7.015315978e-01,-5.196179645e-05,8.404301859e-01,7.015328828e-01,-5.221514192e-05,8.404468911e-01,7.017231473e-01,-5.207531565e-05,8.292786791e-01
+12,5.416666667e+00,DOWN_FORCE_DETACH,1792674140863519680,-5.159918559e-06,-5.138485743e-05,-3.367997063e-04,-4.256234256e-06,-4.855686206e-05,-3.347820665e-04,-5.632585864e-06,-4.859260331e-05,-3.345226377e-04,7.015327116e-01,-4.983389610e-05,8.404041415e-01,7.015336152e-01,-4.700590074e-05,8.404061591e-01,7.017237277e-01,-4.682491560e-05,8.292381354e-01
+13,5.616666667e+00,DOWN_FORCE_DETACH,1792674141252822217,-4.974464560e-06,-5.497626608e-05,-3.476958561e-04,-6.341500935e-06,-6.612652879e-05,-3.448108174e-04,-7.886841887e-06,-6.618049268e-05,-3.446119952e-04,7.015328970e-01,-5.342530475e-05,8.403932453e-01,7.015315300e-01,-6.457556747e-05,8.403961304e-01,7.017214734e-01,-6.441280497e-05,8.292280460e-01
+14,6.200000000e+00,DOWN_FORCE_DETACH,1792674142417023258,-1.619513326e-06,-6.101978829e-05,-3.831030126e-04,-5.609617575e-06,-6.102484386e-05,-3.675896437e-04,-7.167739855e-06,-6.108236196e-05,-3.675052234e-04,7.015362520e-01,-5.946882697e-05,8.403578382e-01,7.015322619e-01,-5.947388254e-05,8.403733515e-01,7.017221925e-01,-5.931467425e-05,8.292051528e-01
+15,6.716666667e+00,DOWN_FORCE_DETACH,1792674143383082479,-4.611656700e-06,-6.786848907e-05,-4.177977571e-04,-3.648235952e-06,-6.803289850e-05,-4.077188449e-04,-5.306604971e-06,-6.806533890e-05,-4.075878157e-04,7.015332598e-01,-6.631752775e-05,8.403231434e-01,7.015342232e-01,-6.648193718e-05,8.403332223e-01,7.017240537e-01,-6.629765119e-05,8.291650702e-01
+16,7.250000000e+00,DOWN_FORCE_DETACH,1792674144413011585,-2.274413977e-06,-6.402660156e-05,-4.516290915e-04,-1.953817210e-06,-7.669504056e-05,-4.473110643e-04,-3.734441808e-06,-7.675545478e-05,-4.470618032e-04,7.015355971e-01,-6.247564024e-05,8.402893121e-01,7.015359177e-01,-7.514407924e-05,8.402936301e-01,7.017256258e-01,-7.498776707e-05,8.291255962e-01
+17,7.866666667e+00,DOWN_FORCE_DETACH,1792674145577517148,3.755665932e-06,-7.628557176e-05,-4.878891949e-04,8.068443650e-07,-7.720412310e-05,-4.880924597e-04,-9.999799906e-07,-7.724649626e-05,-4.878603365e-04,7.015416271e-01,-7.473461044e-05,8.402530520e-01,7.015386783e-01,-7.565316178e-05,8.402528487e-01,7.017283603e-01,-7.547880856e-05,8.290847977e-01
+18,8.383333333e+00,DOWN_FORCE_DETACH,1792674146543050419,1.230741359e-05,-7.925151495e-05,-5.293369962e-04,1.031813189e-05,-7.734219582e-05,-5.294372691e-04,8.605134065e-06,-7.740305318e-05,-5.291016602e-04,7.015501789e-01,-7.770055363e-05,8.402116042e-01,7.015481896e-01,-7.579123450e-05,8.402115039e-01,7.017379654e-01,-7.563536547e-05,8.290435564e-01
+19,8.950000000e+00,DOWN_FORCE_DETACH,1792674147641154020,1.072813986e-05,-8.163045076e-05,-5.937539106e-04,1.215054055e-05,-8.302627401e-05,-5.897241182e-04,1.029799448e-05,-8.307809040e-05,-5.893084427e-04,7.015485996e-01,-8.007948944e-05,8.401471873e-01,7.015500220e-01,-8.147531269e-05,8.401512171e-01,7.017396583e-01,-8.131040269e-05,8.289833496e-01
+20,9.550000000e+00,DOWN_FORCE_DETACH,1792674148839080443,1.298394332e-05,-9.056976797e-05,-6.551335264e-04,1.363760540e-05,-8.545620769e-05,-6.511462588e-04,1.166059435e-05,-8.549622227e-05,-6.507924493e-04,7.015508554e-01,-8.901880665e-05,8.400858077e-01,7.015515091e-01,-8.390524637e-05,8.400897949e-01,7.017410209e-01,-8.372853456e-05,8.289218656e-01
+21,1.003333333e+01,DOWN_FORCE_DETACH,1792674149801135785,1.592102358e-05,-9.257223899e-05,-7.153498131e-04,1.606795108e-05,-9.727771946e-05,-7.094620208e-04,1.395235378e-05,-9.732667273e-05,-7.090805544e-04,7.015537925e-01,-9.102127767e-05,8.400255914e-01,7.015539394e-01,-9.572675814e-05,8.400314792e-01,7.017433126e-01,-9.555898502e-05,8.288635775e-01
+22,1.065000000e+01,DOWN_FORCE_DETACH,1792674150999211815,1.760845290e-05,-1.005605222e-04,-7.923290837e-04,1.909039395e-05,-9.901701598e-05,-7.898426635e-04,1.677289826e-05,-9.908375282e-05,-7.894602725e-04,7.015554799e-01,-9.900956086e-05,8.399486121e-01,7.015569619e-01,-9.746605466e-05,8.399510985e-01,7.017461332e-01,-9.731606511e-05,8.287831978e-01
+23,1.121666667e+01,DOWN_FORCE_DETACH,1792674152097098674,2.374406280e-05,-1.051090518e-04,-8.622820653e-04,2.209416262e-05,-1.058471659e-04,-8.502439291e-04,1.964262839e-05,-1.059360526e-04,-8.498612500e-04,7.015616155e-01,-1.035580905e-04,8.398786591e-01,7.015599656e-01,-1.042962046e-04,8.398906973e-01,7.017490029e-01,-1.041683649e-04,8.287227968e-01
+24,1.173333333e+01,DOWN_FORCE_DETACH,1792674153061035907,2.776647478e-05,-1.124363033e-04,-9.301170502e-04,2.337784912e-05,-1.069790019e-04,-9.176298645e-04,2.076410466e-05,-1.070328819e-04,-9.172543935e-04,7.015656380e-01,-1.108853420e-04,8.398108241e-01,7.015612493e-01,-1.054280406e-04,8.398233113e-01,7.017501244e-01,-1.052651942e-04,8.286554036e-01
+25,1.230000000e+01,DOWN_FORCE_DETACH,1792674154125460377,3.423186640e-05,-1.128094909e-04,-1.013709739e-03,2.966367444e-05,-1.113401614e-04,-1.006523056e-03,2.684589015e-05,-1.114063111e-04,-1.006125652e-03,7.015721033e-01,-1.112585296e-04,8.397272314e-01,7.015675352e-01,-1.097892000e-04,8.397344181e-01,7.017562062e-01,-1.096386234e-04,8.285665324e-01
+26,1.281666667e+01,DOWN_FORCE_DETACH,1792674155125271315,2.993177331e-05,-1.144878180e-04,-1.112232214e-03,2.882702945e-05,-1.176719493e-04,-1.096820769e-03,2.561200741e-05,-1.177345862e-04,-1.096367505e-03,7.015678033e-01,-1.129368567e-04,8.396287090e-01,7.015666985e-01,-1.161209880e-04,8.396441204e-01,7.017549723e-01,-1.159668985e-04,8.284762905e-01
+27,1.333333333e+01,DOWN_FORCE_DETACH,1792674156121190255,2.600907074e-05,-1.166127450e-04,-1.223965898e-03,2.584339829e-05,-1.161176181e-04,-1.206869583e-03,2.213940678e-05,-1.161697856e-04,-1.206390801e-03,7.015638806e-01,-1.150617836e-04,8.395169753e-01,7.015637149e-01,-1.145666568e-04,8.395340716e-01,7.017514997e-01,-1.144020979e-04,8.283662672e-01
+28,1.380000000e+01,DOWN_FORCE_DETACH,1792674157053380724,2.720863956e-05,-1.248010626e-04,-1.331351482e-03,2.692286270e-05,-1.246675192e-04,-1.331510148e-03,2.280895002e-05,-1.247136909e-04,-1.330772696e-03,7.015650801e-01,-1.232501012e-04,8.394095897e-01,7.015647943e-01,-1.231165579e-04,8.394094310e-01,7.017521692e-01,-1.229460032e-04,8.282418853e-01
+29,1.415000000e+01,DOWN_FORCE_DETACH,1792674157753770037,2.585922782e-05,-1.167771979e-04,-1.424572489e-03,2.585387240e-05,-1.167933535e-04,-1.424194588e-03,2.135018921e-05,-1.168495148e-04,-1.423373069e-03,7.015637307e-01,-1.152262366e-04,8.393163687e-01,7.015637254e-01,-1.152423921e-04,8.393167466e-01,7.017507105e-01,-1.150818271e-04,8.281492850e-01
+30,1.446666667e+01,DOWN_FORCE_DETACH,1792674158385215911,2.865766598e-05,-1.252594560e-04,-1.508099498e-03,2.830926862e-05,-1.253113083e-04,-1.508094957e-03,2.346906596e-05,-1.253701132e-04,-1.507253551e-03,7.015665291e-01,-1.237084946e-04,8.392328417e-01,7.015661808e-01,-1.237603470e-04,8.392328462e-01,7.017528293e-01,-1.236024255e-04,8.280654045e-01
+31,1.471666667e+01,DOWN_FORCE_DETACH,1792674158883254182,2.511879069e-05,-1.470177242e-04,-1.580707146e-03,2.673439306e-05,-1.340499912e-04,-1.571021021e-03,2.172517416e-05,-1.341398538e-04,-1.570262082e-03,7.015629903e-01,-1.454667629e-04,8.391602340e-01,7.015646059e-01,-1.324990298e-04,8.391699202e-01,7.017510854e-01,-1.323721661e-04,8.280023959e-01
+32,1.488333333e+01,DOWN_FORCE_DETACH,1792674159199828452,2.139449854e-05,-1.480158986e-04,-1.637448219e-03,2.131072175e-05,-1.481000106e-04,-1.637364872e-03,1.586508389e-05,-1.481886898e-04,-1.636468595e-03,7.015592660e-01,-1.464649373e-04,8.391034930e-01,7.015591822e-01,-1.465490493e-04,8.391035763e-01,7.017452254e-01,-1.464210021e-04,8.279361894e-01
+33,1.516666667e+01,DOWN_FORCE_DETACH,1792674159754303558,1.982724269e-05,-1.477006125e-04,-1.734442518e-03,1.969126514e-05,-1.476005602e-04,-1.734404209e-03,1.387930499e-05,-1.476852666e-04,-1.733401341e-03,7.015576987e-01,-1.461496512e-04,8.390064987e-01,7.015575627e-01,-1.460495988e-04,8.390065370e-01,7.017432396e-01,-1.459175789e-04,8.278392567e-01
+34,1.548333333e+01,DOWN_FORCE_DETACH,1792674160351795566,1.846975027e-05,-1.333781273e-04,-1.844192327e-03,1.949550661e-05,-1.312492211e-04,-1.827858413e-03,1.329843876e-05,-1.313228237e-04,-1.827005415e-03,7.015563412e-01,-1.318271660e-04,8.388967489e-01,7.015573670e-01,-1.296982597e-04,8.389130828e-01,7.017426587e-01,-1.295551360e-04,8.277456526e-01
+35,1.580000000e+01,DOWN_FORCE_DETACH,1792674160945516878,1.728220552e-05,-1.457631903e-04,-1.972431922e-03,1.486419840e-05,-1.426903253e-04,-1.960873063e-03,8.045601513e-06,-1.427509138e-04,-1.959860269e-03,7.015551537e-01,-1.442122289e-04,8.387685093e-01,7.015527357e-01,-1.411393640e-04,8.387800681e-01,7.017374059e-01,-1.409832261e-04,8.276127978e-01
+36,1.611666667e+01,DOWN_FORCE_DETACH,1792674161545331893,1.845708754e-05,-1.550751731e-04,-2.096377138e-03,1.577694501e-05,-1.539310338e-04,-2.079787304e-03,8.522211238e-06,-1.539980914e-04,-2.078784181e-03,7.015563286e-01,-1.535242118e-04,8.386445640e-01,7.015536484e-01,-1.523800725e-04,8.386611539e-01,7.017378825e-01,-1.522304037e-04,8.274938739e-01
+37,1.640000000e+01,DOWN_FORCE_DETACH,1792674162077535044,1.882840384e-05,-1.611152019e-04,-2.225389533e-03,1.852953392e-05,-1.608587060e-04,-2.225172870e-03,1.079412848e-05,-1.608818031e-04,-2.223994589e-03,7.015566999e-01,-1.595642405e-04,8.385155517e-01,7.015564010e-01,-1.593077447e-04,8.385157683e-01,7.017401544e-01,-1.591141154e-04,8.273486634e-01
+38,1.666666667e+01,DOWN_FORCE_DETACH,1792674162577393540,1.595259292e-05,-1.680536019e-04,-2.347919327e-03,1.216754483e-05,-1.639444795e-04,-2.345730408e-03,3.911755063e-06,-1.640188313e-04,-2.344604755e-03,7.015538241e-01,-1.665026406e-04,8.383930219e-01,7.015500390e-01,-1.623935182e-04,8.383952108e-01,7.017332720e-01,-1.622511436e-04,8.272280533e-01
+39,1.691666667e+01,DOWN_FORCE_DETACH,1792674163042406076,1.245327474e-05,-1.743186207e-04,-2.472130831e-03,1.276180838e-05,-1.704709529e-04,-2.463751388e-03,4.044605736e-06,-1.705680988e-04,-2.462624692e-03,7.015503248e-01,-1.727676594e-04,8.382688104e-01,7.015506333e-01,-1.689199916e-04,8.382771898e-01,7.017334049e-01,-1.688004111e-04,8.271100333e-01
+40,1.716666667e+01,DOWN_FORCE_DETACH,1792674163541365760,1.306438830e-05,-1.678589265e-04,-2.601837614e-03,1.152711424e-05,-1.705438949e-04,-2.594482307e-03,2.296074842e-06,-1.705979187e-04,-2.593327137e-03,7.015509359e-01,-1.663079651e-04,8.381391036e-01,7.015493986e-01,-1.689929336e-04,8.381464589e-01,7.017316563e-01,-1.688302310e-04,8.269793309e-01
+41,1.741666667e+01,DOWN_FORCE_DETACH,1792674164007309405,8.687563789e-06,-1.793868980e-04,-2.739846125e-03,8.507251908e-06,-1.795083025e-04,-2.740130542e-03,-1.328040649e-06,-1.795445659e-04,-2.738861861e-03,7.015465590e-01,-1.778359367e-04,8.380010951e-01,7.015463787e-01,-1.779573412e-04,8.380008106e-01,7.017280322e-01,-1.777768782e-04,8.268337962e-01
+42,1.763333333e+01,DOWN_FORCE_DETACH,1792674164437669777,1.020219176e-05,-1.828884744e-04,-2.866676913e-03,6.994602094e-06,-1.822661565e-04,-2.849691341e-03,-3.358377946e-06,-1.823266694e-04,-2.848658410e-03,7.015480737e-01,-1.813375131e-04,8.378742643e-01,7.015448661e-01,-1.807151952e-04,8.378912498e-01,7.017260019e-01,-1.805589816e-04,8.267239996e-01
+43,1.783333333e+01,DOWN_FORCE_DETACH,1792674164837529132,1.774797744e-06,-1.878315944e-04,-3.001129500e-03,3.968969706e-07,-1.913922604e-04,-2.993804716e-03,-1.065470544e-05,-1.914086190e-04,-2.992633101e-03,7.015396463e-01,-1.862806331e-04,8.377398117e-01,7.015382684e-01,-1.898412991e-04,8.377471365e-01,7.017187056e-01,-1.896409313e-04,8.265800249e-01
+44,1.805000000e+01,DOWN_FORCE_DETACH,1792674165271652779,4.469144515e-06,-1.923551988e-04,-3.133730436e-03,3.467309081e-06,-1.969454492e-04,-3.115152489e-03,-7.963952418e-06,-1.969502644e-04,-3.114063233e-03,7.015423406e-01,-1.908042375e-04,8.376072108e-01,7.015413388e-01,-1.953944879e-04,8.376257887e-01,7.017213963e-01,-1.951825767e-04,8.264585948e-01
+45,1.825000000e+01,DOWN_FORCE_DETACH,1792674165669615730,2.064501592e-06,-1.965561066e-04,-3.264617377e-03,2.126134954e-06,-1.962467189e-04,-3.264251796e-03,-9.867195663e-06,-1.962486337e-04,-3.263066791e-03,7.015399360e-01,-1.950051453e-04,8.374763238e-01,7.015399976e-01,-1.946957576e-04,8.374766894e-01,7.017194931e-01,-1.944809460e-04,8.263095912e-01
+46,1.845000000e+01,DOWN_FORCE_DETACH,1792674166069503338,2.630620163e-06,-2.035157901e-04,-3.400134098e-03,-2.507619782e-06,-2.092515579e-04,-3.384977243e-03,-1.505374240e-05,-2.092712093e-04,-3.383953383e-03,7.015405021e-01,-2.019648288e-04,8.373408071e-01,7.015353639e-01,-2.077005965e-04,8.373559639e-01,7.017143065e-01,-2.075035216e-04,8.261887046e-01
+47,1.863333333e+01,DOWN_FORCE_DETACH,1792674166433406818,-2.390041860e-06,-2.078988518e-04,-3.533653655e-03,-4.592637597e-06,-2.096067548e-04,-3.528711059e-03,-1.772052343e-05,-2.095850751e-04,-3.527581146e-03,7.015354814e-01,-2.063478905e-04,8.372072875e-01,7.015332788e-01,-2.080557935e-04,8.372122301e-01,7.017116398e-01,-2.078173874e-04,8.260450769e-01
+48,1.883333333e+01,DOWN_FORCE_DETACH,1792674166833435836,-4.825392696e-06,-2.100929854e-04,-3.677019502e-03,-1.786966438e-06,-2.093924249e-04,-3.662224663e-03,-1.541903101e-05,-2.093499978e-04,-3.661180015e-03,7.015330461e-01,-2.085420241e-04,8.370639217e-01,7.015360845e-01,-2.078414636e-04,8.370787165e-01,7.017139412e-01,-2.075823101e-04,8.259114780e-01
+49,1.900000000e+01,DOWN_FORCE_DETACH,1792674167165436816,-5.891663825e-06,-2.119416745e-04,-3.804021089e-03,-4.663909234e-06,-2.130052903e-04,-3.789262333e-03,-1.885375272e-05,-2.129706749e-04,-3.788203714e-03,7.015319798e-01,-2.103907132e-04,8.369369201e-01,7.015332076e-01,-2.114543290e-04,8.369516789e-01,7.017105065e-01,-2.112029872e-04,8.257844543e-01
+50,1.918333333e+01,DOWN_FORCE_DETACH,1792674167515472871,-6.239313041e-06,-2.196649944e-04,-3.943514216e-03,-6.393167566e-06,-2.196224446e-04,-3.943310771e-03,-2.117095018e-05,-2.196210840e-04,-3.942160105e-03,7.015316322e-01,-2.181140331e-04,8.367974270e-01,7.015314783e-01,-2.180714833e-04,8.367976304e-01,7.017081893e-01,-2.178533963e-04,8.256304979e-01
+51,1.936666667e+01,DOWN_FORCE_DETACH,1792674167865436619,-3.788846265e-06,-2.135627643e-04,-4.077109291e-03,-4.555805295e-06,-2.212141327e-04,-4.065735734e-03,-1.975321121e-05,-2.211800001e-04,-4.064778317e-03,7.015340826e-01,-2.120118030e-04,8.366638319e-01,7.015333157e-01,-2.196631714e-04,8.366752055e-01,7.017096071e-01,-2.194123124e-04,8.255078797e-01
+52,1.953333333e+01,DOWN_FORCE_DETACH,1792674168165415079,-5.236272918e-06,-2.256858296e-04,-4.206885235e-03,-9.039554264e-06,-2.221644169e-04,-4.192124530e-03,-2.478728956e-05,-2.221425217e-04,-4.191300235e-03,7.015326352e-01,-2.241348683e-04,8.365340560e-01,7.015288319e-01,-2.206134556e-04,8.365488167e-01,7.017045730e-01,-2.203748339e-04,8.253813578e-01
+53,1.970000000e+01,DOWN_FORCE_DETACH,1792674168497452237,-9.245702928e-06,-2.294537997e-04,-4.349113143e-03,-9.731485721e-06,-2.245714859e-04,-4.334358885e-03,-2.606120334e-05,-2.245573917e-04,-4.333462348e-03,7.015286258e-01,-2.279028384e-04,8.363918280e-01,7.015281400e-01,-2.230205246e-04,8.364065823e-01,7.017032991e-01,-2.227897040e-04,8.252391957e-01
+54,1.986666667e+01,DOWN_FORCE_DETACH,1792674168798520510,-1.260840572e-05,-2.309235994e-04,-4.477808969e-03,-1.315275617e-05,-2.311674517e-04,-4.459429434e-03,-3.001189590e-05,-2.311881421e-04,-4.458669617e-03,7.015252631e-01,-2.293726381e-04,8.362631322e-01,7.015247187e-01,-2.296164904e-04,8.362815118e-01,7.016993484e-01,-2.294204543e-04,8.251139884e-01
+55,2.001666667e+01,DOWN_FORCE_DETACH,1792674169096110150,-1.101528976e-05,-2.340628737e-04,-4.611697623e-03,-1.118946747e-05,-2.339846147e-04,-4.611491062e-03,-2.859063942e-05,-2.339686872e-04,-4.610516721e-03,7.015268562e-01,-2.325119124e-04,8.361292436e-01,7.015266820e-01,-2.324336534e-04,8.361294501e-01,7.017007696e-01,-2.322009995e-04,8.249621413e-01
+56,2.018333333e+01,DOWN_FORCE_DETACH,1792674169412736610,-1.119516677e-05,-2.400302087e-04,-4.759084744e-03,-1.145383720e-05,-2.401932140e-04,-4.758791857e-03,-2.931679716e-05,-2.402358216e-04,-4.757956509e-03,7.015266763e-01,-2.384792474e-04,8.359818564e-01,7.015264176e-01,-2.386422527e-04,8.359821493e-01,7.017000435e-01,-2.384681339e-04,8.248147015e-01
+57,2.033333333e+01,DOWN_FORCE_DETACH,1792674169693577577,-6.910565447e-06,-2.414477054e-04,-4.881521527e-03,-1.301946458e-05,-2.440451489e-04,-4.876637419e-03,-3.133628906e-05,-2.440768982e-04,-4.875906500e-03,7.015309609e-01,-2.398967441e-04,8.358594197e-01,7.015248520e-01,-2.424941876e-04,8.358643038e-01,7.016980240e-01,-2.423092105e-04,8.246967515e-01
+58,2.048333333e+01,DOWN_SETTLE,1792674169993749516,-9.082872032e-06,-2.470329213e-04,-5.031799983e-03,-1.175102600e-05,-2.481973924e-04,-5.020471763e-03,-3.060706135e-05,-2.482514386e-04,-5.019704090e-03,7.015287886e-01,-2.454819600e-04,8.357091412e-01,7.015261205e-01,-2.466464311e-04,8.357204694e-01,7.016987532e-01,-2.464837509e-04,8.245529539e-01
+59,2.095000000e+01,DOWN_PEAK_HOLD,1792674170859735193,-2.035027073e-05,-2.483103415e-04,-5.113693376e-03,-1.848588483e-05,-2.484234649e-04,-5.105957843e-03,-3.783717011e-05,-2.486587130e-04,-5.105963536e-03,7.015175212e-01,-2.467593802e-04,8.356272478e-01,7.015193856e-01,-2.468725035e-04,8.356349833e-01,7.016915231e-01,-2.468910253e-04,8.244666945e-01

Fixed/s2/ball_15A_12.5/press_depth_01/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.0290e-03,1.4489e-03,2.4555e+00,-3.6898e-02,3.6930e-02,-1.9259e-05,1.3748e-04,-2.4275e-06,6.1035e-05,-1.3784e-07,9.6597e-06,-1.8842e-07,1.5044e-04,9.6625e-06
+1,5.3333e-01,DOWN_FORCE_DETACH,1.4236e-04,4.5881e-03,1.4069e-03,2.4566e+00,-3.6902e-02,3.7110e-02,-2.2448e-05,2.6966e-03,-4.4407e-05,1.1926e-03,-3.2783e-06,1.8942e-04,-3.3775e-06,2.9489e-03,1.8948e-04
+2,1.0500e+00,DOWN_FORCE_DETACH,2.8588e-04,9.8180e-03,3.8821e-03,2.4743e+00,-3.7073e-02,3.7466e-02,-2.2122e-05,7.9265e-03,2.4308e-03,1.8845e-02,-1.7488e-04,5.4480e-04,-3.0513e-06,2.0588e-02,5.7219e-04
+3,1.3500e+00,DOWN_FORCE_DETACH,4.2575e-04,7.9012e-03,6.8328e-03,2.4919e+00,-3.7271e-02,3.7316e-02,-1.7458e-05,6.0097e-03,5.3815e-03,3.6486e-02,-3.7291e-04,3.9513e-04,1.6121e-06,3.7367e-02,5.4332e-04
+4,1.9000e+00,DOWN_FORCE_DETACH,5.6647e-04,7.3298e-03,1.0067e-02,2.4669e+00,-3.7489e-02,3.7293e-02,-1.9017e-05,5.4383e-03,8.6157e-03,1.1506e-02,-5.9090e-04,3.7224e-04,5.3509e-08,1.5368e-02,6.9837e-04
+5,2.3167e+00,DOWN_FORCE_DETACH,7.0625e-04,6.0494e-03,9.2941e-03,2.4630e+00,-3.7432e-02,3.7205e-02,-2.0873e-05,4.1579e-03,7.8428e-03,7.5948e-03,-5.3407e-04,2.8411e-04,-1.8031e-06,1.1682e-02,6.0494e-04
+6,2.7167e+00,DOWN_FORCE_DETACH,8.5041e-04,5.1508e-03,1.3472e-02,2.4626e+00,-3.7725e-02,3.7141e-02,-1.3660e-05,3.2593e-03,1.2020e-02,7.2179e-03,-8.2656e-04,2.2062e-04,5.4102e-06,1.4395e-02,8.5551e-04
+7,3.2000e+00,DOWN_FORCE_DETACH,9.9138e-04,4.9398e-03,1.1277e-02,2.4640e+00,-3.7569e-02,3.7125e-02,-1.6471e-05,3.0483e-03,9.8256e-03,8.5864e-03,-6.7113e-04,2.0422e-04,2.5989e-06,1.3400e-02,7.0152e-04
+8,3.6333e+00,DOWN_FORCE_DETACH,1.1367e-03,7.5632e-03,1.2357e-02,2.4695e+00,-3.7640e-02,3.7306e-02,-1.1442e-05,5.6716e-03,1.0906e-02,1.4122e-02,-7.4165e-04,3.8473e-04,7.6280e-06,1.8722e-02,8.3553e-04
+9,4.0333e+00,DOWN_FORCE_DETACH,1.2736e-03,6.0072e-03,1.2378e-02,2.4593e+00,-3.7642e-02,3.7203e-02,-7.2269e-06,4.1156e-03,1.0926e-02,3.8896e-03,-7.4354e-04,2.8259e-04,1.1843e-05,1.2307e-02,7.9552e-04
+10,4.4333e+00,DOWN_FORCE_DETACH,1.4174e-03,5.0223e-03,1.4530e-02,2.4625e+00,-3.7792e-02,3.7131e-02,1.5923e-07,3.1308e-03,1.3079e-02,7.0930e-03,-8.9420e-04,2.1049e-04,1.9230e-05,1.5204e-02,9.1884e-04
+11,5.0167e+00,DOWN_FORCE_DETACH,1.5607e-03,3.7385e-03,1.6035e-02,2.4619e+00,-3.7896e-02,3.7041e-02,8.4667e-06,1.8469e-03,1.4584e-02,6.4645e-03,-9.9758e-04,1.2028e-04,2.7537e-05,1.6059e-02,1.0052e-03
+12,5.4167e+00,DOWN_FORCE_DETACH,1.6978e-03,3.7199e-03,1.4744e-02,2.4697e+00,-3.7798e-02,3.7034e-02,1.2975e-05,1.8284e-03,1.3292e-02,1.4253e-02,-8.9991e-04,1.1331e-04,3.2045e-05,1.9575e-02,9.0759e-04
+13,5.6167e+00,DOWN_FORCE_DETACH,1.8404e-03,4.7083e-03,1.9794e-02,2.4677e+00,-3.8151e-02,3.7105e-02,2.1730e-05,2.8168e-03,1.8343e-02,1.2237e-02,-1.2528e-03,1.8446e-04,4.0800e-05,2.2229e-02,1.2669e-03
+14,6.2000e+00,DOWN_FORCE_DETACH,1.9877e-03,4.1277e-03,1.8394e-02,2.4629e+00,-3.8050e-02,3.7068e-02,2.4227e-05,2.2361e-03,1.6943e-02,7.4592e-03,-1.1518e-03,1.4699e-04,4.3297e-05,1.8647e-02,1.1620e-03
+15,6.7167e+00,DOWN_FORCE_DETACH,2.1276e-03,4.0193e-03,2.0583e-02,2.4665e+00,-3.8198e-02,3.7057e-02,3.2272e-05,2.1278e-03,1.9131e-02,1.1102e-02,-1.2998e-03,1.3649e-04,5.1343e-05,2.2221e-02,1.3080e-03
+16,7.2500e+00,DOWN_FORCE_DETACH,2.2716e-03,3.3982e-03,2.3179e-02,2.4711e+00,-3.8376e-02,3.7011e-02,3.8698e-05,1.5067e-03,2.1728e-02,1.5713e-02,-1.4779e-03,8.9694e-05,5.7769e-05,2.6857e-02,1.4818e-03
+17,7.8667e+00,DOWN_FORCE_DETACH,2.4137e-03,3.8637e-03,2.3467e-02,2.4713e+00,-3.8390e-02,3.7043e-02,4.0106e-05,1.9722e-03,2.2016e-02,1.5861e-02,-1.4920e-03,1.2209e-04,5.9176e-05,2.7206e-02,1.4981e-03
+18,8.3833e+00,DOWN_FORCE_DETACH,2.5542e-03,2.4765e-03,2.3550e-02,2.4743e+00,-3.8386e-02,3.6943e-02,4.0247e-05,5.8497e-04,2.2099e-02,1.8891e-02,-1.4873e-03,2.2233e-05,5.9317e-05,2.9079e-02,1.4886e-03
+19,8.9500e+00,DOWN_FORCE_DETACH,2.6941e-03,5.6595e-03,2.5272e-02,2.4779e+00,-3.8494e-02,3.7165e-02,3.8235e-05,3.7680e-03,2.3821e-02,2.2490e-02,-1.5957e-03,2.4404e-04,5.7306e-05,3.2976e-02,1.6152e-03
+20,9.5500e+00,DOWN_FORCE_DETACH,2.8390e-03,7.7185e-03,2.5923e-02,2.4771e+00,-3.8536e-02,3.7311e-02,2.7235e-05,5.8270e-03,2.4472e-02,2.1694e-02,-1.6381e-03,3.9044e-04,4.6305e-05,3.3218e-02,1.6846e-03
+21,1.0033e+01,DOWN_FORCE_DETACH,2.9786e-03,9.0742e-03,2.9630e-02,2.4780e+00,-3.8800e-02,3.7407e-02,2.2730e-05,7.1826e-03,2.8179e-02,2.2592e-02,-1.9013e-03,4.8583e-04,4.1800e-05,3.6825e-02,1.9628e-03
+22,1.0650e+01,DOWN_FORCE_DETACH,3.1218e-03,1.0054e-02,3.0155e-02,2.4802e+00,-3.8840e-02,3.7475e-02,1.2770e-05,8.1625e-03,2.8703e-02,2.4792e-02,-1.9419e-03,5.5385e-04,3.1840e-05,3.8796e-02,2.0195e-03
+23,1.1217e+01,DOWN_FORCE_DETACH,3.2607e-03,1.0070e-02,3.2108e-02,2.4762e+00,-3.8992e-02,3.7480e-02,2.6112e-06,8.1782e-03,3.0656e-02,2.0750e-02,-2.0935e-03,5.5909e-04,2.1682e-05,3.7911e-02,2.1669e-03
+24,1.1733e+01,DOWN_FORCE_DETACH,3.4053e-03,9.7499e-03,3.2211e-02,2.4765e+00,-3.8994e-02,3.7458e-02,-8.7896e-06,7.8584e-03,3.0759e-02,2.1057e-02,-2.0962e-03,5.3698e-04,1.0281e-05,3.8096e-02,2.1639e-03
+25,1.2300e+01,DOWN_FORCE_DETACH,3.5473e-03,7.7648e-03,3.3391e-02,2.4803e+00,-3.9055e-02,3.7315e-02,-1.5204e-05,5.8733e-03,3.1939e-02,2.4872e-02,-2.1563e-03,3.9446e-04,3.8661e-06,4.0905e-02,2.1920e-03
+26,1.2817e+01,DOWN_FORCE_DETACH,3.6900e-03,8.3197e-03,3.5382e-02,2.4836e+00,-3.9164e-02,3.7351e-02,-1.5681e-05,6.4282e-03,3.3931e-02,2.8154e-02,-2.2660e-03,4.3019e-04,3.3892e-06,4.4556e-02,2.3065e-03
+27,1.3333e+01,DOWN_FORCE_DETACH,3.8309e-03,8.7456e-03,3.5516e-02,2.4862e+00,-3.9144e-02,3.7378e-02,-8.7217e-06,6.8541e-03,3.4065e-02,3.0812e-02,-2.2460e-03,4.5733e-04,1.0349e-05,4.6441e-02,2.2921e-03
+28,1.3800e+01,DOWN_FORCE_DETACH,3.9719e-03,6.9365e-03,3.8402e-02,2.4872e+00,-3.9342e-02,3.7251e-02,7.7168e-06,5.0449e-03,3.6950e-02,3.1761e-02,-2.4439e-03,3.3000e-04,2.6787e-05,4.8985e-02,2.4662e-03
+29,1.4150e+01,DOWN_FORCE_DETACH,4.1141e-03,8.0049e-03,4.0780e-02,2.4931e+00,-3.9507e-02,3.7322e-02,1.5834e-05,6.1133e-03,3.9329e-02,3.7719e-02,-2.6090e-03,4.0137e-04,3.4904e-05,5.4835e-02,2.6399e-03
+30,1.4467e+01,DOWN_FORCE_DETACH,4.2543e-03,5.6332e-03,3.9392e-02,2.4907e+00,-3.9416e-02,3.7158e-02,1.3733e-05,3.7417e-03,3.7940e-02,3.5248e-02,-2.5177e-03,2.3688e-04,3.2803e-05,5.1922e-02,2.5290e-03
+31,1.4717e+01,DOWN_FORCE_DETACH,4.3928e-03,5.8488e-03,3.9987e-02,2.4994e+00,-3.9440e-02,3.7166e-02,1.0363e-05,3.9573e-03,3.8536e-02,4.3989e-02,-2.5422e-03,2.4540e-04,2.9433e-05,5.8615e-02,2.5542e-03
+32,1.4883e+01,DOWN_FORCE_DETACH,4.5410e-03,8.3042e-03,3.8378e-02,2.5030e+00,-3.9316e-02,3.7335e-02,3.2782e-06,6.4127e-03,3.6927e-02,4.7583e-02,-2.4173e-03,4.1441e-04,2.2349e-05,6.0571e-02,2.4526e-03
+33,1.5167e+01,DOWN_FORCE_DETACH,4.6813e-03,8.3871e-03,4.2240e-02,2.4997e+00,-3.9562e-02,3.7341e-02,3.2007e-06,6.4956e-03,4.0789e-02,4.4298e-02,-2.6635e-03,4.2057e-04,2.2271e-05,6.0566e-02,2.6966e-03
+34,1.5483e+01,DOWN_FORCE_DETACH,4.8224e-03,8.1582e-03,3.9062e-02,2.5057e+00,-3.9331e-02,3.7319e-02,8.8009e-06,6.2666e-03,3.7611e-02,5.0245e-02,-2.4322e-03,3.9773e-04,2.7871e-05,6.3075e-02,2.4647e-03
+35,1.5800e+01,DOWN_FORCE_DETACH,4.9662e-03,8.0642e-03,4.2821e-02,2.5134e+00,-3.9552e-02,3.7303e-02,2.6945e-05,6.1727e-03,4.1370e-02,5.7979e-02,-2.6534e-03,3.8252e-04,4.6016e-05,7.1492e-02,2.6812e-03
+36,1.6117e+01,DOWN_FORCE_DETACH,5.1058e-03,6.9230e-03,4.6631e-02,2.5114e+00,-3.9787e-02,3.7225e-02,3.9360e-05,5.0315e-03,4.5179e-02,5.5957e-02,-2.8883e-03,3.0385e-04,5.8430e-05,7.2095e-02,2.9048e-03
+37,1.6400e+01,DOWN_FORCE_DETACH,5.2551e-03,6.9761e-03,5.0091e-02,2.5114e+00,-4.0001e-02,3.7230e-02,4.5700e-05,5.0845e-03,4.8639e-02,5.5996e-02,-3.1023e-03,3.0941e-04,6.4770e-05,7.4345e-02,3.1184e-03
+38,1.6667e+01,DOWN_FORCE_DETACH,5.3933e-03,1.0497e-02,4.9362e-02,2.5241e+00,-3.9920e-02,3.7467e-02,2.8716e-05,8.6059e-03,4.7910e-02,6.8676e-02,-3.0218e-03,5.4600e-04,4.7786e-05,8.4177e-02,3.0712e-03
+39,1.6917e+01,DOWN_FORCE_DETACH,5.5340e-03,9.2036e-03,5.0570e-02,2.5225e+00,-3.9990e-02,3.7378e-02,6.9021e-06,7.3121e-03,4.9118e-02,6.7115e-02,-3.0917e-03,4.5696e-04,2.5973e-05,8.3489e-02,3.1254e-03
+40,1.7167e+01,DOWN_FORCE_DETACH,5.6714e-03,9.0513e-03,5.0572e-02,2.5263e+00,-3.9966e-02,3.7365e-02,-7.9373e-06,7.1597e-03,4.9121e-02,7.0858e-02,-3.0682e-03,4.4437e-04,1.1133e-05,8.6515e-02,3.1002e-03
+41,1.7417e+01,DOWN_FORCE_DETACH,5.8186e-03,7.8824e-03,5.3038e-02,2.5191e+00,-4.0122e-02,3.7290e-02,-6.2938e-06,5.9909e-03,5.1587e-02,6.3646e-02,-3.2240e-03,3.6929e-04,1.2777e-05,8.2146e-02,3.2451e-03
+42,1.7633e+01,DOWN_FORCE_DETACH,5.9593e-03,7.6011e-03,5.4803e-02,2.5217e+00,-4.0216e-02,3.7270e-02,-3.6155e-06,5.7096e-03,5.3352e-02,6.6224e-02,-3.3178e-03,3.4910e-04,1.5455e-05,8.5233e-02,3.3361e-03
+43,1.7833e+01,DOWN_FORCE_DETACH,6.1021e-03,8.2821e-03,5.7635e-02,2.5307e+00,-4.0371e-02,3.7311e-02,-7.5088e-08,6.3906e-03,5.6183e-02,7.5253e-02,-3.4731e-03,3.9054e-04,1.8995e-05,9.4129e-02,3.4950e-03
+44,1.8050e+01,DOWN_FORCE_DETACH,6.2428e-03,5.9754e-03,6.0409e-02,2.5229e+00,-4.0536e-02,3.7156e-02,-2.0792e-06,4.0839e-03,5.8957e-02,6.7509e-02,-3.6382e-03,2.3544e-04,1.6991e-05,8.9722e-02,3.6458e-03
+45,1.8250e+01,DOWN_FORCE_DETACH,6.3828e-03,7.4290e-03,6.1528e-02,2.5187e+00,-4.0608e-02,3.7256e-02,-6.3998e-06,5.5374e-03,6.0077e-02,6.3316e-02,-3.7094e-03,3.3480e-04,1.2671e-05,8.7458e-02,3.7245e-03
+46,1.8450e+01,DOWN_FORCE_DETACH,6.5274e-03,9.3281e-03,6.4770e-02,2.5231e+00,-4.0806e-02,3.7381e-02,5.5872e-06,7.4366e-03,6.3319e-02,6.7635e-02,-3.9077e-03,4.6016e-04,2.4658e-05,9.2946e-02,3.9348e-03
+47,1.8633e+01,DOWN_FORCE_DETACH,6.6653e-03,8.5380e-03,6.4998e-02,2.5301e+00,-4.0761e-02,3.7318e-02,1.2764e-05,6.6465e-03,6.3547e-02,7.4637e-02,-3.8627e-03,3.9675e-04,3.1835e-05,9.8250e-02,3.8832e-03
+48,1.8833e+01,DOWN_FORCE_DETACH,6.8151e-03,5.2024e-03,6.5554e-02,2.5255e+00,-4.0774e-02,3.7090e-02,1.3722e-05,3.3108e-03,6.4103e-02,7.0090e-02,-3.8760e-03,1.6961e-04,3.2792e-05,9.5041e-02,3.8799e-03
+49,1.9000e+01,DOWN_FORCE_DETACH,6.9479e-03,5.7687e-03,6.6752e-02,2.5253e+00,-4.0860e-02,3.7130e-02,1.0878e-05,3.8771e-03,6.5301e-02,6.9912e-02,-3.9616e-03,2.0878e-04,2.9949e-05,9.5744e-02,3.9672e-03
+50,1.9183e+01,DOWN_FORCE_DETACH,7.0957e-03,4.6462e-03,6.5564e-02,2.5201e+00,-4.0783e-02,3.7059e-02,5.7124e-06,2.7547e-03,6.4113e-02,6.4690e-02,-3.8843e-03,1.3848e-04,2.4783e-05,9.1120e-02,3.8869e-03
+51,1.9367e+01,DOWN_FORCE_DETACH,7.2403e-03,4.9027e-03,6.8375e-02,2.5226e+00,-4.0940e-02,3.7074e-02,-1.5639e-06,3.0112e-03,6.6924e-02,6.7130e-02,-4.0413e-03,1.5355e-04,1.7506e-05,9.4838e-02,4.0443e-03
+52,1.9533e+01,DOWN_FORCE_DETACH,7.3745e-03,5.2554e-03,6.9371e-02,2.5161e+00,-4.0995e-02,3.7106e-02,-1.3077e-05,3.3638e-03,6.7919e-02,6.0673e-02,-4.0969e-03,1.8492e-04,5.9934e-06,9.1135e-02,4.1011e-03
+53,1.9700e+01,DOWN_FORCE_DETACH,7.5245e-03,5.2653e-03,6.9210e-02,2.5180e+00,-4.0977e-02,3.7103e-02,-1.6527e-06,3.3738e-03,6.7759e-02,6.2618e-02,-4.0790e-03,1.8207e-04,1.7418e-05,9.2324e-02,4.0831e-03
+54,1.9867e+01,DOWN_FORCE_DETACH,7.6575e-03,4.4829e-03,7.0817e-02,2.5108e+00,-4.1089e-02,3.7057e-02,7.1259e-06,2.5914e-03,6.9366e-02,5.5385e-02,-4.1911e-03,1.3610e-04,2.6196e-05,8.8802e-02,4.1934e-03
+55,2.0017e+01,DOWN_FORCE_DETACH,7.7969e-03,4.7098e-03,7.1881e-02,2.5129e+00,-4.1138e-02,3.7072e-02,7.5528e-06,2.8183e-03,7.0429e-02,5.7469e-02,-4.2398e-03,1.5135e-04,2.6623e-05,9.0945e-02,4.2426e-03
+56,2.0183e+01,DOWN_FORCE_DETACH,7.9489e-03,3.4316e-03,7.1411e-02,2.5063e+00,-4.1122e-02,3.6986e-02,1.1070e-05,1.5400e-03,6.9960e-02,5.0848e-02,-4.2240e-03,6.5576e-05,3.0141e-05,8.6500e-02,4.2246e-03
+57,2.0333e+01,DOWN_FORCE_DETACH,8.0802e-03,5.1102e-03,7.1646e-02,2.5108e+00,-4.1088e-02,3.7093e-02,1.1302e-06,3.2186e-03,7.0195e-02,5.5350e-02,-4.1897e-03,1.7221e-04,2.0201e-05,8.9450e-02,4.1933e-03
+58,2.0483e+01,DOWN_SETTLE,8.2323e-03,4.5702e-03,7.2543e-02,2.5115e+00,-4.1097e-02,3.7054e-02,1.5498e-05,2.6787e-03,7.1091e-02,5.6093e-02,-4.1987e-03,1.3275e-04,3.4568e-05,9.0596e-02,4.2009e-03
+59,2.0950e+01,DOWN_PEAK_HOLD,8.3705e-03,3.6082e-03,6.6537e-02,2.4689e+00,-4.1176e-02,3.7027e-02,1.4351e-05,1.7167e-03,6.5086e-02,1.3517e-02,-4.2773e-03,1.0658e-04,3.3422e-05,6.6497e-02,4.2787e-03

Fixed/s2/ball_15A_12.5/press_depth_01/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580a16401905188d28b4521f760a31408602bc38399dcc71e7c6966645bd5813
+size 12840960

Fixed/s2/ball_15A_12.5/press_depth_01/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/s2/ball_15A_12.5/press_depth_01/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,1792674115839100276,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.883211114e-09,-5.115386413e-11,1.154218165e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293632e-01,1.767637090e-06,8.295726592e-01
+1,8.333333333e-02,XJC_ZERO_HOLD_BEFORE_UP,1792674116004106965,-4.021522362e-07,1.617331478e-06,-2.234943643e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.582957876e-08,-2.798293992e-10,6.329083813e-09,7.015374693e-01,3.168292799e-06,8.407407177e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293761e-01,1.767408414e-06,8.295726644e-01
+2,2.000000000e-01,WAIT_W2,1792674116238060898,8.754471178e-07,1.958610876e-07,-4.624602578e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.044099639e-08,-5.368439165e-10,1.215285184e-08,7.015387469e-01,1.746822409e-06,8.407404787e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293907e-01,1.767151400e-06,8.295726702e-01
+3,2.666666667e-01,WAIT_W2,1792674116370084941,3.598876511e-07,2.172885612e-06,-6.084297646e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.727611342e-08,-6.565055895e-10,1.486935319e-08,7.015382314e-01,3.723846933e-06,8.407403328e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293975e-01,1.767031738e-06,8.295726729e-01
+4,3.500000000e-01,WAIT_W2,1792674116536069353,-1.549574727e-06,8.023089362e-07,-2.011792539e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.454447755e-08,-7.828601933e-10,1.775022718e-08,7.015363219e-01,2.353270257e-06,8.407389294e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294048e-01,1.766905384e-06,8.295726758e-01
+5,4.333333333e-01,WAIT_W2,1792674116704102389,-1.020486279e-06,-8.180322454e-07,-3.192749116e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.061445485e-08,-8.932906029e-10,2.014613742e-08,7.015368510e-01,7.329290756e-07,8.407377484e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294109e-01,1.766794953e-06,8.295726782e-01
+6,5.000000000e-01,WAIT_W2,1792674116838101241,7.214798770e-07,-3.366911479e-06,1.483602603e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.474497300e-08,-9.641710156e-10,2.177373970e-08,7.015385930e-01,-1.815950158e-06,8.407424248e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294150e-01,1.766724073e-06,8.295726798e-01
+7,5.833333333e-01,WAIT_W2,1792674117004063185,-1.252452742e-06,-2.604306134e-06,-1.640894826e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.914050749e-08,-1.039811712e-09,2.350064754e-08,7.015366190e-01,-1.053344813e-06,8.407393003e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294194e-01,1.766648432e-06,8.295726815e-01
+8,6.500000000e-01,WAIT_W2,1792674117136093499,-7.728990220e-07,-3.048415617e-06,-2.186062206e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.213249981e-08,-1.088561394e-09,2.467464544e-08,7.015370986e-01,-1.497454296e-06,8.407387551e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294224e-01,1.766599682e-06,8.295726827e-01
+9,7.166666667e-01,WAIT_W2,1792674117268169591,-3.778978519e-06,-6.257050283e-06,-5.190656483e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.472545722e-08,-1.133532889e-09,2.568665392e-08,7.015340925e-01,-4.706088961e-06,8.407357505e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294250e-01,1.766554711e-06,8.295726837e-01
+10,7.666666667e-01,WAIT_W2,1792674117370188557,-2.301386236e-06,-3.740051129e-06,-5.199592309e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.644048933e-08,-1.163450164e-09,2.635432295e-08,7.015355701e-01,-2.189089808e-06,8.407357416e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294267e-01,1.766524794e-06,8.295726844e-01
+11,8.166666667e-01,WAIT_W2,1792674117468316167,-2.110748530e-06,-7.528756728e-06,-3.436129782e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.798122010e-08,-1.190332503e-09,2.695286339e-08,7.015357607e-01,-5.977795407e-06,8.407375051e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294283e-01,1.766497911e-06,8.295726850e-01
+12,8.833333333e-01,WAIT_W2,1792674117600146149,-1.141536824e-07,-4.088733087e-06,-3.694731516e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.979488831e-08,-1.221987114e-09,2.765530915e-08,7.015377573e-01,-2.537771766e-06,8.407372465e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294301e-01,1.766466257e-06,8.295726857e-01
+13,9.833333333e-01,WAIT_W2,1792674117768106581,-1.863731231e-06,8.759905457e-06,-4.596020976e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.207320085e-08,-1.261777526e-09,2.853433856e-08,7.015360078e-01,1.031086678e-05,8.407363452e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294323e-01,1.766426466e-06,8.295726866e-01
+14,1.033333333e+00,WAIT_W2,1792674117868320022,1.167885305e-06,6.671522887e-06,2.626507318e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.304212701e-08,-1.278710332e-09,2.890685591e-08,7.015390394e-01,8.222484208e-06,8.407412038e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294333e-01,1.766409533e-06,8.295726869e-01
+15,1.083333333e+00,WAIT_W2,1792674117968188274,-1.597108763e-06,5.386426632e-06,-4.477241213e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.391269663e-08,-1.293944831e-09,2.924093345e-08,7.015362744e-01,6.937387953e-06,8.407364639e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294342e-01,1.766394299e-06,8.295726873e-01
+16,1.150000000e+00,WAIT_W2,1792674118100149536,2.084895355e-07,2.564923690e-06,3.285183811e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.493430387e-08,-1.314388581e-09,2.963716461e-08,7.015380800e-01,4.115885012e-06,8.407412697e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294352e-01,1.766373855e-06,8.295726877e-01
+17,1.233333333e+00,WAIT_W2,1792674118250115483,-2.472696516e-06,-1.959085227e-06,-3.782199264e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.602660101e-08,-1.333031430e-09,3.005316529e-08,7.015353988e-01,-4.081239054e-07,8.407371590e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294363e-01,1.766355212e-06,8.295726881e-01
+18,1.350000000e+00,WAIT_W2,1792674118468159259,-2.154863742e-06,-1.923919740e-06,-3.618078729e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.726548334e-08,-1.354525506e-09,3.052437669e-08,7.015357166e-01,-3.729584191e-07,8.407373231e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294375e-01,1.766333718e-06,8.295726886e-01
+19,1.433333333e+00,WAIT_W2,1792674118634418615,-7.368288096e-07,-6.121629248e-06,-1.271473559e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.797789114e-08,-1.366805840e-09,3.079290123e-08,7.015371347e-01,-4.570667926e-06,8.407396697e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294383e-01,1.766321438e-06,8.295726888e-01
+20,1.516666667e+00,UP_FORCE_RAMP,1792674118800133371,-1.731579528e-06,-5.600484302e-06,-2.952466586e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.857443929e-08,-1.377077728e-09,3.101683843e-08,7.015361399e-01,-4.049522981e-06,8.407379887e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294388e-01,1.766311166e-06,8.295726891e-01
+21,1.583333333e+00,UP_FORCE_RAMP,1792674118900133780,-2.127982308e-06,-4.815773003e-06,-3.527047151e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.898105259e-08,-1.384068570e-09,3.116890557e-08,7.015357435e-01,-3.264811682e-06,8.407374141e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294393e-01,1.766304175e-06,8.295726892e-01
+22,1.666666667e+00,UP_FORCE_RAMP,1792674119066175485,-1.003152692e-06,-1.253066037e-05,-7.697630049e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.941647329e-08,-1.389918092e-09,3.133097937e-08,7.015368683e-01,-1.097969904e-05,8.407401714e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294397e-01,1.766298326e-06,8.295726894e-01
+23,1.733333333e+00,UP_FORCE_RAMP,1792674119198151441,8.224207715e-08,-1.184999929e-05,1.573143694e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.971183413e-08,-1.395218647e-09,3.144073391e-08,7.015379537e-01,-1.029903797e-05,8.407425143e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294400e-01,1.766293025e-06,8.295726895e-01
+24,1.800000000e+00,UP_FORCE_RAMP,1792674119332021174,-1.726323233e-06,-1.179721764e-05,-2.482463775e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.996814633e-08,-1.399802040e-09,3.153561445e-08,7.015361452e-01,-1.024625632e-05,8.407384587e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294402e-01,1.766288442e-06,8.295726896e-01
+25,1.850000000e+00,UP_FORCE_RAMP,1792674119431657718,-1.673994938e-06,-1.556178711e-05,-1.432960990e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.012605202e-08,-1.404107297e-09,3.159966544e-08,7.015361975e-01,-1.401082579e-05,8.407395082e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294404e-01,1.766284136e-06,8.295726896e-01
+26,1.916666667e+00,UP_FORCE_RAMP,1792674119532132623,-2.943068862e-06,-1.446357384e-05,-4.917408631e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.032746424e-08,-1.407464690e-09,3.167300078e-08,7.015349284e-01,-1.291261252e-05,8.407360238e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294406e-01,1.766280779e-06,8.295726897e-01
+27,2.000000000e+00,UP_FORCE_RAMP,1792674119698281969,-1.525863245e-07,-1.761267290e-05,-3.417777952e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.054357215e-08,-1.410876995e-09,3.175116892e-08,7.015377189e-01,-1.606171158e-05,8.407405994e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294408e-01,1.766277367e-06,8.295726898e-01
+28,2.066666667e+00,UP_FORCE_RAMP,1792674119830337296,-2.764571684e-06,-1.365638391e-05,-4.681262577e-06,-9.938664258e-07,-2.212906006e-05,-1.197901531e-06,-1.020219239e-06,-2.211447018e-05,-1.182553631e-06,7.015351069e-01,-1.210542259e-05,8.407362599e-01,7.015368776e-01,-2.057809874e-05,8.407397433e-01,7.017283401e-01,-2.034678194e-05,8.295714755e-01
+29,2.133333333e+00,UP_FORCE_RAMP,1792674119964303810,-2.455799722e-06,-1.663274212e-05,-2.248202576e-06,-9.938664258e-07,-2.212906006e-05,-1.197901531e-06,-1.020964921e-06,-2.211592839e-05,-1.184683898e-06,7.015354157e-01,-1.508178080e-05,8.407386930e-01,7.015368776e-01,-2.057809874e-05,8.407397433e-01,7.017283393e-01,-2.034824014e-05,8.295714734e-01
+30,2.200000000e+00,UP_FORCE_RAMP,1792674120102413826,-1.675138045e-06,-1.793200326e-05,-4.014187188e-07,-9.938664258e-07,-2.212906006e-05,-1.197901531e-06,-1.021605938e-06,-2.211623732e-05,-1.186316580e-06,7.015361963e-01,-1.638104194e-05,8.407405398e-01,7.015368776e-01,-2.057809874e-05,8.407397433e-01,7.017283387e-01,-2.034854908e-05,8.295714717e-01
+31,2.283333333e+00,UP_FORCE_RAMP,1792674120228230391,-2.788227220e-06,-2.325339882e-05,9.326817931e-07,-9.938664258e-07,-2.212906006e-05,-1.197901531e-06,-1.022294568e-06,-2.211638375e-05,-1.187963845e-06,7.015350833e-01,-2.170243750e-05,8.407418739e-01,7.015368776e-01,-2.057809874e-05,8.407397433e-01,7.017283380e-01,-2.034869551e-05,8.295714701e-01
+32,2.383333333e+00,UP_FORCE_RAMP,1792674120428323795,3.788965935e-07,-1.625590345e-05,9.510930028e-06,-9.938664258e-07,-2.212906006e-05,-1.197901531e-06,-1.022974447e-06,-2.211648133e-05,-1.189552361e-06,7.015382504e-01,-1.470494213e-05,8.407504521e-01,7.015368776e-01,-2.057809874e-05,8.407397433e-01,7.017283373e-01,-2.034879309e-05,8.295714685e-01
+33,2.450000000e+00,UP_FORCE_RAMP,1792674120564223112,1.860167633e-06,-2.059341658e-05,1.781021361e-05,-9.938664258e-07,-2.212906006e-05,-1.197901531e-06,-1.023354088e-06,-2.211652682e-05,-1.190428449e-06,7.015397316e-01,-1.904245525e-05,8.407587514e-01,7.015368776e-01,-2.057809874e-05,8.407397433e-01,7.017283369e-01,-2.034883858e-05,8.295714676e-01
+34,2.516666667e+00,UP_FORCE_RAMP,1792674120696417970,1.965063795e-06,-2.329347645e-05,2.329173432e-05,2.737496170e-06,-2.013141548e-05,2.094668019e-05,2.887941959e-06,-2.012441134e-05,2.081523736e-05,7.015398365e-01,-2.174251513e-05,8.407642329e-01,7.015406090e-01,-1.858045416e-05,8.407618879e-01,7.017322482e-01,-1.835672310e-05,8.295934733e-01
+35,2.583333333e+00,UP_FORCE_RAMP,1792674120796495777,5.432921073e-06,-1.955729671e-05,3.345533605e-05,2.737496170e-06,-2.013141548e-05,2.094668019e-05,2.892228846e-06,-2.012399439e-05,2.084342226e-05,7.015433044e-01,-1.800633539e-05,8.407743965e-01,7.015406090e-01,-1.858045416e-05,8.407618879e-01,7.017322525e-01,-1.835630614e-05,8.295935015e-01
+36,2.700000000e+00,UP_FORCE_RAMP,1792674121028226370,7.180484023e-06,-1.846238347e-05,4.441313390e-05,6.925062795e-06,-1.753041397e-05,4.279496326e-05,7.269457828e-06,-1.755172227e-05,4.251629220e-05,7.015450520e-01,-1.691142215e-05,8.407853543e-01,7.015447965e-01,-1.597945265e-05,8.407837362e-01,7.017366297e-01,-1.578403402e-05,8.296151743e-01
+37,2.766666667e+00,UP_FORCE_RAMP,1792674121162607360,2.188098254e-06,-2.132234994e-05,4.554307989e-05,6.925062795e-06,-1.753041397e-05,4.279496326e-05,7.278458563e-06,-1.755100081e-05,4.256753419e-05,7.015400596e-01,-1.977138862e-05,8.407864843e-01,7.015447965e-01,-1.597945265e-05,8.407837362e-01,7.017366387e-01,-1.578331257e-05,8.296152256e-01
+38,2.800000000e+00,UP_FORCE_RAMP,1792674121228563444,-2.210302237e-05,-1.458451689e-05,3.747400460e-05,-2.194356471e-05,-1.458903971e-05,3.711053451e-05,-2.217978463e-05,-1.459798598e-05,3.696253371e-05,7.015157685e-01,-1.303355557e-05,8.407784152e-01,7.015159279e-01,-1.303807839e-05,8.407780517e-01,7.017071805e-01,-1.283029774e-05,8.296096206e-01
+39,2.833333333e+00,UP_FORCE_RAMP,1792674121294421611,-1.457673746e-05,-1.942725862e-05,4.993471629e-05,-2.194356471e-05,-1.458903971e-05,3.711053451e-05,-2.220727334e-05,-1.459720133e-05,3.697714793e-05,7.015232947e-01,-1.787629730e-05,8.407908759e-01,7.015159279e-01,-1.303807839e-05,8.407780517e-01,7.017071530e-01,-1.282951309e-05,8.296096352e-01
+40,2.883333333e+00,UP_FORCE_RAMP,1792674121392624635,-1.464905192e-05,-2.040643365e-05,5.154001884e-05,-2.194356471e-05,-1.458903971e-05,3.711053451e-05,-2.223188019e-05,-1.459663202e-05,3.699718080e-05,7.015232224e-01,-1.885547232e-05,8.407924812e-01,7.015159279e-01,-1.303807839e-05,8.407780517e-01,7.017071284e-01,-1.282894377e-05,8.296096552e-01
+41,2.950000000e+00,UP_FORCE_RAMP,1792674121493207827,-1.489840935e-05,-1.300119655e-05,5.308342792e-05,-2.194356471e-05,-1.458903971e-05,3.711053451e-05,-2.225845132e-05,-1.459626268e-05,3.702111956e-05,7.015229731e-01,-1.145023523e-05,8.407940246e-01,7.015159279e-01,-1.303807839e-05,8.407780517e-01,7.017071018e-01,-1.282857443e-05,8.296096792e-01
+42,3.000000000e+00,UP_FORCE_RAMP,1792674121595210807,-1.215883099e-05,-1.780930584e-05,5.879479570e-05,-1.254439575e-05,-1.411987146e-05,5.558411513e-05,-1.263123070e-05,-1.413590686e-05,5.532505849e-05,7.015257127e-01,-1.625834452e-05,8.407997360e-01,7.015253271e-01,-1.256891014e-05,8.407965253e-01,7.017167290e-01,-1.236821862e-05,8.296279831e-01
+43,3.066666667e+00,UP_FORCE_RAMP,1792674121726382760,-1.320069886e-05,-1.100876576e-05,6.065740783e-05,-1.254439575e-05,-1.411987146e-05,5.558411513e-05,-1.263835516e-05,-1.413528435e-05,5.537036791e-05,7.015246708e-01,-9.457804441e-06,8.408015986e-01,7.015253271e-01,-1.256891014e-05,8.407965253e-01,7.017167219e-01,-1.236759611e-05,8.296280284e-01
+44,3.100000000e+00,UP_FORCE_RAMP,1792674121794416439,-1.333053842e-05,-1.825626121e-05,6.169628750e-05,-1.254439575e-05,-1.411987146e-05,5.558411513e-05,-1.264192600e-05,-1.413506969e-05,5.538934036e-05,7.015245409e-01,-1.670529988e-05,8.408026375e-01,7.015253271e-01,-1.256891014e-05,8.407965253e-01,7.017167183e-01,-1.236738145e-05,8.296280474e-01
+45,3.183333333e+00,UP_FORCE_RAMP,1792674121960502579,-1.155925836e-05,-1.273980354e-05,6.785154978e-05,-1.254439575e-05,-1.411987146e-05,5.558411513e-05,-1.264993837e-05,-1.413469796e-05,5.543018007e-05,7.015263122e-01,-1.118884222e-05,8.408087927e-01,7.015253271e-01,-1.256891014e-05,8.407965253e-01,7.017167103e-01,-1.236700971e-05,8.296280882e-01
+46,3.233333333e+00,UP_FORCE_RAMP,1792674122042420709,-1.009041651e-05,-1.988005832e-05,7.620556139e-05,-1.012607698e-05,-1.957676193e-05,7.593335495e-05,-1.007106969e-05,-1.957422850e-05,7.558513438e-05,7.015277811e-01,-1.832909700e-05,8.408171467e-01,7.015277454e-01,-1.802580061e-05,8.408168745e-01,7.017192892e-01,-1.780654026e-05,8.296482432e-01
+47,3.300000000e+00,UP_FORCE_RAMP,1792674122158386044,-1.113651725e-05,-2.022158595e-05,7.548250942e-05,-1.012607698e-05,-1.957676193e-05,7.593335495e-05,-1.007146773e-05,-1.957416653e-05,7.565401475e-05,7.015267350e-01,-1.867062463e-05,8.408164237e-01,7.015277454e-01,-1.802580061e-05,8.408168745e-01,7.017192888e-01,-1.780647828e-05,8.296483121e-01
+48,3.350000000e+00,UP_FORCE_RAMP,1792674122260308500,-8.305015182e-06,-1.659488764e-05,8.329752484e-05,-1.012607698e-05,-1.957676193e-05,7.593335495e-05,-1.007241139e-05,-1.957390826e-05,7.568996453e-05,7.015295665e-01,-1.504392632e-05,8.408242387e-01,7.015277454e-01,-1.802580061e-05,8.408168745e-01,7.017192879e-01,-1.780622002e-05,8.296483480e-01
+49,3.433333333e+00,UP_FORCE_RAMP,1792674122427818691,-6.676773696e-06,-2.016242218e-05,8.885247941e-05,-1.012607698e-05,-1.957676193e-05,7.593335495e-05,-1.007404018e-05,-1.957366478e-05,7.573945127e-05,7.015311947e-01,-1.861146086e-05,8.408297937e-01,7.015277454e-01,-1.802580061e-05,8.408168745e-01,7.017192862e-01,-1.780597653e-05,8.296483975e-01
+50,3.483333333e+00,UP_FORCE_RAMP,1792674122524871507,-6.999570814e-06,-1.471441478e-05,9.221704395e-05,-1.012607698e-05,-1.957676193e-05,7.593335495e-05,-1.007499409e-05,-1.957352320e-05,7.576485420e-05,7.015308719e-01,-1.316345346e-05,8.408331582e-01,7.015277454e-01,-1.802580061e-05,8.408168745e-01,7.017192853e-01,-1.780583495e-05,8.296484229e-01
+51,3.516666667e+00,UP_FORCE_RAMP,1792674122592641396,-6.683093524e-06,-1.373349881e-05,9.344482014e-05,-6.879288195e-06,-2.755660333e-05,9.562992584e-05,-6.716916781e-06,-2.758634464e-05,9.534452980e-05,7.015311884e-01,-1.218253749e-05,8.408343860e-01,7.015309922e-01,-2.600564201e-05,8.408365711e-01,7.017226434e-01,-2.581865639e-05,8.296680026e-01
+52,3.566666667e+00,UP_FORCE_RAMP,1792674122693371484,-5.936941258e-06,-1.124390359e-05,9.954292042e-05,-6.879288195e-06,-2.755660333e-05,9.562992584e-05,-6.713640934e-06,-2.758577551e-05,9.538993065e-05,7.015319345e-01,-9.692942266e-06,8.408404841e-01,7.015309922e-01,-2.600564201e-05,8.408365711e-01,7.017226466e-01,-2.581808726e-05,8.296680480e-01
+53,3.600000000e+00,UP_FORCE_RAMP,1792674122759105914,-7.128984867e-06,-2.291401537e-05,9.978779169e-05,-6.879288195e-06,-2.755660333e-05,9.562992584e-05,-6.711957409e-06,-2.758575688e-05,9.541572537e-05,7.015307425e-01,-2.136305405e-05,8.408407290e-01,7.015309922e-01,-2.600564201e-05,8.408365711e-01,7.017226483e-01,-2.581806863e-05,8.296680738e-01
+54,3.666666667e+00,UP_FORCE_RAMP,1792674122890905957,-4.081123203e-06,-1.326765598e-05,1.078817425e-04,-6.879288195e-06,-2.755660333e-05,9.562992584e-05,-6.709323239e-06,-2.758563748e-05,9.546045941e-05,7.015337904e-01,-1.171669466e-05,8.408488229e-01,7.015309922e-01,-2.600564201e-05,8.408365711e-01,7.017226509e-01,-2.581794924e-05,8.296681185e-01
+55,3.733333333e+00,UP_FORCE_HOLD,1792674123024320616,-1.876217260e-06,-1.310539511e-05,1.175379278e-04,-1.514261053e-06,-1.743250741e-05,1.163505854e-04,-1.176139736e-06,-1.742790525e-05,1.160220140e-04,7.015359953e-01,-1.155443379e-05,8.408584791e-01,7.015363572e-01,-1.588154609e-05,8.408572918e-01,7.017281841e-01,-1.566021701e-05,8.296886801e-01
+56,3.783333333e+00,UP_FORCE_HOLD,1792674123124433654,-1.721597476e-06,-1.341821288e-05,1.219768650e-04,-1.514261053e-06,-1.743250741e-05,1.163505854e-04,-1.169119314e-06,-1.742678531e-05,1.160710168e-04,7.015361499e-01,-1.186725155e-05,8.408629181e-01,7.015363572e-01,-1.588154609e-05,8.408572918e-01,7.017281912e-01,-1.565909707e-05,8.296887291e-01
+57,3.866666667e+00,UP_SETTLE,1792674123290595047,1.730659837e-06,-1.020303950e-05,1.323751038e-04,-1.514261053e-06,-1.743250741e-05,1.163505854e-04,-1.159983387e-06,-1.742620365e-05,1.161361064e-04,7.015396021e-01,-8.652078182e-06,8.408733163e-01,7.015363572e-01,-1.588154609e-05,8.408572918e-01,7.017282003e-01,-1.565851540e-05,8.296887941e-01
+58,3.916666667e+00,UP_SETTLE,1792674123388341328,4.223872992e-07,-1.383754703e-05,1.329510931e-04,3.996671913e-06,-1.833278017e-05,1.373707951e-04,4.537061906e-06,-1.835407044e-05,1.369795154e-04,7.015382939e-01,-1.228658571e-05,8.408738923e-01,7.015418682e-01,-1.678181885e-05,8.408783120e-01,7.017338973e-01,-1.658638220e-05,8.297096376e-01
+59,3.983333333e+00,UP_SETTLE,1792674123524321849,2.803920597e-06,-1.236308725e-05,1.388697884e-04,3.996671913e-06,-1.833278017e-05,1.373707951e-04,4.551135823e-06,-1.835349046e-05,1.370509267e-04,7.015406754e-01,-1.081212593e-05,8.408798110e-01,7.015418682e-01,-1.678181885e-05,8.408783120e-01,7.017339114e-01,-1.658580221e-05,8.297097090e-01

Fixed/s2/ball_15A_12.5/press_depth_01/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.0289e-03,1.4489e-03,2.4555e+00,-3.6898e-02,3.6930e-02,-1.9261e-05,1.3750e-04,-2.2799e-06,6.0797e-05,-1.4156e-07,9.6634e-06,-1.8869e-07,1.5036e-04,9.6663e-06
+1,8.3333e-02,XJC_ZERO_HOLD_BEFORE_UP,1.7864e-05,2.6462e-03,1.4379e-03,2.4558e+00,-3.6899e-02,3.6974e-02,-2.0092e-05,7.5475e-04,-1.3227e-05,3.3498e-04,-7.5996e-07,5.3030e-05,-1.0194e-06,8.2586e-04,5.3045e-05
+2,2.0000e-01,WAIT_W2,3.7134e-05,3.3427e-03,1.4264e-03,2.4561e+00,-3.6900e-02,3.7023e-02,-2.0991e-05,1.4513e-03,-2.4701e-05,6.4301e-04,-1.5721e-06,1.0196e-04,-1.9182e-06,1.5876e-03,1.0199e-04
+3,2.6667e-01,WAIT_W2,5.5840e-05,3.6685e-03,1.4209e-03,2.4562e+00,-3.6900e-02,3.7046e-02,-2.1393e-05,1.7771e-03,-3.0222e-05,7.8702e-04,-1.9670e-06,1.2485e-04,-2.3205e-06,1.9438e-03,1.2488e-04
+4,3.5000e-01,WAIT_W2,7.6673e-05,4.0151e-03,1.4157e-03,2.4564e+00,-3.6901e-02,3.7070e-02,-2.1808e-05,2.1237e-03,-3.5458e-05,9.3913e-04,-2.4438e-06,1.4919e-04,-2.7354e-06,2.3224e-03,1.4924e-04
+5,4.3333e-01,WAIT_W2,9.6680e-05,4.3024e-03,1.4111e-03,2.4565e+00,-3.6901e-02,3.7090e-02,-2.2137e-05,2.4110e-03,-4.0037e-05,1.0679e-03,-2.8536e-06,1.6937e-04,-3.0642e-06,2.6372e-03,1.6942e-04
+6,5.0000e-01,WAIT_W2,1.1646e-04,4.5014e-03,1.4083e-03,2.4566e+00,-3.6901e-02,3.7104e-02,-2.2357e-05,2.6100e-03,-4.2829e-05,1.1523e-03,-3.1628e-06,1.8334e-04,-3.2844e-06,2.8533e-03,1.8340e-04
+7,5.8333e-01,WAIT_W2,1.3332e-04,4.7109e-03,1.4052e-03,2.4567e+00,-3.6902e-02,3.7119e-02,-2.2578e-05,2.8195e-03,-4.5947e-05,1.2438e-03,-3.4869e-06,1.9806e-04,-3.5060e-06,3.0820e-03,1.9812e-04
+8,6.5000e-01,WAIT_W2,1.5212e-04,4.8522e-03,1.4031e-03,2.4567e+00,-3.6902e-02,3.7129e-02,-2.2721e-05,2.9608e-03,-4.8005e-05,1.3068e-03,-3.7253e-06,2.0799e-04,-3.6481e-06,3.2367e-03,2.0806e-04
+9,7.1667e-01,WAIT_W2,1.7095e-04,4.9771e-03,1.4015e-03,2.4568e+00,-3.6902e-02,3.7138e-02,-2.2842e-05,3.0857e-03,-4.9603e-05,1.3592e-03,-3.9488e-06,2.1676e-04,-3.7692e-06,3.3721e-03,2.1683e-04
+10,7.6667e-01,WAIT_W2,1.8965e-04,5.0588e-03,1.4005e-03,2.4568e+00,-3.6902e-02,3.7143e-02,-2.2917e-05,3.1674e-03,-5.0694e-05,1.3945e-03,-4.0978e-06,2.2250e-04,-3.8450e-06,3.4612e-03,2.2257e-04
+11,8.1667e-01,WAIT_W2,2.0968e-04,5.1323e-03,1.3995e-03,2.4569e+00,-3.6903e-02,3.7148e-02,-2.2983e-05,3.2409e-03,-5.1673e-05,1.4262e-03,-4.2357e-06,2.2766e-04,-3.9106e-06,3.5412e-03,2.2773e-04
+12,8.8333e-01,WAIT_W2,2.2681e-04,5.2187e-03,1.3983e-03,2.4569e+00,-3.6903e-02,3.7155e-02,-2.3057e-05,3.3273e-03,-5.2804e-05,1.4634e-03,-4.3958e-06,2.3374e-04,-3.9842e-06,3.6353e-03,2.3381e-04
+13,9.8333e-01,WAIT_W2,2.4943e-04,5.3273e-03,1.3970e-03,2.4569e+00,-3.6903e-02,3.7162e-02,-2.3143e-05,3.4359e-03,-5.4174e-05,1.5099e-03,-4.6194e-06,2.4137e-04,-4.0703e-06,3.7534e-03,2.4144e-04
+14,1.0333e+00,WAIT_W2,2.6960e-04,5.3735e-03,1.3964e-03,2.4570e+00,-3.6903e-02,3.7165e-02,-2.3177e-05,3.4821e-03,-5.4741e-05,1.5295e-03,-4.7125e-06,2.4460e-04,-4.1043e-06,3.8036e-03,2.4468e-04
+15,1.0833e+00,WAIT_W2,2.8693e-04,5.4150e-03,1.3959e-03,2.4570e+00,-3.6903e-02,3.7168e-02,-2.3206e-05,3.5236e-03,-5.5238e-05,1.5473e-03,-4.8093e-06,2.4752e-04,-4.1334e-06,3.8487e-03,2.4760e-04
+16,1.1500e+00,WAIT_W2,3.0265e-04,5.4638e-03,1.3953e-03,2.4570e+00,-3.6903e-02,3.7172e-02,-2.3238e-05,3.5724e-03,-5.5821e-05,1.5681e-03,-4.9137e-06,2.5095e-04,-4.1654e-06,3.9018e-03,2.5103e-04
+17,1.2333e+00,WAIT_W2,3.2229e-04,5.5152e-03,1.3949e-03,2.4570e+00,-3.6903e-02,3.7175e-02,-2.3270e-05,3.6238e-03,-5.6226e-05,1.5900e-03,-5.0440e-06,2.5457e-04,-4.1971e-06,3.9577e-03,2.5465e-04
+18,1.3500e+00,WAIT_W2,3.4107e-04,5.5736e-03,1.3947e-03,2.4570e+00,-3.6904e-02,3.7180e-02,-2.3300e-05,3.6822e-03,-5.6437e-05,1.6150e-03,-5.2229e-06,2.5868e-04,-4.2280e-06,4.0212e-03,2.5876e-04
+19,1.4333e+00,WAIT_W2,3.6263e-04,5.6077e-03,1.3943e-03,2.4571e+00,-3.6904e-02,3.7182e-02,-2.3315e-05,3.7163e-03,-5.6874e-05,1.6291e-03,-5.3048e-06,2.6107e-04,-4.2425e-06,4.0581e-03,2.6116e-04
+20,1.5167e+00,UP_FORCE_RAMP,3.7962e-04,5.6363e-03,1.3939e-03,2.4571e+00,-3.6904e-02,3.7184e-02,-2.3325e-05,3.7449e-03,-5.7227e-05,1.6410e-03,-5.3719e-06,2.6308e-04,-4.2525e-06,4.0891e-03,2.6317e-04
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Fixed/s2/ball_15A_12.5/press_depth_02/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deefd0273b63714179473bd9a575836530f3b8ea92ce428d6a6beddad1cb60c4
+size 71321600

Fixed/s2/ball_15A_12.5/press_depth_02/down/franka_data.csv

@@ -0,0 +1,61 @@
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+11798,1792674195736481622,42735990000000,1792674195729401233,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760643964290846,-0.004559152986801633,0.09077935763119874,0.999999986797254,0.00011577970395214245,-6.45531841662904e-05,1.662235771810436e-05,0.6761,-0.00453,0.09085790911660047,1.0,0.0,0.0,0.0,0.044941276873248864,0.047693882702510904,0.25273703573955364,0.004170864169790019,-0.0033249677339520917,-2.004088675745763e-05,0.25457008066346576,0.2864205516302476,0.04851221138972432,0.016865744725996508,-0.019586773462597133,-0.00012228510135996735,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.17096943375031234,0.24597332264576166,0.9549999687629391,0.059819803441655287,-0.531010429133962,0.0896192915392092,1.1878137942086926,0.25273703573955364,0.23281382544575346,0.23281382544575346,0.23043999999998105,0,0,-1.7020104330052514e-05,8.888452060341052e-05
+11938,1792674196903495030,42737157000000,1792674196901400698,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760630881750708,-0.0045623486464795296,0.09077383563507,0.9999999867967131,0.00011463030616613772,-6.607344954914313e-05,1.8537269863486133e-05,0.6761,-0.00453,0.09083988297071513,1.0,0.0,0.0,0.0,0.03624484726154634,0.04887216083354068,0.2627964037164101,0.004169260760044442,-0.003328460669474405,-2.9244021339528946e-05,0.24587365105176323,0.2875988297612774,0.05857157936658079,0.01686414131625093,-0.019590266398119446,-0.00013148823594203866,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.1452027732539272,0.3207079980381696,0.8895831277118424,0.03579383912399136,-0.49820027015891477,0.1330768641522838,1.1878137942086926,0.2627964037164101,0.29823066649685015,0.29823066649685015,0.3121299999999902,0,0,-2.4185009110640248e-05,9.461085667539777e-05
+12054,1792674197869514234,42738123000000,1792674197869401068,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760614241689697,-0.004563590000286048,0.09075917055735433,0.9999999869528463,0.00011084723871186202,-6.922921749235174e-05,2.1386368129676765e-05,0.6761,-0.00453,0.09081001578035452,1.0,0.0,0.0,0.0,0.04512557224409067,0.04880967949110476,0.28363972488953393,0.0041651913132811046,-0.0033331754273398517,-4.500307519152341e-05,0.25475437603430756,0.28753634841884146,0.07941490053970457,0.016860071869487594,-0.019594981155984893,-0.00014724728979403313,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.1615626639847016,0.25625512858070626,0.947575161239401,0.08351247942010526,-0.5396309872119687,0.08903330554991443,1.1878137942086926,0.28363972488953393,0.2402386329692916,0.2402386329692916,0.3797500000000042,0,0,-3.6766466214614664e-05,-9.999997638144293e-05
+12186,1792674198969644962,42739223000000,1792674198965401133,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760616053400827,-0.004571552724405925,0.09073001352419605,0.9999999863867003,0.00011356601299970277,-6.791452362716969e-05,3.4056450323574444e-05,0.6761,-0.00453,0.0907657690071651,1.0,0.0,0.0,0.0,0.03635426135517167,0.04820995753328999,0.3425891692704093,0.003106875236855232,-0.0023137915930945482,-8.948726641449255e-05,0.24598306514538856,0.2869366264610267,0.13836434492057997,0.01580175579306172,-0.01857559732173959,-0.00019173148101700227,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.2368233859003657,0.310478333231263,0.7543401085606558,0.0871220367969235,-0.4051130645145335,0.124741439063654,1.1878137942086926,0.3425891692704093,0.4334736856480368,0.4334736856480368,0.45675000000002014,0,0,-4.353313207553088e-05,9.936175079794935e-05
+12321,1792674200094641070,42740348000000,1792674200093401341,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760657525285156,-0.004580123315120308,0.09069711901352526,0.9999999868598172,0.00011154577759795051,-5.699409985064557e-05,4.508261293700527e-05,0.6761,-0.00453,0.09072019211007787,1.0,0.0,0.0,0.0,0.03584468451831874,0.04050535923257803,0.40721957479040516,0.003093529657882347,-0.0023270236584922513,-0.00014177213090592805,0.24547348830853563,0.2792320281603147,0.20299475044057586,0.015788410214088836,-0.018588829387137292,-0.00024401634550843778,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.20558038032596718,0.28729265455995123,0.6512242933988708,0.0964174256821401,-0.3497085953788534,0.10199997983095802,1.1878137942086926,0.40721957479040516,0.5365895008098218,0.5365895008098218,0.5355000000000364,0,0,-3.830045356281874e-05,9.789242613600919e-05
+12461,1792674201261699326,42741515000000,1792674201261400846,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760672390786838,-0.004583985226799169,0.0906663834025332,0.9999999863240789,0.00011314858451287215,-5.4377477305161186e-05,5.5092595283004124e-05,0.6761,-0.00453,0.09068031101724447,1.0,0.0,0.0,0.0,0.02627501642372515,0.042543564119352284,0.46686492480539377,0.0030556947023074044,-0.0013266809262641212,-0.00018205094741773607,0.23590382021394204,0.281270233047089,0.26264010045556446,0.015750575258513894,-0.017588486654909162,-0.0002842951620202458,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.2500382218108271,0.36179554340924064,0.594198869231269,0.07777661026632526,-0.30175953077034784,0.15198286525144705,1.1878137942086926,0.46686492480539377,0.5936149249774236,0.5936149249774236,0.6171900000000533,0,0,-3.194814838095172e-05,9.963884858710798e-05
+12573,1792674202194641021,42742448000000,1792674202193401313,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760651748186611,-0.0045911322366364886,0.09063802391937453,0.9999999856729771,0.0001142244294208001,-5.5842671611796604e-05,6.269996653144919e-05,0.6761,-0.00453,0.09064952124640413,1.0,0.0,0.0,0.0,0.026775480210126212,0.03909353417961409,0.5029298810014683,0.0020281626293111674,-0.0013155075035671988,-0.00021599104819806805,0.2364042840003431,0.2778202031073508,0.298705056651639,0.014723043185517657,-0.01757731323221224,-0.0003182352628005778,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.28495932766653637,0.2658059304436113,0.46560320768021835,0.11051644152566899,-0.2124280788941108,0.08842904729733152,1.1878137942086926,0.5029298810014683,0.7222105865284743,0.7222105865284743,0.6825000000000668,0,0,-3.540759723333486e-05,9.999017866325061e-05
+12749,1792674203661727074,42743915000000,1792674203657413181,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760628049497068,-0.004598683520348091,0.090591669364669,0.9999999850832346,0.00011213056169582172,-5.497328263789473e-05,7.53728745427608e-05,0.6761,-0.00453,0.09059702134285977,1.0,0.0,0.0,0.0,0.02656546730768336,0.034113551367445705,0.5827839020563167,0.0020119130600876247,-0.0013321574793665539,-0.00028053764685879014,0.23619427109790025,0.2728402202951824,0.3785590777064874,0.014706793616294114,-0.017593963208011595,-0.00038278186146129987,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.2795529117190961,0.22856614760895871,0.5304064625209253,0.11802414756944946,-0.2573078014287232,0.06257057323529583,1.1878137942086926,0.5827839020563167,0.6574073316877673,0.6574073316877673,0.7851900000000881,0,0,-3.756704147347823e-05,-9.999999025923074e-05
+12900,1792674204919764454,42745173000000,1792674204913401115,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760646134523208,-0.004602851910218998,0.09054993475603798,0.9999999846956231,0.00011040751227725557,-5.091855253137801e-05,8.525901763023566e-05,0.6761,-0.00453,0.09054696072984968,1.0,0.0,0.0,0.0,0.02080269902343468,0.020235734432616836,0.6525931545825316,0.001996999561001583,-0.001346142871898482,-0.00033764642651080485,0.23043150281365157,0.25896240336035353,0.4483683302327023,0.014691880117208072,-0.017607948600543523,-0.0004398906411133146,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.28360203158622826,0.19874976652907178,0.4885920816583414,0.1326498490201092,-0.2342967136465942,0.04235311394335038,1.1878137942086926,0.6525931545825316,0.6992217125503513,0.6992217125503513,0.8732500000001063,0,0,-4.173546335892032e-05,-9.995116820172285e-05
+13036,1792674206053781910,42746307000000,1792674206053401333,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760652883197693,-0.004610284935270258,0.09051159811309417,0.9999999843462257,0.00010770531502841575,-4.767923241466073e-05,9.421607392723877e-05,0.6761,-0.00453,0.09050159509773917,1.0,0.0,0.0,0.0,0.01679460759095064,0.03274905695506852,0.7103282523935545,0.0019606017090103046,-0.00034643795900896057,-0.00036908002018668564,0.22642341138116753,0.2714757258828052,0.5061034280437251,0.014655482265216794,-0.016608243687654,-0.00047132423478919537,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.28751650931987555,0.2649883867635859,0.258416482477075,0.1134787740676996,-0.08912415248581584,0.08691223253531201,1.1878137942086926,0.7103282523935545,0.9293973117316177,0.9293973117316177,0.9526300000001228,0,0,-3.968961618108923e-05,8.849007224054901e-05
+13168,1792674207153842682,42747407000000,1792674207149401576,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760698844843833,-0.004611469056782723,0.09047498410166423,0.9999999843107499,0.00010500193542882227,-4.158124013807885e-05,0.00010033423323591437,0.6761,-0.00453,0.0904568305350916,1.0,0.0,0.0,0.0,0.016650752922969664,0.030642451307678065,0.7633399495339798,0.001949882891014918,-0.0003574793610987455,-0.0004119243628370173,0.22627955671318656,0.26936912023541476,0.5591151251841504,0.014644763447221407,-0.016619285089743786,-0.000514168577439527,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.3318972612256838,0.1585238154332051,0.22300200888832233,0.1476270779916765,-0.05636986223108097,0.020184660608039626,1.1878137942086926,0.7633399495339798,0.9648117853203703,0.9648117853203703,1.0296300000001386,0,0,-4.109663221823498e-05,-4.319311169295812e-05
+13295,1792674208211823688,42748465000000,1792674208209401129,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760762298507996,-0.004614178543596395,0.090441600344112,0.9999999842941798,0.00010303615293365885,-3.1453539566383535e-05,0.00010606003268929087,0.6761,-0.00453,0.09040817090462576,1.0,0.0,0.0,0.0,0.009323911701264814,0.03211546407383209,0.8034970504085094,0.0019426173405932348,-0.00036611944926047413,-0.0004452449893280687,0.2189527154914817,0.2708421330015688,0.59927222605868,0.014637497896799724,-0.016627925177905515,-0.0005474892039305784,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.38217386710322115,0.1888908678885141,0.19952927802504866,0.136967305702514,-0.03045569544533962,0.039574148383598726,1.1878137942086926,0.8034970504085094,0.988284516183644,0.988284516183644,1.103690000000154,0,0,-5.1142664155039104e-05,-9.996844604754358e-05
+13443,1792674209444808852,42749698000000,1792674209437411066,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760813219449827,-0.004622398898514359,0.09038936672596559,0.999999983931047,9.86785684364685e-05,-2.2977468014037657e-05,0.00011539214082510196,0.6761,-0.00453,0.09034478570667497,1.0,0.0,0.0,0.0,-0.00037284620639660426,0.034162782095816246,0.87383731434473,0.0021190390359755763,0.0006258790393594421,0.0004904760813066034,0.2092559575838203,0.27288945102355294,0.6696124899949006,0.014813919592182066,-0.0156359266892856,0.00038823186670409364,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.43590716896432014,0.17666876052225386,0.058914209075104466,0.1395472714906804,0.06963174543824266,0.031276912972363846,1.1878137942086926,0.87383731434473,1.1288995851335881,1.1288995851335881,1.1900000000001718,0,0,-5.364603987837035e-05,9.846263668145667e-05
+13563,1792674210444907827,42750698000000,1792674210441401157,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760868145803188,-0.004624468576223395,0.09034587589840563,0.9999999824161995,0.00010236789629840079,-1.6184842200643694e-05,0.00012597352845529093,0.6761,-0.00453,0.0902924776320231,1.0,0.0,0.0,0.0,-0.009969491795160351,0.03755418197632837,0.9244104283363029,0.0024725885064057606,0.0016168839561473691,0.0003752022890167615,0.19965931199505654,0.27628085090406507,0.7201856039864736,0.01516746906261225,-0.014644921772497672,0.0002729580744142518,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.4199894828259054,0.2195100707630789,0.031756073742089545,0.1264020623593037,0.07934977038672734,0.05975390988725006,1.1878137942086926,0.9244104283363029,1.1560577204666032,1.1560577204666032,1.2600000000001863,0,0,-5.021047827099968e-05,-8.98672761470209e-05
+13702,1792674211603922859,42751857000000,1792674211601400820,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760910243387769,-0.004627959988115878,0.09029541873372,0.9999999801552601,0.00011075639432496065,-9.870884449911139e-06,0.00013699609631241625,0.6761,-0.00453,0.09023295172654797,1.0,0.0,0.0,0.0,-0.015212793930645119,0.03947387211579856,0.9847893833492108,0.002864860704483954,0.001597118698441655,0.00047464724480430906,0.19441600985957178,0.27820054104353525,0.7805645589993815,0.015559741260690443,-0.014664687030203386,0.00037240303020179933,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.45864594940021286,0.16655188927563033,-0.09366293279576153,0.1412846776029033,0.16479368219275184,0.02864939966494244,1.1878137942086926,0.9847893833492108,1.281476727004454,1.281476727004454,1.341130000000203,0,0,-5.121544175282355e-05,7.957505074174804e-05
+13850,1792674212837004601,42753090000000,1792674212833410253,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760954203526656,-0.004630960511631606,0.0902402493257759,0.9999999767027925,0.00012580646271085393,-6.3234717798701255e-06,0.00014889602557588652,0.6761,-0.00453,0.0901686391061604,1.0,0.0,0.0,0.0,-0.012942488864437746,0.04196218219930853,1.0346628355330012,0.0028281006184028134,0.002599455362507809,0.0003794904034603835,0.19668631492577915,0.2806888511270452,0.8304380111831718,0.015522981174609303,-0.013662350366137232,0.00027724618885787377,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.5070836898569349,0.1074982392755918,-0.08939211079472636,0.1706442467350516,0.17283457980477823,-0.0063317098644916775,1.1878137942086926,1.0346628355330012,1.277205905003419,1.277205905003419,1.427440000000221,0,0,-5.308664317446444e-05,-9.999670122352029e-05
+13966,1792674213803918975,42754057000000,1792674213801411013,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6761006046666306,-0.004631685626220343,0.09019467942973121,0.999999971364318,0.0001531842923534238,-6.801377963026025e-07,0.00015889725478798847,0.6761,-0.00453,0.0901117885374142,1.0,0.0,0.0,0.0,-0.021923323874129902,0.0372044322131595,1.0745269795673573,0.0022201265601820164,0.0026098901879517793,0.00040661489885073,0.187705479916087,0.2759311011408962,0.8703021552175281,0.014915007116388506,-0.013651915540693262,0.00030437068424822025,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.4809016128682062,0.19493878516930868,-0.21316445661204664,0.1420099515306523,0.23842861298537615,0.05637277296894781,1.1878137942086926,1.0745269795673573,1.4009782508207391,1.4009782508207391,1.495130000000235,0,0,-6.513493502130983e-05,-7.790802064012948e-06
+14090,1792674214836948065,42755090000000,1792674214833410686,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761030917415691,-0.004633996501504694,0.09013415582172297,0.999999967984657,0.00016124050259384224,2.2891988391708764e-06,0.0001716677288570523,0.6761,-0.00453,0.0900429643664035,1.0,0.0,0.0,0.0,-0.02206660953053241,0.036538986968037146,1.1183564228257559,0.0017643205387052364,0.0036139756774290557,0.0003878453131503565,0.18756219425968448,0.27526565589577384,0.9141315984759265,0.014459201094911726,-0.012647830051215985,0.00028560109854784677,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.52991976385127,0.1655859195422585,-0.40354448272051513,0.15511653887896243,0.36942063287921406,0.0358751156140467,1.1878137942086926,1.1183564228257559,1.5913582769292076,1.5913582769292076,1.56744000000025,0,0,-6.630789999431818e-05,9.979174017538667e-05
+14226,1792674215970032083,42756223000000,1792674215969401648,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761082988212879,-0.004642515420142128,0.0900656523336259,0.9999999643668052,0.00016514231271594885,1.029796786380208e-05,0.0001879660103287865,0.6761,-0.00453,0.08996279461412629,1.0,0.0,0.0,0.0,-0.022320514320208956,0.03456317165043099,1.1648565645031443,0.0017551480320398567,0.0036040944690503215,0.00034908802317018436,0.18730828947000794,0.2732898405781677,0.9606317401533151,0.014450028588246346,-0.01265771125959472,0.00024684380856767463,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.544116290164996,0.1484934907429321,-0.313215320052834,0.15438867333589942,0.31335592656359007,0.022679423972412516,1.1878137942086926,1.1648565645031443,1.5010291142615266,1.5010291142615266,1.6467500000002664,0,0,-7.573337917485124e-05,-9.999999025923074e-05
+14329,1792674216829067364,42757082000000,1792674216825411578,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6761097858097812,-0.004643017679569344,0.09000552218033211,0.9999999640234438,0.00016103230232041824,1.3322931680719067e-05,0.0001930986080757233,0.6761,-0.00453,0.08989772963787902,1.0,0.0,0.0,0.0,-0.03167715848967545,0.0343867472977154,1.194881785895347,0.0017316424084421241,0.004241333414096125,0.00033382413178345945,0.17795164530054144,0.2731134162254521,0.9906569615455179,0.014426522964648613,-0.012020472314548915,0.00023157991718094972,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.566551621564786,0.17522796676507016,-0.3547688379211288,0.15592298035452032,0.33986501464643654,0.0378293885626666,1.1878137942086926,1.194881785895347,1.5425826321298213,1.5425826321298213,1.7068800000002788,0,0,-7.658018153919167e-05,-9.997947888885079e-05
+14397,1792674217395072851,42757648000000,1792674217393410605,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.676119232173723,-0.004608416037961996,0.08995983060371247,0.9999999933934522,-4.896332996422292e-05,4.6026138538556735e-05,1.1838361927204451e-05,0.6761,-0.00453,0.08984814896020368,1.0,0.0,0.0,0.0,0.001542515054984428,0.08410757071596964,1.1976192763147036,0.0048423052926159955,0.0025057479665750344,0.00034411463088679763,0.21117131884520132,0.32283423964370633,0.9933944519648742,0.017537185848822485,-0.013756057762070006,0.0002418704162842879,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.5556895636794762,0.23300721660324916,-0.3859647873416781,0.02362775706623764,0.3788599550533142,0.11171089974583018,1.1878137942086926,1.1976192763147036,1.5737785815503706,1.5737785815503706,1.746500000000287,0,0,-9.946885284470153e-05,-9.999999025923074e-05
+14513,1792674218362112278,42758615000000,1792674218361400768,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6761170945576053,-0.004620161647111286,0.08986398849050303,0.9999999936227342,-3.4171667967804484e-05,3.694739080817206e-05,4.0799308235725653e-05,0.6761,-0.00453,0.08974209164621091,1.0,0.0,0.0,0.0,-0.006758060662002574,0.06246140698908159,1.2638802131861078,0.0038065556615108423,0.0025294427206802948,0.0002777102318998172,0.20287074312821432,0.3011880759168183,1.0596553888362785,0.01650143621771733,-0.013732363007964746,0.00017546601729730748,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.6259049836869469,0.22282107330655684,-0.6153003777100273,0.09780478727710198,0.5256953232190178,0.0883343735969159,1.1878137942086926,1.2638802131861078,1.80311417191872,1.80311417191872,1.814190000000301,0,0,-0.00011167105462975423,9.996986158189997e-05
+14617,1792674219229061958,42759482000000,1792674219221401120,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761120613507535,-0.004628640898975746,0.08977051585377185,0.9999999932159017,-1.6862061112939805e-05,2.729150523610464e-05,6.310234209981155e-05,0.6761,-0.00453,0.08965286043722938,1.0,0.0,0.0,0.0,-0.004975601471289476,0.05138389373060592,1.2757350656859452,0.0027833862240491947,0.0025467798686515265,0.0002574423066119784,0.20465320231892742,0.2901105626583426,1.071510241336116,0.015478266780255684,-0.013715025859993514,0.0001551980920094687,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.637630648192624,0.2091187053542904,-0.5328054519289555,0.19162183312272274,0.4567339033085194,0.061852905446600506,1.1878137942086926,1.2757350656859452,1.7206192461376482,1.7206192461376482,1.8748800000003136,0,0,-9.737508064741463e-05,-9.990832747076012e-05
+14725,1792674220129082337,42760382000000,1792674220121411731,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.67611195188537,-0.004630911562780398,0.08968154141540415,0.9999999919936468,6.301355832188508e-06,2.4990128904621484e-05,8.240969149268806e-05,0.6761,-0.00453,0.08956595873612323,1.0,0.0,0.0,0.0,-0.013136325684569461,0.04487634888450659,1.265234817124099,0.0017378764840148258,0.0035816143504166856,0.0002691248273696485,0.19649247810564743,0.2836030178122433,1.0610099927742698,0.014432757040221315,-0.012680191378228355,0.00016688061276713882,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.6207038291026726,0.17493297984770537,-0.6029577408347954,0.223586384085674,0.4852041182018161,0.041880577462130905,1.1878137942086926,1.265234817124099,1.790771535043488,1.790771535043488,1.9378800000003267,0,0,-0.00010076848970560795,-2.2297330951303722e-05
+14812,1792674220854123116,42761107000000,1792674220853411336,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761131513783625,-0.004633501515872688,0.08960746310626064,0.9999999901827813,3.870436012128975e-05,2.6662309002486165e-05,9.417216008371376e-05,0.6761,-0.00453,0.08948821419810278,1.0,0.0,0.0,0.0,-0.01211242174998442,0.038567372048786686,1.2752509680445268,0.0017345589314838698,0.003579765061601346,0.00026114928176181463,0.19751638204023247,0.2772940409765234,1.0710261436946975,0.014429439487690359,-0.012682040667043695,0.00015890506715930493,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.626147164218981,0.13399174369272235,-0.5953439580750985,0.243876381442139,0.47588888663838363,0.02260303037880411,1.1878137942086926,1.2752509680445268,1.7831577522837911,1.7831577522837911,1.9886300000003372,0,0,-0.00011594071513551375,-9.999990699250389e-05
+14900,1792674221587188507,42761840000000,1792674221581411017,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6761147813920041,-0.004637959403348075,0.08951728247544118,0.9999999891715313,5.0654304589492585e-05,2.7796576320045323e-05,9.879925745541064e-05,0.6761,-0.00453,0.0893969542330596,1.0,0.0,0.0,0.0,-0.013208665215231258,0.03901848140811076,1.2875048727580976,0.0017323191993119658,0.0035771101107629523,0.00025111711494038314,0.19642013857498564,0.27774515033584746,1.0832800484082683,0.014427199755518455,-0.012684695617882089,0.0001488729003378734,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.6063421366521298,0.13579745151728223,-0.6946029395324305,0.24021807342815135,0.52898034132038,0.02495837001398353,1.1878137942086926,1.2875048727580976,1.882416733741123,1.882416733741123,2.039940000000348,0,0,-0.0001302436838420976,9.9269491264603e-05
+14992,1792674222354190821,42762607000000,1792674222353410780,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761120093252667,-0.004642638342458868,0.0894110246645685,0.9999999889128098,4.5706761451254e-05,2.3413652891421886e-05,0.00010478519632222743,0.6761,-0.00453,0.08929150267897772,1.0,0.0,0.0,0.0,-0.011965524047632958,0.02689892716883252,1.3062859580164081,0.000707571151917977,0.003592641854243522,0.00022499891820242313,0.19766327974258394,0.2656255960965692,1.1020611336665789,0.013402451708124466,-0.012669163874401519,0.0001227547035999134,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.6574368521333128,0.15498828024207983,-0.6203276173069969,0.23925888685526125,0.4915124001908811,0.039677928071659124,1.1878137942086926,1.3062859580164081,1.8081414115156895,1.8081414115156895,2.093630000000359,0,0,-0.0001458910243126984,-9.999999025923074e-05
+15076,1792674223054258922,42763307000000,1792674223053410360,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6761093018976234,-0.004649583089201349,0.08929969627912221,0.9999999874234992,4.5697217272701295e-05,1.7233966378550966e-05,0.00011920830755967414,0.6761,-0.00453,0.08918332182400134,1.0,0.0,0.0,0.0,-0.0037286917366332606,0.03607641657341282,1.3049721432674946,0.0007084642069935913,0.0035923577166398456,0.00022663374127095142,0.20590011205358363,0.2748030855011495,1.1007473189176653,0.01340334476320008,-0.012669448012005195,0.0001243895266684417,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.6416008400070025,0.24449409693183832,-0.6890486186384658,0.2233642740974457,0.5282051014943181,0.1004836487300474,1.1878137942086926,1.3049721432674946,1.8768624128471583,1.8768624128471583,2.142630000000369,0,0,-0.00016379257846840656,-7.93020330222049e-05
+15144,1792674223620192427,42763873000000,1792674223613410759,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761053855340676,-0.004647903449267134,0.08919641541558118,0.9999999879307785,3.793454725843472e-05,9.462375653045476e-06,0.00011854425645771902,0.6761,-0.00453,0.08908675733549698,1.0,0.0,0.0,0.0,-0.0029531464883051084,0.03130856380293867,1.3246526728785604,-0.0003043027590895371,0.0036065820694580267,0.00019943131897963708,0.20667565730191179,0.27003523273067537,1.1204278485287311,0.012390577797116952,-0.012655223659187014,9.718710437712736e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.7394866678829377,0.17356885440607986,-0.7456575171364422,0.25151132103740736,0.5873988049924654,0.05502209691195202,1.1878137942086926,1.3246526728785604,1.933471311345135,1.933471311345135,2.1822500000003773,0,0,-0.00017727212477026762,3.158629001614126e-05
+15200,1792674224087186135,42764340000000,1792674224081401402,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761085598046411,-0.00463194963359493,0.08910928285245308,0.9999999935076224,-3.3510524189706916e-05,1.792395740001381e-05,5.462047556887728e-05,0.6761,-0.00453,0.08899992534791167,1.0,0.0,0.0,0.0,0.01376795871551334,0.0486640723373013,1.3253597129710653,0.001214531053704634,0.002564177254977231,0.00020202807453297364,0.22339676250573023,0.287390741265038,1.121134888621236,0.013909411609911123,-0.01369762847366781,9.978385993046392e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.7326152921805332,0.17619099468430524,-0.7271393886746631,0.18608893998407816,0.58717655926576,0.06964929693808139,1.1878137942086926,1.3253597129710653,1.9149531828833557,1.9149531828833557,2.214940000000384,0,0,-0.00019593189123509459,-9.999999025923074e-05
+15275,1792674224712251644,42764965000000,1792674224709410345,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761068758277932,-0.0046319930001382644,0.08898096363197526,0.9999999925310294,5.202849293813773e-06,1.4006689825042197e-05,7.847004904045808e-05,0.6761,-0.00453,0.08887193406292211,1.0,0.0,0.0,0.0,0.008059314766143993,0.03836466400042593,1.3352350064888177,0.0008648362877224786,0.002567952536803345,0.00018495488567260744,0.2176881185563609,0.2770913329281626,1.1310101821389884,0.013559716843928968,-0.013693853191841696,8.271067107009774e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.7230235378512238,0.19517896035856175,-0.7285249877449306,0.2655607058515134,0.563426722008464,0.07424946818587908,1.1878137942086926,1.3352350064888177,1.9163387819536233,1.9163387819536233,2.258690000000393,0,0,-0.0002085721141034932,-9.135583542286269e-05
+15343,1792674225279233812,42765532000000,1792674225277410478,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761089400973854,-0.004625265697534145,0.08886620514156016,0.9999999897116573,4.611668392577251e-05,1.5195765030582062e-05,9.829491361030953e-05,0.6761,-0.00453,0.08875026697571782,1.0,0.0,0.0,0.0,0.014902149104805001,0.051661484174016836,1.3589120757437605,0.0017753983533178516,0.0015335247806530037,0.00016518936252535183,0.2245309528950219,0.29038815310175353,1.1546872513939312,0.014470278909524341,-0.014728280947992037,6.294514792284211e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.7451696355632361,0.15133143717301492,-0.7474814530871664,0.2774477199380053,0.5773084451407183,0.047780952562016185,1.1878137942086926,1.3589120757437605,1.935295247295859,1.935295247295859,2.2983800000004013,0,0,-0.00021875421688940933,-9.732263192419594e-05
+15403,1792674225779308187,42766032000000,1792674225777410551,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6761067156643443,-0.004638038975597449,0.08875104620144003,0.9999999872947423,5.3675526137879314e-05,1.0225186439067902e-05,0.00011776146733947507,0.6761,-0.00453,0.08863864949064595,1.0,0.0,0.0,0.0,0.014794884159524874,0.04224898641985669,1.3758784112429057,0.001770774655851532,0.0015347330047620327,0.00015181365667739016,0.22442368794974177,0.2809756553475934,1.1716535868930764,0.014465655212058021,-0.014727072723883008,4.9569442074880445e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.7893841456235435,0.15246173884461053,-0.7546620387910313,0.28435505203296224,0.5928792612878296,0.0487221286305727,1.1878137942086926,1.3758784112429057,1.9424758329997238,1.9424758329997238,2.3333800000004086,0,0,-0.00022585614160438994,-9.999983760356485e-05
+15471,1792674226345301885,42766598000000,1792674226341410339,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.676107190252468,-0.004638988108960029,0.08862298683596843,0.9999999872756948,4.437947212701209e-05,9.784196393096733e-06,0.00012176291113066025,0.6761,-0.00453,0.08850913766689665,1.0,0.0,0.0,0.0,0.005284268775664486,0.04900787193247025,1.4010961476313082,0.001722549644499435,0.002537988145706452,0.00014627188581001484,0.21491307256588138,0.28773454086020694,1.196871323281479,0.014417430200705924,-0.013723817582938589,4.402767120750513e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.7620926733643761,0.1265654718782552,-0.8756023936038161,0.3025322693906246,0.6591759489493029,0.031335266154883815,1.1878137942086926,1.4010961476313082,2.063416187812509,2.063416187812509,2.3730000000004168,0,0,-0.00023104179023150794,9.99299629419525e-05
+15531,1792674226845275346,42767098000000,1792674226841400623,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6761063258126999,-0.00464228903377059,0.08850455284650731,0.9999999881075547,3.138993069376925e-05,8.714271466583206e-06,0.00011902305845107451,0.6761,-0.00453,0.08839201225359072,1.0,0.0,0.0,0.0,0.005433883371827569,0.03725299119580072,1.39212014723694,0.0017570622162751057,0.001898585079538011,0.00014319291701905622,0.21506268716204446,0.2759796601235374,1.1878953228871107,0.014451942772481595,-0.01436322064910703,4.0948702416546506e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.7399274432525333,0.1691040360966912,-0.8145352157739133,0.3058064372149595,0.606962227762452,0.061932864456562035,1.1878137942086926,1.39212014723694,2.002349009982606,2.002349009982606,2.408000000000424,0,0,-0.000238278352850145,-9.999924085868912e-05
+15595,1792674227379318074,42767632000000,1792674227377401051,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.67610535929334,-0.004641341511619816,0.08837788108484695,0.9999999904334312,9.852534270740408e-06,8.788740214961096e-06,0.0001019886630808149,0.6761,-0.00453,0.08826117660214423,1.0,0.0,0.0,0.0,0.006407063169325045,0.04258525301621158,1.38602188750179,0.001741971910278568,0.002524335042098435,0.0001580249966596468,0.21603586695954194,0.2813119219439483,1.1817970631519608,0.014436852466485057,-0.013737470686546606,5.5780782057137086e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.8154607780947285,0.16489552023871598,-0.8584244662518201,0.33376807622737287,0.6513194880402687,0.06338488661874483,1.1878137942086926,1.38602188750179,2.0462382604605125,2.0462382604605125,2.4453800000004318,0,0,-0.0002546313939519581,-9.999999025923074e-05
+15651,1792674227845278025,42768098000000,1792674227841410815,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6761065400295387,-0.004648801327939662,0.08825826667469858,0.9999999896948186,1.5112851628963619e-05,1.2564037726687932e-05,0.00010801376625940575,0.6761,-0.00453,0.08814055758453783,1.0,0.0,0.0,0.0,-0.003523803860603192,0.043227705495767266,1.402111257270389,0.0017394374574541786,0.0025395274622898034,0.00014984913846990706,0.2061049999296137,0.28195437442350396,1.1978864329205599,0.014434318013660668,-0.013722278266355237,4.760492386739734e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.8465764632923949,0.25232356139955503,-0.845306886872305,0.31713109782430704,0.6468456432868592,0.1240883024429853,1.1878137942086926,1.402111257270389,2.0331206810809976,2.0331206810809976,2.4780000000004385,0,0,-0.00026463070290225064,-9.999999025923074e-05
+15706,1792674228304284729,42768557000000,1792674228297410394,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6761000627123828,-0.004655292797848923,0.0881261744053436,0.9999999885524468,2.9099404283786214e-05,-2.1261982085969799e-07,0.00011615141089952483,0.6761,-0.00453,0.08801732382495868,1.0,0.0,0.0,0.0,0.006242505765088807,0.03687448855601383,1.405593092857211,0.0007177559583931969,0.0025565944609293855,0.0001308479496400549,0.2158713095553057,0.2756011574837505,1.2013682685073817,0.013412636514599686,-0.013705211267715655,2.860373503754517e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.8486412432373472,0.16852534148108106,-0.9068238779063178,0.36009739713229677,0.683244793225464,0.07710326413766957,1.1878137942086926,1.405593092857211,2.0946376721150104,2.0946376721150104,2.510130000000445,0,0,-0.0002730663411041042,-9.469380421312507e-05
+15755,1792674228712377982,42768965000000,1792674228705410489,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760985286154786,-0.00466024519402352,0.08800051131527414,0.99999998754001,3.184978971383529e-05,-6.07465133337164e-06,0.00012373978224188852,0.6761,-0.00453,0.08790397793695388,1.0,0.0,0.0,0.0,0.005300278629399413,0.03170880690719846,1.409044623089834,0.0007164431733465513,0.002557030790820442,0.00012973408561176987,0.2149290824196163,0.27043547583493516,1.2048197987400047,0.01341132372955304,-0.013704774937824599,2.7489871009260154e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.852694781751186,0.06451344333141414,-0.9469829503531708,0.3980338856404083,0.7086990653119674,0.003797811385479327,1.1878137942086926,1.409044623089834,2.1347967445618634,2.1347967445618634,2.538690000000451,0,0,-0.00028320551841772506,4.850905158724052e-06
+15810,1792674229170377882,42769423000000,1792674229169400965,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760977402024726,-0.004661680244443158,0.08787232427833243,0.9999999882087707,1.605038734099858e-05,-3.7976730421341792e-06,0.00012146310397799292,0.6761,-0.00453,0.08777081786499151,1.0,0.0,0.0,0.0,0.005473507489727775,0.03618698916247004,1.3953693471063051,0.0007192708856213516,0.0025590538241043424,0.00013902073247660187,0.21510231127994467,0.27491365809020674,1.1911445227564759,0.01341415144182784,-0.013702751904540698,3.677651787409214e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.8361222141143019,0.044768401241532134,-0.9125150057782871,0.4195265180167479,0.6746843512411123,-0.008135444292157207,1.1878137942086926,1.3953693471063051,2.10032879998698,2.10032879998698,2.5707500000004577,0,0,-0.00029893487404483574,-9.719453994272981e-05
+15862,1792674229604428471,42769857000000,1792674229597401354,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.67609663746094,-0.004668768629650977,0.08774003018575363,0.9999999884588943,2.944123819576052e-06,-7.388147452569903e-06,0.00012025732039767417,0.6761,-0.00453,0.08763736541333515,1.0,0.0,0.0,0.0,0.003931864403816293,0.030209037190904175,1.3975699019473504,0.0007180151773354647,0.0025591083680102846,0.00013705300604280072,0.2135606681940332,0.26893570611864087,1.1933450775975212,0.013412895733541954,-0.013702697360634756,3.4808791440291e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.8663906661464441,0.06953977900502639,-0.8906748787177584,0.43783322788068174,0.6641441580608631,0.015435813569506324,1.1878137942086926,1.3975699019473504,2.078488672926451,2.078488672926451,2.601130000000464,0,0,-0.0003159663668720044,-9.706017520117455e-05
+15910,1792674230004363625,42770257000000,1792674230001400233,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760943092577227,-0.0046629256828466924,0.08761119696162434,0.999999988589049,8.003751569091861e-06,-9.121414557379942e-06,0.0001188171111171955,0.6761,-0.00453,0.08750795282779839,1.0,0.0,0.0,0.0,-0.004732504183106723,0.02927923140261046,1.4053515345195322,0.0006895655954740152,0.0035696296616006037,0.00014458208165214547,0.20489629960711017,0.26800590033034716,1.201126710169703,0.013384446151680504,-0.012692176067044437,4.233786704963574e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.9534591889944815,-0.013767562585791674,-0.9379772094784484,0.48335052395288963,0.7139701356239071,-0.03547253117151653,1.1878137942086926,1.4053515345195322,2.125791003687141,2.125791003687141,2.62913000000047,0,0,-0.00033101253086728475,-9.997995073363625e-05
+15950,1792674230337348807,42770590000000,1792674230333400983,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760926780262233,-0.004677995732638675,0.08749882232456477,0.999999987830672,-5.380712355095106e-08,-1.1473739042666178e-05,0.00012509944419884903,0.6761,-0.00453,0.08739684906556028,1.0,0.0,0.0,0.0,-0.001021187849963967,0.028974670535700464,1.4243903572461138,0.0007107330909636167,0.0026348933147233577,0.00011488396669910669,0.20860761594025293,0.26770133946343716,1.2201655328962846,0.013405613647170106,-0.013626912413921683,1.2639752096596965e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,0.9837723972452571,0.11756628494303492,-1.0160670182309763,0.4499491395488734,0.7695762765793623,0.05029405084119131,1.1878137942086926,1.4243903572461138,2.203880812439669,2.203880812439669,2.6524400000004746,0,0,-0.00033525815561622076,9.999889391399392e-05
+15998,1792674230737378731,42770990000000,1792674230729401399,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760893487339694,-0.004677326707619354,0.08736597751291177,0.9999999881000644,1.7111212103800492e-05,-1.6942864571016797e-05,0.00012109038472330408,0.6761,-0.00453,0.0872603629468562,1.0,0.0,0.0,0.0,-0.0035014434513274406,0.021354138374241716,1.421733274382477,0.0007123035987880912,0.002556308987870917,0.00011619878488490493,0.20612736033888945,0.2600808073019784,1.2175084500326478,0.01340718415499458,-0.013705496740774124,1.3954570282395211e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.0246303707492213,-0.03392261913662598,-0.9487127081095367,0.5205726758535221,0.7314398468463957,-0.03949846160227375,1.1878137942086926,1.421733274382477,2.136526502318229,2.136526502318229,2.6804400000004804,0,0,-0.00034667109753280654,-9.953971954879676e-05
+16046,1792674231137410399,42771390000000,1792674231129401096,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760903611270905,-0.0046821262767097775,0.08722861023246271,0.9999999879601343,1.1086097928074367e-05,-1.3042443890590964e-05,0.00012340821969119008,0.6761,-0.00453,0.08711936893699261,1.0,0.0,0.0,0.0,-0.0037553513248592407,0.031111682992204737,1.4221815178238528,0.0006868322368744524,0.003517502702197129,0.00013000013337088136,0.20587345246535765,0.26983835191994143,1.2179566934740236,0.013381712793080942,-0.012744303026447912,2.7755918768371642e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.0293814032984416,-0.007683766567759649,-0.9356004518246644,0.5197281239940057,0.7215576743237523,-0.02640518253453354,1.1878137942086926,1.4221815178238528,2.123414246033357,2.123414246033357,2.7084400000004862,0,0,-0.0003596392207886031,-9.999999025923074e-05
+16090,1792674231504446772,42771757000000,1792674231501401564,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760841805358865,-0.004682928139881115,0.0870895961606176,0.9999999873133445,-7.166555632840539e-07,-2.4260086478109072e-05,0.00012738567377572663,0.6761,-0.00453,0.08698566178017755,1.0,0.0,0.0,0.0,-0.01259998545572072,0.030872544970631022,1.415322668377535,0.0006873537904532271,0.003568821624689359,0.0001364158740011116,0.19702881833449618,0.2695992138983677,1.2110978440277058,0.013382234346659716,-0.012692984103955682,3.4171659398601885e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.0142614554745428,0.03703635746493783,-1.0164497509412564,0.5153073056526959,0.7673610842859702,0.00552924645717855,1.1878137942086926,1.415322668377535,2.2042635451499493,2.2042635451499493,2.7341300000004916,0,0,-0.0003711607864289882,9.740769260256025e-12
+16130,1792674231837420681,42772090000000,1792674231829401269,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760861589674207,-0.004688105786051266,0.08696458557600689,0.9999999869616671,-1.37665289982159e-05,-2.1245157794331713e-05,0.00012991788177267667,0.6761,-0.00453,0.08686011709118566,1.0,0.0,0.0,0.0,-0.013038674741342654,0.026535286881531783,1.4052783841200733,0.0006886398077056519,0.003571355591970995,0.00014447157323654386,0.19659012904887424,0.2652619558092685,1.201053559770244,0.013383520363912141,-0.012690450136674046,4.2227358634034146e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.0659173356035139,0.09568864211172015,-0.9251918079380798,0.5136613478676414,0.7245479262044348,0.0449313024465265,1.1878137942086926,1.4052783841200733,2.1130056021467722,2.1130056021467722,2.7574400000004964,0,0,-0.0003833892792224055,-9.999999025923074e-05
+16170,1792674232170455086,42772423000000,1792674232169400922,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760817956545094,-0.004682430760334571,0.0868307518811975,0.9999999869481876,-1.7014310850836052e-05,-2.7650691555592872e-05,0.00012842290105291373,0.6761,-0.00453,0.08672994028099494,1.0,0.0,0.0,0.0,-0.004308476559990337,0.024068266148975392,1.4238113883920869,0.0008341470223358887,0.0029188068812389546,0.00011692522203404604,0.20532032723022656,0.2627949350767121,1.2195865640422576,0.013529027578542378,-0.013342998847406086,1.4681007431536325e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.0774751319592395,0.14457069773148234,-1.0080471332292529,0.5068222766162056,0.780573640242955,0.07995122699608141,1.1878137942086926,1.4238113883920869,2.1958609274379457,2.1958609274379457,2.780750000000501,0,0,-0.0003968883061048186,-5.57637228323415e-05
+16209,1792674232496502911,42772748000000,1792674232489401382,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.676087863631439,-0.0046737571983944005,0.08670804865242314,0.9999999861045453,1.466703459602628e-05,-1.2664955887052977e-05,0.00013732534564900683,0.6761,-0.00453,0.08659894520854115,1.0,0.0,0.0,0.0,-0.0029533968741273786,0.05650001925493814,1.4162113189988998,0.0027573481097662948,0.0025182748489072718,0.00014421897238517457,0.20667540691608952,0.29522668818267483,1.2119864946490706,0.015452228665972784,-0.013743530879737769,4.197475778266485e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.1235094799445688,0.09305589659465095,-0.8890997340602416,0.5243833580278032,0.7188632056436448,0.048994371022797134,1.1878137942086926,1.4162113189988998,2.076913528268934,2.076913528268934,2.803500000000506,0,0,-0.0004090800903397681,-9.999999025923074e-05
+16249,1792674232829407387,42773082000000,1792674232821401310,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760824449815521,-0.004675676236875495,0.08656851601953709,0.9999999858470507,9.243036979027273e-06,-2.0714281086859384e-05,0.00013868759032773762,0.6761,-0.00453,0.08645975673973967,1.0,0.0,0.0,0.0,-0.004520835017286395,0.055564271912143026,1.4102513971800321,0.002757996695028927,0.002516736628411294,0.00014886449623769364,0.2051079687729305,0.2942909408398797,1.2060265728302029,0.015452877251235416,-0.013745069100233747,4.662028163518392e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.1652950154217454,0.09091196811289422,-0.9586528826195464,0.5369828692511226,0.7730764675322227,0.047037519103151605,1.1878137942086926,1.4102513971800321,2.146466676828239,2.146466676828239,2.8268800000005108,0,0,-0.00042405949365473115,-9.999999025923074e-05
+16285,1792674233129417531,42773382000000,1792674233125401538,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760860586897438,-0.004676116340514832,0.08644461243640808,0.9999999860371733,-1.2065842650285353e-06,-1.0813767106863224e-05,0.00013874481686657893,0.6761,-0.00453,0.08633085013914787,1.0,0.0,0.0,0.0,-0.01402779628512621,0.05648641075824978,1.4156445206913975,0.0027300156687328804,0.0035294114504279116,0.00015902969111191857,0.19560100750509068,0.2952130796859865,1.2114196963415682,0.01542489622493937,-0.01273239427821713,5.6785476509408855e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.1899331813410348,0.08838375701133538,-1.0526050811416592,0.5360139744084934,0.8410430856160727,0.049114791183745156,1.1878137942086926,1.4156445206913975,2.240418875350352,2.240418875350352,2.847880000000515,0,0,-0.00043504316922428414,9.919577746636174e-05
+16321,1792674233429423337,42773682000000,1792674233425401392,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760798033896628,-0.004679855369882372,0.08630941845397341,0.9999999841300472,6.368104541746438e-06,-2.5620748902129735e-05,0.00014995263996579628,0.6761,-0.00453,0.0861982404344462,1.0,0.0,0.0,0.0,-0.013468821584573687,0.04331591066334389,1.4057070875622864,0.001710426780758693,0.003551208583809416,0.00015604775354878425,0.1961599822056432,0.2820425795910806,1.201482263212457,0.014405307336965182,-0.012710597144835625,5.380353894627453e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.257382525768519,0.06417450073454013,-1.0645640360653215,0.559254729848318,0.8671042465260974,0.03985663118859949,1.1878137942086926,1.4057070875622864,2.252377830274014,2.252377830274014,2.8688800000005195,0,0,-0.00044763897147773326,9.764871830431616e-05
+16361,1792674233762461618,42774015000000,1792674233757401420,DOWN_FORCE_DETACH,2,0.0395,0.03950243815779686,0.6760827763986266,-0.004679939349269061,0.0861639098703783,0.9999999867235776,-2.5513395808777004e-05,-1.9052651224456766e-05,0.00013031412860438528,0.6761,-0.00453,0.08604684625666953,1.0,0.0,0.0,0.0,-0.014071607791600493,0.0487411906489823,1.4261421134523657,0.0027269261026554217,0.003527832021162554,0.00015053115842699743,0.1955571959986164,0.287467859576719,1.2219172891025365,0.015421806658861911,-0.012733973707482487,4.828694382448772e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.28217931793421,0.02403882375761127,-0.9259299557157269,0.5892984557457792,0.7883856756090581,0.011979766505850092,1.1878137942086926,1.4261421134523657,2.1137437499244194,2.1137437499244194,2.8921900000005243,0,0,-0.0004608613084725307,-9.999999025923074e-05
+16393,1792674234029437583,42774282000000,1792674234025400930,DOWN_FORCE_DETACH,2,0.0395,0.03950178250670433,0.6760856646770311,-0.004681949080865472,0.08603863756921887,0.9999999857346372,-2.540906464764794e-05,-1.4887824937808913e-05,0.00013822561968895793,0.6761,-0.00453,0.08592247805532645,1.0,0.0,0.0,0.0,-0.015823288774266725,0.04687129961227576,1.425909029671077,0.002726688147815244,0.0035280508672112278,0.0001505428254426021,0.19380551501595017,0.28559796854001246,1.2216842053212478,0.015421568704021733,-0.012733754861433813,4.82986108400924e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.2726303699336772,0.03952669899050415,-0.9620803180496565,0.5738487356851366,0.8072520782317936,0.029710877240697636,1.1878137942086926,1.425909029671077,2.149894112258349,2.149894112258349,2.910880000000528,0,0,-0.0004717054725670008,-9.999788083548395e-05
+16429,1792674234329443509,42774582000000,1792674234325401406,DOWN_SETTLE,2,0.0395,0.03950243815779686,0.6760875584871314,-0.004691656539901494,0.08589890842327577,0.9999999816038765,-5.683948934444729e-06,-1.738707873861275e-05,0.00016703440726846154,0.6761,-0.00453,0.08577959187410579,1.0,0.0,0.0,0.0,-0.02442107890328374,0.056030047409657946,1.4160299162519405,0.0027048335945452553,0.004542856134024522,0.00017319507638070578,0.18520772488693316,0.29475671633739464,1.2118050919021113,0.015399714150751745,-0.011718949594620519,7.095086177819606e-05,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.3543234487763671,0.029165439318295586,-0.944409709373207,0.5786964220185791,0.8226594533146362,0.024489564259734038,1.1878137942086926,1.4160299162519405,2.1322235035818995,0.0,0.0,0,0,-0.00044244454527010837,0.002000000009740768
+16533,1792674235192538226,42775445000000,1792674235185401419,DOWN_PEAK_HOLD,2,0.0395,0.03950178250670433,0.6760745445950084,-0.0046981353832358025,0.08580763890215468,0.9999999791095731,6.173131254554047e-06,-3.9206710877048264e-05,0.00017790009618208927,0.6761,-0.00453,0.08573268945758558,1.0,0.0,0.0,0.0,-0.028950346181155773,0.03947336489172926,1.2450849909970112,0.001730970332191814,0.003958975064227575,0.00029478675591637654,0.18067845760906112,0.27820003381946595,1.040860166647182,0.014425850888398303,-0.012302830664417466,0.0001925425413138668,0.2096288037902169,0.2387266689277367,-0.20422482434982933,0.01269488055620649,-0.01626180572864504,-0.00010224421460250972,1,1.2670086341777425,0.0054296930536523146,-0.7249464620022892,0.5715987528451724,0.6782976856351771,0.007038925754902231,1.1878137942086926,1.2450849909970112,1.9127602562109818,0.0,0.0,0,0,0.0,0.0

Fixed/s2/ball_15A_12.5/press_depth_02/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792674192216283721,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.738532262e-09,-8.213090798e-11,1.562558527e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293518e-01,1.785531968e-06,8.295726651e-01
+1,5.833333333e-01,DOWN_FORCE_DETACH,1792674193314372055,-1.334554687e-06,-1.820634058e-06,-3.973589091e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.743032065e-08,-1.850392046e-09,3.635594381e-08,7.015365369e-01,-2.696727368e-07,8.407369676e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294355e-01,1.783763707e-06,8.295726999e-01
+2,1.033333333e+00,DOWN_FORCE_DETACH,1792674194178424013,-1.478242129e-05,-1.159562599e-05,-6.334432555e-05,-1.702624461e-05,-1.458192188e-05,-5.990031748e-05,-1.759606005e-05,-1.460193314e-05,-5.943192190e-05,7.015230891e-01,-1.004466467e-05,8.406775969e-01,7.015208452e-01,-1.303096056e-05,8.406810409e-01,7.017117520e-01,-1.281631904e-05,8.295132316e-01
+3,1.316666667e+00,DOWN_FORCE_DETACH,1792674194710391223,1.236549643e-05,-2.240713608e-05,-1.086567066e-04,1.232677043e-05,-2.243704254e-05,-1.087252084e-04,1.216769779e-05,-2.244554564e-05,-1.080468994e-04,7.015502370e-01,-2.085617476e-05,8.406322845e-01,7.015501983e-01,-2.088608122e-05,8.406322160e-01,7.017415158e-01,-2.065993154e-05,8.294646167e-01
+4,1.866666667e+00,DOWN_FORCE_DETACH,1792674195740430121,3.640143442e-06,-2.629422630e-05,-1.418573320e-04,6.373902050e-06,-2.869066401e-05,-1.269442850e-04,6.148037104e-06,-2.870093029e-05,-1.266323947e-04,7.015415116e-01,-2.474326498e-05,8.405990839e-01,7.015442454e-01,-2.713970269e-05,8.406139969e-01,7.017354961e-01,-2.691531619e-05,8.294460312e-01
+5,2.483333333e+00,DOWN_FORCE_DETACH,1792674196906482879,2.022558927e-06,-2.728781755e-05,-1.507464995e-04,3.655330816e-06,-2.866242323e-05,-1.468177126e-04,3.314199590e-06,-2.867335463e-05,-1.466776476e-04,7.015398940e-01,-2.573685623e-05,8.405901947e-01,7.015415268e-01,-2.711146191e-05,8.405941235e-01,7.017326623e-01,-2.688774053e-05,8.294259859e-01
+6,2.966666667e+00,DOWN_FORCE_DETACH,1792674197870890769,6.730383981e-06,-3.478199624e-05,-1.561609796e-04,3.655330816e-06,-2.866242323e-05,-1.468177126e-04,3.315169086e-06,-2.867402315e-05,-1.468184389e-04,7.015446019e-01,-3.323103492e-05,8.405847802e-01,7.015415268e-01,-2.711146191e-05,8.405941235e-01,7.017326632e-01,-2.688840905e-05,8.294258451e-01
+7,3.516666667e+00,DOWN_FORCE_DETACH,1792674198966542023,6.097180202e-07,-4.548497986e-05,-1.924649728e-04,1.040590232e-06,-3.840980913e-05,-1.872661780e-04,5.366156355e-07,-3.842514190e-05,-1.870868661e-04,7.015384812e-01,-4.393401854e-05,8.405484762e-01,7.015389121e-01,-3.685884781e-05,8.405536750e-01,7.017298847e-01,-3.663952780e-05,8.293855767e-01
+8,4.083333333e+00,DOWN_FORCE_DETACH,1792674200098577531,6.073533501e-06,-4.685341247e-05,-2.237978095e-04,3.182503376e-06,-4.764818378e-05,-2.080106913e-04,2.590842442e-06,-4.767706369e-05,-2.078814233e-04,7.015439450e-01,-4.530245114e-05,8.405171434e-01,7.015410540e-01,-4.609722246e-05,8.405329305e-01,7.017319389e-01,-4.589144959e-05,8.293647821e-01
+9,4.683333333e+00,DOWN_FORCE_DETACH,1792674201262642509,8.383564329e-06,-5.443118730e-05,-2.539265896e-04,4.011530981e-06,-5.453051154e-05,-2.495765751e-04,3.269124061e-06,-5.456441640e-05,-2.493575162e-04,7.015462550e-01,-5.288022598e-05,8.404870146e-01,7.015418830e-01,-5.297955022e-05,8.404913646e-01,7.017326172e-01,-5.277880230e-05,8.293233060e-01
+10,5.183333333e+00,DOWN_FORCE_DETACH,1792674202194638166,6.515371639e-06,-6.178842363e-05,-2.821978024e-04,3.471633672e-06,-6.037533869e-05,-2.700352520e-04,2.634760539e-06,-6.041316163e-05,-2.698676488e-04,7.015443869e-01,-6.023746231e-05,8.404587434e-01,7.015413431e-01,-5.882437737e-05,8.404709059e-01,7.017319828e-01,-5.862754753e-05,8.293027959e-01
+11,5.950000000e+00,DOWN_FORCE_DETACH,1792674203659588007,3.438531245e-06,-6.797273411e-05,-3.313598448e-04,3.998680630e-06,-6.556518960e-05,-3.138085794e-04,3.004345778e-06,-6.562801614e-05,-3.136320944e-04,7.015413100e-01,-6.642177279e-05,8.404095813e-01,7.015418702e-01,-6.401422828e-05,8.404271326e-01,7.017323524e-01,-6.384240204e-05,8.292590315e-01
+12,6.616666667e+00,DOWN_FORCE_DETACH,1792674204922893042,3.606936134e-06,-7.270019213e-05,-3.725271785e-04,3.800185560e-06,-7.119904953e-05,-3.560343699e-04,2.679436069e-06,-7.125411689e-05,-3.557810571e-04,7.015414784e-01,-7.114923081e-05,8.403684140e-01,7.015416717e-01,-6.964808821e-05,8.403849068e-01,7.017320275e-01,-6.946850280e-05,8.292168825e-01
+13,7.200000000e+00,DOWN_FORCE_DETACH,1792674206052791773,7.180251736e-06,-8.165676358e-05,-4.081208301e-04,6.152169704e-06,-7.508975424e-05,-3.969964902e-04,4.876495236e-06,-7.514699602e-05,-3.967579145e-04,7.015450517e-01,-8.010580226e-05,8.403328204e-01,7.015440237e-01,-7.353879292e-05,8.403439447e-01,7.017342246e-01,-7.336138192e-05,8.291759056e-01
+14,7.750000000e+00,DOWN_FORCE_DETACH,1792674207150831839,9.839109212e-06,-7.949583741e-05,-4.468888160e-04,8.513941353e-06,-7.896956104e-05,-4.357510370e-04,7.151928276e-06,-7.900676996e-05,-4.354842745e-04,7.015477106e-01,-7.794487609e-05,8.402940524e-01,7.015463854e-01,-7.741859972e-05,8.403051902e-01,7.017365000e-01,-7.722115586e-05,8.291371793e-01
+15,8.283333333e+00,DOWN_FORCE_DETACH,1792674208214853758,1.853357423e-05,-8.938574616e-05,-4.784308381e-04,1.608967620e-05,-8.714706874e-05,-4.757930760e-04,1.474653645e-05,-8.722124117e-05,-4.755217513e-04,7.015564051e-01,-8.783478484e-05,8.402625103e-01,7.015539612e-01,-8.559610742e-05,8.402651481e-01,7.017440946e-01,-8.543562707e-05,8.290971418e-01
+16,8.916666667e+00,DOWN_FORCE_DETACH,1792674209446897643,2.412427991e-05,-9.400979921e-05,-5.285548829e-04,2.102047542e-05,-8.544709384e-05,-5.184127073e-04,1.971172970e-05,-8.550996823e-05,-5.180956292e-04,7.015619958e-01,-9.245883789e-05,8.402123863e-01,7.015588920e-01,-8.389613252e-05,8.402225285e-01,7.017490598e-01,-8.372435413e-05,8.290545679e-01
+17,9.450000000e+00,DOWN_FORCE_DETACH,1792674210448041895,2.738481325e-05,-8.995118272e-05,-5.753038266e-04,2.583026410e-05,-9.072834480e-05,-5.588249557e-04,2.456491772e-05,-9.078511267e-05,-5.585322505e-04,7.015652563e-01,-8.840022140e-05,8.401656374e-01,7.015637017e-01,-8.917738348e-05,8.401821162e-01,7.017539130e-01,-8.899949857e-05,8.290141313e-01
+18,1.005000000e+01,DOWN_FORCE_DETACH,1792674211607490095,3.110462230e-05,-9.395268092e-05,-6.259743031e-04,3.042643968e-05,-9.662346732e-05,-6.201732173e-04,2.912689295e-05,-9.668432045e-05,-6.198654594e-04,7.015689761e-01,-9.240171959e-05,8.401149669e-01,7.015682979e-01,-9.507250600e-05,8.401207680e-01,7.017584750e-01,-9.489870636e-05,8.289527981e-01
+19,1.070000000e+01,DOWN_FORCE_DETACH,1792674212839331056,3.804620189e-05,-1.008462369e-04,-6.776263303e-04,3.489926423e-05,-9.598093061e-05,-6.805668676e-04,3.353516514e-05,-9.604879587e-05,-6.801654432e-04,7.015759177e-01,-9.929527561e-05,8.400633149e-01,7.015727707e-01,-9.442996929e-05,8.400603743e-01,7.017628832e-01,-9.426318177e-05,8.288924981e-01
+20,1.121666667e+01,DOWN_FORCE_DETACH,1792674213803624632,4.110891486e-05,-1.070330935e-04,-7.253224300e-04,3.792096069e-05,-1.030846688e-04,-7.203325745e-04,3.648341440e-05,-1.031419028e-04,-7.200003600e-04,7.015789804e-01,-1.054821322e-04,8.400156188e-01,7.015757924e-01,-1.015337075e-04,8.400206086e-01,7.017658315e-01,-1.013562887e-04,8.288526632e-01
+21,1.173333333e+01,DOWN_FORCE_DETACH,1792674214836319584,4.318799514e-05,-1.065217282e-04,-7.881247436e-04,4.279473601e-05,-1.074376187e-04,-7.807254648e-04,4.130856382e-05,-1.075108612e-04,-7.803153374e-04,7.015810595e-01,-1.049707669e-04,8.399528164e-01,7.015806662e-01,-1.058866573e-04,8.399602157e-01,7.017706566e-01,-1.057252471e-04,8.287923482e-01
+22,1.230000000e+01,DOWN_FORCE_DETACH,1792674215967850629,5.134744990e-05,-1.124912116e-04,-8.525771282e-04,4.716488966e-05,-1.098368114e-04,-8.461296448e-04,4.557394971e-05,-1.099040122e-04,-8.455865303e-04,7.015892189e-01,-1.109402503e-04,8.398883641e-01,7.015850364e-01,-1.082858501e-04,8.398948115e-01,7.017749220e-01,-1.081183981e-04,8.287270770e-01
+23,1.273333333e+01,DOWN_FORCE_DETACH,1792674216831708786,5.083841835e-05,-1.173808513e-04,-9.152761078e-04,5.082233226e-05,-1.126563798e-04,-9.103437000e-04,4.908283323e-05,-1.127302568e-04,-9.096787039e-04,7.015887099e-01,-1.158298900e-04,8.398256651e-01,7.015886938e-01,-1.111054185e-04,8.398305975e-01,7.017784309e-01,-1.109446427e-04,8.286629849e-01
+24,1.301666667e+01,DOWN_FORCE_DETACH,1792674217397593077,6.040978881e-05,-8.039407455e-05,-9.583365157e-04,6.259542547e-05,-7.781407147e-05,-9.395717008e-04,6.108565914e-05,-7.786590178e-05,-9.390192610e-04,7.015982813e-01,-7.884311323e-05,8.397826047e-01,7.016004669e-01,-7.626311015e-05,8.398013695e-01,7.017904337e-01,-7.608028768e-05,8.286336443e-01
+25,1.353333333e+01,DOWN_FORCE_DETACH,1792674218361980055,5.823904325e-05,-9.060760761e-05,-1.056321502e-03,5.947426601e-05,-9.114271911e-05,-1.049621464e-03,5.750553678e-05,-9.118122579e-05,-1.048788984e-03,7.015961105e-01,-8.905664629e-05,8.396846197e-01,7.015973457e-01,-8.959175779e-05,8.396913197e-01,7.017868536e-01,-8.939561169e-05,8.285238746e-01
+26,1.398333333e+01,DOWN_FORCE_DETACH,1792674219227786291,5.536837774e-05,-9.200079041e-05,-1.149095824e-03,5.467946091e-05,-9.182696120e-05,-1.133497631e-03,5.226192308e-05,-9.186395016e-05,-1.132723313e-03,7.015932399e-01,-9.044982909e-05,8.395918454e-01,7.015925509e-01,-9.027599987e-05,8.396074436e-01,7.017816100e-01,-9.007833606e-05,8.284399402e-01
+27,1.446666667e+01,DOWN_FORCE_DETACH,1792674220125780764,5.747485763e-05,-1.019685632e-04,-1.230217973e-03,5.391278088e-05,-1.022568635e-04,-1.220276563e-03,5.114122707e-05,-1.023018675e-04,-1.219581702e-03,7.015953463e-01,-1.004176019e-04,8.395107232e-01,7.015917843e-01,-1.007059022e-04,8.395206646e-01,7.017804893e-01,-1.005162534e-04,8.283530819e-01
+28,1.485000000e+01,DOWN_FORCE_DETACH,1792674220856340803,5.449624390e-05,-1.039514685e-04,-1.312809493e-03,5.521120027e-05,-1.061311697e-04,-1.306091049e-03,5.214639744e-05,-1.061289529e-04,-1.305270448e-03,7.015923677e-01,-1.024005072e-04,8.394281317e-01,7.015930827e-01,-1.045802083e-04,8.394348501e-01,7.017814945e-01,-1.043433388e-04,8.282673931e-01
+29,1.523333333e+01,DOWN_FORCE_DETACH,1792674221589929839,5.501512662e-05,-1.075596927e-04,-1.403233664e-03,5.672137471e-05,-1.106039318e-04,-1.390413796e-03,5.329748941e-05,-1.106232172e-04,-1.389541857e-03,7.015928866e-01,-1.060087314e-04,8.393377075e-01,7.015945929e-01,-1.090529705e-04,8.393505274e-01,7.017826456e-01,-1.088376032e-04,8.281831217e-01
+30,1.563333333e+01,DOWN_FORCE_DETACH,1792674222354226348,5.315381091e-05,-1.130843030e-04,-1.509285328e-03,5.062646141e-05,-1.156009897e-04,-1.507633227e-03,4.664188862e-05,-1.156493420e-04,-1.506505072e-03,7.015910253e-01,-1.115333416e-04,8.392316559e-01,7.015884979e-01,-1.140500284e-04,8.392333080e-01,7.017759900e-01,-1.138637279e-04,8.280661585e-01
+31,1.598333333e+01,DOWN_FORCE_DETACH,1792674223051949980,4.848150825e-05,-1.186428553e-04,-1.624172561e-03,4.975510933e-05,-1.153512500e-04,-1.607532499e-03,4.537957060e-05,-1.154290051e-04,-1.606407762e-03,7.015863530e-01,-1.170918940e-04,8.391167686e-01,7.015876266e-01,-1.138002887e-04,8.391334087e-01,7.017747276e-01,-1.136433910e-04,8.279662558e-01
+32,1.626666667e+01,DOWN_FORCE_DETACH,1792674223617926542,4.799268760e-05,-1.138585868e-04,-1.721013675e-03,4.666441297e-05,-1.161085690e-04,-1.716686504e-03,4.179982651e-05,-1.162015208e-04,-1.715418112e-03,7.015858642e-01,-1.123076255e-04,8.390199275e-01,7.015845359e-01,-1.145576076e-04,8.390242547e-01,7.017711479e-01,-1.144159067e-04,8.278572454e-01
+33,1.650000000e+01,DOWN_FORCE_DETACH,1792674224083849880,4.698100472e-05,-1.079178975e-04,-1.812043216e-03,4.804503101e-05,-1.036715783e-04,-1.804885357e-03,4.283052147e-05,-1.037595273e-04,-1.803553913e-03,7.015848525e-01,-1.063669362e-04,8.389288980e-01,7.015859165e-01,-1.021206170e-04,8.389360558e-01,7.017721786e-01,-1.019739132e-04,8.277691096e-01
+34,1.681666667e+01,DOWN_FORCE_DETACH,1792674224715905766,5.071712744e-05,-1.055195068e-04,-1.935605650e-03,5.003874085e-05,-1.045538587e-04,-1.929819113e-03,4.436919122e-05,-1.046272979e-04,-1.928412059e-03,7.015885886e-01,-1.039685454e-04,8.388053355e-01,7.015879102e-01,-1.030028973e-04,8.388111221e-01,7.017737173e-01,-1.028416838e-04,8.276442515e-01
+35,1.710000000e+01,DOWN_FORCE_DETACH,1792674225281894420,5.116681083e-05,-9.739213009e-05,-2.052456445e-03,4.755837891e-05,-9.705874196e-05,-2.042249678e-03,4.148057421e-05,-9.710587364e-05,-2.040816745e-03,7.015890383e-01,-9.584116877e-05,8.386884847e-01,7.015854299e-01,-9.550778064e-05,8.386986915e-01,7.017708286e-01,-9.532025954e-05,8.275318468e-01
+36,1.736666667e+01,DOWN_FORCE_DETACH,1792674225779994969,4.723321903e-05,-1.087016761e-04,-2.170084396e-03,4.940197546e-05,-1.062301419e-04,-2.156985316e-03,4.293580243e-05,-1.062414877e-04,-2.155538654e-03,7.015851047e-01,-1.071507148e-04,8.385708568e-01,7.015872735e-01,-1.046791806e-04,8.385839559e-01,7.017722839e-01,-1.044558736e-04,8.274171249e-01
+37,1.765000000e+01,DOWN_FORCE_DETACH,1792674226343912049,4.759571119e-05,-1.148545259e-04,-2.298398135e-03,4.600347329e-05,-1.071175845e-04,-2.285342144e-03,3.899218198e-05,-1.071377592e-04,-2.283856602e-03,7.015854672e-01,-1.133035646e-04,8.384425431e-01,7.015838750e-01,-1.055666232e-04,8.384555990e-01,7.017683403e-01,-1.053521451e-04,8.272888070e-01
+38,1.791666667e+01,DOWN_FORCE_DETACH,1792674226843872506,4.647487701e-05,-1.150328290e-04,-2.415579548e-03,4.542437882e-05,-1.119993303e-04,-2.409272946e-03,3.800638114e-05,-1.120608085e-04,-2.407736845e-03,7.015843464e-01,-1.134818677e-04,8.383253616e-01,7.015832959e-01,-1.104483690e-04,8.383316682e-01,7.017673545e-01,-1.102751944e-04,8.271649267e-01
+39,1.820000000e+01,DOWN_FORCE_DETACH,1792674227377935868,4.657291509e-05,-1.156101795e-04,-2.542086727e-03,4.656772636e-05,-1.154175885e-04,-2.541843402e-03,3.867043836e-05,-1.154799283e-04,-2.540235304e-03,7.015844444e-01,-1.140592182e-04,8.381988545e-01,7.015844392e-01,-1.138666272e-04,8.381990978e-01,7.017680185e-01,-1.136943142e-04,8.270324283e-01
+40,1.845000000e+01,DOWN_FORCE_DETACH,1792674227843994572,4.760828903e-05,-1.167841933e-04,-2.661286441e-03,4.752710141e-05,-1.168399351e-04,-2.642089518e-03,3.926260364e-05,-1.168833470e-04,-2.640692999e-03,7.015854798e-01,-1.152332320e-04,8.380796547e-01,7.015853986e-01,-1.152889737e-04,8.380988517e-01,7.017686107e-01,-1.150977329e-04,8.269319706e-01
+41,1.870000000e+01,DOWN_FORCE_DETACH,1792674228308005829,4.360415610e-05,-1.268078988e-04,-2.793434333e-03,4.337494102e-05,-1.266888701e-04,-2.793469028e-03,3.448350761e-05,-1.266923405e-04,-2.791832362e-03,7.015814756e-01,-1.252569375e-04,8.379475069e-01,7.015812464e-01,-1.251379087e-04,8.379474722e-01,7.017638316e-01,-1.249067264e-04,8.267808312e-01
+42,1.890000000e+01,DOWN_FORCE_DETACH,1792674228708584789,3.846520193e-05,-1.316092940e-04,-2.919805483e-03,3.511830772e-05,-1.342814572e-04,-2.914093966e-03,2.549617518e-05,-1.342987308e-04,-2.912351095e-03,7.015763367e-01,-1.300583327e-04,8.378211357e-01,7.015729898e-01,-1.327304958e-04,8.378268472e-01,7.017548442e-01,-1.325131167e-04,8.266603125e-01
+43,1.915000000e+01,DOWN_FORCE_DETACH,1792674229172021502,3.788879076e-05,-1.320800099e-04,-3.051187857e-03,3.705664112e-05,-1.358981231e-04,-3.042007356e-03,2.695580655e-05,-1.359078995e-04,-3.040377451e-03,7.015757603e-01,-1.305290486e-04,8.376897533e-01,7.015749281e-01,-1.343471618e-04,8.376989338e-01,7.017563039e-01,-1.341222854e-04,8.265322861e-01
+44,1.938333333e+01,DOWN_FORCE_DETACH,1792674229604041912,3.425858077e-05,-1.374561934e-04,-3.184241502e-03,3.270874090e-05,-1.383478395e-04,-3.176389200e-03,2.199115066e-05,-1.383072039e-04,-3.174796644e-03,7.015721301e-01,-1.359052321e-04,8.375566997e-01,7.015705802e-01,-1.367968782e-04,8.375645520e-01,7.017513392e-01,-1.365215898e-04,8.263978669e-01
+45,1.958333333e+01,DOWN_FORCE_DETACH,1792674230004002445,3.493524937e-05,-1.328852945e-04,-3.310669989e-03,3.483197045e-05,-1.327929706e-04,-3.310563539e-03,2.369417390e-05,-1.327658398e-04,-3.308811623e-03,7.015728067e-01,-1.313343332e-04,8.374302712e-01,7.015727035e-01,-1.312420093e-04,8.374303776e-01,7.017530422e-01,-1.309802257e-04,8.262638519e-01
+46,1.976666667e+01,DOWN_FORCE_DETACH,1792674230337945111,3.575897332e-05,-1.477398557e-04,-3.419666865e-03,3.486882004e-05,-1.454387642e-04,-3.407771277e-03,2.337600898e-05,-1.454313771e-04,-3.406140489e-03,7.015736305e-01,-1.461888943e-04,8.373212743e-01,7.015727403e-01,-1.438878028e-04,8.373331699e-01,7.017527241e-01,-1.436457630e-04,8.261665231e-01
+47,1.996666667e+01,DOWN_FORCE_DETACH,1792674230738080893,3.175316422e-05,-1.495722843e-04,-3.553376281e-03,3.173129074e-05,-1.501420591e-04,-3.541073483e-03,1.971117218e-05,-1.500884124e-04,-3.539403678e-03,7.015696246e-01,-1.480213230e-04,8.371875649e-01,7.015696028e-01,-1.485910978e-04,8.371998677e-01,7.017490592e-01,-1.483027983e-04,8.260332599e-01
+48,2.016666667e+01,DOWN_FORCE_DETACH,1792674231135994043,3.096358417e-05,-1.539746053e-04,-3.690936901e-03,2.765049284e-05,-1.538067582e-04,-3.672888945e-03,1.500455992e-05,-1.537667544e-04,-3.671293159e-03,7.015688351e-01,-1.524236440e-04,8.370500043e-01,7.015655220e-01,-1.522557969e-04,8.370680522e-01,7.017443526e-01,-1.519811403e-04,8.259013704e-01
+49,2.035000000e+01,DOWN_FORCE_DETACH,1792674231500468291,2.892935365e-05,-1.586168841e-04,-3.825267366e-03,2.870382324e-05,-1.582831369e-04,-3.824957204e-03,1.554175244e-05,-1.582593849e-04,-3.823120519e-03,7.015668008e-01,-1.570659228e-04,8.369156738e-01,7.015665753e-01,-1.567321756e-04,8.369159840e-01,7.017448898e-01,-1.564737708e-04,8.257495430e-01
+50,2.051666667e+01,DOWN_FORCE_DETACH,1792674231836077655,2.564732439e-05,-1.599196420e-04,-3.956764448e-03,2.539329312e-05,-1.599839096e-04,-3.956828006e-03,1.162588435e-05,-1.599645785e-04,-3.954947729e-03,7.015635188e-01,-1.583686806e-04,8.367841767e-01,7.015632648e-01,-1.584329483e-04,8.367841132e-01,7.017409740e-01,-1.581789644e-04,8.256177158e-01
+51,2.068333333e+01,DOWN_FORCE_DETACH,1792674232168033359,2.324613837e-05,-1.516005852e-04,-4.088326167e-03,2.406182199e-05,-1.509627669e-04,-4.073124579e-03,9.835276805e-06,-1.509061953e-04,-4.071411620e-03,7.015611176e-01,-1.500496239e-04,8.366526150e-01,7.015619333e-01,-1.494118055e-04,8.366678166e-01,7.017391833e-01,-1.491205812e-04,8.255012519e-01
+52,2.085000000e+01,DOWN_FORCE_DETACH,1792674232500091528,2.643796268e-05,-1.390275897e-04,-4.216609915e-03,2.643782060e-05,-1.391534278e-04,-4.216359264e-03,1.175676594e-05,-1.390964213e-04,-4.214558092e-03,7.015643094e-01,-1.374766284e-04,8.365243313e-01,7.015643093e-01,-1.376024665e-04,8.365245819e-01,7.017411048e-01,-1.373108072e-04,8.253581055e-01
+53,2.101666667e+01,DOWN_FORCE_DETACH,1792674232832006573,2.431273730e-05,-1.432114615e-04,-4.352880627e-03,2.424785085e-05,-1.434093045e-04,-4.352756678e-03,9.022528548e-06,-1.433602913e-04,-4.351070751e-03,7.015621842e-01,-1.416605002e-04,8.363880606e-01,7.015621193e-01,-1.418583432e-04,8.363881845e-01,7.017383706e-01,-1.415746772e-04,8.252215928e-01
+54,2.116666667e+01,DOWN_FORCE_DETACH,1792674233132132429,2.871006607e-05,-1.458064203e-04,-4.476123645e-03,2.875073904e-05,-1.459826917e-04,-4.476182814e-03,1.313180588e-05,-1.459335419e-04,-4.474559341e-03,7.015665815e-01,-1.442554590e-04,8.362648175e-01,7.015666222e-01,-1.444317304e-04,8.362647584e-01,7.017424799e-01,-1.441479278e-04,8.250981042e-01
+55,2.131666667e+01,DOWN_FORCE_DETACH,1792674233431903436,1.791416910e-05,-1.523152353e-04,-4.615885858e-03,1.794373516e-05,-1.524498160e-04,-4.615598875e-03,1.597548236e-06,-1.523548884e-04,-4.613895207e-03,7.015557857e-01,-1.507642740e-04,8.361250553e-01,7.015558152e-01,-1.508988547e-04,8.361253423e-01,7.017309456e-01,-1.505692743e-04,8.249587683e-01
+56,2.148333333e+01,DOWN_FORCE_DETACH,1792674233764924404,2.341064018e-05,-1.462750832e-04,-4.759250291e-03,2.311693577e-05,-1.463097300e-04,-4.758820722e-03,6.315180648e-06,-1.462041002e-04,-4.757253556e-03,7.015612821e-01,-1.447241219e-04,8.359816909e-01,7.015609884e-01,-1.447587687e-04,8.359821205e-01,7.017356633e-01,-1.444184861e-04,8.248154100e-01
+57,2.161666667e+01,DOWN_FORCE_DETACH,1792674234028178337,2.589796123e-05,-1.526303041e-04,-4.881056069e-03,2.567766675e-05,-1.526404149e-04,-4.881002755e-03,8.478856108e-06,-1.525512200e-04,-4.879506728e-03,7.015637694e-01,-1.510793428e-04,8.358598851e-01,7.015635491e-01,-1.510894536e-04,8.358599384e-01,7.017378269e-01,-1.507656059e-04,8.246931568e-01
+58,2.178333333e+01,DOWN_SETTLE,1792674234328199432,2.933227303e-05,-1.622429276e-04,-5.017835033e-03,3.251491922e-05,-1.586110029e-04,-5.000004520e-03,1.508300977e-05,-1.585365872e-04,-4.998728594e-03,7.015672038e-01,-1.606919663e-04,8.357231062e-01,7.015703864e-01,-1.570600416e-04,8.357409367e-01,7.017444311e-01,-1.567509731e-04,8.245739350e-01
+59,2.220000000e+01,DOWN_PEAK_HOLD,1792674235196286568,1.888244055e-05,-1.605401387e-04,-5.107819890e-03,2.007158203e-05,-1.695422905e-04,-5.097144368e-03,1.958482871e-06,-1.695348603e-04,-5.096963683e-03,7.015567539e-01,-1.589891773e-04,8.356331213e-01,7.015579431e-01,-1.679913292e-04,8.356437968e-01,7.017313066e-01,-1.677492462e-04,8.244756999e-01

Fixed/s2/ball_15A_12.5/press_depth_02/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.2931e-04,2.1488e-03,2.4553e+00,-3.6955e-02,3.6812e-02,-2.8734e-05,1.7608e-04,-4.2925e-06,8.2016e-05,-7.4506e-08,1.2361e-05,-3.1848e-07,1.9429e-04,1.2365e-05
+1,5.8333e-01,DOWN_FORCE_DETACH,1.3763e-04,4.2678e-03,2.0594e-03,2.4572e+00,-3.6957e-02,3.7088e-02,-3.5375e-05,4.1146e-03,-9.3707e-05,1.9093e-03,-2.7306e-06,2.8873e-04,-6.9594e-06,4.5369e-03,2.8883e-04
+2,1.0333e+00,DOWN_FORCE_DETACH,2.7591e-04,1.1796e-02,6.5367e-03,2.4802e+00,-3.7273e-02,3.7602e-02,-3.1756e-05,1.1643e-02,4.3836e-03,2.4973e-02,-3.1871e-04,8.0255e-04,-3.3404e-06,2.7901e-02,8.6352e-04
+3,1.3167e+00,DOWN_FORCE_DETACH,4.2044e-04,-9.4458e-03,9.4184e-03,2.4816e+00,-3.7472e-02,3.6103e-02,-2.7494e-05,-9.5990e-03,7.2653e-03,2.6333e-02,-5.1736e-04,-6.9629e-04,9.2134e-07,2.8955e-02,8.6746e-04
+4,1.8667e+00,DOWN_FORCE_DETACH,5.5577e-04,4.6576e-03,1.0259e-02,2.4720e+00,-3.7523e-02,3.7102e-02,-2.8731e-05,4.5043e-03,8.1057e-03,1.6712e-02,-5.6866e-04,3.0268e-04,-3.1525e-07,1.9113e-02,6.4420e-04
+5,2.4833e+00,DOWN_FORCE_DETACH,6.9361e-04,7.0977e-03,1.0091e-02,2.4654e+00,-3.7510e-02,3.7278e-02,-2.8353e-05,6.9445e-03,7.9383e-03,1.0206e-02,-5.5487e-04,4.7854e-04,6.3079e-08,1.4677e-02,7.3272e-04
+6,2.9667e+00,DOWN_FORCE_DETACH,8.2997e-04,7.1493e-03,1.0041e-02,2.4581e+00,-3.7505e-02,3.7287e-02,-2.6243e-05,6.9961e-03,7.8875e-03,2.8133e-03,-5.5030e-04,4.8734e-04,2.1727e-06,1.0912e-02,7.3507e-04
+7,3.5167e+00,DOWN_FORCE_DETACH,9.7146e-04,8.2535e-03,1.2902e-02,2.4681e+00,-3.7700e-02,3.7357e-02,-2.0002e-05,8.1003e-03,1.0749e-02,1.2905e-02,-7.4483e-04,5.5710e-04,8.4136e-06,1.8647e-02,9.3016e-04
+8,4.0833e+00,DOWN_FORCE_DETACH,1.1073e-03,6.9309e-03,1.5552e-02,2.4638e+00,-3.7878e-02,3.7266e-02,-1.3113e-05,6.7777e-03,1.3399e-02,8.5831e-03,-9.2288e-04,4.6670e-04,1.5303e-05,1.7295e-02,1.0343e-03
+9,4.6833e+00,DOWN_FORCE_DETACH,1.2429e-03,6.4705e-03,1.7512e-02,2.4679e+00,-3.8005e-02,3.7230e-02,-5.2467e-06,6.3173e-03,1.5358e-02,1.2694e-02,-1.0504e-03,4.3049e-04,2.3169e-05,2.0903e-02,1.1354e-03
+10,5.1833e+00,DOWN_FORCE_DETACH,1.3836e-03,6.4592e-03,1.9230e-02,2.4648e+00,-3.8120e-02,3.7231e-02,2.5785e-06,6.3060e-03,1.7077e-02,9.5882e-03,-1.1652e-03,4.3166e-04,3.0994e-05,2.0575e-02,1.2429e-03
+11,5.9500e+00,DOWN_FORCE_DETACH,1.5231e-03,5.8023e-03,2.0789e-02,2.4662e+00,-3.8222e-02,3.7184e-02,1.4872e-05,5.6491e-03,1.8636e-02,1.0946e-02,-1.2669e-03,3.8404e-04,4.3288e-05,2.2339e-02,1.3246e-03
+12,6.6167e+00,DOWN_FORCE_DETACH,1.6578e-03,5.5242e-03,2.2493e-02,2.4680e+00,-3.8336e-02,3.7163e-02,2.6733e-05,5.3709e-03,2.0340e-02,1.2721e-02,-1.3808e-03,3.6321e-04,5.5149e-05,2.4584e-02,1.4289e-03
+13,7.2000e+00,DOWN_FORCE_DETACH,1.7988e-03,4.6927e-03,2.3680e-02,2.4699e+00,-3.8413e-02,3.7103e-02,3.5121e-05,4.5394e-03,2.1527e-02,1.4693e-02,-1.4578e-03,3.0335e-04,6.3537e-05,2.6456e-02,1.4904e-03
+14,7.7500e+00,DOWN_FORCE_DETACH,1.9387e-03,4.2045e-03,2.4876e-02,2.4711e+00,-3.8491e-02,3.7068e-02,4.0769e-05,4.0513e-03,2.2723e-02,1.5848e-02,-1.5364e-03,2.6825e-04,6.9184e-05,2.7998e-02,1.5612e-03
+15,8.2833e+00,DOWN_FORCE_DETACH,2.0755e-03,2.4064e-03,2.7474e-02,2.4748e+00,-3.8669e-02,3.6939e-02,4.6774e-05,2.2532e-03,2.5321e-02,1.9593e-02,-1.7142e-03,1.3905e-04,7.5190e-05,3.2096e-02,1.7215e-03
+16,8.9167e+00,DOWN_FORCE_DETACH,2.2162e-03,3.8776e-03,2.6979e-02,2.4723e+00,-3.8628e-02,3.7043e-02,4.2542e-05,3.7244e-03,2.4826e-02,1.7091e-02,-1.6729e-03,2.4369e-04,7.0958e-05,3.0369e-02,1.6920e-03
+17,9.4500e+00,DOWN_FORCE_DETACH,2.3510e-03,5.3568e-03,2.8634e-02,2.4710e+00,-3.8737e-02,3.7148e-02,3.8985e-05,5.2036e-03,2.6481e-02,1.5779e-02,-1.7822e-03,3.4868e-04,6.7400e-05,3.1262e-02,1.8172e-03
+18,1.0050e+01,DOWN_FORCE_DETACH,2.4876e-03,7.1732e-03,3.0453e-02,2.4761e+00,-3.8861e-02,3.7273e-02,2.9262e-05,7.0200e-03,2.8300e-02,2.0906e-02,-1.9060e-03,4.7316e-04,5.7678e-05,3.5878e-02,1.9647e-03
+19,1.0700e+01,DOWN_FORCE_DETACH,2.6306e-03,8.8344e-03,3.0145e-02,2.4793e+00,-3.8840e-02,3.7388e-02,1.5321e-05,8.6811e-03,2.7992e-02,2.4107e-02,-1.8850e-03,5.8812e-04,4.3737e-05,3.7948e-02,1.9751e-03
+20,1.1217e+01,DOWN_FORCE_DETACH,2.7645e-03,1.0163e-02,3.2355e-02,2.4751e+00,-3.9003e-02,3.7485e-02,9.5076e-06,1.0009e-02,3.0202e-02,1.9883e-02,-2.0478e-03,6.8539e-04,3.7923e-05,3.7519e-02,2.1598e-03
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Fixed/s2/ball_15A_12.5/press_depth_02/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
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+size 13117440

Fixed/s2/ball_15A_12.5/press_depth_02/up/franka_data.csv

@@ -0,0 +1,61 @@
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