Upload Fixed (part 53)

Fixed/s1/ball_15A_20/press_depth_10/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/s1/ball_15A_20/press_depth_10/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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Fixed/s1/ball_15A_20/press_depth_10/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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Fixed/s1/ball_PLA_10/press_depth_01/down/camera_frames_60hz.tar

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Fixed/s1/ball_PLA_10/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
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+5461,1792640764610601436,9304882000000,1792640764604997191,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760310645361263,-0.004525728351886011,0.09052089326818284,0.9999999864347969,5.195626461652886e-05,-9.93349500643812e-05,7.750086874366079e-05,0.6761,-0.0045,0.09053440041917084,1.0,0.0,0.0,0.0,-0.031048452639461016,0.009138306231721613,0.5258374966449624,0.0008439183967790058,0.00276648503408765,0.0006553101642747753,0.16720884768299105,0.06218475607086383,0.30390169900411707,0.004441539019988687,-0.015343536818664573,-0.0004147231888810546,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0346406744085197,-0.08695926310826353,0.12584090602023787,0.37159980695872336,0.13164555596581212,-0.08522525940073693,1.2030617141829325,0.5258374966449624,1.0772208081626946,1.0772208081626946,1.1315570799633639,0,0,-6.050642290392349e-05,9.748634818696473e-05
+5581,1792640765610589874,9305882000000,1792640765608995706,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760317580614159,-0.004525672105815445,0.09046175446745384,0.9999999861566953,5.6626688239580286e-05,-9.685325481691361e-05,8.08847256412457e-05,0.6761,-0.0045,0.09047264752809175,1.0,0.0,0.0,0.0,-0.03142604407172575,0.021561360388717372,0.586051027436018,0.000889193886540691,0.0037603525967475817,0.0006226843684432728,0.1668312562507263,0.07460781022785959,0.36411522979517275,0.0044868145097503725,-0.014349669256004642,-0.000447348984712557,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,0.9809152680815381,-0.14664111369884836,0.07487710169086484,0.39401228563943,0.1476268236823034,-0.11900323414996311,1.2030617141829325,0.586051027436018,1.1281846124920676,1.1281846124920676,1.2015570799633783,0,0,-6.416962167602047e-05,9.991615454308373e-05
+5692,1792640766535604402,9306807000000,1792640766532995702,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760373533020492,-0.004528645408385878,0.09041207788726888,0.9999999870203301,5.5853877720310836e-05,-8.787872332568853e-05,8.099307666851705e-05,0.6761,-0.0045,0.09041136688689932,1.0,0.0,0.0,0.0,-0.03216217858026446,0.02399633347941133,0.6446529685945468,0.001815566324815047,0.003730499062703039,0.0005895124890484414,0.1660951217421876,0.07704278331855355,0.4227171709537016,0.0054131869480247286,-0.014379522790049185,-0.0004805208641073884,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0012494619676358,-0.10724604197989288,0.044731441787629556,0.3778899250724771,0.1692937099386569,-0.09770595597194608,1.2030617141829325,0.6446529685945468,1.158330272395303,1.158330272395303,1.2663070799633918,0,0,-6.716098465839172e-05,-8.383199276285608e-05
+5769,1792640767176601584,9307448000000,1792640767172996226,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760385138596554,-0.004526554983430595,0.09037180129926636,0.999999987164523,5.7926594339548714e-05,-8.655913389844471e-05,7.915708590905992e-05,0.6761,-0.0045,0.09036990618333078,1.0,0.0,0.0,0.0,-0.03235459572494054,0.021672813934279257,0.6867215101855983,0.001807092710084611,0.0037215620916765148,0.0005523947331312055,0.16590270459751152,0.07471926377342147,0.46478571254475315,0.0054047133332942926,-0.014388459761075709,-0.0005176386200246244,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0039182815065184,-0.10368985072904831,0.014948423554475005,0.3876548496004279,0.19050256981868233,-0.09018846667819602,1.2030617141829325,0.6867215101855983,1.1881132906284575,1.1881132906284575,1.311177079963401,0,0,-6.46071996138461e-05,-9.999996250365512e-05
+5869,1792640768010507965,9308282000000,1792640768009004818,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760440319305893,-0.004531091154237328,0.09032952008681397,0.9999999877725457,5.5748647447563114e-05,-7.723852637884528e-05,8.260793701771097e-05,0.6761,-0.0045,0.09031563331062904,1.0,0.0,0.0,0.0,-0.03353116210289722,0.010091308842480044,0.7167859819880187,0.0017997246553974606,0.0037160707515260204,0.0005279500587212895,0.16472613821955484,0.06313775868162226,0.4948501843471735,0.005397345278607142,-0.014393951101226203,-0.0005420832944345404,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0386294786607937,-0.12055286650464231,-0.07311038734385937,0.3865687487182875,0.2539089843810909,-0.1050963415041638,1.2030617141829325,0.7167859819880187,1.276172101526792,1.276172101526792,1.3695570799634131,0,0,-6.711822724406324e-05,7.552482277023389e-06
+5965,1792640768810522030,9309082000000,1792640768809005297,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760467607335757,-0.004532400934720608,0.09027774621718823,0.999999987834646,5.531714833366885e-05,-7.455095490335296e-05,8.459160982200746e-05,0.6761,-0.0045,0.09025936788093804,1.0,0.0,0.0,0.0,-0.03359324556043708,0.020183984201382753,0.7547187645849418,0.0017949809146946536,0.003707657879527315,0.0005008235907897605,0.16466405476201498,0.07323043404052497,0.5327829669440965,0.005392601537904335,-0.014402363973224908,-0.0005692097623660694,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0753910643979003,-0.1078009624291691,-0.15545743389318314,0.38564665119130803,0.31357882833019957,-0.09635840289186134,1.2030617141829325,0.7547187645849418,1.3585191480761156,1.3585191480761156,1.4255570799634247,0,0,-7.439594260497261e-05,9.999999025923074e-05
+6057,1792640769576558579,9309848000000,1792640769572995861,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760497839170924,-0.004527581099781012,0.09022297330263505,0.9999999876127335,6.226853604383417e-05,-6.996006659110923e-05,8.62879824545755e-05,0.6761,-0.0045,0.09019982844362641,1.0,0.0,0.0,0.0,-0.04185818035977118,0.030656676736803896,0.7669330903858504,0.0017656393726552815,0.004716987051010755,0.0005021649366068136,0.15639911996268088,0.08370312657594611,0.5449972927450052,0.005363259995864963,-0.013393034801741468,-0.0005678684165490162,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0861625748127375,-0.08152924442569966,-0.21180708023388226,0.3880294736358416,0.35105834815404774,-0.0741495425098375,1.2030617141829325,0.7669330903858504,1.4148687944168148,1.4148687944168148,1.4791770799634358,0,0,-8.162732473696176e-05,9.673338105387614e-05
+6151,1792640770360563052,9310632000000,1792640770356995585,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760497502656571,-0.004532777981666915,0.09015234422608998,0.9999999880282106,5.3706060483632314e-05,-6.978604417011625e-05,8.736137756924398e-05,0.6761,-0.0045,0.09013112921080453,1.0,0.0,0.0,0.0,-0.03312655741010248,0.03174726650632701,0.7969856825791938,0.00175991682852646,0.004710247576636789,0.000478948181008246,0.16513074291234958,0.08479371634546923,0.5750498849383485,0.0053575374517361414,-0.013399774276115434,-0.0005910851721475838,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0812299913557346,-0.1574736818953457,-0.14391205524281975,0.41289205351362435,0.3028296861949833,-0.13099331647175466,1.2030617141829325,0.7969856825791938,1.3469737694257522,1.3469737694257522,1.5340570799634472,0,0,-9.324686010422768e-05,-9.654614194077311e-05
+6237,1792640771076555044,9311348000000,1792640771069005452,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760500507021522,-0.004536340295775663,0.09008505057713746,0.9999999878271877,5.1105113033169135e-05,-7.016199434399986e-05,9.085180738662678e-05,0.6761,-0.0045,0.09006037975390326,1.0,0.0,0.0,0.0,-0.04191176691912338,0.022213411742449278,0.8126211267287368,0.0017561642133757066,0.004708490724182416,0.0004649727652450752,0.15634553340332868,0.0752598615815915,0.5906853290878915,0.005353784836585388,-0.013401531128569807,-0.0006050605879107546,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.100263138007989,-0.18173494463740045,-0.18601502480065402,0.4247452278771691,0.32923780225121085,-0.14211614558327215,1.2030617141829325,0.8126211267287368,1.3890767389835865,1.3890767389835865,1.5841770799634576,0,0,-0.00010449190383374075,-9.574700340764792e-05
+6325,1792640771810463234,9312082000000,1792640771804996156,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760498738615167,-0.004530375632257763,0.09000589750789821,0.9999999878311183,5.416931485511983e-05,-6.933488101787958e-05,8.966039940228812e-05,0.6761,-0.0045,0.08997949966105954,1.0,0.0,0.0,0.0,-0.041999087918174444,0.022820115876289022,0.8271109447149643,0.0017530753725852502,0.004704672543563304,0.0004535220662365636,0.15625821240427762,0.07586656571543124,0.605175147074119,0.005350695995794932,-0.01340534930918892,-0.0006165112869192663,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0955436312790543,-0.17246497385420062,-0.2239013082426415,0.42671344306697745,0.34934280705039444,-0.13432562702053227,1.2030617141829325,0.8271109447149643,1.426963022425574,1.426963022425574,1.6355570799634682,0,0,-0.00011733204057925851,-9.776300188691351e-05
+6400,1792640772435543218,9312707000000,1792640772433005230,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760504297706181,-0.004532863363322401,0.08993120882047356,0.9999999874277415,5.6104111679683605e-05,-6.924940117160836e-05,9.297435344531001e-05,0.6761,-0.0045,0.0899013479068861,1.0,0.0,0.0,0.0,-0.03357586119905448,0.014273782845346396,0.8464616187248861,0.0017478944438973332,0.00470101093343599,0.0004386756648676008,0.16468143912339758,0.06732023268448861,0.6245258210840409,0.005345515067107015,-0.013409010919316233,-0.0006313576882882291,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1124683144060958,-0.18962093132739016,-0.32529399248672936,0.4378825926030184,0.4176357150594006,-0.14616946038254408,1.2030617141829325,0.8464616187248861,1.5283557066696618,1.5283557066696618,1.6793070799634773,0,0,-0.00013003903493316737,9.820105425906717e-05
+6477,1792640773076484646,9313348000000,1792640773069005776,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760527689500523,-0.004539095723095893,0.08984564917563283,0.99999998772604,5.134802994276102e-05,-6.453949626481108e-05,9.585831927460906e-05,0.6761,-0.0045,0.0898137194526916,1.0,0.0,0.0,0.0,-0.043047460611614186,0.03175260566731323,0.8585971366602236,0.002635502193559018,0.0046809995206938786,0.00043791045202714175,0.15520983971083788,0.08479905550645545,0.6366613390193784,0.006233122816768699,-0.013429022332058345,-0.0006321229011286881,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.070977026122552,-0.11818163384765512,-0.2779402461799534,0.42352939201575796,0.3719724456164867,-0.09742590825561548,1.2030617141829325,0.8585971366602236,1.481001960362886,1.481001960362886,1.7241770799634866,0,0,-0.00014291016894460296,-9.999656244564221e-05
+6553,1792640773710439999,9313982000000,1792640773705005241,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760524206301896,-0.0045332502695874825,0.08975524586857787,0.9999999881481555,5.0776158157969946e-05,-6.519066839742136e-05,9.120587595906356e-05,0.6761,-0.0045,0.08971839240427075,1.0,0.0,0.0,0.0,-0.04459968832284278,0.02723141326186903,0.8678019368978737,0.0027654995314127773,0.004676950181659454,0.0004319375220833317,0.15365761199960928,0.08027786310101125,0.6458661392570284,0.006363120154622459,-0.01343307167109277,-0.0006380958310724981,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1410803130638785,-0.06860941817574179,-0.2912409939926365,0.4184483698196495,0.39600254292762843,-0.06170282140263865,1.2030617141829325,0.8678019368978737,1.494302708175569,1.494302708175569,1.7685570799634958,0,0,-0.00015821956537573201,-9.999999025923074e-05
+6630,1792640774351495041,9314623000000,1792640774345007108,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760512807529785,-0.004539739788876279,0.08964971656626637,0.9999999881621526,4.656551776825312e-05,-6.599299707618748e-05,9.270995608091186e-05,0.6761,-0.0045,0.089612646297307,1.0,0.0,0.0,0.0,-0.04275642257086221,0.03735045221681677,0.896942103687153,0.002761431416164749,0.004669829706220676,0.0004085426423820199,0.15550087775158986,0.09039690205595899,0.6750063060463077,0.00635905203937443,-0.013440192146531547,-0.00066149071077381,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1212454804892367,-0.15372397959900194,-0.35093395179417985,0.4481490109369394,0.42325433926555966,-0.12121162746918483,1.2030617141829325,0.896942103687153,1.5539956659771124,1.5539956659771124,1.813427079963505,0,0,-0.00017091700400403832,-9.984598844792742e-05
+6701,1792640774943515429,9315215000000,1792640774941005134,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760527184348648,-0.004544138053902753,0.0895512968087306,0.9999999891300431,3.629404572012525e-05,-6.428314152758091e-05,8.793860506501666e-05,0.6761,-0.0045,0.08950801078037945,1.0,0.0,0.0,0.0,-0.04271609962694206,0.03778165832876477,0.906455341854367,0.002759553878044874,0.00466762184915236,0.0004004360539639532,0.15554120069551,0.09082810816790698,0.6845195442135218,0.006357174501254555,-0.013442400003599864,-0.0006695972991918766,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1371472000872052,-0.15330614878880575,-0.36169045585187004,0.46663057161219756,0.4297890841354582,-0.11741933182754885,1.2030617141829325,0.906455341854367,1.5647521700348026,1.5647521700348026,1.8548670799635136,0,0,-0.00018156234752739054,-9.94197321954104e-05
+6765,1792640775476451404,9315748000000,1792640775469005336,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.676054311558351,-0.0045463445265158066,0.08944752451323926,0.9999999891012165,3.473803887063775e-05,-6.283987291821075e-05,8.991579712050462e-05,0.6761,-0.0045,0.08940740908551964,1.0,0.0,0.0,0.0,-0.04273705146927295,0.03869344575048384,0.9178193124619367,0.0027570105621684813,0.004665478445657819,0.00039167496355247083,0.1555202488531791,0.09173989558962606,0.6958835148210915,0.006354631185378163,-0.013444543407094405,-0.000678358389603359,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1295849579476918,-0.08927165480463442,-0.4448426605772059,0.4563744599746903,0.4759692820667762,-0.07399343755906558,1.2030617141829325,0.9178193124619367,1.6479043747601385,1.6479043747601385,1.8921770799635214,0,0,-0.00019397147158342764,9.442808620996885e-05
+6828,1792640776001407200,9316273000000,1792640776000996460,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760543803186315,-0.004546491546437614,0.08934206028706435,0.9999999885395486,3.704275669984788e-05,-6.56734818748188e-05,9.315897728607234e-05,0.6761,-0.0045,0.08930205711626749,1.0,0.0,0.0,0.0,-0.04262320174460363,0.03292699449014399,0.9325611532437944,0.0027543074126538405,0.00466354902872106,0.00037977424917294664,0.15563409857784843,0.0859734443292862,0.7106253556029491,0.006351928035863522,-0.013446472824031164,-0.0006902591039828832,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1412464356452936,-0.24316247049711978,-0.3369403935482325,0.5119511082174096,0.4072073538644986,-0.17508279442704644,1.2030617141829325,0.9325611532437944,1.540002107731165,1.540002107731165,1.928927079963529,0,0,-0.00020817792907165534,-9.999999025923074e-05
+6894,1792640776551428855,9316823000000,1792640776549005483,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760578899247236,-0.004551838563684065,0.08923479122750033,0.999999988632907,4.1673442566379884e-05,-5.865551548526173e-05,9.48678296255197e-05,0.6761,-0.0045,0.08918570244492327,1.0,0.0,0.0,0.0,-0.04016132757282567,0.03964865992838824,0.9378947943375847,0.0027539871513910645,0.00466081308749829,0.0003757736442076262,0.1580959727496264,0.09269510976753045,0.7159589966967395,0.006351607774600746,-0.013449208765253934,-0.0006942597089482037,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.128335814978637,-0.18737222517212432,-0.4780386012784352,0.503928019886227,0.4862497197681339,-0.1336920708260151,1.2030617141829325,0.9378947943375847,1.6811003154613677,1.6811003154613677,1.967427079963537,0,0,-0.00021645712808685135,5.6698391841197806e-05
+6948,1792640777001500097,9317273000000,1792640777001004819,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760511851685723,-0.004555744456659241,0.08911844391324662,0.9999999865685802,5.0516096597720364e-05,-7.339402796419005e-05,0.00010181917455520236,0.6761,-0.0045,0.089084623367434,1.0,0.0,0.0,0.0,-0.032419827540917906,0.031105464907782397,0.9671555274280144,0.0027472293447786344,0.004655302661807966,0.0003541431713366829,0.16583747278153416,0.08415191474692461,0.7452197297871691,0.006344849967988316,-0.013454719190944257,-0.0007158901818191469,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0715794700678845,-0.10760950122885317,-0.3648111992954078,0.4934109499187885,0.39708111515092714,-0.0811621479641598,1.2030617141829325,0.9671555274280144,1.5678729134783402,1.5678729134783402,1.9989270799635435,0,0,-0.00022941352406244254,-9.963769673071993e-05
+7001,1792640777443400191,9317715000000,1792640777441004681,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760486206373433,-0.004561051258192593,0.08901326657455501,0.9999999860553687,4.884343223837254e-05,-7.711280068999979e-05,0.00010488118100336174,0.6761,-0.0045,0.08898176417269772,1.0,0.0,0.0,0.0,-0.027670213364411583,0.040223541366905445,0.9582869179539356,0.002732021355452621,0.004626101571344712,0.00036013011825785,0.17058708695804048,0.09326999120604766,0.7363511203130904,0.006329641978662303,-0.013483920281407512,-0.0007099032348979799,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1225468904902265,-0.13944340711150902,-0.47771569753460064,0.5112061009624483,0.47656849601555934,-0.09851278970171146,1.2030617141829325,0.9582869179539356,1.6807774117175331,1.6807774117175331,2.02986707996355,0,0,-0.00023805468808828423,-6.37179766053281e-05
+7059,1792640777926391848,9318198000000,1792640777921005070,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760462278719966,-0.004566274025420016,0.08889001841307169,0.9999999852386819,4.2311037833666804e-05,-8.351641041088336e-05,0.00011045490327476675,0.6761,-0.0045,0.08886475086104877,1.0,0.0,0.0,0.0,-0.024476993810487735,0.03993010099212042,0.9679345642009759,0.002530230068707513,0.0046258192590922995,0.0003526376971311753,0.17378030651196433,0.09297655083126263,0.7459987665601306,0.006127850691917194,-0.013484202593659924,-0.0007173956560246545,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.069064575261175,-0.20732319911333366,-0.42822041529951627,0.5363328466941504,0.42672090742224494,-0.1437854155650913,1.2030617141829325,0.9679345642009759,1.6312821294824489,1.6312821294824489,2.063677079963557,0,0,-0.00024709494736016433,-9.999964331453554e-05
+7113,1792640778376407817,9318648000000,1792640778373005279,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760474811080442,-0.004569727718419258,0.08877789147825545,0.9999999856269157,3.3644801986498504e-05,-8.213269558362231e-05,0.0001109562101223858,0.6761,-0.0045,0.08875079226767105,1.0,0.0,0.0,0.0,-0.03335154003722951,0.0485659757514758,0.9680358814386426,0.0027493715231047765,0.00465338526218304,0.0003522529548535818,0.16490576028522255,0.10161242559061802,0.7461000837977974,0.006346992146314458,-0.013456636590569183,-0.0007177803983022481,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0922023402717904,-0.14229808740419825,-0.43216065521196073,0.537623398324791,0.42769202521997995,-0.09828747442039291,1.2030617141829325,0.9680358814386426,1.6352223693948933,1.6352223693948933,2.0951770799635634,0,0,-0.00025703671493601386,-9.981313972418632e-05
+7169,1792640778843372980,9319115000000,1792640778840994932,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760480589583008,-0.004576039952364642,0.08865969502749038,0.9999999850409899,4.006390781092076e-05,-8.206448211394618e-05,0.00011411042333232355,0.6761,-0.0045,0.08862725911928349,1.0,0.0,0.0,0.0,-0.032886395992112766,0.040745592864394865,0.9682443457736312,0.002748185523125809,0.004653996229606848,0.0003520442881458479,0.1653709043303393,0.09379204270353708,0.7463085481327859,0.0063458061463354904,-0.013456025623145376,-0.0007179890650099819,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.121892042086803,-0.20147364775840343,-0.5657209693541924,0.5564725595305643,0.5125798343778397,-0.1361603543945221,1.2030617141829325,0.9682443457736312,1.768782683537125,1.768782683537125,2.12786707996357,0,0,-0.0002718258612407779,6.861824583393456e-05
+7224,1792640779301416668,9319573000000,1792640779300996050,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.676049406084423,-0.004577446435387414,0.08853322624280151,0.99999998438807,5.238562505815494e-05,-8.090896244227669e-05,0.00011565556747249664,0.6761,-0.0045,0.08849996740237374,1.0,0.0,0.0,0.0,-0.033837909886598294,0.05056697972170065,0.9690184807457385,0.002749038788881506,0.004653084973027155,0.00035404191410940333,0.16441939043585377,0.10361342956084287,0.7470826831048932,0.006346659412091188,-0.013456936879725068,-0.0007159914390464265,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.114214778428519,-0.21542881123614052,-0.5752507425839963,0.5784419808816464,0.5100728171397192,-0.1381943917315333,1.2030617141829325,0.9690184807457385,1.7783124567669288,1.7783124567669288,2.159927079963577,0,0,-0.0002849962799686149,9.931419161913197e-05
+7272,1792640779701421773,9319973000000,1792640779701005163,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760477953053122,-0.004581307084869219,0.08841525919868622,0.9999999846272707,4.046822767409727e-05,-8.427713039637797e-05,0.0001159655587430739,0.6761,-0.0045,0.08838398572980137,1.0,0.0,0.0,0.0,-0.03628181934899072,0.0411178852031756,0.9780607745729437,0.0027473764649257634,0.0046513866839370845,0.00034380955829975944,0.16197548097346134,0.09416433504231782,0.7561249769320985,0.006344997088135445,-0.013458635168815139,-0.0007262237948560704,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0407658851185393,-0.14606858711634513,-0.44820365582516164,0.5677787186005856,0.40202211413602007,-0.09585732657010632,1.2030617141829325,0.9780607745729437,1.6512653700080941,1.6512653700080941,2.1879270799635826,0,0,-0.00029636040486532975,-9.995805158447552e-05
+7317,1792640780076458481,9320348000000,1792640780073005228,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760476839502663,-0.004583441734747783,0.08830017406449796,0.9999999842640375,3.8439190766640226e-05,-8.378332110887572e-05,0.00012007319858621496,0.6761,-0.0045,0.08827052323392594,1.0,0.0,0.0,0.0,-0.042733353352674364,0.039192214268267085,0.9858424805864637,0.0027447387417918827,0.0046504783750114485,0.00033536784779173324,0.1555239469697777,0.0922386641074093,0.7639066829456185,0.006342359365001564,-0.013459543477740775,-0.0007346655053640966,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0088008231387458,-0.2692937091484636,-0.5234747224600356,0.6002765539553558,0.44107740021324804,-0.18106341955255117,1.2030617141829325,0.9858424805864637,1.726536436642968,1.726536436642968,2.214177079963588,0,0,-0.00030921308649264754,-9.999999025923074e-05
+7361,1792640780443477298,9320715000000,1792640780437005045,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760470929271111,-0.004585615543625989,0.08818566625544354,0.9999999835096034,4.5815504257593805e-05,-8.596575729546633e-05,0.00012220673258549436,0.6761,-0.0045,0.08815513172239094,1.0,0.0,0.0,0.0,-0.0416628747531802,0.041482252975522944,0.9880542260396088,0.0027447024667313145,0.004649827354191243,0.0003350761694898857,0.15659442556927186,0.09452870281466516,0.7661184283987635,0.006342323089940996,-0.01346019449856098,-0.0007349571836659442,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1456314843727593,-0.12335023402110007,-0.521129260786281,0.5751371766970709,0.470617221967538,-0.07785369558836504,1.2030617141829325,0.9880542260396088,1.7241909749692135,1.7241909749692135,2.2398670799635934,0,0,-0.0003181449228603902,-8.45894562991944e-05
+7408,1792640780835432212,9321107000000,1792640780833004742,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760448919925576,-0.004589076870217776,0.08805718296794153,0.9999999832415627,3.8887300222573705e-05,-9.047096862214435e-05,0.00012354157404061397,0.6761,-0.0045,0.08802812763440258,1.0,0.0,0.0,0.0,-0.033923667106845634,0.04146914032283843,0.9880809776245802,0.00274454003805479,0.004649668701343366,0.00033601408488678904,0.16433363321560643,0.09451559016198065,0.766145179983735,0.0063421606612644715,-0.013460353151408857,-0.0007340192682690408,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.089605829419586,-0.21856693049369325,-0.5776935766170603,0.6053149050206665,0.48997290494060075,-0.13990835171166585,1.2030617141829325,0.9880809776245802,1.7807552907999928,1.7807552907999928,2.267307079963599,0,0,-0.00032901143759009175,-4.7512059590754066e-05
+7449,1792640781176449886,9321448000000,1792640781173005219,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.676042627925459,-0.004594889437605663,0.08793328627179359,0.9999999817230462,3.7709168414511484e-05,-9.664635718010144e-05,0.00013127936577766758,0.6761,-0.0045,0.08791431008869721,1.0,0.0,0.0,0.0,-0.03370398176482531,0.042157171521204954,1.0073369136587944,0.0027409815893888324,0.0046454590191439115,0.0003204653330679862,0.16455331855762675,0.09520362136034717,0.7854011160179492,0.006338602212598514,-0.013464562833608312,-0.0007495680200878437,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0731721073850815,-0.2554534370254367,-0.6032651279651043,0.6267620306789939,0.4993531331990449,-0.16228395526951733,1.2030617141829325,1.0073369136587944,1.806326842148037,1.806326842148037,2.291177079963604,0,0,-0.00033803776455884545,-1.3711130424762154e-05
+7489,1792640781510352321,9321782000000,1792640781505005568,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760406127148157,-0.0045967614966532675,0.08781846858892497,0.9999999820598418,3.1782858454641514e-05,-9.823335302785691e-05,0.00012908616919359565,0.6761,-0.0045,0.0877993920092955,1.0,0.0,0.0,0.0,-0.033663295414890354,0.041403825380271674,0.9880896347729794,0.0027445371032026387,0.004649668101517198,0.00033601759830666244,0.1645940049075617,0.09445027521941389,0.7661538371321341,0.00634215772641232,-0.013460353751235025,-0.0007340157548491674,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1030947395293054,-0.21530714443319043,-0.5807544242530602,0.6176711419688895,0.49062163397195213,-0.13510895687036145,1.2030617141829325,0.9880896347729794,1.7838161384359927,1.7838161384359927,2.314557079963609,0,0,-0.0003508759550366599,-9.999968494789897e-05
+7532,1792640781868446317,9322140000000,1792640781860995620,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760355901834876,-0.004601476299398637,0.08768440596381454,0.9999999815708386,2.1570275216604774e-05,-0.00010674670817025812,0.0001282226597489253,0.6761,-0.0045,0.08767147611323957,1.0,0.0,0.0,0.0,-0.033076210875479906,0.04146797483139348,0.9880820380733744,0.0027445263280489293,0.004649655263244155,0.0003360950048184421,0.16518108944697216,0.0945144246705357,0.7661462404325291,0.006342146951258611,-0.013460366589508069,-0.0007339383483373877,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0450105862168257,-0.27419870045536826,-0.6015779009398088,0.6411688777164989,0.4874666824090156,-0.17484830371724983,1.2030617141829325,0.9880820380733744,1.8046396151227413,1.8046396151227413,2.339617079963614,0,0,-0.00036510740123613946,-9.471539547950959e-05
+7573,1792640782210391019,9322482000000,1792640782208995434,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760360120534324,-0.004602870531158471,0.08756084020438393,0.9999999810785669,2.5552340990843464e-05,-0.00010628909836906447,0.00013166410220314664,0.6761,-0.0045,0.08754391310585558,1.0,0.0,0.0,0.0,-0.0336410747494397,0.041468950821556126,0.9880811513856534,0.002744537822221771,0.004649666288105311,0.00033602716167466294,0.16461622557301236,0.09451540066069834,0.7661453537448082,0.006342158445431453,-0.013460355564646913,-0.0007340061914811669,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0701492888658346,-0.23205713221608293,-0.5643154945624199,0.645058919577697,0.47140000381466113,-0.13995687544240004,1.2030617141829325,0.9880811513856534,1.7673772087453523,1.7673772087453523,2.363557079963619,0,0,-0.0003807602438024845,-9.999999025923074e-05
+7611,1792640782526346941,9322798000000,1792640782525004745,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760371297175409,-0.004605299383341393,0.08744079491637846,0.9999999804084249,3.105682099598925e-05,-0.0001044159573090744,0.0001369627548474623,0.6761,-0.0045,0.08742111436621586,1.0,0.0,0.0,0.0,-0.03365371252414559,0.03511668821185512,0.9780286922565418,0.002745510690263049,0.0046523662635543205,0.00034413746521487346,0.16460358779830647,0.08816313805099733,0.7560928946156965,0.0063431313134727305,-0.013457655589197903,-0.0007258958879409564,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.092158512996319,-0.27083742923509313,-0.47048489913430663,0.6623280353558292,0.4153369918419843,-0.16565667621715136,1.2030617141829325,0.9780286922565418,1.6735466133172392,1.6735466133172392,2.3856770799636235,0,0,-0.0003964976989887222,-9.999999025923074e-05
+7647,1792640782826340949,9323098000000,1792640782825004905,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760368070105067,-0.004607304012115803,0.0873221965932813,0.9999999806793727,2.8065579319500618e-05,-0.00010470634895839856,0.00013539949249298682,0.6761,-0.0045,0.08730025013851453,1.0,0.0,0.0,0.0,-0.04083262385874964,0.04111578112485841,0.9780354454226358,0.002746537165205638,0.004652002757542281,0.00034326986026475775,0.15742467646370242,0.09416223096400063,0.7560996477817905,0.00634415778841532,-0.013458019095209942,-0.0007267634928910721,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0344490112676754,-0.2725289544609208,-0.49180265058006056,0.6646361084327217,0.41167242390242254,-0.16816670748234488,1.2030617141829325,0.9780354454226358,1.694864364762993,1.694864364762993,2.406677079963628,0,0,-0.0004094287858150399,-9.999999025923074e-05
+7685,1792640783143440303,9323415000000,1792640783141005058,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760339205123421,-0.0046040480479010255,0.08718573505616871,0.9999999795030412,2.8657044930010437e-05,-0.00011086725972892959,0.00013901081327033802,0.6761,-0.0045,0.08716817705397656,1.0,0.0,0.0,0.0,-0.03305855088170204,0.04090891430501827,0.9780481938815789,0.002746423204783867,0.004651831661904339,0.00034420296418082085,0.16519874944075003,0.09395536414416049,0.7561123962407337,0.0063440438279935485,-0.013458190190847884,-0.000725830388975009,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0790830062918746,-0.19441111876898048,-0.4962922514569169,0.6472605117313487,0.4297351442779378,-0.11589619067418569,1.2030617141829325,0.9780481938815789,1.6993539656398493,1.6993539656398493,2.4288670799636325,0,0,-0.0004233383849403235,-9.999999025923074e-05
+7719,1792640783426370236,9323698000000,1792640783425005109,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760361990565441,-0.004580498822361195,0.08706983420022771,0.9999999797165836,4.706495893605401e-05,-0.00010295699953174479,0.00013854401025683043,0.6761,-0.0045,0.08704637714142989,1.0,0.0,0.0,0.0,-0.026117136123564477,0.06304696666027448,0.95843450248405,0.003772645865959936,0.0046355141555201596,0.00037242632616243617,0.17214016419888759,0.11609341649941671,0.7364987048432048,0.0073702664891696175,-0.013474507697232064,-0.0006976070269933937,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0515257499133193,-0.14944720202904233,-0.5246311222904982,0.627768724188032,0.4410872467483478,-0.0914068122293627,1.2030617141829325,0.95843450248405,1.7276928364734307,1.7276928364734307,2.4486770799636366,0,0,-0.0004374883821836858,-9.999999025923074e-05
+7752,1792640783701500586,9323973000000,1792640783701004748,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760349626996404,-0.0045734249878872325,0.08694659405214099,0.9999999788507905,5.1771475970862045e-05,-0.0001061411007493559,0.0001406949319296195,0.6761,-0.0045,0.08692418408669904,1.0,0.0,0.0,0.0,-0.025168572030333708,0.05666006920149987,0.9608324967116126,0.0047687439863950375,0.003604924720834339,0.0003671291525709959,0.17308872829211835,0.10970651904064209,0.7388966990707674,0.008366364609604719,-0.014505097131917884,-0.000702904200584834,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0331053448983483,-0.2152626235386325,-0.38665368980482107,0.6510954814780651,0.35168390898872687,-0.13356819362323571,1.2030617141829325,0.9608324967116126,1.5897154039877535,1.5897154039877535,2.4679270799636406,0,0,-0.00045123837950497423,-9.999999025923074e-05
+7785,1792640783976521328,9324248000000,1792640783969004709,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760332328528704,-0.0045672036127248645,0.08681711136174279,0.9999999784970478,5.775104616973526e-05,-0.00010883257382753196,0.00013881302521535002,0.6761,-0.0045,0.08679820978270483,1.0,0.0,0.0,0.0,-0.024982658230063653,0.055963796324636834,0.9590209642018274,0.004818703366566398,0.003604090326829599,0.0003678634210653758,0.1732746420923884,0.10901024616377905,0.7370851665609821,0.008416323989776079,-0.014505931525922625,-0.0007021699320904541,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.053406252856917,-0.2041396495728065,-0.44548900216436205,0.6501653235244678,0.3972914948770351,-0.12436908419233607,1.2030617141829325,0.9590209642018274,1.6485507163472946,1.6485507163472946,2.4871770799636446,0,0,-0.0004649883768262627,-9.999999025923074e-05
+7818,1792640784251528249,9324523000000,1792640784245004896,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760286054915098,-0.004575832034545076,0.08667968202860278,0.99999997669305,5.8603254677156034e-05,-0.00011801794961239552,0.00014385473983116853,0.6761,-0.0045,0.08666845422944727,1.0,0.0,0.0,0.0,-0.02521400593437237,0.05729611490613203,0.9589484601644196,0.004818899118303471,0.0036039942025632137,0.0003679082875654221,0.1730432943880797,0.11034256474527425,0.7370126625235743,0.008416519741513152,-0.01450602765018901,-0.0007021250655904077,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.023554075899485,-0.09067577154514224,-0.40620718891114976,0.6347239925448348,0.3670947259609389,-0.04579198155094194,1.2030617141829325,0.9589484601644196,1.6092689030940823,1.6092689030940823,2.5064270799636486,0,0,-0.00047873837414755114,-9.999999025923074e-05
+7848,1792640784501539690,9324773000000,1792640784501004785,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760297083446525,-0.004581914961711516,0.08656246351221655,0.9999999779177868,4.879867325643962e-05,-0.0001131621919344769,0.00014289960821030898,0.6761,-0.0045,0.086547213386216,1.0,0.0,0.0,0.0,-0.034622810578972735,0.0660641247935797,0.9585264218629624,0.004793986887688872,0.004616209026648593,0.0003801846733209299,0.16363448974347933,0.11911057463272193,0.7365906242221172,0.008391607510898553,-0.01349381282610363,-0.0006898486798348999,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.053192929681155,-0.12024775408125052,-0.4711597313506425,0.6405463145349866,0.41967487717672686,-0.06407012333970508,1.2030617141829325,0.9585264218629624,1.674221445533575,1.674221445533575,2.523927079963652,0,0,-0.0004912383717123589,-9.999999025923074e-05
+7881,1792640784776599490,9325048000000,1792640784772995884,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760268764965337,-0.004585409828785529,0.08642612390375934,0.9999999779985412,4.109282481370188e-05,-0.00011515669394571042,0.00014316458064356818,0.6761,-0.0045,0.08641023908436476,1.0,0.0,0.0,0.0,-0.025391819960558254,0.06982829546690697,0.9588449912118218,0.0048105022148229055,0.004005689054977729,0.00037742509762866516,0.1728654803618938,0.1228747453060492,0.7369091935709765,0.008408122838032587,-0.014104332797774495,-0.0006926082555271647,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.08541180325783,-0.17173652054585226,-0.49527710618493703,0.6489476681776938,0.4480589821269759,-0.10552895231406181,1.2030617141829325,0.9588449912118218,1.6983388203678695,1.6983388203678695,2.543177079963656,0,0,-0.0005049883690336473,-9.999999025923074e-05
+7911,1792640785026522952,9325298000000,1792640785020995861,DOWN_FORCE_DETACH,1,0.0352,0.03520258516073227,0.6760239566327021,-0.004589966613361069,0.08630022511231995,0.9999999777222409,3.405408907224692e-05,-0.00011760288573101871,0.00014494227333417038,0.6761,-0.0045,0.08628243574241197,1.0,0.0,0.0,0.0,-0.03028022730571661,0.06737045858520088,0.9488333830969599,0.004823045623182337,0.003606231777001508,0.0003786817405366179,0.16797707301673545,0.1204169084243431,0.7268975854561146,0.008420666246392018,-0.014503790075750716,-0.000691351612619212,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0803424850122754,-0.15828860885899967,-0.3760952748162673,0.6526679755440516,0.37180821994526453,-0.09525962362117567,1.2030617141829325,0.9488333830969599,1.5791569889991999,1.5791569889991999,2.56067707996366,0,0,-0.000517488366598455,-9.999999025923074e-05
+7941,1792640785276582864,9325548000000,1792640785272994749,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760359387576276,-0.004591566583467799,0.08617891250427973,0.9999999785601865,4.736657994836988e-05,-0.00010411460310715379,0.00014573622559772376,0.6761,-0.0045,0.08615150740106797,1.0,0.0,0.0,0.0,-0.03557330697135483,0.07740350688377612,0.9251196356326911,0.005821135566008197,0.004605521136772109,0.000424978684439606,0.16268399335109723,0.13044995672291834,0.7031838379918458,0.009418756189217878,-0.013504500715980115,-0.0006450546687162238,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0767059731367152,-0.15334629566259958,-0.2649207896756215,0.6598941000637307,0.3002777063060589,-0.08013050486026026,1.2030617141829325,0.9251196356326911,1.467982503858554,1.467982503858554,2.5781770799636634,0,0,-0.0005299883641632627,-9.999999025923074e-05
+7971,1792640785526591795,9325798000000,1792640785521004575,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.6760357338198909,-0.004593595556411599,0.0860457917922935,0.9999999778009862,6.098096457801142e-05,-0.0001006091217084063,0.00014832403136870283,0.6761,-0.0045,0.08601745406033277,1.0,0.0,0.0,0.0,-0.04436876420859939,0.07737778178383162,0.9190316955658682,0.005820967929231454,0.004606840924664917,0.0004250796798519358,0.15388853611385267,0.13042423162297384,0.6970958979250229,0.009418588552441135,-0.013503180928087307,-0.0006449536733038941,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0600417643234454,-0.11470940412268132,-0.26413577921544057,0.6499702489572203,0.2965109983663812,-0.05618836395863806,1.2030617141829325,0.9190316955658682,1.4671974933983731,1.4671974933983731,2.595677079963667,0,0,-0.0005424883617280704,-9.999999025923074e-05
+7997,1792640785743657321,9326015000000,1792640785741004817,DOWN_FORCE_DETACH,1,0.0352,0.03520192950963974,0.676031918844377,-0.004592224147274048,0.08592254204555269,0.9999999805683086,3.458135982599214e-05,-0.00010352718678239509,0.00013561894374867575,0.6761,-0.0045,0.08589856228606818,1.0,0.0,0.0,0.0,-0.02568578125647733,0.08591865668188178,0.9189684908389906,0.005460432157027259,0.004611519065617338,0.00042331947408353796,0.17257151906597473,0.138965106521024,0.6970326931981453,0.00905805278023694,-0.013498502787134886,-0.0006467138790722919,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.0888889320056145,-0.12696858846192646,-0.3946957149595315,0.6486345691651398,0.3914271301313968,-0.0684481847884056,1.2030617141829325,0.9189684908389906,1.5977574291424639,1.5977574291424639,2.61086707996367,0,0,-0.0005533383596143235,-9.999999025923074e-05
+8025,1792640785974669890,9326246000000,1792640785973004709,DOWN_SETTLE,1,0.0352,0.03520258516073227,0.67602754933414,-0.004597988969591901,0.08580326992235487,0.9999999784665295,3.6170209109225135e-05,-0.0001117058368771767,0.0001439559893284098,0.6761,-0.0045,0.08578988792735295,1.0,0.0,0.0,0.0,-0.03502174252791135,0.08209806141832304,0.8889941714443437,0.005777862436311829,0.004612786316071123,0.0004499324270318757,0.16323555779454071,0.13514451125746527,0.6670583738034984,0.00937548305952151,-0.0134972355366811,-0.0006201009261239542,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,1.1199254760610242,-0.15168839126967987,-0.20471802801057806,0.6516114472546234,0.2847357792780621,-0.08152659880785154,1.2030617141829325,0.8889941714443437,1.4077797421935105,0.0,0.0,0,0,-0.00021658647130515403,0.002187742134395495
+8121,1792640786774682314,9327046000000,1792640786773004489,DOWN_PEAK_HOLD,1,0.0352,0.03520258516073227,0.6760174097223931,-0.004588637742557018,0.08574277284300019,0.9999999763158097,4.745038270069565e-05,-0.00013136597568838353,0.0001389341067668824,0.6761,-0.0045,0.08576931277491741,1.0,0.0,0.0,0.0,-0.0421101936691983,0.06020100544700883,0.6674837917778806,0.004474617634938397,0.00469882272347367,0.0006051462870301394,0.15614710665325376,0.11324745528615104,0.44554799413703544,0.008072238258148078,-0.013411199129278554,-0.00046488706612569046,0.19825730032245206,0.053046449839142217,-0.22193579764084526,0.0035976206232096815,-0.018110021852752223,-0.0010700333531558298,1,0.9539052003759303,-0.1233509309851563,0.014524752961036239,0.6146075436110122,0.11366673696372587,-0.07518131156628438,1.2030617141829325,0.6674837917778806,1.1885369612218963,0.0,0.0,0,0,0.0,0.0

Fixed/s1/ball_PLA_10/press_depth_01/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792640752926993853,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.293639083e-09,4.521943028e-10,3.101304991e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017258683e-01,1.837630552e-06,8.297808079e-01
+1,7.666666667e-01,DOWN_FORCE_DETACH,1792640754068614278,2.433503627e-06,2.128515252e-06,3.228430951e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.178969032e-07,9.532665166e-09,6.475118342e-08,7.015403050e-01,3.679476573e-06,8.407441696e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259809e-01,1.846711023e-06,8.297808696e-01
+2,1.333333333e+00,DOWN_FORCE_DETACH,1792640754940259003,-9.508435781e-07,-7.166397216e-07,-6.118414833e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.354113294e-07,1.076262225e-08,7.275859171e-08,7.015369206e-01,8.343215995e-07,8.407348228e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259984e-01,1.847940980e-06,8.297808776e-01
+3,1.933333333e+00,DOWN_FORCE_DETACH,1792640755910225517,3.109846303e-08,-1.641799303e-06,-2.662732141e-05,1.484056840e-07,3.175185446e-06,-2.194727773e-05,1.832650591e-07,3.191387349e-06,-2.172303431e-05,7.015379026e-01,-9.083798155e-08,8.407143139e-01,7.015380199e-01,4.726146767e-06,8.407189939e-01,7.017260463e-01,5.028565707e-06,8.297590818e-01
+4,2.583333333e+00,DOWN_FORCE_DETACH,1792640756888168664,3.472460503e-06,-3.409924785e-06,-5.039127679e-05,-7.037058910e-07,-4.093625924e-06,-4.175163508e-05,-7.708768224e-07,-4.054532599e-06,-4.155620979e-05,7.015413439e-01,-1.858963464e-06,8.406905499e-01,7.015371678e-01,-2.542664603e-06,8.406991896e-01,7.017250921e-01,-2.217354241e-06,8.297392486e-01
+5,3.150000000e+00,DOWN_FORCE_DETACH,1792640757741281814,5.087832136e-06,-6.766217635e-06,-7.365591499e-05,3.026598829e-06,-8.028002089e-06,-6.093863708e-05,3.007156288e-06,-7.972493913e-06,-6.076019147e-05,7.015429593e-01,-5.215256314e-06,8.406672853e-01,7.015408981e-01,-6.477040768e-06,8.406800026e-01,7.017288702e-01,-6.135315555e-06,8.297200446e-01
+6,3.683333333e+00,DOWN_FORCE_DETACH,1792640758541634806,1.094571736e-05,-3.642666604e-06,-9.798296656e-05,6.041579458e-06,-4.297673560e-06,-8.096315853e-05,6.060625176e-06,-4.281530240e-06,-8.076874107e-05,7.015488172e-01,-2.091705283e-06,8.406429582e-01,7.015439131e-01,-2.746712239e-06,8.406599780e-01,7.017319236e-01,-2.444351883e-06,8.297000361e-01
+7,4.333333333e+00,DOWN_FORCE_DETACH,1792640759547491113,1.735291986e-05,-7.077663090e-06,-1.322502163e-04,1.169388758e-05,-7.251418999e-06,-1.247121236e-04,1.172701636e-05,-7.207786106e-06,-1.244482185e-04,7.015552244e-01,-5.526701769e-06,8.406086910e-01,7.015495654e-01,-5.700457678e-06,8.406162291e-01,7.017375900e-01,-5.370607748e-06,8.296563566e-01
+8,4.933333333e+00,DOWN_FORCE_DETACH,1792640760449493409,2.163757307e-05,-9.517782801e-06,-1.669000983e-04,2.207430030e-05,-4.352145209e-06,-1.630708113e-04,2.228282589e-05,-4.288905724e-06,-1.627064690e-04,7.015595091e-01,-7.966821480e-06,8.405740411e-01,7.015599458e-01,-2.801183888e-06,8.405778704e-01,7.017481458e-01,-2.451727367e-06,8.296180983e-01
+9,5.616666667e+00,DOWN_FORCE_DETACH,1792640761471962538,2.392261830e-05,-1.384373594e-05,-2.158450880e-04,2.384459741e-05,-7.914185086e-06,-2.039156174e-04,2.404843890e-05,-7.836950370e-06,-2.036088178e-04,7.015617941e-01,-1.229277462e-05,8.405250961e-01,7.015617161e-01,-6.363223765e-06,8.405370256e-01,7.017499114e-01,-5.999772012e-06,8.295771960e-01
+10,6.116666667e+00,DOWN_FORCE_DETACH,1792640762223314482,2.849043982e-05,-1.238727705e-05,-2.448575235e-04,2.831496503e-05,-1.241583908e-05,-2.447478649e-04,2.854695643e-05,-1.232749469e-05,-2.442236365e-04,7.015663619e-01,-1.083631573e-05,8.404960837e-01,7.015661864e-01,-1.086487776e-05,8.404961933e-01,7.017544100e-01,-1.049031633e-05,8.295365812e-01
+11,6.650000000e+00,DOWN_FORCE_DETACH,1792640763021009738,3.382891750e-05,-1.172797260e-05,-2.802356950e-04,3.481954555e-05,-1.194716342e-05,-2.654111446e-04,3.517601384e-05,-1.186394620e-05,-2.650743394e-04,7.015717004e-01,-1.017701128e-05,8.404607055e-01,7.015726910e-01,-1.039620210e-05,8.404755300e-01,7.017610390e-01,-1.002676784e-05,8.295157305e-01
+12,7.183333333e+00,DOWN_FORCE_DETACH,1792640763807088408,3.809313176e-05,-8.097642715e-06,-3.185758169e-04,3.735786605e-05,-4.046419378e-06,-3.009451207e-04,3.767000984e-05,-3.979816794e-06,-3.006133955e-04,7.015759646e-01,-6.546681394e-06,8.404223654e-01,7.015752293e-01,-2.495458057e-06,8.404399961e-01,7.017635330e-01,-2.142638436e-06,8.294801914e-01
+13,7.716666667e+00,DOWN_FORCE_DETACH,1792640764606384786,4.304875924e-05,-1.138493124e-05,-3.567304084e-04,4.228073429e-05,-9.367779725e-06,-3.453540647e-04,4.254242243e-05,-9.250151459e-06,-3.449401751e-04,7.015809202e-01,-9.833969924e-06,8.403842108e-01,7.015801522e-01,-7.816818404e-06,8.403955871e-01,7.017684054e-01,-7.412973101e-06,8.294358646e-01
+14,8.383333333e+00,DOWN_FORCE_DETACH,1792640765606412688,4.831563700e-05,-1.522633592e-05,-4.105242661e-04,4.801769609e-05,-1.526275090e-05,-4.104533131e-04,4.814044344e-05,-1.512682488e-05,-4.098453131e-04,7.015861871e-01,-1.367537460e-05,8.403304169e-01,7.015858892e-01,-1.371178958e-05,8.403304879e-01,7.017740034e-01,-1.328964652e-05,8.293709595e-01
+15,9.000000000e+00,DOWN_FORCE_DETACH,1792640766536602223,5.286569738e-05,-1.533316558e-05,-4.604268679e-04,5.356280105e-05,-1.330149385e-05,-4.531291851e-04,5.368009645e-05,-1.315985554e-05,-4.526270782e-04,7.015907372e-01,-1.378220426e-05,8.402805143e-01,7.015914343e-01,-1.175053253e-05,8.402878120e-01,7.017795431e-01,-1.132267718e-05,8.293281777e-01
+16,9.433333333e+00,DOWN_FORCE_DETACH,1792640767178594139,5.571617780e-05,-1.466530976e-05,-4.979554765e-04,5.512763836e-05,-1.224471048e-05,-4.937370341e-04,5.504127274e-05,-1.214048180e-05,-4.932270415e-04,7.015935877e-01,-1.311434844e-05,8.402429857e-01,7.015929991e-01,-1.069374916e-05,8.402472042e-01,7.017809043e-01,-1.030330344e-05,8.292875778e-01
+17,9.983333333e+00,DOWN_FORCE_DETACH,1792640768007526240,5.897242886e-05,-1.720417925e-05,-5.433539702e-04,5.905773028e-05,-1.717368177e-05,-5.391043957e-04,5.895698211e-05,-1.704950595e-05,-5.386132207e-04,7.015968439e-01,-1.565321793e-05,8.401975872e-01,7.015969292e-01,-1.562272045e-05,8.402018368e-01,7.017848200e-01,-1.521232760e-05,8.292421916e-01
+18,1.051666667e+01,DOWN_FORCE_DETACH,1792640768807179895,6.211313917e-05,-1.911935137e-05,-5.952230282e-04,5.969555809e-05,-1.475571502e-05,-5.809685673e-04,5.948414727e-05,-1.466429433e-05,-5.805080411e-04,7.015999846e-01,-1.756839005e-05,8.401457182e-01,7.015975670e-01,-1.320475370e-05,8.401599726e-01,7.017853471e-01,-1.282711597e-05,8.292002968e-01
+19,1.103333333e+01,DOWN_FORCE_DETACH,1792640769578689133,6.517177003e-05,-1.782115932e-05,-6.491876388e-04,6.289043038e-05,-1.712107245e-05,-6.476314143e-04,6.255066491e-05,-1.707446499e-05,-6.469286616e-04,7.016030433e-01,-1.627019800e-05,8.400917535e-01,7.016007619e-01,-1.557011113e-05,8.400933098e-01,7.017884137e-01,-1.523728664e-05,8.291338761e-01
+20,1.155000000e+01,DOWN_FORCE_DETACH,1792640770357435884,6.705331810e-05,-1.724435836e-05,-7.177136213e-04,6.324936384e-05,-1.841027988e-05,-7.128755063e-04,6.274001646e-05,-1.842095079e-05,-7.120583829e-04,7.016049248e-01,-1.569339704e-05,8.400232276e-01,7.016011208e-01,-1.685931856e-05,8.400280657e-01,7.017886030e-01,-1.658377243e-05,8.290687464e-01
+21,1.203333333e+01,DOWN_FORCE_DETACH,1792640771078865235,6.549242365e-05,-1.963969793e-05,-7.904571615e-04,6.379915725e-05,-1.632639677e-05,-7.785365794e-04,6.307491000e-05,-1.638780081e-05,-7.776598773e-04,7.016033639e-01,-1.808873661e-05,8.399504840e-01,7.016016706e-01,-1.477543545e-05,8.399624046e-01,7.017889379e-01,-1.455062245e-05,8.290031449e-01
+22,1.251666667e+01,DOWN_FORCE_DETACH,1792640771807183716,6.675008457e-05,-1.890403589e-05,-8.660245046e-04,6.650757905e-05,-1.886560776e-05,-8.659561310e-04,6.555110541e-05,-1.897118703e-05,-8.650358869e-04,7.016046216e-01,-1.735307456e-05,8.398749167e-01,7.016043791e-01,-1.731464644e-05,8.398749851e-01,7.017914141e-01,-1.713400867e-05,8.289157689e-01
+23,1.293333333e+01,DOWN_FORCE_DETACH,1792640772436569892,6.594216595e-05,-1.955112052e-05,-9.412959347e-04,6.497574823e-05,-1.952960931e-05,-9.276306171e-04,6.373430716e-05,-1.961822930e-05,-9.271160666e-04,7.016038136e-01,-1.800015920e-05,8.397996453e-01,7.016028472e-01,-1.797864799e-05,8.398133106e-01,7.017895973e-01,-1.778105094e-05,8.288536887e-01
+24,1.336666667e+01,DOWN_FORCE_DETACH,1792640773078015987,6.560201095e-05,-2.390495916e-05,-1.028828159e-03,6.680850506e-05,-2.293531340e-05,-1.017857236e-03,6.534506022e-05,-2.296306198e-05,-1.017425144e-03,7.016034735e-01,-2.235399784e-05,8.397121130e-01,7.016046800e-01,-2.138435208e-05,8.397230840e-01,7.017912081e-01,-2.112588362e-05,8.287633797e-01
+25,1.378333333e+01,DOWN_FORCE_DETACH,1792640773707452182,6.791887082e-05,-1.975957023e-05,-1.117280609e-03,6.646314547e-05,-2.280196635e-05,-1.110061384e-03,6.470284792e-05,-2.275689975e-05,-1.109523693e-03,7.016057904e-01,-1.820860891e-05,8.396236606e-01,7.016043346e-01,-2.125100503e-05,8.396308798e-01,7.017905658e-01,-2.091972139e-05,8.286712811e-01
+26,1.416666667e+01,DOWN_FORCE_DETACH,1792640774351687241,6.814230217e-05,-2.383588162e-05,-1.220998249e-03,6.819753059e-05,-2.545281468e-05,-1.208994817e-03,6.607914676e-05,-2.535114547e-05,-1.208207003e-03,7.016060138e-01,-2.228492030e-05,8.395199429e-01,7.016060690e-01,-2.390185336e-05,8.395319464e-01,7.017919421e-01,-2.351396711e-05,8.285725978e-01
+27,1.456666667e+01,DOWN_FORCE_DETACH,1792640774947092064,6.750215553e-05,-3.010829758e-05,-1.321774690e-03,6.532240979e-05,-2.773272788e-05,-1.303536871e-03,6.285877782e-05,-2.756282055e-05,-1.302761620e-03,7.016053736e-01,-2.855733626e-05,8.394191665e-01,7.016031939e-01,-2.618176656e-05,8.394374043e-01,7.017887218e-01,-2.572564219e-05,8.284780432e-01
+28,1.491666667e+01,DOWN_FORCE_DETACH,1792640775475932251,6.902445204e-05,-3.633550669e-05,-1.426021411e-03,6.830033775e-05,-3.349924057e-05,-1.408428701e-03,6.549253151e-05,-3.329977882e-05,-1.407478222e-03,7.016068959e-01,-3.478454537e-05,8.393149198e-01,7.016061718e-01,-3.194827925e-05,8.393325125e-01,7.017913555e-01,-3.146260046e-05,8.283733266e-01
+29,1.526666667e+01,DOWN_FORCE_DETACH,1792640776005188067,7.236311228e-05,-3.367367726e-05,-1.525820691e-03,7.347662264e-05,-3.493894206e-05,-1.511103171e-03,7.042503813e-05,-3.472991971e-05,-1.510118362e-03,7.016102346e-01,-3.212271594e-05,8.392151205e-01,7.016113481e-01,-3.338798074e-05,8.392298380e-01,7.017962880e-01,-3.289274136e-05,8.282706864e-01
+30,1.563333333e+01,DOWN_FORCE_DETACH,1792640776549262534,7.485377565e-05,-3.713394754e-05,-1.634248143e-03,7.077466853e-05,-3.523531096e-05,-1.623654571e-03,6.712336486e-05,-3.501605931e-05,-1.622675379e-03,7.016127253e-01,-3.558298622e-05,8.391066930e-01,7.016086461e-01,-3.368434964e-05,8.391172866e-01,7.017929864e-01,-3.317888095e-05,8.281581294e-01
+31,1.593333333e+01,DOWN_FORCE_DETACH,1792640777004681010,6.539801512e-05,-4.229431660e-05,-1.755896037e-03,6.552243849e-05,-4.320844720e-05,-1.740392833e-03,6.124448027e-05,-4.298038745e-05,-1.739208469e-03,7.016032695e-01,-4.074335528e-05,8.389850452e-01,7.016033939e-01,-4.165748588e-05,8.390005484e-01,7.017871075e-01,-4.114320909e-05,8.280415963e-01
+32,1.623333333e+01,DOWN_FORCE_DETACH,1792640777445546004,6.366500932e-05,-4.911745049e-05,-1.858626265e-03,6.242154875e-05,-5.053588738e-05,-1.844953470e-03,5.747404199e-05,-5.023176832e-05,-1.843864688e-03,7.016015365e-01,-4.756648917e-05,8.388823149e-01,7.016002930e-01,-4.898492606e-05,8.388959877e-01,7.017833370e-01,-4.839458996e-05,8.279369401e-01
+33,1.655000000e+01,DOWN_FORCE_DETACH,1792640777926994182,6.213571573e-05,-5.188448212e-05,-1.978869471e-03,6.041011032e-05,-5.141039817e-05,-1.967819212e-03,5.491439112e-05,-5.117450934e-05,-1.966623872e-03,7.016000072e-01,-5.033352080e-05,8.387620717e-01,7.015982816e-01,-4.985943685e-05,8.387731220e-01,7.017807774e-01,-4.933733098e-05,8.278141809e-01
+34,1.685000000e+01,DOWN_FORCE_DETACH,1792640778375425019,6.459877392e-05,-5.644266221e-05,-2.093083031e-03,6.423896853e-05,-5.637602244e-05,-2.092923011e-03,5.824059322e-05,-5.615640483e-05,-2.091714143e-03,7.016024703e-01,-5.489170089e-05,8.386478582e-01,7.016021104e-01,-5.482506112e-05,8.386480182e-01,7.017841036e-01,-5.431922648e-05,8.276890907e-01
+35,1.716666667e+01,DOWN_FORCE_DETACH,1792640778846435330,6.388080281e-05,-6.085718738e-05,-2.212873698e-03,6.319934003e-05,-5.701245557e-05,-2.203736096e-03,5.680098706e-05,-5.678067382e-05,-2.202821087e-03,7.016017523e-01,-5.930622606e-05,8.385280675e-01,7.016010708e-01,-5.546149425e-05,8.385372051e-01,7.017826640e-01,-5.494349546e-05,8.275779837e-01
+36,1.746666667e+01,DOWN_FORCE_DETACH,1792640779305226550,6.268359092e-05,-6.324716697e-05,-2.341918367e-03,6.240843099e-05,-6.348804432e-05,-2.324327946e-03,5.560137425e-05,-6.323161790e-05,-2.323404307e-03,7.016005551e-01,-6.169620565e-05,8.383990228e-01,7.016002799e-01,-6.193708300e-05,8.384166132e-01,7.017814644e-01,-6.139443955e-05,8.274574005e-01
+37,1.773333333e+01,DOWN_FORCE_DETACH,1792640779705091162,6.197052232e-05,-6.687633595e-05,-2.458635913e-03,6.248293524e-05,-6.569986208e-05,-2.454578010e-03,5.517048387e-05,-6.542514977e-05,-2.453410259e-03,7.015998420e-01,-6.532537463e-05,8.382823053e-01,7.016003544e-01,-6.414890076e-05,8.382863632e-01,7.017810335e-01,-6.358797142e-05,8.273273945e-01
+38,1.798333333e+01,DOWN_FORCE_DETACH,1792640780074966003,6.165219974e-05,-7.109415205e-05,-2.572130068e-03,6.175583791e-05,-7.137422365e-05,-2.571770001e-03,5.407058794e-05,-7.106154769e-05,-2.570487698e-03,7.015995237e-01,-6.954319073e-05,8.381688111e-01,7.015996273e-01,-6.982326232e-05,8.381691712e-01,7.017799336e-01,-6.922436933e-05,8.272103171e-01
+39,1.823333333e+01,DOWN_FORCE_DETACH,1792640780446335396,6.344466969e-05,-7.524458355e-05,-2.684702609e-03,6.132208351e-05,-7.185510267e-05,-2.674885433e-03,5.325370922e-05,-7.144263322e-05,-2.673824731e-03,7.016013162e-01,-7.369362223e-05,8.380562386e-01,7.015991936e-01,-7.030414135e-05,8.380660558e-01,7.017791167e-01,-6.960545487e-05,8.271069801e-01
+40,1.846666667e+01,DOWN_FORCE_DETACH,1792640780837928422,6.158832482e-05,-7.456927768e-05,-2.814805776e-03,6.142984504e-05,-7.461711222e-05,-2.814437624e-03,5.292756348e-05,-7.409801017e-05,-2.813288283e-03,7.015994598e-01,-7.301831636e-05,8.379261354e-01,7.015993013e-01,-7.306615090e-05,8.379265036e-01,7.017787906e-01,-7.226083181e-05,8.269675165e-01
+41,1.870000000e+01,DOWN_FORCE_DETACH,1792640781177672147,5.580052822e-05,-8.173226828e-05,-2.938033819e-03,5.571498917e-05,-8.195650209e-05,-2.937734718e-03,4.671696579e-05,-8.151577324e-05,-2.936687828e-03,7.015936720e-01,-8.018130696e-05,8.378029074e-01,7.015935865e-01,-8.040554077e-05,8.378032065e-01,7.017725800e-01,-7.967859488e-05,8.268441170e-01
+42,1.891666667e+01,DOWN_FORCE_DETACH,1792640781507111541,5.612511015e-05,-8.344925385e-05,-3.054036166e-03,5.577285336e-05,-8.322200658e-05,-3.053907683e-03,4.630880686e-05,-8.283990561e-05,-3.052848741e-03,7.015939966e-01,-8.189829253e-05,8.376869050e-01,7.015936443e-01,-8.167104526e-05,8.376870335e-01,7.017721718e-01,-8.100272725e-05,8.267279561e-01
+43,1.913333333e+01,DOWN_FORCE_DETACH,1792640781865091148,5.303091910e-05,-8.204105413e-05,-3.185732896e-03,5.261043341e-05,-8.659305214e-05,-3.169857580e-03,4.272534872e-05,-8.621665731e-05,-3.168903567e-03,7.015909024e-01,-8.049009281e-05,8.375552083e-01,7.015904819e-01,-8.504209082e-05,8.375710836e-01,7.017685883e-01,-8.437947896e-05,8.266119012e-01
+44,1.936666667e+01,DOWN_FORCE_DETACH,1792640782206141343,5.078350796e-05,-8.998745193e-05,-3.310997609e-03,5.274439778e-05,-8.795111285e-05,-3.298374863e-03,4.239479867e-05,-8.762978078e-05,-3.297486597e-03,7.015886550e-01,-8.843649061e-05,8.374299436e-01,7.015906159e-01,-8.640015153e-05,8.374425663e-01,7.017682578e-01,-8.579260242e-05,8.264833182e-01
+45,1.958333333e+01,DOWN_FORCE_DETACH,1792640782525866555,5.325854851e-05,-8.846541473e-05,-3.431735602e-03,5.135340885e-05,-8.993955826e-05,-3.423976712e-03,4.050902454e-05,-8.967434067e-05,-3.423118473e-03,7.015911300e-01,-8.691445341e-05,8.373092056e-01,7.015892249e-01,-8.838859694e-05,8.373169645e-01,7.017663720e-01,-8.783716232e-05,8.263576863e-01
+46,1.978333333e+01,DOWN_FORCE_DETACH,1792640782829125429,5.231940584e-05,-9.399176931e-05,-3.550308162e-03,4.918971572e-05,-8.826296639e-05,-3.536401862e-03,3.788546883e-05,-8.810133791e-05,-3.535599556e-03,7.015901909e-01,-9.244080799e-05,8.371906330e-01,7.015870612e-01,-8.671200507e-05,8.372045393e-01,7.017637485e-01,-8.626415955e-05,8.262452052e-01
+47,2.000000000e+01,DOWN_FORCE_DETACH,1792640783145467144,4.995694835e-05,-8.953029198e-05,-3.684753983e-03,4.915713643e-05,-9.267521772e-05,-3.668080311e-03,3.744778119e-05,-9.262459553e-05,-3.667144893e-03,7.015878284e-01,-8.797933066e-05,8.370561872e-01,7.015870286e-01,-9.112425639e-05,8.370728609e-01,7.017633108e-01,-9.078741717e-05,8.261136599e-01
+48,2.018333333e+01,DOWN_FORCE_DETACH,1792640783424753727,5.171145188e-05,-6.718657956e-05,-3.802670555e-03,5.171578882e-05,-6.707044118e-05,-3.802429871e-03,3.962471449e-05,-6.713210790e-05,-3.801211874e-03,7.015895829e-01,-6.563561824e-05,8.369382706e-01,7.015895873e-01,-6.551947986e-05,8.369385113e-01,7.017654877e-01,-6.529492954e-05,8.259795929e-01
+49,2.036666667e+01,DOWN_FORCE_DETACH,1792640783705148614,4.970216140e-05,-5.700712765e-05,-3.930491737e-03,4.964247743e-05,-5.720507880e-05,-3.930359776e-03,3.706547109e-05,-5.716515373e-05,-3.929248313e-03,7.015875736e-01,-5.545616633e-05,8.368104495e-01,7.015875140e-01,-5.565411748e-05,8.368105814e-01,7.017629285e-01,-5.532797537e-05,8.258515565e-01
+50,2.055000000e+01,DOWN_FORCE_DETACH,1792640783975970277,5.004005932e-05,-5.811776816e-05,-4.055998598e-03,4.985238710e-05,-5.825926046e-05,-4.055893580e-03,3.675291324e-05,-5.802460988e-05,-4.055088056e-03,7.015879115e-01,-5.656680684e-05,8.366849426e-01,7.015877239e-01,-5.670829913e-05,8.366850476e-01,7.017626159e-01,-5.618743153e-05,8.257257167e-01
+51,2.073333333e+01,DOWN_FORCE_DETACH,1792640784248705865,4.398061732e-05,-6.651367786e-05,-4.192145975e-03,4.411317348e-05,-6.652656755e-05,-4.182109180e-03,3.036362370e-05,-6.620512712e-05,-4.181544113e-03,7.015818521e-01,-6.496271654e-05,8.365487952e-01,7.015819847e-01,-6.497560623e-05,8.365588320e-01,7.017562266e-01,-6.436794876e-05,8.255992607e-01
+52,2.090000000e+01,DOWN_FORCE_DETACH,1792640784505239821,4.605933158e-05,-6.952916917e-05,-4.311444348e-03,4.601833552e-05,-6.914572765e-05,-4.298033553e-03,3.182088818e-05,-6.887294450e-05,-4.297736806e-03,7.015839308e-01,-6.797820784e-05,8.364294968e-01,7.015838898e-01,-6.759476633e-05,8.364429076e-01,7.017576839e-01,-6.703576614e-05,8.254830680e-01
+53,2.108333333e+01,DOWN_FORCE_DETACH,1792640784778352614,4.307482029e-05,-7.357591303e-05,-4.447259983e-03,4.354656894e-05,-6.873104116e-05,-4.434252990e-03,2.874704892e-05,-6.848443963e-05,-4.434118153e-03,7.015809463e-01,-7.202495171e-05,8.362936812e-01,7.015814181e-01,-6.718007984e-05,8.363066882e-01,7.017546100e-01,-6.664726127e-05,8.253466866e-01
+54,2.125000000e+01,DOWN_FORCE_DETACH,1792640785027053010,4.132009305e-05,-7.190503957e-05,-4.567307480e-03,4.134169854e-05,-7.244443525e-05,-4.547928025e-03,2.597519778e-05,-7.219204991e-05,-4.547986034e-03,7.015791916e-01,-7.035407825e-05,8.361736337e-01,7.015792132e-01,-7.089347392e-05,8.361930132e-01,7.017518382e-01,-7.035487155e-05,8.252328188e-01
+55,2.141666667e+01,DOWN_FORCE_DETACH,1792640785274797531,5.540545417e-05,-7.887774697e-05,-4.686036840e-03,5.005931688e-05,-7.651776867e-05,-4.673005521e-03,3.444244554e-05,-7.626905357e-05,-4.673146141e-03,7.015932769e-01,-7.732678565e-05,8.360549043e-01,7.015879308e-01,-7.496680735e-05,8.360679357e-01,7.017603054e-01,-7.443187521e-05,8.251076587e-01
+56,2.158333333e+01,DOWN_FORCE_DETACH,1792640785524783492,5.016839237e-05,-7.783882236e-05,-4.823837919e-03,5.096841079e-05,-8.330615615e-05,-4.814696118e-03,3.491106015e-05,-8.311467555e-05,-4.814767152e-03,7.015880399e-01,-7.628786104e-05,8.359171033e-01,7.015888399e-01,-8.175519483e-05,8.359262451e-01,7.017607741e-01,-8.127749719e-05,8.249660377e-01
+57,2.173333333e+01,DOWN_FORCE_DETACH,1792640785744695335,4.757302131e-05,-8.063863112e-05,-4.947093274e-03,4.126272404e-05,-7.647587690e-05,-4.937111048e-03,2.448639416e-05,-7.644056004e-05,-4.937434173e-03,7.015854445e-01,-7.908766980e-05,8.357938479e-01,7.015791342e-01,-7.492491558e-05,8.358038301e-01,7.017503494e-01,-7.460338169e-05,8.248433706e-01
+58,2.188333333e+01,DOWN_SETTLE,1792640785977676833,4.206127472e-05,-8.768921170e-05,-5.072048807e-03,4.200719280e-05,-8.761319742e-05,-5.071585059e-03,2.480731756e-05,-8.774101283e-05,-5.071872802e-03,7.015799328e-01,-8.613825038e-05,8.356688924e-01,7.015798787e-01,-8.606223610e-05,8.356693561e-01,7.017506703e-01,-8.590383447e-05,8.247089320e-01
+59,2.241666667e+01,DOWN_PEAK_HOLD,1792640786776410703,3.006305104e-05,-6.984859307e-05,-5.132622682e-03,3.061497298e-05,-7.333129177e-05,-5.130852330e-03,1.286936729e-05,-7.352593551e-05,-5.131387730e-03,7.015679345e-01,-6.829763175e-05,8.356083185e-01,7.015684865e-01,-7.178033045e-05,8.356100889e-01,7.017387324e-01,-7.168875715e-05,8.246494171e-01

Fixed/s1/ball_PLA_10/press_depth_01/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,7.9392e-03,3.0625e-03,2.4601e+00,-3.7020e-02,3.7336e-02,-5.3783e-05,2.5522e-04,8.4641e-06,1.5092e-04,-1.0207e-06,1.7956e-05,-2.6172e-07,2.9662e-04,1.7987e-05
+1,7.6667e-01,DOWN_FORCE_DETACH,1.3208e-04,1.3487e-02,3.2867e-03,2.4632e+00,-3.7044e-02,3.7729e-02,-5.7149e-05,5.8033e-03,2.3263e-04,3.2012e-03,-2.5045e-05,4.1031e-04,-3.6283e-06,6.6317e-03,4.1109e-04
+2,1.3333e+00,DOWN_FORCE_DETACH,2.6510e-04,1.4332e-02,3.3084e-03,2.4636e+00,-3.7045e-02,3.7788e-02,-5.7046e-05,6.6477e-03,2.5440e-04,3.5870e-03,-2.6859e-05,4.7015e-04,-3.5252e-06,7.5580e-03,4.7093e-04
+3,1.9333e+00,DOWN_FORCE_DETACH,3.9734e-04,1.4604e-02,2.1558e-03,2.4735e+00,-3.6965e-02,3.7803e-02,-5.7346e-05,6.9199e-03,-8.9826e-04,1.3495e-02,5.3294e-05,4.8428e-04,-3.8253e-06,1.5192e-02,4.8722e-04
+4,2.5833e+00,DOWN_FORCE_DETACH,5.3123e-04,1.5355e-02,4.8480e-03,2.4719e+00,-3.7151e-02,3.7854e-02,-5.1163e-05,7.6715e-03,1.7940e-03,1.1936e-02,-1.3294e-04,5.3573e-04,2.3578e-06,1.4302e-02,5.5198e-04
+5,3.1500e+00,DOWN_FORCE_DETACH,6.6608e-04,1.4714e-02,6.2017e-03,2.4712e+00,-3.7241e-02,3.7809e-02,-4.5574e-05,7.0303e-03,3.1477e-03,1.1255e-02,-2.2258e-04,4.9032e-04,7.9466e-06,1.3639e-02,5.3854e-04
+6,3.6833e+00,DOWN_FORCE_DETACH,7.9706e-04,1.5515e-02,4.6330e-03,2.4706e+00,-3.7125e-02,3.7865e-02,-4.0136e-05,7.8315e-03,1.5789e-03,1.0654e-02,-1.0635e-04,5.4679e-04,1.3384e-05,1.3317e-02,5.5720e-04
+7,4.3333e+00,DOWN_FORCE_DETACH,9.3247e-04,1.6830e-02,5.9936e-03,2.4756e+00,-3.7210e-02,3.7955e-02,-2.3923e-05,9.1459e-03,2.9396e-03,1.5589e-02,-1.9187e-04,6.3697e-04,2.9597e-05,1.8311e-02,6.6590e-04
+8,4.9333e+00,DOWN_FORCE_DETACH,1.0636e-03,1.7416e-02,5.7441e-03,2.4750e+00,-3.7179e-02,3.7999e-02,-2.5865e-06,9.7321e-03,2.6901e-03,1.4973e-02,-1.6031e-04,6.8075e-04,5.0934e-05,1.8060e-02,7.0122e-04
+9,5.6167e+00,DOWN_FORCE_DETACH,1.2001e-03,2.0427e-02,7.0537e-03,2.4772e+00,-3.7257e-02,3.8210e-02,2.4031e-05,1.2743e-02,3.9997e-03,1.7240e-02,-2.3841e-04,8.9206e-04,7.7552e-05,2.1808e-02,9.2662e-04
+10,6.1167e+00,DOWN_FORCE_DETACH,1.3319e-03,2.1838e-02,8.6804e-03,2.4728e+00,-3.7363e-02,3.8311e-02,4.2475e-05,1.4154e-02,5.6264e-03,1.2769e-02,-3.4430e-04,9.9284e-04,9.5996e-05,1.9876e-02,1.0552e-03
+11,6.6500e+00,DOWN_FORCE_DETACH,1.4649e-03,2.0349e-02,9.0580e-03,2.4766e+00,-3.7385e-02,3.8206e-02,5.6231e-05,1.2665e-02,6.0040e-03,1.6626e-02,-3.6638e-04,8.8739e-04,1.0975e-04,2.1745e-02,9.6631e-04
+12,7.1833e+00,DOWN_FORCE_DETACH,1.5978e-03,2.1424e-02,6.2748e-03,2.4763e+00,-3.7189e-02,3.8280e-02,6.5119e-05,1.3740e-02,3.2207e-03,1.6343e-02,-1.7036e-04,9.6140e-04,1.1864e-04,2.1593e-02,9.8356e-04
+13,7.7167e+00,DOWN_FORCE_DETACH,1.7309e-03,2.0769e-02,8.1423e-03,2.4792e+00,-3.7322e-02,3.8233e-02,7.5999e-05,1.3085e-02,5.0883e-03,1.9182e-02,-3.0318e-04,9.1484e-04,1.2952e-04,2.3771e-02,9.7243e-04
+14,8.3833e+00,DOWN_FORCE_DETACH,1.8647e-03,1.9946e-02,8.3485e-03,2.4768e+00,-3.7344e-02,3.8175e-02,8.5811e-05,1.2262e-02,5.2944e-03,1.6785e-02,-3.2500e-04,8.5668e-04,1.3933e-04,2.1450e-02,9.2679e-04
+15,9.0000e+00,DOWN_FORCE_DETACH,1.9937e-03,1.7500e-02,9.4987e-03,2.4807e+00,-3.7432e-02,3.8002e-02,9.1390e-05,9.8161e-03,6.4447e-03,2.0700e-02,-4.1373e-04,6.8331e-04,1.4491e-04,2.3799e-02,8.1184e-04
+16,9.4333e+00,DOWN_FORCE_DETACH,2.1280e-03,1.7417e-02,9.9996e-03,2.4800e+00,-3.7479e-02,3.7995e-02,9.2755e-05,9.7329e-03,6.9456e-03,2.0042e-02,-4.6072e-04,6.7689e-04,1.4628e-04,2.3338e-02,8.3177e-04
+17,9.9833e+00,DOWN_FORCE_DETACH,2.2659e-03,1.6210e-02,1.0379e-02,2.4805e+00,-3.7531e-02,3.7911e-02,8.9629e-05,8.5261e-03,7.3251e-03,2.0499e-02,-5.1232e-04,5.9246e-04,1.4315e-04,2.3379e-02,7.9622e-04
+18,1.0517e+01,DOWN_FORCE_DETACH,2.3946e-03,1.6601e-02,8.8907e-03,2.4833e+00,-3.7462e-02,3.7935e-02,8.0521e-05,8.9167e-03,5.8367e-03,2.3273e-02,-4.4373e-04,6.1625e-04,1.3404e-04,2.5597e-02,7.7112e-04
+19,1.1033e+01,DOWN_FORCE_DETACH,2.5281e-03,1.6927e-02,8.2633e-03,2.4874e+00,-3.7456e-02,3.7955e-02,6.2197e-05,9.2432e-03,5.2092e-03,2.7375e-02,-4.3760e-04,6.3625e-04,1.1572e-04,2.9359e-02,7.8084e-04
+20,1.1550e+01,DOWN_FORCE_DETACH,2.6602e-03,1.9365e-02,6.7494e-03,2.4931e+00,-3.7384e-02,3.8120e-02,3.2950e-05,1.1681e-02,3.6954e-03,3.3101e-02,-3.6550e-04,8.0163e-04,8.6471e-05,3.5296e-02,8.8526e-04
+21,1.2033e+01,DOWN_FORCE_DETACH,2.7924e-03,2.1393e-02,3.7846e-03,2.4976e+00,-3.7193e-02,3.8257e-02,1.1761e-06,1.3709e-02,7.3059e-04,3.7617e-02,-1.7471e-04,9.3894e-04,5.4697e-05,4.0044e-02,9.5662e-04
+22,1.2517e+01,DOWN_FORCE_DETACH,2.9270e-03,2.2273e-02,1.7153e-03,2.4942e+00,-3.7030e-02,3.8320e-02,-2.9520e-05,1.4589e-02,-1.3387e-03,3.4216e-02,-1.1690e-05,1.0014e-03,2.4001e-05,3.7221e-02,1.0018e-03
+23,1.2933e+01,DOWN_FORCE_DETACH,3.0572e-03,2.2699e-02,3.1337e-03,2.4893e+00,-3.7059e-02,3.8353e-02,-4.7530e-05,1.5015e-02,7.9713e-05,2.9269e-02,-4.0255e-05,1.0347e-03,5.9912e-06,3.2896e-02,1.0355e-03
+24,1.3367e+01,DOWN_FORCE_DETACH,3.1935e-03,2.2109e-02,5.5308e-03,2.4804e+00,-3.7119e-02,3.8319e-02,-5.7331e-05,1.4425e-02,2.4767e-03,2.0364e-02,-1.0036e-04,1.0010e-03,-3.8103e-06,2.5078e-02,1.0060e-03
+25,1.3783e+01,DOWN_FORCE_DETACH,3.3276e-03,2.3211e-02,9.0914e-03,2.4821e+00,-3.7313e-02,3.8398e-02,-5.1019e-05,1.5527e-02,6.0374e-03,2.2160e-02,-2.9456e-04,1.0794e-03,2.5021e-06,2.7724e-02,1.1189e-03
+26,1.4167e+01,DOWN_FORCE_DETACH,3.4618e-03,2.3570e-02,1.0845e-02,2.4934e+00,-3.7436e-02,3.8416e-02,-3.3550e-05,1.5886e-02,7.7911e-03,3.3370e-02,-4.1747e-04,1.0976e-03,1.9971e-05,3.7770e-02,1.1745e-03
+27,1.4567e+01,DOWN_FORCE_DETACH,3.5927e-03,2.5665e-02,1.3329e-02,2.4996e+00,-3.7625e-02,3.8552e-02,-8.8874e-06,1.7981e-02,1.0275e-02,3.9635e-02,-6.0655e-04,1.2340e-03,4.4634e-05,4.4720e-02,1.3757e-03
+28,1.4917e+01,DOWN_FORCE_DETACH,3.7250e-03,2.4987e-02,1.6175e-02,2.5045e+00,-3.7837e-02,3.8499e-02,1.3730e-05,1.7304e-02,1.3121e-02,4.4563e-02,-8.1852e-04,1.1805e-03,6.7251e-05,4.9573e-02,1.4381e-03
+29,1.5267e+01,DOWN_FORCE_DETACH,3.8575e-03,2.2592e-02,1.6858e-02,2.5066e+00,-3.7906e-02,3.8325e-02,3.3249e-05,1.4908e-02,1.3804e-02,4.6564e-02,-8.8793e-04,1.0071e-03,8.6770e-05,5.0804e-02,1.3455e-03
+30,1.5633e+01,DOWN_FORCE_DETACH,3.9915e-03,2.0621e-02,1.6817e-02,2.5094e+00,-3.7914e-02,3.8183e-02,4.2516e-05,1.2937e-02,1.3763e-02,4.9454e-02,-8.9586e-04,8.6467e-04,9.6037e-05,5.2938e-02,1.2488e-03
+31,1.5933e+01,DOWN_FORCE_DETACH,4.1231e-03,1.6593e-02,2.0143e-02,2.5131e+00,-3.8127e-02,3.7898e-02,3.8654e-05,8.9087e-03,1.7089e-02,5.3128e-02,-1.1083e-03,5.7972e-04,9.2175e-05,5.6515e-02,1.2542e-03
+32,1.6233e+01,DOWN_FORCE_DETACH,4.2561e-03,1.0876e-02,2.4186e-02,2.5144e+00,-3.8373e-02,3.7494e-02,1.9793e-05,3.1922e-03,2.1132e-02,5.4443e-02,-1.3543e-03,1.7584e-04,7.3314e-05,5.8488e-02,1.3677e-03
+33,1.6550e+01,DOWN_FORCE_DETACH,4.3893e-03,5.3414e-03,2.4159e-02,2.5134e+00,-3.8374e-02,3.7106e-02,2.1048e-07,-2.3426e-03,2.1105e-02,5.3363e-02,-1.3555e-03,-2.1254e-04,5.3731e-05,5.7433e-02,1.3731e-03
+34,1.6850e+01,DOWN_FORCE_DETACH,4.5206e-03,2.7249e-03,2.4741e-02,2.5116e+00,-3.8437e-02,3.6920e-02,-4.5740e-06,-4.9591e-03,2.1687e-02,5.1569e-02,-1.4183e-03,-3.9858e-04,4.8947e-05,5.6163e-02,1.4740e-03
+35,1.7167e+01,DOWN_FORCE_DETACH,4.6525e-03,2.2560e-03,2.5176e-02,2.5076e+00,-3.8455e-02,3.6886e-02,7.0427e-06,-5.4279e-03,2.2122e-02,4.7603e-02,-1.4362e-03,-4.3248e-04,6.0564e-05,5.2772e-02,1.5012e-03
+36,1.7467e+01,DOWN_FORCE_DETACH,4.7926e-03,2.5721e-03,2.7361e-02,2.5052e+00,-3.8574e-02,3.6912e-02,2.7966e-05,-5.1119e-03,2.4307e-02,4.5176e-02,-1.5554e-03,-4.0646e-04,8.1487e-05,5.1554e-02,1.6097e-03
+37,1.7733e+01,DOWN_FORCE_DETACH,4.9202e-03,2.8730e-03,2.8544e-02,2.5082e+00,-3.8652e-02,3.6933e-02,4.2919e-05,-4.8110e-03,2.5490e-02,4.8182e-02,-1.6334e-03,-3.8563e-04,9.6440e-05,5.4721e-02,1.6811e-03
+38,1.7983e+01,DOWN_FORCE_DETACH,5.0527e-03,3.7441e-03,3.0815e-02,2.5130e+00,-3.8801e-02,3.6989e-02,4.9688e-05,-3.9399e-03,2.7761e-02,5.3001e-02,-1.7822e-03,-3.2953e-04,1.0321e-04,5.9960e-02,1.8154e-03
+39,1.8233e+01,DOWN_FORCE_DETACH,5.1847e-03,5.4871e-03,3.3882e-02,2.5122e+00,-3.8974e-02,3.7109e-02,5.0544e-05,-2.1969e-03,3.0828e-02,5.2176e-02,-1.9556e-03,-2.0935e-04,1.0406e-04,6.0643e-02,1.9695e-03
+40,1.8467e+01,DOWN_FORCE_DETACH,5.3218e-03,7.0201e-03,3.8374e-02,2.5083e+00,-3.9254e-02,3.7218e-02,4.4638e-05,-6.6390e-04,3.5320e-02,4.8355e-02,-2.2357e-03,-1.0083e-04,9.8159e-05,5.9884e-02,2.2401e-03
+41,1.8700e+01,DOWN_FORCE_DETACH,5.4530e-03,9.9974e-03,3.7713e-02,2.5063e+00,-3.9225e-02,3.7423e-02,2.9990e-05,2.3135e-03,3.4659e-02,4.6348e-02,-2.2063e-03,1.0512e-04,8.3511e-05,5.7920e-02,2.2104e-03
+42,1.8917e+01,DOWN_FORCE_DETACH,5.5839e-03,1.2345e-02,3.6031e-02,2.5054e+00,-3.9125e-02,3.7585e-02,8.7481e-06,4.6612e-03,3.2977e-02,4.5420e-02,-2.1061e-03,2.6712e-04,6.2269e-05,5.6322e-02,2.1239e-03
+43,1.9133e+01,DOWN_FORCE_DETACH,5.7228e-03,1.3122e-02,3.6030e-02,2.5071e+00,-3.9118e-02,3.7639e-02,-1.9062e-05,5.4380e-03,3.2976e-02,4.7078e-02,-2.0993e-03,3.2060e-04,3.4459e-05,5.7735e-02,2.1239e-03
+44,1.9367e+01,DOWN_FORCE_DETACH,5.8591e-03,1.3622e-02,3.5434e-02,2.5048e+00,-3.9067e-02,3.7675e-02,-4.8345e-05,5.9383e-03,3.2380e-02,4.4764e-02,-2.0482e-03,3.5713e-04,5.1760e-06,5.5565e-02,2.0791e-03
+45,1.9583e+01,DOWN_FORCE_DETACH,5.9867e-03,1.3159e-02,3.2716e-02,2.5033e+00,-3.8887e-02,3.7646e-02,-6.3849e-05,5.4747e-03,2.9662e-02,4.3353e-02,-1.8683e-03,3.2735e-04,-1.0329e-05,5.2814e-02,1.8968e-03
+46,1.9783e+01,DOWN_FORCE_DETACH,6.1142e-03,1.4025e-02,2.9961e-02,2.5041e+00,-3.8706e-02,3.7706e-02,-6.0726e-05,6.3414e-03,2.6907e-02,4.4149e-02,-1.6872e-03,3.8801e-04,-7.2048e-06,5.2090e-02,1.7312e-03
+47,2.0000e+01,DOWN_FORCE_DETACH,6.2544e-03,1.5146e-02,2.5805e-02,2.5093e+00,-3.8427e-02,3.7783e-02,-4.0484e-05,7.4623e-03,2.2751e-02,4.9347e-02,-1.4086e-03,4.6488e-04,1.3037e-05,5.4849e-02,1.4834e-03
+48,2.0183e+01,DOWN_FORCE_DETACH,6.3851e-03,1.5709e-02,1.9761e-02,2.5114e+00,-3.8013e-02,3.7821e-02,-1.5858e-05,8.0254e-03,1.6707e-02,5.1418e-02,-9.9400e-04,5.0251e-04,3.7663e-05,5.4656e-02,1.1144e-03
+49,2.0367e+01,DOWN_FORCE_DETACH,6.5192e-03,1.8219e-02,1.5326e-02,2.5105e+00,-3.7693e-02,3.7992e-02,9.6261e-06,1.0535e-02,1.2272e-02,5.0533e-02,-6.7491e-04,6.7373e-04,6.3147e-05,5.3058e-02,9.5572e-04
+50,2.0550e+01,DOWN_FORCE_DETACH,6.6481e-03,1.7418e-02,2.1657e-02,2.5022e+00,-3.8088e-02,3.7941e-02,2.4085e-05,9.7336e-03,1.8603e-02,4.2167e-02,-1.0692e-03,6.2266e-04,7.7605e-05,4.7105e-02,1.2397e-03
+51,2.0733e+01,DOWN_FORCE_DETACH,6.7883e-03,1.4210e-02,2.7279e-02,2.4948e+00,-3.8456e-02,3.7727e-02,1.0842e-05,6.5260e-03,2.4225e-02,3.4808e-02,-1.4374e-03,4.0825e-04,6.4363e-05,4.2907e-02,1.4957e-03
+52,2.0900e+01,DOWN_FORCE_DETACH,6.9139e-03,1.0626e-02,2.6639e-02,2.4851e+00,-3.8429e-02,3.7487e-02,-1.1579e-05,2.9417e-03,2.3585e-02,2.5129e-02,-1.4102e-03,1.6824e-04,4.1942e-05,3.4589e-02,1.4208e-03
+53,2.1083e+01,DOWN_FORCE_DETACH,7.0565e-03,7.5261e-03,2.7067e-02,2.4791e+00,-3.8474e-02,3.7278e-02,-2.6617e-05,-1.5785e-04,2.4013e-02,1.9109e-02,-1.4554e-03,-3.9961e-05,2.6903e-05,3.0689e-02,1.4562e-03
+54,2.1250e+01,DOWN_FORCE_DETACH,7.1798e-03,4.1771e-03,2.7374e-02,2.4732e+00,-3.8513e-02,3.7053e-02,-2.5360e-05,-3.5068e-03,2.4320e-02,1.3221e-02,-1.4945e-03,-2.6502e-04,2.8161e-05,2.7902e-02,1.5181e-03
+55,2.1417e+01,DOWN_FORCE_DETACH,7.3098e-03,5.8087e-05,2.8457e-02,2.4699e+00,-3.8594e-02,3.6774e-02,-8.9629e-06,-7.6259e-03,2.5403e-02,9.9211e-03,-1.5756e-03,-5.4437e-04,4.4558e-05,2.8318e-02,1.6676e-03
+56,2.1583e+01,DOWN_FORCE_DETACH,7.4535e-03,-6.3660e-04,2.8381e-02,2.4681e+00,-3.8591e-02,3.6728e-02,9.6660e-06,-8.3206e-03,2.5327e-02,8.1546e-03,-1.5728e-03,-5.9025e-04,6.3187e-05,2.7878e-02,1.6811e-03
+57,2.1733e+01,DOWN_FORCE_DETACH,7.5829e-03,1.4526e-03,2.2929e-02,2.4646e+00,-3.8229e-02,3.6873e-02,1.0829e-05,-6.2313e-03,1.9875e-02,4.6256e-03,-1.2104e-03,-4.4550e-04,6.4350e-05,2.1337e-02,1.2914e-03
+58,2.1883e+01,DOWN_SETTLE,7.7169e-03,1.5482e-03,1.6957e-02,2.4592e+00,-3.7861e-02,3.6884e-02,5.9257e-06,-6.1357e-03,1.3903e-02,-7.6628e-04,-8.4199e-04,-4.3464e-04,5.9447e-05,1.5216e-02,9.4941e-04
+59,2.2417e+01,DOWN_PEAK_HOLD,7.8502e-03,1.9392e-03,1.0766e-02,2.4515e+00,-3.7532e-02,3.6920e-02,-9.5649e-06,-5.7448e-03,7.7122e-03,-8.5027e-03,-5.1357e-04,-3.9789e-04,4.3956e-05,1.2837e-02,6.5116e-04

Fixed/s1/ball_PLA_10/press_depth_01/up/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef4317ecb11b9ef761cc9ce5e35318c545b69c884e0a8dfcd2de17ca47db810
+size 5130240

Fixed/s1/ball_PLA_10/press_depth_01/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/s1/ball_PLA_10/press_depth_01/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+31,3.116666667e+00,UP_FORCE_RAMP,1792640743070282951,-1.053876802e-05,1.533425244e-06,-2.005558596e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.992707090e-06,-2.926723352e-06,-1.954847832e-05,7.015273327e-01,3.084386565e-06,8.407208856e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168703e-01,-1.089544994e-06,8.297612563e-01
+32,3.233333333e+00,UP_FORCE_RAMP,1792640743241003924,-1.239080528e-05,-6.783403327e-07,-2.067691998e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.993840662e-06,-2.926814590e-06,-1.955095595e-05,7.015254807e-01,8.726209884e-07,8.407202643e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168692e-01,-1.089636233e-06,8.297612538e-01
+33,3.316666667e+00,UP_FORCE_RAMP,1792640743371053056,-1.518027806e-05,-3.376075400e-07,-2.325767787e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.994479470e-06,-2.926863625e-06,-1.955234764e-05,7.015226912e-01,1.213353781e-06,8.407176835e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168685e-01,-1.089685267e-06,8.297612525e-01
+34,3.450000000e+00,UP_FORCE_RAMP,1792640743570551952,-1.577864819e-05,-2.892061001e-06,-2.141727598e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.995274302e-06,-2.926917685e-06,-1.955409108e-05,7.015220928e-01,-1.341099680e-06,8.407195239e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168677e-01,-1.089739327e-06,8.297612507e-01
+35,3.533333333e+00,UP_FORCE_RAMP,1792640743700623621,-1.680856846e-05,-7.755663902e-06,-2.173380422e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.995665874e-06,-2.926940849e-06,-1.955494474e-05,7.015210629e-01,-6.204702581e-06,8.407192074e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168673e-01,-1.089762491e-06,8.297612499e-01
+36,3.650000000e+00,UP_FORCE_RAMP,1792640743870814960,-1.927517392e-05,-2.060155819e-06,-2.382626748e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.996085885e-06,-2.926965441e-06,-1.955587381e-05,7.015185963e-01,-5.091944981e-07,8.407171149e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168669e-01,-1.089787083e-06,8.297612489e-01
+37,3.766666667e+00,UP_FORCE_RAMP,1792640744049096887,-2.373938670e-05,-1.052336541e-06,-2.602916034e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.996412446e-06,-2.926981888e-06,-1.955659224e-05,7.015141321e-01,4.986247805e-07,8.407149120e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168666e-01,-1.089803531e-06,8.297612482e-01
+38,3.833333333e+00,UP_FORCE_RAMP,1792640744153897031,-1.987199861e-05,1.736933394e-06,-1.720046543e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.996562080e-06,-2.926988410e-06,-1.955692246e-05,7.015179995e-01,3.287894715e-06,8.407237407e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168664e-01,-1.089810052e-06,8.297612479e-01
+39,3.933333333e+00,UP_FORCE_RAMP,1792640744302488529,-2.251986564e-05,-2.568029838e-06,-1.577898038e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.996750358e-06,-2.926995686e-06,-1.955733528e-05,7.015153516e-01,-1.017068516e-06,8.407251622e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168662e-01,-1.089817328e-06,8.297612475e-01
+40,4.033333333e+00,UP_FORCE_RAMP,1792640744442274068,-2.078615758e-05,6.896996227e-07,-1.127416619e-05,-8.833992950e-06,-2.963999021e-06,-1.966319609e-05,-8.996895599e-06,-2.927000154e-06,-1.955765694e-05,7.015170853e-01,2.240660944e-06,8.407296670e-01,7.015290375e-01,-1.413037699e-06,8.407212780e-01,7.017168661e-01,-1.089821796e-06,8.297612471e-01
+41,4.133333333e+00,UP_FORCE_RAMP,1792640744600834153,-1.849572810e-05,3.162279758e-06,-1.076163359e-06,-1.837171681e-05,3.019356287e-06,-1.160798622e-06,-1.869826219e-05,3.032587384e-06,-1.337325359e-06,7.015193758e-01,4.713241079e-06,8.407398650e-01,7.015194998e-01,4.570317608e-06,8.407397804e-01,7.017071647e-01,4.869765741e-06,8.297794675e-01
+42,4.216666667e+00,UP_FORCE_RAMP,1792640744721139013,-1.982538164e-05,-1.824532979e-06,-3.312521522e-07,-1.837171681e-05,3.019356287e-06,-1.160798622e-06,-1.872504869e-05,3.039873717e-06,-1.286006785e-06,7.015180461e-01,-2.735716582e-07,8.407406099e-01,7.015194998e-01,4.570317608e-06,8.407397804e-01,7.017071379e-01,4.877052075e-06,8.297795188e-01
+43,4.283333333e+00,UP_FORCE_RAMP,1792640744820641485,-2.225342954e-05,7.217523610e-06,1.498434833e-06,-1.837171681e-05,3.019356287e-06,-1.160798622e-06,-1.874112761e-05,3.040744026e-06,-1.257713639e-06,7.015156181e-01,8.768484931e-06,8.407424396e-01,7.015194998e-01,4.570317608e-06,8.407397804e-01,7.017071219e-01,4.877922384e-06,8.297795471e-01
+44,4.383333333e+00,UP_FORCE_RAMP,1792640744971653981,-2.154430545e-05,4.550643452e-06,8.714630446e-06,-1.837171681e-05,3.019356287e-06,-1.160798622e-06,-1.876111266e-05,3.041226047e-06,-1.223810669e-06,7.015163272e-01,6.101604773e-06,8.407496558e-01,7.015194998e-01,4.570317608e-06,8.407397804e-01,7.017071019e-01,4.878404404e-06,8.297795810e-01
+45,4.483333333e+00,UP_FORCE_RAMP,1792640745122243745,-2.001965537e-05,5.758454791e-06,1.623372967e-05,-1.837171681e-05,3.019356287e-06,-1.160798622e-06,-1.877722562e-05,3.041398749e-06,-1.197183136e-06,7.015178518e-01,7.309416112e-06,8.407571749e-01,7.015194998e-01,4.570317608e-06,8.407397804e-01,7.017070858e-01,4.878577107e-06,8.297796076e-01
+46,4.583333333e+00,UP_FORCE_RAMP,1792640745272012765,-2.156248075e-05,2.614106334e-06,2.239393176e-05,-1.799183421e-05,3.925672888e-06,2.096716265e-05,-1.830382848e-05,3.905382911e-06,2.075305664e-05,7.015163090e-01,4.165067655e-06,8.407633351e-01,7.015198796e-01,5.476634209e-06,8.407619084e-01,7.017075592e-01,5.742561269e-06,8.298015579e-01
+47,4.683333333e+00,UP_FORCE_RAMP,1792640745421610443,-2.306732632e-05,3.225659960e-06,2.811796256e-05,-1.799183421e-05,3.925672888e-06,2.096716265e-05,-1.831455384e-05,3.908011717e-06,2.081792402e-05,7.015148042e-01,4.776621281e-06,8.407690592e-01,7.015198796e-01,5.476634209e-06,8.407619084e-01,7.017075484e-01,5.745190075e-06,8.298016227e-01
+48,4.850000000e+00,UP_FORCE_RAMP,1792640745672252015,-2.543613800e-05,1.081719964e-05,3.933957640e-05,-2.521981499e-05,1.087270890e-05,3.912289931e-05,-2.563271572e-05,1.082973529e-05,3.879786878e-05,7.015124353e-01,1.236816096e-05,8.407802808e-01,7.015126517e-01,1.242367023e-05,8.407800641e-01,7.017002303e-01,1.266691365e-05,8.298196027e-01
+49,4.916666667e+00,UP_FORCE_RAMP,1792640745788359255,-3.085982919e-05,9.078623051e-06,4.291585407e-05,-2.521981499e-05,1.087270890e-05,3.912289931e-05,-2.565407174e-05,1.083810193e-05,3.886466715e-05,7.015070117e-01,1.062958437e-05,8.407838570e-01,7.015126517e-01,1.242367023e-05,8.407800641e-01,7.017002089e-01,1.267528028e-05,8.298196695e-01
+50,4.950000000e+00,UP_FORCE_RAMP,1792640745856984494,-5.073699295e-05,1.028563643e-05,4.201251351e-05,-5.303221095e-05,9.694940261e-06,3.708188531e-05,-5.392183382e-05,9.737935607e-06,3.684451867e-05,7.014871345e-01,1.183659775e-05,8.407829537e-01,7.014848393e-01,1.124590158e-05,8.407780231e-01,7.016719412e-01,1.157511396e-05,8.298176493e-01
+51,5.050000000e+00,UP_FORCE_RAMP,1792640746003278469,-4.459557832e-05,1.033715033e-05,5.733973897e-05,-4.426400954e-05,1.050183204e-05,5.537375249e-05,-4.508584090e-05,1.048571602e-05,5.498573719e-05,7.014932759e-01,1.188811165e-05,8.407982809e-01,7.014936075e-01,1.205279336e-05,8.407963149e-01,7.016807772e-01,1.232289438e-05,8.298357905e-01
+52,5.166666667e+00,UP_FORCE_RAMP,1792640746174692872,-4.361312516e-05,1.270521075e-05,6.505026242e-05,-4.426400954e-05,1.050183204e-05,5.537375249e-05,-4.514624043e-05,1.048958842e-05,5.509550509e-05,7.014942584e-01,1.425617207e-05,8.408059915e-01,7.014936075e-01,1.205279336e-05,8.407963149e-01,7.016807168e-01,1.232676677e-05,8.298359003e-01
+53,5.266666667e+00,UP_FORCE_RAMP,1792640746333883790,-4.490155347e-05,1.447517655e-05,7.249969332e-05,-4.426400954e-05,1.050183204e-05,5.537375249e-05,-4.518709809e-05,1.049049506e-05,5.516453139e-05,7.014929699e-01,1.602613788e-05,8.408134409e-01,7.014936075e-01,1.205279336e-05,8.407963149e-01,7.016806759e-01,1.232767341e-05,8.298359693e-01
+54,5.333333333e+00,UP_FORCE_RAMP,1792640746433563585,-3.971721442e-05,1.338657901e-05,8.214651600e-05,-4.188246659e-05,1.081833178e-05,7.619908588e-05,-4.270592822e-05,1.083249950e-05,7.579079363e-05,7.014981543e-01,1.493754033e-05,8.408230877e-01,7.014959890e-01,1.236929310e-05,8.408171403e-01,7.016831571e-01,1.266967786e-05,8.298565956e-01
+55,5.416666667e+00,UP_FORCE_RAMP,1792640746572575138,-3.954140606e-05,1.539846371e-05,8.657493814e-05,-4.188246659e-05,1.081833178e-05,7.619908588e-05,-4.272504004e-05,1.083612474e-05,7.587177581e-05,7.014983301e-01,1.694942503e-05,8.408275161e-01,7.014959890e-01,1.236929310e-05,8.408171403e-01,7.016831380e-01,1.267330309e-05,8.298566766e-01
+56,5.500000000e+00,UP_FORCE_HOLD,1792640746733649412,-3.986067917e-05,1.561070147e-05,9.224624753e-05,-4.188246659e-05,1.081833178e-05,7.619908588e-05,-4.274081744e-05,1.083798297e-05,7.593522917e-05,7.014980108e-01,1.716166279e-05,8.408331874e-01,7.014959890e-01,1.236929310e-05,8.408171403e-01,7.016831222e-01,1.267516133e-05,8.298567400e-01
+57,5.633333333e+00,UP_FORCE_HOLD,1792640746932610986,-3.770415849e-05,1.317402277e-05,9.841243665e-05,-3.800321429e-05,1.289160495e-05,9.554157070e-05,-3.870123853e-05,1.290204513e-05,9.522239376e-05,7.015001673e-01,1.472498409e-05,8.408393536e-01,7.014998683e-01,1.444256627e-05,8.408364828e-01,7.016871618e-01,1.473922349e-05,8.298760272e-01
+58,5.700000000e+00,UP_FORCE_HOLD,1792640747032686884,-3.556348342e-05,1.887797485e-05,1.045707497e-04,-3.800321429e-05,1.289160495e-05,9.554157070e-05,-3.870351382e-05,1.290428466e-05,9.527735874e-05,7.015023080e-01,2.042893617e-05,8.408455119e-01,7.014998683e-01,1.444256627e-05,8.408364828e-01,7.016871595e-01,1.474146301e-05,8.298760822e-01
+59,5.816666667e+00,UP_SETTLE,1792640747205631815,-3.691896579e-05,1.695073100e-05,1.033247545e-04,-3.800321429e-05,1.289160495e-05,9.554157070e-05,-3.870679696e-05,1.290686865e-05,9.535225230e-05,7.015009525e-01,1.850169233e-05,8.408442659e-01,7.014998683e-01,1.444256627e-05,8.408364828e-01,7.016871562e-01,1.474404700e-05,8.298761571e-01

Fixed/s1/ball_PLA_10/press_depth_01/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,7.9392e-03,3.0625e-03,2.4601e+00,-3.7020e-02,3.7336e-02,-5.3783e-05,2.5522e-04,8.4641e-06,1.5092e-04,-1.0207e-06,1.7956e-05,-2.6173e-07,2.9662e-04,1.7987e-05
+1,1.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,1.9977e-05,9.2983e-03,3.1117e-03,2.4609e+00,-3.7025e-02,3.7432e-02,-5.5029e-05,1.6144e-03,5.7652e-05,9.5558e-04,-6.7428e-06,1.1378e-04,-1.5085e-06,1.8769e-03,1.1399e-04
+2,2.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,4.2772e-05,1.0545e-02,3.1631e-03,2.4616e+00,-3.7031e-02,3.7520e-02,-5.5965e-05,2.8607e-03,1.0904e-04,1.6620e-03,-1.2431e-05,2.0185e-04,-2.4443e-06,3.3103e-03,2.0225e-04
+3,3.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,6.6141e-05,1.1619e-02,3.2098e-03,2.4622e+00,-3.7036e-02,3.7596e-02,-5.6590e-05,3.9351e-03,1.5574e-04,2.2480e-03,-1.7390e-05,2.7789e-04,-3.0692e-06,4.5347e-03,2.7845e-04
+4,4.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,8.8496e-05,1.2242e-02,3.2385e-03,2.4626e+00,-3.7039e-02,3.7640e-02,-5.6860e-05,4.5577e-03,1.8444e-04,2.5737e-03,-2.0295e-05,3.2200e-04,-3.3396e-06,5.2375e-03,3.2265e-04
+5,5.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,1.1042e-04,1.2583e-02,3.2530e-03,2.4627e+00,-3.7040e-02,3.7665e-02,-5.6977e-05,4.8990e-03,1.9897e-04,2.7497e-03,-2.1752e-05,3.4618e-04,-3.4561e-06,5.6214e-03,3.4688e-04
+6,6.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,1.3419e-04,1.2942e-02,3.2673e-03,2.4629e+00,-3.7042e-02,3.7690e-02,-5.7071e-05,5.2584e-03,2.1323e-04,2.9323e-03,-2.3168e-05,3.7166e-04,-3.5506e-06,6.0245e-03,3.7240e-04
+7,7.3333e-01,WAIT_W2,1.5850e-04,1.3394e-02,3.2835e-03,2.4631e+00,-3.7043e-02,3.7722e-02,-5.7142e-05,5.7100e-03,2.2952e-04,3.1559e-03,-2.4751e-05,4.0369e-04,-3.6214e-06,6.5281e-03,4.0446e-04
+8,8.1667e-01,WAIT_W2,1.8034e-04,1.3615e-02,3.2907e-03,2.4632e+00,-3.7044e-02,3.7738e-02,-5.7154e-05,5.9308e-03,2.3670e-04,3.2623e-03,-2.5421e-05,4.1936e-04,-3.6328e-06,6.7730e-03,4.2014e-04
+9,9.0000e-01,WAIT_W2,2.0102e-04,1.3798e-02,3.2962e-03,2.4633e+00,-3.7044e-02,3.7751e-02,-5.7149e-05,6.1141e-03,2.4218e-04,3.3486e-03,-2.5909e-05,4.3237e-04,-3.6280e-06,6.9753e-03,4.3316e-04
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Fixed/s1/ball_PLA_10/press_depth_02/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09a34ad6817cbc717e06fb2696e706b845288a69a89a82b982093a9d7ed34958
+size 4485120

Fixed/s1/ball_PLA_10/press_depth_02/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
+10950,1792640810286822976,9350556000000,1792640810280995176,XJC_ZERO_HOLD_BEFORE_DOWN,2,0.0349,0.03490183502435684,0.6759895716961787,-0.004474976587452894,0.09083901409828408,0.9999999778292773,7.184041453343913e-05,-0.0001725320581732254,2.9256678359079066e-05,0.6761,-0.0045,0.091,1.0,0.0,0.0,0.0,-0.0029257007057590656,-0.0031672729674357067,0.013791572233696037,-0.000652522435466115,0.0006473066789263703,-9.758985961713651e-06,0.20547686980537974,0.060358288023687,-0.2394751511762253,0.0036162316249640247,-0.018246791057437487,-0.0010577519039314787,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.3308737543891941,-0.05209126910353328,1.222535277843122,0.2533586669168105,-0.680942591597987,-0.07288572778580395,1.2030617141829325,0.013791572233696037,-0.019473563660189486,0.0,0.0,0,0,0.0,0.0
+11070,1792640811279971228,9351549000000,1792640811276995218,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6759865111057731,-0.004472693037252694,0.09083535460458692,0.9999999773145367,7.115975044495723e-05,-0.00017588136047336784,2.856269258670787e-05,0.6761,-0.0045,0.09099999815009753,1.0,0.0,0.0,0.0,-0.010982920315593031,-0.009190350181551898,0.024682547127313992,-0.000655118118412657,0.0006456448353287687,-1.8904554116921978e-05,0.19741965019554578,0.05433521080957081,-0.22858417628260735,0.0036136359420174827,-0.01824845290103509,-0.001066897472086687,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.3514734153620726,-0.03417786966813301,1.2347200523606237,0.2525387973739972,-0.6824858733508136,-0.06178139125276082,1.2030617141829325,0.024682547127313992,-0.03165833817769115,-0.03165833817769115,0.00063,0,0,-4.500000192183606e-07,-9.980468815141136e-05
+11170,1792640812112985964,9352382000000,1792640812108995694,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6759889976667081,-0.0044743256649847725,0.09083548901859757,0.9999999778730712,7.127566693161486e-05,-0.00017242774947486477,2.9751840490294625e-05,0.6761,-0.0045,0.09098760021340403,1.0,0.0,0.0,0.0,-0.0109708677590373,-0.002815400848115081,0.02485785281374181,-0.0006542016872156235,0.0006451090248493253,-1.8924594258744234e-05,0.1974317027521015,0.060710160143007626,-0.22840887059617954,0.003614552373214516,-0.018248988711514532,-0.0010669175122285093,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.3544532661980226,-0.10516087698567517,1.1971303703640843,0.27054071204036156,-0.6611743299427495,-0.10917793685165814,1.2030617141829325,0.02485785281374181,0.005931343818848189,0.005931343818848189,0.058940000000000436,0,0,-2.8276262006621018e-05,-8.918987192106617e-05
+11290,1792640813113143149,9353382000000,1792640813108995298,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6759894005554667,-0.004478027269006309,0.09081070533277472,0.9999999778987035,7.159088510761174e-05,-0.00017072643828871533,3.704976830341225e-05,0.6761,-0.0045,0.0909539077194335,1.0,0.0,0.0,0.0,-0.0030690967168277294,-0.02000683324326004,0.06689715758831222,-0.0006635191852948832,0.0006368803634371305,-5.158482413310586e-05,0.20533347379431108,0.04351872774786267,-0.18636956582160913,0.0036052348751352565,-0.018257217372926727,-0.001099577742102871,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.4209431823804681,-0.03515770283252393,1.1864607038762984,0.26431678083015087,-0.6427313866326243,-0.061623468308719676,1.2030617141829325,0.06689715758831222,0.01660101030663408,0.01660101030663408,0.12894000000000028,0,0,-3.564826955434886e-05,-9.999999025923074e-05
+11398,1792640814013202479,9354282000000,1792640814012995305,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6759897925126885,-0.004478962060973327,0.09078655182395497,0.9999999781960545,7.175929056642106e-05,-0.00016820030669573765,4.012500554387695e-05,0.6761,-0.0045,0.09091988412291749,1.0,0.0,0.0,0.0,-0.011180649997822506,-0.013465235483013697,0.11288654829079972,-0.0006707833820291057,0.0006285901209903237,-9.009039866624035e-05,0.1972219205133163,0.05006032550810901,-0.14038017511912163,0.003597970678401034,-0.018265507615373534,-0.0011380833166360054,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.4374467908866237,-0.0690710209464823,1.1031875506210567,0.27644211400888813,-0.5862185861960114,-0.08889803048445208,1.2030617141829325,0.11288654829079972,0.09987416356187584,0.09987416356187584,0.19193999999998834,0,0,-3.928836380814727e-05,-9.999990699250389e-05
+11509,1792640814938346518,9355207000000,1792640814936995065,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6759928359795129,-0.004482581125732772,0.09075965609606582,0.9999999785206963,7.501031076249914e-05,-0.00016270501926993777,4.7979175937022285e-05,0.6761,-0.0045,0.09088267833747883,1.0,0.0,0.0,0.0,-0.01141490101777981,-0.008668341049824807,0.1551300468986558,-0.0009156074610028168,0.0016305715690866258,-0.00011092948861588848,0.196987669493359,0.0548572199412979,-0.09813667651126554,0.003353146599427323,-0.01726352616727723,-0.0011589224065856535,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.4512312785220091,-0.05003087015192146,1.0162529141622523,0.2767453703277308,-0.5308461299698267,-0.07307302716840686,1.2030617141829325,0.1551300468986558,0.18680880002068023,0.18680880002068023,0.2566899999999787,0,0,-3.86391586324183e-05,-7.50000437018727e-05
+11643,1792640816055328573,9356324000000,1792640816052995154,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760017178049119,-0.004487186267243782,0.09073266425513553,0.9999999798996775,7.708835711034843e-05,-0.0001507228375233712,5.462161326514599e-05,0.6761,-0.0045,0.09084097628824593,1.0,0.0,0.0,0.0,-0.011639142229220523,-0.006284961940173826,0.20318392901885116,-0.0007157811089848784,0.0016205147889512515,-0.00014246691523649526,0.19676342828191828,0.05724059905094888,-0.05008279439107018,0.0035529729514452613,-0.017273582947412606,-0.0011904598332062603,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.5768698874324507,-0.17231943551267437,0.8366934559523832,0.3140073948424078,-0.37989377426505017,-0.1559832733148203,1.2030617141829325,0.20318392901885116,0.3663682582305493,0.3663682582305493,0.3348799999999949,0,0,-4.0983145672941805e-05,9.955587329380506e-05
+11766,1792640817080522469,9357349000000,1792640817076995236,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760074336096191,-0.004486875031905502,0.09070052851814957,0.999999981214461,7.249509369454833e-05,-0.00014285823609683384,5.787856220816732e-05,0.6761,-0.0045,0.09079570882081228,1.0,0.0,0.0,0.0,-0.020968825741037755,-0.008399849057364697,0.2454970810251819,-0.0007241385385133108,0.0016113351409449347,-0.00018267826578234072,0.18743374477010105,0.05512571193375801,-0.007769642384739446,0.003544615521916829,-0.017282762595418923,-0.0012306711837521058,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.5807438408847877,-0.12709075151772337,0.8711950774682156,0.3087468307579364,-0.4087554988641892,-0.12175993911736284,1.2030617141829325,0.2454970810251819,0.33186663671471694,0.33186663671471694,0.40663000000000976,0,0,-4.6984553930729705e-05,-5.4038387565406715e-05
+11890,1792640818113523228,9358382000000,1792640818108995271,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760091232660367,-0.004484228922798913,0.09065818731043698,0.9999999836445961,5.688435719290704e-05,-0.00013747562381119155,4.492543574409781e-05,0.6761,-0.0045,0.09074636979189478,1.0,0.0,0.0,0.0,-0.021780048583977557,0.005695446362916856,0.30619024217821383,0.0002730432158620849,0.0021891890156897804,0.00016497848668923381,0.18662252192716125,0.06922100735403956,0.052923518768292474,0.0045417972762922245,-0.016704908720674077,-0.0008830144312805313,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.5426705645051875,-0.13175839840993542,0.7716884414979802,0.3113448454418089,-0.35886993009331664,-0.12660517042679253,1.2030617141829325,0.30619024217821383,0.4313732726849523,0.4313732726849523,0.47894000000002473,0,0,-4.964818113986779e-05,8.682444627006731e-05
+11994,1792640818980664914,9359249000000,1792640818977004758,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760158057207555,-0.0044850883307550075,0.09062958540541537,0.9999999849244684,6.001128802339071e-05,-0.00012662867534123004,4.4246482829929605e-05,0.6761,-0.0045,0.09070692326344013,1.0,0.0,0.0,0.0,-0.027310066254087523,0.0027112155577016794,0.35089123119775634,0.0002468733440943215,0.0025807355228637772,-0.0002373182422224676,0.18109250425705128,0.06623677654882439,0.09762450778783502,0.004515627404524461,-0.01631336221350008,-0.0012853111601922327,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.6257410649627011,-0.09865553728252106,0.7014686716847592,0.3091499401555235,-0.2960436013807734,-0.10535250233130544,1.2030617141829325,0.35089123119775634,0.5015930424981733,0.5015930424981733,0.5396300000000372,0,0,-4.310829287004913e-05,9.99477126325587e-05
+12090,1792640819780703148,9360049000000,1792640819773004738,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760209608443543,-0.004486338239129531,0.09060576701838846,0.9999999851259141,7.40748281012438e-05,-0.00011593141495841396,4.758006678227712e-05,0.6761,-0.0045,0.09067137806398219,1.0,0.0,0.0,0.0,-0.031307776725431447,0.002464230179827484,0.3865345626617095,0.0002337349873619372,0.002569646781521776,0.0007161768705719949,0.17709479378570736,0.06598979117095019,0.13326783925178812,0.004502489047792077,-0.01632445095484208,-0.0003318160473977702,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.6956259288532232,-0.17150929532517814,0.5891973784549657,0.33144622428383874,-0.20604719307569977,-0.14766927976810043,1.2030617141829325,0.3865345626617095,0.6138643357279668,0.6138643357279668,0.5956300000000488,0,0,-4.434986175941435e-05,9.760303262685283e-05
+12210,1792640820780844342,9361049000000,1792640820772995948,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760224466939576,-0.00448730239448905,0.09056792556334779,0.9999999847880084,8.107046911056605e-05,-0.00011329650804089525,4.9581525024433615e-05,0.6761,-0.0045,0.09062992302411875,1.0,0.0,0.0,0.0,-0.031395452746967284,0.0035290936425657893,0.4268438947212932,0.00022597306877369851,0.0025608808567654934,0.0007057937851715372,0.17700711776417152,0.0670546546336885,0.17357717131137185,0.004494727129203838,-0.016333216879598364,-0.0003421991327982279,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.6081656102347577,-0.19351829874463508,0.5802317561759998,0.34395712005784695,-0.22840777619700728,-0.16206919333120895,1.2030617141829325,0.4268438947212932,0.6228299580069327,0.6228299580069327,0.6656300000000633,0,0,-4.319559582657983e-05,6.691453921370822e-05
+12306,1792640821580871008,9361849000000,1792640821576995270,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760262932377339,-0.004483997612118138,0.09053985115587705,0.9999999853389744,8.253906342039238e-05,-0.00010718989109975466,4.962404428549987e-05,0.6761,-0.0045,0.09059404667529514,1.0,0.0,0.0,0.0,-0.023229555614715125,0.0054109328184914485,0.4669492147588684,0.00019170473639378016,0.0035265152633583135,0.0007077599775556155,0.18517301489642368,0.06893649380961415,0.21368249134894707,0.00446045879682392,-0.015367582473005544,-0.00034023294041414954,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.6199187086719131,-0.16585420017433067,0.49209946634512175,0.3397622967527236,-0.17094768302641358,-0.14420718966609317,1.2030617141829325,0.4669492147588684,0.7109622478378108,0.7109622478378108,0.7216300000000749,0,0,-4.533900003070445e-05,9.851608004230456e-05
+12419,1792640822521906557,9362790000000,1792640822520995696,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760313471244983,-0.004491393063172845,0.0905075378295875,0.9999999860917826,8.01650544196679e-05,-9.90380539908342e-05,5.499387953541142e-05,0.6761,-0.0045,0.09055166206682337,1.0,0.0,0.0,0.0,-0.03205149594764625,0.009011236359559721,0.5170131358792672,0.0007683549846706217,0.003543380076259159,0.0006707935517945448,0.17635107456349255,0.07253679735068243,0.2637464124693459,0.005037109045100761,-0.015350717660104698,-0.00037719936617522024,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.676304797555396,-0.15627531838875308,0.5150172800644857,0.34765041854192763,-0.1692332142668157,-0.13419396063647138,1.2030617141829325,0.5170131358792672,0.6880444341184468,0.6880444341184468,0.7875000000000886,0,0,-4.3509430609793516e-05,-5e-05
+12510,1792640823281031129,9363549000000,1792640823280995433,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760341348725498,-0.00449393479861208,0.09047823117085517,0.9999999867458678,7.806663033573503e-05,-9.420975349660873e-05,5.460084612004571e-05,0.6761,-0.0045,0.09051655389139521,1.0,0.0,0.0,0.0,-0.0379988963430217,0.0014004136372661874,0.5559046258342686,0.0003991621450306383,0.003544163772771473,0.0006359652185467368,0.1704036741681171,0.0649259746283889,0.3026379024243473,0.004667916205460778,-0.015349933963592384,-0.0004120276994230283,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.7365455761735065,-0.0732074712899056,0.4505420210762826,0.32263492819494155,-0.11571514634855595,-0.08402462240220707,1.2030617141829325,0.5559046258342686,0.7525196931066499,0.7525196931066499,0.8406300000000996,0,0,-4.72944818266915e-05,-9.995574787169943e-05
+12630,1792640824281126376,9364549000000,1792640824276995046,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760373109255607,-0.0044936039525609265,0.09044027250095264,0.9999999868758014,8.158718525784276e-05,-8.87396573911555e-05,5.621446351508025e-05,0.6761,-0.0045,0.09046794668116619,1.0,0.0,0.0,0.0,-0.03626285111933111,0.008884255388418222,0.5977034941171628,0.0011854566653825968,0.0035188393823889098,0.0006126104489017504,0.1721397193918077,0.07240981637954093,0.34443677070724144,0.0054542107258127364,-0.015375258353974948,-0.0004353824690680147,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.7184144547679043,-0.06327684712242515,0.35098642102339883,0.323913400790552,-0.05954628769266833,-0.07515191239238397,1.2030617141829325,0.5977034941171628,0.8520752931595337,0.8520752931595337,0.9106300000001141,0,0,-5.137434834903842e-05,3.529956468651392e-05
+12728,1792640825097220107,9365365000000,1792640825096995599,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760409641561422,-0.0044979061171052746,0.09040288028363078,0.9999999876990993,7.609917855575356e-05,-8.282139555449611e-05,5.825973851390728e-05,0.6761,-0.0045,0.090425021202066,1.0,0.0,0.0,0.0,-0.048887760996131124,0.014363532207880808,0.6377953087330623,0.0011679105101532524,0.003910119813228816,0.0005854334881179176,0.15951480951500768,0.07788909319900351,0.38452858532314105,0.005436664570583392,-0.014983977923135041,-0.0004625594298518474,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.7004950605959496,-0.1587444360696878,0.2597918396138619,0.35624906005808704,-0.011213542901457523,-0.13712882224069523,1.2030617141829325,0.6377953087330623,0.9432698745690706,0.9432698745690706,0.9677500000001259,0,0,-5.174755825646115e-05,9.167499678686681e-05
+12830,1792640825947278958,9366215000000,1792640825944995271,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760428114975496,-0.004498480006072322,0.0903646428204306,0.9999999879259324,7.60722341840713e-05,-7.960801683879219e-05,5.887765499784273e-05,0.6761,-0.0045,0.09038018725383332,1.0,0.0,0.0,0.0,-0.036265965097483865,0.007620923581521194,0.6800298820155636,0.0011694447937755786,0.0035047069580685843,0.0005462512394626543,0.17213660541365494,0.0711464845726439,0.42676315860564223,0.005438198854205718,-0.015389390778295273,-0.0005017416785071107,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.7325739110288878,-0.12760865225556248,0.16720222009353713,0.347893806246174,0.05596232656944046,-0.11901062968040212,1.2030617141829325,0.6800298820155636,1.0358594940893955,1.0358594940893955,1.027250000000138,0,0,-5.498459062083937e-05,9.995000246754699e-05
+12946,1792640826914290925,9367182000000,1792640826909004839,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760459408773434,-0.004498785032271459,0.09031836672588578,0.9999999882831239,7.523280212761296e-05,-7.479065164260037e-05,6.019136615644704e-05,0.6761,-0.0045,0.09032567041429077,1.0,0.0,0.0,0.0,-0.05149261272311084,0.017657187508706762,0.7280917063034391,0.0011351661385576367,0.004503119827022072,0.0005211613111200529,0.15690995778802797,0.08118274849982947,0.4748249828935177,0.005403920198987776,-0.014390977909341785,-0.0005268316068497121,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.8019450147676063,-0.07846100783610159,0.12415472133105107,0.3435544676977839,0.09722999611154444,-0.08592294551529059,1.2030617141829325,0.7280917063034391,1.0789069928518815,1.0789069928518815,1.0949400000001521,0,0,-5.843137782371587e-05,9.344495596608766e-05
+13047,1792640827756420689,9368024000000,1792640827753005573,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760464328480109,-0.004499571934502264,0.09027135617726205,0.9999999882585877,7.509826922858629e-05,-7.40327711679969e-05,6.168539181221259e-05,0.6761,-0.0045,0.09027625309422582,1.0,0.0,0.0,0.0,-0.04677132130121486,0.014555185222991818,0.7550053212121526,0.0011282398714537066,0.004497171918962631,0.0004981061798053229,0.16163124920992394,0.07808074621411452,0.5017385978022313,0.005396993931883846,-0.014396925817401226,-0.0005498867381644422,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.7997627550011338,-0.12506590143840046,0.06039301017093521,0.3532171631267823,0.135870025939077,-0.1148504236785658,1.2030617141829325,0.7550053212121526,1.1426687040119974,1.1426687040119974,1.1538800000001643,0,0,-5.911608626643782e-05,9.922499907689115e-05
+13151,1792640828622435396,9368890000000,1792640828620995734,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.676052444238222,-0.004501881694046268,0.09022299861990127,0.9999999890307901,7.174874959506692e-05,-6.417827506128673e-05,6.414475846498198e-05,0.6761,-0.0045,0.09021931718651821,1.0,0.0,0.0,0.0,-0.042879570679838,0.017706692600154422,0.7816434812769812,0.0011244486539514998,0.0044906030545032605,0.0004789411395491837,0.1655229998313008,0.08123225359127713,0.52837675786706,0.0053932027143816395,-0.014403494681860597,-0.0005690517784205814,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.7893425671247535,-0.06425800491458417,0.07420153363293161,0.33167711773119707,0.12075921068741476,-0.08108763482971179,1.2030617141829325,0.7816434812769812,1.128860180550001,1.128860180550001,1.2145000000001769,0,0,-7.011253271430184e-05,7.030292600707639e-05
+13243,1792640829389593546,9369657000000,1792640829388995423,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760544351690253,-0.00450058250264803,0.09017125836844664,0.9999999891280804,7.187710398433075e-05,-6.294495592471299e-05,6.37049272215388e-05,0.6761,-0.0045,0.09016341164052283,1.0,0.0,0.0,0.0,-0.043777371138733256,0.010514049404587028,0.8083474694032864,0.001118736243056584,0.004486257087812433,0.00045725401763347143,0.16462519937240555,0.07403961039570973,0.555080745993365,0.005387490303486724,-0.014407840648551424,-0.0005907389003362936,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.8479472259276787,-0.1628068236818136,0.08496239232489995,0.3767953340598493,0.12328290515917992,-0.14209818701002888,1.2030617141829325,0.8083474694032864,1.1180993218580326,1.1180993218580326,1.268190000000188,0,0,-7.723613423413068e-05,-9.999999025923074e-05
+13328,1792640830097650673,9370365000000,1792640830093004873,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760514800955665,-0.004502271254710944,0.09011278401441299,0.9999999886351716,7.203938458370323e-05,-6.71534649412423e-05,6.688243639022708e-05,0.6761,-0.0045,0.09010644516846775,1.0,0.0,0.0,0.0,-0.04261352923410086,0.015088452699201463,0.825519066641379,0.0011164705601933046,0.00448194464496021,0.0004435150409221231,0.16578904127703795,0.07861401369032417,0.5722523432314576,0.005385224620623444,-0.014412153091403647,-0.0006044778770476419,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.7972696435532718,-0.04786635363895202,0.05913517570451155,0.3426466953282141,0.12321617025507763,-0.06495505396100286,1.2030617141829325,0.825519066641379,1.143926538478421,1.143926538478421,1.3177500000001983,0,0,-8.512510781963212e-05,-9.999999025923074e-05
+13427,1792640830922695157,9371190000000,1792640830917004888,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760524882658622,-0.004506954619778289,0.09004302370837038,0.9999999889178187,6.838375777951397e-05,-6.48626556395239e-05,6.872935606745365e-05,0.6761,-0.0045,0.09003153256526453,1.0,0.0,0.0,0.0,-0.04847749899883677,0.011893048474150972,0.8384460539971488,0.0011133134820293343,0.004479750857879881,0.0004323710117494964,0.15992507151230204,0.07541860946527368,0.5851793305872275,0.005382067542459474,-0.014414346878483976,-0.0006156219062202686,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.8263076589802231,-0.08435139493597175,0.011296101970274341,0.36274329074662015,0.15422951762241663,-0.0866664839838404,1.2030617141829325,0.8384460539971488,1.191765612212658,1.191765612212658,1.3755000000002102,0,0,-9.76449072390403e-05,-9.999980984798924e-05
+13517,1792640831672748100,9371940000000,1792640831669004778,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760520709708077,-0.004510392476463004,0.08996555706447426,0.9999999888151105,6.471798837231849e-05,-6.654947248042538e-05,7.207907224015946e-05,0.6761,-0.0045,0.0899541867041926,1.0,0.0,0.0,0.0,-0.04271492934754395,0.012391938003830233,0.8585774959235608,0.0011956478590278465,0.004473419278636157,0.00041663048370738185,0.16568764116359486,0.07591749899495294,0.6053107725136394,0.005464401919457986,-0.0144206784577277,-0.0006313624342623832,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.882977217400855,-0.12664999955020131,-0.07115353768869191,0.3828500601062716,0.21905863727385233,-0.11647620377249387,1.2030617141829325,0.8585774959235608,1.2742152518716243,1.2742152518716243,1.428000000000221,0,0,-0.00010806235255357743,4.172008722825183e-06
+13610,1792640832447871036,9372715000000,1792640832441004672,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.676053830521473,-0.0045150503203208485,0.08988785300251538,0.9999999897713954,5.656917729091375e-05,-6.0881710181967815e-05,7.066413014672861e-05,0.6761,-0.0045,0.08986853353552476,1.0,0.0,0.0,0.0,-0.052023500400564276,0.01626104702689654,0.8748937182996925,0.0011633291292757753,0.005434312361653478,0.00041814719599014437,0.15637907011057453,0.07978660801801925,0.6216269948897711,0.005432083189705915,-0.01345978537471038,-0.0006298457219796207,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.8635150041986487,-0.09106325863373803,-0.05746233557767723,0.3769966312918393,0.1977791290268917,-0.09252535820507596,1.2030617141829325,0.8748937182996925,1.2605240497606098,1.2605240497606098,1.4822500000002323,0,0,-0.00011256699603975762,-9.999702041263987e-05
+13706,1792640833247922654,9373515000000,1792640833244994861,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760549150087174,-0.004520381717225888,0.0897991424520182,0.9999999893562326,5.82542165531844e-05,-6.0724826070859296e-05,7.516209786355963e-05,0.6761,-0.0045,0.08977484415002512,1.0,0.0,0.0,0.0,-0.051778136070895486,0.016212373191367715,0.8889919627171343,0.0021239005604570963,0.004449964286698298,0.0004026508078498306,0.15662443444024332,0.07973793418249042,0.6357252393072129,0.006392654620887236,-0.01444413344966556,-0.0006453421101199345,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.8503948366876316,-0.06496487556514823,-0.101652151552293,0.38030130483826047,0.21257804911638417,-0.06827479779659838,1.2030617141829325,0.8889919627171343,1.3047138657352255,1.3047138657352255,1.538250000000244,0,0,-0.00012335431264917508,-9.375362572250907e-05
+13787,1792640833922885371,9374190000000,1792640833920994941,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760551946473583,-0.0045182252697092825,0.08971459504988119,0.9999999891044893,6.115135343412723e-05,-6.237382745958975e-05,7.48592233674601e-05,0.6761,-0.0045,0.08968890843212546,1.0,0.0,0.0,0.0,-0.049659455777761013,0.018246823790954617,0.9088885175106591,0.0021167943122203476,0.004577208852372628,0.00038849317949784807,0.1587431147333778,0.08177238478207732,0.6556217941007378,0.006385548372650487,-0.014316888883991229,-0.000659499738471917,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.8844997307973259,-0.12926508145888946,-0.1487242779597848,0.4006381550853801,0.2479949145313317,-0.11434749388351492,1.2030617141829325,0.9088885175106591,1.3517859921427173,1.3517859921427173,1.5855000000002537,0,0,-0.0001325046477776689,-9.998472469264214e-05
+13865,1792640834573033465,9374840000000,1792640834572995415,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760547485274883,-0.004521214855256261,0.08963036942517832,0.9999999894566705,5.562589693255257e-05,-6.235984649506106e-05,7.447504629628219e-05,0.6761,-0.0045,0.08960136393343505,1.0,0.0,0.0,0.0,-0.04645525821109578,0.017183506891018066,0.9159197727979536,0.00211856090465199,0.004443975251712801,0.000380689826079786,0.16194731230004303,0.08070906788214077,0.6626530493880323,0.0063873149650821295,-0.014450122484651056,-0.0006673030918899791,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.915285691981246,-0.05308205538675615,-0.2944007776123906,0.3928411326703541,0.34097225938114606,-0.0617772209972505,1.2030617141829325,0.9159197727979536,1.4974624917953232,1.4974624917953232,1.6310000000002631,0,0,-0.00013760690079492465,9.980468815141136e-05
+13955,1792640835323069140,9375590000000,1792640835320995400,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760584800876498,-0.004525377070891985,0.08953381664326188,0.9999999902900618,4.7134814998545674e-05,-5.811116594457858e-05,7.255440888758938e-05,0.6761,-0.0045,0.08949589907176947,1.0,0.0,0.0,0.0,-0.05169260462025513,0.023358278463533333,0.9290991727896871,0.002091258768888611,0.005415020482316499,0.00038529415791810156,0.15670996589088368,0.08688383945465604,0.6758324493797658,0.006360012829318751,-0.013479077254047359,-0.0006626987600516635,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9688462179865013,-0.15640524851425694,-0.2824175303469779,0.43612773008656,0.33877193065941086,-0.12456858725424773,1.2030617141829325,0.9290991727896871,1.4854792445299103,1.4854792445299103,1.683500000000274,0,0,-0.00014438282697618187,3.605880457969164e-05
+14042,1792640836048065394,9376315000000,1792640836044995072,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.676059538492738,-0.004532282003660777,0.08942362370637291,0.9999999899793423,4.4734036207969825e-05,-5.880325506927598e-05,7.762231124957146e-05,0.6761,-0.0045,0.08938661448604239,1.0,0.0,0.0,0.0,-0.052342538905894465,0.026407746654129788,0.9291544194268844,0.002117917665229589,0.0044403846352009824,0.00037013793039022795,0.15606003160524434,0.0899333076452525,0.6758876960169631,0.0063866717256597285,-0.014453713101162875,-0.0006778549875795371,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9110271483569518,-0.21418641156976218,-0.1847413950043225,0.4554798273161729,0.25302537014450777,-0.16583941917491357,1.2030617141829325,0.9291544194268844,1.387803109187255,1.387803109187255,1.7342500000002845,0,0,-0.00015538424201075175,-9.990284574457604e-05
+14119,1792640836690212385,9376957000000,1792640836684995675,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760565138442193,-0.004538929898629253,0.08932104581757105,0.9999999897777807,4.022064195148643e-05,-6.331333212603133e-05,7.912663945059144e-05,0.6761,-0.0045,0.08928281405118173,1.0,0.0,0.0,0.0,-0.04363243479501558,0.028064860937430908,0.9391604985404158,0.0020882231300451077,0.005451082105067879,0.00037883159623424854,0.16477013571612323,0.09159042192855361,0.6858937751304945,0.006356977190475247,-0.013443015631295978,-0.0006691613217355165,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9734341266722442,-0.11493161027014992,-0.23843649545020212,0.436495875322675,0.2951610064028229,-0.09689400685482176,1.2030617141829325,0.9391604985404158,1.4414982096331346,1.4414982096331346,1.7791900000002938,0,0,-0.00016703984342533585,-9.999999025923074e-05
+14195,1792640837323243407,9377590000000,1792640837316995988,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760553021759972,-0.004542023049818793,0.0892105052017743,0.9999999892343031,4.7504337026514625e-05,-6.568120584852747e-05,8.002234289660734e-05,0.6761,-0.0045,0.08917448383921688,1.0,0.0,0.0,0.0,-0.04358368932201995,0.0250282429027711,0.9555562225522032,0.0020947353741992926,0.005079594006986189,0.00035985417266913805,0.16481888118911886,0.0885538038938938,0.7022894991422819,0.006363489434629432,-0.013814503729377668,-0.000688138745300627,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9613582019473018,-0.2305276139764084,-0.39536143217377223,0.47379103254880545,0.3868076033598605,-0.16995093763579383,1.2030617141829325,0.9555562225522032,1.5984231463567047,1.5984231463567047,1.823500000000303,0,0,-0.00017449134650096709,8.824349170677976e-05
+14267,1792640837923293565,9378190000000,1792640837917004624,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760516263821239,-0.004544316049850493,0.08909774910782593,0.9999999875154767,5.729129816708258e-05,-7.382607361424779e-05,8.763178095641508e-05,0.6761,-0.0045,0.08906688211356079,1.0,0.0,0.0,0.0,-0.043132050539584604,0.01752850878343458,0.9876721512078797,0.0014599395381713351,0.004446040401318387,0.0003140294993310553,0.1652705199715542,0.08105406977455729,0.7344054277979584,0.005728693598601475,-0.01444805733504547,-0.0007339634186387098,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9521628250382712,-0.08933044185047238,-0.39731289452032836,0.4396441364676002,0.3814873542663823,-0.0780026517167054,1.2030617141829325,0.9876721512078797,1.6003746087032609,1.6003746087032609,1.8655000000003117,0,0,-0.00018295162064441994,-2.6627810742582052e-05
+14339,1792640838523275062,9378790000000,1792640838520995427,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760502568139279,-0.004550520623207827,0.0889825397404953,0.9999999874450946,4.804389220915375e-05,-7.608304385789867e-05,9.195558693516071e-05,0.6761,-0.0045,0.08895418518000071,1.0,0.0,0.0,0.0,-0.04094477635213126,0.016725627443777022,0.9789902780198314,0.0010871793815931388,0.004448904291144164,0.00031974397185415265,0.16745779415900755,0.08025118843489973,0.7257235546099101,0.0053559334420232784,-0.014445193445219693,-0.0007282489461156124,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9459836789227097,-0.16115604826178445,-0.4118733023343276,0.47734491943007074,0.38012572146989576,-0.12057652617446998,1.2030617141829325,0.9789902780198314,1.61493501651726,1.61493501651726,1.9075000000003204,0,0,-0.00019272302506231765,-9.999987923692828e-05
+14402,1792640839048386896,9379315000000,1792640839044994992,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760480347241827,-0.00455491390372976,0.08886993496668645,0.9999999869487632,4.0427580482834446e-05,-8.260792878233094e-05,9.532512028360592e-05,0.6761,-0.0045,0.08885016563801122,1.0,0.0,0.0,0.0,-0.034331327555184366,0.01980099711654959,0.9893506040291649,0.002094006873137208,0.0044279345159826435,0.0003237080722400564,0.17407124295595444,0.0833265581076723,0.7360838806192435,0.006362760933567348,-0.014466163220381214,-0.0007242848457297087,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9609323669458163,-0.13334070065230175,-0.45942311640044287,0.4708592183952479,0.40952478909756124,-0.1056001672543637,1.2030617141829325,0.9893506040291649,1.6624848305833755,1.6624848305833755,1.944250000000328,0,0,-0.0002040115390830336,5.717045867126842e-05
+14467,1792640839590355647,9379857000000,1792640839588995464,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760464201402796,-0.004557000659276013,0.08875680434920424,0.999999986368095,3.8017326725630436e-05,-8.807932635326292e-05,9.748533049780654e-05,0.6761,-0.0045,0.08873668073317185,1.0,0.0,0.0,0.0,-0.0428247413946769,0.019969122554926083,0.9925266450610233,0.0021046093535927683,0.004427166520918716,0.0003200624324933548,0.1655778291164619,0.08349468354604879,0.739259921651102,0.006373363414022908,-0.014466931215445141,-0.0007279304854764103,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9494269557337685,-0.15478130016633151,-0.4651957426585993,0.48517537807633776,0.4028662850080453,-0.11716342785431216,1.2030617141829325,0.9925266450610233,1.6682574568415318,1.6682574568415318,1.9821900000003358,0,0,-0.0002154582734587243,-4.3378856085237534e-05
+14531,1792640840123475604,9380390000000,1792640840120995406,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760462111436629,-0.004558681704773325,0.08864072865656196,0.9999999855675322,5.180801397862038e-05,-8.783012456767722e-05,9.954696729683318e-05,0.6761,-0.0045,0.08861840480594209,1.0,0.0,0.0,0.0,-0.04374568848877755,0.029445071214695126,0.999346297214837,0.002079235275810328,0.005356116265134372,0.00032892739196487876,0.16465688202236126,0.09297063220581783,0.7460795738049156,0.006347989336240468,-0.013537981471229485,-0.0007190655260048863,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9746637604842165,-0.2063037718843252,-0.43622276370736696,0.5179616825306261,0.3840766261384967,-0.14213783384742318,1.2030617141829325,0.999346297214837,1.6392844778902995,1.6392844778902995,2.0195000000003436,0,0,-0.0002278341138348391,-9.880522375128038e-05
+14602,1792640840715469837,9380982000000,1792640840713004649,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760481803331535,-0.004567149682292194,0.08850424958527926,0.9999999857309732,4.7412734897686365e-05,-8.570315369698114e-05,0.00010192114550210485,0.6761,-0.0045,0.08848006180978757,1.0,0.0,0.0,0.0,-0.04377886501266684,0.03060488431343479,1.0092035752725779,0.0020753962206358804,0.005435896666142279,0.00032223357778251574,0.16462370549847197,0.0941304453045575,0.7559368518626565,0.00634415028106602,-0.013458201070221578,-0.0007257593401872493,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9639583571075265,-0.2643204591051684,-0.4476729264516909,0.5422629408554985,0.38189357459421835,-0.18088570061545164,1.2030617141829325,1.0092035752725779,1.6507346406346235,1.6507346406346235,2.060940000000352,0,0,-0.00024193604150210402,-9.999994862586731e-05
+14657,1792640841173535528,9381440000000,1792640841173004839,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760454568511898,-0.0045689499367359,0.08838882729773623,0.9999999853230378,4.279392724986346e-05,-9.05825265156153e-05,0.00010373174191415544,0.6761,-0.0045,0.08836632881501963,1.0,0.0,0.0,0.0,-0.04358856495213351,0.019544069818537554,1.0194402612565663,0.0020993670154427118,0.004421985246842879,0.000298268864260058,0.1648140055590053,0.08306963080966026,0.7661735378466449,0.006368121075872851,-0.014472112489520978,-0.000749724053709707,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9483944046714687,-0.1590461267402371,-0.489058462133809,0.5194628696132747,0.4027389304154636,-0.11259863138721098,1.2030617141829325,1.0194402612565663,1.6921201763167415,1.6921201763167415,2.093000000000359,0,0,-0.00025354787657891196,-7.150299382996934e-05
+14717,1792640841673638528,9381940000000,1792640841673004946,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760452870953874,-0.0045701337045445335,0.08825987120471387,0.999999984841048,4.7597818479071734e-05,-9.017132803893188e-05,0.00010660369292810301,0.6761,-0.0045,0.08823559737060037,1.0,0.0,0.0,0.0,-0.043576530416908565,0.021051608221541812,1.0188159055109098,0.002099622667796195,0.00442809190928318,0.00029896632029797045,0.16482604009423024,0.08457716921266452,0.7655491821009884,0.0063683767282263345,-0.014466005827080677,-0.0007490265976717946,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9594912651459807,-0.14694567332132188,-0.49718103307698436,0.5241227752973807,0.4061399916383037,-0.10167741985849452,1.2030617141829325,1.0188159055109098,1.7002427472599169,1.7002427472599169,2.128000000000366,0,0,-0.0002706707607450217,-9.970918121571799e-05
+14774,1792640842148681033,9382415000000,1792640842144995864,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760463689365054,-0.004578486202056438,0.08812788006639995,0.9999999845285579,4.3319024465229284e-05,-9.022838889259002e-05,0.0001112117278820134,0.6761,-0.0045,0.08810317969010682,1.0,0.0,0.0,0.0,-0.043649392019843525,0.021156906444398882,1.0255886139880308,0.0020802688501010214,0.004821884674826589,0.00030201361248945527,0.16475317849129528,0.08468246743552159,0.7723218905781094,0.006349022910531161,-0.014072213061537268,-0.0007459793054803098,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.990940874080092,-0.11614930936366477,-0.5930284068340057,0.5365179801934409,0.47078369392351205,-0.07809189594393032,1.2030617141829325,1.0255886139880308,1.7960901210169382,1.7960901210169382,2.161250000000373,0,0,-0.0002853764823382025,9.998769453923301e-05
+14827,1792640842590709342,9382857000000,1792640842589004391,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760455128384717,-0.0045800443790801415,0.08799842187093464,0.9999999841547177,3.998519080457297e-05,-9.10210278634919e-05,0.00011510771415036461,0.6761,-0.0045,0.08797419436068726,1.0,0.0,0.0,0.0,-0.051790796822925506,0.02580752119643427,1.038409045599088,0.00207904896873238,0.005077801862464553,0.0002960923380723266,0.1566117736882133,0.08933308218755698,0.7851423221891667,0.00634780302916252,-0.013816295873899305,-0.0007519005798974385,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9320588370143753,-0.28293697557591385,-0.5910119578337214,0.5807932888396207,0.45517334995795233,-0.19033033824879642,1.2030617141829325,1.038409045599088,1.794073672016654,1.794073672016654,2.1921900000003793,0,0,-0.0002997934586454213,9.427085087410631e-05
+14875,1792640842990650555,9383257000000,1792640842989004921,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760416849405438,-0.004581289716359317,0.08786564363172401,0.9999999830484623,3.9482731564131124e-05,-9.894680574886903e-05,0.00011830715548305273,0.6761,-0.0045,0.0878520602832113,1.0,0.0,0.0,0.0,-0.04252995445684546,0.022630164736221384,1.0495057244908985,0.0020687469438492277,0.005398457921094245,0.00028621642467531385,0.16587261605429335,0.08615572572734409,0.7962390010809771,0.006337501004279367,-0.013495639815269612,-0.0007617764932944512,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9545723299126482,-0.16401354284005895,-0.5522416653050982,0.5610640745399649,0.4349871670795697,-0.1101482855449482,1.2030617141829325,1.0495057244908985,1.7553033794880308,1.7553033794880308,2.220190000000385,0,0,-0.00031086369447627513,-9.999999025923074e-05
+14927,1792640843423693176,9383690000000,1792640843421005000,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760394372903479,-0.004583565941054725,0.08772659984040956,0.9999999832842209,3.069715079439653e-05,-0.00010137326445817458,0.00011685704345209877,0.6761,-0.0045,0.0877136383763912,1.0,0.0,0.0,0.0,-0.04370200739884872,0.031921782538939375,1.045886528286942,0.0020863722444669688,0.004774485813421369,0.00028248002480505687,0.1647005631122901,0.09544734353006208,0.7926198048770207,0.006355126304897108,-0.014119611922942489,-0.0007655128931647082,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9360106993035854,-0.22535685517439136,-0.5569535315495322,0.5862528967126375,0.43471688539752346,-0.1480325795548172,1.2030617141829325,1.045886528286942,1.7600152457324647,1.7600152457324647,2.2505000000003914,0,0,-0.0003292550842623739,-9.999999025923074e-05
+14975,1792640843823716216,9384090000000,1792640843816995522,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760388577005322,-0.004586319929287009,0.08759113578046009,0.9999999825161671,3.5547498742256394e-05,-0.00010254206828769875,0.00012096292642020906,0.6761,-0.0045,0.08757831109271985,1.0,0.0,0.0,0.0,-0.034394747808126264,0.02181315181557568,1.0455989710465472,0.0020950781100285603,0.004415918112359219,0.00027824827708614107,0.17400782270301254,0.08533871280669839,0.7923322476366259,0.0063638321704587,-0.014478179624004639,-0.000769744640883624,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9260234348316756,-0.23063287954484246,-0.482095791160247,0.5932212954393559,0.3840680464229004,-0.1519122608918048,1.2030617141829325,1.0455989710465472,1.6851575053431795,1.6851575053431795,2.278500000000397,0,0,-0.0003477017133060852,-9.999999025923074e-05
+15019,1792640844190743183,9384457000000,1792640844188995057,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760404859310535,-0.004589068921218532,0.08746599018862754,0.9999999825445061,3.4357644255995574e-05,-9.941728549401958e-05,0.0001236511540316954,0.6761,-0.0045,0.08744767993788202,1.0,0.0,0.0,0.0,-0.039956510263166656,0.030488552890408596,1.0398378202982068,0.002095931227351495,0.004432749125377812,0.000279347139246078,0.16844606024797215,0.0940141138815313,0.7865710968882854,0.006364685287781635,-0.014461348610986045,-0.0007686457787236871,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9585018798697736,-0.23112797016863212,-0.4721531741116832,0.6018586218826033,0.38791968548097694,-0.14916386557506195,1.2030617141829325,1.0398378202982068,1.6752148882946156,1.6752148882946156,2.3041900000004025,0,0,-0.00036456280222005164,-9.999999025923074e-05
+15062,1792640844548877477,9384815000000,1792640844540994876,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760375714924088,-0.004591149079101869,0.08732845024720394,0.9999999815326299,3.716364771333686e-05,-0.00010617073557612694,0.00012539634192014563,0.6761,-0.0045,0.0873143710950789,1.0,0.0,0.0,0.0,-0.03438448904677696,0.03182781401930236,1.040902378935288,0.00212664288575782,0.004415224538150639,0.000282392476534487,0.17401808146436185,0.09535337501042507,0.7876356555253667,0.00639539694618796,-0.014478873198213218,-0.000765600441435278,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9395915194666181,-0.13238242048397122,-0.44657528278690445,0.5886057293724155,0.36769966524743514,-0.07892662361993193,1.2030617141829325,1.040902378935288,1.649636996969837,1.649636996969837,2.3292500000004077,0,0,-0.00038107360605529737,-9.999999025923074e-05
+15107,1792640844923823332,9385190000000,1792640844916995227,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760374182034123,-0.00459312188178701,0.08718637865144785,0.99999998164099,3.088807131655682e-05,-0.00010605593638453272,0.00012632873526128205,0.6761,-0.0045,0.08716796224349489,1.0,0.0,0.0,0.0,-0.042095574640763966,0.03463847064358577,1.0499285113069332,0.003032756125298448,0.00439680445316664,0.00028425964442789086,0.16630699587037484,0.09816403163470848,0.7966617878970118,0.007301510185728588,-0.014497293283197217,-0.0007637332735418742,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9509928569298329,-0.19763767368704144,-0.538215774097158,0.6006218826061047,0.4324317964435945,-0.12598055539228142,1.2030617141829325,1.0499285113069332,1.7412774882800905,1.7412774882800905,2.355500000000413,0,0,-0.0003998236024025089,-9.999999025923074e-05
+15146,1792640845248902642,9385515000000,1792640845244995397,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760356043925819,-0.004593775230810057,0.08705244858042856,0.9999999816019616,3.275900932392691e-05,-0.00010357461495752056,0.0001282111046771528,0.6761,-0.0045,0.0870353870732301,1.0,0.0,0.0,0.0,-0.03527789296063458,0.038422875895099795,1.0497307346361313,0.003088557212846693,0.0054083978570370825,0.00030194107135943444,0.17312467755050423,0.1019484368862225,0.79646401122621,0.007357311273276833,-0.013485699879326775,-0.0007460518466103306,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9250426586963251,-0.22222671525949497,-0.4442933696530734,0.6221400818442929,0.36712953976552654,-0.13841210642031723,1.2030617141829325,1.0497307346361313,1.6473550838360058,1.6473550838360058,2.378250000000418,0,0,-0.0004160735992367589,-9.999999025923074e-05
+15187,1792640845590957612,9385857000000,1792640845588995184,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760355133615851,-0.0045908065854520065,0.08690770510816583,0.999999980932122,3.51752967730954e-05,-0.00010602907345592287,0.000130763734312018,0.6761,-0.0045,0.08689017435286245,1.0,0.0,0.0,0.0,-0.041178014361523574,0.04453033679989689,1.039889626362502,0.0030909220047666474,0.00540955288304194,0.00030928537178143926,0.16722455614961523,0.1080558977910196,0.7866229029525806,0.007359676065196787,-0.013484544853321918,-0.0007387075461883258,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9911677862584845,-0.16867703598586878,-0.4358588487123206,0.6131300622749278,0.38579793835215803,-0.10278550130325688,1.2030617141829325,1.039889626362502,1.6389205628952532,1.6389205628952532,2.402190000000423,0,0,-0.0004331735959054158,-9.999999025923074e-05
+15223,1792640845890984702,9386157000000,1792640845888995182,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.6760345788533284,-0.004597185380676792,0.08677330550184387,0.9999999799934768,3.62620697904769e-05,-0.00010857519451135621,0.0001354710293594215,0.6761,-0.0045,0.08675797977453062,1.0,0.0,0.0,0.0,-0.035801973388622926,0.052529834189477764,1.0305977913791269,0.0034953262313974116,0.005397620341201122,0.00031957939769480586,0.17260059712251588,0.11605539518060047,0.7773310679692055,0.007764080291827551,-0.013496477395162736,-0.0007284135202749592,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9479378757029173,-0.12462033357947319,-0.4190040432704551,0.6039905883502424,0.3620455001589498,-0.0716959885689609,1.2030617141829325,1.0305977913791269,1.6220657574533877,1.6220657574533877,2.423190000000427,0,0,-0.000448173592983185,-9.999999025923074e-05
+15259,1792640846190905654,9386457000000,1792640846188995630,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760342806997302,-0.0045981863121765595,0.08663763069828267,0.9999999797978022,3.9198481038492134e-05,-0.00010749451846650954,0.00013695133167208057,0.6761,-0.0045,0.08662128519707546,1.0,0.0,0.0,0.0,-0.035674057003676374,0.05697887354038192,1.0307527930238147,0.004113921607657691,0.005391862306432611,0.0003290165091196115,0.17272851350746243,0.12050443453150463,0.7774860696138933,0.00838267566808783,-0.013502235429931246,-0.0007189764088501536,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,1.016810460790182,-0.20334798808727983,-0.3572784690578233,0.6336060111210201,0.34410123546176136,-0.1206884768812785,1.2030617141829325,1.0307527930238147,1.5603401832407557,1.5603401832407557,2.4441900000004315,0,0,-0.00046317359006095425,-9.999999025923074e-05
+15295,1792640846490924951,9386757000000,1792640846484996228,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760334270684007,-0.0045968957872963385,0.08649945121279444,0.999999980381124,3.2503473558789835e-05,-0.0001062952811841298,0.0001353715381609219,0.6761,-0.0045,0.08648009062049697,1.0,0.0,0.0,0.0,-0.04373407859888423,0.05700665375028022,1.0324380664407298,0.004114428735464611,0.005391381230846542,0.0003280308090639572,0.16466849191225458,0.12053221474140292,0.7791713430308085,0.00838318279589475,-0.013502716505517315,-0.0007199621089058079,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,1.0166824246138297,-0.18192969491232977,-0.35326942219543894,0.6309587006209308,0.34472584659283534,-0.10807256366991262,1.2030617141829325,1.0324380664407298,1.5563311363783714,1.5563311363783714,2.465190000000436,0,0,-0.00047817358713872347,-9.999999025923074e-05
+15331,1792640846790956993,9387057000000,1792640846784995326,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760257307961314,-0.004598697213900857,0.08635047553346097,0.9999999795322012,2.1087495234149855e-05,-0.00011453401056168457,0.00013717047672647087,0.6761,-0.0045,0.08633439604479515,1.0,0.0,0.0,0.0,-0.035419983929973864,0.05696821365511977,1.0303271205192615,0.004141490505004945,0.004378451382726963,0.0003135379418632169,0.17298258658116494,0.12049377464624247,0.7770603971093402,0.008410244565435085,-0.014515646353636894,-0.0007344549761065482,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9876823752198459,-0.1901084319278049,-0.5202591338907697,0.6290858510684654,0.4495249544088122,-0.11308725582820034,1.2030617141829325,1.0303271205192615,1.7233208480737021,1.7233208480737021,2.48619000000044,0,0,-0.0004931735842164927,-9.999999025923074e-05
+15365,1792640847074082692,9387340000000,1792640847068995707,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.6760245616326126,-0.004581618892373737,0.08620803016908453,0.9999999784014204,4.100592560545334e-05,-0.00011597108237907142,0.0001396755001696766,0.6761,-0.0045,0.08619283277085332,1.0,0.0,0.0,0.0,-0.03214421185685487,0.06922884368711925,1.0189740267694831,0.00502807786907992,0.004361886664589573,0.000333174150855959,0.17625835865428394,0.13275440467824196,0.7657073033595618,0.00929683192951006,-0.014532211071774284,-0.0007148187671138061,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.9735350670853993,-0.10763756129336724,-0.24950347669335268,0.6102138489556452,0.27176803744525985,-0.058734341299851785,1.2030617141829325,1.0189740267694831,1.452565190876285,1.452565190876285,2.5060000000004443,0,0,-0.000507323581459855,-9.999999025923074e-05
+15401,1792640847374109827,9387640000000,1792640847368995468,DOWN_FORCE_DETACH,2,0.0349,0.03490249067544937,0.676042196582188,-0.004580952121262836,0.08607123868196277,0.9999999777468783,7.295762083728303e-05,-9.384538286521321e-05,0.00014771369920432104,0.6761,-0.0045,0.08603839319685516,1.0,0.0,0.0,0.0,-0.04227375613535378,0.08151901005519017,1.000987413552967,0.006162103919979841,0.005359094966276116,0.00037515797624232427,0.16612881437578503,0.14504457104631288,0.7477206901430458,0.01043085798040998,-0.013535002770087741,-0.0006728349417274408,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,1.079337249790737,-0.08347226846317886,-0.36014663810915487,0.6087940052617961,0.36919902999242793,-0.03851498264257635,1.2030617141829325,1.000987413552967,1.5632083522920874,1.5632083522920874,2.5270000000004487,0,0,-0.0005223235785376243,-9.999999025923074e-05
+15431,1792640847624040117,9387890000000,1792640847620995181,DOWN_FORCE_DETACH,2,0.0349,0.03490183502435684,0.676034298199483,-0.004577299632482286,0.0859347184758676,0.9999999807716604,4.896385884306203e-05,-0.0001042091213469772,0.00012900597977638778,0.6761,-0.0045,0.08590625605252637,1.0,0.0,0.0,0.0,-0.03587587836568415,0.07890394700080396,1.0067396486198326,0.005198322695914914,0.0043633071581130525,0.0003448364536063937,0.17252669214545466,0.14242950799192666,0.7534729252099113,0.009467076756345054,-0.014530790578250805,-0.0007031564643633714,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,1.0699488144714702,-0.0872232346315482,-0.3967387716526054,0.6218517606037337,0.39345583510981524,-0.04340496721511242,1.2030617141829325,1.0067396486198326,1.599800485835538,1.599800485835538,2.5445000000004523,0,0,-0.000534823576102432,-9.999999025923074e-05
+15463,1792640847889102446,9388155000000,1792640847888995010,DOWN_SETTLE,2,0.0349,0.03490183502435684,0.6760319302498672,-0.004591326455160929,0.08578843816000885,0.9999999792991541,4.108394457226488e-05,-0.0001057908993886297,0.000141297384871401,0.6761,-0.0045,0.0857676270233441,1.0,0.0,0.0,0.0,-0.032526963677291826,0.08113760613728939,0.9910186807562693,0.006190988469420927,0.004365971619468575,0.0003645300479938586,0.17587560683384698,0.1446631671284121,0.7377519573463479,0.010459742529851067,-0.014528126116895282,-0.0006834628699759064,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,1.070726399581865,-0.07147243157082758,-0.28671276121656214,0.6102584828087962,0.3272704865986426,-0.028564565380656597,1.2030617141829325,0.9910186807562693,1.4897744753994946,0.0,0.0,0,0,-0.0003745109991662651,0.003782939385517829
+15564,1792640848726142077,9388992000000,1792640848724995126,DOWN_PEAK_HOLD,2,0.0349,0.03490249067544937,0.6760199137137487,-0.004585672317087014,0.08570870733195532,0.9999999772138758,4.599006247644609e-05,-0.00012663378502363027,0.00013734595424592163,0.6761,-0.0045,0.08573134318350006,1.0,0.0,0.0,0.0,-0.04425702330668049,0.05940258244745532,0.7594202690097183,0.004183689236758804,0.004807626127070388,0.0005370591597993037,0.16414554720445831,0.12292814343857802,0.506153545599797,0.008452443297188944,-0.01408647160929347,-0.0005109337581704614,0.2084025705111388,0.0635255609911227,-0.25326672340992135,0.00426875406043014,-0.018894097736363857,-0.001047992917969765,1,0.8902488056363572,-0.16466221575100093,0.08951142936233182,0.6162725903639205,0.05231205737550953,-0.09856593072074608,1.2030617141829325,0.7594202690097183,1.1135502848206007,0.0,0.0,0,0,0.0,0.0

Fixed/s1/ball_PLA_10/press_depth_02/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792640810282909260,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.749538011e-09,7.677183767e-10,4.706086298e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259176e-01,1.831801268e-06,8.297808557e-01
+1,6.666666667e-01,DOWN_FORCE_DETACH,1792640811281857175,-4.225310990e-06,-5.504843292e-07,-6.956436473e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.956453881e-07,1.899786637e-08,1.087497021e-07,7.015336462e-01,1.000476992e-06,8.407339848e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261055e-01,1.850031416e-06,8.297809598e-01
+2,1.216666667e+00,DOWN_FORCE_DETACH,1792640812111674917,-1.353345109e-06,2.668201132e-06,-6.729292980e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.543519171e-07,2.459460133e-08,1.341266579e-07,7.015365181e-01,4.219162453e-06,8.407342119e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261642e-01,1.855628151e-06,8.297809851e-01
+3,1.883333333e+00,DOWN_FORCE_DETACH,1792640813111803635,-8.606474711e-07,-5.858065913e-06,-2.716232454e-05,-3.091936314e-06,-3.429963803e-06,-2.053143049e-05,-2.968141859e-06,-3.378870859e-06,-2.019195358e-05,7.015370108e-01,-4.307104592e-06,8.407137789e-01,7.015347795e-01,-1.879002482e-06,8.407204098e-01,7.017229417e-01,-1.547837309e-06,8.297606591e-01
+4,2.483333333e+00,DOWN_FORCE_DETACH,1792640814012161084,-1.774129708e-07,-5.026230771e-06,-5.374145386e-05,-1.184621866e-06,-6.297648612e-06,-4.068086379e-05,-1.139847377e-06,-6.251164253e-06,-4.035852799e-05,7.015376941e-01,-3.475269450e-06,8.406871997e-01,7.015366869e-01,-4.746687291e-06,8.407002603e-01,7.017247700e-01,-4.420130703e-06,8.297404925e-01
+5,3.066666667e+00,DOWN_FORCE_DETACH,1792640814935308718,1.049598796e-06,-8.512769167e-06,-8.282409593e-05,7.457730575e-07,-8.548854993e-06,-8.283727187e-05,7.318399394e-07,-8.444388504e-06,-8.224137899e-05,7.015389211e-01,-6.961807846e-06,8.406581171e-01,7.015386173e-01,-6.997893672e-06,8.406581039e-01,7.017266417e-01,-6.613354954e-06,8.296986096e-01
+6,3.816666667e+00,DOWN_FORCE_DETACH,1792640816051024542,1.161891875e-05,-1.117507143e-05,-1.069403534e-04,5.978323069e-06,-9.670645761e-06,-1.048789709e-04,6.057842505e-06,-9.575783320e-06,-1.044247786e-04,7.015494904e-01,-9.624110108e-06,8.406340008e-01,7.015438498e-01,-8.119684440e-06,8.406360622e-01,7.017319677e-01,-7.744749770e-06,8.296764262e-01
+7,4.500000000e+00,DOWN_FORCE_DETACH,1792640817081394134,1.870593814e-05,-1.122120262e-05,-1.370167866e-04,1.483805074e-05,-1.435903830e-05,-1.218340077e-04,1.514256530e-05,-1.425790964e-05,-1.215247564e-04,7.015565774e-01,-9.670241301e-06,8.406039244e-01,7.015527095e-01,-1.280807698e-05,8.406191072e-01,7.017410524e-01,-1.242687609e-05,8.296593263e-01
+8,5.183333333e+00,DOWN_FORCE_DETACH,1792640818112352078,2.221523883e-05,-4.965747917e-06,-1.790578231e-04,1.990841105e-05,-1.098492946e-05,-1.630217681e-04,2.036260118e-05,-1.087384568e-05,-1.625941093e-04,7.015600867e-01,-3.414786596e-06,8.405618834e-01,7.015577799e-01,-9.433968142e-06,8.405779194e-01,7.017462725e-01,-9.042812130e-06,8.296182569e-01
+9,5.766666667e+00,DOWN_FORCE_DETACH,1792640818982484161,2.657356991e-05,-1.441093687e-05,-2.076744505e-04,2.667656233e-05,-1.160297784e-05,-2.037836356e-04,2.714255328e-05,-1.148685364e-05,-2.032340390e-04,7.015644451e-01,-1.285997555e-05,8.405332667e-01,7.015645480e-01,-1.005201652e-05,8.405371576e-01,7.017530524e-01,-9.655820089e-06,8.295776170e-01
+10,6.283333333e+00,DOWN_FORCE_DETACH,1792640819780422284,2.969955403e-05,-7.699463691e-06,-2.355109038e-04,2.810105213e-05,-1.199792398e-05,-2.256051661e-04,2.861611317e-05,-1.186495369e-05,-2.251221212e-04,7.015675710e-01,-6.148502370e-06,8.405054303e-01,7.015659725e-01,-1.044696266e-05,8.405153360e-01,7.017545260e-01,-1.003392014e-05,8.295557289e-01
+11,6.950000000e+00,DOWN_FORCE_DETACH,1792640820780630170,3.523204980e-05,-1.073022374e-05,-2.682226167e-04,3.052212216e-05,-1.260563992e-05,-2.490322229e-04,3.100693124e-05,-1.248603360e-05,-2.486466622e-04,7.015731035e-01,-9.179262421e-06,8.404727186e-01,7.015683936e-01,-1.105467860e-05,8.404919090e-01,7.017569168e-01,-1.065500005e-05,8.295322043e-01
+12,7.483333333e+00,DOWN_FORCE_DETACH,1792640821580643400,3.451058384e-05,-1.164622193e-05,-3.006894306e-04,3.415020558e-05,-1.392374768e-05,-2.945805138e-04,3.457097780e-05,-1.380012763e-05,-2.939984122e-04,7.015723821e-01,-1.009526061e-05,8.404402518e-01,7.015720217e-01,-1.237278636e-05,8.404463607e-01,7.017604808e-01,-1.196909408e-05,8.294868526e-01
+13,8.116666667e+00,DOWN_FORCE_DETACH,1792640822521039908,4.177542832e-05,-1.641647572e-05,-3.314762687e-04,3.843532683e-05,-1.352070873e-05,-3.143601785e-04,3.892916877e-05,-1.338877686e-05,-3.139396811e-04,7.015796469e-01,-1.486551440e-05,8.404094649e-01,7.015763068e-01,-1.196974741e-05,8.404265810e-01,7.017648390e-01,-1.155774331e-05,8.294669113e-01
+14,8.616666667e+00,DOWN_FORCE_DETACH,1792640823281513771,4.293464725e-05,-1.799246493e-05,-3.614584720e-04,4.329252581e-05,-2.401853134e-05,-3.537593734e-04,4.370648450e-05,-2.383334125e-05,-3.532028849e-04,7.015808061e-01,-1.644150361e-05,8.403794827e-01,7.015811640e-01,-2.246757002e-05,8.403871818e-01,7.017696163e-01,-2.200230770e-05,8.294276481e-01
+15,9.283333333e+00,DOWN_FORCE_DETACH,1792640824280865582,4.654703367e-05,-2.553552699e-05,-4.018394930e-04,4.707643471e-05,-1.887335395e-05,-3.945952055e-04,4.744851853e-05,-1.872057996e-05,-3.939684649e-04,7.015844185e-01,-2.398456567e-05,8.403391017e-01,7.015849479e-01,-1.732239263e-05,8.403463460e-01,7.017733584e-01,-1.688954641e-05,8.293868825e-01
+16,9.833333333e+00,DOWN_FORCE_DETACH,1792640825101406029,4.958323665e-05,-1.647961853e-05,-4.396517173e-04,4.930466038e-05,-1.661102997e-05,-4.397318561e-04,4.953636644e-05,-1.646162595e-05,-4.389979754e-04,7.015874547e-01,-1.492865721e-05,8.403012895e-01,7.015871761e-01,-1.506006865e-05,8.403012093e-01,7.017754462e-01,-1.463059240e-05,8.293418530e-01
+17,1.038333333e+01,DOWN_FORCE_DETACH,1792640825949494676,5.194342730e-05,-2.195210962e-05,-4.757659613e-04,4.948399993e-05,-1.925768755e-05,-4.610229459e-04,4.964406166e-05,-1.913114586e-05,-4.605017716e-04,7.015898149e-01,-2.040114830e-05,8.402651752e-01,7.015873555e-01,-1.770672623e-05,8.402799182e-01,7.017755539e-01,-1.730011231e-05,8.293203492e-01
+18,1.101666667e+01,DOWN_FORCE_DETACH,1792640826913033727,5.669649855e-05,-2.381717437e-05,-5.217520766e-04,5.646007215e-05,-2.373321674e-05,-5.215832659e-04,5.653540785e-05,-2.356276852e-05,-5.208462958e-04,7.015945680e-01,-2.226621305e-05,8.402191891e-01,7.015943316e-01,-2.218225542e-05,8.402193579e-01,7.017824453e-01,-2.173173497e-05,8.292600047e-01
+19,1.156666667e+01,DOWN_FORCE_DETACH,1792640827755729737,5.935744807e-05,-2.703139513e-05,-5.646906436e-04,5.704039622e-05,-2.082793423e-05,-5.656548094e-04,5.698604400e-05,-2.069110426e-05,-5.648664665e-04,7.015972289e-01,-2.548043381e-05,8.401762505e-01,7.015949119e-01,-1.927697291e-05,8.401752864e-01,7.017828959e-01,-1.886007071e-05,8.292159845e-01
+20,1.215000000e+01,DOWN_FORCE_DETACH,1792640828621491035,6.287254204e-05,-2.690510659e-05,-6.160154784e-04,5.992868513e-05,-2.670667216e-05,-6.113853685e-04,5.977570196e-05,-2.658682630e-05,-6.106506560e-04,7.016007440e-01,-2.535414527e-05,8.401249257e-01,7.015978002e-01,-2.515571084e-05,8.401295558e-01,7.017856856e-01,-2.475579275e-05,8.291702004e-01
+21,1.265000000e+01,DOWN_FORCE_DETACH,1792640829389867757,6.161685368e-05,-2.768217069e-05,-6.720658639e-04,6.164156120e-05,-2.624928696e-05,-6.606990383e-04,6.141090965e-05,-2.615147300e-05,-6.598384240e-04,7.015994883e-01,-2.613120937e-05,8.400688753e-01,7.015995130e-01,-2.469832563e-05,8.400802421e-01,7.017873208e-01,-2.432043945e-05,8.291210126e-01
+22,1.311666667e+01,DOWN_FORCE_DETACH,1792640830094585382,6.237017123e-05,-3.291062202e-05,-7.248374539e-04,6.298446354e-05,-2.933048504e-05,-7.227178459e-04,6.259015219e-05,-2.923422726e-05,-7.216812439e-04,7.016002417e-01,-3.135966070e-05,8.400161037e-01,7.016008559e-01,-2.777952372e-05,8.400182233e-01,7.017885000e-01,-2.740319371e-05,8.290591698e-01
+23,1.366666667e+01,DOWN_FORCE_DETACH,1792640830918733209,6.200707170e-05,-3.057275675e-05,-7.991518581e-04,6.130083849e-05,-3.094254962e-05,-7.840363724e-04,6.068750722e-05,-3.084850762e-05,-7.830234918e-04,7.015998786e-01,-2.902179543e-05,8.399417893e-01,7.015991723e-01,-2.939158830e-05,8.399569048e-01,7.017865974e-01,-2.901747407e-05,8.289978275e-01
+24,1.416666667e+01,DOWN_FORCE_DETACH,1792640831669352719,6.140547621e-05,-3.408016312e-05,-8.755305634e-04,6.066965804e-05,-3.428929001e-05,-8.716509620e-04,5.967096774e-05,-3.425959783e-05,-8.703563461e-04,7.015992770e-01,-3.252920180e-05,8.398654106e-01,7.015985411e-01,-3.273832869e-05,8.398692902e-01,7.017855808e-01,-3.242856428e-05,8.289104947e-01
+25,1.468333333e+01,DOWN_FORCE_DETACH,1792640832449478984,6.454291782e-05,-3.859477585e-05,-9.517394791e-04,6.465369702e-05,-3.570177370e-05,-9.338359883e-04,6.356464100e-05,-3.568052592e-05,-9.329724459e-04,7.016024144e-01,-3.704381453e-05,8.397892017e-01,7.016025252e-01,-3.415081238e-05,8.398071052e-01,7.017894745e-01,-3.384949237e-05,8.288478786e-01
+26,1.521666667e+01,DOWN_FORCE_DETACH,1792640833249641601,6.478566706e-05,-4.008293050e-05,-1.040227644e-03,6.297471290e-05,-3.738719037e-05,-1.039942617e-03,6.144588125e-05,-3.731369843e-05,-1.039145601e-03,7.016026571e-01,-3.853196918e-05,8.397007135e-01,7.016008462e-01,-3.583622905e-05,8.397009986e-01,7.017873557e-01,-3.548266488e-05,8.287417054e-01
+27,1.566666667e+01,DOWN_FORCE_DETACH,1792640833919853768,6.312038198e-05,-4.596351536e-05,-1.127869313e-03,6.303218888e-05,-4.618998019e-05,-1.127850370e-03,6.124196556e-05,-4.599567935e-05,-1.127038957e-03,7.016009919e-01,-4.441255403e-05,8.396130719e-01,7.016009037e-01,-4.463901887e-05,8.396130908e-01,7.017871518e-01,-4.416464580e-05,8.286538121e-01
+28,1.610000000e+01,DOWN_FORCE_DETACH,1792640834578695389,6.410146702e-05,-4.211090826e-05,-1.211818354e-03,6.392322716e-05,-4.921612472e-05,-1.193570019e-03,6.185464096e-05,-4.897224227e-05,-1.192835051e-03,7.016019729e-01,-4.055994693e-05,8.395291228e-01,7.016017947e-01,-4.766516340e-05,8.395473712e-01,7.017877645e-01,-4.714120872e-05,8.285880160e-01
+29,1.660000000e+01,DOWN_FORCE_DETACH,1792640835323891384,6.538006099e-05,-5.009492305e-05,-1.310400489e-03,6.496736920e-05,-4.806527084e-05,-1.301512277e-03,6.257716378e-05,-4.779696882e-05,-1.300530255e-03,7.016032515e-01,-4.854396173e-05,8.394305407e-01,7.016028389e-01,-4.651430952e-05,8.394394289e-01,7.017884870e-01,-4.596593527e-05,8.284803208e-01
+30,1.705000000e+01,DOWN_FORCE_DETACH,1792640836049851062,7.187735670e-05,-5.348006037e-05,-1.413193348e-03,6.585738532e-05,-6.071908639e-05,-1.407427439e-03,6.315951833e-05,-6.034901510e-05,-1.406306016e-03,7.016097488e-01,-5.192909905e-05,8.393277478e-01,7.016037289e-01,-5.916812507e-05,8.393335137e-01,7.017890694e-01,-5.851798155e-05,8.283745450e-01
+31,1.748333333e+01,DOWN_FORCE_DETACH,1792640836689477778,6.635532701e-05,-6.120727309e-05,-1.516716220e-03,6.836858410e-05,-6.277755145e-05,-1.501525551e-03,6.537179752e-05,-6.239199782e-05,-1.500356381e-03,7.016042268e-01,-5.965631177e-05,8.392242250e-01,7.016062401e-01,-6.122659013e-05,8.392394156e-01,7.017912816e-01,-6.056096427e-05,8.282804946e-01
+32,1.788333333e+01,DOWN_FORCE_DETACH,1792640837323888538,6.775457951e-05,-6.985243453e-05,-1.622558782e-03,6.600340551e-05,-6.610073355e-05,-1.616998874e-03,6.239626446e-05,-6.569648561e-05,-1.615621029e-03,7.016056261e-01,-6.830147321e-05,8.391183824e-01,7.016038749e-01,-6.454977222e-05,8.391239423e-01,7.017883061e-01,-6.386545206e-05,8.281652300e-01
+33,1.826666667e+01,DOWN_FORCE_DETACH,1792640837921048698,6.162909772e-05,-7.138020922e-05,-1.741200444e-03,6.135139824e-05,-7.108737044e-05,-1.739340832e-03,5.707379683e-05,-7.066629614e-05,-1.737704329e-03,7.015995006e-01,-6.982924790e-05,8.389997407e-01,7.015992229e-01,-6.953640912e-05,8.390016004e-01,7.017829836e-01,-6.883526259e-05,8.280431467e-01
+34,1.866666667e+01,DOWN_FORCE_DETACH,1792640838520265861,6.054160150e-05,-7.673994680e-05,-1.856672538e-03,6.016578612e-05,-7.667345337e-05,-1.856476864e-03,5.516562968e-05,-7.622624700e-05,-1.854887985e-03,7.015984131e-01,-7.518898548e-05,8.388842686e-01,7.015980373e-01,-7.512249204e-05,8.388844643e-01,7.017810755e-01,-7.439521345e-05,8.279259630e-01
+35,1.901666667e+01,DOWN_FORCE_DETACH,1792640839050949252,5.846302800e-05,-7.993731628e-05,-1.969079132e-03,5.773256397e-05,-8.049280090e-05,-1.949464835e-03,5.223761032e-05,-8.005463948e-05,-1.948097630e-03,7.015963345e-01,-7.838635496e-05,8.387718621e-01,7.015956040e-01,-7.894183958e-05,8.387914764e-01,7.017781475e-01,-7.822360593e-05,8.278327534e-01
+36,1.938333333e+01,DOWN_FORCE_DETACH,1792640839588401800,5.648348707e-05,-8.207627489e-05,-2.081714358e-03,5.818933245e-05,-8.333197701e-05,-2.067308309e-03,5.217328262e-05,-8.293013055e-05,-2.065890598e-03,7.015943550e-01,-8.052531357e-05,8.386592268e-01,7.015960608e-01,-8.178101569e-05,8.386736329e-01,7.017780831e-01,-8.109909701e-05,8.277149604e-01
+37,1.973333333e+01,DOWN_FORCE_DETACH,1792640840125347935,5.736029392e-05,-8.215480992e-05,-2.196280873e-03,5.880580151e-05,-8.143444176e-05,-2.176384157e-03,5.229297640e-05,-8.109922873e-05,-2.175132212e-03,7.015952318e-01,-8.060384859e-05,8.385446603e-01,7.015966773e-01,-7.988348044e-05,8.385645570e-01,7.017782028e-01,-7.926819518e-05,8.276057188e-01
+38,2.001666667e+01,DOWN_FORCE_DETACH,1792640840710605009,5.761292809e-05,-8.921250602e-05,-2.332740459e-03,5.751646091e-05,-8.902864135e-05,-2.332821367e-03,5.044405152e-05,-8.866022550e-05,-2.330961096e-03,7.015954844e-01,-8.766154470e-05,8.384082007e-01,7.015953879e-01,-8.747768003e-05,8.384081198e-01,7.017763539e-01,-8.682919195e-05,8.274498899e-01
+39,2.033333333e+01,DOWN_FORCE_DETACH,1792640841170330152,5.694832182e-05,-9.694190834e-05,-2.450098093e-03,5.538722852e-05,-8.769343409e-05,-2.439165943e-03,4.790467951e-05,-8.731971424e-05,-2.437623902e-03,7.015948198e-01,-9.539094701e-05,8.382908431e-01,7.015932587e-01,-8.614247276e-05,8.383017752e-01,7.017738145e-01,-8.548868069e-05,8.273432271e-01
+40,2.066666667e+01,DOWN_FORCE_DETACH,1792640841670478065,5.625967770e-05,-9.539630235e-05,-2.581422848e-03,5.677714378e-05,-9.658733085e-05,-2.571437329e-03,4.887537437e-05,-9.615217604e-05,-2.569761048e-03,7.015941312e-01,-9.384534103e-05,8.381595183e-01,7.015946486e-01,-9.503636953e-05,8.381695039e-01,7.017747852e-01,-9.432114249e-05,8.272110900e-01
+41,2.098333333e+01,DOWN_FORCE_DETACH,1792640842150425558,5.626681477e-05,-9.971988749e-05,-2.712050589e-03,5.607903976e-05,-9.958160141e-05,-2.711827514e-03,4.771038331e-05,-9.902730579e-05,-2.710083987e-03,7.015941383e-01,-9.816892617e-05,8.380288906e-01,7.015939505e-01,-9.803064008e-05,8.380291137e-01,7.017736202e-01,-9.719627224e-05,8.270707670e-01
+42,2.128333333e+01,DOWN_FORCE_DETACH,1792640842589100745,5.661315034e-05,-1.017049655e-04,-2.841102708e-03,5.402023248e-05,-1.042272744e-04,-2.831470010e-03,4.522200046e-05,-1.035935290e-04,-2.830037389e-03,7.015944846e-01,-1.001540042e-04,8.378998385e-01,7.015918917e-01,-1.026763131e-04,8.379094712e-01,7.017711319e-01,-1.017624955e-04,8.269508136e-01
+43,2.155000000e+01,DOWN_FORCE_DETACH,1792640842988979155,5.261888621e-05,-1.045177876e-04,-2.972976165e-03,5.333252736e-05,-1.069806607e-04,-2.966672022e-03,4.409153818e-05,-1.063578360e-04,-2.965203467e-03,7.015904904e-01,-1.029668263e-04,8.377679650e-01,7.015912040e-01,-1.054296994e-04,8.377742692e-01,7.017700014e-01,-1.045268024e-04,8.268156475e-01
+44,2.183333333e+01,DOWN_FORCE_DETACH,1792640843419844690,5.006241490e-05,-1.072257637e-04,-3.113630113e-03,5.159425337e-05,-1.096633475e-04,-3.096688814e-03,4.198994775e-05,-1.090751601e-04,-3.095258899e-03,7.015879339e-01,-1.056748024e-04,8.376273111e-01,7.015894657e-01,-1.081123861e-04,8.376442524e-01,7.017678998e-01,-1.072441266e-04,8.266855921e-01
+45,2.210000000e+01,DOWN_FORCE_DETACH,1792640843820258669,4.989950362e-05,-1.108973679e-04,-3.246275532e-03,4.830485207e-05,-1.093022234e-04,-3.234347347e-03,3.815813253e-05,-1.087539339e-04,-3.232873021e-03,7.015877710e-01,-1.093464065e-04,8.374946657e-01,7.015861763e-01,-1.077512621e-04,8.375065938e-01,7.017640680e-01,-1.069229003e-04,8.265479780e-01
+46,2.235000000e+01,DOWN_FORCE_DETACH,1792640844189744507,4.871805286e-05,-1.135395531e-04,-3.373171535e-03,4.533810602e-05,-1.091404261e-04,-3.375939086e-03,3.460034741e-05,-1.086103861e-04,-3.374393697e-03,7.015865895e-01,-1.119885918e-04,8.373677697e-01,7.015832096e-01,-1.075894648e-04,8.373650021e-01,7.017605102e-01,-1.067793526e-04,8.264064573e-01
+47,2.258333333e+01,DOWN_FORCE_DETACH,1792640844550838667,4.871094607e-05,-1.161383825e-04,-3.509893650e-03,4.796274933e-05,-1.161135808e-04,-3.498183305e-03,3.688165952e-05,-1.156208672e-04,-3.496654152e-03,7.015865824e-01,-1.145874212e-04,8.372310475e-01,7.015858342e-01,-1.145626194e-04,8.372427579e-01,7.017627915e-01,-1.137898337e-04,8.262841969e-01
+48,2.283333333e+01,DOWN_FORCE_DETACH,1792640844920232719,4.764416506e-05,-1.183423290e-04,-3.652423137e-03,4.747842663e-05,-1.183592219e-04,-3.652167868e-03,3.587586792e-05,-1.179679106e-04,-3.650345351e-03,7.015855156e-01,-1.167913677e-04,8.370885181e-01,7.015853499e-01,-1.168082606e-04,8.370887733e-01,7.017617857e-01,-1.161368771e-04,8.261305057e-01
+49,2.305000000e+01,DOWN_FORCE_DETACH,1792640845250726572,4.617587732e-05,-1.170559733e-04,-3.788415516e-03,4.599326317e-05,-1.172237915e-04,-3.788384065e-03,3.392176847e-05,-1.169170597e-04,-3.786361219e-03,7.015840474e-01,-1.155050120e-04,8.369525257e-01,7.015838647e-01,-1.156728302e-04,8.369525571e-01,7.017598316e-01,-1.150860262e-04,8.259944898e-01
+50,2.328333333e+01,DOWN_FORCE_DETACH,1792640845590039114,4.577031315e-05,-1.214584648e-04,-3.926591148e-03,4.612745583e-05,-1.218330383e-04,-3.922208059e-03,3.361932223e-05,-1.215267653e-04,-3.920403824e-03,7.015836418e-01,-1.199075034e-04,8.368143500e-01,7.015839989e-01,-1.202820770e-04,8.368187331e-01,7.017595292e-01,-1.196957318e-04,8.258604472e-01
+51,2.348333333e+01,DOWN_FORCE_DETACH,1792640845891913400,4.674448885e-05,-1.231683590e-04,-4.058749176e-03,4.711859111e-05,-1.235809506e-04,-4.058354195e-03,3.412163697e-05,-1.230911082e-04,-4.056901985e-03,7.015846160e-01,-1.216173977e-04,8.366821920e-01,7.015849901e-01,-1.220299893e-04,8.366825870e-01,7.017600315e-01,-1.212600747e-04,8.257239490e-01
+52,2.368333333e+01,DOWN_FORCE_DETACH,1792640846191337914,4.318811146e-05,-1.234728981e-04,-4.201625086e-03,4.496949292e-05,-1.285381319e-04,-4.195110073e-03,3.134297226e-05,-1.279807774e-04,-4.193878910e-03,7.015810596e-01,-1.219219368e-04,8.365393161e-01,7.015828410e-01,-1.269871706e-04,8.365458311e-01,7.017572528e-01,-1.261497438e-04,8.255869721e-01
+53,2.388333333e+01,DOWN_FORCE_DETACH,1792640846490349388,4.385537222e-05,-1.219191998e-04,-4.339562885e-03,4.309749667e-05,-1.232029729e-04,-4.323037029e-03,2.884351285e-05,-1.226589689e-04,-4.322156266e-03,7.015817269e-01,-1.203682385e-04,8.364013783e-01,7.015809690e-01,-1.216520115e-04,8.364179042e-01,7.017547534e-01,-1.208279353e-04,8.254586947e-01
+54,2.408333333e+01,DOWN_FORCE_DETACH,1792640846790084777,3.640882919e-05,-1.232136460e-04,-4.488560913e-03,3.612773991e-05,-1.266191602e-04,-4.473946783e-03,2.111087530e-05,-1.260720399e-04,-4.473167789e-03,7.015742803e-01,-1.216626846e-04,8.362523803e-01,7.015739992e-01,-1.250681989e-04,8.362669944e-01,7.017470207e-01,-1.242410064e-04,8.253076832e-01
+55,2.426666667e+01,DOWN_FORCE_DETACH,1792640847072457118,3.448261875e-05,-1.070921804e-04,-4.626011542e-03,3.437953070e-05,-1.070458656e-04,-4.626025213e-03,1.861246147e-05,-1.065125999e-04,-4.625289351e-03,7.015723541e-01,-1.055412191e-04,8.361149296e-01,7.015722510e-01,-1.054949043e-04,8.361149160e-01,7.017445223e-01,-1.046815663e-04,8.251555617e-01
+56,2.446666667e+01,DOWN_FORCE_DETACH,1792640847371818437,5.262488601e-05,-1.059755338e-04,-4.767775416e-03,5.314204972e-05,-1.027716432e-04,-4.752906866e-03,3.727514649e-05,-1.022544594e-04,-4.752430895e-03,7.015904964e-01,-1.044245725e-04,8.359731658e-01,7.015910135e-01,-1.012206818e-04,8.359880343e-01,7.017631850e-01,-1.004234259e-04,8.250284201e-01
+57,2.463333333e+01,DOWN_FORCE_DETACH,1792640847621682859,4.423771899e-05,-1.036926163e-04,-4.908623874e-03,4.405552270e-05,-1.035812054e-04,-4.908476682e-03,2.738502815e-05,-1.030495974e-04,-4.907928596e-03,7.015821092e-01,-1.021416550e-04,8.358323173e-01,7.015819270e-01,-1.020302441e-04,8.358324645e-01,7.017532949e-01,-1.012185638e-04,8.248729224e-01
+58,2.481666667e+01,DOWN_SETTLE,1792640847891744085,4.632126900e-05,-1.170180118e-04,-5.046925067e-03,4.403539254e-05,-1.066358675e-04,-5.032398721e-03,2.699431006e-05,-1.062702979e-04,-5.032251714e-03,7.015841928e-01,-1.154670505e-04,8.356940161e-01,7.015819069e-01,-1.050849062e-04,8.357085425e-01,7.017529042e-01,-1.044392643e-04,8.247485993e-01
+59,2.530000000e+01,DOWN_PEAK_HOLD,1792640848727338301,3.075801380e-05,-1.086521714e-04,-5.131805592e-03,3.363859222e-05,-1.088831158e-04,-5.122493046e-03,1.594665047e-05,-1.087628434e-04,-5.123056243e-03,7.015686295e-01,-1.071012101e-04,8.356091356e-01,7.015715101e-01,-1.073321545e-04,8.356184481e-01,7.017418565e-01,-1.069318099e-04,8.246577948e-01

Fixed/s1/ball_PLA_10/press_depth_02/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,7.9075e-03,2.8341e-03,2.4615e+00,-3.7007e-02,3.7330e-02,-6.0842e-05,3.6711e-04,1.7599e-05,2.3222e-04,-2.0117e-06,2.5719e-05,-5.7960e-07,4.3475e-04,2.5804e-05
+1,6.6667e-01,DOWN_FORCE_DETACH,1.4675e-04,1.6999e-02,3.3643e-03,2.4667e+00,-3.7062e-02,3.7972e-02,-6.9571e-05,9.4588e-03,5.4780e-04,5.4193e-03,-5.7336e-05,6.6696e-04,-9.3086e-06,1.0915e-02,6.6949e-04
+2,1.2167e+00,DOWN_FORCE_DETACH,2.9358e-04,1.9890e-02,3.5359e-03,2.4680e+00,-3.7078e-02,3.8177e-02,-6.8691e-05,1.2350e-02,7.1942e-04,6.6991e-03,-7.3269e-05,8.7215e-04,-8.4287e-06,1.4068e-02,8.7526e-04
+3,1.8833e+00,DOWN_FORCE_DETACH,4.4475e-04,2.2762e-02,5.1473e-03,2.4774e+00,-3.7193e-02,3.8375e-02,-6.4704e-05,1.5222e-02,2.3309e-03,1.6042e-02,-1.8793e-04,1.0700e-03,-4.4417e-06,2.2237e-02,1.0864e-03
+4,2.4833e+00,DOWN_FORCE_DETACH,5.9100e-04,2.1976e-02,6.2112e-03,2.4795e+00,-3.7265e-02,3.8317e-02,-6.0801e-05,1.4435e-02,3.3947e-03,1.8142e-02,-2.6007e-04,1.0119e-03,-5.3910e-07,2.3432e-02,1.0448e-03
+5,3.0667e+00,DOWN_FORCE_DETACH,7.3850e-04,2.3375e-02,4.9047e-03,2.4795e+00,-3.7167e-02,3.8414e-02,-5.6872e-05,1.5835e-02,2.0882e-03,1.8143e-02,-1.6182e-04,1.1094e-03,3.3896e-06,2.4172e-02,1.1212e-03
+6,3.8167e+00,DOWN_FORCE_DETACH,8.8652e-04,2.2468e-02,7.4537e-03,2.4844e+00,-3.7334e-02,3.8348e-02,-3.9213e-05,1.4927e-02,4.6373e-03,2.3041e-02,-3.2889e-04,1.0433e-03,2.1049e-05,2.7843e-02,1.0941e-03
+7,4.5000e+00,DOWN_FORCE_DETACH,1.0355e-03,2.4078e-02,9.6065e-03,2.4783e+00,-3.7468e-02,3.8464e-02,-1.4114e-05,1.6538e-02,6.7901e-03,1.7014e-02,-4.6368e-04,1.1590e-03,4.6148e-05,2.4679e-02,1.2492e-03
+8,5.1833e+00,DOWN_FORCE_DETACH,1.1811e-03,2.8220e-02,8.6936e-03,2.4821e+00,-3.7386e-02,3.8756e-02,1.3112e-05,2.0679e-02,5.8772e-03,2.0776e-02,-3.8143e-04,1.4508e-03,7.3374e-05,2.9897e-02,1.5019e-03
+9,5.7667e+00,DOWN_FORCE_DETACH,1.3327e-03,2.9882e-02,9.0866e-03,2.4838e+00,-3.7401e-02,3.8875e-02,3.6447e-05,2.2342e-02,6.2701e-03,2.2496e-02,-3.9666e-04,1.5701e-03,9.6709e-05,3.2319e-02,1.6223e-03
+10,6.2833e+00,DOWN_FORCE_DETACH,1.4777e-03,3.1493e-02,9.5106e-03,2.4845e+00,-3.7426e-02,3.8986e-02,5.1858e-05,2.3952e-02,6.6941e-03,2.3156e-02,-4.2089e-04,1.6817e-03,1.1212e-04,3.3981e-02,1.7372e-03
+11,6.9500e+00,DOWN_FORCE_DETACH,1.6253e-03,3.2750e-02,9.7746e-03,2.4803e+00,-3.7441e-02,3.9077e-02,6.5083e-05,2.5209e-02,6.9581e-03,1.9028e-02,-4.3616e-04,1.7721e-03,1.2535e-04,3.2342e-02,1.8293e-03
+12,7.4833e+00,DOWN_FORCE_DETACH,1.7717e-03,3.2639e-02,1.0413e-02,2.4868e+00,-3.7485e-02,3.9068e-02,7.0701e-05,2.5099e-02,7.5968e-03,2.5464e-02,-4.8069e-04,1.7629e-03,1.3096e-04,3.6552e-02,1.8319e-03
+13,8.1167e+00,DOWN_FORCE_DETACH,1.9182e-03,3.1674e-02,1.0062e-02,2.4832e+00,-3.7462e-02,3.9000e-02,7.3842e-05,2.4134e-02,7.2452e-03,2.1913e-02,-4.5676e-04,1.6953e-03,1.3410e-04,3.3393e-02,1.7609e-03
+14,8.6167e+00,DOWN_FORCE_DETACH,2.0681e-03,3.0702e-02,1.3704e-02,2.4878e+00,-3.7717e-02,3.8930e-02,7.7751e-05,2.3162e-02,1.0888e-02,2.6523e-02,-7.1253e-04,1.6257e-03,1.3801e-04,3.6857e-02,1.7804e-03
+15,9.2833e+00,DOWN_FORCE_DETACH,2.2150e-03,3.0173e-02,1.2037e-02,2.4885e+00,-3.7605e-02,3.8893e-02,7.7847e-05,2.2632e-02,9.2205e-03,2.7205e-02,-6.0003e-04,1.5878e-03,1.3811e-04,3.6570e-02,1.7030e-03
+16,9.8333e+00,DOWN_FORCE_DETACH,2.3661e-03,3.0841e-02,1.3749e-02,2.4850e+00,-3.7729e-02,3.8939e-02,7.9080e-05,2.3301e-02,1.0933e-02,2.3664e-02,-7.2423e-04,1.6348e-03,1.3934e-04,3.4963e-02,1.7934e-03
+17,1.0383e+01,DOWN_FORCE_DETACH,2.5098e-03,2.9339e-02,1.2106e-02,2.4874e+00,-3.7622e-02,3.8833e-02,7.8039e-05,2.1799e-02,9.2900e-03,2.6064e-02,-6.1737e-04,1.5279e-03,1.3830e-04,3.5225e-02,1.6537e-03
+18,1.1017e+01,DOWN_FORCE_DETACH,2.6578e-03,2.7434e-02,1.3481e-02,2.4854e+00,-3.7738e-02,3.8700e-02,7.9032e-05,1.9894e-02,1.0665e-02,2.4064e-02,-7.3295e-04,1.3948e-03,1.3929e-04,3.2994e-02,1.5818e-03
+19,1.1567e+01,DOWN_FORCE_DETACH,2.8088e-03,2.6428e-02,1.2866e-02,2.4897e+00,-3.7725e-02,3.8626e-02,7.8345e-05,1.8887e-02,1.0049e-02,2.8356e-02,-7.2062e-04,1.3215e-03,1.3861e-04,3.5521e-02,1.5116e-03
+20,1.2150e+01,DOWN_FORCE_DETACH,2.9519e-03,2.5982e-02,1.3172e-02,2.4952e+00,-3.7788e-02,3.8591e-02,7.4226e-05,1.8441e-02,1.0355e-02,3.3860e-02,-7.8359e-04,1.2860e-03,1.3449e-04,3.9922e-02,1.5120e-03
+21,1.2650e+01,DOWN_FORCE_DETACH,3.1019e-03,2.6719e-02,1.2665e-02,2.4999e+00,-3.7794e-02,3.8637e-02,6.3048e-05,1.9179e-02,9.8489e-03,3.8632e-02,-7.8906e-04,1.3326e-03,1.2331e-04,4.4241e-02,1.5536e-03
+22,1.3117e+01,DOWN_FORCE_DETACH,3.2467e-03,2.7940e-02,1.3928e-02,2.5043e+00,-3.7913e-02,3.8718e-02,4.5600e-05,2.0399e-02,1.1111e-02,4.2972e-02,-9.0871e-04,1.4129e-03,1.0586e-04,4.8849e-02,1.6832e-03
+23,1.3667e+01,DOWN_FORCE_DETACH,3.3955e-03,3.0755e-02,1.1734e-02,2.5100e+00,-3.7783e-02,3.8909e-02,2.2165e-05,2.3215e-02,8.9175e-03,4.8669e-02,-7.7843e-04,1.6044e-03,8.2427e-05,5.4654e-02,1.7851e-03
+24,1.4167e+01,DOWN_FORCE_DETACH,3.5440e-03,3.1764e-02,1.1464e-02,2.5107e+00,-3.7757e-02,3.8978e-02,3.6336e-06,2.4223e-02,8.6476e-03,4.9383e-02,-7.5176e-04,1.6728e-03,6.3896e-05,5.5679e-02,1.8351e-03
+25,1.4683e+01,DOWN_FORCE_DETACH,3.6941e-03,3.1155e-02,1.1453e-02,2.5047e+00,-3.7687e-02,3.8939e-02,-9.8159e-06,2.3614e-02,8.6367e-03,4.3429e-02,-6.8224e-04,1.6346e-03,5.0446e-05,5.0183e-02,1.7720e-03
+26,1.5217e+01,DOWN_FORCE_DETACH,3.8389e-03,3.1590e-02,1.5399e-02,2.4924e+00,-3.7824e-02,3.8981e-02,-1.7098e-05,2.4050e-02,1.2583e-02,3.1082e-02,-8.1961e-04,1.6761e-03,4.3164e-05,4.1265e-02,1.8663e-03
+27,1.5667e+01,DOWN_FORCE_DETACH,3.9877e-03,2.9616e-02,1.9309e-02,2.4875e+00,-3.8007e-02,3.8850e-02,-1.8317e-05,2.2076e-02,1.6493e-02,2.6217e-02,-1.0019e-03,1.5451e-03,4.1945e-05,3.8036e-02,1.8420e-03
+28,1.6100e+01,DOWN_FORCE_DETACH,4.1356e-03,3.1643e-02,2.1568e-02,2.4963e+00,-3.8140e-02,3.8988e-02,-9.3687e-06,2.4102e-02,1.8751e-02,3.4953e-02,-1.1356e-03,1.6833e-03,5.0893e-05,4.6414e-02,2.0311e-03
+29,1.6600e+01,DOWN_FORCE_DETACH,4.2835e-03,3.2057e-02,2.3258e-02,2.5051e+00,-3.8268e-02,3.9009e-02,9.5783e-06,2.4516e-02,2.0442e-02,4.3782e-02,-1.2637e-03,1.7038e-03,6.9840e-05,5.4183e-02,2.1224e-03
+30,1.7050e+01,DOWN_FORCE_DETACH,4.4331e-03,3.2753e-02,2.7776e-02,2.5143e+00,-3.8599e-02,3.9044e-02,3.2496e-05,2.5213e-02,2.4959e-02,5.2991e-02,-1.5944e-03,1.7395e-03,9.2758e-05,6.3770e-02,2.3615e-03
+31,1.7483e+01,DOWN_FORCE_DETACH,4.5790e-03,3.1474e-02,3.0360e-02,2.5152e+00,-3.8805e-02,3.8947e-02,5.0966e-05,2.3934e-02,2.7543e-02,5.3938e-02,-1.7999e-03,1.6425e-03,1.1123e-04,6.5121e-02,2.4392e-03
+32,1.7883e+01,DOWN_FORCE_DETACH,4.7229e-03,2.9960e-02,3.1315e-02,2.5231e+00,-3.8894e-02,3.8832e-02,6.5201e-05,2.2420e-02,2.8498e-02,6.1824e-02,-1.8893e-03,1.5277e-03,1.2546e-04,7.1673e-02,2.4329e-03
+33,1.8267e+01,DOWN_FORCE_DETACH,4.8717e-03,2.5682e-02,3.4702e-02,2.5281e+00,-3.9116e-02,3.8528e-02,6.8439e-05,1.8141e-02,3.1885e-02,6.6742e-02,-2.1115e-03,1.2234e-03,1.2870e-04,7.6159e-02,2.4437e-03
+34,1.8667e+01,DOWN_FORCE_DETACH,5.0221e-03,1.8178e-02,3.6993e-02,2.5278e+00,-3.9240e-02,3.7998e-02,4.9770e-05,1.0638e-02,3.4176e-02,6.6472e-02,-2.2349e-03,6.9293e-04,1.1003e-04,7.5496e-02,2.3424e-03
+35,1.9017e+01,DOWN_FORCE_DETACH,5.1688e-03,1.0825e-02,3.8230e-02,2.5290e+00,-3.9317e-02,3.7478e-02,2.1539e-05,3.2849e-03,3.5414e-02,6.7672e-02,-2.3118e-03,1.7350e-04,8.1801e-05,7.6449e-02,2.3198e-03
+36,1.9383e+01,DOWN_FORCE_DETACH,5.3201e-03,5.1860e-03,3.7429e-02,2.5283e+00,-3.9292e-02,3.7079e-02,-1.1528e-06,-2.3544e-03,3.4613e-02,6.6948e-02,-2.2874e-03,-2.2580e-04,5.9109e-05,7.5404e-02,2.2993e-03
+37,1.9733e+01,DOWN_FORCE_DETACH,5.4691e-03,2.7499e-03,3.6136e-02,2.5241e+00,-3.9213e-02,3.6906e-02,-3.9876e-06,-4.7904e-03,3.3320e-02,6.2770e-02,-2.2085e-03,-3.9921e-04,5.6274e-05,7.1227e-02,2.2450e-03
+38,2.0017e+01,DOWN_FORCE_DETACH,5.6220e-03,3.1596e-03,3.8867e-02,2.5291e+00,-3.9372e-02,3.6933e-02,8.3199e-06,-4.3808e-03,3.6050e-02,6.7774e-02,-2.3670e-03,-3.7216e-04,6.8582e-05,7.6891e-02,2.3971e-03
+39,2.0333e+01,DOWN_FORCE_DETACH,5.7637e-03,4.1329e-03,4.0004e-02,2.5324e+00,-3.9415e-02,3.6998e-02,3.0322e-05,-3.4074e-03,3.7187e-02,7.1107e-02,-2.4103e-03,-3.0645e-04,9.0584e-05,8.0316e-02,2.4314e-03
+40,2.0667e+01,DOWN_FORCE_DETACH,5.9122e-03,5.3149e-03,4.2402e-02,2.5361e+00,-3.9564e-02,3.7076e-02,4.7434e-05,-2.2254e-03,3.9586e-02,7.4799e-02,-2.5588e-03,-2.2922e-04,1.0770e-04,8.4657e-02,2.5713e-03
+41,2.0983e+01,DOWN_FORCE_DETACH,6.0594e-03,6.1389e-03,4.6339e-02,2.5365e+00,-3.9785e-02,3.7130e-02,5.5941e-05,-1.4015e-03,4.3523e-02,7.5158e-02,-2.7806e-03,-1.7467e-04,1.1620e-04,8.6861e-02,2.7885e-03
+42,2.1283e+01,DOWN_FORCE_DETACH,6.2029e-03,8.7816e-03,5.2112e-02,2.5319e+00,-4.0139e-02,3.7315e-02,5.3690e-05,1.2413e-03,4.9295e-02,7.0613e-02,-3.1338e-03,1.0151e-05,1.1395e-04,8.6127e-02,3.1359e-03
+43,2.1550e+01,DOWN_FORCE_DETACH,6.3477e-03,1.2272e-02,5.2224e-02,2.5312e+00,-4.0169e-02,3.7555e-02,4.1903e-05,4.7318e-03,4.9407e-02,6.9853e-02,-3.1640e-03,2.5074e-04,1.0217e-04,8.5691e-02,3.1755e-03
+44,2.1833e+01,DOWN_FORCE_DETACH,6.5013e-03,1.5859e-02,5.0767e-02,2.5309e+00,-4.0099e-02,3.7801e-02,1.5841e-05,8.3183e-03,4.7951e-02,6.9627e-02,-3.0945e-03,4.9613e-04,7.6103e-05,8.4949e-02,3.1349e-03
+45,2.2100e+01,DOWN_FORCE_DETACH,6.6423e-03,1.8943e-02,5.0408e-02,2.5333e+00,-4.0071e-02,3.8012e-02,-2.4865e-05,1.1403e-02,4.7592e-02,7.2005e-02,-3.0662e-03,7.0771e-04,3.5397e-05,8.7061e-02,3.1470e-03
+46,2.2350e+01,DOWN_FORCE_DETACH,6.7937e-03,1.9616e-02,5.0794e-02,2.5317e+00,-4.0088e-02,3.8062e-02,-6.3342e-05,1.2076e-02,4.7977e-02,7.0357e-02,-3.0831e-03,7.5708e-04,-3.0802e-06,8.6010e-02,3.1747e-03
+47,2.2583e+01,DOWN_FORCE_DETACH,6.9391e-03,2.0229e-02,4.8157e-02,2.5309e+00,-3.9912e-02,3.8106e-02,-8.3989e-05,1.2688e-02,4.5341e-02,6.9627e-02,-2.9077e-03,8.0163e-04,-2.3727e-05,8.4052e-02,3.0163e-03
+48,2.2833e+01,DOWN_FORCE_DETACH,7.0958e-03,2.2419e-02,4.6326e-02,2.5357e+00,-3.9796e-02,3.8258e-02,-7.6253e-05,1.4879e-02,4.3509e-02,7.4357e-02,-2.7910e-03,9.5289e-04,-1.5991e-05,8.7426e-02,2.9493e-03
+49,2.3050e+01,DOWN_FORCE_DETACH,7.2361e-03,2.4538e-02,4.2297e-02,2.5434e+00,-3.9521e-02,3.8401e-02,-4.5633e-05,1.6998e-02,3.9480e-02,8.2123e-02,-2.5163e-03,1.0967e-03,1.4629e-05,9.2692e-02,2.7449e-03
+50,2.3283e+01,DOWN_FORCE_DETACH,7.3876e-03,2.6885e-02,4.2140e-02,2.5463e+00,-3.9477e-02,3.8559e-02,2.3175e-06,1.9345e-02,3.9323e-02,8.5018e-02,-2.4724e-03,1.2546e-03,6.2579e-05,9.5648e-02,2.7732e-03
+51,2.3483e+01,DOWN_FORCE_DETACH,7.5247e-03,2.6677e-02,4.7757e-02,2.5377e+00,-3.9776e-02,3.8547e-02,3.8799e-05,1.9136e-02,4.4940e-02,7.6436e-02,-2.7714e-03,1.2418e-03,9.9061e-05,9.0710e-02,3.0385e-03
+52,2.3683e+01,DOWN_FORCE_DETACH,7.6791e-03,2.2793e-02,5.2633e-02,2.5280e+00,-4.0040e-02,3.8287e-02,3.8834e-05,1.5253e-02,4.9817e-02,6.6670e-02,-3.0352e-03,9.8179e-04,9.9096e-05,8.4612e-02,3.1916e-03
+53,2.3883e+01,DOWN_FORCE_DETACH,7.8226e-03,1.8642e-02,5.2309e-02,2.5168e+00,-4.0013e-02,3.8009e-02,9.2244e-06,1.1101e-02,4.9492e-02,5.5514e-02,-3.0087e-03,7.0468e-04,6.9486e-05,7.5197e-02,3.0909e-03
+54,2.4083e+01,DOWN_FORCE_DETACH,7.9765e-03,1.5210e-02,5.0918e-02,2.5080e+00,-3.9944e-02,3.7780e-02,-2.5747e-05,7.6697e-03,4.8102e-02,4.6667e-02,-2.9388e-03,4.7567e-04,3.4515e-05,6.7456e-02,2.9773e-03
+55,2.4267e+01,DOWN_FORCE_DETACH,8.1221e-03,1.1053e-02,4.8917e-02,2.5030e+00,-3.9827e-02,3.7499e-02,-4.4071e-05,3.5128e-03,4.6101e-02,4.1727e-02,-2.8219e-03,1.9428e-04,1.6191e-05,6.2280e-02,2.8287e-03
+56,2.4467e+01,DOWN_FORCE_DETACH,8.2742e-03,5.5428e-04,4.6331e-02,2.4948e+00,-3.9687e-02,3.6786e-02,-3.3759e-05,-6.9861e-03,4.3515e-02,3.3477e-02,-2.6820e-03,-5.1913e-04,2.6503e-05,5.5345e-02,2.7319e-03
+57,2.4633e+01,DOWN_FORCE_DETACH,8.4204e-03,1.2326e-03,4.8198e-02,2.4926e+00,-3.9821e-02,3.6833e-02,-1.4106e-05,-6.3078e-03,4.5381e-02,3.1320e-02,-2.8165e-03,-4.7164e-04,4.6156e-05,5.5499e-02,2.8561e-03
+58,2.4817e+01,DOWN_SETTLE,8.5676e-03,1.2100e-03,4.3685e-02,2.4858e+00,-3.9537e-02,3.6836e-02,2.2760e-06,-6.3304e-03,4.0868e-02,2.4451e-02,-2.5319e-03,-4.6887e-04,6.2538e-05,4.8043e-02,2.5757e-03
+59,2.5300e+01,DOWN_PEAK_HOLD,8.7156e-03,3.8151e-03,3.2158e-02,2.4548e+00,-3.8917e-02,3.7038e-02,-8.5629e-07,-3.7253e-03,2.9341e-02,-6.4974e-03,-1.9118e-03,-2.6645e-04,5.9406e-05,3.0282e-02,1.9312e-03

Fixed/s1/ball_PLA_10/press_depth_02/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb3a93d9a2734aeb80c0613e8eb3f115e9d4182d8bf46f48ef27185f596b2f15
+size 4864000

Fixed/s1/ball_PLA_10/press_depth_02/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/s1/ball_PLA_10/press_depth_02/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+29,4.416666667e+00,UP_FORCE_RAMP,1792640797963277256,-1.996630622e-05,-5.874822681e-08,1.045959044e-04,-1.961067759e-05,-4.690871942e-06,1.026075432e-04,-1.954079122e-05,-4.607893935e-06,1.021711358e-04,7.015179052e-01,1.492213094e-06,8.408455371e-01,7.015182608e-01,-3.139910621e-06,8.408435487e-01,7.017063691e-01,-2.776860385e-06,8.298830221e-01
+30,4.533333333e+00,UP_FORCE_RAMP,1792640798142704888,-2.118610753e-05,-1.080095017e-05,1.119529514e-04,-1.961067759e-05,-4.690871942e-06,1.026075432e-04,-1.956033448e-05,-4.604636971e-06,1.022627146e-04,7.015166854e-01,-9.249988849e-06,8.408528941e-01,7.015182608e-01,-3.139910621e-06,8.408435487e-01,7.017063495e-01,-2.773603422e-06,8.298831137e-01
+31,4.666666667e+00,UP_FORCE_RAMP,1792640798342631566,-2.233945052e-05,-9.365029873e-06,1.146817355e-04,-1.961067759e-05,-4.690871942e-06,1.026075432e-04,-1.957914045e-05,-4.602822039e-06,1.023418359e-04,7.015155320e-01,-7.814068551e-06,8.408556229e-01,7.015182608e-01,-3.139910621e-06,8.408435487e-01,7.017063307e-01,-2.771788489e-06,8.298831928e-01
+32,4.800000000e+00,UP_FORCE_RAMP,1792640798542598333,-2.048531245e-05,-5.887059323e-06,1.270384704e-04,-1.964579800e-05,-8.494141372e-06,1.241970834e-04,-1.954796222e-05,-8.374993214e-06,1.237161898e-04,7.015173862e-01,-4.336098002e-06,8.408679797e-01,7.015182257e-01,-6.943180051e-06,8.408651383e-01,7.017063619e-01,-6.543959664e-06,8.299045672e-01
+33,4.966666667e+00,UP_FORCE_RAMP,1792640798781133374,-2.053168150e-05,-2.201466938e-06,1.358467598e-04,-1.964579800e-05,-8.494141372e-06,1.241970834e-04,-1.956485928e-05,-8.371678964e-06,1.238294014e-04,7.015173398e-01,-6.505056168e-07,8.408767879e-01,7.015182257e-01,-6.943180051e-06,8.408651383e-01,7.017063450e-01,-6.540645415e-06,8.299046804e-01
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+40,6.066666667e+00,UP_FORCE_RAMP,1792640800443346664,-2.193853993e-05,-5.249648872e-06,1.795837483e-04,-1.961397212e-05,-5.844583349e-06,1.666616608e-04,-1.938848357e-05,-5.741998482e-06,1.663196119e-04,7.015159329e-01,-3.698687551e-06,8.409205249e-01,7.015182575e-01,-4.293622028e-06,8.409076028e-01,7.017065214e-01,-3.910964933e-06,8.299471706e-01
+41,6.200000000e+00,UP_FORCE_RAMP,1792640800642783284,-2.485477438e-05,-4.430109979e-06,1.814122475e-04,-1.961397212e-05,-5.844583349e-06,1.666616608e-04,-1.939142826e-05,-5.740990671e-06,1.663601274e-04,7.015130167e-01,-2.879148658e-06,8.409223534e-01,7.015182575e-01,-4.293622028e-06,8.409076028e-01,7.017065184e-01,-3.909957121e-06,8.299472111e-01
+42,6.300000000e+00,UP_FORCE_RAMP,1792640800780876507,-2.630268042e-05,-5.244572358e-06,1.826553245e-04,-1.956720732e-05,-4.163712677e-06,1.921279496e-04,-1.930563286e-05,-4.078425976e-06,1.915701506e-04,7.015115688e-01,-3.693611037e-06,8.409235965e-01,7.015183043e-01,-2.612751356e-06,8.409330691e-01,7.017066042e-01,-2.247392426e-06,8.299724212e-01
+43,6.416666667e+00,UP_FORCE_RAMP,1792640800962599589,-2.694475071e-05,-3.656690381e-06,1.871836672e-04,-1.956720732e-05,-4.163712677e-06,1.921279496e-04,-1.930778231e-05,-4.074244496e-06,1.916489649e-04,7.015109267e-01,-2.105729060e-06,8.409281249e-01,7.015183043e-01,-2.612751356e-06,8.409330691e-01,7.017066021e-01,-2.243210947e-06,8.299725000e-01
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+46,6.866666667e+00,UP_FORCE_HOLD,1792640801642722657,-2.729695325e-05,-4.797033357e-06,2.065395162e-04,-1.956720732e-05,-4.163712677e-06,1.921279496e-04,-1.931279452e-05,-4.068958708e-06,1.918144576e-04,7.015105745e-01,-3.246072036e-06,8.409474807e-01,7.015183043e-01,-2.612751356e-06,8.409330691e-01,7.017065971e-01,-2.237925159e-06,8.299726655e-01
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+48,7.200000000e+00,UP_FORCE_HOLD,1792640802147526020,-3.014971026e-05,-2.533906849e-06,2.174142175e-04,-2.249606598e-05,-1.373643918e-06,2.141805075e-04,-2.215883393e-05,-1.304897852e-06,2.137836370e-04,7.015077218e-01,-9.829455282e-07,8.409583554e-01,7.015153754e-01,1.773174031e-07,8.409551217e-01,7.017037510e-01,5.261356981e-07,8.299946346e-01
+49,7.350000000e+00,UP_FORCE_HOLD,1792640802396658187,-3.261598061e-05,-9.041192069e-06,2.206503409e-04,-2.249606598e-05,-1.373643918e-06,2.141805075e-04,-2.216394183e-05,-1.303522337e-06,2.138319132e-04,7.015052555e-01,-7.490230748e-06,8.409615915e-01,7.015153754e-01,1.773174031e-07,8.409551217e-01,7.017037459e-01,5.275112128e-07,8.299946829e-01
+50,7.500000000e+00,UP_FORCE_HOLD,1792640802615850873,-3.348229337e-05,-2.866753638e-06,2.253441177e-04,-2.249606598e-05,-1.373643918e-06,2.141805075e-04,-2.216779193e-05,-1.302465219e-06,2.138682003e-04,7.015043892e-01,-1.315792317e-06,8.409662853e-01,7.015153754e-01,1.773174031e-07,8.409551217e-01,7.017037421e-01,5.285683308e-07,8.299947192e-01
+51,7.616666667e+00,UP_FORCE_HOLD,1792640802795034596,-3.242661976e-05,-7.306678058e-06,2.301153944e-04,-2.988401754e-05,-4.797969114e-06,2.334689683e-04,-2.967182273e-05,-4.695317691e-06,2.329014693e-04,7.015054449e-01,-5.755716737e-06,8.409710566e-01,7.015079875e-01,-3.247007793e-06,8.409744102e-01,7.016962380e-01,-2.864284141e-06,8.300137525e-01
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+54,8.050000000e+00,UP_FORCE_HOLD,1792640803444535551,-3.517676115e-05,-2.764290180e-06,2.388642717e-04,-2.988401754e-05,-4.797969114e-06,2.334689683e-04,-2.972486160e-05,-4.692710982e-06,2.330630138e-04,7.015026947e-01,-1.213328859e-06,8.409798055e-01,7.015079875e-01,-3.247007793e-06,8.409744102e-01,7.016961850e-01,-2.861677432e-06,8.300139140e-01
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+56,8.366666667e+00,UP_FORCE_HOLD,1792640803915143001,-3.516986627e-05,-2.318305123e-06,2.482939854e-04,-2.988401754e-05,-4.797969114e-06,2.334689683e-04,-2.974446025e-05,-4.692013174e-06,2.331194525e-04,7.015027016e-01,-7.673438023e-07,8.409892352e-01,7.015079875e-01,-3.247007793e-06,8.409744102e-01,7.016961654e-01,-2.860979625e-06,8.300139705e-01
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+59,8.816666667e+00,UP_FORCE_HOLD,1792640804598478085,-3.096187816e-05,-3.746093621e-06,2.663529140e-04,-3.096772820e-05,-5.579269077e-06,2.533838809e-04,-3.078579338e-05,-5.461974976e-06,2.529481628e-04,7.015069096e-01,-2.195132300e-06,8.410072941e-01,7.015069038e-01,-4.028307756e-06,8.409943251e-01,7.016951241e-01,-3.630941427e-06,8.300337992e-01

Fixed/s1/ball_PLA_10/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,7.9075e-03,2.8341e-03,2.4615e+00,-3.7007e-02,3.7330e-02,-6.0842e-05,3.6711e-04,1.7599e-05,2.3222e-04,-2.0117e-06,2.5719e-05,-5.7960e-07,4.3475e-04,2.5804e-05
+1,8.3333e-02,XJC_ZERO_HOLD_BEFORE_UP,3.5513e-05,9.6122e-03,2.9218e-03,2.4626e+00,-3.7017e-02,3.7450e-02,-6.3335e-05,2.0719e-03,1.0538e-04,1.2927e-03,-1.1768e-05,1.4536e-04,-3.0733e-06,2.4443e-03,1.4587e-04
+2,2.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,7.3426e-05,1.1928e-02,3.0527e-03,2.4640e+00,-3.7031e-02,3.7613e-02,-6.6171e-05,4.3878e-03,2.3626e-04,2.6789e-03,-2.5801e-05,3.0839e-04,-5.9088e-06,5.1464e-03,3.0952e-04
+3,3.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,1.0817e-04,1.3599e-02,3.1524e-03,2.4649e+00,-3.7041e-02,3.7731e-02,-6.7774e-05,6.0583e-03,3.3591e-04,3.6330e-03,-3.6169e-05,4.2628e-04,-7.5118e-06,7.0721e-03,4.2788e-04
+4,4.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,1.4478e-04,1.5172e-02,3.2483e-03,2.4658e+00,-3.7051e-02,3.7842e-02,-6.8886e-05,7.6313e-03,4.3187e-04,4.4897e-03,-4.5944e-05,5.3751e-04,-8.6241e-06,8.8645e-03,5.3954e-04
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+41,6.2000e+00,UP_FORCE_RAMP,1.4530e-03,1.8172e-02,7.2391e-03,2.4500e+00,-3.7356e-02,3.8073e-02,-9.8729e-05,1.0631e-02,4.4226e-03,-1.1307e-02,-3.5126e-04,7.6844e-04,-3.8467e-05,1.6138e-02,8.4579e-04
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+45,6.7167e+00,UP_FORCE_HOLD,1.5971e-03,1.7806e-02,6.6574e-03,2.4467e+00,-3.7315e-02,3.8050e-02,-9.9210e-05,1.0265e-02,3.8409e-03,-1.4594e-02,-3.0976e-04,7.4552e-04,-3.8948e-05,1.8251e-02,8.0825e-04
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+54,8.0500e+00,UP_FORCE_HOLD,1.9176e-03,2.0082e-02,7.4376e-03,2.4456e+00,-3.7367e-02,3.8215e-02,-9.2395e-05,1.2542e-02,4.6212e-03,-1.5698e-02,-3.6249e-04,9.1027e-04,-3.2133e-05,2.0617e-02,9.8031e-04
+55,8.1833e+00,UP_FORCE_HOLD,1.9512e-03,1.9625e-02,7.4887e-03,2.4470e+00,-3.7371e-02,3.8182e-02,-9.1635e-05,1.2084e-02,4.6722e-03,-1.4314e-02,-3.6586e-04,8.7726e-04,-3.1373e-05,1.9307e-02,9.5101e-04
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Fixed/s1/ball_PLA_10/press_depth_03/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e8e151be07ebef25d3f2b5590217f38c134de97d7b68c796140b87b4fb33877
+size 4362240

Fixed/s1/ball_PLA_10/press_depth_03/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
+18541,1792640873474137572,9413738000000,1792640873468996311,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0346,0.034602392464876175,0.6759853605350428,-0.004473324081826215,0.09082815405991476,0.9999999771547275,6.879455888140912e-05,-0.00017822589066889355,2.5223981952413847e-05,0.6761,-0.0045,0.091,1.0,0.0,0.0,0.0,-0.0007249340024969853,-0.01114394990643957,0.014603162033673844,-0.00022399797349861167,2.7466570588750155e-05,-1.3781779784914844e-05,0.21284225089071704,0.04846799987744406,-0.26864382196103553,0.003647816710550915,-0.01925287057727325,-0.0010482710474397704,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.3352473633206622,-0.10172942452206563,1.2453673835808239,0.22452891866624108,-0.6831179789885776,-0.09875028475916993,1.2030617141829325,0.014603162033673844,-0.04230566939789138,0.0,0.0,0,0,0.0,0.0
+18649,1792640874374225638,9414638000000,1792640874372994817,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0346,0.034602392464876175,0.6759855093321228,-0.00447169509880355,0.09082956051619216,0.9999999771798734,7.10375379728363e-05,-0.000177094316721637,2.596899000681977e-05,0.6761,-0.0045,0.091,1.0,0.0,0.0,0.0,-0.006867311764865575,2.508910249746088e-05,0.024333289452695694,-0.00025195725112154774,0.0010376073421530935,-6.786087563907892e-06,0.20669987312834845,0.05963703888638109,-0.2589136945420137,0.003619857432927979,-0.018242729805708905,-0.0010412753552187634,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.2547669495177811,-0.08773646116307264,1.2966003752521305,0.22326186224233954,-0.7392019616680874,-0.09039789638737347,1.2030617141829325,0.024333289452695694,-0.09353866106919795,0.0,0.0,0,0,0.0,0.0
+18772,1792640875391329146,9415655000000,1792640875384996137,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6759873733079019,-0.004472339023476947,0.09082252882445623,0.9999999773800696,7.144824155494704e-05,-0.0001753354449542675,2.8902510904153536e-05,0.6761,-0.0045,0.0909809654111285,1.0,0.0,0.0,0.0,-0.007571832332627704,-0.009642683106682627,0.03475884445599953,-0.0002559105942536153,0.00103640164102747,-1.8384464682039353e-05,0.20599535256058632,0.049969266677201,-0.24848813953870985,0.0036159040897959112,-0.01824393550683453,-0.0010528737323368949,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.3644732326818611,-0.003846680852144719,1.2317807956337943,0.20009240311133084,-0.6722003970582335,-0.03359340355531688,1.2030617141829325,0.03475884445599953,-0.028719081450861772,-0.028719081450861772,0.06475000000000049,0,0,-3.8076360754672696e-05,-7.737386706197497e-05
+18877,1792640876266388030,9416530000000,1792640876264995452,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6759880314264447,-0.00447933778131398,0.09079432380486428,0.9999999777787267,6.838185345535165e-05,-0.00017260363370363372,3.764729003431009e-05,0.6761,-0.0045,0.09093571137698116,1.0,0.0,0.0,0.0,-0.006470642055737941,-0.010593324745211831,0.08453248909401367,-0.0012847888094908327,0.0010447296390523851,-6.6779732900717e-05,0.20709654283747608,0.0490186250386718,-0.1987144949006957,0.002587025874558694,-0.018235607508809613,-0.0011012690005555725,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.344824897478921,-0.09085767421618764,1.1470286895758592,0.2549076583048369,-0.630536032227825,-0.09640257844553139,1.2030617141829325,0.08453248909401367,0.05603302460707327,0.05603302460707327,0.12600000000000083,0,0,-5.951006338125874e-05,5.000345556916415e-05
+18985,1792640877166414470,9417430000000,1792640877161005276,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6759878334212193,-0.004479729896285358,0.090755761146586,0.9999999775877213,7.38167865095598e-05,-0.00016987137247341668,4.429695567719407e-05,0.6761,-0.0045,0.09088667513061871,1.0,0.0,0.0,0.0,-0.00706036568019372,-0.025893183806555246,0.15472228008135877,-0.0012998245214416956,0.0010304851100412342,-0.00012338494627912302,0.2065068192130203,0.03371876597732838,-0.1285247039133506,0.002571990162607831,-0.018249852037820764,-0.0011578742139339785,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.43149403692357924,-0.003592965413688756,1.0302895971533974,0.23932995759784656,-0.5379324753851191,-0.04237579232244959,1.2030617141829325,0.15472228008135877,0.1727721170295351,0.1727721170295351,0.1889999999999889,0,0,-4.689439631469649e-05,9.999999025923074e-05
+19114,1792640878241531525,9418505000000,1792640878241004908,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6759911308027589,-0.004486176283829043,0.0907228294919589,0.9999999785550229,7.25085220032797e-05,-0.00016191984336517195,5.345368724129431e-05,0.6761,-0.0045,0.09084463730331273,1.0,0.0,0.0,0.0,-0.009981408133492436,-0.026284933711614146,0.20489768447745535,-0.0013093576097227408,0.0010197600597509314,-0.00016445322968097363,0.2035857767597216,0.03332701607226948,-0.07834929951725403,0.002562457074326786,-0.018260577088111067,-0.0011989424973358291,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.5041798145853654,-0.08037056011617622,0.941703836602358,0.2771811718738374,-0.4624979916943458,-0.09467921931330564,1.2030617141829325,0.20489768447745535,0.2613578775805745,0.2613578775805745,0.2642499999999803,0,0,-3.246993524466812e-05,5.634156616108328e-05
+19235,1792640879250576423,9419514000000,1792640879248995616,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760003977545578,-0.0044885203453191415,0.0907031259570288,0.9999999797579403,7.252451881611716e-05,-0.00015197758740151447,5.9749396532119863e-05,0.6761,-0.0045,0.09081153665599047,1.0,0.0,0.0,0.0,-0.025986352461906365,-0.012728083008536076,0.22528161999183696,-0.00031916134187359333,0.0020092288768858053,-0.00015562692683128085,0.18758083243130766,0.04688386677534755,-0.05796536400287241,0.0035526533421759332,-0.017271108270976193,-0.0011901161944861364,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.5269346549847329,-0.05776961840592493,0.9066224693729604,0.26804810937994933,-0.43980378005905285,-0.08040213537313351,1.2030617141829325,0.22528161999183696,0.2964392448099721,0.2964392448099721,0.3348799999999949,0,0,-3.546531344703005e-05,8.643216983852603e-05
+19342,1792640880141741998,9420405000000,1792640880141004566,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760079018248456,-0.004486569791896461,0.09068219195537496,0.9999999804210061,7.97699708902184e-05,-0.0001412768240925137,6.540995667794943e-05,0.6761,-0.0045,0.09077758103220313,1.0,0.0,0.0,0.0,-0.02612736996155343,-0.011256321336982372,0.2654183349015859,-0.00032656930377340234,0.0020004581928402612,-0.00018806753837470255,0.1874398149316606,0.04835562844690126,-0.017828649093123507,0.003545245380276124,-0.017279878955021737,-0.001222556806029558,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.531461667488671,-0.11126136473290031,0.8378768393885341,0.29329502278178243,-0.3997855466325031,-0.11609392328320561,1.2030617141829325,0.2654183349015859,0.36518487479439843,0.36518487479439843,0.3972500000000078,0,0,-4.1875350122151704e-05,9.999940739214281e-05
+19441,1792640880966721040,9421230000000,1792640880960996059,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760107104363562,-0.004483795646731538,0.09065110847082951,0.9999999839152101,5.634688966106314e-05,-0.00013487953830713817,4.738124315726382e-05,0.6761,-0.0045,0.09073872890404532,1.0,0.0,0.0,0.0,-0.026222137777026644,-0.011777044184487183,0.3134738911270704,-0.0003407099319919652,0.0020178522064824775,0.00037624617586707004,0.18734504711618738,0.047834905599396446,0.030226907132361026,0.0035311047520575614,-0.01726248494137952,-0.0006582430917877855,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.5386767005039714,-0.09471168365389707,0.8820260367051443,0.2992715957620217,-0.43210275386104374,-0.1048472310630672,1.2030617141829325,0.3134738911270704,0.32103567747778816,0.32103567747778816,0.4550000000000198,0,0,-4.963218836892403e-05,-9.999914371417446e-05
+19556,1792640881925835763,9422189000000,1792640881920995550,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.676017606623499,-0.004485668134058014,0.09061927524677504,0.9999999859623183,5.11837370183795e-05,-0.0001221844237705446,4.4378138855678143e-05,0.6761,-0.0045,0.09069313029648747,1.0,0.0,0.0,0.0,-0.02711748590232585,0.004806489926873929,0.3561456945641704,0.0006500719969105137,0.002974107419634709,-0.00020468401077974136,0.18644969899088817,0.06441843971075756,0.072898710569461,0.00452188668096004,-0.01630622972822729,-0.0012391732784345969,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.6376733640290249,-0.10471965161904111,0.7518904195340808,0.30281432637612055,-0.3203107591063414,-0.11001208338810269,1.2030617141829325,0.3561456945641704,0.45117129464885175,0.45117129464885175,0.5221300000000336,0,0,-4.728107532749835e-05,-2.414160018514099e-05
+19670,1792640882875920048,9423139000000,1792640882868996146,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760213207159422,-0.00448268321310174,0.09058379525433607,0.9999999852728579,7.464640118279216e-05,-0.0001152752797385383,4.5129513340073324e-05,0.6761,-0.0045,0.09065148144116751,1.0,0.0,0.0,0.0,-0.03688407496352239,-0.0036299075135729705,0.41584736641283293,0.00062970288192988,0.002957311402435693,0.0006618835325558311,0.17668310992969163,0.05598204227031066,0.13260038241812352,0.004501517565979407,-0.016323025745426305,-0.00037260573509902443,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.6292468955059732,-0.17347148892490544,0.7412337047659483,0.3333786303548772,-0.3203408329429351,-0.14718913738503064,1.2030617141829325,0.41584736641283293,0.4618280094169842,0.4618280094169842,0.5886300000000474,0,0,-4.2310236365887495e-05,-9.905684192202386e-05
+19754,1792640883576007692,9423839000000,1792640883568995468,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760232894667851,-0.004485585066237008,0.09056144229964444,0.9999999856445765,7.646440077213736e-05,-0.00011096032566877321,4.466220780163403e-05,0.6761,-0.0045,0.09062167554611564,1.0,0.0,0.0,0.0,-0.03662614967505792,-0.0054831237254780105,0.446416468735208,0.0006301130854862516,0.0029545128360477686,6.634072907106721e-05,0.1769410352181561,0.05412882605840562,0.16316948474049867,0.004501927769535778,-0.01632582431181423,-0.0009681485385837883,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.605144976647195,-0.05942237502854715,0.7274673754860095,0.2971505984634739,-0.3212111769362747,-0.07573980690008941,1.2030617141829325,0.446416468735208,0.475594338696923,0.475594338696923,0.6376300000000575,0,0,-4.295288697916811e-05,-9.943455367278915e-05
+19850,1792640884376034856,9424639000000,1792640884373005248,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760255601701933,-0.004486265043929587,0.09052899949671421,0.9999999855969424,8.027192724390223e-05,-0.00010717841435493624,4.814752993633698e-05,0.6761,-0.0045,0.09058698021514663,1.0,0.0,0.0,0.0,-0.03664831827118106,-0.0009906806586058164,0.4808500235609518,0.000614363743608474,0.0030240832487638293,0.0006856763040811435,0.17691886662203296,0.05862126912527781,0.19760303956624242,0.0044861784276580005,-0.01625625389909817,-0.000348812963573712,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.6965044410107256,-0.03778789395739571,0.6216342729671367,0.2954148213356817,-0.22884335933384847,-0.06002069128859713,1.2030617141829325,0.4808500235609518,0.5814274412157958,0.5814274412157958,0.6936300000000691,0,0,-4.4810111339581245e-05,-8.071488896555507e-05
+19946,1792640885176115316,9425439000000,1792640885168995112,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760291763750385,-0.004492106855599517,0.0905024318421186,0.999999986337235,7.744513374635937e-05,-0.00010068920657480766,5.130622995667321e-05,0.6761,-0.0045,0.09055139198114262,1.0,0.0,0.0,0.0,-0.04547342578070879,0.0008261196201477528,0.5263224644998643,0.0005809569784975613,0.003946034128875602,0.0006689939480482858,0.16809375911250524,0.06043806940403138,0.24307548050515498,0.004452771662547088,-0.015334303018986396,-0.0003654953196065697,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.6984155670017412,-0.13899049158663596,0.5189756565950218,0.32208007940545413,-0.16746664420775992,-0.1287782368271218,1.2030617141829325,0.5263224644998643,0.6840860575879107,0.6840860575879107,0.7496300000000807,0,0,-4.5170248853780155e-05,-7.176877118574048e-06
+20064,1792640886159112730,9426422000000,1792640886156995232,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760350300788546,-0.0044947343309768234,0.09046861989086434,0.9999999869365402,7.70958693592227e-05,-9.301649739113341e-05,5.4533858947693944e-05,0.6761,-0.0045,0.09050649269430146,1.0,0.0,0.0,0.0,-0.04021469493808286,0.0022342359205642787,0.5767995151619889,0.0005726015097374387,0.003935598521084523,0.0005098758380103815,0.17335248995513117,0.06184618570444791,0.29355253116727953,0.004444416193786965,-0.015344738626777476,-0.000524613429644474,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.6923679704876944,-0.09412968298288853,0.44984515630518024,0.31346828877957295,-0.12460152836509521,-0.09569488390743738,1.2030617141829325,0.5767995151619889,0.7532165578777523,0.7532165578777523,0.818440000000095,0,0,-4.706769591910432e-05,1.4255418519843027e-05
+20167,1792640887017277412,9427280000000,1792640887016995325,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760385820056203,-0.0044948559452200965,0.09043681327240509,0.9999999872020857,8.016171623942533e-05,-8.65621506509361e-05,5.585504533708307e-05,0.6761,-0.0045,0.09046591022401568,1.0,0.0,0.0,0.0,-0.038991406773993875,0.0032553527105196947,0.607246229142387,0.0005659303861672823,0.003928330743785902,0.0006044126405148644,0.17457577811922015,0.06286730249440332,0.3239992451476776,0.004437745070216809,-0.015352006404076097,-0.0004300766271399911,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.7287969795599274,-0.10597186889520967,0.29293337260197316,0.32154520741116915,-0.018048618093369235,-0.10107758752641996,1.2030617141829325,0.607246229142387,0.9101283415809593,0.9101283415809593,0.8785000000001074,0,0,-4.7941294258031835e-05,9.999990699250389e-05
+20284,1792640887992241199,9428255000000,1792640887985004809,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760411281461509,-0.004493479617007658,0.09039460699768577,0.9999999872049495,8.167334904610523e-05,-8.296850159728406e-05,5.898014016362599e-05,0.6761,-0.0045,0.0904180226129718,1.0,0.0,0.0,0.0,-0.04708140608421449,0.0083492200361742,0.6641681569335206,0.0015721816315431925,0.004029233689337424,0.0005700194930558397,0.16648577880899953,0.06796116982005783,0.3809211729388112,0.005443996315592719,-0.015251103458524574,-0.0004644697745990158,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.7305792397018075,-0.18100604262622239,0.3646622748899761,0.34916021598843305,-0.06420824845375821,-0.15364384281649318,1.2030617141829325,0.6641681569335206,0.8383994392929563,0.8383994392929563,0.9467500000001215,0,0,-5.0253107782031965e-05,-8.64868413260666e-05
+20371,1792640888717373876,9428980000000,1792640888717004467,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760419856293737,-0.004496944765326181,0.09036476636086042,0.9999999877361814,7.728537261649212e-05,-8.030476357757062e-05,5.9570275533688856e-05,0.6761,-0.0045,0.09038224762592226,1.0,0.0,0.0,0.0,-0.05572873974286868,0.005301447585573944,0.6886194142811526,0.001559180923180888,0.004904660486838233,0.0005492111640991882,0.15783844515034534,0.06491339736945757,0.4053724302864432,0.0054309956072304145,-0.014375676661023766,-0.00048527810355566736,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.7113840513250239,-0.07876178197574041,0.2512828816977183,0.3174407975837601,0.0013252404041218288,-0.08974295955883183,1.2030617141829325,0.6886194142811526,0.9517788324852142,0.9517788324852142,0.9975000000001321,0,0,-5.151434761122153e-05,9.600002323495999e-05
+20475,1792640889584431826,9429847000000,1792640889577005065,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760471563696674,-0.004500344283566529,0.09032735353344473,0.9999999881627528,7.658126249160438e-05,-7.337370697091358e-05,6.220102909295843e-05,0.6761,-0.0045,0.09033596442624381,1.0,0.0,0.0,0.0,-0.04732447132604961,0.01041841606636238,0.7287435298843054,0.001536008013992625,0.004896518672764494,0.0005324557784011818,0.1662427135671644,0.07003036585024601,0.445496545889596,0.0054078226980421515,-0.014383818475097504,-0.0005020334892536737,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.7256987552305197,-0.10120834442985756,0.26773692910957164,0.33541601032037355,-0.009848820613588546,-0.101927074540163,1.2030617141829325,0.7287435298843054,0.9353247850733608,0.9353247850733608,1.0581900000001445,0,0,-5.612763763071372e-05,-9.998798597277698e-05
+20579,1792640890451438248,9430714000000,1792640890448995243,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760471068926006,-0.004502082892075804,0.09028254464436392,0.9999999886221371,7.182352448590248e-05,-7.205752662876076e-05,6.20297036356449e-05,0.6761,-0.0045,0.09028728100510834,1.0,0.0,0.0,0.0,-0.05606217777995037,0.01202590840207974,0.7720414400196525,0.0015280675694453651,0.004887134709850848,0.00049643289911489,0.15750500711326365,0.07163785818596337,0.48879445602494304,0.005399882253494892,-0.01439320243801115,-0.0005380563685399656,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.7566954817292901,-0.1417962627597689,0.16991066762865298,0.34647383801479725,0.05988593323801294,-0.12937563264019922,1.2030617141829325,0.7720414400196525,1.0331510465542795,1.0331510465542795,1.118880000000157,0,0,-5.973924154513278e-05,-2.737635020015668e-06
+20684,1792640891326600567,9431589000000,1792640891321004549,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760508198761079,-0.004503526280418343,0.09023414136606694,0.9999999887603287,7.276234853909732e-05,-6.669877453072554e-05,6.464612170839257e-05,0.6761,-0.0045,0.09023396082727136,1.0,0.0,0.0,0.0,-0.04769001838484363,0.013345263227968883,0.809529795877491,0.0015211205391537823,0.004878951056579341,0.00046715150473032434,0.1658771665083704,0.07295721301185251,0.5262828118827816,0.005392935223203309,-0.014401386091282657,-0.0005673377629245312,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.8400620136889039,-0.17508281921973143,0.11885322350753048,0.3610781115125325,0.11070359834190584,-0.14937956396065766,1.2030617141829325,0.809529795877491,1.084208490675402,1.084208490675402,1.1801300000001698,0,0,-6.138166813841891e-05,-5.8216044332510874e-05
+20804,1792640892327583963,9432589000000,1792640892324995754,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760546919215078,-0.004502016227571924,0.09017503439468083,0.9999999894338326,7.03343514350342e-05,-6.0557169356798885e-05,6.293732869335004e-05,0.6761,-0.0045,0.09016558415137516,1.0,0.0,0.0,0.0,-0.05942172278519062,0.01444640283079817,0.8383118294184283,0.0015158873616391818,0.004872730265673999,0.0004424908791547576,0.1541454621080234,0.0740583526146818,0.5550648454237189,0.005387702045688708,-0.014407606882188,-0.0005919983885000979,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.8507570937693081,-0.1016626689155431,0.005907660512064568,0.3416864165634256,0.17935930663644717,-0.10328811173236838,1.2030617141829325,0.8383118294184283,1.197154053670868,1.197154053670868,1.2501300000001843,0,0,-7.393977285022479e-05,9.999990699250389e-05
+20892,1792640893059636906,9433322000000,1792640893057004080,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760534986703733,-0.004512292487706194,0.09011633502200753,0.9999999892392243,6.358585408136875e-05,-6.353550803949741e-05,6.988915510821288e-05,0.6761,-0.0045,0.09010980334325318,1.0,0.0,0.0,0.0,-0.056580312791129406,0.013491090956661282,0.8684143660363839,0.0015099830852626141,0.004866249264337428,0.00041851668537611086,0.15698687210208462,0.07310304074054491,0.5851673820416745,0.005381797769312141,-0.01441408788352457,-0.0006159725822787446,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.8331744008149069,-0.19385251078494098,0.060820175567210685,0.3725629410348741,0.1352187035037703,-0.16328489639945953,1.2030617141829325,0.8684143660363839,1.1422415386157219,1.1422415386157219,1.3014400000001949,0,0,-7.78617481559093e-05,-9.999296809859998e-05
+20973,1792640893734782444,9433997000000,1792640893732994996,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760556601042624,-0.004507654389070975,0.09007007938387623,0.9999999893514042,6.653658229852548e-05,-6.042511378092471e-05,6.827697003000755e-05,0.6761,-0.0045,0.09005633054062873,1.0,0.0,0.0,0.0,-0.04781475963301457,0.0056003947575381866,0.8688727163521967,0.0015078375702057226,0.0048657616373343135,0.0004191970917549431,0.16575242526019945,0.06521234454142182,0.5856257323574873,0.005379652254255249,-0.014414575510527685,-0.0006152921758999124,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.8076736239923545,-0.059130446232371625,0.04730797558878777,0.34900138929253643,0.1318940505316552,-0.07124060933788695,1.2030617141829325,0.8688727163521967,1.1557537385941448,1.1557537385941448,1.3486900000002047,0,0,-8.306635268104235e-05,-9.990773072588439e-05
+21079,1792640894617811052,9434880000000,1792640894616995069,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760542839998913,-0.00451324933583396,0.08999082876376278,0.9999999897347692,5.855174081173545e-05,-6.07683701019952e-05,6.965791364552394e-05,0.6761,-0.0045,0.08997533849676687,1.0,0.0,0.0,0.0,-0.05504541543693886,0.016617492530021462,0.8985249873182233,0.0015046835591239552,0.004859460448693424,0.0003943816317704855,0.15852176945627516,0.07622944231390509,0.6152780033235139,0.005376498243173482,-0.014420876699168575,-0.00064010763588437,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.8561466675285785,-0.07934437901877116,-0.08747722110562975,0.35264507666794953,0.22384290867068596,-0.0846763522789201,1.2030617141829325,0.8985249873182233,1.2905389352885623,1.2905389352885623,1.4105000000002175,0,0,-9.854148690505304e-05,5.846762937545265e-05
+21175,1792640895417910060,9435680000000,1792640895412995341,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760548327440242,-0.004517808939755241,0.08991590219721544,0.999999989845929,5.634471676377575e-05,-6.010790345225675e-05,7.045082877906017e-05,0.6761,-0.0045,0.08989380418559219,1.0,0.0,0.0,0.0,-0.047907543608455616,0.017558496327095503,0.9249688691053164,0.001499650575669388,0.004853545699575898,0.0003738872849583428,0.1656596412847584,0.07717044611097913,0.641721885110607,0.0053714652597189145,-0.0144267914482861,-0.0006606019826965127,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.8591452764645428,0.013049548300151566,-0.16263868564252737,0.33279187419057255,0.26842195567476285,-0.02154332882271155,1.2030617141829325,0.9249688691053164,1.3657003998254598,1.3657003998254598,1.466500000000229,0,0,-0.00010481458587588565,9.950981291607092e-05
+21265,1792640896167902480,9436430000000,1792640896160995466,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760572497147883,-0.004515008123448185,0.08983876669740153,0.9999999899874867,5.800705565220099e-05,-5.571850174360609e-05,7.07002190086943e-05,0.6761,-0.0045,0.0898099702345434,1.0,0.0,0.0,0.0,-0.056224147161008514,0.016805880881933057,0.9385388615533397,0.0015080106363652796,0.004850733425873402,0.0003620551094004902,0.1573430377322055,0.07641783066581669,0.6552918775586303,0.005379825320414806,-0.014429603721988597,-0.0006724341582543653,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.863874870194073,-0.06264129096436315,-0.12011067807761462,0.36343902477936324,0.2360426833025151,-0.06965241048168194,1.2030617141829325,0.9385388615533397,1.3231723922605472,1.3231723922605472,1.51900000000024,0,0,-0.00011799751099414302,-7.575983870656273e-05
+21373,1792640897067936932,9437330000000,1792640897064995272,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760578866337043,-0.004518380190315277,0.0897304641484964,0.999999989386504,6.167679993817298e-05,-5.7995986562569136e-05,7.417744999117021e-05,0.6761,-0.0045,0.08970029296532236,1.0,0.0,0.0,0.0,-0.04973225701655734,0.02108264465463181,0.9591191220557175,0.002513254716458334,0.004827282676186125,0.0003576848346325853,0.16383492787665668,0.08069459443851544,0.6758721380610081,0.0063850694005078605,-0.014453054471675874,-0.0006768044330222702,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9094080675478515,-0.1490157917690434,-0.18562309325832288,0.3971736565404011,0.2819444996245504,-0.12405382178344071,1.2030617141829325,0.9591191220557175,1.3886848074412554,1.3886848074412554,1.582000000000253,0,0,-0.00012539499149730039,-9.920100438177144e-05
+21475,1792640897918070515,9438180000000,1792640897916995424,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760597574119304,-0.004527670843782559,0.08962552866479914,0.9999999899246631,5.364461190649249e-05,-5.5036513701084145e-05,7.541071542198276e-05,0.6761,-0.0045,0.08959070073801548,1.0,0.0,0.0,0.0,-0.04857332935377928,0.0179668298866126,0.9691424633398235,0.002510830926316575,0.004825406064207264,0.0003496273909817955,0.16499385553943474,0.07757877967049623,0.6858954793451141,0.006382645610366102,-0.014454931083654735,-0.00068486187667306,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.8709362576127904,-0.13261961550688278,-0.1720555605477132,0.3991001063384406,0.25471076456280983,-0.11484011977495602,1.2030617141829325,0.9691424633398235,1.3751172747306457,1.3751172747306457,1.6415000000002653,0,0,-0.0001354258751626577,-9.431729982989907e-05
+21565,1792640898668060881,9438930000000,1792640898664995539,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760595168660014,-0.004526171910959422,0.08952506567462663,0.9999999900736013,4.928989824924268e-05,-5.693972837472472e-05,7.499356697532652e-05,0.6761,-0.0045,0.08948683207418467,1.0,0.0,0.0,0.0,-0.04897169056028752,0.020466393075073273,0.9891449173180504,0.002486959150590484,0.005609196989768132,0.00034573713322371834,0.1645954943329265,0.0800783428589569,0.705897933323341,0.006358773834640011,-0.013671140158093866,-0.0006887521344311372,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9179049168332736,-0.08798127370844178,-0.3495572469794708,0.3922676841336161,0.37032257201321656,-0.08392679645190979,1.2030617141829325,0.9891449173180504,1.5526189611624033,1.5526189611624033,1.6940000000002762,0,0,-0.0001423190063756533,9.9999754336838e-05
+21657,1792640899435206230,9439697000000,1792640899432995423,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760625384823449,-0.004529451407464418,0.0894183416000784,0.9999999903895485,4.674012758900974e-05,-5.2512027620674846e-05,7.564135712556462e-05,0.6761,-0.0045,0.08937366212820488,1.0,0.0,0.0,0.0,-0.04861126826106299,0.032792415413179336,0.9992863654623201,0.0025072596866450433,0.0048176751068872755,0.00032529016251267443,0.16495591663215103,0.09240436519706297,0.7160393814676107,0.00637907437069457,-0.014462662040974723,-0.0007091991051421811,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9671325512022625,-0.06971968400058651,-0.3596604714270734,0.40579179105618923,0.38231383120267676,-0.06922786525836107,1.2030617141829325,0.9992863654623201,1.562722185610006,1.562722185610006,1.7476900000002873,0,0,-0.00015173071781363211,9.794198371627089e-05
+21739,1792640900118264293,9440380000000,1792640900116994731,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760617493972763,-0.004533708673183796,0.08931300585102736,0.999999989949042,5.137892174220218e-05,-5.491887409252585e-05,7.673919451875855e-05,0.6761,-0.0045,0.08926740922235733,1.0,0.0,0.0,0.0,-0.03943208414775198,0.02302019448059208,0.9992717872119139,0.0025056597641907588,0.004818312029907146,0.00032640218354056333,0.17413510074546204,0.08263214426447571,0.7160248032172045,0.006377474448240285,-0.014462025117954852,-0.0007080870841142922,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9238687595072693,-0.17544256196715807,-0.340497103608594,0.45138064979634257,0.3495201279268333,-0.12969108825650255,1.2030617141829325,0.9992717872119139,1.5435588177915265,1.5435588177915265,1.7955000000002972,0,0,-0.00016090897745765632,-9.37506558759182e-05
+21820,1792640900793284742,9441055000000,1792640900792995241,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.676060817844032,-0.004537797764318385,0.08919710571436323,0.9999999893491021,5.670924204111278e-05,-5.806881199646323e-05,7.846486480629588e-05,0.6761,-0.0045,0.08915499211588801,1.0,0.0,0.0,0.0,-0.04868291419073914,0.023763178968947717,1.0190238917448107,0.0025019216519006956,0.0048157237656048235,0.0003092486357057024,0.16488427070247488,0.08337512875283135,0.7357769077501014,0.006373736335950222,-0.014464613382257175,-0.0007252406319491531,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.8828235600233483,-0.09302185698154163,-0.3681595802135017,0.43051159257466726,0.3484540285670727,-0.08198092478470559,1.2030617141829325,1.0190238917448107,1.5712212943964343,1.5712212943964343,1.842750000000307,0,0,-0.00017278397087680387,-9.988734425559471e-05
+21895,1792640901418362341,9441680000000,1792640901416995409,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760557262537658,-0.004540857505746134,0.08907752256114104,0.9999999884743369,5.410357730929247e-05,-6.728529468184058e-05,8.390281498086682e-05,0.6761,-0.0045,0.08904281507329133,1.0,0.0,0.0,0.0,-0.038998537416020634,0.02209034798585712,1.0390835967837466,0.0016146509803170962,0.0048259108911542625,0.00028432242591197,0.1745686474771934,0.08170229776974075,0.7558366127890372,0.005486465664366623,-0.014454426256707736,-0.0007501668417428855,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9142299752908103,-0.07079673625117637,-0.40660265917136423,0.43380035171580283,0.37900177084527137,-0.06671660030907127,1.2030617141829325,1.0390835967837466,1.6096643733542968,1.6096643733542968,1.886500000000316,0,0,-0.0001853622180289768,-7.736409709935827e-05
+21964,1792640901993344858,9442255000000,1792640901993004558,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760553511410607,-0.004547467889905668,0.08896868850392467,0.9999999880816965,4.978607007975047e-05,-6.863161267974555e-05,8.994731825925067e-05,0.6761,-0.0045,0.08893334909557546,1.0,0.0,0.0,0.0,-0.03892595347016589,0.021741497488362717,1.0401970555940534,0.0014781985267730115,0.004828182516044107,0.00028189433161016704,0.17464123142304813,0.08135344727224635,0.756950071599344,0.005350013210822538,-0.014452154631817891,-0.0007525949360446885,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.936850671064988,-0.19638203083630912,-0.46481527225339153,0.4768388440791079,0.4132200725353313,-0.14415315902663933,1.2030617141829325,1.0401970555940534,1.667876986436324,1.667876986436324,1.9267500000003244,0,0,-0.0001937802573722961,9.999209379796809e-05
+22036,1792640902593403362,9442855000000,1792640902589004419,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760524203521013,-0.0045521266000120445,0.08884307275457841,0.9999999876564807,4.079698093403309e-05,-7.544763676671493e-05,9.366516657260225e-05,0.6761,-0.0045,0.08881423923770196,1.0,0.0,0.0,0.0,-0.04790806104193299,0.021811062688928802,1.0554123333719112,0.0014774585732751757,0.004825177618694037,0.00027187967557298605,0.16565912385128104,0.08142301247281243,0.7721653493772018,0.005349273257324702,-0.014455159529167962,-0.0007626095920818695,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9335129903445589,-0.18074415896761187,-0.4506546250749012,0.4810719489006727,0.3983968656931556,-0.1365785279655235,1.2030617141829325,1.0554123333719112,1.6537163392578338,1.6537163392578338,1.968750000000333,0,0,-0.00020258615579113316,-9.780770224144248e-05
+22105,1792640903168408968,9443430000000,1792640903161004997,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.676050654760651,-0.004554250028389194,0.08872278830617769,0.9999999871699153,4.2498714544734686e-05,-7.893285122669432e-05,9.521815862286603e-05,0.6761,-0.0045,0.08869463350699411,1.0,0.0,0.0,0.0,-0.04018908560922335,0.013023577394869416,1.0590908172386986,0.0015544651790129604,0.004823366189128408,0.0002671144108176552,0.17337809928399067,0.07263552717875305,0.7758438332439892,0.005426279863062487,-0.01445697095873359,-0.0007673748568372003,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9172573215827408,-0.10917038143541226,-0.5270450746144962,0.4696624628926258,0.433450034503028,-0.08507157849692423,1.2030617141829325,1.0590908172386986,1.7301067887974289,1.7301067887974289,2.0090000000003414,0,0,-0.00021431643517225295,9.837598377438467e-05
+22168,1792640903693432210,9443955000000,1792640903689005062,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760498450631355,-0.004559399224551102,0.08860722130952114,0.9999999861804032,5.3965028988491704e-05,-8.066346721194728e-05,9.830177320479638e-05,0.6761,-0.0045,0.08857840260203032,1.0,0.0,0.0,0.0,-0.039939417306768005,0.014244205113895354,1.0692448652760094,0.0018446682208523866,0.004815754839491503,0.00026250504891227593,0.17362776758644602,0.07385615489777898,0.7859978812813,0.005716482904901913,-0.014464582308370496,-0.0007719842187425796,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9801635501664836,-0.1702653301683096,-0.4830631192045743,0.5053309783599075,0.4183239166241986,-0.11993970089810732,1.2030617141829325,1.0692448652760094,1.6861248333875067,1.6861248333875067,2.045750000000349,0,0,-0.00022870611398747987,-9.999999025923074e-05
+22231,1792640904218580114,9444480000000,1792640904217004975,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760508617715298,-0.004557784632122834,0.08848562755481997,0.9999999859395512,5.364755326426702e-05,-8.084966491632695e-05,0.00010074241200635113,0.6761,-0.0045,0.08845476243822822,1.0,0.0,0.0,0.0,-0.03984518162268713,0.01636888776516305,1.0730414983721874,0.0024911105163737193,0.004804403537548171,0.00026865743622692974,0.1737220032705269,0.07598083754904668,0.7897945143774779,0.006362925200423246,-0.014475933610313827,-0.0007658318314279258,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9678106850491985,-0.11179392421104611,-0.4413960848418098,0.490182580608178,0.3840158052657671,-0.08823310630457669,1.2030617141829325,1.0730414983721874,1.6444577990247424,1.6444577990247424,2.0825000000003566,0,0,-0.00024022068293857857,-9.999792246884737e-05
+22291,1792640904718583250,9444980000000,1792640904717004894,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760492406593026,-0.004558320974498897,0.08835707820369405,0.9999999855816812,5.044120681853086e-05,-8.498468974554348e-05,0.00010253189233471636,0.6761,-0.0045,0.08833115804207663,1.0,0.0,0.0,0.0,-0.04035874582715365,0.01980541101904392,1.0882103934385805,0.00248799338663232,0.004799542676106026,0.0002540056516557288,0.17320843906606037,0.07941736080292755,0.804963409443871,0.0063598080706818464,-0.014480794471755973,-0.0007804836159991267,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.941641930399726,-0.16789924776788046,-0.5049674708475247,0.5186148805412946,0.41284503166341546,-0.11906014425086184,1.2030617141829325,1.0882103934385805,1.7080291850304572,1.7080291850304572,2.117500000000364,0,0,-0.0002548745515987535,-9.962344424264131e-05
+22351,1792640905218621924,9445480000000,1792640905216995063,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760515038340837,-0.004566001385324945,0.0882313393267771,0.9999999854725826,5.250755202280229e-05,-8.19979727018477e-05,0.00010496184297878584,0.6761,-0.0045,0.0881994300006304,1.0,0.0,0.0,0.0,-0.0484261144796089,0.01964446465741345,1.0890797864247586,0.0024882621157315777,0.004799383375493967,0.0002527568715528692,0.16514107041360512,0.07925641444129708,0.8058328024300492,0.006360076799781104,-0.014480953772368032,-0.0007817323961019863,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9528954064521944,-0.16267017294811043,-0.5177929708120651,0.5308134666766258,0.420761979581451,-0.1123916322997926,1.2030617141829325,1.0890797864247586,1.7208546849949977,1.7208546849949977,2.152500000000371,0,0,-0.00027263552150188906,-9.999999025923074e-05
+22408,1792640905693608787,9445955000000,1792640905688995827,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760484936589407,-0.0045705772344767975,0.08809229027634535,0.9999999850829847,4.876965392699623e-05,-8.510199854031789e-05,0.00010796325973351654,0.6761,-0.0045,0.0880655499837897,1.0,0.0,0.0,0.0,-0.048781288184939986,0.035546390891104986,1.090323739892653,0.002464895990253439,0.00572902210047406,0.0002662244395512485,0.16478589670827404,0.09515834067498861,0.8070767558979436,0.006336710674302966,-0.013551315047387939,-0.000768264828103607,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9316872667027609,-0.21537403768554944,-0.5426288337091613,0.5504320589279936,0.42856552493622296,-0.14940946960224336,1.2030617141829325,1.090323739892653,1.7456905478920937,1.7456905478920937,2.185750000000378,0,0,-0.00028882009897176895,-9.806162412496206e-05
+22461,1792640906135711588,9446397000000,1792640906133005343,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.676047539429974,-0.0045788443518436535,0.08796380077023794,0.9999999839905915,4.7486959478300765e-05,-8.717352959902529e-05,0.00011665095543488636,0.6761,-0.0045,0.0879348871160738,1.0,0.0,0.0,0.0,-0.040039412273747715,0.018860087816095626,1.1043612077337996,0.0024865731272585975,0.004796782898968946,0.00024029908108556515,0.1735277726194663,0.07847203759997926,0.8211142237390903,0.006358387811308124,-0.014483554248893053,-0.0007941901865692904,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9123029682773915,-0.14007390600994216,-0.5806516536557912,0.5409996156473613,0.446801662612689,-0.09856263755102432,1.2030617141829325,1.1043612077337996,1.7837133678387236,1.7837133678387236,2.2166900000003844,0,0,-0.00030453387428877745,9.740769260256025e-12
+22509,1792640906535645626,9446797000000,1792640906533005080,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760460851168258,-0.004580069330627447,0.0878310423811833,0.9999999847384631,3.418727855338088e-05,-9.019438834872549e-05,0.00011252617653795996,0.6761,-0.0045,0.08781060288220705,1.0,0.0,0.0,0.0,-0.03955156500333576,0.031209906162383554,1.1157292465878497,0.0024862418074248415,0.004793310763103149,0.00023231359199398188,0.17401561988987826,0.09082185594626718,0.8324822625931404,0.006358056491474368,-0.01448702638475885,-0.0008021756756608736,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9320962502987576,-0.2229904348152125,-0.5541083808100886,0.5744790687838781,0.4361486382208572,-0.1509715855792764,1.2030617141829325,1.1157292465878497,1.7571700949930211,1.7571700949930211,2.24469000000039,0,0,-0.0003176387993561721,-9.999996250365512e-05
+22555,1792640906918671912,9447180000000,1792640906917004813,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760409143677314,-0.004581030811237336,0.08769998489853037,0.9999999835036492,3.536521007263785e-05,-9.978313306072825e-05,0.00011501388638489686,0.6761,-0.0045,0.08768628646118408,1.0,0.0,0.0,0.0,-0.03166164125076171,0.02602792434849196,1.1297320808977012,0.002481369627771431,0.004789644235381698,0.00022195991878298522,0.18190554364245232,0.08563987413237559,0.8464850969029918,0.0063531843118209575,-0.0144906929124803,-0.0008125293488718703,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9260986665382517,-0.1376787893538671,-0.46254742337111987,0.5632143793039276,0.37857620492041744,-0.09212425653181135,1.2030617141829325,1.1297320808977012,1.6656091375540525,1.6656091375540525,2.2715000000003958,0,0,-0.0003313289658566073,-9.999932412541596e-05
+22603,1792640907318740318,9447580000000,1792640907316995077,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760451003755946,-0.004580095987214263,0.08757328136660868,0.9999999831957737,4.432679879523678e-05,-9.279199720418664e-05,0.00012031665337593645,0.6761,-0.0045,0.08755008573210461,1.0,0.0,0.0,0.0,-0.039630082742028394,0.03189108335433389,1.1297339487035765,0.0024813258978602527,0.004788560330411737,0.00021779697790566402,0.17393710215118563,0.09150303313821752,0.8464869647088672,0.006353140581909779,-0.014491776817450262,-0.0008166922897491915,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9673098714597421,-0.18841625347852722,-0.5382322590094112,0.5839414676637587,0.4379298448824534,-0.1216002000210837,1.2030617141829325,1.1297339487035765,1.7412939731923438,1.7412939731923438,2.2995000000004016,0,0,-0.00034942874569818114,-9.999999025923074e-05
+22651,1792640907718834173,9447980000000,1792640907713004841,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760447274891749,-0.004590213522276555,0.0874338545864924,0.9999999830520553,3.833549882198957e-05,-9.203678235351716e-05,0.0001240901841755052,0.6761,-0.0045,0.08740729613676114,1.0,0.0,0.0,0.0,-0.04402340734989138,0.027793866638265045,1.1298980574031992,0.0024822239005800615,0.004789535951951777,0.0002203878035458895,0.16954377754332264,0.08740581642214867,0.8466510734084898,0.006354038584629588,-0.014490801195910221,-0.000814101464108966,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9105273348698549,-0.1465897737239769,-0.5867503695207817,0.5757867123598056,0.4528668003216192,-0.09778854298902048,1.2030617141829325,1.1298980574031992,1.7898120837037141,1.7898120837037141,2.3275000000004074,0,0,-0.00036568600148975525,-9.880019999209395e-05
+22696,1792640908093860210,9448355000000,1792640908089004236,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760443144454661,-0.004593408912001107,0.08729437165731474,0.9999999828978089,3.557057877633308e-05,-9.451205689400961e-05,0.00012429582282691846,0.6761,-0.0045,0.0872666639097821,1.0,0.0,0.0,0.0,-0.03441225000549861,0.04057661820692093,1.1301375290148545,0.0035027478966000144,0.004769948960115594,0.00023282366691942632,0.17915493488771542,0.10018856799080456,0.8468905450201452,0.007374562580649541,-0.014510388187746404,-0.0008016656007354292,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.964610443970236,-0.18951764965120269,-0.5496974875777298,0.5947592263283193,0.44650592329915567,-0.12449005005388301,1.2030617141829325,1.1301375290148545,1.7527592017606624,1.7527592017606624,2.353750000000413,0,0,-0.00038441379407036367,-9.999999025923074e-05
+22735,1792640908418893767,9448680000000,1792640908413004509,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760410972838488,-0.004593904787119605,0.08716410206980456,0.9999999823514691,3.4095108614200416e-05,-9.872498759197607e-05,0.00012582061136933576,0.6761,-0.0045,0.08713919011312014,1.0,0.0,0.0,0.0,-0.04032471772566171,0.040943772638922536,1.1401165201026018,0.0034834513769090364,0.005410368277331948,0.0002340043192797075,0.17324246716755232,0.10055572242280617,0.8568695361078925,0.007355266060958563,-0.01386996887053005,-0.000800484948375148,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.8973462755422406,-0.21717551264569399,-0.5207200693200813,0.6114924624925546,0.4116747576107855,-0.13993947244963478,1.2030617141829325,1.1401165201026018,1.7237817835030138,1.7237817835030138,2.3765000000004175,0,0,-0.00040026493240283143,-9.999999025923074e-05
+22777,1792640908768825211,9449030000000,1792640908764995216,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760435898726926,-0.0045998361750321844,0.08702460770959451,0.9999999830976966,2.6593145014447944e-05,-9.088142175618301e-05,0.00012759640675301344,0.6761,-0.0045,0.08699604363737748,1.0,0.0,0.0,0.0,-0.04228350621651947,0.04432188444771245,1.131201883639157,0.0034930760670099604,0.005139827288982646,0.0002330447274791834,0.17128367867669456,0.10393383423159608,0.8479548996444477,0.007364890751059487,-0.014140509858879352,-0.0008014445401756721,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9555334788279689,-0.17914841160056294,-0.4877947000406761,0.6135713001143729,0.4074335228758014,-0.10924302580171266,1.2030617141829325,1.131201883639157,1.6908564142236087,1.6908564142236087,2.4010000000004226,0,0,-0.0004177649289935622,-9.999999025923074e-05
+22817,1792640909102926895,9449364000000,1792640909096995695,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760395146906945,-0.0046007532678968765,0.08687899145362515,0.9999999816028539,3.3777472139898736e-05,-9.837526519157895e-05,0.00013197933884360585,0.6761,-0.0045,0.08685372960163858,1.0,0.0,0.0,0.0,-0.040248550435106556,0.04118237506997601,1.1400542498789599,0.003528821876737135,0.004768108724098727,0.00022420852621082908,0.17331863445810747,0.10079432485385964,0.8568072658842505,0.007400636560786661,-0.014512228423763271,-0.0008102807414440264,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,1.0028912314066285,-0.22802957437173071,-0.49798105298906636,0.6281873634447659,0.4303995618657649,-0.14108346424734963,1.2030617141829325,1.1400542498789599,1.701042767171999,1.701042767171999,2.4243800000004274,0,0,-0.00043446492574014526,-9.999999025923074e-05
+22857,1792640909435952890,9449697000000,1792640909432994993,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760393239080754,-0.004603544285055089,0.08672781182239973,0.999999981028132,3.432808006031672e-05,-9.897932215258224e-05,0.00013568816007044645,0.6761,-0.0045,0.0867062888819088,1.0,0.0,0.0,0.0,-0.04099255859460685,0.06333772487174025,1.1303183631485993,0.004497917605210344,0.005762807997385171,0.0002591237154401455,0.17257462629860718,0.12294967465562387,0.84707137915389,0.00836973228925987,-0.013517529150476828,-0.00077536555221471,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9918516535748344,-0.2517849273830771,-0.47444077677381075,0.6436065632222253,0.41643253903802224,-0.15429800619616352,1.2030617141829325,1.1303183631485993,1.6775024909567433,1.6775024909567433,2.4476900000004322,0,0,-0.0004511149224964691,-9.999999025923074e-05
+22893,1792640909735878284,9449997000000,1792640909728995811,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760411659173974,-0.0046009373585421025,0.08659554659389067,0.999999981422412,3.5613839538174575e-05,-9.670251170801976e-05,0.0001340832532824393,0.6761,-0.0045,0.08656871190559966,1.0,0.0,0.0,0.0,-0.04094253687198893,0.07088203131152679,1.120657734485841,0.004501057680048853,0.0057604946060655915,0.0002668833026141258,0.1726246480212251,0.1304939810954104,0.8374107504911316,0.00837287236409838,-0.013519842541796407,-0.0007676059650407297,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9727574625398953,-0.16795901824308296,-0.4462237468131104,0.6275940204554447,0.3952723038227432,-0.09733921006241078,1.2030617141829325,1.120657734485841,1.649285460996043,1.649285460996043,2.4686900000004366,0,0,-0.0004661149195742383,-9.999999025923074e-05
+22929,1792640910036006682,9450297000000,1792640910028995518,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760339884844262,-0.004602346621972562,0.08644775479504775,0.999999980685529,2.733030185844789e-05,-0.00010355110005125316,0.00013638926079925507,0.6761,-0.0045,0.08642663493016718,1.0,0.0,0.0,0.0,-0.04074470206995126,0.06345670797710995,1.1305588326958211,0.0045251126033407415,0.004767651897218863,0.0002435327384187597,0.17282248282326276,0.12306865776099359,0.8473118487011118,0.008396927287390268,-0.014512685250643136,-0.0007909565292360958,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9808985896050896,-0.16950784180786904,-0.37686479745232865,0.624661117119017,0.3587983514238246,-0.10177538312458714,1.2030617141829325,1.1305588326958211,1.5799265116352612,1.5799265116352612,2.489690000000441,0,0,-0.00048111491665200754,-9.999999025923074e-05
+22961,1792640910303941162,9450564000000,1792640910296995366,DOWN_FORCE_DETACH,3,0.0346,0.034601736813783646,0.6760320050921066,-0.0046047333155356945,0.08632439386706342,0.9999999808162318,1.7477507367966033e-05,-0.00010288765653019126,0.0001375466006549009,0.6761,-0.0045,0.0862964016977696,1.0,0.0,0.0,0.0,-0.033720549037862646,0.06307898053992861,1.120536713613112,0.004527318284333245,0.004751532795436645,0.0002522038932666384,0.17984663585535138,0.12269093032381224,0.8372897296184025,0.008399132968382772,-0.014528804352425354,-0.0007822853743882171,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,1.0229392377803261,-0.110612755731933,-0.43490467179736153,0.6104474166658878,0.40735646913757717,-0.058432138354260026,1.2030617141829325,1.120536713613112,1.637966385980294,1.637966385980294,2.508380000000445,0,0,-0.0004944649140512222,-9.999999025923074e-05
+22997,1792640910603024094,9450864000000,1792640910600994968,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760342494892968,-0.0046016099600570525,0.08617620786002389,0.9999999802829387,3.0360400677914073e-05,-0.00010036544784435244,0.00014100358042135058,0.6761,-0.0045,0.08614581972399403,1.0,0.0,0.0,0.0,-0.041274973789024894,0.06585423660317538,1.1209023552455424,0.0055465077551655195,0.004732780653705892,0.00026249606131972857,0.17229221110418913,0.125466186387059,0.837655371250833,0.009418322439215046,-0.014547556494156106,-0.0007719932063351269,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,1.0465310529225293,-0.18515774107342467,-0.35467247291972914,0.6350013727075563,0.3626444440543167,-0.10426576525485683,1.2030617141829325,1.1209023552455424,1.5577341871026618,1.5577341871026618,2.529380000000449,0,0,-0.0005094649111289914,-9.999999025923074e-05
+23029,1792640910868974730,9451130000000,1792640910868995217,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760458048182879,-0.004595851341055359,0.08604927077969371,0.9999999795939754,5.943032769788041e-05,-8.636043242474043e-05,0.00014582463861264255,0.6761,-0.0045,0.08600853980797962,1.0,0.0,0.0,0.0,-0.05126414758397982,0.08836471013480657,1.111036787439033,0.006545832594523607,0.005729324662479355,0.00029651547679641357,0.1623030373092342,0.1479766599186902,0.8277898034443235,0.010417647278573134,-0.013551012485382643,-0.0007379737908584419,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,1.0831834736042676,-0.1887930055687733,-0.3706620381939425,0.6338335241676459,0.3809883354127789,-0.10442450121205561,1.2030617141829325,1.111036787439033,1.573723752376875,1.573723752376875,2.548000000000453,0,0,-0.0005227649085379468,-9.999999025923074e-05
+23061,1792640911135980633,9451397000000,1792640911132995433,DOWN_FORCE_DETACH,3,0.0346,0.034602392464876175,0.6760461382173727,-0.00459345723566972,0.08590897120357407,0.9999999844083917,3.1697352626630354e-05,-7.89240987423386e-05,0.0001240658917059408,0.6761,-0.0045,0.0858671860277485,1.0,0.0,0.0,0.0,-0.04184856929561173,0.09590813423989716,1.1111125025555308,0.006554587426247623,0.0053675561709422975,0.00029211030418934206,0.1717186155976023,0.15552008402378079,0.8278655185608214,0.01042640211029715,-0.013912780976919701,-0.0007423789634655135,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,1.0755792733327543,-0.1279861959902753,-0.47609269882875294,0.6307923155319142,0.4453670425765182,-0.06880716192003176,1.2030617141829325,1.1111125025555308,1.6791544130116853,1.6791544130116853,2.566690000000457,0,0,-0.0005361149059371614,-9.999999025923074e-05
+23094,1792640911408115320,9451669000000,1792640911400995815,DOWN_SETTLE,3,0.0346,0.034601736813783646,0.676039572688366,-0.004596623470822825,0.08576310556000163,0.9999999812603678,3.4142366200953194e-05,-9.385767477100514e-05,0.00013764869803157374,0.6761,-0.0045,0.08573429194238033,1.0,0.0,0.0,0.0,-0.03374423440329696,0.08790768827316195,1.091247428909619,0.006575610082848337,0.004768181428701591,0.00029978693973310136,0.17982295048991706,0.14751963805704557,0.8080004449149097,0.010447424766897863,-0.014512155719160407,-0.0007347023279217542,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,1.1335938308223252,-0.022161665175904295,-0.26434229623273237,0.5830678414708611,0.33488155682489457,0.0025422589239319955,1.2030617141829325,1.091247428909619,1.467404010415665,0.0,0.0,0,0,-0.00024777191908174857,0.0025027466573913993
+23190,1792640912204124416,9452465000000,1792640912196995594,DOWN_PEAK_HOLD,3,0.0346,0.034602392464876175,0.6760286963519353,-0.004584779217124174,0.08569554653608785,0.9999999785680629,4.547540601256294e-05,-0.00011446917160429676,0.0001383312490092076,0.6761,-0.0045,0.085710617613753,1.0,0.0,0.0,0.0,-0.04066786800035088,0.0757090113386826,0.8614221145458961,0.00559809413034087,0.004787989292174629,0.00047220585348666964,0.17289931689286314,0.13532096112256622,0.5781751305511867,0.009469908814390396,-0.014492347855687369,-0.0005622834141681859,0.21356718489321402,0.05961194978388363,-0.2832469839947094,0.0038718146840495266,-0.019280337147862,-0.0010344892676548555,1,0.9824438773658086,-0.10484926418777095,0.010230324938662138,0.5880670490814518,0.13370106647571578,-0.060331143195554854,1.2030617141829325,0.8614221145458961,1.1928313892442703,0.0,0.0,0,0,0.0,0.0

Fixed/s1/ball_PLA_10/press_depth_03/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792640873477396556,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.686441205e-09,7.610172249e-10,5.823561744e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259094e-01,1.831851257e-06,8.297808776e-01
+1,6.000000000e-01,XJC_ZERO_HOLD_BEFORE_DOWN,1792640874377521595,7.715151822e-07,-4.857563653e-07,8.213116752e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.523594096e-07,1.854683355e-08,1.364954163e-07,7.015386430e-01,1.065204956e-06,8.407417625e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261521e-01,1.849637074e-06,8.297810083e-01
+2,1.283333333e+00,DOWN_FORCE_DETACH,1792640875395661824,1.981769022e-06,-1.878947795e-06,-4.333545714e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.792165564e-07,2.709109136e-08,1.859715503e-07,7.015398533e-01,-3.279864740e-07,8.407366076e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262789e-01,1.858181332e-06,8.297810578e-01
+3,1.850000000e+00,DOWN_FORCE_DETACH,1792640876269064385,3.564231063e-06,-6.313952909e-06,-3.217847312e-05,-2.335524424e-07,-1.973331449e-06,-2.033837397e-05,7.720789652e-08,-1.903079468e-06,-1.998231159e-05,7.015414357e-01,-4.762991588e-06,8.407087627e-01,7.015376379e-01,-4.223701280e-07,8.407206028e-01,7.017259769e-01,-7.198922779e-08,8.297608895e-01
+4,2.450000000e+00,DOWN_FORCE_DETACH,1792640877165088647,1.135427996e-06,-1.235026861e-05,-7.232538557e-05,-1.028104844e-06,-5.227518542e-06,-6.209053059e-05,-8.707125270e-07,-5.137457532e-06,-6.150079818e-05,7.015390069e-01,-1.079930729e-05,8.406686158e-01,7.015368434e-01,-3.676557221e-06,8.406788507e-01,7.017250290e-01,-3.306367292e-06,8.297193710e-01
+5,3.166666667e+00,DOWN_FORCE_DETACH,1792640878245515090,5.878640407e-06,-9.856969798e-06,-1.053405662e-04,5.016685718e-06,-9.103942094e-06,-1.032142564e-04,5.196236488e-06,-9.001874116e-06,-1.025254620e-04,7.015437501e-01,-8.306008477e-06,8.406356006e-01,7.015428882e-01,-7.552980773e-06,8.406377269e-01,7.017310960e-01,-7.170783875e-06,8.296783463e-01
+6,3.833333333e+00,DOWN_FORCE_DETACH,1792640879246247621,1.586671083e-05,-1.554866000e-05,-1.234568630e-04,1.586343019e-05,-1.460268339e-05,-1.199799298e-04,1.629397394e-05,-1.450712059e-05,-1.193982660e-04,7.015537382e-01,-1.399769867e-05,8.406174843e-01,7.015537349e-01,-1.305172207e-05,8.406209613e-01,7.017421937e-01,-1.267603035e-05,8.296614735e-01
+7,4.433333333e+00,DOWN_FORCE_DETACH,1792640880145881337,2.169561302e-05,-1.040870103e-05,-1.481335583e-04,2.008685207e-05,-1.545810087e-05,-1.391646006e-04,2.074142456e-05,-1.531666920e-05,-1.386471805e-04,7.015595671e-01,-8.857739706e-06,8.405928076e-01,7.015579583e-01,-1.390713955e-05,8.406017766e-01,7.017466411e-01,-1.348557896e-05,8.296422246e-01
+8,4.983333333e+00,DOWN_FORCE_DETACH,1792640880965555643,2.452988078e-05,-1.195757194e-05,-1.795924798e-04,2.089084005e-05,-1.487715496e-05,-1.621817075e-04,2.157977657e-05,-1.473128073e-05,-1.616684265e-04,7.015624014e-01,-1.040661062e-05,8.405613487e-01,7.015587623e-01,-1.332619364e-05,8.405787595e-01,7.017474795e-01,-1.290019049e-05,8.296192034e-01
+9,5.616666667e+00,DOWN_FORCE_DETACH,1792640881926669059,3.214949367e-05,-1.278448825e-05,-2.090095971e-04,2.707531130e-05,-1.275447541e-05,-2.023503772e-04,2.778375765e-05,-1.259167184e-05,-2.016889016e-04,7.015700210e-01,-1.123352693e-05,8.405319316e-01,7.015649468e-01,-1.120351409e-05,8.405385908e-01,7.017536835e-01,-1.076058160e-05,8.295791829e-01
+10,6.233333333e+00,DOWN_FORCE_DETACH,1792640882877886682,3.784890773e-05,-9.939015940e-06,-2.423899977e-04,3.250739627e-05,-1.213037865e-05,-2.444300967e-04,3.328159321e-05,-1.198771641e-05,-2.436075626e-04,7.015757204e-01,-8.388054619e-06,8.404985512e-01,7.015703789e-01,-1.057941733e-05,8.404965111e-01,7.017591813e-01,-1.015662617e-05,8.295372642e-01
+11,6.700000000e+00,DOWN_FORCE_DETACH,1792640883578482288,3.855793446e-05,-1.111533513e-05,-2.655841007e-04,3.607517392e-05,-1.309973736e-05,-2.649291332e-04,3.683896528e-05,-1.298098714e-05,-2.641414763e-04,7.015764294e-01,-9.564373810e-06,8.404753571e-01,7.015739467e-01,-1.154877604e-05,8.404760121e-01,7.017627387e-01,-1.114989690e-05,8.295167303e-01
+12,7.233333333e+00,DOWN_FORCE_DETACH,1792640884377743975,4.143436936e-05,-1.701981307e-05,-2.986123370e-04,3.903272169e-05,-1.009140870e-05,-2.870418220e-04,3.982224351e-05,-9.984350662e-06,-2.862679428e-04,7.015793059e-01,-1.546885175e-05,8.404423289e-01,7.015769042e-01,-8.540447377e-06,8.404538994e-01,7.017657220e-01,-8.153260422e-06,8.294946039e-01
+13,7.766666667e+00,DOWN_FORCE_DETACH,1792640885177303056,4.251535042e-05,-1.621857412e-05,-3.274826173e-04,3.984304234e-05,-1.820776819e-05,-3.087475235e-04,4.058929231e-05,-1.808275709e-05,-3.080865797e-04,7.015803868e-01,-1.466761280e-05,8.404134586e-01,7.015777145e-01,-1.665680687e-05,8.404321937e-01,7.017664890e-01,-1.625166685e-05,8.294727852e-01
+14,8.416666667e+00,DOWN_FORCE_DETACH,1792640886158870535,4.783758447e-05,-2.339231923e-05,-3.597042776e-04,4.623896320e-05,-1.699629241e-05,-3.499278919e-04,4.698879470e-05,-1.686288878e-05,-3.491466996e-04,7.015857091e-01,-2.184135791e-05,8.403812369e-01,7.015841104e-01,-1.544533109e-05,8.403910133e-01,7.017728885e-01,-1.503179853e-05,8.294317251e-01
+15,9.000000000e+00,DOWN_FORCE_DETACH,1792640887014923819,5.312487579e-05,-2.197229941e-05,-3.914715714e-04,5.083909627e-05,-1.961824446e-05,-3.917742579e-04,5.152431015e-05,-1.945268354e-05,-3.908379113e-04,7.015909964e-01,-2.042133809e-05,8.403494696e-01,7.015887106e-01,-1.806728313e-05,8.403491669e-01,7.017774240e-01,-1.762159330e-05,8.293900339e-01
+16,9.650000000e+00,DOWN_FORCE_DETACH,1792640887995301342,5.390580686e-05,-2.706270894e-05,-4.361099979e-04,5.279613163e-05,-2.549204268e-05,-4.329159302e-04,5.340251171e-05,-2.531420532e-05,-4.319594634e-04,7.015917773e-01,-2.551174761e-05,8.403048312e-01,7.015906676e-01,-2.394108136e-05,8.403080253e-01,7.017793022e-01,-2.348311508e-05,8.293489123e-01
+17,1.013333333e+01,DOWN_FORCE_DETACH,1792640888713745764,5.766495780e-05,-2.051569388e-05,-4.639788616e-04,5.708739748e-05,-1.929547445e-05,-4.522782531e-04,5.772707295e-05,-1.914502166e-05,-4.514124095e-04,7.015955364e-01,-1.896473256e-05,8.402769623e-01,7.015949589e-01,-1.774451313e-05,8.402886629e-01,7.017836268e-01,-1.731393142e-05,8.293294594e-01
+18,1.068333333e+01,DOWN_FORCE_DETACH,1792640889580344740,5.864670395e-05,-3.028253552e-05,-5.043809230e-04,5.787761946e-05,-2.910928770e-05,-4.966473263e-04,5.845030706e-05,-2.892790686e-05,-4.957531543e-04,7.015965182e-01,-2.873157420e-05,8.402365603e-01,7.015957491e-01,-2.755832638e-05,8.402442939e-01,7.017843500e-01,-2.709681662e-05,8.292851186e-01
+19,1.126666667e+01,DOWN_FORCE_DETACH,1792640890447867830,6.264062011e-05,-2.796398347e-05,-5.451311347e-04,6.228835050e-05,-2.734214547e-05,-5.380160108e-04,6.276328507e-05,-2.720406446e-05,-5.371591717e-04,7.016005121e-01,-2.641302215e-05,8.401958101e-01,7.016001598e-01,-2.579118415e-05,8.402029252e-01,7.017886630e-01,-2.537297422e-05,8.292437126e-01
+20,1.185000000e+01,DOWN_FORCE_DETACH,1792640891327337973,6.536274628e-05,-3.064263461e-05,-5.941434778e-04,6.449642644e-05,-3.277551814e-05,-5.783825901e-04,6.490922330e-05,-3.260265860e-05,-5.774942055e-04,7.016032342e-01,-2.909167329e-05,8.401467977e-01,7.016023679e-01,-3.122455682e-05,8.401625586e-01,7.017908089e-01,-3.077156836e-05,8.292033776e-01
+21,1.251666667e+01,DOWN_FORCE_DETACH,1792640892326965179,7.072579324e-05,-2.970019041e-05,-6.513812039e-04,6.748785721e-05,-3.577223792e-05,-6.409300980e-04,6.772600953e-05,-3.558061611e-05,-6.399446600e-04,7.016085973e-01,-2.814922909e-05,8.400895600e-01,7.016053593e-01,-3.422127660e-05,8.401000111e-01,7.017936257e-01,-3.374952587e-05,8.291409271e-01
+22,1.300000000e+01,DOWN_FORCE_DETACH,1792640893058199953,6.803670604e-05,-3.863744267e-05,-7.119264851e-04,6.868709261e-05,-3.194012258e-05,-7.069459281e-04,6.879360420e-05,-3.176785208e-05,-7.055966935e-04,7.016059082e-01,-3.708648135e-05,8.400290147e-01,7.016065586e-01,-3.038916126e-05,8.400339953e-01,7.017946933e-01,-2.993676184e-05,8.290752751e-01
+23,1.345000000e+01,DOWN_FORCE_DETACH,1792640893736848425,6.750756151e-05,-3.564358813e-05,-7.631215108e-04,6.591787317e-05,-3.683759018e-05,-7.504368374e-04,6.583873454e-05,-3.666352546e-05,-7.491448487e-04,7.016053790e-01,-3.409262681e-05,8.399778197e-01,7.016037894e-01,-3.528662885e-05,8.399905044e-01,7.017917385e-01,-3.483243522e-05,8.290317270e-01
+24,1.395000000e+01,DOWN_FORCE_DETACH,1792640894615926252,6.868384258e-05,-4.000626276e-05,-8.376530410e-04,6.857892630e-05,-4.018504792e-05,-8.374985843e-04,6.818402714e-05,-4.003256994e-05,-8.358421102e-04,7.016065553e-01,-3.845530144e-05,8.399032881e-01,7.016064504e-01,-3.863408660e-05,8.399034426e-01,7.017940837e-01,-3.820147970e-05,8.289450297e-01
+25,1.448333333e+01,DOWN_FORCE_DETACH,1792640895416626232,6.863310595e-05,-4.189949909e-05,-9.126878339e-04,6.708418934e-05,-4.163979129e-05,-9.027517969e-04,6.647807920e-05,-4.150709225e-05,-9.012406493e-04,7.016065046e-01,-4.034853777e-05,8.398282534e-01,7.016049557e-01,-4.008882997e-05,8.398381894e-01,7.017923778e-01,-3.967600201e-05,8.288796311e-01
+26,1.498333333e+01,DOWN_FORCE_DETACH,1792640896166195443,7.180038952e-05,-4.613801041e-05,-9.915180280e-04,7.325499578e-05,-4.255915573e-05,-9.872323233e-04,7.244889578e-05,-4.242103100e-05,-9.858458008e-04,7.016096719e-01,-4.458704909e-05,8.397494232e-01,7.016111265e-01,-4.100819441e-05,8.397537089e-01,7.017983486e-01,-4.058994076e-05,8.287950260e-01
+27,1.555000000e+01,DOWN_FORCE_DETACH,1792640897065631904,7.438965729e-05,-4.339769008e-05,-1.095336048e-03,7.115049232e-05,-4.513323012e-05,-1.081532340e-03,7.000702229e-05,-4.491630316e-05,-1.080555328e-03,7.016122611e-01,-4.184672875e-05,8.396456051e-01,7.016090220e-01,-4.358226880e-05,8.396594088e-01,7.017959067e-01,-4.308521292e-05,8.287003165e-01
+28,1.611666667e+01,DOWN_FORCE_DETACH,1792640897915390070,7.287455700e-05,-5.082795137e-05,-1.203690049e-03,7.358813966e-05,-4.887188226e-05,-1.195671276e-03,7.199570868e-05,-4.859392282e-05,-1.194462858e-03,7.016107460e-01,-4.927699005e-05,8.395372511e-01,7.016114596e-01,-4.732092094e-05,8.395452699e-01,7.017978954e-01,-4.676283258e-05,8.285864089e-01
+29,1.661666667e+01,DOWN_FORCE_DETACH,1792640898665246444,7.429957563e-05,-5.701385663e-05,-1.304582026e-03,7.505332648e-05,-5.326086544e-05,-1.298482520e-03,7.308883766e-05,-5.289338692e-05,-1.297098733e-03,7.016121711e-01,-5.546289531e-05,8.394363592e-01,7.016129248e-01,-5.170990412e-05,8.394424587e-01,7.017989886e-01,-5.106229668e-05,8.284837731e-01
+30,1.713333333e+01,DOWN_FORCE_DETACH,1792640899435631333,7.680022096e-05,-5.908468093e-05,-1.410061919e-03,7.525895928e-05,-5.652622086e-05,-1.408098783e-03,7.294222456e-05,-5.609393449e-05,-1.406583173e-03,7.016146717e-01,-5.753371961e-05,8.393308793e-01,7.016131304e-01,-5.497525954e-05,8.393328424e-01,7.017988419e-01,-5.426284425e-05,8.283742886e-01
+31,1.758333333e+01,DOWN_FORCE_DETACH,1792640900116476860,7.261045939e-05,-6.204285723e-05,-1.517582152e-03,7.254670581e-05,-6.186681424e-05,-1.517728898e-03,6.984253068e-05,-6.142883115e-05,-1.516052434e-03,7.016104819e-01,-6.049189591e-05,8.392233590e-01,7.016104182e-01,-6.031585292e-05,8.392232123e-01,7.017957423e-01,-5.959774091e-05,8.282648194e-01
+32,1.803333333e+01,DOWN_FORCE_DETACH,1792640900795871962,7.511884476e-05,-6.677481631e-05,-1.628721001e-03,7.407148151e-05,-6.648674906e-05,-1.622208726e-03,7.089767148e-05,-6.601568027e-05,-1.620441484e-03,7.016129903e-01,-6.522385499e-05,8.391122202e-01,7.016119430e-01,-6.493578774e-05,8.391187325e-01,7.017967974e-01,-6.418459003e-05,8.281604303e-01
+33,1.845000000e+01,DOWN_FORCE_DETACH,1792640901415561306,6.932974093e-05,-6.793180724e-05,-1.752562076e-03,6.911101217e-05,-6.805093440e-05,-1.752721797e-03,6.530749582e-05,-6.760233589e-05,-1.750525981e-03,7.016072012e-01,-6.638084592e-05,8.389883791e-01,7.016069825e-01,-6.649997308e-05,8.389882194e-01,7.017912072e-01,-6.577124565e-05,8.280303458e-01
+34,1.883333333e+01,DOWN_FORCE_DETACH,1792640901995994090,7.091166996e-05,-7.311064788e-05,-1.858563775e-03,6.828687468e-05,-7.198053460e-05,-1.842780421e-03,6.395650231e-05,-7.149761171e-05,-1.840814825e-03,7.016087832e-01,-7.155968656e-05,8.388823774e-01,7.016061584e-01,-7.042957328e-05,8.388981608e-01,7.017898562e-01,-6.966652147e-05,8.279400570e-01
+35,1.923333333e+01,DOWN_FORCE_DETACH,1792640902595991393,6.559540125e-05,-7.549821391e-05,-1.989333872e-03,6.554019107e-05,-7.551563553e-05,-1.988967859e-03,6.037886072e-05,-7.505503628e-05,-1.986705628e-03,7.016034669e-01,-7.394725259e-05,8.387516073e-01,7.016034117e-01,-7.396467421e-05,8.387519733e-01,7.017862786e-01,-7.322394604e-05,8.277941662e-01
+36,1.961666667e+01,DOWN_FORCE_DETACH,1792640903165836883,6.582798146e-05,-8.290072023e-05,-2.102647054e-03,6.624328133e-05,-8.109460118e-05,-2.096731118e-03,6.052478291e-05,-8.071592577e-05,-2.094712117e-03,7.016036995e-01,-8.134975891e-05,8.386382941e-01,7.016041148e-01,-7.954363986e-05,8.386442101e-01,7.017864245e-01,-7.888483553e-05,8.276861597e-01
+37,1.996666667e+01,DOWN_FORCE_DETACH,1792640903696119525,6.547311404e-05,-8.565632714e-05,-2.219531472e-03,6.531686321e-05,-8.553055344e-05,-2.219649979e-03,5.897629507e-05,-8.515286465e-05,-2.217462241e-03,7.016033446e-01,-8.410536582e-05,8.385214097e-01,7.016031883e-01,-8.397959212e-05,8.385212912e-01,7.017848760e-01,-8.332177441e-05,8.275634096e-01
+38,2.031666667e+01,DOWN_FORCE_DETACH,1792640904217145503,6.629042020e-05,-8.334296781e-05,-2.343879708e-03,6.665280106e-05,-8.672149804e-05,-2.336117605e-03,5.983663328e-05,-8.636503030e-05,-2.334079047e-03,7.016041619e-01,-8.179200649e-05,8.383970615e-01,7.016045243e-01,-8.517053672e-05,8.384048236e-01,7.017857364e-01,-8.453394006e-05,8.274467928e-01
+39,2.065000000e+01,DOWN_FORCE_DETACH,1792640904716652577,6.434958543e-05,-9.053621901e-05,-2.471106993e-03,6.546531749e-05,-8.982708675e-05,-2.455697651e-03,5.828432101e-05,-8.940973434e-05,-2.453665181e-03,7.016022211e-01,-8.898525769e-05,8.382698342e-01,7.016033368e-01,-8.827612543e-05,8.382852435e-01,7.017841840e-01,-8.757864410e-05,8.273272066e-01
+40,2.098333333e+01,DOWN_FORCE_DETACH,1792640905215814995,6.591977084e-05,-9.561779943e-05,-2.596530704e-03,6.187987735e-05,-9.486802439e-05,-2.579701216e-03,5.417836121e-05,-9.433509240e-05,-2.577604002e-03,7.016037913e-01,-9.406683811e-05,8.381444105e-01,7.015997514e-01,-9.331706307e-05,8.381612400e-01,7.017800781e-01,-9.250400216e-05,8.272032678e-01
+41,2.130000000e+01,DOWN_FORCE_DETACH,1792640905696669694,6.443290592e-05,-9.479314746e-05,-2.734606388e-03,6.440622397e-05,-9.491994001e-05,-2.734629044e-03,5.624819857e-05,-9.431237815e-05,-2.732130032e-03,7.016023044e-01,-9.324218613e-05,8.380063348e-01,7.016022777e-01,-9.336897868e-05,8.380063121e-01,7.017821479e-01,-9.248128791e-05,8.270487418e-01
+42,2.160000000e+01,DOWN_FORCE_DETACH,1792640906135152312,6.208230014e-05,-1.059607060e-04,-2.864484074e-03,6.192022280e-05,-1.057549754e-04,-2.864054718e-03,5.331963065e-05,-1.050175677e-04,-2.861721873e-03,7.015999538e-01,-1.044097447e-04,8.378764571e-01,7.015997917e-01,-1.042040141e-04,8.378768865e-01,7.017792194e-01,-1.031864775e-04,8.269191499e-01
+43,2.186666667e+01,DOWN_FORCE_DETACH,1792640906534862802,6.332126810e-05,-1.062820030e-04,-2.991321182e-03,5.916278429e-05,-1.068820794e-04,-2.979287022e-03,5.015062422e-05,-1.061504473e-04,-2.977163807e-03,7.016011927e-01,-1.047310417e-04,8.377496200e-01,7.015970343e-01,-1.053311181e-04,8.377616542e-01,7.017760503e-01,-1.043193571e-04,8.268037080e-01
+44,2.211666667e+01,DOWN_FORCE_DETACH,1792640906916895973,5.545723790e-05,-1.081471654e-04,-3.128299945e-03,5.533306170e-05,-1.082051280e-04,-3.128278575e-03,4.580193083e-05,-1.075260325e-04,-3.125881932e-03,7.015933287e-01,-1.065962041e-04,8.376126412e-01,7.015932045e-01,-1.066541667e-04,8.376126626e-01,7.017717017e-01,-1.056949423e-04,8.266549899e-01
+45,2.238333333e+01,DOWN_FORCE_DETACH,1792640907316048275,5.763841220e-05,-1.118461523e-04,-3.255813576e-03,5.764518819e-05,-1.111394413e-04,-3.249809119e-03,4.782052754e-05,-1.104350386e-04,-3.247550932e-03,7.015955099e-01,-1.102951910e-04,8.374851276e-01,7.015955167e-01,-1.095884800e-04,8.374911321e-01,7.017737202e-01,-1.086039484e-04,8.265333209e-01
+46,2.265000000e+01,DOWN_FORCE_DETACH,1792640907716340353,5.869139069e-05,-1.138568786e-04,-3.393512425e-03,5.860539312e-05,-1.160093563e-04,-3.387327732e-03,4.829596548e-05,-1.153088987e-04,-3.385072334e-03,7.015965629e-01,-1.123059173e-04,8.373474288e-01,7.015964769e-01,-1.144583949e-04,8.373536135e-01,7.017741957e-01,-1.134778085e-04,8.263957995e-01
+47,2.290000000e+01,DOWN_FORCE_DETACH,1792640908096586901,6.006156585e-05,-1.182072540e-04,-3.532754391e-03,6.015767063e-05,-1.184745946e-04,-3.532477549e-03,4.941759430e-05,-1.178453172e-04,-3.530036737e-03,7.015979330e-01,-1.166562927e-04,8.372081868e-01,7.015980292e-01,-1.169236333e-04,8.372084636e-01,7.017753173e-01,-1.160142269e-04,8.262508351e-01
+48,2.311666667e+01,DOWN_FORCE_DETACH,1792640908415312677,5.759784073e-05,-1.277153350e-04,-3.665308557e-03,5.720910812e-05,-1.221296205e-04,-3.654387600e-03,4.602176822e-05,-1.215254996e-04,-3.651901641e-03,7.015954693e-01,-1.261643737e-04,8.370756326e-01,7.015950806e-01,-1.205786591e-04,8.370865536e-01,7.017719215e-01,-1.196944094e-04,8.261289702e-01
+49,2.335000000e+01,DOWN_FORCE_DETACH,1792640908767039108,5.811928117e-05,-1.244096018e-04,-3.804165518e-03,5.843436712e-05,-1.262600600e-04,-3.790712165e-03,4.692088300e-05,-1.256430144e-04,-3.788036699e-03,7.015959908e-01,-1.228586404e-04,8.369367757e-01,7.015963058e-01,-1.247090987e-04,8.369502290e-01,7.017728206e-01,-1.238119241e-04,8.259928351e-01
+50,2.358333333e+01,DOWN_FORCE_DETACH,1792640909102709790,5.441282314e-05,-1.298050082e-04,-3.950501245e-03,5.573277029e-05,-1.319246306e-04,-3.933314935e-03,4.372210129e-05,-1.313346527e-04,-3.930633969e-03,7.015922843e-01,-1.282540469e-04,8.367904399e-01,7.015936043e-01,-1.303736693e-04,8.368076263e-01,7.017696218e-01,-1.295035624e-04,8.258502378e-01
+51,2.380000000e+01,DOWN_FORCE_DETACH,1792640909432642536,5.637132655e-05,-1.297722612e-04,-4.093511663e-03,5.438965977e-05,-1.316663196e-04,-4.081577221e-03,4.181964518e-05,-1.309658865e-04,-4.079262228e-03,7.015942428e-01,-1.282212999e-04,8.366474295e-01,7.015922611e-01,-1.301153583e-04,8.366593640e-01,7.017677194e-01,-1.291347963e-04,8.257016096e-01
+52,2.400000000e+01,DOWN_FORCE_DETACH,1792640909733125142,5.296896642e-05,-1.327825249e-04,-4.235065435e-03,5.254286942e-05,-1.325420176e-04,-4.235207857e-03,3.934190138e-05,-1.316877401e-04,-4.232958120e-03,7.015908404e-01,-1.312315635e-04,8.365058758e-01,7.015904144e-01,-1.309910563e-04,8.365057333e-01,7.017652416e-01,-1.298566498e-04,8.255479137e-01
+53,2.420000000e+01,DOWN_FORCE_DETACH,1792640910032730425,4.903574176e-05,-1.333829487e-04,-4.376137512e-03,5.103888501e-05,-1.253744302e-04,-4.360510208e-03,3.715375928e-05,-1.246034986e-04,-4.358681832e-03,7.015869072e-01,-1.318319874e-04,8.363648037e-01,7.015889104e-01,-1.238234689e-04,8.363804310e-01,7.017630535e-01,-1.227724084e-04,8.254221900e-01
+54,2.438333333e+01,DOWN_FORCE_DETACH,1792640910302065243,4.654796227e-05,-1.318496697e-04,-4.503890977e-03,4.626784630e-05,-1.316821350e-04,-4.503895849e-03,3.164010373e-05,-1.309507726e-04,-4.502169647e-03,7.015844194e-01,-1.302987084e-04,8.362370502e-01,7.015841393e-01,-1.301311737e-04,8.362370453e-01,7.017575398e-01,-1.291196824e-04,8.252787022e-01
+55,2.458333333e+01,DOWN_FORCE_DETACH,1792640910601845687,4.879235946e-05,-1.287263143e-04,-4.652076984e-03,4.540703896e-05,-1.286094850e-04,-4.635158372e-03,3.010968927e-05,-1.279025769e-04,-4.633732473e-03,7.015866638e-01,-1.271753529e-04,8.360888642e-01,7.015832785e-01,-1.270585237e-04,8.361057828e-01,7.017560094e-01,-1.260714867e-04,8.251471393e-01
+56,2.476666667e+01,DOWN_FORCE_DETACH,1792640910871246369,5.874094973e-05,-1.277938578e-04,-4.779067508e-03,6.099067915e-05,-1.242857311e-04,-4.770760403e-03,4.544492407e-05,-1.235365593e-04,-4.769469010e-03,7.015966124e-01,-1.262428965e-04,8.359618737e-01,7.015988622e-01,-1.227347698e-04,8.359701808e-01,7.017713446e-01,-1.217054691e-04,8.250114028e-01
+57,2.493333333e+01,DOWN_FORCE_DETACH,1792640911132636063,5.793619880e-05,-1.221657088e-04,-4.922305685e-03,5.543426938e-05,-1.175359258e-04,-4.904786751e-03,3.923005129e-05,-1.167289491e-04,-4.903598860e-03,7.015958077e-01,-1.206147474e-04,8.358186355e-01,7.015933058e-01,-1.159849645e-04,8.358361544e-01,7.017651298e-01,-1.148978588e-04,8.248772729e-01
+58,2.510000000e+01,DOWN_SETTLE,1792640911409855157,5.555651833e-05,-1.234865839e-04,-5.062085462e-03,5.541464818e-05,-1.236988875e-04,-5.061865851e-03,3.862389194e-05,-1.230022158e-04,-5.060612261e-03,7.015934280e-01,-1.219356226e-04,8.356788557e-01,7.015932861e-01,-1.221479262e-04,8.356790753e-01,7.017645236e-01,-1.211711255e-04,8.247202595e-01
+59,2.563333333e+01,DOWN_PEAK_HOLD,1792640912204289930,4.268369632e-05,-1.093159209e-04,-5.132635602e-03,4.583109846e-05,-1.169957524e-04,-5.123272276e-03,2.854181483e-05,-1.166451916e-04,-5.123656340e-03,7.015805552e-01,-1.077649595e-04,8.356083056e-01,7.015837026e-01,-1.154447911e-04,8.356176689e-01,7.017544415e-01,-1.148141013e-04,8.246572155e-01

Fixed/s1/ball_PLA_10/press_depth_03/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,7.0742e-03,3.0178e-03,2.4622e+00,-3.7026e-02,3.7269e-02,-7.4572e-05,4.7366e-04,1.6303e-05,2.9945e-04,-2.2948e-06,3.3166e-05,-9.5071e-07,5.6062e-04,3.3259e-05
+1,6.0000e-01,XJC_ZERO_HOLD_BEFORE_DOWN,1.4559e-04,1.8536e-02,3.4600e-03,2.4686e+00,-3.7082e-02,3.8077e-02,-8.9880e-05,1.1936e-02,4.5850e-04,6.6857e-03,-5.8051e-05,8.4099e-04,-1.6259e-05,1.3688e-02,8.4315e-04
+2,1.2833e+00,DOWN_FORCE_DETACH,2.9266e-04,2.4560e-02,3.6417e-03,2.4710e+00,-3.7102e-02,3.8504e-02,-8.9468e-05,1.7960e-02,6.4025e-04,9.1333e-03,-7.8388e-05,1.2679e-03,-1.5848e-05,2.0159e-02,1.2704e-03
+3,1.8500e+00,DOWN_FORCE_DETACH,4.4092e-04,2.7158e-02,4.6340e-03,2.4802e+00,-3.7174e-02,3.8683e-02,-8.4621e-05,2.0557e-02,1.6325e-03,1.8313e-02,-1.4956e-04,1.4465e-03,-1.1000e-05,2.7580e-02,1.4543e-03
+4,2.4500e+00,DOWN_FORCE_DETACH,5.8608e-04,2.9672e-02,6.1438e-03,2.4919e+00,-3.7277e-02,3.8851e-02,-7.5513e-05,2.3071e-02,3.1423e-03,3.0025e-02,-2.5330e-04,1.6148e-03,-1.8926e-06,3.7996e-02,1.6345e-03
+5,3.1667e+00,DOWN_FORCE_DETACH,7.3584e-04,3.0141e-02,7.8966e-03,2.4931e+00,-3.7388e-02,3.8885e-02,-5.8127e-05,2.3541e-02,4.8951e-03,3.1188e-02,-3.6402e-04,1.6491e-03,1.5494e-05,3.9380e-02,1.6889e-03
+6,3.8333e+00,DOWN_FORCE_DETACH,8.8214e-04,2.8448e-02,1.0300e-02,2.4911e+00,-3.7533e-02,3.8771e-02,-2.7306e-05,2.1847e-02,7.2981e-03,2.9182e-02,-5.0879e-04,1.5350e-03,4.6315e-05,3.7177e-02,1.6178e-03
+7,4.4333e+00,DOWN_FORCE_DETACH,1.0290e-03,3.3358e-02,1.0572e-02,2.4886e+00,-3.7536e-02,3.9113e-02,1.8830e-06,2.6757e-02,7.5704e-03,2.6678e-02,-5.1186e-04,1.8774e-03,7.5504e-05,3.8536e-02,1.9473e-03
+8,4.9833e+00,DOWN_FORCE_DETACH,1.1735e-03,3.7852e-02,1.0384e-02,2.4881e+00,-3.7509e-02,3.9431e-02,2.3631e-05,3.1251e-02,7.3825e-03,2.6251e-02,-4.8462e-04,2.1947e-03,9.7251e-05,4.1476e-02,2.2497e-03
+9,5.6167e+00,DOWN_FORCE_DETACH,1.3211e-03,3.9364e-02,9.4060e-03,2.4937e+00,-3.7429e-02,3.9536e-02,4.2304e-05,3.2763e-02,6.4045e-03,3.1783e-02,-4.0451e-04,2.2994e-03,1.1593e-04,4.6093e-02,2.3376e-03
+10,6.2333e+00,DOWN_FORCE_DETACH,1.4659e-03,4.0199e-02,8.5456e-03,2.4958e+00,-3.7363e-02,3.9596e-02,5.1681e-05,3.3599e-02,5.5441e-03,3.3906e-02,-3.3937e-04,2.3599e-03,1.2530e-04,4.8054e-02,2.3875e-03
+11,6.7000e+00,DOWN_FORCE_DETACH,1.6137e-03,4.0498e-02,9.1700e-03,2.4962e+00,-3.7406e-02,3.9618e-02,5.6734e-05,3.3897e-02,6.1685e-03,3.4329e-02,-3.8202e-04,2.3815e-03,1.3035e-04,4.8637e-02,2.4155e-03
+12,7.2333e+00,DOWN_FORCE_DETACH,1.7612e-03,4.0601e-02,7.8046e-03,2.4973e+00,-3.7310e-02,3.9623e-02,5.7627e-05,3.4000e-02,4.8031e-03,3.5397e-02,-2.8557e-04,2.3873e-03,1.3125e-04,4.9316e-02,2.4079e-03
+13,7.7667e+00,DOWN_FORCE_DETACH,1.9105e-03,4.1830e-02,1.1200e-02,2.4947e+00,-3.7549e-02,3.9710e-02,5.9656e-05,3.5230e-02,8.1984e-03,3.2785e-02,-5.2443e-04,2.4743e-03,1.3328e-04,4.8818e-02,2.5328e-03
+14,8.4167e+00,DOWN_FORCE_DETACH,2.0557e-03,4.0452e-02,1.0513e-02,2.4983e+00,-3.7501e-02,3.9613e-02,5.6004e-05,3.3851e-02,7.5113e-03,3.6433e-02,-4.7654e-04,2.3770e-03,1.2962e-04,5.0296e-02,2.4278e-03
+15,9.0000e+00,DOWN_FORCE_DETACH,2.1997e-03,4.0606e-02,1.1321e-02,2.4990e+00,-3.7559e-02,3.9624e-02,5.1804e-05,3.4005e-02,8.3195e-03,3.7115e-02,-5.3449e-04,2.3878e-03,1.2542e-04,5.1020e-02,2.4501e-03
+16,9.6500e+00,DOWN_FORCE_DETACH,2.3519e-03,4.1416e-02,1.2368e-02,2.4988e+00,-3.7635e-02,3.9680e-02,4.5784e-05,3.4816e-02,9.3667e-03,3.6936e-02,-6.1049e-04,2.4441e-03,1.1940e-04,5.1615e-02,2.5220e-03
+17,1.0133e+01,DOWN_FORCE_DETACH,2.4972e-03,3.9620e-02,1.1213e-02,2.5000e+00,-3.7559e-02,3.9554e-02,3.9664e-05,3.3020e-02,8.2117e-03,3.8124e-02,-5.3504e-04,2.3183e-03,1.1328e-04,5.1099e-02,2.3819e-03
+18,1.0683e+01,DOWN_FORCE_DETACH,2.6449e-03,4.0640e-02,1.4020e-02,2.5019e+00,-3.7760e-02,3.9624e-02,3.3152e-05,3.4040e-02,1.1019e-02,4.0007e-02,-7.3592e-04,2.3881e-03,1.0677e-04,5.3672e-02,2.5012e-03
+19,1.1267e+01,DOWN_FORCE_DETACH,2.7890e-03,3.9566e-02,1.3861e-02,2.5024e+00,-3.7766e-02,3.9548e-02,2.7541e-05,3.2966e-02,1.0860e-02,4.0491e-02,-7.4211e-04,2.3118e-03,1.0116e-04,5.3331e-02,2.4301e-03
+20,1.1850e+01,DOWN_FORCE_DETACH,2.9352e-03,3.9355e-02,1.5648e-02,2.5036e+00,-3.7923e-02,3.9529e-02,2.2873e-05,3.2754e-02,1.2646e-02,4.1681e-02,-8.9855e-04,2.2933e-03,9.6494e-05,5.4498e-02,2.4650e-03
+21,1.2517e+01,DOWN_FORCE_DETACH,3.0844e-03,3.9540e-02,1.5941e-02,2.5072e+00,-3.7999e-02,3.9539e-02,1.6218e-05,3.2939e-02,1.2939e-02,4.5319e-02,-9.7511e-04,2.3028e-03,8.9839e-05,5.7500e-02,2.5023e-03
+22,1.3000e+01,DOWN_FORCE_DETACH,3.2308e-03,3.9997e-02,1.5304e-02,2.5140e+00,-3.7996e-02,3.9564e-02,1.3931e-05,3.3397e-02,1.2302e-02,5.2129e-02,-9.7192e-04,2.3280e-03,8.7552e-05,6.3120e-02,2.5242e-03
+23,1.3450e+01,DOWN_FORCE_DETACH,3.3767e-03,4.1784e-02,1.5932e-02,2.5202e+00,-3.8070e-02,3.9681e-02,1.4758e-05,3.5184e-02,1.2931e-02,5.8295e-02,-1.0460e-03,2.4449e-03,8.8379e-05,6.9307e-02,2.6608e-03
+24,1.3950e+01,DOWN_FORCE_DETACH,3.5249e-03,4.2075e-02,1.6822e-02,2.5279e+00,-3.8157e-02,3.9693e-02,1.9499e-05,3.5474e-02,1.3821e-02,6.6055e-02,-1.1333e-03,2.4573e-03,9.3120e-05,7.6241e-02,2.7076e-03
+25,1.4483e+01,DOWN_FORCE_DETACH,3.6704e-03,4.2349e-02,1.6769e-02,2.5309e+00,-3.8148e-02,3.9707e-02,2.7025e-05,3.5748e-02,1.3768e-02,6.9030e-02,-1.1237e-03,2.4710e-03,1.0065e-04,7.8947e-02,2.7164e-03
+26,1.4983e+01,DOWN_FORCE_DETACH,3.8163e-03,4.2437e-02,1.8384e-02,2.5226e+00,-3.8197e-02,3.9719e-02,3.9215e-05,3.5836e-02,1.5383e-02,6.0732e-02,-1.1731e-03,2.4824e-03,1.1284e-04,7.2175e-02,2.7479e-03
+27,1.5550e+01,DOWN_FORCE_DETACH,3.9622e-03,4.1966e-02,2.0568e-02,2.5125e+00,-3.8193e-02,3.9701e-02,5.0068e-05,3.5366e-02,1.7566e-02,5.0658e-02,-1.1692e-03,2.4653e-03,1.2369e-04,6.4230e-02,2.7313e-03
+28,1.6117e+01,DOWN_FORCE_DETACH,4.1108e-03,3.8799e-02,2.4062e-02,2.5097e+00,-3.8314e-02,3.9488e-02,4.9462e-05,3.2199e-02,2.1061e-02,4.7794e-02,-1.2900e-03,2.2521e-03,1.2308e-04,6.1356e-02,2.5983e-03
+29,1.6617e+01,DOWN_FORCE_DETACH,4.2586e-03,3.8464e-02,2.6757e-02,2.5173e+00,-3.8472e-02,3.9458e-02,5.2330e-05,3.1863e-02,2.3755e-02,5.5408e-02,-1.4474e-03,2.2222e-03,1.2595e-04,6.8188e-02,2.6550e-03
+30,1.7133e+01,DOWN_FORCE_DETACH,4.4035e-03,3.8277e-02,3.0086e-02,2.5257e+00,-3.8712e-02,3.9432e-02,6.2562e-05,3.1676e-02,2.7084e-02,6.3813e-02,-1.6876e-03,2.1963e-03,1.3618e-04,7.6217e-02,2.7731e-03
+31,1.7583e+01,DOWN_FORCE_DETACH,4.5508e-03,3.9039e-02,3.2079e-02,2.5299e+00,-3.8879e-02,3.9473e-02,7.3776e-05,3.2438e-02,2.9078e-02,6.7999e-02,-1.8548e-03,2.2368e-03,1.4740e-04,8.0756e-02,2.9095e-03
+32,1.8033e+01,DOWN_FORCE_DETACH,4.6988e-03,3.8102e-02,3.3378e-02,2.5378e+00,-3.9008e-02,3.9396e-02,8.6171e-05,3.1501e-02,3.0376e-02,7.5939e-02,-1.9838e-03,2.1596e-03,1.5979e-04,8.7646e-02,2.9368e-03
+33,1.8450e+01,DOWN_FORCE_DETACH,4.8477e-03,3.5116e-02,3.6127e-02,2.5460e+00,-3.9211e-02,3.9178e-02,9.6026e-05,2.8515e-02,3.3125e-02,8.4084e-02,-2.1867e-03,1.9418e-03,1.6965e-04,9.4766e-02,2.9294e-03
+34,1.8833e+01,DOWN_FORCE_DETACH,4.9933e-03,3.0876e-02,3.7270e-02,2.5517e+00,-3.9274e-02,3.8870e-02,9.1662e-05,2.4275e-02,3.4268e-02,8.9795e-02,-2.2504e-03,1.6343e-03,1.6528e-04,9.9130e-02,2.7861e-03
+35,1.9233e+01,DOWN_FORCE_DETACH,5.1448e-03,2.1248e-02,3.7050e-02,2.5538e+00,-3.9247e-02,3.8187e-02,6.3059e-05,1.4648e-02,3.4048e-02,9.1911e-02,-2.2234e-03,9.5048e-04,1.3668e-04,9.9104e-02,2.4219e-03
+36,1.9617e+01,DOWN_FORCE_DETACH,5.2848e-03,1.3637e-02,3.5909e-02,2.5524e+00,-3.9195e-02,3.7645e-02,2.3572e-05,7.0366e-03,3.2908e-02,9.0505e-02,-2.1707e-03,4.0929e-04,9.7193e-05,9.6558e-02,2.2111e-03
+37,1.9967e+01,DOWN_FORCE_DETACH,5.4300e-03,7.4408e-03,3.5417e-02,2.5504e+00,-3.9182e-02,3.7209e-02,-3.7855e-06,8.4027e-04,3.2416e-02,8.8534e-02,-2.1577e-03,-2.7541e-05,6.9835e-05,9.4286e-02,2.1590e-03
+38,2.0317e+01,DOWN_FORCE_DETACH,5.5810e-03,3.7214e-03,3.6826e-02,2.5479e+00,-3.9255e-02,3.6952e-02,-1.1598e-05,-2.8792e-03,3.3824e-02,8.6075e-02,-2.2313e-03,-2.8393e-04,6.2023e-05,9.2527e-02,2.2502e-03
+39,2.0650e+01,DOWN_FORCE_DETACH,5.7293e-03,4.0547e-03,4.0519e-02,2.5511e+00,-3.9471e-02,3.6977e-02,-1.7731e-06,-2.5459e-03,3.7517e-02,8.9228e-02,-2.4466e-03,-2.5963e-04,7.1848e-05,9.6828e-02,2.4614e-03
+40,2.0983e+01,DOWN_FORCE_DETACH,5.8729e-03,6.1214e-03,4.4075e-02,2.5588e+00,-3.9688e-02,3.7113e-02,1.6846e-05,-4.7920e-04,4.1074e-02,9.6932e-02,-2.6643e-03,-1.2353e-04,9.0467e-05,1.0528e-01,2.6687e-03
+41,2.1300e+01,DOWN_FORCE_DETACH,6.0254e-03,7.1906e-03,4.9668e-02,2.5647e+00,-4.0025e-02,3.7179e-02,3.5070e-05,5.9000e-04,4.6666e-02,1.0282e-01,-3.0013e-03,-5.6971e-05,1.0869e-04,1.1292e-01,3.0038e-03
+42,2.1600e+01,DOWN_FORCE_DETACH,6.1694e-03,9.4668e-03,5.3150e-02,2.5608e+00,-4.0210e-02,3.7336e-02,4.3857e-05,2.8662e-03,5.0149e-02,9.8954e-02,-3.1857e-03,9.9961e-05,1.1748e-04,1.1097e-01,3.1894e-03
+43,2.1867e+01,DOWN_FORCE_DETACH,6.3095e-03,1.3855e-02,5.5055e-02,2.5619e+00,-4.0340e-02,3.7637e-02,4.1541e-05,7.2539e-03,5.2054e-02,1.0000e-01,-3.3160e-03,4.0064e-04,1.1516e-04,1.1297e-01,3.3421e-03
+44,2.2117e+01,DOWN_FORCE_DETACH,6.4591e-03,1.8105e-02,5.3360e-02,2.5618e+00,-4.0254e-02,3.7926e-02,2.7514e-05,1.1505e-02,5.0359e-02,9.9969e-02,-3.2295e-03,6.8992e-04,1.0114e-04,1.1253e-01,3.3039e-03
+45,2.2383e+01,DOWN_FORCE_DETACH,6.6096e-03,2.2309e-02,5.5149e-02,2.5632e+00,-4.0386e-02,3.8214e-02,-3.4882e-06,1.5708e-02,5.2147e-02,1.0133e-01,-3.3623e-03,9.7773e-04,7.0133e-05,1.1504e-01,3.5023e-03
+46,2.2650e+01,DOWN_FORCE_DETACH,6.7540e-03,2.4534e-02,5.5848e-02,2.5626e+00,-4.0427e-02,3.8369e-02,-4.5003e-05,1.7933e-02,5.2846e-02,1.0076e-01,-3.4033e-03,1.1328e-03,2.8618e-05,1.1518e-01,3.5870e-03
+47,2.2900e+01,DOWN_FORCE_DETACH,6.9022e-03,2.5752e-02,5.6349e-02,2.5630e+00,-4.0459e-02,3.8456e-02,-7.5636e-05,1.9152e-02,5.3347e-02,1.0108e-01,-3.4349e-03,1.2199e-03,-2.0147e-06,1.1589e-01,3.6451e-03
+48,2.3117e+01,DOWN_FORCE_DETACH,7.0448e-03,2.8597e-02,5.4991e-02,2.5686e+00,-4.0369e-02,3.8652e-02,-8.3511e-05,2.1996e-02,5.1989e-02,1.0676e-01,-3.3447e-03,1.4160e-03,-9.8901e-06,1.2077e-01,3.6321e-03
+49,2.3350e+01,DOWN_FORCE_DETACH,7.1906e-03,3.1217e-02,5.3886e-02,2.5777e+00,-4.0297e-02,3.8831e-02,-6.2664e-05,2.4617e-02,5.0885e-02,1.1584e-01,-3.2727e-03,1.5950e-03,1.0957e-05,1.2890e-01,3.6407e-03
+50,2.3583e+01,DOWN_FORCE_DETACH,7.3428e-03,3.5556e-02,5.4853e-02,2.5853e+00,-4.0344e-02,3.9124e-02,-1.6746e-05,2.8955e-02,5.1852e-02,1.2342e-01,-3.3198e-03,1.8879e-03,5.6875e-05,1.3696e-01,3.8195e-03
+51,2.3800e+01,DOWN_FORCE_DETACH,7.4927e-03,3.8060e-02,5.9217e-02,2.5769e+00,-4.0576e-02,3.9296e-02,3.1175e-05,3.1459e-02,5.6216e-02,1.1504e-01,-3.5515e-03,2.0596e-03,1.0480e-04,1.3184e-01,4.1068e-03
+52,2.4000e+01,DOWN_FORCE_DETACH,7.6373e-03,3.5024e-02,6.4678e-02,2.5621e+00,-4.0859e-02,3.9096e-02,5.8926e-05,2.8423e-02,6.1676e-02,1.0023e-01,-3.8354e-03,1.8594e-03,1.3255e-04,1.2107e-01,4.2644e-03
+53,2.4200e+01,DOWN_FORCE_DETACH,7.7880e-03,2.9721e-02,6.3288e-02,2.5516e+00,-4.0721e-02,3.8741e-02,4.8625e-05,2.3121e-02,6.0287e-02,8.9762e-02,-3.6974e-03,1.5045e-03,1.2225e-04,1.1057e-01,3.9936e-03
+54,2.4383e+01,DOWN_FORCE_DETACH,7.9239e-03,2.6311e-02,6.0156e-02,2.5436e+00,-4.0513e-02,3.8512e-02,2.0670e-05,1.9711e-02,5.7155e-02,8.1775e-02,-3.4886e-03,1.2760e-03,9.4291e-05,1.0170e-01,3.7158e-03
+55,2.4583e+01,DOWN_FORCE_DETACH,8.0820e-03,2.0268e-02,5.9692e-02,2.5387e+00,-4.0491e-02,3.8102e-02,-1.5065e-05,1.3667e-02,5.6690e-02,7.6845e-02,-3.4674e-03,8.6575e-04,5.8556e-05,9.6466e-02,3.5743e-03
+56,2.4767e+01,DOWN_FORCE_DETACH,8.2149e-03,7.8084e-03,6.0299e-02,2.5302e+00,-4.0544e-02,3.7254e-02,-3.1792e-05,1.2078e-03,5.7297e-02,6.8370e-02,-3.5195e-03,1.7915e-05,4.1829e-05,8.9212e-02,3.5198e-03
+57,2.4933e+01,DOWN_FORCE_DETACH,8.3652e-03,5.3128e-03,6.2155e-02,2.5268e+00,-4.0676e-02,3.7085e-02,-3.2969e-05,-1.2877e-03,5.9153e-02,6.4890e-02,-3.6516e-03,-1.5141e-04,4.0652e-05,8.7815e-02,3.6549e-03
+58,2.5100e+01,DOWN_SETTLE,8.5095e-03,6.1299e-04,6.0537e-02,2.5221e+00,-4.0589e-02,3.6766e-02,-2.3927e-05,-5.9876e-03,5.7536e-02,6.0212e-02,-3.5645e-03,-4.6985e-04,4.9694e-05,8.3497e-02,3.5957e-03
+59,2.5633e+01,DOWN_PEAK_HOLD,8.6626e-03,3.4291e-03,4.2940e-02,2.4650e+00,-3.9594e-02,3.6998e-02,-7.8768e-06,-3.1714e-03,3.9938e-02,3.1295e-03,-2.5695e-03,-2.3821e-04,6.5744e-05,4.0186e-02,2.5814e-03

Fixed/s1/ball_PLA_10/press_depth_03/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00fe9398966c233a634b8eefb4173f123965205bc38ee7755acf1840a72e94f8
+size 4792320

Fixed/s1/ball_PLA_10/press_depth_03/up/franka_data.csv

@@ -0,0 +1,61 @@
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+17373,1792640863774393032,9404039000000,1792640863773004849,UP_FORCE_HOLD,3,0.0346,0.034601736813783646,0.6759559423049113,-0.004498651197642498,0.0908635032936447,0.9999999668858034,3.8519252325937524e-05,-0.0002366318524417255,1.3888492790909041e-05,0.6761,-0.0045,0.09123127970866049,1.0,0.0,0.0,0.0,0.07984215936631044,-0.026589517066041193,-0.3027299014972361,-0.0028545095391793274,-0.006217622025286768,0.00012110221515113811,0.18991244299305884,0.0342629815038943,-0.5103413669314901,0.001625551165397744,-0.018148642076212116,-0.0008631184915050124,0.11007028362674841,0.06085249856993549,-0.20761146543425404,0.004480060704577071,-0.011931020050925348,-0.0009842207066561505,1,-0.8031283006239393,0.044221126414561794,2.539543046844862,-0.03060964744143317,-1.7303168318139512,-0.007734117030672193,1.2030617141829325,0.3027299014972361,-1.3364813326619294,0.3027299014972361,0.3566,0,0,8.89825389346755e-06,9.999994862586731e-05
+17415,1792640864124431214,9404389000000,1792640864117004685,UP_FORCE_HOLD,3,0.0346,0.034602392464876175,0.675956060333287,-0.004499297274011187,0.09086700418615279,0.9999999667533891,3.532300495992917e-05,-0.00023779150874240308,1.1982028541141865e-05,0.6761,-0.0045,0.09123623034133203,1.0,0.0,0.0,0.0,0.08909402053651637,-0.025889141065221978,-0.3025428830785828,-0.0028547617907519448,-0.006217943022193324,0.00012207453531402174,0.19916430416326478,0.034963357504713515,-0.5101543485128368,0.0016252989138251267,-0.01814896307311867,-0.0008621461713421288,0.11007028362674841,0.06085249856993549,-0.20761146543425404,0.004480060704577071,-0.011931020050925348,-0.0009842207066561505,1,-0.8585829145572755,0.10976839884073814,2.4966266877300356,-0.054349331801333826,-1.7129473774732333,0.03498662348516847,1.2030617141829325,0.3025428830785828,-1.293564973547103,0.3025428830785828,0.3566,0,0,1.9194628498585572e-05,7.913060567801029e-05
+17448,1792640864399504169,9404664000000,1792640864397005514,UP_FORCE_HOLD,3,0.0346,0.034601736813783646,0.6759532696818602,-0.004498000676092705,0.09087063571759654,0.9999999654195267,3.6750853442336244e-05,-0.00024318945298784566,1.05865333367774e-05,0.6761,-0.0045,0.09124223193606919,1.0,0.0,0.0,0.0,0.08906088070102812,-0.030287950616979545,-0.3025654020910292,-0.0028559539557680416,-0.006217249831170571,0.00012207729948575505,0.19913116432777653,0.030564547952955948,-0.5101768675252832,0.0016241067488090295,-0.01814826988209592,-0.0008621434071703955,0.11007028362674841,0.06085249856993549,-0.20761146543425404,0.004480060704577071,-0.011931020050925348,-0.0009842207066561505,1,-0.855454551895145,0.06275917638749501,2.5143632897596473,-0.03374407222964747,-1.7235539114285636,0.0035426556165510936,1.2030617141829325,0.3025654020910292,-1.3113015755767148,0.3025654020910292,0.3566,0,0,2.429565830950659e-05,2.7491319646250358e-05
+17484,1792640864699422682,9404964000000,1792640864696995337,UP_FORCE_HOLD,3,0.0346,0.034601736813783646,0.6759514202589183,-0.0044960016900908485,0.09087356167757246,0.9999999641233132,3.886995133356609e-05,-0.0002481727005777353,9.781329866917855e-06,0.6761,-0.0045,0.09124977676475755,1.0,0.0,0.0,0.0,0.0890540893311862,-0.03516910604408618,-0.30260290611967056,-0.0028560963586153247,-0.006217161159675914,0.00012210535387144025,0.19912437295793461,0.025683392525849315,-0.5102143715539246,0.0016239643459617468,-0.01814818121060126,-0.0008621153527847103,0.11007028362674841,0.06085249856993549,-0.20761146543425404,0.004480060704577071,-0.011931020050925348,-0.0009842207066561505,1,-0.8380896343956025,0.037972578763420334,2.5299998419967538,-0.03672323301710297,-1.7277845178793112,-0.010759306829621697,1.2030617141829325,0.30260290611967056,-1.3269381278138213,0.30260290611967056,0.3566,0,0,2.5177362558974115e-05,1.8395801830208014e-05
+17511,1792640864924453915,9405189000000,1792640864920996195,UP_FORCE_HOLD,3,0.0346,0.034602392464876175,0.6759499125337971,-0.004495677123631544,0.09087971948842875,0.9999999631435778,3.903744184595516e-05,-0.0002520530490746823,1.0052170261817303e-05,0.6761,-0.0045,0.09125550388766976,1.0,0.0,0.0,0.0,0.08320739078711058,-0.030059955227877966,-0.3025837474313243,-0.0028557752670413834,-0.006218448645312822,0.00012139310171137643,0.19327767441385899,0.030792543342057527,-0.5101952128655783,0.0016242854375356879,-0.01814946869623817,-0.0008628276049447741,0.11007028362674841,0.06085249856993549,-0.20761146543425404,0.004480060704577071,-0.011931020050925348,-0.0009842207066561505,1,-0.8919916181278476,0.15828648997093134,2.6591676608867685,-0.0615949863411433,-1.8245410388444394,0.06874914606755182,1.2030617141829325,0.3025837474313243,-1.456105946703836,0.3025837474313243,0.3566,0,0,2.573791790618256e-05,1.2830387658133991e-05
+17541,1792640865174526843,9405439000000,1792640865173004828,UP_FORCE_HOLD,3,0.0346,0.034602392464876175,0.675946485816094,-0.004494202358782581,0.09088154416199787,0.9999999613461497,3.597089211702723e-05,-0.00025965136131488075,6.150547539360569e-06,0.6761,-0.0045,0.0912618877184907,1.0,0.0,0.0,0.0,0.0892724980936631,-0.03287607601773937,-0.3120353298202726,-0.002842810778858916,-0.00661590025394947,0.00012337652527079053,0.1993427817204115,0.027976422552196126,-0.5196467952545266,0.001637249925718155,-0.018546920304874818,-0.00086084418138536,0.11007028362674841,0.06085249856993549,-0.20761146543425404,0.004480060704577071,-0.011931020050925348,-0.0009842207066561505,1,-0.8356268747246525,0.08749948326169849,2.4833979846565737,-0.0494046720381958,-1.697112127280702,0.01874809450225077,1.2030617141829325,0.3120353298202726,-1.2803362704736412,0.3120353298202726,0.3566,0,0,2.2929029012937245e-05,-9.999912983638665e-05
+17575,1792640865457522716,9405722000000,1792640865456994954,UP_FORCE_HOLD,3,0.0346,0.034601736813783646,0.6759463981143924,-0.004498302802722216,0.0908872427542558,0.9999999608750032,3.60452316249903e-05,-0.00026145313676635565,5.987916826393584e-06,0.6761,-0.0045,0.0912670350167227,1.0,0.0,0.0,0.0,0.08913869020718752,-0.027585025839427374,-0.31257368507491246,-0.0028509261724701516,-0.0062954727622279855,0.00012894525727630377,0.19920897383393593,0.03326747273050812,-0.5201851505091665,0.0016291345321069197,-0.018226492813153333,-0.0008552754493798468,0.11007028362674841,0.06085249856993549,-0.20761146543425404,0.004480060704577071,-0.011931020050925348,-0.0009842207066561505,1,-0.8413324075737517,0.11837023965329463,2.5926528833089284,-0.05680510479112243,-1.76513575563503,0.04055161669121029,1.2030617141829325,0.31257368507491246,-1.389591169125996,0.31257368507491246,0.3566,0,0,1.4182083039855681e-05,-9.999999025923074e-05
+17604,1792640865699598517,9405964000000,1792640865696994867,UP_FORCE_HOLD,3,0.0346,0.034602392464876175,0.6759441497759004,-0.004495874633480725,0.09089053378590452,0.999999959705753,3.744290830255303e-05,-0.0002657011689122872,5.681070350759837e-06,0.6761,-0.0045,0.09126925456986801,1.0,0.0,0.0,0.0,0.0893141605596993,-0.03607828336999678,-0.30676707992347485,-0.0028285352777780493,-0.007199434141814173,0.00011025657826310145,0.1993844441864477,0.024774215199938714,-0.5143785453577289,0.001651525426799022,-0.01913045419273952,-0.0008739641283930491,0.11007028362674841,0.06085249856993549,-0.20761146543425404,0.004480060704577071,-0.011931020050925348,-0.0009842207066561505,1,-0.7965590566845892,0.029113840036766512,2.5894363861297323,-0.031750133562991986,-1.7502431418233082,-0.018952481071030928,1.2030617141829325,0.30676707992347485,-1.3863746719467998,0.30676707992347485,0.3566,0,0,6.61464975168502e-06,-6.681464395641434e-05
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Fixed/s1/ball_PLA_10/press_depth_03/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+29,4.583333333e+00,UP_FORCE_RAMP,1792640860240446220,-2.702466464e-05,-7.878338601e-06,9.477582075e-05,-2.391357025e-05,-1.054299274e-05,9.686082694e-05,-2.390441903e-05,-1.042498123e-05,9.643676253e-05,7.015108468e-01,-6.327377280e-06,8.408357170e-01,7.015139579e-01,-8.992031416e-06,8.408378020e-01,7.017019953e-01,-8.593890986e-06,8.298773086e-01
+30,4.766666667e+00,UP_FORCE_RAMP,1792640860520120882,-2.740777142e-05,-1.166753856e-05,1.025083969e-04,-2.391357025e-05,-1.054299274e-05,9.686082694e-05,-2.392502885e-05,-1.042220786e-05,9.655619367e-05,7.015104637e-01,-1.011657724e-05,8.408434496e-01,7.015139579e-01,-8.992031416e-06,8.408378020e-01,7.017019747e-01,-8.591117624e-06,8.298774280e-01
+31,4.916666667e+00,UP_FORCE_RAMP,1792640860740021754,-2.466689448e-05,-1.821909952e-05,1.139097387e-04,-2.391357025e-05,-1.054299274e-05,9.686082694e-05,-2.394022036e-05,-1.042092516e-05,9.662919307e-05,7.015132046e-01,-1.666813820e-05,8.408548509e-01,7.015139579e-01,-8.992031416e-06,8.408378020e-01,7.017019595e-01,-8.589834920e-06,8.298775010e-01
+32,5.083333333e+00,UP_FORCE_HOLD,1792640860990937293,-2.342434185e-05,-1.403486609e-05,1.218295499e-04,-2.416885219e-05,-1.322244711e-05,1.192851354e-04,-2.407834416e-05,-1.309286545e-05,1.188116693e-04,7.015144471e-01,-1.248390477e-05,8.408627707e-01,7.015137026e-01,-1.167148579e-05,8.408602263e-01,7.017018214e-01,-1.126177521e-05,8.298996835e-01
+33,5.266666667e+00,UP_FORCE_HOLD,1792640861259335059,-2.622241171e-05,-1.413859647e-05,1.229938991e-04,-2.416885219e-05,-1.322244711e-05,1.192851354e-04,-2.409323506e-05,-1.309004556e-05,1.189215371e-04,7.015116491e-01,-1.258763515e-05,8.408639351e-01,7.015137026e-01,-1.167148579e-05,8.408602263e-01,7.017018065e-01,-1.125895532e-05,8.298997933e-01
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+35,5.583333333e+00,UP_FORCE_HOLD,1792640861739716941,-2.343761842e-05,-1.266206433e-05,1.319026539e-04,-2.416885219e-05,-1.322244711e-05,1.192851354e-04,-2.411446514e-05,-1.308773204e-05,1.190449655e-04,7.015144339e-01,-1.111110301e-05,8.408728438e-01,7.015137026e-01,-1.167148579e-05,8.408602263e-01,7.017017853e-01,-1.125664180e-05,8.298999168e-01
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+37,5.833333333e+00,UP_FORCE_HOLD,1792640862120233955,-2.243099083e-05,-1.341693133e-05,1.375917852e-04,-2.177512156e-05,-1.659993035e-05,1.398723607e-04,-2.159419209e-05,-1.647032205e-05,1.394292272e-04,7.015154405e-01,-1.186597001e-05,8.408785330e-01,7.015160964e-01,-1.504896903e-05,8.408808135e-01,7.017043055e-01,-1.463923181e-05,8.299203010e-01
+38,6.016666667e+00,UP_FORCE_HOLD,1792640862390165990,-2.109740851e-05,-1.183755678e-05,1.443350838e-04,-2.177512156e-05,-1.659993035e-05,1.398723607e-04,-2.159463184e-05,-1.646781012e-05,1.395154054e-04,7.015167741e-01,-1.028659546e-05,8.408852763e-01,7.015160964e-01,-1.504896903e-05,8.408808135e-01,7.017043051e-01,-1.463671988e-05,8.299203872e-01
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+40,6.333333333e+00,UP_FORCE_HOLD,1792640862858697216,-2.227630769e-05,-1.113900672e-05,1.532424266e-04,-2.177512156e-05,-1.659993035e-05,1.398723607e-04,-2.159771400e-05,-1.646531616e-05,1.396097962e-04,7.015155952e-01,-9.588045402e-06,8.408941836e-01,7.015160964e-01,-1.504896903e-05,8.408808135e-01,7.017043020e-01,-1.463422592e-05,8.299204816e-01
+41,6.483333333e+00,UP_FORCE_HOLD,1792640863091236131,-2.260498456e-05,-1.086857309e-05,1.589030228e-04,-2.177512156e-05,-1.659993035e-05,1.398723607e-04,-2.159907579e-05,-1.646459146e-05,1.396402424e-04,7.015152665e-01,-9.317611768e-06,8.408998442e-01,7.015160964e-01,-1.504896903e-05,8.408808135e-01,7.017043006e-01,-1.463350122e-05,8.299205120e-01
+42,6.683333333e+00,UP_FORCE_HOLD,1792640863403397015,-2.087410503e-05,-1.093586500e-05,1.657874786e-04,-2.218665237e-05,-1.104697835e-05,1.597299934e-04,-2.198288247e-05,-1.095591587e-05,1.593691435e-04,7.015169974e-01,-9.384903681e-06,8.409067287e-01,7.015156848e-01,-9.496017027e-06,8.409006712e-01,7.017039168e-01,-9.124825626e-06,8.299402409e-01
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+46,7.366666667e+00,UP_FORCE_HOLD,1792640864396055872,-2.427053345e-05,-1.003074836e-05,1.739116495e-04,-2.218665237e-05,-1.104697835e-05,1.597299934e-04,-2.199208111e-05,-1.095037558e-05,1.595328475e-04,7.015136009e-01,-8.479787038e-06,8.409148528e-01,7.015156848e-01,-9.496017027e-06,8.409006712e-01,7.017039076e-01,-9.119285344e-06,8.299404046e-01
+47,7.566666667e+00,UP_FORCE_HOLD,1792640864697016613,-2.572391314e-05,-8.625190290e-06,1.791666124e-04,-2.485644228e-05,-1.051492034e-05,1.807110413e-04,-2.461026017e-05,-1.038494670e-05,1.802406411e-04,7.015121476e-01,-7.074228969e-06,8.409201078e-01,7.015130150e-01,-8.963959024e-06,8.409216522e-01,7.017012895e-01,-8.553856455e-06,8.299611124e-01
+48,7.716666667e+00,UP_FORCE_HOLD,1792640864926066308,-2.878481637e-05,-6.113952017e-06,1.819299538e-04,-2.485644228e-05,-1.051492034e-05,1.807110413e-04,-2.461725042e-05,-1.038227217e-05,1.803036744e-04,7.015090867e-01,-4.562990696e-06,8.409228711e-01,7.015130150e-01,-8.963959024e-06,8.409216522e-01,7.017012825e-01,-8.551181927e-06,8.299611755e-01
+49,7.883333333e+00,UP_FORCE_HOLD,1792640865176339415,-2.976456826e-05,-8.647723593e-06,1.895160177e-04,-2.485644228e-05,-1.051492034e-05,1.807110413e-04,-2.462392820e-05,-1.038079667e-05,1.803533178e-04,7.015081069e-01,-7.096762272e-06,8.409304572e-01,7.015130150e-01,-8.963959024e-06,8.409216522e-01,7.017012758e-01,-8.549706429e-06,8.299612251e-01
+50,8.066666667e+00,UP_FORCE_HOLD,1792640865457109503,-3.140546703e-05,-9.110424934e-06,1.952165594e-04,-2.485644228e-05,-1.051492034e-05,1.807110413e-04,-2.462969924e-05,-1.037964834e-05,1.803945577e-04,7.015064660e-01,-7.559463613e-06,8.409361577e-01,7.015130150e-01,-8.963959024e-06,8.409216522e-01,7.017012700e-01,-8.548558097e-06,8.299612664e-01
+51,8.233333333e+00,UP_FORCE_HOLD,1792640865695588337,-3.370569405e-05,-7.892299142e-06,1.943288256e-04,-2.485644228e-05,-1.051492034e-05,1.807110413e-04,-2.463387850e-05,-1.037894425e-05,1.804231913e-04,7.015041658e-01,-6.341337821e-06,8.409352700e-01,7.015130150e-01,-8.963959024e-06,8.409216522e-01,7.017012658e-01,-8.547854010e-06,8.299612950e-01
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+54,8.700000000e+00,UP_FORCE_HOLD,1792640866396584682,-3.344499040e-05,-7.585189385e-06,2.044610825e-04,-3.219735458e-05,-8.400895830e-06,1.999397117e-04,-3.206414910e-05,-8.276364466e-06,1.995491059e-04,7.015044265e-01,-6.034228064e-06,8.409454023e-01,7.015056741e-01,-6.849934509e-06,8.409408809e-01,7.016938356e-01,-6.445274225e-06,8.299804209e-01
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+56,9.033333333e+00,UP_FORCE_HOLD,1792640866895362280,-3.402428313e-05,-7.945854300e-06,2.116854784e-04,-3.219735458e-05,-8.400895830e-06,1.999397117e-04,-3.208936042e-05,-8.275315149e-06,1.996162741e-04,7.015038472e-01,-6.394892979e-06,8.409526267e-01,7.015056741e-01,-6.849934509e-06,8.409408809e-01,7.016938104e-01,-6.444224908e-06,8.299804881e-01
+57,9.250000000e+00,UP_FORCE_HOLD,1792640867227104571,-3.326393628e-05,-3.305082835e-06,2.184534464e-04,-3.219735458e-05,-8.400895830e-06,1.999397117e-04,-3.210076405e-05,-8.274893622e-06,1.996449071e-04,7.015046075e-01,-1.754121514e-06,8.409593946e-01,7.015056741e-01,-6.849934509e-06,8.409408809e-01,7.016937990e-01,-6.443803382e-06,8.299805167e-01
+58,9.433333333e+00,UP_FORCE_HOLD,1792640867497129426,-3.404480023e-05,-5.666829277e-06,2.246827011e-04,-3.332191687e-05,-7.469301544e-06,2.215834747e-04,-3.317278356e-05,-7.349935589e-06,2.210017263e-04,7.015038267e-01,-4.115867955e-06,8.409656239e-01,7.015045496e-01,-5.918340223e-06,8.409625247e-01,7.016927269e-01,-5.518845348e-06,8.300018735e-01
+59,9.616666667e+00,UP_FORCE_HOLD,1792640867776620711,-3.333708894e-05,-5.322177892e-06,2.277716955e-04,-3.332191687e-05,-7.469301544e-06,2.215834747e-04,-3.318167570e-05,-7.348365536e-06,2.210640818e-04,7.015045344e-01,-3.771216571e-06,8.409687129e-01,7.015045496e-01,-5.918340223e-06,8.409625247e-01,7.016927180e-01,-5.517275296e-06,8.300019359e-01

Fixed/s1/ball_PLA_10/press_depth_03/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,7.0742e-03,3.0178e-03,2.4622e+00,-3.7026e-02,3.7269e-02,-7.4572e-05,4.7366e-04,1.6303e-05,2.9945e-04,-2.2948e-06,3.3166e-05,-9.5071e-07,5.6062e-04,3.3259e-05
+1,1.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.7955e-05,1.0040e-02,3.1329e-03,2.4640e+00,-3.7042e-02,3.7477e-02,-8.0079e-05,3.4396e-03,1.3138e-04,2.1172e-03,-1.7501e-05,2.4135e-04,-6.4583e-06,4.0411e-03,2.4207e-04
+2,3.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,7.3501e-05,1.3864e-02,3.2877e-03,2.4662e+00,-3.7061e-02,3.7747e-02,-8.5678e-05,7.2639e-03,2.8621e-04,4.2973e-03,-3.6974e-05,5.1080e-04,-1.2057e-05,8.4447e-03,5.1228e-04
+3,4.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,1.0753e-04,1.6923e-02,3.4036e-03,2.4678e+00,-3.7075e-02,3.7963e-02,-8.8789e-05,1.0322e-02,4.0210e-04,5.8951e-03,-5.1212e-05,7.2687e-04,-1.5168e-05,1.1894e-02,7.2883e-04
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+5,8.0000e-01,WAIT_W2,1.8147e-04,2.0826e-02,3.5351e-03,2.4696e+00,-3.7091e-02,3.8239e-02,-9.0672e-05,1.4225e-02,5.3358e-04,7.7243e-03,-6.6902e-05,1.0031e-03,-1.7051e-05,1.6196e-02,1.0055e-03
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+7,1.0833e+00,WAIT_W2,2.5361e-04,2.3267e-02,3.6081e-03,2.4706e+00,-3.7099e-02,3.8412e-02,-9.0318e-05,1.6666e-02,6.0661e-04,8.6942e-03,-7.4960e-05,1.1761e-03,-1.6697e-05,1.8807e-02,1.1786e-03
+8,1.2167e+00,WAIT_W2,2.9104e-04,2.4162e-02,3.6317e-03,2.4709e+00,-3.7101e-02,3.8476e-02,-8.9789e-05,1.7562e-02,6.3024e-04,9.0051e-03,-7.7400e-05,1.2397e-03,-1.6168e-05,1.9746e-02,1.2422e-03
+9,1.3667e+00,WAIT_W2,3.2592e-04,2.5016e-02,3.6528e-03,2.4711e+00,-3.7104e-02,3.8536e-02,-8.9028e-05,1.8415e-02,6.5134e-04,9.2731e-03,-7.9427e-05,1.3002e-03,-1.5407e-05,2.0629e-02,1.3028e-03
+10,1.5333e+00,WAIT_W2,3.6664e-04,2.5804e-02,3.6708e-03,2.4714e+00,-3.7105e-02,3.8592e-02,-8.8057e-05,1.9203e-02,6.6932e-04,9.4938e-03,-8.0992e-05,1.3562e-03,-1.4436e-05,2.1433e-02,1.3587e-03
+11,1.6833e+00,WAIT_W2,4.0134e-04,2.6394e-02,3.6831e-03,2.4715e+00,-3.7106e-02,3.8634e-02,-8.7124e-05,1.9793e-02,6.8156e-04,9.6383e-03,-8.1919e-05,1.3981e-03,-1.3503e-05,2.2026e-02,1.4006e-03
+12,1.8333e+00,WAIT_W2,4.3551e-04,2.7222e-02,3.6975e-03,2.4717e+00,-3.7107e-02,3.8694e-02,-8.4990e-05,2.0622e-02,6.9597e-04,9.8114e-03,-8.2772e-05,1.4575e-03,-1.1369e-05,2.2848e-02,1.4599e-03
+13,1.9833e+00,WAIT_W2,4.7245e-04,2.7355e-02,3.6998e-03,2.4717e+00,-3.7107e-02,3.8703e-02,-8.4497e-05,2.0755e-02,6.9825e-04,9.8276e-03,-8.2836e-05,1.4670e-03,-1.0876e-05,2.2975e-02,1.4694e-03
+14,2.1167e+00,UP_FORCE_RAMP,5.0777e-04,2.7627e-02,3.7043e-03,2.4717e+00,-3.7107e-02,3.8722e-02,-8.3951e-05,2.1027e-02,7.0279e-04,9.8672e-03,-8.2977e-05,1.4861e-03,-1.0330e-05,2.3237e-02,1.4885e-03
+15,2.2667e+00,UP_FORCE_RAMP,5.4443e-04,2.8036e-02,3.7053e-03,2.4718e+00,-3.7107e-02,3.8751e-02,-8.2501e-05,2.1436e-02,7.0380e-04,9.9187e-03,-8.2593e-05,1.5153e-03,-8.8801e-06,2.3630e-02,1.5176e-03
+16,2.4333e+00,UP_FORCE_RAMP,5.8251e-04,2.8208e-02,3.7096e-03,2.4718e+00,-3.7107e-02,3.8764e-02,-8.2047e-05,2.1608e-02,7.0810e-04,9.9308e-03,-8.2720e-05,1.5274e-03,-8.4266e-06,2.3791e-02,1.5297e-03
+17,2.5833e+00,UP_FORCE_RAMP,6.1638e-04,2.8474e-02,3.7114e-03,2.4718e+00,-3.7107e-02,3.8783e-02,-8.0986e-05,2.1873e-02,7.0994e-04,9.9468e-03,-8.2444e-05,1.5464e-03,-7.3651e-06,2.4039e-02,1.5486e-03
+18,2.7833e+00,UP_FORCE_RAMP,6.5345e-04,2.8640e-02,3.7162e-03,2.4718e+00,-3.7107e-02,3.8794e-02,-8.0529e-05,2.2040e-02,7.1467e-04,9.9502e-03,-8.2567e-05,1.5581e-03,-6.9086e-06,2.4192e-02,1.5603e-03
+19,2.9167e+00,UP_FORCE_RAMP,6.8647e-04,3.4994e-02,1.1416e-02,2.4749e+00,-3.7656e-02,3.9245e-02,-7.0812e-05,2.8393e-02,8.4141e-03,1.3011e-02,-6.3219e-04,2.0089e-03,2.8086e-06,3.2346e-02,2.1060e-03
+20,3.1000e+00,UP_FORCE_RAMP,7.2638e-04,3.4095e-02,1.1232e-02,2.4742e+00,-3.7642e-02,3.9181e-02,-7.0544e-05,2.7494e-02,8.2301e-03,1.2308e-02,-6.1832e-04,1.9449e-03,3.0772e-06,3.1227e-02,2.0408e-03
+21,3.2000e+00,UP_FORCE_RAMP,7.6211e-04,3.3552e-02,1.1189e-02,2.4739e+00,-3.7639e-02,3.9143e-02,-7.0866e-05,2.6952e-02,8.1878e-03,1.2027e-02,-6.1471e-04,1.9065e-03,2.7547e-06,3.0628e-02,2.0031e-03
+22,3.3667e+00,UP_FORCE_RAMP,7.9889e-04,3.4911e-02,7.3085e-03,2.4627e+00,-3.7365e-02,3.9241e-02,-7.4732e-05,2.8311e-02,4.3070e-03,8.5902e-04,-3.4124e-04,2.0052e-03,-1.1114e-06,2.8649e-02,2.0340e-03
+23,3.5667e+00,UP_FORCE_RAMP,8.3549e-04,3.4011e-02,7.5179e-03,2.4635e+00,-3.7377e-02,3.9181e-02,-7.7461e-05,2.7410e-02,4.5164e-03,1.6141e-03,-3.5299e-04,1.9445e-03,-3.8397e-06,2.7827e-02,1.9762e-03
+24,3.7667e+00,UP_FORCE_RAMP,8.7068e-04,3.4418e-02,7.7902e-03,2.4570e+00,-3.7396e-02,3.9215e-02,-8.0762e-05,2.7818e-02,4.7887e-03,-4.8537e-03,-3.7153e-04,1.9785e-03,-7.1416e-06,2.8641e-02,2.0131e-03
+25,3.9333e+00,UP_FORCE_RAMP,9.0978e-04,3.5922e-02,6.4353e-03,2.4502e+00,-3.7302e-02,3.9323e-02,-8.5007e-05,2.9321e-02,3.4338e-03,-1.1719e-02,-2.7793e-04,2.0867e-03,-1.1386e-05,3.1762e-02,2.1051e-03
+26,4.0500e+00,UP_FORCE_RAMP,9.4305e-04,3.4962e-02,6.5714e-03,2.4526e+00,-3.7311e-02,3.9257e-02,-8.6809e-05,2.8362e-02,3.5699e-03,-9.2258e-03,-2.8735e-04,2.0207e-03,-1.3188e-05,3.0037e-02,2.0410e-03
+27,4.2333e+00,UP_FORCE_RAMP,9.8146e-04,3.3283e-02,6.9159e-03,2.4501e+00,-3.7337e-02,3.9140e-02,-8.9987e-05,2.6683e-02,3.9144e-03,-1.1790e-02,-3.1241e-04,1.9042e-03,-1.6367e-05,2.9433e-02,1.9297e-03
+28,4.4333e+00,UP_FORCE_RAMP,1.0159e-03,3.1729e-02,7.1822e-03,2.4515e+00,-3.7357e-02,3.9031e-02,-9.3735e-05,2.5128e-02,4.1807e-03,-1.0413e-02,-3.3281e-04,1.7952e-03,-2.0114e-05,2.7520e-02,1.8259e-03
+29,4.5833e+00,UP_FORCE_RAMP,1.0521e-03,2.8825e-02,8.6489e-03,2.4444e+00,-3.7462e-02,3.8829e-02,-9.8171e-05,2.2224e-02,5.6474e-03,-1.7446e-02,-4.3798e-04,1.5930e-03,-2.4550e-05,2.8813e-02,1.6523e-03
+30,4.7667e+00,UP_FORCE_RAMP,1.0911e-03,2.8369e-02,8.6969e-03,2.4485e+00,-3.7467e-02,3.8795e-02,-1.0124e-04,2.1769e-02,5.6954e-03,-1.3363e-02,-4.4327e-04,1.5594e-03,-2.7615e-05,2.6170e-02,1.6214e-03
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+32,5.0833e+00,UP_FORCE_HOLD,1.1611e-03,2.6767e-02,9.9904e-03,2.4439e+00,-3.7561e-02,3.8682e-02,-1.0863e-04,2.0167e-02,6.9889e-03,-1.7960e-02,-5.3678e-04,1.4457e-03,-3.5011e-05,2.7894e-02,1.5425e-03
+33,5.2667e+00,UP_FORCE_HOLD,1.1995e-03,2.6456e-02,1.0027e-02,2.4477e+00,-3.7565e-02,3.8660e-02,-1.1127e-04,1.9856e-02,7.0256e-03,-1.4150e-02,-5.4042e-04,1.4237e-03,-3.7645e-05,2.5374e-02,1.5233e-03
+34,5.4333e+00,UP_FORCE_HOLD,1.2343e-03,2.5979e-02,1.0119e-02,2.4512e+00,-3.7572e-02,3.8625e-02,-1.1387e-04,1.9378e-02,7.1171e-03,-1.0699e-02,-5.4777e-04,1.3887e-03,-4.0249e-05,2.3252e-02,1.4933e-03
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+36,5.7167e+00,UP_FORCE_HOLD,1.3046e-03,2.5228e-02,1.0249e-02,2.4554e+00,-3.7582e-02,3.8569e-02,-1.1810e-04,1.8628e-02,7.2474e-03,-6.4864e-03,-5.5808e-04,1.3329e-03,-4.4484e-05,2.1014e-02,1.4457e-03
+37,5.8333e+00,UP_FORCE_HOLD,1.3433e-03,2.3235e-02,1.1712e-02,2.4463e+00,-3.7685e-02,3.8432e-02,-1.2021e-04,1.6634e-02,8.7104e-03,-1.5623e-02,-6.6072e-04,1.1957e-03,-4.6587e-05,2.4426e-02,1.3669e-03
+38,6.0167e+00,UP_FORCE_HOLD,1.3808e-03,2.3456e-02,1.1671e-02,2.4489e+00,-3.7683e-02,3.8447e-02,-1.2159e-04,1.6855e-02,8.6698e-03,-1.2960e-02,-6.5884e-04,1.2107e-03,-4.7973e-05,2.2961e-02,1.3792e-03
+39,6.1500e+00,UP_FORCE_HOLD,1.4159e-03,2.3452e-02,1.1722e-02,2.4511e+00,-3.7687e-02,3.8446e-02,-1.2266e-04,1.6851e-02,8.7200e-03,-1.0819e-02,-6.6281e-04,1.2096e-03,-4.9035e-05,2.1841e-02,1.3802e-03
+40,6.3333e+00,UP_FORCE_HOLD,1.4531e-03,2.3388e-02,1.1789e-02,2.4534e+00,-3.7692e-02,3.8440e-02,-1.2400e-04,1.6787e-02,8.7870e-03,-8.4558e-03,-6.6802e-04,1.2039e-03,-5.0380e-05,2.0749e-02,1.3777e-03
+41,6.4833e+00,UP_FORCE_HOLD,1.4875e-03,2.3324e-02,1.1834e-02,2.4549e+00,-3.7696e-02,3.8435e-02,-1.2497e-04,1.6723e-02,8.8321e-03,-6.9697e-03,-6.7144e-04,1.1984e-03,-5.1349e-05,2.0156e-02,1.3746e-03
+42,6.6833e+00,UP_FORCE_HOLD,1.5221e-03,2.3285e-02,9.3773e-03,2.4465e+00,-3.7522e-02,3.8435e-02,-1.2814e-04,1.6685e-02,6.3758e-03,-1.5341e-02,-4.9837e-04,1.1992e-03,-5.4517e-05,2.3545e-02,1.2998e-03
+43,6.8000e+00,UP_FORCE_HOLD,1.5581e-03,2.3284e-02,9.4258e-03,2.4484e+00,-3.7525e-02,3.8435e-02,-1.2896e-04,1.6683e-02,6.4243e-03,-1.3515e-02,-5.0057e-04,1.1993e-03,-5.5342e-05,2.2411e-02,1.3007e-03
+44,6.9500e+00,UP_FORCE_HOLD,1.5971e-03,2.3210e-02,9.4665e-03,2.4504e+00,-3.7527e-02,3.8430e-02,-1.2959e-04,1.6609e-02,6.4650e-03,-1.1457e-02,-5.0278e-04,1.1937e-03,-5.5968e-05,2.1188e-02,1.2964e-03
+45,7.1833e+00,UP_FORCE_HOLD,1.6327e-03,2.3083e-02,9.5263e-03,2.4528e+00,-3.7531e-02,3.8420e-02,-1.2996e-04,1.6482e-02,6.5249e-03,-9.0303e-03,-5.0675e-04,1.1836e-03,-5.6337e-05,1.9895e-02,1.2887e-03
+46,7.3667e+00,UP_FORCE_HOLD,1.6693e-03,2.2994e-02,9.5701e-03,2.4542e+00,-3.7534e-02,3.8413e-02,-1.2995e-04,1.6394e-02,6.5686e-03,-7.6485e-03,-5.0976e-04,1.1764e-03,-5.6328e-05,1.9246e-02,1.2834e-03
+47,7.5667e+00,UP_FORCE_HOLD,1.7074e-03,2.3052e-02,9.5217e-03,2.4540e+00,-3.7530e-02,3.8416e-02,-1.2985e-04,1.6451e-02,6.5202e-03,-7.8526e-03,-5.0635e-04,1.1800e-03,-5.6229e-05,1.9360e-02,1.2853e-03
+48,7.7167e+00,UP_FORCE_HOLD,1.7430e-03,2.4061e-02,9.3135e-03,2.4459e+00,-3.7515e-02,3.8492e-02,-1.2976e-04,1.7461e-02,6.3120e-03,-1.5930e-02,-4.9091e-04,1.2555e-03,-5.6142e-05,2.4464e-02,1.3492e-03
+49,7.8833e+00,UP_FORCE_HOLD,1.7804e-03,2.3854e-02,9.3663e-03,2.4482e+00,-3.7518e-02,3.8478e-02,-1.2955e-04,1.7253e-02,6.3648e-03,-1.3656e-02,-4.9409e-04,1.2414e-03,-5.5925e-05,2.2906e-02,1.3373e-03
+50,8.0667e+00,UP_FORCE_HOLD,1.8151e-03,2.3615e-02,9.4238e-03,2.4502e+00,-3.7522e-02,3.8460e-02,-1.2915e-04,1.7015e-02,6.4223e-03,-1.1661e-02,-4.9798e-04,1.2242e-03,-5.5529e-05,2.1604e-02,1.3228e-03
+51,8.2333e+00,UP_FORCE_HOLD,1.8503e-03,2.3424e-02,9.4683e-03,2.4516e+00,-3.7525e-02,3.8446e-02,-1.2870e-04,1.6823e-02,6.4668e-03,-1.0269e-02,-5.0103e-04,1.2099e-03,-5.5082e-05,2.0743e-02,1.3107e-03
+52,8.4000e+00,UP_FORCE_HOLD,1.8882e-03,2.7160e-02,8.5733e-03,2.4424e+00,-3.7462e-02,3.8709e-02,-1.2847e-04,2.0559e-02,5.5718e-03,-1.9520e-02,-4.3815e-04,1.4727e-03,-5.4850e-05,2.8892e-02,1.5375e-03
+53,8.5500e+00,UP_FORCE_HOLD,1.9252e-03,2.6550e-02,8.6133e-03,2.4443e+00,-3.7464e-02,3.8670e-02,-1.2837e-04,1.9949e-02,5.6118e-03,-1.7527e-02,-4.3969e-04,1.4338e-03,-5.4752e-05,2.7141e-02,1.5007e-03
+54,8.7000e+00,UP_FORCE_HOLD,1.9606e-03,2.5923e-02,8.6672e-03,2.4464e+00,-3.7467e-02,3.8627e-02,-1.2804e-04,1.9322e-02,5.6657e-03,-1.5491e-02,-4.4280e-04,1.3907e-03,-5.4424e-05,2.5405e-02,1.4605e-03
+55,8.8833e+00,UP_FORCE_HOLD,1.9974e-03,2.5245e-02,8.7254e-03,2.4484e+00,-3.7471e-02,3.8579e-02,-1.2745e-04,1.8645e-02,5.7239e-03,-1.3502e-02,-4.4649e-04,1.3427e-03,-5.3834e-05,2.3721e-02,1.4160e-03
+56,9.0333e+00,UP_FORCE_HOLD,2.0328e-03,2.4778e-02,8.7683e-03,2.4496e+00,-3.7473e-02,3.8545e-02,-1.2688e-04,1.8178e-02,5.7668e-03,-1.2236e-02,-4.4929e-04,1.3091e-03,-5.3259e-05,2.2658e-02,1.3851e-03
+57,9.2500e+00,UP_FORCE_HOLD,2.0709e-03,2.4231e-02,8.8200e-03,2.4510e+00,-3.7477e-02,3.8506e-02,-1.2598e-04,1.7630e-02,5.8185e-03,-1.0847e-02,-4.5255e-04,1.2694e-03,-5.2363e-05,2.1502e-02,1.3487e-03
+58,9.4333e+00,UP_FORCE_HOLD,2.1048e-03,2.4232e-02,8.3564e-03,2.4409e+00,-3.7443e-02,3.8509e-02,-1.2516e-04,1.7632e-02,5.3549e-03,-2.0970e-02,-4.1911e-04,1.2731e-03,-5.1541e-05,2.7916e-02,1.3413e-03
+59,9.6167e+00,UP_FORCE_HOLD,2.1418e-03,2.4020e-02,8.4132e-03,2.4435e+00,-3.7446e-02,3.8495e-02,-1.2452e-04,1.7420e-02,5.4117e-03,-1.8369e-02,-4.2190e-04,1.2589e-03,-5.0901e-05,2.5888e-02,1.3287e-03

Fixed/s1/ball_PLA_10/press_depth_04/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba71acdf00a0ab333134fd3b3ecc4a35923d016c0ace585ab4ae6000cfb2366b
+size 4208640

Fixed/s1/ball_PLA_10/press_depth_04/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
+25353,1792640930174360143,9470434000000,1792640930169004737,XJC_ZERO_HOLD_BEFORE_DOWN,4,0.0343,0.03430163860321045,0.6759920583184846,-0.00449709151521889,0.0908413246595142,0.9999999802327807,4.801846748927281e-05,-0.00016720832346556883,2.6700300957021144e-05,0.6761,-0.0045,0.091,1.0,0.0,0.0,0.0,-0.0054084431232621355,-0.005215340907138988,0.015886212594904803,-0.0006171972489738462,0.0007267415069946645,-9.026230111788326e-06,0.20380665820407373,0.04731777969770947,-0.34920186985648605,0.0026592416833023016,-0.018203754259428735,-0.000979823899992934,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.2271873181812649,-0.058922656316016536,1.58546570940495,0.09320079285316744,-0.887830656012891,-0.057448045707554254,1.2030617141829325,0.015886212594904803,-0.3824039952220175,0.0,0.0,0,0,0.0,0.0
+25480,1792640931225430043,9471485000000,1792640931224995691,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6759902553876712,-0.00449691006695614,0.09083997589227784,0.9999999797088285,4.922101864530508e-05,-0.0001700363477642316,2.6270493354891524e-05,0.6761,-0.0045,0.09099991440000536,1.0,0.0,0.0,0.0,-0.010970479480873624,-0.018254373137711367,0.033679268389592454,-0.0006656808927764726,0.0007244911580031495,-2.4357770133265886e-05,0.19824462184646224,0.03427874746713709,-0.3314088140617984,0.002610758039499675,-0.01820600460842025,-0.0009951554400144116,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.20578890450111495,-0.03387678654077373,1.5081970379535297,0.08353675847510844,-0.8452160845302145,-0.04005147259976375,1.2030617141829325,0.033679268389592454,-0.30513532377059716,-0.30513532377059716,0.0041300000000000035,0,0,-2.9499996709577757e-06,-9.999999025923074e-05
+25582,1792640932075555670,9472335000000,1792640932072995581,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6759868168912024,-0.004499566424947328,0.09082691424648764,0.9999999788562868,4.7404245658750546e-05,-0.00017511837941063606,2.8577632589250948e-05,0.6761,-0.0045,0.09097936565380804,1.0,0.0,0.0,0.0,-0.011132182037779825,-0.00796858974628862,0.05230743882223737,-0.0006686275060592902,0.0007202854916892876,-3.941611082737713e-05,0.19808291928955604,0.04456453085855984,-0.3127806436291535,0.0026078114262168576,-0.01821021027473411,-0.0010102137807085228,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.3234678645960364,-0.09662879143751095,1.461670706451696,0.11357409648392042,-0.7877478551774979,-0.08302872620596077,1.2030617141829325,0.05230743882223737,-0.25860899226876355,-0.25860899226876355,0.06363000000000048,0,0,-4.544999139130391e-05,-9.999999025923074e-05
+25698,1792640933041654920,9473301000000,1792640933041005487,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6759855555796509,-0.004504397897135564,0.09076266842208297,0.9999999779857973,5.294710618865953e-05,-0.00017493071763159763,4.5465563396322826e-05,0.6761,-0.0045,0.09091218424150876,1.0,0.0,0.0,0.0,-0.010770733568491786,-0.022978001451161766,0.15988787349617012,-0.0017099248580786492,0.0007155470717182255,-0.00013779786940507674,0.19844436775884408,0.029555119153686693,-0.20520020895522073,0.0015665140741974986,-0.018214948694705173,-0.0011085955392862224,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.35216910869543677,-0.06342567410651496,1.2500901074872122,0.1565995383303222,-0.6629610758373966,-0.06746094903888344,1.2030617141829325,0.15988787349617012,-0.04702839330427966,-0.04702839330427966,0.13124999999999984,0,0,-9.276369232066729e-05,-9.999403668826119e-05
+25802,1792640933908716571,9474168000000,1792640933900995201,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6759925011758443,-0.0045117804886491706,0.0907010139497227,0.9999999791987958,5.732176925432214e-05,-0.00016013388667052532,6.416093419097301e-05,0.6761,-0.0045,0.090830861263595,1.0,0.0,0.0,0.0,-0.011241304069151026,-0.02264968923796232,0.260154201760883,-0.001755875175972168,0.0017076535897265037,-0.00020358749396286798,0.19797379725818484,0.029883431366886138,-0.10493388069050784,0.0015205637563039797,-0.017222842176696895,-0.0011743851638440137,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.40964158166645015,-0.03062171812973278,1.0868063241841206,0.22722185655080324,-0.5691608036969532,-0.06285352570368442,1.2030617141829325,0.260154201760883,0.11625538999881191,0.11625538999881191,0.19193999999998834,0,0,-8.274932464660966e-05,9.999999025923074e-05
+25922,1792640934908744283,9475168000000,1792640934900995490,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760024003249272,-0.0045163303932778546,0.09065514876777496,0.999999981669787,5.137037289839585e-05,-0.00014501611983057798,6.659354132180439e-05,0.6761,-0.0045,0.09076676568120552,1.0,0.0,0.0,0.0,-0.02441118058899569,-0.017981087182506364,0.32693954221561894,-0.0007529916177627018,0.0017003189952424919,0.00015863442122727642,0.18480392073834018,0.034552033422342095,-0.03814854023577192,0.002523447314513446,-0.017230176771180907,-0.0008121632486538693,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.441462097292014,-0.2438914840981464,1.0032148027862544,0.31888507975178854,-0.518591565165837,-0.2055128626545003,1.2030617141829325,0.32693954221561894,0.1998469113966781,0.1998469113966781,0.2619399999999798,0,0,-4.884656138373584e-05,5.435756930731965e-05
+26004,1792640935591731209,9475851000000,1792640935584995858,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760066846180347,-0.004516852440726589,0.09063859036980451,0.9999999832819093,4.514050701611159e-05,-0.00013711461599040625,6.356856442696464e-05,0.6761,-0.0045,0.09073935381423959,1.0,0.0,0.0,0.0,-0.021303379222739866,-0.008737431742666633,0.35691111434011696,-0.0007533751578114073,0.001674145277829421,-0.00027078912575958754,0.187911722104596,0.043795688862181825,-0.008176968111273901,0.0025230637744647405,-0.017256350488593978,-0.0012415867956407332,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.4265829051708061,-0.03327525144998596,0.9105923828466325,0.2583874866574226,-0.4652854958798258,-0.06509079950207997,1.2030617141829325,0.35691111434011696,0.29246933133630004,0.29246933133630004,0.3097499999999897,0,0,-3.3321835239659474e-05,8.440117635200579e-05
+26134,1792640936675918956,9476935000000,1792640936668995429,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.676013510850875,-0.004515452658005885,0.0906162560209632,0.9999999841150935,5.490779662818703e-05,-0.00012654845407909684,6.467843320690442e-05,0.6761,-0.0045,0.09070558299035157,1.0,0.0,0.0,0.0,-0.0305438935170132,-0.0156250196142936,0.3869626115813151,-0.0007885965339524152,0.0026743548251543965,-0.00016943833352213325,0.17867120781032267,0.03690810099055486,0.021874529129924276,0.0024878423983237326,-0.016256140941269002,-0.001140236003403279,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.48218566895500703,-0.11557764458222362,0.7843413694738064,0.27982912432970086,-0.37208733960168117,-0.12128066046323602,1.2030617141829325,0.3869626115813151,0.4187203447091261,0.4187203447091261,0.3856300000000054,0,0,-3.16745283931733e-05,9.98591029574058e-05
+26254,1792640937675877863,9477935000000,1792640937672995045,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760152830867227,-0.004517943653987003,0.09058982882480852,0.9999999838669895,6.339678452188714e-05,-0.0001237191134339409,6.620660027359165e-05,0.6761,-0.0045,0.09066961002471809,1.0,0.0,0.0,0.0,-0.03083606685085849,-0.01431810401796621,0.4268706996196912,-0.0008005637188861678,0.002662840991690091,0.00033835385955132433,0.17837903447647738,0.03821501658688225,0.06178261716830034,0.00247587521338998,-0.016267654774733308,-0.0006324438103298214,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.5107264884820389,-0.05825794168689038,0.8555165085795654,0.27221737985906463,-0.41537860671760063,-0.07687078075999693,1.2030617141829325,0.4268706996196912,0.3475452056033671,0.3475452056033671,0.4556300000000199,0,0,-4.061793739826148e-05,-9.910179207673337e-05
+26362,1792640938576014714,9478835000000,1792640938568996083,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760195141427001,-0.004522602479562179,0.09056118908090963,0.9999999848792018,6.087419832302153e-05,-0.00011712622026360589,6.527052259110699e-05,0.6761,-0.0045,0.09063017530127852,1.0,0.0,0.0,0.0,-0.0403750407093163,-0.0018911637306158816,0.4680475674364693,0.00010445199205193993,0.0026328697359905076,0.0006091506134395593,0.16884006061801957,0.05064195687423258,0.10295948498507845,0.0033808909243280877,-0.01629762603043289,-0.00036164705644158636,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.5346472164753564,-0.04423664701339896,0.7174285217252229,0.27277264920223043,-0.32127965461098357,-0.0673745964968837,1.2030617141829325,0.4680475674364693,0.48563319245770964,0.48563319245770964,0.5186300000000329,0,0,-4.677197640715202e-05,9.998212954632208e-05
+26476,1792640939526107136,9479785000000,1792640939524994999,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760226513120691,-0.004519480174671323,0.09052576370952696,0.9999999857444196,5.8569538271046694e-05,-0.00011169032139272057,6.363101641221677e-05,0.6761,-0.0045,0.09058789346736819,1.0,0.0,0.0,0.0,-0.03187274104199295,0.0003099464348319328,0.5181281764895828,0.00017295856878530875,0.003634564101441192,0.0006676388730101112,0.17734236028534292,0.05284306703968039,0.15304009403819188,0.0034493975010614565,-0.015295931664982207,-0.00030315879687103453,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.5940008064652613,-0.11063955949491718,0.7521752432120917,0.295342026562755,-0.3292993525721316,-0.11147697749016312,1.2030617141829325,0.5181281764895828,0.4508864709708408,0.4508864709708408,0.5851300000000467,0,0,-4.2757634637095816e-05,-9.9226164811067e-05
+26586,1792640940442078163,9480701000000,1792640940440996166,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760279519060728,-0.0045217554799550095,0.09048792414447956,0.9999999864283203,5.9492956432464984e-05,-0.00010328063905141241,6.61809748477122e-05,0.6761,-0.0045,0.09054135224320932,1.0,0.0,0.0,0.0,-0.04049607689370319,-0.0031748743347792888,0.5682575169813272,0.00016300530215270772,0.003624450876510414,0.0006117441986522808,0.16871902443363268,0.04935824627006917,0.20316943452993635,0.0034394442344288555,-0.015306044889912985,-0.00035905347122886487,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.6101972362683135,-0.15406359305652872,0.5250697046473624,0.31193199900839985,-0.18673582215352416,-0.1361991282449729,1.2030617141829325,0.5682575169813272,0.6779920095355702,0.6779920095355702,0.64925000000006,0,0,-4.978697909910489e-05,9.994543667535822e-05
+26694,1792640941342130781,9481601000000,1792640941340995701,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760315165792071,-0.004520560091525347,0.09045614144783388,0.9999999865806107,6.397341681105707e-05,-9.724617918841871e-05,6.879117119343838e-05,0.6761,-0.0045,0.0905031884559448,1.0,0.0,0.0,0.0,-0.04719621514396449,-0.004030501931749628,0.6097372389743442,0.0001543755979639236,0.003614960933178762,0.0005888471921536181,0.16201888618337137,0.04850261867309883,0.24464915652295335,0.0034308145302400714,-0.015315534833244637,-0.00038195047772752766,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.6233413176942098,-0.1231631461956792,0.5723347029961487,0.31011386527891227,-0.2139311601106214,-0.11627426849482077,1.2030617141829325,0.6097372389743442,0.6307270111867838,0.6307270111867838,0.712250000000073,0,0,-3.7185905767149425e-05,-9.993079560922097e-05
+26810,1792640942309316316,9482568000000,1792640942304995801,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760353854610087,-0.004523390726630108,0.09042817386141952,0.9999999866692377,6.813476586091486e-05,-9.110022502130873e-05,7.18525670344226e-05,0.6761,-0.0045,0.09046718363464276,1.0,0.0,0.0,0.0,-0.041443667180142446,-0.0020446331195473413,0.6485534543705691,0.00019782646571038466,0.0036061076958687904,0.0005616756648486954,0.16777143414719342,0.05048848748530112,0.28346537191917826,0.0034742653979865324,-0.015324388070554609,-0.0004091220050324503,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.6288543791148542,-0.11901249330221483,0.47492054447865273,0.3071838010551942,-0.15191047298329408,-0.1163517560115428,1.2030617141829325,0.6485534543705691,0.7281411697042798,0.7281411697042798,0.779940000000087,0,0,-3.949866728866302e-05,3.272208163230263e-05
+26949,1792640943467277779,9483726000000,1792640943460995331,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760396621362716,-0.004529950455445688,0.09038681772958575,0.9999999873292349,6.22894310303823e-05,-8.410235195490542e-05,7.636239646211781e-05,0.6761,-0.0045,0.09041573960539914,1.0,0.0,0.0,0.0,-0.049537500373478344,0.01107194420706193,0.7088892232552821,0.0011302692787987325,0.004587757157988698,0.0005386235920192052,0.15967760095385752,0.06360506481191039,0.34380114080389124,0.00440670821107488,-0.014342738608434701,-0.00043217407786194054,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.6193909068008461,-0.08738717847925066,0.4424191308278147,0.2965007742702522,-0.13986313827727215,-0.0962427653152556,1.2030617141829325,0.7088892232552821,0.7606425833551178,0.7606425833551178,0.8610000000001038,0,0,-4.841149537779111e-05,-9.496938932341265e-05
+27060,1792640944392443634,9484651000000,1792640944384995630,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760416964170901,-0.004530097005744748,0.09035061038230421,0.9999999878120812,5.9127852350029625e-05,-8.129726054029643e-05,7.55867329424894e-05,0.6761,-0.0045,0.09037072256467113,1.0,0.0,0.0,0.0,-0.0512486820289596,0.012567688062904599,0.7508998121744104,0.0011213763933174592,0.0045792198196842136,0.000504468391636062,0.15796641929837626,0.06510080866775306,0.3858117297230195,0.004397815325593607,-0.014351275946739185,-0.0004663292782450837,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.6572478896757884,-0.11710257423128798,0.2368826300892871,0.3173859504451143,-0.00030979246228263397,-0.11311465502331425,1.2030617141829325,0.7508998121744104,0.9661790840936454,0.9661790840936454,0.9257500000001172,0,0,-4.936658438006868e-05,9.826866684126685e-05
+27168,1792640945292517855,9485551000000,1792640945285005026,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.676047283311264,-0.0045276709890402726,0.09031600443830509,0.9999999881915932,6.161242995586675e-05,-7.412316437804853e-05,7.595619080197519e-05,0.6761,-0.0045,0.09032517513998166,1.0,0.0,0.0,0.0,-0.05178641624360131,0.014233397050450965,0.797238032784847,0.0011130749112112487,0.004569034509799378,0.00046697208097807425,0.15742868508373456,0.06676651765529942,0.43214995033345605,0.0043895138434873965,-0.014361461256624021,-0.0005038255889030714,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.7305444447171758,-0.13762420196294287,0.22674107325104698,0.3291571313856599,0.022864640315258193,-0.12765283859140847,1.2030617141829325,0.797238032784847,0.9763206409318855,0.9763206409318855,0.9887500000001302,0,0,-5.11863191595977e-05,9.999949065886966e-05
+27282,1792640946242466604,9486501000000,1792640946241004836,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760517474783625,-0.0045285759503545875,0.0902735882486393,0.999999988819459,6.114549493676281e-05,-6.552130629697594e-05,7.59745556749913e-05,0.6761,-0.0045,0.09027590385365777,1.0,0.0,0.0,0.0,-0.051823406971576336,0.009998307045276843,0.8399236844366702,0.0011055199571447477,0.004559525616149007,0.0004324895994500165,0.15739169435575953,0.0625314276501253,0.4748356019852794,0.0043819588894208955,-0.014370970150274392,-0.0005383080704311292,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.7599341214859866,-0.16289404041450634,0.21272758284395724,0.33677043260589523,0.03717992125503335,-0.14405461153459007,1.2030617141829325,0.8399236844366702,0.9903341313389753,0.9903341313389753,1.055250000000144,0,0,-5.2890795025602226e-05,4.485227053508396e-05
+27386,1792640947109590142,9487368000000,1792640947109004837,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760532998020625,-0.004530353409546101,0.09023205702898714,0.999999989389161,5.486507081168224e-05,-6.282121099137571e-05,7.555039194294573e-05,0.6761,-0.0045,0.0902309784633825,1.0,0.0,0.0,0.0,-0.0439984949935327,0.007309661773598847,0.8793649731683602,0.001127451982380148,0.004550667602286073,0.0004019167755829984,0.16521660633380317,0.059842782378447305,0.5142768907169694,0.004403890914656296,-0.014379828164137326,-0.0005688808942981473,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.6591844687371807,-0.09315130875718139,0.22784664978468044,0.325764372754876,-0.003423802181485851,-0.09871502338142385,1.2030617141829325,0.8793649731683602,0.975215064398252,0.975215064398252,1.1159400000001565,0,0,-5.4727587013607366e-05,-9.998172709047565e-05
+27506,1792640948109665446,9488368000000,1792640948109004943,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760577592371507,-0.004539886515121631,0.09018485405424993,0.9999999899380444,4.890904174517689e-05,-5.5211820784443616e-05,7.827091479451512e-05,0.6761,-0.0045,0.09017259789931147,1.0,0.0,0.0,0.0,-0.053957444868768384,0.020133379225466104,0.9178752779813655,0.0020872079622052515,0.005400854182847865,0.0003941322537728896,0.15525765645856748,0.07266649983031456,0.5527871955299747,0.005363646894481399,-0.013529641583575534,-0.0005766654161082561,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.7037330248323455,-0.08138725799867666,0.15342446007447946,0.32499914856465345,0.05146391634481712,-0.09080081760618484,1.2030617141829325,0.9178752779813655,1.049637254108453,1.049637254108453,1.185940000000171,0,0,-6.351946261615028e-05,-9.999999025923074e-05
+27612,1792640948992773694,9489251000000,1792640948985005378,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760563293252578,-0.004534630682456695,0.09012632733519597,0.9999999899409143,4.824676043382698e-05,-5.7835855382954346e-05,7.673525733976583e-05,0.6761,-0.0045,0.09011557957040417,1.0,0.0,0.0,0.0,-0.056547794684528835,0.022179025357641872,0.9401600942917476,0.002079083091800348,0.005531611162377886,0.0003754068015476054,0.15266730664280703,0.07471214596249033,0.5750720118403567,0.005355522024076496,-0.013398884604045513,-0.0005953908683335403,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.7508040172286821,-0.1989521975662896,0.13404670457876328,0.371308086188561,0.06947474426682324,-0.16532115910748107,1.2030617141829325,0.9401600942917476,1.0690150096041693,1.0690150096041693,1.2477500000001838,0,0,-6.599829055073248e-05,-9.965088062913736e-05
+27726,1792640949942833764,9490201000000,1792640949941005020,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.676056789014597,-0.00453732389824288,0.09006272787621708,0.9999999898151124,4.684108480277618e-05,-5.727045032203951e-05,7.961562558254573e-05,0.6761,-0.0045,0.0900487108245733,1.0,0.0,0.0,0.0,-0.05296458368298329,0.023320600676307486,0.9699661873762297,0.0020742862455316777,0.005524921000669678,0.00035440442780537934,0.15625051764435258,0.07585372128115594,0.6048781049248388,0.0053507251778078255,-0.01340557476575372,-0.0006163932420757664,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.778119773946333,-0.12273544439781661,0.016481696930464793,0.34482962637310693,0.14669326260472418,-0.12227653887667689,1.2030617141829325,0.9699661873762297,1.1865800172524676,1.1865800172524676,1.3142500000001975,0,0,-7.497300323208578e-05,-5.0025632274081036e-05
+27825,1792640950767827662,9491026000000,1792640950760994715,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760568496516294,-0.00453975399297195,0.08999875929778949,0.9999999898661289,4.3061711040787494e-05,-5.795732096134716e-05,8.060548673191082e-05,0.6761,-0.0045,0.08998261443611652,1.0,0.0,0.0,0.0,-0.05280824160298675,0.01536869461561468,0.9903632398036244,0.0020932863251215184,0.004643692475976317,0.0003244499083828882,0.15640685972434912,0.06790181522046314,0.6252751573522336,0.005369725257397666,-0.014286803290447082,-0.0006463477614982575,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.782740459126601,-0.07191310234338084,-0.012160032191386085,0.3402380737988202,0.1602030332409548,-0.08301884325718478,1.2030617141829325,0.9903632398036244,1.2152217463743187,1.2152217463743187,1.3720000000002095,0,0,-8.3563690504744e-05,-5.321835613714683e-05
+27918,1792640951542935173,9491801000000,1792640951540994942,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.676058707972457,-0.004539843076920236,0.0899374034138061,0.9999999898508835,4.208246852059324e-05,-5.62963055395554e-05,8.2467505891714e-05,0.6761,-0.0045,0.08991419736162953,1.0,0.0,0.0,0.0,-0.05280031394362622,0.014407569407416727,1.0008803427656119,0.0020948554977131936,0.004506015377946154,0.00031385021710357347,0.15641478738370965,0.06694069001226519,0.635792260314221,0.005371294429989341,-0.014424480388477245,-0.0006569474527775722,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.7847517515783394,-0.03052067871451248,-0.1713854701425037,0.32925773173106776,0.25659307223268757,-0.05464026700089654,1.2030617141829325,1.0008803427656119,1.3744471843254362,1.3744471843254362,1.4262500000002207,0,0,-9.34963293633143e-05,9.999847758035969e-05
+28005,1792640952267930466,9492526000000,1792640952260994770,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760602162742158,-0.0045467123485792155,0.08987070897348996,0.9999999902470476,3.762472785227415e-05,-4.999582302504442e-05,8.386636279158707e-05,0.6761,-0.0045,0.08984151242688274,1.0,0.0,0.0,0.0,-0.053090255142668435,0.03382158843907949,1.0191402088283907,0.0020664974679544747,0.005513739626296508,0.00031478746510573124,0.15612484618466743,0.08635470904392795,0.6540521263769999,0.0053429364002306225,-0.013416756140126891,-0.0006560102047754145,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8179299975290598,-0.1293013080144589,-0.12153825338451484,0.3674760046411856,0.2264273433694335,-0.11680411212328405,1.2030617141829325,1.0191402088283907,1.3245999675674474,1.3245999675674474,1.4770000000002312,0,0,-0.00010510344269671984,-1.592505056796848e-05
+28094,1792640953009980571,9493268000000,1792640953004995044,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760601166919912,-0.004547563721773673,0.08979371714832302,0.9999999900182202,4.163972343225344e-05,-5.216780780781181e-05,8.337312183918112e-05,0.6761,-0.0045,0.08976108352356285,1.0,0.0,0.0,0.0,-0.053116539541527175,0.025855569263249452,1.0403969343578772,0.0020614569441395106,0.005509996568858843,0.0002984187606870308,0.1560985617858087,0.07838868986809791,0.6753088519064864,0.005337895876415658,-0.013420499197564556,-0.0006723789091941149,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8406010196585193,-0.12986901490605296,-0.15506470435979974,0.3702159640331651,0.248052955898723,-0.11695189956762661,1.2030617141829325,1.0403969343578772,1.3581264185427322,1.3581264185427322,1.528940000000242,0,0,-0.00011126205441194537,-8.391366271021699e-05
+28185,1792640953767986618,9494026000000,1792640953760995355,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760596787507096,-0.004551834593585024,0.08970846639116942,0.9999999894500576,4.182552303349945e-05,-5.426182182445112e-05,8.859474771961543e-05,0.6761,-0.0045,0.08967439465233583,1.0,0.0,0.0,0.0,-0.05314267743824361,0.02633165806250349,1.0526936070935422,0.0020593103600604454,0.005506807798560578,0.00028880829242461045,0.15607242388909226,0.07886477866735195,0.6876055246421514,0.005335749292336593,-0.013423687967862821,-0.0006819893774565352,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8344966765673284,-0.16567965474130494,-0.22659955077561814,0.39660134120180107,0.2837640034161105,-0.13333730960669965,1.2030617141829325,1.0526936070935422,1.4296612649585507,1.4296612649585507,1.582000000000253,0,0,-0.00011601596377056189,8.959248207063836e-05
+28281,1792640954568041938,9494826000000,1792640954564995287,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760619055389937,-0.004550725684770602,0.0896188739455402,0.9999999898938186,3.973831289853121e-05,-5.111808578020835e-05,8.638886033604988e-05,0.6761,-0.0045,0.08957859263827944,1.0,0.0,0.0,0.0,-0.0531561389874769,0.026445075293525848,1.06059735280664,0.002058359982792864,0.005475396220189003,0.00028100744058345676,0.15605896233985897,0.0789781958983743,0.695509270355249,0.005334798915069012,-0.013455099546234396,-0.0006897902292976889,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8681893234829509,-0.2094641428592472,-0.2026570847585623,0.41613807422390553,0.2677595484500077,-0.16639913547985852,1.2030617141829325,1.06059735280664,1.4057187989414948,1.4057187989414948,1.6380000000002646,0,0,-0.00012314290969847453,-9.999999025923074e-05
+28363,1792640955252152995,9495510000000,1792640955244995699,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760628768180861,-0.004555718696578706,0.0895346940786929,0.9999999900739194,3.331248351129046e-05,-4.966966334734508e-05,8.785344996791268e-05,0.6761,-0.0045,0.08949024729586898,1.0,0.0,0.0,0.0,-0.044257922490215984,0.0275826829125456,1.0805791756841165,0.0021361568239232566,0.005500165291687299,0.0002660579152722999,0.16495717883711988,0.08011580351739406,0.7154910932327258,0.005412595756199404,-0.0134303304747361,-0.0007047397546088458,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8711249362358345,-0.189248603419972,-0.2830100558191993,0.4130929240838161,0.31591603520445466,-0.15267397250646417,1.2030617141829325,1.0805791756841165,1.4860717700021318,1.4860717700021318,1.6858800000002745,0,0,-0.00013262303429237984,-7.31588556193946e-05
+28455,1792640956018233658,9496276000000,1792640956016995249,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.676061971620777,-0.0045610751307211175,0.08942623292484939,0.9999999897605995,3.1158654924891055e-05,-5.3039032235376754e-05,9.020900672776939e-05,0.6761,-0.0045,0.08938418774282265,1.0,0.0,0.0,0.0,-0.049249200634003676,0.018244426493797573,1.10077115520933,0.0021406660383902795,0.0044853797342584295,0.00023417405373761383,0.1599659006933322,0.07077754709864603,0.7356830727579391,0.005417104970666427,-0.01444511603216497,-0.0007366236161435319,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8638227878317283,-0.08485618291760073,-0.27895867210545394,0.3961392766508838,0.2982127669732668,-0.08069886722350741,1.2030617141829325,1.10077115520933,1.4820203862883865,1.4820203862883865,1.7395000000002856,0,0,-0.00014242536373473692,-9.97996088810737e-05
+28542,1792640956743253174,9497001000000,1792640956736995025,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760637755914619,-0.00456375298782185,0.08932346011092661,0.999999989663723,3.338234542710778e-05,-5.252256612800055e-05,9.078776023210478e-05,0.6761,-0.0045,0.08927561207311692,1.0,0.0,0.0,0.0,-0.041295603445547197,0.018028345451567875,1.1008124436696975,0.0020765238181296056,0.004483744855829872,0.00023455770382996364,0.16791949788178867,0.07056146605641633,0.7357243612183066,0.005352962750405753,-0.014446750910593527,-0.000736239966051182,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.877296548748579,-0.17079418579178615,-0.3291369590446528,0.4273639714823489,0.330629312388972,-0.1364487423295383,1.2030617141829325,1.1008124436696975,1.5321986732275854,1.5321986732275854,1.790250000000296,0,0,-0.00015755757831334283,-9.959695154571619e-05
+28616,1792640957360236202,9497618000000,1792640957352996016,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760642841123647,-0.0045687592398313305,0.08922343532333636,0.9999999894219981,3.8505585287867046e-05,-5.200660681232208e-05,9.171423469763013e-05,0.6761,-0.0045,0.0891746648582862,1.0,0.0,0.0,0.0,-0.043829172129470045,0.018763386509488396,1.1208301773927098,0.0020727216220426882,0.004479616134252299,0.00021804277768591816,0.16538592919786582,0.07129650711433685,0.755742094941319,0.005349160554318836,-0.0144508796321711,-0.0007527548921952275,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8437702757961175,-0.05241328064973338,-0.3753009551254303,0.40997407226777594,0.3426671029826109,-0.05311071443139888,1.2030617141829325,1.1208301773927098,1.5783626693083628,1.5783626693083628,1.833440000000305,0,0,-0.00016915037954620538,-9.005720755095865e-05
+28690,1792640957977322848,9498235000000,1792640957976995317,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760585035050238,-0.004570959268472842,0.08910800294869621,0.9999999883372743,3.774026201159383e-05,-6.33081036123828e-05,9.662335230147947e-05,0.6761,-0.0045,0.08906827390693169,1.0,0.0,0.0,0.0,-0.0358947107260168,0.019844329525458594,1.1509445833170637,0.0020668070183124253,0.004472883103462352,0.00019467783889431326,0.17332039060131907,0.07237745013030705,0.7858565008656729,0.005343245950588573,-0.014457612662961047,-0.0007761198309868324,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8690274348351091,-0.11030549921653629,-0.37888185816927367,0.43297297631118775,0.34619679359690636,-0.09022023466048337,1.2030617141829325,1.1509445833170637,1.5819435723522062,1.5819435723522062,1.876630000000314,0,0,-0.00017372202323481657,-7.580555213960167e-05
+28763,1792640958585362910,9498843000000,1792640958584994829,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760591410229105,-0.004572959814386051,0.08900023797090578,0.9999999878904706,3.5018466754945494e-05,-6.264580366146647e-05,0.0001025238187081585,0.6761,-0.0045,0.08896007027356559,1.0,0.0,0.0,0.0,-0.04392267632918653,0.01894268438202438,1.1608552665533731,0.002064933965198181,0.004470971910513237,0.00018569690624282422,0.16529242499814933,0.07147580498687284,0.7957671841019823,0.005341372897474329,-0.014459523855910162,-0.0007851007636383215,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.831325257932421,-0.13510142726108124,-0.3973732667605876,0.4477939020084743,0.3412771929722635,-0.11133854473268553,1.2030617141829325,1.1608552665533731,1.60043498094352,1.60043498094352,1.9191900000003228,0,0,-0.00018354146554963447,-7.790916109329799e-05
+28839,1792640959218424312,9499476000000,1792640959217005290,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760599302245613,-0.0045743977741481475,0.0888827219120159,0.999999988008337,2.8504713363556435e-05,-6.191641300980909e-05,0.00010382692038766897,0.6761,-0.0045,0.08884055272438338,1.0,0.0,0.0,0.0,-0.04368161913746804,0.01835462113534473,1.1705701698207593,0.002062981998360546,0.004468888562499978,0.00017772012144324112,0.16553348218986783,0.07088774174019319,0.8054820873693685,0.005339420930636694,-0.014461607203923421,-0.0007930775484379046,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8435515186841486,-0.12047711941292973,-0.4690105739324436,0.45274720967659937,0.38457767450396296,-0.09968301105500924,1.2030617141829325,1.1705701698207593,1.672072288115376,1.672072288115376,1.963500000000332,0,0,-0.00019444279421522242,-9.653135458835132e-05
+28902,1792640959743387409,9500001000000,1792640959741004927,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760567533603554,-0.004582296267367771,0.08876832594977163,0.9999999868070297,2.8692352113161717e-05,-7.181377482900736e-05,0.00010885006010466402,0.6761,-0.0045,0.08873546739034457,1.0,0.0,0.0,0.0,-0.03547239321320772,0.019601278723562106,1.1810490833492382,0.0020611636745176665,0.004466323740622705,0.00017043131533665248,0.17374270811412815,0.07213439932841056,0.8159610008978474,0.005337602606793814,-0.014464172025800694,-0.0008003663545444932,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8701563848075402,-0.19150948023623704,-0.44631703788598676,0.4828205733532803,0.375326422795389,-0.14686821670902223,1.2030617141829325,1.1810490833492382,1.6493787520689192,1.6493787520689192,2.0002500000003396,0,0,-0.0002039055964867239,-9.701135314366666e-05
+28974,1792640960343500063,9500601000000,1792640960336995796,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760582283387415,-0.004579739456846238,0.08864921903624393,0.9999999868187655,4.080071565259813e-05,-6.797183789607243e-05,0.00010733342546997453,0.6761,-0.0045,0.08860860599517002,1.0,0.0,0.0,0.0,-0.044170508456060575,0.012249711790882835,1.1810115535628005,0.0020602920421147063,0.0044671223852439605,0.00016937607222627612,0.1650445928712753,0.0647828323957313,0.8159234711114097,0.005336730974390854,-0.014463373381179439,-0.0008014215976548696,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8770160245234051,-0.17635090621011376,-0.5962773814387389,0.48324504457478085,0.4676771021268646,-0.13568777862529324,1.2030617141829325,1.1810115535628005,1.7993390956216713,1.7993390956216713,2.0422500000003483,0,0,-0.0002187073624051753,9.969244460362176e-05
+29039,1792640960885513671,9501143000000,1792640960881004959,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760559555231851,-0.0045843216119783444,0.08852507541296362,0.999999986217924,3.8573139572813246e-05,-7.065865585471038e-05,0.00011192177452064264,0.6761,-0.0045,0.08848672335420464,1.0,0.0,0.0,0.0,-0.04416778788254952,0.01901601568280862,1.180981955562618,0.002038761877329247,0.005285114347416173,0.0001820963632527602,0.16504731344478635,0.07154913628765708,0.8158938731112271,0.005315200809605395,-0.013645381419007226,-0.0007887013066283855,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8470494373686679,-0.1518759120873874,-0.5375976007979137,0.49550603727278497,0.4173392170722243,-0.11231484004881856,1.2030617141829325,1.180981955562618,1.7406593149808463,1.7406593149808463,2.080190000000356,0,0,-0.00023261133589069628,-5.1112561848087445e-05
+29096,1792640961360861400,9501618000000,1792640961356995333,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760534611479371,-0.004586556823919929,0.08840807763996276,0.9999999859849147,3.325525833289633e-05,-7.657196270204063e-05,0.00011182064737092282,0.6761,-0.0045,0.08837287428810389,1.0,0.0,0.0,0.0,-0.03488537795720384,0.021186883797265126,1.2010657324390888,0.002056957067793052,0.004462350491177368,0.00015430704413153167,0.17432972337013203,0.07372000440211358,0.8359776499876979,0.0053333960000692,-0.01446814527524603,-0.000816490625749614,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8643965082930007,-0.1346279021799128,-0.47527290963459035,0.49602889515470855,0.375688075827538,-0.10244394225717542,1.2030617141829325,1.2010657324390888,1.678334623817523,1.678334623817523,2.113440000000363,0,0,-0.00024768770813118755,-9.998892966234791e-05
+29157,1792640961868589627,9502126000000,1792640961861005685,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760545920851874,-0.004591043494735089,0.08827910953352858,0.9999999852314954,3.6529897388511044e-05,-7.439747531184389e-05,0.00011878744002643232,0.6761,-0.0045,0.08824333246081947,1.0,0.0,0.0,0.0,-0.04582062370002493,0.021673493888557972,1.2010375005735556,0.002030023852435943,0.005475381149279757,0.0001688478927247477,0.16339447762731094,0.07420661449340643,0.8359494181221647,0.005306462784712091,-0.013455114617143642,-0.000801949777156398,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8871684648882876,-0.2158445428058938,-0.5675965467794305,0.5318437822245795,0.4378437756840627,-0.1526290479187023,1.2030617141829325,1.2010375005735556,1.770658260962363,1.770658260962363,2.1490000000003704,0,0,-0.00026222304064147425,-2.642602712253498e-05
+29214,1792640962343605531,9502601000000,1792640962337005308,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760532798474768,-0.004597019273061233,0.0881506245023028,0.9999999847735181,3.7709224340903074e-05,-7.544084806762417e-05,0.00012158338950520194,0.6761,-0.0045,0.08811551739159147,1.0,0.0,0.0,0.0,-0.04425104515913836,0.029713139854012728,1.217612300032102,0.002033489419550428,0.00525067339821657,0.0001556822860069669,0.1649640561681975,0.08224626045886119,0.8525242175807112,0.005309928351826576,-0.013679822368206829,-0.0008151153838741788,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8773948073576886,-0.23658040721090165,-0.5090698855135289,0.5524320708354017,0.3957052079896767,-0.15782701292377538,1.2030617141829325,1.217612300032102,1.7121315996964614,1.7121315996964614,2.1822500000003773,0,0,-0.000275350491653363,-9.969931410858663e-05
+29264,1792640962760582356,9503018000000,1792640962757004872,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760550101009895,-0.00459588093088486,0.08803616321320389,0.9999999844928124,3.692688655852061e-05,-7.673901592543415e-05,0.00012330761550042305,0.6761,-0.0045,0.08799776373524189,1.0,0.0,0.0,0.0,-0.03837224959336705,0.023412738204159463,1.2311999311704573,0.0020359938775471914,0.005050473117858351,0.00013808906784135242,0.17084285173396882,0.07594585880900792,0.8661118487190665,0.005312432809823339,-0.013880022648565048,-0.0008327086020397933,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8936954836581086,-0.1473385517231761,-0.46041981025115536,0.5317638665404999,0.3698324703377438,-0.10508797692052332,1.2030617141829325,1.2311999311704573,1.663481524434088,1.663481524434088,2.2114400000003833,0,0,-0.00028900992787436595,-9.999999025923074e-05
+29312,1792640963160613872,9503418000000,1792640963157004848,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760517262755703,-0.004601914401778058,0.08790792943338004,0.999999983465038,3.2954341539313754e-05,-8.228010706059187e-05,0.0001290611610294624,0.6761,-0.0045,0.08787965450126776,1.0,0.0,0.0,0.0,-0.03552760994990309,0.025984770703195832,1.2411378706587184,0.0030686997731010257,0.004483910973603393,0.0001341443093221664,0.17368749137743278,0.07851789130804429,0.8760497882073275,0.0063451387053771735,-0.014446584792820006,-0.0008366533605589793,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9110906128510946,-0.16865671369408577,-0.5449365528822899,0.5518995557874179,0.4280506698930924,-0.11228840989656783,1.2030617141829325,1.2411378706587184,1.7479982670652223,1.7479982670652223,2.239440000000389,0,0,-0.000301961734418292,-9.934884445528808e-05
+29362,1792640963577740647,9503835000000,1792640963572995105,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760514766644204,-0.004603933233672614,0.08777865716970894,0.9999999840582582,2.614815156058711e-05,-8.118717551353935e-05,0.0001266935854646217,0.6761,-0.0045,0.08775071802196119,1.0,0.0,0.0,0.0,-0.036183746090211105,0.026264553432315964,1.2516002916081785,0.003068099066833975,0.0044325788785583835,0.0001248173822030749,0.17303135523712476,0.07879767403716442,0.8865122091567876,0.006344537999110123,-0.014497916887865015,-0.0008459802876780708,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.8835079490863291,-0.18552954105242164,-0.5203073464153333,0.5707885181719267,0.4065805406608712,-0.12483520901188822,1.2030617141829325,1.2516002916081785,1.723369060598266,1.723369060598266,2.268630000000395,0,0,-0.00031684264458905895,-9.879845139083016e-05
+29408,1792640963960722303,9504218000000,1792640963957004606,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.676051436674848,-0.00460990082267427,0.0876584205175203,0.9999999836490266,1.9181508401340248e-05,-8.196603951109933e-05,0.00013060799782576023,0.6761,-0.0045,0.0876266107888996,1.0,0.0,0.0,0.0,-0.03543857471273848,0.029448008049656714,1.251693958129442,0.003068215758690616,0.004431957552130224,0.00012485902768952662,0.1737765266145974,0.08198112865450517,0.8866058756780512,0.006344654690966764,-0.014498538214293175,-0.0008459386421916191,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9293052510765674,-0.16470490802896762,-0.5495790737779274,0.5654461229490145,0.43495057380978197,-0.112022115920697,1.2030617141829325,1.251693958129442,1.7526407879608599,1.7526407879608599,2.2954400000004007,0,0,-0.00033178087804483356,-9.844734335929246e-05
+29456,1792640964360695680,9504618000000,1792640964357004535,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760528994936109,-0.004614423985718984,0.08752531308108372,0.9999999831611194,2.239119762527095e-05,-7.896074583601443e-05,0.00013558930733509526,0.6761,-0.0045,0.08749039821229578,1.0,0.0,0.0,0.0,-0.0354601642108463,0.03668051483783053,1.2617314456741786,0.003067694687239194,0.0044289989457447915,0.00011676001896950775,0.17375493711648957,0.08921363544267899,0.8966433632227878,0.006344133619515342,-0.014501496820678608,-0.0008540376509116379,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9245841364043565,-0.12233133777618116,-0.5398971150382104,0.565231651766781,0.42997366933293946,-0.07862052326007243,1.2030617141829325,1.2617314456741786,1.7429588292211429,1.7429588292211429,2.3234400000004065,0,0,-0.00034850072212352776,-9.977514234116853e-05
+29502,1792640964743815226,9505001000000,1792640964740995372,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760503250411659,-0.004614495347012478,0.0873878301831749,0.9999999831171806,2.051381867250159e-05,-8.47002226960534e-05,0.00013271608229855426,0.6761,-0.0045,0.08735357456648771,1.0,0.0,0.0,0.0,-0.036130644262513,0.04615158980867854,1.2721562605737082,0.004075537231186043,0.0044075811541722885,0.00011974284298301027,0.17308445706482287,0.098684710413527,0.9070681781223173,0.0073519761634621905,-0.01452291461225111,-0.0008510548268981354,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9111676025772957,-0.19465083488505372,-0.5461851424225374,0.594563141226843,0.433423637159196,-0.1261349326058617,1.2030617141829325,1.2721562605737082,1.74924685660547,1.74924685660547,2.350250000000412,0,0,-0.00036587204386570447,-9.999999025923074e-05
+29546,1792640965110802651,9505368000000,1792640965108994882,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760467806008473,-0.00461726977486367,0.08725178179766185,0.9999999820064287,2.151944010780247e-05,-8.989089642227087e-05,0.00013742833464066678,0.6761,-0.0045,0.0872169696388979,1.0,0.0,0.0,0.0,-0.035891626657438,0.04061961375478839,1.2721440373820483,0.0040857744961698035,0.004407852287884918,0.00011980812105839335,0.17332347466989786,0.09315273435963685,0.9070559549306575,0.007362213428445952,-0.014522643478538481,-0.0008509895488227523,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9389471985668422,-0.1799330352630392,-0.5656996607611406,0.5918052132184152,0.45518547395449976,-0.11586229371758167,1.2030617141829325,1.2721440373820483,1.7687613749440732,1.7687613749440732,2.3759400000004174,0,0,-0.0003804391345105503,-9.999999025923074e-05
+29589,1792640965468823720,9505726000000,1792640965464995619,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760500763568207,-0.004614203743718231,0.08711764909239618,0.9999999826924529,2.354698563797875e-05,-7.891565018511554e-05,0.0001388373799870446,0.6761,-0.0045,0.08707803804847762,1.0,0.0,0.0,0.0,-0.04544710153284759,0.05964868883172491,1.2721195027041763,0.00406105578459426,0.005418835021042108,0.0001343874943135852,0.16376799979448828,0.11218180943657337,0.9070314202527854,0.007337494716870408,-0.013511660745381291,-0.0008364101755675605,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9667970548931692,-0.2213166566977298,-0.5764759739732879,0.6088713887536463,0.4679473670317487,-0.14412966338003838,1.2030617141829325,1.2721195027041763,1.7795376881562204,1.7795376881562204,2.4010000000004226,0,0,-0.0003957153147341171,-9.999829716911818e-05
+29626,1792640965777820398,9506035000000,1792640965776995888,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760485317809506,-0.004616386569378874,0.08699288654928555,0.9999999822638407,2.1905648431518953e-05,-8.289670423310525e-05,0.00013986944585587166,0.6761,-0.0045,0.08695338309886311,1.0,0.0,0.0,0.0,-0.036234533020734816,0.05973435242166087,1.2721339935656812,0.004060867426802528,0.005419535370527872,0.00013550842803815473,0.17298056830660105,0.11226747302650933,0.9070459111142904,0.0073373063590786766,-0.013510960395895527,-0.000835289241842991,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9623989460237171,-0.21205494966219673,-0.4972257746148851,0.6211716720712995,0.41977831876085486,-0.12922785821931657,1.2030617141829325,1.2721339935656812,1.7002874887978177,1.7002874887978177,2.422630000000427,0,0,-0.0004111636281265137,-9.999999025923074e-05
+29666,1792640966110864501,9506368000000,1792640966104996110,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760469056955323,-0.00462050206035022,0.08684834843003333,0.9999999816526308,2.2796270980662893e-05,-8.583095337181666e-05,0.0001423059381026034,0.6761,-0.0045,0.08681370171123867,1.0,0.0,0.0,0.0,-0.03627728216379067,0.06265842827236734,1.2725084254991623,0.004287226847990645,0.0054147125363477305,0.00013640816694075535,0.1729378191635452,0.11519154887721579,0.9074203430477715,0.007563665780266793,-0.013515783230075669,-0.0008343895029403903,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9709474256800716,-0.20899590401646098,-0.5294218577462868,0.622040658897535,0.4460537412326035,-0.12651227009087082,1.2030617141829325,1.2725084254991623,1.7324835719292193,1.7324835719292193,2.445940000000432,0,0,-0.00042781362488283756,-9.999999025923074e-05
+29706,1792640966443828209,9506701000000,1792640966436995056,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760458225876281,-0.004623536894894786,0.08670251470804818,0.9999999812500175,2.2333077934571294e-05,-8.73747975431273e-05,0.00014425570092198574,0.6761,-0.0045,0.08666848248071067,1.0,0.0,0.0,0.0,-0.03877638908358019,0.06266164516407322,1.2725011798855685,0.00508074670654338,0.0054006465921095335,0.00014641220953722726,0.17043871224375567,0.11519476576892168,0.9074130974341776,0.008357185638819528,-0.013529849174313865,-0.0008243854603439184,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9684885180287527,-0.1858152638680223,-0.5117851488769007,0.623232244854192,0.43551705388953527,-0.1077785404868434,1.2030617141829325,1.2725011798855685,1.7148468630598332,1.7148468630598332,2.4692500000004367,0,0,-0.00044441741671038946,-9.999999025923074e-05
+29739,1792640966718948677,9506976000000,1792640966716995374,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760455807927097,-0.004622381977900123,0.08658093774558036,0.9999999810475795,2.1941681932924414e-05,-8.695570718088424e-05,0.0001459622301873186,0.6761,-0.0045,0.08654438394148498,1.0,0.0,0.0,0.0,-0.04601085569876376,0.07131694573534589,1.272521839441921,0.005082158965957671,0.005400080553075136,0.00014553162349329666,0.1632042456285721,0.12385006634019435,0.9074337569905302,0.00835859789823382,-0.013530415213348263,-0.000825266046387849,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9811818168499826,-0.25044560621085643,-0.4048904342032824,0.645454064059858,0.369781205523859,-0.1530457526906512,1.2030617141829325,1.272521839441921,1.607952148386215,1.607952148386215,2.4885000000004407,0,0,-0.0004581674140316779,-9.999999025923074e-05
+29778,1792640967043901129,9507301000000,1792640967040994908,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760436345724365,-0.004625612084483612,0.08643270175550431,0.9999999814268474,8.156021905035607e-06,-8.791721434619572e-05,0.0001441985150063426,0.6761,-0.0045,0.0863928470324407,1.0,0.0,0.0,0.0,-0.04600551629462202,0.07272516513866223,1.2725260628990684,0.005082362871010552,0.005399962195987295,0.0001455305970825576,0.16320958503271385,0.1252582857435107,0.9074379804476775,0.0083588018032867,-0.013530533570436104,-0.0008252670727985881,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9954892833329191,-0.16572924635042705,-0.4468367922649275,0.6210929797034788,0.40854059669247045,-0.09508643724376507,1.2030617141829325,1.2725260628990684,1.64989850644786,1.64989850644786,2.5112500000004454,0,0,-0.0004744174108659279,-9.999999025923074e-05
+29811,1792640967318953099,9507576000000,1792640967316996019,DOWN_FORCE_DETACH,4,0.0343,0.03430163860321045,0.6760401478676894,-0.004624384072085041,0.08629988241129756,0.9999999806514701,7.548833300017428e-06,-9.08486347388697e-05,0.0001477479763903082,0.6761,-0.0045,0.08626049849482223,1.0,0.0,0.0,0.0,-0.037306315295538905,0.06636935550553255,1.2722204209216608,0.005875202914306812,0.005383265261185124,0.00015739932337415071,0.17190878603179696,0.118902476110381,0.90713233847027,0.00915164184658296,-0.013547230505238275,-0.000813398346506995,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,1.020552195492643,-0.22778545904560799,-0.48281121167512675,0.6431950970481081,0.439998360916368,-0.13583591209233414,1.2030617141829325,1.2722204209216608,1.6858729258580594,1.6858729258580594,2.5305000000004494,0,0,-0.00048816740818721636,-9.999999025923074e-05
+29847,1792640967618936836,9507876000000,1792640967612995293,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760423103987193,-0.004626037300916951,0.08615428090382958,0.9999999803584794,1.9527923006957745e-05,-8.73324484849102e-05,0.00015072361756476114,0.6761,-0.0045,0.08611180577280586,1.0,0.0,0.0,0.0,-0.04652855762152658,0.08394162794471169,1.262894389798981,0.0061053178404299555,0.005382523147541677,0.00016477026314977417,0.1626865437058093,0.13647474854956015,0.8978063073475903,0.009381756772706104,-0.013547972618881722,-0.0008060274067313715,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,1.058611635817658,-0.18870763917221728,-0.3588002625137421,0.6365062728889794,0.3706766542635984,-0.10417545859525315,1.2030617141829325,1.262894389798981,1.5618619766966746,1.5618619766966746,2.5515000000004537,0,0,-0.0005031674052649856,-9.999999025923074e-05
+29880,1792640967893921955,9508151000000,1792640967892995266,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760450690826199,-0.004630092738920829,0.08601767712315048,0.9999999787114225,4.0628010789557884e-05,-8.60515264386558e-05,0.00015800164089042722,0.6761,-0.0045,0.08597155098672765,1.0,0.0,0.0,0.0,-0.04700573391610466,0.08825946426657916,1.2720641643357393,0.007123722525227982,0.005361598003147403,0.00016884509141635044,0.1622093674112312,0.14079258487142762,0.9069760818843484,0.01040016145750413,-0.013568897763275996,-0.0008019525784647953,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,1.098895923493637,-0.2245658020096956,-0.5435649267534035,0.6429301293229043,0.50299877158343,-0.12540505865766416,1.2030617141829325,1.2720641643357393,1.746626640936336,1.746626640936336,2.5707500000004577,0,0,-0.0005169174025862741,-9.999999025923074e-05
+29914,1792640968177971716,9508435000000,1792640968172995477,DOWN_FORCE_DETACH,4,0.0343,0.03430229797959328,0.6760545876807341,-0.004621924566689817,0.08587492903342635,0.9999999853450646,7.415402416064703e-06,-6.104968742731107e-05,0.00013027157165458714,0.6761,-0.0045,0.08582273714478736,1.0,0.0,0.0,0.0,-0.038042318003279424,0.09907466649155969,1.2634630489360068,0.007529590903802508,0.005355098650846109,0.00018097018828041125,0.17117278332405644,0.15160778709640815,0.8983749664846159,0.010806029836078656,-0.01357539711557729,-0.0007898274816007344,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,1.1169353491463503,-0.18365421280883867,-0.42055961058814106,0.6388791982549047,0.4227566993777188,-0.0995469208171458,1.2030617141829325,1.2634630489360068,1.6236213247710736,1.6236213247710736,2.590630000000462,0,0,-0.0005311173998198956,-9.999999025923074e-05
+29958,1792640968543041730,9508800000000,1792640968540995086,DOWN_SETTLE,4,0.0343,0.03430229797959328,0.6760516616075641,-0.004619314560271016,0.08575186879625334,0.9999999825837436,1.817941889411658e-05,-7.430572671677173e-05,0.00014291096811419197,0.6761,-0.0045,0.08571168801520795,1.0,0.0,0.0,0.0,-0.047182540149753316,0.10152449599501995,1.1833455332565914,0.007759164482470684,0.005368405298869347,0.0002474916263629217,0.16203256117758255,0.1540576165998684,0.8182574508052006,0.011035603414746832,-0.013562090467554052,-0.000723306043518224,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,1.1303116364010362,-0.19114223827027144,-0.3060192090289143,0.6228500213506973,0.3683591590070846,-0.10562653426664673,1.2030617141829325,1.1833455332565914,1.5090809232118467,0.0,0.0,0,0,-4.522533884579161e-05,0.0004568216045029456
+30035,1792640969179064700,9509436000000,1792640969176995622,DOWN_PEAK_HOLD,4,0.0343,0.03430229797959328,0.6760393813247045,-0.004609953907513475,0.08571246872843127,0.9999999801566032,2.9820864216071917e-05,-9.667367158093277e-05,0.00014454955852217128,0.6761,-0.0045,0.08570816477892794,1.0,0.0,0.0,0.0,-0.045948215037775464,0.08628635852265701,1.018148669871823,0.0061607886195376976,0.00543641836342431,0.00036648727982789575,0.1632668862895604,0.13881947912750547,0.653060587420432,0.009437227551813846,-0.013494077402999089,-0.0006043103900532499,0.20921510132733587,0.05253312060484846,-0.36508808245139085,0.0032764389322761478,-0.0189304957664234,-0.0009707976698811457,1,0.9872406827014544,-0.11018985760940062,-0.048832262675083137,0.5807009070239796,0.17407668007250018,-0.057799627125683185,1.2030617141829325,1.018148669871823,1.2518939768580157,0.0,0.0,0,0,0.0,0.0

Fixed/s1/ball_PLA_10/press_depth_04/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792640930172571249,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.070033484e-08,4.734164120e-10,6.319848422e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017258913e-01,1.808179413e-06,8.297808900e-01
+1,7.000000000e-01,DOWN_FORCE_DETACH,1792640931226840907,-5.386393609e-08,5.628072202e-06,-2.310616741e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.250618281e-07,1.275267186e-08,1.710860955e-07,7.015378176e-01,7.179033523e-06,8.407386306e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262057e-01,1.820458669e-06,8.297810547e-01
+2,1.266666667e+00,DOWN_FORCE_DETACH,1792640932071844833,-3.328257214e-07,1.208154938e-06,-9.567948660e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.560030935e-07,1.753003014e-08,2.218252992e-07,7.015375387e-01,2.759116259e-06,8.407313732e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017263366e-01,1.825236027e-06,8.297811055e-01
+3,1.916666667e+00,DOWN_FORCE_DETACH,1792640933042683350,-1.321346260e-06,-4.895026608e-06,-7.410311817e-05,-5.341452405e-06,-8.035116298e-07,-6.234970479e-05,-5.197353943e-06,-7.287808462e-07,-6.161759969e-05,7.015365501e-01,-3.344065287e-06,8.406668381e-01,7.015325300e-01,7.474496913e-07,8.406785915e-01,7.017206833e-01,1.078925151e-06,8.297192660e-01
+4,2.483333333e+00,DOWN_FORCE_DETACH,1792640933910455160,7.576324314e-06,-1.095521673e-05,-1.335497179e-04,6.440613890e-07,-1.323628888e-05,-1.244664958e-04,7.662540785e-07,-1.309043699e-05,-1.233487494e-04,7.015454478e-01,-9.404255408e-06,8.406073915e-01,7.015385155e-01,-1.168532756e-05,8.406164747e-01,7.017266469e-01,-1.128273100e-05,8.296575349e-01
+5,3.150000000e+00,DOWN_FORCE_DETACH,1792640934911432228,1.319865938e-05,-1.485994960e-05,-1.846114881e-04,1.293392543e-05,-1.610369817e-05,-1.654406637e-04,1.327163500e-05,-1.598556745e-05,-1.644276696e-04,7.015510701e-01,-1.330898828e-05,8.405563297e-01,7.015508054e-01,-1.455273685e-05,8.405755005e-01,7.017391522e-01,-1.417786146e-05,8.296164560e-01
+6,3.600000000e+00,DOWN_FORCE_DETACH,1792640935591264872,2.183315745e-05,-1.404452164e-05,-1.977867593e-04,1.517622335e-05,-1.842159035e-05,-1.876756249e-04,1.560751715e-05,-1.826573734e-05,-1.867620809e-04,7.015597046e-01,-1.249356031e-05,8.405431544e-01,7.015530477e-01,-1.687062903e-05,8.405532656e-01,7.017414881e-01,-1.645803134e-05,8.295941216e-01
+7,4.300000000e+00,DOWN_FORCE_DETACH,1792640936673057352,2.281571790e-05,-1.574574604e-05,-2.264181042e-04,2.262849949e-05,-1.564388487e-05,-2.262265398e-04,2.327940084e-05,-1.550778934e-05,-2.252074521e-04,7.015606872e-01,-1.419478472e-05,8.405145231e-01,7.015605000e-01,-1.409292355e-05,8.405147146e-01,7.017491600e-01,-1.370008334e-05,8.295556762e-01
+8,4.966666667e+00,DOWN_FORCE_DETACH,1792640937673094231,2.665293138e-05,-1.487479203e-05,-2.509362248e-04,2.543188709e-05,-1.218053575e-05,-2.460142267e-04,2.615847243e-05,-1.207670218e-05,-2.451526584e-04,7.015645244e-01,-1.332383070e-05,8.404900050e-01,7.015633034e-01,-1.062957443e-05,8.404949270e-01,7.017520391e-01,-1.026899619e-05,8.295357310e-01
+9,5.566666667e+00,DOWN_FORCE_DETACH,1792640938575402864,3.064191714e-05,-2.121568480e-05,-2.782684741e-04,2.925874468e-05,-1.630432506e-05,-2.653794079e-04,3.002478629e-05,-1.617041016e-05,-2.645815522e-04,7.015685134e-01,-1.966472348e-05,8.404626727e-01,7.015671302e-01,-1.475336374e-05,8.404755618e-01,7.017559054e-01,-1.436270417e-05,8.295163021e-01
+10,6.200000000e+00,DOWN_FORCE_DETACH,1792640939523381508,3.511526617e-05,-1.652201546e-05,-3.134135337e-04,3.191681426e-05,-1.810081021e-05,-3.078901766e-04,3.262681293e-05,-1.794154937e-05,-3.069032368e-04,7.015729867e-01,-1.497105414e-05,8.404275277e-01,7.015697883e-01,-1.654984889e-05,8.404330510e-01,7.017585074e-01,-1.613384338e-05,8.294739804e-01
+11,6.816666667e+00,DOWN_FORCE_DETACH,1792640940443112284,3.968380676e-05,-2.189510251e-05,-3.486466539e-04,4.070268647e-05,-1.432640382e-05,-3.464356035e-04,4.147275722e-05,-1.419239718e-05,-3.453225447e-04,7.015775553e-01,-2.034414119e-05,8.403922945e-01,7.015785742e-01,-1.277544249e-05,8.403945056e-01,7.017673534e-01,-1.238469119e-05,8.294355611e-01
+12,7.400000000e+00,DOWN_FORCE_DETACH,1792640941340283071,4.417159818e-05,-2.141575598e-05,-3.807300482e-04,4.056975140e-05,-2.159910677e-05,-3.677279653e-04,4.133032231e-05,-2.143948536e-05,-3.667232980e-04,7.015820431e-01,-1.986479466e-05,8.403602111e-01,7.015784412e-01,-2.004814545e-05,8.403732132e-01,7.017672109e-01,-1.963177936e-05,8.294141603e-01
+13,8.050000000e+00,DOWN_FORCE_DETACH,1792640942312099855,4.343329420e-05,-2.343491480e-05,-4.130900755e-04,4.446043704e-05,-2.195358809e-05,-4.107097743e-04,4.517013516e-05,-2.180067349e-05,-4.095572035e-04,7.015813048e-01,-2.188395348e-05,8.403278511e-01,7.015823319e-01,-2.040262676e-05,8.403302314e-01,7.017710507e-01,-1.999296749e-05,8.293713264e-01
+14,8.816666667e+00,DOWN_FORCE_DETACH,1792640943471238678,5.102825914e-05,-2.883229342e-05,-4.529222408e-04,4.818729864e-05,-2.740983361e-05,-4.500544237e-04,4.891688940e-05,-2.723868283e-05,-4.489291588e-04,7.015888997e-01,-2.728133210e-05,8.402880189e-01,7.015860588e-01,-2.585887229e-05,8.402908868e-01,7.017747975e-01,-2.543097683e-05,8.293319545e-01
+15,9.433333333e+00,DOWN_FORCE_DETACH,1792640944396298114,5.331761746e-05,-2.755714267e-05,-4.885659936e-04,5.158460768e-05,-2.565419381e-05,-4.722242944e-04,5.233515168e-05,-2.550875379e-05,-4.712641132e-04,7.015911891e-01,-2.600618135e-05,8.402523752e-01,7.015894561e-01,-2.410323249e-05,8.402687169e-01,7.017782158e-01,-2.370104779e-05,8.293096195e-01
+16,1.000000000e+01,DOWN_FORCE_DETACH,1792640945293130262,5.741531928e-05,-2.834866633e-05,-5.259356533e-04,5.592554877e-05,-2.091110076e-05,-5.106118982e-04,5.664109021e-05,-2.077621307e-05,-5.095816197e-04,7.015952868e-01,-2.679770500e-05,8.402150055e-01,7.015937970e-01,-1.936013944e-05,8.402303293e-01,7.017825217e-01,-1.896850707e-05,8.292713020e-01
+17,1.063333333e+01,DOWN_FORCE_DETACH,1792640946240627761,6.287525280e-05,-2.718915559e-05,-5.658693063e-04,5.815608465e-05,-2.735686730e-05,-5.531248747e-04,5.879425532e-05,-2.722047104e-05,-5.521381659e-04,7.016007467e-01,-2.563819427e-05,8.401750719e-01,7.015960276e-01,-2.580590597e-05,8.401878163e-01,7.017846749e-01,-2.541276505e-05,8.292287455e-01
+18,1.121666667e+01,DOWN_FORCE_DETACH,1792640947110197298,6.415107633e-05,-2.943017850e-05,-6.075671204e-04,6.223005015e-05,-3.242844281e-05,-5.938395870e-04,6.284902161e-05,-3.225264289e-05,-5.927954187e-04,7.016020226e-01,-2.787921718e-05,8.401333741e-01,7.016001015e-01,-3.087748149e-05,8.401471016e-01,7.017887296e-01,-3.044493689e-05,8.291880882e-01
+19,1.188333333e+01,DOWN_FORCE_DETACH,1792640948110354461,6.524826544e-05,-3.062768068e-05,-6.616956177e-04,6.552939818e-05,-3.204825956e-05,-6.550735729e-04,6.602217573e-05,-3.188229615e-05,-6.538037591e-04,7.016031197e-01,-2.907671936e-05,8.400792456e-01,7.016034009e-01,-3.049729824e-05,8.400858676e-01,7.017919028e-01,-3.007459015e-05,8.291270799e-01
+20,1.246666667e+01,DOWN_FORCE_DETACH,1792640948992690846,6.758891327e-05,-3.288703767e-05,-7.122932585e-04,6.671008864e-05,-3.705917831e-05,-6.991429797e-04,6.711969397e-05,-3.684540409e-05,-6.978674535e-04,7.016054604e-01,-3.133607635e-05,8.400286479e-01,7.016045816e-01,-3.550821699e-05,8.400417982e-01,7.017930003e-01,-3.503769809e-05,8.290830162e-01
+21,1.310000000e+01,DOWN_FORCE_DETACH,1792640949943114121,6.889542635e-05,-3.650371687e-05,-7.762753574e-04,6.766073581e-05,-3.423691003e-05,-7.627141333e-04,6.784457184e-05,-3.404422152e-05,-7.612941819e-04,7.016067669e-01,-3.495275555e-05,8.399646658e-01,7.016055322e-01,-3.268594871e-05,8.399782271e-01,7.017937252e-01,-3.223651552e-05,8.290195895e-01
+22,1.365000000e+01,DOWN_FORCE_DETACH,1792640950771686228,6.973973440e-05,-3.619838483e-05,-8.380440911e-04,7.000684628e-05,-3.824509620e-05,-8.292024128e-04,6.999790514e-05,-3.800639002e-05,-8.275657426e-04,7.016076112e-01,-3.464742351e-05,8.399028971e-01,7.016078783e-01,-3.669413488e-05,8.399117388e-01,7.017958785e-01,-3.619868402e-05,8.289533179e-01
+23,1.416666667e+01,DOWN_FORCE_DETACH,1792640951540731790,6.983574690e-05,-3.845628216e-05,-9.020541412e-04,6.676735198e-05,-4.010111290e-05,-8.904674770e-04,6.651886621e-05,-3.987236691e-05,-8.888065763e-04,7.016077072e-01,-3.690532084e-05,8.398388870e-01,7.016046388e-01,-3.855015158e-05,8.398504737e-01,7.017923995e-01,-3.806466092e-05,8.288920771e-01
+24,1.465000000e+01,DOWN_FORCE_DETACH,1792640952271876602,7.306901432e-05,-4.527219866e-05,-9.672766604e-04,7.124255308e-05,-4.106688426e-05,-9.589723896e-04,7.084695579e-05,-4.086977078e-05,-9.573110643e-04,7.016109405e-01,-4.372123734e-05,8.397736645e-01,7.016091140e-01,-3.951592294e-05,8.397819688e-01,7.017967276e-01,-3.906206478e-05,8.288235726e-01
+25,1.515000000e+01,DOWN_FORCE_DETACH,1792640953011837157,7.178252418e-05,-4.360170208e-05,-1.045302698e-03,7.268281955e-05,-4.402652655e-05,-1.041268148e-03,7.204320057e-05,-4.380054730e-05,-1.039707965e-03,7.016096540e-01,-4.205074076e-05,8.396956385e-01,7.016105543e-01,-4.247556523e-05,8.396996730e-01,7.017979238e-01,-4.199284130e-05,8.287411757e-01
+26,1.565000000e+01,DOWN_FORCE_DETACH,1792640953771981769,7.028559388e-05,-4.588889617e-05,-1.132524717e-03,7.018998418e-05,-4.598953127e-05,-1.132230750e-03,6.913515757e-05,-4.570374952e-05,-1.130726078e-03,7.016081571e-01,-4.433793484e-05,8.396084165e-01,7.016080615e-01,-4.443856995e-05,8.396087104e-01,7.017950158e-01,-4.389604353e-05,8.286501576e-01
+27,1.618333333e+01,DOWN_FORCE_DETACH,1792640954572049863,7.230807611e-05,-5.206458150e-05,-1.222950192e-03,7.195082004e-05,-5.100659065e-05,-1.218878125e-03,7.053689550e-05,-5.066712550e-05,-1.217450153e-03,7.016101796e-01,-5.051362018e-05,8.395179910e-01,7.016098223e-01,-4.945562933e-05,8.395220631e-01,7.017964175e-01,-4.885941950e-05,8.285634335e-01
+28,1.665000000e+01,DOWN_FORCE_DETACH,1792640955248571232,7.469973945e-05,-5.217451884e-05,-1.303927837e-03,7.132778644e-05,-5.306350448e-05,-1.306014352e-03,6.951726096e-05,-5.263820734e-05,-1.304380486e-03,7.016125712e-01,-5.062355752e-05,8.394370134e-01,7.016091993e-01,-5.151254316e-05,8.394349268e-01,7.017953979e-01,-5.083050135e-05,8.284765032e-01
+29,1.701666667e+01,DOWN_FORCE_DETACH,1792640956023441074,7.309939522e-05,-5.968833596e-05,-1.413224630e-03,7.612418825e-05,-5.781431556e-05,-1.404039114e-03,7.396116161e-05,-5.732977383e-05,-1.402050141e-03,7.016109709e-01,-5.813737464e-05,8.393277166e-01,7.016139957e-01,-5.626335424e-05,8.393369021e-01,7.017998418e-01,-5.552206784e-05,8.283788335e-01
+30,1.746666667e+01,DOWN_FORCE_DETACH,1792640956736187155,7.317099860e-05,-5.803558615e-05,-1.515600640e-03,7.348134692e-05,-6.123493406e-05,-1.501322901e-03,7.095146027e-05,-6.069575702e-05,-1.499278243e-03,7.016110425e-01,-5.648462483e-05,8.392253405e-01,7.016113528e-01,-5.968397274e-05,8.392396183e-01,7.017968321e-01,-5.888805102e-05,8.282816054e-01
+31,1.786666667e+01,DOWN_FORCE_DETACH,1792640957362139121,7.495150635e-05,-6.660140765e-05,-1.617183246e-03,7.125575768e-05,-5.962082279e-05,-1.606119718e-03,6.829872769e-05,-5.911571788e-05,-1.603940992e-03,7.016128230e-01,-6.505044633e-05,8.391237579e-01,7.016091272e-01,-5.806986147e-05,8.391348215e-01,7.017941793e-01,-5.730801188e-05,8.281769426e-01
+32,1.826666667e+01,DOWN_FORCE_DETACH,1792640957979308995,7.054119849e-05,-6.745330748e-05,-1.730477678e-03,7.207813830e-05,-6.722035534e-05,-1.724797109e-03,6.863986117e-05,-6.665948347e-05,-1.722261608e-03,7.016084127e-01,-6.590234615e-05,8.390104635e-01,7.016099496e-01,-6.566939402e-05,8.390161441e-01,7.017945205e-01,-6.485177747e-05,8.280586220e-01
+33,1.863333333e+01,DOWN_FORCE_DETACH,1792640958582649793,7.164066796e-05,-7.466573878e-05,-1.835526756e-03,7.144128389e-05,-7.480817595e-05,-1.835489809e-03,6.748019604e-05,-7.425944331e-05,-1.832747291e-03,7.016095121e-01,-7.311477746e-05,8.389054144e-01,7.016093128e-01,-7.325721463e-05,8.389054514e-01,7.017933608e-01,-7.245173732e-05,8.279481363e-01
+34,1.900000000e+01,DOWN_FORCE_DETACH,1792640959221772386,7.193893117e-05,-7.086577436e-05,-1.957975572e-03,6.970083281e-05,-7.380382584e-05,-1.948036582e-03,6.516022357e-05,-7.326672682e-05,-1.945194948e-03,7.016098104e-01,-6.931481304e-05,8.387829656e-01,7.016075723e-01,-7.225286452e-05,8.387929046e-01,7.017910408e-01,-7.145902082e-05,8.278356887e-01
+35,1.935000000e+01,DOWN_FORCE_DETACH,1792640959740418203,6.665375069e-05,-7.679777585e-05,-2.071940716e-03,6.430445702e-05,-7.890437073e-05,-2.053801444e-03,5.906588962e-05,-7.843410689e-05,-2.051116514e-03,7.016045252e-01,-7.524681453e-05,8.386690005e-01,7.016021759e-01,-7.735340941e-05,8.386871397e-01,7.017849465e-01,-7.662640090e-05,8.277297671e-01
+36,1.975000000e+01,DOWN_FORCE_DETACH,1792640960340513634,6.920790999e-05,-8.151839626e-05,-2.189981449e-03,6.751888529e-05,-7.915487003e-05,-2.170319456e-03,6.169872472e-05,-7.876663870e-05,-2.167779251e-03,7.016070794e-01,-7.996743493e-05,8.385509597e-01,7.016053904e-01,-7.760390871e-05,8.385706217e-01,7.017875793e-01,-7.695893270e-05,8.276131044e-01
+37,2.011666667e+01,DOWN_FORCE_DETACH,1792640960881936379,6.938044005e-05,-8.632398967e-05,-2.310672525e-03,6.720927350e-05,-8.382522858e-05,-2.311246369e-03,6.067845869e-05,-8.341810821e-05,-2.308474737e-03,7.016072519e-01,-8.477302835e-05,8.384302687e-01,7.016050808e-01,-8.227426726e-05,8.384296948e-01,7.017865591e-01,-8.161040221e-05,8.274724089e-01
+38,2.043333333e+01,DOWN_FORCE_DETACH,1792640961360876078,6.583325279e-05,-8.915254641e-05,-2.429395231e-03,6.555314234e-05,-8.739695672e-05,-2.425937756e-03,5.851225088e-05,-8.698738690e-05,-2.423204709e-03,7.016037047e-01,-8.760158509e-05,8.383115460e-01,7.016034246e-01,-8.584599540e-05,8.383150034e-01,7.017843929e-01,-8.517968090e-05,8.273576789e-01
+39,2.076666667e+01,DOWN_FORCE_DETACH,1792640961866232116,6.719330784e-05,-8.705423108e-05,-2.558358252e-03,6.456694668e-05,-8.830491061e-05,-2.546293137e-03,5.708168449e-05,-8.777600722e-05,-2.543594271e-03,7.016050648e-01,-8.550326975e-05,8.381825829e-01,7.016024384e-01,-8.675394929e-05,8.381946481e-01,7.017829623e-01,-8.596830123e-05,8.272372894e-01
+40,2.106666667e+01,DOWN_FORCE_DETACH,1792640962345555240,6.522982573e-05,-9.433972672e-05,-2.689019316e-03,6.518232484e-05,-9.465249845e-05,-2.688825280e-03,5.722414018e-05,-9.402586327e-05,-2.685641833e-03,7.016031013e-01,-9.278876540e-05,8.380519219e-01,7.016030538e-01,-9.310153713e-05,8.380521159e-01,7.017831047e-01,-9.221815728e-05,8.270952418e-01
+41,2.133333333e+01,DOWN_FORCE_DETACH,1792640962760113836,6.602480280e-05,-9.439884083e-05,-2.803207185e-03,6.439934814e-05,-1.004987950e-04,-2.798799865e-03,5.605580688e-05,-9.977989380e-05,-2.795721313e-03,7.016038963e-01,-9.284787951e-05,8.379377340e-01,7.016022708e-01,-9.894783369e-05,8.379421413e-01,7.017819364e-01,-9.797218781e-05,8.269851623e-01
+42,2.160000000e+01,DOWN_FORCE_DETACH,1792640963159748223,6.165121040e-05,-9.881778484e-05,-2.929843799e-03,6.325699633e-05,-9.629451311e-05,-2.921837507e-03,5.451333350e-05,-9.553271799e-05,-2.918835203e-03,7.015995227e-01,-9.726682352e-05,8.378110974e-01,7.016011285e-01,-9.474355179e-05,8.378191037e-01,7.017803939e-01,-9.372501200e-05,8.268620484e-01
+43,2.188333333e+01,DOWN_FORCE_DETACH,1792640963579186869,6.203199415e-05,-1.004251971e-04,-3.061063845e-03,6.300894535e-05,-1.061118288e-04,-3.057394807e-03,5.385256160e-05,-1.053342195e-04,-3.054438247e-03,7.015999035e-01,-9.887423579e-05,8.376798773e-01,7.016008804e-01,-1.045608675e-04,8.376835464e-01,7.017797332e-01,-1.035265135e-04,8.267264454e-01
+44,2.213333333e+01,DOWN_FORCE_DETACH,1792640963959874784,5.985516758e-05,-1.067698565e-04,-3.182296476e-03,6.284097882e-05,-1.056720184e-04,-3.175775772e-03,5.339306683e-05,-1.049072219e-04,-3.172820125e-03,7.015977266e-01,-1.052188952e-04,8.375586447e-01,7.016007125e-01,-1.041210571e-04,8.375651654e-01,7.017792737e-01,-1.030995159e-04,8.266080635e-01
+45,2.240000000e+01,DOWN_FORCE_DETACH,1792640964360027766,6.301600726e-05,-1.130730423e-04,-3.316784545e-03,6.287646266e-05,-1.130898603e-04,-3.316996324e-03,5.311064625e-05,-1.122576129e-04,-3.313827378e-03,7.016008875e-01,-1.115220810e-04,8.374241566e-01,7.016007479e-01,-1.115388990e-04,8.374239449e-01,7.017789913e-01,-1.104499069e-04,8.264670563e-01
+46,2.265000000e+01,DOWN_FORCE_DETACH,1792640964740766427,6.038114137e-05,-1.121010362e-04,-3.447767273e-03,6.136422493e-05,-1.133596966e-04,-3.438424052e-03,5.117319429e-05,-1.125727031e-04,-3.435373499e-03,7.015982526e-01,-1.105500749e-04,8.372931739e-01,7.015992357e-01,-1.118087353e-04,8.373025171e-01,7.017770538e-01,-1.107649971e-04,8.263455101e-01
+47,2.290000000e+01,DOWN_FORCE_DETACH,1792640965110211187,5.828477661e-05,-1.158918318e-04,-3.587692834e-03,5.832784480e-05,-1.157883495e-04,-3.587471154e-03,4.757418811e-05,-1.150134085e-04,-3.584191253e-03,7.015961563e-01,-1.143408705e-04,8.371532484e-01,7.015961993e-01,-1.142373882e-04,8.371534700e-01,7.017734548e-01,-1.132057025e-04,8.261966924e-01
+48,2.313333333e+01,DOWN_FORCE_DETACH,1792640965472578531,6.438370732e-05,-1.174634915e-04,-3.716438732e-03,6.362976448e-05,-1.127780114e-04,-3.706242968e-03,5.266269394e-05,-1.120765124e-04,-3.703065953e-03,7.016022552e-01,-1.159125301e-04,8.370245025e-01,7.016015012e-01,-1.112270501e-04,8.370346982e-01,7.017785433e-01,-1.102688064e-04,8.260778177e-01
+49,2.331666667e+01,DOWN_FORCE_DETACH,1792640965780968731,5.810320091e-05,-1.191300072e-04,-3.852419817e-03,5.677712883e-05,-1.176478171e-04,-3.848924326e-03,4.526065100e-05,-1.169114024e-04,-3.845171613e-03,7.015959747e-01,-1.175790459e-04,8.368885214e-01,7.015946486e-01,-1.160968558e-04,8.368920169e-01,7.017711413e-01,-1.151036964e-04,8.259357120e-01
+50,2.353333333e+01,DOWN_FORCE_DETACH,1792640966111769216,5.777624198e-05,-1.199720502e-04,-3.992698554e-03,5.740642650e-05,-1.200191032e-04,-3.992585705e-03,4.547405701e-05,-1.192718005e-04,-3.988683728e-03,7.015956477e-01,-1.184210889e-04,8.367482426e-01,7.015952779e-01,-1.184681419e-04,8.367483555e-01,7.017713547e-01,-1.174640945e-04,8.257921999e-01
+51,2.376666667e+01,DOWN_FORCE_DETACH,1792640966447060730,5.771494208e-05,-1.237617809e-04,-4.139685495e-03,5.773373829e-05,-1.220917744e-04,-4.120266250e-03,4.541054945e-05,-1.211870733e-04,-4.116984696e-03,7.015955864e-01,-1.222108196e-04,8.366012557e-01,7.015956052e-01,-1.205408131e-04,8.366206749e-01,7.017712912e-01,-1.193793673e-04,8.256638989e-01
+52,2.395000000e+01,DOWN_FORCE_DETACH,1792640966715795495,5.814980212e-05,-1.243148241e-04,-4.256887006e-03,5.517123441e-05,-1.236494507e-04,-4.241696174e-03,4.232018639e-05,-1.226074415e-04,-4.238782161e-03,7.015960213e-01,-1.227638628e-04,8.364840542e-01,7.015930427e-01,-1.220984894e-04,8.364992450e-01,7.017682008e-01,-1.207997355e-04,8.255421015e-01
+53,2.416666667e+01,DOWN_FORCE_DETACH,1792640967047707790,5.513579729e-05,-1.247885086e-04,-4.405773858e-03,5.493586788e-05,-1.239903446e-04,-4.394008595e-03,4.139769100e-05,-1.230190135e-04,-4.391390889e-03,7.015930073e-01,-1.232375473e-04,8.363351673e-01,7.015928073e-01,-1.224393833e-04,8.363469326e-01,7.017672783e-01,-1.212113075e-04,8.253894927e-01
+54,2.435000000e+01,DOWN_FORCE_DETACH,1792640967317947107,5.197433965e-05,-1.222405756e-04,-4.537506316e-03,5.428671439e-05,-1.225372397e-04,-4.526760043e-03,4.016415033e-05,-1.216434263e-04,-4.524309124e-03,7.015898458e-01,-1.206896143e-04,8.362034349e-01,7.015921582e-01,-1.209862784e-04,8.362141811e-01,7.017660448e-01,-1.198357203e-04,8.252565745e-01
+55,2.455000000e+01,DOWN_FORCE_DETACH,1792640967615208823,5.580252086e-05,-1.280300035e-04,-4.679953691e-03,5.565220469e-05,-1.280290763e-04,-4.679660641e-03,4.080075909e-05,-1.270980194e-04,-4.677176234e-03,7.015936740e-01,-1.264790422e-04,8.360609875e-01,7.015935237e-01,-1.264781149e-04,8.360612805e-01,7.017666814e-01,-1.252903134e-04,8.251037074e-01
+56,2.473333333e+01,DOWN_FORCE_DETACH,1792640967896041756,5.528528452e-05,-1.294393129e-04,-4.827052072e-03,5.504647698e-05,-1.297255092e-04,-4.827439779e-03,3.952721871e-05,-1.287417825e-04,-4.824935260e-03,7.015931568e-01,-1.278883516e-04,8.359138891e-01,7.015929180e-01,-1.281745479e-04,8.359135014e-01,7.017654078e-01,-1.269340765e-04,8.249559484e-01
+57,2.491666667e+01,DOWN_FORCE_DETACH,1792640968177600252,6.533016399e-05,-1.188885362e-04,-4.963481599e-03,6.503414492e-05,-1.188426337e-04,-4.963007352e-03,4.898820855e-05,-1.178782481e-04,-4.960660516e-03,7.016032016e-01,-1.173375749e-04,8.357774596e-01,7.016029056e-01,-1.172916724e-04,8.357779338e-01,7.017748688e-01,-1.160705421e-04,8.248202231e-01
+58,2.516666667e+01,DOWN_SETTLE,1792640968546371826,6.217120333e-05,-1.121273651e-04,-5.088437239e-03,6.112557325e-05,-1.191972545e-04,-5.077524367e-03,4.446936920e-05,-1.183802463e-04,-5.076266601e-03,7.016000427e-01,-1.105764038e-04,8.356525039e-01,7.015989971e-01,-1.176462932e-04,8.356634168e-01,7.017703500e-01,-1.165725403e-04,8.247046170e-01
+59,2.558333333e+01,DOWN_PEAK_HOLD,1792640969177692634,4.795349398e-05,-1.116506778e-04,-5.129805074e-03,5.231850917e-05,-1.104585697e-04,-5.115491332e-03,3.522296009e-05,-1.099021645e-04,-5.115548861e-03,7.015858250e-01,-1.100997164e-04,8.356111361e-01,7.015901900e-01,-1.089076083e-04,8.356254499e-01,7.017611036e-01,-1.080944585e-04,8.246653348e-01

Fixed/s1/ball_PLA_10/press_depth_04/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,6.1397e-03,2.1215e-03,2.4625e+00,-3.6961e-02,3.7200e-02,-9.2153e-05,5.3619e-04,-1.5893e-06,3.3998e-04,-1.1660e-06,3.7454e-05,-1.6385e-06,6.3490e-04,3.7508e-05
+1,7.0000e-01,DOWN_FORCE_DETACH,1.4460e-04,2.0730e-02,2.1570e-03,2.4705e+00,-3.6994e-02,3.8228e-02,-1.2413e-04,1.5127e-02,3.3930e-05,8.2970e-03,-3.3550e-05,1.0655e-03,-3.3615e-05,1.7253e-02,1.0666e-03
+2,1.2667e+00,DOWN_FORCE_DETACH,2.8801e-04,2.6790e-02,2.1211e-03,2.4729e+00,-3.6998e-02,3.8657e-02,-1.2825e-04,2.1187e-02,-1.8978e-06,1.0742e-02,-3.8277e-05,1.4946e-03,-3.7732e-05,2.3754e-02,1.4956e-03
+3,1.9167e+00,DOWN_FORCE_DETACH,4.3111e-04,3.2678e-02,2.7468e-03,2.4991e+00,-3.7045e-02,3.9058e-02,-1.2449e-04,2.7075e-02,6.2373e-04,3.6953e-02,-8.4896e-05,1.8953e-03,-3.3972e-05,4.5815e-02,1.8975e-03
+4,2.4833e+00,DOWN_FORCE_DETACH,5.7866e-04,3.3007e-02,7.3212e-03,2.5126e+00,-3.7362e-02,3.9071e-02,-1.1273e-04,2.7403e-02,5.1982e-03,5.0396e-02,-4.0168e-04,1.9085e-03,-2.2212e-05,5.7599e-02,1.9505e-03
+5,3.1500e+00,DOWN_FORCE_DETACH,7.2285e-04,3.3853e-02,9.2560e-03,2.5115e+00,-3.7477e-02,3.9127e-02,-8.4847e-05,2.8249e-02,7.1330e-03,4.9342e-02,-5.1714e-04,1.9639e-03,5.6676e-06,5.7302e-02,2.0309e-03
+6,3.6000e+00,DOWN_FORCE_DETACH,8.6766e-04,3.8512e-02,1.0344e-02,2.5076e+00,-3.7533e-02,3.9456e-02,-5.7752e-05,3.2908e-02,8.2208e-03,4.5402e-02,-5.7338e-04,2.2930e-03,3.2763e-05,5.6673e-02,2.3638e-03
+7,4.3000e+00,DOWN_FORCE_DETACH,1.0134e-03,4.3343e-02,7.2008e-03,2.4978e+00,-3.7285e-02,3.9808e-02,-1.5081e-05,3.7739e-02,5.0778e-03,3.5607e-02,-3.2530e-04,2.6456e-03,7.5433e-05,5.2133e-02,2.6666e-03
+8,4.9667e+00,DOWN_FORCE_DETACH,1.1566e-03,4.5971e-02,6.9279e-03,2.5040e+00,-3.7255e-02,3.9997e-02,1.2599e-05,4.0367e-02,4.8049e-03,4.1788e-02,-2.9539e-04,2.8343e-03,1.0311e-04,5.8300e-02,2.8515e-03
+9,5.5667e+00,DOWN_FORCE_DETACH,1.2981e-03,4.7047e-02,8.7510e-03,2.5016e+00,-3.7379e-02,4.0073e-02,2.2642e-05,4.1443e-02,6.6279e-03,3.9396e-02,-4.1904e-04,2.9107e-03,1.1316e-04,5.7563e-02,2.9429e-03
+10,6.2000e+00,DOWN_FORCE_DETACH,1.4457e-03,4.8411e-02,9.5227e-03,2.5094e+00,-3.7432e-02,4.0168e-02,2.6921e-05,4.2807e-02,7.3996e-03,4.7252e-02,-4.7204e-04,3.0049e-03,1.1744e-04,6.4187e-02,3.0441e-03
+11,6.8167e+00,DOWN_FORCE_DETACH,1.5878e-03,4.5672e-02,7.3132e-03,2.5131e+00,-3.7279e-02,3.9977e-02,2.5797e-05,4.0069e-02,5.1901e-03,5.0879e-02,-3.1872e-04,2.8144e-03,1.1631e-04,6.4970e-02,2.8348e-03
+12,7.4000e+00,DOWN_FORCE_DETACH,1.7352e-03,4.8666e-02,1.0699e-02,2.5091e+00,-3.7513e-02,4.0184e-02,2.3866e-05,4.3062e-02,8.5763e-03,4.6957e-02,-5.5280e-04,3.0212e-03,1.1438e-04,6.4287e-02,3.0735e-03
+13,8.0500e+00,DOWN_FORCE_DETACH,1.8774e-03,4.9658e-02,1.0870e-02,2.5082e+00,-3.7528e-02,4.0256e-02,1.8203e-05,4.4055e-02,8.7473e-03,4.6058e-02,-5.6798e-04,3.0938e-03,1.0872e-04,6.4333e-02,3.1474e-03
+14,8.8167e+00,DOWN_FORCE_DETACH,2.0223e-03,5.0102e-02,1.3221e-02,2.5097e+00,-3.7697e-02,4.0287e-02,8.0650e-06,4.4499e-02,1.1098e-02,4.7531e-02,-7.3700e-04,3.1246e-03,9.8579e-05,6.6049e-02,3.2118e-03
+15,9.4333e+00,DOWN_FORCE_DETACH,2.1666e-03,5.0348e-02,1.1973e-02,2.5084e+00,-3.7612e-02,4.0304e-02,-4.6761e-06,4.4744e-02,9.8496e-03,4.6260e-02,-6.5183e-04,3.1414e-03,8.5838e-05,6.5108e-02,3.2094e-03
+16,1.0000e+01,DOWN_FORCE_DETACH,2.3110e-03,5.0261e-02,1.0033e-02,2.5097e+00,-3.7482e-02,4.0296e-02,-1.6611e-05,4.4658e-02,7.9100e-03,4.7553e-02,-5.2153e-04,3.1337e-03,7.3903e-05,6.5713e-02,3.1777e-03
+17,1.0633e+01,DOWN_FORCE_DETACH,2.4580e-03,5.1371e-02,1.2217e-02,2.5107e+00,-3.7651e-02,4.0372e-02,-2.7620e-05,4.5767e-02,1.0093e-02,4.8520e-02,-6.9116e-04,3.2089e-03,6.2894e-05,6.7459e-02,3.2831e-03
+18,1.1217e+01,DOWN_FORCE_DETACH,2.6012e-03,5.1543e-02,1.4147e-02,2.5116e+00,-3.7819e-02,4.0381e-02,-3.7386e-05,4.5939e-02,1.2024e-02,4.9431e-02,-8.5898e-04,3.2184e-03,5.3128e-05,6.8545e-02,3.3315e-03
+19,1.1883e+01,DOWN_FORCE_DETACH,2.7440e-03,5.2855e-02,1.4592e-02,2.5156e+00,-3.7901e-02,4.0466e-02,-4.9040e-05,4.7252e-02,1.2469e-02,5.3383e-02,-9.4065e-04,3.3036e-03,4.1475e-05,7.2373e-02,3.4352e-03
+20,1.2467e+01,DOWN_FORCE_DETACH,2.8923e-03,5.3640e-02,1.5864e-02,2.5200e+00,-3.8027e-02,4.0515e-02,-4.7600e-05,4.8036e-02,1.3741e-02,5.7854e-02,-1.0674e-03,3.3522e-03,4.2914e-05,7.6442e-02,3.5183e-03
+21,1.3100e+01,DOWN_FORCE_DETACH,3.0335e-03,5.3907e-02,1.5614e-02,2.5268e+00,-3.8053e-02,4.0524e-02,-3.2525e-05,4.8304e-02,1.3491e-02,6.4609e-02,-1.0925e-03,3.3617e-03,5.7989e-05,8.1790e-02,3.5352e-03
+22,1.3650e+01,DOWN_FORCE_DETACH,3.1754e-03,5.3198e-02,1.7177e-02,2.5321e+00,-3.8190e-02,4.0467e-02,-7.2968e-06,4.7594e-02,1.5054e-02,6.9924e-02,-1.2300e-03,3.3047e-03,8.3218e-05,8.5914e-02,3.5271e-03
+23,1.4167e+01,DOWN_FORCE_DETACH,3.3225e-03,5.4695e-02,1.8208e-02,2.5376e+00,-3.8270e-02,4.0565e-02,2.4168e-05,4.9092e-02,1.6085e-02,7.5454e-02,-1.3104e-03,3.4028e-03,1.1468e-04,9.1444e-02,3.6482e-03
+24,1.4650e+01,DOWN_FORCE_DETACH,3.4691e-03,5.4291e-02,1.8791e-02,2.5362e+00,-3.8287e-02,4.0539e-02,5.7476e-05,4.8687e-02,1.6668e-02,7.3977e-02,-1.3271e-03,3.3766e-03,1.4799e-04,9.0116e-02,3.6310e-03
+25,1.5150e+01,DOWN_FORCE_DETACH,3.6110e-03,5.4423e-02,2.1672e-02,2.5302e+00,-3.8404e-02,4.0556e-02,9.3608e-05,4.8820e-02,1.9549e-02,6.7974e-02,-1.4443e-03,3.3937e-03,1.8412e-04,8.5942e-02,3.6929e-03
+26,1.5650e+01,DOWN_FORCE_DETACH,3.7556e-03,5.3722e-02,2.3113e-02,2.5210e+00,-3.8375e-02,4.0521e-02,1.1526e-04,4.8119e-02,2.0990e-02,5.8825e-02,-1.4154e-03,3.3583e-03,2.0577e-04,7.8844e-02,3.6502e-03
+27,1.6183e+01,DOWN_FORCE_DETACH,3.9009e-03,5.0330e-02,2.6798e-02,2.5200e+00,-3.8512e-02,4.0294e-02,1.1898e-04,4.4726e-02,2.4675e-02,5.7802e-02,-1.5515e-03,3.1315e-03,2.0949e-04,7.7138e-02,3.5010e-03
+28,1.6650e+01,DOWN_FORCE_DETACH,4.0450e-03,4.7065e-02,2.8123e-02,2.5260e+00,-3.8554e-02,4.0062e-02,1.1328e-04,4.1462e-02,2.6000e-02,6.3810e-02,-1.5942e-03,2.8997e-03,2.0379e-04,8.0417e-02,3.3153e-03
+29,1.7017e+01,DOWN_FORCE_DETACH,4.1925e-03,4.5964e-02,3.0841e-02,2.5420e+00,-3.8734e-02,3.9972e-02,1.1152e-04,4.0361e-02,2.8718e-02,7.9846e-02,-1.7740e-03,2.8098e-03,2.0203e-04,9.3963e-02,3.3291e-03
+30,1.7467e+01,DOWN_FORCE_DETACH,4.3347e-03,4.5758e-02,3.3592e-02,2.5507e+00,-3.8941e-02,3.9938e-02,1.1430e-04,4.0155e-02,3.1469e-02,8.8563e-02,-1.9810e-03,2.7756e-03,2.0482e-04,1.0221e-01,3.4161e-03
+31,1.7867e+01,DOWN_FORCE_DETACH,4.4795e-03,4.5863e-02,3.3893e-02,2.5588e+00,-3.8997e-02,3.9930e-02,1.1898e-04,4.0260e-02,3.1770e-02,9.6570e-02,-2.0368e-03,2.7671e-03,2.0949e-04,1.0934e-01,3.4423e-03
+32,1.8267e+01,DOWN_FORCE_DETACH,4.6254e-03,4.3272e-02,3.5246e-02,2.5655e+00,-3.9126e-02,3.9739e-02,1.2593e-04,3.7668e-02,3.3122e-02,1.0331e-01,-2.1655e-03,2.5761e-03,2.1645e-04,1.1484e-01,3.3723e-03
+33,1.8633e+01,DOWN_FORCE_DETACH,4.7640e-03,4.1844e-02,3.7448e-02,2.5741e+00,-3.9289e-02,3.9627e-02,1.3075e-04,3.6240e-02,3.5325e-02,1.1193e-01,-2.3289e-03,2.4640e-03,2.2126e-04,1.2284e-01,3.3977e-03
+34,1.9000e+01,DOWN_FORCE_DETACH,4.9125e-03,3.6721e-02,3.8302e-02,2.5841e+00,-3.9345e-02,3.9251e-02,1.2297e-04,3.1118e-02,3.6179e-02,1.2192e-01,-2.3848e-03,2.0884e-03,2.1349e-04,1.3093e-01,3.1771e-03
+35,1.9350e+01,DOWN_FORCE_DETACH,5.0556e-03,2.9944e-02,3.7841e-02,2.5864e+00,-3.9323e-02,3.8761e-02,9.3181e-05,2.4341e-02,3.5718e-02,1.2421e-01,-2.3629e-03,1.5980e-03,1.8370e-04,1.3151e-01,2.8584e-03
+36,1.9750e+01,DOWN_FORCE_DETACH,5.2017e-03,1.8660e-02,3.5920e-02,2.5803e+00,-3.9225e-02,3.7964e-02,4.3113e-05,1.3057e-02,3.3797e-02,1.1810e-01,-2.2647e-03,8.0170e-04,1.3363e-04,1.2354e-01,2.4061e-03
+37,2.0117e+01,DOWN_FORCE_DETACH,5.3465e-03,1.0555e-02,3.6202e-02,2.5786e+00,-3.9255e-02,3.7397e-02,1.7579e-06,4.9510e-03,3.4079e-02,1.1643e-01,-2.2948e-03,2.3453e-04,9.2272e-05,1.2142e-01,2.3086e-03
+38,2.0433e+01,DOWN_FORCE_DETACH,5.4915e-03,7.0993e-03,3.8929e-02,2.5772e+00,-3.9406e-02,3.7162e-02,-1.7010e-05,1.4958e-03,3.6806e-02,1.1503e-01,-2.4465e-03,-2.1234e-07,7.3505e-05,1.2078e-01,2.4476e-03
+39,2.0767e+01,DOWN_FORCE_DETACH,5.6340e-03,7.0404e-03,4.3074e-02,2.5814e+00,-3.9646e-02,3.7158e-02,-1.8385e-05,1.4369e-03,4.0951e-02,1.1921e-01,-2.6861e-03,-4.6231e-06,7.2130e-05,1.2606e-01,2.6871e-03
+40,2.1067e+01,DOWN_FORCE_DETACH,5.7854e-03,8.0117e-03,4.6986e-02,2.5899e+00,-3.9878e-02,3.7219e-02,-8.1618e-06,2.4082e-03,4.4863e-02,1.2773e-01,-2.9182e-03,5.6557e-05,8.2352e-05,1.3540e-01,2.9199e-03
+41,2.1333e+01,DOWN_FORCE_DETACH,5.9224e-03,9.3456e-03,5.2157e-02,2.5958e+00,-4.0184e-02,3.7306e-02,5.4721e-06,3.7421e-03,5.0034e-02,1.3359e-01,-3.2244e-03,1.4332e-04,9.5986e-05,1.4270e-01,3.2290e-03
+42,2.1600e+01,DOWN_FORCE_DETACH,6.0656e-03,1.1178e-02,5.5687e-02,2.5925e+00,-4.0379e-02,3.7431e-02,1.4554e-05,5.5741e-03,5.3564e-02,1.3035e-01,-3.4194e-03,2.6863e-04,1.0507e-04,1.4104e-01,3.4315e-03
+43,2.1883e+01,DOWN_FORCE_DETACH,6.2129e-03,1.4358e-02,5.4355e-02,2.5888e+00,-4.0292e-02,3.7648e-02,1.8012e-05,8.7541e-03,5.2232e-02,1.2665e-01,-3.3321e-03,4.8540e-04,1.0853e-04,1.3728e-01,3.3691e-03
+44,2.2133e+01,DOWN_FORCE_DETACH,6.3540e-03,2.0694e-02,5.3015e-02,2.5901e+00,-4.0228e-02,3.8079e-02,1.0703e-05,1.5091e-02,5.0892e-02,1.2788e-01,-3.2675e-03,9.1607e-04,1.0122e-04,1.3846e-01,3.3950e-03
+45,2.2400e+01,DOWN_FORCE_DETACH,6.5038e-03,2.6231e-02,5.5410e-02,2.5919e+00,-4.0402e-02,3.8457e-02,-1.0968e-05,2.0628e-02,5.3287e-02,1.2972e-01,-3.4424e-03,1.2944e-03,7.9546e-05,1.4175e-01,3.6785e-03
+46,2.2650e+01,DOWN_FORCE_DETACH,6.6468e-03,2.9182e-02,5.7504e-02,2.5937e+00,-4.0542e-02,3.8661e-02,-4.2438e-05,2.3578e-02,5.5381e-02,1.3152e-01,-3.5825e-03,1.4980e-03,4.8077e-05,1.4464e-01,3.8833e-03
+47,2.2900e+01,DOWN_FORCE_DETACH,6.7957e-03,3.2580e-02,5.6881e-02,2.5971e+00,-4.0497e-02,3.8897e-02,-7.1117e-05,2.6976e-02,5.4758e-02,1.3489e-01,-3.5370e-03,1.7340e-03,1.9397e-05,1.4806e-01,3.9392e-03
+48,2.3133e+01,DOWN_FORCE_DETACH,6.9338e-03,3.5737e-02,5.5764e-02,2.6023e+00,-4.0422e-02,3.9114e-02,-8.1740e-05,3.0133e-02,5.3641e-02,1.4009e-01,-3.4621e-03,1.9518e-03,8.7741e-06,1.5300e-01,3.9744e-03
+49,2.3317e+01,DOWN_FORCE_DETACH,7.0743e-03,3.9450e-02,5.6797e-02,2.6182e+00,-4.0491e-02,3.9365e-02,-7.0856e-05,3.3847e-02,5.4674e-02,1.5602e-01,-3.5314e-03,2.2019e-03,1.9658e-05,1.6875e-01,4.1617e-03
+50,2.3533e+01,DOWN_FORCE_DETACH,7.2224e-03,4.3703e-02,5.7127e-02,2.6244e+00,-4.0506e-02,3.9651e-02,-4.1568e-05,3.8100e-02,5.5004e-02,1.6218e-01,-3.5463e-03,2.4882e-03,4.8947e-05,1.7544e-01,4.3324e-03
+51,2.3767e+01,DOWN_FORCE_DETACH,7.3745e-03,4.8231e-02,6.2194e-02,2.6173e+00,-4.0805e-02,3.9958e-02,1.1217e-05,4.2628e-02,6.0071e-02,1.5508e-01,-3.8452e-03,2.7956e-03,1.0173e-04,1.7168e-01,4.7552e-03
+52,2.3950e+01,DOWN_FORCE_DETACH,7.5051e-03,4.7923e-02,6.8375e-02,2.6046e+00,-4.1156e-02,3.9943e-02,4.9449e-05,4.2320e-02,6.6252e-02,1.4246e-01,-4.1963e-03,2.7807e-03,1.3996e-04,1.6271e-01,5.0360e-03
+53,2.4167e+01,DOWN_FORCE_DETACH,7.6619e-03,4.2405e-02,6.8933e-02,2.5886e+00,-4.1134e-02,3.9577e-02,6.5246e-05,3.6801e-02,6.6810e-02,1.2643e-01,-4.1741e-03,2.4142e-03,1.5576e-04,1.4766e-01,4.8245e-03
+54,2.4350e+01,DOWN_FORCE_DETACH,7.7990e-03,3.7627e-02,6.5688e-02,2.5786e+00,-4.0900e-02,3.9255e-02,5.4379e-05,3.2023e-02,6.3565e-02,1.1641e-01,-3.9403e-03,2.0926e-03,1.4489e-04,1.3645e-01,4.4638e-03
+55,2.4550e+01,DOWN_FORCE_DETACH,7.9465e-03,3.0873e-02,6.4217e-02,2.5729e+00,-4.0794e-02,3.8797e-02,2.8733e-05,2.5269e-02,6.2094e-02,1.1073e-01,-3.8341e-03,1.6339e-03,1.1925e-04,1.2944e-01,4.1694e-03
+56,2.4733e+01,DOWN_FORCE_DETACH,8.0965e-03,2.1943e-02,6.6603e-02,2.5689e+00,-4.0945e-02,3.8189e-02,4.1935e-06,1.6339e-02,6.4480e-02,1.0671e-01,-3.9852e-03,1.0268e-03,9.4708e-05,1.2574e-01,4.1164e-03
+57,2.4917e+01,DOWN_FORCE_DETACH,8.2407e-03,1.4511e-02,6.8755e-02,2.5652e+00,-4.1078e-02,3.7684e-02,-1.5896e-05,8.9073e-03,6.6632e-02,1.0306e-01,-4.1175e-03,5.2184e-04,7.4618e-05,1.2304e-01,4.1511e-03
+58,2.5167e+01,DOWN_SETTLE,8.3810e-03,4.0385e-03,6.3988e-02,2.5471e+00,-4.0792e-02,3.6977e-02,-2.3235e-05,-1.5650e-03,6.1865e-02,8.4873e-02,-3.8322e-03,-1.8579e-04,6.7280e-05,1.0504e-01,3.8373e-03
+59,2.5583e+01,DOWN_PEAK_HOLD,8.5242e-03,1.7960e-03,4.7523e-02,2.4869e+00,-3.9851e-02,3.6862e-02,-2.6323e-05,-3.8075e-03,4.5400e-02,2.4723e-02,-2.8910e-03,-3.0062e-04,6.4191e-05,5.1835e-02,2.9073e-03

Fixed/s1/ball_PLA_10/press_depth_04/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc51da84a2c95286e8c08659bc20108c30ce93b7257f582ff0d293af42726eb
+size 4956160

Fixed/s1/ball_PLA_10/press_depth_04/up/franka_data.csv

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