Upload Fixed (part 37)

Fixed/digit/cylinder_15A_12.5/press_depth_04/up/franka_data.csv

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Fixed/digit/cylinder_15A_12.5/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792832876641127262,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.107754359e-09,-2.608425316e-10,-1.424353635e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452251e-01,-1.182074944e-04,8.303259011e-01
+1,2.000000000e-01,WAIT_W2,1792832876837678865,1.086224965e-06,2.266486512e-06,-4.130848325e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.931049491e-08,-3.094097150e-09,-1.702589514e-08,7.019567190e-01,-2.000424851e-05,8.601426742e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452703e-01,-1.182103277e-04,8.303258855e-01
+2,3.666666667e-01,WAIT_W2,1792832877001770217,9.343984527e-07,8.806986781e-08,2.324409445e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.184271549e-08,-5.080788337e-09,-2.819398404e-08,7.019565672e-01,-2.218266515e-05,8.601454116e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453028e-01,-1.182123144e-04,8.303258743e-01
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+4,7.166666667e-01,WAIT_W2,1792832877345193142,7.280717911e-07,4.253847922e-06,8.356051207e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.378234209e-07,-8.351566083e-09,-4.724842428e-08,7.019563609e-01,-1.801688710e-05,8.601431708e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453588e-01,-1.182155851e-04,8.303258553e-01
+5,7.666666667e-01,WAIT_W2,1792832877394535855,2.873094721e-06,-3.687808088e-05,4.487991467e-06,2.767182762e-06,-3.665850406e-05,4.616226246e-06,3.168041449e-06,-3.636668067e-05,4.462550645e-06,7.019585059e-01,-5.914881591e-05,8.601475752e-01,7.019584000e-01,-5.892923908e-05,8.601477035e-01,7.027483890e-01,-1.545739142e-04,8.303303651e-01
+6,7.666666667e-01,WAIT_W2,1792832877394535855,2.873094721e-06,-3.687808088e-05,4.487991467e-06,2.767182762e-06,-3.665850406e-05,4.616226246e-06,3.168041449e-06,-3.636668067e-05,4.462550645e-06,7.019585059e-01,-5.914881591e-05,8.601475752e-01,7.019584000e-01,-5.892923908e-05,8.601477035e-01,7.027483890e-01,-1.545739142e-04,8.303303651e-01
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+8,7.833333333e-01,WAIT_W2,1792832877410774537,2.209522722e-06,-1.036672270e-04,7.849498017e-06,2.241660848e-06,-1.037181928e-04,7.777051163e-06,2.679991238e-06,-1.029008074e-04,7.622231199e-06,7.019578423e-01,-1.259379620e-04,8.601509367e-01,7.019578745e-01,-1.259889278e-04,8.601508643e-01,7.027479010e-01,-2.211080410e-04,8.303335247e-01
+9,8.000000000e-01,WAIT_W2,1792832877429312704,2.878919102e-06,-2.055110374e-04,1.059120142e-05,3.024602245e-06,-2.052555434e-04,1.076794463e-05,3.583173575e-06,-2.036629292e-04,1.064371058e-05,7.019585117e-01,-2.277817724e-04,8.601536784e-01,7.019586574e-01,-2.275262784e-04,8.601538552e-01,7.027488041e-01,-3.218701627e-04,8.303365462e-01
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+13,8.166666667e-01,WAIT_W2,1792832877462082918,3.762709662e-06,-4.407459537e-04,2.257796930e-05,3.590478733e-06,-4.405144588e-04,2.259498668e-05,4.415289762e-06,-4.372614644e-04,2.254128572e-05,7.019593955e-01,-4.630166887e-04,8.601656652e-01,7.019592233e-01,-4.627851938e-04,8.601656822e-01,7.027496363e-01,-5.554686980e-04,8.303484438e-01
+14,8.166666667e-01,WAIT_W2,1792832877462082918,3.762709662e-06,-4.407459537e-04,2.257796930e-05,3.590478733e-06,-4.405144588e-04,2.259498668e-05,4.415289762e-06,-4.372614644e-04,2.254128572e-05,7.019593955e-01,-4.630166887e-04,8.601656652e-01,7.019592233e-01,-4.627851938e-04,8.601656822e-01,7.027496363e-01,-5.554686980e-04,8.303484438e-01
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+17,8.333333333e-01,WAIT_W2,1792832877476780580,5.077770684e-06,-4.866189496e-04,2.555770272e-05,4.890357929e-06,-4.866974514e-04,2.535234712e-05,5.955920447e-06,-4.832672833e-04,2.562277521e-05,7.019607106e-01,-5.088896847e-04,8.601686449e-01,7.019605232e-01,-5.089681864e-04,8.601684396e-01,7.027511769e-01,-6.014745169e-04,8.303515253e-01
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+20,9.000000000e-01,WAIT_W2,1792832877578891481,2.562699440e-06,-4.664065180e-04,2.266297869e-05,2.553007576e-06,-4.663842689e-04,2.241013694e-05,3.423886699e-06,-4.631419703e-04,2.287967476e-05,7.019581955e-01,-4.886772530e-04,8.601657502e-01,7.019581858e-01,-4.886550039e-04,8.601654974e-01,7.027486449e-01,-5.813492039e-04,8.303487822e-01
+21,9.500000000e-01,WAIT_W2,1792832877640507676,-8.894514691e-08,-4.479057851e-04,2.103050312e-05,2.553007576e-06,-4.663842689e-04,2.241013694e-05,3.415900323e-06,-4.632060525e-04,2.295983011e-05,7.019555439e-01,-4.701765201e-04,8.601641177e-01,7.019581858e-01,-4.886550039e-04,8.601654974e-01,7.027486369e-01,-5.814132860e-04,8.303488623e-01
+22,1.083333333e+00,WAIT_W2,1792832877787462707,2.148597888e-06,-4.506640551e-04,2.177632032e-05,2.553007576e-06,-4.663842689e-04,2.241013694e-05,3.429084487e-06,-4.632781080e-04,2.304658545e-05,7.019577814e-01,-4.729347901e-04,8.601648636e-01,7.019581858e-01,-4.886550039e-04,8.601654974e-01,7.027486501e-01,-5.814853416e-04,8.303489491e-01
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+24,1.233333333e+00,WAIT_W2,1792832877935638715,2.007633699e-06,-4.606978389e-04,2.418935658e-05,2.553007576e-06,-4.663842689e-04,2.241013694e-05,3.441062368e-06,-4.633278151e-04,2.307033815e-05,7.019576405e-01,-4.829685739e-04,8.601672766e-01,7.019581858e-01,-4.886550039e-04,8.601654974e-01,7.027486620e-01,-5.815350487e-04,8.303489728e-01
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+31,2.233333333e+00,UP_FORCE_RAMP,1792832878918262936,3.168043244e-06,-4.545463359e-04,2.933280296e-05,2.553007576e-06,-4.663842689e-04,2.241013694e-05,3.494796122e-06,-4.634617175e-04,2.291773398e-05,7.019588009e-01,-4.768170709e-04,8.601724200e-01,7.019581858e-01,-4.886550039e-04,8.601654974e-01,7.027487158e-01,-5.816689511e-04,8.303488202e-01
+32,2.416666667e+00,UP_FORCE_RAMP,1792832879097993458,2.182950216e-06,-4.565972353e-04,3.208008667e-05,2.553007576e-06,-4.663842689e-04,2.241013694e-05,3.503204247e-06,-4.634752355e-04,2.288747649e-05,7.019578158e-01,-4.788679704e-04,8.601751673e-01,7.019581858e-01,-4.886550039e-04,8.601654974e-01,7.027487242e-01,-5.816824690e-04,8.303487900e-01
+33,2.600000000e+00,UP_FORCE_RAMP,1792832879295544848,1.278727793e-06,-4.557440953e-04,3.402955467e-05,2.553007576e-06,-4.663842689e-04,2.241013694e-05,3.511399045e-06,-4.634873463e-04,2.285910813e-05,7.019569115e-01,-4.780148303e-04,8.601771168e-01,7.019581858e-01,-4.886550039e-04,8.601654974e-01,7.027487324e-01,-5.816945798e-04,8.303487616e-01
+34,2.733333333e+00,UP_FORCE_RAMP,1792832879458401204,1.248514795e-06,-4.532028014e-04,4.237350121e-05,3.065241920e-06,-4.590087750e-04,4.210560204e-05,4.272738889e-06,-4.561790984e-04,4.235358988e-05,7.019568813e-01,-4.754735364e-04,8.601854607e-01,7.019586981e-01,-4.812795100e-04,8.601851928e-01,7.027494937e-01,-5.743863320e-04,8.303682561e-01
+35,2.816666667e+00,UP_FORCE_RAMP,1792832879540740275,-3.129220939e-05,-4.524891440e-04,3.280575213e-05,-2.925924005e-05,-4.544671585e-04,3.488680972e-05,-3.028406455e-05,-4.516226881e-04,3.510791104e-05,7.019243406e-01,-4.747598791e-04,8.601758930e-01,7.019263736e-01,-4.767378936e-04,8.601779740e-01,7.027149369e-01,-5.698299217e-04,8.303610104e-01
+36,2.983333333e+00,UP_FORCE_RAMP,1792832879706407559,-2.460204230e-05,-4.545311251e-04,5.004616143e-05,-2.925924005e-05,-4.544671585e-04,3.488680972e-05,-3.040481378e-05,-4.516283079e-04,3.509335003e-05,7.019310308e-01,-4.768018601e-04,8.601931334e-01,7.019263736e-01,-4.767378936e-04,8.601779740e-01,7.027148162e-01,-5.698355415e-04,8.303609959e-01
+37,3.083333333e+00,UP_FORCE_RAMP,1792832879819440257,-2.277132227e-05,-4.510367631e-04,5.835866378e-05,-2.149445750e-05,-4.556945077e-04,5.588882996e-05,-2.192266714e-05,-4.529086763e-04,5.591625042e-05,7.019328615e-01,-4.733074981e-04,8.602014459e-01,7.019341384e-01,-4.779652427e-04,8.601989761e-01,7.027232983e-01,-5.711159099e-04,8.303818188e-01
+38,3.250000000e+00,UP_FORCE_RAMP,1792832880032564366,-1.837501419e-05,-4.512382845e-04,8.068719554e-05,-2.113093030e-05,-4.468520100e-04,7.415135306e-05,-2.127509305e-05,-4.441660069e-04,7.402047429e-05,7.019372578e-01,-4.735090195e-04,8.602237744e-01,7.019345019e-01,-4.691227450e-04,8.602172386e-01,7.027239459e-01,-5.623732405e-04,8.303999230e-01
+39,3.400000000e+00,UP_FORCE_RAMP,1792832880195324259,-1.919066846e-05,-4.519423429e-04,9.490690884e-05,-1.591417484e-05,-4.515623772e-04,9.603070120e-05,-1.542617937e-05,-4.488559486e-04,9.571458177e-05,7.019364421e-01,-4.742130779e-04,8.602379941e-01,7.019397186e-01,-4.738331122e-04,8.602391179e-01,7.027297948e-01,-5.670631822e-04,8.304216171e-01
+40,3.516666667e+00,UP_FORCE_RAMP,1792832880326696470,-1.573378179e-05,-4.485795480e-04,1.085933505e-04,-1.591417484e-05,-4.515623772e-04,9.603070120e-05,-1.541173195e-05,-4.488690580e-04,9.580208570e-05,7.019398990e-01,-4.708502830e-04,8.602516806e-01,7.019397186e-01,-4.738331122e-04,8.602391179e-01,7.027298092e-01,-5.670762915e-04,8.304217046e-01
+41,3.683333333e+00,UP_FORCE_RAMP,1792832880490414966,-1.265319432e-05,-4.495542424e-04,1.244951837e-04,-1.215564896e-05,-4.521919907e-04,1.181381974e-04,-1.114157210e-05,-4.495588695e-04,1.177397093e-04,7.019429796e-01,-4.718249775e-04,8.602675824e-01,7.019434772e-01,-4.744627257e-04,8.602612254e-01,7.027340794e-01,-5.677661031e-04,8.304436422e-01
+42,3.833333333e+00,UP_FORCE_RAMP,1792832880654305456,-1.494145387e-05,-4.494248593e-04,1.306420095e-04,-1.215564896e-05,-4.521919907e-04,1.181381974e-04,-1.112459950e-05,-4.495693918e-04,1.178237904e-04,7.019406914e-01,-4.716955943e-04,8.602737292e-01,7.019434772e-01,-4.744627257e-04,8.602612254e-01,7.027340964e-01,-5.677766254e-04,8.304437263e-01
+43,3.933333333e+00,UP_FORCE_RAMP,1792832880752754336,-5.057001276e-05,-4.523791908e-04,1.162584684e-04,-5.007850101e-05,-4.521810145e-04,1.163687988e-04,-5.152291081e-05,-4.495066908e-04,1.160815702e-04,7.019050628e-01,-4.746499258e-04,8.602593457e-01,7.019055543e-01,-4.744517495e-04,8.602594560e-01,7.026936981e-01,-5.677139243e-04,8.304419841e-01
+44,3.966666667e+00,UP_FORCE_RAMP,1792832880786229014,-5.234230148e-05,-4.500337614e-04,1.079265163e-04,-5.007850101e-05,-4.521810145e-04,1.163687988e-04,-5.157737138e-05,-4.495112900e-04,1.160878239e-04,7.019032905e-01,-4.723044964e-04,8.602510138e-01,7.019055543e-01,-4.744517495e-04,8.602594560e-01,7.026936436e-01,-5.677185235e-04,8.304419903e-01
+45,4.000000000e+00,UP_FORCE_RAMP,1792832880818258163,-3.389534769e-05,-4.531206489e-04,1.317006500e-04,-3.390226159e-05,-4.530975880e-04,1.315832173e-04,-3.419664240e-05,-4.504442271e-04,1.310603630e-04,7.019217375e-01,-4.753913839e-04,8.602747879e-01,7.019217306e-01,-4.753683231e-04,8.602746705e-01,7.027110243e-01,-5.686514607e-04,8.304569629e-01
+46,4.066666667e+00,UP_FORCE_RAMP,1792832880884321884,-3.628611656e-05,-4.505636403e-04,1.296717956e-04,-3.390226159e-05,-4.530975880e-04,1.315832173e-04,-3.420222231e-05,-4.504464551e-04,1.311117464e-04,7.019193467e-01,-4.728343753e-04,8.602727590e-01,7.019217306e-01,-4.753683231e-04,8.602746705e-01,7.027110188e-01,-5.686536887e-04,8.304570143e-01
+47,4.116666667e+00,UP_FORCE_RAMP,1792832880932765334,-4.776773458e-05,-4.521510071e-04,1.221514058e-04,-3.390226159e-05,-4.530975880e-04,1.315832173e-04,-3.421292326e-05,-4.504488094e-04,1.311375584e-04,7.019078651e-01,-4.744217421e-04,8.602652386e-01,7.019217306e-01,-4.753683231e-04,8.602746705e-01,7.027110081e-01,-5.686560430e-04,8.304570401e-01
+48,4.200000000e+00,UP_FORCE_RAMP,1792832881014565021,-4.623711539e-05,-4.498219758e-04,1.276549455e-04,-3.390226159e-05,-4.530975880e-04,1.315832173e-04,-3.422804826e-05,-4.504514512e-04,1.311714869e-04,7.019093957e-01,-4.720927108e-04,8.602707422e-01,7.019217306e-01,-4.753683231e-04,8.602746705e-01,7.027109929e-01,-5.686586847e-04,8.304570740e-01
+49,4.333333333e+00,UP_FORCE_RAMP,1792832881145521839,-4.529135948e-05,-4.508423869e-04,1.314583725e-04,-3.390226159e-05,-4.530975880e-04,1.315832173e-04,-3.424548842e-05,-4.504536153e-04,1.312117544e-04,7.019103415e-01,-4.731131219e-04,8.602745456e-01,7.019217306e-01,-4.753683231e-04,8.602746705e-01,7.027109755e-01,-5.686608489e-04,8.304571143e-01
+50,4.533333333e+00,UP_FORCE_RAMP,1792832881341971023,-4.745945832e-05,-4.508736375e-04,1.368747761e-04,-3.390226159e-05,-4.530975880e-04,1.315832173e-04,-3.426132331e-05,-4.504540498e-04,1.312537684e-04,7.019081734e-01,-4.731443725e-04,8.602799620e-01,7.019217306e-01,-4.753683231e-04,8.602746705e-01,7.027109597e-01,-5.686612833e-04,8.304571563e-01
+51,4.700000000e+00,UP_FORCE_RAMP,1792832881506280190,-4.943153754e-05,-4.476654905e-04,1.426250082e-04,-3.390226159e-05,-4.530975880e-04,1.315832173e-04,-3.426886583e-05,-4.504530167e-04,1.312792765e-04,7.019062013e-01,-4.699362256e-04,8.602857122e-01,7.019217306e-01,-4.753683231e-04,8.602746705e-01,7.027109521e-01,-5.686602503e-04,8.304571818e-01
+52,4.883333333e+00,UP_FORCE_RAMP,1792832881743618101,-5.443406963e-05,-4.469946754e-04,1.538111978e-04,-4.981139782e-05,-4.473606097e-04,1.432229481e-04,-5.120185543e-05,-4.447818652e-04,1.428218491e-04,7.019011987e-01,-4.692654104e-04,8.602968984e-01,7.019058214e-01,-4.696313447e-04,8.602863102e-01,7.026940191e-01,-5.629890988e-04,8.304687244e-01
+53,5.050000000e+00,UP_FORCE_RAMP,1792832881915385289,-6.007308686e-05,-4.458941703e-04,1.583082424e-04,-5.477067049e-05,-4.453471619e-04,1.626991232e-04,-5.626546051e-05,-4.427784364e-04,1.621048851e-04,7.018955597e-01,-4.681649053e-04,8.603013955e-01,7.019008621e-01,-4.676178969e-04,8.603057864e-01,7.026889555e-01,-5.609856699e-04,8.304880074e-01
+54,5.283333333e+00,UP_FORCE_HOLD,1792832882174050884,-5.728462484e-05,-4.427174282e-04,1.786890103e-04,-5.477067049e-05,-4.453471619e-04,1.626991232e-04,-5.631293577e-05,-4.427811113e-04,1.622155831e-04,7.018983482e-01,-4.649881632e-04,8.603217762e-01,7.019008621e-01,-4.676178969e-04,8.603057864e-01,7.026889080e-01,-5.609883448e-04,8.304881181e-01
+55,5.450000000e+00,UP_FORCE_HOLD,1792832882341540033,-5.804820144e-05,-4.467436977e-04,1.871393806e-04,-5.676030048e-05,-4.464348973e-04,1.842864448e-04,-5.820467616e-05,-4.438948623e-04,1.835876884e-04,7.018975846e-01,-4.690144328e-04,8.603302266e-01,7.018988725e-01,-4.687056324e-04,8.603273737e-01,7.026870163e-01,-5.621020958e-04,8.305094902e-01
+56,5.633333333e+00,UP_SETTLE,1792832882538405218,-5.994600165e-05,-4.448283313e-04,1.916090739e-04,-5.676030048e-05,-4.464348973e-04,1.842864448e-04,-5.822341674e-05,-4.438977543e-04,1.836834818e-04,7.018956868e-01,-4.670990663e-04,8.603346963e-01,7.018988725e-01,-4.687056324e-04,8.603273737e-01,7.026869976e-01,-5.621049879e-04,8.305095860e-01
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Fixed/digit/cylinder_15A_12.5/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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Fixed/digit/cylinder_15A_12.5/press_depth_05/down/camera_frames_60hz.tar

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Fixed/digit/cylinder_15A_12.5/press_depth_05/down/franka_data.csv

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+31851,1792832955177044511,11634640000000,1792832955176818587,XJC_ZERO_HOLD_BEFORE_DOWN,5,0.0598,0.05979672446846962,0.6759323839501039,-0.004908739621647645,0.09975889209920753,0.99999994267076,-0.00017022599429193365,-0.00026801529013636163,7.274789301190161e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,-0.0075019954782862275,-0.009920153432671164,0.005468805164396268,-0.0007539019140285347,0.0005450181046279118,5.3174798806337065e-05,0.9843604777216413,1.138663169897375,0.17737256184161862,0.07576390044636842,-0.06779091849438033,0.0017871185991653333,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,-0.014139037727039495,1.6084343068332356,1.6229834292346121,-0.3043569701768663,-1.0886801278752989,0.998157872795482,1.6323104815991827,-0.005468805164396268,0.009327052364570543,0.0,0.0,0,0,0.0,0.0
+32002,1792832956428036053,11635891000000,1792832956424818572,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6759336028247824,-0.004906311659810619,0.09975306604197644,0.9999999427467107,-0.00017181010680335901,-0.0002664793139151899,7.36172672118403e-05,0.6761,-0.0046,0.09997698847586532,1.0,0.0,0.0,0.0,-0.009673383673882152,-0.008126328924819681,0.01677778599941465,-0.00019172013091471596,0.0003087569554672265,-0.0005141024642257867,0.9821890895260453,1.1404569944052265,0.188681542676637,0.07632608222948224,-0.06802717964354102,0.0012198413361332095,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.06951158984143559,1.5782662151264868,1.6435636600784038,-0.2860259497632241,-1.0809563010988794,0.9802639606765104,1.6323104815991827,-0.01677778599941465,-0.011253178479221138,-0.011253178479221138,0.15750000000000092,0,0,-4.6815790226444005e-05,-9.999999025923074e-05
+32140,1792832957578007474,11637041000000,1792832957572819316,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.675934287190783,-0.004910398387651923,0.09971229331756482,0.999999942717692,-0.00016743365894699444,-0.00026643965787476697,8.356647300549959e-05,0.6761,-0.0046,0.09990539853961246,1.0,0.0,0.0,0.0,-0.017388686530591335,-0.028209781194954875,0.20491947760112228,-0.001272908587908364,0.0013311339544019168,-5.100454584262295e-05,0.9744737866693362,1.1203735421350913,0.37682323427834463,0.0752448937724886,-0.06700480264460633,0.0016829392545163733,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.16995559173282676,1.5442663580803033,1.25349248960868,-0.22957084158104563,-0.812855300280039,0.9561149523649481,1.6323104815991827,-0.20491947760112228,0.3788179919905026,0.3788179919905026,0.329999999999999,0,0,-6.509900706411364e-05,9.999999025923074e-05
+32242,1792832958427927444,11637891000000,1792832958420819916,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.675952226454477,-0.004919302599393643,0.09966174426047575,0.9999999528242762,-0.0001623113771525615,-0.0002198678311997898,0.00010539195000517969,0.6761,-0.0046,0.09985922376230669,1.0,0.0,0.0,0.0,-0.11111748030380575,-0.010545092735678496,0.3926593922223597,-0.00038729752772126425,0.006948588772687246,-0.00011445616508360366,0.8807449928961217,1.1380382305943677,0.564563148899582,0.0761305048326757,-0.061387347826321,0.0016194876352753926,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.31442868521908063,1.4125574886876597,1.0305172805385303,-0.15917932496844758,-0.6478939592081842,0.8643692713770263,1.6323104815991827,-0.3926593922223597,0.6017932010606524,0.6017932010606524,0.457499999999985,0,0,-3.621475401918849e-05,9.999999025923074e-05
+32379,1792832959569981231,11639033000000,1792832959568819105,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.675949919331319,-0.004918643919263258,0.0996426037703113,0.9999999508011661,-0.00016166483739062145,-0.00022763927727947463,0.00010902004174188939,0.6761,-0.0046,0.0998448830370521,1.0,0.0,0.0,0.0,-0.09293757440875117,-0.03434348787697816,0.486269176413639,-0.0014505972804178258,0.005937520237543563,-0.000214677439829093,0.8989248987911763,1.114239835453068,0.6581729330908613,0.07506720507997913,-0.06239841636146468,0.0015192663605299033,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.27074543300342124,1.442945072752472,0.9817735684864696,-0.15892665637229664,-0.6253021394950387,0.8689355951608414,1.6323104815991827,-0.486269176413639,0.6505369131127131,0.6505369131127131,0.6287999999999662,0,0,-2.1517004315796395e-06,2.1734347793733733e-05
+32513,1792832960686981467,11640150000000,1792832960684818579,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6759486879207244,-0.004917364565848655,0.09963642804140173,0.9999999512271172,-0.0001559952892899407,-0.00022921759769428644,0.00011006084750322324,0.6761,-0.0046,0.09982779339112677,1.0,0.0,0.0,0.0,-0.08405292461953295,-0.033649977034204914,0.5063520389555668,-0.0014544858613744632,0.005932958486610254,-0.00022982267853105661,0.9078095485803945,1.1149333462958413,0.6782557956327891,0.0750633164990225,-0.06240297811239799,0.0015041211218279396,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.311140486766148,1.4403613035021878,0.9407097926253055,-0.1436873804574214,-0.5904928750648204,0.8721337671676329,1.6323104815991827,-0.5063520389555668,0.6916006889738772,0.6916006889738772,0.7963499999999477,0,0,-3.281865051526912e-05,-9.999999025923074e-05
+32649,1792832961820008812,11641283000000,1792832961816819303,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6759459587131047,-0.004920121980396123,0.09960303076637002,0.999999950213409,-0.00014907984623279194,-0.00023373278030030354,0.00011899676755572328,0.6761,-0.0046,0.09976201086873887,1.0,0.0,0.0,0.0,-0.1025604831310144,-0.04607087992091019,0.6165710600812294,-0.0019080531326745725,0.006928510481496737,-0.0003130850873586787,0.8893019900689131,1.102512443409136,0.7884748167584518,0.07460974922772239,-0.06140742611751151,0.0014208587130003175,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.33408068882574904,1.3876529709446495,0.8616846296177608,-0.09731881485385106,-0.5392378472143035,0.8305845969392255,1.6323104815991827,-0.6165710600812294,0.7706258519814219,0.7706258519814219,0.966299999999929,0,0,-8.231746001094298e-05,-9.840423895036138e-05
+32806,1792832963127938104,11642591000000,1792832963124818647,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6759701097137213,-0.004928885234673596,0.09954875654837142,0.9999999604363726,-0.00013738384377522225,-0.0001771574216780557,0.00014251682293463103,0.6761,-0.0046,0.09965049455319083,1.0,0.0,0.0,0.0,-0.17876685188001473,-0.02740434770783362,0.8753109422526657,-0.0006682722315820705,0.011904849878551435,-0.000432428173283589,0.8130956213199128,1.1211789756222126,1.047214698929888,0.07584953012881489,-0.05643108672045681,0.0013015156270754073,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.4770063654634937,1.3719969746264435,0.4793102663234537,-0.031167289455989906,-0.27789642368701395,0.8128442818343556,1.6323104815991827,-0.8753109422526657,1.153000215275729,1.153000215275729,1.1625000000000276,0,0,-6.938232672140809e-05,8.762717915023472e-05
+32951,1792832964336952718,11643800000000,1792832964332819354,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6759717262988071,-0.0049275341403157945,0.09950451720572727,0.9999999606327002,-0.0001308412982483936,-0.00017395700280463286,0.00015098668198104562,0.6761,-0.0046,0.09959923524907545,1.0,0.0,0.0,0.0,-0.190785135670564,-0.030058399552195025,1.028029600074239,-0.0013508990697192053,0.012901592324193877,0.0004766935530886513,0.8010773375293635,1.1185249237778512,1.1999333567514614,0.07516690329067775,-0.05543434427481437,0.0022106373534476476,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.4962835447331951,1.3359185206300497,0.36429256292647505,-0.01347023771731798,-0.19505073607332332,0.7802584882324753,1.6323104815991827,-1.028029600074239,1.2680179186727076,1.2680179186727076,1.3438500000001419,0,0,-2.0282966371769302e-05,-9.990234614421496e-05
+33081,1792832965419996948,11644883000000,1792832965412819198,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.675972976120233,-0.0049316921018624504,0.09949125944635868,0.999999960327537,-0.0001355288781080503,-0.00017070917385877577,0.00015257158968418207,0.6761,-0.0046,0.09957632492602923,1.0,0.0,0.0,0.0,-0.1891513511302475,-0.036002685107658694,1.0827000505512048,-0.0007952585061870576,0.012888227744342548,0.00043500200921411394,0.80271112206968,1.1125806382223875,1.2546038072284271,0.0757225438542099,-0.0554477088546657,0.00216894580957311,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.5111609094573069,1.4461555190982724,0.17733679733918925,-0.04504884614839515,-0.07402091036207627,0.8490859024970039,1.6323104815991827,-1.0827000505512048,1.4549736842599934,1.4549736842599934,1.5063000000002442,0,0,-3.412449516990013e-05,-9.961417388038569e-05
+33215,1792832966536959599,11646000000000,1792832966532818490,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6759769493552386,-0.004932760199839924,0.09945327339549098,0.9999999615731966,-0.00012579325241198405,-0.00015942770142814006,0.00016448506101243943,0.6761,-0.0046,0.0995133023743088,1.0,0.0,0.0,0.0,-0.21724970283531198,-0.03831585351700473,1.2180286412511883,-0.0017632988465997035,0.01489293604152521,0.0003523173059078969,0.7746127703646155,1.1102674698130415,1.3899323979284106,0.07475450351379725,-0.053443000557483036,0.002086261106266893,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.5687140588076623,1.3180761022959415,0.06005736551450831,0.014455657275432104,0.012677255915029304,0.7707667434835972,1.6323104815991827,-1.2180286412511883,1.5722531160846744,1.5722531160846744,1.6738500000003498,0,0,-7.352668508350669e-05,-9.01473299049826e-05
+33343,1792832967602975097,11647066000000,1792832967600818802,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6759901337164945,-0.004938607892038285,0.0994031196818027,0.9999999634551725,-0.0001301977308558313,-0.00013214499978000035,0.00017354759512139061,0.6761,-0.0046,0.0994288170405914,1.0,0.0,0.0,0.0,-0.2639940443048784,-0.025554862828158775,1.418744027286361,8.378133918407471e-05,0.01684278387682995,0.00023406504228589624,0.7278684288950491,1.1230284605018874,1.5906477839635833,0.07660158369958103,-0.0514931527221783,0.0019680088426448925,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.6433387723721283,1.2674051886580793,-0.14531028690263603,0.016863354214637683,0.16153472570175104,0.7313904039724473,1.6323104815991827,-1.418744027286361,1.7776207685018188,1.7776207685018188,1.8337500000004505,0,0,-7.442528218748289e-05,7.141620595075619e-05
+33403,1792832968102987550,11647566000000,1792832968096819409,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6760308320710573,-0.004931155936557671,0.09939659925729875,0.9999999678969759,-0.00012432654797348648,-9.439422353528369e-05,0.00017686591388182702,0.6761,-0.0046,0.09939390380307427,1.0,0.0,0.0,0.0,-0.3425228998909784,0.07170819051396937,1.4287858001143752,0.006081815647268229,0.022709846689993263,0.00038297734694958175,0.6493395733089491,1.2202915138440156,1.6006895567915975,0.08259961800766519,-0.04562608990901498,0.002116921147308578,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.7197051893765305,1.4209373199474356,-0.11699343098865814,-0.01748009814378515,0.1346207689785991,0.837857344516631,1.6323104815991827,-1.4287858001143752,1.749303912587841,1.749303912587841,1.9087500000004978,0,0,-7.435856095724803e-05,-9.999999025923074e-05
+33529,1792832969152975584,11648616000000,1792832969152818970,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6760415826589068,-0.004920963552838263,0.09934812513455242,0.999999963985481,-0.00022494918645890648,-6.508538810788594e-05,9.291747261780674e-05,0.6761,-0.0046,0.0993155469435341,1.0,0.0,0.0,0.0,-0.34533732937871886,0.09351283300421165,1.613309618903531,0.008066573660819601,0.02272130633114059,0.0010840294849183113,0.6465251438212086,1.2420961563342579,1.7852133755807533,0.08458437602121656,-0.045614630267867655,0.0028179732852773075,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.9352514377521458,1.3001636746554734,-0.39850509409539525,0.03205250806216427,0.3751863550189509,0.7521599830982202,1.6323104815991827,-1.613309618903531,2.030815575694578,2.030815575694578,2.066250000000597,0,0,-6.157350686678142e-05,8.080402599664466e-05
+33661,1792832970252974045,11649716000000,1792832970252819155,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.676054974311183,-0.004930705903135338,0.09930498072493983,0.9999999639985857,-0.00022240543237570908,-4.173836347225646e-05,0.00011063193071990037,0.6761,-0.0046,0.09923929889485068,1.0,0.0,0.0,0.0,-0.3273498926135019,0.15409117039799147,1.775611402938441,0.012120040887281733,0.022603267855746914,0.0011981568129594358,0.6645125805864256,1.3026744937280377,1.9475151596156635,0.08863784324767869,-0.04573266874326133,0.002932100613318432,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,0.998566386133491,1.3380387992896292,-0.493556173833225,-0.027784156518245652,0.45966680589626085,0.794683857021868,1.6323104815991827,-1.775611402938441,2.1258666554324077,2.1258666554324077,2.231250000000701,0,0,-6.85886091769935e-05,-9.921875407237763e-05
+33806,1792832971462902863,11650925000000,1792832971456818581,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6760622015561606,-0.004932748436218194,0.09926027151601424,0.9999999650922695,-0.0002122844268696752,-3.134489245454106e-05,0.00012333346651798935,0.6761,-0.0046,0.0991767069886912,1.0,0.0,0.0,0.0,-0.3780612644221051,0.1570072863712355,1.9259391788541371,0.013096288365621753,0.024499419207912987,0.00111637483816269,0.6138012087778224,1.3055906097012817,2.0978429355313595,0.08961409072601871,-0.04383651739109526,0.002850318638521686,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.0627061777104276,1.3364537425904015,-0.7678463453261165,0.01702989608661788,0.6435084197584804,0.7831200650405161,1.6323104815991827,-1.9259391788541371,2.4001568269252993,2.4001568269252993,2.412600000000815,0,0,-4.207236209832909e-05,9.929441577150584e-05
+33930,1792832972494937111,11651958000000,1792832972492818447,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6760739947812014,-0.004933580849532008,0.09923450792842221,0.999999965139123,-0.0002114019845682861,-1.182052787946831e-05,0.0001278049016952329,0.6761,-0.0046,0.09912725750155094,1.0,0.0,0.0,0.0,-0.39493889549947203,0.17346854635318754,2.0243693504030684,0.013122274759555463,0.02658094941302802,0.0010641852502076647,0.5969235777004555,1.3220518696832337,2.1962731070802906,0.08964007711995242,-0.041754987185980225,0.002798129050566661,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.120871056066029,1.4284667943520486,-0.8435125536773839,-0.0007396337573570159,0.6999271685052134,0.8376149899303175,1.6323104815991827,-2.0243693504030684,2.4758230352765667,2.4758230352765667,2.567550000000913,0,0,-5.867171853499021e-05,-9.37501423977693e-05
+34054,1792832973527956165,11652991000000,1792832973524819456,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6760838501629021,-0.004935134906581544,0.0991891281623953,0.9999999848909898,-7.627082778913905e-05,4.374281110140601e-06,0.000125795512124184,0.6761,-0.0046,0.09906062466268963,1.0,0.0,0.0,0.0,-0.4165151003076638,0.19424272955540034,2.176300176014702,0.014944007919318797,0.028538795518312628,0.0009924784413814127,0.5753473728922637,1.3428260528854465,2.348203932691924,0.09146181027971576,-0.03979714108069562,0.002726422241740409,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.1847074172446441,1.4749204959598636,-1.0787285628450705,-0.04372921213123202,0.8676589236716178,0.8068118539653497,1.6323104815991827,-2.176300176014702,2.711039044444253,2.711039044444253,2.7225000000010104,0,0,-6.534220215318053e-05,9.769150352412765e-05
+34202,1792832974761960335,11654225000000,1792832974756819346,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6760970551278419,-0.004939573205217676,0.09913488100563726,0.9999999826679121,-8.736662958047551e-05,2.751251759722914e-05,0.0001331058726153939,0.6761,-0.0046,0.09897788248518741,1.0,0.0,0.0,0.0,-0.45542884538730377,0.21494211596083446,2.355136117370077,0.016888471729222143,0.030483317807349607,0.001924887376439832,0.5364336278126237,1.3635254392908807,2.5270398740472992,0.0934062740896191,-0.03785261879165864,0.003658831176798828,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.3002057880689053,1.3940383474641607,-1.2678486497725037,-0.00702198104875638,1.0122885302527607,0.7721025967052062,1.6323104815991827,-2.355136117370077,2.9001591313716863,2.9001591313716863,2.907600000001127,0,0,-6.987002754557802e-05,9.997557923047679e-05
+34317,1792832975719949548,11655183000000,1792832975712819118,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6761104097995999,-0.004936681009164922,0.09909302192887767,0.9999999809760037,-8.932336812408297e-05,4.748381958308221e-05,0.00013877132061775667,0.6761,-0.0046,0.09891414842862954,1.0,0.0,0.0,0.0,-0.4845131522432855,0.22963043562095575,2.4991587829980357,0.017828364582453543,0.03245938443541295,0.001847786613629297,0.507349320956642,1.378213758951002,2.6710625396752583,0.0943461669428505,-0.035876552163595296,0.0035817304139882933,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.3196934784036807,1.454969189520306,-1.3895361490740907,-0.011276317451420414,1.086422123727681,0.830709208960964,1.6323104815991827,-2.4991587829980357,3.0218466306732736,3.0218466306732736,3.0513000000012176,0,0,-6.090437968256512e-05,9.998930436261872e-05
+34447,1792832976802851887,11656266000000,1792832976800819225,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6761241293125723,-0.004937229350980437,0.09905826269877724,0.9999999785674561,-9.190760594624041e-05,6.935677017096698e-05,0.0001450881870885574,0.6761,-0.0046,0.09885257191687563,1.0,0.0,0.0,0.0,-0.5135561350052851,0.2408352229492634,2.63062766580184,0.018769220354295943,0.03443885825774714,0.001781253031782271,0.47830633819464247,1.3894185462793096,2.802531422479062,0.0952870227146929,-0.03389707834126111,0.0035151968321412673,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.3436268541030219,1.3220892523104195,-1.555401224524238,0.04536880090344209,1.1958141386098478,0.7657862014917092,1.6323104815991827,-2.63062766580184,3.1877117061234204,3.1877117061234204,3.21375000000132,0,0,-5.3121652761307974e-05,9.996966729287066e-05
+34581,1792832977919923046,11657383000000,1792832977912819596,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6761311080850797,-0.004944968056904187,0.09901586583026148,0.9999999759326437,-0.00010389409319963371,8.063185143780083e-05,0.00014927189413069456,0.6761,-0.0046,0.09879353086601891,1.0,0.0,0.0,0.0,-0.543151040682957,0.25890843007974285,2.7607970235553045,0.01971163645240462,0.036417799745640175,0.0017152621426077864,0.44871143251697043,1.407491753409789,2.932700780232527,0.09622943881280158,-0.03191813685336807,0.0034492059429667827,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.4074685699993499,1.2519546840279325,-1.7167854730038254,0.07471696222605495,1.3081804146300262,0.7295317446585367,1.6323104815991827,-2.7607970235553045,3.3490959546030084,3.3490959546030084,3.3813000000014255,0,0,-5.706523047569056e-05,9.958267130206195e-05
+34715,1792832979036890523,11658500000000,1792832979032819136,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6761417837625852,-0.0049419720740241,0.09896750990566273,0.9999999739888678,-0.00010890802367645817,9.57817989506328e-05,0.00014976654357190994,0.6761,-0.0046,0.09872151737463568,1.0,0.0,0.0,0.0,-0.5717219494065227,0.2884231870512599,2.911972623888489,0.021673713629329155,0.03829087247330497,0.0016437160345821342,0.4201405237934049,1.4370065103813061,3.0838763805657115,0.09819151598972611,-0.03004506412570328,0.0033776598349411304,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.4769973214357748,1.2735392504626486,-1.9144109374871077,0.07899570957373898,1.4485924750010812,0.7495707229109495,1.6323104815991827,-2.911972623888489,3.5467214190862904,3.5467214190862904,3.548850000001531,0,0,-6.942304544147048e-05,9.987059376571068e-05
+34874,1792832980361889481,11659825000000,1792832980356818644,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6761604145831084,-0.00494350552389046,0.09890988863369565,0.999999968804097,-0.00012590287031583432,0.00012782150123840142,0.00014712171988933313,0.6761,-0.0046,0.09863414452675653,1.0,0.0,0.0,0.0,-0.6001587965819282,0.3174617436977587,3.097675712454402,0.023623557517718954,0.040319637853555385,0.0015712057482377359,0.3917036766179994,1.466045067027805,3.2695794691316244,0.10014135987811591,-0.02801629874545286,0.003305149548596732,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.5678180795839454,1.2887661303139355,-2.154768649479776,0.07007132255815549,1.6214424970196801,0.755035666283429,1.6323104815991827,-3.097675712454402,3.7870791310789587,3.7870791310789587,3.7476000000016563,0,0,-6.174558478813796e-05,9.922484642122526e-05
+35002,1792832981427828749,11660891000000,1792832981420819096,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6761695661529659,-0.004939880747252512,0.0988595218638131,0.999999963855526,-0.00017046644480946251,0.0001462431373814607,0.00011526468194502936,0.6761,-0.0046,0.09856897596127785,1.0,0.0,0.0,0.0,-0.6037682119241821,0.3548717588034829,3.245853547213974,0.026651254812713493,0.04022392823057719,0.00248378739165864,0.38809426127574537,1.503455082133529,3.4177573038911966,0.10316905717311045,-0.02811200836843106,0.004217731192017636,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.5906444108717233,1.2695358029983483,-2.17196721724416,0.0939569850494658,1.6314368656305018,0.7432212169285735,1.6323104815991827,-3.245853547213974,3.8042776988433427,3.8042776988433427,3.907500000001757,0,0,-6.0085478491315965e-05,-9.921875407237763e-05
+35137,1792832982552830246,11662016000000,1792832982548819845,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.676181497596317,-0.004943252799376276,0.09881545308169801,0.9999999589406325,-0.00018015204990510963,0.00016475173479618707,0.00011816810969380678,0.6761,-0.0046,0.09850120702119958,1.0,0.0,0.0,0.0,-0.6289629331752592,0.37264392851698513,3.3865497865761087,0.02759174410875785,0.04220063558928196,0.0024131943569724867,0.3628995400246683,1.5212272518470313,3.558453543253331,0.10410954646915481,-0.02613530100972629,0.004147138157331483,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.6288194949907189,1.3164463482679118,-2.400753122602817,0.08411515976456609,1.7848159498196727,0.77165244376862,1.6323104815991827,-3.3865497865761087,4.033063604202,4.033063604202,4.076250000001638,0,0,-6.093931651377093e-05,1.192547035978038e-05
+35261,1792832983586920843,11663050000000,1792832983584819190,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6761892784255811,-0.004945782082503783,0.09876533039388015,0.9999999555593816,-0.00018642312938404752,0.00017570206966945444,0.00012124066329773878,0.6761,-0.0046,0.09843367080476866,1.0,0.0,0.0,0.0,-0.6497183367612505,0.39029499279075264,3.519584323980891,0.028534481775960047,0.04414949035109342,0.0023462376784802678,0.3421441364386771,1.5388783161207988,3.691488080658113,0.105052284136357,-0.024186446247914824,0.004080181478839264,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.6875906656668083,1.3038635228597453,-2.49377472912865,0.095712483968352,1.856447569894951,0.770530008443603,1.6323104815991827,-3.519584323980891,4.126085210727833,4.126085210727833,4.231350000001276,0,0,-7.256505897143407e-05,-9.999996250365512e-05
+35385,1792832984619896937,11664083000000,1792832984616819209,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.676203245227078,-0.004950692599837812,0.09871778501948425,0.9999999494737971,-0.00019241015162716241,0.00019946769703156386,0.00012524471638631458,0.6761,-0.0046,0.09835975729749202,1.0,0.0,0.0,0.0,-0.6889927549992806,0.4084664602697481,3.6657603529468545,0.029473576111413602,0.046150350096495374,0.0022662592186773536,0.3028697182006469,1.5570497835997943,3.837664109624077,0.10599137847181056,-0.022185586502512872,0.00400020301903635,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.7631358228387028,1.3224839507741017,-2.648399672745589,0.09446494403805644,1.9704961634136833,0.7784876657047939,1.6323104815991827,-3.6657603529468545,4.280710154344772,4.280710154344772,4.386300000000915,0,0,-7.043925728397594e-05,-9.838555944797207e-05
+35505,1792832985619903878,11665083000000,1792832985612818953,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6762131271784808,-0.004947409274312124,0.09866644065472703,0.9999999471480567,-0.00018166474716195665,0.00021711033597060438,0.00013041383984886977,0.6761,-0.0046,0.09828740652387048,1.0,0.0,0.0,0.0,-0.7111454481689787,0.4187200706432439,3.7990614699518153,0.031413731664627825,0.047102346672394366,0.002194106927884877,0.28071702503094875,1.56730339397329,3.9709652266290374,0.10793153402502478,-0.02123358992661388,0.003928050728243873,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.8208520710319307,1.1927520003914642,-2.8691819288663925,0.12989108491161508,2.1230925746567784,0.7001380512746878,1.6323104815991827,-3.7990614699518153,4.501492410465575,4.501492410465575,4.5363000000005655,0,0,-7.193034965294475e-05,9.982735057890153e-05
+35633,1792832986686831557,11666150000000,1792832986680818729,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.676227877572336,-0.004956991789411877,0.09862078996518113,0.9999999527395966,-9.466855500293878e-05,0.00024136789875483093,0.0001369053354533863,0.6761,-0.0046,0.0982115307676063,1.0,0.0,0.0,0.0,-0.7402178360765496,0.4364287630920656,3.929741219448326,0.03240292015843438,0.04907949553879615,0.0021252967527869105,0.2516446371233779,1.5850120864221118,4.101644976125549,0.10892072251883134,-0.0192564410602121,0.0038592405531459066,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.9040267624408584,1.4203878140086237,-3.002171133028453,0.036307476277334265,2.233693004278137,0.7980024480487985,1.6323104815991827,-3.929741219448326,4.634481614627635,4.634481614627635,4.6963500000001925,0,0,-7.38554382396158e-05,-3.905295024779303e-06
+35758,1792832987727828731,11667191000000,1792832987720818857,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6762398743436214,-0.00495635358081574,0.09856540922316807,0.9999999459487071,-0.00010787176800045904,0.0002625835112425375,0.00013769178803509994,0.6761,-0.0046,0.0981311610794204,1.0,0.0,0.0,0.0,-0.7691791812736994,0.4527000220485462,4.071080449309744,0.03333611160357268,0.05105112628091782,0.0024060991926249282,0.22268329192622807,1.6012833453785924,4.242984205986967,0.10985391396396964,-0.017284810318090423,0.004140042992983924,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,1.9152706084938154,1.352777902560881,-3.149830488396185,0.07961152102645182,2.32518170192856,0.7783773479974896,1.6323104815991827,-4.071080449309744,4.782140969995368,4.782140969995368,4.852499999999829,0,0,-7.783739392894085e-05,-2.3596148672427833e-05
+35890,1792832988827863816,11668291000000,1792832988820819578,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6762525556811925,-0.0049564358308406805,0.09850668000897522,0.9999999382410111,-0.00012616605559925422,0.00028344681482456884,0.00013675111683584068,0.6761,-0.0046,0.09804645363998275,1.0,0.0,0.0,0.0,-0.7899543655158441,0.48352360762646596,4.236600434649876,0.03469238036856501,0.05301037886588871,0.0029856002609924773,0.20190810768408343,1.6321069309565122,4.408504191327099,0.11121018272896196,-0.015325557733119534,0.004719544061351473,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.0338121332244943,1.2385150161312428,-3.4006005846583243,0.13524817547969253,2.5119320133390346,0.7302447646231955,1.6323104815991827,-4.236600434649876,5.0329110662575065,5.0329110662575065,5.017499999999444,0,0,-7.15739769160687e-05,8.75488251602718e-05
+36037,1792832990052854156,11669516000000,1792832990048819649,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6762679607112884,-0.004959535630446848,0.0984517744171894,0.9999999291872924,-0.00014184085480642707,0.0003078582437019937,0.00013480633511406474,0.6761,-0.0046,0.09796320275438263,1.0,0.0,0.0,0.0,-0.8092763214666235,0.5034994007171916,4.384843223745451,0.03625821570635049,0.05396397097737658,0.0029057423816273914,0.18258615173330392,1.6520827240472378,4.556746980422673,0.11277601806674745,-0.01437196562163166,0.004639686181986387,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.1160834368144195,1.156117879846904,-3.5011307310784163,0.16901135713177912,2.5929816299211117,0.6779905768065039,1.6323104815991827,-4.384843223745451,5.1334412126775995,5.1334412126775995,5.201249999999016,0,0,-7.001966624150947e-05,-2.835478660057618e-05
+36167,1792832991136841546,11670600000000,1792832991132818992,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6762822169191398,-0.0049567624029883866,0.09839603419109978,0.9999999203302881,-0.00015446531061274546,0.0003317550527064513,0.0001298512019479802,0.6761,-0.0046,0.09788125770951663,1.0,0.0,0.0,0.0,-0.8293996304648361,0.5238595452323362,4.517996131016254,0.038247185588562924,0.05491069284528792,0.002831152993974668,0.1624628427350914,1.6724428685623824,4.6898998876934765,0.11476498794895988,-0.013425243753720329,0.004565096794333664,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.1431328046469735,1.2376285965127685,-3.7310671193298024,0.1525423912473967,2.7422590414639108,0.7312148829761701,1.6323104815991827,-4.517996131016254,5.363377600928985,5.363377600928985,5.363849999998637,0,0,-8.211464451871186e-05,9.998779168374767e-05
+36287,1792832992136841161,11671600000000,1792832992132818726,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6762948507739549,-0.004961307859067678,0.09833846674580785,0.9999999099524972,-0.00017014047563712026,0.00035484402953590605,0.0001291347936607395,0.6761,-0.0046,0.09779912648760189,1.0,0.0,0.0,0.0,-0.8563758102570583,0.5417858135794853,4.654781206925022,0.03918868642610786,0.05688796353301802,0.0027622842410974756,0.13548666294286918,1.6903691369095315,4.826684963602244,0.11570648878650482,-0.011447973065990224,0.004496228041456472,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.175920270500916,1.1233164560766058,-3.7256821154738122,0.18896330422611352,2.7436176758500594,0.6538086418070767,1.6323104815991827,-4.654781206925022,5.357992597072995,5.357992597072995,5.513849999998287,0,0,-8.119645608237048e-05,-9.999990699250389e-05
+36460,1792832993577825500,11673041000000,1792832993572818804,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6763100898451699,-0.004962092080852559,0.09825133278549379,0.9999998991374666,-0.00018022034663265528,0.00037954914952031965,0.00012896119853785066,0.6761,-0.0046,0.0976852618038019,1.0,0.0,0.0,0.0,-0.8688807449289871,0.551268238138424,4.83567845100628,0.04014838003640546,0.0578433438583589,0.0026418491014141903,0.12298172827094032,1.6998515614684702,5.007582207683503,0.11666618239680242,-0.010492592740649344,0.004375792901773186,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.1854340846062743,1.2615651011866984,-4.018633852795973,0.15999379090367832,2.9302059585674924,0.7469622486926007,1.6323104815991827,-4.83567845100628,5.650944334395156,5.650944334395156,5.7299999999977835,0,0,-8.24021384835102e-05,-9.820058241428171e-05
+36586,1792832994627860926,11674091000000,1792832994624819647,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6763228467341794,-0.004962105727037147,0.09818640580069406,0.9999998918367032,-0.00017124871300680845,0.00040219359563468433,0.00012916515031007685,0.6761,-0.0046,0.09758876790281042,1.0,0.0,0.0,0.0,-0.8835915703739723,0.5809842164914809,4.966721577224935,0.04208952401854295,0.05892532219082158,0.00257381148077395,0.1082709028259552,1.7295675398215271,5.138625333902158,0.1186073263789399,-0.009410614408186664,0.004307755281132946,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.335571712926622,1.1901182276717606,-4.032653516496526,0.1955604844007654,2.978261334459703,0.7048476040320258,1.6323104815991827,-4.966721577224935,5.664963998095709,5.664963998095709,5.8874999999974165,0,0,-9.865749518308953e-05,-9.998151892365854e-05
+36712,1792832995677859568,11675141000000,1792832995676818260,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6763386660655007,-0.004969760227348651,0.09810867718766392,0.9999998877927018,-0.00012371777071526718,0.0004283493673784993,0.00013064524805425038,0.6761,-0.0046,0.09748589684173811,1.0,0.0,0.0,0.0,-0.9144018289023924,0.5888694137448007,5.153804349811647,0.04241403215517957,0.060766603373547286,0.002674849180277632,0.07746064429753512,1.737452737074847,5.32570810648887,0.11893183451557653,-0.007569333225460957,0.004408792980636628,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.3055563876790828,1.198086565574955,-4.321404517360018,0.2049270547862901,3.1532840113116607,0.7145674749005312,1.6323104815991827,-5.153804349811647,5.953714998959201,5.953714998959201,6.044999999997049,0,0,-9.496345041856558e-05,-9.712923107330624e-05
+36830,1792832996661810666,11676125000000,1792832996656818628,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6763476497236958,-0.004978305376535903,0.09803690055933661,0.999999877630913,-0.00013690274555340026,0.0004464899079053319,0.00013448205727338436,0.6761,-0.0046,0.09739308226056041,1.0,0.0,0.0,0.0,-0.9191201523436604,0.6070995543174151,5.2643467546572715,0.04389787818065506,0.06172119208545591,0.00339530629782516,0.07274232085626711,1.7556828776474613,5.436250511334494,0.12041568054105202,-0.006614744513552336,0.005129250098184156,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.437084218469362,1.237461141472695,-4.421464004875835,0.20122611848315147,3.252330403027175,0.7384651877939834,1.6323104815991827,-5.2643467546572715,6.053774486475017,6.053774486475017,6.192599999996705,0,0,-9.49587518020697e-05,-9.999856084708653e-05
+36957,1792832997719819753,11677183000000,1792832997712818797,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6763596145083434,-0.004968172212612924,0.09795138910196077,0.9999998687145085,-0.00014228760890098137,0.00046538000276500214,0.00013110880721454752,0.6761,-0.0046,0.09728552957006074,1.0,0.0,0.0,0.0,-0.9351396897425791,0.6103817988084799,5.39242730718222,0.0429822798999675,0.06271701132401744,0.003330746106148727,0.05672278345734837,1.758965122138526,5.564331063859442,0.11950008226036446,-0.0056189252749908065,0.005064689906507723,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.40788419073614,1.22416812979904,-4.5414739301366485,0.22262554516413444,3.320248532345688,0.7351830514637281,1.6323104815991827,-5.39242730718222,6.173784411735831,6.173784411735831,6.3512999999963355,0,0,-0.00011235588613242443,-9.921428542470351e-05
+37077,1792832998719792804,11678183000000,1792832998716818481,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.676373516058442,-0.004975812055505868,0.09786039671554787,0.999999855930653,-0.00015985435977149893,0.0004867145266687413,0.00013090871169837108,0.6761,-0.0046,0.09717183791218238,1.0,0.0,0.0,0.0,-0.9392268360885055,0.6292509380150515,5.519931425179164,0.04495277906123962,0.06367144198828469,0.003259648763903524,0.0526356371114219,1.7778342613450977,5.691835181856386,0.12147058142163658,-0.004664494610723558,0.00499359256426252,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.517060403013248,1.277835298724586,-4.783278253067046,0.2251603593583645,3.5028114137090682,0.7718101253618525,1.6323104815991827,-5.519931425179164,6.415588734666228,6.415588734666228,6.501299999995986,0,0,-0.00011409422393385415,9.999847758035969e-05
+37203,1792832999769838613,11679233000000,1792832999768818776,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6763866881870813,-0.004980721691243318,0.09775729095422882,0.9999998418721456,-0.000173534351191824,0.0005094807126414346,0.0001342154252192206,0.6761,-0.0046,0.09704714010260408,1.0,0.0,0.0,0.0,-0.9395766281992961,0.6342939792073352,5.654051634413215,0.044926672795106204,0.0636908744796809,0.0031482744905510203,0.052285845000631416,1.7828773025373814,5.825955391090438,0.12144447515550316,-0.004645062119327345,0.004882218290910016,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.5615117930929543,1.2308597876065352,-4.911041879251128,0.24576681981330703,3.5969220716312633,0.7354482837654267,1.6323104815991827,-5.654051634413215,6.54335236085031,6.54335236085031,6.658799999995619,0,0,-0.00012287286784848218,-9.784651841394094e-05
+37313,1792833000686761802,11680150000000,1792833000684818909,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6763922894500934,-0.004987019769583357,0.09765604047621267,0.9999998345396239,-0.00018510178817515377,0.000518694842090495,0.00013804556446173785,0.6761,-0.0046,0.09693253656014977,1.0,0.0,0.0,0.0,-0.9325662705089025,0.6261440023919722,5.780845143185421,0.04428542145767089,0.06364045569391052,0.0030409280857070873,0.05929620269102501,1.7747273257220184,5.952748899862644,0.12080322381806785,-0.004695480905097723,0.004774871886066083,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.5596514901312646,1.1801054123416304,-5.055009158092425,0.2731523132664547,3.693078174892654,0.7013555308615846,1.6323104815991827,-5.780845143185421,6.687319639691607,6.687319639691607,6.796349999995298,0,0,-0.00012848210947209545,-2.378103931650866e-05
+37443,1792833001769844333,11681233000000,1792833001768828423,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6764076472478174,-0.004987013889053424,0.09754226671898528,0.9999998184840605,-0.0001911927604676565,0.0005456712214743459,0.00014199632619139733,0.6761,-0.0046,0.09678694020590602,1.0,0.0,0.0,0.0,-0.9401297925117331,0.6405310787483423,5.883325287368744,0.04481943040425476,0.06460670858805025,0.0029817061313708324,0.0517326806881944,1.7891144020783885,6.055229044045967,0.12133723276465172,-0.0037292280109579934,0.004715649931729828,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.6260513416788034,1.289504952565713,-5.264714665594934,0.24234356242283706,3.8441253284582855,0.7727827613227742,1.6323104815991827,-5.883325287368744,6.8970251471941175,6.8970251471941175,6.95879999999492,0,0,-0.0001437076910429117,9.826550270564666e-05
+37565,1792833002786791578,11682250000000,1792833002780829235,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6764223842087908,-0.0049846783361828335,0.09741711461352598,0.9999998198401464,-9.0099338545123e-05,0.0005681269655408621,0.00014448667535160256,0.6761,-0.0046,0.09663401286535989,1.0,0.0,0.0,0.0,-0.8951639897330081,0.6700175295622992,6.0122010691928045,0.04591087601759364,0.06252930707079457,0.0028631863459286514,0.09669848346691932,1.8186008528923454,6.184104825870027,0.1224286783779906,-0.005806629528213679,0.004597130146287647,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.682584159000231,1.3866827656264147,-5.370986907552546,0.21743523510801574,3.9322390669561127,0.7955448400999259,1.6323104815991827,-6.0122010691928045,7.003297389151729,7.003297389151729,7.111349999994564,0,0,-0.00015738375487986544,9.852102053476414e-05
+37675,1792833003702736443,11683166000000,1792833003700818917,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6764358326444392,-0.004989926508035119,0.09728594228106362,0.9999998028138359,-0.00011957838600092994,0.0005906569843762099,0.00015046757140267536,0.6761,-0.0046,0.09648240894604075,1.0,0.0,0.0,0.0,-0.9034173686307506,0.652832674058907,6.141899696551425,0.044863572970476856,0.06260403533372678,0.0027463408804294766,0.08844510456917691,1.8014159973889532,6.3138034532286476,0.12138137533087381,-0.005731901265281463,0.004480284680788473,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.6603744463549273,1.191709217852163,-5.485391128094491,0.30730318185887495,3.9981080398533226,0.7002361914564311,1.6323104815991827,-6.141899696551425,7.117701609693674,7.117701609693674,7.248749999994244,0,0,-0.00017108244039912434,9.999883840284269e-05
+37777,1792833004552780785,11684016000000,1792833004548818824,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6764420911408566,-0.004995610296224833,0.09714264887929884,0.999999793894072,-0.00014672872170543323,0.0005983360157889742,0.00015530412843700416,0.6761,-0.0046,0.09633089967096692,1.0,0.0,0.0,0.0,-0.8966343140208862,0.6313577038180049,6.274515162204092,0.04288007984874097,0.06253115809929709,0.0026144016066363537,0.09522815917904127,1.7799410271480511,6.446418918881315,0.11939788220913793,-0.005804778499711154,0.00434834540699535,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.7437277260858783,1.1928971365794288,-5.787256741816865,0.3174492421089432,4.217030259999833,0.7055740823487044,1.6323104815991827,-6.274515162204092,7.419567223416047,7.419567223416047,7.376249999993947,0,0,-0.000181131496111682,9.999999025923074e-05
+37889,1792833005486767243,11684950000000,1792833005480818987,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6764527250986224,-0.004991643871359716,0.09699073983633345,0.9999997761990205,-0.00017869619200518004,0.0006213287053689277,0.00014513126392339286,0.6761,-0.0046,0.0961575752202291,1.0,0.0,0.0,0.0,-0.8749224592223165,0.6328953501714949,6.320772068721118,0.04281610976857368,0.06153845901232993,0.002566533895573233,0.11694001397761104,1.781478673501541,6.492675825398341,0.11933391212897064,-0.00679747758667831,0.004300477695932229,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.7581710845057756,1.2099268913910064,-5.684528640339011,0.34496831841608033,4.154779026163108,0.7233085510323888,1.6323104815991827,-6.320772068721118,7.3168391219381945,7.3168391219381945,7.51634999999362,0,0,-0.0001940931996333425,-9.447980872512857e-05
+37995,1792833006369806791,11685833000000,1792833006368818794,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6764726865895426,-0.004997493180494295,0.0968272855654802,0.9999997586396792,-0.00018449837373304878,0.0006454887308762666,0.00015319300262456065,0.6761,-0.0046,0.09597565724328513,1.0,0.0,0.0,0.0,-0.8933158395954537,0.6308803826441232,6.378072100524592,0.04172978744768499,0.06354202777391996,0.002537448141908767,0.09854663360447379,1.7794637059741694,6.549975857201814,0.11824758980808195,-0.004793908825088293,0.004271391942267763,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.8029406523192866,1.269137287130591,-5.729813773015747,0.3293533529480795,4.189680609842841,0.7687058519591661,1.6323104815991827,-6.378072100524592,7.36212425461493,7.36212425461493,7.648799999993312,0,0,-0.0002214167970873967,-9.999999025923074e-05
+38093,1792833007186705607,11686650000000,1792833007184828166,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.676476831853801,-0.00500450651131503,0.09664630332082469,0.9999997599589765,-0.00012894555641991187,0.0006528583692268823,0.000169333538028363,0.6761,-0.0046,0.09578373279510706,1.0,0.0,0.0,0.0,-0.8704664317469689,0.5535671824039432,6.451833066818372,0.037683003658583666,0.06157977478673376,0.0024030210093781874,0.12139604145295853,1.7021505057339894,6.6237368234955945,0.11420080601898062,-0.006756161812274487,0.0041369648097371835,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.8041543743346566,1.155558982807958,-5.909033343756489,0.3716577500017752,4.321817644648807,0.6945298685616207,1.6323104815991827,-6.451833066818372,7.541343825355671,7.541343825355671,7.771349999993026,0,0,-0.0002482052782707119,-9.999999025923074e-05
+38186,1792833007961797674,11687425000000,1792833007960818664,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.676485428255044,-0.005002242116489212,0.09645184937679546,0.9999997456849304,-0.0001888832739340667,0.0006670159646480284,0.0001395913695881489,0.6761,-0.0046,0.09557867853561623,1.0,0.0,0.0,0.0,-0.8252620090975725,0.542295526776823,6.490412160225559,0.03670903053338144,0.05956349822102161,0.0023344790826212514,0.16660046410235496,1.6908788501068692,6.662315916902782,0.1132268328937784,-0.008772438377986639,0.0040684228829802474,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.820125487988261,1.2299328617901129,-5.914261965311371,0.3705925525944532,4.331188403166464,0.7500030811221113,1.6323104815991827,-6.490412160225559,7.546572446910554,7.546572446910554,7.887599999992755,0,0,-0.0002821641501241353,-9.999999025923074e-05
+38272,1792833008677696926,11688141000000,1792833008676819456,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6764888791055602,-0.005008596341577548,0.09624599043904662,0.9999997388744646,-0.00018067083194852387,0.0006755741121610581,0.0001570080770413134,0.6761,-0.0046,0.09536424916936838,1.0,0.0,0.0,0.0,-0.813411180733668,0.4711496082887112,6.5286294865996055,0.03174372684232189,0.05863843336608538,0.0022330546312737823,0.17845129246625946,1.6197329316187574,6.700533243276828,0.10826152920271885,-0.009697503232922863,0.003966998431632778,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.7796295265551403,1.0792823810968446,-5.955615004101884,0.41649200289918054,4.358863325937163,0.6536221316144777,1.6323104815991827,-6.5286294865996055,7.587925485701067,7.587925485701067,7.994999999992505,0,0,-0.0003171857071674041,-9.999999025923074e-05
+38347,1792833009302696463,11688766000000,1792833009300828320,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6764957727880246,-0.0050150190196887046,0.0960440038932136,0.9999997303369532,-0.00017818522884872003,0.0006846890984689226,0.00017383828036167967,0.6761,-0.0046,0.09515625810429429,1.0,0.0,0.0,0.0,-0.8027451917327518,0.40900448235118714,6.549288627795899,0.0275586906383814,0.057702387676266786,0.0021551963223230587,0.18911728146717566,1.5575878056812333,6.721192384473121,0.10407649299877836,-0.010633548922741463,0.003889140122682055,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.7817276911716946,1.06886751235606,-5.938534067800186,0.4337427161559526,4.365169407776335,0.6520069455102339,1.6323104815991827,-6.549288627795899,7.570844549399368,7.570844549399368,8.088749999992286,0,0,-0.0003484357010794233,-9.999999025923074e-05
+38420,1792833009911747685,11689375000000,1792833009908818437,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6764999834974228,-0.005012577736604475,0.0958231707055932,0.9999997233758132,-0.0002054096872263528,0.0006914823894479254,0.00015604527106400084,0.6761,-0.0046,0.09493480396414622,1.0,0.0,0.0,0.0,-0.7629445579418579,0.37099822395063153,6.585160516698126,0.025588374356224255,0.0547122511650111,0.0020603126503071266,0.22891791525806957,1.5195815472806777,6.757064273375349,0.10210617671662121,-0.013623685433997149,0.0037942564506661227,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.7825016749120377,1.0197080013533297,-5.962122953638366,0.4484328662878128,4.399358309206944,0.6223589091351669,1.6323104815991827,-6.585160516698126,7.5944334352375495,7.5944334352375495,8.180099999992073,0,0,-0.00037888569514729484,-9.999999025923074e-05
+38485,1792833010452789192,11689916000000,1792833010448828083,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6765024289091573,-0.005021502672205771,0.09560951797499517,0.9999997228799913,-0.0001921381448025945,0.0006923012666933327,0.0001717110780517621,0.6761,-0.0046,0.09472252330449964,1.0,0.0,0.0,0.0,-0.7513064675947339,0.30340636030475854,6.575474657497146,0.02153060114607716,0.05376309554068244,0.0020075537147382447,0.2405560056051937,1.4519896836348047,6.747378414174369,0.09804840350647412,-0.014572841058325802,0.003741497515097241,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.7995095834113513,1.092790637954318,-6.046911394165464,0.4255732941052664,4.472048281196103,0.676549453642049,1.6323104815991827,-6.575474657497146,7.679221875764647,7.679221875764647,8.261249999991884,0,0,-0.0004059356898775387,-9.999999025923074e-05
+38547,1792833010969784806,11690433000000,1792833010968818429,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6765035246063728,-0.005022061081415984,0.09538870323285059,0.9999997176597605,-0.0002100201428921902,0.0006960784281234006,0.00016579995450905519,0.6761,-0.0046,0.09450598525413727,1.0,0.0,0.0,0.0,-0.7022049498738272,0.25511417001015335,6.5738126400693755,0.017529002814473213,0.05080087600425788,0.0019216409838847257,0.28965752332610034,1.4036974933401996,6.745716396746598,0.09404680517487017,-0.017535060594750365,0.003655584784243722,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.772320210408893,1.056989492500817,-6.018551705828013,0.44322771925212046,4.464841457451126,0.6570371666443656,1.6323104815991827,-6.5738126400693755,7.650862187427196,7.650862187427196,8.338799999991704,0,0,-0.00043178568484156097,-9.999999025923074e-05
+38606,1792833011461681916,11690925000000,1792833011456819081,DOWN_FORCE_DETACH,5,0.0598,0.05979672446846962,0.6765031159040399,-0.0050142315125545804,0.09516527746287934,0.999999735764843,-0.00013362086260231308,0.000687276511042579,0.0001723646455317585,0.6761,-0.0046,0.09428750739837656,1.0,0.0,0.0,0.0,-0.659645943472753,0.22512658186962797,6.513175377847347,0.015574932863153798,0.04794866343065336,0.0019049462422984188,0.3322165297271745,1.3737099051996742,6.685079134524569,0.09209273522355076,-0.020387273168354886,0.003638890042657415,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.787789588313738,1.1338352239072031,-5.868003468125268,0.3981496919396078,4.395322944289135,0.6810095010388171,1.6323104815991827,-6.513175377847347,7.50031394972445,7.50031394972445,8.412599999991532,0,0,-0.0004563856800491025,-9.999999025923074e-05
+38663,1792833011936787727,11691400000000,1792833011932818453,DOWN_FORCE_DETACH,5,0.0598,0.05979738011956215,0.6765103375146244,-0.005001077712269081,0.09493931935655789,0.9999997208231823,-0.00017645478471399942,0.0007008251853574363,0.00016584387263364088,0.6761,-0.0046,0.09406509545145443,1.0,0.0,0.0,0.0,-0.5970905510401066,0.21912905000096838,6.479076218468952,0.014659643722856247,0.04432125654183134,0.0018744178408264367,0.39477192215982093,1.3677123733310146,6.650979975146175,0.0911774460832532,-0.024014680057176906,0.003608361641185433,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.775425038044088,1.1107608933242277,-5.891973125858714,0.4292825800429544,4.411192873204096,0.6832138967298805,1.6323104815991827,-6.479076218468952,7.524283607457896,7.524283607457896,8.483849999991365,0,0,-0.0004801356754222371,-9.999999025923074e-05
+38713,1792833012353753906,11691817000000,1792833012348819506,DOWN_SETTLE,5,0.0598,0.05979672446846962,0.6765075736098309,-0.0050011454656130935,0.09472688532668265,0.9999997165914238,-0.00020544336531833098,0.0006978211885784052,0.00017058296665371228,0.6761,-0.0046,0.09386299092565195,1.0,0.0,0.0,0.0,-0.5579284584424733,0.1714181646766666,6.461258450539053,0.011678658263530567,0.04182215918034954,0.0018222894868633128,0.43393401475745425,1.3200014880067128,6.633162207216276,0.08819646062392753,-0.02651377741865871,0.003556233287222309,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.748077712398314,1.070207590991073,-5.819982350616754,0.4279119259160225,4.374328133478717,0.6695621206577788,1.6323104815991827,-6.461258450539053,7.452292832215937,0.0,0.0,0,0,-0.00039043567136033637,0.0032500000097407714
+38815,1792833013204741586,11692668000000,1792833013200828598,DOWN_PEAK_HOLD,5,0.0598,0.05979738011956215,0.6764699798765995,-0.005004902541703232,0.09458842683983716,0.9999997623567438,-0.00020693237212857378,0.0006260125025138593,0.00017893199877980998,0.6761,-0.0046,0.09382487226758807,1.0,0.0,0.0,0.0,-0.4383060534588953,0.03979956814515595,5.838525688811129,0.0017999415174742989,0.03404483147104758,0.0021000676929950274,0.5535564197410322,1.1883828914752022,6.010429445488351,0.07831774387787126,-0.034291105127960665,0.0038340114933540234,0.9918624731999275,1.1485833233300462,0.17190375667722235,0.07651780236039696,-0.06833593659900825,0.0017339438003589963,1,2.3604787921051633,1.0307789466861055,-5.04386416467872,0.4291419553068341,3.8130785358236223,0.6434999132058132,1.6323104815991827,-5.838525688811129,6.676174646277902,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_15A_12.5/press_depth_05/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792832955175861516,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.244017249e-09,-2.479367805e-10,-1.556378026e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452897e-01,-1.181835358e-04,8.303259083e-01
+1,1.233333333e+00,DOWN_FORCE_DETACH,1792832956428451614,-1.987664142e-06,-4.227887776e-06,-5.468238942e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.137220800e-07,-1.145047408e-08,-7.555626069e-08,7.019536452e-01,-2.649862280e-05,8.601376190e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027454991e-01,-1.181947384e-04,8.303258343e-01
+2,2.316666667e+00,DOWN_FORCE_DETACH,1792832957574486281,-2.680660708e-06,-8.732706626e-06,-5.046676164e-05,-4.377876367e-06,-3.294591516e-06,-4.221996694e-05,-4.961373080e-06,-3.246381652e-06,-4.191739293e-05,7.019529522e-01,-3.100344165e-05,8.600926205e-01,7.019512549e-01,-2.556532654e-05,8.601008673e-01,7.027403240e-01,-1.214296696e-04,8.302839925e-01
+3,3.166666667e+00,DOWN_FORCE_DETACH,1792832958426406162,1.807339193e-05,-6.237598570e-06,-9.518569983e-05,2.063380580e-05,-9.823372107e-06,-9.073004413e-05,2.129563011e-05,-9.717809979e-06,-9.008927923e-05,7.019737062e-01,-2.850833359e-05,8.600479015e-01,7.019762666e-01,-3.209410713e-05,8.600523572e-01,7.027665810e-01,-1.279010979e-04,8.302358206e-01
+4,4.233333333e+00,DOWN_FORCE_DETACH,1792832959572880794,1.519171674e-05,-1.239241135e-05,-1.160166773e-04,1.423759004e-05,-7.412118732e-06,-1.099911385e-04,1.428720197e-05,-7.354031170e-06,-1.096933417e-04,7.019708245e-01,-3.466314637e-05,8.600270706e-01,7.019698704e-01,-2.968285376e-05,8.600330961e-01,7.027595726e-01,-1.255373191e-04,8.302162165e-01
+5,5.316666667e+00,DOWN_FORCE_DETACH,1792832960687303983,1.206241096e-05,-1.522478920e-05,-1.239086913e-04,1.423759004e-05,-7.412118732e-06,-1.099911385e-04,1.429796243e-05,-7.359398013e-06,-1.099551182e-04,7.019676952e-01,-3.749552423e-05,8.600191785e-01,7.019698704e-01,-2.968285376e-05,8.600330961e-01,7.027595834e-01,-1.255426859e-04,8.302159547e-01
+6,6.416666667e+00,DOWN_FORCE_DETACH,1792832961817124056,1.190538803e-05,-1.238746374e-05,-1.522111499e-04,1.194536751e-05,-1.239521417e-05,-1.516008260e-04,1.135426041e-05,-1.231245183e-05,-1.512352656e-04,7.019675382e-01,-3.465819877e-05,8.599908761e-01,7.019675782e-01,-3.466594919e-05,8.599914864e-01,7.027566397e-01,-1.304957397e-04,8.301746746e-01
+7,7.666666667e+00,DOWN_FORCE_DETACH,1792832963127424227,3.376483430e-05,-2.293361768e-05,-2.132601841e-04,3.218377135e-05,-2.177350005e-05,-2.037251382e-04,3.244714149e-05,-2.161733599e-05,-2.032272553e-04,7.019893977e-01,-4.520435270e-05,8.599298271e-01,7.019878166e-01,-4.404423507e-05,8.599393621e-01,7.027777326e-01,-1.398006239e-04,8.301226826e-01
+8,8.783333333e+00,DOWN_FORCE_DETACH,1792832964340015519,3.645813315e-05,-2.643360025e-05,-2.532729047e-04,3.617159141e-05,-2.266885126e-05,-2.458846964e-04,3.623415923e-05,-2.250074056e-05,-2.454192773e-04,7.019920910e-01,-4.870433527e-05,8.598898143e-01,7.019918044e-01,-4.493958628e-05,8.598972025e-01,7.027815196e-01,-1.406840285e-04,8.300804906e-01
+9,9.850000000e+00,DOWN_FORCE_DETACH,1792832965420805459,3.824850565e-05,-2.544059394e-05,-2.673610013e-04,3.478292631e-05,-2.866470837e-05,-2.660049241e-04,3.457143060e-05,-2.844767058e-05,-2.657797975e-04,7.019938813e-01,-4.771132897e-05,8.598757262e-01,7.019904157e-01,-5.093544339e-05,8.598770823e-01,7.027798568e-01,-1.466309585e-04,8.300601301e-01
+10,1.096666667e+01,DOWN_FORCE_DETACH,1792832966534592096,4.435529493e-05,-2.468651962e-05,-3.023093605e-04,3.969704081e-05,-2.490014235e-05,-2.867952807e-04,3.961993056e-05,-2.474701315e-05,-2.866580432e-04,7.019999881e-01,-4.695725464e-05,8.598407779e-01,7.019953299e-01,-4.717087737e-05,8.598562920e-01,7.027849053e-01,-1.429303011e-04,8.300392518e-01
+11,1.203333333e+01,DOWN_FORCE_DETACH,1792832967599130666,5.616568063e-05,-3.374310808e-05,-3.547893361e-04,5.210240528e-05,-3.152048226e-05,-3.438709502e-04,5.226811869e-05,-3.132808889e-05,-3.434505340e-04,7.020117985e-01,-5.601384310e-05,8.597882979e-01,7.020077352e-01,-5.379121728e-05,8.597992163e-01,7.027975535e-01,-1.495113768e-04,8.299824593e-01
+12,1.255000000e+01,DOWN_FORCE_DETACH,1792832968107322994,9.567489859e-05,-2.525942056e-05,-3.627899394e-04,1.011577196e-04,-2.537350606e-05,-3.492389079e-04,1.045695669e-04,-2.524387340e-05,-3.489438430e-04,7.020513077e-01,-4.753015558e-05,8.597802973e-01,7.020567905e-01,-4.764424108e-05,8.597938483e-01,7.028498550e-01,-1.434271613e-04,8.299769660e-01
+13,1.361666667e+01,DOWN_FORCE_DETACH,1792832969155367713,1.065789533e-04,-1.664313532e-05,-4.108748687e-04,1.064383260e-04,-2.862923771e-05,-4.088726618e-04,1.098274204e-04,-2.850697432e-05,-4.082711258e-04,7.020622118e-01,-3.891387035e-05,8.597322124e-01,7.020620711e-01,-5.089997273e-05,8.597342146e-01,7.028551128e-01,-1.466902622e-04,8.299176387e-01
+14,1.470000000e+01,DOWN_FORCE_DETACH,1792832970252688368,1.202466966e-04,-2.445439522e-05,-4.536397227e-04,1.173943539e-04,-2.323310227e-05,-4.445962421e-04,1.213493008e-04,-2.315341402e-05,-4.440600327e-04,7.020758795e-01,-4.672513024e-05,8.596894475e-01,7.020730272e-01,-4.550383730e-05,8.596984910e-01,7.028666347e-01,-1.413367019e-04,8.298818498e-01
+15,1.588333333e+01,DOWN_FORCE_DETACH,1792832971464800002,1.277813039e-04,-2.202277740e-05,-4.978450517e-04,1.256400707e-04,-2.710895747e-05,-4.824287059e-04,1.298505884e-04,-2.699933177e-05,-4.819324789e-04,7.020834141e-01,-4.429351242e-05,8.596452422e-01,7.020812729e-01,-4.937969249e-05,8.596606585e-01,7.028751360e-01,-1.451826197e-04,8.298439774e-01
+16,1.693333333e+01,DOWN_FORCE_DETACH,1792832972496525128,1.379978148e-04,-2.438415265e-05,-5.261960586e-04,1.372740642e-04,-2.180284698e-05,-5.194597888e-04,1.419376508e-04,-2.171303417e-05,-5.189756607e-04,7.020936306e-01,-4.665488767e-05,8.596168912e-01,7.020929069e-01,-4.407358200e-05,8.596236275e-01,7.028872231e-01,-1.398963221e-04,8.298069342e-01
+17,1.795000000e+01,DOWN_FORCE_DETACH,1792832973529014916,1.506672802e-04,-2.850536632e-05,-5.659334350e-04,1.445968551e-04,-2.977319283e-05,-5.599234674e-04,1.493218711e-04,-2.960831105e-05,-5.593645135e-04,7.021063001e-01,-5.077610135e-05,8.595771538e-01,7.021002297e-01,-5.204392785e-05,8.595831638e-01,7.028946073e-01,-1.477915990e-04,8.297665453e-01
+18,1.911666667e+01,DOWN_FORCE_DETACH,1792832974757955292,1.627363145e-04,-3.011295563e-05,-6.244364295e-04,1.605594567e-04,-2.922641880e-05,-6.205521021e-04,1.657684612e-04,-2.910109953e-05,-6.197623643e-04,7.021183691e-01,-5.238369065e-05,8.595186508e-01,7.021161923e-01,-5.149715382e-05,8.595225351e-01,7.029110539e-01,-1.472843874e-04,8.297061475e-01
+19,2.006666667e+01,DOWN_FORCE_DETACH,1792832975723585817,1.761342106e-04,-3.435689992e-05,-6.631923505e-04,1.714928958e-04,-3.225986326e-05,-6.594382403e-04,1.770836188e-04,-3.211345905e-05,-6.586954970e-04,7.021317670e-01,-5.662763494e-05,8.594798949e-01,7.021271257e-01,-5.453059829e-05,8.594836490e-01,7.029223690e-01,-1.502967470e-04,8.296672144e-01
+20,2.116666667e+01,DOWN_FORCE_DETACH,1792832976804624942,1.860393022e-04,-3.145587972e-05,-7.044468955e-04,1.819002226e-04,-3.421441463e-05,-7.002378232e-04,1.878748853e-04,-3.404791034e-05,-6.995181770e-04,7.021416721e-01,-5.372661474e-05,8.594386403e-01,7.021375330e-01,-5.648514966e-05,8.594428494e-01,7.029331603e-01,-1.522311983e-04,8.296263917e-01
+21,2.225000000e+01,DOWN_FORCE_DETACH,1792832977919037640,1.963804705e-04,-3.871654899e-05,-7.427546174e-04,1.912779580e-04,-3.622183583e-05,-7.422378636e-04,1.974840329e-04,-3.606887326e-05,-7.415611493e-04,7.021520133e-01,-6.098728401e-05,8.594003326e-01,7.021469108e-01,-5.849257085e-05,8.594008494e-01,7.029427694e-01,-1.542521612e-04,8.295843487e-01
+22,2.338333333e+01,DOWN_FORCE_DETACH,1792832979032558475,2.068450530e-04,-3.465213494e-05,-7.931171269e-04,2.053162444e-04,-3.512054373e-05,-7.810404304e-04,2.121664765e-04,-3.496823722e-05,-7.803826458e-04,7.021624779e-01,-5.692286997e-05,8.593499701e-01,7.021609491e-01,-5.739127876e-05,8.593620468e-01,7.029574519e-01,-1.531515251e-04,8.295455272e-01
+23,2.463333333e+01,DOWN_FORCE_DETACH,1792832980359335527,2.258949653e-04,-3.523369083e-05,-8.484313310e-04,2.212584721e-04,-3.809271737e-05,-8.423862637e-04,2.285739678e-04,-3.792899728e-05,-8.416100219e-04,7.021815278e-01,-5.750442586e-05,8.592946559e-01,7.021768913e-01,-6.036345239e-05,8.593007010e-01,7.029738594e-01,-1.561122852e-04,8.294842998e-01
+24,2.568333333e+01,DOWN_FORCE_DETACH,1792832981424620606,2.326080506e-04,-3.791859259e-05,-9.011213205e-04,2.325662237e-04,-3.761348043e-05,-9.009025673e-04,2.401266846e-04,-3.746967022e-05,-8.999076369e-04,7.021882409e-01,-6.018932762e-05,8.592419659e-01,7.021881990e-01,-5.988421545e-05,8.592421847e-01,7.029854121e-01,-1.556529581e-04,8.294260022e-01
+25,2.678333333e+01,DOWN_FORCE_DETACH,1792832982552385440,2.468994747e-04,-3.652491417e-05,-9.450215624e-04,2.443133340e-04,-4.029138120e-05,-9.391255470e-04,2.523079356e-04,-4.011373207e-05,-9.383298674e-04,7.022025323e-01,-5.879564920e-05,8.591980657e-01,7.021999462e-01,-6.256211622e-05,8.592039617e-01,7.029975933e-01,-1.582970200e-04,8.293875800e-01
+26,2.783333333e+01,DOWN_FORCE_DETACH,1792832983586252315,2.564102995e-04,-3.590705978e-05,-9.900964760e-04,2.545437141e-04,-3.964291266e-05,-9.786121407e-04,2.629138440e-04,-3.950558696e-05,-9.779103371e-04,7.022120431e-01,-5.817779480e-05,8.591529908e-01,7.022101765e-01,-6.191364769e-05,8.591644751e-01,7.030081993e-01,-1.576888749e-04,8.293479995e-01
+27,2.885000000e+01,DOWN_FORCE_DETACH,1792832984619032972,2.683989871e-04,-3.953859379e-05,-1.039319953e-03,2.682501354e-04,-3.951905586e-05,-1.038840626e-03,2.768525636e-04,-3.935778885e-05,-1.037872028e-03,7.022240318e-01,-6.180932881e-05,8.591037673e-01,7.022238830e-01,-6.178979088e-05,8.591042466e-01,7.030221380e-01,-1.575410768e-04,8.292880378e-01
+28,2.985000000e+01,DOWN_FORCE_DETACH,1792832985617366856,2.773445588e-04,-4.184512553e-05,-1.093629863e-03,2.775642451e-04,-4.218596338e-05,-1.079647006e-03,2.864661832e-04,-4.203482086e-05,-1.078745688e-03,7.022329774e-01,-6.411586055e-05,8.590494574e-01,7.022331971e-01,-6.445669840e-05,8.590634402e-01,7.030317516e-01,-1.602181088e-04,8.292471642e-01
+29,3.083333333e+01,DOWN_FORCE_DETACH,1792832986684232629,2.908952579e-04,-4.874104252e-05,-1.140746866e-03,2.909021140e-04,-4.902430627e-05,-1.140534460e-03,3.001171058e-04,-4.879380481e-05,-1.139428423e-03,7.022465281e-01,-7.101177755e-05,8.590023404e-01,7.022465349e-01,-7.129504130e-05,8.590025528e-01,7.030454025e-01,-1.669770927e-04,8.291864814e-01
+30,3.183333333e+01,DOWN_FORCE_DETACH,1792832987730662491,3.051467290e-04,-5.010207290e-05,-1.193211224e-03,3.015171095e-04,-4.736561770e-05,-1.179363066e-03,3.111456679e-04,-4.710283898e-05,-1.178452877e-03,7.022607795e-01,-7.237280792e-05,8.589498760e-01,7.022571499e-01,-6.963635272e-05,8.589637242e-01,7.030564311e-01,-1.652861269e-04,8.291474570e-01
+31,3.290000000e+01,DOWN_FORCE_DETACH,1792832988827562399,3.185926843e-04,-5.249187097e-05,-1.251572046e-03,3.168669928e-04,-4.815899615e-05,-1.239637381e-03,3.268980805e-04,-4.792055164e-05,-1.238677829e-03,7.022742255e-01,-7.476260599e-05,8.588915152e-01,7.022724998e-01,-7.042973117e-05,8.589034499e-01,7.030721835e-01,-1.661038396e-04,8.290872320e-01
+32,3.408333333e+01,DOWN_FORCE_DETACH,1792832990055762787,3.334147712e-04,-5.235475904e-05,-1.307781236e-03,3.294904852e-04,-5.102726949e-05,-1.300768065e-03,3.398519259e-04,-5.077691097e-05,-1.299826616e-03,7.022890476e-01,-7.462549406e-05,8.588353060e-01,7.022851233e-01,-7.329800451e-05,8.588423192e-01,7.030851373e-01,-1.689601989e-04,8.290260832e-01
+33,3.518333333e+01,DOWN_FORCE_DETACH,1792832991137126873,3.474893046e-04,-5.051089507e-05,-1.362586257e-03,3.455083707e-04,-4.971019050e-05,-1.358891488e-03,3.563449512e-04,-4.949567515e-05,-1.357850861e-03,7.023031221e-01,-7.278163009e-05,8.587805010e-01,7.023011412e-01,-7.198092552e-05,8.587841958e-01,7.031016304e-01,-1.676789631e-04,8.289680590e-01
+34,3.620000000e+01,DOWN_FORCE_DETACH,1792832992136867350,3.594176000e-04,-5.479330284e-05,-1.421798785e-03,3.584173095e-04,-5.877862919e-05,-1.418944668e-03,3.696319942e-04,-5.846417168e-05,-1.417780913e-03,7.023150504e-01,-7.706403786e-05,8.587212885e-01,7.023140501e-01,-8.104936422e-05,8.587241426e-01,7.031149174e-01,-1.766474596e-04,8.289081289e-01
+35,3.723333333e+01,DOWN_FORCE_DETACH,1792832993577886414,3.746852553e-04,-6.106055821e-05,-1.504926687e-03,3.743428134e-04,-5.598500264e-05,-1.500817192e-03,3.858441604e-04,-5.571555494e-05,-1.499551612e-03,7.023303181e-01,-8.333129323e-05,8.586381606e-01,7.023299756e-01,-7.825573766e-05,8.586422700e-01,7.031311296e-01,-1.738988428e-04,8.288263582e-01
+36,3.828333333e+01,DOWN_FORCE_DETACH,1792832994626005146,3.877456757e-04,-6.005530047e-05,-1.573236826e-03,3.875171198e-04,-5.584210595e-05,-1.559616525e-03,3.993003398e-04,-5.559955079e-05,-1.558403743e-03,7.023433785e-01,-8.232603549e-05,8.585698504e-01,7.023431499e-01,-7.811284097e-05,8.585834707e-01,7.031445858e-01,-1.737828387e-04,8.287675061e-01
+37,3.935000000e+01,DOWN_FORCE_DETACH,1792832995674522642,4.004656895e-04,-5.969943987e-05,-1.655011018e-03,3.990616744e-04,-6.277505017e-05,-1.644205465e-03,4.108416650e-04,-6.245330513e-05,-1.642875517e-03,7.023560985e-01,-8.197017490e-05,8.584880762e-01,7.023546945e-01,-8.504578519e-05,8.584988818e-01,7.031561271e-01,-1.806365930e-04,8.286830343e-01
+38,4.033333333e+01,DOWN_FORCE_DETACH,1792832996657382779,4.161061786e-04,-6.394858716e-05,-1.715309131e-03,4.113836446e-04,-6.472640050e-05,-1.723836072e-03,4.231298608e-04,-6.440083865e-05,-1.722300023e-03,7.023717390e-01,-8.621932219e-05,8.584277781e-01,7.023670165e-01,-8.699713552e-05,8.584192512e-01,7.031684153e-01,-1.825841266e-04,8.286036098e-01
+39,4.141666667e+01,DOWN_FORCE_DETACH,1792832997721765663,4.248868938e-04,-6.192070470e-05,-1.807231346e-03,4.222072848e-04,-6.998450695e-05,-1.807059102e-03,4.338337104e-04,-6.959527882e-05,-1.805588598e-03,7.023805197e-01,-8.419143972e-05,8.583358559e-01,7.023778401e-01,-9.225524198e-05,8.583360281e-01,7.031791191e-01,-1.877785667e-04,8.285203213e-01
+40,4.243333333e+01,DOWN_FORCE_DETACH,1792832998721161929,4.407613227e-04,-7.186108097e-05,-1.897385968e-03,4.336535057e-04,-7.210792646e-05,-1.888725365e-03,4.451773823e-04,-7.170650929e-05,-1.887283479e-03,7.023963941e-01,-9.413181599e-05,8.582457013e-01,7.023892863e-01,-9.437866148e-05,8.582543619e-01,7.031904628e-01,-1.898897972e-04,8.284386264e-01
+41,4.350000000e+01,DOWN_FORCE_DETACH,1792832999769171489,4.519485760e-04,-7.493518993e-05,-2.001271694e-03,4.500074337e-04,-7.565760826e-05,-1.988137224e-03,4.616004188e-04,-7.522768132e-05,-1.986601076e-03,7.024075814e-01,-9.720592495e-05,8.581418155e-01,7.024056403e-01,-9.792834329e-05,8.581549500e-01,7.032068858e-01,-1.934109692e-04,8.283393088e-01
+42,4.440000000e+01,DOWN_FORCE_DETACH,1792833000686351590,4.589775861e-04,-7.877382009e-05,-2.100251989e-03,4.540649628e-04,-7.776683930e-05,-2.093488433e-03,4.648496342e-04,-7.726861647e-05,-2.091658188e-03,7.024146104e-01,-1.010445551e-04,8.580428353e-01,7.024096978e-01,-1.000375743e-04,8.580495988e-01,7.032101350e-01,-1.954519044e-04,8.282342517e-01
+43,4.543333333e+01,DOWN_FORCE_DETACH,1792833001768417460,4.729196332e-04,-8.076238114e-05,-2.216353729e-03,4.722279107e-04,-7.781262098e-05,-2.202136953e-03,4.829943511e-04,-7.728991960e-05,-2.200310529e-03,7.024285525e-01,-1.030331162e-04,8.579267335e-01,7.024278607e-01,-1.000833560e-04,8.579409503e-01,7.032282798e-01,-1.954732075e-04,8.281255993e-01
+44,4.643333333e+01,DOWN_FORCE_DETACH,1792833002783226443,4.845998916e-04,-8.034850552e-05,-2.345187426e-03,4.849411318e-04,-7.920001326e-05,-2.327951797e-03,4.952268600e-04,-7.865717864e-05,-2.326000772e-03,7.024402327e-01,-1.026192405e-04,8.577978998e-01,7.024405739e-01,-1.014707483e-04,8.578151354e-01,7.032405123e-01,-1.968404666e-04,8.279999091e-01
+45,4.736666667e+01,DOWN_FORCE_DETACH,1792833003700471784,4.995236014e-04,-8.090479213e-05,-2.474705812e-03,4.977063495e-04,-7.647973983e-05,-2.456391127e-03,5.074764148e-04,-7.593025352e-05,-2.454327242e-03,7.024551564e-01,-1.031755272e-04,8.576683814e-01,7.024533392e-01,-9.875047485e-05,8.576866961e-01,7.032527618e-01,-1.941135414e-04,8.278715826e-01
+46,4.823333333e+01,DOWN_FORCE_DETACH,1792833004552234237,5.069873788e-04,-8.946176579e-05,-2.615034570e-03,5.083470500e-04,-8.699799768e-05,-2.604058915e-03,5.171760624e-04,-8.638903987e-05,-2.601677056e-03,7.024626202e-01,-1.117325008e-04,8.575280527e-01,7.024639799e-01,-1.092687327e-04,8.575390283e-01,7.032624615e-01,-2.045723278e-04,8.277242328e-01
+47,4.918333333e+01,DOWN_FORCE_DETACH,1792833005486121989,5.175149711e-04,-8.801014911e-05,-2.768706730e-03,5.172910000e-04,-8.799354126e-05,-2.768687124e-03,5.248051745e-04,-8.735814720e-05,-2.766034094e-03,7.024731478e-01,-1.102808841e-04,8.573743805e-01,7.024729238e-01,-1.102642763e-04,8.573744001e-01,7.032700906e-01,-2.055414351e-04,8.275598758e-01
+48,5.008333333e+01,DOWN_FORCE_DETACH,1792833006370761176,5.379589750e-04,-9.124167258e-05,-2.931334882e-03,5.374049372e-04,-9.642028674e-05,-2.916403992e-03,5.445810815e-04,-9.566267314e-05,-2.913806670e-03,7.024935918e-01,-1.135124076e-04,8.572117524e-01,7.024930378e-01,-1.186910218e-04,8.572266832e-01,7.032898665e-01,-2.138459611e-04,8.274121032e-01
+49,5.091666667e+01,DOWN_FORCE_DETACH,1792833007189348467,5.412399200e-04,-1.008180188e-04,-3.113387595e-03,5.410725691e-04,-1.010947555e-04,-3.113351903e-03,5.462892935e-04,-1.002689093e-04,-3.110214598e-03,7.024968727e-01,-1.230887538e-04,8.570296996e-01,7.024967054e-01,-1.233654905e-04,8.570297353e-01,7.032915747e-01,-2.184521972e-04,8.272156952e-01
+50,5.168333333e+01,DOWN_FORCE_DETACH,1792833007965504746,5.507006405e-04,-9.599060857e-05,-3.306771071e-03,5.505681793e-04,-9.591008844e-05,-3.306616477e-03,5.542248666e-04,-9.514576994e-05,-3.303148379e-03,7.025063335e-01,-1.182613436e-04,8.568363162e-01,7.025062010e-01,-1.181808235e-04,8.568364708e-01,7.032995103e-01,-2.133290579e-04,8.270227615e-01
+51,5.238333333e+01,DOWN_FORCE_DETACH,1792833008680016027,5.555791216e-04,-1.057763250e-04,-3.511382498e-03,5.559723433e-04,-1.001010056e-04,-3.505459578e-03,5.577428937e-04,-9.924089975e-05,-3.501706210e-03,7.025112119e-01,-1.280470600e-04,8.566317047e-01,7.025116052e-01,-1.223717406e-04,8.566376277e-01,7.033030283e-01,-2.174241877e-04,8.268242036e-01
+52,5.300000000e+01,DOWN_FORCE_DETACH,1792833009302656868,5.615928403e-04,-1.092449036e-04,-3.710704197e-03,5.615002610e-04,-1.092598790e-04,-3.710805194e-03,5.612749423e-04,-1.082556801e-04,-3.706609629e-03,7.025172257e-01,-1.315156386e-04,8.564323830e-01,7.025171331e-01,-1.315306141e-04,8.564322820e-01,7.033065604e-01,-2.264389680e-04,8.266193002e-01
+53,5.360000000e+01,DOWN_FORCE_DETACH,1792833009909098703,5.650632432e-04,-1.060169365e-04,-3.932301255e-03,5.672561241e-04,-1.076672271e-04,-3.917162584e-03,5.650147068e-04,-1.066618289e-04,-3.912898288e-03,7.025206961e-01,-1.282876715e-04,8.562107860e-01,7.025228889e-01,-1.299379621e-04,8.562259247e-01,7.033103001e-01,-2.248451168e-04,8.264130116e-01
+54,5.413333333e+01,DOWN_FORCE_DETACH,1792833010449498243,5.699901982e-04,-1.137123281e-04,-4.144686205e-03,5.697187183e-04,-1.135336670e-04,-4.144665224e-03,5.650038868e-04,-1.124504035e-04,-4.139866492e-03,7.025256230e-01,-1.359830631e-04,8.559984010e-01,7.025253515e-01,-1.358044021e-04,8.559984220e-01,7.033102893e-01,-2.306336915e-04,8.261860434e-01
+55,5.465000000e+01,DOWN_FORCE_DETACH,1792833010973583400,5.692656685e-04,-1.135965627e-04,-4.371608693e-03,5.683648735e-04,-1.121862247e-04,-4.365511950e-03,5.609712009e-04,-1.111201713e-04,-4.360502414e-03,7.025248985e-01,-1.358672977e-04,8.557714785e-01,7.025239977e-01,-1.344569598e-04,8.557775753e-01,7.033062566e-01,-2.293034592e-04,8.259654074e-01
+56,5.515000000e+01,DOWN_FORCE_DETACH,1792833011465336479,5.663622485e-04,-1.112891108e-04,-4.598870887e-03,5.669578866e-04,-1.099293396e-04,-4.591130693e-03,5.568775100e-04,-1.088567438e-04,-4.585906876e-03,7.025219951e-01,-1.335598458e-04,8.555442164e-01,7.025225907e-01,-1.322000746e-04,8.555519565e-01,7.033021629e-01,-2.270400317e-04,8.257400030e-01
+57,5.561666667e+01,DOWN_FORCE_DETACH,1792833011939476624,5.758656751e-04,-9.680354607e-05,-4.820915610e-03,5.756141862e-04,-9.735004293e-05,-4.821031902e-03,5.633223146e-04,-9.639933279e-05,-4.815434761e-03,7.025314985e-01,-1.190742811e-04,8.553221716e-01,7.025312470e-01,-1.196207780e-04,8.553220553e-01,7.033086077e-01,-2.145826207e-04,8.255104751e-01
+58,5.603333333e+01,DOWN_SETTLE,1792833012350284190,5.724290109e-04,-9.407184580e-05,-5.032634998e-03,5.703779394e-04,-9.852501580e-05,-5.027164799e-03,5.553897539e-04,-9.746392004e-05,-5.021527429e-03,7.025280618e-01,-1.163425808e-04,8.551104522e-01,7.025260108e-01,-1.207957508e-04,8.551159224e-01,7.033006752e-01,-2.156472080e-04,8.253043824e-01
+59,5.690000000e+01,DOWN_PEAK_HOLD,1792833013200992486,5.340882545e-04,-9.408656785e-05,-5.172597515e-03,5.357095264e-04,-9.251935622e-05,-5.167694264e-03,5.165349690e-04,-9.159291924e-05,-5.164371552e-03,7.024897211e-01,-1.163573029e-04,8.549704897e-01,7.024913423e-01,-1.147900912e-04,8.549753930e-01,7.032618204e-01,-2.097762071e-04,8.251615383e-01

Fixed/digit/cylinder_15A_12.5/press_depth_05/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,9.4232e-02,1.5293e-01,2.4859e+00,-4.7598e-02,4.3495e-02,3.2156e-04,7.4765e-04,-2.9385e-05,-2.8706e-04,1.8291e-06,5.4047e-05,2.3388e-07,8.0140e-04,5.4078e-05
+1,1.2333e+00,DOWN_FORCE_DETACH,2.5045e-04,1.3107e-01,1.5148e-01,2.4723e+00,-4.7509e-02,4.6163e-02,3.3301e-04,3.7587e-02,-1.4825e-03,-1.3929e-02,9.0491e-05,2.7225e-03,1.1678e-05,4.0113e-02,2.7240e-03
+2,2.3167e+00,DOWN_FORCE_DETACH,4.9735e-04,1.5559e-01,1.6722e-01,2.5423e+00,-4.8596e-02,4.7865e-02,3.3450e-04,6.2108e-02,1.4262e-02,5.6115e-02,-9.9665e-04,4.4246e-03,1.3172e-05,8.4910e-02,4.5355e-03
+3,3.1667e+00,DOWN_FORCE_DETACH,7.4452e-04,1.2989e-01,1.9448e-01,2.5990e+00,-5.0498e-02,4.5952e-02,3.4706e-04,3.6407e-02,4.1519e-02,1.1280e-01,-2.8985e-03,2.5114e-03,2.5733e-05,1.2559e-01,3.8353e-03
+4,4.2333e+00,DOWN_FORCE_DETACH,9.9250e-04,1.5359e-01,1.8397e-01,2.5494e+00,-4.9783e-02,4.7708e-02,3.2532e-04,6.0108e-02,3.1009e-02,6.3237e-02,-2.1830e-03,4.2677e-03,3.9935e-06,9.2593e-02,4.7936e-03
+5,5.3167e+00,DOWN_FORCE_DETACH,1.2414e-03,1.5553e-01,1.8286e-01,2.5023e+00,-4.9743e-02,4.7906e-02,3.0551e-04,6.2042e-02,2.9903e-02,1.6054e-02,-2.1438e-03,4.4655e-03,-1.5817e-05,7.0718e-02,4.9535e-03
+6,6.4167e+00,DOWN_FORCE_DETACH,1.4927e-03,1.6331e-01,2.2078e-01,2.5074e+00,-5.2425e-02,4.8467e-02,2.9238e-04,6.9826e-02,6.7821e-02,2.1220e-02,-4.8248e-03,5.0264e-03,-2.8945e-05,9.9628e-02,6.9674e-03
+7,7.6667e+00,DOWN_FORCE_DETACH,1.7393e-03,1.3128e-01,2.4474e-01,2.5815e+00,-5.4109e-02,4.6097e-02,2.8248e-04,3.7797e-02,9.1777e-02,9.5295e-02,-6.5095e-03,2.6565e-03,-3.8846e-05,1.3760e-01,7.0308e-03
+8,8.7833e+00,DOWN_FORCE_DETACH,1.9861e-03,1.4500e-01,2.4697e-01,2.5691e+00,-5.4288e-02,4.7100e-02,2.5464e-04,5.1520e-02,9.4012e-02,8.2923e-02,-6.6879e-03,3.6596e-03,-6.6685e-05,1.3553e-01,7.6239e-03
+9,9.8500e+00,DOWN_FORCE_DETACH,2.2354e-03,1.6071e-01,2.7206e-01,2.5402e+00,-5.6080e-02,4.8268e-02,2.1931e-04,6.7230e-02,1.1911e-01,5.3995e-02,-8.4807e-03,4.8270e-03,-1.0202e-04,1.4704e-01,9.7587e-03
+10,1.0967e+01,DOWN_FORCE_DETACH,2.4841e-03,1.5825e-01,2.5190e-01,2.5194e+00,-5.4727e-02,4.8120e-02,1.7415e-04,6.4764e-02,9.8941e-02,3.3199e-02,-7.1273e-03,4.6798e-03,-1.4718e-04,1.2282e-01,8.5276e-03
+11,1.2033e+01,DOWN_FORCE_DETACH,2.7326e-03,1.4805e-01,2.8011e-01,2.5663e+00,-5.6692e-02,4.7341e-02,1.5406e-04,5.4568e-02,1.2715e-01,8.0136e-02,-9.0922e-03,3.9002e-03,-1.6726e-04,1.5990e-01,9.8948e-03
+12,1.2550e+01,DOWN_FORCE_DETACH,2.9808e-03,4.7799e-02,2.4620e-01,2.5283e+00,-5.4356e-02,4.0200e-02,1.5900e-04,-4.5685e-02,9.3243e-02,4.2106e-02,-6.7558e-03,-3.2403e-03,-1.6233e-04,1.1205e-01,7.4945e-03
+13,1.3617e+01,DOWN_FORCE_DETACH,3.2330e-03,1.0573e-01,2.5937e-01,2.5883e+00,-5.5228e-02,4.4264e-02,1.5226e-04,1.2247e-02,1.0641e-01,1.0210e-01,-7.6283e-03,8.2297e-04,-1.6907e-04,1.4798e-01,7.6744e-03
+14,1.4700e+01,DOWN_FORCE_DETACH,3.4782e-03,1.1947e-01,2.3480e-01,2.5668e+00,-5.3467e-02,4.5257e-02,1.2785e-04,2.5982e-02,8.1845e-02,8.0623e-02,-5.8668e-03,1.8167e-03,-1.9348e-04,1.1779e-01,6.1447e-03
+15,1.5883e+01,DOWN_FORCE_DETACH,3.7252e-03,1.3222e-01,2.5307e-01,2.5495e+00,-5.4686e-02,4.6173e-02,1.2270e-04,3.8733e-02,1.0011e-01,6.3340e-02,-7.0859e-03,2.7321e-03,-1.9863e-04,1.2463e-01,7.5969e-03
+16,1.6933e+01,DOWN_FORCE_DETACH,3.9725e-03,1.2164e-01,2.2868e-01,2.5546e+00,-5.2967e-02,4.5412e-02,1.1772e-04,2.8159e-02,7.5722e-02,6.8429e-02,-5.3670e-03,1.9714e-03,-2.0361e-04,1.0587e-01,5.7213e-03
+17,1.7950e+01,DOWN_FORCE_DETACH,4.2196e-03,1.3042e-01,2.6639e-01,2.5686e+00,-5.5554e-02,4.6012e-02,1.3782e-04,3.6940e-02,1.1343e-01,8.2402e-02,-7.9545e-03,2.5717e-03,-1.8351e-04,1.4499e-01,8.3619e-03
+18,1.9117e+01,DOWN_FORCE_DETACH,4.4706e-03,1.2255e-01,2.6429e-01,2.6023e+00,-5.5385e-02,4.5407e-02,1.5067e-04,2.9070e-02,1.1134e-01,1.1609e-01,-7.7849e-03,1.9660e-03,-1.7066e-04,1.6345e-01,8.0311e-03
+19,2.0067e+01,DOWN_FORCE_DETACH,4.7187e-03,1.2417e-01,2.7773e-01,2.5951e+00,-5.6311e-02,4.5517e-02,1.5654e-04,3.0682e-02,1.2477e-01,1.0889e-01,-8.7113e-03,2.0760e-03,-1.6479e-04,1.6842e-01,8.9568e-03
+20,2.1167e+01,DOWN_FORCE_DETACH,4.9676e-03,1.2912e-01,2.8483e-01,2.5869e+00,-5.6813e-02,4.5876e-02,1.4531e-04,3.5635e-02,1.3187e-01,1.0065e-01,-9.2132e-03,2.4358e-03,-1.7602e-04,1.6968e-01,9.5313e-03
+21,2.2250e+01,DOWN_FORCE_DETACH,5.2155e-03,1.3603e-01,2.9187e-01,2.5854e+00,-5.7306e-02,4.6368e-02,1.1918e-04,4.2547e-02,1.3891e-01,9.9219e-02,-9.7062e-03,2.9274e-03,-2.0215e-04,1.7593e-01,1.0140e-02
+22,2.3383e+01,DOWN_FORCE_DETACH,5.4637e-03,1.3291e-01,2.8351e-01,2.5741e+00,-5.6731e-02,4.6158e-02,8.6622e-05,3.9423e-02,1.3055e-01,8.7940e-02,-9.1311e-03,2.7179e-03,-2.3471e-04,1.6227e-01,9.5299e-03
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Fixed/digit/cylinder_15A_12.5/press_depth_05/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_15A_12.5/press_depth_05/up/franka_data.csv

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+31221,1792832949958072530,11629421000000,1792832949952819850,UP_FORCE_HOLD,5,0.0598,0.059799350798130035,0.6759052417182032,-0.0049016700239922426,0.09981480173793199,0.9999999239050735,-0.0001760613449443923,-0.0003329373473373522,4.2282821084477935e-05,0.6761,-0.0046,0.10027745363643524,1.0,0.0,0.0,0.0,1.1609700066936206,1.0977352472658748,-0.3735887406405057,0.06954447975644899,-0.07522778989222902,-0.0009492749208334249,1.0836261870060908,1.0252401924879675,-0.3012002305121128,0.06847178898678505,-0.07522212873754289,-2.266878358450917e-05,-0.07734381968752975,-0.07249505477790731,0.07238851012839287,-0.001072690769663948,5.661154686129307e-06,0.0009266061372489157,1,-1.0661879021786047,1.7338531067673955,2.952159736706772,-0.5465778907515488,-2.110350514629652,1.031406617443796,1.6323104815991827,0.3735887406405057,-1.3198492551075893,0.3735887406405057,0.4279,0,0,6.761128946011918e-05,-9.999999025923074e-05
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Fixed/digit/cylinder_15A_12.5/press_depth_05/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+6,7.166666667e-01,WAIT_W2,1792832945208156233,5.912777002e-07,-6.813926300e-05,3.376154573e-06,8.227354276e-07,-6.798897050e-05,3.767265826e-06,1.086744722e-06,-6.736328667e-05,3.665235496e-06,7.019562241e-01,-9.040999802e-05,8.601464634e-01,7.019564556e-01,-9.025970552e-05,8.601468545e-01,7.027463721e-01,-1.855465869e-04,8.303295750e-01
+7,7.333333333e-01,WAIT_W2,1792832945224135430,4.538998658e-06,-1.192112319e-04,1.211993916e-05,4.329205027e-06,-1.192180706e-04,1.244713445e-05,4.940403725e-06,-1.181073375e-04,1.218608328e-05,7.019601718e-01,-1.414819669e-04,8.601552072e-01,7.019599620e-01,-1.414888056e-04,8.601555344e-01,7.027502258e-01,-2.362906378e-04,8.303380959e-01
+8,7.333333333e-01,WAIT_W2,1792832945224135430,4.538998658e-06,-1.192112319e-04,1.211993916e-05,4.329205027e-06,-1.192180706e-04,1.244713445e-05,4.940403725e-06,-1.181073375e-04,1.218608328e-05,7.019601718e-01,-1.414819669e-04,8.601552072e-01,7.019599620e-01,-1.414888056e-04,8.601555344e-01,7.027502258e-01,-2.362906378e-04,8.303380959e-01
+9,7.333333333e-01,WAIT_W2,1792832945224135430,4.538998658e-06,-1.192112319e-04,1.211993916e-05,4.329205027e-06,-1.192180706e-04,1.244713445e-05,4.940403725e-06,-1.181073375e-04,1.218608328e-05,7.019601718e-01,-1.414819669e-04,8.601552072e-01,7.019599620e-01,-1.414888056e-04,8.601555344e-01,7.027502258e-01,-2.362906378e-04,8.303380959e-01
+10,7.500000000e-01,WAIT_W2,1792832945240588338,2.577574681e-06,-2.440485856e-04,1.427335949e-05,2.583352784e-06,-2.440838318e-04,1.380977529e-05,3.191439141e-06,-2.418309680e-04,1.369240834e-05,7.019582104e-01,-2.663193206e-04,8.601573606e-01,7.019582162e-01,-2.663545669e-04,8.601568970e-01,7.027484768e-01,-3.600142683e-04,8.303396022e-01
+11,7.500000000e-01,WAIT_W2,1792832945240588338,2.577574681e-06,-2.440485856e-04,1.427335949e-05,2.583352784e-06,-2.440838318e-04,1.380977529e-05,3.191439141e-06,-2.418309680e-04,1.369240834e-05,7.019582104e-01,-2.663193206e-04,8.601573606e-01,7.019582162e-01,-2.663545669e-04,8.601568970e-01,7.027484768e-01,-3.600142683e-04,8.303396022e-01
+12,7.666666667e-01,WAIT_W2,1792832945257118280,6.735593522e-06,-3.330085286e-04,2.602318731e-05,6.916583356e-06,-3.328504537e-04,2.631506687e-05,7.919198199e-06,-3.298967708e-04,2.609066213e-05,7.019623684e-01,-3.552792636e-04,8.601691104e-01,7.019625494e-01,-3.551211887e-04,8.601694023e-01,7.027532046e-01,-4.480800710e-04,8.303520005e-01
+13,7.666666667e-01,WAIT_W2,1792832945257118280,6.735593522e-06,-3.330085286e-04,2.602318731e-05,6.916583356e-06,-3.328504537e-04,2.631506687e-05,7.919198199e-06,-3.298967708e-04,2.609066213e-05,7.019623684e-01,-3.552792636e-04,8.601691104e-01,7.019625494e-01,-3.551211887e-04,8.601694023e-01,7.027532046e-01,-4.480800710e-04,8.303520005e-01
+14,7.666666667e-01,WAIT_W2,1792832945257118280,6.735593522e-06,-3.330085286e-04,2.602318731e-05,6.916583356e-06,-3.328504537e-04,2.631506687e-05,7.919198199e-06,-3.298967708e-04,2.609066213e-05,7.019623684e-01,-3.552792636e-04,8.601691104e-01,7.019625494e-01,-3.551211887e-04,8.601694023e-01,7.027532046e-01,-4.480800710e-04,8.303520005e-01
+15,7.833333333e-01,WAIT_W2,1792832945274119009,2.844378100e-06,-4.201573572e-04,2.336489603e-05,2.741609153e-06,-4.201428310e-04,2.348325117e-05,3.582690995e-06,-4.165042915e-04,2.346829979e-05,7.019584772e-01,-4.424280922e-04,8.601664521e-01,7.019583744e-01,-4.424135660e-04,8.601665705e-01,7.027488681e-01,-5.346875917e-04,8.303493781e-01
+16,8.000000000e-01,WAIT_W2,1792832945289487457,2.844575560e-06,-4.503430735e-04,2.548265117e-05,2.838926475e-06,-4.499088012e-04,2.527495900e-05,3.676128811e-06,-4.460779625e-04,2.539145573e-05,7.019584774e-01,-4.726138085e-04,8.601685699e-01,7.019584717e-01,-4.721795362e-04,8.601683622e-01,7.027489615e-01,-5.642612627e-04,8.303513012e-01
+17,8.333333333e-01,WAIT_W2,1792832945322584773,6.229638845e-06,-4.002803236e-04,2.823532484e-05,6.262091179e-06,-4.006917182e-04,2.822302750e-05,7.301703857e-06,-3.973618423e-04,2.829553272e-05,7.019618625e-01,-4.225510586e-04,8.601713226e-01,7.019618949e-01,-4.229624532e-04,8.601713103e-01,7.027525871e-01,-5.155451426e-04,8.303542053e-01
+18,8.500000000e-01,WAIT_W2,1792832945338597463,3.992554734e-06,-3.729953686e-04,2.196750101e-05,3.927232963e-06,-3.726772541e-04,2.205889130e-05,4.771575518e-06,-3.695803355e-04,2.216000918e-05,7.019596254e-01,-3.952661036e-04,8.601650547e-01,7.019595600e-01,-3.949479891e-04,8.601651461e-01,7.027500570e-01,-4.877636358e-04,8.303480698e-01
+19,8.833333333e-01,WAIT_W2,1792832945371826386,4.466659600e-07,-4.137876865e-04,2.103114035e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.133278588e-06,-4.104533373e-04,2.119617989e-05,7.019560795e-01,-4.360584216e-04,8.601641184e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027464187e-01,-5.286366376e-04,8.303471060e-01
+20,9.500000000e-01,WAIT_W2,1792832945437376997,2.717053016e-06,-4.066653158e-04,2.428396053e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.136355117e-06,-4.105144155e-04,2.125712395e-05,7.019583499e-01,-4.289360508e-04,8.601673712e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027464218e-01,-5.286977157e-04,8.303471669e-01
+21,1.083333333e+00,WAIT_W2,1792832945567905611,2.901180835e-06,-4.099945820e-04,2.561007722e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.156506578e-06,-4.105791147e-04,2.133364320e-05,7.019585340e-01,-4.322653170e-04,8.601686973e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027464419e-01,-5.287624150e-04,8.303472434e-01
+22,1.200000000e+00,WAIT_W2,1792832945683495595,1.573748624e-06,-4.075671912e-04,2.190814142e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.171100365e-06,-4.106215151e-04,2.137505496e-05,7.019572066e-01,-4.298379262e-04,8.601649954e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027464565e-01,-5.288048154e-04,8.303472848e-01
+23,1.316666667e+00,WAIT_W2,1792832945797533721,3.207753041e-06,-4.125880264e-04,2.417466745e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.183509223e-06,-4.106554223e-04,2.140079552e-05,7.019588406e-01,-4.348587614e-04,8.601672619e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027464689e-01,-5.288387226e-04,8.303473106e-01
+24,1.416666667e+00,WAIT_W2,1792832945896338242,4.234545554e-06,-4.171153311e-04,2.662980983e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.192871026e-06,-4.106796409e-04,2.141386189e-05,7.019598674e-01,-4.393860662e-04,8.601697170e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027464783e-01,-5.288629412e-04,8.303473237e-01
+25,1.583333333e+00,UP_FORCE_RAMP,1792832946060025216,5.009233180e-06,-4.212752595e-04,2.631935874e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.206437528e-06,-4.107128353e-04,2.142257027e-05,7.019606421e-01,-4.435459945e-04,8.601694066e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027464918e-01,-5.288961356e-04,8.303473324e-01
+26,1.783333333e+00,UP_FORCE_RAMP,1792832946256385268,3.281034239e-06,-4.193518666e-04,2.731285968e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.220347904e-06,-4.107443021e-04,2.141859848e-05,7.019589139e-01,-4.416226017e-04,8.601704001e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027465058e-01,-5.289276024e-04,8.303473284e-01
+27,1.966666667e+00,UP_FORCE_RAMP,1792832946436139364,4.091889915e-06,-4.120944917e-04,2.695987669e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.231502057e-06,-4.107675218e-04,2.140649844e-05,7.019597247e-01,-4.343652267e-04,8.601700471e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027465169e-01,-5.289508221e-04,8.303473163e-01
+28,2.116666667e+00,UP_FORCE_RAMP,1792832946583963069,5.241953913e-06,-4.190425868e-04,2.952235696e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.239738122e-06,-4.107836186e-04,2.139304526e-05,7.019608748e-01,-4.413133219e-04,8.601726096e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027465251e-01,-5.289669189e-04,8.303473028e-01
+29,2.266666667e+00,UP_FORCE_RAMP,1792832946765313117,1.243963912e-06,-4.184107218e-04,2.572205661e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.247390561e-06,-4.107977023e-04,2.137767125e-05,7.019568768e-01,-4.406814568e-04,8.601688093e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027465328e-01,-5.289810026e-04,8.303472875e-01
+30,2.383333333e+00,UP_FORCE_RAMP,1792832946895599124,3.021895996e-06,-4.187755615e-04,3.105775529e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.252988951e-06,-4.108075316e-04,2.136492142e-05,7.019586547e-01,-4.410462966e-04,8.601741450e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027465384e-01,-5.289908319e-04,8.303472747e-01
+31,2.533333333e+00,UP_FORCE_RAMP,1792832947059258445,3.146087036e-06,-4.184997236e-04,3.515504279e-05,4.713868336e-07,-4.139318125e-04,2.096057114e-05,1.259849782e-06,-4.108189552e-04,2.134801241e-05,7.019587789e-01,-4.407704586e-04,8.601782423e-01,7.019561042e-01,-4.362025475e-04,8.601640478e-01,7.027465453e-01,-5.290022554e-04,8.303472578e-01
+32,2.733333333e+00,UP_FORCE_RAMP,1792832947255776714,6.361815589e-06,-4.156248142e-04,4.803939641e-05,3.978461348e-06,-4.171465363e-04,4.211098622e-05,5.234477513e-06,-4.140531351e-04,4.215471244e-05,7.019619946e-01,-4.378955492e-04,8.601911266e-01,7.019596113e-01,-4.394172713e-04,8.601851982e-01,7.027505199e-01,-5.322364354e-04,8.303680645e-01
+33,2.866666667e+00,UP_FORCE_RAMP,1792832947403339016,6.968192356e-09,-4.237081670e-04,4.964144295e-05,3.978461348e-06,-4.171465363e-04,4.211098622e-05,5.251750220e-06,-4.140665701e-04,4.219410375e-05,7.019556398e-01,-4.459789020e-04,8.601927287e-01,7.019596113e-01,-4.394172713e-04,8.601851982e-01,7.027505372e-01,-5.322498704e-04,8.303681039e-01
+34,2.916666667e+00,UP_FORCE_RAMP,1792832947452573836,-2.842467308e-05,-4.184550470e-04,4.312258643e-05,-2.939576185e-05,-4.232308132e-04,4.329902059e-05,-3.029476307e-05,-4.201055055e-04,4.336957570e-05,7.019272081e-01,-4.407257821e-04,8.601862098e-01,7.019262371e-01,-4.455015483e-04,8.601863863e-01,7.027149906e-01,-5.382888058e-04,8.303692794e-01
+35,3.050000000e+00,UP_FORCE_RAMP,1792832947583885662,-2.485252354e-05,-4.234699885e-04,5.815588386e-05,-2.939576185e-05,-4.232308132e-04,4.329902059e-05,-3.037961821e-05,-4.201173472e-04,4.338632223e-05,7.019307803e-01,-4.457407235e-04,8.602012431e-01,7.019262371e-01,-4.455015483e-04,8.601863863e-01,7.027149058e-01,-5.383006475e-04,8.303692961e-01
+36,3.166666667e+00,UP_FORCE_RAMP,1792832947724434713,-2.536880332e-05,-4.229565808e-04,6.353609750e-05,-1.973414725e-05,-4.174766916e-04,6.509113057e-05,-1.981740320e-05,-4.144285964e-04,6.498284182e-05,7.019302640e-01,-4.452273159e-04,8.602066233e-01,7.019358987e-01,-4.397474266e-04,8.602081784e-01,7.027254680e-01,-5.326118967e-04,8.303908926e-01
+37,3.283333333e+00,UP_FORCE_RAMP,1792832947845460150,-1.823001759e-05,-4.209924589e-04,8.257963374e-05,-1.973414725e-05,-4.174766916e-04,6.509113057e-05,-1.983051708e-05,-4.144382929e-04,6.502456660e-05,7.019374028e-01,-4.432631939e-04,8.602256669e-01,7.019358987e-01,-4.397474266e-04,8.602081784e-01,7.027254549e-01,-5.326215931e-04,8.303909344e-01
+38,3.433333333e+00,UP_FORCE_RAMP,1792832947992632349,-1.677496026e-05,-4.198326978e-04,9.564912477e-05,-1.638355556e-05,-4.206162965e-04,8.719417919e-05,-1.603763329e-05,-4.176171514e-04,8.683532786e-05,7.019388579e-01,-4.421034328e-04,8.602387364e-01,7.019392493e-01,-4.428870316e-04,8.602302814e-01,7.027292478e-01,-5.358004516e-04,8.304127451e-01
+39,3.583333333e+00,UP_FORCE_RAMP,1792832948140240647,-1.447694868e-05,-4.180003512e-04,1.065034112e-04,-1.434532817e-05,-4.167783549e-04,1.074381943e-04,-1.360798841e-05,-4.138019560e-04,1.069540030e-04,7.019411559e-01,-4.402710862e-04,8.602495907e-01,7.019412875e-01,-4.390490899e-04,8.602505254e-01,7.027316774e-01,-5.319852563e-04,8.304328638e-01
+40,3.750000000e+00,UP_FORCE_RAMP,1792832948304242281,-9.906977922e-06,-4.146988684e-04,1.305256273e-04,-9.909645460e-06,-4.146023874e-04,1.308026129e-04,-8.580472662e-06,-4.116907203e-04,1.300978756e-04,7.019457258e-01,-4.369696034e-04,8.602736129e-01,7.019457232e-01,-4.368731224e-04,8.602738899e-01,7.027367049e-01,-5.298740205e-04,8.304560077e-01
+41,3.916666667e+00,UP_FORCE_RAMP,1792832948467921389,-1.385912288e-05,-4.140349465e-04,1.366554229e-04,-9.909645460e-06,-4.146023874e-04,1.308026129e-04,-8.550612880e-06,-4.117073171e-04,1.302606374e-04,7.019417737e-01,-4.363056815e-04,8.602797427e-01,7.019457232e-01,-4.368731224e-04,8.602738899e-01,7.027367348e-01,-5.298906174e-04,8.304561704e-01
+42,4.050000000e+00,UP_FORCE_RAMP,1792832948598197626,-1.554952234e-05,-4.137808351e-04,1.422693996e-04,-9.909645460e-06,-4.146023874e-04,1.308026129e-04,-8.538715424e-06,-4.117165046e-04,1.303385329e-04,7.019400833e-01,-4.360515702e-04,8.602853566e-01,7.019457232e-01,-4.368731224e-04,8.602738899e-01,7.027367467e-01,-5.298998048e-04,8.304562483e-01
+43,4.083333333e+00,UP_FORCE_RAMP,1792832948631476884,-4.917633277e-05,-4.222549607e-04,1.256543802e-04,-4.869421062e-05,-4.224819215e-04,1.252681014e-04,-4.989422818e-05,-4.195145178e-04,1.248475220e-04,7.019064565e-01,-4.445256958e-04,8.602687416e-01,7.019069386e-01,-4.447526565e-04,8.602683553e-01,7.026953912e-01,-5.376978181e-04,8.304507573e-01
+44,4.150000000e+00,UP_FORCE_RAMP,1792832948696613324,-3.433618378e-05,-4.234917459e-04,1.417873137e-04,-3.451820261e-05,-4.233356451e-04,1.417819297e-04,-3.466161392e-05,-4.203802111e-04,1.411031259e-04,7.019212966e-01,-4.457624809e-04,8.602848746e-01,7.019211146e-01,-4.456063801e-04,8.602848692e-01,7.027106238e-01,-5.385635114e-04,8.304670129e-01
+45,4.200000000e+00,UP_FORCE_RAMP,1792832948746567777,-4.578836119e-05,-4.204167220e-04,1.298618624e-04,-3.451820261e-05,-4.233356451e-04,1.417819297e-04,-3.466737714e-05,-4.203828612e-04,1.411473407e-04,7.019098445e-01,-4.426874570e-04,8.602729491e-01,7.019211146e-01,-4.456063801e-04,8.602848692e-01,7.027106180e-01,-5.385661615e-04,8.304670571e-01
+46,4.350000000e+00,UP_FORCE_RAMP,1792832948901111962,-4.776097243e-05,-4.179418091e-04,1.338408288e-04,-3.451820261e-05,-4.233356451e-04,1.417819297e-04,-3.470257575e-05,-4.203926111e-04,1.412296375e-04,7.019078718e-01,-4.402125441e-04,8.602769281e-01,7.019211146e-01,-4.456063801e-04,8.602848692e-01,7.027105828e-01,-5.385759113e-04,8.304671394e-01
+47,4.533333333e+00,UP_FORCE_RAMP,1792832949089988956,-4.809476325e-05,-4.206168057e-04,1.441606301e-04,-3.451820261e-05,-4.233356451e-04,1.417819297e-04,-3.473393624e-05,-4.203997394e-04,1.412998551e-04,7.019075381e-01,-4.428875408e-04,8.602872479e-01,7.019211146e-01,-4.456063801e-04,8.602848692e-01,7.027105515e-01,-5.385830396e-04,8.304672096e-01
+48,4.683333333e+00,UP_FORCE_RAMP,1792832949237032080,-5.161742917e-05,-4.133045290e-04,1.461403065e-04,-5.124469014e-05,-4.135203333e-04,1.460748705e-04,-5.250886902e-05,-4.106627359e-04,1.455697555e-04,7.019040154e-01,-4.355752641e-04,8.602892275e-01,7.019043881e-01,-4.357910683e-04,8.602891621e-01,7.026927765e-01,-5.288460362e-04,8.304714795e-01
+49,4.833333333e+00,UP_FORCE_RAMP,1792832949400868563,-5.715671344e-05,-4.176447560e-04,1.537575217e-04,-5.124469014e-05,-4.135203333e-04,1.460748705e-04,-5.258291499e-05,-4.106634632e-04,1.456154863e-04,7.018984761e-01,-4.399154910e-04,8.602968448e-01,7.019043881e-01,-4.357910683e-04,8.602891621e-01,7.026927025e-01,-5.288467635e-04,8.304715253e-01
+50,5.050000000e+00,UP_FORCE_RAMP,1792832949613760447,-6.020400709e-05,-4.137648327e-04,1.681860161e-04,-5.946502873e-05,-4.141207654e-04,1.642151010e-04,-6.122316907e-05,-4.112732778e-04,1.635940462e-04,7.018954288e-01,-4.360355677e-04,8.603112733e-01,7.018961678e-01,-4.363915004e-04,8.603073023e-01,7.026840622e-01,-5.294565781e-04,8.304895038e-01
+51,5.250000000e+00,UP_FORCE_RAMP,1792832949811106200,-6.229738423e-05,-4.135659974e-04,1.798799601e-04,-5.946502873e-05,-4.141207654e-04,1.642151010e-04,-6.128283507e-05,-4.112756473e-04,1.636785508e-04,7.018933354e-01,-4.358367324e-04,8.603229672e-01,7.018961678e-01,-4.363915004e-04,8.603073023e-01,7.026840026e-01,-5.294589475e-04,8.304895883e-01
+52,5.400000000e+00,UP_FORCE_HOLD,1792832949958202304,-6.279961339e-05,-4.083335942e-04,1.901402855e-04,-6.134969899e-05,-4.092036917e-04,1.842505446e-04,-6.312343262e-05,-4.064017946e-04,1.835127023e-04,7.018928332e-01,-4.306043292e-04,8.603332275e-01,7.018942831e-01,-4.314744268e-04,8.603273378e-01,7.026821620e-01,-5.245850949e-04,8.305094225e-01
+53,5.566666667e+00,UP_FORCE_HOLD,1792832950122051129,-6.260804723e-05,-4.127122778e-04,1.988578182e-04,-6.134969899e-05,-4.092036917e-04,1.842505446e-04,-6.315462929e-05,-4.064034060e-04,1.835986302e-04,7.018930248e-01,-4.349830128e-04,8.603419451e-01,7.018942831e-01,-4.314744268e-04,8.603273378e-01,7.026821308e-01,-5.245867062e-04,8.305095084e-01
+54,5.716666667e+00,UP_SETTLE,1792832950268965480,-6.137664504e-05,-4.089913245e-04,2.094345833e-04,-6.275197291e-05,-4.112235331e-04,2.041719002e-04,-6.441283212e-05,-4.084411121e-04,2.033261159e-04,7.018942562e-01,-4.312620595e-04,8.603525218e-01,7.018928808e-01,-4.334942681e-04,8.603472591e-01,7.026808726e-01,-5.266244123e-04,8.305292359e-01
+55,5.883333333e+00,UP_SETTLE,1792832950465961414,-6.141153164e-05,-4.142572875e-04,2.171272602e-04,-6.275197291e-05,-4.112235331e-04,2.041719002e-04,-6.443517537e-05,-4.084447742e-04,2.034293824e-04,7.018942213e-01,-4.365280225e-04,8.603602145e-01,7.018928808e-01,-4.334942681e-04,8.603472591e-01,7.026808502e-01,-5.266280745e-04,8.305293392e-01
+56,6.016666667e+00,UP_SETTLE,1792832950597570006,-6.273108963e-05,-4.108393282e-04,2.212833603e-04,-6.275197291e-05,-4.112235331e-04,2.041719002e-04,-6.444968551e-05,-4.084456054e-04,2.034915642e-04,7.018929017e-01,-4.331100632e-04,8.603643706e-01,7.018928808e-01,-4.334942681e-04,8.603472591e-01,7.026808357e-01,-5.266289057e-04,8.305294014e-01
+57,6.200000000e+00,UP_SETTLE,1792832950777596119,-6.382614850e-05,-4.089425851e-04,2.259520696e-04,-6.117459376e-05,-4.117794226e-04,2.255472954e-04,-6.249276574e-05,-4.089836203e-04,2.246850872e-04,7.018918067e-01,-4.312133201e-04,8.603690393e-01,7.018944582e-01,-4.340501576e-04,8.603686345e-01,7.026827926e-01,-5.271669206e-04,8.305505949e-01
+58,6.383333333e+00,UP_SETTLE,1792832950973577394,-6.546194706e-05,-4.098085746e-04,2.285258084e-04,-6.117459376e-05,-4.117794226e-04,2.255472954e-04,-6.249920074e-05,-4.089865091e-04,2.247984938e-04,7.018901709e-01,-4.320793097e-04,8.603716130e-01,7.018944582e-01,-4.340501576e-04,8.603686345e-01,7.026827862e-01,-5.271698093e-04,8.305507083e-01
+59,6.500000000e+00,UP_SETTLE,1792832951104184271,-6.362729418e-05,-4.135926025e-04,2.335683181e-04,-6.117459376e-05,-4.117794226e-04,2.255472954e-04,-6.250364230e-05,-4.089866152e-04,2.248530776e-04,7.018920055e-01,-4.358633375e-04,8.603766556e-01,7.018944582e-01,-4.340501576e-04,8.603686345e-01,7.026827818e-01,-5.271699155e-04,8.305507629e-01

Fixed/digit/cylinder_15A_12.5/press_depth_05/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,9.4230e-02,1.5293e-01,2.4859e+00,-4.7598e-02,4.3495e-02,3.2161e-04,7.4762e-04,-2.9370e-05,-2.8706e-04,1.8328e-06,5.4043e-05,2.3388e-07,8.0137e-04,5.4074e-05
+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.8552e-05,1.0123e-01,1.5265e-01,2.4832e+00,-4.7581e-02,4.4001e-02,3.2387e-04,7.7501e-03,-3.0605e-04,-2.9554e-03,1.8999e-05,5.6041e-04,2.4951e-06,8.3002e-03,5.6073e-04
+2,3.0000e-01,WAIT_W2,7.7062e-05,1.0626e-01,1.5245e-01,2.4813e+00,-4.7568e-02,4.4365e-02,3.2552e-04,1.2782e-02,-5.0826e-04,-4.8518e-03,3.1486e-05,9.2449e-04,4.1464e-06,1.3681e-02,9.2503e-04
+3,4.6667e-01,WAIT_W2,1.1955e-04,1.1193e-01,1.5222e-01,2.4792e+00,-4.7554e-02,4.4775e-02,3.2737e-04,1.8446e-02,-7.3536e-04,-6.9654e-03,4.5430e-05,1.3345e-03,5.9928e-06,1.9731e-02,1.3353e-03
+4,6.1667e-01,WAIT_W2,1.5472e-04,1.1650e-01,1.5204e-01,2.4775e+00,-4.7543e-02,4.5106e-02,3.2883e-04,2.3015e-02,-9.1732e-04,-8.6536e-03,5.6520e-05,1.6655e-03,7.4530e-06,2.4605e-02,1.6664e-03
+5,7.0000e-01,WAIT_W2,1.9454e-04,1.1884e-01,1.5195e-01,2.4767e+00,-4.7537e-02,4.5276e-02,3.2956e-04,2.5357e-02,-1.0097e-03,-9.5139e-03,6.2130e-05,1.8352e-03,8.1828e-06,2.7102e-02,1.8363e-03
+6,7.1667e-01,WAIT_W2,2.4270e-04,1.1362e-01,2.4372e-01,2.4608e+00,-5.3914e-02,4.4913e-02,3.5450e-04,2.0136e-02,9.0768e-02,-2.5396e-02,-6.3148e-03,1.4728e-03,3.3128e-05,9.6381e-02,6.4843e-03
+7,7.3333e-01,WAIT_W2,2.9467e-04,1.2235e-01,4.6473e-01,2.4687e+00,-6.9278e-02,4.5512e-02,4.1401e-04,2.8863e-02,3.1177e-01,-1.7485e-02,-2.1678e-02,2.0714e-03,9.2630e-05,3.1359e-01,2.1777e-02
+8,7.3333e-01,WAIT_W2,2.9467e-04,1.2235e-01,4.6473e-01,2.4687e+00,-6.9278e-02,4.5512e-02,4.1401e-04,2.8863e-02,3.1177e-01,-1.7485e-02,-2.1678e-02,2.0714e-03,9.2630e-05,3.1359e-01,2.1777e-02
+9,7.3333e-01,WAIT_W2,2.9467e-04,1.2235e-01,4.6473e-01,2.4687e+00,-6.9278e-02,4.5512e-02,4.1401e-04,2.8863e-02,3.1177e-01,-1.7485e-02,-2.1678e-02,2.0714e-03,9.2630e-05,3.1359e-01,2.1777e-02
+10,7.5000e-01,WAIT_W2,4.1954e-04,1.1775e-01,7.0027e-01,2.4489e+00,-8.5670e-02,4.5192e-02,4.8394e-04,2.4266e-02,5.4732e-01,-3.7294e-02,-3.8070e-02,1.7511e-03,1.6256e-04,5.4912e-01,3.8111e-02
+11,7.5000e-01,WAIT_W2,4.1954e-04,1.1775e-01,7.0027e-01,2.4489e+00,-8.5670e-02,4.5192e-02,4.8394e-04,2.4266e-02,5.4732e-01,-3.7294e-02,-3.8070e-02,1.7511e-03,1.6256e-04,5.4912e-01,3.8111e-02
+12,7.6667e-01,WAIT_W2,5.0937e-04,1.3746e-01,1.2734e+00,2.4604e+00,-1.2550e-01,4.6548e-02,6.3704e-04,4.3975e-02,1.1204e+00,-2.5832e-02,-7.7901e-02,3.1078e-03,3.1566e-04,1.1216e+00,7.7963e-02
+13,7.6667e-01,WAIT_W2,5.0937e-04,1.3746e-01,1.2734e+00,2.4604e+00,-1.2550e-01,4.6548e-02,6.3704e-04,4.3975e-02,1.1204e+00,-2.5832e-02,-7.7901e-02,3.1078e-03,3.1566e-04,1.1216e+00,7.7963e-02
+14,7.6667e-01,WAIT_W2,5.0937e-04,1.3746e-01,1.2734e+00,2.4604e+00,-1.2550e-01,4.6548e-02,6.3704e-04,4.3975e-02,1.1204e+00,-2.5832e-02,-7.7901e-02,3.1078e-03,3.1566e-04,1.1216e+00,7.7963e-02
+15,7.8333e-01,WAIT_W2,5.9665e-04,1.3963e-01,1.6681e+00,2.4517e+00,-1.5309e-01,4.6685e-02,7.6432e-04,4.6148e-02,1.5151e+00,-3.4466e-02,-1.0549e-01,3.2445e-03,4.4294e-04,1.5162e+00,1.0554e-01
+16,8.0000e-01,WAIT_W2,6.2691e-04,1.6641e-01,2.0501e+00,2.4904e+00,-1.7975e-01,4.8527e-02,8.7282e-04,7.2924e-02,1.8972e+00,4.1647e-03,-1.3215e-01,5.0867e-03,5.5145e-04,1.8986e+00,1.3224e-01
+17,8.3333e-01,WAIT_W2,6.7727e-04,1.7565e-01,2.1684e+00,2.5210e+00,-1.8824e-01,4.9170e-02,9.2616e-04,8.2165e-02,2.0155e+00,3.4798e-02,-1.4064e-01,5.7299e-03,6.0479e-04,2.0174e+00,1.4076e-01
+18,8.5000e-01,WAIT_W2,7.0535e-04,1.5996e-01,1.9458e+00,2.5057e+00,-1.7287e-01,4.8087e-02,8.8101e-04,6.6477e-02,1.7928e+00,1.9520e-02,-1.2527e-01,4.6462e-03,5.5963e-04,1.7942e+00,1.2536e-01
+19,8.8333e-01,WAIT_W2,7.4658e-04,1.6406e-01,1.8212e+00,2.5199e+00,-1.6423e-01,4.8377e-02,8.3768e-04,7.0576e-02,1.6682e+00,3.3729e-02,-1.1663e-01,4.9363e-03,5.1630e-04,1.6701e+00,1.1674e-01
+20,9.5000e-01,WAIT_W2,7.7779e-04,1.8185e-01,1.9982e+00,2.5418e+00,-1.7669e-01,4.9628e-02,8.7869e-04,8.8368e-02,1.8453e+00,5.5645e-02,-1.2909e-01,6.1872e-03,5.5731e-04,1.8482e+00,1.2924e-01
+21,1.0833e+00,WAIT_W2,8.1455e-04,1.8540e-01,1.9873e+00,2.5564e+00,-1.7618e-01,4.9882e-02,8.7417e-04,9.1922e-02,1.8343e+00,7.0215e-02,-1.2859e-01,6.4415e-03,5.5280e-04,1.8380e+00,1.2875e-01
+22,1.2000e+00,WAIT_W2,8.5281e-04,1.8797e-01,1.9800e+00,2.5643e+00,-1.7585e-01,5.0065e-02,8.6779e-04,9.4484e-02,1.8271e+00,7.8099e-02,-1.2825e-01,6.6248e-03,5.4641e-04,1.8312e+00,1.2842e-01
+23,1.3167e+00,WAIT_W2,8.9600e-04,1.9015e-01,1.9742e+00,2.5692e+00,-1.7559e-01,5.0222e-02,8.6008e-04,9.6665e-02,1.8213e+00,8.3012e-02,-1.2799e-01,6.7812e-03,5.3871e-04,1.8257e+00,1.2817e-01
+24,1.4167e+00,WAIT_W2,9.3460e-04,1.9179e-01,1.9701e+00,2.5717e+00,-1.7539e-01,5.0340e-02,8.5274e-04,9.8308e-02,1.8171e+00,8.5535e-02,-1.2779e-01,6.8993e-03,5.3136e-04,1.8218e+00,1.2798e-01
+25,1.5833e+00,UP_FORCE_RAMP,9.7177e-04,1.9417e-01,1.9645e+00,2.5735e+00,-1.7514e-01,5.0512e-02,8.3940e-04,1.0069e-01,1.8115e+00,8.7325e-02,-1.2754e-01,7.0714e-03,5.1803e-04,1.8164e+00,1.2773e-01
+26,1.7833e+00,UP_FORCE_RAMP,1.0103e-03,1.9662e-01,1.9590e+00,2.5730e+00,-1.7488e-01,5.0689e-02,8.2227e-04,1.0313e-01,1.8061e+00,8.6775e-02,-1.2728e-01,7.2489e-03,5.0089e-04,1.8111e+00,1.2749e-01
+27,1.9667e+00,UP_FORCE_RAMP,1.0472e-03,1.9856e-01,1.9550e+00,2.5709e+00,-1.7470e-01,5.0832e-02,8.0590e-04,1.0508e-01,1.8020e+00,8.4689e-02,-1.2710e-01,7.3917e-03,4.8452e-04,1.8071e+00,1.2731e-01
+28,2.1167e+00,UP_FORCE_RAMP,1.0869e-03,2.0000e-01,1.9522e+00,2.5685e+00,-1.7457e-01,5.0938e-02,7.9223e-04,1.0652e-01,1.7992e+00,8.2319e-02,-1.2697e-01,7.4979e-03,4.7086e-04,1.8043e+00,1.2719e-01
+29,2.2667e+00,UP_FORCE_RAMP,1.1296e-03,2.0134e-01,1.9497e+00,2.5658e+00,-1.7445e-01,5.1037e-02,7.7846e-04,1.0786e-01,1.7968e+00,7.9588e-02,-1.2685e-01,7.5968e-03,4.5708e-04,1.8018e+00,1.2708e-01
+30,2.3833e+00,UP_FORCE_RAMP,1.1638e-03,2.0232e-01,1.9480e+00,2.5635e+00,-1.7437e-01,5.1110e-02,7.6774e-04,1.0884e-01,1.7951e+00,7.7316e-02,-1.2677e-01,7.6697e-03,4.4636e-04,1.8000e+00,1.2700e-01
+31,2.5333e+00,UP_FORCE_RAMP,1.2036e-03,2.0352e-01,1.9460e+00,2.5605e+00,-1.7428e-01,5.1199e-02,7.5400e-04,1.1003e-01,1.7931e+00,7.4295e-02,-1.2668e-01,7.7589e-03,4.3263e-04,1.7980e+00,1.2691e-01
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Fixed/digit/cylinder_15A_12.5/press_depth_06/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
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+size 624640

Fixed/digit/cylinder_15A_12.5/press_depth_06/down/franka_data.csv

@@ -0,0 +1,61 @@
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+41277,1792833033642652106,11713106000000,1792833033640828448,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.67595079633023,-0.004919011590738208,0.09964797952625692,0.9999999405916004,-0.0002151319533502745,-0.00022539131027823832,0.00011478963276845097,0.6761,-0.0046,0.09983731393087819,1.0,0.0,0.0,0.0,-0.09844718181240997,-0.017546443498235975,0.4861841803591095,-0.0006801571652649274,0.006542664992878831,-0.00014106821683571697,0.8702155168899147,1.134045590420092,0.6985516499589756,0.07602804694418767,-0.06044882249093373,0.0015253916941252467,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,0.34956355973722836,1.399423484057571,0.87174587442082,-0.09634440469232602,-0.5452440720478908,0.840016714408353,1.6323104815991827,-0.4861841803591095,0.7605646071783627,0.7605646071783627,0.8225595738663205,0,0,-4.052071897050891e-05,-9.999999025923074e-05
+41415,1792833034792680091,11714256000000,1792833034788828249,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6759517755405291,-0.004922066558696121,0.09961816445378842,0.9999999417099708,-0.00020727486167845826,-0.00022414655063736453,0.00012173074772885674,0.6761,-0.0046,0.0997651537465406,1.0,0.0,0.0,0.0,-0.10766467431504834,-0.03167434284511916,0.6162202054889908,-0.0015931968757368076,0.006580741448843866,-0.00025654161896136404,0.8609980243872764,1.1199176910732087,0.8285876750888569,0.0751150072337158,-0.060410746034968696,0.0014099182919995997,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,0.3210140969249899,1.365342258867294,0.7724376647494087,-0.04834080588579172,-0.4993828866629227,0.8103345862535595,1.6323104815991827,-0.6162202054889908,0.859872816849774,0.859872816849774,0.9950595738663015,0,0,-8.27372663534095e-05,-9.995116820172285e-05
+41566,1792833036051575249,11715515000000,1792833036044829284,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6759685034983011,-0.004927190168160728,0.09956172631245579,0.9999999525434707,-0.0001801056583178849,-0.00018286920565849948,0.00014309691150103627,0.6761,-0.0046,0.09966737381145079,1.0,0.0,0.0,0.0,-0.17966118679397602,-0.014812804515609512,0.8469806746622113,-0.0004531385944619576,0.011569764234856443,-0.00035250356690215683,0.7890015119083487,1.1367792294027184,1.0593481442620774,0.07625506551499064,-0.05542172324895612,0.0013139563440588069,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,0.4984262953773729,1.3373247530399393,0.3475971667863016,-0.010393112715605626,-0.19236992173973191,0.791543700803113,1.6323104815991827,-0.8469806746622113,1.284713314812881,1.284713314812881,1.183909573866417,0,0,-6.201819748444392e-05,9.921960061743391e-05
+41712,1792833037267644364,11716731000000,1792833037260828878,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6759697036148262,-0.004930439595035811,0.09952263348839749,0.9999999539086649,-0.00017037260843101227,-0.00017817934391753032,0.00015116490276448919,0.6761,-0.0046,0.09961745099338769,1.0,0.0,0.0,0.0,-0.2026971435884526,-0.03498861761072103,0.9977045260903599,-0.000942453630882592,0.012557582681446834,0.0005558038414648155,0.7659655551138721,1.1166034163076068,1.210071995690226,0.07576575047857001,-0.05443390480236573,0.002222263752425779,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,0.5221207145939596,1.3841576246857665,0.25710990559065877,-0.016114836149816715,-0.1240120865221221,0.8206333062099721,1.6323104815991827,-0.9977045260903599,1.375200576008524,1.375200576008524,1.3663095738665318,0,0,-2.5935540011430607e-05,9.99885549620771e-05
+41869,1792833038576644241,11718040000000,1792833038572828125,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6759741285070802,-0.00493378062897605,0.09949911257612111,0.999999954471844,-0.00016927187682108213,-0.00016880491764060352,0.00015922030554191808,0.6761,-0.0046,0.0995769075898262,1.0,0.0,0.0,0.0,-0.20380772580777673,-0.01968427067246914,1.0883190176494177,-0.00011233415231533261,0.013534058717247645,0.0005082645634913612,0.764854972894548,1.1319077632458587,1.3006864872492838,0.07659586995713727,-0.05345742876656492,0.002174724474452325,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,0.5516890924916549,1.3329450964219227,0.03052860439605013,-0.003305546682615997,0.02396531132658538,0.7816771227771833,1.6323104815991827,-1.0883190176494177,1.6017818772031325,1.6017818772031325,1.5626595738666555,0,0,-4.836797519861135e-05,9.921875407237763e-05
+42014,1792833039784650950,11719248000000,1792833039780819215,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6759827178532901,-0.004935566456680948,0.09945600786113566,0.99999995681117,-0.00016415049215816302,-0.0001490285070736607,0.0001693093094075784,0.6761,-0.0046,0.09949640169621418,1.0,0.0,0.0,0.0,-0.241733409328022,-0.022739261697108715,1.2626801124047249,-6.542603748700693e-05,0.015522566086462512,0.0003950965819389295,0.7269292893743027,1.1288527722212192,1.475047582004591,0.0766427780719656,-0.05146892139735005,0.002061556492899893,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,0.5384725009867202,1.314182480326256,-0.11753689357162067,0.0062575711886275805,0.1110152345661169,0.7698215401782544,1.6323104815991827,-1.2626801124047249,1.7498473751708032,1.7498473751708032,1.7438595738667697,0,0,-8.0928026867351e-05,9.921875407237763e-05
+42156,1792833040967540890,11720431000000,1792833040960827987,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6759943425696819,-0.004938972870676174,0.0993969402637342,0.9999999581659793,-0.0001608238585132497,-0.00012419756238975075,0.00018390637839164832,0.6761,-0.0046,0.09941790299127588,1.0,0.0,0.0,0.0,-0.28056607682227874,-0.021358306120258463,1.5074113591825171,0.0007427609709869526,0.01849283318090563,0.0002492433149841437,0.6880966218800459,1.1302337277980694,1.7197788287823832,0.07745096508043955,-0.04849865430290693,0.0019157032259451074,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,0.6438183730735997,1.369584628594351,-0.37622749288031904,-0.016247741515776373,0.30087287138044,0.8026073779873969,1.6323104815991827,-1.5074113591825171,2.0085379744795016,2.0085379744795016,1.9213095738668815,0,0,-4.663700680221516e-05,9.999999025923074e-05
+42223,1792833041526608015,11720990000000,1792833041520828327,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6760344400029888,-0.004936549401933498,0.0994027977097147,0.9999999624280541,-0.00015399233439109298,-8.738442504299455e-05,0.0001877154174253292,0.6761,-0.0046,0.09939364299100274,1.0,0.0,0.0,0.0,-0.36795555794430956,0.07578874498204646,1.4524242359655444,0.007203810264749755,0.023417611584373305,0.00044218360734771126,0.6007071407580151,1.2273807789003743,1.6647917055654105,0.08391201437420236,-0.04357387589943926,0.002108643518308675,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,0.7564377322062007,1.3154849144758474,-0.17042847142642717,0.010576409178318877,0.1785421390832232,0.770378764419949,1.6323104815991827,-1.4524242359655444,1.80273895302561,1.80273895302561,2.0051595738669343,0,0,-5.162381610665368e-05,-9.999999025923074e-05
+42364,1792833042701591407,11722165000000,1792833042700818725,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6760453078328638,-0.004942073952195228,0.09935580867608237,0.9999999616212033,-0.00016218382760082778,-6.60618321618352e-05,0.00019373357144751937,0.6761,-0.0046,0.0993075124633103,1.0,0.0,0.0,0.0,-0.3787056393312188,0.09354423762275599,1.6425434958518559,0.007799394238551374,0.025411764691135083,0.001348140758480357,0.5899570593711059,1.2451362715410839,1.854910965451722,0.08450759834800398,-0.04157972279267748,0.0030146006694413206,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,0.9254106192204171,1.3388852538644263,-0.41582186141576394,0.006410145124377552,0.3779995126135684,0.7852068173388894,1.6323104815991827,-1.6425434958518559,2.0481323430149465,2.0481323430149465,2.1814095738670454,0,0,-8.600719340476205e-05,-9.999767266866683e-05
+42513,1792833043942536705,11723406000000,1792833043936828612,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6760607195962044,-0.004939986624069175,0.09929809524892688,0.9999999615221774,-0.00016101903107983812,-4.0254615046100913e-05,0.00020211616855277844,0.6761,-0.0046,0.09921520370633091,1.0,0.0,0.0,0.0,-0.42678536501402276,0.11077762277401804,1.8738211210263227,0.009671103743055423,0.02822895672798957,0.0012248686037231956,0.5418773336883019,1.262369656692346,2.0861885906261888,0.08637930785250802,-0.03876253075582299,0.0028913285146841593,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.018879031780694,1.2852261829492186,-0.7541957029985482,0.02028092816223127,0.6144861290641241,0.7505957231358247,1.6323104815991827,-1.8738211210263227,2.3865061845977307,2.3865061845977307,2.3675595738671626,0,0,-5.6728426918424606e-05,9.999999025923074e-05
+42637,1792833044976628247,11724440000000,1792833044972828543,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.676072168227703,-0.00493145901301149,0.09925908710798802,0.999999945719837,-0.00030470360539950594,-1.0249703375173934e-05,8.398716083839732e-05,0.6761,-0.0046,0.0991652808767251,1.0,0.0,0.0,0.0,-0.3700128524511116,0.22753529635208647,1.988944281914284,0.01711868000774229,0.024930444279441237,0.0011675742574802344,0.5986498462512131,1.3791273302704143,2.20131175151415,0.09382688411719489,-0.042061043204371325,0.002834034168441198,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.0115795225478907,1.5219588571411615,-0.7822975813077416,-0.17297398905242325,0.6521321535635518,0.9245461228959555,1.6323104815991827,-1.988944281914284,2.4146080629069244,2.4146080629069244,2.5226595738672604,0,0,-4.747278175706716e-05,-9.999999025923074e-05
+42781,1792833046176626902,11725640000000,1792833046172819332,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6760869870094419,-0.00492869468698415,0.09920897357922412,0.9999999485264466,-0.0002900059998218709,1.2540549680902714e-05,0.00010064403949879292,0.6761,-0.0046,0.09907614923514575,1.0,0.0,0.0,0.0,-0.42312207753794573,0.24857104859979984,2.1774417615343404,0.01843110232499988,0.028117861657988304,0.0010850535191506828,0.545540621164379,1.4001630825181277,2.3898092311342065,0.09513930643445248,-0.03887362582582426,0.0027515134301116465,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.2394858934901536,1.4028553396750592,-1.0964760459739522,-0.13153105277733623,0.9071983034855873,0.8568099837138188,1.6323104815991827,-2.1774417615343404,2.728786527573135,2.728786527573135,2.7026595738673738,0,0,-9.05142401904938e-05,9.99834063028004e-05
+42928,1792833047401510956,11726865000000,1792833047400819076,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6761007124513515,-0.004934984936031454,0.09914820611822647,0.999999949545331,-0.0002768057249473923,3.450485807260384e-05,0.00012058277144972396,0.6761,-0.0046,0.09898603819248789,1.0,0.0,0.0,0.0,-0.46778334842371294,0.2434876457793964,2.399615200144822,0.01928746449992949,0.03109669098205351,0.0019742843509612485,0.5008793502786117,1.3950796796977243,2.611982669744688,0.09599566860938209,-0.03589479650175905,0.0036407442619222122,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.2598838914279695,1.3128423073372608,-1.2595924373460077,-0.011220610255208666,0.9941508665993587,0.7805788174147666,1.6323104815991827,-2.399615200144822,2.89190291894519,2.89190291894519,2.8864095738674895,0,0,-5.0986754294964125e-05,9.687576715678432e-05
+43044,1792833048367515816,11727831000000,1792833048360829033,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761044168070742,-0.0049348027165883376,0.09911928076927513,0.999999950230799,-0.00027013713941310985,3.926326081236752e-05,0.0001283182981337595,0.6761,-0.0046,0.09895195203108324,1.0,0.0,0.0,0.0,-0.4848909467421102,0.25600290874703235,2.470204468256589,0.019639755081597973,0.03248753547957963,0.0019483151937207113,0.4837717519602145,1.4075949426653602,2.682571937856455,0.09634795919105058,-0.03450395200423293,0.003614775104681675,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.2509029580294586,1.4101185948215968,-1.4052713091043663,-0.015737377130343462,1.0817262830378014,0.8367470373908881,1.6323104815991827,-2.470204468256589,3.037581790703549,3.037581790703549,3.031309573867581,0,0,-2.7943862034003668e-05,9.999999025923074e-05
+43190,1792833049584596996,11729048000000,1792833049576828969,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761177408406756,-0.004939472861103565,0.09909578247568464,0.9999999491404945,-0.0002658976973361135,5.865228925340742e-05,0.00013791372531516042,0.6761,-0.0046,0.09890178117797876,1.0,0.0,0.0,0.0,-0.5095602174308482,0.25981859964923526,2.569957151710339,0.019588958171137746,0.03409168561814384,0.0018901047630053669,0.4591024812714764,1.4114106335675631,2.782324621310205,0.09629716228059035,-0.032899801865668724,0.0035565646739663306,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.3225396796317628,1.3040323862771477,-1.4388317491023237,0.040922515350409486,1.110513302349028,0.7594993384588402,1.6323104815991827,-2.569957151710339,3.0711422307015064,3.0711422307015064,3.213859573867696,0,0,-5.791054665946061e-05,-9.997349756230562e-05
+43329,1792833050742566190,11730206000000,1792833050740829255,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6761294219153002,-0.00494317847477279,0.09905001507037957,0.9999999481995974,-0.0002607994381145952,7.698954463197514e-05,0.00014525814760537483,0.6761,-0.0046,0.09882296972635142,1.0,0.0,0.0,0.0,-0.5486334004188644,0.2877258760226924,2.7355437093533315,0.021519407661828596,0.036411713242669244,0.0018104308883385442,0.42002929828346025,1.4393179099410203,2.9479111789531975,0.0982276117712812,-0.030579774241143318,0.003476890799299508,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.38772018043684,1.256086353726716,-1.7348848581098928,0.06584571339808737,1.3128403531030433,0.7295448734198308,1.6323104815991827,-2.7355437093533315,3.3671953397090757,3.3671953397090757,3.3875595738678053,0,0,-7.522816743568838e-05,9.998718106108413e-05
+43461,1792833051842565549,11731306000000,1792833051840828713,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6761460985440846,-0.004945424396335488,0.09899226011560908,0.9999999789361744,2.534569311651734e-06,0.00010358047738672255,0.0001511131229309891,0.6761,-0.0046,0.0987423180815503,1.0,0.0,0.0,0.0,-0.5843392943821647,0.30797556332646225,2.9407853017420487,0.023453470527413187,0.0390010004179318,0.0017002789486835175,0.38432340432016,1.4595675972447901,3.1531527713419147,0.10016167463686579,-0.02799048706588076,0.0033667388596444812,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.5415662308110105,1.3807720557350769,-1.8363649557376918,0.011081365446051962,1.4191488773136014,0.7690206042640683,1.6323104815991827,-2.9407853017420487,3.4686754373368744,3.4686754373368744,3.552559573867909,0,0,-6.22242860806851e-05,-9.992758984023737e-05
+43602,1792833053017590645,11732481000000,1792833053016829284,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761533155622057,-0.004941784133241688,0.09894525103165358,0.9999999782077441,-1.3439915044983561e-05,0.00011762450957169495,0.00014495247201609424,0.6761,-0.0046,0.0986836599823188,1.0,0.0,0.0,0.0,-0.6077686242074244,0.32580340993640333,3.0739276134356635,0.025243125335260186,0.04006721348513994,0.0016347646514644678,0.3608940744949003,1.4773954438547312,3.2862950830355295,0.10195132944471279,-0.026924273998672622,0.0033012245624254315,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.5672483555682017,1.2744559090962844,-2.1510602368723153,0.04607250191926872,1.6203368727139045,0.7062853907210624,1.6323104815991827,-3.0739276134356635,3.783370718471498,3.783370718471498,3.7288095738680203,0,0,-4.649586502339519e-05,9.999960168117212e-05
+43738,1792833054151592081,11733615000000,1792833054144819276,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.676167590239758,-0.004940536789586578,0.09891273761979377,0.9999999769332901,-5.6118795845297785e-05,0.00014327562241898975,0.00011789427641555705,0.6761,-0.0046,0.09862017330489085,1.0,0.0,0.0,0.0,-0.609354166897592,0.3706730987892024,3.1955768589226086,0.027431351747214158,0.04088882772213337,0.0025293192393397303,0.35930853180473266,1.5222651327075303,3.4079443285224746,0.10413955585666676,-0.026102659761679196,0.004195779150300694,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.6454297919318346,1.3902920934787506,-2.2444299165230386,0.04858861729031857,1.6963800890650655,0.7957871281570543,1.6323104815991827,-3.1955768589226086,3.8767403981222213,3.8767403981222213,3.8989095738681274,0,0,-6.266214531006208e-05,9.839695311176228e-05
+43889,1792833055409578439,11734873000000,1792833055408819052,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761814577262415,-0.004946263098882009,0.09885287075267891,0.9999999721407439,-7.358559513041743e-05,0.00016430581413648496,0.00012145013604173732,0.6761,-0.0046,0.09853397830247557,1.0,0.0,0.0,0.0,-0.6483243709067966,0.3964734299642916,3.386851225145457,0.02938202113677918,0.04283534682604203,0.0024970852991456675,0.32033832779552807,1.5480654638826195,3.599218694745323,0.10609022524623178,-0.024156140657770532,0.004163545210106631,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.6853133788038552,1.321944820784359,-2.3836214227405006,0.07633589374312168,1.7824813878578747,0.7657115269625878,1.6323104815991827,-3.386851225145457,4.015931904339683,4.015931904339683,4.0876095738679865,0,0,-6.771530498414358e-05,-9.78515976842786e-05
+44003,1792833056359563681,11735823000000,1792833056356829069,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761916456893093,-0.004944131413859533,0.09881119119975468,0.9999999686835354,-7.716258032386732e-05,0.00018111766377279883,0.00012376639590843685,0.6761,-0.0046,0.0984761101172587,1.0,0.0,0.0,0.0,-0.6701186438192179,0.41389002022348365,3.5275087978038857,0.030322340642914045,0.04481189536449427,0.002423758528446059,0.29854405488310676,1.5654820541418115,3.739876267403752,0.10703054475236665,-0.022179592119318293,0.0040902184394070226,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.7036293652943104,1.251676098826292,-2.671897329053491,0.10258351902277346,1.9698545119319126,0.7357671632651683,1.6323104815991827,-3.5275087978038857,4.304207810652674,4.304207810652674,4.230109573867654,0,0,-5.513108012192435e-05,9.921875407237763e-05
+44155,1792833057626565780,11737090000000,1792833057624818966,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6762037320403198,-0.004951358433345321,0.09876552559781208,0.9999999634642834,-8.886684624872519e-05,0.00019998100518608416,0.0001289363303060282,0.6761,-0.0046,0.0984059191622789,1.0,0.0,0.0,0.0,-0.697398258849758,0.42222061077824113,3.6580132805999486,0.031290321049949985,0.04580595097627452,0.002342729003779086,0.2712644398525667,1.573812644696569,3.8703807501998146,0.10799852515940259,-0.021185536507538048,0.00400918891474005,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.837328286632436,1.2824583483890786,-2.7660291313287226,0.10559508602022634,2.061909445649826,0.7667631019178334,1.6323104815991827,-3.6580132805999486,4.398339612927906,4.398339612927906,4.4201595738672115,0,0,-6.308880321351384e-05,9.997782743210166e-05
+44298,1792833058817554425,11738281000000,1792833058812828369,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6762162828897854,-0.004951028965653395,0.09871102917504596,0.999999957890891,-9.612453942056495e-05,0.0002208800702941921,0.00013278986489198392,0.6761,-0.0046,0.09832422092040821,1.0,0.0,0.0,0.0,-0.7360270060343197,0.44373214622885393,3.8193618287198223,0.03322025036822476,0.04874204763935652,0.0022773226151885325,0.232635692668005,1.5953241801471818,4.031729298319688,0.10992845447767736,-0.01824943984445604,0.003943782526149496,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.8701789207840678,1.24340864009321,-2.9076537450402626,0.12429550778281508,2.1547715155449123,0.7464704934413056,1.6323104815991827,-3.8193618287198223,4.539964226639445,4.539964226639445,4.598809573866795,0,0,-6.942159395074076e-05,-1.2048714364434296e-05
+44454,1792833060117516681,11739581000000,1792833060116819190,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6762319443067992,-0.004951587874755226,0.09865161589977631,0.999999950163813,-0.00010770387525574037,0.0002465385940678214,0.00013687159155742964,0.6761,-0.0046,0.09823634881742484,1.0,0.0,0.0,0.0,-0.7695577358689257,0.47583457198922363,4.000596094539722,0.03516303695906092,0.05069386903023451,0.0021955027211246533,0.19910496283339899,1.6274266059075515,4.212963564139588,0.11187124106851352,-0.01629761845357805,0.003861962632085617,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,1.9360142964121945,1.2679054362040891,-3.0780527259841732,0.11508656242324056,2.2767901715851977,0.7624050385405042,1.6323104815991827,-4.000596094539722,4.710363207583356,4.710363207583356,4.793809573866341,0,0,-6.683979062868518e-05,-7.500000206850927e-05
+44609,1792833061409557402,11740873000000,1792833061408819085,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6762494722051064,-0.004955654912028946,0.09859549993480052,0.9999999406740684,-0.0001204422296928957,0.00027617730163722985,0.00013897658620531445,0.6761,-0.0046,0.09814071169741684,1.0,0.0,0.0,0.0,-0.8115086165225504,0.49426761469029556,4.171627533920369,0.03607731369365497,0.05362219030565764,0.0031237940543179916,0.15715408217977436,1.6458596486086234,4.383995003520235,0.11278551780310757,-0.013369297178154927,0.004790253965278955,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.029099218387792,1.1284794485570058,-3.314090105589719,0.17484001697499096,2.4472641673908444,0.6740516166857986,1.6323104815991827,-4.171627533920369,4.946400587188902,4.946400587188902,4.987609573865889,0,0,-7.984707243027944e-05,7.534750187521694e-05
+44760,1792833062667493126,11742131000000,1792833062660819076,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.676263908387473,-0.004956446969342539,0.09853076048282344,0.9999999318517098,-0.0001360187352057708,0.00030130905388926375,0.00013583518643406876,0.6761,-0.0046,0.09804976878345369,1.0,0.0,0.0,0.0,-0.8338305409675264,0.5208385180747164,4.363049413738383,0.03805227868605439,0.05460473651803127,0.003005429797653203,0.13483215773479823,1.6724305519930442,4.575416883338249,0.11476048279550699,-0.012386750965781294,0.004671889708614167,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.1034326474589733,1.216158134792342,-3.5416458635456127,0.14428944293204268,2.611694277162472,0.7265615057469551,1.6323104815991827,-4.363049413738383,5.173956345144795,5.173956345144795,5.176309573865449,0,0,-6.204428417280893e-05,9.999695102370083e-05
+44904,1792833063867449918,11743331000000,1792833063864828539,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6762775345353252,-0.004957654190534894,0.09848062030583983,0.9999999235468073,-0.0001493077505729848,0.00032278376604619495,0.00013366779690608636,0.6761,-0.0046,0.09797386476443798,1.0,0.0,0.0,0.0,-0.8629889535634758,0.5458668564948961,4.503987677925827,0.039366836895025945,0.056573881801416294,0.0029419497837815654,0.10567374513884888,1.697458890413224,4.716355147525693,0.11607504100447855,-0.010417605682396268,0.004608409694742529,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.145578302410718,1.2292603717173183,-3.675599538235469,0.15726726046156436,2.702996599196554,0.7389353023819973,1.6323104815991827,-4.503987677925827,5.307910019834652,5.307910019834652,5.35630957386503,0,0,-6.578973340333823e-05,7.788150067560375e-05
+45043,1792833065026464325,11744490000000,1792833065024828720,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.676289849869543,-0.004960486822508155,0.09842353317867263,0.9999999138767037,-0.0001655963337804786,0.000345893710068807,0.00012893736802704024,0.6761,-0.0046,0.09788971423569338,1.0,0.0,0.0,0.0,-0.8756189829000627,0.5686949078577135,4.655417928861449,0.041999200388028624,0.05750975182175812,0.0028574700197903547,0.09304371580226198,1.7202869417760414,4.867785398461315,0.11870740449748123,-0.009481735662054442,0.004523929930751318,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.2519086834153113,1.2367278147920437,-3.8219949199126,0.1573274041165033,2.822159831880973,0.7398187548850303,1.6323104815991827,-4.655417928861449,5.454305401511783,5.454305401511783,5.5301595738646245,0,0,-7.882462655792034e-05,-8.631323020059085e-05
+45179,1792833066159466903,11745623000000,1792833066152819975,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6763067383272567,-0.004964687663522096,0.09836256540565902,0.9999999008145536,-0.0001842921587861808,0.00037391392183684007,0.0001266433042393333,0.6761,-0.0046,0.09779951240049144,1.0,0.0,0.0,0.0,-0.9019411723318894,0.5882285350921101,4.827098718396139,0.042934301503954886,0.059474019988895024,0.0027588120384409907,0.06672152637043526,1.739820569010438,5.039466187996005,0.11964250561340749,-0.007517467494917534,0.004425271949401954,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.259973789054276,1.2288631227721034,-4.072193319643273,0.16533365343139977,2.980557102599568,0.7338173553966993,1.6323104815991827,-4.827098718396139,5.704503801242456,5.704503801242456,5.7001095738642285,0,0,-7.529002080533675e-05,9.995615032754585e-05
+45336,1792833067467415584,11746931000000,1792833067464828901,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763224141821084,-0.004965060027285993,0.0982933763320667,0.9999998894675876,-0.00019247612729219536,0.00039917149737212296,0.00012697532356311284,0.6761,-0.0046,0.09770190216623624,1.0,0.0,0.0,0.0,-0.9324916225222312,0.6110483013025181,5.0050311546252,0.044885551405944205,0.06142195665354195,0.002667384636363019,0.03617107618009356,1.762640335220846,5.2173986242250665,0.1215937555153968,-0.005569530830270611,0.004333844547323983,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.325304894136305,1.207307707766718,-4.224842661501595,0.18022417853731357,3.0915981265271832,0.719355330889409,1.6323104815991827,-5.0050311546252,5.857153143100778,5.857153143100778,5.896309573863771,0,0,-7.554733580797534e-05,9.999999025923074e-05
+45485,1792833068709435646,11748173000000,1792833068708818697,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763333443733068,-0.004961943534879812,0.09822540541041716,0.9999998820585723,-0.00018819849132263716,0.0004193768780355983,0.0001266099035264724,0.6761,-0.0046,0.09760525756065506,1.0,0.0,0.0,0.0,-0.9533733433947423,0.6343778832939764,5.148628919474533,0.04581984914948635,0.06338714085549427,0.0035871407119517696,0.015289355307582398,1.7859699172123042,5.3609963890743995,0.12252805325893895,-0.0036043466283182946,0.005253600622912733,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.4076195804017786,1.1951314779948372,-4.338993353876796,0.2012010718149256,3.18276437243354,0.7178571969092605,1.6323104815991827,-5.148628919474533,5.971303835475979,5.971303835475979,6.082609573863337,0,0,-8.395742535502316e-05,-9.999926861426473e-05
+45619,1792833069826439323,11749290000000,1792833069824819327,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.67635008341946,-0.004965406429948409,0.0981580532860445,0.9999998814390796,-0.00011274019752699078,0.00044689641009131216,0.0001270351825373363,0.6761,-0.0046,0.09750550144690331,1.0,0.0,0.0,0.0,-0.9727008794982271,0.6462427950717484,5.319475064886473,0.04677984378463619,0.06435048314336621,0.0035039702021205884,-0.004038180795902493,1.7978348289900763,5.531842534486339,0.12348804789408879,-0.0026410043404463527,0.005170430113081552,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.438232686961558,1.1519564284775172,-4.550382452526079,0.2175281300950289,3.323582740342659,0.69082371937277,1.6323104815991827,-5.319475064886473,6.182692934125262,6.182692934125262,6.2501595738629465,0,0,-8.952488435712424e-05,7.203875970607782e-05
+45737,1792833070809462759,11750273000000,1792833070804819167,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6763612577843839,-0.004971526041793081,0.09809388799664716,0.9999998699469236,-0.00012812947734962667,0.0004671688301722656,0.0001299427620063103,0.6761,-0.0046,0.09742288726502137,1.0,0.0,0.0,0.0,-0.984006645491039,0.6733734338391819,5.456917034626439,0.048718596000182315,0.0653261745053645,0.0034290663589728967,-0.01534394678871435,1.8249654677575098,5.669284504226305,0.12542680010963492,-0.001665312978448055,0.00509552626993386,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.5217384002022527,1.1218625602207575,-4.731445228875288,0.23527880311596475,3.4611048086432366,0.6725249598603802,1.6323104815991827,-5.456917034626439,6.3637557104744715,6.3637557104744715,6.397609573862603,0,0,-8.260029449727734e-05,7.8447633138029e-05
+45871,1792833071926421490,11751390000000,1792833071924829026,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763767279990147,-0.004970575674743427,0.0980274013909399,0.9999998572882651,-0.00013390241973658051,0.0004914551969026042,0.00013194030882952116,0.6761,-0.0046,0.09732890365937659,1.0,0.0,0.0,0.0,-1.0037969725494982,0.6844778809920606,5.5905776805075424,0.04971114771304451,0.0672630739291151,0.003362478529573953,-0.035134273847173575,1.8360699149103885,5.8029451501074085,0.1264193518224971,0.0002715864453025412,0.005028938440534917,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.5842860081895944,1.0922661977240828,-4.8484765222829385,0.2589167319361506,3.5497201530063087,0.6532649847365133,1.6323104815991827,-5.5905776805075424,6.480787003882121,6.480787003882121,6.565159573862212,0,0,-8.889563364175424e-05,-3.1953366368081506e-05
+46004,1792833073034485981,11752498000000,1792833073028819297,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763896595280905,-0.00497350869039214,0.09794683522305364,0.9999998435854645,-0.00015534484317697743,0.000513537229623766,0.00012813822387764862,0.6761,-0.0046,0.09722783906129272,1.0,0.0,0.0,0.0,-1.0322012641411789,0.7032010721558124,5.752202662575621,0.0506753245497754,0.06823270179286912,0.0032561169799843223,-0.06353856543885426,1.8547931060741403,5.964570132175487,0.127383528659228,0.001241214309056556,0.004922576890945286,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.591742758279725,1.2276842355492463,-4.997482979909023,0.2282558862623534,3.645074035201852,0.739257835487091,1.6323104815991827,-5.752202662575621,6.629793461508205,6.629793461508205,6.731359573861825,0,0,-8.764879221997835e-05,-9.387058771815333e-05
+46136,1792833074134527531,11753598000000,1792833074132819420,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6763966489903628,-0.004981645531245069,0.09786329814053536,0.9999998343189019,-0.00017255801009906135,0.0005259516628182353,0.00012807659640558467,0.6761,-0.0046,0.0971257779778356,1.0,0.0,0.0,0.0,-1.0325737813320037,0.709020499889319,5.87229846903512,0.051022243098337486,0.0681995671351379,0.0031604962075192414,-0.06391108262967897,1.860612533807647,6.084665938634986,0.1277304472077901,0.001208079651325336,0.004826956118480205,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.685081191928921,1.1504021861200877,-5.160878962955138,0.2649145685517565,3.7748453545057985,0.6911367127806868,1.6323104815991827,-5.87229846903512,6.79318944455432,6.79318944455432,6.8963595738614405,0,0,-0.00010307012359852952,-9.999117786397278e-05
+46258,1792833075151448479,11754615000000,1792833075148828644,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6764105497088692,-0.004978159336727415,0.09777443689947429,0.9999998198351445,-0.00017960682780136827,0.0005499807168881046,0.00013051873906491586,0.6761,-0.0046,0.09701373328162148,1.0,0.0,0.0,0.0,-1.039352438874996,0.7070532025203831,6.018251587267163,0.05164523170024572,0.06815518634100236,0.003049923777280941,-0.07068974017267116,1.858645236438711,6.230619056867029,0.12835343580969832,0.001163698857189791,0.004716383688241905,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.7516465775382972,1.1879576801184555,-5.279939765030776,0.2626740951869531,3.8696563636492165,0.7139389158867953,1.6323104815991827,-6.018251587267163,6.912250246629959,6.912250246629959,7.048909573861085,0,0,-0.00011443033888089283,-9.913069950873705e-05
+46400,1792833076334459933,11755798000000,1792833076332828646,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6764245519573129,-0.004984701633146418,0.0976610235408273,0.9999998029945069,-0.0001933159713884084,0.0005737813771136238,0.0001373232616706752,0.6761,-0.0046,0.09687603025361995,1.0,0.0,0.0,0.0,-1.0523132527138093,0.7112588208639159,6.173930157688316,0.05158876411016701,0.0691295719438997,0.0029401036798660236,-0.08365055401148466,1.8628508547822438,6.386297627288182,0.1282969682196196,0.0021380844600871357,0.004606563590826987,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.726759128104677,1.1129512433260256,-5.466011742050074,0.2959874233524733,3.9796860249208903,0.6655688863511129,1.6323104815991827,-6.173930157688316,7.098322223649257,7.098322223649257,7.226359573860671,0,0,-0.00011829484028033489,-8.754316302284621e-05
+46533,1792833077442449272,11756906000000,1792833077440819157,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6764381830628867,-0.004986321122013928,0.09755637126928546,0.9999997896215044,-0.00019315011976730732,0.0005963125778924376,0.0001389393818912485,0.6761,-0.0046,0.09674011578838662,1.0,0.0,0.0,0.0,-1.0365325641707315,0.7197017418458702,6.328888167859073,0.05260749524759985,0.06806961432531179,0.002809664061470088,-0.0678698654684068,1.871293775764198,6.5412556374589395,0.12931569935705245,0.0010781268414992282,0.004476123972431052,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.8521544018991483,1.1502438039298613,-5.614616196341903,0.29944767401850425,4.112267560478946,0.6909699594680156,1.6323104815991827,-6.328888167859073,7.246926677941085,7.246926677941085,7.392559573860284,0,0,-0.00013075192438069395,-9.995345803671114e-05
+46659,1792833078492439387,11757956000000,1792833078488828668,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6764536630758882,-0.004982846032724608,0.0974462748331609,0.9999997876992512,-0.0001006342679029253,0.0006213937929518651,0.00014066561469914057,0.6761,-0.0046,0.09660211746487105,1.0,0.0,0.0,0.0,-1.0261912625152458,0.7477144317276638,6.4454947790509465,0.053618120164431474,0.06802263360610976,0.00272812915571881,-0.05752856381292115,1.8993064656459917,6.6578622486508126,0.13032632427388408,0.001031146122297191,0.004394589066679774,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.879403800077399,1.2283719094797358,-5.877163370234029,0.27321235265392735,4.287236280119361,0.7187429395611177,1.6323104815991827,-6.4454947790509465,7.509473851833212,7.509473851833212,7.550059573859917,0,0,-0.00013629000270434932,9.990234614421496e-05
+46779,1792833079492430652,11758956000000,1792833079484818950,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6764645756323053,-0.004991120059117532,0.09732073732913249,0.999999772236972,-0.00013257004625386035,0.0006388314196253913,0.00014590568319895527,0.6761,-0.0046,0.09646158516766622,1.0,0.0,0.0,0.0,-1.0264874162628224,0.7528769681037313,6.586265030615172,0.0535825327892062,0.06799288964602791,0.0026176058699145604,-0.057824717560497604,1.9044690020220592,6.798632500215038,0.1302907368986588,0.00100140216221535,0.004284065780875524,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.89669592688247,1.1868084467784576,-6.002708975727361,0.3154065844343496,4.369924233850086,0.7113872830222319,1.6323104815991827,-6.586265030615172,7.635019457326544,7.635019457326544,7.700059573859567,0,0,-0.00014238556656357015,9.698440247974389e-05
+46903,1792833080526457331,11759990000000,1792833080520828738,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6764744311691071,-0.004993022463872619,0.09718240980999292,0.999999758666468,-0.00015164231028074856,0.0006543895502224983,0.00015129043775886114,0.6761,-0.0046,0.0963057475583484,1.0,0.0,0.0,0.0,-1.020078527680491,0.7255457077691341,6.7450258113126536,0.052528484916840965,0.06797930850977456,0.002651031092086062,-0.0514158289781663,1.877137741687462,6.95739328091252,0.12923668902629357,0.0009878210259619948,0.004317491003047026,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.939419208824463,1.3033071813277994,-6.222482298908412,0.2925659419713738,4.5269999430276675,0.7875267170945971,1.6323104815991827,-6.7450258113126536,7.854792780507594,7.854792780507594,7.855159573859206,0,0,-0.0001524303367458638,9.687576715678432e-05
+47027,1792833081559430375,11761023000000,1792833081556818614,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6764916006482045,-0.004996240700002738,0.09705165025575585,0.9999997325171998,-0.0001897457487356099,0.0006861103518181801,0.00014020530997001446,0.6761,-0.0046,0.09614134581781618,1.0,0.0,0.0,0.0,-1.0044907379950558,0.7462640641552141,6.790346662045209,0.05251723976717089,0.0679662778693435,0.0026542921234409653,-0.03582803929273112,1.897856098073542,7.002714131645075,0.1292254438766235,0.0009747903855309462,0.004320752034401929,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.95495654928935,1.2559914456586019,-6.156288647512133,0.3327602160272414,4.4864397486108345,0.7562340427029255,1.6323104815991827,-6.790346662045209,7.788599129111315,7.788599129111315,8.010109573858845,0,0,-0.00016969754594173126,-9.999997638144293e-05
+47148,1792833082567447578,11762031000000,1792833082564828965,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6765060085029027,-0.004999813777611268,0.09688154979345971,0.99999972117084,-0.00017991350346245114,0.0007030912892100551,0.00014964917845238236,0.6761,-0.0046,0.09595590254579658,1.0,0.0,0.0,0.0,-1.0088384547269997,0.7377587092138775,6.916487646192877,0.05144383460003275,0.06896691103609334,0.003372742021716012,-0.040175756024675095,1.8893507431322054,7.128855115792743,0.12815203870948536,0.0019754235522807797,0.005039201932676976,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,3.025972363389144,1.211029883783075,-6.31379562557102,0.35815638996187427,4.604523609923355,0.7407633324126639,1.6323104815991827,-6.916487646192877,7.946106107170202,7.946106107170202,8.161309573858492,0,0,-0.0001949777563806362,-9.41337383305651e-05
+47251,1792833083426381521,11762890000000,1792833083424828642,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6765111681428002,-0.005005518423485558,0.09672439835159721,0.9999997175491909,-0.0001463928135119028,0.0007126962279220396,0.0001642486945748312,0.6761,-0.0046,0.09578741257505562,1.0,0.0,0.0,0.0,-0.9798241882484037,0.6917032062611899,7.022629847635425,0.04838292332329104,0.06799010682766304,0.0032318310119475173,-0.011161489546078944,1.8432952401795177,7.234997317235291,0.12509112743274364,0.000998619343850484,0.004898290922908481,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.977364169993874,1.1999853474087148,-6.380660388545526,0.3710249005406144,4.6449154062137845,0.731110774216778,1.6323104815991827,-7.022629847635425,8.01297087014471,8.01297087014471,8.290159573858192,0,0,-0.0001991899160711227,-9.999657632343002e-05
+47357,1792833084309393937,11763773000000,1792833084308828585,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6765254197588194,-0.005006826111225583,0.09655797610588207,0.9999996978044311,-0.00020112558535952525,0.0007331670813056934,0.00013359805531190742,0.6761,-0.0046,0.09560118144600938,1.0,0.0,0.0,0.0,-0.9422139383817615,0.7134422051892817,7.0564955388584725,0.04840718615969146,0.06696742276764497,0.0031987275174830197,0.02644876032056324,1.8650342391076096,7.2688630084583385,0.12511539026914406,-2.406471616758605e-05,0.004865187428443983,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,3.0989092109652794,1.2850858867000101,-6.451366089432975,0.3655936766714851,4.72723238309999,0.7849764468652969,1.6323104815991827,-7.0564955388584725,8.083676571032157,8.083676571032157,8.422609573857883,0,0,-0.0002267307451883901,-9.999999025923074e-05
+47463,1792833085192436005,11764656000000,1792833085188819035,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6765321683090069,-0.005008973399376854,0.09635232761156855,0.9999996878721017,-0.00018429493706296476,0.0007475688137962702,0.0001512442004136991,0.6761,-0.0046,0.09538546160918845,1.0,0.0,0.0,0.0,-0.9394568307659305,0.6535566818759666,7.1329012247771795,0.044305826980675866,0.06702989309477231,0.003094388836284685,0.029205867936394226,1.8051487157942945,7.3452686943770455,0.12101403109012847,3.8405610959752715e-05,0.004760848747245649,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,3.0305670016069097,1.1456028850689193,-6.599592122720073,0.40420313156815313,4.809931661262057,0.6982618473104353,1.6323104815991827,-7.1329012247771795,8.231902604319256,8.231902604319256,8.555059573857575,0,0,-0.00026436169894425286,-9.999999025923074e-05
+47555,1792833085959385849,11765423000000,1792833085952829212,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6765435426127469,-0.005015829872623499,0.09615076789234124,0.9999996741902585,-0.00018152489570472073,0.0007626623777557271,0.00016869217813242072,0.6761,-0.0046,0.09516901188127637,1.0,0.0,0.0,0.0,-0.9267483993796088,0.596092925847119,7.177371739665863,0.04023998226724479,0.06608668012070512,0.002998954275977701,0.0419142993227158,1.747684959765447,7.389739209265729,0.11694818637669739,-0.0009048073631074448,0.004665414186938665,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,3.0424797437158153,1.1601532505713943,-6.620702604345715,0.4159416731213216,4.838756821169466,0.7113148342819527,1.6323104815991827,-7.177371739665863,8.253013085944898,8.253013085944898,8.670109573857307,0,0,-0.00030049214610613904,-9.999999025923074e-05
+47638,1792833086651370021,11766115000000,1792833086648828633,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.676552430237444,-0.0050045961065962475,0.09594054982913917,0.9999996613425729,-0.00020034862382971712,0.000778381447407035,0.00015079905471842046,0.6761,-0.0046,0.09494968239578676,1.0,0.0,0.0,0.0,-0.8722955027439011,0.5763891788039195,7.203708989278577,0.039314978998711614,0.062270622603083484,0.0029112524370532825,0.09636719595842354,1.7279812127222474,7.416076458878443,0.11602318310816422,-0.004720864880729082,0.004577712348014246,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,3.1000648557623136,1.1097869407033145,-6.716157166223208,0.4339437154083112,4.934088115439135,0.6850827651938348,1.6323104815991827,-7.203708989278577,8.34846764782239,8.34846764782239,8.773909573857065,0,0,-0.0003340920485220541,-9.999999025923074e-05
+47714,1792833087284322643,11766748000000,1792833087276828954,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6765525698308932,-0.005010044523941081,0.09571364813602809,0.9999996655896298,-0.0001761535218843447,0.000775012163874859,0.00016908452145961275,0.6761,-0.0046,0.09472820073102689,1.0,0.0,0.0,0.0,-0.8319704246357883,0.5247462271899956,7.2523840245377995,0.03528135132990268,0.06008795333471247,0.0027974658920564654,0.1366922740665364,1.6763382611083235,7.464751494137666,0.11198955543935528,-0.006903534149100087,0.004463925803017429,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,3.0494931222245736,1.1250346779187883,-6.7770269936204075,0.4360329746811577,4.978630743618328,0.7026689089672791,1.6323104815991827,-7.2523840245377995,8.40933747521959,8.40933747521959,8.868859573856843,0,0,-0.00036574204235614714,-9.999999025923074e-05
+47787,1792833087892317165,11767356000000,1792833087888819179,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6765551845477068,-0.0050043604843815126,0.0954766299899978,0.9999996596746156,-0.0001949380016061812,0.0007795867900967159,0.00016228718121563213,0.6761,-0.0046,0.09449660317107772,1.0,0.0,0.0,0.0,-0.7738255226144042,0.48693051838107104,7.251997523279098,0.03334813386936794,0.05608742383246415,0.002716607948705769,0.19483717608792056,1.638522552299399,7.464364992878964,0.11005633797882054,-0.010904063651348415,0.004383067859666733,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,3.0903249476544175,1.0954856280262444,-6.75657253865519,0.4539787242026631,4.995332629423247,0.6849702669203452,1.6323104815991827,-7.251997523279098,8.388883020254372,8.388883020254372,8.96005957385663,0,0,-0.00039614203643375943,-9.999999025923074e-05
+47858,1792833088484415325,11767948000000,1792833088480828792,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6765658435232466,-0.005012848792140579,0.09523885590986503,0.9999996563852008,-0.00011755858412104818,0.0007962524188121504,0.0001755972930054603,0.6761,-0.0046,0.09425334028721871,1.0,0.0,0.0,0.0,-0.7336956666388764,0.421076261413339,7.200286495304193,0.028328046364639536,0.05378627121894123,0.002671476624022897,0.23496703206344827,1.5726682953316669,7.4126539649040595,0.10503625047409214,-0.013205216264871334,0.004337936534983861,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,3.015103966966592,1.1155843860337957,-6.623236350885366,0.42150706605132476,4.91425879325547,0.6661957034421332,1.6323104815991827,-7.200286495304193,8.25554683248455,8.25554683248455,9.048859573856424,0,0,-0.000425742030667224,-9.999999025923074e-05
+47919,1792833088992379345,11768456000000,1792833088984819551,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6765643777990134,-0.0050067530379796785,0.09500796742353877,0.999999652771225,-0.00015896945015095827,0.0007938488947578722,0.00017445039375151025,0.6761,-0.0046,0.09403062443689911,1.0,0.0,0.0,0.0,-0.7220440311760409,0.3630076127904902,7.2053422513692515,0.024279780490277028,0.05254848146117617,0.0026116035514926104,0.24661866752628384,1.514599646708818,7.417709720969118,0.10098798459972963,-0.014443006022636394,0.004278063462453574,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,3.0178056742280255,1.0822962433956342,-6.660979632571088,0.45841443177395813,4.952261067043355,0.6795798955594697,1.6323104815991827,-7.2053422513692515,8.29329011417027,8.29329011417027,9.125059573856246,0,0,-0.00045114202571891324,-9.999999025923074e-05
+47978,1792833089484309746,11768948000000,1792833089476828740,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.676566954942959,-0.005006365540864963,0.09477517703465117,0.9999996467261272,-0.0002055869074526865,0.0007923222834043056,0.00016718225894677747,0.6761,-0.0046,0.09380262326142674,1.0,0.0,0.0,0.0,-0.6647522603075706,0.3240892006305174,7.150116312229794,0.022293104329973112,0.04921967972622589,0.0025772449045806567,0.303910438394754,1.4756812345488453,7.36248378182966,0.09900130843942571,-0.01777180775758667,0.00424370481554162,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.9805874242756207,1.0381684425346898,-6.581970832086997,0.4550623420820933,4.907055542680298,0.6580908150686411,1.6323104815991827,-7.150116312229794,8.214281313686179,8.214281313686179,9.198859573856074,0,0,-0.00047574202092645477,-9.999999025923074e-05
+48093,1792833090433364589,11769897000000,1792833090428828641,DOWN_PEAK_HOLD,6,0.0595,0.059501878917217255,0.6765286155778635,-0.005006996673872497,0.09459256609587219,0.9999996983982626,-0.00020855108378966,0.0007207042426095408,0.0001781518679367218,0.6761,-0.0046,0.09372322332034541,1.0,0.0,0.0,0.0,-0.5324457572990688,0.1501165175068051,6.541984826706564,0.01043128635516373,0.040470922558113166,0.001777701391624354,0.43621694140325584,1.301708551425133,6.75435229630643,0.08713949046461633,-0.026520564925699396,0.0034441613025853178,0.9686626987023247,1.1515920339183279,0.2123674695998661,0.0767082041094526,-0.06699148748381256,0.0016664599109609637,1,2.6792147103874853,1.0116092960201994,-5.899340933973641,0.45129274608416686,4.434547555812946,0.6396983755100684,1.6323104815991827,-6.541984826706564,7.531651415572824,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_15A_12.5/press_depth_06/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792833027976912853,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.410921850e-09,-2.166640686e-10,-1.668130079e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453223e-01,-1.181434122e-04,8.303259190e-01
+1,1.083333333e+00,DOWN_FORCE_DETACH,1792833029040635144,7.254056668e-07,-1.028444971e-06,-1.801158378e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.112793965e-07,-1.035244839e-08,-7.808079872e-08,7.019563582e-01,-2.329917999e-05,8.601429071e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455291e-01,-1.181535480e-04,8.303258426e-01
+2,2.233333333e+00,DOWN_FORCE_DETACH,1792833030170843411,-2.858050970e-06,-4.515390541e-06,-2.857592249e-05,-3.361431393e-06,-4.960934345e-06,-2.019421123e-05,-3.552685074e-06,-4.908974329e-06,-2.012594955e-05,7.019527748e-01,-2.678612556e-05,8.601145113e-01,7.019522714e-01,-2.723166937e-05,8.601228930e-01,7.027417652e-01,-1.230521699e-04,8.303057947e-01
+3,3.133333333e+00,DOWN_FORCE_DETACH,1792833031219595979,2.713375677e-05,-1.056452765e-05,-6.178548529e-05,2.728897574e-05,-7.230512387e-06,-5.911448034e-05,2.880839010e-05,-7.181368258e-06,-5.867832099e-05,7.019827666e-01,-3.283526267e-05,8.600813018e-01,7.019829218e-01,-2.950124741e-05,8.600839728e-01,7.027741263e-01,-1.253245638e-04,8.302672424e-01
+4,4.333333333e+00,DOWN_FORCE_DETACH,1792833032431014705,1.854357321e-05,-1.054102822e-05,-9.394812387e-05,2.276223880e-05,-1.368843426e-05,-7.740858164e-05,2.388048074e-05,-1.358030498e-05,-7.721370733e-05,7.019741764e-01,-3.281176325e-05,8.600491391e-01,7.019783951e-01,-3.595916928e-05,8.600656787e-01,7.027691983e-01,-1.317235005e-04,8.302487070e-01
+5,5.466666667e+00,DOWN_FORCE_DETACH,1792833033643674800,1.837235860e-05,-9.791345637e-06,-1.102007889e-04,1.741211815e-05,-1.082892505e-05,-9.821224248e-05,1.792264608e-05,-1.078581161e-05,-9.804209362e-05,7.019740052e-01,-3.206208066e-05,8.600328865e-01,7.019730449e-01,-3.309966007e-05,8.600448750e-01,7.027632405e-01,-1.289290072e-04,8.302278786e-01
+6,6.616666667e+00,DOWN_FORCE_DETACH,1792833034790668829,1.690333966e-05,-1.340592068e-05,-1.418742531e-04,1.419440970e-05,-1.195909379e-05,-1.223445428e-04,1.422122874e-05,-1.187859432e-05,-1.222152277e-04,7.019725362e-01,-3.567665570e-05,8.600012130e-01,7.019698272e-01,-3.422982882e-05,8.600207427e-01,7.027595391e-01,-1.300217899e-04,8.302037055e-01
+7,7.833333333e+00,DOWN_FORCE_DETACH,1792833036051078736,3.577819107e-05,-1.765935198e-05,-1.946043370e-04,3.335642911e-05,-2.096939373e-05,-1.825924904e-04,3.400030323e-05,-2.081966923e-05,-1.820869178e-04,7.019914110e-01,-3.993008701e-05,8.599484829e-01,7.019889892e-01,-4.324012875e-05,8.599604947e-01,7.027793182e-01,-1.389628648e-04,8.301438338e-01
+8,9.016666667e+00,DOWN_FORCE_DETACH,1792833037264658729,3.739592689e-05,-2.538548792e-05,-2.351342283e-04,3.676916440e-05,-2.193493311e-05,-2.224896761e-04,3.724021923e-05,-2.178412335e-05,-2.221035716e-04,7.019930287e-01,-4.765622295e-05,8.599079530e-01,7.019924020e-01,-4.420566813e-05,8.599205976e-01,7.027825581e-01,-1.399273189e-04,8.301038171e-01
+9,1.033333333e+01,DOWN_FORCE_DETACH,1792833038573491592,4.174418853e-05,-2.237951729e-05,-2.560547020e-04,3.667505713e-05,-2.377465768e-05,-2.427186156e-04,3.697779849e-05,-2.361223624e-05,-2.425537910e-04,7.019973770e-01,-4.465025231e-05,8.598870325e-01,7.019923079e-01,-4.604539270e-05,8.599003686e-01,7.027822957e-01,-1.417554318e-04,8.300833669e-01
+10,1.143333333e+01,DOWN_FORCE_DETACH,1792833039786348873,4.972074933e-05,-2.682619848e-05,-3.010530445e-04,4.391395571e-05,-2.896162912e-05,-2.822293697e-04,4.422191773e-05,-2.877392070e-05,-2.819432768e-04,7.020053536e-01,-4.909693350e-05,8.598420342e-01,7.019995468e-01,-5.123236414e-05,8.598608579e-01,7.027895398e-01,-1.469171162e-04,8.300439774e-01
+11,1.258333333e+01,DOWN_FORCE_DETACH,1792833040964715046,6.240433424e-05,-3.266982823e-05,-3.586158073e-04,5.794453890e-05,-3.039105837e-05,-3.423962754e-04,5.858260949e-05,-3.019691735e-05,-3.419651759e-04,7.020180372e-01,-5.494056325e-05,8.597844714e-01,7.020135774e-01,-5.266179339e-05,8.598006910e-01,7.028039005e-01,-1.483401129e-04,8.299839555e-01
+12,1.315000000e+01,DOWN_FORCE_DETACH,1792833041522199966,1.024903471e-04,-2.625313072e-05,-3.534310448e-04,9.749377210e-05,-3.065417913e-05,-3.569053887e-04,1.007163137e-04,-3.050710681e-05,-3.564770756e-04,7.020581232e-01,-4.852386575e-05,8.597896562e-01,7.020531266e-01,-5.292491415e-05,8.597861819e-01,7.028460342e-01,-1.486503023e-04,8.299694436e-01
+13,1.431666667e+01,DOWN_FORCE_DETACH,1792833042701461783,1.136002546e-04,-3.480635406e-05,-3.983512464e-04,1.094135872e-04,-3.001664687e-05,-3.969169496e-04,1.133077740e-04,-2.990325412e-05,-3.963703465e-04,7.020692331e-01,-5.707708908e-05,8.597447360e-01,7.020650464e-01,-5.228738190e-05,8.597461703e-01,7.028586256e-01,-1.480464497e-04,8.299295504e-01
+14,1.555000000e+01,DOWN_FORCE_DETACH,1792833043946474550,1.254385962e-04,-3.830243233e-05,-4.625240432e-04,1.255159955e-04,-3.308565195e-05,-4.547419987e-04,1.299588195e-04,-3.294274128e-05,-4.540365050e-04,7.020810714e-01,-6.057316736e-05,8.596805632e-01,7.020811488e-01,-5.535638697e-05,8.596883452e-01,7.028752767e-01,-1.510859368e-04,8.298718842e-01
+15,1.646666667e+01,DOWN_FORCE_DETACH,1792833044978614512,1.392505881e-04,-2.456377695e-05,-4.983366890e-04,1.386975998e-04,-2.302602975e-05,-4.939706696e-04,1.436040580e-04,-2.294218185e-05,-4.932384723e-04,7.020948834e-01,-4.683451197e-05,8.596447506e-01,7.020943304e-01,-4.529676477e-05,8.596491166e-01,7.028889219e-01,-1.410853774e-04,8.298326822e-01
+16,1.766666667e+01,DOWN_FORCE_DETACH,1792833046174162487,1.516745746e-04,-2.144097216e-05,-5.494321669e-04,1.498322310e-04,-2.196564677e-05,-5.313630121e-04,1.552482003e-04,-2.190196404e-05,-5.307277481e-04,7.021073074e-01,-4.371170719e-05,8.595936551e-01,7.021054650e-01,-4.423638180e-05,8.596117242e-01,7.029005661e-01,-1.400451596e-04,8.297951930e-01
+17,1.876666667e+01,DOWN_FORCE_DETACH,1792833047402378999,1.677153474e-04,-2.624467783e-05,-6.088547874e-04,1.623010604e-04,-2.460062302e-05,-5.939284737e-04,1.680051025e-04,-2.450681280e-05,-5.931077275e-04,7.021233482e-01,-4.851541285e-05,8.595342325e-01,7.021179339e-01,-4.687135804e-05,8.595491588e-01,7.029133230e-01,-1.426500083e-04,8.297328130e-01
+18,1.973333333e+01,DOWN_FORCE_DETACH,1792833048368629350,1.723492632e-04,-2.883067257e-05,-6.356939877e-04,1.717467945e-04,-3.336680211e-05,-6.349133003e-04,1.777197364e-04,-3.317564159e-05,-6.340766643e-04,7.021279821e-01,-5.110140759e-05,8.595073933e-01,7.021273796e-01,-5.563753713e-05,8.595081739e-01,7.029230376e-01,-1.513188371e-04,8.296918440e-01
+19,2.095000000e+01,DOWN_FORCE_DETACH,1792833049580886168,1.827690287e-04,-3.007421855e-05,-6.607658725e-04,1.783970907e-04,-3.137342608e-05,-6.533628453e-04,1.847182969e-04,-3.121780986e-05,-6.528097759e-04,7.021384018e-01,-5.234495357e-05,8.594823214e-01,7.021340299e-01,-5.364416110e-05,8.594897244e-01,7.029300362e-01,-1.493610054e-04,8.296731109e-01
+20,2.213333333e+01,DOWN_FORCE_DETACH,1792833050743862628,1.953110645e-04,-3.343744277e-05,-7.082105697e-04,1.921951089e-04,-3.046412183e-05,-6.918094238e-04,1.991089936e-04,-3.033801412e-05,-6.912566589e-04,7.021509439e-01,-5.570817779e-05,8.594348767e-01,7.021478279e-01,-5.273485685e-05,8.594512778e-01,7.029444269e-01,-1.484812097e-04,8.296346640e-01
+21,2.321666667e+01,DOWN_FORCE_DETACH,1792833051841203006,2.121309269e-04,-3.706591843e-05,-7.646981696e-04,2.084451730e-04,-3.431569622e-05,-7.520192981e-04,2.158731243e-04,-3.414011768e-05,-7.512513617e-04,7.021677637e-01,-5.933665346e-05,8.593783891e-01,7.021640780e-01,-5.658643124e-05,8.593910679e-01,7.029611910e-01,-1.522833132e-04,8.295746693e-01
+22,2.440000000e+01,DOWN_FORCE_DETACH,1792833053020249415,2.235626903e-04,-3.226662286e-05,-8.078309252e-04,2.183982960e-04,-3.706808999e-05,-7.909124441e-04,2.262110764e-04,-3.692734861e-05,-7.903314377e-04,7.021791955e-01,-5.453735788e-05,8.593352563e-01,7.021740311e-01,-5.933882501e-05,8.593521748e-01,7.029715289e-01,-1.550705441e-04,8.295355893e-01
+23,2.553333333e+01,DOWN_FORCE_DETACH,1792833054150503394,2.314053178e-04,-3.643808119e-05,-8.509355620e-04,2.258402251e-04,-3.653087315e-05,-8.319723302e-04,2.338094591e-04,-3.636774830e-05,-8.314210579e-04,7.021870381e-01,-5.870881622e-05,8.592921517e-01,7.021814730e-01,-5.880160817e-05,8.593111149e-01,7.029791273e-01,-1.545109438e-04,8.294944996e-01
+24,2.680000000e+01,DOWN_FORCE_DETACH,1792833055412558303,2.468807983e-04,-3.762062953e-05,-9.083829446e-04,2.469343136e-04,-3.777317322e-05,-9.081978590e-04,2.555286874e-04,-3.760879442e-05,-9.071379650e-04,7.022025136e-01,-5.989136455e-05,8.592347043e-01,7.022025671e-01,-6.004390824e-05,8.592348894e-01,7.030008466e-01,-1.557519900e-04,8.294187827e-01
+25,2.776666667e+01,DOWN_FORCE_DETACH,1792833056361905134,2.589223697e-04,-3.243478553e-05,-9.463916997e-04,2.570769564e-04,-3.587749216e-05,-9.489997254e-04,2.659402391e-04,-3.573676810e-05,-9.479816170e-04,7.022145552e-01,-5.470552055e-05,8.591966955e-01,7.022127098e-01,-5.814822718e-05,8.591940875e-01,7.030112581e-01,-1.538799636e-04,8.293779391e-01
+26,2.901666667e+01,DOWN_FORCE_DETACH,1792833057623403584,2.712858840e-04,-3.677735095e-05,-9.918188524e-04,2.658090122e-04,-3.953137197e-05,-9.889744153e-04,2.750097692e-04,-3.934382110e-05,-9.881036874e-04,7.022269187e-01,-5.904808597e-05,8.591512684e-01,7.022214418e-01,-6.180210700e-05,8.591541128e-01,7.030203276e-01,-1.574870166e-04,8.293378170e-01
+27,3.023333333e+01,DOWN_FORCE_DETACH,1792833058818955620,2.832857858e-04,-4.228870745e-05,-1.046031731e-03,2.775070435e-04,-3.883389329e-05,-1.027496719e-03,2.871302640e-04,-3.867368408e-05,-1.026765168e-03,7.022389186e-01,-6.455944247e-05,8.590970555e-01,7.022331399e-01,-6.110462831e-05,8.591155905e-01,7.030324481e-01,-1.568168796e-04,8.292991555e-01
+28,3.150000000e+01,DOWN_FORCE_DETACH,1792833060114054290,2.995251790e-04,-4.126685967e-05,-1.104560689e-03,2.921151071e-04,-4.448793900e-05,-1.088076084e-03,3.021900126e-04,-4.423391110e-05,-1.087252416e-03,7.022551580e-01,-6.353759470e-05,8.590385266e-01,7.022477479e-01,-6.675867402e-05,8.590550112e-01,7.030475079e-01,-1.623771066e-04,8.292386683e-01
+29,3.265000000e+01,DOWN_FORCE_DETACH,1792833061407280551,3.148706720e-04,-4.346559514e-05,-1.163647371e-03,3.110592418e-04,-4.586411949e-05,-1.149458403e-03,3.217819980e-04,-4.562256799e-05,-1.148528373e-03,7.022705035e-01,-6.573633016e-05,8.589794399e-01,7.022666921e-01,-6.813485451e-05,8.589936288e-01,7.030670999e-01,-1.637657635e-04,8.291773923e-01
+30,3.393333333e+01,DOWN_FORCE_DETACH,1792833062668963801,3.293161799e-04,-4.724252379e-05,-1.227474171e-03,3.251312688e-04,-4.571322214e-05,-1.210757885e-03,3.362022388e-04,-4.546214001e-05,-1.209864111e-03,7.022849490e-01,-6.951325882e-05,8.589156131e-01,7.022807641e-01,-6.798395716e-05,8.589323294e-01,7.030815201e-01,-1.636053356e-04,8.291160566e-01
+31,3.513333333e+01,DOWN_FORCE_DETACH,1792833063864055545,3.430817891e-04,-4.670518100e-05,-1.276564338e-03,3.392834888e-04,-5.076463424e-05,-1.272412686e-03,3.507690594e-04,-5.046507759e-05,-1.271431180e-03,7.022987146e-01,-6.897591602e-05,8.588665229e-01,7.022949163e-01,-7.303536926e-05,8.588706746e-01,7.030960869e-01,-1.686082731e-04,8.290544895e-01
+32,3.628333333e+01,DOWN_FORCE_DETACH,1792833065027507927,3.568527656e-04,-5.174656430e-05,-1.333527727e-03,3.571116849e-04,-4.721268969e-05,-1.330939921e-03,3.691927285e-04,-4.695060085e-05,-1.329776957e-03,7.023124856e-01,-7.401729933e-05,8.588095595e-01,7.023127445e-01,-6.948342471e-05,8.588121473e-01,7.031145106e-01,-1.650937964e-04,8.289961437e-01
+33,3.736666667e+01,DOWN_FORCE_DETACH,1792833066157515163,3.717838237e-04,-4.920616890e-05,-1.396045434e-03,3.715165138e-04,-4.932514494e-05,-1.396054644e-03,3.840199028e-04,-4.905063472e-05,-1.394710714e-03,7.023274166e-01,-7.147690392e-05,8.587470418e-01,7.023271493e-01,-7.159587996e-05,8.587470326e-01,7.031293378e-01,-1.671938303e-04,8.289312100e-01
+34,3.856666667e+01,DOWN_FORCE_DETACH,1792833067468231438,3.894170782e-04,-5.631976908e-05,-1.463684574e-03,3.859992388e-04,-5.349032967e-05,-1.456634025e-03,3.989965274e-04,-5.318695692e-05,-1.455414539e-03,7.023450499e-01,-7.859050410e-05,8.586794027e-01,7.023416321e-01,-7.576106470e-05,8.586864532e-01,7.031443144e-01,-1.713301525e-04,8.288705062e-01
+35,3.980000000e+01,DOWN_FORCE_DETACH,1792833068712607972,4.049096436e-04,-5.875520891e-05,-1.527758928e-03,3.981682249e-04,-5.585899418e-05,-1.519618187e-03,4.114380682e-04,-5.552983235e-05,-1.518472348e-03,7.023605425e-01,-8.102594394e-05,8.586153283e-01,7.023538010e-01,-7.812972920e-05,8.586234691e-01,7.031567559e-01,-1.736730279e-04,8.288074484e-01
+36,4.088333333e+01,DOWN_FORCE_DETACH,1792833069826632556,4.169665266e-04,-5.936848828e-05,-1.601548775e-03,4.118173109e-04,-5.901136712e-05,-1.582889406e-03,4.253352925e-04,-5.865806338e-05,-1.581653756e-03,7.023725993e-01,-8.163922330e-05,8.585415385e-01,7.023674501e-01,-8.128210215e-05,8.585601978e-01,7.031706532e-01,-1.768012589e-04,8.287442669e-01
+37,4.188333333e+01,DOWN_FORCE_DETACH,1792833070809277039,4.285357429e-04,-6.271145690e-05,-1.662653618e-03,4.210022375e-04,-5.975735742e-05,-1.645478926e-03,4.345780375e-04,-5.938885629e-05,-1.644327907e-03,7.023841686e-01,-8.498219193e-05,8.584804336e-01,7.023766351e-01,-8.202809244e-05,8.584976083e-01,7.031798959e-01,-1.775320518e-04,8.286815928e-01
+38,4.301666667e+01,DOWN_FORCE_DETACH,1792833071922923222,4.428179559e-04,-6.028911839e-05,-1.731367392e-03,4.396879631e-04,-6.126630023e-05,-1.729358119e-03,4.536222395e-04,-6.087919921e-05,-1.727944707e-03,7.023984508e-01,-8.255985341e-05,8.584117198e-01,7.023953208e-01,-8.353703526e-05,8.584137291e-01,7.031989401e-01,-1.790223948e-04,8.285979760e-01
+39,4.413333333e+01,DOWN_FORCE_DETACH,1792833073037097632,4.552197026e-04,-6.532727329e-05,-1.813095395e-03,4.544901609e-04,-6.654929424e-05,-1.811476586e-03,4.686239487e-04,-6.615009246e-05,-1.809963882e-03,7.024108525e-01,-8.759800831e-05,8.583299918e-01,7.024101230e-01,-8.882002926e-05,8.583316107e-01,7.032139418e-01,-1.842932880e-04,8.285159568e-01
+40,4.525000000e+01,DOWN_FORCE_DETACH,1792833074134313499,4.636235161e-04,-7.290583533e-05,-1.893872905e-03,4.615036608e-04,-6.804454437e-05,-1.879988512e-03,4.754290880e-04,-6.758638361e-05,-1.878640279e-03,7.024192563e-01,-9.517657036e-05,8.582492143e-01,7.024171365e-01,-9.031527939e-05,8.582630987e-01,7.032207470e-01,-1.857295791e-04,8.284472804e-01
+41,4.625000000e+01,DOWN_FORCE_DETACH,1792833075150151550,4.769174966e-04,-7.281439497e-05,-1.982822885e-03,4.767459087e-04,-7.247971270e-05,-1.982810066e-03,4.906144646e-04,-7.197734341e-05,-1.981016430e-03,7.024325503e-01,-9.508512999e-05,8.581602644e-01,7.024323787e-01,-9.475044773e-05,8.581602772e-01,7.032359323e-01,-1.901205390e-04,8.283449043e-01
+42,4.740000000e+01,DOWN_FORCE_DETACH,1792833076334336741,4.917080129e-04,-7.062587950e-05,-2.093508247e-03,4.892203056e-04,-7.950490499e-05,-2.081833635e-03,5.028233713e-04,-7.892560936e-05,-2.080010048e-03,7.024473408e-01,-9.289661452e-05,8.580495790e-01,7.024448531e-01,-1.017756400e-04,8.580612536e-01,7.032481412e-01,-1.970688049e-04,8.282459107e-01
+43,4.850000000e+01,DOWN_FORCE_DETACH,1792833077443735701,5.026740612e-04,-8.008505829e-05,-2.203387060e-03,5.012980856e-04,-7.745791822e-05,-2.185156393e-03,5.146635528e-04,-7.690039650e-05,-2.183355472e-03,7.024583069e-01,-1.023557933e-04,8.579397002e-01,7.024569309e-01,-9.972865324e-05,8.579579308e-01,7.032599814e-01,-1.950435920e-04,8.281425652e-01
+44,4.951666667e+01,DOWN_FORCE_DETACH,1792833078491720014,5.206659719e-04,-7.410577452e-05,-2.310786072e-03,5.204063658e-04,-7.784724760e-05,-2.306984141e-03,5.337897583e-04,-7.726561999e-05,-2.304866654e-03,7.024762988e-01,-9.637650954e-05,8.578323012e-01,7.024760392e-01,-1.001179826e-04,8.578361031e-01,7.032791076e-01,-1.954088155e-04,8.280210540e-01
+45,5.050000000e+01,DOWN_FORCE_DETACH,1792833079490798182,5.322485949e-04,-7.932774238e-05,-2.434195555e-03,5.320000844e-04,-7.942646312e-05,-2.433881274e-03,5.447655884e-04,-7.881681373e-05,-2.431461574e-03,7.024878814e-01,-1.015984774e-04,8.577088917e-01,7.024876329e-01,-1.016971981e-04,8.577092060e-01,7.032900835e-01,-1.969600093e-04,8.278944591e-01
+46,5.151666667e+01,DOWN_FORCE_DETACH,1792833080522383030,5.441133802e-04,-8.610266300e-05,-2.569512874e-03,5.395924626e-04,-8.929959182e-05,-2.557823811e-03,5.515307544e-04,-8.857880680e-05,-2.555467603e-03,7.024997462e-01,-1.083733980e-04,8.575735744e-01,7.024952253e-01,-1.115703268e-04,8.575852634e-01,7.032968486e-01,-2.067220023e-04,8.277704531e-01
+47,5.246666667e+01,DOWN_FORCE_DETACH,1792833081555529830,5.541664213e-04,-8.469277183e-05,-2.712749464e-03,5.535456021e-04,-8.810270343e-05,-2.696518488e-03,5.648846165e-04,-8.739929193e-05,-2.694025569e-03,7.025097992e-01,-1.069635068e-04,8.574303378e-01,7.025091784e-01,-1.103734385e-04,8.574465688e-01,7.033102025e-01,-2.055424875e-04,8.276318951e-01
+48,5.346666667e+01,DOWN_FORCE_DETACH,1792833082570053208,5.727448896e-04,-9.525101696e-05,-2.876823414e-03,5.740918861e-04,-9.553618473e-05,-2.867860929e-03,5.849006171e-04,-9.470921046e-05,-2.864986539e-03,7.025283777e-01,-1.175217520e-04,8.572662638e-01,7.025297247e-01,-1.178069197e-04,8.572752263e-01,7.033302185e-01,-2.128524060e-04,8.274609342e-01
+49,5.430000000e+01,DOWN_FORCE_DETACH,1792833083422042803,5.764114413e-04,-1.002359923e-04,-3.035363341e-03,5.786545146e-04,-9.774748460e-05,-3.026553696e-03,5.879664738e-04,-9.686869511e-05,-3.023420192e-03,7.025320443e-01,-1.225067273e-04,8.571077239e-01,7.025342873e-01,-1.200182196e-04,8.571165335e-01,7.033332843e-01,-2.150118907e-04,8.273025005e-01
+50,5.516666667e+01,DOWN_FORCE_DETACH,1792833084306551522,5.907491013e-04,-9.565467581e-05,-3.201952156e-03,5.920387213e-04,-9.728460066e-05,-3.182733945e-03,6.005096039e-04,-9.639761386e-05,-3.179679180e-03,7.025463819e-01,-1.179254108e-04,8.569411351e-01,7.025476715e-01,-1.195553357e-04,8.569603533e-01,7.033458275e-01,-2.145408094e-04,8.271462415e-01
+51,5.603333333e+01,DOWN_FORCE_DETACH,1792833085190464488,6.000287653e-04,-1.009903484e-04,-3.403655603e-03,6.000413632e-04,-1.008910660e-04,-3.403279684e-03,6.065553916e-04,-9.993407148e-05,-3.399594567e-03,7.025556616e-01,-1.232610835e-04,8.567394316e-01,7.025556742e-01,-1.231618010e-04,8.567398076e-01,7.033518733e-01,-2.180772670e-04,8.269263261e-01
+52,5.681666667e+01,DOWN_FORCE_DETACH,1792833085960483944,6.105455088e-04,-1.070896144e-04,-3.606293013e-03,6.083571433e-04,-1.080309025e-04,-3.600849698e-03,6.131551091e-04,-1.069372805e-04,-3.596886413e-03,7.025661783e-01,-1.293603494e-04,8.565367942e-01,7.025639900e-01,-1.303016375e-04,8.565422375e-01,7.033584730e-01,-2.250804760e-04,8.267290343e-01
+53,5.751666667e+01,DOWN_FORCE_DETACH,1792833086648455581,6.170402537e-04,-1.000390342e-04,-3.815985255e-03,6.168381578e-04,-1.000731578e-04,-3.816078877e-03,6.197487933e-04,-9.903065832e-05,-3.811650096e-03,7.025726731e-01,-1.223097693e-04,8.563271020e-01,7.025724710e-01,-1.223438928e-04,8.563270084e-01,7.033650667e-01,-2.171738539e-04,8.265142706e-01
+54,5.816666667e+01,DOWN_FORCE_DETACH,1792833087287472917,6.235443724e-04,-9.954604816e-05,-4.040235348e-03,6.187930952e-04,-9.920773184e-05,-4.039292478e-03,6.193100962e-04,-9.813812559e-05,-4.034473334e-03,7.025791772e-01,-1.218167832e-04,8.561028519e-01,7.025744259e-01,-1.214784669e-04,8.561037948e-01,7.033646280e-01,-2.162813211e-04,8.262914474e-01
+55,5.878333333e+01,DOWN_FORCE_DETACH,1792833087893223690,6.221874437e-04,-9.562022618e-05,-4.280430916e-03,6.227663062e-04,-9.603851205e-05,-4.266844165e-03,6.209205108e-04,-9.498248004e-05,-4.261763455e-03,7.025778203e-01,-1.178909612e-04,8.558626563e-01,7.025783991e-01,-1.183092471e-04,8.558762431e-01,7.033662384e-01,-2.131256756e-04,8.260641572e-01
+56,5.938333333e+01,DOWN_FORCE_DETACH,1792833088484088871,6.329814145e-04,-9.916113132e-05,-4.516254118e-03,6.326985550e-04,-9.904204841e-05,-4.516429971e-03,6.285012004e-04,-9.791471522e-05,-4.510886160e-03,7.025886142e-01,-1.214318663e-04,8.556268331e-01,7.025883314e-01,-1.213127834e-04,8.556266573e-01,7.033738191e-01,-2.160579108e-04,8.258150345e-01
+57,5.990000000e+01,DOWN_FORCE_DETACH,1792833088990774958,6.316504042e-04,-1.006426531e-04,-4.746777421e-03,6.320027032e-04,-9.703182409e-05,-4.740851522e-03,6.252121232e-04,-9.594234400e-05,-4.735046526e-03,7.025872832e-01,-1.229133881e-04,8.553963098e-01,7.025876355e-01,-1.193025591e-04,8.554022357e-01,7.033705300e-01,-2.140855395e-04,8.255908742e-01
+58,6.036666667e+01,DOWN_FORCE_DETACH,1792833089486690112,6.340852209e-04,-1.028379465e-04,-4.980804731e-03,6.315143854e-04,-9.922118948e-05,-4.981320571e-03,6.219194065e-04,-9.805796001e-05,-4.974942765e-03,7.025897180e-01,-1.251086815e-04,8.551622825e-01,7.025871472e-01,-1.214919245e-04,8.551617667e-01,7.033672373e-01,-2.162011555e-04,8.253509779e-01
+59,6.131666667e+01,DOWN_PEAK_HOLD,1792833090432568131,5.967102435e-04,-9.922741008e-05,-5.163210242e-03,5.993257228e-04,-9.471236862e-05,-5.158290400e-03,5.853642183e-04,-9.364245715e-05,-5.154338473e-03,7.025523431e-01,-1.214981451e-04,8.549798770e-01,7.025549585e-01,-1.169831036e-04,8.549847968e-01,7.033306821e-01,-2.117856527e-04,8.251715822e-01

Fixed/digit/cylinder_15A_12.5/press_depth_06/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.0443e-01,1.5952e-01,2.4928e+00,-4.8031e-02,4.4220e-02,3.5160e-04,7.7572e-04,-2.5347e-05,-3.1233e-04,1.6168e-06,5.6151e-05,1.9872e-07,8.3662e-04,5.6175e-05
+1,1.0833e+00,DOWN_FORCE_DETACH,2.6342e-04,1.4080e-01,1.5827e-01,2.4786e+00,-4.7952e-02,4.6855e-02,3.6047e-04,3.7136e-02,-1.2808e-03,-1.4449e-02,8.1040e-05,2.6913e-03,9.0681e-06,3.9869e-02,2.6925e-03
+2,2.2333e+00,DOWN_FORCE_DETACH,5.2762e-04,1.6969e-01,1.8159e-01,2.5134e+00,-4.9576e-02,4.8906e-02,3.6510e-04,6.6034e-02,2.2047e-02,2.0312e-02,-1.5434e-03,4.7421e-03,1.3700e-05,7.2520e-02,4.9870e-03
+3,3.1333e+00,DOWN_FORCE_DETACH,7.8595e-04,1.1703e-01,1.8949e-01,2.5673e+00,-5.0131e-02,4.5069e-02,3.7163e-04,1.3376e-02,2.9942e-02,7.4184e-02,-2.0982e-03,9.0534e-04,2.0229e-05,8.1109e-02,2.2853e-03
+4,4.3333e+00,DOWN_FORCE_DETACH,1.0511e-03,1.5914e-01,2.1901e-01,2.5370e+00,-5.2209e-02,4.8116e-02,3.6124e-04,5.5483e-02,5.9463e-02,4.3886e-02,-4.1767e-03,3.9522e-03,9.8418e-06,9.2413e-02,5.7502e-03
+5,5.4667e+00,DOWN_FORCE_DETACH,1.3135e-03,1.7717e-01,2.0522e-01,2.5242e+00,-5.1276e-02,4.9436e-02,3.2967e-04,7.3514e-02,4.5674e-02,3.1147e-02,-3.2434e-03,5.2721e-03,-2.1730e-05,9.1981e-02,6.1899e-03
+6,6.6167e+00,DOWN_FORCE_DETACH,1.5755e-03,1.8467e-01,2.0987e-01,2.5251e+00,-5.1629e-02,4.9985e-02,3.0153e-04,8.1013e-02,5.0329e-02,3.2034e-02,-3.5962e-03,5.8211e-03,-4.9871e-05,1.0061e-01,6.8426e-03
+7,7.8333e+00,DOWN_FORCE_DETACH,1.8417e-03,1.5281e-01,2.4998e-01,2.5803e+00,-5.4441e-02,4.7648e-02,2.8926e-04,4.9148e-02,9.0431e-02,8.7207e-02,-6.4081e-03,3.4844e-03,-6.2146e-05,1.3490e-01,7.2944e-03
+8,9.0167e+00,DOWN_FORCE_DETACH,2.1015e-03,1.6556e-01,2.5213e-01,2.5681e+00,-5.4621e-02,4.8579e-02,2.5544e-04,6.1900e-02,9.2584e-02,7.5023e-02,-6.5879e-03,4.4155e-03,-9.5960e-05,1.3428e-01,7.9314e-03
+9,1.0333e+01,DOWN_FORCE_DETACH,2.3656e-03,1.7887e-01,2.5782e-01,2.5273e+00,-5.5073e-02,4.9590e-02,2.0637e-04,7.5215e-02,9.8273e-02,3.4166e-02,-7.0403e-03,5.4265e-03,-1.4503e-04,1.2838e-01,8.8901e-03
+10,1.1433e+01,DOWN_FORCE_DETACH,2.6264e-03,1.7582e-01,2.7980e-01,2.5439e+00,-5.6631e-02,4.9359e-02,1.7455e-04,7.2164e-02,1.2025e-01,5.0788e-02,-8.5986e-03,5.1954e-03,-1.7685e-04,1.4916e-01,1.0048e-02
+11,1.2583e+01,DOWN_FORCE_DETACH,2.8919e-03,1.6654e-01,2.8382e-01,2.5768e+00,-5.6914e-02,4.8653e-02,1.4706e-04,6.2880e-02,1.2427e-01,8.3749e-02,-8.8810e-03,4.4897e-03,-2.0435e-04,1.6251e-01,9.9535e-03
+12,1.3150e+01,DOWN_FORCE_DETACH,3.1547e-03,9.3146e-02,2.8012e-01,2.5573e+00,-5.6669e-02,4.3413e-02,1.5485e-04,-1.0513e-02,1.2057e-01,6.4187e-02,-8.6367e-03,-7.5050e-04,-1.9655e-04,1.3700e-01,8.6714e-03
+13,1.4317e+01,DOWN_FORCE_DETACH,3.4152e-03,1.2660e-01,2.7400e-01,2.5753e+00,-5.6228e-02,4.5768e-02,1.4285e-04,2.2939e-02,1.1445e-01,8.2191e-02,-8.1958e-03,1.6049e-03,-2.0856e-04,1.4276e-01,8.3540e-03
+14,1.5550e+01,DOWN_FORCE_DETACH,3.6788e-03,1.3304e-01,2.8828e-01,2.6010e+00,-5.7160e-02,4.6188e-02,1.3982e-04,2.9380e-02,1.2873e-01,1.0790e-01,-9.1277e-03,2.0247e-03,-2.1158e-04,1.7052e-01,9.3519e-03
+15,1.6467e+01,DOWN_FORCE_DETACH,3.9406e-03,1.2514e-01,2.4018e-01,2.6075e+00,-5.3786e-02,4.5606e-02,1.2738e-04,2.1483e-02,8.0635e-02,1.1438e-01,-5.7528e-03,1.4430e-03,-2.2402e-04,1.4158e-01,5.9353e-03
+16,1.7667e+01,DOWN_FORCE_DETACH,4.2035e-03,1.3335e-01,2.3734e-01,2.5869e+00,-5.3526e-02,4.6201e-02,1.3924e-04,2.9687e-02,7.7789e-02,9.3803e-02,-5.4934e-03,2.0376e-03,-2.1217e-04,1.2543e-01,5.8630e-03
+17,1.8767e+01,DOWN_FORCE_DETACH,4.4676e-03,1.3997e-01,2.5134e-01,2.6105e+00,-5.4452e-02,4.6633e-02,1.6228e-04,3.6314e-02,9.1799e-02,1.1736e-01,-6.4193e-03,2.4700e-03,-1.8913e-04,1.5336e-01,6.8807e-03
+18,1.9733e+01,DOWN_FORCE_DETACH,4.7335e-03,1.4678e-01,2.9323e-01,2.6144e+00,-5.7341e-02,4.7105e-02,1.8502e-04,4.3120e-02,1.3368e-01,1.2136e-01,-9.3087e-03,2.9412e-03,-1.6638e-04,1.8563e-01,9.7637e-03
+19,2.0950e+01,DOWN_FORCE_DETACH,4.9918e-03,1.5378e-01,2.8073e-01,2.5591e+00,-5.6525e-02,4.7662e-02,1.7540e-04,5.0121e-02,1.2119e-01,6.6051e-02,-8.4927e-03,3.4982e-03,-1.7600e-04,1.4684e-01,9.1867e-03
+20,2.2133e+01,DOWN_FORCE_DETACH,5.2549e-03,1.4945e-01,2.7358e-01,2.5616e+00,-5.6055e-02,4.7350e-02,1.5695e-04,4.5788e-02,1.1404e-01,6.8554e-02,-8.0222e-03,3.1865e-03,-1.9445e-04,1.4071e-01,8.6340e-03
+21,2.3217e+01,DOWN_FORCE_DETACH,5.5178e-03,1.4233e-01,2.8928e-01,2.5975e+00,-5.7136e-02,4.6804e-02,1.3916e-04,3.8670e-02,1.2974e-01,1.0440e-01,-9.1037e-03,2.6407e-03,-2.1224e-04,1.7096e-01,9.4814e-03
+22,2.4400e+01,DOWN_FORCE_DETACH,5.7806e-03,1.5685e-01,2.9982e-01,2.5705e+00,-5.7861e-02,4.7862e-02,1.1087e-04,5.3191e-02,1.4027e-01,7.7426e-02,-9.8281e-03,3.6984e-03,-2.4053e-04,1.6882e-01,1.0504e-02
+23,2.5533e+01,DOWN_FORCE_DETACH,6.0437e-03,1.6688e-01,2.9493e-01,2.5654e+00,-5.7509e-02,4.8577e-02,6.7612e-05,6.3218e-02,1.3538e-01,7.2343e-02,-9.4763e-03,4.4137e-03,-2.8379e-04,1.6601e-01,1.0458e-02
+24,2.6800e+01,DOWN_FORCE_DETACH,6.3064e-03,1.6183e-01,2.7085e-01,2.5842e+00,-5.5807e-02,4.8189e-02,1.8800e-05,5.8174e-02,1.1130e-01,9.1135e-02,-7.7744e-03,4.0255e-03,-3.3260e-04,1.5517e-01,8.7610e-03
+25,2.7767e+01,DOWN_FORCE_DETACH,6.5681e-03,1.5267e-01,2.8968e-01,2.6340e+00,-5.7068e-02,4.7474e-02,1.0529e-06,4.9009e-02,1.3013e-01,1.4093e-01,-9.0355e-03,3.3110e-03,-3.5035e-04,1.9798e-01,9.6294e-03
+26,2.9017e+01,DOWN_FORCE_DETACH,6.8324e-03,1.6382e-01,3.0749e-01,2.6077e+00,-5.8281e-02,4.8271e-02,-1.3503e-05,6.0165e-02,1.4795e-01,1.1463e-01,-1.0249e-02,4.1072e-03,-3.6491e-04,1.9659e-01,1.1047e-02
+27,3.0233e+01,DOWN_FORCE_DETACH,7.0949e-03,1.6238e-01,3.0395e-01,2.5845e+00,-5.8028e-02,4.8174e-02,-1.8115e-05,5.8720e-02,1.4441e-01,9.1366e-02,-9.9953e-03,4.0104e-03,-3.6952e-04,1.8069e-01,1.0776e-02
+28,3.1500e+01,DOWN_FORCE_DETACH,7.3568e-03,1.6044e-01,3.3136e-01,2.5975e+00,-5.9883e-02,4.7996e-02,2.3395e-06,5.6776e-02,1.7181e-01,1.0439e-01,-1.1851e-02,3.8327e-03,-3.4906e-04,2.0890e-01,1.2460e-02
+29,3.2650e+01,DOWN_FORCE_DETACH,7.6198e-03,1.4991e-01,3.3768e-01,2.6146e+00,-6.0282e-02,4.7214e-02,2.6687e-05,4.6248e-02,1.7813e-01,1.2148e-01,-1.2249e-02,3.0504e-03,-3.2472e-04,2.2051e-01,1.2627e-02
+30,3.3933e+01,DOWN_FORCE_DETACH,7.8833e-03,1.5784e-01,3.3650e-01,2.6094e+00,-6.0175e-02,4.7763e-02,3.4610e-05,5.4181e-02,1.7696e-01,1.1632e-01,-1.2142e-02,3.6001e-03,-3.1679e-04,2.1859e-01,1.2668e-02
+31,3.5133e+01,DOWN_FORCE_DETACH,8.1471e-03,1.5900e-01,3.6053e-01,2.6216e+00,-6.1806e-02,4.7823e-02,3.9435e-05,5.5346e-02,2.0098e-01,1.2849e-01,-1.3773e-02,3.6594e-03,-3.1197e-04,2.4488e-01,1.4255e-02
+32,3.6283e+01,DOWN_FORCE_DETACH,8.4089e-03,1.4869e-01,3.4130e-01,2.6413e+00,-6.0479e-02,4.7068e-02,3.4716e-05,4.5034e-02,1.8176e-01,1.4824e-01,-1.2447e-02,2.9048e-03,-3.1669e-04,2.3883e-01,1.2785e-02
+33,3.7367e+01,DOWN_FORCE_DETACH,8.6738e-03,1.5996e-01,3.6512e-01,2.6151e+00,-6.2122e-02,4.7884e-02,4.1919e-05,5.6303e-02,2.0558e-01,1.2205e-01,-1.4089e-02,3.7201e-03,-3.0948e-04,2.4562e-01,1.4575e-02
+34,3.8567e+01,DOWN_FORCE_DETACH,8.9374e-03,1.6240e-01,3.6926e-01,2.6487e+00,-6.2379e-02,4.8019e-02,4.6765e-05,5.8743e-02,2.0972e-01,1.5560e-01,-1.4346e-02,3.8552e-03,-3.0464e-04,2.6767e-01,1.4858e-02
+35,3.9800e+01,DOWN_FORCE_DETACH,9.1946e-03,1.7459e-01,3.7894e-01,2.6417e+00,-6.3040e-02,4.8888e-02,5.9056e-05,7.0929e-02,2.1940e-01,1.4857e-01,-1.5007e-02,4.7246e-03,-2.9235e-04,2.7430e-01,1.5736e-02
+36,4.0883e+01,DOWN_FORCE_DETACH,9.4603e-03,1.7635e-01,3.9325e-01,2.6484e+00,-6.4011e-02,4.9004e-02,8.2496e-05,7.2695e-02,2.3371e-01,1.5529e-01,-1.5979e-02,4.8408e-03,-2.6891e-04,2.8986e-01,1.6698e-02
+37,4.1883e+01,DOWN_FORCE_DETACH,9.7235e-03,1.8315e-01,3.9672e-01,2.6436e+00,-6.4221e-02,4.9482e-02,1.0845e-04,7.9491e-02,2.3717e-01,1.5056e-01,-1.6188e-02,5.3185e-03,-2.4296e-04,2.9195e-01,1.7041e-02
+38,4.3017e+01,DOWN_FORCE_DETACH,9.9848e-03,1.6921e-01,4.0365e-01,2.6775e+00,-6.4644e-02,4.8462e-02,1.5049e-04,6.5556e-02,2.4410e-01,1.8443e-01,-1.6611e-02,4.2990e-03,-2.0092e-04,3.1289e-01,1.7159e-02
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+40,4.5250e+01,DOWN_FORCE_DETACH,1.0511e-02,1.8108e-01,4.3726e-01,2.6751e+00,-6.6880e-02,4.9249e-02,2.2180e-04,7.7417e-02,2.7771e-01,1.8201e-01,-1.8847e-02,5.0853e-03,-1.2960e-04,3.4095e-01,1.9522e-02
+41,4.6250e+01,DOWN_FORCE_DETACH,1.0772e-02,1.7631e-01,4.6093e-01,2.7518e+00,-6.8425e-02,4.8798e-02,2.2787e-04,7.2648e-02,3.0138e-01,2.5869e-01,-2.0393e-02,4.6342e-03,-1.2354e-04,4.0377e-01,2.0913e-02
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Fixed/digit/cylinder_15A_12.5/press_depth_06/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
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Fixed/digit/cylinder_15A_12.5/press_depth_06/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/digit/cylinder_15A_12.5/press_depth_06/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+19,8.500000000e-01,WAIT_W2,1792833017992393764,7.664061109e-07,-4.250411197e-04,2.200304714e-05,9.104731965e-07,-4.249286595e-04,2.185873098e-05,1.625817678e-06,-4.208577102e-04,2.200422618e-05,7.019563992e-01,-4.473118548e-04,8.601650903e-01,7.019565433e-01,-4.471993946e-04,8.601649460e-01,7.027469437e-01,-5.390009196e-04,8.303479249e-01
+20,8.666666667e-01,WAIT_W2,1792833018016539744,3.618074865e-06,-4.067712876e-04,2.416105968e-05,9.104731965e-07,-4.249286595e-04,2.185873098e-05,1.623529237e-06,-4.208950791e-04,2.202808852e-05,7.019592509e-01,-4.290420227e-04,8.601672483e-01,7.019565433e-01,-4.471993946e-04,8.601649460e-01,7.027469414e-01,-5.390382886e-04,8.303479488e-01
+21,1.000000000e+00,WAIT_W2,1792833018147612633,3.279152063e-06,-4.044534959e-04,2.333058082e-05,3.628386137e-06,-3.942588287e-04,2.390730173e-05,4.552837250e-06,-3.905919690e-04,2.414087158e-05,7.019589120e-01,-4.267242309e-04,8.601664178e-01,7.019592612e-01,-4.165295637e-04,8.601669945e-01,7.027498707e-01,-5.087351785e-04,8.303500616e-01
+22,1.100000000e+00,WAIT_W2,1792833018247027404,2.788260543e-06,-4.103988548e-04,2.553107976e-05,4.515198161e-06,-4.179957955e-04,2.653997262e-05,5.513300793e-06,-4.141200515e-04,2.674782303e-05,7.019584211e-01,-4.326695899e-04,8.601686183e-01,7.019601480e-01,-4.402665305e-04,8.601696272e-01,7.027508312e-01,-5.322632610e-04,8.303526685e-01
+23,1.200000000e+00,WAIT_W2,1792833018344100412,4.670323206e-06,-4.081855621e-04,2.693947315e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.418923916e-06,-4.126720970e-04,2.563767546e-05,7.019603031e-01,-4.304562971e-04,8.601700267e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027497368e-01,-5.308153065e-04,8.303515584e-01
+24,1.283333333e+00,WAIT_W2,1792833018425966842,4.590505826e-06,-4.172593603e-04,2.758752744e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.431986379e-06,-4.127012840e-04,2.566416282e-05,7.019602233e-01,-4.395300953e-04,8.601706748e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027497499e-01,-5.308444935e-04,8.303515849e-01
+25,1.400000000e+00,UP_FORCE_RAMP,1792833018540541504,5.790507214e-06,-4.088117312e-04,2.828092617e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.449227230e-06,-4.127352144e-04,2.569174391e-05,7.019614233e-01,-4.310824662e-04,8.601713682e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027497671e-01,-5.308784239e-04,8.303516125e-01
+26,1.566666667e+00,UP_FORCE_RAMP,1792833018704741222,4.519345679e-06,-4.026423942e-04,2.816835051e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.470406798e-06,-4.127749593e-04,2.571662216e-05,7.019601522e-01,-4.249131292e-04,8.601712556e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027497883e-01,-5.309181688e-04,8.303516373e-01
+27,1.716666667e+00,UP_FORCE_RAMP,1792833018851748177,4.603099812e-06,-4.043721257e-04,2.939992637e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.486814889e-06,-4.128044700e-04,2.572813947e-05,7.019602359e-01,-4.266428607e-04,8.601724872e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027498047e-01,-5.309476795e-04,8.303516489e-01
+28,1.916666667e+00,UP_FORCE_RAMP,1792833019048798424,6.926466839e-06,-4.059276527e-04,3.251417358e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.505686652e-06,-4.128370224e-04,2.573202295e-05,7.019625593e-01,-4.281983877e-04,8.601756014e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027498236e-01,-5.309802319e-04,8.303516527e-01
+29,2.116666667e+00,UP_FORCE_RAMP,1792833019277944480,4.475861179e-06,-4.081257629e-04,2.990948465e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.521983465e-06,-4.128637874e-04,2.572690242e-05,7.019601087e-01,-4.303964979e-04,8.601729967e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027498399e-01,-5.310069969e-04,8.303516476e-01
+30,2.300000000e+00,UP_FORCE_RAMP,1792833019458365162,7.047343734e-06,-4.028258246e-04,3.853960360e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.535250369e-06,-4.128845016e-04,2.571699236e-05,7.019626802e-01,-4.250965596e-04,8.601816268e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027498532e-01,-5.310277111e-04,8.303516377e-01
+31,2.466666667e+00,UP_FORCE_RAMP,1792833019628170421,5.602200092e-06,-4.053425507e-04,4.098341510e-05,7.484150341e-06,-4.052703285e-04,4.177793366e-05,9.033359253e-06,-4.017922662e-04,4.188868530e-05,7.019612350e-01,-4.276132858e-04,8.601840707e-01,7.019631170e-01,-4.275410635e-04,8.601848652e-01,7.027543513e-01,-5.199354757e-04,8.303678094e-01
+32,2.666666667e+00,UP_FORCE_RAMP,1792833019851656744,5.350416165e-06,-4.049238665e-04,4.943673849e-05,7.484150341e-06,-4.052703285e-04,4.177793366e-05,9.061252978e-06,-4.018087400e-04,4.192100114e-05,7.019609832e-01,-4.271946015e-04,8.601925240e-01,7.019631170e-01,-4.275410635e-04,8.601848652e-01,7.027543792e-01,-5.199519495e-04,8.303678417e-01
+33,2.800000000e+00,UP_FORCE_RAMP,1792833019998768736,-2.726067250e-05,-3.982771828e-04,4.866040780e-05,-2.678331528e-05,-3.984780689e-04,4.862790286e-05,-2.731832130e-05,-3.951051965e-04,4.865474498e-05,7.019283721e-01,-4.205479178e-04,8.601917476e-01,7.019288495e-01,-4.207488039e-04,8.601917151e-01,7.027179996e-01,-5.132484059e-04,8.303745755e-01
+34,2.900000000e+00,UP_FORCE_RAMP,1792833020097458182,-1.823907766e-05,-4.022585730e-04,6.292813579e-05,-2.678331528e-05,-3.984780689e-04,4.862790286e-05,-2.739630518e-05,-3.951153259e-04,4.867148399e-05,7.019373937e-01,-4.245293081e-04,8.602060154e-01,7.019288495e-01,-4.207488039e-04,8.601917151e-01,7.027179216e-01,-5.132585354e-04,8.303745922e-01
+35,3.050000000e+00,UP_FORCE_RAMP,1792833020244778124,-2.105043757e-05,-3.992141495e-04,6.746851108e-05,-1.694081889e-05,-3.990076605e-04,7.179281651e-05,-1.670059893e-05,-3.956689619e-04,7.152671434e-05,7.019345824e-01,-4.214848845e-04,8.602105558e-01,7.019386920e-01,-4.212783955e-04,8.602148801e-01,7.027286173e-01,-5.138121714e-04,8.303974474e-01
+36,3.183333333e+00,UP_FORCE_RAMP,1792833020375769879,-1.705530511e-05,-3.926769373e-04,8.245628945e-05,-1.694081889e-05,-3.990076605e-04,7.179281651e-05,-1.670983410e-05,-3.956807791e-04,7.158751336e-05,7.019385775e-01,-4.149476723e-04,8.602255435e-01,7.019386920e-01,-4.212783955e-04,8.602148801e-01,7.027286081e-01,-5.138239886e-04,8.303975082e-01
+37,3.350000000e+00,UP_FORCE_RAMP,1792833020539325214,-1.398471665e-05,-3.978583463e-04,9.786114975e-05,-1.317305862e-05,-3.957015277e-04,9.515210385e-05,-1.238902813e-05,-3.924420511e-04,9.465829051e-05,7.019416481e-01,-4.201290813e-04,8.602409484e-01,7.019424598e-01,-4.179722627e-04,8.602382393e-01,7.027329289e-01,-5.105852606e-04,8.304205790e-01
+38,3.533333333e+00,UP_FORCE_RAMP,1792833020719557832,-1.112720504e-05,-4.036281536e-04,1.164602377e-04,-1.097695600e-05,-4.034005545e-04,1.164719884e-04,-9.792182955e-06,-4.000769075e-04,1.157722531e-04,7.019445056e-01,-4.258988886e-04,8.602595475e-01,7.019446559e-01,-4.256712895e-04,8.602595592e-01,7.027355257e-01,-5.182201170e-04,8.304416930e-01
+39,3.666666667e+00,UP_FORCE_RAMP,1792833020866975277,-1.119437988e-05,-3.995230290e-04,1.300009249e-04,-1.097695600e-05,-4.034005545e-04,1.164719884e-04,-9.780150581e-06,-4.000962622e-04,1.158943007e-04,7.019444384e-01,-4.217937641e-04,8.602730882e-01,7.019446559e-01,-4.256712895e-04,8.602595592e-01,7.027355378e-01,-5.182394717e-04,8.304418150e-01
+40,3.800000000e+00,UP_FORCE_RAMP,1792833020997703015,-1.035659625e-05,-3.981395177e-04,1.394659392e-04,-8.071850184e-06,-3.971245209e-04,1.377364131e-04,-6.414730380e-06,-3.939282449e-04,1.369617774e-04,7.019452762e-01,-4.204102527e-04,8.602825532e-01,7.019475610e-01,-4.193952559e-04,8.602808237e-01,7.027389032e-01,-5.120714544e-04,8.304628825e-01
+41,3.900000000e+00,UP_FORCE_RAMP,1792833021097066980,-1.638291697e-05,-4.181176133e-04,1.462939747e-04,-8.078055290e-06,-4.172687125e-04,1.440033182e-04,-6.307366061e-06,-4.138952517e-04,1.432492876e-04,7.019392499e-01,-4.403883483e-04,8.602893812e-01,7.019475548e-01,-4.395394476e-04,8.602870906e-01,7.027390105e-01,-5.320384612e-04,8.304691700e-01
+42,4.016666667e+00,UP_FORCE_RAMP,1792833021214541534,-1.539211290e-05,-4.074007338e-04,1.505255479e-04,-8.078055290e-06,-4.172687125e-04,1.440033182e-04,-6.298805215e-06,-4.139098564e-04,1.433351952e-04,7.019402407e-01,-4.296714688e-04,8.602936128e-01,7.019475548e-01,-4.395394476e-04,8.602870906e-01,7.027390191e-01,-5.320530659e-04,8.304692559e-01
+43,4.050000000e+00,UP_FORCE_RAMP,1792833021243637071,-5.531388503e-05,-4.145181988e-04,1.293074324e-04,-5.496155154e-05,-4.140793910e-04,1.291009706e-04,-5.640337961e-05,-4.106826098e-04,1.286338713e-04,7.019003189e-01,-4.367889339e-04,8.602723947e-01,7.019006713e-01,-4.363501260e-04,8.602721882e-01,7.026889145e-01,-5.288258193e-04,8.304545546e-01
+44,4.083333333e+00,UP_FORCE_RAMP,1792833021277102517,-5.571995106e-05,-4.198169096e-04,1.262261407e-04,-5.496155154e-05,-4.140793910e-04,1.291009706e-04,-5.646820491e-05,-4.106886703e-04,1.286350930e-04,7.018999129e-01,-4.420876446e-04,8.602693134e-01,7.019006713e-01,-4.363501260e-04,8.602721882e-01,7.026888497e-01,-5.288318798e-04,8.304545558e-01
+45,4.166666667e+00,UP_FORCE_RAMP,1792833021359648744,-4.764944125e-05,-4.178077866e-04,1.399138176e-04,-5.496155154e-05,-4.140793910e-04,1.291009706e-04,-5.654298293e-05,-4.106917038e-04,1.286537274e-04,7.019079834e-01,-4.400785217e-04,8.602830011e-01,7.019006713e-01,-4.363501260e-04,8.602721882e-01,7.026887749e-01,-5.288349133e-04,8.304545744e-01
+46,4.233333333e+00,UP_FORCE_RAMP,1792833021424030641,-4.765088462e-05,-4.171233166e-04,1.426819596e-04,-3.701052494e-05,-4.168001633e-04,1.489235426e-04,-3.721346988e-05,-4.134452281e-04,1.483019833e-04,7.019079819e-01,-4.393940516e-04,8.602857692e-01,7.019186223e-01,-4.390708983e-04,8.602920108e-01,7.027081044e-01,-5.315884376e-04,8.304742227e-01
+47,4.333333333e+00,UP_FORCE_RAMP,1792833021539743381,-4.930134368e-05,-4.134723501e-04,1.444452392e-04,-3.701052494e-05,-4.168001633e-04,1.489235426e-04,-3.723136033e-05,-4.134535468e-04,1.483611507e-04,7.019063315e-01,-4.357430852e-04,8.602875325e-01,7.019186223e-01,-4.390708983e-04,8.602920108e-01,7.027080866e-01,-5.315967563e-04,8.304742819e-01
+48,4.483333333e+00,UP_FORCE_RAMP,1792833021685986838,-4.932748049e-05,-4.130944014e-04,1.536629475e-04,-3.701052494e-05,-4.168001633e-04,1.489235426e-04,-3.725788132e-05,-4.134626098e-04,1.484287402e-04,7.019063053e-01,-4.353651364e-04,8.602967502e-01,7.019186223e-01,-4.390708983e-04,8.602920108e-01,7.027080600e-01,-5.316058192e-04,8.304743495e-01
+49,4.650000000e+00,UP_FORCE_RAMP,1792833021849368566,-5.473888141e-05,-4.139554050e-04,1.581294774e-04,-5.429060867e-05,-4.115696154e-04,1.573900653e-04,-5.558005814e-05,-4.082808290e-04,1.567499950e-04,7.019008939e-01,-4.362261400e-04,8.603012167e-01,7.019013422e-01,-4.338403504e-04,8.603004773e-01,7.026897379e-01,-5.264240385e-04,8.304826707e-01
+50,4.850000000e+00,UP_FORCE_RAMP,1792833022045885908,-6.035245149e-05,-4.077786337e-04,1.718827039e-04,-5.429060867e-05,-4.115696154e-04,1.573900653e-04,-5.565469783e-05,-4.082858115e-04,1.568278298e-04,7.018952804e-01,-4.300493687e-04,8.603149699e-01,7.019013422e-01,-4.338403504e-04,8.603004773e-01,7.026896632e-01,-5.264290210e-04,8.304827486e-01
+51,5.050000000e+00,UP_FORCE_RAMP,1792833022243304534,-6.197707888e-05,-4.054600328e-04,1.801370017e-04,-6.009772230e-05,-4.061106015e-04,1.756077842e-04,-6.167707960e-05,-4.028896382e-04,1.748528541e-04,7.018936557e-01,-4.277307678e-04,8.603232242e-01,7.018955351e-01,-4.283813366e-04,8.603186950e-01,7.026836408e-01,-5.210328477e-04,8.305007736e-01
+52,5.183333333e+00,UP_FORCE_RAMP,1792833022378461330,-6.344144584e-05,-4.064686651e-04,1.878356251e-04,-6.009772230e-05,-4.061106015e-04,1.756077842e-04,-6.171242211e-05,-4.028920226e-04,1.749131402e-04,7.018921914e-01,-4.287394001e-04,8.603309229e-01,7.018955351e-01,-4.283813366e-04,8.603186950e-01,7.026836055e-01,-5.210352321e-04,8.305008339e-01
+53,5.350000000e+00,UP_FORCE_RAMP,1792833022553702690,-6.409165609e-05,-4.033776349e-04,1.965722730e-04,-6.175289829e-05,-4.080278452e-04,1.963616426e-04,-6.324349824e-05,-4.048135979e-04,1.954809462e-04,7.018915412e-01,-4.256483699e-04,8.603396595e-01,7.018938799e-01,-4.302985802e-04,8.603394489e-01,7.026820744e-01,-5.229568074e-04,8.305214017e-01
+54,5.500000000e+00,UP_FORCE_HOLD,1792833022701486643,-6.343933751e-05,-4.046130917e-04,2.069233152e-04,-6.175289829e-05,-4.080278452e-04,1.963616426e-04,-6.327260587e-05,-4.048183725e-04,1.955716937e-04,7.018921935e-01,-4.268838268e-04,8.603500106e-01,7.018938799e-01,-4.302985802e-04,8.603394489e-01,7.026820453e-01,-5.229615820e-04,8.305214924e-01
+55,5.666666667e+00,UP_FORCE_HOLD,1792833022865244477,-6.167000844e-05,-4.043863050e-04,2.184132974e-04,-6.150894933e-05,-4.037831506e-04,2.152799103e-04,-6.283434489e-05,-4.006211071e-04,2.142912261e-04,7.018939628e-01,-4.266570400e-04,8.603615005e-01,7.018941239e-01,-4.260538856e-04,8.603583671e-01,7.026824836e-01,-5.187643166e-04,8.305402119e-01
+56,5.816666667e+00,UP_SETTLE,1792833023013096638,-6.338915859e-05,-4.024000233e-04,2.238473943e-04,-6.150894933e-05,-4.037831506e-04,2.152799103e-04,-6.285203482e-05,-4.006244467e-04,2.143949731e-04,7.018922437e-01,-4.246707583e-04,8.603669346e-01,7.018941239e-01,-4.260538856e-04,8.603583671e-01,7.026824659e-01,-5.187676562e-04,8.305403157e-01
+57,5.983333333e+00,UP_SETTLE,1792833023192384667,-6.236715104e-05,-4.017130699e-04,2.333955465e-04,-6.150894933e-05,-4.037831506e-04,2.152799103e-04,-6.286956506e-05,-4.006260395e-04,2.144804454e-04,7.018932657e-01,-4.239838049e-04,8.603764828e-01,7.018941239e-01,-4.260538856e-04,8.603583671e-01,7.026824483e-01,-5.187692490e-04,8.305404012e-01
+58,6.183333333e+00,UP_SETTLE,1792833023440601634,-6.283944304e-05,-4.055649248e-04,2.407190777e-04,-6.276065426e-05,-3.999309518e-04,2.357383384e-04,-6.398542498e-05,-3.968547742e-04,2.347635480e-04,7.018927934e-01,-4.278356598e-04,8.603838063e-01,7.018928722e-01,-4.222016868e-04,8.603788256e-01,7.026813325e-01,-5.149979836e-04,8.305606843e-01
+59,6.400000000e+00,UP_SETTLE,1792833023700312416,-6.351009126e-05,-4.002398461e-04,2.451177248e-04,-6.276065426e-05,-3.999309518e-04,2.357383384e-04,-6.400289834e-05,-3.968557054e-04,2.348836622e-04,7.018921227e-01,-4.225105811e-04,8.603882050e-01,7.018928722e-01,-4.222016868e-04,8.603788256e-01,7.026813150e-01,-5.149989149e-04,8.305608044e-01

Fixed/digit/cylinder_15A_12.5/press_depth_06/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.0444e-01,1.5952e-01,2.4928e+00,-4.8031e-02,4.4220e-02,3.5159e-04,7.7564e-04,-2.5317e-05,-3.1233e-04,1.6131e-06,5.6148e-05,1.9767e-07,8.3654e-04,5.6171e-05
+1,1.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,3.6519e-05,1.1106e-01,1.5930e-01,2.4901e+00,-4.8017e-02,4.4699e-02,3.5334e-04,7.3926e-03,-2.4419e-04,-2.9559e-03,1.5568e-05,5.3521e-04,1.9525e-06,7.9654e-03,5.3543e-04
+2,2.8333e-01,WAIT_W2,7.7141e-05,1.1643e-01,1.5912e-01,2.4880e+00,-4.8005e-02,4.5088e-02,3.5479e-04,1.2762e-02,-4.2818e-04,-5.0764e-03,2.7291e-05,9.2407e-04,3.4019e-06,1.3741e-02,9.2447e-04
+3,4.6667e-01,WAIT_W2,1.1836e-04,1.2312e-01,1.5888e-01,2.4854e+00,-4.7991e-02,4.5573e-02,3.5654e-04,1.9448e-02,-6.6072e-04,-7.6904e-03,4.2059e-05,1.4085e-03,5.1542e-06,2.0924e-02,1.4091e-03
+4,6.0000e-01,WAIT_W2,1.5492e-04,1.2752e-01,1.5873e-01,2.4837e+00,-4.7981e-02,4.5892e-02,3.5764e-04,2.3856e-02,-8.1493e-04,-9.3966e-03,5.1815e-05,1.7279e-03,6.2480e-06,2.5653e-02,1.7287e-03
+5,6.6667e-01,WAIT_W2,2.0958e-04,1.2959e-01,1.5866e-01,2.4829e+00,-4.7976e-02,4.6042e-02,3.5813e-04,2.5927e-02,-8.8753e-04,-1.0194e-02,5.6393e-05,1.8781e-03,6.7416e-06,2.7874e-02,1.8790e-03
+6,6.6667e-01,WAIT_W2,2.0958e-04,1.2959e-01,1.5866e-01,2.4829e+00,-4.7976e-02,4.6042e-02,3.5813e-04,2.5927e-02,-8.8753e-04,-1.0194e-02,5.6393e-05,1.8781e-03,6.7416e-06,2.7874e-02,1.8790e-03
+7,6.8333e-01,WAIT_W2,2.8607e-04,1.2484e-01,3.4526e-01,2.4662e+00,-6.0927e-02,4.5708e-02,4.0777e-04,2.1171e-02,1.8572e-01,-2.6929e-02,-1.2895e-02,1.5443e-03,5.6384e-05,1.8885e-01,1.2987e-02
+8,6.8333e-01,WAIT_W2,2.8607e-04,1.2484e-01,3.4526e-01,2.4662e+00,-6.0927e-02,4.5708e-02,4.0777e-04,2.1171e-02,1.8572e-01,-2.6929e-02,-1.2895e-02,1.5443e-03,5.6384e-05,1.8885e-01,1.2987e-02
+9,7.0000e-01,WAIT_W2,3.9588e-04,1.3202e-01,7.1351e-01,2.4609e+00,-8.6502e-02,4.6197e-02,5.0297e-04,2.8358e-02,5.5397e-01,-3.2199e-02,-3.8470e-02,2.0331e-03,1.5158e-04,5.5562e-01,3.8524e-02
+10,7.0000e-01,WAIT_W2,3.9588e-04,1.3202e-01,7.1351e-01,2.4609e+00,-8.6502e-02,4.6197e-02,5.0297e-04,2.8358e-02,5.5397e-01,-3.2199e-02,-3.8470e-02,2.0331e-03,1.5158e-04,5.5562e-01,3.8524e-02
+11,7.0000e-01,WAIT_W2,3.9588e-04,1.3202e-01,7.1351e-01,2.4609e+00,-8.6502e-02,4.6197e-02,5.0297e-04,2.8358e-02,5.5397e-01,-3.2199e-02,-3.8470e-02,2.0331e-03,1.5158e-04,5.5562e-01,3.8524e-02
+12,7.1667e-01,WAIT_W2,4.9820e-04,1.3952e-01,1.2418e+00,2.4501e+00,-1.2320e-01,4.6711e-02,6.4022e-04,3.5849e-02,1.0823e+00,-4.2996e-02,-7.5170e-02,2.5473e-03,2.8883e-04,1.0837e+00,7.5214e-02
+13,7.1667e-01,WAIT_W2,4.9820e-04,1.3952e-01,1.2418e+00,2.4501e+00,-1.2320e-01,4.6711e-02,6.4022e-04,3.5849e-02,1.0823e+00,-4.2996e-02,-7.5170e-02,2.5473e-03,2.8883e-04,1.0837e+00,7.5214e-02
+14,7.1667e-01,WAIT_W2,4.9820e-04,1.3952e-01,1.2418e+00,2.4501e+00,-1.2320e-01,4.6711e-02,6.4022e-04,3.5849e-02,1.0823e+00,-4.2996e-02,-7.5170e-02,2.5473e-03,2.8883e-04,1.0837e+00,7.5214e-02
+15,7.3333e-01,WAIT_W2,5.8986e-04,1.5428e-01,1.7206e+00,2.4669e+00,-1.5654e-01,4.7719e-02,7.7345e-04,5.0609e-02,1.5610e+00,-2.6236e-02,-1.0851e-01,3.5546e-03,4.2206e-04,1.5621e+00,1.0857e-01
+16,7.5000e-01,WAIT_W2,6.1518e-04,1.7550e-01,2.1409e+00,2.4893e+00,-1.8585e-01,4.9176e-02,8.9405e-04,7.1831e-02,1.9814e+00,-3.7646e-03,-1.3782e-01,5.0124e-03,5.4266e-04,1.9827e+00,1.3791e-01
+17,7.6667e-01,WAIT_W2,6.3999e-04,1.8520e-01,2.2556e+00,2.5110e+00,-1.9394e-01,4.9843e-02,9.3598e-04,8.1534e-02,2.0960e+00,1.7900e-02,-1.4591e-01,5.6789e-03,5.8459e-04,2.0977e+00,1.4602e-01
+18,8.0000e-01,WAIT_W2,6.9051e-04,1.7260e-01,1.9689e+00,2.5075e+00,-1.7419e-01,4.8976e-02,8.7544e-04,6.8932e-02,1.8093e+00,1.4453e-02,-1.2615e-01,4.8124e-03,5.2405e-04,1.8107e+00,1.2625e-01
+19,8.5000e-01,WAIT_W2,7.4572e-04,1.7609e-01,1.9646e+00,2.5140e+00,-1.7399e-01,4.9227e-02,8.8100e-04,7.2424e-02,1.8051e+00,2.0901e-02,-1.2595e-01,5.0626e-03,5.2961e-04,1.8066e+00,1.2606e-01
+20,8.6667e-01,WAIT_W2,7.6434e-04,1.9297e-01,2.1513e+00,2.5301e+00,-1.8695e-01,5.0407e-02,9.1963e-04,8.9304e-02,1.9917e+00,3.7009e-02,-1.3892e-01,6.2427e-03,5.6824e-04,1.9941e+00,1.3906e-01
+21,1.0000e+00,WAIT_W2,8.0748e-04,1.8737e-01,1.9954e+00,2.5334e+00,-1.7641e-01,5.0031e-02,8.9915e-04,8.3700e-02,1.8358e+00,4.0261e-02,-1.2838e-01,5.8672e-03,5.4776e-04,1.8382e+00,1.2852e-01
+22,1.1000e+00,WAIT_W2,8.4005e-04,1.9294e-01,2.0983e+00,2.5406e+00,-1.8372e-01,5.0423e-02,9.3377e-04,8.9277e-02,1.9387e+00,4.7493e-02,-1.3569e-01,6.2592e-03,5.8238e-04,1.9414e+00,1.3584e-01
+23,1.2000e+00,WAIT_W2,8.8629e-04,1.9977e-01,2.0854e+00,2.5515e+00,-1.8296e-01,5.0910e-02,9.2902e-04,9.6105e-02,1.9258e+00,5.8436e-02,-1.3493e-01,6.7456e-03,5.7763e-04,1.9291e+00,1.3510e-01
+24,1.2833e+00,WAIT_W2,9.2070e-04,2.0212e-01,2.0799e+00,2.5565e+00,-1.8269e-01,5.1079e-02,9.2666e-04,9.8458e-02,1.9204e+00,6.3377e-02,-1.3466e-01,6.9150e-03,5.7527e-04,1.9240e+00,1.3484e-01
+25,1.4000e+00,UP_FORCE_RAMP,9.6426e-04,2.0517e-01,2.0741e+00,2.5617e+00,-1.8242e-01,5.1298e-02,9.2208e-04,1.0150e-01,1.9146e+00,6.8561e-02,-1.3438e-01,7.1344e-03,5.7069e-04,1.9185e+00,1.3458e-01
+26,1.5667e+00,UP_FORCE_RAMP,9.9955e-04,2.0891e-01,2.0673e+00,2.5663e+00,-1.8209e-01,5.1568e-02,9.1308e-04,1.0525e-01,1.9078e+00,7.3248e-02,-1.3406e-01,7.4044e-03,5.6169e-04,1.9121e+00,1.3427e-01
+27,1.7167e+00,UP_FORCE_RAMP,1.0399e-03,2.1182e-01,2.0622e+00,2.5685e+00,-1.8185e-01,5.1778e-02,9.0326e-04,1.0815e-01,1.9027e+00,7.5448e-02,-1.3382e-01,7.6144e-03,5.5187e-04,1.9072e+00,1.3404e-01
+28,1.9167e+00,UP_FORCE_RAMP,1.0763e-03,2.1514e-01,2.0566e+00,2.5694e+00,-1.8159e-01,5.2020e-02,8.8831e-04,1.1147e-01,1.8971e+00,7.6309e-02,-1.3356e-01,7.8555e-03,5.3692e-04,1.9019e+00,1.3379e-01
+29,2.1167e+00,UP_FORCE_RAMP,1.1183e-03,2.1800e-01,2.0520e+00,2.5686e+00,-1.8137e-01,5.2229e-02,8.7191e-04,1.1434e-01,1.8924e+00,7.5483e-02,-1.3333e-01,8.0648e-03,5.2052e-04,1.8974e+00,1.3358e-01
+30,2.3000e+00,UP_FORCE_RAMP,1.1539e-03,2.2033e-01,2.0483e+00,2.5669e+00,-1.8119e-01,5.2400e-02,8.5608e-04,1.1667e-01,1.8888e+00,7.3762e-02,-1.3316e-01,8.2357e-03,5.0469e-04,1.8938e+00,1.3342e-01
+31,2.4667e+00,UP_FORCE_RAMP,1.1940e-03,2.0866e-01,1.9890e+00,2.5200e+00,-1.7723e-01,5.1612e-02,8.4267e-04,1.0499e-01,1.8294e+00,2.6906e-02,-1.2920e-01,7.4483e-03,4.9128e-04,1.8327e+00,1.2941e-01
+32,2.6667e+00,UP_FORCE_RAMP,1.2318e-03,2.1373e-01,1.9861e+00,2.5266e+00,-1.7710e-01,5.1972e-02,8.3148e-04,1.1007e-01,1.8266e+00,3.3520e-02,-1.2907e-01,7.8081e-03,4.8009e-04,1.8302e+00,1.2930e-01
+33,2.8000e+00,UP_FORCE_RAMP,1.2781e-03,2.1619e-01,1.9843e+00,2.5282e+00,-1.7701e-01,5.2149e-02,8.2261e-04,1.1252e-01,1.8247e+00,3.5070e-02,-1.2898e-01,7.9851e-03,4.7123e-04,1.8285e+00,1.2923e-01
+34,2.9000e+00,UP_FORCE_RAMP,1.3048e-03,2.9515e-01,1.9562e+00,2.5129e+00,-1.7512e-01,5.7840e-02,6.7277e-04,1.9148e-01,1.7967e+00,1.9763e-02,-1.2709e-01,1.3676e-02,3.2138e-04,1.8070e+00,1.2782e-01
+35,3.0500e+00,UP_FORCE_RAMP,1.3491e-03,2.5732e-01,1.9505e+00,2.4554e+00,-1.7489e-01,5.5188e-02,6.6663e-04,1.5365e-01,1.7909e+00,-3.7692e-02,-1.2686e-01,1.1024e-02,3.1524e-04,1.7979e+00,1.2734e-01
+36,3.1833e+00,UP_FORCE_RAMP,1.3890e-03,2.5603e-01,1.9484e+00,2.4674e+00,-1.7479e-01,5.5087e-02,6.4649e-04,1.5236e-01,1.7889e+00,-2.5664e-02,-1.2676e-01,1.0922e-02,2.9510e-04,1.7955e+00,1.2723e-01
+37,3.3500e+00,UP_FORCE_RAMP,1.4267e-03,2.4182e-01,1.9254e+00,2.4174e+00,-1.7337e-01,5.4116e-02,6.3581e-04,1.3815e-01,1.7658e+00,-7.5733e-02,-1.2534e-01,9.9525e-03,2.8442e-04,1.7728e+00,1.2573e-01
+38,3.5333e+00,UP_FORCE_RAMP,1.4667e-03,2.4235e-01,1.9229e+00,2.4355e+00,-1.7325e-01,5.4143e-02,6.2102e-04,1.3868e-01,1.7633e+00,-5.7550e-02,-1.2522e-01,9.9786e-03,2.6963e-04,1.7697e+00,1.2561e-01
+39,3.6667e+00,UP_FORCE_RAMP,1.5027e-03,2.3726e-01,1.9511e+00,2.3998e+00,-1.7539e-01,5.3811e-02,6.2908e-04,1.3359e-01,1.7916e+00,-9.3299e-02,-1.2735e-01,9.6466e-03,2.7769e-04,1.7990e+00,1.2772e-01
+40,3.8000e+00,UP_FORCE_RAMP,1.5317e-03,2.2856e-01,1.9150e+00,2.3608e+00,-1.7304e-01,5.3228e-02,6.2482e-04,1.2489e-01,1.7555e+00,-1.3228e-01,-1.2500e-01,9.0643e-03,2.7343e-04,1.7649e+00,1.2533e-01
+41,3.9000e+00,UP_FORCE_RAMP,1.5768e-03,2.3293e-01,2.0047e+00,2.3658e+00,-1.7935e-01,5.3533e-02,6.4467e-04,1.2927e-01,1.8451e+00,-1.2730e-01,-1.3132e-01,9.3694e-03,2.9328e-04,1.8540e+00,1.3165e-01
+42,4.0167e+00,UP_FORCE_RAMP,1.6172e-03,2.3448e-01,2.0022e+00,2.3816e+00,-1.7923e-01,5.3635e-02,6.3891e-04,1.3081e-01,1.8427e+00,-1.1151e-01,-1.3119e-01,9.4707e-03,2.8752e-04,1.8507e+00,1.3154e-01
+43,4.0500e+00,UP_FORCE_RAMP,1.6633e-03,2.3486e-01,2.0016e+00,2.3854e+00,-1.7920e-01,5.3660e-02,6.3719e-04,1.3119e-01,1.8421e+00,-1.0766e-01,-1.3116e-01,9.4957e-03,2.8580e-04,1.8499e+00,1.3151e-01
+44,4.0833e+00,UP_FORCE_RAMP,1.6887e-03,3.5624e-01,1.9974e+00,2.4286e+00,-1.7881e-01,6.2340e-02,4.6451e-04,2.5257e-01,1.8378e+00,-6.4483e-02,-1.3077e-01,1.8176e-02,1.1312e-04,1.8562e+00,1.3203e-01
+45,4.1667e+00,UP_FORCE_RAMP,1.7299e-03,3.4143e-01,1.9966e+00,2.4313e+00,-1.7877e-01,6.1286e-02,4.3268e-04,2.3776e-01,1.8371e+00,-6.1789e-02,-1.3073e-01,1.7122e-02,8.1288e-05,1.8534e+00,1.3185e-01
+46,4.2333e+00,UP_FORCE_RAMP,1.7751e-03,2.8792e-01,2.0012e+00,2.3852e+00,-1.7922e-01,5.7488e-02,4.7829e-04,1.8425e-01,1.8416e+00,-1.0789e-01,-1.3119e-01,1.3324e-02,1.2690e-04,1.8540e+00,1.3186e-01
+47,4.3333e+00,UP_FORCE_RAMP,1.8109e-03,2.8500e-01,1.9999e+00,2.3963e+00,-1.7915e-01,5.7268e-02,4.6005e-04,1.8133e-01,1.8403e+00,-9.6831e-02,-1.3112e-01,1.3104e-02,1.0866e-04,1.8518e+00,1.3177e-01
+48,4.4833e+00,UP_FORCE_RAMP,1.8463e-03,2.8031e-01,1.9984e+00,2.4086e+00,-1.7907e-01,5.6921e-02,4.3782e-04,1.7664e-01,1.8388e+00,-8.4515e-02,-1.3103e-01,1.2757e-02,8.6429e-05,1.8492e+00,1.3165e-01
+49,4.6500e+00,UP_FORCE_RAMP,1.8880e-03,3.1741e-01,1.9740e+00,2.3980e+00,-1.7743e-01,5.9598e-02,3.5008e-04,2.1374e-01,1.8145e+00,-9.5065e-02,-1.2939e-01,1.5434e-02,-1.3056e-06,1.8295e+00,1.3031e-01
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Fixed/digit/cylinder_15A_12.5/press_depth_07/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda255d26016e806bbc950f306411e2501a92341ebc672d91927845e9d11b0d1
+size 624640

Fixed/digit/cylinder_15A_12.5/press_depth_07/down/franka_data.csv

@@ -0,0 +1,61 @@
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+51260,1792833116744173868,11796208000000,1792833116736828839,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6759763793008271,-0.004933463642251065,0.09949599986415306,0.9999999681854016,6.60729573506874e-06,-0.00016306210846297377,0.00016863911966286135,0.6761,-0.0046,0.09956126564730726,1.0,0.0,0.0,0.0,-0.21908142901191918,-0.031747584992360744,1.148696769268472,-0.0007068303270626047,0.014019542810237845,0.0006373448960589514,0.7336522750401376,1.1161209404076342,1.406422079605039,0.07581120206753642,-0.051437591186102125,0.0021118940004112804,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.5046799324949516,1.399979563642556,0.07033739153541846,-0.007991901451358217,-0.020890421290465307,0.8182176345868032,1.6323104815991827,-1.148696769268472,1.5619730900637643,1.5619730900637643,1.6547350596076156,0,0,-4.647715621672178e-05,-9.999980984798924e-05
+51397,1792833117886223905,11797350000000,1792833117880818603,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6759826901867211,-0.004938448380379178,0.09945452211054118,0.9999999688622724,3.4805165395788826e-06,-0.00014777883684354088,0.00017851504168839896,0.6761,-0.0046,0.0994929087597221,1.0,0.0,0.0,0.0,-0.2542500726379906,-0.03560653939804759,1.306807093372728,5.0460691197226626e-05,0.01599738951257395,0.000542661550114304,0.6984836314140662,1.1122619860019474,1.5645324037092951,0.07656849308579625,-0.04945974448376602,0.002017210654466633,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.6220680899487332,1.3372979730715822,-0.10659233351235128,0.008183445668978277,0.12474903566658346,0.7747063065392759,1.6323104815991827,-1.306807093372728,1.738902815111534,1.738902815111534,1.8260350596077235,0,0,-6.66354716225267e-05,-8.750000310276391e-05
+51520,1792833118911232216,11798375000000,1792833118908818980,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6759937832519047,-0.0049434323949146056,0.09941411584361998,0.9999999697533264,5.432338159067001e-06,-0.00012353964667427526,0.00019142794002383767,0.6761,-0.0046,0.09942925637675615,1.0,0.0,0.0,0.0,-0.2928377530849403,-0.016622591712339485,1.4841511861759678,0.0009386045883100491,0.018979853910094074,0.00045316418859415943,0.6598959509671165,1.1312459336876555,1.7418764965125348,0.07745663698290907,-0.046477280086245895,0.0019277132929464884,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.6967440263005672,1.2489824205188809,-0.2475784591455592,0.026410960093682864,0.23141968706181754,0.7161686477611271,1.6323104815991827,-1.4841511861759678,1.8798889407447419,1.8798889407447419,1.9797850596078204,0,0,-5.068615093892082e-05,-8.750000310276391e-05
+51626,1792833119794256497,11799258000000,1792833119792818714,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6760441895508638,-0.004932993318393957,0.09942416522637845,0.9999999743626062,1.515856780193818e-05,-6.801201627743621e-05,0.00019458220601610844,0.6761,-0.0046,0.09939173371029406,1.0,0.0,0.0,0.0,-0.3746243057084465,0.0837904762560644,1.4908740231191555,0.007633669005132973,0.02432282231463366,0.001485274769714283,0.5781093983436103,1.2316590016560593,1.7485993334557226,0.08415170139973199,-0.04113431168170631,0.002959823874066612,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.7455199958250054,1.3347606776454621,-0.27083022428505066,0.00013372528478341726,0.24181071068667276,0.7769325497974825,1.6323104815991827,-1.4908740231191555,1.9031407058842333,1.9031407058842333,2.1122350596079036,0,0,-4.087361754198516e-05,-9.999990699250389e-05
+51725,1792833120619167210,11800083000000,1792833120612819416,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.676046928456055,-0.004940876649629031,0.09938717879626212,0.9999999728975731,1.4614391549024978e-05,-6.573944420079796e-05,0.000202762083717646,0.6761,-0.0046,0.09934109585983297,1.0,0.0,0.0,0.0,-0.39800957886255806,0.09764217137453635,1.5773410973509534,0.008264648103219918,0.02588472704322191,0.0015831256973804625,0.5547241251894988,1.2455106967745313,1.8350664076875205,0.08478268049781894,-0.03957240695311806,0.0030576748017327915,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.9487803444697582,1.2490606310399495,-0.5637251266434737,0.03081380216659205,0.4742175431600609,0.7208294113366762,1.6323104815991827,-1.5773410973509534,2.1960356082426564,2.1960356082426564,2.2359850596079816,0,0,-8.157196168948199e-05,7.003849863818629e-05
+51865,1792833121786243284,11801250000000,1792833121784828524,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6760600131686694,-0.004944308231754343,0.09932017066222694,0.9999999728542952,7.700257740704836e-06,-4.0270798948899795e-05,0.00020988864212413707,0.6761,-0.0046,0.0992324564803133,1.0,0.0,0.0,0.0,-0.43939505730617734,0.1138561775525524,1.8572047615710423,0.009818814384566998,0.02805963915719832,0.0014086424722457478,0.5133386467458795,1.2617247029525474,2.1149300719076094,0.08633684677916602,-0.03739749483914165,0.002883191576598077,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.109506920853796,1.329249972497514,-0.7335176725602576,0.007761201169732369,0.6236236858068275,0.7710793573818369,1.6323104815991827,-1.8572047615710423,2.3658281541594404,2.3658281541594404,2.411035059608092,0,0,-8.811251574617073e-05,9.999997638144293e-05
+51981,1792833122753169234,11802217000000,1792833122752818606,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6760746733584826,-0.004943769779610966,0.09927544878026195,0.9999999719834008,7.73475822572752e-06,-1.680344513186933e-05,0.00021710338446349813,0.6761,-0.0046,0.09916558602295648,1.0,0.0,0.0,0.0,-0.4866348014333586,0.13927363169262064,2.0201328582664573,0.010721742953840582,0.03170019500638185,0.0013423500260994448,0.46609890261869824,1.2871421570926156,2.277858168603024,0.0872397753484396,-0.03375693898995812,0.002816899130451774,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.1203810842772337,1.3307113535909643,-1.000280241063325,0.001059925580995237,0.7903187265912833,0.7731041612158318,1.6323104815991827,-2.0201328582664573,2.6325907226625076,2.6325907226625076,2.556085059608183,0,0,-5.070350308081372e-05,9.999932412541596e-05
+52114,1792833123861172741,11803325000000,1792833123860828485,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6760825116356974,-0.004954023682553039,0.0992471968446389,0.9999999708166937,2.2955369467674854e-06,-4.6801868768753145e-06,0.00022311948074813892,0.6761,-0.0046,0.09912036688427614,1.0,0.0,0.0,0.0,-0.49847834703034444,0.15970118615741025,2.119080129103133,0.01270262896801018,0.03278916729519496,0.0013009777281866523,0.4542553570217124,1.3075697115574052,2.3768054394397,0.0892206613626092,-0.03266796670114501,0.0027755268325389813,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.1388081840559778,1.3039497675244656,-1.0189903164703864,0.005133440672200795,0.8050447904292953,0.7542320928280314,1.6323104815991827,-2.119080129103133,2.651300798069569,2.651300798069569,2.722285059608288,0,0,-4.367966224413789e-05,-9.999999025923074e-05
+52254,1792833125028232238,11804492000000,1792833125020828279,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6760912941005306,-0.0049495416634828,0.09920474759443976,0.9999999698140871,3.028436107433208e-06,7.732899441958636e-06,0.00022747685656366253,0.6761,-0.0046,0.09905543457350112,1.0,0.0,0.0,0.0,-0.5340614378775774,0.16550327200222537,2.269514271332229,0.012755583138778268,0.0347805121112265,0.0013440675250406522,0.41867226617447945,1.3133717974022203,2.527239581668796,0.08927361553337729,-0.030676621885113466,0.0028186166293929812,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.239498152232001,1.2462367692131253,-1.1616051003357868,0.025409467720742318,0.9217755929258853,0.7158371832038315,1.6323104815991827,-2.269514271332229,2.7939155819349697,2.7939155819349697,2.897335059608398,0,0,-6.378864060160717e-05,-9.876689330135519e-05
+52317,1792833125553228197,11805017000000,1792833125552828175,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6761045775416684,-0.004928629788162575,0.099184521364959,0.9999999787180746,-0.00015599853065204817,4.196584536124553e-05,8.893841099480066e-05,0.6761,-0.0046,0.09902000121668039,1.0,0.0,0.0,0.0,-0.45836438732480356,0.2844728076450349,2.3454872793963344,0.02158877132303441,0.029843012875536173,0.0022052380774564614,0.49436931672725326,1.4323413330450299,2.6032125897329013,0.09810680371763343,-0.035614121120803796,0.00367978718180879,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.282465687630343,1.4045230773905588,-1.2525950108711938,-0.18926299574774313,1.0245545063542276,0.8606459334053864,1.6323104815991827,-2.3454872793963344,2.8849054924703763,2.8849054924703763,2.976085059608448,0,0,-7.679086084652476e-05,-9.999999025923074e-05
+52437,1792833126553223248,11806017000000,1792833126548818988,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6761182239868119,-0.004932886114169615,0.09912954484432408,0.9999999773537868,-0.00014432260194463794,6.45591709945001e-05,0.00010834385266465307,0.6761,-0.0046,0.09892892804269676,1.0,0.0,0.0,0.0,-0.5115282315643347,0.31254821232385277,2.545530839956944,0.022831016259700812,0.033888007502255145,0.002114817356379599,0.44120547248772213,1.4604167377238477,2.8032561502935107,0.09934904865429983,-0.031569126494084825,0.003589366460731928,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.356426998880409,1.246664372049322,-1.3268228876179387,-0.06974182476330318,1.0684685005577312,0.7510958378875663,1.6323104815991827,-2.545530839956944,2.9591333692171213,2.9591333692171213,3.1260850596085423,0,0,-9.13628335860991e-05,-9.948108589530875e-05
+52568,1792833127644148830,11807108000000,1792833127640818830,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6761302966158602,-0.004940401268694086,0.09907039980021988,0.999999975183959,-0.00013485616101922363,7.981452162912983e-05,0.00012852394162584039,0.6761,-0.0046,0.09885102814203546,1.0,0.0,0.0,0.0,-0.5612087627279502,0.32293785486453586,2.7571286988927484,0.02369713486927716,0.036482683624645226,0.0019947043954829814,0.39152494132410665,1.4708063802645308,3.0148540092293152,0.10021516726387618,-0.028974450371694747,0.00346925349983531,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.4241393615774258,1.3151282145782293,-1.6875446302448331,-0.017754591721189518,1.3035418889962467,0.7760744874265872,1.6323104815991827,-2.7571286988927484,3.319855111844016,3.319855111844016,3.2897350596086454,0,0,-4.6952922734518114e-05,9.999999025923074e-05
+52708,1792833128811152475,11808275000000,1792833128808818377,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6761368933079988,-0.004939728232896718,0.09905091917225138,0.9999999740404382,-0.00013208802401120778,8.955053918839317e-05,0.00013377384662222947,0.6761,-0.0046,0.09882141489466428,1.0,0.0,0.0,0.0,-0.5626167222434901,0.31562765552015004,2.827556448972997,0.023658998634255995,0.03748133481285763,0.0019534146332135047,0.39011698180856663,1.463496180920145,3.085281759309564,0.10017703102885502,-0.027975799183482333,0.0034279637375658335,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.4528634493139736,1.2985350773818298,-1.7243246242201133,0.020084840291626944,1.3274886254819698,0.7571437859221655,1.6323104815991827,-2.827556448972997,3.3566351058192962,3.3566351058192962,3.4647850596087557,0,0,-2.01405047181843e-05,-9.999999025923074e-05
+52844,1792833129944155779,11809408000000,1792833129940818796,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6761435478336212,-0.0049432169162801866,0.09902495545760641,0.9999999725480755,-0.00012650649033164833,0.000100276174794492,0.00014243422780532797,0.6761,-0.0046,0.09877957088796775,1.0,0.0,0.0,0.0,-0.5962772198280166,0.31852011388560997,2.9060390210469635,0.02361654474750076,0.03847867864749821,0.0019013577253481635,0.35645648422404014,1.466388639285605,3.1637643313835304,0.10013457714209978,-0.02697845534884176,0.0033759068297004925,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.4758270738505546,1.2499999461303946,-1.9454248555476286,0.0648462642007008,1.4628531904163726,0.7153321103037811,1.6323104815991827,-2.9060390210469635,3.5777353371468115,3.5777353371468115,3.634735059608863,0,0,-5.7172616067828426e-05,-7.768249518503296e-05
+52969,1792833130986199421,11810450000000,1792833130984818666,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.67615559457576,-0.004946956387884889,0.0989832275116523,0.9999999689481934,-0.00013172870023787087,0.00011913251101324203,0.0001483289281257844,0.6761,-0.0046,0.0987039313308092,1.0,0.0,0.0,0.0,-0.627710083870733,0.34127319063857353,3.0561706991785456,0.025654795945956183,0.041444575749780256,0.0018584369156183077,0.32502362018132375,1.4891417160385685,3.3138960095151124,0.1021728283405552,-0.024012558246559713,0.0033329860199706367,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.5793925847677501,1.3235707545095565,-1.9850789210156126,0.0634609364422552,1.506428206617381,0.7649616970324462,1.6323104815991827,-3.0561706991785456,3.617389402614795,3.617389402614795,3.7910350596089613,0,0,-8.538570422519787e-05,-9.999321789878052e-05
+53085,1792833131953156927,11811417000000,1792833131952818933,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6761726228443737,-0.004948985850106472,0.09892685801868384,0.9999999636511263,-0.000151060446363127,0.00014836777155455313,0.00013895451160465103,0.6761,-0.0046,0.09862687604840706,1.0,0.0,0.0,0.0,-0.6598901082232957,0.39107731668361834,3.26065014932292,0.02851099096196716,0.043364870164289256,0.0027708639797588454,0.2928435958287611,1.5389458420836133,3.5183754596594867,0.10502902335656618,-0.022092263832050714,0.004245413084111175,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.6687802504332523,1.2799715737437634,-2.2992252087805074,0.08240576363393785,1.725529774650196,0.7315944113867539,1.6323104815991827,-3.26065014932292,3.93153569037969,3.93153569037969,3.9360850596090526,0,0,-6.642275795079732e-05,9.981688672689443e-05
+53253,1792833133353147680,11812817000000,1792833133352819123,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6761824968565562,-0.004944113189230105,0.098878586178607,0.999999958031185,-0.00018477830792636642,0.00016756667548651762,0.00011471215631883152,0.6761,-0.0046,0.09856229269766306,1.0,0.0,0.0,0.0,-0.6649760749945803,0.41588434471855473,3.4120600994864287,0.030525099828642654,0.04329224799605483,0.00266751719403019,0.2877576290574764,1.5637528701185497,3.6697854098229956,0.10704313222324167,-0.02216488600028514,0.004142066298382519,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.746027326104929,1.3597449874825318,-2.47373586033281,0.06328974470315674,1.8569579681247994,0.7870160403094245,1.6323104815991827,-3.4120600994864287,4.106046341931993,4.106046341931993,4.146085059608753,0,0,-3.810473018647643e-05,-9.999607672306893e-05
+53380,1792833134411149241,11813875000000,1792833134408819602,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6761906692071269,-0.0049448807728199795,0.09884716858764005,0.9999999549648315,-0.00018634371590722532,0.00018047986263487314,0.00011923186568706603,0.6761,-0.0046,0.0985116337695059,1.0,0.0,0.0,0.0,-0.6810695484680954,0.4327112795728918,3.5224365019955712,0.031471796820626605,0.04526947894416279,0.0026226333263931747,0.2716641555839614,1.5805798049728867,3.780161812332138,0.10798982921522562,-0.020187655052177178,0.004097182430745504,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.8011878274690185,1.254761734015683,-2.646812489895904,0.09985501728368482,1.9806111680802825,0.715917119937892,1.6323104815991827,-3.5224365019955712,4.279122971495086,4.279122971495086,4.304785059608383,0,0,-5.851430307371596e-05,9.999847758035969e-05
+53510,1792833135494183142,11814958000000,1792833135492818828,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6762032987072358,-0.004945467629571069,0.0988028286771184,0.9999999515577825,-0.00018121921110653347,0.00020022932759644377,0.00012407703528916414,0.6761,-0.0046,0.09843542516424979,1.0,0.0,0.0,0.0,-0.7101527213925685,0.4458301061135328,3.6620508656834745,0.03243867685519089,0.0472524679854536,0.0025495669588227673,0.2425809826594883,1.5936986315135278,3.9197761760200414,0.10895670924978991,-0.018204666010886366,0.0040241160631750966,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.820844307785317,1.3243242812642693,-2.8100290233017056,0.07584374312139489,2.0829985885783002,0.7598104721201829,1.6323104815991827,-3.6620508656834745,4.442339504900888,4.442339504900888,4.467235059608004,0,0,-7.974914545819255e-05,9.879657788947611e-05
+53642,1792833136594149825,11816058000000,1792833136592828281,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762204314419976,-0.004953140469045618,0.09874481409210278,0.9999999454990386,-0.0001765031451336578,0.00022845716134173806,0.00013076218629887553,0.6761,-0.0046,0.09835213449279542,1.0,0.0,0.0,0.0,-0.758302946359503,0.4821252167920338,3.8646862542987703,0.034329638409643676,0.05015567747588576,0.0031006842930564665,0.19443075769255377,1.6299937421920287,4.122411564635337,0.1108476708042427,-0.01530145652045421,0.004575233397408796,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.8526682696548398,1.3111161390497048,-2.928750816786987,0.08984277348460541,2.156198733326982,0.761114692095608,1.6323104815991827,-3.8646862542987703,4.56106129838617,4.56106129838617,4.63223505960762,0,0,-6.497951189207563e-05,-7.450092906336465e-05
+53826,1792833138128147772,11817592000000,1792833138120819054,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6762338007695222,-0.004953231543003359,0.09868471550904989,0.9999999517790841,-8.01802386059248e-05,0.00025054853581677307,0.00013667938540697417,0.6761,-0.0046,0.09826541829705747,1.0,0.0,0.0,0.0,-0.7970867049154086,0.49515069145630286,4.046108241061831,0.03627832504894786,0.05215497197494818,0.003330167886194009,0.15564699913664823,1.6430192168562978,4.303833551398398,0.11279635744354688,-0.01330216202139179,0.004804716990546338,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.979319066672861,1.3138843996363658,-3.2095979244109576,0.06908512427838942,2.3747015481211293,0.7418853230564756,1.6323104815991827,-4.046108241061831,4.84190840601014,4.84190840601014,4.862335059607084,0,0,-6.0789668289403014e-05,9.984501700278087e-05
+53956,1792833139211158184,11818675000000,1792833139208818946,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762475407767131,-0.004956539921741471,0.0986391002604353,0.9999999448389016,-9.17638055951072e-05,0.00027194487084205036,0.00013924959286504745,0.6761,-0.0046,0.09818830595886431,1.0,0.0,0.0,0.0,-0.817928204958857,0.5256925217094195,4.183572111206207,0.03818941452629096,0.05411259187943715,0.0033161191385344254,0.13480549909319983,1.6735610471094144,4.441297421542774,0.11470744692088998,-0.011344542116902823,0.004790668242886755,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.0008405945777947,1.2387989261665608,-3.253887598468657,0.11358878499773231,2.399525884092025,0.715748179086977,1.6323104815991827,-4.183572111206207,4.88619808006784,4.88619808006784,5.024785059606705,0,0,-7.692343224482834e-05,-9.687744636910906e-05
+54112,1792833140511147905,11819975000000,1792833140508818877,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762641363100301,-0.004955996039286139,0.09857717122285098,0.9999999349347636,-0.00010458189610864373,0.00030157215461415737,0.00014032175755059666,0.6761,-0.0046,0.0980921760097076,1.0,0.0,0.0,0.0,-0.8565725973778457,0.5393498082119319,4.388467594004036,0.039961943948918596,0.05605850905454238,0.0032036057928224717,0.09616110667421104,1.6872183336119269,4.6461929043406025,0.11647997634351762,-0.009398624941797593,0.004678154897174801,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.130778895753134,1.2669565744681575,-3.553948633129536,0.11514411574255097,2.619908521937535,0.7396240336173684,1.6323104815991827,-4.388467594004036,5.186259114728719,5.186259114728719,5.2197850596062505,0,0,-6.03448678429278e-05,9.882101667380567e-05
+54237,1792833141553148996,11821017000000,1792833141552818645,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762743057273534,-0.004956416943530436,0.0985349332070281,0.99999992968486,-0.00011443176639312751,0.00031652344741204153,0.0001370817911335165,0.6761,-0.0046,0.09802994772889768,1.0,0.0,0.0,0.0,-0.8764372309702888,0.5567707230081016,4.509053995245908,0.04115957354765491,0.05702491133083713,0.003133045397992704,0.07629647308176805,1.7046392484080966,4.7667793055824745,0.11767760594225393,-0.008432222665502838,0.004607594502345033,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.1107344188123522,1.26309135319723,-3.6663124256860957,0.12355980152383023,2.6817569659931793,0.7351113427096221,1.6323104815991827,-4.509053995245908,5.298622907285278,5.298622907285278,5.376085059605886,0,0,-6.513953150075048e-05,-9.999166358654605e-05
+54377,1792833142719140637,11822183000000,1792833142716818862,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762895770171049,-0.004957234974736992,0.09848654033767155,0.9999999194831963,-0.000131899194264914,0.00034262369090534315,0.00013299651930382937,0.6761,-0.0046,0.09795327604646442,1.0,0.0,0.0,0.0,-0.9004871182665749,0.5887049512563607,4.664257744092174,0.04311833551890212,0.058977622920701564,0.0030556133300045077,0.0522465857854819,1.7365734766563556,4.921983054428741,0.11963636791350114,-0.006479511075638404,0.004530162434356837,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.2301117267596005,1.2612944870493297,-3.783287328328027,0.14106181587312472,2.7851928440548352,0.7364732965631797,1.6323104815991827,-4.664257744092174,5.41559780992721,5.41559780992721,5.550985059605479,0,0,-6.867485354974801e-05,-9.999999025923074e-05
+54510,1792833143828148327,11823292000000,1792833143824818798,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763039545383172,-0.004960884715647868,0.09843623594607588,0.9999999084733724,-0.00015091632320584652,0.00036793936490392957,0.0001278319140981,0.6761,-0.0046,0.09787516002996012,1.0,0.0,0.0,0.0,-0.9260042989831486,0.6154480672975491,4.82132466308609,0.044061079765972164,0.060943350836550864,0.002976736199615009,0.026729405068908182,1.763316592697544,5.079049973422657,0.12057911216057118,-0.0045137831597891085,0.004451285303967338,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.2701260107417522,1.2823450248816544,-4.02565558566974,0.13877009082369773,2.9461917015463777,0.7487357521723051,1.6323104815991827,-4.82132466308609,5.657966067268923,5.657966067268923,5.717335059605091,0,0,-7.24369460289046e-05,9.740769260256025e-12
+54638,1792833144894141802,11824358000000,1792833144892818886,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763171170740124,-0.004964692763402428,0.09838313592091194,0.99999989667623,-0.00016736802279733212,0.00039290765521028003,0.0001253072741133879,0.6761,-0.0046,0.09779796330306785,1.0,0.0,0.0,0.0,-0.9466825701781443,0.63986056187741,4.958861437613585,0.04604590937706517,0.06189543130523207,0.0028955479105836155,0.006051133873912594,1.787729087277405,5.216586747950152,0.12256394177166419,-0.003561702691107899,0.004370097014935945,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.377207142723004,1.2722436776015296,-4.204031966797092,0.14160524348517145,3.0865224362467902,0.7409542696803614,1.6323104815991827,-4.958861437613585,5.836342448396275,5.836342448396275,5.877235059604718,0,0,-7.15374397955174e-05,7.500001594629708e-05
+54762,1792833145928141202,11825392000000,1792833145920819377,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763307395416481,-0.004963032478508877,0.09833595113876144,0.9999998870022885,-0.00017454821205096298,0.00041467460067464953,0.00012254049040127623,0.6761,-0.0046,0.09772495049857313,1.0,0.0,0.0,0.0,-0.966413271087854,0.666985022408711,5.113910410119967,0.04799599461439415,0.06384446888512073,0.0038355109368926167,-0.01367956703579717,1.814853547808706,5.371635720456534,0.12451402700899317,-0.0016126651112192349,0.005310060041244946,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.4203394565943146,1.2045617085527078,-4.29374364318282,0.1768143589932211,3.1540697816445395,0.7008258437790945,1.6323104815991827,-5.113910410119967,5.926054124782002,5.926054124782002,6.032335059604357,0,0,-6.924398955196332e-05,-9.868533354240867e-05
+54892,1792833147011147264,11826475000000,1792833147008819118,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763411426757534,-0.004963175059980964,0.09828366063879938,0.9999998802133533,-0.00017277614801445865,0.0004311469984449583,0.00012359939961630408,0.6761,-0.0046,0.09765142522083987,1.0,0.0,0.0,0.0,-1.0039373628327382,0.67451347736297,5.242357184082256,0.04894101344214215,0.06568896379158568,0.0037836087137211143,-0.05120365878068141,1.822382002762965,5.500082494418823,0.12545904583674117,0.0002318297952457082,0.0052581578180734435,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.4870469449539203,1.135582173006888,-4.438015161912967,0.2044904519534016,3.2597912467042347,0.6572459828015016,1.6323104815991827,-5.242357184082256,6.070325643512149,6.070325643512149,6.194785059603978,0,0,-7.381039025397407e-05,-9.999999025923074e-05
+55023,1792833148103149596,11827567000000,1792833148096819285,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6763542662314704,-0.004966548700826567,0.09822752788586657,0.9999998763191605,-0.00012776211084579843,0.00045530185301461307,0.00012321360924230285,0.6761,-0.0046,0.09756569234249055,1.0,0.0,0.0,0.0,-1.0246774755223629,0.7053502731275907,5.385786832791581,0.05087536565314517,0.06676752091286789,0.0037020806356738998,-0.07194377147030602,1.8532187985275856,5.643512143128148,0.1273933980477442,0.001310386916527924,0.005176629740026229,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.537247486461148,1.1217526737025434,-4.634271503951587,0.21488816202590247,3.393807715848381,0.6581262151464502,1.6323104815991827,-5.385786832791581,6.26658198555077,6.26658198555077,6.358585059603596,0,0,-8.286593458225878e-05,-7.519480457596756e-05
+55153,1792833149186148916,11828650000000,1792833149184818816,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6763679181081779,-0.004965734469527394,0.09816294625124344,0.9999998654638805,-0.0001314468833248091,0.00047744352812565733,0.00012363041475844602,0.6761,-0.0046,0.09747535797574514,1.0,0.0,0.0,0.0,-1.0514590615921537,0.7046434802224659,5.565906726600175,0.05191182956441355,0.06671086925173815,0.003569411681771971,-0.09872535754009697,1.8525120056224609,5.823632036936742,0.12842986195901257,0.0012537352553981841,0.0050439607861243,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.574534097474212,1.2345913261698198,-4.7814496654335334,0.1913594011249149,3.493353124385689,0.7273560457618241,1.6323104815991827,-5.565906726600175,6.413760147032717,6.413760147032717,6.521035059603218,0,0,-7.843653441616383e-05,-7.775420171463594e-05
+55265,1792833150119147541,11829583000000,1792833150116819124,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6763776092121253,-0.004971471811651482,0.09810937914332252,0.9999998562047383,-0.0001425742461355883,0.0004923285224756513,0.00012774418640444253,0.6761,-0.0046,0.09740408535680099,1.0,0.0,0.0,0.0,-1.071850036401105,0.712167914319868,5.697427472461949,0.052880437398452204,0.06767713141442055,0.0034875764627194045,-0.11911633234904812,1.860036439719863,5.955152782798516,0.12939846979305122,0.002219997418080589,0.004962125567071734,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.7219391301116502,1.1912817011940964,-4.945579618963806,0.20941051319837525,3.639554341754168,0.7003089316172043,1.6323104815991827,-5.697427472461949,6.577890100562989,6.577890100562989,6.660985059602892,0,0,-7.431860447468098e-05,-9.92632740156651e-05
+55395,1792833151203147144,11830667000000,1792833151196818537,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763893365269998,-0.004975576286984834,0.09804941353189213,0.9999998448545736,-0.00015043558792911994,0.0005124382967409594,0.00012849053957168506,0.6761,-0.0046,0.09732194614262878,1.0,0.0,0.0,0.0,-1.0835930809260588,0.7392338503885727,5.827871840789763,0.05382469246913864,0.06962544073849522,0.0034233279507679647,-0.13085937687400206,1.8871023757885677,6.08559715112633,0.13034272486373766,0.0041683067421552445,0.004897877055120294,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.704737112134174,1.1683152300097255,-5.135475390023805,0.22449832839590167,3.7516787112138377,0.6856591152304796,1.6323104815991827,-5.827871840789763,6.767785871622987,6.767785871622987,6.823585059602513,0,0,-7.783578319789519e-05,9.486695737160317e-05
+55525,1792833152286148135,11831750000000,1792833152284819168,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.676402805221573,-0.004975810166625212,0.09798099225507759,0.9999998321486507,-0.0001571779622323418,0.0005354250878735611,0.00012554122138000922,0.6761,-0.0046,0.09723225349017038,1.0,0.0,0.0,0.0,-1.1036720171504764,0.7504207475113873,5.979284853345,0.055582716057946915,0.07060033575108086,0.0033362257517293983,-0.15093831309841949,1.8982892729113823,6.237010163681567,0.13210074845254594,0.005143201754740897,0.0048107748560817275,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.7746551637872603,1.1438661385469113,-5.280564995375502,0.23578594444232376,3.8657311538148766,0.6675103953869789,1.6323104815991827,-5.979284853345,6.912875476974685,6.912875476974685,6.986035059602134,0,0,-8.20316955155428e-05,-4.599609168399184e-05
+55670,1792833153494147186,11832958000000,1792833153492818950,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6764177006305034,-0.0049764155562612745,0.09790887680736403,0.9999998181505718,-0.00016250574251520228,0.0005596786420711039,0.0001244724427210338,0.6761,-0.0046,0.09712771450179745,1.0,0.0,0.0,0.0,-1.1214752013379,0.7783331488206338,6.130140107365381,0.05677482022005399,0.07155842141301898,0.0032409841547306646,-0.1687414972858431,1.9262016742206287,6.387865417701948,0.133292852614653,0.006101287416679012,0.004715533259082994,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.7907376403314474,1.1257714682537219,-5.441513200290524,0.2574955049849265,3.9695189728080273,0.6604622201352923,1.6323104815991827,-6.130140107365381,7.0738236818897064,7.0738236818897064,7.167235059601712,0,0,-9.192749365480169e-05,-9.849294577002893e-05
+55788,1792833154478141360,11833942000000,1792833154476818865,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6764270554331022,-0.004975549777785497,0.0978299827345825,0.999999806032607,-0.0001701472695083331,0.0005787018449667754,0.00012462621752674813,0.6761,-0.0046,0.09703347073149109,1.0,0.0,0.0,0.0,-1.1432713333677098,0.781659717434835,6.294921041628379,0.05770992929068265,0.07352943644192947,0.0031650909684287206,-0.190537629315653,1.92952824283483,6.552646351964946,0.13422796168528167,0.008072302445589496,0.00463964007278105,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.890894393145853,1.2137496789219935,-5.68040329030381,0.2332430990578117,4.1466153846923515,0.714146387280395,1.6323104815991827,-6.294921041628379,7.3127137719029935,7.3127137719029935,7.314835059601368,0,0,-9.519226073087671e-05,9.999953229223308e-05
+55914,1792833155528148118,11834992000000,1792833155524819310,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6764402981657027,-0.004978587898583459,0.09775948911203046,0.9999997921683531,-0.00017470061035268302,0.0005997157452621428,0.00013010317539956134,0.6761,-0.0046,0.09693792459792273,1.0,0.0,0.0,0.0,-1.1441069576011367,0.8046447071456402,6.422955727814906,0.05869918648577484,0.07347710640665372,0.004083219759916562,-0.19137325354907989,1.9525132325456351,6.680681038151473,0.13521721888037386,0.008019972410313748,0.005557768864268891,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.8799691438922816,1.2262018157310652,-5.693109701970313,0.23997966491282557,4.150424984611152,0.719340195992482,1.6323104815991827,-6.422955727814906,7.325420183569495,7.325420183569495,7.472335059601001,0,0,-9.053122585897378e-05,-9.999729796839602e-05
+56024,1792833156444148293,11835908000000,1792833156436828592,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6764481659550619,-0.004978418874217529,0.09768650781001206,0.9999997841660946,-0.00017805169606974214,0.0006113546681277847,0.00013286719583300376,0.6761,-0.0046,0.0968497340526924,1.0,0.0,0.0,0.0,-1.132725090750968,0.8330945244468311,6.523048027982743,0.05970347616026338,0.07343450690759709,0.004015114737173142,-0.17999138669891132,1.980963049846826,6.78077333831931,0.1362215085548624,0.007977372911257125,0.005489663841525471,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.930952178866291,1.1771032054109796,-5.836309282712534,0.26798213156692574,4.256454429637352,0.6900271503775247,1.6323104815991827,-6.523048027982743,7.4686197643117165,7.4686197643117165,7.6097350596006805,0,0,-0.00010143413791827006,-9.999999025923074e-05
+56135,1792833157369146882,11836833000000,1792833157364818906,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6764619714902874,-0.004979637020505787,0.09761181705765574,0.9999997704218121,-0.00017091199210706964,0.000635076433522038,0.00013441057245609997,0.6761,-0.0046,0.09674763525488148,1.0,0.0,0.0,0.0,-1.142338096660537,0.8489181254394569,6.630067670469939,0.06110799943355201,0.07338410338409915,0.0039446139487762585,-0.18960439260848005,1.9967866508394518,6.8877929808065055,0.13762603182815103,0.007926969387759174,0.005419163053128588,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.9684608773923613,1.2456534220156157,-6.010731320157087,0.2607035427939243,4.375424817136224,0.7406433896600783,1.6323104815991827,-6.630067670469939,7.6430418017562705,7.6430418017562705,7.748485059600357,0,0,-0.00012077956755149189,-8.902902053026198e-06
+56258,1792833158394148939,11837858000000,1792833158392818859,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6764788243626996,-0.004981188679786192,0.09751216081896552,0.9999997623227254,-9.635002498866081e-05,0.0006623418355236085,0.00013717624705280996,0.6761,-0.0046,0.09661699992985863,1.0,0.0,0.0,0.0,-1.1399807508038722,0.8609656563040486,6.804446498318821,0.061664111510015704,0.07442837543606617,0.0038266944873201715,-0.1872470467518154,2.0088341817040436,7.062171808655388,0.13818214390461472,0.008971241439726206,0.005301243591672501,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.0410825909138506,1.2272281426431044,-6.212868206866774,0.26669306535205667,4.527330845400014,0.6991946153365591,1.6323104815991827,-6.804446498318821,7.845178688465957,7.845178688465957,7.902235059599999,0,0,-0.0001267654452560566,9.5619980015843e-05
+56382,1792833159428148758,11838892000000,1792833159424818908,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6764896883022882,-0.0049832226007067775,0.09740955898921567,0.9999997465276599,-0.00011707712525987457,0.0006819731513580726,0.0001399751689610755,0.6761,-0.0046,0.0964927105610884,1.0,0.0,0.0,0.0,-1.1437309428750224,0.8719788881558972,6.925176620755934,0.06179167535383835,0.07532933949779644,0.0037409470027758357,-0.19099723882296563,2.019847413555892,7.182901931092501,0.13830970774843737,0.009872205501456463,0.005215496107128165,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.0891639513741773,1.179267625473692,-6.364752257250007,0.3062023145575633,4.634536539535356,0.6957650718242591,1.6323104815991827,-6.925176620755934,7.9970627388491895,7.9970627388491895,8.057335059599637,0,0,-0.00011890774823522664,9.375000361989123e-05
+56507,1792833160469147441,11839933000000,1792833160468818644,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6764993729908142,-0.004985061969483599,0.09730509346908174,0.9999997313051873,-0.00013845445965431443,0.000699719722141951,0.0001416159965966114,0.6761,-0.0046,0.09636627762187815,1.0,0.0,0.0,0.0,-1.142282852378523,0.876964021924842,7.0357241840162015,0.06221187164759111,0.07529783765835119,0.003658500991925169,-0.189549148326466,2.024832547324837,7.293449494352768,0.13872990404219013,0.009840703662011212,0.005133050096277498,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.1225574202419835,1.204313771928829,-6.433310044596847,0.3107187416542029,4.686111812261887,0.709467964815733,1.6323104815991827,-7.0357241840162015,8.06562052619603,8.06562052619603,8.213485059599273,0,0,-0.00012941174507982568,-9.99999347480795e-05
+56641,1792833161586148868,11841050000000,1792833161580819369,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6765166432174095,-0.004991503169928513,0.09718586611314319,0.9999997079698821,-0.00016552191855414696,0.0007268045508674794,0.00014092783214060238,0.6761,-0.0046,0.09622264155258166,1.0,0.0,0.0,0.0,-1.1427968468159124,0.8737993214773772,7.169941716313117,0.06259049687450764,0.07526289996933484,0.0035573802911724973,-0.19006314276385566,2.021667846877372,7.427667026649684,0.13910852926910666,0.009805765972994875,0.0050319293955248265,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.1133580550498463,1.2073018607831119,-6.456261670886066,0.3341270595894098,4.699277159836658,0.7155334868940925,1.6323104815991827,-7.169941716313117,8.088572152485249,8.088572152485249,8.381035059598883,0,0,-0.00012860578955528468,-9.999999025923074e-05
+56763,1792833162603148324,11842067000000,1792833162596819276,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6765303139668442,-0.004994416462829091,0.09705706066967369,0.9999996903407016,-0.00019443619947971712,0.0007449986680437683,0.0001339138310839701,0.6761,-0.0046,0.09607643049653117,1.0,0.0,0.0,0.0,-1.1390742899355502,0.8878592150736226,7.300649104483541,0.06256659089833456,0.07523255206419383,0.003450593031192357,-0.18634058588349342,2.0357277404736176,7.558374414820108,0.13908462329293358,0.00977541806785385,0.004925142135544686,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.1958647081586524,1.1560433368546295,-6.70129280422361,0.3620768071672705,4.874256734923908,0.6863893542983863,1.6323104815991827,-7.300649104483541,8.333603285822793,8.333603285822793,8.533585059598527,0,0,-0.00015317643439346907,-9.999999025923074e-05
+56879,1792833163569148376,11843033000000,1792833163564818537,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6765407549292796,-0.004996047646218001,0.09691867311698266,0.9999996864237701,-0.0001421598096204554,0.0007593016844392005,0.00014780651648602534,0.6761,-0.0046,0.09592088767571155,1.0,0.0,0.0,0.0,-1.1357711620537727,0.8798519183988813,7.433026036745552,0.0614935985568255,0.0762304448310234,0.003350358926735581,-0.18303745800171592,2.0277204437988763,7.690751347082119,0.13801163095142452,0.010773310834683426,0.00482490803108791,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.2397268286857552,1.1804790998587382,-6.822630541426165,0.3640331776532231,4.969142808975005,0.711882742738044,1.6323104815991827,-7.433026036745552,8.454941023025349,8.454941023025349,8.67848505959819,0,0,-0.00016936312517287633,-9.999875513611584e-05
+56981,1792833164419148423,11843883000000,1792833164416818895,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6765455092732232,-0.005002391172882384,0.09678331482180821,0.999999676361022,-0.000147951069908899,0.0007685602962955979,0.00016169807465395958,0.6761,-0.0046,0.09577680930293037,1.0,0.0,0.0,0.0,-1.1196252058097946,0.8393511676466636,7.535921905639105,0.05948316888248066,0.07422702293703151,0.0032113334944939044,-0.1668915017577378,1.9872196930466586,7.793647215975672,0.13600120127707968,0.008769888940691544,0.004685882598846234,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.2648960529724,1.125502724279398,-7.0426328384169885,0.38990444819504944,5.1238263102627615,0.6761648400330598,1.6323104815991827,-7.535921905639105,8.67494332001617,8.67494332001617,8.805985059597893,0,0,-0.00017446083821062863,9.739172942969105e-05
+57091,1792833165336148649,11844800000000,1792833165332819741,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6765621327742772,-0.004993357530714299,0.09664211808532457,0.999999655587157,-0.00018828194444046333,0.0007922650962231752,0.00013089827444759806,0.6761,-0.0046,0.09561272195947208,1.0,0.0,0.0,0.0,-1.0879363179758021,0.8733673391182522,7.606721132801339,0.060524615585004146,0.07317791690230965,0.0031570038902173914,-0.1352026139237453,2.021235864518247,7.864446443137906,0.13704264797960317,0.007720782905969685,0.004631552994569721,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.269071365681327,1.1990360805833105,-7.121031874932072,0.3968114462984073,5.172265767136993,0.7243158883887918,1.6323104815991827,-7.606721132801339,8.753342356531254,8.753342356531254,8.943535059597572,0,0,-0.0001897188354013909,-9.945549525459114e-05
+57192,1792833166178150534,11845642000000,1792833166176818731,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6765713748355893,-0.005003799916200831,0.09648924491055662,0.9999996421752315,-0.00017126265985412166,0.0008101591242029008,0.00014629958260321412,0.6761,-0.0046,0.09544349766018961,1.0,0.0,0.0,0.0,-1.0642821469342845,0.8409248405901695,7.696290315217912,0.058487502678155875,0.07218866854443347,0.0030488026556844397,-0.11154844288222761,1.9887933659901644,7.9540156255544785,0.1350055350727549,0.006731534548093493,0.004523351760036769,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.228564885627727,1.2218829635066828,-7.095753754419606,0.39675235272529535,5.153129204238155,0.745676430104956,1.6323104815991827,-7.696290315217912,8.728064236018788,8.728064236018788,9.069835059597278,0,0,-0.0002141777429534849,-9.999999025923074e-05
+57290,1792833166994149992,11846458000000,1792833166992819191,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6765805673919052,-0.0050082014884141116,0.0963193071506592,0.9999996278705331,-0.0001682304495127952,0.00082523093662099,0.00016246253938381787,0.6761,-0.0046,0.09525704497221607,1.0,0.0,0.0,0.0,-1.061665453946672,0.809284314433927,7.755645980611985,0.05578070546579557,0.07222361019870571,0.0029705232586401155,-0.10893174989461538,1.957152839833922,8.013371290948552,0.1322987378603946,0.006766476202365742,0.004445072362992445,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.3104618830285544,1.185394179802062,-7.277666358271676,0.40780122727829393,5.298560051126539,0.7237069804655445,1.6323104815991827,-7.755645980611985,8.90997683987086,8.90997683987086,9.192235059596992,0,0,-0.00024181054023994365,-9.999999025923074e-05
+57380,1792833167744148845,11847208000000,1792833167736818926,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6765913200553577,-0.005009514465424954,0.09613778212817556,0.9999996107619724,-0.00017859291011097244,0.0008438873435733182,0.00016086482443222289,0.6761,-0.0046,0.09506397984361727,1.0,0.0,0.0,0.0,-1.0422087981994836,0.7621962718167765,7.844029321828569,0.053406770407734075,0.07022640662362412,0.0028430390803149365,-0.0894750941474268,1.9100647972167715,8.101754632165136,0.1299248028023331,0.004769272627284142,0.004317588184667266,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.333303069645117,1.187164305185098,-7.3469421880403205,0.4265547247426856,5.359280137653924,0.7267550000917238,1.6323104815991827,-7.844029321828569,8.979252669639504,8.979252669639504,9.30473505959673,0,0,-0.0002722316791673159,-9.999999025923074e-05

Fixed/digit/cylinder_15A_12.5/press_depth_07/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,1792833105698440648,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.546512278e-09,-2.087554938e-10,-1.825733786e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453565e-01,-1.181123286e-04,8.303259309e-01
+1,1.016666667e+00,DOWN_FORCE_DETACH,1792833106763658332,2.880243001e-06,2.126190851e-06,4.657790716e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.144583430e-07,-1.036934172e-08,-8.365812842e-08,7.019585131e-01,-2.014454417e-05,8.601477450e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455664e-01,-1.181224892e-04,8.303258491e-01
+2,2.133333333e+00,DOWN_FORCE_DETACH,1792833107860976598,5.004292082e-07,1.747966969e-06,-1.358890062e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.442194274e-07,-1.682492278e-08,-1.319318359e-07,7.019561332e-01,-2.052276805e-05,8.601294983e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456961e-01,-1.181289448e-04,8.303258008e-01
+3,3.133333333e+00,DOWN_FORCE_DETACH,1792833108892871589,4.902994249e-07,-6.981698304e-06,-5.203583441e-05,-3.317639255e-06,-3.282953752e-06,-4.066112304e-05,-3.682475308e-06,-3.259318190e-06,-4.044760884e-05,7.019561231e-01,-2.925243333e-05,8.600910514e-01,7.019523152e-01,-2.555368877e-05,8.601024261e-01,7.027416695e-01,-1.213714380e-04,8.302854851e-01
+4,3.983333333e+00,DOWN_FORCE_DETACH,1792833109908178846,2.877803289e-05,-9.206520827e-06,-7.083478690e-05,2.788066562e-05,-8.770486000e-06,-6.233165335e-05,2.949464018e-05,-8.710472477e-06,-6.200866542e-05,7.019844108e-01,-3.147725585e-05,8.600722525e-01,7.019835135e-01,-3.104122102e-05,8.600807556e-01,7.027748466e-01,-1.268225923e-04,8.302639241e-01
+5,5.050000000e+00,DOWN_FORCE_DETACH,1792833110989392158,2.159713107e-05,-1.003724645e-05,-9.894433401e-05,2.476403616e-05,-9.180430536e-06,-8.341993640e-05,2.606475281e-05,-9.136293825e-06,-8.318276811e-05,7.019772299e-01,-3.230798148e-05,8.600441429e-01,7.019803969e-01,-3.145116556e-05,8.600596673e-01,7.027714167e-01,-1.272484137e-04,8.302427500e-01
+6,6.166666667e+00,DOWN_FORCE_DETACH,1792833112103664242,1.774824062e-05,-8.438240611e-06,-1.216220738e-04,1.944832982e-05,-1.155229474e-05,-1.034493066e-04,2.015930046e-05,-1.147090402e-05,-1.032373197e-04,7.019733811e-01,-3.070897563e-05,8.600214652e-01,7.019750811e-01,-3.382302976e-05,8.600396379e-01,7.027655112e-01,-1.295830239e-04,8.302226954e-01
+7,7.250000000e+00,DOWN_FORCE_DETACH,1792833113282492711,2.372448071e-05,-1.235953464e-05,-1.514407985e-04,1.649065749e-05,-1.296623836e-05,-1.437512250e-04,1.650306366e-05,-1.284147176e-05,-1.434167903e-04,7.019793573e-01,-3.463026966e-05,8.599916464e-01,7.019721235e-01,-3.523697339e-05,8.599993360e-01,7.027618550e-01,-1.309535916e-04,8.301825159e-01
+8,8.450000000e+00,DOWN_FORCE_DETACH,1792833114495111827,3.936027380e-05,-2.049260400e-05,-2.039312618e-04,3.861762867e-05,-2.156577129e-05,-1.996216109e-04,3.947936951e-05,-2.141144260e-05,-1.990035567e-04,7.019949931e-01,-4.276333902e-05,8.599391560e-01,7.019942504e-01,-4.383650632e-05,8.599434656e-01,7.027848313e-01,-1.395235625e-04,8.301269292e-01
+9,9.550000000e+00,DOWN_FORCE_DETACH,1792833115608677458,3.979359068e-05,-1.934753473e-05,-2.420800397e-04,3.916965469e-05,-2.358365558e-05,-2.434167409e-04,3.962784580e-05,-2.339867444e-05,-2.427312149e-04,7.019954264e-01,-4.161826975e-05,8.599010072e-01,7.019948025e-01,-4.585439060e-05,8.598996705e-01,7.027849798e-01,-1.415107943e-04,8.300832015e-01
+10,1.053333333e+01,DOWN_FORCE_DETACH,1792833116746034326,4.528224324e-05,-2.370353258e-05,-2.639007859e-04,4.310538510e-05,-2.364788709e-05,-2.629011093e-04,4.367197142e-05,-2.346969295e-05,-2.624183624e-04,7.020009151e-01,-4.597426760e-05,8.598791865e-01,7.019987382e-01,-4.591862211e-05,8.598801861e-01,7.027890239e-01,-1.415818128e-04,8.300635144e-01
+11,1.160000000e+01,DOWN_FORCE_DETACH,1792833117884926546,5.016678807e-05,-2.640164207e-05,-3.072043890e-04,4.931037297e-05,-2.848495343e-05,-3.032531841e-04,4.986507456e-05,-2.826907257e-05,-3.026771604e-04,7.020057996e-01,-4.867237710e-05,8.598358829e-01,7.020049432e-01,-5.075568846e-05,8.598398341e-01,7.027952170e-01,-1.463811924e-04,8.300232556e-01
+12,1.260000000e+01,DOWN_FORCE_DETACH,1792833118909392227,6.248734756e-05,-2.880959333e-05,-3.467644317e-04,6.045959234e-05,-3.113552530e-05,-3.419001624e-04,6.135897505e-05,-3.091324341e-05,-3.413528747e-04,7.020181202e-01,-5.108032835e-05,8.597963228e-01,7.020160924e-01,-5.340626033e-05,8.598011871e-01,7.028067109e-01,-1.490253633e-04,8.299845799e-01
+13,1.348333333e+01,DOWN_FORCE_DETACH,1792833119798013942,1.114859573e-04,-2.128013326e-05,-3.379445487e-04,1.103778012e-04,-2.900490908e-05,-3.482174558e-04,1.144754147e-04,-2.885262817e-05,-3.479225147e-04,7.020671188e-01,-4.355086828e-05,8.598051427e-01,7.020660106e-01,-5.127564410e-05,8.597948698e-01,7.028598273e-01,-1.469647480e-04,8.299780102e-01
+14,1.430000000e+01,DOWN_FORCE_DETACH,1792833120620560550,1.160094433e-04,-2.591818103e-05,-3.737920895e-04,1.122032653e-04,-2.616617558e-05,-3.713574015e-04,1.165417603e-04,-2.607493439e-05,-3.708738282e-04,7.020716423e-01,-4.818891606e-05,8.597692951e-01,7.020678361e-01,-4.843691060e-05,8.597717298e-01,7.028618937e-01,-1.441870543e-04,8.299550589e-01
+15,1.543333333e+01,DOWN_FORCE_DETACH,1792833121784054578,1.237911172e-04,-3.359168242e-05,-4.461558878e-04,1.234145244e-04,-3.253859167e-05,-4.305898654e-04,1.280430826e-04,-3.236250416e-05,-4.299224047e-04,7.020794239e-01,-5.586241744e-05,8.596969314e-01,7.020790473e-01,-5.480932669e-05,8.597124974e-01,7.028733950e-01,-1.504746240e-04,8.298960103e-01
+16,1.641666667e+01,DOWN_FORCE_DETACH,1792833122750047074,1.420996319e-04,-3.818318847e-05,-4.839871710e-04,1.348149871e-04,-3.373808637e-05,-4.717397371e-04,1.398367442e-04,-3.354059747e-05,-4.710771620e-04,7.020977324e-01,-6.045392349e-05,8.596591001e-01,7.020904478e-01,-5.600882140e-05,8.596713475e-01,7.028851887e-01,-1.516527173e-04,8.298548556e-01
+17,1.753333333e+01,DOWN_FORCE_DETACH,1792833123864553407,1.504813459e-04,-3.133416028e-05,-5.147873132e-04,1.487646598e-04,-3.525172828e-05,-5.089918038e-04,1.544362733e-04,-3.501810883e-05,-5.083408891e-04,7.021061142e-01,-5.360489530e-05,8.596282999e-01,7.021043975e-01,-5.752246331e-05,8.596340954e-01,7.028997882e-01,-1.531302287e-04,8.298175918e-01
+18,1.866666667e+01,DOWN_FORCE_DETACH,1792833125027398721,1.587815357e-04,-3.374508926e-05,-5.580425777e-04,1.582100143e-04,-3.590546285e-05,-5.489635205e-04,1.641597038e-04,-3.567308960e-05,-5.482657294e-04,7.021144144e-01,-5.601582428e-05,8.595850447e-01,7.021138428e-01,-5.817619788e-05,8.595941237e-01,7.029095116e-01,-1.537852095e-04,8.297776670e-01
+19,1.920000000e+01,DOWN_FORCE_DETACH,1792833125550850746,1.673555847e-04,-1.830069601e-05,-5.807270287e-04,1.721228751e-04,-1.288660319e-05,-5.704026998e-04,1.788926450e-04,-1.288879853e-05,-5.696170265e-04,7.021229884e-01,-4.057143104e-05,8.595623602e-01,7.021277557e-01,-3.515733821e-05,8.595726845e-01,7.029242446e-01,-1.310009184e-04,8.297563157e-01
+20,2.015000000e+01,DOWN_FORCE_DETACH,1792833126550343825,1.863333495e-04,-1.930481962e-05,-6.309221427e-04,1.868008209e-04,-2.519149055e-05,-6.277599226e-04,1.939215118e-04,-2.505350117e-05,-6.267506261e-04,7.021419662e-01,-4.157555464e-05,8.595121651e-01,7.021424336e-01,-4.746222557e-05,8.595153273e-01,7.029392734e-01,-1.431656210e-04,8.296991821e-01
+21,2.123333333e+01,DOWN_FORCE_DETACH,1792833127645591542,2.019579149e-04,-3.058411535e-05,-6.844346725e-04,1.965572615e-04,-3.132122877e-05,-6.869429269e-04,2.038188713e-04,-3.114011235e-05,-6.858266882e-04,7.021575907e-01,-5.285485037e-05,8.594586526e-01,7.021521901e-01,-5.359196379e-05,8.594561443e-01,7.029491708e-01,-1.492522322e-04,8.296401060e-01
+22,2.236666667e+01,DOWN_FORCE_DETACH,1792833128810404699,2.025638745e-04,-2.981462198e-05,-7.123790147e-04,2.024471325e-04,-3.227103763e-05,-7.062940193e-04,2.100402053e-04,-3.216337275e-05,-7.055865251e-04,7.021581967e-01,-5.208535701e-05,8.594307082e-01,7.021580799e-01,-5.454177265e-05,8.594367932e-01,7.029553921e-01,-1.502754926e-04,8.296203462e-01
+23,2.350000000e+01,DOWN_FORCE_DETACH,1792833129940586879,2.117809635e-04,-3.279794027e-05,-7.334102231e-04,2.035474509e-04,-3.413340260e-05,-7.279472479e-04,2.110435142e-04,-3.394814400e-05,-7.273945944e-04,7.021674138e-01,-5.506867530e-05,8.594096770e-01,7.021591803e-01,-5.640413762e-05,8.594151400e-01,7.029563954e-01,-1.520602639e-04,8.295985381e-01
+24,2.455000000e+01,DOWN_FORCE_DETACH,1792833130988939173,2.230634984e-04,-2.929721529e-05,-7.774109231e-04,2.209762214e-04,-3.314356072e-05,-7.638006082e-04,2.293012625e-04,-3.301019180e-05,-7.632196699e-04,7.021786963e-01,-5.156795031e-05,8.593656763e-01,7.021766090e-01,-5.541429574e-05,8.593792866e-01,7.029746532e-01,-1.511223117e-04,8.295627131e-01
+25,2.550000000e+01,DOWN_FORCE_DETACH,1792833131956326015,2.388854736e-04,-3.249044579e-05,-8.348613524e-04,2.349661727e-04,-3.229726704e-05,-8.276669976e-04,2.436305808e-04,-3.218414086e-05,-8.266897682e-04,7.021945183e-01,-5.476118082e-05,8.593082259e-01,7.021905990e-01,-5.456800207e-05,8.593154202e-01,7.029889825e-01,-1.502962607e-04,8.294992430e-01
+26,2.671666667e+01,DOWN_FORCE_DETACH,1792833133349558882,2.522961428e-04,-3.220197526e-05,-8.795094593e-04,2.501181260e-04,-3.174022605e-05,-8.663410901e-04,2.595761477e-04,-3.166418373e-05,-8.655543528e-04,7.022079290e-01,-5.447271029e-05,8.592635778e-01,7.022057509e-01,-5.401096108e-05,8.592767461e-01,7.030049281e-01,-1.497763036e-04,8.294603784e-01
+27,2.778333333e+01,DOWN_FORCE_DETACH,1792833134413595731,2.600101455e-04,-3.197597088e-05,-9.130308858e-04,2.568925685e-04,-3.284105156e-05,-9.072272025e-04,2.664319118e-04,-3.275565801e-05,-9.064083005e-04,7.022156430e-01,-5.424670590e-05,8.592300564e-01,7.022125254e-01,-5.511178658e-05,8.592358600e-01,7.030117838e-01,-1.508677779e-04,8.294195244e-01
+28,2.885000000e+01,DOWN_FORCE_DETACH,1792833135493633749,2.707915415e-04,-3.377257195e-05,-9.584863882e-04,2.684096045e-04,-3.238678985e-05,-9.462876067e-04,2.783557852e-04,-3.225969816e-05,-9.454375712e-04,7.022264244e-01,-5.604330698e-05,8.591846009e-01,7.022240424e-01,-5.465752488e-05,8.591967996e-01,7.030237077e-01,-1.503718180e-04,8.293804952e-01
+29,2.995000000e+01,DOWN_FORCE_DETACH,1792833136594682737,2.860020638e-04,-3.989362374e-05,-1.019075369e-03,2.821526104e-04,-3.618884940e-05,-1.006753373e-03,2.923967321e-04,-3.604966953e-05,-1.005770972e-03,7.022416349e-01,-6.216435876e-05,8.591240119e-01,7.022377854e-01,-5.845958442e-05,8.591363339e-01,7.030377487e-01,-1.541617894e-04,8.293201618e-01
+30,3.116666667e+01,DOWN_FORCE_DETACH,1792833138130660496,3.016646815e-04,-3.749279441e-05,-1.076952479e-03,2.982524919e-04,-4.074938075e-05,-1.066487005e-03,3.090635935e-04,-4.054737722e-05,-1.065379825e-03,7.022572975e-01,-5.976352943e-05,8.590661348e-01,7.022538853e-01,-6.302011577e-05,8.590766002e-01,7.030544155e-01,-1.586594971e-04,8.292605529e-01
+31,3.226666667e+01,DOWN_FORCE_DETACH,1792833139212369150,3.179788395e-04,-3.903540633e-05,-1.118411782e-03,3.080024797e-04,-4.387882890e-05,-1.110034634e-03,3.190813669e-04,-4.363365785e-05,-1.109027764e-03,7.022736117e-01,-6.130614135e-05,8.590246755e-01,7.022636353e-01,-6.614956392e-05,8.590330526e-01,7.030644333e-01,-1.617457777e-04,8.292169050e-01
+32,3.333333333e+01,DOWN_FORCE_DETACH,1792833140507207126,3.321222820e-04,-4.806879407e-05,-1.185030918e-03,3.266114503e-04,-4.651670209e-05,-1.174224051e-03,3.382801545e-04,-4.624373728e-05,-1.173014355e-03,7.022877551e-01,-7.033952909e-05,8.589580563e-01,7.022822443e-01,-6.878743712e-05,8.589688632e-01,7.030836321e-01,-1.643558571e-04,8.291529184e-01
+33,3.440000000e+01,DOWN_FORCE_DETACH,1792833141554452136,3.441677757e-04,-4.546425988e-05,-1.225137609e-03,3.379188403e-04,-4.868173446e-05,-1.217283411e-03,3.500846203e-04,-4.838694066e-05,-1.216242543e-03,7.022998006e-01,-6.773499490e-05,8.589179496e-01,7.022935517e-01,-7.095246948e-05,8.589258038e-01,7.030954366e-01,-1.664990605e-04,8.291096902e-01
+34,3.556666667e+01,DOWN_FORCE_DETACH,1792833142717220777,3.551149100e-04,-4.822763535e-05,-1.277594189e-03,3.549050374e-04,-4.819237412e-05,-1.277426454e-03,3.675798748e-04,-4.794852895e-05,-1.276155919e-03,7.023107477e-01,-7.049837037e-05,8.588654931e-01,7.023105379e-01,-7.046310914e-05,8.588656608e-01,7.031129318e-01,-1.660606488e-04,8.290497768e-01
+35,3.666666667e+01,DOWN_FORCE_DETACH,1792833143831554150,3.712389605e-04,-4.840386646e-05,-1.325456285e-03,3.659881707e-04,-4.902767935e-05,-1.316132691e-03,3.791761260e-04,-4.876367678e-05,-1.315041595e-03,7.023268718e-01,-7.067460148e-05,8.588176310e-01,7.023216210e-01,-7.129841438e-05,8.588269545e-01,7.031245281e-01,-1.668757966e-04,8.290108911e-01
+36,3.771666667e+01,DOWN_FORCE_DETACH,1792833144896509454,3.841623361e-04,-5.253558915e-05,-1.377858299e-03,3.840077469e-04,-5.269282379e-05,-1.377699110e-03,3.978165167e-04,-5.240949286e-05,-1.376353737e-03,7.023397952e-01,-7.480632418e-05,8.587652289e-01,7.023396406e-01,-7.496355881e-05,8.587653881e-01,7.031431684e-01,-1.705216127e-04,8.289495790e-01
+37,3.876666667e+01,DOWN_FORCE_DETACH,1792833145928235529,3.985660303e-04,-5.160576665e-05,-1.425175916e-03,3.924668079e-04,-4.979313454e-05,-1.418750876e-03,4.066155544e-04,-4.954408854e-05,-1.417603398e-03,7.023541988e-01,-7.387650167e-05,8.587179113e-01,7.023480996e-01,-7.206386956e-05,8.587243364e-01,7.031519675e-01,-1.676562084e-04,8.289083293e-01
+38,3.983333333e+01,DOWN_FORCE_DETACH,1792833147008473788,4.080169676e-04,-5.223109616e-05,-1.478792203e-03,4.020256298e-04,-5.563250311e-05,-1.460748946e-03,4.164092220e-04,-5.530186408e-05,-1.459741158e-03,7.023636498e-01,-7.450183119e-05,8.586642950e-01,7.023576584e-01,-7.790323813e-05,8.586823383e-01,7.031617612e-01,-1.734139839e-04,8.288661916e-01
+39,4.093333333e+01,DOWN_FORCE_DETACH,1792833148106285481,4.230074250e-04,-5.327848649e-05,-1.533697319e-03,4.178748027e-04,-5.654788967e-05,-1.519886698e-03,4.327305029e-04,-5.623080622e-05,-1.518707890e-03,7.023786402e-01,-7.554922151e-05,8.586093899e-01,7.023735076e-01,-7.881862469e-05,8.586232005e-01,7.031780824e-01,-1.743429261e-04,8.288072248e-01
+40,4.201666667e+01,DOWN_FORCE_DETACH,1792833149187199361,4.353947095e-04,-5.368773122e-05,-1.598780248e-03,4.353155613e-04,-5.365841845e-05,-1.598704147e-03,4.506203121e-04,-5.338110883e-05,-1.597131297e-03,7.023910275e-01,-7.595846624e-05,8.585443070e-01,7.023909484e-01,-7.592915348e-05,8.585443831e-01,7.031959722e-01,-1.714932287e-04,8.287288014e-01
+41,4.296666667e+01,DOWN_FORCE_DETACH,1792833150120853548,4.483496862e-04,-5.662507759e-05,-1.649046787e-03,4.432898534e-04,-5.904061126e-05,-1.638088578e-03,4.588117646e-04,-5.868577576e-05,-1.636791849e-03,7.024039825e-01,-7.889581261e-05,8.584940405e-01,7.023989227e-01,-8.131134628e-05,8.585049987e-01,7.032041637e-01,-1.767978956e-04,8.286891409e-01
+42,4.406666667e+01,DOWN_FORCE_DETACH,1792833151202037398,4.580007270e-04,-5.759044997e-05,-1.711137059e-03,4.539875389e-04,-6.041635285e-05,-1.703768889e-03,4.695723993e-04,-6.005065221e-05,-1.702436973e-03,7.024136335e-01,-7.986118499e-05,8.584319502e-01,7.024096204e-01,-8.268708787e-05,8.584393184e-01,7.032149243e-01,-1.781627721e-04,8.286234958e-01
+43,4.513333333e+01,DOWN_FORCE_DETACH,1792833152283454962,4.711156416e-04,-6.431441567e-05,-1.777788722e-03,4.665080401e-04,-5.839409572e-05,-1.766033174e-03,4.822871813e-04,-5.806425153e-05,-1.764690919e-03,7.024267485e-01,-8.658515069e-05,8.583652985e-01,7.024221409e-01,-8.066483074e-05,8.583770541e-01,7.032276391e-01,-1.761763714e-04,8.285612418e-01
+44,4.631666667e+01,DOWN_FORCE_DETACH,1792833153495165561,4.845330871e-04,-6.606495341e-05,-1.855333048e-03,4.833712428e-04,-6.438699216e-05,-1.849568334e-03,4.994367038e-04,-6.398147985e-05,-1.848054752e-03,7.024401659e-01,-8.833568844e-05,8.582877542e-01,7.024390041e-01,-8.665772719e-05,8.582935189e-01,7.032447886e-01,-1.820935997e-04,8.284778780e-01
+45,4.731666667e+01,DOWN_FORCE_DETACH,1792833154477953307,4.961964814e-04,-6.377217094e-05,-1.929065513e-03,4.923920184e-04,-6.486291357e-05,-1.914425653e-03,5.083768582e-04,-6.447650826e-05,-1.912938884e-03,7.024518293e-01,-8.604290596e-05,8.582140217e-01,7.024480248e-01,-8.713364860e-05,8.582286616e-01,7.032537288e-01,-1.825886281e-04,8.284129938e-01
+46,4.833333333e+01,DOWN_FORCE_DETACH,1792833155526830651,5.080371105e-04,-6.874499336e-05,-2.001620810e-03,5.045204642e-04,-7.148400134e-05,-1.999129358e-03,5.204837021e-04,-7.100028207e-05,-1.997417493e-03,7.024636699e-01,-9.101572838e-05,8.581414664e-01,7.024601533e-01,-9.375473637e-05,8.581439579e-01,7.032658356e-01,-1.891124019e-04,8.283285152e-01
+47,4.923333333e+01,DOWN_FORCE_DETACH,1792833156443482872,5.180723332e-04,-6.558137643e-05,-2.069050829e-03,5.136200885e-04,-6.484885660e-05,-2.064522792e-03,5.295488185e-04,-6.445528153e-05,-2.062785293e-03,7.024737052e-01,-8.785211145e-05,8.580740364e-01,7.024692529e-01,-8.711959162e-05,8.580785644e-01,7.032749007e-01,-1.825674014e-04,8.282631474e-01
+48,5.016666667e+01,DOWN_FORCE_DETACH,1792833157372849243,5.284832292e-04,-7.032185868e-05,-2.150036730e-03,5.255183418e-04,-6.770136146e-05,-2.145529251e-03,5.414316851e-04,-6.727148125e-05,-2.143628058e-03,7.024841160e-01,-9.259259370e-05,8.579930505e-01,7.024811512e-01,-8.997209649e-05,8.579975580e-01,7.032867836e-01,-1.853836011e-04,8.281823047e-01
+49,5.118333333e+01,DOWN_FORCE_DETACH,1792833158394171271,5.453793214e-04,-6.951731127e-05,-2.253504848e-03,5.450944522e-04,-6.998413391e-05,-2.246050959e-03,5.612314614e-04,-6.954784323e-05,-2.243864524e-03,7.025010121e-01,-9.178804629e-05,8.578895824e-01,7.025007273e-01,-9.225486893e-05,8.578970363e-01,7.033065834e-01,-1.876599631e-04,8.280820682e-01
+50,5.221666667e+01,DOWN_FORCE_DETACH,1792833159425839657,5.597567022e-04,-6.994456619e-05,-2.347050869e-03,5.537298816e-04,-7.457197521e-05,-2.333824480e-03,5.695539039e-04,-7.405100111e-05,-2.331813052e-03,7.025153895e-01,-9.221530121e-05,8.577960364e-01,7.025093627e-01,-9.684271023e-05,8.578092628e-01,7.033149058e-01,-1.921631210e-04,8.279941197e-01
+51,5.326666667e+01,DOWN_FORCE_DETACH,1792833160472816359,5.700196832e-04,-7.488377982e-05,-2.452387697e-03,5.683498340e-04,-7.438487766e-05,-2.442678193e-03,5.839733495e-04,-7.389354696e-05,-2.440551744e-03,7.025256525e-01,-9.715451484e-05,8.576906995e-01,7.025239827e-01,-9.665561268e-05,8.577004090e-01,7.033293253e-01,-1.920056668e-04,8.278853810e-01
+52,5.433333333e+01,DOWN_FORCE_DETACH,1792833161587463920,5.841198188e-04,-7.945643162e-05,-2.575860386e-03,5.794483498e-04,-7.947709167e-05,-2.567847388e-03,5.944681386e-04,-7.890602067e-05,-2.565588863e-03,7.025397526e-01,-1.017271666e-04,8.575672269e-01,7.025350812e-01,-1.017478267e-04,8.575752399e-01,7.033398201e-01,-1.970181405e-04,8.277603439e-01
+53,5.536666667e+01,DOWN_FORCE_DETACH,1792833162602559507,5.977781978e-04,-8.024744586e-05,-2.704370084e-03,5.988834604e-04,-7.922130405e-05,-2.692894617e-03,6.138139373e-04,-7.868450012e-05,-2.690444167e-03,7.025534110e-01,-1.025181809e-04,8.574387172e-01,7.025545163e-01,-1.014920391e-04,8.574501926e-01,7.033591659e-01,-1.967966200e-04,8.276354886e-01
+54,5.628333333e+01,DOWN_FORCE_DETACH,1792833163569143938,6.074389463e-04,-8.543433532e-05,-2.845069812e-03,6.066963378e-04,-8.641583016e-05,-2.840644221e-03,6.205475335e-04,-8.577275482e-05,-2.837655592e-03,7.025630718e-01,-1.077050703e-04,8.572980174e-01,7.025623292e-01,-1.086865652e-04,8.573024430e-01,7.033658995e-01,-2.038848747e-04,8.274882771e-01
+55,5.715000000e+01,DOWN_FORCE_DETACH,1792833164421154305,6.112042866e-04,-9.015704621e-05,-2.979137169e-03,6.124070345e-04,-8.581600153e-05,-2.964839217e-03,6.252911646e-04,-8.511669817e-05,-2.961833335e-03,7.025668371e-01,-1.124277812e-04,8.571639501e-01,7.025680399e-01,-1.080867366e-04,8.571782480e-01,7.033706431e-01,-2.032288180e-04,8.273640994e-01
+56,5.806666667e+01,DOWN_FORCE_DETACH,1792833165338243598,6.296699927e-04,-8.481926137e-05,-3.121127462e-03,6.296294480e-04,-8.528104275e-05,-3.111145962e-03,6.420275221e-04,-8.459919779e-05,-3.108063998e-03,7.025853028e-01,-1.070899964e-04,8.570219598e-01,7.025852623e-01,-1.075517778e-04,8.570319413e-01,7.033873795e-01,-2.027113177e-04,8.272178687e-01
+57,5.891666667e+01,DOWN_FORCE_DETACH,1792833166173819742,6.375647964e-04,-9.629931003e-05,-3.269964040e-03,6.375067381e-04,-9.213292882e-05,-3.266411684e-03,6.487025154e-04,-9.135964859e-05,-3.263049548e-03,7.025931976e-01,-1.185700451e-04,8.568731232e-01,7.025931396e-01,-1.144036638e-04,8.568766756e-01,7.033940544e-01,-2.094717684e-04,8.270628832e-01
+58,5.973333333e+01,DOWN_FORCE_DETACH,1792833166992247475,6.480912820e-04,-9.390181047e-05,-3.440685675e-03,6.469906630e-04,-9.214299846e-05,-3.424768889e-03,6.570737910e-04,-9.138689990e-05,-3.421258265e-03,7.026037241e-01,-1.161725455e-04,8.567024016e-01,7.026026235e-01,-1.144137335e-04,8.567183184e-01,7.034024257e-01,-2.094990198e-04,8.269046745e-01
+59,6.050000000e+01,DOWN_FORCE_DETACH,1792833167745930345,6.591243830e-04,-9.306795058e-05,-3.623996925e-03,6.592028502e-04,-9.306088979e-05,-3.623742584e-03,6.678745232e-04,-9.223037413e-05,-3.619520096e-03,7.026147572e-01,-1.153386856e-04,8.565190903e-01,7.026148357e-01,-1.153316248e-04,8.565193447e-01,7.034132265e-01,-2.103424940e-04,8.267064126e-01

Fixed/digit/cylinder_15A_12.5/press_depth_07/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.1517e-01,1.6685e-01,2.5001e+00,-4.8527e-02,4.4983e-02,3.8162e-04,7.9950e-04,-2.4572e-05,-3.4285e-04,1.5907e-06,5.7999e-05,1.6473e-07,8.7026e-04,5.8021e-05
+1,1.0167e+00,DOWN_FORCE_DETACH,2.4330e-04,1.5206e-01,1.6559e-01,2.4849e+00,-4.8445e-02,4.7660e-02,3.8831e-04,3.7685e-02,-1.2894e-03,-1.5518e-02,8.3569e-05,2.7344e-03,6.8616e-06,4.0776e-02,2.7357e-03
+2,2.1333e+00,DOWN_FORCE_DETACH,4.8710e-04,1.7484e-01,1.6475e-01,2.4761e+00,-4.8392e-02,4.9316e-02,3.8769e-04,6.0472e-02,-2.1313e-03,-2.4325e-02,1.3726e-04,4.3906e-03,6.2392e-06,6.5216e-02,4.3928e-03
+3,3.1333e+00,DOWN_FORCE_DETACH,7.3283e-04,1.9437e-01,1.8152e-01,2.5457e+00,-4.9551e-02,5.0657e-02,3.8317e-04,7.9995e-02,1.4647e-02,4.5268e-02,-1.0224e-03,5.7321e-03,1.7129e-06,9.3075e-02,5.8226e-03
+4,3.9833e+00,DOWN_FORCE_DETACH,9.7323e-04,1.5190e-01,2.0446e-01,2.5538e+00,-5.1161e-02,4.7585e-02,3.9019e-04,3.7532e-02,3.7579e-02,5.3356e-02,-2.6324e-03,2.6596e-03,8.7341e-06,7.5284e-02,3.7420e-03
+5,5.0500e+00,DOWN_FORCE_DETACH,1.2165e-03,1.8155e-01,2.0557e-01,2.5466e+00,-5.1258e-02,4.9722e-02,3.6567e-04,6.7179e-02,3.8692e-02,4.6121e-02,-2.7296e-03,4.7972e-03,-1.5782e-05,9.0207e-02,5.5194e-03
+6,6.1667e+00,DOWN_FORCE_DETACH,1.4617e-03,2.0027e-01,2.1649e-01,2.5340e+00,-5.2046e-02,5.1090e-02,3.3577e-04,8.5896e-02,4.9613e-02,3.3515e-02,-3.5170e-03,6.1644e-03,-4.5679e-05,1.0470e-01,7.0973e-03
+7,7.2500e+00,DOWN_FORCE_DETACH,1.7034e-03,2.0869e-01,2.2308e-01,2.5686e+00,-5.2522e-02,5.1673e-02,3.0491e-04,9.4319e-02,5.6205e-02,6.8192e-02,-3.9929e-03,6.7475e-03,-7.6544e-05,1.2925e-01,7.8408e-03
+8,8.4500e+00,DOWN_FORCE_DETACH,1.9460e-03,1.7100e-01,2.6266e-01,2.6136e+00,-5.5292e-02,4.8930e-02,2.8637e-04,5.6626e-02,9.5786e-02,1.1316e-01,-6.7631e-03,4.0044e-03,-9.5083e-05,1.5870e-01,7.8603e-03
+9,9.5500e+00,DOWN_FORCE_DETACH,2.1854e-03,1.9046e-01,2.7067e-01,2.6298e+00,-5.5866e-02,5.0318e-02,2.5049e-04,7.6087e-02,1.0379e-01,1.2938e-01,-7.3373e-03,5.3926e-03,-1.3096e-04,1.8249e-01,9.1068e-03
+10,1.0533e+01,DOWN_FORCE_DETACH,2.4319e-03,1.8991e-01,2.6767e-01,2.5927e+00,-5.5704e-02,5.0324e-02,2.0992e-04,7.5539e-02,1.0079e-01,9.2206e-02,-7.1750e-03,5.3990e-03,-1.7153e-04,1.5610e-01,8.9810e-03
+11,1.1600e+01,DOWN_FORCE_DETACH,2.6754e-03,1.8689e-01,2.8904e-01,2.6041e+00,-5.7215e-02,5.0101e-02,1.7539e-04,7.2524e-02,1.2216e-01,1.0368e-01,-8.6860e-03,5.1763e-03,-2.0607e-04,1.7588e-01,1.0114e-02
+12,1.2600e+01,DOWN_FORCE_DETACH,2.9176e-03,1.7952e-01,2.9901e-01,2.6060e+00,-5.7929e-02,4.9563e-02,1.4993e-04,6.5145e-02,1.3213e-01,1.0552e-01,-9.3999e-03,4.6378e-03,-2.3152e-04,1.8121e-01,1.0484e-02
+13,1.3483e+01,DOWN_FORCE_DETACH,3.1606e-03,5.2456e-02,2.8141e-01,2.5334e+00,-5.6747e-02,4.0593e-02,1.4236e-04,-6.1914e-02,1.1453e-01,3.2948e-02,-8.2185e-03,-4.3323e-03,-2.3909e-04,1.3430e-01,9.2936e-03
+14,1.4300e+01,DOWN_FORCE_DETACH,3.4033e-03,1.2117e-01,2.6479e-01,2.5573e+00,-5.5588e-02,4.5408e-02,1.3554e-04,6.7967e-03,9.7913e-02,5.6892e-02,-7.0590e-03,4.8285e-04,-2.4592e-04,1.1345e-01,7.0797e-03
+15,1.5433e+01,DOWN_FORCE_DETACH,3.6446e-03,1.4606e-01,2.9557e-01,2.6067e+00,-5.7669e-02,4.7116e-02,1.3774e-04,3.1688e-02,1.2870e-01,1.0624e-01,-9.1399e-03,2.1909e-03,-2.4371e-04,1.6986e-01,9.4020e-03
+16,1.6417e+01,DOWN_FORCE_DETACH,3.8901e-03,1.5291e-01,3.0197e-01,2.6021e+00,-5.8061e-02,4.7588e-02,1.4517e-04,3.8536e-02,1.3510e-01,1.0164e-01,-9.5322e-03,2.6625e-03,-2.3628e-04,1.7340e-01,9.8998e-03
+17,1.7533e+01,DOWN_FORCE_DETACH,4.1300e-03,1.5208e-01,3.0967e-01,2.5922e+00,-5.8557e-02,4.7523e-02,1.6610e-04,3.7713e-02,1.4279e-01,9.1768e-02,-1.0028e-02,2.5979e-03,-2.1536e-04,1.7387e-01,1.0361e-02
+18,1.8667e+01,DOWN_FORCE_DETACH,4.3780e-03,1.5817e-01,3.1349e-01,2.6017e+00,-5.8793e-02,4.7940e-02,1.8828e-04,4.3799e-02,1.4661e-01,1.0121e-01,-1.0265e-02,3.0145e-03,-1.9318e-04,1.8345e-01,1.0700e-02
+19,1.9200e+01,DOWN_FORCE_DETACH,4.6172e-03,1.3591e-01,1.9855e-01,2.6052e+00,-5.0825e-02,4.6352e-02,1.6916e-04,2.1535e-02,3.1671e-02,1.0475e-01,-2.2964e-03,1.4271e-03,-2.1229e-04,1.1153e-01,2.7120e-03
+20,2.0150e+01,DOWN_FORCE_DETACH,4.8615e-03,1.2725e-01,2.6162e-01,2.6535e+00,-5.5145e-02,4.5681e-02,1.9996e-04,1.2875e-02,9.4739e-02,1.5299e-01,-6.6163e-03,7.5634e-04,-1.8149e-04,1.8041e-01,6.6619e-03
+21,2.1233e+01,DOWN_FORCE_DETACH,5.1037e-03,1.4874e-01,2.9108e-01,2.6669e+00,-5.7173e-02,4.7180e-02,2.1333e-04,3.4365e-02,1.2421e-01,1.6642e-01,-8.6443e-03,2.2551e-03,-1.6812e-04,2.1048e-01,8.9352e-03
+22,2.2367e+01,DOWN_FORCE_DETACH,5.3491e-03,1.6651e-01,2.9241e-01,2.5938e+00,-5.7309e-02,4.8520e-02,1.9639e-04,5.2135e-02,1.2553e-01,9.3305e-02,-8.7802e-03,3.5945e-03,-1.8506e-04,1.6487e-01,9.4893e-03
+23,2.3500e+01,DOWN_FORCE_DETACH,5.5925e-03,1.8727e-01,2.9854e-01,2.5652e+00,-5.7775e-02,5.0037e-02,1.6423e-04,7.2900e-02,1.3166e-01,6.4779e-02,-9.2457e-03,5.1117e-03,-2.1722e-04,1.6385e-01,1.0567e-02
+24,2.4550e+01,DOWN_FORCE_DETACH,5.8335e-03,1.6850e-01,2.9038e-01,2.5745e+00,-5.7224e-02,4.8694e-02,1.3527e-04,5.4134e-02,1.2350e-01,7.4014e-02,-8.6947e-03,3.7691e-03,-2.4618e-04,1.5382e-01,9.4797e-03
+25,2.5500e+01,DOWN_FORCE_DETACH,6.0768e-03,1.6684e-01,2.8360e-01,2.6366e+00,-5.6730e-02,4.8506e-02,1.0964e-04,5.2472e-02,1.1672e-01,1.3613e-01,-8.2011e-03,3.5811e-03,-2.7181e-04,1.8684e-01,8.9530e-03
+26,2.6717e+01,DOWN_FORCE_DETACH,6.3225e-03,1.7024e-01,2.7838e-01,2.6003e+00,-5.6343e-02,4.8772e-02,7.5467e-05,5.5873e-02,1.1151e-01,9.9868e-02,-7.8146e-03,3.8470e-03,-3.0599e-04,1.5978e-01,8.7155e-03
+27,2.7783e+01,DOWN_FORCE_DETACH,6.5633e-03,1.7911e-01,2.8357e-01,2.6009e+00,-5.6674e-02,4.9391e-02,4.6706e-05,6.4741e-02,1.1670e-01,1.0041e-01,-8.1450e-03,4.4663e-03,-3.3475e-04,1.6701e-01,9.2952e-03
+28,2.8850e+01,DOWN_FORCE_DETACH,6.8100e-03,1.7670e-01,2.8094e-01,2.6033e+00,-5.6464e-02,4.9203e-02,3.0657e-05,6.2331e-02,1.1406e-01,1.0280e-01,-7.9355e-03,4.2780e-03,-3.5080e-04,1.6572e-01,9.0220e-03
+29,2.9950e+01,DOWN_FORCE_DETACH,7.0486e-03,1.7375e-01,3.0101e-01,2.6341e+00,-5.7808e-02,4.8943e-02,3.4842e-05,5.9380e-02,1.3414e-01,1.3362e-01,-9.2790e-03,4.0182e-03,-3.4661e-04,1.9843e-01,1.0118e-02
+30,3.1167e+01,DOWN_FORCE_DETACH,7.2950e-03,1.6851e-01,3.2460e-01,2.6482e+00,-5.9396e-02,4.8532e-02,5.3120e-05,5.4137e-02,1.5772e-01,1.4772e-01,-1.0867e-02,3.6073e-03,-3.2833e-04,2.2277e-01,1.1454e-02
+31,3.2267e+01,DOWN_FORCE_DETACH,7.5378e-03,1.7527e-01,3.4037e-01,2.6311e+00,-6.0455e-02,4.9009e-02,7.2481e-05,6.0901e-02,1.7349e-01,1.3067e-01,-1.1926e-02,4.0843e-03,-3.0897e-04,2.2558e-01,1.2610e-02
+32,3.3333e+01,DOWN_FORCE_DETACH,7.7794e-03,1.6513e-01,3.5362e-01,2.6598e+00,-6.1324e-02,4.8243e-02,9.5639e-05,5.0757e-02,1.8674e-01,1.5932e-01,-1.2795e-02,3.3181e-03,-2.8581e-04,2.5066e-01,1.3221e-02
+33,3.4400e+01,DOWN_FORCE_DETACH,8.0230e-03,1.7361e-01,3.6423e-01,2.6364e+00,-6.2039e-02,4.8855e-02,1.0419e-04,5.9242e-02,1.9735e-01,1.3593e-01,-1.3510e-02,3.9303e-03,-2.7727e-04,2.4685e-01,1.4073e-02
+34,3.5567e+01,DOWN_FORCE_DETACH,8.2679e-03,1.8043e-01,3.3697e-01,2.6066e+00,-6.0171e-02,4.9362e-02,9.2342e-05,6.6059e-02,1.7009e-01,1.0610e-01,-1.1642e-02,4.4368e-03,-2.8911e-04,2.1107e-01,1.2462e-02
+35,3.6667e+01,DOWN_FORCE_DETACH,8.5096e-03,1.8261e-01,3.6264e-01,2.6335e+00,-6.1924e-02,4.9479e-02,9.7151e-05,6.8242e-02,1.9576e-01,1.3308e-01,-1.3395e-02,4.5542e-03,-2.8430e-04,2.4635e-01,1.4151e-02
+36,3.7717e+01,DOWN_FORCE_DETACH,8.7561e-03,1.8780e-01,3.7009e-01,2.6136e+00,-6.2448e-02,4.9863e-02,9.3220e-05,7.3431e-02,2.0321e-01,1.1315e-01,-1.3919e-02,4.9382e-03,-2.8823e-04,2.4390e-01,1.4772e-02
+37,3.8767e+01,DOWN_FORCE_DETACH,8.9954e-03,1.9358e-01,3.6321e-01,2.6418e+00,-6.1966e-02,5.0240e-02,8.4590e-05,7.9212e-02,1.9633e-01,1.4131e-01,-1.3437e-02,5.3148e-03,-2.9686e-04,2.5454e-01,1.4453e-02
+38,3.9833e+01,DOWN_FORCE_DETACH,9.2385e-03,2.0475e-01,3.9063e-01,2.6232e+00,-6.3855e-02,5.1051e-02,8.7358e-05,9.0382e-02,2.2375e-01,1.2274e-01,-1.5326e-02,6.1259e-03,-2.9410e-04,2.7074e-01,1.6507e-02
+39,4.0933e+01,DOWN_FORCE_DETACH,9.4828e-03,1.9901e-01,3.9338e-01,2.6397e+00,-6.4027e-02,5.0628e-02,9.5219e-05,8.4643e-02,2.2651e-01,1.3924e-01,-1.5498e-02,5.7027e-03,-2.8623e-04,2.7903e-01,1.6517e-02
+40,4.2017e+01,DOWN_FORCE_DETACH,9.7268e-03,1.9795e-01,4.0710e-01,2.6484e+00,-6.4949e-02,5.0541e-02,1.1948e-04,8.3577e-02,2.4022e-01,1.4795e-01,-1.6420e-02,5.6158e-03,-2.6197e-04,2.9424e-01,1.7356e-02
+41,4.2967e+01,DOWN_FORCE_DETACH,9.9695e-03,2.0298e-01,4.0490e-01,2.6638e+00,-6.4763e-02,5.0871e-02,1.4288e-04,8.8608e-02,2.3802e-01,1.6335e-01,-1.6234e-02,5.9454e-03,-2.3858e-04,3.0198e-01,1.7290e-02
+42,4.4067e+01,DOWN_FORCE_DETACH,1.0210e-02,2.0544e-01,4.1230e-01,2.6705e+00,-6.5230e-02,5.1033e-02,1.7876e-04,9.1068e-02,2.4542e-01,1.7004e-01,-1.6701e-02,6.1075e-03,-2.0270e-04,3.1215e-01,1.7784e-02
+43,4.5133e+01,DOWN_FORCE_DETACH,1.0455e-02,2.0108e-01,4.0119e-01,2.6728e+00,-6.4450e-02,5.0711e-02,2.1309e-04,8.6709e-02,2.3431e-01,1.7236e-01,-1.5921e-02,5.7859e-03,-1.6837e-04,3.0353e-01,1.6941e-02
+44,4.6317e+01,DOWN_FORCE_DETACH,1.0698e-02,1.9229e-01,4.3056e-01,2.6947e+00,-6.6436e-02,5.0034e-02,2.5144e-04,7.7919e-02,2.6368e-01,1.9424e-01,-1.7907e-02,5.1090e-03,-1.3001e-04,3.3664e-01,1.8622e-02
+45,4.7317e+01,DOWN_FORCE_DETACH,1.0939e-02,2.0196e-01,4.3261e-01,2.6894e+00,-6.6563e-02,5.0675e-02,2.4783e-04,8.7591e-02,2.6573e-01,1.8892e-01,-1.8034e-02,5.7501e-03,-1.3362e-04,3.3761e-01,1.8929e-02
+46,4.8333e+01,DOWN_FORCE_DETACH,1.1184e-02,2.0359e-01,4.6785e-01,2.7299e+00,-6.8919e-02,5.0704e-02,2.3660e-04,8.9223e-02,3.0097e-01,2.2940e-01,-2.0390e-02,5.7788e-03,-1.4485e-04,3.8880e-01,2.1193e-02
+47,4.9233e+01,DOWN_FORCE_DETACH,1.1429e-02,2.0469e-01,4.3487e-01,2.7337e+00,-6.6624e-02,5.0755e-02,1.9869e-04,9.0318e-02,2.6799e-01,2.3328e-01,-1.8096e-02,5.8300e-03,-1.8276e-04,3.6660e-01,1.9012e-02
+48,5.0167e+01,DOWN_FORCE_DETACH,1.1670e-02,2.0527e-01,4.5036e-01,2.7685e+00,-6.7631e-02,5.0741e-02,1.7293e-04,9.0895e-02,2.8348e-01,2.6804e-01,-1.9102e-02,5.8159e-03,-2.0852e-04,4.0059e-01,1.9969e-02
+49,5.1183e+01,DOWN_FORCE_DETACH,1.1915e-02,1.9274e-01,4.6250e-01,2.8111e+00,-6.8375e-02,4.9820e-02,1.4678e-04,7.8370e-02,2.9562e-01,3.1060e-01,-1.9846e-02,4.8951e-03,-2.3468e-04,4.3589e-01,2.0442e-02
+50,5.2217e+01,DOWN_FORCE_DETACH,1.2156e-02,2.0967e-01,4.8649e-01,2.7870e+00,-6.9928e-02,5.1021e-02,1.1188e-04,9.5297e-02,3.1961e-01,2.8653e-01,-2.1399e-02,6.0957e-03,-2.6957e-04,4.3969e-01,2.2252e-02
+51,5.3267e+01,DOWN_FORCE_DETACH,1.2401e-02,2.0407e-01,4.8563e-01,2.8068e+00,-6.9789e-02,5.0598e-02,8.0646e-05,8.9696e-02,3.1876e-01,3.0637e-01,-2.1260e-02,5.6731e-03,-3.0081e-04,4.5112e-01,2.2006e-02
+52,5.4333e+01,DOWN_FORCE_DETACH,1.2644e-02,2.0626e-01,5.1250e-01,2.8382e+00,-7.1559e-02,5.0666e-02,8.4940e-05,9.1886e-02,3.4562e-01,3.3778e-01,-2.3030e-02,5.7410e-03,-2.9651e-04,4.9193e-01,2.3737e-02
+53,5.5367e+01,DOWN_FORCE_DETACH,1.2888e-02,1.8609e-01,5.1166e-01,2.8728e+00,-7.1397e-02,4.9173e-02,1.1600e-04,7.1721e-02,3.4478e-01,3.7232e-01,-2.2868e-02,4.2478e-03,-2.6546e-04,5.1248e-01,2.3261e-02
+54,5.6283e+01,DOWN_FORCE_DETACH,1.3129e-02,2.0291e-01,5.5592e-01,2.9713e+00,-7.4192e-02,5.0193e-02,1.5858e-04,8.8538e-02,3.8904e-01,4.7084e-01,-2.5663e-02,5.2681e-03,-2.2288e-04,6.1716e-01,2.6200e-02
+55,5.7150e+01,DOWN_FORCE_DETACH,1.3374e-02,2.1211e-01,5.5600e-01,2.9746e+00,-7.4031e-02,5.0798e-02,1.7573e-04,9.7742e-02,3.8912e-01,4.7418e-01,-2.5502e-02,5.8733e-03,-2.0572e-04,6.2114e-01,2.6171e-02
+56,5.8067e+01,DOWN_FORCE_DETACH,1.3617e-02,1.9655e-01,5.5147e-01,2.9972e+00,-7.3615e-02,4.9683e-02,1.7840e-04,8.2184e-02,3.8459e-01,4.9673e-01,-2.5086e-02,4.7583e-03,-2.0305e-04,6.3357e-01,2.5534e-02
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Fixed/digit/cylinder_15A_12.5/press_depth_07/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_15A_12.5/press_depth_07/up/franka_data.csv

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Fixed/digit/cylinder_15A_12.5/press_depth_07/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+31,2.866666667e+00,UP_FORCE_RAMP,1792833097606529029,-2.676930586e-05,-3.703452445e-04,5.372710455e-05,-2.649253117e-05,-3.704528242e-04,5.322420053e-05,-2.687836936e-05,-3.668734945e-04,5.306851741e-05,7.019288635e-01,-3.926159795e-04,8.601968143e-01,7.019291403e-01,-3.927235592e-04,8.601963114e-01,7.027184737e-01,-4.849855950e-04,8.303790013e-01
+32,2.983333333e+00,UP_FORCE_RAMP,1792833097721466684,-2.167481470e-05,-3.707072184e-04,6.642728270e-05,-2.649253117e-05,-3.704528242e-04,5.322420053e-05,-2.696058624e-05,-3.668835434e-04,5.308967772e-05,7.019339580e-01,-3.929779534e-04,8.602095145e-01,7.019291403e-01,-3.927235592e-04,8.601963114e-01,7.027183914e-01,-4.849956439e-04,8.303790224e-01
+33,3.083333333e+00,UP_FORCE_RAMP,1792833097820264982,-1.977622923e-05,-3.686874322e-04,7.483924824e-05,-1.820545797e-05,-3.671362633e-04,7.410970220e-05,-1.792585312e-05,-3.636374970e-04,7.371602117e-05,7.019358566e-01,-3.909581672e-04,8.602179265e-01,7.019374274e-01,-3.894069983e-04,8.602171969e-01,7.027274262e-01,-4.817495975e-04,8.303996488e-01
+34,3.283333333e+00,UP_FORCE_RAMP,1792833098065370607,-1.889279599e-05,-3.695000038e-04,8.724121353e-05,-1.820545797e-05,-3.671362633e-04,7.410970220e-05,-1.794356581e-05,-3.636557801e-04,7.380231009e-05,7.019367400e-01,-3.917707388e-04,8.602303285e-01,7.019374274e-01,-3.894069983e-04,8.602171969e-01,7.027274085e-01,-4.817678806e-04,8.303997350e-01
+35,3.450000000e+00,UP_FORCE_RAMP,1792833098245642948,-1.281577454e-05,-3.634010389e-04,1.106266396e-04,-1.582691348e-05,-3.675155868e-04,9.656506502e-05,-1.513229708e-05,-3.640867238e-04,9.599295283e-05,7.019428170e-01,-3.856717739e-04,8.602537139e-01,7.019398059e-01,-3.897863218e-04,8.602396523e-01,7.027302197e-01,-4.821988243e-04,8.304219257e-01
+36,3.600000000e+00,UP_FORCE_RAMP,1792833098392773072,-1.086956906e-05,-3.603949685e-04,1.229642616e-04,-1.168265607e-05,-3.670773147e-04,1.181964266e-04,-1.043394795e-05,-3.636883219e-04,1.174023387e-04,7.019447632e-01,-3.826657036e-04,8.602660515e-01,7.019439502e-01,-3.893480497e-04,8.602612837e-01,7.027349181e-01,-4.818004224e-04,8.304433351e-01
+37,3.783333333e+00,UP_FORCE_RAMP,1792833098602208027,-1.131742292e-05,-3.625723989e-04,1.407649259e-04,-1.101949137e-05,-3.625284166e-04,1.408166341e-04,-9.501776810e-06,-3.592230946e-04,1.398283729e-04,7.019443154e-01,-3.848431339e-04,8.602838522e-01,7.019446133e-01,-3.847991516e-04,8.602839039e-01,7.027358502e-01,-4.773351951e-04,8.304657611e-01
+38,3.933333333e+00,UP_FORCE_RAMP,1792833098753833343,-1.485762392e-05,-3.679474823e-04,1.414953982e-04,-1.101949137e-05,-3.625284166e-04,1.408166341e-04,-9.491134594e-06,-3.592394441e-04,1.399791666e-04,7.019407752e-01,-3.902182173e-04,8.602845826e-01,7.019446133e-01,-3.847991516e-04,8.602839039e-01,7.027358609e-01,-4.773515446e-04,8.304659119e-01
+39,4.066666667e+00,UP_FORCE_RAMP,1792833098884447303,-1.544672785e-05,-3.615455973e-04,1.511887948e-04,-1.101949137e-05,-3.625284166e-04,1.408166341e-04,-9.484807625e-06,-3.592495830e-04,1.400648762e-04,7.019401861e-01,-3.838163323e-04,8.602942760e-01,7.019446133e-01,-3.847991516e-04,8.602839039e-01,7.027358672e-01,-4.773616835e-04,8.304659976e-01
+40,4.150000000e+00,UP_FORCE_RAMP,1792833098966285250,-1.764197535e-05,-3.640928174e-04,1.563648615e-04,-1.101949137e-05,-3.625284166e-04,1.408166341e-04,-9.481323458e-06,-3.592551342e-04,1.401102985e-04,7.019379908e-01,-3.863635525e-04,8.602994521e-01,7.019446133e-01,-3.847991516e-04,8.602839039e-01,7.027358707e-01,-4.773672347e-04,8.304660430e-01
+41,4.200000000e+00,UP_FORCE_RAMP,1792833099015714010,-5.144052343e-05,-3.750528102e-04,1.312977533e-04,-5.328481997e-05,-3.630880030e-04,1.352576630e-04,-5.449660180e-05,-3.597525795e-04,1.345449014e-04,7.019041923e-01,-3.973235452e-04,8.602743850e-01,7.019023480e-01,-3.853587380e-04,8.602783449e-01,7.026908554e-01,-4.778646800e-04,8.304604776e-01
+42,4.233333333e+00,UP_FORCE_RAMP,1792833099048155128,-3.491418632e-05,-3.666046536e-04,1.572577427e-04,-3.490274306e-05,-3.664418914e-04,1.573519150e-04,-3.473655875e-05,-3.630883219e-04,1.563109805e-04,7.019207186e-01,-3.888753886e-04,8.603003450e-01,7.019207301e-01,-3.887126264e-04,8.603004392e-01,7.027106155e-01,-4.812004224e-04,8.304822437e-01
+43,4.300000000e+00,UP_FORCE_RAMP,1792833099113900166,-4.042689645e-05,-3.687746715e-04,1.548577645e-04,-5.108851461e-05,-3.613542110e-04,1.444035968e-04,-5.215030867e-05,-3.580593975e-04,1.435928561e-04,7.019152059e-01,-3.910454066e-04,8.602979450e-01,7.019045443e-01,-3.836249460e-04,8.602874908e-01,7.026932017e-01,-4.761714980e-04,8.304695256e-01
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+45,4.533333333e+00,UP_FORCE_RAMP,1792833099343226120,-4.965011593e-05,-3.682076980e-04,1.574999393e-04,-5.108851461e-05,-3.613542110e-04,1.444035968e-04,-5.224451041e-05,-3.580681753e-04,1.436896351e-04,7.019059827e-01,-3.904784330e-04,8.603005872e-01,7.019045443e-01,-3.836249460e-04,8.602874908e-01,7.026931075e-01,-4.761802758e-04,8.304696224e-01
+46,4.733333333e+00,UP_FORCE_RAMP,1792833099539829316,-5.806071689e-05,-3.666445522e-04,1.655857041e-04,-5.367432236e-05,-3.618095885e-04,1.655689519e-04,-5.476538884e-05,-3.585341013e-04,1.646172871e-04,7.018975721e-01,-3.889152872e-04,8.603086729e-01,7.019019585e-01,-3.840803235e-04,8.603086562e-01,7.026905866e-01,-4.766462019e-04,8.304905500e-01
+47,4.900000000e+00,UP_FORCE_RAMP,1792833099719418321,-6.212849563e-05,-3.670885884e-04,1.764350103e-04,-5.367432236e-05,-3.618095885e-04,1.655689519e-04,-5.480724895e-05,-3.585416640e-04,1.647143276e-04,7.018935043e-01,-3.893593235e-04,8.603195222e-01,7.019019585e-01,-3.840803235e-04,8.603086562e-01,7.026905448e-01,-4.766537646e-04,8.304906471e-01
+48,5.016666667e+00,UP_FORCE_RAMP,1792833099849230393,-7.119125354e-05,-3.962129200e-04,1.959350392e-04,-7.076310999e-05,-3.961035347e-04,1.957584975e-04,-7.261996016e-05,-3.924824850e-04,1.945295312e-04,7.018844416e-01,-4.184836550e-04,8.603390223e-01,7.018848697e-01,-4.183742697e-04,8.603388457e-01,7.026727321e-01,-5.105945855e-04,8.305204623e-01
+49,5.050000000e+00,UP_FORCE_RAMP,1792833099884533782,-6.537779906e-05,-3.733830706e-04,1.918310071e-04,-6.686852982e-05,-3.764228903e-04,1.926840934e-04,-6.859203979e-05,-3.730076747e-04,1.915640337e-04,7.018902550e-01,-3.956538056e-04,8.603349182e-01,7.018887643e-01,-3.986936253e-04,8.603357713e-01,7.026767600e-01,-4.911197752e-04,8.305174968e-01
+50,5.183333333e+00,UP_FORCE_RAMP,1792833100016375059,-7.025428891e-05,-3.799174186e-04,1.921367217e-04,-6.686852982e-05,-3.764228903e-04,1.926840934e-04,-6.864293083e-05,-3.730220909e-04,1.916752408e-04,7.018853785e-01,-4.021881537e-04,8.603352240e-01,7.018887643e-01,-3.986936253e-04,8.603357713e-01,7.026767091e-01,-4.911341914e-04,8.305176080e-01
+51,5.333333333e+00,UP_FORCE_RAMP,1792833100162579361,-6.730076802e-05,-3.816561438e-04,2.053984692e-04,-6.686852982e-05,-3.764228903e-04,1.926840934e-04,-6.868738572e-05,-3.730311671e-04,1.917678165e-04,7.018883320e-01,-4.039268788e-04,8.603484857e-01,7.018887643e-01,-3.986936253e-04,8.603357713e-01,7.026766646e-01,-4.911432676e-04,8.305177006e-01
+52,5.500000000e+00,UP_FORCE_HOLD,1792833100343614725,-6.826178940e-05,-3.797350509e-04,2.166170499e-04,-6.624449114e-05,-3.809854899e-04,2.123216365e-04,-6.778335159e-05,-3.775550144e-04,2.111836659e-04,7.018873710e-01,-4.020057860e-04,8.603597043e-01,7.018893883e-01,-4.032562249e-04,8.603554089e-01,7.026775687e-01,-4.956671150e-04,8.305371164e-01
+53,5.666666667e+00,UP_FORCE_HOLD,1792833100506087567,-6.835488907e-05,-3.766591401e-04,2.293897134e-04,-6.624449114e-05,-3.809854899e-04,2.123216365e-04,-6.781525106e-05,-3.775654698e-04,2.112997546e-04,7.018872779e-01,-3.989298752e-04,8.603724770e-01,7.018893883e-01,-4.032562249e-04,8.603554089e-01,7.026775368e-01,-4.956775704e-04,8.305372325e-01
+54,5.883333333e+00,UP_SETTLE,1792833100718944584,-6.974267063e-05,-3.715902972e-04,2.397014786e-04,-6.750455722e-05,-3.735036129e-04,2.318244550e-04,-6.896296740e-05,-3.701907561e-04,2.306685758e-04,7.018858901e-01,-3.938610322e-04,8.603827887e-01,7.018881283e-01,-3.957743480e-04,8.603749117e-01,7.026763891e-01,-4.883028566e-04,8.305566013e-01
+55,6.033333333e+00,UP_SETTLE,1792833100866426088,-7.390521835e-05,-3.785260480e-04,2.402888096e-04,-6.750455722e-05,-3.735036129e-04,2.318244550e-04,-6.898517547e-05,-3.701950005e-04,2.307635679e-04,7.018817276e-01,-4.007967831e-04,8.603833760e-01,7.018881283e-01,-3.957743480e-04,8.603749117e-01,7.026763668e-01,-4.883071011e-04,8.305566963e-01
+56,6.166666667e+00,UP_SETTLE,1792833101031658748,-7.154197302e-05,-3.769604213e-04,2.505230972e-04,-6.750455722e-05,-3.735036129e-04,2.318244550e-04,-6.900279220e-05,-3.701978096e-04,2.308354630e-04,7.018840908e-01,-3.992311563e-04,8.603936103e-01,7.018881283e-01,-3.957743480e-04,8.603749117e-01,7.026763492e-01,-4.883099101e-04,8.305567682e-01
+57,6.350000000e+00,UP_SETTLE,1792833101210403465,-7.186909811e-05,-3.759949830e-04,2.543411054e-04,-7.145907095e-05,-3.768700815e-04,2.516660859e-04,-7.301672245e-05,-3.735350614e-04,2.505171462e-04,7.018837637e-01,-3.982657180e-04,8.603974283e-01,7.018841737e-01,-3.991408165e-04,8.603947533e-01,7.026723353e-01,-4.916471620e-04,8.305764499e-01
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Fixed/digit/cylinder_15A_12.5/press_depth_07/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.9477e-05,1.2131e-01,1.6666e-01,2.4975e+00,-4.8515e-02,4.5428e-02,3.8277e-04,6.9223e-03,-2.2019e-04,-2.9430e-03,1.4286e-05,5.0205e-04,1.4671e-06,7.5252e-03,5.0226e-04
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Fixed/digit/cylinder_15A_12.5/press_depth_08/down/camera_frames_60hz.tar

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Fixed/digit/cylinder_15A_12.5/press_depth_08/down/franka_data.csv

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+2525,1792833244619567009,11924084000000,1792833244617106174,DOWN_FORCE_DETACH,8,0.0589,0.0589003749191761,0.675934918308907,-0.004904168672794818,0.09976769910519961,0.9999999504201664,-1.7814088735214007e-05,-0.0002674945805875971,0.0001368643005518214,0.6761,-0.0046,0.09999749565041571,1.0,0.0,0.0,0.0,0.00011113110861371567,-0.00997342020047376,-0.001949113001459224,1.4523150158735065e-05,-0.00028931299309337133,-1.3668297891419531e-06,0.9454942248480865,1.1476027893127245,0.3281820198007283,0.0772556052733231,-0.06540651212124407,0.0017674529704428963,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,-0.22215946693319277,1.678481132397339,1.645224735855233,-0.33520592172819186,-1.1705524272581531,1.0186096178244604,-0.49566648112372286,0.001949113001459224,-2.140891216978956,-2.140891216978956,0.04754999999999984,0,0,-1.584999715783931e-05,-9.999999025923074e-05
+2594,1792833245194586393,11924659000000,1792833245189106623,DOWN_FORCE_DETACH,8,0.0589,0.058899715542793274,0.6759369252304873,-0.0049031765914354245,0.09977084304690685,0.9999999519138446,-2.0469252152494055e-05,-0.00026160528147302207,0.00013696298530181054,0.6761,-0.0046,0.09998013065366303,1.0,0.0,0.0,0.0,-0.009343824244592125,-0.005624956907199552,-0.0020173395730999633,-1.2012213168655084e-05,0.0007214453416417438,1.3223092269019172e-05,0.9360392694948807,1.1519512526059987,0.32811379322908757,0.07722906990999572,-0.06439575378650896,0.0017820428925010574,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,-0.07846523481940255,1.7458620311020845,1.530649138561471,-0.35257846330343395,-1.0641728046013517,1.061603019008892,-0.49566648112372286,0.0020173395730999633,-2.0263156196851937,-2.0263156196851937,0.13379999999999914,0,0,-4.4599991556896985e-05,-9.999999025923074e-05
+2657,1792833245719542669,11925184000000,1792833245713105930,DOWN_FORCE_DETACH,8,0.0589,0.05890103057026863,0.6759333508364344,-0.00489745677443201,0.09974834811154328,0.9999999490361066,-1.5128625733806661e-05,-0.0002714995607268739,0.00013939068143740225,0.6761,-0.0046,0.09994983815944061,1.0,0.0,0.0,0.0,-0.008993253651221167,-0.02240137466610559,0.0776477039866556,-0.0010485268927810654,0.0007244847399775212,-6.25340610973424e-05,0.9363898400882517,1.1351748348470927,0.40777883678884314,0.0761925552303833,-0.06439271438817318,0.0017062857391346958,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.14319660903621353,1.5665074844182685,1.361024851372251,-0.2829251004551516,-0.8922269416388529,0.9431439365861369,-0.49566648112372286,-0.0776477039866556,-1.8566913324959737,-1.8566913324959737,0.21255000000000504,0,0,-7.084998644299312e-05,-9.999999025923074e-05
+2716,1792833246211556451,11925676000000,1792833246209096327,DOWN_FORCE_DETACH,8,0.0589,0.05890103057026863,0.6759292815256203,-0.004906068861169729,0.09972218973547434,0.9999999457503604,-1.7722658094779467e-05,-0.0002795678715590742,0.00014652594697656506,0.6761,-0.0046,0.099908940667292,1.0,0.0,0.0,0.0,-0.00873350354253144,-0.0372838221297207,0.19559860600601975,-0.0020934251502920803,0.0007192314961362717,-0.00016938971595224523,0.9366495901969414,1.1202923873834776,0.5257297388082073,0.07514765697287229,-0.06439796763201443,0.001599430084279793,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.08754357683275904,1.6198297316230772,1.1428572883931138,-0.26815273720355787,-0.7749147482537276,0.9861625184779798,-0.49566648112372286,-0.19559860600601975,-1.6385237695168366,-1.6385237695168366,0.2863500000000038,0,0,-9.544998165053465e-05,-9.999999025923074e-05
+2765,1792833246619546789,11926084000000,1792833246617096935,DOWN_FORCE_DETACH,8,0.0589,0.05890103057026863,0.6759753304480245,-0.0049156171455698875,0.09970019273806242,0.999999966275888,-1.3462845719982715e-05,-0.00017186879956639412,0.0001707950661128935,0.6761,-0.0046,0.09986584567559131,1.0,0.0,0.0,0.0,-0.03119337265017763,-0.03269425822405725,0.33382771661200694,-0.002530625014587909,0.001721619920716247,-0.00026853698315680726,0.9141897210892952,1.124881951289141,0.6639588494141945,0.07471045710857646,-0.06339557920743445,0.001500282817075231,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.21585189999517906,1.655697069143287,0.9870178397094737,-0.2473375505770918,-0.6566764997748997,1.0061607311461536,-0.49566648112372286,-0.33382771661200694,-1.4826843208331966,-1.4826843208331966,0.3475499999999971,0,0,-0.00011584997767630079,-9.999999025923074e-05
+2806,1792833246961565328,11926426000000,1792833246961096136,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6759530411639681,-0.00491575683028465,0.09965245171962989,0.9999999562948683,-1.135548320836221e-05,-0.00021908815100180618,0.00017528422954776992,0.6761,-0.0046,0.09982330943379734,1.0,0.0,0.0,0.0,-0.11637930590994616,-0.014905038803298298,0.5090408434473332,-0.00029204080824760115,0.007306777196196948,-0.0003123396434757187,0.8290037878295267,1.1426711707099,0.8391719762495208,0.07694904131491677,-0.05781042193195375,0.0014564801567563195,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.31105174379461736,1.5444610419497593,0.7900015051987608,-0.19010173637675973,-0.5076801699572931,0.9295121019972106,-0.49566648112372286,-0.5090408434473332,-1.2856679863224836,-1.2856679863224836,0.39884999999999143,0,0,-0.0001329499743449577,-9.999999025923074e-05
+2867,1792833247469566029,11926934000000,1792833247469096086,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6759500489319632,-0.0049183757942231465,0.09961484836014414,0.9999999528798624,-9.931763971709352e-06,-0.00022765039723122163,0.0001837383849715868,0.6761,-0.0046,0.09974933194808945,1.0,0.0,0.0,0.0,-0.11375442273146874,-0.037819595474864354,0.6754065863871291,-0.0014606611188432567,0.007691926011465011,-0.00045061695110812394,0.8316286710080041,1.119756614038334,1.0055377191893167,0.07578042100432111,-0.05742527311668569,0.0013182028491239143,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.32966669025857614,1.5459095610853992,0.5218706869592299,-0.1410876145134601,-0.3379253285366597,0.9188766852448769,-0.49566648112372286,-0.6754065863871291,-1.0175371680829528,-1.0175371680829528,0.47504999999998304,0,0,-0.00015834996939664692,-9.999999025923074e-05
+2913,1792833247852581750,11927317000000,1792833247849106288,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6759716886964717,-0.004921488510541287,0.09958855896060478,0.9999999601728988,-1.5738562342787974e-06,-0.0001764861517472812,0.00019986802279435166,0.6761,-0.0046,0.09968502626052683,1.0,0.0,0.0,0.0,-0.18034492540743685,-0.009929095637616348,0.7866903746304116,0.00046576341533187404,0.01159601950312926,0.0005622055959251184,0.765038168332036,1.147647113875582,1.1168215074325991,0.07770684553849624,-0.05352117962502144,0.0023310253961571566,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.4576073461094341,1.5332748124816407,0.32807112714514797,-0.10029137463006747,-0.20296386880183695,0.9015322724749235,-0.49566648112372286,-0.7866903746304116,-0.8237376082688708,-0.8237376082688708,0.5324999999999768,0,0,-0.0001774999656659323,-9.999999025923074e-05
+2971,1792833248336574211,11927801000000,1792833248333096474,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6759733142273114,-0.0049293363728087885,0.09952609564428105,0.9999999574451252,2.749479455735463e-06,-0.00017072274684818036,0.00021771264644128375,0.6761,-0.0046,0.0995932719782878,1.0,0.0,0.0,0.0,-0.21019956332264744,-0.030539801809419398,1.0559520270803393,-0.0005825129204623664,0.013666836494863874,0.0003654119869664495,0.7351835304168254,1.1270364077037789,1.3860831598825267,0.076658569202702,-0.051450362633286825,0.0021342317871984877,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.5174044537901947,1.4687061165642512,-0.005056731353139454,-0.025759195652714558,0.021359156726583037,0.8500573165356374,-0.49566648112372286,-1.0559520270803393,-0.4906097497705834,-0.4906097497705834,0.6050999999999688,0,0,-0.00020169996095139998,-9.999999025923074e-05
+3023,1792833248769506711,11928234000000,1792833248769106450,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6759876766411378,-0.004931835536670531,0.09947246180186048,0.999999959186278,2.1074469656999795e-06,-0.00014111673527496135,0.00023054702850765113,0.6761,-0.0046,0.09950125949611109,1.0,0.0,0.0,0.0,-0.24818971422407166,-0.032352174895490915,1.3189931489967623,-0.0007107330033161441,0.01651585025526578,0.00019290773793527232,0.6971933795154012,1.1252240346177074,1.6491242817989498,0.07653034911984823,-0.04860134887288492,0.0019617275381673105,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.5920729299389249,1.4659918333949207,-0.28739075462764163,-0.014161155811882892,0.21898352711609417,0.8420357913352363,-0.49566648112372286,-1.3189931489967623,-0.20827572649608123,-0.20827572649608123,0.6700499999999616,0,0,-0.0002233499567336469,-9.999999025923074e-05
+3070,1792833249161579616,11928626000000,1792833249161105967,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.675992873532407,-0.004934891110019437,0.0994100423317304,0.9999999589751314,3.4207583719565206e-06,-0.00012512271047059018,0.00024046872115404935,0.6761,-0.0046,0.09940987451382181,1.0,0.0,0.0,0.0,-0.295308610734373,-0.021062345375261415,1.5617286754661017,0.00019738385616002718,0.01960927008197518,0.00033079140181737016,0.6500744830050998,1.1365138641379369,1.8918598082682894,0.0774384659793244,-0.04550792904617552,0.0020996112020494084,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.713067940852672,1.2477713643967228,-0.4913907419646846,0.04124098153872529,0.38003819684402435,0.6968052490165723,-0.49566648112372286,-1.5617286754661017,-0.004275739159038283,-0.004275739159038283,0.7288499999999551,0,0,-0.00024294995291526534,-9.999999025923074e-05
+3103,1792833249436570346,11928901000000,1792833249429106126,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676057661798659,-0.004928313925615187,0.09941248133306584,0.9999999635221082,1.3693693308142155e-05,-5.130002925845047e-05,0.0002481520432306426,0.6761,-0.0046,0.09934117952713978,1.0,0.0,0.0,0.0,-0.38199062914038995,0.07116628139248893,1.6647104338376022,0.006376838804700566,0.023852315561038798,2.9391932313601894e-05,0.5633924645990829,1.2287424909056872,1.9948415666397898,0.08361792092786494,-0.0412648835671119,0.0017982117325456401,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.8481222764104919,1.324645192068487,-0.5943332425676854,0.01972498427868066,0.45601810719215846,0.7538474143856118,-0.49566648112372286,-1.6647104338376022,0.09866676144396253,0.09866676144396253,0.7700999999999506,0,0,-0.00025669995023655377,-9.999999025923074e-05
+3117,1792833249552571208,11929017000000,1792833249549105965,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6760564295371569,-0.004927002990785446,0.09936998683329039,0.9999999749980899,-0.0001712655950090769,-4.0758569528823216e-05,0.00010224245133677462,0.6761,-0.0046,0.09931106883297844,1.0,0.0,0.0,0.0,-0.26144595059291986,0.31992319685585424,1.6707397174144711,0.022582136423963964,0.018045419127498595,0.0012402809675655735,0.683937143146553,1.4774994063690525,2.000870850216659,0.09982321854712833,-0.047071780000652104,0.0030091007677976117,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.9204178550854283,1.5190447248133556,-0.5395312766827264,-0.11693878018086316,0.44923801040001654,0.8930509753741218,-0.49566648112372286,-1.6707397174144711,0.04386479555900352,0.04386479555900352,0.7874999999999487,0,0,-0.00026249994910662453,-9.999999025923074e-05
+3156,1792833249877570831,11929342000000,1792833249877106539,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676070400351062,-0.004917007245532833,0.09933242014649074,0.9999999770332922,-0.00015398533130591257,-1.7648703976466782e-05,0.00011555656791950746,0.6761,-0.0046,0.0992231238500348,1.0,0.0,0.0,0.0,-0.318040823101291,0.2968797028104022,1.840796793810474,0.020179269385747434,0.02233456707086997,0.0011277400985652904,0.6273422706381818,1.4544559123236005,2.1709279266126615,0.0974203515089118,-0.04278263205728073,0.0028965598987973286,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.089597939455463,1.500528671349795,-0.7853258852619455,-0.16234085354834274,0.6597745147540087,0.9067408972241939,-0.49566648112372286,-1.840796793810474,0.2896594041382226,0.2896594041382226,0.8362499999999433,0,0,-0.0002787499459408745,-9.999999025923074e-05
+3195,1792833250202528686,11929667000000,1792833250201105963,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6760865448334177,-0.00492622281385357,0.09926330830451591,0.9999999752940214,-0.00014496833153303747,9.061520038175878e-06,0.00014055921321785278,0.6761,-0.0046,0.0991300965696665,1.0,0.0,0.0,0.0,-0.40253119471236065,0.2715348650781657,2.171258652722955,0.02026559039094307,0.027195339793073287,0.001068677596817264,0.5428518990271122,1.429111074591364,2.501389785525143,0.09750667251410744,-0.03792185933507741,0.0028374973970493023,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.1894783002901657,1.4432919190553115,-1.0638441522597517,-0.0752979340878291,0.8478439638271319,0.8512093652629211,-0.49566648112372286,-2.171258652722955,0.5681776711360289,0.5681776711360289,0.884999999999938,0,0,-0.00029275842102913083,-9.999999025923074e-05
+3245,1792833250619532252,11930084000000,1792833250617105802,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761092849492095,-0.004928632496584831,0.09919689063383542,0.9999999728604301,-0.00013402988941308528,4.7261459161517266e-05,0.0001597634081159994,0.6761,-0.0046,0.0990108259257775,1.0,0.0,0.0,0.0,-0.48720245954715985,0.30982464004921617,2.411280467989435,0.02210116863968835,0.03256745184129825,0.001866586957218602,0.458180634192313,1.4674008495624145,2.7414116007916225,0.09934225076285272,-0.03254974728685245,0.0036354067574506403,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.3421340732440845,1.4329687338584465,-1.464579051273393,0.018313054483041633,1.112657603278966,0.8252718324405497,-0.49566648112372286,-2.411280467989435,0.9689125701496701,0.9689125701496701,0.9475499999999311,0,0,-0.00027611543518682593,9.999999025923074e-05
+3294,1792833251027583630,11930492000000,1792833251025096386,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761270987659174,-0.004931799443904082,0.09912674955801228,0.999999969930093,-0.0001451444833932004,7.353483883788521e-05,0.00015845625169848683,0.6761,-0.0046,0.09890232222740854,1.0,0.0,0.0,0.0,-0.5399686995705009,0.34450606434235964,2.663341581142453,0.025003858254448577,0.035736306181975194,0.0017331429518269662,0.4054143941689719,1.502082273855558,2.9934727139446404,0.10224494037761295,-0.0293808929461755,0.0035019627520590044,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.434214830156541,1.464852232348279,-1.769835324070897,0.019916298007152788,1.32379282028033,0.841004891678112,-0.49566648112372286,-2.663341581142453,1.2741688429471743,1.2741688429471743,1.0087499999999308,0,0,-0.0002557154391610598,9.999999025923074e-05
+3339,1792833251402561949,11930867000000,1792833251401096765,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761455124833442,-0.0049280839061598275,0.09906949032094314,0.9999999640615734,-0.0001914641531552903,0.00010645787379761924,0.0001238059576697285,0.6761,-0.0046,0.09880993518703642,1.0,0.0,0.0,0.0,-0.5495499266966943,0.40926629481723453,2.8976737000362993,0.029679070278523276,0.036962648226494386,0.0025650968495393124,0.39583316704277854,1.5668425043304328,3.227804832838487,0.10692015240168765,-0.028154550901656313,0.004333916649771351,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.5578647474024099,1.4553540109015415,-1.9842232318192945,0.02752896836262152,1.4909307459895162,0.8372560161367713,-0.49566648112372286,-2.8976737000362993,1.4885567506955717,1.4885567506955717,1.0649999999999662,0,0,-0.00023696544281384823,9.999999025923074e-05
+3392,1792833251844498631,11931309000000,1792833251837106076,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761664778053725,-0.004927689264991965,0.09900798580559782,0.9999999591806112,-0.00019001918584589874,0.00013997827765076332,0.0001318348609798111,0.6761,-0.0046,0.09871006951035904,1.0,0.0,0.0,0.0,-0.589874411341786,0.4340899455601863,3.1397658006703937,0.03173981748917051,0.03991935201187665,0.0025213275723501493,0.3555086823976868,1.5916661550733846,3.4698969334725813,0.10898089961233488,-0.02519784711627405,0.0042901473725821876,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.581381710876153,1.5125866624522621,-2.269725869904644,0.017783411699838884,1.6681878946380262,0.8742669461311852,-0.49566648112372286,-3.1397658006703937,1.7740593887809213,1.7740593887809213,1.131300000000008,0,0,-0.00021486544711926824,9.999999025923074e-05
+3449,1792833252319543567,11931784000000,1792833252313105686,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6761809614560356,-0.004931869958224031,0.09894007274881332,0.9999999552977138,-0.00018690376992564007,0.00016294987274213257,0.00013914652106976146,0.6761,-0.0046,0.0986136371718762,1.0,0.0,0.0,0.0,-0.646372204199244,0.45567336558431926,3.368694931877728,0.03286267210391605,0.04288621612276054,0.002389193946331725,0.2990108895402288,1.6132495750975175,3.6988260646799156,0.11010375422708042,-0.022230983005390153,0.004158013746563763,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.7047185315334759,1.4095947715101096,-2.5359336715399827,0.04220175997909859,1.8705462102241994,0.8066282099038893,-0.49566648112372286,-3.368694931877728,2.0402671904162597,2.0402671904162597,1.2025500000000529,0,0,-0.00019111545174613364,9.999999025923074e-05
+3504,1792833252777551407,11932242000000,1792833252773106322,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761954350079884,-0.0049341280961753015,0.09888241528278802,0.9999999671345443,-4.816096381460393e-05,0.00018509811010119584,0.00014350256505624964,0.6761,-0.0046,0.0985313389439526,1.0,0.0,0.0,0.0,-0.685625290301278,0.4867241150572492,3.5794908012642312,0.03478400001654082,0.04583803428048561,0.0022843092237420717,0.2597578034381949,1.6443003245704475,3.909621934066419,0.11202508213970519,-0.019279164847665092,0.00405312902397411,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.7981503217869916,1.5114009699972364,-2.748935632194799,-0.025875127537264495,2.030648106206757,0.8072605495168073,-0.49566648112372286,-3.5794908012642312,2.253269151071076,2.253269151071076,1.2712500000000961,0,0,-0.00016821545620740596,9.999999025923074e-05
+3561,1792833253252506082,11932717000000,1792833253249105621,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.676210498564524,-0.0049392681564147155,0.09883719243693447,0.9999999610261224,-6.312971519749647e-05,0.0002105201942202969,0.0001452119312701967,0.6761,-0.0046,0.0984570653511529,1.0,0.0,0.0,0.0,-0.7243274867405752,0.5097156589385547,3.7207509319162906,0.03674444974295245,0.04779982003155894,0.0022198816000729297,0.22105560699889762,1.667291868451753,4.050882064718478,0.11398553186611682,-0.017317379096591756,0.003988701400304968,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.8725209962612712,1.4976318851522545,-2.8761346521539686,-0.0075854388634825805,2.1272908131608697,0.8141770685054863,-0.49566648112372286,-3.7207509319162906,2.3804681710302455,2.3804681710302455,1.342500000000141,0,0,-0.00014446546083427136,9.999999025923074e-05
+3620,1792833253744547445,11933209000000,1792833253737096590,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762221655630125,-0.004941639448056477,0.09879217589944661,0.9999999564295421,-8.021058347796781e-05,0.00022705181329367853,0.00014351834255119857,0.6761,-0.0046,0.09839202764324109,1.0,0.0,0.0,0.0,-0.7348658061201467,0.5202722530565325,3.87396952661027,0.03770882204654351,0.04876090567766275,0.0021287996295258752,0.21051728761932606,1.6778484625697307,4.2041006594124575,0.11494990416970788,-0.016356293450487946,0.0038976194297579135,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9415543061021296,1.4803466460785506,-3.1649090322573312,0.015468487451346935,2.3266740093746026,0.8269531508743986,-0.49566648112372286,-3.87396952661027,2.669242551133608,2.669242551133608,1.4163000000001875,0,0,-0.00011986546562672983,9.999999025923074e-05
+3677,1792833254219539799,11933684000000,1792833254213106126,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762321719714524,-0.004941519514800018,0.09875852211330564,0.9999999515970193,-9.46367837392686e-05,0.00024410996518140483,0.0001403674740816327,0.6761,-0.0046,0.0983407202959672,1.0,0.0,0.0,0.0,-0.7640852840404836,0.5464847120426151,3.975518512266982,0.039611631353241625,0.04993344084879946,0.0031029066050389763,0.18129780969898926,1.7040609215558133,4.3056496450691695,0.116852713476406,-0.015183758279351246,0.0048717264052710145,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9584703900935736,1.471547275793606,-3.168547514807234,0.04471591976715744,2.328214087826042,0.8398225793232399,-0.49566648112372286,-3.975518512266982,2.672881033683511,2.672881033683511,1.4875500000002324,0,0,-9.611547025359523e-05,9.999999025923074e-05
+3732,1792833254677497212,11934142000000,1792833254673096951,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762386653013569,-0.004938038338403339,0.09873032611287544,0.9999999481385983,-0.00010380053507338134,0.00025588146933744896,0.0001375346789257559,0.6761,-0.0046,0.09830193205956719,1.0,0.0,0.0,0.0,-0.7831435122935906,0.5595876815700751,4.055525884725409,0.03964764885482101,0.0516342746916674,0.0030659893673790073,0.16223958144588224,1.7171638910832734,4.385657017527596,0.11688873097798538,-0.013482924436483305,0.0048348091676110455,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9672448949316619,1.36540765091332,-3.2248483065688425,0.08377583075428688,2.3608657515042486,0.7851856655767707,-0.49566648112372286,-4.055525884725409,2.7291818254451194,2.7291818254451194,1.5562500000002757,0,0,-7.321547471486755e-05,9.999999025923074e-05
+3803,1792833255269481547,11934734000000,1792833255269106212,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762420692176101,-0.0049395760779713345,0.09870108670262605,0.9999999460439132,-0.00011008980249682922,0.0002624048482245615,0.0001355690454181639,0.6761,-0.0046,0.09826733529682621,1.0,0.0,0.0,0.0,-0.7929435134572187,0.5661791727487249,4.136036015015189,0.040633362952966434,0.0516803566043118,0.003012342501055928,0.15243958028225418,1.7237553822619232,4.466167147817377,0.1178744450761308,-0.013436842523838899,0.004781162301287966,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.0050678733343856,1.3782349478898501,-3.3254314642757903,0.09115235318984984,2.434487240705454,0.8037920027536667,-0.49566648112372286,-4.136036015015189,2.8297649831520673,2.8297649831520673,1.6450500000003316,0,0,-4.361548048140295e-05,9.999999025923074e-05
+3862,1792833255761524921,11935226000000,1792833255757106616,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762443982357077,-0.004942278205389133,0.0986882733249086,0.9999999447647193,-0.00011639641451163617,0.0002644482928489931,0.00013576596666096813,0.6761,-0.0046,0.09825191577924802,1.0,0.0,0.0,0.0,-0.7934161889167655,0.5757629263448183,4.146486780431855,0.04062118566745146,0.05207775682445341,0.0030136471663192747,0.15196690482270733,1.7333391358580166,4.476617913234042,0.11786226779061583,-0.013039442303697291,0.004782466966551313,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.0118466561075854,1.3905026365371302,-3.370613676778608,0.07897518355244586,2.4675497752228592,0.8072500247461796,-0.49566648112372286,-4.146486780431855,2.874947195654885,2.874947195654885,1.7188500000003781,0,0,-1.9015485273861425e-05,9.999999025923074e-05
+3929,1792833256319471122,11935784000000,1792833256317105375,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676246830917897,-0.0049397754676973596,0.09868052457583416,0.9999999441591153,-0.00011320832113635844,0.0002679484423339013,0.000136059321593047,0.6761,-0.0046,0.09824759658453862,1.0,0.0,0.0,0.0,-0.7931567837538912,0.5718723277607214,4.150361049988745,0.04063148591882858,0.051676238120985055,0.0029976481172729642,0.1522263099855816,1.7294485372739197,4.4804921827909325,0.11787256804199295,-0.013440961007165644,0.0047664679175050025,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9699399970685574,1.375446156378257,-3.3627058361983204,0.0862077005370001,2.450978383252691,0.799031115892531,-0.49566648112372286,-4.150361049988745,2.8670393550745974,2.8670393550745974,1.8025500000004309,0,0,-1.5058372411502763e-06,1.5210477183336124e-05
+3995,1792833256869433305,11936334000000,1792833256865106382,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762475018822217,-0.004943538667592436,0.0986815885107687,0.999999943363563,-0.00011807563062018648,0.0002692167143507977,0.00013526359908633942,0.6761,-0.0046,0.0982473145415715,1.0,0.0,0.0,0.0,-0.7925421952826979,0.5746480801339207,4.13636371488602,0.040634665466976416,0.051679497253647774,0.0030121403144717576,0.15284089845677493,1.732224289647119,4.466494847688208,0.11787574759014079,-0.013437701874502921,0.004780960114703796,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.964961831433092,1.3522599075732786,-3.3379001714962784,0.09459282699333248,2.438487390861059,0.7836924907512122,-0.49566648112372286,-4.13636371488602,2.8422336903725554,2.8422336903725554,1.8850500000004828,0,0,-9.559109878654048e-08,9.655666544094998e-07
+4066,1792833257461427134,11936926000000,1792833257457107184,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762464812860447,-0.004947745920266393,0.0986785100331682,0.9999999429043879,-0.0001246934341527546,0.00026754273894240895,0.00013603865426197167,0.6761,-0.0046,0.09824729640625006,1.0,0.0,0.0,0.0,-0.7839440881316144,0.5648304120849397,4.126309980831958,0.04060498047598446,0.05168254049890401,0.0030212169058351362,0.16143900560785834,1.722406621598138,4.4564411136341455,0.11784606259914883,-0.013434658629246693,0.0047900367060671745,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.915836006910727,1.3750040069692218,-3.2809557887508225,0.08206902248108662,2.3895040539926073,0.7994863720868425,-0.49566648112372286,-4.126309980831958,2.7852893076270995,2.7852893076270995,1.9738500000005388,0,0,-4.916765744544804e-09,4.966430044994752e-08
+4129,1792833257986516641,11937451000000,1792833257985096893,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762457808981094,-0.004942639077551805,0.09867576673712213,0.9999999435416881,-0.00012372923402362944,0.0002668100273978538,0.00013365242578695875,0.6761,-0.0046,0.09824729549364074,1.0,0.0,0.0,0.0,-0.7833774431973765,0.5618903858373094,4.115903873413256,0.03961742786943123,0.05170341588402169,0.0030182576031210877,0.1620056505420964,1.7194665953505077,4.4460350062154435,0.1168585099925956,-0.013413783244129006,0.004787077403353126,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9291488528789975,1.383383442212568,-3.2342223888780937,0.08268502076432648,2.361713009889841,0.8039255031098292,-0.49566648112372286,-4.115903873413256,2.7385559077543706,2.7385559077543706,2.0526000000005884,0,0,-3.5388941777014793e-10,3.5746405835368478e-09
+4186,1792833258461435902,11937926000000,1792833258457096346,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762418838445903,-0.004944856040925395,0.09866956797089284,0.9999999451169366,-0.00012272818659409343,0.0002603160358093519,0.00013558149463925256,0.6761,-0.0046,0.09824729542940129,1.0,0.0,0.0,0.0,-0.764991143535451,0.5576831583293982,4.106210674621113,0.03964393001036444,0.05069780840017761,0.0030074742459163467,0.18039195020402185,1.7152593678425965,4.4363418074233,0.11688501213352881,-0.014419390727973092,0.004776294046148385,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9121909455310306,1.4300541567792504,-3.299085158536932,0.07750957931747725,2.4022655914568003,0.8394654978016397,-0.49566648112372286,-4.106210674621113,2.803418677413209,2.803418677413209,2.1238500000006333,0,0,-3.2726321652631896e-11,3.3056890558214036e-10
+4239,1792833258902423761,11938367000000,1792833258901095826,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762448989302186,-0.0049448134839924565,0.0986718974253477,0.9999999443820411,-0.00012191693315974421,0.0002644683448066613,0.00013368446106733849,0.6761,-0.0046,0.09824729542356161,1.0,0.0,0.0,0.0,-0.7740255584606881,0.5616209603794031,4.10472707167679,0.03962005487330382,0.05165594924396084,0.003027499228622595,0.1713575352787847,1.7191971698926014,4.434858204478978,0.11686113699646819,-0.013461249884189863,0.004796319028854633,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9444478953162645,1.4072094507981021,-3.3477177981370176,0.07831238735794231,2.442741303387038,0.8239151518349787,-0.49566648112372286,-4.10472707167679,2.8520513170132946,2.8520513170132946,2.190000000000675,0,0,-3.682054661169332e-12,3.7192471324942744e-11
+4304,1792833259444513321,11938909000000,1792833259441096960,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676245855074319,-0.004942239977226112,0.09867264161297859,0.9999999438415409,-0.00012191128508940585,0.00026667850193485464,0.00013334164563417295,0.6761,-0.0046,0.09824729542262228,1.0,0.0,0.0,0.0,-0.7754410574121633,0.5550840290194197,4.095906610649831,0.039647899789389984,0.05069456381343398,0.0030196736508770446,0.1699420363273096,1.712660238532618,4.426037743452019,0.11688898191255435,-0.014422635314716723,0.004788493451109083,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.8842300580511127,1.2952301064053253,-3.230370743527433,0.1074235367396321,2.349469158068804,0.7479549271603518,-0.49566648112372286,-4.095906610649831,2.73470426240371,2.73470426240371,2.271300000000726,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4359,1792833259902477851,11939367000000,1792833259901096325,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762457825816904,-0.004950030423022129,0.09867168048219468,0.9999999435448027,-0.00012492212433836428,0.00026473403099620097,0.00013661482927390504,0.6761,-0.0046,0.09824729542199304,1.0,0.0,0.0,0.0,-0.7717134168609072,0.5520256642240484,4.0858682451246375,0.03964788665308794,0.0506973087121993,0.0030237924684439078,0.17366967687856555,1.7096018737372467,4.415999377926825,0.11688896877625231,-0.014419890415951394,0.004792612268675946,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9212060867625318,1.3934371486629262,-3.342643164732711,0.08287815209590427,2.4312430795552245,0.8138927105629721,-0.49566648112372286,-4.0858682451246375,2.846976683608988,2.846976683608988,2.3400000000007695,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4418,1792833260394416090,11939859000000,1792833260393105487,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762432942298473,-0.004944635903599405,0.09866895672153086,0.9999999446914768,-0.00012300109829171217,0.00026188675610737974,0.00013544727598380045,0.6761,-0.0046,0.09824729542131708,1.0,0.0,0.0,0.0,-0.7646332946222065,0.5566627078926918,4.085870065473488,0.039645184233239525,0.05069739937732505,0.003030672000485916,0.18074979911726635,1.71423891740589,4.4160011982756755,0.1168862663564039,-0.014419799750825647,0.004799491800717954,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9803538368857632,1.3963633145156185,-3.282697308021437,0.08699754041949523,2.4128602025748327,0.8154146204860984,-0.49566648112372286,-4.085870065473488,2.787030826897714,2.787030826897714,2.413800000000816,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4477,1792833260886474764,11940351000000,1792833260885097195,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762444682839591,-0.004940297803986678,0.09866892028005747,0.9999999453880715,-0.000118900847415339,0.00026264191617783367,0.0001324708678819856,0.6761,-0.0046,0.09824729542064112,1.0,0.0,0.0,0.0,-0.765019941116577,0.550340204646435,4.075827919160875,0.03964007636993935,0.05069956311975635,0.003037018823137316,0.18036315262289584,1.7079164141596332,4.4059590519630625,0.11688115849310372,-0.01441763600839435,0.004805838623369354,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.888047917033781,1.2402848690053003,-3.2255221182887652,0.13191985795943692,2.3472007260920105,0.7162093505600682,-0.49566648112372286,-4.075827919160875,2.729855637165042,2.729855637165042,2.4876000000008625,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4538,1792833261394457330,11940859000000,1792833261393106291,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762421138828884,-0.004944610511185447,0.09866582176101772,0.9999999452828923,-0.00012192991532313253,0.00026023653870489,0.00013522986605012764,0.6761,-0.0046,0.09824729541994318,1.0,0.0,0.0,0.0,-0.7679107175199554,0.5501500640554826,4.075749172818502,0.03957452212445986,0.05070073037473,0.003035904047108561,0.1774723762195174,1.707726273568681,4.405880305620689,0.11681560424762423,-0.014416468753420697,0.004804723847340599,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.8153105860108407,1.429348376138625,-3.2266161751405,0.07673334382891313,2.3293211606191724,0.8361530191239367,-0.49566648112372286,-4.075749172818502,2.730949694016777,2.730949694016777,2.5638000000009105,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4593,1792833261852400747,11941317000000,1792833261849106045,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762422072350397,-0.004945866015132886,0.09866635197752777,0.9999999452234716,-0.0001219796901572277,0.00026045486190697957,0.00013520406157037774,0.6761,-0.0046,0.09824728674986773,1.0,0.0,0.0,0.0,-0.764743302388471,0.5499526725222093,4.065856462233137,0.03962907732026254,0.0497187974221793,0.003029621405291656,0.18063979135100183,1.7075288820354075,4.395987595035325,0.11687015944342691,-0.015398401705971395,0.004798441205523694,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.867961640242166,1.4243783398321874,-3.1591332982263505,0.08086971539687586,2.3031512530374454,0.8323725469678934,-0.49566648112372286,-4.065856462233137,2.6634668171026274,2.6634668171026274,2.6325000000009537,0,0,-4.7192272215057507e-07,4.766896183339142e-06
+4650,1792833262327436622,11941792000000,1792833262321106223,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762426584880682,-0.004941841838908455,0.09866565470914178,0.9999999458060471,-0.00011991629016669958,0.0002603821954773756,0.00013286068928679883,0.6761,-0.0046,0.09824698874881821,1.0,0.0,0.0,0.0,-0.7732042185105807,0.5467773354113621,4.065378022339864,0.03863656236433004,0.05071662194623053,0.0030330555737029365,0.17217887522889203,1.7043535449245604,4.395509155142052,0.11587764448749441,-0.014400577181920168,0.004801875373934975,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9118116399617446,1.3979210377627795,-3.184390665956154,0.09133138678543849,2.332935298927309,0.8150117478805413,-0.49566648112372286,-4.065378022339864,2.688724184832431,2.688724184832431,2.7037500000009986,0,0,-2.5669930167878717e-06,-9.992833924077899e-05
+4701,1792833262752503940,11942217000000,1792833262749105823,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762438662045553,-0.004942708248250912,0.09866630068102891,0.9999999447856055,-0.0001208422526860066,0.0002624910952829728,0.00013552573643009648,0.6761,-0.0046,0.09824373966973447,1.0,0.0,0.0,0.0,-0.7637970080999423,0.5494896203029938,4.065279653978385,0.0386542777426748,0.04993200142414788,0.0030276218162624737,0.18158608563953046,1.707065829816192,4.395410786780572,0.11589535986583917,-0.015185197704002817,0.004796441616494512,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.8814325636582656,1.3046569241277928,-3.2279671265316203,0.11086210908230085,2.350637586075795,0.7505096936022093,-0.49566648112372286,-4.065279653978385,2.7323006454078973,2.7323006454078973,2.767500000001039,0,0,-1.4923240070101267e-05,-9.990252655545646e-05
+4762,1792833263261473398,11942726000000,1792833263261105978,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762444227744817,-0.0049452052927722746,0.09866168232600321,0.9999999438320957,-0.0001231591347541212,0.0002647009485464027,0.0001361760084521478,0.6761,-0.0046,0.09823116504887487,1.0,0.0,0.0,0.0,-0.7651597828549856,0.5475673942554693,4.0746429821453,0.038630465592785115,0.05071840994122171,0.0030262637491877895,0.18022331088448715,1.7051436037686676,4.404774114947488,0.11587154771594949,-0.014398789186928988,0.004795083549419828,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9386686567536722,1.4454523525913792,-3.256107099177435,0.0732690520238466,2.3835788786602516,0.8451543747440791,-0.49566648112372286,-4.0746429821453,2.7604406180537118,2.7604406180537118,2.843850000001087,0,0,-3.250247198746526e-05,-9.997845193255301e-05
+4833,1792833263852404749,11943317000000,1792833263845106061,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762499820960446,-0.004946297810652549,0.09865116373291877,0.9999999411184455,-0.00012467893946393582,0.00027353756681471796,0.0001372528013278759,0.6761,-0.0046,0.09820485787378835,1.0,0.0,0.0,0.0,-0.7821398234880952,0.5520341593976277,4.122323339022986,0.03962055790707707,0.05148240457880669,0.0030093029692574314,0.16324327025137758,1.709610368910826,4.452454471825174,0.11686164003024144,-0.01363479454934401,0.00477812276948947,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.007455213403037,1.310258106510923,-3.3602351667718073,0.1218233622135323,2.4582889038643088,0.7579970917710928,-0.49566648112372286,-4.122323339022986,2.8645686856480843,2.8645686856480843,2.9325000000011427,0,0,-5.616272778371923e-05,-9.999999025923074e-05
+4884,1792833264277387567,11943742000000,1792833264273106099,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762543658759456,-0.004950662647631265,0.09863573601308397,0.9999999382736872,-0.00012923367589051595,0.00028029872676372755,0.000140095564399985,0.6761,-0.0046,0.09817842537309472,1.0,0.0,0.0,0.0,-0.8015489288422125,0.5699994239940855,4.176384937296252,0.04059918621813148,0.05265498968992527,0.0029939473208717886,0.14383416489726034,1.7275756335072838,4.5065160700984395,0.11784026834129585,-0.01246220943822543,0.004762767121103827,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.0146975790943076,1.314863879419257,-3.4077874317737065,0.12182334125844238,2.4872187293001935,0.7641060103739006,-0.49566648112372286,-4.176384937296252,2.9121209506499834,2.9121209506499834,2.996250000001183,0,0,-6.871025441254475e-05,-9.998544633760815e-05
+4945,1792833264786486696,11944251000000,1792833264781107586,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762614127324399,-0.004948674670157377,0.09862018579669933,0.9999999344649975,-0.00013628312206491537,0.0002925708961098922,0.00013543281232720775,0.6761,-0.0046,0.09814063951044981,1.0,0.0,0.0,0.0,-0.8129459817700393,0.5831369088509175,4.2367505843200695,0.04158150196344228,0.05365465436600299,0.0029712783091352573,0.13243711196943356,1.7407131183641158,4.566881717122257,0.11882258408660665,-0.011462544762147711,0.0047400981093672955,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.026980266906584,1.3689544331707344,-3.417831845728741,0.10834894591505935,2.493305638927708,0.7952988563965442,-0.49566648112372286,-4.2367505843200695,2.922165364605018,2.922165364605018,3.072600000001231,0,0,-7.976822062191603e-05,-9.999099745273127e-05
+5012,1792833265344466726,11944809000000,1792833265341106100,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762693110891436,-0.004948122888485946,0.0985927346587061,0.9999999302757351,-0.00014077319878431173,0.0003050034745588442,0.00013433977909326609,0.6761,-0.0046,0.09809451409562568,1.0,0.0,0.0,0.0,-0.8232611506206349,0.6086486000705633,4.357567623674746,0.042554094955614824,0.05463222219377514,0.002899852053073835,0.12212194311883794,1.7662248095837616,4.687698756476934,0.1197951770787792,-0.010484976934375558,0.004668671853305873,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.1671211756885955,1.3031042292209107,-3.6023806891128443,0.1348425591567311,2.6477840433554487,0.7558113867119103,-0.49566648112372286,-4.357567623674746,3.1067142079891212,3.1067142079891212,3.1563000000012837,0,0,-8.171273771920428e-05,9.993405688935581e-05
+5073,1792833265852480334,11945317000000,1792833265849096454,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762772951922447,-0.004949774836505822,0.0985652981943988,0.999999923987007,-0.00015061233527877084,0.00032131797621466043,0.00013243687979624336,0.6761,-0.0046,0.09805608691344567,1.0,0.0,0.0,0.0,-0.8523369661587685,0.6136320857773805,4.468048932413272,0.044141902615552106,0.055592081170107,0.0028408548092970724,0.09304612758070425,1.7712082952905788,4.79818006521546,0.12138298473871648,-0.0095251179580437,0.004609674609529111,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.134501801011477,1.3159425167511838,-3.7039737410710134,0.12767349014562432,2.698068271661748,0.7635026022154218,-0.49566648112372286,-4.468048932413272,3.2083072599472904,3.2083072599472904,3.2325000000013318,0,0,-6.85167917443844e-05,9.999999025923074e-05
+5124,1792833266277434285,11945742000000,1792833266277106129,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762827681675174,-0.0049497078446597426,0.0985455680630506,0.9999999209860921,-0.00015242294600555074,0.00032943959578668616,0.0001330694256258559,0.6761,-0.0046,0.09803025829767337,1.0,0.0,0.0,0.0,-0.8680644388504851,0.6214282630819306,4.538794019557117,0.044505100309314774,0.05658149709851923,0.0027996789284128604,0.07731865488898769,1.7790044725951288,4.868925152359305,0.12174618243247914,-0.008535702029631468,0.004568498728644899,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.1499564889038503,1.397148395819589,-3.741752158626293,0.10369663150688582,2.7299145174746413,0.8167992090185446,-0.49566648112372286,-4.538794019557117,3.24608567750257,3.24608567750257,3.296250000001372,0,0,-5.520175671208211e-05,-5.04588917826289e-05
+5189,1792833266819431239,11946284000000,1792833266813106101,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762875799359075,-0.004950096869341919,0.09852802465417806,0.9999999171887345,-0.00015297831153718584,0.0003399462839032319,0.00013453456265584738,0.6761,-0.0046,0.0980041251663975,1.0,0.0,0.0,0.0,-0.8810460979816301,0.630973716746029,4.599680404059453,0.0451137367553137,0.057576113921999635,0.002766037466168743,0.06433699575784273,1.7885499262592273,4.92981153686164,0.12235481887847807,-0.007541085206151063,0.004534857266400781,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.210698994646684,1.3413752113805266,-3.797614906573532,0.11612521980354351,2.782505920355998,0.7783980960023474,-0.49566648112372286,-4.599680404059453,3.301948425449809,3.301948425449809,3.377550000001423,0,0,-4.218221363458253e-05,-7.566155621330779e-05
+5250,1792833267327480362,11946792000000,1792833267325105568,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762915415631207,-0.004951934824486029,0.09851318543032905,0.9999999146805916,-0.00015810850683155403,0.00034463223105043626,0.00013532183571029753,0.6761,-0.0046,0.09798205901520313,1.0,0.0,0.0,0.0,-0.8905552431399052,0.6280905878817644,4.649518713398511,0.04547791821855979,0.05755303173785688,0.0027382659843059216,0.05482785059956765,1.7856667973949627,4.979649846200699,0.12271900034172416,-0.007564167390293821,0.00450708578453796,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.271052777226004,1.2930240977577077,-3.8888099913259824,0.13509013693586,2.8560357451424614,0.745343329532435,-0.49566648112372286,-4.649518713398511,3.3931435102022593,3.3931435102022593,3.453750000001471,0,0,-4.6072208113893904e-05,-9.998577940451554e-05
+5316,1792833267877436034,11947342000000,1792833267873106487,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762957196908893,-0.004950244210046855,0.09849583520061155,0.9999999116592636,-0.0001561957443678416,0.00035414966966745067,0.00013529682254506806,0.6761,-0.0046,0.09795393556679707,1.0,0.0,0.0,0.0,-0.9005147922393885,0.6399800702389034,4.702490644221761,0.04544214107562687,0.058554050988381574,0.0027090182933527654,0.04486830150008441,1.7975562797521016,5.032621777023949,0.12268322319879124,-0.006563148139769127,0.004477838093584804,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.1843982333406076,1.3878719773491481,-3.9515703357160135,0.10636229997355474,2.8705832804822253,0.807994424512404,-0.49566648112372286,-4.702490644221761,3.4559038545922904,3.4559038545922904,3.536250000001523,0,0,-5.771458160971766e-05,-9.999251013160233e-05
+5377,1792833268386363225,11947851000000,1792833268385096625,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676299592571411,-0.004952561543384273,0.09847463553786344,0.9999999087249071,-0.00015958635553412772,0.0003605541557109139,0.0001361100205540633,0.6761,-0.0046,0.09792191960918416,1.0,0.0,0.0,0.0,-0.9107120793517633,0.6550440165930627,4.770128856953007,0.04642353837165883,0.059533158568795534,0.0026806127817714217,0.03467101438770946,1.812620226106261,5.100259989755195,0.1236646204948232,-0.005584040559355167,0.00444943258200346,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.2623027996804077,1.3466377815198276,-4.024626903837632,0.12017562185794031,2.938382840603565,0.7825402826359826,-0.49566648112372286,-4.770128856953007,3.528960422713909,3.528960422713909,3.612600000001571,0,0,-6.856031801591301e-05,-9.977666889782739e-05
+5448,1792833268977389135,11948442000000,1792833268977096005,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763064027624414,-0.004952870542488646,0.09845063063946548,0.9999999040487781,-0.00016034986487749648,0.0003724499971484857,0.00013752897622131883,0.6761,-0.0046,0.09787927253284066,1.0,0.0,0.0,0.0,-0.9297265611704838,0.6594252862911749,4.861446402001589,0.047360222074967914,0.06050337946810968,0.0036083282358013707,0.015656532568988978,1.8170014958043732,5.191577534803777,0.12460130419813228,-0.004613819660041018,0.005377148036033409,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.277767305151313,1.3050662272193485,-4.110766907127197,0.13997714569450007,2.9937855439484062,0.7564963508413565,-0.49566648112372286,-4.861446402001589,3.6151004260034743,3.6151004260034743,3.701250000001627,0,0,-7.444379944018665e-05,-9.991500268669568e-05
+5525,1792833269619379921,11949084000000,1792833269613096441,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763154165044192,-0.004949830632296537,0.0984207170378021,0.9999999085567337,-7.90687756396726e-05,0.0003876230376564711,0.0001335136622332637,0.6761,-0.0046,0.09783320522068051,1.0,0.0,0.0,0.0,-0.9489065131703134,0.6775325296627759,4.951761122765352,0.048372420755168136,0.06147911238083801,0.0029265943175535237,-0.003523419430840503,1.8351087391759742,5.28189225556754,0.1256135028783325,-0.003638086747312691,0.004695414117785562,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.3663753159892855,1.367757421263558,-4.220839845701079,0.12246384523952403,3.087751580120606,0.7923103931394597,-0.49566648112372286,-4.951761122765352,3.7251733645773557,3.7251733645773557,3.7975500000016877,0,0,-7.100850643179524e-05,-7.296873802265508e-05
+5580,1792833270077372760,11949542000000,1792833270073096443,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763234067977812,-0.004957056293799954,0.0984014772528197,0.9999999018448577,-8.980253692871649e-05,0.0004017662776066442,0.00013517581946798768,0.6761,-0.0046,0.09780083617838216,1.0,0.0,0.0,0.0,-0.9591766895737345,0.6866715296377632,5.021958974891628,0.04935423343138527,0.06245974079838902,0.002579533853758257,-0.013793595834261638,1.8442477391509615,5.352090107693815,0.12659531555454964,-0.0026574583297616773,0.004348353653990295,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.3210496064220534,1.2890286641813589,-4.2279313638379215,0.15452260125003836,3.0758322234197317,0.7490981209102203,-0.49566648112372286,-5.021958974891628,3.7322648827141984,3.7322648827141984,3.866250000001731,0,0,-6.996250094123824e-05,-9.375004525325465e-05
+5639,1792833270569393258,11950034000000,1792833270569096091,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763276641129585,-0.004955864451353604,0.09837607049817632,0.9999998977228446,-9.442607567774502e-05,0.0004109550479668918,0.00013489562479396413,0.6761,-0.0046,0.09776743061136337,1.0,0.0,0.0,0.0,-0.9759142889840711,0.6928598252987839,5.102506072262966,0.04992000865201633,0.0634402924729095,0.0035330849976577877,-0.030531195244598297,1.8504360348119822,5.432637205065154,0.1271610907751807,-0.001676906655241207,0.005301904797889826,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.430930874593943,1.274736055988438,-4.395392256641341,0.16098698508385753,3.2145249414069217,0.7403064918860113,-0.49566648112372286,-5.102506072262966,3.8997257755176182,3.8997257755176182,3.9400500000017775,0,0,-6.592923309092923e-05,8.812693216698193e-05
+5704,1792833271111450450,11950576000000,1792833271109096906,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6763352072913206,-0.004958799092864259,0.09835265862285535,0.9999998917077584,-0.00010587216769285254,0.00042286656356957223,0.00013417261043379667,0.6761,-0.0046,0.09773164502595426,1.0,0.0,0.0,0.0,-0.9797265166347954,0.7105376541453459,5.17297993133404,0.05028685185486288,0.0644296464785065,0.0034986104987793504,-0.03434342289532254,1.8681138636585441,5.5031110641362275,0.12752793397802725,-0.0006875526496441886,0.005267430299011389,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.4205499897403024,1.33529617096838,-4.375774531448928,0.1486788732666471,3.19749752307175,0.7808172124464083,-0.49566648112372286,-5.17297993133404,3.8801080503252052,3.8801080503252052,4.021350000001766,0,0,-6.489725872946129e-05,-9.687500387845489e-05
+5766,1792833271627443477,11951092000000,1792833271625096817,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763393730204633,-0.00495847652400647,0.0983282422026696,0.9999998886050634,-0.00010834230271030607,0.00042935042768667834,0.0001347326274362258,0.6761,-0.0046,0.09769732758290968,1.0,0.0,0.0,0.0,-0.992818093191593,0.7163229159676665,5.2375947103536955,0.05106397498529884,0.06476959947419007,0.003455579537213353,-0.047434999452120194,1.8738991254808648,5.567725843155883,0.1283050571084632,-0.0003475996539606232,0.005224399337445391,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.431664333231623,1.295230933791058,-4.460251088432448,0.16360084250293416,3.2529010478622076,0.7568513543444985,-0.49566648112372286,-5.2375947103536955,3.9645846073087254,3.9645846073087254,4.098750000001585,0,0,-6.790195194591864e-05,-9.989222923690306e-05
+5831,1792833272169392333,11951634000000,1792833272169095516,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6763450870880653,-0.004957639649484727,0.09830307877740146,0.999999883792613,-0.00011600113578391606,0.0004391578844918998,0.00013244513581042665,0.6761,-0.0046,0.09765844868638451,1.0,0.0,0.0,0.0,-0.9992867691572314,0.7182166882525944,5.307794741799829,0.05125519683017836,0.06539474806052722,0.0034141691156814678,-0.05390367541775859,1.8757928977657927,5.637925874602017,0.12849627895334273,0.0002775489323765324,0.005182988915913506,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.3960431154916297,1.334609847938674,-4.662221629478873,0.15396299760282658,3.3702643601659603,0.7824008936556359,-0.49566648112372286,-5.307794741799829,4.16655514835515,4.16655514835515,4.180050000001396,0,0,-7.374658245598719e-05,9.90585211343486e-05

Fixed/digit/cylinder_15A_12.5/press_depth_08/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,1792833244113960634,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.679204135e-09,-2.266148207e-10,-1.995911658e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453930e-01,-1.180689674e-04,8.303259451e-01
+1,5.166666667e-01,DOWN_FORCE_DETACH,1792833244621160374,-2.324066219e-07,4.598170504e-06,5.202383324e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.314316220e-07,-6.854756851e-09,-5.479032372e-08,7.019554004e-01,-1.767256452e-05,8.601436075e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455197e-01,-1.180755956e-04,8.303258923e-01
+2,1.100000000e+00,DOWN_FORCE_DETACH,1792833245194392859,-8.046530899e-07,3.441963530e-07,-1.251160636e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.402492102e-07,-1.279608661e-08,-9.869323203e-08,7.019548282e-01,-2.192653867e-05,8.601418361e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456285e-01,-1.180815369e-04,8.303258484e-01
+3,1.633333333e+00,DOWN_FORCE_DETACH,1792833245718464903,-5.355393392e-06,4.175201838e-06,-2.376643760e-05,-5.350591628e-06,4.368092621e-06,-2.343096736e-05,-5.671619419e-06,4.308419106e-06,-2.320002845e-05,7.019502774e-01,-1.809553319e-05,8.601193208e-01,7.019502822e-01,-1.790264240e-05,8.601196563e-01,7.027397167e-01,-1.137603217e-04,8.303027471e-01
+4,2.083333333e+00,DOWN_FORCE_DETACH,1792833246209996298,-3.372223678e-06,-8.996452207e-07,-4.371832202e-05,-7.723238071e-06,-1.145838449e-06,-4.695891569e-05,-8.499994232e-06,-1.146934025e-06,-4.653002952e-05,7.019522606e-01,-2.317038024e-05,8.600993689e-01,7.019479096e-01,-2.341657347e-05,8.600961283e-01,7.027368883e-01,-1.192156748e-04,8.302794171e-01
+5,2.500000000e+00,DOWN_FORCE_DETACH,1792833246619218362,3.992194214e-05,-7.669850797e-06,-6.849172372e-05,3.967798560e-05,-7.729051596e-06,-6.851118582e-05,4.168619385e-05,-7.656640868e-06,-6.787510518e-05,7.019955548e-01,-2.994058582e-05,8.600745955e-01,7.019953108e-01,-2.999978662e-05,8.600745761e-01,7.027870745e-01,-1.257253817e-04,8.302580720e-01
+6,2.850000000e+00,DOWN_FORCE_DETACH,1792833246963271284,1.990637925e-05,-5.825676956e-06,-1.147544727e-04,1.971378850e-05,-5.362087205e-06,-1.069089372e-04,2.010907000e-05,-5.307745812e-06,-1.060086367e-04,7.019755392e-01,-2.809641198e-05,8.600283328e-01,7.019753466e-01,-2.763282223e-05,8.600361783e-01,7.027654974e-01,-1.233764866e-04,8.302199385e-01
+7,3.366666667e+00,DOWN_FORCE_DETACH,1792833247470756887,1.490327410e-05,-1.231577120e-05,-1.544023442e-04,1.616207560e-05,-7.004420144e-06,-1.469755268e-04,1.593341332e-05,-6.958018337e-06,-1.458605616e-04,7.019705361e-01,-3.458650623e-05,8.599886849e-01,7.019717949e-01,-2.927515517e-05,8.599961117e-01,7.027613217e-01,-1.250267591e-04,8.301800865e-01
+8,3.750000000e+00,DOWN_FORCE_DETACH,1792833247850779222,3.582823385e-05,-1.374918635e-05,-1.787807124e-04,3.763040034e-05,-1.650919303e-05,-1.747453571e-04,3.848393853e-05,-1.632120947e-05,-1.735193016e-04,7.019914611e-01,-3.601992137e-05,8.599643065e-01,7.019932632e-01,-3.877992806e-05,8.599683419e-01,7.027838722e-01,-1.343899503e-04,8.301524278e-01
+9,4.166666667e+00,DOWN_FORCE_DETACH,1792833248339170351,3.902139570e-05,-1.911996042e-05,-2.423757280e-04,3.906315510e-05,-1.891223422e-05,-2.421647968e-04,3.930257049e-05,-1.873198568e-05,-2.402912207e-04,7.019946542e-01,-4.139069545e-05,8.599007115e-01,7.019946960e-01,-4.118296924e-05,8.599009224e-01,7.027846909e-01,-1.368007265e-04,8.300856559e-01
+10,4.600000000e+00,DOWN_FORCE_DETACH,1792833248765651595,4.916259033e-05,-2.664427922e-05,-2.982111902e-04,4.291509571e-05,-2.280495160e-05,-2.819389565e-04,4.296835162e-05,-2.256847501e-05,-2.801076414e-04,7.020047954e-01,-4.891501424e-05,8.598448760e-01,7.019985479e-01,-4.507568662e-05,8.598611483e-01,7.027883566e-01,-1.406372158e-04,8.300458394e-01
+11,5.000000000e+00,DOWN_FORCE_DETACH,1792833249158550262,5.862101477e-05,-2.905614365e-05,-3.566577865e-04,5.549114388e-05,-2.547910596e-05,-3.461737974e-04,5.574855869e-05,-2.524086826e-05,-3.439864949e-04,7.020142538e-01,-5.132687867e-05,8.597864295e-01,7.020111240e-01,-4.774984098e-05,8.597969134e-01,7.028011368e-01,-1.433096091e-04,8.299819606e-01
+12,5.283333333e+00,DOWN_FORCE_DETACH,1792833249436499373,1.215778737e-04,-2.517885042e-05,-3.557511833e-04,1.126696029e-04,-2.671621638e-05,-3.684903077e-04,1.162785757e-04,-2.643699439e-05,-3.662587167e-04,7.020772107e-01,-4.744958544e-05,8.597873361e-01,7.020683024e-01,-4.898695140e-05,8.597745969e-01,7.028616669e-01,-1.445057352e-04,8.299596884e-01
+13,5.400000000e+00,DOWN_FORCE_DETACH,1792833249551812592,1.226284731e-04,-1.906981268e-05,-3.975341687e-04,1.223246883e-04,-1.884325585e-05,-3.978970981e-04,1.263421133e-04,-1.866592559e-05,-3.953719395e-04,7.020782613e-01,-4.134054770e-05,8.597455531e-01,7.020779575e-01,-4.111399087e-05,8.597451901e-01,7.028717304e-01,-1.367346664e-04,8.299305751e-01
+14,5.666666667e+00,DOWN_FORCE_DETACH,1792833249881672932,1.337616778e-04,-1.014160681e-05,-4.353411543e-04,1.338318425e-04,-1.047378605e-05,-4.350491911e-04,1.383540142e-04,-1.043185393e-05,-4.323984109e-04,7.020893945e-01,-3.241234183e-05,8.597077461e-01,7.020894647e-01,-3.274452107e-05,8.597080380e-01,7.028837423e-01,-1.285005947e-04,8.298935487e-01
+15,5.933333333e+00,DOWN_FORCE_DETACH,1792833250206770730,1.510120047e-04,-1.640090824e-05,-5.051410439e-04,1.397621459e-04,-1.234927580e-05,-5.023769322e-04,1.440575783e-04,-1.230962801e-05,-4.993252771e-04,7.021066448e-01,-3.867164326e-05,8.596379462e-01,7.020953950e-01,-3.462001082e-05,8.596407103e-01,7.028894459e-01,-1.303783688e-04,8.298266218e-01
+16,6.350000000e+00,DOWN_FORCE_DETACH,1792833250615780901,1.758526033e-04,-2.112114210e-05,-5.686629666e-04,1.674641595e-04,-1.934231273e-05,-5.554595241e-04,1.731902482e-04,-1.922874138e-05,-5.524682916e-04,7.021314854e-01,-4.339187712e-05,8.595744243e-01,7.021230970e-01,-4.161304775e-05,8.595876277e-01,7.029185785e-01,-1.372974822e-04,8.297734788e-01
+17,6.750000000e+00,DOWN_FORCE_DETACH,1792833251025374838,1.908442635e-04,-2.151006427e-05,-6.382922897e-04,1.905224972e-04,-2.357317116e-05,-6.366840151e-04,1.970620167e-04,-2.343651831e-05,-6.332735388e-04,7.021464771e-01,-4.378079929e-05,8.595047949e-01,7.021461553e-01,-4.584390619e-05,8.595064032e-01,7.029424503e-01,-1.415052591e-04,8.296926736e-01
+18,7.116666667e+00,DOWN_FORCE_DETACH,1792833251403730185,2.128975720e-04,-1.926213972e-05,-6.951719550e-04,2.092122115e-04,-1.514559039e-05,-7.002161237e-04,2.164389352e-04,-1.514567819e-05,-6.965958862e-04,7.021685304e-01,-4.153287474e-05,8.594479153e-01,7.021648450e-01,-3.741632541e-05,8.594428711e-01,7.029618272e-01,-1.332144190e-04,8.296293512e-01
+19,7.566666667e+00,DOWN_FORCE_DETACH,1792833251844552853,2.281924812e-04,-2.357591981e-05,-7.661707872e-04,2.258691621e-04,-2.134917443e-05,-7.614378315e-04,2.337404212e-04,-2.123959495e-05,-7.579261070e-04,7.021838253e-01,-4.584665483e-05,8.593769165e-01,7.021815020e-01,-4.361990945e-05,8.593816494e-01,7.029791287e-01,-1.393083357e-04,8.295680210e-01
+20,7.983333333e+00,DOWN_FORCE_DETACH,1792833252319385891,2.461570619e-04,-2.225650217e-05,-8.274641165e-04,2.443674848e-04,-1.910882545e-05,-8.278954736e-04,2.528674173e-04,-1.905053551e-05,-8.243058075e-04,7.022017899e-01,-4.452723719e-05,8.593156231e-01,7.022000003e-01,-4.137956047e-05,8.593151918e-01,7.029982557e-01,-1.371192763e-04,8.295016413e-01
+21,8.416666667e+00,DOWN_FORCE_DETACH,1792833252778363123,2.640782465e-04,-2.624682151e-05,-8.821708235e-04,2.556584817e-04,-2.755513336e-05,-8.662996913e-04,2.647302049e-04,-2.741455167e-05,-8.630800654e-04,7.022197111e-01,-4.851755653e-05,8.592609164e-01,7.022112913e-01,-4.982586838e-05,8.592767875e-01,7.030101185e-01,-1.454832925e-04,8.294628670e-01
+22,8.900000000e+00,DOWN_FORCE_DETACH,1792833253253281830,2.750900586e-04,-3.132086164e-05,-9.314920249e-04,2.736141643e-04,-2.848486666e-05,-9.281081824e-04,2.834006187e-04,-2.834566270e-05,-9.248738665e-04,7.022307229e-01,-5.359159666e-05,8.592115952e-01,7.022292470e-01,-5.075560169e-05,8.592149791e-01,7.030287889e-01,-1.464144035e-04,8.294010732e-01
+23,9.400000000e+00,DOWN_FORCE_DETACH,1792833253744562102,2.861571295e-04,-3.258879381e-05,-9.780240520e-04,2.805302609e-04,-3.162607151e-05,-9.675599442e-04,2.905893863e-04,-3.148269372e-05,-9.646810534e-04,7.022417899e-01,-5.485952883e-05,8.591650632e-01,7.022361631e-01,-5.389680653e-05,8.591755273e-01,7.030359777e-01,-1.495514345e-04,8.293612660e-01
+24,9.866666667e+00,DOWN_FORCE_DETACH,1792833254220504623,2.947432379e-04,-3.178036299e-05,-1.014029856e-03,2.902078887e-04,-3.044449991e-05,-1.005619577e-03,3.006394264e-04,-3.035458321e-05,-1.002975798e-03,7.022503761e-01,-5.405109801e-05,8.591290574e-01,7.022458407e-01,-5.271523493e-05,8.591374677e-01,7.030460277e-01,-1.484233240e-04,8.293229713e-01
+25,1.033333333e+01,DOWN_FORCE_DETACH,1792833254678567895,3.012111626e-04,-3.148909477e-05,-1.040512101e-03,2.975344586e-04,-2.938825745e-05,-1.025914526e-03,3.083822737e-04,-2.933990474e-05,-1.023639623e-03,7.022568440e-01,-5.375982980e-05,8.591025751e-01,7.022531673e-01,-5.165899247e-05,8.591171727e-01,7.030537706e-01,-1.474086455e-04,8.293023075e-01
+26,1.088333333e+01,DOWN_FORCE_DETACH,1792833255267545748,3.078974168e-04,-3.312745229e-05,-1.065139416e-03,3.075056730e-04,-3.679194166e-05,-1.065402993e-03,3.187758286e-04,-3.662348116e-05,-1.063209025e-03,7.022635302e-01,-5.539818732e-05,8.590779478e-01,7.022631385e-01,-5.906267669e-05,8.590776842e-01,7.030641641e-01,-1.546922220e-04,8.292627381e-01
+27,1.136666667e+01,DOWN_FORCE_DETACH,1792833255762922818,3.094520388e-04,-3.507344603e-05,-1.082159394e-03,3.075056730e-04,-3.679194166e-05,-1.065402993e-03,3.189354590e-04,-3.662613726e-05,-1.063751640e-03,7.022650849e-01,-5.734418106e-05,8.590609278e-01,7.022631385e-01,-5.906267669e-05,8.590776842e-01,7.030643237e-01,-1.546948781e-04,8.292621954e-01
+28,1.191666667e+01,DOWN_FORCE_DETACH,1792833256316232654,3.112172724e-04,-3.416895421e-05,-1.088136192e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.225269537e-04,-2.897324745e-05,-1.082001746e-03,7.022668501e-01,-5.643968924e-05,8.590549510e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030679152e-01,-1.470419882e-04,8.292439453e-01
+29,1.248333333e+01,DOWN_FORCE_DETACH,1792833256873147356,3.091720708e-04,-3.422329689e-05,-1.092252543e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.226334130e-04,-2.897786334e-05,-1.082379360e-03,7.022648049e-01,-5.649403191e-05,8.590508347e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030680217e-01,-1.470466041e-04,8.292435677e-01
+30,1.303333333e+01,DOWN_FORCE_DETACH,1792833257462453413,3.110727802e-04,-3.979862549e-05,-1.090174429e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.227081820e-04,-2.898421401e-05,-1.082641003e-03,7.022667056e-01,-6.206936052e-05,8.590529128e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030680965e-01,-1.470529548e-04,8.292433061e-01
+31,1.353333333e+01,DOWN_FORCE_DETACH,1792833257987621829,3.113243173e-04,-3.376244117e-05,-1.090677120e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.227600080e-04,-2.899005071e-05,-1.082820274e-03,7.022669571e-01,-5.603317620e-05,8.590524101e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030681483e-01,-1.470587915e-04,8.292431268e-01
+32,1.401666667e+01,DOWN_FORCE_DETACH,1792833258461824312,3.104095257e-04,-3.757711219e-05,-1.093653055e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.227992606e-04,-2.899555290e-05,-1.082953815e-03,7.022660423e-01,-5.984784721e-05,8.590494342e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030681875e-01,-1.470642937e-04,8.292429933e-01
+33,1.446666667e+01,DOWN_FORCE_DETACH,1792833258904080395,3.093948742e-04,-3.713924356e-05,-1.096896363e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.228283384e-04,-2.900052123e-05,-1.083051205e-03,7.022650277e-01,-5.940997858e-05,8.590461909e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030682166e-01,-1.470692620e-04,8.292428959e-01
+34,1.501666667e+01,DOWN_FORCE_DETACH,1792833259444716573,3.104465684e-04,-3.429268245e-05,-1.096042849e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.228564038e-04,-2.900625371e-05,-1.083143326e-03,7.022660794e-01,-5.656341748e-05,8.590470444e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030682447e-01,-1.470749945e-04,8.292428038e-01
+35,1.548333333e+01,DOWN_FORCE_DETACH,1792833259904088057,3.103532488e-04,-4.219329848e-05,-1.097061215e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.173977983e-04,-3.529297445e-05,-1.102532382e-03,7.022659861e-01,-6.446403350e-05,8.590460260e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627861e-01,-1.533617152e-04,8.292234147e-01
+36,1.595000000e+01,DOWN_FORCE_DETACH,1792833260395204682,3.078857240e-04,-3.668860883e-05,-1.099727740e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.173957202e-04,-3.529740957e-05,-1.102638577e-03,7.022635185e-01,-5.895934385e-05,8.590433595e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627840e-01,-1.533661504e-04,8.292233085e-01
+37,1.645000000e+01,DOWN_FORCE_DETACH,1792833260886013587,3.080802438e-04,-3.090976179e-05,-1.099115512e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.173963956e-04,-3.530191603e-05,-1.102720595e-03,7.022637131e-01,-5.318049682e-05,8.590439717e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627847e-01,-1.533706568e-04,8.292232265e-01
+38,1.696666667e+01,DOWN_FORCE_DETACH,1792833261394773615,3.094506748e-04,-3.682644929e-05,-1.098675756e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.173982184e-04,-3.530601729e-05,-1.102784348e-03,7.022650835e-01,-5.909718431e-05,8.590444115e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627865e-01,-1.533747581e-04,8.292231627e-01
+39,1.741666667e+01,DOWN_FORCE_DETACH,1792833261854027324,3.050451636e-04,-3.667207051e-05,-1.104884413e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174000990e-04,-3.530918972e-05,-1.102827179e-03,7.022606780e-01,-5.894280554e-05,8.590382028e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627884e-01,-1.533779305e-04,8.292231199e-01
+40,1.786666667e+01,DOWN_FORCE_DETACH,1792833262327326815,3.073237699e-04,-3.656290447e-05,-1.102767041e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174020106e-04,-3.531200833e-05,-1.102860970e-03,7.022629566e-01,-5.883363950e-05,8.590403202e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627903e-01,-1.533807491e-04,8.292230861e-01
+41,1.830000000e+01,DOWN_FORCE_DETACH,1792833262753709356,3.085917271e-04,-3.515862734e-05,-1.102039066e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174037870e-04,-3.531441149e-05,-1.102886837e-03,7.022642245e-01,-5.742936236e-05,8.590410482e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627921e-01,-1.533831523e-04,8.292230603e-01
+42,1.881666667e+01,DOWN_FORCE_DETACH,1792833263262463970,3.090142686e-04,-3.725799800e-05,-1.107002136e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174057698e-04,-3.531691289e-05,-1.102911001e-03,7.022646471e-01,-5.952873302e-05,8.590360851e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627941e-01,-1.533856537e-04,8.292230361e-01
+43,1.941666667e+01,DOWN_FORCE_DETACH,1792833263851180889,3.131771396e-04,-3.932942044e-05,-1.118817302e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174078245e-04,-3.531937802e-05,-1.102932127e-03,7.022688100e-01,-6.160015546e-05,8.590242699e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627961e-01,-1.533881188e-04,8.292230150e-01
+44,1.985000000e+01,DOWN_FORCE_DETACH,1792833264276630293,3.190771754e-04,-4.237649369e-05,-1.132629921e-03,3.127478264e-04,-3.992146644e-05,-1.123187103e-03,3.242355233e-04,-3.979089343e-05,-1.122901984e-03,7.022747100e-01,-6.464722871e-05,8.590104573e-01,7.022683806e-01,-6.219220146e-05,8.590199001e-01,7.030696238e-01,-1.578596342e-04,8.292030451e-01
+45,2.033333333e+01,DOWN_FORCE_DETACH,1792833264784501114,3.263765300e-04,-3.948532639e-05,-1.149959179e-03,3.198913053e-04,-3.533131927e-05,-1.142288545e-03,3.317275871e-04,-3.526882264e-05,-1.141829579e-03,7.022820093e-01,-6.175606141e-05,8.589931281e-01,7.022755241e-01,-5.760205430e-05,8.590007987e-01,7.030771159e-01,-1.533375634e-04,8.291841175e-01
+46,2.090000000e+01,DOWN_FORCE_DETACH,1792833265341241304,3.334027966e-04,-3.966847307e-05,-1.174817883e-03,3.258427135e-04,-4.067911828e-05,-1.160564895e-03,3.378844782e-04,-4.053154066e-05,-1.160057023e-03,7.022890356e-01,-6.193920809e-05,8.589682694e-01,7.022814755e-01,-6.294985330e-05,8.589825223e-01,7.030832728e-01,-1.586002815e-04,8.291658901e-01
+47,2.140000000e+01,DOWN_FORCE_DETACH,1792833265849162378,3.413468291e-04,-3.625531748e-05,-1.203971274e-03,3.376496453e-04,-3.838749669e-05,-1.198668542e-03,3.500712229e-04,-3.828092005e-05,-1.197811858e-03,7.022969796e-01,-5.852605251e-05,8.589391160e-01,7.022932825e-01,-6.065823171e-05,8.589444187e-01,7.030954595e-01,-1.563496608e-04,8.291281352e-01
+48,2.183333333e+01,DOWN_FORCE_DETACH,1792833266275428475,3.484930028e-04,-4.185239806e-05,-1.220948044e-03,3.447870638e-04,-3.901722371e-05,-1.217948791e-03,3.574762392e-04,-3.888621015e-05,-1.216952213e-03,7.023041258e-01,-6.412313308e-05,8.589221392e-01,7.023004199e-01,-6.128795873e-05,8.589251384e-01,7.031028645e-01,-1.569549509e-04,8.291089949e-01
+49,2.238333333e+01,DOWN_FORCE_DETACH,1792833266818516770,3.532380077e-04,-4.444314295e-05,-1.238357587e-03,3.475674324e-04,-4.413776223e-05,-1.237501178e-03,3.603131901e-04,-4.394627511e-05,-1.236533328e-03,7.023088708e-01,-6.671387797e-05,8.589047297e-01,7.023032002e-01,-6.640849726e-05,8.589055861e-01,7.031057015e-01,-1.620150159e-04,8.290894138e-01
+50,2.290000000e+01,DOWN_FORCE_DETACH,1792833267323582465,3.511234315e-04,-4.614697513e-05,-1.260895687e-03,3.562646453e-04,-3.796207962e-05,-1.254384292e-03,3.694083689e-04,-3.785982168e-05,-1.253433233e-03,7.023067562e-01,-6.841771016e-05,8.588821916e-01,7.023118975e-01,-6.023281464e-05,8.588887029e-01,7.031147967e-01,-1.559285625e-04,8.290725139e-01
+51,2.338333333e+01,DOWN_FORCE_DETACH,1792833267881697565,3.584668033e-04,-4.209374361e-05,-1.275973098e-03,3.574654542e-04,-4.587322959e-05,-1.273291373e-03,3.705925718e-04,-4.565464970e-05,-1.272272357e-03,7.023140996e-01,-6.436447863e-05,8.588671141e-01,7.023130983e-01,-6.814396461e-05,8.588697959e-01,7.031159809e-01,-1.637233905e-04,8.290536747e-01
+52,2.388333333e+01,DOWN_FORCE_DETACH,1792833268389169720,3.628626833e-04,-4.289521325e-05,-1.293900632e-03,3.614113407e-04,-4.577237049e-05,-1.294207485e-03,3.745867671e-04,-4.554742559e-05,-1.293138592e-03,7.023184955e-01,-6.516594828e-05,8.588491866e-01,7.023170442e-01,-6.804310551e-05,8.588488798e-01,7.031199751e-01,-1.636161664e-04,8.290328085e-01
+53,2.438333333e+01,DOWN_FORCE_DETACH,1792833268978681745,3.722790181e-04,-4.321956785e-05,-1.317343146e-03,3.669828788e-04,-4.677351305e-05,-1.314335420e-03,3.803895614e-04,-4.655474074e-05,-1.313218620e-03,7.023279118e-01,-6.549030287e-05,8.588257441e-01,7.023226157e-01,-6.904424807e-05,8.588287518e-01,7.031257778e-01,-1.646234815e-04,8.290127285e-01
+54,2.498333333e+01,DOWN_FORCE_DETACH,1792833269616481183,3.826041125e-04,-4.482251385e-05,-1.344794670e-03,3.744694900e-04,-4.365766742e-05,-1.333493525e-03,3.882302895e-04,-4.346371205e-05,-1.332490080e-03,7.023382369e-01,-6.709324887e-05,8.587982926e-01,7.023301023e-01,-6.592840244e-05,8.588095937e-01,7.031336186e-01,-1.615324528e-04,8.289934570e-01
+55,2.545000000e+01,DOWN_FORCE_DETACH,1792833270075722849,3.874815480e-04,-4.541363057e-05,-1.367316515e-03,3.795764726e-04,-4.644984279e-05,-1.353625916e-03,3.935136971e-04,-4.622988924e-05,-1.352533351e-03,7.023431144e-01,-6.768436559e-05,8.587757707e-01,7.023352093e-01,-6.872057781e-05,8.587894613e-01,7.031389020e-01,-1.642986300e-04,8.289734137e-01
+56,2.593333333e+01,DOWN_FORCE_DETACH,1792833270567296227,3.937420962e-04,-4.469864649e-05,-1.392457904e-03,3.927374016e-04,-5.056582227e-05,-1.391480116e-03,4.071856900e-04,-5.029641542e-05,-1.390166252e-03,7.023493749e-01,-6.696938151e-05,8.587506293e-01,7.023483702e-01,-7.283655729e-05,8.587516071e-01,7.031525740e-01,-1.683651562e-04,8.289357808e-01
+57,2.646666667e+01,DOWN_FORCE_DETACH,1792833271107423250,3.987475050e-04,-4.529670422e-05,-1.416148959e-03,3.962563091e-04,-4.625431993e-05,-1.412936205e-03,4.107624495e-04,-4.606084999e-05,-1.411673486e-03,7.023543803e-01,-6.756743924e-05,8.587269383e-01,7.023518891e-01,-6.852505495e-05,8.587301510e-01,7.031561507e-01,-1.641295908e-04,8.289142736e-01
+58,2.698333333e+01,DOWN_FORCE_DETACH,1792833271631599359,4.054714324e-04,-5.350116408e-05,-1.437849432e-03,3.997769865e-04,-4.532320577e-05,-1.433436914e-03,4.144192956e-04,-4.512084814e-05,-1.432217411e-03,7.023611042e-01,-7.577189910e-05,8.587052378e-01,7.023554098e-01,-6.759394079e-05,8.587096503e-01,7.031598076e-01,-1.631895889e-04,8.288937297e-01
+59,2.750000000e+01,DOWN_FORCE_DETACH,1792833272172204709,4.103855543e-04,-5.079795717e-05,-1.462921331e-03,4.036798781e-04,-4.923539149e-05,-1.454771293e-03,4.183468608e-04,-4.899236224e-05,-1.453590718e-03,7.023660184e-01,-7.306869219e-05,8.586801659e-01,7.023593127e-01,-7.150612652e-05,8.586883159e-01,7.031637351e-01,-1.670611030e-04,8.288723564e-01

Fixed/digit/cylinder_15A_12.5/press_depth_08/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.2661e-01,1.7571e-01,2.5081e+00,-4.9133e-02,4.5797e-02,4.0896e-04,8.2313e-04,-2.9102e-05,-3.7527e-04,1.8701e-06,5.9836e-05,1.0710e-07,9.0510e-04,5.9865e-05
+1,5.1667e-01,DOWN_FORCE_DETACH,1.1460e-04,1.4888e-01,1.7485e-01,2.4982e+00,-4.9078e-02,4.7415e-02,4.1164e-04,2.3098e-02,-8.8590e-04,-1.0222e-02,5.7358e-05,1.6783e-03,2.7942e-06,2.5274e-02,1.6792e-03
+2,1.1000e+00,DOWN_FORCE_DETACH,2.3052e-04,1.6799e-01,1.7406e-01,2.4901e+00,-4.9027e-02,4.8804e-02,4.1233e-04,4.2204e-02,-1.6713e-03,-1.8322e-02,1.0834e-04,3.0669e-03,3.4861e-06,4.6040e-02,3.0688e-03
+3,1.6333e+00,DOWN_FORCE_DETACH,3.4504e-04,1.8131e-01,1.7348e-01,2.4846e+00,-4.8989e-02,4.9773e-02,4.1092e-04,5.5527e-02,-2.2514e-03,-2.3792e-02,1.4580e-04,4.0360e-03,2.0696e-06,6.0452e-02,4.0386e-03
+4,2.0833e+00,DOWN_FORCE_DETACH,4.5388e-04,2.1274e-01,1.8232e-01,2.5970e+00,-4.9574e-02,5.1927e-02,4.0789e-04,8.6952e-02,6.5852e-03,8.8586e-02,-4.3864e-04,6.1905e-03,-9.6243e-07,1.2430e-01,6.2060e-03
+5,2.5000e+00,DOWN_FORCE_DETACH,5.7345e-04,1.3887e-01,1.7608e-01,2.6092e+00,-4.9154e-02,4.6658e-02,4.0659e-04,1.3087e-02,3.4133e-04,1.0078e-01,-1.9301e-05,9.2106e-04,-2.2554e-06,1.0162e-01,9.2126e-04
+6,2.8500e+00,DOWN_FORCE_DETACH,6.8410e-04,1.6219e-01,1.9977e-01,2.6760e+00,-5.0793e-02,4.8221e-02,4.0904e-04,3.6402e-02,2.4033e-02,1.6758e-01,-1.6576e-03,2.4844e-03,1.9185e-07,1.7316e-01,2.9866e-03
+7,3.3667e+00,DOWN_FORCE_DETACH,7.9635e-04,1.8787e-01,2.0851e-01,2.7169e+00,-5.1395e-02,5.0018e-02,4.0126e-04,6.2081e-02,3.2776e-02,2.0844e-01,-2.2595e-03,4.2809e-03,-7.5878e-06,2.1994e-01,4.8406e-03
+8,3.7500e+00,DOWN_FORCE_DETACH,9.1154e-04,1.3580e-01,2.5567e-01,2.7317e+00,-5.4666e-02,4.6281e-02,4.0865e-04,1.0014e-02,7.9938e-02,2.2330e-01,-5.5309e-03,5.4424e-04,-2.0035e-07,2.3739e-01,5.5576e-03
+9,4.1667e+00,DOWN_FORCE_DETACH,1.0232e-03,1.5714e-01,2.5990e-01,2.7726e+00,-5.4957e-02,4.7749e-02,3.9803e-04,3.1351e-02,8.4170e-02,2.6415e-01,-5.8219e-03,2.0120e-03,-1.0821e-05,2.7901e-01,6.1597e-03
+10,4.6000e+00,DOWN_FORCE_DETACH,1.1385e-03,1.6657e-01,2.8734e-01,2.8415e+00,-5.6836e-02,4.8353e-02,3.8934e-04,4.0784e-02,1.1161e-01,3.3306e-01,-7.7006e-03,2.6159e-03,-1.9505e-05,3.5362e-01,8.1328e-03
+11,5.0000e+00,DOWN_FORCE_DETACH,1.2542e-03,1.5295e-01,3.0048e-01,2.9114e+00,-5.7717e-02,4.7309e-02,3.8010e-04,2.7168e-02,1.2474e-01,4.0292e-01,-8.5822e-03,1.5718e-03,-2.8744e-05,4.2267e-01,8.7250e-03
+12,5.2833e+00,DOWN_FORCE_DETACH,1.3652e-03,4.5679e-03,3.0028e-01,2.8838e+00,-5.7714e-02,3.6741e-02,3.8534e-04,-1.2122e-01,1.2455e-01,3.7533e-01,-8.5788e-03,-8.9964e-03,-2.3506e-05,4.1361e-01,1.2431e-02
+13,5.4000e+00,DOWN_FORCE_DETACH,1.4879e-03,-1.4029e-04,1.1271e-01,2.8976e+00,-4.4744e-02,3.6389e-02,3.3540e-04,-1.2593e-01,-6.3020e-02,3.8920e-01,4.3912e-03,-9.3480e-03,-7.3450e-05,4.1389e-01,1.0328e-02
+14,5.6667e+00,DOWN_FORCE_DETACH,1.5931e-03,2.2733e-02,1.9638e-01,2.9035e+00,-5.0531e-02,3.7977e-02,3.4085e-04,-1.0305e-01,2.0641e-02,3.9506e-01,-1.3957e-03,-7.7597e-03,-6.7996e-05,4.0880e-01,7.8845e-03
+15,5.9333e+00,DOWN_FORCE_DETACH,1.7085e-03,3.0855e-02,2.2014e-01,3.0381e+00,-5.2145e-02,3.8409e-02,3.3515e-04,-9.4931e-02,4.4403e-02,5.2965e-01,-3.0103e-03,-7.3275e-03,-7.3697e-05,5.3992e-01,7.9221e-03
+16,6.3500e+00,DOWN_FORCE_DETACH,1.8233e-03,1.1567e-02,2.5220e-01,3.0237e+00,-5.4339e-02,3.7024e-02,3.3769e-04,-1.1422e-01,7.6467e-02,5.1526e-01,-5.2044e-03,-8.7127e-03,-7.1157e-05,5.3328e-01,1.0149e-02
+17,6.7500e+00,DOWN_FORCE_DETACH,1.9356e-03,5.4002e-03,2.7248e-01,3.0956e+00,-5.5687e-02,3.6519e-02,3.4173e-04,-1.2039e-01,9.6745e-02,5.8716e-01,-6.5516e-03,-9.2182e-03,-6.7116e-05,6.0713e-01,1.1309e-02
+18,7.1167e+00,DOWN_FORCE_DETACH,2.0528e-03,4.6242e-03,2.2791e-01,3.1202e+00,-5.2582e-02,3.6420e-02,3.2921e-04,-1.2116e-01,5.2173e-02,6.1179e-01,-3.4471e-03,-9.3165e-03,-7.9642e-05,6.2585e-01,9.9341e-03
+19,7.5667e+00,DOWN_FORCE_DETACH,2.1630e-03,1.8219e-02,2.6038e-01,3.1032e+00,-5.4799e-02,3.7372e-02,3.4144e-04,-1.0757e-01,8.4641e-02,5.9473e-01,-5.6638e-03,-8.3645e-03,-6.7411e-05,6.1028e-01,1.0102e-02
+20,7.9833e+00,DOWN_FORCE_DETACH,2.2785e-03,2.0081e-02,2.4676e-01,3.1198e+00,-5.3826e-02,3.7488e-02,3.4676e-04,-1.0571e-01,7.1023e-02,6.1134e-01,-4.6913e-03,-8.2487e-03,-6.2093e-05,6.2447e-01,9.4896e-03
+21,8.4167e+00,DOWN_FORCE_DETACH,2.3896e-03,4.2176e-02,2.8903e-01,3.0455e+00,-5.6738e-02,3.9098e-02,3.5969e-04,-8.3610e-02,1.1329e-01,5.3704e-01,-7.6026e-03,-6.6394e-03,-4.9161e-05,5.5520e-01,1.0094e-02
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Fixed/digit/cylinder_15A_12.5/press_depth_08/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_15A_12.5/press_depth_08/up/franka_data.csv

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